James Hilder
Psi Swarm Code V0.41 [With Beautiful Meme program]
Dependencies: PsiSwarmLibrary mbed
Fork of
BeautifulMemeProjectBT
by 
Alan Millard
Diff: BeautifulMeme/programs.cpp
- Revision:
- 30:513457c1ad12
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BeautifulMeme/programs.cpp Tue Mar 15 00:58:43 2016 +0000
@@ -0,0 +1,869 @@
+/// PsiSwarm Beautiful Meme Project Source Code
+/// Version 0.41
+/// James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
+/// University of York
+
+// programs.cpp - Various PsiSwarm Programs for Beautiful Meme Project
+
+#include "bmeme.h"
+
+int obstacle_avoidance_threshold = 300;
+int robot_avoidance_threshold = 2000;
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// head_to_bearing_program
+char was_turning = 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)
+{
+ if(step_cycle == 0 || was_turning == 0) {
+ // Check if we are heading in the right bearing (+- 25 degrees)
+ int current_bearing = (360 - beacon_heading) % 360;
+ // Current bearing should range from 0 to 359; target_bearing likewise; check the are within 25 degrees of each other
+ char bearing_ok = 0;
+ int lower_bound = target_bearing - 25;
+ int upper_bound = target_bearing + 25;
+ if(lower_bound < 0) {
+ if(current_bearing > (lower_bound + 360) || current_bearing < upper_bound) bearing_ok = 1;
+ } else if(upper_bound > 359) {
+ if(current_bearing > lower_bound || current_bearing < (upper_bound - 360)) bearing_ok = 1;
+ } else if(current_bearing > lower_bound && current_bearing < upper_bound) bearing_ok = 1;
+ // Check if there is an obstacle in front of us
+ if((reflected_sensor_data[7] > 1000 || reflected_sensor_data[0] > 1000) && bearing_ok == 1) target_reached = 1;
+ else {
+ // Now move forward if we are facing correct bearing, otherwise turn
+ if(bearing_ok == 1) {
+ //Check if anything is in front of us to determine speed - if it is, move slowly
+ int t_time = 6 * BEACON_PERIOD;
+ float t_speed = 1.0;
+ if(reflected_sensor_data[7] > 150 || reflected_sensor_data[0] > 150) {
+ t_time = 4 * BEACON_PERIOD;
+ t_speed = 0.6;
+ }
+ if(reflected_sensor_data[7] > 300 || reflected_sensor_data[0] > 300) {
+ t_time = 3 * BEACON_PERIOD;
+ t_speed = 0.4;
+ }
+ if(reflected_sensor_data[7] > 500 || reflected_sensor_data[0] > 500) {
+ t_time = 2 * BEACON_PERIOD;
+ t_speed = 0.2;
+ }
+ time_based_forward(t_speed,t_time,0);
+ was_turning = 0;
+ } else {
+ turn_to_bearing(target_bearing);
+ was_turning = 1;
+ }
+ }
+ }
+}
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// recharging_program
+
+char recharge_power_check_count = 0;
+char battery_low_count = 0;
+
+void recharging_program()
+{
+ switch(recharging_state) {
+ case 0:
+ // We are not currently recharging, check the battery state
+ if(get_battery_voltage() < battery_low_threshold) {
+ // Battery is below low threshold
+ battery_low_count ++;
+ // We don't immediately start recharging routine in case as battery level can fluctuate a little due to load; if we get a low value for 4 continuous timesteps we start recharging routine
+ if(battery_low_count > 3) {
+ // Set recharging state to 'looking for charger'
+ recharging_state = 1;
+ strcpy(prog_name,"CHARGING PROGRAM");
+ set_program_info("HEAD TO BEACON");
+ }
+ } else battery_low_count = 0;
+ break;
+ // State 1: Head to beacon [as this is where battery charger is]
+ case 1:
+ target_reached = 0;
+ head_to_bearing_program(0);
+ if(target_reached == 1) {
+ recharging_state = 2;
