Mouse code for the MacroRat
main.cpp@31:9b71b44e0867, 2017-05-24 (annotated)
- Committer:
- sahilmgandhi
- Date:
- Wed May 24 21:47:21 2017 +0000
- Revision:
- 31:9b71b44e0867
- Parent:
- 29:ec2c5a69acd6
- Child:
- 32:69acb14778ea
newly modified floodfill, need to get PID with new values now!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sahilmgandhi | 0:a03c771ab78e | 1 | #include "mbed.h" |
sahilmgandhi | 31:9b71b44e0867 | 2 | |
kyleliangus | 6:3d68fedd6fd9 | 3 | #include "irpair.h" |
kyleliangus | 4:b5b7836ca2b0 | 4 | #include "main.h" |
kyleliangus | 4:b5b7836ca2b0 | 5 | #include "motor.h" |
sahilmgandhi | 31:9b71b44e0867 | 6 | |
sahilmgandhi | 26:d20f1adac2d3 | 7 | #include <stdlib.h> |
sahilmgandhi | 26:d20f1adac2d3 | 8 | #include <stack> // std::stack |
sahilmgandhi | 26:d20f1adac2d3 | 9 | #include <utility> // std::pair, std::make_pair |
christine222 | 25:f827a8b7880e | 10 | |
sahilmgandhi | 1:8a4b2f573923 | 11 | #include "ITG3200.h" |
sahilmgandhi | 14:9e7bb03ddccb | 12 | #include "stm32f4xx.h" |
sahilmgandhi | 7:6f5cb6377bd4 | 13 | #include "QEI.h" |
christine222 | 25:f827a8b7880e | 14 | |
sahilmgandhi | 26:d20f1adac2d3 | 15 | //IRSAvg= >: 0.143701, 0.128285 |
sahilmgandhi | 31:9b71b44e0867 | 16 | |
sahilmgandhi | 31:9b71b44e0867 | 17 | //facing wall ir2 and ir3 |
sahilmgandhi | 31:9b71b44e0867 | 18 | //0.144562, 0.113971 in maze |
sahilmgandhi | 31:9b71b44e0867 | 19 | |
sahilmgandhi | 31:9b71b44e0867 | 20 | // normal hall ir2 and ir3 |
sahilmgandhi | 31:9b71b44e0867 | 21 | //0.013665, 0.010889 in maze |
sahilmgandhi | 31:9b71b44e0867 | 22 | |
sahilmgandhi | 31:9b71b44e0867 | 23 | //0.014462, 0.009138 |
sahilmgandhi | 31:9b71b44e0867 | 24 | // 0.013888, 0.010530 |
sahilmgandhi | 31:9b71b44e0867 | 25 | |
sahilmgandhi | 31:9b71b44e0867 | 26 | |
sahilmgandhi | 31:9b71b44e0867 | 27 | //no walls ir2 and ir3 |
sahilmgandhi | 31:9b71b44e0867 | 28 | //0.003265, 0.002904 in maze9 |
sahilmgandhi | 31:9b71b44e0867 | 29 | |
sahilmgandhi | 31:9b71b44e0867 | 30 | //0.003162, 0.003123 |
sahilmgandhi | 31:9b71b44e0867 | 31 | //0.003795, |
sahilmgandhi | 31:9b71b44e0867 | 32 | |
sahilmgandhi | 31:9b71b44e0867 | 33 | //0.005297, 0.007064 |
sahilmgandhi | 29:ec2c5a69acd6 | 34 | |
sahilmgandhi | 16:d9252437bd92 | 35 | void pidOnEncoders(); |
sahilmgandhi | 29:ec2c5a69acd6 | 36 | |
sahilmgandhi | 31:9b71b44e0867 | 37 | void moveForwardCellEncoder(double cellNum) |
sahilmgandhi | 31:9b71b44e0867 | 38 | { |
sahilmgandhi | 17:f713758f6238 | 39 | int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellNum; |
sahilmgandhi | 17:f713758f6238 | 40 | int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellNum; |
sahilmgandhi | 31:9b71b44e0867 | 41 | |
sahilmgandhi | 20:82836745332e | 42 | left_motor.forward(0.125); |
sahilmgandhi | 20:82836745332e | 43 | right_motor.forward(0.095); |
sahilmgandhi | 19:7b66a518b6f8 | 44 | wait_ms(1); |
sahilmgandhi | 31:9b71b44e0867 | 45 | while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1) { |
sahilmgandhi | 20:82836745332e | 46 | receiverTwoReading = IRP_2.getSamples(100); |
sahilmgandhi | 20:82836745332e | 47 | receiverThreeReading = IRP_3.getSamples(100); |
sahilmgandhi | 20:82836745332e | 48 | // serial.printf("Average 2: %f Average 3: %f Sensor 2: %f Sensor 3: %f\n", IRP_2.sensorAvg, IRP_3.sensorAvg, receiverTwoReading, receiverThreeReading); |
sahilmgandhi | 31:9b71b44e0867 | 49 | if (receiverThreeReading < ir3base) { |
sahilmgandhi | 20:82836745332e | 50 | // redLed.write(1); |
sahilmgandhi | 20:82836745332e | 51 | // blueLed.write(0); |
sahilmgandhi | 19:7b66a518b6f8 | 52 | turnFlag |= RIGHT_FLAG; |
sahilmgandhi | 31:9b71b44e0867 | 53 | } else if (receiverTwoReading < ir2base) { |
sahilmgandhi | 20:82836745332e | 54 | // redLed.write(0); |
sahilmgandhi | 20:82836745332e | 55 | // blueLed.write(1); |
sahilmgandhi | 17:f713758f6238 | 56 | turnFlag |= LEFT_FLAG; |
sahilmgandhi | 20:82836745332e | 57 | } |
sahilmgandhi | 16:d9252437bd92 | 58 | pidOnEncoders(); |
sahilmgandhi | 16:d9252437bd92 | 59 | } |
sahilmgandhi | 31:9b71b44e0867 | 60 | |
sahilmgandhi | 16:d9252437bd92 | 61 | left_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 62 | right_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 63 | } |
