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@99:78d87027c85b, 2017-05-03 (annotated)

Committer:
aeschsim
Date:
Wed May 03 08:47:21 2017 +0000
Revision:
99:78d87027c85b
Parent:
98:07a8a858e7cd
Child:
100:1bef91db2175
changed sensor reading

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 32:777976c4d733 5 bool positioning_state = 0;
cittecla 32:777976c4d733 6 bool mapping_state = 0;
cittecla 31:51f52ffa4b51 7
cittecla 71:ddf4eb5c3081 8 Timer game_timer;
cittecla 71:ddf4eb5c3081 9
cittecla 93:837a13760026 10
cittecla 32:777976c4d733 11 int main()
cittecla 32:777976c4d733 12 {
cittecla 61:b57577b0072f 13 printf("start...\r\n");
cittecla 94:0381e8b1beda 14 disable_servos();
cittecla 71:ddf4eb5c3081 15 while (game_timer.read() < 300) {
cittecla 64:c2fcf3b349e9 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 71:ddf4eb5c3081 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 //*******************************************************************************
aeschsim 99:78d87027c85b 44
aeschsim 99:78d87027c85b 45
cittecla 72:4e8a151d804e 46 //printf("state: %d\r\n",state);
cittecla 32:777976c4d733 47 switch (state) {
cittecla 38:3526c36e4c73 48 case 0:
cittecla 38:3526c36e4c73 49 state = emergency_shutdown();
cittecla 38:3526c36e4c73 50 break;
cittecla 38:3526c36e4c73 51 case 1:
cittecla 38:3526c36e4c73 52 state = colision_detected();
cittecla 38:3526c36e4c73 53 break;
cittecla 38:3526c36e4c73 54 case 2:
cittecla 38:3526c36e4c73 55 state = current_to_high();
cittecla 38:3526c36e4c73 56 break;
cittecla 38:3526c36e4c73 57 case 3:
cittecla 38:3526c36e4c73 58 state = overheating();
cittecla 38:3526c36e4c73 59 break;
cittecla 31:51f52ffa4b51 60
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
cittecla 38:3526c36e4c73 72 case 15:
aeschsim 78:d9138c6f82a8 73 state = initialisation(); //init servo is included
cittecla 38:3526c36e4c73 74 break;
cittecla 38:3526c36e4c73 75 case 16:
cittecla 79:92b9d083322d 76 state = inital_arm_positioning();
aeschsim 99:78d87027c85b 77 state = 100;
cittecla 38:3526c36e4c73 78 break;
cittecla 71:ddf4eb5c3081 79 case 17:
cittecla 79:92b9d083322d 80 state = initial_positioning();
cittecla 71:ddf4eb5c3081 81 break;
cittecla 31:51f52ffa4b51 82
cittecla 38:3526c36e4c73 83 case 25:
cittecla 58:1a395b6928ee 84 state = 26;
cittecla 71:ddf4eb5c3081 85 game_timer.start();
cittecla 38:3526c36e4c73 86 break;
cittecla 38:3526c36e4c73 87 case 26:
cittecla 58:1a395b6928ee 88 state = 27;
cittecla 71:ddf4eb5c3081 89 positioning_state = 1;
cittecla 71:ddf4eb5c3081 90 break;
cittecla 71:ddf4eb5c3081 91 case 27:
cittecla 71:ddf4eb5c3081 92 state = 28;
cittecla 38:3526c36e4c73 93 mapping_state = 1;
cittecla 38:3526c36e4c73 94 break;
cittecla 71:ddf4eb5c3081 95 case 28:
cittecla 38:3526c36e4c73 96 state = initial_turn();
cittecla 38:3526c36e4c73 97 break;
cittecla 38:3526c36e4c73 98
cittecla 40:a46667b62671 99
cittecla 38:3526c36e4c73 100 case 35:
cittecla 38:3526c36e4c73 101 state = select_target();
cittecla 38:3526c36e4c73 102 break;
cittecla 38:3526c36e4c73 103 case 36:
cittecla 38:3526c36e4c73 104 state = pathfinding();
cittecla 38:3526c36e4c73 105 break;
cittecla 38:3526c36e4c73 106 case 37:
cittecla 41:462d379e85c4 107 state = switch_target_red();
cittecla 41:462d379e85c4 108 break;
cittecla 31:51f52ffa4b51 109
cittecla 31:51f52ffa4b51 110
cittecla 38:3526c36e4c73 111 case 40:
cittecla 38:3526c36e4c73 112 state = moving();
cittecla 38:3526c36e4c73 113 break;
cittecla 54:453f24775644 114
cittecla 38:3526c36e4c73 115
cittecla 38:3526c36e4c73 116 case 46:
cittecla 38:3526c36e4c73 117 state = move_to_next_coord();
cittecla 38:3526c36e4c73 118 break;
cittecla 38:3526c36e4c73 119 case 47:
cittecla 38:3526c36e4c73 120 state = move_in_search_for_brick();
cittecla 38:3526c36e4c73 121 break;
cittecla 87:df8c869a5a52 122 case 48:
cittecla 87:df8c869a5a52 123 state = generate_fake_target();
cittecla 87:df8c869a5a52 124 break;
cittecla 31:51f52ffa4b51 125
cittecla 31:51f52ffa4b51 126
cittecla 38:3526c36e4c73 127 case 50:
cittecla 38:3526c36e4c73 128 state = grabbing();
cittecla 38:3526c36e4c73 129 break;
cittecla 38:3526c36e4c73 130
cittecla 93:837a13760026 131
cittecla 87:df8c869a5a52 132
cittecla 87:df8c869a5a52 133 /******************************************************************************/
aeschsim 80:956f65714207 134 //Testtools
aeschsim 80:956f65714207 135
aeschsim 80:956f65714207 136 case 100: //Testtool for IR sensors
cittecla 79:92b9d083322d 137 printf("sensor 0: %f \r\n", getDistanceIR(0));
cittecla 79:92b9d083322d 138 printf("sensor 1: %f \r\n", getDistanceIR(1));
cittecla 79:92b9d083322d 139 printf("sensor 2: %f \r\n", getDistanceIR(2));
cittecla 79:92b9d083322d 140 printf("sensor 3: %f \r\n", getDistanceIR(3));
cittecla 79:92b9d083322d 141 printf("sensor 4: %f \r\n", getDistanceIR(4));
cittecla 79:92b9d083322d 142 printf("sensor 5: %f \r\n\n", getDistanceIR(5));
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 94:0381e8b1beda 153 turn_for_deg((360*5));
cittecla 94:0381e8b1beda 154 state = 103;
cittecla 94:0381e8b1beda 155 break;
cittecla 94:0381e8b1beda 156 case 103:
cittecla 94:0381e8b1beda 157 float deg = turn_for_deg(0);
cittecla 94:0381e8b1beda 158 if(deg < 0) {
cittecla 94:0381e8b1beda 159 printf("remaining deg %f\r\n", deg);
cittecla 94:0381e8b1beda 160 stop_turn();
aeschsim 95:1c6867536350 161 state = 11;
cittecla 94:0381e8b1beda 162 }
aeschsim 96:8da1c57296ff 163 break;
aeschsim 99:78d87027c85b 164
cittecla 32:777976c4d733 165 }
cittecla 32:777976c4d733 166 }
cittecla 71:ddf4eb5c3081 167 }