+ set_program_info("TURN 90 DEGREES");
+ }
+ break;
+ // Stage 2: Turn 90 degrees to align with charging pads
+ case 2:
+ disable_ir_emitters = 1;
+ time_based_turn_degrees(0.8, 70.0, 1);
+ recharge_power_check_count = 0;
+ recharging_state = 3;
+ break;
+ // Stage 3: Wait for turn to complete
+ case 3:
+ if (time_based_motor_action != 1) {
+ recharging_state = 4;
+ set_program_info("CHECK FOR POWER");
+ }
+ break;
+ // Stage 4: Check if charging
+ case 4:
+ recharge_power_check_count++;
+ if(get_dc_status() == 1) {
+ recharging_state = 5;
+ } else {
+ if(recharge_power_check_count < 10)recharging_state = 6;
+ else {
+ recharging_state = 7;
+ set_program_info("NO POWER - RETRY");
+ }
+ }
+ break;
+ // Stage 5: Charging. Wait until threshold voltage exceeded
+ case 5:
+ if(get_battery_voltage() > battery_high_threshold) {
+ set_program_info("LEAVE CHARGER");
+ recharging_state = 7;
+ } else {
+ char b_voltage[16];
+ sprintf(b_voltage,"CHARGE: %1.3fV",get_battery_voltage());
+ set_program_info(b_voltage);
+ }
+ break;
+ // Stage 6: We didn't find power, keep turning a couple of degrees at a time a recheck
+ case 6:
+ time_based_turn_degrees(0.5,4,1);
+ recharging_state = 4;
+ break;
+ // Stage 7: Charge may be finished. Turn 90 degrees then move away and resume previous program
+ case 7:
+ time_based_turn_degrees(0.8, 90.0, 1);
+ recharging_state = 8;
+ break;
+
+ // Stage 8: Wait for turn to complete
+ case 8:
+ if (time_based_motor_action != 1) recharging_state = 9;
+ break;
+ // Stage 9: Move away
+ case 9:
+ time_based_forward(0.5, 1000000, 1);
+ recharging_state = 10;
+ break;
+ // Stage 10: Wait for move to complete
+ case 10:
+ if (time_based_motor_action != 1) recharging_state = 11;
+ break;
+ // Stage 11: Check if battery is below low threshold; if it is, start over, else end charge cycle
+ case 11:
+ disable_ir_emitters = 0;
+ if (get_battery_voltage() < battery_low_threshold) {
+ recharging_state = 1;
+ } else {
+ recharging_state = 0;
+ //Restore name of old program on display
+ set_program(main_program_state);
+ }
+ break;
+ }
+}
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// 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;
+
+void curved_random_walk_with_interaction_program()
+{
+ if(internal_state == random_walk) {
+ if(interaction_timeout < 4)
+ interaction_timeout++;
+
+ int closest_robot = -1;
+ unsigned short shortest_distance = 0;
+
+ // Check whether there are any other robots within range
+ for(int i = 0; i < 8; i++) {
+ if(robots_found[i]) {
+ if(robots_distance[i] > shortest_distance) {
+ shortest_distance = robots_distance[i];
+ closest_robot = i;
+ }
+ }
+ }
+
+ // Turn towards the closest robot
+ if(closest_robot >= 0 && shortest_distance > 300 && interaction_timeout >= 4) {
+ time_based_turn_degrees(1, robots_heading[closest_robot], 1);
+
+ action_timeout = 0;
+ internal_state = turn_towards;
+ char temp_message[17];
+ sprintf(temp_message,"FACE ROBOT %d",closest_robot);
+ set_program_info(temp_message);
+ } else { // Otherwise, do a random walk
+ // Check the front sensors for obstacles
+ if(reflected_sensor_data[0] > obstacle_avoidance_threshold ||
+ reflected_sensor_data[1] > obstacle_avoidance_threshold ||
+ reflected_sensor_data[6] > obstacle_avoidance_threshold ||
+ reflected_sensor_data[7] > obstacle_avoidance_threshold) {
+ // Ignore the rear sensors when calculating the heading
+ reflected_sensor_data[2] = 0;
+ reflected_sensor_data[3] = 0;
+ reflected_sensor_data[4] = 0;
