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@32:777976c4d733, 2017-03-16 (annotated)

Committer:
cittecla
Date:
Thu Mar 16 12:52:41 2017 +0000
Revision:
32:777976c4d733
Parent:
31:51f52ffa4b51
Child:
33:8a98f8b9d859
first iteration of the state machine implemented

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 32:777976c4d733 1 #include "mbed.h"
cittecla 32:777976c4d733 2 #include "pathfinding.h"
cittecla 27:df11ab63cda4 3
cittecla 18:a82994e67297 4
cittecla 18:a82994e67297 5
cittecla 32:777976c4d733 6 int state = 10;
cittecla 32:777976c4d733 7 bool positioning_state = 0;
cittecla 32:777976c4d733 8 bool mapping_state = 0;
cittecla 31:51f52ffa4b51 9
cittecla 32:777976c4d733 10 int main()
cittecla 32:777976c4d733 11 {
cittecla 31:51f52ffa4b51 12
cittecla 32:777976c4d733 13
cittecla 32:777976c4d733 14 while (timer() < 300) { // 5min
cittecla 31:51f52ffa4b51 15 /*********************************************************************************
cittecla 31:51f52ffa4b51 16 Non_state machine driven function
cittecla 31:51f52ffa4b51 17 This functions will be called every cycle, use for safety and sensor functipons
cittecla 31:51f52ffa4b51 18 **********************************************************************************/
cittecla 32:777976c4d733 19
cittecla 32:777976c4d733 20 safty() {
cittecla 31:51f52ffa4b51 21
cittecla 31:51f52ffa4b51 22 }
cittecla 31:51f52ffa4b51 23
cittecla 31:51f52ffa4b51 24 scanning() {
cittecla 32:777976c4d733 25
cittecla 31:51f52ffa4b51 26 }
cittecla 32:777976c4d733 27
cittecla 32:777976c4d733 28 if(positioning_state) {
cittecla 32:777976c4d733 29 positioning();
cittecla 32:777976c4d733 30 }
cittecla 32:777976c4d733 31 if(mapping_state) {
cittecla 32:777976c4d733 32 mapping();
cittecla 32:777976c4d733 33 }
cittecla 18:a82994e67297 34
cittecla 32:777976c4d733 35 /*********************************************************************************
cittecla 32:777976c4d733 36 state machine driven function
cittecla 32:777976c4d733 37 This functions will only be called when their state is active.
cittecla 32:777976c4d733 38 The state machine will be in the same state until this action is completed or
cittecla 32:777976c4d733 39 a safty function kicks in and stops the current function.
cittecla 32:777976c4d733 40 Every function will return the next active state upon its transition table.
cittecla 32:777976c4d733 41 State and Transition Table can be found in the State_Machine.xlsx
cittecla 32:777976c4d733 42 **********************************************************************************/
cittecla 32:777976c4d733 43 switch (state) {
cittecla 32:777976c4d733 44 case 0:
cittecla 32:777976c4d733 45 state = emergency_shutdown();
cittecla 32:777976c4d733 46 break;
cittecla 32:777976c4d733 47 case 1:
cittecla 32:777976c4d733 48 state = colision_detected();
cittecla 32:777976c4d733 49 break;
cittecla 32:777976c4d733 50 case 2:
cittecla 32:777976c4d733 51 state = current_to_high();
cittecla 32:777976c4d733 52 break;
cittecla 32:777976c4d733 53 case 3:
cittecla 32:777976c4d733 54 state = overheating();
cittecla 32:777976c4d733 55 break;
cittecla 31:51f52ffa4b51 56
cittecla 31:51f52ffa4b51 57
cittecla 32:777976c4d733 58 case 10:
cittecla 32:777976c4d733 59 state = idel();
cittecla 32:777976c4d733 60 break;
cittecla 32:777976c4d733 61 case 11:
cittecla 32:777976c4d733 62 state = idel2();
cittecla 32:777976c4d733 63 break;
cittecla 32:777976c4d733 64
cittecla 31:51f52ffa4b51 65
cittecla 32:777976c4d733 66 case 15:
cittecla 32:777976c4d733 67 state = initialisation();
cittecla 32:777976c4d733 68 break;
