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@127:6bde4483ce7b, 2017-05-14 (annotated)

Committer:
cittecla
Date:
Sun May 14 14:40:12 2017 +0000
Revision:
127:6bde4483ce7b
Parent:
125:d0b2057272d0
Child:
130:0d6c072b23ca
Child:
131:8ae08f41bb43
included path finding into 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
aeschsim 81:a6f0f827dcb0 4 int state = 10;
cittecla 127:6bde4483ce7b 5 int old_state = 0;
cittecla 32:777976c4d733 6 bool positioning_state = 0;
cittecla 32:777976c4d733 7 bool mapping_state = 0;
cittecla 31:51f52ffa4b51 8
cittecla 71:ddf4eb5c3081 9 Timer game_timer;
cittecla 71:ddf4eb5c3081 10
cittecla 93:837a13760026 11
cittecla 32:777976c4d733 12 int main()
cittecla 32:777976c4d733 13 {
cittecla 61:b57577b0072f 14 printf("start...\r\n");
cittecla 94:0381e8b1beda 15 disable_servos();
cittecla 71:ddf4eb5c3081 16 while (game_timer.read() < 300) {
cittecla 64:c2fcf3b349e9 17 wait(0.01f);
cittecla 34:40d8d29b44b8 18 // 5min
cittecla 33:8a98f8b9d859 19 //*******************************************************************************
cittecla 33:8a98f8b9d859 20 //Non_state machine driven function
cittecla 33:8a98f8b9d859 21 //This functions will be called every cycle, use for safety and sensor functipons
cittecla 33:8a98f8b9d859 22 //*******************************************************************************
cittecla 32:777976c4d733 23
cittecla 38:3526c36e4c73 24 safety();
cittecla 31:51f52ffa4b51 25
cittecla 38:3526c36e4c73 26
cittecla 32:777976c4d733 27
cittecla 32:777976c4d733 28 if(positioning_state) {
cittecla 38:3526c36e4c73 29 positioning();
cittecla 32:777976c4d733 30 }
cittecla 32:777976c4d733 31 if(mapping_state) {
cittecla 38:3526c36e4c73 32 mapping();
cittecla 32:777976c4d733 33 }
cittecla 18:a82994e67297 34
cittecla 33:8a98f8b9d859 35 //*******************************************************************************
cittecla 33:8a98f8b9d859 36 //state machine driven function
cittecla 33:8a98f8b9d859 37 //This functions will only be called when their state is active.
cittecla 33:8a98f8b9d859 38 //The state machine will be in the same state until this action is completed or
cittecla 33:8a98f8b9d859 39 //a safty function kicks in and stops the current function.
cittecla 33:8a98f8b9d859 40 //Every function will return the next active state upon its transition table.
cittecla 33:8a98f8b9d859 41 //State and Transition Table can be found in the State_Machine.xlsx
cittecla 33:8a98f8b9d859 42 //*******************************************************************************
cittecla 113:c8ea0cd9b20c 43
cittecla 127:6bde4483ce7b 44 if(state != old_state){
cittecla 127:6bde4483ce7b 45 printf("state: %d\r\n",state);
cittecla 127:6bde4483ce7b 46 old_state = state;
cittecla 127:6bde4483ce7b 47 }
cittecla 32:777976c4d733 48 switch (state) {
cittecla 38:3526c36e4c73 49 case 0:
cittecla 38:3526c36e4c73 50 state = emergency_shutdown();
cittecla 38:3526c36e4c73 51 break;
cittecla 38:3526c36e4c73 52 case 1:
cittecla 38:3526c36e4c73 53 state = colision_detected();
cittecla 38:3526c36e4c73 54 break;
cittecla 38:3526c36e4c73 55 case 2:
cittecla 38:3526c36e4c73 56 state = current_to_high();
cittecla 38:3526c36e4c73 57 break;
cittecla 38:3526c36e4c73 58 case 3:
cittecla 38:3526c36e4c73 59 state = overheating();
cittecla 38:3526c36e4c73 60 break;
cittecla 31:51f52ffa4b51 61
cittecla 38:3526c36e4c73 62 case 10:
cittecla 71:ddf4eb5c3081 63 state = idle();
cittecla 71:ddf4eb5c3081 64 printf("idle1...\r\n");
cittecla 38:3526c36e4c73 65 break;
cittecla 38:3526c36e4c73 66 case 11:
cittecla 71:ddf4eb5c3081 67 state = idle2();
cittecla 71:ddf4eb5c3081 68 printf("idle2...\r\n");
cittecla 38:3526c36e4c73 69 break;
cittecla 38:3526c36e4c73 70
cittecla 38:3526c36e4c73 71 case 15:
aeschsim 78:d9138c6f82a8 72 state = initialisation(); //init servo is included
cittecla 38:3526c36e4c73 73 break;
cittecla 38:3526c36e4c73 74 case 16:
cittecla 79:92b9d083322d 75 state = inital_arm_positioning();
cittecla 120:cdf7a6751f9e 76 //state = 47; // change state here for test cases
cittecla 38:3526c36e4c73 77 break;
cittecla 71:ddf4eb5c3081 78 case 17:
cittecla 79:92b9d083322d 79 state = initial_positioning();
cittecla 71:ddf4eb5c3081 80 break;
cittecla 31:51f52ffa4b51 81
cittecla 38:3526c36e4c73 82 case 25:
cittecla 58:1a395b6928ee 83 state = 26;
cittecla 71:ddf4eb5c3081 84 game_timer.start();
cittecla 38:3526c36e4c73 85 break;
cittecla 38:3526c36e4c73 86 case 26:
cittecla 58:1a395b6928ee 87 state = 27;
cittecla 71:ddf4eb5c3081 88 positioning_state = 1;
cittecla 71:ddf4eb5c3081 89 break;
cittecla 71:ddf4eb5c3081 90 case 27:
cittecla 71:ddf4eb5c3081 91 state = 28;
cittecla 38:3526c36e4c73 92 mapping_state = 1;
cittecla 38:3526c36e4c73 93 break;
cittecla 71:ddf4eb5c3081 94 case 28:
cittecla 38:3526c36e4c73 95 state = initial_turn();
cittecla 38:3526c36e4c73 96 break;
cittecla 38:3526c36e4c73 97
cittecla 40:a46667b62671 98
cittecla 38:3526c36e4c73 99 case 35:
cittecla 38:3526c36e4c73 100 state = select_target();
cittecla 38:3526c36e4c73 101 break;
cittecla 38:3526c36e4c73 102 case 36:
cittecla 38:3526c36e4c73 103 state = pathfinding();
cittecla 38:3526c36e4c73 104 break;
cittecla 38:3526c36e4c73 105 case 37:
cittecla 41:462d379e85c4 106 state = switch_target_red();
cittecla 41:462d379e85c4 107 break;
cittecla 31:51f52ffa4b51 108
cittecla 31:51f52ffa4b51 109
cittecla 38:3526c36e4c73 110 case 40:
cittecla 38:3526c36e4c73 111 state = moving();
cittecla 38:3526c36e4c73 112 break;
cittecla 54:453f24775644 113
cittecla 38:3526c36e4c73 114
cittecla 122:8bfb39434fb7 115 case 45:
cittecla 122:8bfb39434fb7 116 state = move_to_brick_by_coordlist();
cittecla 38:3526c36e4c73 117 break;
cittecla 38:3526c36e4c73 118 case 47:
cittecla 38:3526c36e4c73 119 state = move_in_search_for_brick();
cittecla 38:3526c36e4c73 120 break;
cittecla 87:df8c869a5a52 121 case 48:
cittecla 87:df8c869a5a52 122 state = generate_fake_target();
cittecla 87:df8c869a5a52 123 break;
