static void event(int evt)
{
switch (evt) {
case EVT_FRONT_BLOCKED:
puts("front blocked");
break;
case EVT_BACK_BLOCKED:
puts("back blocked");
break;
case EVT_FRONT_FREE:
puts("front free");
break;
case EVT_BACK_FREE:
puts("back free");
break;
default:
puts("unkown");
}
if ((behavior == 0) || (behavior == 1)) {
/* start condition */
if ((state == 0) && (evt == EVT_FRONT_FREE)) {
puts("evt: start");
speed = CONF_BRAIN_SPEED;
motor_set(&mot, speed);
}
/* going forward, hitting obstacle -> steer full and go backwards */
else if ((state == 0) && (evt == EVT_FRONT_BLOCKED)) {
motor_stop(&mot);
puts("evt: hit forward obstacle");
dir = (behavior == 0) ? -1000 : 1000;
speed = -CONF_BRAIN_SPEED;
brain_steer(dir);
motor_set(&mot, speed);
state = 1;
}
/* going backwards, hitting obstacle */
else if ((state == 1) && (evt == EVT_BACK_BLOCKED)) {
motor_stop(&mot);
puts("evt: hit backwards obstacle");
dir = 0;
speed = CONF_BRAIN_SPEED;
brain_steer(dir);
motor_set(&mot, speed);
state = 0;
}
}
}
void brain_ctrl(int16_t speed, int16_t dir)
{
if ((speed > 0) && front_blocked) {
motor_stop(&mot);
return;
}
if ((speed < 0) && back_blocked) {
motor_stop(&mot);
return;
}
brain_set_speed(speed);
brain_steer(dir);
}
void brain_ctrl(int16_t speed, int16_t dir)
{
printf("[brain] CTRL set speed %i and dir %i\n", speed, dir);
if ((speed > 0) && front_blocked) {
motor_stop(&mot);
printf("[brain] CTRL FRONT BLOCKED\n");
return;
}
if ((speed < 0) && back_blocked) {
motor_stop(&mot);
printf("[brain] CTRL BACK BLOCKED\n");
return;
}
brain_set_speed(speed);
brain_steer(dir);
}
static int _steer(int argc, char **argv)
{
int16_t dir;
if (argc < 2) {
printf("usage: %s DIR [-1024 to 1023]\n", argv[0]);
return 1;
}
dir = (int16_t)atoi(argv[1]);
printf("read steering value: %i\n", dir);
if (dir < -0x03ff || dir > 0x03ff) {
puts("dir value out of range\n");
return 1;
}
brain_steer(dir);
return 0;
}
