76 lines
2.1 KiB
C
76 lines
2.1 KiB
C
/*
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* c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file behaviour_drive_square.c
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* @brief Bot faehrt im Quadrat
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*
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* @author Benjamin Benz (bbe@heise.de)
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* @date 03.11.06
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*/
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#include "bot-logic/bot-logik.h"
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#ifdef BEHAVIOUR_DRIVE_SQUARE_AVAILABLE
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/*!
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* Laesst den Roboter ein Quadrat abfahren.
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* Einfaches Beispiel fuer ein Verhalten, das einen Zustand besitzt.
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* Es greift auf andere Behaviours zurueck und setzt daher
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* selbst keine speedWishes.
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* @param *data der Verhaltensdatensatz
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*/
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void bot_drive_square_behaviour(Behaviour_t *data){
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#define STATE_TURN 1
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#define STATE_FORWARD 0
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#define STATE_INTERRUPTED 2
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static uint8 state = STATE_FORWARD;
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if (data->subResult == SUBFAIL) // letzter Auftrag schlug fehl?
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state= STATE_INTERRUPTED;
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switch (state) {
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case STATE_FORWARD: // Vorwaerts
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bot_goto(data,100,100);
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state = STATE_TURN;
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break;
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case STATE_TURN: // Drehen
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bot_goto(data,22,-22);
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state=STATE_FORWARD;
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break;
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case STATE_INTERRUPTED:
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return_from_behaviour(data); // Beleidigt sein und sich selbst deaktiviern
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break;
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default: /* Sind wir fertig, dann Kontrolle zurueck an Aufrufer */
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return_from_behaviour(data);
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break;
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}
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}
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/*!
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* Laesst den Roboter ein Quadrat abfahren.
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* @param caller Der obligatorische Verhaltensdatensatz des aufrufers
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*/
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void bot_drive_square(Behaviour_t* caller){
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switch_to_behaviour(caller, bot_drive_square_behaviour,OVERRIDE);
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}
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#endif
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