diff options
| author | sicarius <devnull@localhost> | 2007-02-26 22:25:01 +0100 |
|---|---|---|
| committer | sicarius <devnull@localhost> | 2007-02-26 22:25:01 +0100 |
| commit | f61eb900879fe941460a284ff9e4681b0958b944 (patch) | |
| tree | e32e6e091b0d025e071f3eab1dbf52c04d107d1d | |
| parent | 343397ecf6e8ba9ca94fc61e27c241139eff120b (diff) | |
| download | rc2007-soccer-f61eb900879fe941460a284ff9e4681b0958b944.tar rc2007-soccer-f61eb900879fe941460a284ff9e4681b0958b944.zip | |
SoccerTeam, Stuff from Magdeburg
17 files changed, 663 insertions, 119 deletions
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diff --git a/source/Concept/Framework/default/Makefile b/source/Concept/Framework/default/Makefile index 0411c61..e34755b 100644 --- a/source/Concept/Framework/default/Makefile +++ b/source/Concept/Framework/default/Makefile @@ -34,13 +34,13 @@ HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0 ## Include Directories
-INCLUDES = -I"Y:\Concept\Framework\modules" -I"Y:\Concept\Framework\modules\executor" -I"Y:\Concept\Framework\modules\input" -I"Y:\Concept\Framework\modules\interpreter" -I"Y:\Concept\Framework\modules\logic" -I"Y:\Concept\Framework\modules\output"
+INCLUDES = -I"Z:\rc2007-soccer\source\Concept\Framework\modules" -I"Z:\rc2007-soccer\source\Concept\Framework\modules\executor" -I"Z:\rc2007-soccer\source\Concept\Framework\modules\input" -I"Z:\rc2007-soccer\source\Concept\Framework\modules\interpreter" -I"Z:\rc2007-soccer\source\Concept\Framework\modules\logic" -I"Z:\rc2007-soccer\source\Concept\Framework\modules\output"
## Libraries
LIBS = -lm
## Objects that must be built in order to link
-OBJECTS = io_module.o atmega128io.o main.o robot.o tools.o distance_sensor.o ir_sensor.o keyboard.o mouse_sensor.o sensor.o position_tracker.o display.o dribbler.o engine.o kicker.o led.o ball_tracker.o navigator.o aktuator.o wireless.o logic.o
+OBJECTS = io_module.o atmega128io.o main.o robot.o tools.o distance_sensor.o ir_sensor.o keyboard.o mouse_sensor.o sensor.o position_tracker.o display.o dribbler.o engine.o kicker.o led.o ball_tracker.o navigator.o aktuator.o wireless.o logic.o command_handler.o obstacle_tracker.o
## Objects explicitly added by the user
LINKONLYOBJECTS =
@@ -112,6 +112,12 @@ wireless.o: ../modules/wireless.c logic.o: ../modules/logic/logic.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
+command_handler.o: ../modules/interpreter/command_handler.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+obstacle_tracker.o: ../modules/interpreter/obstacle_tracker.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
##Link
$(TARGET): $(OBJECTS)
$(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h index 596126d..a86282c 100644 --- a/source/Concept/Framework/defines.h +++ b/source/Concept/Framework/defines.h @@ -60,6 +60,9 @@ #define DISTANCE_PER_VALUE 1
#define TICKS_PER_CM 205.0f
//#define TICKS_PER_CM 90.0f
+#define ULTRASONIC_PER_CM 2.0f
+
+#define WIRELESS_ACTIVE false
#define PI 3.14159265358979323846f
#define CYCLES_PER_CORRECTION 20
@@ -67,8 +70,39 @@ #define BALL_HELD_INTENSITY 900
+#define KEEPER_LEFT_ANGLE 20.0f * PI / 180.0f
+#define KEEPER_RIGHT_ANGLE (2 * PI) - (20.0f * PI / 180.0f)
+
#define COMMAND_BUFFER_SIZE 20
+#define DEFAULT_SPEED 200
+#define DEFAULT_ROTATION_SPEED 200
+
+#define AREA_BOUNDS_X 20000.0f
+#define AREA_BOUNDS_Y 5000.0f
+
+#define WALL_DISTANCE_TOLERANCE 30.0f
+#define ENEMY_ROBOT_RADIUS 40.0f
+
+#define HOME_LOC_X -500.0f
+#define HOME_LOC_Y 0
+#define ENEMY_LOC_X 500.0f
+#define ENEMY_LOC_Y 0
+#define DEFENCE_L_LOC_X -500.0f
+#define DEFENCE_L_LOC_Y 70.0f
+#define DEFENCE_R_LOC_X -500.0f
+#define DEFENCE_R_LOC_Y -70.0f
+
+#define DISTANCE_TOLERANCE 1.0f
+#define ORIENTATION_TOLERANCE 0.1f
+
+#define MAX_OBSTACLE_COUNT 20
+
+#define OBSTACLE_DECAY 100
+
+#define BALL_DIRECTION_FRONT_L 45.0f * PI / 180.0f
+#define BALL_DIRECTION_FRONT_R 315.0f * PI / 180.0f
+
#define WIRELESS_CODE "SPASS!"