+ reflected_sensor_data[5] = 0;
+
+ // Turn 180 degrees away from the sensed obstacle
+ int heading = get_bearing_from_ir_array (reflected_sensor_data) + 180;
+
+ // Normalise
+ heading %= 360;
+
+ if(heading < -180)
+ heading += 360;
+
+ if(heading > 180)
+ heading -= 360;
+ set_program_info("AVOID OBSTACLE");
+ time_based_turn_degrees(1, heading, 1);
+
+ action_timeout = 0;
+ internal_state = turn_away;
+ } else {
+ // Change motor speeds every 1s
+ if(random_walk_timeout >= 2) {
+ float random_offset = (((float) rand() / (float) RAND_MAX) - 0.5) * 0.5;
+
+ float left_motor_speed = previous_left_motor_speed - random_offset;
+ float right_motor_speed = previous_right_motor_speed + random_offset;
+
+ float threshold = 0.25;
+
+ if(left_motor_speed < threshold)
+ left_motor_speed = threshold;
+
+ if(right_motor_speed < threshold)
+ right_motor_speed = threshold;
+
+ set_left_motor_speed(left_motor_speed);
+ set_right_motor_speed(right_motor_speed);
+
+ random_walk_timeout = 0;
+ }
+
+ random_walk_timeout++;
+ }
+ }
+ } else if(internal_state == turn_towards) {
+ if(action_timeout < 4)
+ action_timeout++;
+ else {
+ set_program_info("SAY HELLO");
+ vibrate();
+
+ action_timeout = 0;
+ internal_state = interact;
+ }
+ } else if(internal_state == interact) {
+ if(action_timeout < 4)
+ action_timeout++;
+ else {
+ set_program_info("TURN AROUND");
+ time_based_turn_degrees(1, 180, 1);
+
+ action_timeout = 0;
+ internal_state = turn_away;
+ }
+
+ } else if(internal_state == turn_away) {
+ if(action_timeout < 4)
+ action_timeout++;
+ else {
+ set_program_info("RANDOM WALK");
+ interaction_timeout = 0;
+ internal_state = random_walk;
+ }
+ } else if(internal_state == avoid_obstacle) {
+ if(action_timeout < 4)
+ action_timeout++;
+ else
+ set_program_info("RANDOM WALK");
+ internal_state = random_walk;
+ }
+}
+
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// straight_random_walk_with_interaction_program
+
+void straight_random_walk_with_interaction_program()
+{
+
+}
+
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// find_space_program
+
+char prog_debug = 1 ;
+float target_wheel_speed;
+int random_walk_bearing;
+
+void find_space_program(char bidirectional)
+{
+ // The find_space_program is a continuous turn-move vector program
+
+ if(program_run_init == 1) {
+ // Setup the LEDs to red
+ set_leds(0x00,0xFF);
+ set_center_led(1,1);
+ program_run_init = 0;
+ random_walk_bearing = rand() % 360;
+ }
+
+ // When step_cycle = 0 we calculate a vector to move to and a target distance
+ if(step_cycle == 0) {
+ struct FloatVector target_vector;
+ target_vector.angle = 0;
+ target_vector.distance = 0;
+ // Check for near robots within range
+ for(int i = 1; i < 8; i++) {
+ if(robots_found[i]) {
+ int res_bearing = robots_heading[i];
+ res_bearing += 180;
+ if(res_bearing > 180) res_bearing -= 360;
+ target_vector = addVector(target_vector,res_bearing,robots_distance[i]);
+ if(prog_debug) out("Repelled from robot %d at bearing %d, strength %d, resultant b:%f, d:%f\n",i,robots_heading[i],robots_distance[i],target_vector.angle,target_vector.distance);
+ }
+ }
+ if(target_vector.angle!=0){
+ set_leds(0xFF,0xFF);
+ set_center_led(3,1);
+ }
+ // Check for obstacles
+ char obstacle = 0;
+ int peak_strength = 0;
+ for(int i=0; i<8; i++){
+ if(reflected_sensor_data[i] > peak_strength) peak_strength = reflected_sensor_data[i];
+ if(peak_strength > obstacle_avoidance_threshold) obstacle = 1;
+ }
+ if(obstacle){
+ //Choose new random walk bearing