cittecla 32:777976c4d733 69 case 16:
cittecla 32:777976c4d733 70 state = engage_motors();
cittecla 32:777976c4d733 71 break;
cittecla 32:777976c4d733 72 case 17:
cittecla 32:777976c4d733 73 state = test_servos();
cittecla 32:777976c4d733 74 break;
cittecla 32:777976c4d733 75 case 18:
cittecla 32:777976c4d733 76 state = inital_positioning();
cittecla 32:777976c4d733 77 break;
cittecla 31:51f52ffa4b51 78
cittecla 31:51f52ffa4b51 79
cittecla 32:777976c4d733 80 case 25:
cittecla 32:777976c4d733 81 state = start_positioning();
cittecla 32:777976c4d733 82 break;
cittecla 32:777976c4d733 83 case 26:
cittecla 32:777976c4d733 84 state = start_mapping();
cittecla 32:777976c4d733 85 break;
cittecla 32:777976c4d733 86 case 27:
cittecla 32:777976c4d733 87 state = initial_turn();
cittecla 32:777976c4d733 88 break;
cittecla 31:51f52ffa4b51 89
cittecla 31:51f52ffa4b51 90
cittecla 32:777976c4d733 91 case 35:
cittecla 32:777976c4d733 92 state = select_target();
cittecla 32:777976c4d733 93 break;
cittecla 32:777976c4d733 94 case 36:
cittecla 32:777976c4d733 95 state = pathfinding();
cittecla 32:777976c4d733 96 break;
cittecla 32:777976c4d733 97 case 37:
cittecla 32:777976c4d733 98 state = remove_target();
cittecla 32:777976c4d733 99 break;
cittecla 25:08ee4525155b 100
cittecla 19:baa8371d55b4 101
cittecla 18:a82994e67297 102
cittecla 32:777976c4d733 103 case 40:
cittecla 32:777976c4d733 104 state = moving();
cittecla 32:777976c4d733 105 break;
cittecla 32:777976c4d733 106 case 41:
cittecla 32:777976c4d733 107 state = moving_forward_for_distance();
cittecla 32:777976c4d733 108 break;
cittecla 32:777976c4d733 109 case 42:
cittecla 32:777976c4d733 110 state = moving_backward_for_distance();
cittecla 32:777976c4d733 111 break;
cittecla 32:777976c4d733 112 case 43:
cittecla 32:777976c4d733 113 state = turn_left_for_deg();
cittecla 32:777976c4d733 114 break;
cittecla 32:777976c4d733 115 case 44:
cittecla 32:777976c4d733 116 state = turn_right_for_deg();
cittecla 32:777976c4d733 117 break;
cittecla 32:777976c4d733 118
cittecla 32:777976c4d733 119 case 46:
cittecla 32:777976c4d733 120 state = move_to_next_coord();
cittecla 32:777976c4d733 121 break;
cittecla 32:777976c4d733 122 case 47:
cittecla 32:777976c4d733 123 state = move_in_search_for_brick();
cittecla 32:777976c4d733 124 break;
cittecla 18:a82994e67297 125
cittecla 18:a82994e67297 126
cittecla 32:777976c4d733 127 case 50:
cittecla 32:777976c4d733 128 state = grabbing();
cittecla 32:777976c4d733 129 break;
cittecla 32:777976c4d733 130 case 51:
cittecla 32:777976c4d733 131 state = arm_move_up();
cittecla 32:777976c4d733 132 break;
cittecla 32:777976c4d733 133 case 52:
cittecla 32:777976c4d733 134 state = arm_move_down();
cittecla 32:777976c4d733 135 break;
cittecla 32:777976c4d733 136 case 53:
cittecla 32:777976c4d733 137 state = arm_move_to_hold();
cittecla 32:777976c4d733 138 break;
cittecla 24:6c2fec64f890 139
cittecla 32:777976c4d733 140 case 55:
cittecla 32:777976c4d733 141 state = oben_grabber();
cittecla 32:777976c4d733 142 break;
cittecla 32:777976c4d733 143 case 56:
cittecla 32:777976c4d733 144 state = close_grabber();
cittecla 32:777976c4d733 145 break;
cittecla 32:777976c4d733 146 case 57:
cittecla 32:777976c4d733 147 state = test_color();
cittecla 25:08ee4525155b 148
cittecla 32:777976c4d733 149
cittecla 32:777976c4d733 150 default:
cittecla 32:777976c4d733 151 printf("Fatal Error, Unkonwn state!");
cittecla 32:777976c4d733 152 state = 0;
cittecla 32:777976c4d733 153 break;
cittecla 32:777976c4d733 154 }
cittecla 32:777976c4d733 155 }
cittecla 31:51f52ffa4b51 156 }