enum WirelessCommands
{
@@ -183,9 +217,17 @@ enum IOModuleNames IO_POSITION_TRACKER_END,
- //Position Tracker
+ //Obstacle Tracker
+
+ IO_OBSTACLE_TRACKER_START = IO_POSITION_TRACKER_END,
+
+ IO_OBSTACLE_TRACKER_MAIN,
+
+ IO_OBSTACLE_TRACKER_END,
+
+ //Ball Tracker
- IO_BALL_TRACKER_START = IO_POSITION_TRACKER_END,
+ IO_BALL_TRACKER_START = IO_OBSTACLE_TRACKER_END,
IO_BALL_TRACKER_MAIN,
diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c index ba0e280..27edce3 100755 --- a/source/Concept/Framework/main.c +++ b/source/Concept/Framework/main.c @@ -130,6 +130,14 @@ int main() newCommandHandler = NULL;
}
+ //Init Obstacle Tracker
+ for(uint8 i = IO_OBSTACLE_TRACKER_START; i < IO_OBSTACLE_TRACKER_END; i++)
+ {
+ Obstacle_Tracker* newObstacleTracker = new Obstacle_Tracker(i);
+ localRobot->AddModule(newObstacleTracker);
+ newObstacleTracker = NULL;
+ }
+
//Init Position Tracker
for(uint8 i = IO_POSITION_TRACKER_START; i < IO_POSITION_TRACKER_END; i++)
{
@@ -179,33 +187,62 @@ int main() Command_Handler* ourCommandHandler = localRobot->GetModule<Command_Handler>(IO_COMMAND_HANDLER_MAIN);
uint32 i = 1;
Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
- Position_Tracker* ourPosition_Tracker = localRobot->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+ Position_Tracker* ourPositionTracker = localRobot->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
Ball_Tracker* ourBallTracker = localRobot->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
Dribbler* ourDribbler = localRobot->GetModule<Dribbler>(IO_DRIBBLER_MAIN);
- ourDribbler->SetSpeed(1);
- ourDribbler->SetEnabled(true);
+ //ourDribbler->SetSpeed(1);
+ //ourDribbler->SetEnabled(true);
Aktuator* ourAktuator = localRobot->GetModule<Aktuator>(IO_AKTUATOR_MAIN);
Logic* ourLogic = localRobot->GetModule<Logic>(IO_LOGIC_MAIN);
+ Wireless* ourWireless = localRobot->GetModule<Wireless>(IO_WIRELESS_MAIN);
- float rotation = 0;
- float speed = 200;
+ //(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_BACK))->SetSpeed(200);
- //Mouse_Sensor* mouse_left = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
- //Mouse_Sensor* mouse_right = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+ //(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetSpeed(200);
+ //(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetEnabled(true);
- ourDisplay->Clear();
+ //sleep(2);
+
+ //(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT))->SetSpeed(200);
+ //(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT))->SetEnabled(true);
+
+ //sleep(2);
+
+
+
+ //(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetSpeed(200);
+ //(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetEnabled(true);
+
+ /*(localRobot->GetModule<Dribbler>(IO_DRIBBLER_MAIN))->SetSpeed(200);
+ (localRobot->GetModule<Dribbler>(IO_DRIBBLER_MAIN))->SetEnabled(true);*/
+
+ /*(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT))->SetSpeed(80);
+ (localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT))->SetEnabled(true);*/
+
+ (localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_BACK))->SetSpeed(255);
+ (localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_BACK))->SetEnabled(true);
+
+ (localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetSpeed(255);
+ (localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetEnabled(true);
+
+ sleep(2);
//Run
while(true)
{
- ourDisplay->Print(i++,1,1);
-
- //msleep(50);
-
- if(ourCommandHandler->displayDistanceSensors && !(i % 20))
+ i++;
+
+ /*if(!(i % 20))
{
ourDisplay->Clear();
+ msleep(10);
+ ourCommandHandler->PrintCommand();
+ }
+
+ localRobot->Update();
+ if(ourCommandHandler->displayDistanceSensors && !(i % 20))
+ {
distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
value = distanceSensor->GetDistance();
ourDisplay->Print(value, 1, 4);
@@ -223,69 +260,43 @@ int main() ourDisplay->Print(value);
ourDisplay->Print(";");
}
-
- /*uint8 someInput = ourKeyboard->GetInput();
- //ourDisplay->Print("Ready to accept...", 1, 2);
- switch(someInput)
+
+ if(ourCommandHandler->ticksPerCmOffset && !(i % 20))
{
- case 0:
- ourNavigator->Stop();
- return 0;
- break;
- case 1:
- ourNavigator->Drive(225, rotation, speed, rotation);
- break;
- case 2:
- ourNavigator->Drive(180, rotation, speed, rotation);
- break;
- case 3:
- ourNavigator->Drive(135, rotation, speed, rotation);
- break;
- case 4:
- ourNavigator->Drive(270, rotation, speed, rotation);
- break;
- case 5:
- ourNavigator->Drive(0, rotation, 0, rotation);
- break;
- case 6:
- ourNavigator->Drive(90, rotation, speed, rotation);
- break;
- case 7:
- ourNavigator->Drive(315, rotation, speed, rotation);
- break;
- case 8:
- ourNavigator->Drive(0, rotation, speed, rotation);
- break;
- case 9:
- ourNavigator->Drive(45, rotation, speed, rotation);