sahilmgandhi | 31:9b71b44e0867 | 64 | |
sahilmgandhi | 31:9b71b44e0867 | 65 | |
sahilmgandhi | 31:9b71b44e0867 | 66 | void moveForwardEncoder(double num) |
sahilmgandhi | 31:9b71b44e0867 | 67 | { |
sahilmgandhi | 31:9b71b44e0867 | 68 | |
christine222 | 21:9a6cb07bdcb6 | 69 | int count0; |
christine222 | 21:9a6cb07bdcb6 | 70 | int count1; |
christine222 | 21:9a6cb07bdcb6 | 71 | count0 = encoder0.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 72 | count1 = encoder1.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 73 | int initial1 = count1; |
christine222 | 21:9a6cb07bdcb6 | 74 | int initial0 = count0; |
christine222 | 21:9a6cb07bdcb6 | 75 | int diff = count0 - count1; |
christine222 | 21:9a6cb07bdcb6 | 76 | double kp = 0.00015; |
christine222 | 21:9a6cb07bdcb6 | 77 | double kd = 0.00019; |
christine222 | 21:9a6cb07bdcb6 | 78 | int prev = 0; |
christine222 | 25:f827a8b7880e | 79 | |
christine222 | 23:690b0ca34ee9 | 80 | double speed0 = 0.10; |
christine222 | 23:690b0ca34ee9 | 81 | double speed1 = 0.12; |
christine222 | 21:9a6cb07bdcb6 | 82 | right_motor.move(speed0); |
christine222 | 21:9a6cb07bdcb6 | 83 | left_motor.move(speed1); |
sahilmgandhi | 31:9b71b44e0867 | 84 | |
sahilmgandhi | 31:9b71b44e0867 | 85 | while( ((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200)*num && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)*num) || IRP_1.getSamples(50) > IRP_1.sensorAvg*0.8 || IRP_4.getSamples(50) > IRP_4.sensorAvg*0.8) { |
sahilmgandhi | 31:9b71b44e0867 | 86 | //while( (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4 ){ |
christine222 | 21:9a6cb07bdcb6 | 87 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
sahilmgandhi | 31:9b71b44e0867 | 88 | |
christine222 | 21:9a6cb07bdcb6 | 89 | count0 = encoder0.getPulses() - initial0; |
christine222 | 21:9a6cb07bdcb6 | 90 | count1 = encoder1.getPulses() - initial1; |
christine222 | 21:9a6cb07bdcb6 | 91 | int x = count0 - count1; |
christine222 | 21:9a6cb07bdcb6 | 92 | //double d = kp * x + kd * ( x - prev ); |
christine222 | 21:9a6cb07bdcb6 | 93 | double kppart = kp * x; |
christine222 | 21:9a6cb07bdcb6 | 94 | double kdpart = kd * (x-prev); |
christine222 | 21:9a6cb07bdcb6 | 95 | double d = kppart + kdpart; |
sahilmgandhi | 31:9b71b44e0867 | 96 | |
christine222 | 21:9a6cb07bdcb6 | 97 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
sahilmgandhi | 31:9b71b44e0867 | 98 | if( x < diff - 40 ) { // count1 is bigger, right wheel pushed forward |
christine222 | 21:9a6cb07bdcb6 | 99 | left_motor.move( speed1-0.8*d ); |
christine222 | 21:9a6cb07bdcb6 | 100 | right_motor.move( speed0+d ); |
sahilmgandhi | 31:9b71b44e0867 | 101 | } else if( x > diff + 40 ) { |
christine222 | 21:9a6cb07bdcb6 | 102 | left_motor.move( speed1-0.8*d ); |
christine222 | 21:9a6cb07bdcb6 | 103 | right_motor.move( speed0+d ); |
christine222 | 21:9a6cb07bdcb6 | 104 | } |
christine222 | 21:9a6cb07bdcb6 | 105 | // else |
christine222 | 21:9a6cb07bdcb6 | 106 | // { |
christine222 | 21:9a6cb07bdcb6 | 107 | // left_motor.brake(); |
sahilmgandhi | 31:9b71b44e0867 | 108 | // right_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 109 | // } |
sahilmgandhi | 31:9b71b44e0867 | 110 | prev = x; |
christine222 | 21:9a6cb07bdcb6 | 111 | } |
sahilmgandhi | 31:9b71b44e0867 | 112 | |
christine222 | 21:9a6cb07bdcb6 | 113 | //pidOnEncoders(); |
christine222 | 23:690b0ca34ee9 | 114 | //pidBrake(); |
christine222 | 23:690b0ca34ee9 | 115 | right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 116 | left_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 117 | return; |
christine222 | 23:690b0ca34ee9 | 118 | } |
sahilmgandhi | 31:9b71b44e0867 | 119 | |
sahilmgandhi | 31:9b71b44e0867 | 120 | |
sahilmgandhi | 31:9b71b44e0867 | 121 | void moveForwardWallEncoder() |
sahilmgandhi | 31:9b71b44e0867 | 122 | { |
sahilmgandhi | 31:9b71b44e0867 | 123 | int count0; |
christine222 | 23:690b0ca34ee9 | 124 | int count1; |
christine222 | 23:690b0ca34ee9 | 125 | count0 = encoder0.getPulses(); |
christine222 | 23:690b0ca34ee9 | 126 | count1 = encoder1.getPulses(); |
christine222 | 23:690b0ca34ee9 | 127 | int initial1 = count1; |
christine222 | 23:690b0ca34ee9 | 128 | int initial0 = count0; |
christine222 | 23:690b0ca34ee9 | 129 | int diff = count0 - count1; |
