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@87:df8c869a5a52, 2017-05-01 (annotated)

Committer:
cittecla
Date:
Mon May 01 12:55:11 2017 +0000
Revision:
87:df8c869a5a52
Parent:
86:d8ea8a99fa3a
Parent:
81:a6f0f827dcb0
Child:
90:7f9d6e641a01
Implemented move_in_search_for_brick with state machine + test function move forward

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 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);
aeschsim 81:a6f0f827dcb0 43 printf("State - %d\r\n",state);
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 71:ddf4eb5c3081 60 state = idle();
cittecla 71:ddf4eb5c3081 61 printf("idle1...\r\n");
cittecla 38:3526c36e4c73 62 break;
cittecla 38:3526c36e4c73 63 case 11:
cittecla 71:ddf4eb5c3081 64 state = idle2();
cittecla 71:ddf4eb5c3081 65 printf("idle2...\r\n");
cittecla 38:3526c36e4c73 66 break;
cittecla 38:3526c36e4c73 67
cittecla 38:3526c36e4c73 68
cittecla 38:3526c36e4c73 69 case 15:
aeschsim 78:d9138c6f82a8 70 state = initialisation(); //init servo is included
cittecla 38:3526c36e4c73 71 break;
cittecla 38:3526c36e4c73 72 case 16:
cittecla 79:92b9d083322d 73 state = inital_arm_positioning();
aeschsim 81:a6f0f827dcb0 74 state = 11;
cittecla 38:3526c36e4c73 75 break;
cittecla 71:ddf4eb5c3081 76 case 17:
cittecla 79:92b9d083322d 77 state = initial_positioning();
cittecla 71:ddf4eb5c3081 78 break;
cittecla 31:51f52ffa4b51 79
cittecla 38:3526c36e4c73 80 case 25:
cittecla 58:1a395b6928ee 81 state = 26;
cittecla 71:ddf4eb5c3081 82 game_timer.start();
cittecla 38:3526c36e4c73 83 break;
cittecla 38:3526c36e4c73 84 case 26:
cittecla 58:1a395b6928ee 85 state = 27;
cittecla 71:ddf4eb5c3081 86 positioning_state = 1;
cittecla 71:ddf4eb5c3081 87 break;
cittecla 71:ddf4eb5c3081 88 case 27:
cittecla 71:ddf4eb5c3081 89 state = 28;
cittecla 38:3526c36e4c73 90 mapping_state = 1;
cittecla 38:3526c36e4c73 91 break;
cittecla 71:ddf4eb5c3081 92 case 28:
cittecla 38:3526c36e4c73 93 state = initial_turn();
cittecla 38:3526c36e4c73 94 break;
cittecla 38:3526c36e4c73 95
cittecla 40:a46667b62671 96
cittecla 38:3526c36e4c73 97 case 35:
cittecla 38:3526c36e4c73 98 state = select_target();
cittecla 38:3526c36e4c73 99 break;
cittecla 38:3526c36e4c73 100 case 36:
cittecla 38:3526c36e4c73 101 state = pathfinding();
cittecla 38:3526c36e4c73 102 break;
cittecla 38:3526c36e4c73 103 case 37:
cittecla 41:462d379e85c4 104 state = switch_target_red();
cittecla 41:462d379e85c4 105 break;
cittecla 31:51f52ffa4b51 106
cittecla 31:51f52ffa4b51 107
cittecla 38:3526c36e4c73 108 case 40:
cittecla 38:3526c36e4c73 109 state = moving();
cittecla 38:3526c36e4c73 110 break;
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 87:df8c869a5a52 119 case 48:
cittecla 87:df8c869a5a52 120 state = generate_fake_target();
cittecla 87:df8c869a5a52 121 break;
cittecla 31:51f52ffa4b51 122
cittecla 31:51f52ffa4b51 123
cittecla 38:3526c36e4c73 124 case 50:
cittecla 38:3526c36e4c73 125 state = grabbing();
cittecla 38:3526c36e4c73 126 break;
cittecla 38:3526c36e4c73 127 case 51:
cittecla 38:3526c36e4c73 128 state = arm_position_move();
cittecla 38:3526c36e4c73 129 break;
cittecla 38:3526c36e4c73 130 case 52:
aeschsim 63:87b615e4a842 131 arm_position_grabbing();
aeschsim 63:87b615e4a842 132 state = 56;