- break;
- case 10:
- ourPosition_Tracker->SetPosition(0,0,0); // Reset Position_Tracker
- break;
- case 11:
- ourLogic->SetKeeper(true); // Reset Position_Tracker
- break;
- }*/
-
- //ourDisplay->Clear();
- if(!(i % 20))
+ ourDisplay->Print(ourCommandHandler->ticksPerCmOffset * 10.0f, 10, 1);
+ }
+
+ if(ourCommandHandler->displayPositionTracker && !(i % 20))
+ {
+ ourDisplay->Print(ourPositionTracker->GetPositionX(), 1, 2);
+ ourDisplay->Print(ourPositionTracker->GetPositionY(), 1, 3);
+ ourDisplay->Print(ourPositionTracker->GetOrientation(), 1, 4);
+ }
+
+ if(ourCommandHandler->displayPositionTracker && !(i % 20))
+ {
+ ourDisplay->Print(ourPositionTracker->GetPositionX(), 1, 2);
+ ourDisplay->Print(ourPositionTracker->GetPositionY(), 1, 3);
+ ourDisplay->Print(ourPositionTracker->GetOrientation() * 180.0f / PI, 1, 4);
+ }
+
+ if(ourCommandHandler->displayBallTracker && !(i % 20))
{
- /*ourDisplay->Clear();
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value, 1, 2);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_30_DEG);
value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
+ ourDisplay->Print(value, 6, 2);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_60_DEG);
value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
+ ourDisplay->Print(value, 11, 2);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_100_DEG);
value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
+ ourDisplay->Print(value, 16, 2);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_180_DEG);
value = ourSensor->GetIRIntensity();
@@ -293,15 +304,15 @@ int main() ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_260_DEG);
value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
+ ourDisplay->Print(value, 6, 3);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_300_DEG);
value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
+ ourDisplay->Print(value, 11, 3);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
+ ourDisplay->Print(value, 16, 3);
ourDisplay->Print(";");
if(ourBallTracker->KnowsBallDirection())
{
@@ -309,15 +320,27 @@ int main() }
else
{
- ourDisplay->Print("Not found oder so", 1, 4);
- }*/
+ ourDisplay->Print("Ball not found", 1, 4);
+ } + + if(ourBallTracker->HasBall()) { + ourDisplay->Print("Has Ball", 5, 4); + }
}
-
- localRobot->Update();
- //ourDisplay->Print(ourBallTracker->GetBallDirection() * 180.0f / PI, 1, 4);
+ //if(!(i % 20))
+ //{
+ // ourDisplay->Print(ourWireless->Recieve(), 10, 1);
+ //}
- //ourNavigator->Drive(ourBallTracker->GetBallDirection() * 180.0f / PI, 0, 255, 0);
+ if(ourBallTracker->KnowsBallDirection())
+ {
+ ourNavigator->Drive(ourBallTracker->GetBallDirection() * 180.0f / PI, 0, 255, 0);
+ }
+ else
+ {
+ ourNavigator->Stop();
+ }*/
}
//Cleanup
diff --git a/source/Concept/Framework/modules/executor/navigator.c b/source/Concept/Framework/modules/executor/navigator.c index 7c4618a..8320eca 100755 --- a/source/Concept/Framework/modules/executor/navigator.c +++ b/source/Concept/Framework/modules/executor/navigator.c @@ -59,7 +59,7 @@ void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float //-----------------------------------------------------------------------------
void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed)
{
- if(newX < 0 || newY < 0) return;
+ if(newX == EMPTY_FLOAT || newY == EMPTY_FLOAT) return;
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
@@ -125,7 +125,7 @@ bool Navigator::TargetReached() bool targetReached = false;
- if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < 1.0f))
+ if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < DISTANCE_TOLERANCE))
{
targetReached = true;
}
@@ -230,7 +230,7 @@ void Navigator::CalculateEngines() vBack = ((float)vBack * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
vRight = ((float)vRight * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vLeft,10,2);
+ (parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,2);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,3);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vRight,10,4);
diff --git a/source/Concept/Framework/modules/executor/navigator.h b/source/Concept/Framework/modules/executor/navigator.h index 53fa74b..989bc04 100755 --- a/source/Concept/Framework/modules/executor/navigator.h +++ b/source/Concept/Framework/modules/executor/navigator.h @@ -67,6 +67,21 @@ public: return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT);
}
+ float GetTargetX()
+ {
+ return targetX;
+ }
+
+ float GetTargetY()
+ {
+ return targetY;
+ }
+
+ float GetDirection()
+ {
+ return direction;
+ }
+
bool HasTargetAngle()
{
return (targetAngle != EMPTY_FLOAT);
