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/*
* 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
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