Diff: bees.cpp

Revision:

0:178a07cd3e39

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bees.cpp	Fri Dec 16 03:45:52 2011 +0000
@@ -0,0 +1,138 @@
+#include "bees.h"
+
+int find_pollen() {
+    return 1;
+}
+int return_home() {
+    return 1;
+}
+int send_directions() {
+    //while(!xbee.readable()) {}
+    //read header
+    
+    //read contents
+    int i = 0;
+    while(1){
+        xbee.putc(directions[i] + 2);
+        if(DEBUG)
+            pc.printf("Sending  %d\n\r", directions[i]);
+        if(directions[i] == TERMINATE_CHAR) {
+            if (DEBUG)
+                pc.printf("Successfully transfered directions.\n\r");
+            return 1;
+        }
+        i++;
+    }
+    
+    if (DEBUG)
+        pc.printf("Error writing directions.\n\r");
+    return 0;
+}
+
+/*********************************************************
+    Name: get_directions
+    inputs: 
+        void
+    outputs:
+        int: 1 = completed sucessfully; 0 = unsuccessful
+    Purpose: gets directions on where to move
+*********************************************************/
+int get_directions() {
+    //int buff[DIRECTIONS];
+    int i;
+    // wait until the xbee can be read
+    //while(!xbee.readable()) {}
+    //read header
+    
+    //read contents
+    i = 0;
+    while(1){
+        directions[i] = xbee.getc() - 2;
+        if (DEBUG)
+            pc.printf("dir    %d\n\r", directions[i]);
+        if(directions[i] == TERMINATE_CHAR)
+            return 1; //successfully transfered directions
+        i++;
+    }
+    
+    if (DEBUG)
+        pc.printf("Error reading directions.\n\r");
+    return 0;
+}
+
+int gather() {
+    return 1;
+}
+
+int goto_pollen() {
+    return 1;
+}
+
+void blaze() {
+    int i;
+    for (i = 0; i < (2*DIRECTIONS); i++) {
+        directions[i] = rand() % 3 - 1;
+        directions[++i] = rand() % 20 + 51;  
+        if(DEBUG){
+            pc.printf("Directions:  %d,  %d\n\r", directions[i-1], directions[i]);
+        } 
+    }
+    directions[i] = TERMINATE_CHAR;
+    if(DEBUG)
+        pc.printf("Temrinate\n\r");
+}
+
+int copy() {
+    static int direct = 0;
+    static int state = 0;
+    
+    /*if(dotype == GetMove) {
+        current_move = directions[direct];
+        
+    }*/
+    
+    //else if (dotype == DoMove) {
+    
+    static int current_move;
+    
+    if(state == 0) {
+        current_move = directions[direct];
+        if(DEBUG)
+            pc.printf("Oh! got the Move!    %d\n\r", current_move);
+        state = 1;
+    }
+    else if (state == 2) {
+        if(move_state == Stopped)
+            state = 0;
+        if(DEBUG)
+            pc.printf("Waiting for  Next Move\n\r");
+    }
+    
+    else if (state == 1) {
+    if (current_move == TERMINATE_CHAR) {
+        l_motor.speed(NEUTRAL);
+        r_motor.speed(NEUTRAL);
+        move_state = Stopped;
+        return 1;
+    }
+    else if (current_move <= 1) {
+        if(DEBUG)
+            pc.printf("I like to rotate! \n\r");
+        rotate(current_move);
+        //if((r_tics >= r_goal) || (l_tics >= l_goal))
+            direct++;
+    }
+    else if  (current_move >= 20) {
+        if(DEBUG)
+            pc.printf("I like to move it move it! \n\r");
+            
+        move(0.5, current_move);
+        //if((r_tics >= r_goal) || (l_tics >= l_goal))
+            direct++;
+    }
+    state = 2;
+    }
+    
+    return 0;
+}
+