cittecla 31:51f52ffa4b51 124
cittecla 31:51f52ffa4b51 125
cittecla 38:3526c36e4c73 126 case 50:
cittecla 38:3526c36e4c73 127 state = grabbing();
cittecla 38:3526c36e4c73 128 break;
cittecla 38:3526c36e4c73 129
cittecla 93:837a13760026 130
cittecla 87:df8c869a5a52 131
cittecla 87:df8c869a5a52 132 /******************************************************************************/
aeschsim 80:956f65714207 133 //Testtools
aeschsim 80:956f65714207 134
aeschsim 80:956f65714207 135 case 100: //Testtool for IR sensors
cittecla 117:66d64dbd1b36 136 //printf("sensor 0: %f \r\n", getDistanceIR(0));
cittecla 117:66d64dbd1b36 137 // printf("sensor 1: %f \r\n", getDistanceIR(1));
cittecla 117:66d64dbd1b36 138 printf("sensor oben: %f \r\n", getDistanceIR(2));
cittecla 117:66d64dbd1b36 139 printf("sensor unten: %f \r\n\n", getDistanceIR(3));
cittecla 117:66d64dbd1b36 140 // printf("sensor 4: %f \r\n", getDistanceIR(4));
cittecla 117:66d64dbd1b36 141 // printf("sensor 5: %f \r\n\n", getDistanceIR(5));
cittecla 117:66d64dbd1b36 142 wait(0.1f);
cittecla 79:92b9d083322d 143 state = 100;
cittecla 79:92b9d083322d 144 break;
aeschsim 80:956f65714207 145 case 101: //Testtool for get_color
aeschsim 80:956f65714207 146 char str1[] = "GREEN";
aeschsim 80:956f65714207 147 char str2[] = "RED";
aeschsim 80:956f65714207 148 printf("Color: %s\r\n",get_color()? str1 : str2);
aeschsim 80:956f65714207 149 wait_ms(500);
aeschsim 80:956f65714207 150 state = 101;
cittecla 87:df8c869a5a52 151 break;
cittecla 94:0381e8b1beda 152 case 102:
cittecla 113:c8ea0cd9b20c 153 move_for_distance_with_radius(0.5f,-0.4);
cittecla 94:0381e8b1beda 154 state = 103;
cittecla 94:0381e8b1beda 155 break;
cittecla 94:0381e8b1beda 156 case 103:
cittecla 107:02bc5b4e67b7 157 float distance = move_for_distance_with_radius(0,0);
cittecla 107:02bc5b4e67b7 158 if(distance < 0) {
cittecla 107:02bc5b4e67b7 159 //printf("remaining deg %f\r\n", deg);
cittecla 94:0381e8b1beda 160 stop_turn();
cittecla 113:c8ea0cd9b20c 161 state = 104;
cittecla 94:0381e8b1beda 162 }
aeschsim 96:8da1c57296ff 163 break;
cittecla 113:c8ea0cd9b20c 164 case 104:
cittecla 113:c8ea0cd9b20c 165 move_for_distance_with_radius(0.5f,0.4);
cittecla 113:c8ea0cd9b20c 166 state = 105;
cittecla 113:c8ea0cd9b20c 167 break;
cittecla 113:c8ea0cd9b20c 168 case 105:
cittecla 113:c8ea0cd9b20c 169 float distance2 = move_for_distance_with_radius(0,0);
cittecla 113:c8ea0cd9b20c 170 if(distance2 < 0) {
cittecla 113:c8ea0cd9b20c 171 //printf("remaining deg %f\r\n", deg);
cittecla 113:c8ea0cd9b20c 172 stop_turn();
cittecla 113:c8ea0cd9b20c 173 state = 106;
cittecla 113:c8ea0cd9b20c 174 }
cittecla 113:c8ea0cd9b20c 175 break;
cittecla 113:c8ea0cd9b20c 176 case 106:
cittecla 113:c8ea0cd9b20c 177 coordinates co = get_current_coord();
cittecla 113:c8ea0cd9b20c 178 printf("current_coord: %f || %f\r\n", co.x, co.y);
aeschsim 99:78d87027c85b 179
cittecla 32:777976c4d733 180 }
cittecla 32:777976c4d733 181 }
cittecla 71:ddf4eb5c3081 182 }