PES 2 - Gruppe 1 / Mbed 2 deprecated Robocode_Random

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Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

source/Main.cpp@38:3526c36e4c73, 2017-04-04 (annotated)

Committer:
cittecla
Date:
Tue Apr 04 15:01:59 2017 +0000
Revision:
38:3526c36e4c73
Parent:
37:20e0e2487efc
Child:
39:92723f7ea54f
Started resolving State_Machine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 38:3526c36e4c73 1 #include "Main.h"
cittecla 18:a82994e67297 2
cittecla 18:a82994e67297 3
cittecla 36:b654afdf886e 4 int state = 200;
cittecla 32:777976c4d733 5 bool positioning_state = 0;
cittecla 32:777976c4d733 6 bool mapping_state = 0;
cittecla 31:51f52ffa4b51 7
cittecla 34:40d8d29b44b8 8 int IMU();
cittecla 34:40d8d29b44b8 9
cittecla 32:777976c4d733 10 int main()
cittecla 32:777976c4d733 11 {
cittecla 31:51f52ffa4b51 12
cittecla 32:777976c4d733 13
cittecla 34:40d8d29b44b8 14 // while (timer() < 300) {
cittecla 34:40d8d29b44b8 15 while (1) {
cittecla 36:b654afdf886e 16 wait(0.01f);
cittecla 34:40d8d29b44b8 17 // 5min
cittecla 33:8a98f8b9d859 18 //*******************************************************************************
cittecla 33:8a98f8b9d859 19 //Non_state machine driven function
cittecla 33:8a98f8b9d859 20 //This functions will be called every cycle, use for safety and sensor functipons
cittecla 33:8a98f8b9d859 21 //*******************************************************************************
cittecla 32:777976c4d733 22
cittecla 38:3526c36e4c73 23 safety();
cittecla 31:51f52ffa4b51 24
cittecla 38:3526c36e4c73 25 //scanning();
cittecla 38:3526c36e4c73 26
cittecla 38:3526c36e4c73 27
cittecla 32:777976c4d733 28
cittecla 32:777976c4d733 29 if(positioning_state) {
cittecla 38:3526c36e4c73 30 positioning();
cittecla 32:777976c4d733 31 }
cittecla 32:777976c4d733 32 if(mapping_state) {
cittecla 38:3526c36e4c73 33 mapping();
cittecla 32:777976c4d733 34 }
cittecla 18:a82994e67297 35
cittecla 33:8a98f8b9d859 36 //*******************************************************************************
cittecla 33:8a98f8b9d859 37 //state machine driven function
cittecla 33:8a98f8b9d859 38 //This functions will only be called when their state is active.
cittecla 33:8a98f8b9d859 39 //The state machine will be in the same state until this action is completed or
cittecla 33:8a98f8b9d859 40 //a safty function kicks in and stops the current function.
cittecla 33:8a98f8b9d859 41 //Every function will return the next active state upon its transition table.
cittecla 33:8a98f8b9d859 42 //State and Transition Table can be found in the State_Machine.xlsx
cittecla 33:8a98f8b9d859 43 //*******************************************************************************
cittecla 32:777976c4d733 44 switch (state) {
cittecla 38:3526c36e4c73 45 case 0:
cittecla 38:3526c36e4c73 46 state = emergency_shutdown();
cittecla 38:3526c36e4c73 47 break;
cittecla 38:3526c36e4c73 48 case 1:
cittecla 38:3526c36e4c73 49 state = colision_detected();
cittecla 38:3526c36e4c73 50 break;
cittecla 38:3526c36e4c73 51 case 2:
cittecla 38:3526c36e4c73 52 state = current_to_high();
cittecla 38:3526c36e4c73 53 break;
cittecla 38:3526c36e4c73 54 case 3:
cittecla 38:3526c36e4c73 55 state = overheating();
cittecla 38:3526c36e4c73 56 break;
cittecla 31:51f52ffa4b51 57
cittecla 31:51f52ffa4b51 58
cittecla 38:3526c36e4c73 59 case 10:
cittecla 38:3526c36e4c73 60 state = idel();
cittecla 38:3526c36e4c73 61 break;
cittecla 38:3526c36e4c73 62 case 11:
cittecla 38:3526c36e4c73 63 state = idel2();
cittecla 38:3526c36e4c73 64 break;
cittecla 38:3526c36e4c73 65
cittecla 38:3526c36e4c73 66
cittecla 38:3526c36e4c73 67 case 15:
cittecla 38:3526c36e4c73 68 state = initialisation();
cittecla 38:3526c36e4c73 69 break;
cittecla 38:3526c36e4c73 70 case 16:
cittecla 38:3526c36e4c73 71 state = engage_motors();
cittecla 38:3526c36e4c73 72 break;
cittecla 38:3526c36e4c73 73 case 17:
cittecla 38:3526c36e4c73 74 state = test_servos();
cittecla 38:3526c36e4c73 75 break;
cittecla 38:3526c36e4c73 76 case 18:
cittecla 38:3526c36e4c73 77 state = inital_positioning();
cittecla 38:3526c36e4c73 78 break;
cittecla 32:777976c4d733 79
cittecla 31:51f52ffa4b51 80
cittecla 38:3526c36e4c73 81 case 25:
cittecla 38:3526c36e4c73 82 state = start_positioning();
cittecla 38:3526c36e4c73 83 positioning_state = 1;
cittecla 38:3526c36e4c73 84 break;
cittecla 38:3526c36e4c73 85 case 26:
cittecla 38:3526c36e4c73 86 state = start_mapping();
cittecla 38:3526c36e4c73 87 mapping_state = 1;
cittecla 38:3526c36e4c73 88 break;
cittecla 38:3526c36e4c73 89 case 27:
cittecla 38:3526c36e4c73 90 state = initial_turn();
cittecla 38:3526c36e4c73 91 break;
cittecla 38:3526c36e4c73 92
cittecla 38:3526c36e4c73 93 /*
cittecla 38:3526c36e4c73 94 case 35:
cittecla 38:3526c36e4c73 95 state = select_target();
cittecla 38:3526c36e4c73 96 break;
cittecla 38:3526c36e4c73 97 case 36:
cittecla 38:3526c36e4c73 98 state = pathfinding();
cittecla 38:3526c36e4c73 99 break;
cittecla 38:3526c36e4c73 100 case 37:
cittecla 38:3526c36e4c73 101 state = remove_target();
cittecla 38:3526c36e4c73 102 break;
cittecla 38:3526c36e4c73 103 */
cittecla 31:51f52ffa4b51 104
cittecla 31:51f52ffa4b51 105
cittecla 38:3526c36e4c73 106 case 40:
cittecla 38:3526c36e4c73 107 state = moving();
cittecla 38:3526c36e4c73 108 break;
cittecla 38:3526c36e4c73 109 case 41:
cittecla 38:3526c36e4c73 110 state = moving_forward_for_distance();
cittecla 38:3526c36e4c73 111 break;
cittecla 38:3526c36e4c73 112 case 42:
cittecla 38:3526c36e4c73 113 state = moving_backward_for_distance();
cittecla 38:3526c36e4c73 114 break;
cittecla 38:3526c36e4c73 115 case 43:
cittecla 38:3526c36e4c73 116 state = turn_left_for_deg();
cittecla 38:3526c36e4c73 117 break;
cittecla 38:3526c36e4c73 118 case 44:
cittecla 38:3526c36e4c73 119 state = turn_right_for_deg();
cittecla 38:3526c36e4c73 120 break;
cittecla 38:3526c36e4c73 121
cittecla 38:3526c36e4c73 122 case 46:
cittecla 38:3526c36e4c73 123 state = move_to_next_coord();
cittecla 38:3526c36e4c73 124 break;
cittecla 38:3526c36e4c73 125 case 47:
cittecla 38:3526c36e4c73 126 state = move_in_search_for_brick();
cittecla 38:3526c36e4c73 127 break;
cittecla 31:51f52ffa4b51 128
cittecla 31:51f52ffa4b51 129
cittecla 38:3526c36e4c73 130 case 50:
cittecla 38:3526c36e4c73 131 state = grabbing();
cittecla 38:3526c36e4c73 132 break;
cittecla 38:3526c36e4c73 133 case 51:
cittecla 38:3526c36e4c73 134 state = arm_position_move();
cittecla 38:3526c36e4c73 135 break;
cittecla 38:3526c36e4c73 136 case 52:
cittecla 38:3526c36e4c73 137 state = arm_position_grabbing();
cittecla 38:3526c36e4c73 138 break;
cittecla 38:3526c36e4c73 139 case 53:
cittecla 38:3526c36e4c73 140 state = arm_position_release();
cittecla 38:3526c36e4c73 141 break;
cittecla 38:3526c36e4c73 142
cittecla 38:3526c36e4c73 143 case 55:
cittecla 38:3526c36e4c73 144 state = oben_grabber();
cittecla 38:3526c36e4c73 145 break;
cittecla 38:3526c36e4c73 146 case 56:
cittecla 38:3526c36e4c73 147 state = close_grabber();
cittecla 38:3526c36e4c73 148 break;
cittecla 38:3526c36e4c73 149 case 57:
cittecla 38:3526c36e4c73 150 state = test_color();
cittecla 38:3526c36e4c73 151
cittecla 38:3526c36e4c73 152 case 99:
cittecla 38:3526c36e4c73 153 sate = init();
cittecla 38:3526c36e4c73 154 break;
cittecla 38:3526c36e4c73 155 case 100:
cittecla 38:3526c36e4c73 156 state = turn_left(30);
cittecla 38:3526c36e4c73 157 break;
cittecla 38:3526c36e4c73 158 case 101:
cittecla 38:3526c36e4c73 159 state = turn_right_for_brick;
cittecla 38:3526c36e4c73 160 break;
cittecla 38:3526c36e4c73 161 case 102:
cittecla 38:3526c36e4c73 162 state = move_to_brick;
cittecla 25:08ee4525155b 163
cittecla 19:baa8371d55b4 164
cittecla 18:a82994e67297 165
cittecla 38:3526c36e4c73 166 //test states
cittecla 38:3526c36e4c73 167 case 200:
cittecla 34:40d8d29b44b8 168 state = IMU();
cittecla 32:777976c4d733 169 break;
cittecla 32:777976c4d733 170 default:
cittecla 32:777976c4d733 171 printf("Fatal Error, Unkonwn state!");
cittecla 32:777976c4d733 172 state = 0;
cittecla 32:777976c4d733 173 break;
cittecla 32:777976c4d733 174 }
cittecla 32:777976c4d733 175 }
cittecla 34:40d8d29b44b8 176 }
cittecla 34:40d8d29b44b8 177
cittecla 34:40d8d29b44b8 178 int IMU()
cittecla 34:40d8d29b44b8 179 {
cittecla 36:b654afdf886e 180 printf("%f\r\n", read_heading());
cittecla 34:40d8d29b44b8 181 return 200;
cittecla 34:40d8d29b44b8 182 }
cittecla 34:40d8d29b44b8 183
cittecla 34:40d8d29b44b8 184 int init()
cittecla 34:40d8d29b44b8 185 {
cittecla 34:40d8d29b44b8 186 Robot_init_all();
cittecla 34:40d8d29b44b8 187 return 100;
cittecla 34:40d8d29b44b8 188 }
cittecla 38:3526c36e4c73 189
cittecla 38:3526c36e4c73 190
cittecla 34:40d8d29b44b8 191 /*
cittecla 34:40d8d29b44b8 192 int turn_left(float deg)
cittecla 34:40d8d29b44b8 193 {
cittecla 34:40d8d29b44b8 194 bool in_function = false;
cittecla 34:40d8d29b44b8 195 if(in_function = false) {
cittecla 34:40d8d29b44b8 196 float current_deg = read_heading();
cittecla 34:40d8d29b44b8 197 set_speed(-50, 50);
cittecla 34:40d8d29b44b8 198 in_function = true;
cittecla 34:40d8d29b44b8 199 }
cittecla 34:40d8d29b44b8 200 if(current_deg - deg < read_heading() {
cittecla 34:40d8d29b44b8 201 set_speed(0, 0);
cittecla 34:40d8d29b44b8 202 return 101;
cittecla 34:40d8d29b44b8 203 in_function = false;
cittecla 34:40d8d29b44b8 204 }
cittecla 34:40d8d29b44b8 205 return 100;
cittecla 34:40d8d29b44b8 206 }
cittecla 34:40d8d29b44b8 207
cittecla 34:40d8d29b44b8 208 int turn_right_for_brick {
cittecla 34:40d8d29b44b8 209 return 0
cittecla 34:40d8d29b44b8 210 }*/