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FINAL TAMANES LIFE-SPHERES 2D - LIFE-SPHERES 2D (C language).cpp
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FINAL TAMANES LIFE-SPHERES 2D - LIFE-SPHERES 2D (C language).cpp
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//--------------------------------BEGINING OF PROGRAM--------------------------------
//---------------------BEGINING FUNCTIONS---------------------
//-------BASES------
//Begin at_base
void at_Base(){
game.atBaseStation();
game.getNumSamplesHeld();
if (game.atBaseStation()==true){
game.dropSample(0);
game.dropSample(1);
game.dropSample(2);
}
if(game.getNumSamplesHeld() == 0){
step++;
}
}
//End at_base
//BEGINING BLUE
//Begin Go to Base L
void goto_BaseL(){
api.getMyZRState(myState);
for (int l=0; l<3; l++){
myPos[l]=myState[l];
}
mathVecSubtract(vectorBetween,basePosL,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.01){
api.setPositionTarget(basePosL);
}
else if (distance <= 0.01) {
api.setAttRateTarget(stop);
step++;
}
}
//End Go to Base L
//Begin page Go to Base R
void goto_BaseR(){
api.getMyZRState(myState);
for (int l=0; l<3; l++){
myPos[l]=myState[l];
}
mathVecSubtract(vectorBetween,basePosR,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.01){
api.setPositionTarget(basePosR);
}
else if (distance <= 0.01) {
api.setAttRateTarget(stop);
step++;
}
}
//End Go to Base R
//END BLUE
//BEGINING RED
//Begin Go to Base L2
void goto_BaseL2(){
api.getMyZRState(myState);
for (int l=0; l<3; l++){
myPos[l]=myState[l];
}
mathVecSubtract(vectorBetween,basePosL2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.01){
api.setPositionTarget(basePosL2);
}
else if (distance <= 0.01) {
api.setAttRateTarget(stop);
step++;
}
}
//End Go to Base L2
//Begin page Go to Base R2
void goto_BaseR2(){
api.getMyZRState(myState);
for (int l=0; l<3; l++){
myPos[l]=myState[l];
}
mathVecSubtract(vectorBetween,basePosR2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.01){
api.setPositionTarget(basePosR2);
}
else if (distance <= 0.01) {
api.setAttRateTarget(stop);
step++;
}
}
//End Go to Base R2
//END RED
//-------END BASES------
//>>>>>-------------Begin BLUE------------<<<<<
//-------Positions------
//Begin PosA
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])) {
mathVecSubtract(vectorBetween,posA,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.15){
// api.setForces(vectorBetween);
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posA);
}
}
else {
step++;
}
}
//End PosA
//Begin Go pos C
void get_posC(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] < posC[0]) && (myState[1] < posC[1])) {
mathVecSubtract(vectorBetween,posC,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.15){
// api.setForces(vectorBetween);
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posC);
api.setAttRateTarget(stop);
}
}
/*else if ((myState[0] > posA[0]) && (myState[1] > posA[1])){
api.setPositionTarget(posA);
}*/
else {
step++;
}
}
//End Go pos C
//Begin PosB
void get_posB(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] > posB[0]) && (myState[1] < posB[1])) {
mathVecSubtract(vectorBetween,posB,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.3){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posB);
api.setAttRateTarget(stop);
}
}
else {
step++;
}
DEBUG(("distance = %f", distance));
}
//End Pos B
//Begin Pos D
void get_posD(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] > posD[0]) && (myState[1] > posD[1])) {
mathVecSubtract(vectorBetween,posD,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.15){
api.setForces(vectorBetween);
}
else {
api.setPositionTarget(posD);
}
}
else {
step++;
}
}
//End Pos D
//-------End Positions------
//-------Drilling------
//Begin 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 Drill A
//Begin 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() == 2){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 2)){
game.stopDrill();
step++;
}
}
//End Drill B
//Begin Drilling 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() == 3){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 3)){
game.stopDrill();
step++;
}
}
//End Drilling pos C
//Begin Drill D
void start_DrillingD(){
api.getMyZRState(myState);
game.getDrills(myState);
game.getDrillError();
api.setPositionTarget(posD);
if (game.getDrillError() == false){
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if ((myState[11] >= stop[2])||(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] <= stop[2]) && (game.getNumSamplesHeld() == 2)){
game.stopDrill();
step++;
}
}
else {
game.stopDrill();
}
}
//End Drill D
//-------End Drilling------
//>>>>>-------------END BLUE------------<<<<<
//>>>>>-------------Begin RED------------<<<<<
//-------Positions------
//Begin PosA
void get_posA2(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] > posA2[0]) && (myState[1] > posA2[1])) {
mathVecSubtract(vectorBetween,posA2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.15){
// api.setForces(vectorBetween);