+ set_leds(0x00,0xFF);
+ set_center_led(1,1);
+ random_walk_bearing = rand() % 360;
+ int obstacle_bearing = get_bearing_from_ir_array (reflected_sensor_data);
+ int obs_bearing = obstacle_bearing + 180;
+ if(obs_bearing > 180) obs_bearing -= 360;
+ target_vector = addVector(target_vector,obs_bearing,peak_strength);
+ if(prog_debug) out("Repelled from obstacle at bearing %d, strength %d, resultant b:%f, d:%f\n",obstacle_bearing,peak_strength,target_vector.angle,target_vector.distance);
+ }
+
+ if(target_vector.angle == 0 && target_vector.distance == 0){
+ set_leds(0xFF,0x00);
+ set_center_led(2,1);
+ random_walk_bearing += 180;
+ if(random_walk_bearing > 360) random_walk_bearing -= 360;
+ target_vector.distance = 100;
+ int current_bearing = 360 - beacon_heading;
+ //Now work out turn needed to face intended heading
+ int target_turn = (random_walk_bearing - current_bearing) % 360;
+ if(target_turn > 180) target_turn -= 360;
+ if(target_turn < -180) target_turn += 360;
+ target_vector.angle = target_turn;
+ if(prog_debug) out("Random walk bearing:%d Current:%d Target:%f\n",random_walk_bearing,current_bearing,target_vector.angle);
+ }
+ char wheel_direction = 1;
+ if(bidirectional){
+ // Allow reverse wheel direction
+ if(target_vector.angle < -90) {target_vector.angle += 180; wheel_direction = 0;}
+ else if(target_vector.angle > 90) {target_vector.angle -= 180; wheel_direction = 0;}
+ }
+ //Now turn to angle
+ float maximum_turn_angle = get_maximum_turn_angle(BEACON_PERIOD*10);
+ if(target_vector.angle < 0){
+ if(target_vector.angle < -maximum_turn_angle){
+ target_vector.angle = -maximum_turn_angle;
+ target_vector.distance = 100;
+ }
+ }else{
+ if(target_vector.angle > maximum_turn_angle){
+ target_vector.angle = maximum_turn_angle;
+ target_vector.distance = 100;
+ }
+ }
+ //Set the wheel speed for next action
+ if(target_vector.distance < 120) target_wheel_speed = 0.25;
+ else if(target_vector.distance < 240) target_wheel_speed = 0.35;
+ else if(target_vector.distance < 480) target_wheel_speed = 0.45;
+ else if(target_vector.distance < 960) target_wheel_speed = 0.55;
+ else target_wheel_speed = 0.65;
+ if(wheel_direction == 0) target_wheel_speed = 0-target_wheel_speed;
+
+ //Now turn...
+ time_based_turn_degrees(1, (int) target_vector.angle, 1);
+ } else time_based_forward(target_wheel_speed,BEACON_PERIOD*6,0);
+}
+
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// clustering_program
+
+
+void clustering_program(char invert, char bidirectional)
+{
+ // The clustering program is a continuous turn-move vector program
+ // In normal mode (invert = 0) it is attracted to same-group robots and repels opposite-group, walls and very close same-group robots
+ // In invert mode (invert = 1) it avoids same-group and is attracted to opposite group
+
+ // Store the robot group: even robots (0) are green, odd robots (1) are red
+ char group = robot_id % 2;
+
+ if(program_run_init == 1) {
+ // Setup the LEDs based on robot_id
+ if(group == 0) {
+ set_leds(0xFF,0x00);
+ set_center_led(2,1);
+ } else {
+ set_leds(0x00,0xFF);
+ set_center_led(1,1);
+ }
+ program_run_init = 0;
+ random_walk_bearing = rand() % 360;
+ }
+
+ // When step_cycle = 0 we calculate a vector to move to and a target distance
+ if(step_cycle == 0) {
+ char avoiding_friend = 0;
+ struct FloatVector target_vector;
+ target_vector.angle = 0;
+ target_vector.distance = 0;
+ // Check for near robots within range
+ for(int i = 1; i < 8; i++) {
+ if(robots_found[i]) {
