void MONEEControlArchitecture::step() {
bool done = false;
while (!done) {
switch (_wm->_action) {
case ACTION_SELECT:
select();
_wm->advance();
break;
case ACTION_ACTIVATE :
reset();
_wm->_phase = PHASE_GATHERING;
_wm->setRobotLED_colorValues(34, 139, 34);
_wm->advance();
break;
case ACTION_GATHER :
updateActuators();
_wm->advance();
// Last turn of gathering can't be combined with the braking turn.
done = true;
break;
case ACTION_BRAKE :
_wm->_desiredTranslationalValue = 0;
_wm->_desiredRotationalVelocity = 0;
_wm->_phase = PHASE_MATING;
_wm->setRobotLED_colorValues(255, 69, 0);
_wm->advance();
break;
case ACTION_MATE :
updateGenomes();
// Last turn of mating can be combined with selection, activation and first turn of gathering
if (_wm->advance() > 0) done = true;
break;
}
}
}
// This update function should be called every second
void Control::update() {
updateSensors();
updatePids();
updateActuators();
mutex->update();
}