diff --git a/source/Concept/Framework/modules/input/mouse_sensor.h b/source/Concept/Framework/modules/input/mouse_sensor.h index b3d1b1a..1f2922a 100755 --- a/source/Concept/Framework/modules/input/mouse_sensor.h +++ b/source/Concept/Framework/modules/input/mouse_sensor.h @@ -214,6 +214,16 @@ public: {
return positionY;
}
+
+ void AdjustPositionX(float newPosX)
+ {
+ this->positionX = newPosX;
+ }
+
+ void AdjustPositionY(float newPosY)
+ {
+ this->positionY = newPosY;
+ }
};
#endif diff --git a/source/Concept/Framework/modules/interpreter/ball_tracker.c b/source/Concept/Framework/modules/interpreter/ball_tracker.c index 16fdfb4..a882abb 100755 --- a/source/Concept/Framework/modules/interpreter/ball_tracker.c +++ b/source/Concept/Framework/modules/interpreter/ball_tracker.c @@ -3,6 +3,8 @@ //-----------------------------------------------------------------------------
void Ball_Tracker::Update()
{
+ Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+
uint8 sensorCount = (IO_SENSOR_IR_330_DEG - IO_SENSOR_IR_0_DEG) + 1;
uint16 intensity[sensorCount];
uint8 greatestIntensity = 0;
@@ -26,15 +28,12 @@ void Ball_Tracker::Update() {
if(intensity[i] > BALL_HELD_INTENSITY) // Ball derzeit sehr nah dran
{
- ballHeld = true;
- ballHeldCounter = 100;
+ if(ballHeldCounter < 10) ballHeldCounter++;
}
- else if(ballHeldCounter > 0) // Oder vor kurzem erst sehr nah dran
+ else if(ballHeldCounter > 0) {
- ballHeld = true;
ballHeldCounter--;
}
- else ballHeld = false; // ansonsten hat er den Ball nicht
}
}
@@ -132,13 +131,15 @@ void Ball_Tracker::Update() direction = (intensity[greatestIntensity] * mainDirection +
intensity[secondIntensity] * secondDirection) /
(intensity[greatestIntensity] + intensity[secondIntensity]);
-
- direction = easyAngle(direction);
}
else
{
direction = mainDirection;
}
+
+ direction += ourPositionTracker->GetOrientation();
+
+ direction = easyAngle(direction);
}
else
{
diff --git a/source/Concept/Framework/modules/interpreter/ball_tracker.h b/source/Concept/Framework/modules/interpreter/ball_tracker.h index cb90ff2..756a09f 100755 --- a/source/Concept/Framework/modules/interpreter/ball_tracker.h +++ b/source/Concept/Framework/modules/interpreter/ball_tracker.h @@ -12,7 +12,6 @@ public: this->moduleId = 0;
this->direction = EMPTY_FLOAT;
this->ballHeldCounter = 0;
- this->ballHeld = false;
}
Ball_Tracker(uint32 trackerId)
@@ -21,13 +20,11 @@ public: this->moduleId = trackerId;
this->direction = EMPTY_FLOAT;
this->ballHeldCounter = 0;
- this->ballHeld = false;
}
protected:
float direction;
uint8 ballHeldCounter;
- bool ballHeld;
public:
void Update();
@@ -42,9 +39,9 @@ public: return (direction != EMPTY_FLOAT);
}
- bool RobotHasBall()
+ bool HasBall()
{
- return ballHeld;
+ return (ballHeldCounter >= 3);
}
};
diff --git a/source/Concept/Framework/modules/interpreter/command_handler.c b/source/Concept/Framework/modules/interpreter/command_handler.c index 7d8937b..e2a9ba2 100644 --- a/source/Concept/Framework/modules/interpreter/command_handler.c +++ b/source/Concept/Framework/modules/interpreter/command_handler.c @@ -3,6 +3,7 @@ //-----------------------------------------------------------------------------
void Command_Handler::Update()
{
+ Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);
Keyboard* ourKeyboard = parent->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
uint8 curInput = ourKeyboard->GetInput();
@@ -13,11 +14,20 @@ void Command_Handler::Update() if(curInput == 10)
{
ExecuteCommand();
+
+ for(uint8 i = 0; i < this->currentCommandLength; i++)
+ {
+ this->buffer[i] = NULL;
+ ourDisplay->Print(" ", i + 1, 1);
+ }
+
+ this->currentCommandLength = 0;
}
else if(curInput == 11)
{
if(this->currentCommandLength > 0)
{
+ ourDisplay->Print(" ", this->currentCommandLength, 1);
this->currentCommandLength--;
this->buffer[currentCommandLength] = NULL;
}
@@ -28,6 +38,7 @@ void Command_Handler::Update() {
this->buffer[this->currentCommandLength] = curInput;
this->currentCommandLength++;
+ ourDisplay->Print(curInput, this->currentCommandLength, 1);
}
}
@@ -38,8 +49,163 @@ void Command_Handler::Update() //-----------------------------------------------------------------------------
void Command_Handler::ExecuteCommand()
{
- if(this->buffer[0] == 5)
+ if(this->buffer[0] == 1)
+ {
+ if(this->buffer[1] == 1)
+ {
+ this->displayDistanceSensors = true;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = false;
+ }
+ else if(this->buffer[1] == 2)
+ {
+ this->displayDistanceSensors = false;
+ this->displayPositionTracker = true;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = false;
+ }
+ else if(this->buffer[1] == 3)
+ {
+ this->displayDistanceSensors = false;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = true;
+ this->displayMouseSensors = false;
+ }
+ else if(this->buffer[1] == 4)
+ {
+ this->displayDistanceSensors = false;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = true;
