/*! \brief The "main" function of the avoider demo */
void run_breitenberg_shocker(void)
{
e_init_port();
e_init_motors();
e_init_ad_scan(ALL_ADC);
e_calibrate_ir();
e_activate_agenda(flow_led, 900);
e_activate_agenda(shock_neuron, 650);
e_start_agendas_processing();
while(1);
}
/*! \brief The "main" function of the follower demo */
void run_breitenberg_follower(void)
{
e_init_port();
e_init_motors();
e_init_ad_scan(ALL_ADC);
e_calibrate_ir();
e_activate_agenda(k2000_led, 2500);
e_activate_agenda(follow_neuron, 650);
e_start_agendas_processing();
while(1);
}
void robot_off(void)
{
e_init_port();
e_init_motors();
e_init_ad_scan(ALL_ADC);
e_calibrate_ir();
e_start_agendas_processing();
while (1) {
e_led_clear();
wait(10000);
}
}
int main(void)
{
e_init_port();
e_init_motors();
e_init_ad_scan(ALL_ADC);
e_calibrate_ir();
int selector=getselector();
switch (selector) {
case 0:robot_off();break;
case 1:aggressive();break;
case 2:fear();break;
case 3:curious();break;
case 4:love();break;
case 5:robot_off();break;
default:/*own high level behaviour*/break;
}
}
int main()
{
// init robot
e_init_port();
e_init_ad_scan();
e_init_uart1();
e_led_clear();
e_init_motors();
e_start_agendas_processing();
// wait for s to start
btcomWaitForCommand('s');
btcomSendString("==== READY - IR TESTING ====\n\n");
e_calibrate_ir();
// initialize ircom and start reading
ircomStart();
ircomEnableContinuousListening();
ircomListen();
// rely on selector to define the role
int selector = getselector();
// show selector choosen
int i;
long int j;
for (i = 0; i < selector; i++)
{
e_led_clear();
for(j = 0; j < 200000; j++)
asm("nop");
e_set_led(i%8, 1);
for(j = 0; j < 300000; j++)
asm("nop");
e_led_clear();
for(j = 0; j < 300000; j++)
asm("nop");
}
// activate obstacle avoidance
e_activate_agenda(obstacleAvoidance, 10000);
// acting as sender
if (selector == 1)
{
btcomSendString("==== EMITTER ====\n\n");
int i;
for (i = 0; i < 10000; i++)
{
// takes ~15knops for a 32window, avoid putting messages too close...
for(j = 0; j < 200000; j++) asm("nop");
ircomSend(i % 256);
while (ircomSendDone() == 0);
btcomSendString(".");
}
}
// acting as receiver
else if (selector == 2)
{
btcomSendString("==== RECEIVER ====\n\n");
int i = 0;
while (i < 200)
{
// ircomListen();
IrcomMessage imsg;
ircomPopMessage(&imsg);
if (imsg.error == 0)
{
int val = (int) imsg.value;
/* Send Value*/
char tmp[128];
sprintf(tmp, "Receive successful : %d - distance=%f \t direction=%f \n", val, (double)imsg.distance, (double)imsg.direction);
btcomSendString(tmp);
}
else if (imsg.error > 0)
{
btcomSendString("Receive failed \n");
}
// else imsg.error == -1 -> no message available in the queue
if (imsg.error != -1) i++;
}
}
// no proper role defined...
else
{
int i = 0;
long int j;
while(1)
{
e_led_clear();
for(j = 0; j < 200000; j++)
asm("nop");
e_set_led(i, 1);
for(j = 0; j < 300000; j++)
asm("nop");
i++;
i = i%8;
}
}
ircomStop();
return 0;
}
int main(void)
{
int cam_mode,cam_x1,cam_y1,cam_width,cam_heigth,cam_zx,cam_zy;
if(getSelector() == 0)
return;
char c;
int i;//buff_length;
//int wait_cam;
//defining the position of the several inputs and outputs (motors are outputs) in the respective SFR
//the SFR are programed as structures, so accessing to an input/output implies only acessing to the field of the structure corresponding to the SFR that was
//assigned to that input/output (see epuck_ports.h and p30f6014.h to understand the SFR assignment)
e_init_port();
e_init_motors();
//important to enable uart interface
e_init_uart1();
e_init_ad_scan(ALL_ADC);
e_calibrate_ir();
//initial configuration of the camera
cam_x1=(ARRAY_WIDTH/Z_WIDTH-WIDTH)/2;
cam_y1=(ARRAY_HEIGHT/Z_HEIGHT-HEIGHT)/2;
cam_width=WIDTH;
cam_heigth=HEIGHT;
cam_zx=Z_WIDTH;
cam_zy=Z_HEIGHT;
cam_mode=MODE;
if(cam_mode==GREY_SCALE_MODE)
cam_size=cam_width*cam_heigth;
else
cam_size=cam_width*cam_heigth*2;
//not waiting for camera
wait_cam=0;
e_activate_agenda(updateFlag, 500);//500//1000
