int main(void)
{
t_size dims;
int **tab;
dims.size = ask_user();
if (dims.size == 0)
{
endwin();
ft_putendl("Thanks for playing !");
return (0);
}
clear();
tab = make_map(dims.size);
initscr();
keypad(stdscr, TRUE);
curs_set(0);
noecho();
if (controllers(tab, dims.size, &dims) == 1)
{
endwin();
ft_putendl("Error, exiting with style.");
return (0);
}
endwin();
return (0);
}
static int pyLeafController_setEaseControllers(pyLeafController* self, PyObject* value, void*) {
if (value == NULL) {
self->fThis->setEaseControllers(std::vector<plEaseController*>());
return 0;
}
if (!PyList_Check(value)) {
PyErr_SetString(PyExc_TypeError, "easeControllers should be a list of plEaseControllers");
return -1;
}
std::vector<plEaseController*> controllers(PyList_Size(value));
for (size_t i=0; i<controllers.size(); i++) {
PyObject* itm = PyList_GetItem(value, i);
if (!pyEaseController_Check(itm)) {
PyErr_SetString(PyExc_TypeError, "easeControllers should be a list of plEaseControllers");
return -1;
}
controllers[i] = ((pyEaseController*)itm)->fThis;
}
IConvertController(self)->setEaseControllers(controllers);
return 0;
}
std::vector<std::shared_ptr<LacpController>>
LinkAggregationManager::getControllersFor(
folly::Range<std::vector<PortID>::const_iterator> ports) {
// Although this method is thread-safe, it is only invoked from a Selector
// object, which should always be executing over the LACP EVB
CHECK(sw_->getLacpEvb()->inRunningEventBaseThread());
std::vector<std::shared_ptr<LacpController>> controllers(
std::distance(ports.begin(), ports.end()));
folly::SharedMutexWritePriority::ReadHolder g(&controllersLock_);
// TODO(samank): Rerwite as an O(N + M) algorithm
for (auto i = 0; i < controllers.size(); ++i) {
auto it = portToController_.find(ports[i]);
CHECK(it != portToController_.end());
controllers[i] = it->second;
}
// TODO(samank): does this move?
return controllers;
}
void main(void) {
int num_behaviors=1; // number of behaviors
U32 robot_sched_duration=100; // minimum time spent for each main loop (in ms)
char *title="Framework"; // program title to display
U32 max_iterations=65536; // maximum number of iterations of main loop
U32 sched_tick=0; // store system timer for robot sleep
// Tone Control Constants
U32 tone_enabled_freq=2500; // Hz
U32 tone_silenced_freq=0; // Hz
U32 tone_enabled_dur=100; // ms
// Idle Behavior Variables
bool tone_active=FALSE;
U32 tone_timestamp=0;
// Actuator Port Assignments
Actuators actuators;
setActuators(&actuators, ARM, RIGHT_WHEEL, LEFT_WHEEL );
// Sensor Port Assignments and configure
//current robot actuator state
ActuatorState current_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//previous robot actuator state
ActuatorState previous_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//behavior_actuations
ActuatorState behavior_actuations[num_behaviors];
//array of available states
ActuatorState availableStates[3]=
{
//bbr_behavior_inhibited
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED},
//bbr_idle_on
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_enabled_freq, tone_enabled_dur},
//bbr_idle_off
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_silenced_freq, tone_enabled_dur}
};
//
// program initialization
//
nx_proginit();
nx_progtitle(title);
nx_systick_wait_ms(1000);
// configure sensors
// initialize current tick
sched_tick=nx_systick_get_ms();
// initialize behavior_actuations
initActuatorStates(behavior_actuations, num_behaviors);
while(max_iterations--)
{
// dispatcher
bbr_idle(&tone_timestamp, &tone_active,
behavior_actuations, availableStates);
// arbiters
arbiters(num_behaviors, &actuators, ¤t_actuation, behavior_actuations);
// actuators
controllers(&actuators, ¤t_actuation, &previous_actuation);
sleep_robot(&sched_tick, robot_sched_duration);
}
nx_progshutdown();
}
void main(void) {
int num_behaviors=5; // number of behaviors
U32 robot_sched_duration=100; // minimum time spent for each main loop (in ms)
char *title="Mover"; // program title to display
U32 max_iterations=65536; // maximum number of iterations of main loop
U32 sched_tick=0; // store system timer for robot sleep
// Tone Control Constants
U32 tone_enabled_freq=2500; // Hz
U32 tone_silenced_freq=0; // Hz
U32 tone_enabled_dur=100; // ms
// wheel control constants
S8 stop_speed=0;
S8 fwd_speed=30;
S8 fastrot_speed=40;
S8 slowrot_speed=20;
S8 seek_speed=30;
// Idle Behavior Variables
bool tone_active=FALSE;
U32 tone_timestamp=0;
// Follow Line Behavior Variables
U8 sampleSize=5;
SensorReading light_readings[sampleSize];
SensorReading light_min;
SensorReading light_max;
// Open-Claws Behavior and Grasp-Object Behavior Variables
SensorReading touched;
U32 claw_timestamp=0;
U32 claw_oldtstamp=0;
U32 claw_position=0;
U32 claw_oldpos=0;
bool claw_closed;
U8 claw_movement;
// Claw Control Constants
// Open and Close Speeds are directional (signed)
// WARNING: Be conservative with the Open and Close Speeds, since we
// run the motors until it hits the limiters and the Tachometer stops changing.
