/// <summary>
/// Move forward towards the prey if it is in view.
/// </summary>
protected void Approach()
{
searchingRotationCount = 0;
if (preyScreenPosition.X < 0 + cameraDimensions.X / 5)
{
RotateDirection(2, -4);
}
else if (preyScreenPosition.X > cameraDimensions.X - cameraDimensions.X / 5)
{
RotateDirection(2, 4);
}
else if (preyRectangle.Width < 80)
{
trackingState = PredatorState.ApproachingPrey;
if (obstacleRectangle.Height > cameraDimensions.Y - 10 && obstacleRectangle.Width > 180)
{
Strafe(5, 1);
}
else if (obstacleRectangle.Height > cameraDimensions.Y - 10 && cameraDimensions.X - obstacleRectangle.Width > cameraDimensions.X - 180)
{
Strafe(5, -1);
}
else
{
MoveForward(12, 1);
}
}
else
{
searchingRotationCount = 0;
}
}
/// <summary>
/// Move around the green block (obstacle).
/// </summary>
protected void GoAroundBlock()
{
if (greenBlockState == GreenBlockState.InitialAproach)
{
if (IsObstacleSeen() && obstacleRectangle.Height < cameraDimensions.Y - (cameraDimensions.Y / 5))
{
MoveForward(1, 1);
}
else if (IsObstacleSeen())
{
greenBlockState = GreenBlockState.StrafeAround;
}
else
{
trackingState = PredatorState.SearchingForPrey;
}
}
else if (greenBlockState == GreenBlockState.StrafeAround)
{
if ((IsObstacleSeen() && obstacleRectangle.Width > 15))
{
Strafe(4, strafingDirection);
lock (commandLock)
{
if (Odometry.LeftWheelTicks == 0 && Odometry.RearWheelTicks == 0 && Odometry.RightWheelTicks == 0)
{
odometryCount++;
}
else
{
odometryCount = 0;
}
if (odometryCount > 2)
{
MoveForward(4, -2);
strafingDirection = -strafingDirection;
greenBlockState = GreenBlockState.InitialAproach;
}
}
}
else
{
greenBlockState = GreenBlockState.MoveForwardSome;
}
}
else if (greenBlockState == GreenBlockState.MoveForwardSome)
{
MoveForward(28, 1);
greenBlockState = GreenBlockState.Rotate;
}
else if (greenBlockState == GreenBlockState.Rotate)
{
RotateByAngle(2, 2);
greenBlockState = GreenBlockState.InitialAproach;
trackingState = PredatorState.SearchingForPrey;
}
}
IEnumerator WanderState() //Wander to attack
{
print("Wander: Enter");
while (state == PredatorState.Wander)
{
PredatorWander();
//To Change States(From Wander to Attack, if prey hide state, then seek)
if (ChangeState == false)
{
state = PredatorState.Wander; //changing states
}
MovePredator(PredatorWaypoints[index].transform.position);
yield return(0);
}
print("Wander: Exit");
NextState();
}
public void SetCurrentState(PredatorState newState) //oldschool setter
{
currentState = newState;
}
/// <summary>
/// Move forward towards the prey if it is in view.
/// </summary>
protected void Approach()
{
searchingRotationCount = 0;
if (preyScreenPosition.X < 0 + cameraDimensions.X / 5)
RotateDirection(2, -4);
else if (preyScreenPosition.X > cameraDimensions.X - cameraDimensions.X / 5)
RotateDirection(2, 4);
else if (preyRectangle.Width < 80)
{
trackingState = PredatorState.ApproachingPrey;
if (obstacleRectangle.Height > cameraDimensions.Y - 10 && obstacleRectangle.Width > 180)
Strafe(5, 1);
else if (obstacleRectangle.Height > cameraDimensions.Y - 10 && cameraDimensions.X - obstacleRectangle.Width > cameraDimensions.X - 180)
Strafe(5, -1);
else
MoveForward(12, 1);
}
else
searchingRotationCount = 0;
}
/// <summary>
/// Begin the state machine.
