int main()
{
setDefaults();
//State 1 - Order
//State 2 - Retrieve
//State 3 - Open Fridge
//State 4 - Search and Load
//State 5 - Deliver
while (1)
{
getOrder();
if (!moveRetrieval())
{
log("Error, could not move to fridge", 1);
beepCode(2, 1);
beepCode(1, 0);
return 1;
}
if (!positionClaw())
{
log("Error, could locate or load beer", 1);
beepCode(3, 1);
beepCode(1, 0);
return 1;
}
if (!moveDeliver())
{
log("Error, could deliver beer", 1);
beepCode(5, 1);
beepCode(1, 0);
return 1;
}
}
return 0;
}
int main()
{
setDefaults();
bool atLocation = false;
//State 1 - Order
//State 2 - Retrieve
//State 3 - Open Fridge
//State 4 - Search and Load
//State 5 - Close Fridge
//State 6 - Deliver
while (1)
{
if (globals.globalDebugParams.enableDebug == false || globals.globalDebugParams.startInState == 1)
{
getOrder();
moveRetrieve();
moveOpenFridge();
getBeer();
//close
moveDeliver();
}
else if (globals.globalDebugParams.enableDebug == true && globals.globalDebugParams.startInState == 2)
{
globals.globalOrderParams.orderNumber = 0;
moveRetrieve();
moveOpenFridge();
getBeer();
//close
moveDeliver();
}
else if (globals.globalDebugParams.enableDebug == true && globals.globalDebugParams.startInState == 3)
{
globals.globalOrderParams.orderNumber = 0;
moveOpenFridge();
getBeer();
//close
moveDeliver();
}
else if (globals.globalDebugParams.enableDebug == true && globals.globalDebugParams.startInState == 4)
{
globals.globalOrderParams.orderNumber = 0;
getBeer();
//close
moveDeliver();
}
else if (globals.globalDebugParams.enableDebug == true && globals.globalDebugParams.startInState == 5)
{
//close
moveDeliver();
}
else if (globals.globalDebugParams.enableDebug == true && globals.globalDebugParams.startInState == 6)
{
moveDeliver();
}
else
{
log("Could not determine start state", 1);
log("Check debug settings for mismatches", 1);
beepCode(1, 1);
}
}
return 0;
}
