src/robofsm/common-states.h

   1 #ifndef COMMON_STATES_H
   2 #define COMMON_STATES_H
   3
   4 #define FSM_MAIN
   5
   6 #include "roboevent.h"
   7 #include <fsm.h>
   8
   9 extern struct TrajectoryConstraints tcFast, tcVeryFast, tcSlow, tcVerySlow;
  10 extern double totem_x, totem_y;
  11 extern bool up;
  12 /* strategy FSM */
  13 FSM_STATE_DECL(get_central_buillon_first);
  14 FSM_STATE_DECL(ignore_central_buillon);
  15 //FSM_STATE_DECL(calibrate);
  16
  17 /* Strategy catch buillon in center */
  18 FSM_STATE_DECL(approach_central_buillon);
  19 FSM_STATE_DECL(catch_central_buillon);
  20 FSM_STATE_DECL(leave_central_buillon);
  21 FSM_STATE_DECL(push_bottle_bw);
  22 FSM_STATE_DECL(return_home);
  23
  24 /* Ignore central buillon */
  25 //FSM_STATE_DECL(push_nearest_buillon);
  26 //FSM_STATE_DECL(push_bottle_fw);
  27
  28 /* Common states */
  29 FSM_STATE_DECL(leave_home);
  30 FSM_STATE_DECL(leave_home_for_totem);
  31 FSM_STATE_DECL(approach_totem_down);
  32 FSM_STATE_DECL(catch_totem_buillon_down);
  33 FSM_STATE_DECL(leave_totem_down);
  34 FSM_STATE_DECL(place_buillon_home);
  35 FSM_STATE_DECL(approach_totem_up);
  36 FSM_STATE_DECL(catch_totem_buillon_up);
  37 FSM_STATE_DECL(leave_totem_up);
  38
  39 /*FSM_STATE_DECL(place_down_buillon);
  40 FSM_STATE_DECL(approach_totem_up);
  41 FSM_STATE_DECL(catch_up_totem_buillon);
  42 FSM_STATE_DECL(leave_totem_up);
  43 FSM_STATE_DECL(place_up_buillon);
  44
  45 FSM_STATE_DECL(push_second_bottle);
  46 */
  47 void start_entry();
  48 void start_timer();
  49 void start_go();
  50 void start_exit();
  51 bool read_sharp();
  52
  53
  54
  55 #endif