Zürcher Eliteeinheit
/
ROME2_P4
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ROME2_P3
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Zürcher Eliteeinheit
Diff: StateMachine.cpp
- Revision:
- 5:59079b76ac7f
- Parent:
- 4:4428ede9beee
- Child:
- 6:67263dc2c2cf
--- a/StateMachine.cpp Thu Apr 12 12:19:19 2018 +0000
+++ b/StateMachine.cpp Thu Apr 12 14:56:27 2018 +0000
@@ -23,6 +23,7 @@
state = ROBOT_OFF;
buttonNow = button;
buttonBefore = buttonNow;
+ taskList.clear();
ticker.attach(callback(this, &StateMachine::run), PERIOD);
}
@@ -71,17 +72,22 @@
enableMotorDriver = 1;
- controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
- controller.setRotationalVelocity(0.0f);
+ taskList.push_back(new TaskWait(controller, 0.5f));
+ taskList.push_back(new TaskMoveTo(controller, 0.0f, 1.0f, 0.0f, 1.5f, 0.01f));
+ //taskList.push_back(new TaskWait(controller, 1.0f));
+ taskList.push_back(new TaskMoveTo(controller, 0.0f, 0.0f, 0.0f, 1.5f, 0.05f));
+ taskList.push_back(new TaskMoveTo(controller, 0.0f, 1.0f, 0.0f, 1.5f, 0.05f));
+ taskList.push_back(new TaskMoveTo(controller, 0.0f, 0.0f, 0.0f, 1.5f, 0.01f));
+ taskList.push_back(new TaskMoveTo(controller, 0.0f, 0.0f, 0.0f, 1.5f, 0.09f));
- state = MOVE_FORWARD;
+ state = PROCESSING_TASKS;
}
buttonBefore = buttonNow;
break;
- case MOVE_FORWARD:
+ case PROCESSING_TASKS:
buttonNow = button;
@@ -105,6 +111,22 @@
controller.setRotationalVelocity(-ROTATIONAL_VELOCITY);
state = TURN_RIGHT;
+
+ } else if (taskList.size() > 0) {
+
+ Task* task = taskList.front();
+ int result = task->run(PERIOD);
+ if (result == Task::DONE) {
+ taskList.pop_front();
+ delete task;
+ }
+
+ } else {
+
+ controller.setTranslationalVelocity(0.0f);
+ controller.setRotationalVelocity(0.0f);
+
+ state = SLOWING_DOWN;
}
buttonBefore = buttonNow;
@@ -117,16 +139,14 @@
if (buttonNow && !buttonBefore) { // detect button rising edge
+ controller.setTranslationalVelocity(0.0f);
controller.setRotationalVelocity(0.0f);
state = SLOWING_DOWN;
} else if ((irSensor0 > DISTANCE_THRESHOLD) && (irSensor1 > DISTANCE_THRESHOLD) && (irSensor5 > DISTANCE_THRESHOLD)) {
- controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
- controller.setRotationalVelocity(0.0f);
-
- state = MOVE_FORWARD;
+ state = PROCESSING_TASKS;
}
buttonBefore = buttonNow;
@@ -139,16 +159,14 @@
if (buttonNow && !buttonBefore) { // detect button rising edge
+ controller.setTranslationalVelocity(0.0f);
controller.setRotationalVelocity(0.0f);
state = SLOWING_DOWN;
} else if ((irSensor0 > DISTANCE_THRESHOLD) && (irSensor1 > DISTANCE_THRESHOLD) && (irSensor5 > DISTANCE_THRESHOLD)) {
- controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
- controller.setRotationalVelocity(0.0f);
-
- state = MOVE_FORWARD;
+ state = PROCESSING_TASKS;
}
buttonBefore = buttonNow;
@@ -161,6 +179,11 @@
enableMotorDriver = 0;
+ while (taskList.size() > 0) {
+ delete taskList.front();
+ taskList.pop_front();
+ }
+
state = ROBOT_OFF;
}
@@ -171,4 +194,3 @@
state = ROBOT_OFF;
}
}
-