SoccerTeam, Stuff from Magdeburg

17 files changed, 663 insertions, 119 deletions

diff --git a/source/Concept/Framework/RoboCode.aps b/source/Concept/Framework/RoboCode.aps
index ca29afc..2219005 100644
--- a/source/Concept/Framework/RoboCode.aps
+++ b/source/Concept/Framework/RoboCode.aps
@@ -1 +1 @@
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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"