ideas.txt

States:


0: startup and initializion of sensors
Find line and start communicating with other arduino.

1: startup complete, search for box
Ultrasonic on, Following line.

2: Closing in on box
important: staying straight on the line.

3: found box, grab ball
Close arm, go back a few cm (-> 1) if failing

4: grabbed ball, turn
Hardcoded.

5: near end
Ultrasonic on, Following line.

6: Closing in on Line

7: found second box, drop ball
Simply dropping ball. Waiting.

8: finished.
Done. Standstill.

9: Something unexpected happen.
Propagate to the other and stop doing anything at all.





Übertragung:
(immer) beide Richtungen: momentaner Zustand.
(immer) lichtsensoren-infos an Ultraschall
(immer) Neueste distanz vom Ultraschall
2, 6: 3 Lichtsensoren an Fahrenden
3: grabbing state of ball
7: state of dropping ball


Arduinos changing state:
transmitting each time?




Existence per state per arduino:
State   Grabber     Follower
0         X            X

1         X            X
2         X            X
3         X             .

4                      X

5         X            X    (equal to one?)
6         X            X    (equal to two?)
7         X             .

8         X            X
9         X            X

DoNoting               X    3, 7
DoNothing X                 4




Folgende Pinbelegungen:
int lshl = 3; //DIG READ
int lsl = 4; //DIG READ
int lsr = 7; //DIG READ
int lshr = 8; //DIG READ
int lsm = 0; //ANALOG TO DIG READ
int lshlval = 0;
int lslval = 0;
int lsrval = 0;
int lshrval = 0;
int lsmval = 0;                               //VORDERE SENSORREIHE

int hlsl = 1; //ANALOG TO DIG READ
int hlsm = 2; //ANALOG TO DIG READ
int hlsr = 3; //ANALOG TO DIG READ
int hlslval = 0;
int hlsmval = 0;
int hlsrval = 0;                            //HINTERE SENSORREIHE

int ustr = 2; //DIG WRITE
int usec = 11; //DIG READ
int usval = 0;                             //ULTRASCHALL

int grs = 4; //ANALOG TO DIG READ
int grser = 12; //DIG WRITE
int grsval = 0;                            //GREIFER

int molpl = 5; //ANALOG WRITE
int molmi = 9; //ANALOG WRITE
int morpl = 6; //ANALOG WRITE
int mormi = 10; //ANALOG WRITE             //MOTOREN

ls = liniensensor
us = ultraschall
mo = motor
gr = greifer