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Coordinates_v1.c
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/*
_____ _ _ _ __ ___ _ _
/ ____| | (_) | | /_ | / _ \ | | | |
| | ___ ___ _ __ __| |_ _ __ __ _| |_ ___ ___ __ __ | | | | | | __ _| |_ __ | |__ __ _
| | / _ \ / _ \| '__/ _` | | '_ \ / _` | __/ _ \/ __| \ \ / / | | | | | | / _` | | '_ \| '_ \ / _` |
| |___| (_) | (_) | | | (_| | | | | | (_| | || __/\__ \ \ V / | | _ | |_| | | (_| | | |_) | | | | (_| |
\_____\___/ \___/|_| \__,_|_|_| |_|\__,_|\__\___||___/ \_(_) |_| (_) \___/ \__,_|_| .__/|_| |_|\__,_|
| |
|_|
Decentralized global coordinate system construction for kilobots
Example application: displaying message
Displayed Message: Hello World (for 100 robots in 10x10 formation)
code (c) by Michal Pluhacek
Version date: February 3rd, 2023
Paper citation: to be added
*/
#include <kilolib.h>
#include <stdio.h>
#include <stdlib.h>
//#include <math.h>
// !!!!!!!!!!!!!!!!!
#define ARGOS // comment before compiling for real robots
// !!!!!!!!!!!!!!!!!
// defining the message to display {x1,y1,x2,y2.........xn,yn}
int p1[]={1,10,1,8,1,7,1,9,1,6,2,8,3,10,3,8,3,9,3,7,3,6,2,5,2,4,2,3,2,1,3,1,2,2,5,5,5,4,5,2,5,3,5,1,6,1,8,2,8,3,8,4,9,5,10,4,10,3,10,2,9,1,6,10,6,9,6,7,6,6,6,8,7,6,8,6,8,8,7,8,7,10,8,10}; //HELLO 42
int p2[]={1,10,1,9,2,7,1,8,3,8,4,7,5,8,5,9,5,10,7,9,7,8,9,8,9,9,8,10,1,2,1,3,1,4,1,1,2,5,3,4,2,3,3,2,3,1,5,5,5,4,5,3,5,1,5,2,6,1,8,5,8,4,8,3,8,2,8,1,9,5,10,4,10,3,10,2,9,1,8,7,3,5,1,5}; // WORLD 42
int p3[]={1,10,1,8,1,7,1,9,1,6,2,8,3,10,3,8,3,9,3,7,3,6,2,5,2,4,2,3,2,1,3,1,2,2,5,5,5,4,5,2,5,3,5,1,6,1,8,2,8,3,8,4,9,5,10,4,10,3,10,2,9,1,6,10,6,9,6,7,6,6,6,8,7,6,8,6,8,8,7,8,7,10,8,10}; //HELLO 42
int p4[]={1,10,1,9,2,7,1,8,3,8,4,7,5,8,5,9,5,10,7,9,7,8,9,8,9,9,8,10,1,2,1,3,1,4,1,1,2,5,3,4,2,3,3,2,3,1,5,5,5,4,5,3,5,1,5,2,6,1,8,5,8,4,8,3,8,2,8,1,9,5,10,4,10,3,10,2,9,1,8,7,3,5,1,5}; // WORLD 42
int lengths[]={42,42,42,42}; // Number of coordinates to display particular step of the message
int letters=4; // Number of letters / steps to display
// variables:
message_t message;
int new_message = 0;
int sent_message = 0;
int MY_ID = 0;
int MY_ID2 = 0;
uint8_t MY_VALUE = 3;
uint8_t flag = 0;
uint8_t flag2 = 0;
uint8_t MY_STATE = 0; // 0 - middle; 1 - border; 2 - corner;
uint8_t MY_STATE_value_min = 0;
uint8_t MY_STATE_value_max = 0;
uint32_t last_changed = 0;
uint32_t last_changed2 = 0;
int BlackList[90];
int blcounter=0;
int neighbor_ID[8];
int neighbor_DIST[8];
uint8_t phase=0;
int p=0;
