hw8.bzz

#
# In the ARGoS window, you can move the camera with the following commands:
#
# - Translation: W A S D Q E keys, right-click + drag
# - Rotation: left-click + drag
#
# Selection: shift-click on the robot
# Remove selection: shift-click elsewhere
#
# Bug: selection is finnicky in the top-down view (Camera 1).
# Solution: switch to another camera and it'll work.
#

#
# Compiling and running the code
#
# - In the ARGoS window: Pause the simulation (if it's not paused already)
# - In the editor: do what you need, save, press the "Execute" button
# - In the ARGoS window: Press the "Play", "Step", or "Fast Forward" buttons
#

#
# This editor sucks.
#
# I know.
#
# But when it's open, it detects whether the open files have been modified elsewhere.
# So open this editor and then open the file you wanna edit in your favorite editor.
# When you save in your editor, the changes will be reflected here. Press Execute to compile and run.
# If you want syntax highlighting, JavaScript is pretty similar to Buzz.
#

# Obstacle Avoidance Function
function obstacle_avoidance(){

	if (proximity[0].value > 0){
		# Check for front sensor
		set_wheels(10.0,-5.0)
	}
	else if ( (proximity[1].value > 0) or (proximity[2].value > 0) or (proximity[3].value > 0) ){
		# Turn Left
		set_wheels(10.0,-5.0)
	}
	else if ( (proximity[5].value > 0) or (proximity[6].value > 0) or (proximity[7].value > 0) ){
		# Turn Right
		set_wheels(-5.0,10.0)
	}
	else {
		# Go straight
		set_wheels(10.0,10.0)
	}
}

# Coupled Oscillators Initialization
function coupled_oscillators_setup(){
	# Declare initial state of robot
	state = 0

	# Set a unique seed 
	math.rng.setseed(id)

	# Generate a random number
	c = math.rng.uniform(100)

	# Define k
	k = 0.3

	# Initilize the flash flag
	flashed = 0

	# Initialize the neighbor listen function 
	neighbors.listen("neighbor_state", function(vid, neighbor_state, rid) {

		# Check if neighbor flashed
		if (neighbor_state > 0){

			# Set the flash flag to true
			flashed = 1
		}
	})
}

# Coupled Oscillators Function
function coupled_oscillators(){
	
	# Increment the value of c
	c = c + 1
	
	# Check if the flash flag is true
	if (flashed == 1){
		c = c + k*c
	}

	# Check if c is greater than threshold
	if (c >= 100){
		state = 1
		# Flash the LED
		set_leds(255,255,255)
		c = 0
	}
	else {
		state = 0
		# Dim the LED
		set_leds(0,0,0)
	}

	# Broadcasting a (key,value) pair
	neighbors.broadcast("state", state)
}

# This function is executed once at init time
function init() {
	# log("INFO: Hello User")

	# Couple Oscillators Setup
	coupled_oscillators_setup()
}

# This function is executed at each time step
# The main loop is controller by ARGoS
function step() {

	# Uncomment the below line to run obstacle avoidance
	obstacle_avoidance()

	# Uncomment the below line to run coupled oscillators/synchronisation
	coupled_oscillators()
}

# This function is executed when you press the reset button
function reset() {
}

# This function is executed once when you close the simulator
function destroy() {
}