+ }
+ else if(this->buffer[1] == 0)
+ {
+ this->displayDistanceSensors = false;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = false;
+ }
+ }
+ else if(this->buffer[0] == 2)
+ {
+ Logic* ourLogic = parent->GetModule<Logic>(IO_LOGIC_MAIN);
+ if(this->buffer[1] == 1)
+ {
+ ourLogic->SetKeeper(true);
+ }
+ else if(this->buffer[1] == 2)
+ {
+ ourLogic->SetKeeper(false);
+ }
+ }
+ else if(this->buffer[0] == 3)
+ {
+ if(this->buffer[1] == 1)
+ {
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ ourNavigator->RotateTo(180, 200);
+ }
+ else if(this->buffer[1] == 2)
+ {
+ Aktuator* ourAktuator = parent->GetModule<Aktuator>(IO_AKTUATOR_MAIN);
+ ourAktuator->Kick();
+ }
+ else if(this->buffer[1] == 3)
+ {
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ ourNavigator->RotateTo(float(buffer[2]) * 100.0f + float(buffer[3]) * 10.0f + float(buffer[4]), 200);
+ }
+ else if(this->buffer[1] == 4)
+ {
+ Mouse_Sensor* ourLeftMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
+ Mouse_Sensor* ourRightMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+
+ this->ticksPerCmOffset += 2.5f;
+ ourLeftMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourLeftMouse->AdjustPositionY(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourRightMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourRightMouse->AdjustPositionY(3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ }
+ else if(this->buffer[1] == 5)
+ {
+ Mouse_Sensor* ourLeftMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
+ Mouse_Sensor* ourRightMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+
+ this->ticksPerCmOffset -= 2.5f;
+ ourLeftMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourLeftMouse->AdjustPositionY(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourRightMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourRightMouse->AdjustPositionY(3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ }
+ }
+ else if(this->buffer[0] == 4)
+ {
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ int16 speed = 200;
+ switch(this->buffer[1])
+ {
+ case 1:
+ ourNavigator->Drive(225, 0, speed, 0);
+ break;
+ case 2:
+ ourNavigator->Drive(180, 0, speed, 0);
+ break;
+ case 3:
+ ourNavigator->Drive(135, 0, speed, 0);
+ break;
+ case 4:
+ ourNavigator->Drive(270, 0, speed, 0);
+ break;
+ case 5:
+ ourNavigator->Rotate(DEFAULT_ROTATION_SPEED);
+ break;
+ case 6:
+ ourNavigator->Drive(90, 0, speed, 0);
+ break;
+ case 7:
+ ourNavigator->Drive(315, 0, speed, 0);
+ break;
+ case 8:
+ ourNavigator->Drive(0, 0, speed, 0);
+ break;
+ case 9:
+ ourNavigator->Drive(45, 0, speed, 0);
+ break;
+ case 0:
+ ourNavigator->Stop();
+ break;
+ }
+ }
+ else if(this->buffer[0] == 5)
+ {
+ Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+ if(this->buffer[1] == 1)
+ {
+ ourPositionTracker->SetPosition(float(), ourPositionTracker->GetPositionY(), ourPositionTracker->GetOrientation());
+ }
+ else if(this->buffer[1] == 0)
+ {
+ ourPositionTracker->SetPosition(0, 0, 0);
+ }
+ }
+ else if(this->buffer[0] == 6)
+ {
+ if(this->buffer[1] == 1)
+ {
+ Wireless* ourWireless = parent->GetModule<Wireless>(IO_WIRELESS_MAIN);
+ ourWireless->Send("Heyho!");
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------
+void Command_Handler::PrintCommand()
+{
+ Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);
+
+ for(uint8 i = 0; i < currentCommandLength; i++)
{
- this->displayDistanceSensors = true;
+ ourDisplay->Print(this->buffer[i], i + 1, 1);
}
}
diff --git a/source/Concept/Framework/modules/interpreter/command_handler.h b/source/Concept/Framework/modules/interpreter/command_handler.h index c3bc5bb..f376e96 100644 --- a/source/Concept/Framework/modules/interpreter/command_handler.h +++ b/source/Concept/Framework/modules/interpreter/command_handler.h @@ -12,6 +12,10 @@ public: this->moduleId = 0;
this->currentCommandLength = 0;
this->displayDistanceSensors = false;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = false;
+ this->ticksPerCmOffset = 0;
for(uint8 i = 0; i < COMMAND_BUFFER_SIZE; i++)
{
@@ -25,6 +29,10 @@ public: this->moduleId = commandHandlerId;
this->currentCommandLength = 0;
this->displayDistanceSensors = false;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = false;
+ this->ticksPerCmOffset = 0;
for(uint8 i = 0; i < COMMAND_BUFFER_SIZE; i++)
{
@@ -39,10 +47,17 @@ protected: void ExecuteCommand();
public:
- void Update();
+ void Update();
+
+ void PrintCommand();
//Command variables
bool displayDistanceSensors;
+ bool displayPositionTracker;
+ bool displayBallTracker;
+ bool displayMouseSensors;
+
+ float ticksPerCmOffset;
};