int control_ID[255];
uint8_t received[9];
uint8_t sending[9];
uint8_t pom=0;
int distance = 255;
int min_distance = 255;
int neighbor_count = 0;
int active=1;
int x=0;
int y=0;
int im_origin=0;
uint8_t maxX=0;
uint8_t maxY=0;
int step=0;
uint8_t change_flag = 0;
int k;
uint8_t f=0;
uint8_t g=0;
uint8_t maxf=0;
uint8_t cornerf1=0;
uint8_t cornerf2=0;
uint8_t cornerf3=0;
uint8_t fcounter=3;
uint8_t x1=0;
uint8_t x2=0;
uint8_t x3=0;
uint8_t yy1=0;
uint8_t y2=0;
uint8_t y3=0;
uint8_t change=0;
uint8_t LED_ACTIVE=0;
int pom_int=0;
uint8_t direction=0;
uint8_t oldx=0;
uint8_t id2_flag=0;
uint8_t ID_duplicate=0;
int pp=0;
int k=0;
int n=0;
uint8_t rf=0;
uint8_t rf2=0;
uint8_t rf3=0;
// user function: is element present in int array?
int contain(int c, int p[], int size){
int i;
for (i = 0; i < size; i++){
if(p[i]==c)return 1;
}
return 0;
}
// user function: is element present in uint8 array?
int contain2(uint8_t c, int p[], int size){
int i;
for (i = 0; i < size; i++) {
if(p[i]==c){
return 1;}
}
return 0;
}
// user function: is element present in uint8 array?
int contain3(uint8_t c, uint8_t p[], uint8_t size){
int i;
for (i = 0; i < size; i++) {
if(p[i]==c){
return 1;}
}
return 0;
}
// user function: fill uint8 array with zeros
void do_zeros2(uint8_t p[], int size){
int i;
for (i = 0; i < size; i++) {
p[i]=0;
}
}
// user function: fill int array with zeros
void do_zeros(int p[], int size){
int i;
for (i = 0; i < size; i++) {
p[i]=0;
}
}
// user function: set and record the message payload
void set_msg(uint8_t p1,uint8_t p2,uint8_t p3,uint8_t p4,uint8_t p5,uint8_t p6,uint8_t p7,uint8_t p8,uint8_t p9){
int i;
sending[0]=p1;
sending[1]=p2;
sending[2]=p3;
sending[3]=p4;
sending[4]=p5;
sending[5]=p6;
sending[6]=p7;
sending[7]=p8;
sending[8]=p9;
for (i = 0; i < 9; i++) {
message.data[i]=sending[i];
}
message.crc = message_crc(&message);
}
/*
_____ ______ _______ _ _ _____
/ ____| ____|__ __| | | | __ \
| (___ | |__ | | | | | | |__) |
\___ \| __| | | | | | | ___/
____) | |____ | | | |__| | |
|_____/|______| |_| \____/|_|
*/
// Kilobot initialization before main loop
void setup() {
/* Initialise random seed */
uint8_t seed = rand_hard();
rand_seed(seed);
seed = rand_hard();
srand(seed);
message.type = NORMAL;
int temp = rand_hard();
srand(((temp<<8)|rand_hard()));
do_zeros(control_ID,255);
MY_ID=(rand()%253)+1;
//MY_ID=(kilo_uid%253)+1; usable only in ARGoS
set_msg(MY_ID,0,0,0,0,0,0,0,phase);
last_changed=kilo_ticks;
}
/*
__ __ _____ _ _ _ ____ ____ _____
| \/ | /\ |_ _| \ | | | | / __ \ / __ \| __ \
