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@136:b35f2d9b7402, 2017-05-16 (annotated)

Committer:
aeschsim
Date:
Tue May 16 16:18:29 2017 +0000
Revision:
136:b35f2d9b7402
Parent:
135:644346924339 
changed and added some safety functions

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 131:8ae08f41bb43 9
cittecla 131:8ae08f41bb43 10
cittecla 71:ddf4eb5c3081 11 Timer game_timer;
cittecla 71:ddf4eb5c3081 12
cittecla 93:837a13760026 13
cittecla 32:777976c4d733 14 int main()
cittecla 32:777976c4d733 15 {
cittecla 61:b57577b0072f 16 printf("start...\r\n");
cittecla 94:0381e8b1beda 17 disable_servos();
cittecla 71:ddf4eb5c3081 18 while (game_timer.read() < 300) {
cittecla 64:c2fcf3b349e9 19 wait(0.01f);
cittecla 34:40d8d29b44b8 20 // 5min
cittecla 33:8a98f8b9d859 21 //*******************************************************************************
cittecla 33:8a98f8b9d859 22 //Non_state machine driven function
cittecla 33:8a98f8b9d859 23 //This functions will be called every cycle, use for safety and sensor functipons
cittecla 33:8a98f8b9d859 24 //*******************************************************************************
cittecla 32:777976c4d733 25
aeschsim 136:b35f2d9b7402 26 if (safety() && state != 50) { //arm down
aeschsim 136:b35f2d9b7402 27 //irgendwie rückwärts fahren
aeschsim 136:b35f2d9b7402 28 //state = 47
aeschsim 136:b35f2d9b7402 29 state = 61;
aeschsim 136:b35f2d9b7402 30 }
cittecla 31:51f52ffa4b51 31
cittecla 38:3526c36e4c73 32
cittecla 32:777976c4d733 33
cittecla 32:777976c4d733 34 if(positioning_state) {
cittecla 38:3526c36e4c73 35 positioning();
cittecla 32:777976c4d733 36 }
cittecla 32:777976c4d733 37 if(mapping_state) {
cittecla 38:3526c36e4c73 38 mapping();
cittecla 32:777976c4d733 39 }
cittecla 18:a82994e67297 40
cittecla 33:8a98f8b9d859 41 //*******************************************************************************
cittecla 33:8a98f8b9d859 42 //state machine driven function
cittecla 33:8a98f8b9d859 43 //This functions will only be called when their state is active.
cittecla 33:8a98f8b9d859 44 //The state machine will be in the same state until this action is completed or
cittecla 33:8a98f8b9d859 45 //a safty function kicks in and stops the current function.
cittecla 33:8a98f8b9d859 46 //Every function will return the next active state upon its transition table.
cittecla 33:8a98f8b9d859 47 //State and Transition Table can be found in the State_Machine.xlsx
cittecla 33:8a98f8b9d859 48 //*******************************************************************************
cittecla 113:c8ea0cd9b20c 49
aeschsim 135:644346924339 50 if(state != old_state) {
cittecla 127:6bde4483ce7b 51 printf("state: %d\r\n",state);
cittecla 127:6bde4483ce7b 52 old_state = state;
cittecla 127:6bde4483ce7b 53 }
cittecla 32:777976c4d733 54 switch (state) {
cittecla 38:3526c36e4c73 55 case 0:
cittecla 38:3526c36e4c73 56 state = emergency_shutdown();
cittecla 38:3526c36e4c73 57 break;
cittecla 38:3526c36e4c73 58 case 1:
cittecla 38:3526c36e4c73 59 state = colision_detected();
cittecla 38:3526c36e4c73 60 break;
cittecla 38:3526c36e4c73 61 case 2:
cittecla 38:3526c36e4c73 62 state = current_to_high();
cittecla 38:3526c36e4c73 63 break;
cittecla 38:3526c36e4c73 64 case 3:
cittecla 38:3526c36e4c73 65 state = overheating();
cittecla 38:3526c36e4c73 66 break;
cittecla 31:51f52ffa4b51 67
cittecla 38:3526c36e4c73 68 case 10:
cittecla 71:ddf4eb5c3081 69 state = idle();
cittecla 38:3526c36e4c73 70 break;
cittecla 38:3526c36e4c73 71 case 11:
cittecla 71:ddf4eb5c3081 72 state = idle2();
cittecla 38:3526c36e4c73 73 break;
cittecla 38:3526c36e4c73 74
cittecla 38:3526c36e4c73 75 case 15:
aeschsim 78:d9138c6f82a8 76 state = initialisation(); //init servo is included
cittecla 38:3526c36e4c73 77 break;
cittecla 38:3526c36e4c73 78 case 16:
cittecla 79:92b9d083322d 79 state = inital_arm_positioning();
cittecla 38:3526c36e4c73 80 break;
aeschsim 135:644346924339 81 /*case 17:
aeschsim 135:644346924339 82 state = initial_positioning();
aeschsim 135:644346924339 83 break;*/
cittecla 31:51f52ffa4b51 84
cittecla 38:3526c36e4c73 85 case 25:
aeschsim 133:0046d2224e39 86 state = 28;
cittecla 71:ddf4eb5c3081 87 game_timer.start();
cittecla 38:3526c36e4c73 88 break;
aeschsim 135:644346924339 89 /*case 26:
aeschsim 135:644346924339 90 state = 27;
aeschsim 135:644346924339 91 positioning_state = 1;
aeschsim 135:644346924339 92 break;
aeschsim 135:644346924339 93 case 27:
aeschsim 135:644346924339 94 state = 28;
aeschsim 135:644346924339 95 //mapping_state = 1;
aeschsim 135:644346924339 96 break;*/
