int main(void)
{
systemInit();
while(1)
{
moveOnDirection(-228, 90, NULL);
_delay_ms(500);
rotate(78,60,NULL);
_delay_ms(1000);
moveOnDirection(-700, 40, releaseCarpets);
rotate(-78, 40, NULL);
moveOnDirection(-40, 65, NULL);
_delay_ms(5000);
while (1);
}
}
/*************************************************************************************************************************************************************************************
ZELENA STRANA
*************************************************************************************************************************************************************************************/
void greenSide(void)
{
position startingPosition;
unsigned char currentPosition = 0, nextPosition = 0, odometryStatus;
unsigned char activeState = TACTIC_ONE;
startingPosition.x = 0;
startingPosition.y = 0;
startingPosition.angle = 0;
setPosition(startingPosition);
while (1)
{
switch(activeState)
{
case TACTIC_ONE:
for (currentPosition = nextPosition; currentPosition < TACTIC_ONE_POSITION_COUNT; currentPosition++)
{
// mozda ubaciti if-else sa akcijama tipa regularno- kretanje, i alternativno- sta god
odometryStatus = moveOnDirection(greenSideTacticOnePositions[currentPosition].distance, greenSideTacticOnePositions[currentPosition].speed, greenSideTacticOnePositions[currentPosition].detectionCallback);
if(odometryStatus == ODOMETRY_FAIL)
{
}
else if(odometryStatus == ODOMETRY_STUCK)
{
}
if(currentPosition == 0)
{
_delay_ms(1000);
rotate(-83,50,NULL);//rotira se za stepenice
_delay_ms(1000);
}
else if(currentPosition == 1)
{
//rotacija
_delay_ms(500);
servo_position(250);
while(1);
}
}//end for
break;
}
}//end while(1)
}
/*************************************************************************************************************************************************************************************
ZUTA STRANA
*************************************************************************************************************************************************************************************/
void yellowSide(void)
{
position startingPosition;
unsigned char currentPosition = 0, nextPosition = 0, odometryStatus;
unsigned char activeState = TACTIC_ONE;
startingPosition.x = 0;
startingPosition.y = 0;
startingPosition.angle = 0;
setPosition(startingPosition);
while (1)
{
switch(activeState)
{
case 5:
moveOnDirection(-8000, 60, detectEnemyYellow);
while(1);
case COLLISION:
if(currentPosition == 1)
while(1);
//if(currentPosition == 0)
//{
while(detectEnemyYellow(0) == 1)
{
PORTG = 0xFF;
_delay_ms(100);
}
PORTG = 0;
activeState = 5;
nextPosition = currentPosition;
//}
break;
case TACTIC_ONE:
for (currentPosition = nextPosition; currentPosition < TACTIC_ONE_POSITION_COUNT; currentPosition++)
{
// mozda ubaciti if-else sa akcijama tipa regularno- kretanje, i alternativno- sta god
odometryStatus = moveOnDirection(yellowSideTacticOnePositions[currentPosition].distance, yellowSideTacticOnePositions[currentPosition].speed, yellowSideTacticOnePositions[currentPosition].detectionCallback);
if(odometryStatus == ODOMETRY_FAIL)
{
activeState = COLLISION;
nextPosition = currentPosition;
break;
}
else if(odometryStatus == ODOMETRY_STUCK)
{
}
if(currentPosition == 0)
{
_delay_ms(1000);
rotate(78,50,NULL);//rotira se za stepenice 76
_delay_ms(1000);
}
else if(currentPosition == 1)
{
//servo_position(250);
while(1);
}
}//end for
break;
}
}//end while(1)
}