christine222 | 23:690b0ca34ee9 | 130 | double kp = 0.00015; |
christine222 | 23:690b0ca34ee9 | 131 | double kd = 0.00019; |
christine222 | 23:690b0ca34ee9 | 132 | int prev = 0; |
christine222 | 25:f827a8b7880e | 133 | |
christine222 | 25:f827a8b7880e | 134 | double speed0 = 0.11; |
christine222 | 25:f827a8b7880e | 135 | double speed1 = 0.13; |
christine222 | 23:690b0ca34ee9 | 136 | right_motor.move(speed0); |
christine222 | 23:690b0ca34ee9 | 137 | left_motor.move(speed1); |
christine222 | 23:690b0ca34ee9 | 138 | |
christine222 | 25:f827a8b7880e | 139 | float ir1 = IRP_1.getSamples(50); |
christine222 | 25:f827a8b7880e | 140 | float ir4 = IRP_4.getSamples(50); |
christine222 | 25:f827a8b7880e | 141 | |
sahilmgandhi | 31:9b71b44e0867 | 142 | if((ir1 + ir4)/2 > ((IRP_1.sensorAvg+IRP_4.sensorAvg)/2)*0.4) { |
christine222 | 24:e7063765d6f0 | 143 | return; |
christine222 | 24:e7063765d6f0 | 144 | } |
christine222 | 25:f827a8b7880e | 145 | |
christine222 | 23:690b0ca34ee9 | 146 | //while((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) { |
christine222 | 25:f827a8b7880e | 147 | //while( (ir1 + ir4)/2 < ((IRP_1.sensorAvg+IRP_4.sensorAvg)/2)*0.4 ){ |
sahilmgandhi | 31:9b71b44e0867 | 148 | while( ir1 < IRP_1.sensorAvg*0.7 || ir4 < IRP_4.sensorAvg*0.7 ) { |
christine222 | 23:690b0ca34ee9 | 149 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
sahilmgandhi | 31:9b71b44e0867 | 150 | |
christine222 | 23:690b0ca34ee9 | 151 | count0 = encoder0.getPulses() - initial0; |
christine222 | 23:690b0ca34ee9 | 152 | count1 = encoder1.getPulses() - initial1; |
christine222 | 23:690b0ca34ee9 | 153 | int x = count0 - count1; |
christine222 | 23:690b0ca34ee9 | 154 | //double d = kp * x + kd * ( x - prev ); |
christine222 | 23:690b0ca34ee9 | 155 | double kppart = kp * x; |
christine222 | 23:690b0ca34ee9 | 156 | double kdpart = kd * (x-prev); |
christine222 | 23:690b0ca34ee9 | 157 | double d = kppart + kdpart; |
sahilmgandhi | 31:9b71b44e0867 | 158 | |
christine222 | 23:690b0ca34ee9 | 159 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
sahilmgandhi | 31:9b71b44e0867 | 160 | if( x < diff - 40 ) { // count1 is bigger, right wheel pushed forward |
christine222 | 23:690b0ca34ee9 | 161 | left_motor.move( speed1-0.8*d ); |
christine222 | 23:690b0ca34ee9 | 162 | right_motor.move( speed0+d ); |
sahilmgandhi | 31:9b71b44e0867 | 163 | } else if( x > diff + 40 ) { |
christine222 | 23:690b0ca34ee9 | 164 | left_motor.move( speed1-0.8*d ); |
christine222 | 23:690b0ca34ee9 | 165 | right_motor.move( speed0+d ); |
christine222 | 23:690b0ca34ee9 | 166 | } |
christine222 | 23:690b0ca34ee9 | 167 | // else |
christine222 | 23:690b0ca34ee9 | 168 | // { |
christine222 | 23:690b0ca34ee9 | 169 | // left_motor.brake(); |
sahilmgandhi | 31:9b71b44e0867 | 170 | // right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 171 | // } |
sahilmgandhi | 31:9b71b44e0867 | 172 | prev = x; |
christine222 | 25:f827a8b7880e | 173 | ir1 = IRP_1.getSamples(50); |
christine222 | 25:f827a8b7880e | 174 | ir4 = IRP_4.getSamples(50); |
christine222 | 23:690b0ca34ee9 | 175 | } |
christine222 | 25:f827a8b7880e | 176 | |
christine222 | 23:690b0ca34ee9 | 177 | //pidOnEncoders(); |
christine222 | 23:690b0ca34ee9 | 178 | //pidBrake(); |
christine222 | 23:690b0ca34ee9 | 179 | right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 180 | left_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 181 | return; |
christine222 | 21:9a6cb07bdcb6 | 182 | } |
sahilmgandhi | 31:9b71b44e0867 | 183 | |
sahilmgandhi | 14:9e7bb03ddccb | 184 | void moveForwardUntilWallIr() |
sahilmgandhi | 14:9e7bb03ddccb | 185 | { |
kyleliangus | 9:1d8e4da058cd | 186 | double currentError = 0; |
kyleliangus | 9:1d8e4da058cd | 187 | double previousError = 0; |
kyleliangus | 9:1d8e4da058cd | 188 | double derivError = 0; |
kyleliangus | 9:1d8e4da058cd | 189 | double sumError = 0; |
christine222 | 25:f827a8b7880e | 190 | |
vanshg | 11:8fc2b703086b | 191 | double HIGH_PWM_VOLTAGE = 0.1; |
christine222 | 25:f827a8b7880e | 192 | |
christine222 | 25:f827a8b7880e | 193 | double rightSpeed = 0.25; |
christine222 | 25:f827a8b7880e | 194 | double leftSpeed = 0.23; |
christine222 | 25:f827a8b7880e | 195 | |
