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@79:92b9d083322d, 2017-04-26 (annotated)

Committer:
cittecla
Date:
Wed Apr 26 07:30:03 2017 +0000
Revision:
79:92b9d083322d
Parent:
78:d9138c6f82a8
Child:
80:956f65714207
Fixed IRSensor reading error.

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 79:92b9d083322d 4 int state = 15;
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 32:777976c4d733 10 int main()
cittecla 32:777976c4d733 11 {
cittecla 61:b57577b0072f 12 printf("start...\r\n");
cittecla 71:ddf4eb5c3081 13 while (game_timer.read() < 300) {
cittecla 64:c2fcf3b349e9 14 wait(0.01f);
cittecla 34:40d8d29b44b8 15 // 5min
cittecla 33:8a98f8b9d859 16 //*******************************************************************************
cittecla 33:8a98f8b9d859 17 //Non_state machine driven function
cittecla 33:8a98f8b9d859 18 //This functions will be called every cycle, use for safety and sensor functipons
cittecla 33:8a98f8b9d859 19 //*******************************************************************************
cittecla 32:777976c4d733 20
cittecla 38:3526c36e4c73 21 safety();
cittecla 31:51f52ffa4b51 22
cittecla 38:3526c36e4c73 23 //scanning();
cittecla 71:ddf4eb5c3081 24
cittecla 38:3526c36e4c73 25
cittecla 32:777976c4d733 26
cittecla 32:777976c4d733 27 if(positioning_state) {
cittecla 38:3526c36e4c73 28 positioning();
cittecla 32:777976c4d733 29 }
cittecla 32:777976c4d733 30 if(mapping_state) {
cittecla 38:3526c36e4c73 31 mapping();
cittecla 32:777976c4d733 32 }
cittecla 18:a82994e67297 33
cittecla 33:8a98f8b9d859 34 //*******************************************************************************
cittecla 33:8a98f8b9d859 35 //state machine driven function
cittecla 33:8a98f8b9d859 36 //This functions will only be called when their state is active.
cittecla 33:8a98f8b9d859 37 //The state machine will be in the same state until this action is completed or
cittecla 33:8a98f8b9d859 38 //a safty function kicks in and stops the current function.
cittecla 33:8a98f8b9d859 39 //Every function will return the next active state upon its transition table.
cittecla 33:8a98f8b9d859 40 //State and Transition Table can be found in the State_Machine.xlsx
cittecla 33:8a98f8b9d859 41 //*******************************************************************************
cittecla 72:4e8a151d804e 42 //printf("state: %d\r\n",state);
cittecla 32:777976c4d733 43 switch (state) {
cittecla 38:3526c36e4c73 44 case 0:
cittecla 38:3526c36e4c73 45 state = emergency_shutdown();
cittecla 38:3526c36e4c73 46 break;
cittecla 38:3526c36e4c73 47 case 1:
cittecla 38:3526c36e4c73 48 state = colision_detected();
cittecla 38:3526c36e4c73 49 break;
cittecla 38:3526c36e4c73 50 case 2:
cittecla 38:3526c36e4c73 51 state = current_to_high();
cittecla 38:3526c36e4c73 52 break;
cittecla 38:3526c36e4c73 53 case 3:
cittecla 38:3526c36e4c73 54 state = overheating();
cittecla 38:3526c36e4c73 55 break;
cittecla 31:51f52ffa4b51 56
cittecla 31:51f52ffa4b51 57
cittecla 38:3526c36e4c73 58 case 10:
cittecla 71:ddf4eb5c3081 59 state = idle();
cittecla 71:ddf4eb5c3081 60 printf("idle1...\r\n");
cittecla 38:3526c36e4c73 61 break;
cittecla 38:3526c36e4c73 62 case 11:
cittecla 71:ddf4eb5c3081 63 state = idle2();
cittecla 71:ddf4eb5c3081 64 printf("idle2...\r\n");
cittecla 38:3526c36e4c73 65 break;
cittecla 38:3526c36e4c73 66
cittecla 38:3526c36e4c73 67
cittecla 38:3526c36e4c73 68 case 15:
aeschsim 78:d9138c6f82a8 69 state = initialisation(); //init servo is included
cittecla 79:92b9d083322d 70 state = 100;
cittecla 38:3526c36e4c73 71 break;
cittecla 38:3526c36e4c73 72 case 16:
cittecla 79:92b9d083322d 73 state = inital_arm_positioning();
cittecla 38:3526c36e4c73 74 break;