#endif diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.c b/source/Concept/Framework/modules/interpreter/position_tracker.c index f6d67ac..fab8085 100755 --- a/source/Concept/Framework/modules/interpreter/position_tracker.c +++ b/source/Concept/Framework/modules/interpreter/position_tracker.c @@ -3,6 +3,9 @@ //-----------------------------------------------------------------------------
void Position_Tracker::Update()
{
+ Command_Handler* ourCommandHandler = parent->GetModule<Command_Handler>(IO_COMMAND_HANDLER_MAIN);
+ Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);
+
// We want to use the mouse-sensors
Mouse_Sensor* mouseLeft = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
Mouse_Sensor* mouseRight = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
@@ -40,6 +43,14 @@ void Position_Tracker::Update() movementRightY = 0;
}
+ if(ourCommandHandler->displayMouseSensors)
+ {
+ ourDisplay->Print(movementLeftX, 1, 2);
+ ourDisplay->Print(movementLeftY, 10, 2);
+ ourDisplay->Print(movementRightX, 1, 3);
+ ourDisplay->Print(movementRightY, 10, 3);
+ }
+
// Generate vector from P:left to P:right
float movementDifferenceX = movementRightX - movementLeftX;
float movementDifferenceY = (movementRightY + mouseRight->GetPositionY()) - (movementLeftY + mouseLeft->GetPositionY());
@@ -47,6 +58,11 @@ void Position_Tracker::Update() // Calculate the difference of orientation
float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f);
+ if(ourCommandHandler->displayMouseSensors)
+ {
+ ourDisplay->Print(orientationDiff * 180.0f / PI, 1, 4);
+ }
+
float robotMovementX = movementDifferenceX / 2.0f;
float robotMovementY = movementDifferenceY / 2.0f;
robotMovementX += movementLeftX + mouseLeft->GetPositionX() + (-mouseLeft->GetPositionX() * cos(orientationDiff));
diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.h b/source/Concept/Framework/modules/interpreter/position_tracker.h index 56b16c4..7a5781f 100755 --- a/source/Concept/Framework/modules/interpreter/position_tracker.h +++ b/source/Concept/Framework/modules/interpreter/position_tracker.h @@ -40,18 +40,20 @@ public: }
// returns x-koordinate in mm
- int GetPositionX() {
- return (int)((positionX*10.0f)/TICKS_PER_CM);
+ int16 GetPositionX()
+ {
+ return (int16)((positionX*10.0f)/TICKS_PER_CM);
}
// returns y-koordinate in mm
- int GetPositionY() {
- return (int)((positionY*10.0f)/TICKS_PER_CM);
+ int16 GetPositionY()
+ {
+ return (int16)((positionY*10.0f)/TICKS_PER_CM);
}
// returns orientation
- float GetOrientation() {
- //return 0.0f; //tmp!!!!!!!!!!
+ float GetOrientation()
+ {
return orientation;
}
};
diff --git a/source/Concept/Framework/modules/logic/logic.c b/source/Concept/Framework/modules/logic/logic.c index f698495..239e426 100755 --- a/source/Concept/Framework/modules/logic/logic.c +++ b/source/Concept/Framework/modules/logic/logic.c @@ -3,16 +3,51 @@ //-----------------------------------------------------------------------------
void Logic::OnBallOwned()
{
+ bool wasKeeper = this->IsKeeper();
+
this->SetKeeper(false);
+
+ if(!WIRELESS_ACTIVE)
+ {
+ Aktuator* ourAktuator = parent->GetModule<Aktuator>(IO_AKTUATOR_MAIN);
+
+ ourAktuator->Kick();
+ this->SetKeeper(wasKeeper);
+ }
}
//-----------------------------------------------------------------------------
void Logic::OnBallLost()
{
- Wireless* ourWireless = parent->GetModule<Wireless>(IO_WIRELESS_MAIN);
- //ourWireless->Send(WIRELESS_CODE);
- //ourWireless->Send();
+}
+
+//-----------------------------------------------------------------------------
+void Logic::OnBecomeKeeper()
+{
+ Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+
+ if(distance2d(HOME_LOC_X, HOME_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) > DISTANCE_TOLERANCE)
+ {
+ status = STATUS_KEEPER_RETURN_HOME;
+
+ ourNavigator->DriveTo(HOME_LOC_X, HOME_LOC_Y, ourPositionTracker->GetOrientation(), DEFAULT_SPEED, 0);
+ }
+ else
+ {
+ UpdateKeeperMovement();
+ }
+}
+
+//-----------------------------------------------------------------------------
+void Logic::OnBecomeAttacker()
+{
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+
+ ourNavigator->Stop();
+
+ UpdateAttackerMovement();
}
//-----------------------------------------------------------------------------
@@ -20,21 +55,217 @@ void Logic::Update() {
// We want to use a navigator
Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ Ball_Tracker* ourBallTracker = parent->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
+ Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);
+ Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+ Obstacle_Tracker* ourObstacleTracker = parent->GetModule<Obstacle_Tracker>(IO_OBSTACLE_TRACKER_MAIN);
+
+ if(!this->HasBall() && ourBallTracker->HasBall())
+ {
+ this->hasBall = true;
+ this->OnBallOwned();
+ }
+ else if(this->HasBall() && !ourBallTracker->HasBall())
+ {
+ this->hasBall = false;
+ this->OnBallLost();
+ }
- // is Keeper?
