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funcional 25 de octubre.cpp
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funcional 25 de octubre.cpp
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//_________________________________Generales________________________________
//Begin At Base
void at_Base(){
game.atBaseStation();
game.getNumSamplesHeld();
if (game.atBaseStation()==true){
game.dropSample(0);
game.dropSample(1);
game.dropSample(2);
game.dropSample(3);
game.dropSample(4);
}
if (game.getNumSamplesHeld() == 0){
step++;
}
}
//End At Base
//Begin page Función 1: Spin Base
void spin_atBase(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myAtt[i]=myState[i+6];
if (counter == 0){
initAtt[i]=myState[i+6];
api.setAttitudeTarget(targetAtt);
}
}
counter++;
dot=mathVecInner(initAtt,myAtt,3);
angle=acosf(dot)*180/PI;
DEBUG(("%f",angle));
if ((angle < 88) || (angle > 92)){
api.setAttitudeTarget(attAtBase);
}
else {
api.setAttRateTarget(stop);
}
}
//End page Función 1: Spin Base
//Begin page Función 2: Spin No Base
void spin_atNoBase(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myAtt[i]=myState[i+6];
if (contador == 0){
initAtt[i]=myState[i+6];
}
}
contador++;
dot=mathVecInner(initAtt,myAtt,3);
angle=acosf(dot)*180/PI;
DEBUG(("%f",angle));
if (angle<50){
api.setAttRateTarget(targetNoRate);
}
else if ((angle < 2) || (angle > -2)){
api.setAttitudeTarget(targetAtt2);
}
else {
api.setAttRateTarget(stop);
}
}
//End page Función 2: Spin No Base
//Begin page Función 3: Active Geyser
void active_Geyser(){
api.getMyZRState(myState);
game.isGeyserHere(myState);
if (game.isGeyserHere(myState) == true){
game.stopDrill();
//api.setForces(baseGeyser1);
}
}
//End page Función 3: Active Geyser
//Begin page Función 4: Drill Error
void drill_Error(){
game.getDrillError();
if (game.getDrillError() == true){
game.stopDrill();
step++;
}
}
//End page Función 4: Drill Error
//Begin page Función 5: Rescate
void SOS(){
api.getMyZRState(myState);
if (myState[2] < -0.05){
api.setPositionTarget(basePosR);
api.setAttitudeTarget(targetAtt);
}
}
//End page Función 5: Rescate
//___________________________________Azul___________________________________
//Begin page Azul 0: Pos A
void get_posA(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] < posA[0]) && (myState[1] < posA[1]) && (myState[2] < posA[2])) {
mathVecSubtract(vectorBetween,posA,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.225){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posA);
}
}
else {
step++;
}
DEBUG (("distancia A = %f", distance));
}
//End page Azul 0: Pos A
//Begin page Azul 1: Drill A
void start_DrillingA(){
api.getMyZRState(myState);
game.getDrills(myState);
api.setPositionTarget(posA);
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if (myState[11] >= stop[2]){
game.startDrill();
api.setAttRateTarget(rateTarget);
game.checkSample();
}
if (game.checkSample()==true){
game.pickupSample();
game.getNumSamplesHeld();
}
if (game.getNumSamplesHeld() == 2){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 2)){
game.stopDrill();
step++;
}
}
//End page Azul 1: Drill A
//Begin page Azul 2: Pos B
void get_posB(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if (myState[0] < posB[0]) {
mathVecSubtract(vectorBetween,posB,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.07){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posB);
}
}
else {
step++;
}
DEBUG (("distancia B = %f", distance));
}
//End page Azul 2: Pos B
//Begin page Azul 3: Drill B
void start_DrillingB(){
api.getMyZRState(myState);
game.getDrills(myState);
api.setPositionTarget(posB);
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if (myState[11] >= stop[2]){
game.startDrill();
api.setAttRateTarget(rateTarget);
game.checkSample();
}
if (game.checkSample()==true){
game.pickupSample();
game.getNumSamplesHeld();
}
if (game.getNumSamplesHeld() == 5){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.2) && (game.getNumSamplesHeld() == 5)){
game.stopDrill();
api.setAttitudeTarget(targetAtt);
step++;
}
}
//End page Azul 3: Drill B
//Begin page Azul 4: Base R
void goto_BaseR(){
spin_atBase();
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] > basePosR[0]) && (myState[1] > basePosR[1]) && (myState[2] > basePosR[2])) {
mathVecSubtract(vectorBetween,basePosR,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.2675){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(basePosR);
}
}
else {
step++;
}
DEBUG (("Base State A = %f", distance));
}
//End page Azul 4: Base R
//Begin page Azul 6: Pos C
void get_posC(){
spin_atNoBase();
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] < posC[0]) && (myState[1] < posC[1]) && (myState[2] < posC[2])) {
