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Diffstat (limited to 'source/ct-Bot/bot-logic/behaviour_drive_square.c')
| -rw-r--r-- | source/ct-Bot/bot-logic/behaviour_drive_square.c | 76 |
1 files changed, 76 insertions, 0 deletions
diff --git a/source/ct-Bot/bot-logic/behaviour_drive_square.c b/source/ct-Bot/bot-logic/behaviour_drive_square.c new file mode 100644 index 0000000..7c2a924 --- /dev/null +++ b/source/ct-Bot/bot-logic/behaviour_drive_square.c @@ -0,0 +1,76 @@ +/* + * c't-Bot + * + * This program is free software; you can redistribute it + * and/or modify it under the terms of the GNU General + * Public License as published by the Free Software + * Foundation; either version 2 of the License, or (at your + * option) any later version. + * This program is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. See the GNU General Public License for more details. + * You should have received a copy of the GNU General Public + * License along with this program; if not, write to the Free + * Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307, USA. + * + */ + +/*! @file behaviour_drive_square.c + * @brief Bot faehrt im Quadrat + * + * @author Benjamin Benz (bbe@heise.de) + * @date 03.11.06 +*/ + + +#include "bot-logic/bot-logik.h" + +#ifdef BEHAVIOUR_DRIVE_SQUARE_AVAILABLE +/*! + * Laesst den Roboter ein Quadrat abfahren. + * Einfaches Beispiel fuer ein Verhalten, das einen Zustand besitzt. + * Es greift auf andere Behaviours zurueck und setzt daher + * selbst keine speedWishes. + * @param *data der Verhaltensdatensatz + */ +void bot_drive_square_behaviour(Behaviour_t *data){ + #define STATE_TURN 1 + #define STATE_FORWARD 0 + #define STATE_INTERRUPTED 2 + + static uint8 state = STATE_FORWARD; + + if (data->subResult == SUBFAIL) // letzter Auftrag schlug fehl? + state= STATE_INTERRUPTED; + + switch (state) { + case STATE_FORWARD: // Vorwaerts + bot_goto(data,100,100); + state = STATE_TURN; + break; + case STATE_TURN: // Drehen + bot_goto(data,22,-22); + state=STATE_FORWARD; + break; + case STATE_INTERRUPTED: + return_from_behaviour(data); // Beleidigt sein und sich selbst deaktiviern + break; + + default: /* Sind wir fertig, dann Kontrolle zurueck an Aufrufer */ + return_from_behaviour(data); + break; + } +} + +/*! + * Laesst den Roboter ein Quadrat abfahren. + * @param caller Der obligatorische Verhaltensdatensatz des aufrufers + */ +void bot_drive_square(Behaviour_t* caller){ + switch_to_behaviour(caller, bot_drive_square_behaviour,OVERRIDE); +} + + +#endif |