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diff --git a/digital/io/src/ai_init_cb.c b/digital/io/src/ai_init_cb.c
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--- a/digital/io/src/ai_init_cb.c
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-/* init_cb.c - init FSM callbacks. */
-/* {{{
- *
- * Copyright (C) 2009 Nicolas Haller
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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.
- *
- * }}}
- * init:
- * place the bot in the start position for a match.
- */
-#include "common.h"
-#include "fsm.h"
-#include "ai_cb.h"
-#include "asserv.h"
-#include "init.h"
-#include "playground.h"
-#include "main.h"
-#include "bot.h"
-#include "switch.h"
-#include "chrono.h"
-#include "playground.h"
-#include "modules/trace/trace.h"
-#include "modules/path/path.h"
-
-/*
- * INIT_IDLE =start=>
- * => INIT_WAIT_FIRST_JACK_IN
- * do nothing.
- */
-fsm_branch_t
-ai__INIT_IDLE__start (void)
-{
- return ai_next (INIT_IDLE, start);
-}
-
-/*
- * INIT_WAIT_FIRST_JACK_IN =jack_inserted_into_bot=>
- * => INIT_WAIT_FIRST_JACK_OUT
- * do nothing.
- */
-fsm_branch_t
-ai__INIT_WAIT_FIRST_JACK_IN__jack_inserted_into_bot (void)
-{
- return ai_next (INIT_WAIT_FIRST_JACK_IN, jack_inserted_into_bot);
-}
-
-/*
- * INIT_WAIT_FIRST_JACK_OUT =jack_removed_from_bot=>
- * => INIT_WAIT_SECOND_JACK_IN
- * start trace module.
- * get and store the color of the bot.
- */
-fsm_branch_t
-ai__INIT_WAIT_FIRST_JACK_OUT__jack_removed_from_bot (void)
-{
- /* Initialize trace module (erase the flash). */
- trace_init ();
- /* Get the color. */
- bot_color = switch_get_color ();
- return ai_next (INIT_WAIT_FIRST_JACK_OUT, jack_removed_from_bot);
-}
-
-/*
- * INIT_WAIT_SECOND_JACK_IN =jack_inserted_into_bot=>
- * => INIT_WAIT_FOR_HANDS_OUT
- * do nothing.
- */
-fsm_branch_t
-ai__INIT_WAIT_SECOND_JACK_IN__jack_inserted_into_bot (void)
-{
- return ai_next (INIT_WAIT_SECOND_JACK_IN, jack_inserted_into_bot);
-}
-
-/*
- * INIT_WAIT_FOR_HANDS_OUT =state_timeout=>
- * => INIT_GO_TO_THE_WALL
- * fuck the wall in front.
- */
-fsm_branch_t
-ai__INIT_WAIT_FOR_HANDS_OUT__state_timeout (void)
-{
- /* Go to the wall, no backward. */
- asserv_go_to_the_wall (0);
- return ai_next (INIT_WAIT_FOR_HANDS_OUT, state_timeout);
-}
-
-/*
- * INIT_GO_TO_THE_WALL =bot_move_succeed=>
- * => INIT_GO_AWAY_FROM_THE_WALL
- * reset the Y position of the bot.
- * reset the angular position of the bot.
- * move away from the wall (linear move).
- */
-fsm_branch_t
-ai__INIT_GO_TO_THE_WALL__bot_move_succeed (void)
-{
- asserv_set_y_position (PG_Y (PG_LENGTH - BOT_SIZE_FRONT));
- asserv_set_angle_position (PG_A_DEG (90));
- /* Move away from the border. */
- asserv_move_linearly (- INIT_DIST);
- return ai_next (INIT_GO_TO_THE_WALL, bot_move_succeed);
-}
-
-/*
- * INIT_GO_AWAY_FROM_THE_WALL =bot_move_succeed=>
- * => INIT_FACE_OTHER_WALL
- * turn to face the other wall.
- */
-fsm_branch_t
-ai__INIT_GO_AWAY_FROM_THE_WALL__bot_move_succeed (void)
-{
- /* Face the other wall. */
- asserv_goto_angle (PG_A_DEG (180));
- return ai_next (INIT_GO_AWAY_FROM_THE_WALL, bot_move_succeed);
-}
-
-/*
- * INIT_FACE_OTHER_WALL =bot_move_succeed=>
- * => INIT_WAIT_AFTER_ROTATION
- * nothing to do.
- */
-fsm_branch_t
-ai__INIT_FACE_OTHER_WALL__bot_move_succeed (void)
-{
- return ai_next (INIT_FACE_OTHER_WALL, bot_move_succeed);
-}
-
-/*
- * INIT_WAIT_AFTER_ROTATION =state_timeout=>
- * => INIT_GO_TO_THE_WALL_AGAIN
- * fuck the wall in front.
- */
-fsm_branch_t
-ai__INIT_WAIT_AFTER_ROTATION__state_timeout (void)
-{
- /* Go to the wall, no backward. */
- asserv_go_to_the_wall (0);
- return ai_next (INIT_WAIT_AFTER_ROTATION, state_timeout);
-}
-
-/*
- * INIT_GO_TO_THE_WALL_AGAIN =bot_move_succeed=>
- * => INIT_GO_AWAY_FROM_THE_WALL_AGAIN
- * reset the X position of the bot.
- * move away from the wall (linear move).
- */
-fsm_branch_t
-ai__INIT_GO_TO_THE_WALL_AGAIN__bot_move_succeed (void)
-{
- asserv_set_x_position (PG_X (BOT_SIZE_FRONT));
- /* Move away from the border. */
- asserv_move_linearly (- INIT_DIST);
- return ai_next (INIT_GO_TO_THE_WALL_AGAIN, bot_move_succeed);
-}
-
-/*
- * INIT_GO_AWAY_FROM_THE_WALL_AGAIN =bot_move_succeed=>
- * => INIT_GO_TO_START_POSITION
- * go to the start position with a go to movement.
- */
-fsm_branch_t
-ai__INIT_GO_AWAY_FROM_THE_WALL_AGAIN__bot_move_succeed (void)
-{
- /* Move away from the border. */
- asserv_goto_xya (BOT_INIT_XYA, 0);
- return ai_next (INIT_GO_AWAY_FROM_THE_WALL_AGAIN, bot_move_succeed);
-}
-
-/*
- * INIT_GO_TO_START_POSITION =bot_move_succeed=>
- * => INIT_WAIT_SECOND_JACK_OUT
- * nothing to do, the bot is at the start position.
- */
-fsm_branch_t
-ai__INIT_GO_TO_START_POSITION__bot_move_succeed (void)
-{
- return ai_next (INIT_GO_TO_START_POSITION, bot_move_succeed);
-}
-
-/*
- * INIT_WAIT_SECOND_JACK_OUT =jack_removed_from_bot=>
- * => INIT_IDLE
- * tell other FSM the match begins.
- * start the chrono.
- */
-fsm_branch_t
-ai__INIT_WAIT_SECOND_JACK_OUT__jack_removed_from_bot (void)
-{
- /* Set the flag to transmit to other FSM. */
- init_match_is_started = 1;
- /* Start the chrono. */
- chrono_init ();
- return ai_next (INIT_WAIT_SECOND_JACK_OUT, jack_removed_from_bot);
-}
-
-