| \ / | / \ | | | \| | | | | | | | | | | |__) |
| |\/| | / /\ \ | | | . ` | | | | | | | | | | ___/
| | | |/ ____ \ _| |_| |\ | | |___| |__| | |__| | |
|_| |_/_/ \_\_____|_| \_| |______\____/ \____/|_|
*/
// MAIN LOOP
void loop() {
//SHOWING ID - for visual kilobot malfunction check (could be omitted)
if(kilo_ticks < 300){
if(MY_ID<(kilo_ticks-last_changed))set_color(RGB(0,3,0));
}
if(new_message==1){
//Unique seed to break symetry
if (k<35)
{
n=n+received[0]+distance;
k++;
pp=n/k;
}
//Move into next phase if another robot already moved
if(received[8]>phase){
phase=received[8];
last_changed=kilo_ticks;
last_changed2=kilo_ticks;
if(phase==9){
step=1;
//step=received[3];
set_color(RGB(0,0,0));
}
}
/*
_____ _______ _____ _______ _____ _____ __
/ ____|__ __|/\ | __ \__ __| / ____| __ \ /_ |
| (___ | | / \ | |__) | | | | (___ | |__) | | | __ _
\___ \ | | / /\ \ | _ / | | \___ \| _ / | |/ _` |
____) | | |/ ____ \| | \ \ | | ____) | | \ \ | | (_| |
|_____/ |_/_/ \_\_| \_\ |_| |_____/|_| \_\ |_|\__,_|
*/
//START Phase 0
if(phase==0){
//Generating additional ID(s)
if(kilo_ticks > 200 && kilo_ticks < 300){
if (id2_flag==0)
{
srand(pp);
MY_ID2=(rand()%253)+1;
id2_flag=1;
set_msg(MY_ID,0,MY_ID2,0,0,0,0,0,phase);
}
}
//Duplicity check
if(received[3]==MY_ID&&kilo_ticks < 800){
BlackList[blcounter]=MY_ID;
blcounter++;
srand(pp);
MY_ID=(rand()%253)+1;
while(contain2(MY_ID,BlackList,blcounter)){
MY_ID=(rand()%253)+1;
}
set_color(RGB(1,0,0));
set_msg(MY_ID,0,MY_ID2,ID_duplicate,0,0,0,0,phase);
}
//Additional duplicity check (hearing 2 same IDs)
if(kilo_ticks > 300 && kilo_ticks < 800){
if(control_ID[received[0]]==0){
control_ID[received[0]]=received[2];
}
if(control_ID[received[0]]!=received[2]){
ID_duplicate=received[0];
set_msg(MY_ID,0,MY_ID2,ID_duplicate,0,0,0,0,phase);
}
if(contain2(received[0],BlackList,blcounter)==0&&received[0]!=MY_ID)
{
BlackList[blcounter]=received[0];
blcounter++;
}
if(contain2(received[1],BlackList,blcounter)==0)
{
BlackList[blcounter]=received[1];
blcounter++;
}
if(distance>=33){
// record the min. distance of incoming message
if(distance<min_distance)
min_distance=distance;
}
}
/*
______ _ _ _____ _____ _____ __
| ____| \ | | __ \ / ____| __ \ /_ |
| |__ | \| | | | | | (___ | |__) | | | __ _
| __| | . ` | | | | \___ \| _ / | |/ _` |
| |____| |\ | |__| | ____) | | \ \ | | (_| |
|______|_| \_|_____/ |_____/|_| \_\ |_|\__,_|
*/
/*
_____ _______ _____ _______ _____ _____ __ _
/ ____|__ __|/\ | __ \__ __| / ____| __ \ /_ | |
