Diff: programs.cpp

Revision:

19:b5788427db67

Parent:

16:976a1d0ea897

Child:

22:3643fc1c82b6

--- a/programs.cpp	Thu Feb 23 09:51:40 2017 +0000
+++ b/programs.cpp	Wed Mar 01 15:23:47 2017 +0000
@@ -725,6 +725,59 @@
 }
 
 
+// mock flocking program
+
+void mockFlocking()
+{
+    float left_motor_speed = 0.5;
+    float right_motor_speed = 0.5;
+    char buffer[255];
+    
+        
+    if (reflected_sensor_data[0] > 300){
+        left_motor_speed = -0.5;
+        set_left_motor_speed(left_motor_speed);
+        set_right_motor_speed(right_motor_speed);      
+    }
+    else if (reflected_sensor_data[7] > 300){
+        right_motor_speed = -0.5;
+        set_left_motor_speed(left_motor_speed);
+        set_right_motor_speed(right_motor_speed);      
+    }
+    else if (robot_id == 1) {
+        display.clear_display();
+        display.set_position(0,0);
+        display.write_string("my Id is 1!");
+        float left_motor_speed = 0.3;
+        float right_motor_speed = 0.3;
+        int turnChance = rand() %100;
+        if (turnChance < 20) {
+            left_motor_speed = 0;
+        } else if (turnChance > 80) {
+            right_motor_speed = 0;
+        }
+        
+        set_left_motor_speed(left_motor_speed);
+        set_right_motor_speed(right_motor_speed);
+    }
+    else {
+        
+        if (abs(robots_heading[1]) > 40 && robots_found[1] == 1) {
+            time_based_turn_degrees(1, robots_heading[1], 1);
+            sprintf(buffer,"%d > 40", robots_heading[1]);
+            display.clear_display();
+            display.set_position(0,0);
+            display.write_string(buffer);
+        } 
+        else {
+            //used for time based turn instead of location based
+            set_left_motor_speed(left_motor_speed);
+            set_right_motor_speed(right_motor_speed);
+        }  
+    }
+
+}
+
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 /// generic_program - Framework for building typical programs