mathVecSubtract(vectorBetween,posC,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.2){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posC);
}
}
else {
step++;
}
DEBUG (("distancia C = %f", distance));
}
//End page Azul 6: Pos C
//Begin page Azul 7: Drill C
void start_DrillingC(){
api.getMyZRState(myState);
game.getDrills(myState);
api.setPositionTarget(posC);
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if (myState[11] >= stop[2]){
game.startDrill();
api.setAttRateTarget(rateTarget);
game.checkSample();
}
if (game.checkSample()==true){
game.pickupSample();
game.getNumSamplesHeld();
}
if (game.getNumSamplesHeld() == 2){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 2)){
game.stopDrill();
step++;
}
}
//End page Azul 7: Drill C
//Begin page Azul 8: Pos D
void get_posD(){
api.setAttitudeTarget(targetAtt2);
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if (myState[0] < posD[0]) {
mathVecSubtract(vectorBetween,posD,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.07){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posD);
}
}
else {
step++;
}
DEBUG (("distancia D = %f", distance));
}
//End page Azul 8: Pos D
//Begin page Azul 9: Drill D
void start_DrillingD(){
api.getMyZRState(myState);
game.getDrills(myState);
api.setPositionTarget(posD);
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if (myState[11] >= stop[2]){
game.startDrill();
api.setAttRateTarget(rateTarget);
game.checkSample();
}
if (game.checkSample()==true){
game.pickupSample();
game.getNumSamplesHeld();
}
if (game.getNumSamplesHeld() == 5){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 5)){
game.stopDrill();
step++;
}
}
//End page Azul 9: Drill D
//__________________________________________________________________________
//___________________________________Rojo___________________________________
//Begin page Azul 0: Pos A
void get_posA2(){ //ready
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] > posA2[0]) && (myState[1] > posA2[1]) && (myState[2] < posA[2])) {
mathVecSubtract(vectorBetween,posA2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.225){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posA2);
}
}
else {
step++;
}
DEBUG (("distancia A = %f", distance));
}
//End page Azul 0: Pos A
//Begin page Azul 1: Drill A
void start_DrillingA2(){ //ready
api.getMyZRState(myState);
game.getDrills(myState);
api.setPositionTarget(posA2);
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if (myState[11] >= stop[2]){
game.startDrill();
api.setAttRateTarget(rateTarget);
game.checkSample();
}
if (game.checkSample()==true){
game.pickupSample();
game.getNumSamplesHeld();
}
if (game.getNumSamplesHeld() == 2){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 2)){
game.stopDrill();
step++;
}
}
//End page Azul 1: Drill A
//Begin page Azul 2: Pos B
void get_posB2(){ //ready
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] < posB2[0]) && (myState[1] > posB2[1]) && (myState[2] < posB2[2])) {
mathVecSubtract(vectorBetween,posB2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.07){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posB2);
}
}
else {
step++;
}
DEBUG (("distancia B = %f", distance));
}
//End page Azul 2: Pos B
//Begin page Azul 3: Drill B
void start_DrillingB2(){ //ready
api.getMyZRState(myState);
game.getDrills(myState);
api.setPositionTarget(posB2);
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if (myState[11] >= stop[2]){
game.startDrill();
api.setAttRateTarget(rateTarget);
game.checkSample();
}
if (game.checkSample()==true){
game.pickupSample();
game.getNumSamplesHeld();
}
if (game.getNumSamplesHeld() == 5){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.2) && (game.getNumSamplesHeld() == 5)){
game.stopDrill();
api.setAttitudeTarget(targetAtt);
step++;
}
}
//End page Azul 3: Drill B
//Begin page Azul 4: Base R
void goto_BaseR2(){
spin_atBase();
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] < basePosL[0]) && (myState[1] < basePosL[1]) && (myState[2] > basePosL[2])) {
mathVecSubtract(vectorBetween,basePosL,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.2675){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(basePosL);
}
}
else {
step++;
}
DEBUG (("Base State A = %f", distance));
}
//End page Azul 4: Base R
//Begin page Azul 6: Pos C
void get_posC2(){
spin_atNoBase();
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] > posC2[0]) && (myState[1] > posC2[1]) && (myState[2] < posC2[2])) {
//if ((myState[0] =! posC2[0]) && (myState[1] =! posC2[1]) && (myState[2] =! posC2[2])) {
