Revision 19:b5788427db67, committed 2017-03-01

Comitter:

JamesSW

Date:

Wed Mar 01 15:23:47 2017 +0000

Parent:

18:3fa5cd53ed45

Commit message:

untidy code for bluetooth;

Changed in this revision

--- a/main.cpp	Thu Feb 23 09:51:40 2017 +0000
+++ b/main.cpp	Wed Mar 01 15:23:47 2017 +0000
@@ -61,6 +61,7 @@
 
 Ticker main_loop_ticker;
 
+
 ///This is the main loop for the Beautiful Meme code.  The code block is run once every 250mS* [with 4Hz beacon] once all the IR samples have been collected.
 void main_loop()
 {
@@ -76,6 +77,8 @@
     if(use_recharging_program == 1)recharging_program();
     update_display();
     if(recharging_state == 0) {
+        // remove after testing
+        main_program_state = 8;
         switch(main_program_state) {
             case 0: //Case 0 is the initial program: turn to face beacon
                 if(step_cycle == 0) {
@@ -111,6 +114,12 @@
             case 7:
                 tag_game_program();
                 break;
+            case 8:
+                mockFlocking();
+                break;
+            case 254:
+                init();
+                break;
             case 255:
                 stop_program();
                 break;
@@ -252,9 +261,7 @@
         }
     else
     {
-/*        display.clear_display();
-        display.set_position(0,0);
-        display.write_string("NOOO!");*/
+
         }
 }
 /// The main routine: it is recommended to leave this function alone and add user code to the above functions

--- 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
 

--- a/programs.h	Thu Feb 23 09:51:40 2017 +0000
+++ b/programs.h	Wed Mar 01 15:23:47 2017 +0000
@@ -17,5 +17,6 @@
 void stop_program(void);
 void role_reset(void);
 void tag_game_program(void);
+void mockFlocking(void);
 
 #endif
\ No newline at end of file