int goTowardsObject(int channel){
int allowance = 10; //tweak
int increment = 10; //tweak
//do a circle to identify object.
//turn back and forth in smaller increments until it's in the middle of the image
//go forwards
//recurse
camera_update();
while(areWeThereYet(channel) == 0){
AlignWithObject(channel, allowance);
goStrightInCM(increment);
}
}
/* Runs every second */
void loop() {
if (game.getCurrentTime() < 5) {
if (am_i_blue) {
DEBUG(("%s\n", debugs[n]));
n++;
}
}
else if (game.getCurrentTime() < 10) {
if (!am_i_blue) {
DEBUG(("%s\n", debugs[n]));
n++;
}
}
else {
updateGameState();
changeState();
if (game.getFuelRemaining() == 0) {
game.takePic();
}
/* Design concept: 2 separate state vars,
* rotatestate governs the picture taking mechanism/rotation
* movestate governs the item getting mechanism/movement
*/
DEBUG(("%f\n", mathVecMagnitude(me + 3, 3)));
switch (rotatestate) {
case NORMAL:
if (game.posInArea(other) > 0 &&
game.isFacingOther() &&
game.getEnergy() > 1 && // don't nuke yourself
game.getPicPoints() > 0) { // shortcircuit eval makes sure doesn't waste energy
game.takePic();
}
else {
mathVecSubtract(facing, other, me, 3);
api.setAttitudeTarget(facing); // always face toward the other
}
break;
case UPLOAD:
api.setAttitudeTarget(earth);
if (game.getEnergy() > 1 && checkUpload(me)) {
game.uploadPics();
}
break;
case STOP:
api.setAttRateTarget(origin);
break;
}
switch (movestate) {
case GET_ITEM: // item + try to point to the other sphere
if (game.hasItem(targetID) == -1) {
if (areWeThereYet(items[targetID], me)) {
api.setAttRateTarget(earth);
}
else {
moveTo(items[targetID]);
}
}
else {
moveTo(items[targetID]);
}
break;
case GET_ENERGY:
if (game.hasItem(targetID) == -1) {
targetID = minDistEl(items, me, 0, 3);
if (areWeThereYet(items[targetID], me)) {
api.setAttRateTarget(earth);
}
else {
moveTo(items[targetID]);
}
}
else {
targetID = minDistEl(items, me, 3, 7);
movestate = GET_ITEM;
}
break;
//case GET_MIRROR: // get mirror // deprecated for now
// if (game.hasItem(targetID) == -1) {
// targetID = minDistEl(items, me, 7, 9);
// if (areWeThereYet(items[targetID], me)) {
// api.setAttRateTarget(earth);
// }
// else {
// moveTo(items[targetID]);
// }
// }
// else {
// targetID = minDistEl(items, me, 3, 7);
// movestate = GET_ITEM;
// }
// break;
case ON_TOP:
getAbove(other, -0.4);
break;
case STOP: // if we have extremely low energy
api.setVelocityTarget(origin);
break;
case TO_ORIGIN:
moveTo(origin);
break;
}
}
}
/*** MAIN *********************************************************************/
void loop() {
updateGameState();
changeState();
if (game.getFuelRemaining() == 0) {
game.takePic();
}
//DEBUG(("%d\n", inBounds(other)));
/* Design concept: 2 separate state vars,
* rotatestate governs the picture taking mechanism/rotation
* movestate governs the item getting mechanism/movement
*/
switch (rotatestate) {
case NORMAL:
if (game.posInArea(other) >= 0 &&
game.isFacingOther() &&
game.getEnergy() > 1 && // don't nuke yourself
game.getPicPoints() > 0) { // shortcircuit eval makes sure doesn't waste energy
game.takePic();
}
else {
mathVecSubtract(facing, other, me, 3);
api.setAttitudeTarget(facing); // always face toward the other
}
break;
case UPLOAD:
if (game.getEnergy() > 1 && checkUpload(me)) {
game.uploadPics();
}
else {
api.setAttitudeTarget(earth);
}
break;
case STOP:
api.setAttRateTarget(origin);
break;
}
switch (movestate) {
case GET_ITEM: // item + try to point to the other sphere
if (game.hasItem(targetID) == -1) {
if (areWeThereYet(items[targetID], me)) {
api.setAttRateTarget(earth);
}
else {
moveTo(items[targetID]);
}
}
else {
moveTo(items[targetID]);
}
break;
case ON_TOP:
getAbove(other, -0.4);
break;
case STOP: // if we have extremely low energy
api.setVelocityTarget(origin);
break;
case TO_ORIGIN:
moveTo(origin);
break;
}
}
void loop() {
api.getMyZRState(me);
api.getOtherZRState(other);
currentEnergy = game.getEnergy();
if (state != upload) {
