Jousting
Jousting is one of the simplest state machines. The robot will accelerate with a tuneable speed to ensure that the head is stable, then continue forward at maximum speed. In this period, a control algorithm is used to ensure that the robot follows a black line straight across the arena without veering into walls.
joustinghsm.h.rtf | |
File Size: | 2 kb |
File Type: | rtf |
joustinghsm.c.rtf | |
File Size: | 23 kb |
File Type: | rtf |
A quick round-based decision was made in Attacking of whether to shoot balls at the opponent (when the opponents IR beacon was detected) or to save balls for the next round.
attackinghsm.h.rtf | |
File Size: | 2 kb |
File Type: | rtf |
attackinghsm.c.rtf | |
File Size: | 26 kb |
File Type: | rtf |
Lancing was controlled in a simple timed loop that raised and lowered the lance.
lancinghsm.h.rtf | |
File Size: | 2 kb |
File Type: | rtf |
lancinghsm.c.rtf | |
File Size: | 28 kb |
File Type: | rtf |