// Using too high a speed may pop the claw assembly!
S8 open_speed=10;
S8 close_speed=-20;
// Move-Object Behavior Variables
SensorReading sound_levels[sampleSize];
SensorReading sound_min;
SensorReading sound_max;
U8 sound_following_state=0;
U8 sound_level_trigger=0;
// Actuator Port Assignments
Actuators actuators;
setActuators(&actuators, ARM, RIGHT_WHEEL, LEFT_WHEEL );
// Sensor Port Assignments and configure
Sensor lightSensor, touchSensor, soundSensor;
//current robot actuator state
ActuatorState current_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//previous robot actuator state
ActuatorState previous_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//behavior_actuations
ActuatorState behavior_actuations[num_behaviors];
//array of available states
ActuatorState availableStates[14]=
{
//bbr_behavior_inhibited
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED},
//bbr_idle_on
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_enabled_freq, tone_enabled_dur},
//bbr_idle_off
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_silenced_freq, tone_enabled_dur},
//bbr_follow_line_black
{MOTOR_INHIBITED_BYTE, FALSE, fwd_speed, FALSE, fwd_speed, FALSE, ROBOT_FWD, tone_silenced_freq, robot_sched_duration},
//bbr_follow_line_edge
{MOTOR_INHIBITED_BYTE, FALSE, slowrot_speed, FALSE, stop_speed, FALSE, ROBOT_CCW, tone_silenced_freq, robot_sched_duration},
//bbr_follow_line_white
{MOTOR_INHIBITED_BYTE, FALSE, stop_speed, FALSE, fastrot_speed, FALSE, ROBOT_CW, tone_silenced_freq, robot_sched_duration},
// Open Claws
{open_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Close Claws (Grasp Object)
{close_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Unlock Claws
{stop_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Lock Claws
{stop_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Move-Object Behavior Actuation Outputs
// idle
{close_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED},
// waiting
{close_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// seeking
{close_speed, TRUE, seek_speed, TRUE, stop_speed, TRUE, ROBOT_SEEK, tone_silenced_freq, robot_sched_duration},
// follow
{close_speed, TRUE, fwd_speed, TRUE, fwd_speed, TRUE, ROBOT_FWD, tone_silenced_freq, robot_sched_duration}
};
//
// program initialization
//
nx_proginit();
nx_progtitle(title);
nx_systick_wait_ms(1000);
// configure sensors
configureSensor(&touchSensor, TOUCH, ONE);
configureSensor(&soundSensor, SOUND, TWO);
configureSensor(&lightSensor, LIGHT, FOUR);
light_led_enable(&lightSensor);
// Open-Claws Behavior and Grasp-Object Behavior initialization
touched.reading.touched=FALSE;
// force claw opening on init via Open-Claws behavior
claw_closed=TRUE; // claw closed boolean
claw_oldpos=0; // Initialize Old Position = 0 (default initial position after nx__motors_init)
claw_oldtstamp=0; // Initialize Claw Position Old Timestamp = 0
claw_movement= CLAW_STOPPED;
// initialize current tick
sched_tick=nx_systick_get_ms();
// initialize behavior_actuations
initActuatorStates(behavior_actuations, num_behaviors);
while(max_iterations--)
{
collect_samples(sampleSize, &lightSensor, light_readings, &soundSensor, sound_levels, NULL, NULL, NULL, NULL);
calc_min_max(light_readings, sampleSize, &light_min, &light_max);