| (___ | | / \ | |__) | | | | (___ | |__) | | | |__
\___ \ | | / /\ \ | _ / | | \___ \| _ / | | '_ \
____) | | |/ ____ \| | \ \ | | ____) | | \ \ | | |_) |
|_____/ |_/_/ \_\_| \_\ |_| |_____/|_| \_\ |_|_.__/
*/
//Neighborhood construction
if(kilo_ticks > 800 && kilo_ticks < 1600) {
if(min_distance>110)min_distance=110;
if(contain2(received[0],neighbor_ID,neighbor_count)==0&&distance<(1.5*min_distance+10)&&distance>=33)
{
neighbor_ID[neighbor_count]=received[0];
neighbor_DIST[neighbor_count]=distance;
neighbor_count++;
}
}
if(kilo_ticks< 1700 && kilo_ticks > 800){
if(neighbor_count==8)set_color(RGB(0,3,0)); // 8 GREEN
if(neighbor_count==5)set_color(RGB(0,0,3)); // 5 BLUE
if(neighbor_count==3)set_color(RGB(3,0,0)); // 3 RED
if(neighbor_count>8)set_color(RGB(0,0,0)); // >8 black
if(neighbor_count==7)set_color(RGB(3,3,0)); // 7 YELLOW
if(neighbor_count==6)set_color(RGB(0,3,3)); // 6 CYAN
if(neighbor_count==4)set_color(RGB(3,0,3)); // 4 MAGENTA
if(neighbor_count==1)set_color(RGB(2,2,2)); // 1 dim WHITE
if(neighbor_count==2)set_color(RGB(3,3,3)); // 2 WHITE
if(neighbor_count==0)set_color(RGB(1,1,1)); // 0 dim dim WHITE
}
//Neighborhood construction - improving procedure
if(kilo_ticks > 1000 && kilo_ticks < 1600){
if(flag==0){
set_msg(MY_ID,neighbor_ID[g],0,0,0,0,0,66,phase);
flag=1;
last_changed=kilo_ticks;
set_color(RGB(0,0,0));
}
if(contain2(received[0],neighbor_ID,neighbor_count)==0&&received[1]==MY_ID&&received[7]==66)
{
neighbor_ID[neighbor_count]=received[0];
neighbor_DIST[neighbor_count]=distance;
neighbor_count++;
}
if(kilo_ticks>(last_changed+30)){
g=g+1;
g=(g % neighbor_count);
set_msg(MY_ID,neighbor_ID[g],0,0,0,0,0,66,phase);
last_changed=kilo_ticks;
}
MY_STATE_value_min=100;
MY_STATE_value_max=0;
}
/*
______ _ _ _____ _____ _____ __ _
| ____| \ | | __ \ / ____| __ \ /_ | |
| |__ | \| | | | | | (___ | |__) | | | |__
| __| | . ` | | | | \___ \| _ / | | '_ \
| |____| |\ | |__| | ____) | | \ \ | | |_) |
|______|_| \_|_____/ |_____/|_| \_\ |_|_.__/
*/
/*
_____ _______ _____ _______ _____ _____ __
/ ____|__ __|/\ | __ \__ __| / ____| __ \ /_ |
| (___ | | / \ | |__) | | | | (___ | |__) | | | ___
\___ \ | | / /\ \ | _ / | | \___ \| _ / | |/ __|
____) | | |/ ____ \| | \ \ | | ____) | | \ \ | | (__
|_____/ |_/_/ \_\_| \_\ |_| |_____/|_| \_\ |_|\___|
*/
//Relative position detection
if(kilo_ticks > 1650 && kilo_ticks < 1800 ){
set_msg(MY_ID,neighbor_count,0,0,0,0,0,0,phase);
if(contain2(received[0],neighbor_ID,neighbor_count)==1&&received[7]==0){
