Diff: main.cpp

Revision:

12:daa53285b6e4

Parent:

11:7b3ee540ba56

Child:

13:f5994956b1ba

--- a/main.cpp	Tue Oct 27 00:13:49 2015 +0000
+++ b/main.cpp	Tue Oct 27 13:03:10 2015 +0000
@@ -33,12 +33,13 @@
 unsigned short reflected_sensor_data[8]; // The reflected IR values when this robots emitters are on
 unsigned short background_sensor_data[8];// The raw IR values when no robot (or beacon) should have its IR on
 
-char default_normal_program = 3;         // The program to run on turn on (after 'face beacon' program)
+char default_normal_program = 6;         // The program to run on turn on (after 'face beacon' program)
 char use_recharging_program = 1;         // Set to 1 to force robot to run recharging program when battery voltage drops below a threshold
 char user_code_debug = 1;                // Set to 1 to show terminal messages from "out" function [specific to this code]
 char display_debug_inf = 0;              // Set to 1 to show debug info about beacon\robots on display [instead of running program info]
 char main_program_state;                 // Index of the currently running program
 char program_changed = 0;                // Flag to update display when program is changed
+char program_run_init = 0;               // Flag to tell program to run its initialisation on first loop, if neccessary
 char success_count = 0;                  // Flag to indicate the success of a program
 char step_cycle = 0;                     // Alternates between 0 and 1 in successive time-steps
 char target_reached = 0;                 // Flag to indicate if a program target has been reached
@@ -87,6 +88,9 @@
             case 5:
                 find_space_program();
                 break;
+            case 6:
+                clustering_program(0);
+                break;
         }
     }
     step_cycle=1-step_cycle;
@@ -94,7 +98,7 @@
 
 ///Place user code here that should be run after initialisation but before the main loop
 void user_code_setup()
-{
+{  
     wait(0.8);
     display.clear_display();
     display.set_position(0,0);
@@ -167,6 +171,9 @@
         case 5:
             strcpy(ret_name,"FIND SPACE");
             break;
+        case 6:
+            strcpy(ret_name,"CLUSTERING");
+            break;
     }
     return ret_name;
 }
@@ -175,6 +182,7 @@
 {
     main_program_state = index;
     program_changed = 1;
+    program_run_init = 1;
     strcpy(prog_info,"");
     strcpy(prog_name,get_program_name(index)); 
 }