calc_min_max(sound_levels, sampleSize, &sound_min, &sound_max);
getSensorReading(&touchSensor, &touched); // concerned about touched or not
get_claw_status(actuators, &claw_position, &claw_timestamp);
// turn off light to save energy if follow line is not supposed to work
if (touched.reading.touched==FALSE)
{
light_led_enable(&lightSensor);
}
else
{
light_led_disable(&lightSensor);
}
// dispatcher
bbr_idle(&tone_timestamp, &tone_active,
behavior_actuations, availableStates);
bbr_follow_line(&light_min, &light_max,
behavior_actuations, availableStates);
bbr_open_claws(&claw_movement, &touched, &claw_closed, &claw_timestamp, &claw_oldtstamp,
&claw_position, &claw_oldpos, ¤t_actuation,&actuators,
behavior_actuations, availableStates);
bbr_grasp_object(&claw_movement, &touched, &claw_closed, &claw_timestamp, &claw_oldtstamp,
&claw_position, &claw_oldpos, ¤t_actuation, &actuators,
behavior_actuations, availableStates);
bbr_move_object(&sound_min, &sound_max, &touched, claw_closed, &sound_following_state,
&sound_level_trigger,
behavior_actuations, availableStates);
// arbiters
arbiters(num_behaviors, &actuators, ¤t_actuation, behavior_actuations);
// actuators
controllers(&actuators, ¤t_actuation, &previous_actuation);
sleep_robot(&sched_tick, robot_sched_duration);
}
nx_progshutdown();
}
///<summary>
/// RunGameMain preallocates data, runs levels, and deallocates data before exiting
///</summary>
void RunGameMain()
{
// Set up our essential system objects that will be used by all of our ILevel implementations...
#ifdef PLATFORM_IS_WII
IGraphics *graphics = new GxGraphics();
ControllerWii controllers(720,480);
#endif
#ifdef PLATFORM_IS_WIN
IGraphics *graphics;// = new GxGraphics();
ControllerWin controllers(720,480);
#endif
gTextDisplay = new Text(graphics);
setupTextRendering(*gTextDisplay, *graphics);
// Set up a base level info object that is passed to each ILevel implementation...
LevelInfo *levelInfo = new LevelInfo();
levelInfo->Graphics = graphics;
levelInfo->TextOutput = gTextDisplay;
levelInfo->Controllers = &controllers;
printf("\x1b[2;0H");printf("\n\nWaiting for GDB Connection...");
//_break();
// At this point we can load and display our title screen / start the title music...
//LevelMethodsPreAllocateLevelMusic(MP3_AUDIO, levelInfo, "//assets//music//fishyPop.mp3");
LevelMethodsPrepareSplashScreen(levelInfo, 100.0f);
// Now that all our data is loaded we can just wait for a keypress...
//TODO: WAIT HERE FOR A KEY TO BE PRESSED
//while(levelInfo->Controllers->checkButtonPress(0, WII_BUTTON_A) != true)
//{
// levelInfo->Controllers->updateControllerStates();
// LevelMethodsDisplaySplashScreen(levelInfo);
//}
LevelMethodsPrepareSplashScreen(levelInfo, 4.0f);
// Preallocate all of the sprites, models, textures, music, and sound that will persist throughout the game ...
preAllocateAudioData(levelInfo);
preAllocateGameModels(levelInfo);
preAllocateSpriteObjects(levelInfo);
preAllocateMenuData(levelInfo);
preAllocateParticleData(levelInfo);
// Free up the resources our title screen was using, and load the in game mp3 data..
LevelMethodsDeAllocateSplashScreen(levelInfo);
// Load our tilemap and then play level one!
LevelOne levelOne(*levelInfo);
levelOne.runUntilLevelIsFinished();
// TODO: Deallocate our tilemap, load another one, and play level two!