cittecla 71:ddf4eb5c3081 97 case 28:
cittecla 38:3526c36e4c73 98 state = initial_turn();
cittecla 38:3526c36e4c73 99 break;
cittecla 38:3526c36e4c73 100
aeschsim 135:644346924339 101 /*
aeschsim 135:644346924339 102 case 35:
aeschsim 135:644346924339 103 state = select_target();
aeschsim 135:644346924339 104 break;
aeschsim 135:644346924339 105 case 36:
aeschsim 135:644346924339 106 state = pathfinding();
aeschsim 135:644346924339 107 break;
aeschsim 135:644346924339 108 case 37:
aeschsim 135:644346924339 109 state = switch_target_red();
aeschsim 135:644346924339 110 break;
cittecla 31:51f52ffa4b51 111
cittecla 31:51f52ffa4b51 112
aeschsim 135:644346924339 113 case 40:
aeschsim 135:644346924339 114 state = moving();
aeschsim 135:644346924339 115 break;
cittecla 54:453f24775644 116
cittecla 38:3526c36e4c73 117
aeschsim 135:644346924339 118 case 45:
aeschsim 135:644346924339 119 state = move_to_brick_by_coordlist();
aeschsim 135:644346924339 120 break;
aeschsim 135:644346924339 121 */
cittecla 38:3526c36e4c73 122 case 47:
cittecla 38:3526c36e4c73 123 state = move_in_search_for_brick();
cittecla 38:3526c36e4c73 124 break;
aeschsim 135:644346924339 125
aeschsim 135:644346924339 126 /*
aeschsim 135:644346924339 127 case 48:
aeschsim 135:644346924339 128 state = generate_fake_target();
aeschsim 135:644346924339 129 break;
aeschsim 135:644346924339 130 */
cittecla 31:51f52ffa4b51 131
cittecla 38:3526c36e4c73 132 case 50:
cittecla 38:3526c36e4c73 133 state = grabbing();
cittecla 38:3526c36e4c73 134 break;
aeschsim 135:644346924339 135
aeschsim 133:0046d2224e39 136 case 60:
aeschsim 133:0046d2224e39 137 state = move_random();
aeschsim 135:644346924339 138 break;
aeschsim 133:0046d2224e39 139 case 61:
aeschsim 133:0046d2224e39 140 state = swerve_go();
aeschsim 135:644346924339 141 break;
cittecla 87:df8c869a5a52 142
cittecla 87:df8c869a5a52 143 /******************************************************************************/
aeschsim 80:956f65714207 144 //Testtools
aeschsim 135:644346924339 145 /*
aeschsim 135:644346924339 146 case 100: //Testtool for IR sensors
aeschsim 135:644346924339 147 //printf("sensor 0: %f \r\n", getDistanceIR(0));
aeschsim 135:644346924339 148 // printf("sensor 1: %f \r\n", getDistanceIR(1));
aeschsim 135:644346924339 149 printf("sensor oben: %f \r\n", getDistanceIR(2));
aeschsim 135:644346924339 150 printf("sensor unten: %f \r\n\n", getDistanceIR(3));
aeschsim 135:644346924339 151 // printf("sensor 4: %f \r\n", getDistanceIR(4));
aeschsim 135:644346924339 152 // printf("sensor 5: %f \r\n\n", getDistanceIR(5));
aeschsim 135:644346924339 153 wait(0.1f);
aeschsim 135:644346924339 154 state = 100;
aeschsim 135:644346924339 155 break;
aeschsim 135:644346924339 156 case 101: //Testtool for get_color
aeschsim 135:644346924339 157 char str1[] = "GREEN";
aeschsim 135:644346924339 158 char str2[] = "RED";
aeschsim 135:644346924339 159 printf("Color: %s\r\n",get_color()? str1 : str2);
aeschsim 135:644346924339 160 wait_ms(500);
aeschsim 135:644346924339 161 state = 101;
aeschsim 135:644346924339 162 break;
aeschsim 135:644346924339 163 case 102:
aeschsim 135:644346924339 164 move_for_distance_with_radius(0.5f,-0.4);
aeschsim 135:644346924339 165 state = 103;
aeschsim 135:644346924339 166 break;
aeschsim 135:644346924339 167 case 103:
aeschsim 135:644346924339 168 float distance = move_for_distance_with_radius(0,0);
aeschsim 135:644346924339 169 if(distance < 0) {
aeschsim 135:644346924339 170 //printf("remaining deg %f\r\n", deg);
aeschsim 135:644346924339 171 stop_turn();
aeschsim 135:644346924339 172 state = 104;
aeschsim 135:644346924339 173 }
aeschsim 135:644346924339 174 break;
aeschsim 135:644346924339 175 case 104:
aeschsim 135:644346924339 176 move_for_distance_with_radius(0.5f,0.4);
aeschsim 135:644346924339 177 state = 105;
aeschsim 135:644346924339 178 break;
aeschsim 135:644346924339 179 case 105:
aeschsim 135:644346924339 180 float distance2 = move_for_distance_with_radius(0,0);
aeschsim 135:644346924339 181 if(distance2 < 0) {
aeschsim 135:644346924339 182 //printf("remaining deg %f\r\n", deg);
aeschsim 135:644346924339 183 stop_turn();
aeschsim 135:644346924339 184 state = 106;
aeschsim 135:644346924339 185 }
aeschsim 135:644346924339 186 break;
aeschsim 135:644346924339 187 case 106:
aeschsim 135:644346924339 188 coordinates co = get_current_coord();
aeschsim 135:644346924339 189 printf("current_coord: %f || %f\r\n", co.x, co.y);
aeschsim 135:644346924339 190 */
cittecla 32:777976c4d733 191 }
cittecla 32:777976c4d733 192 }
cittecla 71:ddf4eb5c3081 193 }