robofsm: Map 2012

[eurobot/public.git] / src / robofsm / robot.c

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index 7e5ebcab13dcda6c30c7b588048f45ef8f308977..77575a95d6d8e522cbfb26f7eb7218f35ddee99a 100644 (file)
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -58,36 +58,25 @@ static void int_handler(int sig)
 
 void fill_in_known_areas_in_map()
 {
-       /* Do not plan path close to edges */
-       //ShmapSetRectangleFlag(0.0, 0.0, 0.26, 2.1, MAP_FLAG_WALL, 0); /* left */
-       //ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.26, MAP_FLAG_WALL, 0); /* bottom */
-       //ShmapSetRectangleFlag(0.0, 1.84, 3.0, 2.1, MAP_FLAG_WALL, 0); /* top */
-       //ShmapSetRectangleFlag(2.74, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); /* right */
-
-//     /* Container surroundings */
-//     ShmapSetRectangleFlag(0.0, 0.0, 0.4, 0.2, 0, MAP_FLAG_WALL); /* left container */
-//     ShmapSetRectangleFlag(3.0, 0.0, 2.6, 0.2, 0, MAP_FLAG_WALL); /* right container */
-
-//     /* Ignore other obstacles at edges */
-//     ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* left */
-//     ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
-//     ShmapSetRectangleFlag(0.0, 2.01, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* top */
-//     ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* right */
-//     ShmapSetRectangleFlag(1.0, 1.5, 1.95, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* rised area */
-
-       /* start blocs */
-       ShmapSetRectangleFlag(0, 1.7, 0.4, 1.678, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(2.55, 1.7, 3, 1.678, MAP_FLAG_WALL, 0);
-
-       /* protected bloc left */
-       ShmapSetRectangleFlag(0.45, 0, 1.15, 0.12, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(0.45, 0.12, 0.472, 0.25, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(1.128, 0.12, 1.15, 0.25, MAP_FLAG_WALL, 0);
-
-       /* protected bloc right */
-       ShmapSetRectangleFlag(1.85, 0, 2.55, 0.12, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(1.85, 0.12, 1.872, 0.25, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(2.528, 0.12, 2.55, 0.25, MAP_FLAG_WALL, 0);
+       /*----- playground width 3.0 m and playground height 2.0 m -----*/
+       /* Ignore other obstacles at edges */
+       ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* left */
+       ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
+       ShmapSetRectangleFlag(0.0, 1.91, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* top */
+       ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* right */
+
+       /* Small walls that cannot be detected by hokuyo */
+       ShmapSetRectangleFlag(0.0, 1.49, 0.39, 1.432, MAP_FLAG_WALL, 0);
+       ShmapSetRectangleFlag(3.0, 1.49, 2.61, 1.432, MAP_FLAG_WALL, 0);
+       ShmapSetRectangleFlag(0.325, 0.0, 0.38, 0.74, MAP_FLAG_WALL, 0);
+       ShmapSetRectangleFlag(2.675, 0.0, 2.62, 0.74, MAP_FLAG_WALL, 0);
+       
+       /* Palm tree */
+       //ShmapSetCircleFlag(1.5, 1.0, 0.075, MAP_FLAG_WALL, 0);
+       
+       /* Totems and palm tree */
+       ShmapSetRectangleFlag(0.975, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
+       //ShmapSetRectangleFlag(1.775, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
 }
 
 static void trans_callback(struct robo_fsm *fsm)
@@ -138,15 +127,15 @@ int robot_init()
        robot.fsm.act.transition_callback = trans_callback;
        robot.fsm.motion.transition_callback = trans_callback;
 
-       robot.team_color = BLUE;
+       robot.team_color = RED;
 
-       if (robot.team_color == YELLOW) {
-               ul_loginf("We are YELLOW!\n");
+       if (robot.team_color == RED) {
+               ul_loginf("We are RED!\n");
        } else {
                ul_loginf("We are BLUE!\n");
        }
 
-       robot_set_est_pos_trans(1, 1, DEG2RAD(0));
+       robot_set_est_pos_trans(ROBOT_START_X_M, ROBOT_START_Y_M, DEG2RAD(ROBOT_START_ANGLE_DEG));
 
        robot.ignore_hokuyo = false;
        robot.map = ShmapInit(1);
@@ -176,9 +165,9 @@ int robot_init()
        */
 
        robot.obstacle_avoidance_enabled = true;
-       robot.use_back_switch = true;
-       robot.use_left_switch = true;
-       robot.use_right_switch = true;
+       robot.use_back_bumpers = true;
+       robot.use_left_bumper = true;
+       robot.use_right_bumper = true;
        robot.start_state = POWER_ON;
        robot.check_turn_safety = true;