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ai.c
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//CsBot_AI_H
//Do NOT delete the Above Line
///////////////////////////////
//The robot ID : It must be two char, such as '00','kl' or 'Cr'.
char AI_MyID[2] = {'0','2'};
///////////////////////////////////
int AI_MotorType = 0;
int Duration = 0;
int SuperDuration = 0;
int bGameEnd = false;
int CurAction = -1;
int CurGame = 0;
int SuperObj_Num = 0;
int SuperObj_X = 0;
int SuperObj_Y = 0;
int Teleport = 0;
int LoadedObjects = 0;
int US_Front = 0;
int US_Left = 0;
int US_Right = 0;
int CSLeft_R = 0;
int CSLeft_G = 0;
int CSLeft_B = 0;
int CSRight_R = 0;
int CSRight_G = 0;
int CSRight_B = 0;
int PositionX = 0;
int PositionY = 0;
int TM_State = 0;
int Compass = 0;
int Time = 0;
int WheelLeft = 0;
int WheelRight = 0;
int LED_1 = 0;
int MyState = 0;
int AI_SensorNum = 13;
//CsBot_AI_C
//Do NOT delete the Above Line
///////////////////////////////
//Only Used by CsBot Dance Platform
void SetGameID(int GameID)
{
CurGame = GameID;
bGameEnd = false;
}
//Only Used by CsBot Dance Platform
int GetGameID()
{
return CurGame;
}
//Only Used by CsBot Dance Platform
int IsGameEnd()
{
return bGameEnd;
}
//Only Used by CsBot Rescue Platform
int GetTeleport()
{
return Teleport;
}
//Only Used by CsBot Rescue Platform
void SetSuperObj(int X, int Y, int num)
{
SuperObj_X = X;
SuperObj_Y = Y;
SuperObj_Num = num;
}
void SetDataAI(volatile int *AI_CCP , volatile int *AI_ADC ,volatile int *AI_INFO)
{
int sum = 0;
US_Front = AI_ADC[0]; packet[0] = US_Front; sum += US_Front;
US_Left = AI_ADC[2]; packet[1] = US_Left; sum += US_Left;
US_Right = AI_ADC[3]; packet[2] = US_Right; sum += US_Right;
CSLeft_R = AI_CCP[1]; packet[3] = CSLeft_R; sum += CSLeft_R;
CSLeft_G = AI_CCP[2]; packet[4] = CSLeft_G; sum += CSLeft_G;
CSLeft_B = AI_CCP[3]; packet[5] = CSLeft_B; sum += CSLeft_B;
CSRight_R = AI_CCP[4]; packet[6] = CSRight_R; sum += CSRight_R;
CSRight_G = AI_CCP[5]; packet[7] = CSRight_G; sum += CSRight_G;
CSRight_B = AI_CCP[6]; packet[8] = CSRight_B; sum += CSRight_B;
PositionX = AI_INFO[2]; packet[9] = PositionX; sum += PositionX;
PositionY = AI_INFO[3]; packet[10] = PositionY; sum += PositionY;
TM_State = AI_INFO[1]; packet[11] = TM_State; sum += TM_State;
Compass = AI_Compass; packet[12] = Compass; sum += Compass;
Time = Play_Time_MS/1000;
packet[13] = sum;
}
void GetCommand(int *Motor, int *LegoMotor, int *LED , int *Info)
{
Motor[0] = WheelLeft;
Motor[2] = WheelRight;
LED[0] = LED_1;
Info[0] = MyState;
}
void Game0()
{
if(SuperDuration>0)
{
SuperDuration--;
}
else if(Duration>0)
{
Duration--;
}
else if(CSRight_R>=200 && CSRight_R<=255 && CSRight_G>=200 && CSRight_G<=255 && CSRight_B>=40 && CSRight_B<=60)
{
Duration = 9;