if(received[1]<MY_STATE_value_min)
{
MY_STATE_value_min=received[1];
};
if(received[1]>MY_STATE_value_max)MY_STATE_value_max=received[1];
}
}// assign mz relative position corner / border
if(kilo_ticks > 1850){
if(MY_STATE_value_min<=neighbor_count&&MY_STATE_value_max>neighbor_count)MY_STATE=1;
if(neighbor_count<MY_STATE_value_min&&MY_STATE_value_max>neighbor_count)MY_STATE=2;
if(MY_STATE==2){
set_msg(MY_ID,MY_ID2,0,0,0,0,0,0,phase);
set_color(RGB(3,0,0));
}
if(MY_STATE!=2){
set_msg(0,0,0,0,0,0,0,0,phase);
}
}
if(kilo_ticks > 1950){
phase=1;
last_changed=kilo_ticks;
}
} //END Phase 0
/*
______ _ _ _____ _____ _____ __
| ____| \ | | __ \ / ____| __ \ /_ |
| |__ | \| | | | | | (___ | |__) | | | ___
| __| | . ` | | | | \___ \| _ / | |/ __|
| |____| |\ | |__| | ____) | | \ \ | | (__
|______|_| \_|_____/ |_____/|_| \_\ |_|\___|
*/
/*
_____ _______ _____ _______ _____ _____ ___
/ ____|__ __|/\ | __ \__ __| / ____| __ \ |__ \
| (___ | | / \ | |__) | | | | (___ | |__) | ) |__ _
\___ \ | | / /\ \ | _ / | | \___ \| _ / / // _` |
____) | | |/ ____ \| | \ \ | | ____) | | \ \ / /| (_| |
|_____/ |_/_/ \_\_| \_\ |_| |_____/|_| \_\ |____\__,_|
*/
//Phase 1 START - assigning axis origin {1,1}
if(phase==1){
//NOT corners
pom=received[0];
if(MY_STATE!=2&&pom>0){
set_color(RGB(0,0,0));
if(sending[0]==0 ||pom<sending[0]){
set_msg(pom,received[1],0,0,0,0,0,0,phase);
}
}
//Corners
if(MY_STATE==2&&pom>0){
if(received[0]<MY_ID||(received[0]==MY_ID&&received[1]<MY_ID2)){
set_color(RGB(0,0,0));
active=0;
set_msg(received[0],received[1],0,0,0,0,0,0,phase);
}
}
//Axis origin
if(kilo_ticks>(last_changed+200)&&MY_STATE==2){
if(active==1){
set_color(RGB(2,2,2));
im_origin=1;
x=1;
y=1;
f=1;
change=1;
}
}
//Next phase setup
if(change==1){
change=0;
phase=2;
last_changed=kilo_ticks;
pom=0;
set_msg(MY_ID,x,y,0,0,0,0,0,phase);
}
}
//Phase 1 END - assigning axis origin {1,1}
//Phase 2 START - assigning {1,2},{2,2},{2,1}
if(phase==2){
if(MY_STATE==0){
if(received[1]==1 && received[2]==1 && x==0 && contain(received[0],neighbor_ID,neighbor_count)){
set_color(RGB(0,3,0));
x=2;
y=2;
}
set_msg(MY_ID,x,y,0,0,0,0,0,phase);
}
if(im_origin==1){
if(received[1]==2 && received[2]==2 && pom==0 && contain(received[0],neighbor_ID,neighbor_count)){
set_color(RGB(0,3,3));
pom=1;
if(received[0]==neighbor_ID[0]){
set_msg(MY_ID,x,y,neighbor_ID[1],0,0,0,0,phase);
}
else set_msg(MY_ID,x,y,neighbor_ID[0],0,0,0,0,phase);
}
}
if(kilo_ticks>(last_changed+150)){
if(MY_STATE==1){