+ // Determine if the robot is an attractor or a repellor
+ char attract = 0;
+ if((invert==0 && ((i%2) == group)) || (invert==1 && ((i%2) != group))) attract = 1;
+ // Avoid very close attractors to stop collisions
+ if(attract==1 && robots_distance[i] > robot_avoidance_threshold) {attract = 0; avoiding_friend = 1;}
+ int res_bearing = robots_heading[i];
+ if(attract==0){
+ res_bearing += 180;
+ if(res_bearing > 180) res_bearing -= 360;
+ }
+ target_vector = addVector(target_vector,res_bearing,robots_distance[i]);
+ if(prog_debug) {
+ if(attract) {
+ out("Attracted to robot %d at bearing %d, strength %d, resultant b:%f, d:%f\n",i,robots_heading[i],robots_distance[i],target_vector.angle,target_vector.distance);
+ } else {
+ out("Repelled from robot %d at bearing %d, strength %d, resultant b:%f, d:%f\n",i,robots_heading[i],robots_distance[i],target_vector.angle,target_vector.distance);
+ }
+ }
+ }
+ }
+
+ // Check for obstacles
+ char obstacle = 0;
+ int peak_strength = 0;
+ for(int i=0; i<8; i++){
+ if(reflected_sensor_data[i] > peak_strength) peak_strength = reflected_sensor_data[i];
+ if(peak_strength > obstacle_avoidance_threshold) obstacle = 1;
+ }
+ if(obstacle){
+ //Choose new random walk bearing
+ random_walk_bearing = rand() % 360;
+ int obstacle_bearing = get_bearing_from_ir_array (reflected_sensor_data);
+ int obs_bearing = obstacle_bearing + 180;
+ if(obs_bearing > 180) obs_bearing -= 360;
+ target_vector = addVector(target_vector,obs_bearing,peak_strength);
+ if(prog_debug) out("Repelled from obstacle at bearing %d, strength %d, resultant b:%f, d:%f\n",obstacle_bearing,peak_strength,target_vector.angle,target_vector.distance);
+ }
+ if(target_vector.angle == 0 && target_vector.distance == 0){
+ //I have nothing attracting me so persist with random walk: with a 2% chance pick new bearing
+ if(rand() % 100 > 97) random_walk_bearing = rand() % 360;
+ target_vector.distance = 100;
+ int current_bearing = 360 - beacon_heading;
+ //Now work out turn needed to face intended heading
+ int target_turn = (random_walk_bearing - current_bearing) % 360;
+ if(target_turn > 180) target_turn -= 360;
+ if(target_turn < -180) target_turn += 360;
+ target_vector.angle = target_turn;
+ if(prog_debug) out("Random walk bearing:%d Current:%d Target:%f\n",random_walk_bearing,current_bearing,target_vector.angle);
+ }
+ char wheel_direction = 1;
+ if(bidirectional){
+ // Allow reverse wheel direction
+ if(target_vector.angle < -90) {target_vector.angle += 180; wheel_direction = 0;}
+ else if(target_vector.angle > 90) {target_vector.angle -= 180; wheel_direction = 0;}
+ }
+ //Now turn to angle
+ float maximum_turn_angle = get_maximum_turn_angle(BEACON_PERIOD*10);
+ if(target_vector.angle < 0){
+ if(target_vector.angle < -maximum_turn_angle){
+ target_vector.angle = -maximum_turn_angle;
+ target_vector.distance = 100;
+ }
+ }else{
+ if(target_vector.angle > maximum_turn_angle){
+ target_vector.angle = maximum_turn_angle;
+ target_vector.distance = 100;
+ }
+ }
+ if(avoiding_friend) target_vector.distance = 100;
+ //Set the wheel speed for next action
+ if(target_vector.distance < 120) target_wheel_speed = 0.25;
+ else if(target_vector.distance < 240) target_wheel_speed = 0.35;
+ else if(target_vector.distance < 480) target_wheel_speed = 0.5;
+ else if(target_vector.distance < 960) target_wheel_speed = 0.65;
+ else target_wheel_speed = 0.85;
+ if(wheel_direction == 0) target_wheel_speed = 0-target_wheel_speed;
+
+ //Now turn...