kyleliangus | 9:1d8e4da058cd | 196 | float ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
kyleliangus | 9:1d8e4da058cd | 197 | float ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 25:f827a8b7880e | 198 | |
vanshg | 11:8fc2b703086b | 199 | int count = encoder0.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 200 | while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) { // while the front facing IR's arent covered |
sahilmgandhi | 31:9b71b44e0867 | 201 | |
christine222 | 21:9a6cb07bdcb6 | 202 | if((IRP_2.getSamples(SAMPLE_NUM) < 0.005 || IRP_3.getSamples(SAMPLE_NUM) < 0.005)) { |
sahilmgandhi | 31:9b71b44e0867 | 203 | //moveForwardWallEncoder(); |
sahilmgandhi | 31:9b71b44e0867 | 204 | } else if(IRP_2.getSamples(SAMPLE_NUM) < 0.005) { // left wall gone |
christine222 | 22:681190ff98f0 | 205 | //moveForwardRightWall(); |
sahilmgandhi | 31:9b71b44e0867 | 206 | } else if(IRP_3.getSamples(SAMPLE_NUM) < 0.005) { // right wall gone |
christine222 | 22:681190ff98f0 | 207 | //moveForwardLeftWall(); |
sahilmgandhi | 31:9b71b44e0867 | 208 | } else { |
sahilmgandhi | 31:9b71b44e0867 | 209 | // will move forward using encoders only |
sahilmgandhi | 31:9b71b44e0867 | 210 | // if cell ahead doesn't have a wall on either one side or both sides |
christine222 | 25:f827a8b7880e | 211 | |
christine222 | 21:9a6cb07bdcb6 | 212 | int pulseCount = (encoder0.getPulses()-count) % 5600; |
christine222 | 21:9a6cb07bdcb6 | 213 | if (pulseCount > 5400 && pulseCount < 5800) { |
christine222 | 21:9a6cb07bdcb6 | 214 | blueLed.write(0); |
christine222 | 21:9a6cb07bdcb6 | 215 | } else { |
christine222 | 21:9a6cb07bdcb6 | 216 | blueLed.write(1); |
christine222 | 21:9a6cb07bdcb6 | 217 | } |
christine222 | 21:9a6cb07bdcb6 | 218 | sumError += currentError; |
christine222 | 25:f827a8b7880e | 219 | currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg/initAverageL) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg/initAverageR) ) ; |
christine222 | 21:9a6cb07bdcb6 | 220 | derivError = currentError - previousError; |
christine222 | 21:9a6cb07bdcb6 | 221 | double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; |
christine222 | 21:9a6cb07bdcb6 | 222 | if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down |
christine222 | 21:9a6cb07bdcb6 | 223 | rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 224 | leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 225 | } else { // r is faster than L. speed up l, slow down r |
christine222 | 21:9a6cb07bdcb6 | 226 | rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 227 | leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 228 | } |
christine222 | 25:f827a8b7880e | 229 | |
christine222 | 21:9a6cb07bdcb6 | 230 | if (leftSpeed > 0.30) leftSpeed = 0.30; |
christine222 | 21:9a6cb07bdcb6 | 231 | if (leftSpeed < 0) leftSpeed = 0; |
christine222 | 21:9a6cb07bdcb6 | 232 | if (rightSpeed > 0.30) rightSpeed = 0.30; |
christine222 | 21:9a6cb07bdcb6 | 233 | if (rightSpeed < 0) rightSpeed = 0; |
christine222 | 25:f827a8b7880e | 234 | |
christine222 | 21:9a6cb07bdcb6 | 235 | right_motor.forward(rightSpeed); |
christine222 | 21:9a6cb07bdcb6 | 236 | left_motor.forward(leftSpeed); |
christine222 | 25:f827a8b7880e | 237 | |
christine222 | 21:9a6cb07bdcb6 | 238 | previousError = currentError; |
christine222 | 25:f827a8b7880e | 239 | |
christine222 | 21:9a6cb07bdcb6 | 240 | ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
christine222 | 21:9a6cb07bdcb6 | 241 | ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 25:f827a8b7880e | 242 | |
kyleliangus | 9:1d8e4da058cd | 243 | } |
christine222 | 25:f827a8b7880e | 244 | |
christine222 | 21:9a6cb07bdcb6 | 245 | //backward(); |
christine222 | 22:681190ff98f0 | 246 | //wait_ms(40); |
christine222 | 21:9a6cb07bdcb6 | 247 | //brake(); |
christine222 | 25:f827a8b7880e | 248 | |
christine222 | 21:9a6cb07bdcb6 | 249 | left_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 250 | right_motor.brake(); |
kyleliangus | 9:1d8e4da058cd | 251 | } |
vanshg | 10:810d1849da9d | 252 | } |
sahilmgandhi | 31:9b71b44e0867 | 253 | |
sahilmgandhi | 14:9e7bb03ddccb | 254 | void printDipFlag() |
sahilmgandhi | 14:9e7bb03ddccb | 255 | { |
vanshg | 11:8fc2b703086b | 256 | if (DEBUGGING) serial.printf("Flag value is %d", dipFlags); |