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posA2);
}
}
else {
step++;
}
}
//End PosA
//Begin PosB
void get_posB2(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] < posB2[0]) && (myState[1] > posB2[1])) {
mathVecSubtract(vectorBetween,posB2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.3){
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posB2);
api.setAttRateTarget(stop);
}
}
else {
step++;
}
DEBUG(("distance = %f", distance));
}
//End Pos B2
//Begin Go pos C
void get_posC2(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] > posC2[0]) && (myState[1] > posC2[1])) {
mathVecSubtract(vectorBetween,posC2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.15){
// api.setForces(vectorBetween);
api.setVelocityTarget(vectorBetween);
}
else {
api.setPositionTarget(posC2);
api.setAttRateTarget(stop);
}
}
/*else if ((myState[0] > posA[0]) && (myState[1] > posA[1])){
api.setPositionTarget(posA);
}*/
else {
step++;
}
}
//End Go pos C
//Begin Pos D2
void get_posD2(){
api.getMyZRState(myState);
for (int i=0; i<3; i++){
myPos[i]=myState[i];
}
if ((myState[0] > posD2[0]) && (myState[1] > posD2[1])) {
mathVecSubtract(vectorBetween,posD2,myPos,3);
distance = mathVecMagnitude(vectorBetween,3);
if (distance > 0.15){
api.setForces(vectorBetween);
}
else {
api.setPositionTarget(posD2);
}
}
else {
step++;
}
}
//End Pos D2
//-------End Positions------
//-------Drilling------
//Begin Drill A2
void start_DrillingA2(){
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 Drill A2
//Begin Drill B2
void start_DrillingB2(){
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() == 2){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 2)){
game.stopDrill();
step++;
}
}
//End Drill B2
//Begin Drilling C2
void start_DrillingC2(){
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() == 3){
api.setAttRateTarget(stop);
}
if ((myState[11] <= 0.1) && (game.getNumSamplesHeld() == 3)){
game.stopDrill();
step++;
}
}
//End Drilling pos C2
//Begin Drill D2
void start_DrillingD2(){
api.getMyZRState(myState);
game.getDrills(myState);
game.getDrillError();
api.setPositionTarget(posD2);
if (game.getDrillError() == false){
if (game.getDrills(myState) <= 0){
game.getDrillEnabled();
}
if ((myState[11] >= stop[2])||(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] <= stop[2]) && (game.getNumSamplesHeld() == 2)){
game.stopDrill();
step++;
}
}
else {
game.stopDrill();
}
}
//End Drill D2
//-------End Drilling------
//>>>>>-------------END RED------------<<<<<
//---------------------END FUNCTIONS---------------------
//>>>>>-------------MAIN------------<<<<<
//Variables
float myState[12];
float myPos[3];
float vectorBetween[3];
//
float posA[3];
float posB[3];
float posC[3];
float posD[3];
//
float posA2[3];
float posB2[3];
float posC2[3];
float posD2[3];
//
float distance;
float stop[3];
float rateTarget[3];
int step;
float basePosR[3];
float basePosL[3];
float basePosL2[3];
float basePosR2[3];
//Begin CONST
void init(){
//This function is called once when your code is first loaded.
//IMPORTANT: make sure to set any variables that need an initial value.
//Do not assume variables will be set to 0 automatically!
//
//BLUE
posA[0]=0.35;
posA[1]=0.35;
posA[2]=0.0;
posB[0]=-0.34;
posB[1]=0.34;
posB[2]=0.0;
posC[0]=0.13;
posC[1]=0.13;
posC[2]=0.0;
posD[0]=-0.35;
posD[1]=-0.35;
posD[2]=0.0;
//
//RED
posA2[0]=-0.35;
posA2[1]=-0.35;
posA2[2]=0.0;
posB2[0]=0.34;
posB2[1]=-0.34;
posB2[2]=0.0;
posC2[0]=-0.13;
posC2[1]=-0.13;
posC2[2]=0.0;
posD2[0]=0.35;
posD2[1]=0.35;
posD2[2]=0.0;
//
basePosR[0]=0.1;
basePosR[1]=0.1;
basePosR[2]=0.0;
basePosL[0]=-0.1;
basePosL[1]=0.1;
basePosL[2]=0.0;
//
basePosR2[0]=-0.1;
basePosR2[1]=-0.1;
basePosR2[2]=0.0;
basePosL2[0]=0.1;
basePosL2[1]=-0.1;
basePosL2[2]=0.0;
//
stop[0]=0.0;
stop[1]=0.0;
stop[2]=0.0;
rateTarget[0]=0.0;
rateTarget[1]=0.0;
rateTarget[2]=35*PI/180;
step=0;
}
//End CONST
//>>>>>-------------LOOP PER SECOND------------<<<<<
void loop(){
//This function is called once per second. Use it to control the satellite.
api.getMyZRState(myState);
if (myState[1] > 0){
switch (step){
case 0:
get_posA();
break;
case 1:
start_DrillingA();
break;
case 2:
goto_BaseR();
break;
case 3:
at_Base();
break;
case 4:
get_posB();
break;
case 5:
start_DrillingB();
break;
case 6:
goto_BaseL();
break;
case 7:
at_Base();
break;
case 8:
get_posC();
break;
case 9:
start_DrillingC();
break;
case 10:
at_Base();
break;
}
}
else {
switch (step){
case 0:
get_posA2();
break;
case 1:
start_DrillingA2();
break;
case 2:
goto_BaseR2();
break;
case 3:
at_Base();
break;
case 4:
get_posB2();
break;
case 5:
start_DrillingB2();
break;
case 6:
goto_BaseL2();
break;
case 7:
at_Base();
break;
case 8:
get_posC2();
break;
case 9:
start_DrillingC2();
break;
case 10:
at_Base();
break;
}
}
DEBUG(("step = %d",step));
}
//>>>>>-------------END LOOP PER SECOND------------<<<<<
//CODERS:IGNACIO AYALA,LOURDES BADILLO,JUAN CARLOS GARFIAS,LUIS JAVIER ALONSO AND SPECIAL THANKS TO FRANCISCO HUELSZ
//--------------------------------END OF PROGRAM--------------------------------