e_activate_agenda(readValues, 10);
e_start_agendas_processing();
keepFinding = 0;
e_set_led(4,1);
keepFinding = 1;
int s = getSelector();
while(s==getSelector());
/*while(1){
sprintf(b1,"%i\n",e_get_calibrated_prox(S_FRONT_LEFT));
e_send_uart1_char(b1,10);
while(e_uart1_sending());
}*/
while(1){
while(keepFinding) {
if(!cameraOn) {
startCamera();
correctRobot();
}
while(!captura());
//e_send_uart1_char(buffer,buff_length);
//while(e_uart1_sending());
if(cameraOn > 5)
processaImagem();
cameraOn++;
}
if(cameraOn)
stopCamera();
while(!flag);
flag = 0;
sendInputs();
readOrder();
readOrder();
e_set_speed_left(speedLeft);
e_set_speed_right(speedRight);
e_set_led(4,0);
}
return 0;
}
/*! \brief The "main" function of the program */
void run_wallfollow() {
int leftwheel, rightwheel; // motor speed left and right
int distances[NB_SENSORS]; // array keeping the distance sensor readings
int i; // FOR-loop counters
int gostraight;
int loopcount;
unsigned char selector_change;
e_init_port();
e_init_ad_scan(ALL_ADC);
e_init_motors();
e_start_agendas_processing();
//follow_sensor_calibrate();
e_activate_agenda(left_led, 2500);
e_activate_agenda(right_led, 2500);
e_pause_agenda(left_led);
e_pause_agenda(right_led);
e_calibrate_ir();
loopcount=0;
int selectionValue;
// selector_change = !(followgetSelectorValue() & 0x0001);
e_set_steps_right(0);
selectionValue = followgetSelectorValue();
while (doesWallExist(selectionValue)) {
followGetSensorValues(distances); // read sensor values
gostraight=0;
if (selectionValue == 1) {
//// if(selector_change == LEFT_FOLLOW) {
// selector_change = RIGHT_FOLLOW;
e_led_clear();
e_pause_agenda(left_led);
e_restart_agenda(right_led);
// }
for (i=0; i<8; i++) {
if (distances[i]>50) {break;}
}
if (i==8) {
gostraight=1;
} else {
follow_weightleft[0]=-10;
follow_weightleft[7]=-10;
follow_weightright[0]=10;
follow_weightright[7]=10;
if (distances[2]>300) {
distances[1]-=200;
distances[2]-=600;
distances[3]-=100;
}
}
} else {
// if(selector_change == RIGHT_FOLLOW) {
// selector_change = LEFT_FOLLOW;
e_led_clear();
e_pause_agenda(right_led);
e_restart_agenda(left_led);
// }
for (i=0; i<8; i++) {
if (distances[i]>50) {break;}
}
if (i==8) {
gostraight=1;
} else {
follow_weightleft[0]=10;
follow_weightleft[7]=10;
follow_weightright[0]=-10;
follow_weightright[7]=-10;
if (distances[5]>300) {
distances[4]-=100;
distances[5]-=600;
distances[6]-=200;
}
}
}
leftwheel=BIAS_SPEED;
rightwheel=BIAS_SPEED;
if (gostraight==0) {
for (i=0; i<8; i++) {
leftwheel+=follow_weightleft[i]*(distances[i]>>4);
rightwheel+=follow_weightright[i]*(distances[i]>>4);
}
}
// set robot speed
followsetSpeed(leftwheel, rightwheel);
wait(15000);
//doesWallExist(selectionValue);
}
}
int main()
{
// init robot
e_init_port();
e_init_ad_scan();
e_init_uart1();
e_led_clear();
e_init_motors();
e_start_agendas_processing();
// initialise buffer
int k;
for (k = 0; k < NB_NEIGHBOURS; k++)
neighbours[k].id = -1;
// wait for s to start
/* btcomWaitForCommand('s'); */
btcomSendString("-OK-\n");
e_calibrate_ir();
// initialize ircom, then rng and start listening
ircomStart();
//ircomEnableContinuousListening();
//ircomEnableProximity();
initRandomNumberGenerator();
// after rng init we can disable prox sensors
//ircomDisableProximity();
ircomEnableContinuousListening();
ircomListen();
id = getselector();
ircomResetTime();
lastClock = ircomGetTime();
// activate movement
//e_activate_agenda(move, 2500);
organiseInit();
// advertise current direction
e_led_clear();
e_set_led(0,1);
e_set_led(4,1);
while(1)
{
int messageReceived = 0;
while(((ircomGetTime() - lastClock < COM_CYCLE_SPEED) || (ircomIsReceiving() == 1)))
{
IrcomMessage msg;
ircomPopMessage(&msg);
if (msg.error == 0)
{
processNewMessage(&msg);
messageReceived = 1;
SetRobotSeen(msg);
}
}
e_set_body_led(messageReceived);
SendData();
//sendId();
//sendAngleToNeighbours();
lastClock = ircomGetTime();
e_set_body_led(0);
}
ircomStop();
return 0;
}
