/* ai_top_cb.c */ /* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ * * Copyright (C) 2010 Nicolas Schodet * * 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. * * }}} * Main FSM calling other FSM. */ #include "common.h" #include "fsm.h" #include "ai_cb.h" #include "top.h" #include "move.h" #include "chrono.h" #include "playground.h" #include "loader.h" /** * Time limit. */ #define TOP_TIME_LIMIT 25000 /* * IDLE =start=> * => WAIT_INIT_TO_FINISH * nothing to do. */ fsm_branch_t ai__IDLE__start (void) { return ai_next (IDLE, start); } /* * WAIT_INIT_TO_FINISH =init_match_is_started=> * => GO_FAR * the match start * go to a far point */ fsm_branch_t ai__WAIT_INIT_TO_FINISH__init_match_is_started (void) { position_t pos = PG_POSITION_DEG (825, 1253, -29); move_start (pos, 0); return ai_next (WAIT_INIT_TO_FINISH, init_match_is_started); } /* * GO_FAR =move_fsm_succeed=> * => GO_NEAR * go to a near point */ fsm_branch_t ai__GO_FAR__move_fsm_succeed (void) { position_t pos = PG_POSITION_DEG (2625, 253, -90); move_start (pos, 0); loader_down (); return ai_next (GO_FAR, move_fsm_succeed); } /* * GO_FAR =move_fsm_failed=> * => GO_NEAR * go to a near point */ fsm_branch_t ai__GO_FAR__move_fsm_failed (void) { ai__GO_FAR__move_fsm_succeed (); return ai_next (GO_FAR, move_fsm_failed); } /* * GO_NEAR =move_fsm_succeed=> * => GO_FAR * restart */ fsm_branch_t ai__GO_NEAR__move_fsm_succeed (void) { position_t pos = PG_POSITION_DEG (825, 1253, -29); move_start (pos, 0); loader_up (); return ai_next (GO_NEAR, move_fsm_succeed); } /* * GO_NEAR =move_fsm_failed=> * => GO_FAR * restart */ fsm_branch_t ai__GO_NEAR__move_fsm_failed (void) { ai__GO_NEAR__move_fsm_succeed (); return ai_next (GO_NEAR, move_fsm_failed); }