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ft. button press reset
Fork of BeaconDemo_RobotCode by
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() {