src/robofsm/competition.cc

   1 /*
   2  * competition.cc       2010/04/30
   3  *
   4  * Robot's control program intended for homologation (approval phase) on Eurobot 2009.
   5  *
   6  * Copyright: (c) 2009 - 2010 CTU Dragons
   7  *            CTU FEE - Department of Control Engineering
   8  * License: GNU GPL v.2
   9  */
  10
  11 #ifndef DEBUG
  12 #define DEBUG
  13 #endif
  14
  15 #define FSM_MAIN
  16 #include <robot.h>
  17 #include <fsm.h>
  18 #include <unistd.h>
  19 #include <math.h>
  20 #include <movehelper.h>
  21 #include <map.h>
  22 #include <sharp.h>
  23 #include <robomath.h>
  24 #include <string.h>
  25 #include <robodim.h>
  26 #include <error.h>
  27 #include "actuators.h"
  28 #include "match-timing.h"
  29 #include "common-states.h"
  30
  31 int main()
  32 {
  33         int rv;
  34
  35         rv = robot_init();
  36         if (rv) error(1, errno, "robot_init() returned %d\n", rv);
  37
  38         robot.obstacle_avoidance_enabled = true;
  39
  40         robot.fsm.main.debug_states = 1;
  41         robot.fsm.motion.debug_states = 1;
  42         //robot.fsm.act.debug_states = 1;
  43
  44         //robot.fsm.main.state = &fsm_state_main_start_pick_all_our_figures;
  45         robot.fsm.main.state = &fsm_state_main_start_pick_two_our_figures;
  46         //robot.fsm.main.state = &fsm_state_main_start_pick_fourth_figure;
  47         //robot.fsm.main.state = &fsm_state_main_start_pick_third_figure;
  48         //robot.fsm.main.state = &fsm_state_main_start_pick_center_figure;
  49
  50         //robot.fsm.main.transition_callback = trans_callback;
  51         //robot.fsm.motion.transition_callback = move_trans_callback;
  52
  53         tcVeryFast = trajectoryConstraintsDefault;
  54         tcVeryFast.maxv = 1;
  55         tcVeryFast.maxacc = 0.6;
  56         tcVeryFast.maxomega = 2;
  57         tcFast = trajectoryConstraintsDefault;
  58         tcFast.maxv = 0.6;
  59         tcFast.maxacc = 0.2;
  60         tcFast.maxomega = 1;
  61         tcFast.maxe = 0.02;
  62         tcSlow = trajectoryConstraintsDefault;
  63         tcSlow.maxv = 0.4;
  64         tcSlow.maxacc = 0.2;
  65         tcSlow.maxomega = 1;
  66         tcSlow.maxe = 0.02;
  67         tcVerySlow = trajectoryConstraintsDefault;
  68         tcVerySlow.maxv = 0.1;
  69         tcVerySlow.maxacc = 0.1;
  70         tcVerySlow.maxomega = 0.2;
  71         tcVerySlow.maxe = 0.02;
  72
  73         rv = robot_start();
  74         if (rv) error(1, errno, "robot_start() returned %d\n", rv);
  75
  76         robot_destroy();
  77
  78         return 0;
  79 }
  80
  81 /************************************************************************
  82  * STATE SKELETON
  83  ************************************************************************/
  84
  85 /*
  86 FSM_STATE()
  87 {
  88         switch(FSM_EVENT) {
  89                 case EV_ENTRY:
  90                         break;
  91                 case EV_START:
  92                 case EV_TIMER:
  93                 case EV_RETURN:
  94                 case EV_ACTION_DONE:
  95                 case EV_ACTION_ERROR:
  96                 case EV_MOTION_DONE:
  97                 case EV_MOTION_ERROR:
  98                         DBG_PRINT_EVENT("unhandled event");
  99                 case EV_EXIT:
 100                         break;
 101         }
 102 }
 103 */