competition.cc File Reference

#include "robot.h"
#include <fsm.h>
#include <unistd.h>
#include <servos_eb2007.h>
#include <math.h>
#include "trgen.h"
#include <movehelper_eb2007.h>
#include <map.h>
#include <sharp.h>
#include <robomath.h>
#include <ul_log.h>

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Defines
#define	FSM_MAIN
#define	RED_BASKET
#define	BASKET_GOALX   0.0
#define	BASKET_GOALY   0.0
#define	COMPETITION_TIME   600
#define	STACK_SIZE   3
#define	DEPOSITE_WAIT   1000
	Time constants.
#define	LAST_DEPOSITE_WAIT   1500
#define	WASTE_ROLL_OUT_WAIT   900
#define	NEW_PICK_UP_WAIT   1000
#define	WASTE_DETECTION_PERIOD   100
Enumerations
enum	{ UNKNOWN = 0, BOTTLE = 0, CAN }
enum	{ LEFT = 0, CENTER, RIGHT }
	Evaluation function to see in what direction the waste is. More...
Functions
	UL_LOG_CUST (ulogd_competetion)
void	get_short_sharp_mm (int *sharp)
	Convert sharp`s measured values to mm.
int	waste_ahead ()
	Check out sharp values to evaluate, if waste is in our reach.
int	stack_empty ()
	Check out if stack is empty.
int	basket_behind ()
	Evaluation function to be sure the basket is behind us.
int	recognize_waste ()
	Try to detect type of the waste.
int	waste_direction ()
void *	wait_for_end (void *arg)
	Competition timer.
void	get_new_pos (struct position_type *act, struct position_type *req, double l, double phi)
void	robot_turn (struct position_type des_pos)
	FSM_STATE_DECL (main_init)
	FSM states start here.
	FSM_STATE_DECL (plan_go)
	FSM_STATE_DECL (waste_grab)
	FSM_STATE_DECL (waste_deposite)
	FSM_STATE_DECL (waste_deposite_wait)
	FSM_STATE_DECL (go_to_basket)
	FSM_STATE_DECL (search_waste)
	FSM_STATE_DECL (turn_robot)
	FSM_STATE_DECL (follow_waste)
	FSM_STATE (main_init)
	Set starting position, playground`s safety zone and other obstacles.
	FSM_STATE (plan_go)
	Go and try to detect some waste.
	FSM_STATE (search_waste)
	FSM_STATE (waste_grab)
	FSM_STATE (go_to_basket)
	Go to basket to deposite the waste.
	FSM_STATE (waste_deposite)
	Deposite waste.
	FSM_STATE (waste_deposite_wait)
int	main ()
Variables
struct position_type	des_pos

---

Define Documentation

#define BASKET_GOALX   0.0

#define BASKET_GOALY   0.0

#define COMPETITION_TIME   600

#define DEPOSITE_WAIT   1000

Time constants.

#define FSM_MAIN

#define LAST_DEPOSITE_WAIT   1500

#define NEW_PICK_UP_WAIT   1000

#define RED_BASKET

#define STACK_SIZE   3

#define WASTE_DETECTION_PERIOD   100

#define WASTE_ROLL_OUT_WAIT   900

---

Enumeration Type Documentation

anonymous enum

Enumerator:

UNKNOWN
BOTTLE
CAN

anonymous enum

Evaluation function to see in what direction the waste is.

Returns:

Returns enum value LEFT = 0, CENTER = 1, RIGHT = 2

Enumerator:

LEFT
CENTER
RIGHT

---

Function Documentation

int basket_behind

(

)

Evaluation function to be sure the basket is behind us.

Returns:

FSM_STATE

(

main_init

)

Set starting position, playground`s safety zone and other obstacles.

FSM: main init.

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FSM_STATE

(

plan_go

)

Go and try to detect some waste.

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FSM_STATE

(

search_waste

)

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FSM_STATE

(

waste_grab

)

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FSM_STATE

(

go_to_basket

)

Go to basket to deposite the waste.

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FSM_STATE

(

waste_deposite

)

Deposite waste.

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FSM_STATE

(

waste_deposite_wait

)

FSM_STATE_DECL

(

go_to_basket

)

FSM_STATE_DECL

(

search_waste

)

FSM_STATE_DECL

(

turn_robot

)

FSM_STATE_DECL

(

follow_waste

)

FSM_STATE_DECL

(

waste_grab

)

FSM_STATE_DECL

(

waste_deposite_wait

)

FSM_STATE_DECL

(

main_init

)

FSM states start here.

FSM_STATE_DECL

(

plan_go

)

FSM_STATE_DECL

(

waste_deposite

)

void get_new_pos	(	struct position_type *	act,
		struct position_type *	req,
		double	l,
		double	phi
	)

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void get_short_sharp_mm

(

int *

sharp

)

Convert sharp`s measured values to mm.

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int main

(

void

)

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int recognize_waste

(

)

Try to detect type of the waste.

Returns:

returns type of the waste.

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void robot_turn

(

struct position_type

des_pos

)

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int stack_empty

(

)

Check out if stack is empty.

Use back innerIR sensors to do it.

Returns:

returns true if IR sensors indicate the waste

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UL_LOG_CUST

(

ulogd_competetion

)

void * wait_for_end

(

void *

arg

)

Competition timer.

Stop robot when the timer exceeds.

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int waste_ahead

(

)

Check out sharp values to evaluate, if waste is in our reach.

Returns:

returns true if waste is in our reach.

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int waste_direction

(

)

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Variable Documentation

struct position_type des_pos