/// </summary>
private void SetFiniteStateMachine()
{
while (running)
{
//commandList = new List<Action>();
// if (commandList.Count == 0)
// {
// Update state machine action based on latest readings.
if (preyRectangle != new System.Drawing.Rectangle(0, 0, 0, 0))
{
cumulativeAngle = 0;
searchingRotationCount = 0;
preyScreenPosition = preyRectangle;
trackingState = PredatorState.OnScreen;
}
// If prey is out of view but has been recently seen, threadSearch with rotation.
if (preyRectangle == new System.Drawing.Rectangle(0, 0, 0, 0) && searchingRotationCount < 8)
trackingState = PredatorState.SearchingForPrey;
// If prey has been out of view and hasn't been found with rotation, start roaming.
else if (searchingRotationCount >= 8 && trackingState != PredatorState.OnScreen && trackingState != PredatorState.GoingAroundObstacle)
trackingState = PredatorState.SearchForObstacle;
else if (trackingState != PredatorState.GoingAroundObstacle)
trackingState = PredatorState.OnScreen;
if (trackingState == PredatorState.SearchingForPrey)
Search();
else if (trackingState == PredatorState.SearchForObstacle)
{
if (IsObstacleSeen())
trackingState = PredatorState.GoingAroundObstacle;
else
RotateByAngle(1, 5);
}
else if (trackingState == PredatorState.GoingAroundObstacle)
GoAroundBlock();
else
Approach();
/*
if (IsPreySeen() && trackingState != Tracking.Approaching)
{
lock(commandLock)
Drive.Stop();
trackingState = Tracking.Approaching;
}
if (trackingState == Tracking.SearchForGreen)
{
if (IsObstacleSeen())
{
this.cumulativeAngle = 0;
trackingState = Tracking.BigSpin;
}
else
RotateByAngle(1, 3);
lock (commandLock)
Drive.Stop();
}
if (trackingState == Tracking.BigSpin)
{
if (cumulativeAngle > 160 && IsObstacleSeen())
trackingState = Tracking.GoingAroundBlock;
else
RotateByAngle(1, 3);
lock (commandLock)
Drive.Stop();
}
if (trackingState == Tracking.GoingAroundBlock)
GoAroundBlock();
if (trackingState == Tracking.Approaching)
{
if (!IsPreySeen())
trackingState = Tracking.SearchForGreen;
else
Approach();
}
* */
// lock(commandLock)
//if (!(trackingState == Tracking.GoingAroundBlock))
// Drive.Stop();
/*
else
{
if (preyRectangle != new System.Drawing.Rectangle(0, 0, 0, 0))
preyScreenPosition = preyRectangle;
// If prey is out of view but has been recently seen, threadSearch with rotation.
if (preyRectangle == new System.Drawing.Rectangle(0, 0, 0, 0) && searchingRotationCount < 8)
trackingState = Tracking.SearchForGreen;
// If prey has been out of view and hasn't been found with rotation, start roaming.
else if (searchingRotationCount >= 8 && trackingState != Tracking.OnScreen)
trackingState = Tracking.Roaming;
// If it's not out of view, it must be on screen.
else
trackingState = Tracking.OnScreen;
}
// Perform the relevant state machine action.
if (trackingState == Tracking.SearchForGreen)
Search();
else if (trackingState == Tracking.Roaming)
Roam();
else
Approach();
*
* */
//}
//completed = true;
}
}
/// <summary>
/// Move around the green block (obstacle).
/// </summary>
protected void GoAroundBlock()
{
if (greenBlockState == GreenBlockState.InitialAproach)
{
if (IsObstacleSeen() && obstacleRectangle.Height < cameraDimensions.Y - (cameraDimensions.Y / 5))
MoveForward(1, 1);
else if (IsObstacleSeen())
greenBlockState = GreenBlockState.StrafeAround;
else
trackingState = PredatorState.SearchingForPrey;
}
else if (greenBlockState == GreenBlockState.StrafeAround)
{
if ((IsObstacleSeen() && obstacleRectangle.Width > 15))
{
Strafe(4, strafingDirection);
lock (commandLock)
{
if (Odometry.LeftWheelTicks == 0 && Odometry.RearWheelTicks == 0 && Odometry.RightWheelTicks == 0)
odometryCount++;
else
odometryCount = 0;
if (odometryCount > 2)
{
MoveForward(4, -2);
strafingDirection = -strafingDirection;
greenBlockState = GreenBlockState.InitialAproach;
}
}
}
else
greenBlockState = GreenBlockState.MoveForwardSome;
}
else if (greenBlockState == GreenBlockState.MoveForwardSome)
{
MoveForward(28, 1);
greenBlockState = GreenBlockState.Rotate;
}
else if (greenBlockState == GreenBlockState.Rotate)
{
RotateByAngle(2, 2);
greenBlockState = GreenBlockState.InitialAproach;
trackingState = PredatorState.SearchingForPrey;
}
}
/// <summary>
/// Begin the state machine.
