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@33:8a98f8b9d859, 2017-03-20 (annotated)

Committer:
cittecla
Date:
Mon Mar 20 14:11:46 2017 +0000
Revision:
33:8a98f8b9d859
Parent:
32:777976c4d733 
Something

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 32:777976c4d733 1 #include "mbed.h"
cittecla 32:777976c4d733 2 #include "pathfinding.h"
cittecla 27:df11ab63cda4 3
cittecla 18:a82994e67297 4
cittecla 18:a82994e67297 5
cittecla 32:777976c4d733 6 int state = 10;
cittecla 32:777976c4d733 7 bool positioning_state = 0;
cittecla 32:777976c4d733 8 bool mapping_state = 0;
cittecla 31:51f52ffa4b51 9
cittecla 32:777976c4d733 10 int main()
cittecla 32:777976c4d733 11 {
cittecla 31:51f52ffa4b51 12
cittecla 32:777976c4d733 13
cittecla 33:8a98f8b9d859 14 while (timer() < 300) {
cittecla 33:8a98f8b9d859 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 32:777976c4d733 21 safty() {
cittecla 31:51f52ffa4b51 22
cittecla 31:51f52ffa4b51 23 }
cittecla 31:51f52ffa4b51 24
cittecla 31:51f52ffa4b51 25 scanning() {
cittecla 32:777976c4d733 26
cittecla 31:51f52ffa4b51 27 }
cittecla 32:777976c4d733 28
cittecla 32:777976c4d733 29 if(positioning_state) {
cittecla 32:777976c4d733 30 positioning();
cittecla 32:777976c4d733 31 }
cittecla 32:777976c4d733 32 if(mapping_state) {
cittecla 32:777976c4d733 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 32:777976c4d733 45 case 0:
cittecla 32:777976c4d733 46 state = emergency_shutdown();
cittecla 32:777976c4d733 47 break;
cittecla 32:777976c4d733 48 case 1:
cittecla 32:777976c4d733 49 state = colision_detected();
cittecla 32:777976c4d733 50 break;
cittecla 32:777976c4d733 51 case 2:
cittecla 32:777976c4d733 52 state = current_to_high();
cittecla 32:777976c4d733 53 break;
cittecla 32:777976c4d733 54 case 3:
cittecla 32:777976c4d733 55 state = overheating();
cittecla 32:777976c4d733 56 break;
cittecla 31:51f52ffa4b51 57
cittecla 31:51f52ffa4b51 58
cittecla 32:777976c4d733 59 case 10:
cittecla 32:777976c4d733 60 state = idel();
cittecla 32:777976c4d733 61 break;
cittecla 32:777976c4d733 62 case 11:
cittecla 32:777976c4d733 63 state = idel2();
cittecla 32:777976c4d733 64 break;
cittecla 32:777976c4d733 65
cittecla 31:51f52ffa4b51 66
cittecla 32:777976c4d733 67 case 15:
cittecla 32:777976c4d733 68 state = initialisation();
cittecla 32:777976c4d733 69 break;
cittecla 32:777976c4d733 70 case 16:
cittecla 32:777976c4d733 71 state = engage_motors();
cittecla 32:777976c4d733 72 break;
cittecla 32:777976c4d733 73 case 17:
cittecla 32:777976c4d733 74 state = test_servos();
cittecla 32:777976c4d733 75 break;
cittecla 32:777976c4d733 76 case 18:
cittecla 32:777976c4d733 77 state = inital_positioning();
cittecla 32:777976c4d733 78 break;
cittecla 31:51f52ffa4b51 79
cittecla 31:51f52ffa4b51 80
cittecla 32:777976c4d733 81 case 25:
cittecla 32:777976c4d733 82 state = start_positioning();
cittecla 32:777976c4d733 83 break;
cittecla 32:777976c4d733 84 case 26:
cittecla 32:777976c4d733 85 state = start_mapping();
cittecla 32:777976c4d733 86 break;
cittecla 32:777976c4d733 87 case 27:
cittecla 32:777976c4d733 88 state = initial_turn();
cittecla 32:777976c4d733 89 break;
cittecla 31:51f52ffa4b51 90
cittecla 31:51f52ffa4b51 91
cittecla 32:777976c4d733 92 case 35:
cittecla 32:777976c4d733 93 state = select_target();
cittecla 32:777976c4d733 94 break;
cittecla 32:777976c4d733 95 case 36:
cittecla 32:777976c4d733 96 state = pathfinding();
cittecla 32:777976c4d733 97 break;
cittecla 32:777976c4d733 98 case 37:
cittecla 32:777976c4d733 99 state = remove_target();
cittecla 32:777976c4d733 100 break;
cittecla 25:08ee4525155b 101
cittecla 19:baa8371d55b4 102
cittecla 18:a82994e67297 103
cittecla 32:777976c4d733 104 case 40:
cittecla 32:777976c4d733 105 state = moving();
cittecla 32:777976c4d733 106 break;
cittecla 32:777976c4d733 107 case 41:
cittecla 32:777976c4d733 108 state = moving_forward_for_distance();
cittecla 32:777976c4d733 109 break;
cittecla 32:777976c4d733 110 case 42:
cittecla 32:777976c4d733 111 state = moving_backward_for_distance();
cittecla 32:777976c4d733 112 break;
cittecla 32:777976c4d733 113 case 43:
cittecla 32:777976c4d733 114 state = turn_left_for_deg();
cittecla 32:777976c4d733 115 break;
cittecla 32:777976c4d733 116 case 44:
cittecla 32:777976c4d733 117 state = turn_right_for_deg();
cittecla 32:777976c4d733 118 break;
cittecla 32:777976c4d733 119
cittecla 32:777976c4d733 120 case 46:
cittecla 32:777976c4d733 121 state = move_to_next_coord();
cittecla 32:777976c4d733 122 break;
cittecla 32:777976c4d733 123 case 47:
cittecla 32:777976c4d733 124 state = move_in_search_for_brick();
cittecla 32:777976c4d733 125 break;
cittecla 18:a82994e67297 126
cittecla 18:a82994e67297 127
cittecla 32:777976c4d733 128 case 50:
cittecla 32:777976c4d733 129 state = grabbing();
cittecla 32:777976c4d733 130 break;
cittecla 32:777976c4d733 131 case 51:
cittecla 32:777976c4d733 132 state = arm_move_up();
cittecla 32:777976c4d733 133 break;
cittecla 32:777976c4d733 134 case 52:
cittecla 32:777976c4d733 135 state = arm_move_down();
cittecla 32:777976c4d733 136 break;
cittecla 32:777976c4d733 137 case 53:
cittecla 32:777976c4d733 138 state = arm_move_to_hold();
cittecla 32:777976c4d733 139 break;
cittecla 24:6c2fec64f890 140
cittecla 32:777976c4d733 141 case 55:
cittecla 32:777976c4d733 142 state = oben_grabber();
cittecla 32:777976c4d733 143 break;
cittecla 32:777976c4d733 144 case 56:
cittecla 32:777976c4d733 145 state = close_grabber();
cittecla 32:777976c4d733 146 break;
cittecla 32:777976c4d733 147 case 57:
cittecla 32:777976c4d733 148 state = test_color();
cittecla 25:08ee4525155b 149
cittecla 32:777976c4d733 150
cittecla 32:777976c4d733 151 default:
cittecla 32:777976c4d733 152 printf("Fatal Error, Unkonwn state!");
cittecla 32:777976c4d733 153 state = 0;
cittecla 32:777976c4d733 154 break;
cittecla 32:777976c4d733 155 }
cittecla 32:777976c4d733 156 }
cittecla 31:51f52ffa4b51 157 }