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@40:a46667b62671, 2017-04-04 (annotated)

Committer:
cittecla
Date:
Tue Apr 04 15:37:40 2017 +0000
Revision:
40:a46667b62671
Parent:
39:92723f7ea54f
Child:
41:462d379e85c4
Added one more state-group

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 40:a46667b62671 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 31:51f52ffa4b51 103
cittecla 31:51f52ffa4b51 104
cittecla 38:3526c36e4c73 105 case 40:
cittecla 38:3526c36e4c73 106 state = moving();
cittecla 38:3526c36e4c73 107 break;
cittecla 38:3526c36e4c73 108 case 41:
cittecla 38:3526c36e4c73 109 state = moving_forward_for_distance();
cittecla 38:3526c36e4c73 110 break;
cittecla 38:3526c36e4c73 111 case 42:
cittecla 38:3526c36e4c73 112 state = moving_backward_for_distance();
cittecla 38:3526c36e4c73 113 break;
cittecla 38:3526c36e4c73 114 case 43:
cittecla 38:3526c36e4c73 115 state = turn_left_for_deg();
cittecla 38:3526c36e4c73 116 break;
cittecla 38:3526c36e4c73 117 case 44:
cittecla 38:3526c36e4c73 118 state = turn_right_for_deg();
cittecla 38:3526c36e4c73 119 break;
cittecla 38:3526c36e4c73 120
cittecla 38:3526c36e4c73 121 case 46:
cittecla 38:3526c36e4c73 122 state = move_to_next_coord();
cittecla 38:3526c36e4c73 123 break;
cittecla 38:3526c36e4c73 124 case 47:
cittecla 38:3526c36e4c73 125 state = move_in_search_for_brick();
cittecla 38:3526c36e4c73 126 break;
cittecla 31:51f52ffa4b51 127
cittecla 31:51f52ffa4b51 128
cittecla 38:3526c36e4c73 129 case 50:
cittecla 38:3526c36e4c73 130 state = grabbing();
cittecla 38:3526c36e4c73 131 break;
cittecla 38:3526c36e4c73 132 case 51:
cittecla 38:3526c36e4c73 133 state = arm_position_move();
cittecla 38:3526c36e4c73 134 break;
cittecla 38:3526c36e4c73 135 case 52:
cittecla 38:3526c36e4c73 136 state = arm_position_grabbing();
cittecla 38:3526c36e4c73 137 break;
cittecla 38:3526c36e4c73 138 case 53:
cittecla 38:3526c36e4c73 139 state = arm_position_release();
cittecla 38:3526c36e4c73 140 break;
cittecla 38:3526c36e4c73 141
cittecla 38:3526c36e4c73 142 case 55:
cittecla 38:3526c36e4c73 143 state = oben_grabber();
cittecla 38:3526c36e4c73 144 break;
cittecla 38:3526c36e4c73 145 case 56:
cittecla 38:3526c36e4c73 146 state = close_grabber();
cittecla 38:3526c36e4c73 147 break;
cittecla 38:3526c36e4c73 148 case 57:
cittecla 38:3526c36e4c73 149 state = test_color();
cittecla 39:92723f7ea54f 150 /*
cittecla 38:3526c36e4c73 151 case 99:
cittecla 38:3526c36e4c73 152 sate = init();
cittecla 38:3526c36e4c73 153 break;
cittecla 38:3526c36e4c73 154 case 100:
cittecla 38:3526c36e4c73 155 state = turn_left(30);
cittecla 38:3526c36e4c73 156 break;
cittecla 38:3526c36e4c73 157 case 101:
cittecla 38:3526c36e4c73 158 state = turn_right_for_brick;
cittecla 38:3526c36e4c73 159 break;
cittecla 38:3526c36e4c73 160 case 102:
cittecla 38:3526c36e4c73 161 state = move_to_brick;
cittecla 39:92723f7ea54f 162 */
cittecla 19:baa8371d55b4 163
cittecla 18:a82994e67297 164
cittecla 38:3526c36e4c73 165 //test states
cittecla 38:3526c36e4c73 166 case 200:
cittecla 34:40d8d29b44b8 167 state = IMU();
cittecla 32:777976c4d733 168 break;
cittecla 32:777976c4d733 169 default:
cittecla 32:777976c4d733 170 printf("Fatal Error, Unkonwn state!");
cittecla 32:777976c4d733 171 state = 0;
cittecla 32:777976c4d733 172 break;
cittecla 32:777976c4d733 173 }
cittecla 32:777976c4d733 174 }
cittecla 34:40d8d29b44b8 175 }
cittecla 34:40d8d29b44b8 176
cittecla 34:40d8d29b44b8 177 int IMU()
cittecla 34:40d8d29b44b8 178 {
cittecla 36:b654afdf886e 179 printf("%f\r\n", read_heading());
cittecla 34:40d8d29b44b8 180 return 200;
cittecla 34:40d8d29b44b8 181 }
cittecla 34:40d8d29b44b8 182
cittecla 34:40d8d29b44b8 183 int init()
cittecla 34:40d8d29b44b8 184 {
cittecla 34:40d8d29b44b8 185 Robot_init_all();
cittecla 34:40d8d29b44b8 186 return 100;
cittecla 34:40d8d29b44b8 187 }
cittecla 38:3526c36e4c73 188
cittecla 38:3526c36e4c73 189
cittecla 34:40d8d29b44b8 190 /*
cittecla 34:40d8d29b44b8 191 int turn_left(float deg)
cittecla 34:40d8d29b44b8 192 {
cittecla 34:40d8d29b44b8 193 bool in_function = false;
cittecla 34:40d8d29b44b8 194 if(in_function = false) {
cittecla 34:40d8d29b44b8 195 float current_deg = read_heading();
cittecla 34:40d8d29b44b8 196 set_speed(-50, 50);
cittecla 34:40d8d29b44b8 197 in_function = true;
cittecla 34:40d8d29b44b8 198 }
cittecla 34:40d8d29b44b8 199 if(current_deg - deg < read_heading() {
cittecla 34:40d8d29b44b8 200 set_speed(0, 0);
cittecla 34:40d8d29b44b8 201 return 101;
cittecla 34:40d8d29b44b8 202 in_function = false;
cittecla 34:40d8d29b44b8 203 }
cittecla 34:40d8d29b44b8 204 return 100;
cittecla 34:40d8d29b44b8 205 }
cittecla 34:40d8d29b44b8 206
cittecla 34:40d8d29b44b8 207 int turn_right_for_brick {
cittecla 34:40d8d29b44b8 208 return 0
cittecla 34:40d8d29b44b8 209 }*/