/// </summary>
private void SetFiniteStateMachine()
{
while (running)
{
//commandList = new List<Action>();
// if (commandList.Count == 0)
// {
// Update state machine action based on latest readings.
if (preyRectangle != new System.Drawing.Rectangle(0, 0, 0, 0))
{
cumulativeAngle = 0;
searchingRotationCount = 0;
preyScreenPosition = preyRectangle;
trackingState = PredatorState.OnScreen;
}
// If prey is out of view but has been recently seen, threadSearch with rotation.
if (preyRectangle == new System.Drawing.Rectangle(0, 0, 0, 0) && searchingRotationCount < 8)
{
trackingState = PredatorState.SearchingForPrey;
}
// If prey has been out of view and hasn't been found with rotation, start roaming.
else if (searchingRotationCount >= 8 && trackingState != PredatorState.OnScreen && trackingState != PredatorState.GoingAroundObstacle)
{
trackingState = PredatorState.SearchForObstacle;
}
else if (trackingState != PredatorState.GoingAroundObstacle)
{
trackingState = PredatorState.OnScreen;
}
if (trackingState == PredatorState.SearchingForPrey)
{
Search();
}
else if (trackingState == PredatorState.SearchForObstacle)
{
if (IsObstacleSeen())
{
trackingState = PredatorState.GoingAroundObstacle;
}
else
{
RotateByAngle(1, 5);
}
}
else if (trackingState == PredatorState.GoingAroundObstacle)
{
GoAroundBlock();
}
else
{
Approach();
}
/*
* if (IsPreySeen() && trackingState != Tracking.Approaching)
* {
* lock(commandLock)
* Drive.Stop();
* trackingState = Tracking.Approaching;
* }
*
* if (trackingState == Tracking.SearchForGreen)
* {
* if (IsObstacleSeen())
* {
* this.cumulativeAngle = 0;
* trackingState = Tracking.BigSpin;
* }
* else
* RotateByAngle(1, 3);
*
* lock (commandLock)
* Drive.Stop();
* }
* if (trackingState == Tracking.BigSpin)
* {
* if (cumulativeAngle > 160 && IsObstacleSeen())
* trackingState = Tracking.GoingAroundBlock;
* else
* RotateByAngle(1, 3);
*
* lock (commandLock)
* Drive.Stop();
* }
* if (trackingState == Tracking.GoingAroundBlock)
* GoAroundBlock();
* if (trackingState == Tracking.Approaching)
* {
* if (!IsPreySeen())
* trackingState = Tracking.SearchForGreen;
* else
* Approach();
* }
* */
// lock(commandLock)
//if (!(trackingState == Tracking.GoingAroundBlock))
// Drive.Stop();
/*
* else
* {
* if (preyRectangle != new System.Drawing.Rectangle(0, 0, 0, 0))
* preyScreenPosition = preyRectangle;
*
* // If prey is out of view but has been recently seen, threadSearch with rotation.
* if (preyRectangle == new System.Drawing.Rectangle(0, 0, 0, 0) && searchingRotationCount < 8)
* trackingState = Tracking.SearchForGreen;
* // If prey has been out of view and hasn't been found with rotation, start roaming.
* else if (searchingRotationCount >= 8 && trackingState != Tracking.OnScreen)
* trackingState = Tracking.Roaming;
* // If it's not out of view, it must be on screen.
* else
* trackingState = Tracking.OnScreen;
* }
* // Perform the relevant state machine action.
* if (trackingState == Tracking.SearchForGreen)
* Search();
* else if (trackingState == Tracking.Roaming)
* Roam();
* else
* Approach();
*
* */
//}
//completed = true;
}
}