if(received[1]==1 && received[2]==1 &&received[3]>0 && x==0 && contain(received[0],neighbor_ID,neighbor_count)){
if(received[3]==MY_ID){
x=1;
y=2;
set_color(RGB(3,1,0));
}
if(received[3]!=MY_ID){
x=2;
y=1;
f=2;
set_color(RGB(0,1,3));
}
}
}
}
//Next phase setup
if(kilo_ticks>(last_changed+400)){
set_msg(MY_ID,x,y,0,0,0,0,0,phase);
}
if(kilo_ticks>(last_changed+500)){
phase=3;
pom=0;
last_changed=kilo_ticks;
}
}
//Phase 2 END - assigning {1,2},{2,2},{2,1}
/*
______ _ _ _____ _____ _____ ___
| ____| \ | | __ \ / ____| __ \ |__ \
| |__ | \| | | | | | (___ | |__) | ) |__ _
| __| | . ` | | | | \___ \| _ / / // _` |
| |____| |\ | |__| | ____) | | \ \ / /| (_| |
|______|_| \_|_____/ |_____/|_| \_\ |____\__,_|
*/
/*
_____ _______ _____ _______ _____ _____ ___ _
/ ____|__ __|/\ | __ \__ __| / ____| __ \ |__ \| |
| (___ | | / \ | |__) | | | | (___ | |__) | ) | |__
\___ \ | | / /\ \ | _ / | | \___ \| _ / / /| '_ \
____) | | |/ ____ \| | \ \ | | ____) | | \ \ / /_| |_) |
|_____/ |_/_/ \_\_| \_\ |_| |_____/|_| \_\ |____|_.__/
*/
//Phase 3 START - assigning {1,2},{2,2},{2,1}
if(phase==3){
flag=0;
if(im_origin || MY_STATE==1)set_msg(MY_ID,x,y,f,0,0,0,0,phase);
if(MY_STATE==1 && (y!=2&&x!=1)){
if(contain(received[0],neighbor_ID,neighbor_count)){
if(f==0&&received[3]>0){
f=received[3]+1;
set_color(RGB(3,3,2));
}
}
}
if(MY_STATE==1 && y==2){
if(contain(received[0],neighbor_ID,neighbor_count)&&received[1]!=2){
if(f==0&&received[3]>2){
f=received[3]+1;
set_color(RGB(3,0,0));
}
}
}
if(im_origin ||MY_STATE==1)set_msg(MY_ID,x,y,f,0,0,0,0,phase);
//Next phase setup
if(im_origin&&contain(received[0],neighbor_ID,neighbor_count)&&received[3]>2){
maxf=received[3];
phase=4;
last_changed=kilo_ticks;
set_msg(MY_ID,x,y,f,0,0,0,0,phase);
}
} // Phase 3 END - assigning {1,2},{2,2},{2,1}
// Phase 4 START - CORNERS ordering init.
if(phase==4){
if(flag==0){
last_changed=kilo_ticks;
set_msg(MY_ID,x,y,f,0,0,0,0,phase);
flag=1;
}
if(im_origin==0&&MY_STATE==2&&contain(received[0],neighbor_ID,neighbor_count)&&received[3]>=2){
if(cornerf1==0)cornerf1=received[3];
if(cornerf1!=received[3])cornerf2=received[3];
if(cornerf1!=0&&cornerf2!=0){
if(cornerf2<cornerf1)cornerf3=cornerf2;
else cornerf3=cornerf1;
f=cornerf3+1;
}
}
if(kilo_ticks>(last_changed+250)){
set_msg(MY_ID,0,0,0,0,0,0,MY_STATE,phase);
set_color(RGB(0,0,0));
cornerf1=0;
cornerf2=0;
cornerf3=0;
if(MY_STATE==2&&im_origin==0){cornerf1=f;
}
}
if(kilo_ticks>(last_changed+400)){
phase=5;
last_changed=kilo_ticks;
}
}
// Phase 4 END - CORNERS ordering init.