aeschsim 63:87b615e4a842 133 wait_ms(1000);
cittecla 38:3526c36e4c73 134 break;
cittecla 38:3526c36e4c73 135 case 53:
cittecla 38:3526c36e4c73 136 state = arm_position_release();
aeschsim 63:87b615e4a842 137 state = 55;
aeschsim 63:87b615e4a842 138 wait_ms(1000);
cittecla 38:3526c36e4c73 139 break;
cittecla 38:3526c36e4c73 140
cittecla 38:3526c36e4c73 141 case 55:
cittecla 61:b57577b0072f 142 state = open_grabber();
aeschsim 63:87b615e4a842 143 state = 52;
aeschsim 63:87b615e4a842 144 wait_ms(1000);
cittecla 38:3526c36e4c73 145 break;
cittecla 38:3526c36e4c73 146 case 56:
cittecla 38:3526c36e4c73 147 state = close_grabber();
aeschsim 63:87b615e4a842 148 state = 53;
aeschsim 63:87b615e4a842 149 wait_ms(1000);
cittecla 38:3526c36e4c73 150 break;
cittecla 87:df8c869a5a52 151
cittecla 87:df8c869a5a52 152 /******************************************************************************/
aeschsim 80:956f65714207 153 //Testtools
aeschsim 80:956f65714207 154
aeschsim 80:956f65714207 155 case 100: //Testtool for IR sensors
cittecla 79:92b9d083322d 156 printf("sensor 0: %f \r\n", getDistanceIR(0));
cittecla 79:92b9d083322d 157 printf("sensor 1: %f \r\n", getDistanceIR(1));
cittecla 79:92b9d083322d 158 printf("sensor 2: %f \r\n", getDistanceIR(2));
cittecla 79:92b9d083322d 159 printf("sensor 3: %f \r\n", getDistanceIR(3));
cittecla 79:92b9d083322d 160 printf("sensor 4: %f \r\n", getDistanceIR(4));
cittecla 79:92b9d083322d 161 printf("sensor 5: %f \r\n\n", getDistanceIR(5));
cittecla 79:92b9d083322d 162 state = 100;
cittecla 79:92b9d083322d 163 break;
aeschsim 80:956f65714207 164 case 101: //Testtool for get_color
aeschsim 80:956f65714207 165 char str1[] = "GREEN";
aeschsim 80:956f65714207 166 char str2[] = "RED";
aeschsim 80:956f65714207 167 printf("Color: %s\r\n",get_color()? str1 : str2);
aeschsim 80:956f65714207 168 wait_ms(500);
aeschsim 80:956f65714207 169 state = 101;
cittecla 87:df8c869a5a52 170
aeschsim 80:956f65714207 171 case 102: //Testtool for grabbing functions
aeschsim 81:a6f0f827dcb0 172 arm_position_release();
aeschsim 81:a6f0f827dcb0 173 wait_ms(500);
aeschsim 80:956f65714207 174 open_grabber();
aeschsim 80:956f65714207 175 wait_ms(500);
aeschsim 80:956f65714207 176 arm_position_grabbing();
aeschsim 81:a6f0f827dcb0 177 wait_ms(1000);
aeschsim 80:956f65714207 178 //move_forward_for_distance(5.0);
aeschsim 80:956f65714207 179 close_grabber();
aeschsim 80:956f65714207 180 wait_ms(500);
aeschsim 81:a6f0f827dcb0 181 if (get_color() == 0) {
aeschsim 81:a6f0f827dcb0 182 open_grabber();
aeschsim 81:a6f0f827dcb0 183 }
aeschsim 80:956f65714207 184 wait_ms(500);
aeschsim 80:956f65714207 185 state = 102;
cittecla 87:df8c869a5a52 186 break;
cittecla 87:df8c869a5a52 187
cittecla 87:df8c869a5a52 188 case 103:
cittecla 87:df8c869a5a52 189 move_for_distance(1.00f);
cittecla 87:df8c869a5a52 190 state = 104;
cittecla 87:df8c869a5a52 191 break;
cittecla 87:df8c869a5a52 192 case 104:
cittecla 87:df8c869a5a52 193 if(move_for_distance(0) < 0.0f) {
cittecla 87:df8c869a5a52 194 stop_move();
cittecla 87:df8c869a5a52 195 state = 0;
cittecla 87:df8c869a5a52 196 }
cittecla 87:df8c869a5a52 197 break;
cittecla 32:777976c4d733 198 }
cittecla 32:777976c4d733 199 }
cittecla 71:ddf4eb5c3081 200 }