+ time_based_turn_degrees(1, (int) target_vector.angle, 1);
+ } else time_based_forward(target_wheel_speed,BEACON_PERIOD*7,0);
+}
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// stop_program - Pauses robot
+
+void stop_program()
+{
+ if(program_run_init == 1) {
+ save_led_states();
+ set_leds(0,0);
+ set_center_led(0,0);
+ stop();
+ program_run_init = 0;
+ }
+}
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// tag_game_program
+
+enum tag_game_role {hunter, hunted};
+enum tag_game_role role;
+int tag_distance = 500;
+char hunters[8]; // Memory of which robots have come within tag distance - assumed to be hunters
+Timeout hunter_timeout; // Timeout before robots switch back to being hunted
+char initial_hunter = 2; // Robot with this ID is permanently a hunter
+
+// Resets hunter robots to hunted after timeout
+void role_reset()
+{
+ role = hunted;
+ set_program_info("HUNTED");
+ // Clear memory of hunters
+ for(int i = 0; i < 8; i++)
+ hunters[i] = 0;
+}
+
+void tag_game_program()
+{
+ // Initialisation
+ if(program_run_init == 1) {
+
+ // Set robot roles
+ if(robot_id == initial_hunter){
+ role = hunter;
+ set_program_info("FIRST HUNTER");
+ }
+ else {
+ role = hunted;
+ set_program_info("HUNTED");
+ }
+ // Clear memory of hunters
+ for(int i = 0; i < 8; i++)
+ hunters[i] = 0;
+
+ program_run_init = 0;
+ }
+
+ // Bias forward movement
+ float left_motor_speed = 0.5;
+ float right_motor_speed = 0.5;
+
+ // Check the front sensors for obstacles
+ if(reflected_sensor_data[0] > obstacle_avoidance_threshold ||
+ reflected_sensor_data[1] > obstacle_avoidance_threshold ||
+ reflected_sensor_data[6] > obstacle_avoidance_threshold ||
+ reflected_sensor_data[7] > obstacle_avoidance_threshold)
+ {
+ // Ignore the rear sensors when calculating the heading
+ reflected_sensor_data[2] = 0;
+ reflected_sensor_data[3] = 0;
+ reflected_sensor_data[4] = 0;
+ reflected_sensor_data[5] = 0;
+
+ // Get heading of sensed obstacle
+ int heading = get_bearing_from_ir_array(reflected_sensor_data);
+
+ // Turn in opposite direction
+ if(heading > 0 && heading < 90)
+ {
+ left_motor_speed -= 0.75;
+ right_motor_speed += 0.5;
+ }
+ else if(heading < 0 && heading > -90)
+ {
+ left_motor_speed += 0.5;
+ right_motor_speed -= 0.75;
+ }
+
+ set_left_motor_speed(left_motor_speed);
+ set_right_motor_speed(right_motor_speed);
+
+ // Return early - obstacle avoidance is the top priority
+ return;
+ }
+
+ int closest_robot = -1;
+ unsigned short shortest_distance = 0;
+
+ // Check whether there are any other robots within range
+ for(int i = 0; i < 8; i++)
+ {
+ if(robots_found[i])
+ {
+ if(robots_distance[i] > shortest_distance)
+ {
+ shortest_distance = robots_distance[i];
+ closest_robot = i;
+ }
+ }
+ }
+
+ // If the closest robot is within tag distance, this robot has been tagged
+ if(shortest_distance > tag_distance)
+ {
+ // Switch role to hunter
+ if(role == hunted)
+ {
+ role = hunter;
+ set_program_info("NEW HUNTER");
+ // Reset to hunted after 10 seconds
+ hunter_timeout.attach(&role_reset, 10);
+ }
+
+ // Keep a record of which robot tagged them, so hunters do not chase hunters
+ // Unless they are the initial hunter, who is aggresive towards everyone
+ if(robot_id != initial_hunter)
+ hunters[closest_robot] = 1;
+ }
+
+ if(role == hunter)
+ {
+ // Set LEDS to red
+ set_leds(0x00, 0xFF);
+ set_center_led(1, 1);
+
+ if(closest_robot >= 0 && !hunters[closest_robot]) // Ignore other hunters
+ {
+ // Turn towards closest hunted robot (unless it is straight ahead, or behind)
+ if(robots_heading[closest_robot] > 22.5 && robots_heading[closest_robot] < 90)
+ {
+ left_motor_speed += 0.5;
+ right_motor_speed -= 0.5;
+ }
+ else if(robots_heading[closest_robot] < -22.5 && robots_heading[closest_robot] > -90)
+ {
+ left_motor_speed -= 0.5;
+ right_motor_speed += 0.5;
+ }
+ }
+
+ set_left_motor_speed(left_motor_speed);
+ set_right_motor_speed(right_motor_speed);
+ }
+ else // role == hunted
+ {
+ // Set LEDs to green
+ set_leds(0xFF, 0x00);
+ set_center_led(2, 1);
+
+ // Avoid everyone
+ if(closest_robot >= 0)
+ {
+ // Turn away from closest robot