// Phase 5 START - CORNERS ordering
if(phase==5){
if(kilo_ticks>last_changed2+40){
last_changed2=kilo_ticks;
step=step+1;
if(f==step)set_color(RGB(1,2,3));
}
if(MY_STATE==2&&im_origin==0){
set_msg(MY_ID,f,0,0,0,0,0,MY_STATE,phase);
if(received[2]!=received[3]&&received[3]!=received[4]&&received[2]!=received[4]&&received[2]!=0&&received[3]!=0&&received[4]!=0)
{
if(f==received[2]){
fcounter=1;
set_color(RGB(3,0,0));maxX=f;
}
if(f==received[3]){
fcounter=2;
set_color(RGB(0,3,0));
}
if(f==received[4]){
fcounter=3;
}
}
}
else{
if(received[4]>0&&received[2]>0&&received[3]>0&&received[2]<received[3]&&received[3]<received[4]){
rf=received[2];
rf2=received[3];
rf3=received[4];
}
else{
if(received[1]>0&&rf==0){
rf=received[1];
}
if(received[1]>0&&received[1]!=rf&&rf2==0){
rf2=received[1];
}
if(received[1]>0&&received[1]!=rf&&received[1]!=rf2&&rf3==0){
rf3=received[1];
}
if(received[2]>0&&rf==0){
rf=received[2];
}
if(received[2]>0&&received[2]!=rf&&rf2==0){
rf2=received[2];
if(rf2<rf){
rf2=rf;
rf=received[2];
}
}
if(received[3]>0&&received[3]!=rf&&rf2==0){
rf2=received[3];
if(rf2<rf){
rf2=rf;
rf=received[3];
}
}
if(received[4]>0&&received[4]!=rf&&rf2==0){
rf2=received[4];
if(rf2<rf){
rf2=rf;
rf=received[4];
}
}
if(received[2]>0&&received[2]!=rf&&received[2]!=rf2&&rf3==0){
rf3=received[2];
if(rf3<rf){
rf3=rf2;
rf2=rf;
rf=received[2];
}
if(rf3>rf&&rf3<rf2){
rf3=rf2;
rf2=received[2];
}
}
if(received[3]>0&&received[3]!=rf&&received[3]!=rf2&&rf3==0){
rf3=received[3];
if(rf3<rf){
rf3=rf2;
rf2=rf;
rf=received[3];
}
if(rf3>rf&&rf3<rf2){
rf3=rf2;
rf2=received[3];
}
}
if(received[4]>0&&received[4]!=rf&&received[4]!=rf2&&rf3==0){
rf3=received[4];
if(rf3<rf){
rf3=rf2;
rf2=rf;
rf=received[4];
}
if(rf3>rf&&rf3<rf2){
rf3=rf2;
rf2=received[4];
}
}
}
set_msg(MY_ID,0,rf,rf2,rf3,0,0,MY_STATE,phase);
}
//Next phase setup
if(fcounter==1){
phase=6;
last_changed=kilo_ticks;
}
}
// Phase 5 END - CORNERS ordering
/*
______ _ _ _____ _____ _____ ___ _
| ____| \ | | __ \ / ____| __ \ |__ \| |
| |__ | \| | | | | | (___ | |__) | ) | |__
| __| | . ` | | | | \___ \| _ / / /| '_ \
| |____| |\ | |__| | ____) | | \ \ / /_| |_) |
|______|_| \_|_____/ |_____/|_| \_\ |____|_.__/
*/
/*
_____ _______ _____ _______ _____ _____ ___
/ ____|__ __|/\ | __ \__ __| / ____| __ \ |__ \
| (___ | | / \ | |__) | | | | (___ | |__) | ) |___
\___ \ | | / /\ \ | _ / | | \___ \| _ / / // __|
____) | | |/ ____ \| | \ \ | | ____) | | \ \ / /| (__
|_____/ |_/_/ \_\_| \_\ |_| |_____/|_| \_\ |____\___|
*/
// Phase 6 START - Assigning coordinates to CORNERS and BORDERS
if(phase==6){
set_msg(MY_ID,x,y,0,0,maxX,maxY,0,phase);
if(received[5]>0){maxX=received[5];}
if(received[6]>0){maxY=received[6];}
if(maxX>0){set_color(RGB(1,3,1));}
if(fcounter==2&&maxX>0){maxY=(f-maxX+2);}
if(maxX>0&&maxY>0){
set_color(RGB(3,0,0));