Diff: programs.cpp

Revision:

11:7b3ee540ba56

Parent:

10:1b09d4bb847b

Child:

12:daa53285b6e4

--- a/programs.cpp	Mon Oct 26 23:58:08 2015 +0000
+++ b/programs.cpp	Tue Oct 27 00:13:49 2015 +0000
@@ -1,26 +1,15 @@
 /// PsiSwarm Beautiful Meme Project Source Code
-/// Version 0.1
+/// Version 0.2
 /// James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
 /// University of York
 
-// Programs.cpp - Various PsiSwarm Programs for Beautiful Meme Project
+// programs.cpp - Various PsiSwarm Programs for Beautiful Meme Project
 
 #include "main.h"
 
-float battery_low_threshold = 3.63;      // Threshold at which to interrupt program and start recharging routine: suggest 3.55
-float battery_high_threshold = 3.97;     // Threshold at which to end battery recharging routine and resume normal program: suggest 4.0
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// head_to_bearing_program
 char was_turning = 0;
-enum random_walk_state {random_walk, turn_towards, interact, turn_away, avoid_obstacle};
-enum random_walk_state internal_state = random_walk;
-char action_timeout = 0;
-char interaction_timeout = 0;
-char random_walk_timeout = 0;
-float previous_left_motor_speed = 0.5;
-float previous_right_motor_speed = 0.5;
-int obstacle_avoidance_threshold = 300;
-char recharge_power_check_count = 0;
-char battery_low_count = 0;
 
 ///The head to bearing program moves towards a given bearing (eg 0 for the beacon or 180 for the opposite wall) and keeps going until an obstacle is detected in front of it
 void head_to_bearing_program(int target_bearing)
@@ -67,7 +56,15 @@
     }
 }
 
-/// Recharging program
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// recharging_program
+
+char recharge_power_check_count = 0;
+char battery_low_count = 0;
+
 void recharging_program()
 {
     switch(recharging_state) {
@@ -170,7 +167,21 @@
     }
 }
 
-///Alan's Random Walk\Obstacle Avoid and Robot Interaction Program
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// curved_walk_with_interaction_program (Alan's Random Walk\Obstacle Avoid and Robot Interaction Program)
+
+enum random_walk_state {random_walk, turn_towards, interact, turn_away, avoid_obstacle};
+enum random_walk_state internal_state = random_walk;
+char action_timeout = 0;
+char interaction_timeout = 0;
+char random_walk_timeout = 0;
+float previous_left_motor_speed = 0.5;
+float previous_right_motor_speed = 0.5;
+int obstacle_avoidance_threshold = 300;
+
 void curved_random_walk_with_interaction_program()
 {
     if(internal_state == random_walk) {
@@ -291,12 +302,24 @@
 }
 
 
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// straight_random_walk_with_interaction_program 
+
 void straight_random_walk_with_interaction_program()
 {
 
 }
 
 
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// find_space_program 
+
 void find_space_program()
 {