CurAction =1;
}
else if(CSLeft_R>=200 && CSLeft_R<=255 && CSLeft_G>=200 && CSLeft_G<=255 && CSLeft_B>=40 && CSLeft_B<=60)
{
Duration = 9;
CurAction =2;
}
else if(CSLeft_R>=40 && CSLeft_R<=50 && CSLeft_G>=40 && CSLeft_G<=50 && CSLeft_B>=225 && CSLeft_B<=255)
{
Duration = 9;
CurAction =3;
}
else if(CSRight_R>=40 && CSRight_R<=50 && CSRight_G>=40 && CSRight_G<=50 && CSRight_B>=225 && CSRight_B<=255)
{
Duration = 9;
CurAction =4;
}
else if(US_Front>=0 && US_Front<=15)
{
Duration = 1;
CurAction =5;
}
else if(CSLeft_R>=100 && CSLeft_R<=255 && CSLeft_G>=0 && CSLeft_G<=50 && CSLeft_B>=0 && CSLeft_B<=50)
{
Duration = 49;
CurAction =6;
}
else if(CSRight_R>=100 && CSRight_R<=255 && CSRight_G>=0 && CSRight_G<=50 && CSRight_B>=0 && CSRight_B<=50)
{
Duration = 49;
CurAction =7;
}
else if(CSLeft_R>=30 && CSLeft_R<=50 && CSLeft_G>=100 && CSLeft_G<=255 && CSLeft_B>=30 && CSLeft_B<=50)
{
Duration = 49;
CurAction =8;
}
else if(CSRight_R>=30 && CSRight_R<=50 && CSRight_G>=100 && CSRight_G<=255 && CSRight_B>=30 && CSRight_B<=50)
{
Duration = 49;
CurAction =9;
}
else if(CSLeft_R>=0 && CSLeft_R<=40 && CSLeft_G>=0 && CSLeft_G<=40 && CSLeft_B>=0 && CSLeft_B<=40)
{
Duration = 49;
CurAction =10;
}
else if(CSRight_R>=0 && CSRight_R<=40 && CSRight_G>=0 && CSRight_G<=40 && CSRight_B>=0 && CSRight_B<=40)
{
Duration = 49;
CurAction =11;
}
else if(CSLeft_R>=200 && CSLeft_R<=255 && CSLeft_G>=80 && CSLeft_G<=100 && CSLeft_B>=0 && CSLeft_B<=10 && CSRight_R>=200 && CSRight_R<=255 && CSRight_G>=80 && CSRight_G<=100 && CSRight_B>=0 && CSRight_B<=10)
{
Duration = 49;
CurAction =12;
}
else if(true)
{
Duration = 0;
CurAction =13;
}
switch(CurAction)
{
case 1:
WheelLeft=-4;
WheelRight=-2;
LED_1=0;
MyState=0;
break;
case 2:
WheelLeft=-2;
WheelRight=-4;
LED_1=0;
MyState=0;
break;
case 3:
WheelLeft=-2;
WheelRight=-4;
LED_1=0;
MyState=0;
break;
case 4:
WheelLeft=-4;
WheelRight=-2;
LED_1=0;
MyState=0;
break;
case 5:
WheelLeft=3;
WheelRight=-3;
LED_1=0;
MyState=0;
break;
case 6:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 7:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 8:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 9:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 10:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 11:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 12:
WheelLeft=0;
WheelRight=0;
LED_1=2;
MyState=0;
if(Duration == 1) {LoadedObjects = 0; }
break;
case 13:
WheelLeft=3;
WheelRight=3;
LED_1=0;
MyState=0;
break;
default:
break;
}
}
void Game1()
{
if(SuperDuration>0)
{
SuperDuration--;
}
else if(Duration>0)
{
Duration--;
}
else if(CSLeft_R>=100 && CSLeft_R<=110 && CSLeft_G>=100 && CSLeft_G<=120 && CSLeft_B>=160 && CSLeft_B<=180 && CSRight_B>=1 && CSRight_B<=255)
{
Duration = 1;
CurAction =1;