vanshg | 11:8fc2b703086b | 257 | } |
sahilmgandhi | 31:9b71b44e0867 | 258 | |
sahilmgandhi | 14:9e7bb03ddccb | 259 | void enableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 260 | { |
vanshg | 10:810d1849da9d | 261 | dipFlags |= BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 262 | printDipFlag(); |
vanshg | 10:810d1849da9d | 263 | } |
sahilmgandhi | 14:9e7bb03ddccb | 264 | void enableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 265 | { |
vanshg | 10:810d1849da9d | 266 | dipFlags |= BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 267 | printDipFlag(); |
vanshg | 10:810d1849da9d | 268 | } |
sahilmgandhi | 14:9e7bb03ddccb | 269 | void enableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 270 | { |
vanshg | 10:810d1849da9d | 271 | dipFlags |= BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 272 | printDipFlag(); |
vanshg | 10:810d1849da9d | 273 | } |
sahilmgandhi | 14:9e7bb03ddccb | 274 | void enableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 275 | { |
vanshg | 10:810d1849da9d | 276 | dipFlags |= BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 277 | printDipFlag(); |
vanshg | 10:810d1849da9d | 278 | } |
sahilmgandhi | 14:9e7bb03ddccb | 279 | void disableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 280 | { |
vanshg | 10:810d1849da9d | 281 | dipFlags &= ~BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 282 | printDipFlag(); |
vanshg | 10:810d1849da9d | 283 | } |
sahilmgandhi | 14:9e7bb03ddccb | 284 | void disableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 285 | { |
vanshg | 10:810d1849da9d | 286 | dipFlags &= ~BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 287 | printDipFlag(); |
vanshg | 10:810d1849da9d | 288 | } |
sahilmgandhi | 14:9e7bb03ddccb | 289 | void disableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 290 | { |
vanshg | 10:810d1849da9d | 291 | dipFlags &= ~BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 292 | printDipFlag(); |
vanshg | 10:810d1849da9d | 293 | } |
sahilmgandhi | 14:9e7bb03ddccb | 294 | void disableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 295 | { |
vanshg | 10:810d1849da9d | 296 | dipFlags &= ~BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 297 | printDipFlag(); |
kyleliangus | 9:1d8e4da058cd | 298 | } |
sahilmgandhi | 31:9b71b44e0867 | 299 | |
kyleliangus | 15:b80555a4a8b9 | 300 | void pidOnEncoders() |
kyleliangus | 15:b80555a4a8b9 | 301 | { |
kyleliangus | 15:b80555a4a8b9 | 302 | int count0; |
kyleliangus | 15:b80555a4a8b9 | 303 | int count1; |
kyleliangus | 15:b80555a4a8b9 | 304 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 305 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 306 | int diff = count0 - count1; |
sahilmgandhi | 28:8126a4d620e8 | 307 | double kp = 0.00013; |
sahilmgandhi | 28:8126a4d620e8 | 308 | double kd = 0.00016; |
kyleliangus | 15:b80555a4a8b9 | 309 | int prev = 0; |
sahilmgandhi | 31:9b71b44e0867 | 310 | |
sahilmgandhi | 16:d9252437bd92 | 311 | int counter = 0; |
sahilmgandhi | 31:9b71b44e0867 | 312 | while(1) { |
kyleliangus | 15:b80555a4a8b9 | 313 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 314 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 315 | int x = count0 - count1; |
kyleliangus | 15:b80555a4a8b9 | 316 | //double d = kp * x + kd * ( x - prev ); |
kyleliangus | 15:b80555a4a8b9 | 317 | double kppart = kp * x; |
kyleliangus | 15:b80555a4a8b9 | 318 | double kdpart = kd * (x-prev); |
kyleliangus | 15:b80555a4a8b9 | 319 | double d = kppart + kdpart; |
sahilmgandhi | 31:9b71b44e0867 | 320 | |
kyleliangus | 15:b80555a4a8b9 | 321 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
sahilmgandhi | 31:9b71b44e0867 | 322 | if( x < diff - 60 ) { // count1 is bigger, right wheel pushed forward |
kyleliangus | 15:b80555a4a8b9 | 323 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 324 | right_motor.move( d ); |
sahilmgandhi | 31:9b71b44e0867 | 325 | } else if( x > diff + 60 ) { |
kyleliangus | 15:b80555a4a8b9 | 326 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 327 | right_motor.move( d ); |
kyleliangus | 15:b80555a4a8b9 | 328 | } |
sahilmgandhi | 16:d9252437bd92 | 329 | // else |