+ if(robots_heading[closest_robot] >= 0 && robots_heading[closest_robot] < 90)
+ {
+ left_motor_speed -= 0.5;
+ right_motor_speed += 0.5;
+ }
+ else if(robots_heading[closest_robot] < 0 && robots_heading[closest_robot] > -90)
+ {
+ left_motor_speed += 0.5;
+ right_motor_speed -= 0.5;
+ }
+ }
+
+ set_left_motor_speed(left_motor_speed);
+ set_right_motor_speed(right_motor_speed);
+ }
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// flocking_program
+
+void flocking_program()
+{
+ char display_line[16] = " ";
+ int average_heading = 0;
+ int number_of_neighbours = 0;
+ int number_of_flocking_headings = 0;
+ int target_heading = 0;
+ int angles = 0;
+ int ir_sensor_threshold = 600;
+ int sensors_activated = 0;
+
+ struct FloatVector obstacle_vector;
+ obstacle_vector.angle = 0;
+ obstacle_vector.distance = 0;
+
+ struct FloatVector cohesion_vector;
+ cohesion_vector.angle = 0;
+ cohesion_vector.distance = 0;
+
+ for(int i = 0; i < 8; i++)
+ {
+ if(reflected_sensor_data[i] > ir_sensor_threshold)
+ {
+ obstacle_vector = addVector(obstacle_vector, get_bearing_from_ir_array(reflected_sensor_data), reflected_sensor_data[i]);
+ sensors_activated++;
+ }
+
+ if(robots_found[i])
+ {
+ // -180 degrees is reserved for "no byte received"
+ if(flocking_headings[i] != -180)
+ {
+ average_heading += flocking_headings[i];
+ number_of_flocking_headings++;
+ }
+
+ cohesion_vector = addVector(cohesion_vector, robots_heading[i], robots_distance[i]);
+ number_of_neighbours++;
+ }
+ }
+
+ cohesion_vector.distance /= number_of_neighbours; // Normalise
+ obstacle_vector.distance /= sensors_activated; // Normalise
+
+ int obstacle_avoidance_angle;
+
+ if(sensors_activated > 0)
+ {
+ obstacle_avoidance_angle = obstacle_vector.angle + 180;
+
+ if(obstacle_avoidance_angle > 180)
+ obstacle_avoidance_angle -= 360;
+ if(obstacle_avoidance_angle < -180)
+ obstacle_avoidance_angle += 360;
+
+ target_heading += obstacle_avoidance_angle;
+ angles++;
+ }
+
+ int cohesion_angle;
+
+ // Don't bother performing cohesion if robots are already close enough
+ if(number_of_neighbours > 0 && cohesion_vector.distance < 200)
+ {
+ cohesion_angle = cohesion_vector.angle;
+
+ if(cohesion_angle > 180)
+ cohesion_angle -= 360;
+ if(cohesion_angle < -180)
+ cohesion_angle += 360;
+
+ target_heading += cohesion_angle;
+ angles++;
+ }
+
+ int relative_flocking_heading;
+
+ if(number_of_flocking_headings > 0)
+ {
+ average_heading /= number_of_flocking_headings;
+
+ relative_flocking_heading = beacon_heading - average_heading;
+
+ if(relative_flocking_heading > 180)
+ relative_flocking_heading -= 360;
+ if(relative_flocking_heading < -180)
+ relative_flocking_heading += 360;
+
+ target_heading += relative_flocking_heading;
+ angles++;
+ }
+
+ if(angles > 0)
+ target_heading /= angles; // Calculate average
+
+ float left_motor_speed = 0.25;
+ float right_motor_speed = 0.25;
+
+ if(target_heading > 22.5)
+ right_motor_speed *= -1;
+ else if(target_heading < -22.5)
+ left_motor_speed *= -1;
+
+ set_left_motor_speed(left_motor_speed);
+ set_right_motor_speed(right_motor_speed);
+
+ // Only transmit beacon heading if the beacon is visible
+ if(beacon_found)
+ {
+ float degrees_per_value = 256.0f / 360.0f;
+ char beacon_heading_byte = (beacon_heading + 180) * degrees_per_value; // Convert beacon heading from +/-180 degrees into a single byte value
+
+ bt.putc(beacon_heading_byte);
+ }
+
+ sprintf(display_line, "%d %d %d %d", target_heading, obstacle_avoidance_angle, cohesion_angle, relative_flocking_heading);
+
+ set_program_info(display_line);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// generic_program - Framework for building typical programs
+
+void generic_program()
+{
+ // Do something on the first run of a program
+ if(program_run_init == 1) {
+ // Initialisation code goes here...
+
+ program_run_init = 0;
+ }
+
+ // step_cycle is either zero or one; use this avoid estimating bearings on the cycle after a turn (as the results will be skewed by the turn)
+ if(step_cycle == 0) {
+ // Do something based on sensor data (eg turn)
+ } else {
+ // Do something ignoring sensor data (eg move, or nothing!)
+ }
+
+}
\ No newline at end of file