cittecla 71:ddf4eb5c3081 75 case 17:
cittecla 79:92b9d083322d 76 state = initial_positioning();
cittecla 71:ddf4eb5c3081 77 break;
cittecla 31:51f52ffa4b51 78
cittecla 38:3526c36e4c73 79 case 25:
cittecla 58:1a395b6928ee 80 state = 26;
cittecla 71:ddf4eb5c3081 81 game_timer.start();
cittecla 38:3526c36e4c73 82 break;
cittecla 38:3526c36e4c73 83 case 26:
cittecla 58:1a395b6928ee 84 state = 27;
cittecla 71:ddf4eb5c3081 85 positioning_state = 1;
cittecla 71:ddf4eb5c3081 86 break;
cittecla 71:ddf4eb5c3081 87 case 27:
cittecla 71:ddf4eb5c3081 88 state = 28;
cittecla 38:3526c36e4c73 89 mapping_state = 1;
cittecla 38:3526c36e4c73 90 break;
cittecla 71:ddf4eb5c3081 91 case 28:
cittecla 38:3526c36e4c73 92 state = initial_turn();
cittecla 38:3526c36e4c73 93 break;
cittecla 38:3526c36e4c73 94
cittecla 40:a46667b62671 95
cittecla 38:3526c36e4c73 96 case 35:
cittecla 38:3526c36e4c73 97 state = select_target();
cittecla 38:3526c36e4c73 98 break;
cittecla 38:3526c36e4c73 99 case 36:
cittecla 38:3526c36e4c73 100 state = pathfinding();
cittecla 38:3526c36e4c73 101 break;
cittecla 38:3526c36e4c73 102 case 37:
cittecla 41:462d379e85c4 103 state = switch_target_red();
cittecla 41:462d379e85c4 104 break;
cittecla 31:51f52ffa4b51 105
cittecla 31:51f52ffa4b51 106
cittecla 38:3526c36e4c73 107 case 40:
cittecla 38:3526c36e4c73 108 state = moving();
cittecla 38:3526c36e4c73 109 break;
cittecla 38:3526c36e4c73 110 case 41:
cittecla 54:453f24775644 111 state = move_forward_for_distance(0);
cittecla 38:3526c36e4c73 112 break;
cittecla 38:3526c36e4c73 113 case 42:
cittecla 54:453f24775644 114 state = move_backward_for_distance();
cittecla 38:3526c36e4c73 115 break;
cittecla 62:628f8a4e857c 116
cittecla 54:453f24775644 117
cittecla 38:3526c36e4c73 118
cittecla 38:3526c36e4c73 119 case 46:
cittecla 38:3526c36e4c73 120 state = move_to_next_coord();
cittecla 38:3526c36e4c73 121 break;
cittecla 38:3526c36e4c73 122 case 47:
cittecla 38:3526c36e4c73 123 state = move_in_search_for_brick();
cittecla 38:3526c36e4c73 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 case 51:
cittecla 38:3526c36e4c73 131 state = arm_position_move();
cittecla 38:3526c36e4c73 132 break;
cittecla 38:3526c36e4c73 133 case 52:
aeschsim 63:87b615e4a842 134 arm_position_grabbing();
aeschsim 63:87b615e4a842 135 state = 56;
aeschsim 63:87b615e4a842 136 wait_ms(1000);
cittecla 38:3526c36e4c73 137 break;
cittecla 38:3526c36e4c73 138 case 53:
cittecla 38:3526c36e4c73 139 state = arm_position_release();
aeschsim 63:87b615e4a842 140 state = 55;
aeschsim 63:87b615e4a842 141 wait_ms(1000);
cittecla 38:3526c36e4c73 142 break;
cittecla 38:3526c36e4c73 143
cittecla 38:3526c36e4c73 144 case 55:
cittecla 61:b57577b0072f 145 state = open_grabber();
aeschsim 63:87b615e4a842 146 state = 52;
aeschsim 63:87b615e4a842 147 wait_ms(1000);
cittecla 38:3526c36e4c73 148 break;
cittecla 38:3526c36e4c73 149 case 56:
cittecla 38:3526c36e4c73 150 state = close_grabber();
aeschsim 63:87b615e4a842 151 state = 53;
aeschsim 63:87b615e4a842 152 wait_ms(1000);
cittecla 38:3526c36e4c73 153 break;
cittecla 79:92b9d083322d 154 case 100:
cittecla 79:92b9d083322d 155 printf("sensor 0: %f \r\n", getDistanceIR(0));
cittecla 79:92b9d083322d 156 printf("sensor 1: %f \r\n", getDistanceIR(1));
cittecla 79:92b9d083322d 157 printf("sensor 2: %f \r\n", getDistanceIR(2));
cittecla 79:92b9d083322d 158 printf("sensor 3: %f \r\n", getDistanceIR(3));
cittecla 79:92b9d083322d 159 printf("sensor 4: %f \r\n", getDistanceIR(4));
cittecla 79:92b9d083322d 160 printf("sensor 5: %f \r\n\n", getDistanceIR(5));
cittecla 79:92b9d083322d 161 state = 100;
cittecla 79:92b9d083322d 162 break;
cittecla 32:777976c4d733 163 }
cittecla 32:777976c4d733 164 }
cittecla 71:ddf4eb5c3081 165 }