sahilmgandhi | 16:d9252437bd92 | 330 | // { |
sahilmgandhi | 16:d9252437bd92 | 331 | // left_motor.brake(); |
sahilmgandhi | 31:9b71b44e0867 | 332 | // right_motor.brake(); |
sahilmgandhi | 16:d9252437bd92 | 333 | // } |
kyleliangus | 15:b80555a4a8b9 | 334 | prev = x; |
sahilmgandhi | 16:d9252437bd92 | 335 | counter++; |
sahilmgandhi | 28:8126a4d620e8 | 336 | if (counter == 10) |
sahilmgandhi | 16:d9252437bd92 | 337 | break; |
kyleliangus | 15:b80555a4a8b9 | 338 | } |
kyleliangus | 15:b80555a4a8b9 | 339 | } |
sahilmgandhi | 31:9b71b44e0867 | 340 | |
sahilmgandhi | 31:9b71b44e0867 | 341 | void nCellEncoderAndIR(double cellCount) |
sahilmgandhi | 31:9b71b44e0867 | 342 | { |
sahilmgandhi | 19:7b66a518b6f8 | 343 | double currentError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 344 | double previousError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 345 | double derivError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 346 | double sumError = 0; |
christine222 | 25:f827a8b7880e | 347 | |
sahilmgandhi | 29:ec2c5a69acd6 | 348 | double HIGH_PWM_VOLTAGE_R = 0.15; |
sahilmgandhi | 29:ec2c5a69acd6 | 349 | double HIGH_PWM_VOLTAGE_L = 0.16; |
sahilmgandhi | 29:ec2c5a69acd6 | 350 | |
sahilmgandhi | 29:ec2c5a69acd6 | 351 | double rightSpeed = 0.15; |
sahilmgandhi | 29:ec2c5a69acd6 | 352 | double leftSpeed = 0.16; |
christine222 | 25:f827a8b7880e | 353 | |
christine222 | 25:f827a8b7880e | 354 | int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellCount; |
christine222 | 25:f827a8b7880e | 355 | int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellCount; |
christine222 | 25:f827a8b7880e | 356 | |
sahilmgandhi | 29:ec2c5a69acd6 | 357 | left_motor.forward(0.16); |
sahilmgandhi | 29:ec2c5a69acd6 | 358 | right_motor.forward(0.15); |
christine222 | 25:f827a8b7880e | 359 | |
sahilmgandhi | 19:7b66a518b6f8 | 360 | float ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
sahilmgandhi | 19:7b66a518b6f8 | 361 | float ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 25:f827a8b7880e | 362 | |
christine222 | 25:f827a8b7880e | 363 | // float previr2 = ir2; |
christine222 | 25:f827a8b7880e | 364 | // float previr3 = ir3; |
christine222 | 25:f827a8b7880e | 365 | |
christine222 | 23:690b0ca34ee9 | 366 | int state = 0; |
christine222 | 23:690b0ca34ee9 | 367 | |
sahilmgandhi | 31:9b71b44e0867 | 368 | while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1) { |
sahilmgandhi | 29:ec2c5a69acd6 | 369 | receiverTwoReading = IRP_2.getSamples(100); |
sahilmgandhi | 29:ec2c5a69acd6 | 370 | receiverThreeReading = IRP_3.getSamples(100); |
sahilmgandhi | 29:ec2c5a69acd6 | 371 | receiverOneReading = IRP_1.getSamples(100); |
sahilmgandhi | 29:ec2c5a69acd6 | 372 | receiverFourReading = IRP_4.getSamples(100); |
christine222 | 25:f827a8b7880e | 373 | |
sahilmgandhi | 31:9b71b44e0867 | 374 | if( receiverOneReading > IRP_1.sensorAvg*0.70 || receiverFourReading > IRP_4.sensorAvg*0.70 ) { |
sahilmgandhi | 26:d20f1adac2d3 | 375 | break; |
sahilmgandhi | 26:d20f1adac2d3 | 376 | } |
christine222 | 25:f827a8b7880e | 377 | |
sahilmgandhi | 31:9b71b44e0867 | 378 | if((receiverThreeReading < 3*IRP_3.sensorAvg/(averageDivR)) && (receiverTwoReading < 3*IRP_2.sensorAvg/(averageDivL))) { |
christine222 | 25:f827a8b7880e | 379 | // both sides gone |
sahilmgandhi | 26:d20f1adac2d3 | 380 | int prev0 = encoder0.getPulses(); |
sahilmgandhi | 26:d20f1adac2d3 | 381 | int prev1 = encoder1.getPulses(); |
sahilmgandhi | 26:d20f1adac2d3 | 382 | int diff0 = desiredCount0 - prev0; |
sahilmgandhi | 26:d20f1adac2d3 | 383 | int diff1 = desiredCount1 - prev1; |
sahilmgandhi | 26:d20f1adac2d3 | 384 | int valToPass = ((diff0 + diff1)/2)/(oneCellCountMomentum); |
sahilmgandhi | 26:d20f1adac2d3 | 385 | moveForwardEncoder(valToPass); |
sahilmgandhi | 31:9b71b44e0867 | 386 | } else if (receiverThreeReading < 3*IRP_3.sensorAvg/averageDivR) { // right wall gone |
christine222 | 25:f827a8b7880e | 387 | state = 1; |
christine222 | 25:f827a8b7880e | 388 | redLed.write(0); |
christine222 | 25:f827a8b7880e | 389 | greenLed.write(1); |
christine222 | 25:f827a8b7880e | 390 | blueLed.write(1); |
sahilmgandhi | 31:9b71b44e0867 | 391 | } else if (receiverTwoReading < 3*IRP_2.sensorAvg/averageDivL) { // left wall gone |