}
else if(CSRight_R>=100 && CSRight_R<=110 && CSRight_G>=100 && CSRight_G<=120 && CSRight_B>=160 && CSRight_B<=180)
{
Duration = 1;
CurAction =2;
}
else if(US_Front>=0 && US_Front<=15)
{
Duration = 1;
CurAction =3;
}
else if(CSLeft_R>=100 && CSLeft_R<=120 && CSLeft_G>=115 && CSLeft_G<=135 && CSLeft_B>=0 && CSLeft_B<=20)
{
Duration = 1;
CurAction =4;
}
else if(CSLeft_R>=100 && CSLeft_R<=120 && CSLeft_G>=115 && CSLeft_G<=135 && CSLeft_B>=0 && CSLeft_B<=20)
{
Duration = 1;
CurAction =5;
}
else if(CSLeft_R>=200 && CSLeft_R<=255 && CSLeft_G>=80 && CSLeft_G<=100 && CSLeft_B>=0 && CSLeft_B<=10 && CSRight_R>=200 && CSRight_R<=255 && CSRight_G>=80 && CSRight_G<=100 && CSRight_B>=0 && CSRight_B<=10)
{
Duration = 49;
CurAction =6;
}
else if(CSLeft_R>=100 && CSLeft_R<=255 && CSLeft_G>=0 && CSLeft_G<=50 && CSLeft_B>=0 && CSLeft_B<=50)
{
Duration = 49;
CurAction =7;
}
else if(CSRight_R>=100 && CSRight_R<=255 && CSRight_G>=0 && CSRight_G<=50 && CSRight_B>=0 && CSRight_B<=50)
{
Duration = 49;
CurAction =8;
}
else if(CSLeft_R>=30 && CSLeft_R<=50 && CSLeft_G>=100 && CSLeft_G<=255 && CSLeft_B>=30 && CSLeft_B<=50)
{
Duration = 49;
CurAction =9;
}
else if(CSRight_R>=30 && CSRight_R<=50 && CSRight_G>=100 && CSRight_G<=255 && CSRight_B>=30 && CSRight_B<=50)
{
Duration = 49;
CurAction =10;
}
else if(CSLeft_R>=0 && CSLeft_R<=40 && CSLeft_G>=0 && CSLeft_G<=40 && CSLeft_B>=0 && CSLeft_B<=40)
{
Duration = 49;
CurAction =11;
}
else if(CSRight_R>=0 && CSRight_R<=40 && CSRight_G>=0 && CSRight_G<=40 && CSRight_B>=0 && CSRight_B<=40)
{
Duration = 49;
CurAction =12;
}
else if(true)
{
Duration = 0;
CurAction =13;
}
switch(CurAction)
{
case 1:
WheelLeft=2;
WheelRight=-2;
LED_1=0;
MyState=0;
break;
case 2:
WheelLeft=-2;
WheelRight=2;
LED_1=0;
MyState=0;
break;
case 3:
WheelLeft=3;
WheelRight=-3;
LED_1=0;
MyState=0;
break;
case 4:
WheelLeft=2;
WheelRight=-2;
LED_1=0;
MyState=0;
break;
case 5:
WheelLeft=-2;
WheelRight=2;
LED_1=0;
MyState=0;
break;
case 6:
WheelLeft=0;
WheelRight=0;
LED_1=2;
MyState=0;
if(Duration == 1) {LoadedObjects = 0; }
break;
case 7:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 8:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 9:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 10:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 11:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 12:
WheelLeft=0;
WheelRight=0;
LED_1=1;
MyState=0;
if(Duration == 1) LoadedObjects++;
if(Duration < 6)
{
WheelLeft = 2;
WheelRight = 2;
}
break;
case 13:
WheelLeft=2;
WheelRight=2;
LED_1=0;
MyState=0;
break;
default:
break;
}
}
void OnTimer()
{
switch (CurGame)
{
case 9:
break;
case 10:
WheelLeft=0;
WheelRight=0;
LED_1=0;
MyState=0;
break;
case 0:
Game0();
break;
case 1:
Game1();
break;
default:
break;
}
}