// Deallocate all of the sprites, models, textures, music, and sound that persisted throughout the game ...
deAllocateSpriteObjects(levelInfo);
deAllocateGameModels(levelInfo);
deAllocateAudioData(levelInfo);
deAllocateMenuData(levelInfo);
deAllocateParticleData(levelInfo);
delete gTextDisplay;
}
void main(void) {
int num_behaviors=6; // number of behaviors
U32 robot_sched_duration=100; // minimum time spent for each main loop (in ms)
char *title="Tribot"; // program title to display
U32 max_iterations=65536; // maximum number of iterations of main loop
U32 sched_tick=0; // store system timer for robot sleep
// Tone Control Constants
U32 tone_enabled_freq=2500; // Hz
U32 tone_silenced_freq=0; // Hz
U32 tone_enabled_dur=100; // ms
U32 tone_obstacle_freq=750; // Hz
// wheel control constants
S8 stop_speed=0;
S8 fwd_speed=30;
S8 fastrot_speed=40;
S8 slowrot_speed=20;
S8 seek_speed=30;
// Idle Behavior Variables
bool tone_active=FALSE;
U32 tone_timestamp=0;
// Follow Line Behavior Variables
U8 sampleSize=5;
SensorReading light_readings[sampleSize];
SensorReading light_min;
SensorReading light_max;
// Open-Claws Behavior and Grasp-Object Behavior Variables
SensorReading touched;
U32 claw_timestamp=0;
U32 claw_oldtstamp=0;
U32 claw_position=0;
U32 claw_oldpos=0;
bool claw_closed;
U8 claw_movement;
// Claw Control Constants
// Open and Close Speeds are directional (signed)
// WARNING: Be conservative with the Open and Close Speeds, since we
// run the motors until it hits the limiters and the Tachometer stops changing.
// Using too high a speed may pop the claw assembly!
S8 open_speed=10;
S8 close_speed=-20;
// Move-Object Behavior Variables
SensorReading sound_levels[sampleSize];
SensorReading sound_min;
SensorReading sound_max;
U8 sound_following_state=0;
U8 sound_level_trigger=0;
// Avoid Object behavior variables
bool obstacle_detected=FALSE;
bool obstacle_tone_active=FALSE;
U32 obstacle_tone_timestamp=0;
struct PID_Control pid;
SensorReading distance;
distance.reading.analog=0;
// Actuator Port Assignments
Actuators actuators;
setActuators(&actuators, ARM, RIGHT_WHEEL, LEFT_WHEEL );
// Sensor Port Assignments and configure
Sensor lightSensor, touchSensor, soundSensor, ulsSensor;
//current robot actuator state
ActuatorState current_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//previous robot actuator state
ActuatorState previous_actuation={MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED};
//behavior_actuations
ActuatorState behavior_actuations[num_behaviors];
//array of available states
ActuatorState availableStates[16]=
{
//bbr_behavior_inhibited
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED},
//bbr_idle_on
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_enabled_freq, tone_enabled_dur},
//bbr_idle_off
{MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, MOTOR_INHIBITED_BYTE, FALSE, ROBOT_STOP, tone_silenced_freq, tone_enabled_dur},
//bbr_follow_line_black
{MOTOR_INHIBITED_BYTE, FALSE, fwd_speed, FALSE, fwd_speed, FALSE, ROBOT_FWD, tone_silenced_freq, robot_sched_duration},
//bbr_follow_line_edge
{MOTOR_INHIBITED_BYTE, FALSE, slowrot_speed, FALSE, stop_speed, FALSE, ROBOT_CCW, tone_silenced_freq, robot_sched_duration},
//bbr_follow_line_white
{MOTOR_INHIBITED_BYTE, FALSE, stop_speed, FALSE, fastrot_speed, FALSE, ROBOT_CW, tone_silenced_freq, robot_sched_duration},
// Open Claws
{open_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Close Claws (Grasp Object)
{close_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Unlock Claws
{stop_speed, FALSE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Lock Claws
{stop_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// Move-Object Behavior Actuation Outputs
// idle
{close_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, TONE_INHIBITED, TONE_INHIBITED},
// waiting
{close_speed, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_STOP, tone_silenced_freq, robot_sched_duration},
// seeking
{close_speed, TRUE, seek_speed, TRUE, stop_speed, TRUE, ROBOT_SEEK, tone_silenced_freq, robot_sched_duration},