christine222 | 25:f827a8b7880e | 392 | // BLUE BLUE BLUE BLUE |
christine222 | 25:f827a8b7880e | 393 | state = 2; |
christine222 | 25:f827a8b7880e | 394 | redLed.write(1); |
christine222 | 25:f827a8b7880e | 395 | greenLed.write(1); |
christine222 | 25:f827a8b7880e | 396 | blueLed.write(0); |
sahilmgandhi | 31:9b71b44e0867 | 397 | } else if ((receiverTwoReading > ((IRP_2.sensorAvg/initAverageL)*averageDivUpper)) && (receiverThreeReading > ((IRP_3.sensorAvg/initAverageR)*averageDivUpper))) { |
christine222 | 25:f827a8b7880e | 398 | // both walls there |
christine222 | 25:f827a8b7880e | 399 | state = 0; |
christine222 | 25:f827a8b7880e | 400 | redLed.write(1); |
christine222 | 25:f827a8b7880e | 401 | greenLed.write(0); |
christine222 | 25:f827a8b7880e | 402 | blueLed.write(1); |
christine222 | 25:f827a8b7880e | 403 | } |
christine222 | 25:f827a8b7880e | 404 | |
sahilmgandhi | 31:9b71b44e0867 | 405 | switch(state) { |
sahilmgandhi | 31:9b71b44e0867 | 406 | case(0): { // both walls there |
christine222 | 25:f827a8b7880e | 407 | currentError = ( receiverTwoReading - IRP_2.sensorAvg/initAverageL) - ( receiverThreeReading - IRP_3.sensorAvg/initAverageR); |
christine222 | 25:f827a8b7880e | 408 | break; |
christine222 | 25:f827a8b7880e | 409 | } |
sahilmgandhi | 31:9b71b44e0867 | 410 | case(1): { // RED RED RED RED RED |
christine222 | 25:f827a8b7880e | 411 | currentError = (receiverTwoReading - IRP_2.sensorAvg/initAverageL) - (IRP_2.sensorAvg/initAverageL); |
sahilmgandhi | 31:9b71b44e0867 | 412 | break; |
christine222 | 25:f827a8b7880e | 413 | } |
sahilmgandhi | 31:9b71b44e0867 | 414 | case(2): { // blue |
christine222 | 25:f827a8b7880e | 415 | currentError = (IRP_3.sensorAvg/initAverageR) - (receiverThreeReading - IRP_3.sensorAvg/initAverageR); |
christine222 | 25:f827a8b7880e | 416 | break; |
christine222 | 25:f827a8b7880e | 417 | } |
sahilmgandhi | 31:9b71b44e0867 | 418 | default: { |
christine222 | 25:f827a8b7880e | 419 | currentError = ( receiverTwoReading - IRP_2.sensorAvg/initAverageL) - ( receiverThreeReading - IRP_3.sensorAvg/initAverageR); |
christine222 | 25:f827a8b7880e | 420 | break; |
christine222 | 25:f827a8b7880e | 421 | } |
christine222 | 25:f827a8b7880e | 422 | } |
christine222 | 25:f827a8b7880e | 423 | |
christine222 | 25:f827a8b7880e | 424 | sumError += currentError; |
christine222 | 25:f827a8b7880e | 425 | derivError = currentError - previousError; |
christine222 | 25:f827a8b7880e | 426 | double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; |
christine222 | 25:f827a8b7880e | 427 | if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down |
sahilmgandhi | 29:ec2c5a69acd6 | 428 | rightSpeed = HIGH_PWM_VOLTAGE_R - abs(PIDSum*HIGH_PWM_VOLTAGE_R); |
sahilmgandhi | 29:ec2c5a69acd6 | 429 | leftSpeed = HIGH_PWM_VOLTAGE_L + abs(PIDSum*HIGH_PWM_VOLTAGE_L); |
christine222 | 25:f827a8b7880e | 430 | } else { // r is faster than L. speed up l, slow down r |
sahilmgandhi | 29:ec2c5a69acd6 | 431 | rightSpeed = HIGH_PWM_VOLTAGE_R + abs(PIDSum*HIGH_PWM_VOLTAGE_R); |
sahilmgandhi | 29:ec2c5a69acd6 | 432 | leftSpeed = HIGH_PWM_VOLTAGE_L - abs(PIDSum*HIGH_PWM_VOLTAGE_L); |
sahilmgandhi | 31:9b71b44e0867 | 433 | } |
christine222 | 25:f827a8b7880e | 434 | if (leftSpeed > 0.30) leftSpeed = 0.30; |
christine222 | 25:f827a8b7880e | 435 | if (leftSpeed < 0) leftSpeed = 0; |
christine222 | 25:f827a8b7880e | 436 | if (rightSpeed > 0.30) rightSpeed = 0.30; |
christine222 | 25:f827a8b7880e | 437 | if (rightSpeed < 0) rightSpeed = 0; |
sahilmgandhi | 31:9b71b44e0867 | 438 | |
christine222 | 25:f827a8b7880e | 439 | right_motor.forward(rightSpeed); |
christine222 | 25:f827a8b7880e | 440 | left_motor.forward(leftSpeed); |
christine222 | 25:f827a8b7880e | 441 | pidOnEncoders(); |
sahilmgandhi | 31:9b71b44e0867 | 442 | |
christine222 | 25:f827a8b7880e | 443 | previousError = currentError; |
sahilmgandhi | 26:d20f1adac2d3 | 444 | } |
sahilmgandhi | 31:9b71b44e0867 | 445 | if (encoder0.getPulses() >= 0.6*desiredCount0 && encoder1.getPulses() >= 0.6*desiredCount1) { |
sahilmgandhi | 31:9b71b44e0867 | 446 | if (currDir % 4 == 0) { |
sahilmgandhi | 31:9b71b44e0867 | 447 | mouseY += 1; |
sahilmgandhi | 31:9b71b44e0867 | 448 | } else if (currDir % 4 == 1) { |
