PES 2 - Gruppe 1 / Mbed 2 deprecated Robocode_Random

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

source/Main.cpp@64:c2fcf3b349e9, 2017-04-19 (annotated)

Committer:
cittecla
Date:
Wed Apr 19 08:34:24 2017 +0000
Revision:
64:c2fcf3b349e9
Parent:
62:628f8a4e857c
Child:
67:d1ac034668fc
Init pos

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 61:b57577b0072f 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 34:40d8d29b44b8 8 int IMU();
cittecla 34:40d8d29b44b8 9
cittecla 32:777976c4d733 10 int main()
cittecla 32:777976c4d733 11 {
cittecla 61:b57577b0072f 12 printf("start...\r\n");
cittecla 32:777976c4d733 13
cittecla 34:40d8d29b44b8 14 // while (timer() < 300) {
cittecla 34:40d8d29b44b8 15 while (1) {
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 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 61:b57577b0072f 61 printf("idel1...\r\n");
cittecla 38:3526c36e4c73 62 break;
cittecla 38:3526c36e4c73 63 case 11:
cittecla 38:3526c36e4c73 64 state = idel2();
cittecla 61:b57577b0072f 65 printf("idel2...\r\n");
cittecla 38:3526c36e4c73 66 break;
cittecla 38:3526c36e4c73 67
cittecla 38:3526c36e4c73 68
cittecla 38:3526c36e4c73 69 case 15:
cittecla 38:3526c36e4c73 70 state = initialisation();
cittecla 38:3526c36e4c73 71 break;
cittecla 38:3526c36e4c73 72 case 16:
cittecla 38:3526c36e4c73 73 state = inital_positioning();
cittecla 38:3526c36e4c73 74 break;
cittecla 32:777976c4d733 75
cittecla 31:51f52ffa4b51 76
cittecla 38:3526c36e4c73 77 case 25:
cittecla 58:1a395b6928ee 78 state = 26;
cittecla 38:3526c36e4c73 79 positioning_state = 1;
cittecla 38:3526c36e4c73 80 break;
cittecla 38:3526c36e4c73 81 case 26:
cittecla 58:1a395b6928ee 82 state = 27;
cittecla 38:3526c36e4c73 83 mapping_state = 1;
cittecla 38:3526c36e4c73 84 break;
cittecla 38:3526c36e4c73 85 case 27:
cittecla 38:3526c36e4c73 86 state = initial_turn();
cittecla 38:3526c36e4c73 87 break;
cittecla 38:3526c36e4c73 88
cittecla 40:a46667b62671 89
cittecla 38:3526c36e4c73 90 case 35:
cittecla 38:3526c36e4c73 91 state = select_target();
cittecla 38:3526c36e4c73 92 break;
cittecla 38:3526c36e4c73 93 case 36:
cittecla 38:3526c36e4c73 94 state = pathfinding();
cittecla 38:3526c36e4c73 95 break;
cittecla 38:3526c36e4c73 96 case 37:
cittecla 41:462d379e85c4 97 state = switch_target_red();
cittecla 41:462d379e85c4 98 break;
cittecla 31:51f52ffa4b51 99
cittecla 31:51f52ffa4b51 100
cittecla 38:3526c36e4c73 101 case 40:
cittecla 38:3526c36e4c73 102 state = moving();
cittecla 38:3526c36e4c73 103 break;
cittecla 38:3526c36e4c73 104 case 41:
cittecla 54:453f24775644 105 state = move_forward_for_distance(0);
cittecla 38:3526c36e4c73 106 break;
cittecla 38:3526c36e4c73 107 case 42:
cittecla 54:453f24775644 108 state = move_backward_for_distance();
cittecla 38:3526c36e4c73 109 break;
cittecla 62:628f8a4e857c 110
cittecla 54:453f24775644 111
cittecla 38:3526c36e4c73 112
cittecla 38:3526c36e4c73 113 case 46:
cittecla 38:3526c36e4c73 114 state = move_to_next_coord();
cittecla 38:3526c36e4c73 115 break;
cittecla 38:3526c36e4c73 116 case 47:
cittecla 38:3526c36e4c73 117 state = move_in_search_for_brick();
cittecla 38:3526c36e4c73 118 break;
cittecla 31:51f52ffa4b51 119
cittecla 31:51f52ffa4b51 120
cittecla 38:3526c36e4c73 121 case 50:
cittecla 38:3526c36e4c73 122 state = grabbing();
cittecla 38:3526c36e4c73 123 break;
cittecla 38:3526c36e4c73 124 case 51:
cittecla 38:3526c36e4c73 125 state = arm_position_move();
cittecla 38:3526c36e4c73 126 break;
cittecla 38:3526c36e4c73 127 case 52:
cittecla 38:3526c36e4c73 128 state = arm_position_grabbing();
cittecla 38:3526c36e4c73 129 break;
cittecla 38:3526c36e4c73 130 case 53:
cittecla 38:3526c36e4c73 131 state = arm_position_release();
cittecla 38:3526c36e4c73 132 break;
cittecla 38:3526c36e4c73 133
cittecla 38:3526c36e4c73 134 case 55:
cittecla 61:b57577b0072f 135 state = open_grabber();
cittecla 38:3526c36e4c73 136 break;
cittecla 38:3526c36e4c73 137 case 56:
cittecla 38:3526c36e4c73 138 state = close_grabber();
cittecla 38:3526c36e4c73 139 break;
cittecla 61:b57577b0072f 140
cittecla 39:92723f7ea54f 141 /*
cittecla 38:3526c36e4c73 142 case 99:
cittecla 38:3526c36e4c73 143 sate = init();
cittecla 38:3526c36e4c73 144 break;
cittecla 38:3526c36e4c73 145 case 100:
cittecla 38:3526c36e4c73 146 state = turn_left(30);
cittecla 38:3526c36e4c73 147 break;
cittecla 38:3526c36e4c73 148 case 101:
cittecla 38:3526c36e4c73 149 state = turn_right_for_brick;
cittecla 38:3526c36e4c73 150 break;
cittecla 38:3526c36e4c73 151 case 102:
cittecla 38:3526c36e4c73 152 state = move_to_brick;
cittecla 39:92723f7ea54f 153 */
cittecla 19:baa8371d55b4 154
cittecla 18:a82994e67297 155
cittecla 38:3526c36e4c73 156 //test states
cittecla 38:3526c36e4c73 157 case 200:
cittecla 34:40d8d29b44b8 158 state = IMU();
cittecla 32:777976c4d733 159 break;
cittecla 32:777976c4d733 160 default:
cittecla 32:777976c4d733 161 printf("Fatal Error, Unkonwn state!");
cittecla 32:777976c4d733 162 state = 0;
cittecla 32:777976c4d733 163 break;
cittecla 32:777976c4d733 164 }
cittecla 32:777976c4d733 165 }
cittecla 34:40d8d29b44b8 166 }
cittecla 34:40d8d29b44b8 167
cittecla 34:40d8d29b44b8 168 int IMU()
cittecla 34:40d8d29b44b8 169 {
cittecla 36:b654afdf886e 170 printf("%f\r\n", read_heading());
cittecla 34:40d8d29b44b8 171 return 200;
cittecla 34:40d8d29b44b8 172 }
cittecla 34:40d8d29b44b8 173
cittecla 34:40d8d29b44b8 174 int init()
cittecla 34:40d8d29b44b8 175 {
cittecla 34:40d8d29b44b8 176 Robot_init_all();
cittecla 34:40d8d29b44b8 177 return 100;
cittecla 34:40d8d29b44b8 178 }
cittecla 38:3526c36e4c73 179
cittecla 38:3526c36e4c73 180
cittecla 34:40d8d29b44b8 181 /*
cittecla 34:40d8d29b44b8 182 int turn_left(float deg)
cittecla 34:40d8d29b44b8 183 {
cittecla 34:40d8d29b44b8 184 bool in_function = false;
cittecla 34:40d8d29b44b8 185 if(in_function = false) {
cittecla 34:40d8d29b44b8 186 float current_deg = read_heading();
cittecla 34:40d8d29b44b8 187 set_speed(-50, 50);
cittecla 34:40d8d29b44b8 188 in_function = true;
cittecla 34:40d8d29b44b8 189 }
cittecla 34:40d8d29b44b8 190 if(current_deg - deg < read_heading() {
cittecla 34:40d8d29b44b8 191 set_speed(0, 0);
cittecla 34:40d8d29b44b8 192 return 101;
cittecla 34:40d8d29b44b8 193 in_function = false;
cittecla 34:40d8d29b44b8 194 }
cittecla 34:40d8d29b44b8 195 return 100;
cittecla 34:40d8d29b44b8 196 }
cittecla 34:40d8d29b44b8 197
cittecla 34:40d8d29b44b8 198 int turn_right_for_brick {
cittecla 34:40d8d29b44b8 199 return 0
cittecla 34:40d8d29b44b8 200 }*/