mathVecSubtract(vectorBetween,posC2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.2){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posC2);
}
}
else {
step++;
}
DEBUG (("distancia C = %f", distance));
}
//End page Azul 6: Pos C
//Begin page Azul 7: Drill C
void start_DrillingC2(){//listo
api.getMyZRState(myState);
game.getDrills(myState);
api.setPositionTarget(posC2);
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if (myState[11] >= stop[2]){
game.startDrill();
api.setAttRateTarget(rateTarget);
game.checkSample();
}
if (game.checkSample()==true){
game.pickupSample();
game.getNumSamplesHeld();
}
if (game.getNumSamplesHeld() == 2){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 2)){
game.stopDrill();
step++;
}
}
//End page Azul 7: Drill C
//Begin page Azul 8: Pos D
void get_posD2(){
api.setAttitudeTarget(targetAtt2);
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if (myState[0] > posD2[0]) {
mathVecSubtract(vectorBetween,posD2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.07){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posD2);
}
}
else {
step++;
}
DEBUG (("distancia D = %f", distance));
}
//End page Azul 8: Pos D
//Begin page Azul 9: Drill D
void start_DrillingD2(){
api.getMyZRState(myState);
game.getDrills(myState);
api.setPositionTarget(posD2);
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if (myState[11] >= stop[2]){
game.startDrill();
api.setAttRateTarget(rateTarget);
game.checkSample();
}
if (game.checkSample()==true){
game.pickupSample();
game.getNumSamplesHeld();
}
if (game.getNumSamplesHeld() == 5){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 5)){
game.stopDrill();
step++;
}
}
//End page Azul 9: Drill D
//__________________________________________________________________________
//___________________________________Main___________________________________
//Begin General variables
float myState[12];
float rateTarget[3];
float targetRate[3];
float targetNoRate[3];
float vectorBetween[3];
float targetAtt2[3];
float targetAtt[3];
float initPos[3];
float initAtt[3];
float miPos[3];
float myAtt[3];
float myPos[3];
float distance;
float item[3];
float stop[3];
int contador; //español
int counter; //ingles
int zahler; //aleman
float angle;
float dot;
int step;
//End General variables
//Begin Blue variables
float basePosR[3];
float posA[3];
float posB[3];
float posC[3];
float posD[3];
//End Blue variables
//Begin Red variables
float basePosL[3];
float posA2[3];
float posB2[3];
float posC2[3];
float posD2[3];
//End Red variables
//Begin others
float baseGeyser1[3];
float attAtBase[3];
//End others
//__________________________________________________________________________
void init(){
//Blue
posA[0]=0.25;
posA[1]=0.25;
posA[2]=0.36;
posB[0]=0.35;
posB[1]=0.25;
posB[2]=0.36;
posC[0]=0.15;
posC[1]=0.15;
posC[2]=0.36;
posD[0]=0.25;
posD[1]=0.15;
posD[2]=0.36;
//end Blue
//Begin Red
posA2[0]=-0.25;
posA2[1]=-0.25;
posA2[2]=0.36;
posB2[0]=-0.35;
posB2[1]=-0.25;
posB2[2]=0.36;
posC2[0]=-0.15;
posC2[1]=-0.15;
posC2[2]=0.36;
posD2[0]=0.25;
posD2[1]=0.15;
posD2[2]=0.36;
//end Red
//General
basePosR[0]=0.1;
basePosR[1]=0.1;
basePosR[2]=0.1;
basePosL[0]=-0.1;
basePosL[1]=-0.1;
basePosL[2]=0.1;
stop[0]=0.0;
stop[1]=0.0;
stop[2]=0.0;
targetAtt[0]=1;
targetAtt[1]=0;
targetAtt[2]=0;
targetAtt2[0]=0;
targetAtt2[1]=-1;
targetAtt2[2]=0;
attAtBase[0]=0;
attAtBase[1]=0;
attAtBase[2]=-1;
rateTarget[0]=0.0;
rateTarget[1]=0.0;
rateTarget[2]=35*PI/180;
targetRate[0]=0.0;
targetRate[1]=20*PI/180;
targetRate[2]=0.0;
targetNoRate[0]=0.0;
targetNoRate[1]=-20*PI/180;
targetNoRate[2]=0.0;
baseGeyser1[0]=-10;
baseGeyser1[1]=-10;
baseGeyser1[2]=10;
item[0]=0.0;
item[1]=10.0;
item[2]=0.0;
step = 0;
counter = 0;
contador = 0;
zahler = 0;
//End general
}
void loop(){
SOS();
drill_Error();
active_Geyser();
api.getMyZRState(myState);
if (myState[1] > 0){
switch(step){
case 0:
get_posA();
break;
case 1:
start_DrillingA();
break;
case 2:
get_posB();
break;
case 3:
start_DrillingB();
break;
case 4:
goto_BaseR();
break;
case 5:
at_Base();
break;
case 6:
get_posC();
break;
case 7:
start_DrillingC();
break;
case 8:
get_posD();
break;
case 9:
start_DrillingD();
break;
case 10:
goto_BaseR();
break;
case 11:
at_Base();
break;
}
}
else{
switch(step){
case 0:
get_posA2();
break;
case 1:
start_DrillingA2();
break;
case 2:
get_posB2();
break;
case 3:
start_DrillingB2();
break;
case 4:
goto_BaseR2();
break;
case 5:
at_Base();
break;
case 6:
get_posC2();
break;
case 7:
start_DrillingC2();
break;
case 8:
get_posD2();
break;
case 9:
start_DrillingD2();
break;
case 10:
goto_BaseR2();
break;
case 11:
at_Base();
break;
}
}
DEBUG(("Step = %d",step));
for(int i=0; i<12; i++){
DEBUG(("State = %f", myState[i]));
}
}
//End page main