if (currentEnergy < 1.5) {
state = getEnergyState;
}
else if (game.posInArea(other) == 1) {
state = getInPosForPic;
}
else {
state = getItem;
}
}
DEBUG(("%d\n", state));
switch(state) {
case getInPosForPic: // if other in light, point towards other
if (game.getMemoryFilled() == 2) {
state = upload;
}
else if (brakingPt[0] > 40 && brakingPt[1] > 40) {
mathVecSubtract(facing, me, other, 3);
mathVecNormalize(facing, 3);
mathVecMultiply(facing, 0.5);
mathVecAdd(brakingPt, other, facing, 3);
}
else {
mathVecSubtract(facing, other, me, 3);
mathVecNormalize(facing, 3);
api.setPositionTarget(brakingPt);
api.setAttitudeTarget(facing);
if (game.isCameraOn() && game.isFacingOther()) {
DEBUG(("TAKING PIC"));
game.takePic();
}
}
break;
case upload: // upload
game.uploadPics();
if (game.getMemoryFilled() == 0) {
if (game.posInArea(other) == 1) {
state = getInPosForPic;
}
else {
state = getItem;
}
}
brakingPt[0] = 50.0f;
brakingPt[1] = 50.0f;
brakingPt[2] = 50.0f;
break;
case getItem: // if other in dark, go for the point item
targetID = minDistEl(scores, me); // FIXME this doesn't work right
memcpy(target, scores + targetID, 3 * sizeof(float));
if (areWeThereYet(target, me)) {
float tmp[3];
tmp[0] = 0;
tmp[1] = 0;
tmp[2] = 1;
api.setAttRateTarget(tmp); // supposedly will rotate
//if (game.hasItem(targetID + 4) != -1) { // FIXME this should work but does not
// scores[targetID][0] = 99999;
// scores[targetID][1] = 99999;
// scores[targetID][2] = 99999;
//}
}
else {
api.setPositionTarget(target);
}
break;
case getEnergyState: // if low battery, go grab energy pack
targetID = minDistEl(energy, me);
memcpy(target, energy + targetID, 3 * sizeof(float));
if (areWeThereYet(target, me)) {
float tmp[3];
tmp[0] = 0;
tmp[1] = 0;
tmp[2] = 1;
api.setAttRateTarget(tmp); // supposedly will rotate
if (game.hasItem(targetID) != -1) {
energy[targetID][0] = -999;
energy[targetID][1] = -999;
energy[targetID][2] = -999;
}
}
break;
}
}
void loop() {
updateGameState();
if (game.posInArea(me) > 0 && game.getLightSwitchTime() > 2) {
game.useMirror();
}
changeState();
DEBUG(("STATE: %d\n", movestate));
// Design concept: 2 separate state vars,
// rotatestate governs the picture taking mechanism
// movestate governs the item getting mechanism
// Note that rotatestate does not govern movement, but rather governs rotation
switch (rotatestate) {
case normal:
if (game.posInArea(other) > 0 &&
game.isFacingOther() &&
game.getEnergy() > 1.5 &&
game.getPicPoints() > 0) {
game.takePic();
}
else {
mathVecSubtract(facing, other, me, 3);
api.setAttitudeTarget(facing);
}
break;
case upload:
if (game.getMemoryFilled() == 0) {
movestate = getItem;
}
else {
api.setAttitudeTarget(rotateZ);
if (game.getEnergy() > 1 && checkUpload(me)) {
game.uploadPics();
}
}
break;
case stop:
api.setAttRateTarget(zero);
break;
}
switch (movestate) {
case getItem: // item + try to point to the other sphere
if (game.hasItem(targetID) == -1) {
if (areWeThereYet(items[targetID], me)) {
api.setAttRateTarget(rotateZ);
}
else {
api.setPositionTarget(items[targetID]);
}
}
else {
api.setPositionTarget(items[targetID]);
}
break;
case tisShinyCptn:
if (game.hasItem(targetID) == -1) {
targetID = minDistEl(items, me, 7, 9);
if (areWeThereYet(items[targetID], me)) {
api.setAttRateTarget(rotateZ);
}
else {
api.setPositionTarget(items[targetID]);
}
}
else {
targetID = minDistEl(items, me, 3, 7);
movestate = getItem;
}
break;
case on_top:
getAbove(other, -0.4);
//temp[0] = other[0];
//temp[1] = other[1];
//temp[2] = other[2];
//if (!winning) {
// if (game.posInLight(temp)) {
// temp[1] = -temp[1] / fabsf(temp[1]) * 0.12;
// }
// else {
// temp[1] = temp[1] / fabsf(temp[1]) * 0.12;
// }
//}
//else {
// temp[1] = temp[1] * 0.12;
//}
//DEBUG(("CURRENT LOC: %f, %f, %f\n", me[0], me[1], me[2]));
//DEBUG(("GOING TO: %f, %f, %f\n", temp[0], temp[1], temp[2]));
//api.setPositionTarget(temp);
break;
case stop: // if we have extremely low energy
api.setVelocityTarget(zero);
break;
}
}