- if(isKeeper) {
- // turn around al little bit...
- if((status == STATUS_KEEPER_TURN_LEFT && !ourNavigator->IsMoving()) ||
- (status != STATUS_KEEPER_TURN_LEFT && status != STATUS_KEEPER_TURN_RIGHT)) {
+ switch(status)
+ {
+ case STATUS_ATTACKER_SEARCHING_AT_HOME:
+ case STATUS_ATTACKER_SEARCHING_AT_ENEMY:
+ if(ourBallTracker->KnowsBallDirection())
+ {
+ ourNavigator->Stop();
+ }
+ break;
+ case STATUS_KEEPER_HUNT_BALL:
+ if(ourBallTracker->KnowsBallDirection())
+ {
+ ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
+ else
+ {
+ ourNavigator->Stop();
+ }
+ break;
+ }
+
+ if(!ourNavigator->IsMoving())
+ {
+ if(this->IsKeeper())
+ {
+ UpdateKeeperMovement();
+ }
+ else
+ {
+ UpdateAttackerMovement();
+ }
+ }
+
+ if(ourNavigator->IsMoving())
+ {
+ if(ourObstacleTracker->IsObstacleOnPath())
+ {
+ avoidsObstacle = true;
+ for(uint8 i = 0; i < 5; i++)
+ {
+ if(ourObstacleTracker->IsObstacleOnPath(easyAngle(ourNavigator->GetDirection() - ((i - 2) * PI / 4.0f))))
+ {
+ }
+ ourNavigator->GetDirection();
+ }
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------
+void Logic::UpdateKeeperMovement()
+{
+ Ball_Tracker* ourBallTracker = parent->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
+ Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+
+ if(ourBallTracker->KnowsBallDirection())
+ {
+ if(ourBallTracker->GetBallDirection() > KEEPER_LEFT_ANGLE &&
+ ourBallTracker->GetBallDirection() <= PI)
+ {
+ if(distance2d(DEFENCE_L_LOC_X, DEFENCE_L_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) < DISTANCE_TOLERANCE)
+ {
+ float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());
+ if(angleDifference > PI)
+ {
+ angleDifference = (2 * PI) - angleDifference;
+ }
+
+ if(angleDifference > ORIENTATION_TOLERANCE)
+ {
+ status = STATUS_KEEPER_TURN_TO_BALL;
+ ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);
+ }
+ else
+ {
+ status = STATUS_KEEPER_HUNT_BALL;
+ ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
+ }
+ else
+ {
+ status = STATUS_KEEPER_DRIVE_TO_DEFEND;
+ ourNavigator->DriveTo(DEFENCE_L_LOC_X, DEFENCE_L_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
+ }
+ else if(ourBallTracker->GetBallDirection() < KEEPER_RIGHT_ANGLE &&
+ ourBallTracker->GetBallDirection() >= PI)
+ {
+ if(distance2d(DEFENCE_R_LOC_X, DEFENCE_R_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) < DISTANCE_TOLERANCE)
+ {
+ float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());
+ if(angleDifference > PI)
+ {
+ angleDifference = (2 * PI) - angleDifference;
+ }
+
+ if(angleDifference > ORIENTATION_TOLERANCE)
+ {
+ status = STATUS_KEEPER_TURN_TO_BALL;
+ ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);
+ }
+ else
+ {
+ status = STATUS_KEEPER_HUNT_BALL;
+ ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
+ }
+ else
+ {
+ status = STATUS_KEEPER_DRIVE_TO_DEFEND;
+ ourNavigator->DriveTo(DEFENCE_R_LOC_X, DEFENCE_R_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
+ }
+ else
+ {
+ if(distance2d(HOME_LOC_X, HOME_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) < DISTANCE_TOLERANCE)
+ {
+ float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());
+ if(angleDifference > PI)
+ {
+ angleDifference = (2 * PI) - angleDifference;
+ }
+
+ if(angleDifference > ORIENTATION_TOLERANCE)
+ {
+ status = STATUS_KEEPER_TURN_TO_BALL;
+ ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);
+ }
+ else
+ {
+ status = STATUS_KEEPER_HUNT_BALL;
+ ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
+ }
+ else
+ {
+ status = STATUS_KEEPER_DRIVE_TO_DEFEND;
+ ourNavigator->DriveTo(HOME_LOC_X, HOME_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
+ }
+ }
+ else
+ {
+ if(status == STATUS_KEEPER_TURN_LEFT)
+ {
status = STATUS_KEEPER_TURN_RIGHT;
- ourNavigator->RotateTo(315,200);
+ ourNavigator->RotateTo(315, DEFAULT_ROTATION_SPEED);
}
- else if(status == STATUS_KEEPER_TURN_RIGHT && !ourNavigator->IsMoving()) {
+ else
+ {
status = STATUS_KEEPER_TURN_LEFT;
- ourNavigator->RotateTo(45, 200);
+ ourNavigator->RotateTo(45, DEFAULT_ROTATION_SPEED);
}
}
- else { // is Player?