// follow
{close_speed, TRUE, fwd_speed, TRUE, fwd_speed, TRUE, ROBOT_FWD, tone_silenced_freq, robot_sched_duration},
// Avoid-Obstacle Behavior Actuation Outputs
// avoid obstacle template, tone on
{MOTOR_INHIBITED_BYTE, TRUE, stop_speed, TRUE, stop_speed, TRUE, ROBOT_AVOID, tone_obstacle_freq, tone_enabled_dur},
// avoid obstacle template, tone off
{MOTOR_INHIBITED_BYTE, TRUE, MOTOR_INHIBITED_BYTE, TRUE, stop_speed, TRUE, ROBOT_AVOID, tone_silenced_freq, tone_enabled_dur}
};
//
// program initialization
//
nx_proginit();
nx_progtitle(title);
nx_systick_wait_ms(1000);
// configure sensors
configureSensor(&touchSensor, TOUCH, ONE);
configureSensor(&soundSensor, SOUND, TWO);
configureSensor(&ulsSensor, RADAR, THREE);
configureSensor(&lightSensor, LIGHT, FOUR);
light_led_enable(&lightSensor);
// Open-Claws Behavior and Grasp-Object Behavior initialization
touched.reading.touched=FALSE;
// force claw opening on init via Open-Claws behavior
claw_closed=TRUE; // claw closed boolean
claw_oldpos=0; // Initialize Old Position = 0 (default initial position after nx__motors_init)
claw_oldtstamp=0; // Initialize Claw Position Old Timestamp = 0
claw_movement= CLAW_STOPPED;
// Avoid-Obstacle Behavior initialization
distance.reading.analog=RADAR_DIST_ERR; // initialize to unknown distance
obstacle_tone_active=FALSE;
obstacle_detected=FALSE;
// PID Configuration Parameters
// FIXME: Need to be changed to actual values
// KP, KI, KD have the range of 16-bit integer values [MIN_SHORT,MAX_SHORT]
// This is multiplied by alpha to give 32-bit resolution values
// alphaKP, alphaKI, alphaKD BEFORE initializing the PID Controller
// The value of alpha is 2^SCALING_SHIFT, where SCALING_SHIFT is 16
// which gives alpha = 65536
//
// Applying Kc = 3, T = 100 ms, Pc = 1 s, alpha = 65536
//#define KP 127795 // alphaKP = alpha x 0.65 x Kc = 127795
//#define KI 25559 // alphaKI = alpha x Kp x T / (0.5 x Pc) = 25559
//#define KD 153354 // alphaKD = alpha x Kp x 0.12 x Pc / T = 153354
//#define STEADY_STATE_THRESHOLD 1 // 0 = disabled, !0 = Stop PID Controller after x iterations
// init pid
initPID(&pid, 127795, 25559, 153354, 1);
// initialize current tick
sched_tick=nx_systick_get_ms();
// initialize behavior_actuations
initActuatorStates(behavior_actuations, num_behaviors);
while(max_iterations--)
{
collect_samples(sampleSize, &lightSensor, light_readings, &soundSensor, sound_levels, NULL, NULL, NULL, NULL);
calc_min_max(light_readings, sampleSize, &light_min, &light_max);
calc_min_max(sound_levels, sampleSize, &sound_min, &sound_max);
getSensorReading(&touchSensor, &touched); // concerned about touched or not
getSensorReading(&ulsSensor, &distance); // concerned about range in cm
get_claw_status(actuators, &claw_position, &claw_timestamp);
// turn off light to save energy if follow line is not supposed to work
if (touched.reading.touched==FALSE)
{
light_led_enable(&lightSensor);
}
else
{
light_led_disable(&lightSensor);
}
// dispatcher
bbr_idle(&tone_timestamp, &tone_active,
behavior_actuations, availableStates);
bbr_follow_line(&light_min, &light_max,
behavior_actuations, availableStates);
bbr_open_claws(&claw_movement, &touched, &claw_closed, &claw_timestamp, &claw_oldtstamp,
&claw_position, &claw_oldpos, ¤t_actuation,&actuators,
behavior_actuations, availableStates);
bbr_grasp_object(&claw_movement, &touched, &claw_closed, &claw_timestamp, &claw_oldtstamp,
&claw_position, &claw_oldpos, ¤t_actuation, &actuators,
behavior_actuations, availableStates);
bbr_move_object(&sound_min, &sound_max, &touched, claw_closed, &sound_following_state,
&sound_level_trigger,
behavior_actuations, availableStates);
bbr_avoid_obstacle(&obstacle_detected, &distance, &obstacle_tone_timestamp, &obstacle_tone_active, &pid, &actuators,
behavior_actuations, availableStates);
// arbiters
arbiters(num_behaviors, &actuators, ¤t_actuation, behavior_actuations);
// actuators
controllers(&actuators, ¤t_actuation, &previous_actuation);
sleep_robot(&sched_tick, robot_sched_duration);
}
nx_progshutdown();
}