-
+}
+
+//-----------------------------------------------------------------------------
+void Logic::UpdateAttackerMovement()
+{
+ Ball_Tracker* ourBallTracker = parent->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
+ Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+
+ if(ourBallTracker->KnowsBallDirection())
+ {
+ float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());
+
+ if(angleDifference > PI)
+ {
+ angleDifference = (2 * PI) - angleDifference;
+ }
+
+ if(angleDifference > ORIENTATION_TOLERANCE)
+ {
+ status = STATUS_ATTACKER_TURN_TO_BALL;
+ ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);
+ }
+ else
+ {
+ status = STATUS_ATTACKER_DRIVE_TO_BALL;
+ ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
+ }
+ else
+ {
+ if(ourPositionTracker->GetPositionX() > 0)
+ {
+ status = STATUS_ATTACKER_SEARCHING_AT_HOME;
+ ourNavigator->DriveTo(HOME_LOC_X, HOME_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
+ else
+ {
+ status = STATUS_ATTACKER_SEARCHING_AT_ENEMY;
+ ourNavigator->DriveTo(ENEMY_LOC_X, ENEMY_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+ }
}
}
diff --git a/source/Concept/Framework/modules/logic/logic.h b/source/Concept/Framework/modules/logic/logic.h index ad8bad7..031e0b6 100755 --- a/source/Concept/Framework/modules/logic/logic.h +++ b/source/Concept/Framework/modules/logic/logic.h @@ -12,6 +12,8 @@ public: this->moduleId = 0;
this->isKeeper = false;
this->status = 0;
+ this->hasBall = false;
+ this->avoidsObstacle = false;
}
Logic(uint32 logicId)
@@ -20,16 +22,29 @@ public: this->moduleId = logicId;
this->isKeeper = false;
this->status = 0;
+ this->hasBall = false;
+ this->avoidsObstacle = false;
}
protected:
bool isKeeper;
uint8 status;
+ bool hasBall;
+ bool avoidsObstacle;
enum LogicalStatus
{
STATUS_KEEPER_TURN_RIGHT,
STATUS_KEEPER_TURN_LEFT,
+ STATUS_KEEPER_RETURN_HOME,
+ STATUS_KEEPER_HUNT_BALL,
+ STATUS_KEEPER_TURN_TO_BALL,
+ STATUS_KEEPER_DRIVE_TO_DEFEND,
+
+ STATUS_ATTACKER_TURN_TO_BALL,
+ STATUS_ATTACKER_DRIVE_TO_BALL,
+ STATUS_ATTACKER_SEARCHING_AT_HOME,
+ STATUS_ATTACKER_SEARCHING_AT_ENEMY,
};
void OnBallOwned();
@@ -51,7 +66,8 @@ public: return !isKeeper;
}
- void SetKeeper(bool newStatus) {
+ void SetKeeper(bool newStatus)
+ {
if(!this->isKeeper && newStatus)
{
this->OnBecomeKeeper();
@@ -65,8 +81,11 @@ public: bool HasBall()
{
- //fill me!
+ return this->hasBall;
}
+
+ void UpdateKeeperMovement();
+ void UpdateAttackerMovement();
};
#endif diff --git a/source/Concept/Framework/robot.c b/source/Concept/Framework/robot.c index 7653c61..9dc564d 100755 --- a/source/Concept/Framework/robot.c +++ b/source/Concept/Framework/robot.c @@ -90,15 +90,15 @@ void Robot::Update() {
GetModule<Command_Handler>(IO_COMMAND_HANDLER_MAIN)->Update();
+ GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN)->Update();
+
GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN)->Update();
- GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN)->Update();
+ GetModule<Obstacle_Tracker>(IO_OBSTACLE_TRACKER_MAIN)->Update();
- GetModule<Logic>(IO_LOGIC_MAIN)->Update();
+ //GetModule<Logic>(IO_LOGIC_MAIN)->Update();
GetModule<Navigator>(IO_NAVIGATOR_MAIN)->Update();
-
- //insert code here
}
//-----------------------------------------------------------------------------
diff --git a/source/Concept/Framework/stdafx.h b/source/Concept/Framework/stdafx.h index 88d8c85..6e3f031 100644 --- a/source/Concept/Framework/stdafx.h +++ b/source/Concept/Framework/stdafx.h @@ -22,6 +22,7 @@ #include "mouse_sensor.h"
#include "command_handler.h"
#include "position_tracker.h"
+#include "obstacle_tracker.h"
#include "ball_tracker.h"
#include "navigator.h"
#include "logic.h"
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