sahilmgandhi | 28:8126a4d620e8 | 449 | mouseX + 1; |
sahilmgandhi | 31:9b71b44e0867 | 450 | } else if (currDir % 4 == 2) { |
sahilmgandhi | 28:8126a4d620e8 | 451 | mouseY -= 1; |
sahilmgandhi | 31:9b71b44e0867 | 452 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 28:8126a4d620e8 | 453 | mouseX -= 1; |
sahilmgandhi | 28:8126a4d620e8 | 454 | } |
sahilmgandhi | 31:9b71b44e0867 | 455 | |
sahilmgandhi | 31:9b71b44e0867 | 456 | // the mouse has moved forward, we need to update the wall map now |
sahilmgandhi | 31:9b71b44e0867 | 457 | receiverOneReading = IRP_1.getSamples(50); |
sahilmgandhi | 31:9b71b44e0867 | 458 | receiverTwoReading = IRP_2.getSamples(50); |
sahilmgandhi | 31:9b71b44e0867 | 459 | receiverThreeReading = IRP_3.getSamples(50); |
sahilmgandhi | 31:9b71b44e0867 | 460 | receiverFourReading = IRP_4.getSamples(50); |
sahilmgandhi | 31:9b71b44e0867 | 461 | |
sahilmgandhi | 31:9b71b44e0867 | 462 | if (receiverOneReading >= 0.5f && receiverFourReading >= 0.5f) { |
sahilmgandhi | 31:9b71b44e0867 | 463 | if (currDir % 4 == 0) { |
sahilmgandhi | 31:9b71b44e0867 | 464 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 465 | } else if (currDir % 4 == 1) { |
sahilmgandhi | 31:9b71b44e0867 | 466 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 467 | } else if (currDir % 4 == 2) { |
sahilmgandhi | 31:9b71b44e0867 | 468 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= L_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 469 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 31:9b71b44e0867 | 470 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 471 | } |
sahilmgandhi | 31:9b71b44e0867 | 472 | } |
sahilmgandhi | 31:9b71b44e0867 | 473 | if (receiverThreeReading >= 0.1f) { |
sahilmgandhi | 31:9b71b44e0867 | 474 | if (currDir % 4 == 0) { |
sahilmgandhi | 31:9b71b44e0867 | 475 | wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 476 | } else if (currDir % 4 == 1) { |
sahilmgandhi | 31:9b71b44e0867 | 477 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= B_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 478 | } else if (currDir % 4 == 2) { |
sahilmgandhi | 31:9b71b44e0867 | 479 | wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= L_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 480 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 31:9b71b44e0867 | 481 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= F_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 482 | } |
sahilmgandhi | 31:9b71b44e0867 | 483 | } |
sahilmgandhi | 31:9b71b44e0867 | 484 | if (receiverTwoReading >= 0.1f) { |
sahilmgandhi | 31:9b71b44e0867 | 485 | if (currDir % 4 == 0) { |
sahilmgandhi | 31:9b71b44e0867 | 486 | wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 487 | } else if (currDir % 4 == 1) { |
sahilmgandhi | 31:9b71b44e0867 | 488 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= F_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 489 | } else if (currDir % 4 == 2) { |
sahilmgandhi | 31:9b71b44e0867 | 490 | wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= R_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 491 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 31:9b71b44e0867 | 492 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= B_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 493 | } |
sahilmgandhi | 31:9b71b44e0867 | 494 | } |
sahilmgandhi | 26:d20f1adac2d3 | 495 | } |
sahilmgandhi | 31:9b71b44e0867 | 496 | |
sahilmgandhi | 19:7b66a518b6f8 | 497 | left_motor.brake(); |
sahilmgandhi | 19:7b66a518b6f8 | 498 | right_motor.brake(); |
sahilmgandhi | 17:f713758f6238 | 499 | } |
christine222 | 25:f827a8b7880e | 500 | |
sahilmgandhi | 31:9b71b44e0867 | 501 | bool isWallInFront(int x, int y) |
sahilmgandhi | 31:9b71b44e0867 | 502 | { |
sahilmgandhi | 27:02ce1040f331 | 503 | return (wallArray[MAZE_LEN - y - 1][x] & F_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 504 | } |
sahilmgandhi | 31:9b71b44e0867 | 505 | bool isWallInBack(int x, int y) |
sahilmgandhi | 31:9b71b44e0867 | 506 | { |
sahilmgandhi | 27:02ce1040f331 | 507 | return (wallArray[MAZE_LEN - y - 1][x] & B_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 508 | } |
sahilmgandhi | 31:9b71b44e0867 | 509 | bool isWallOnRight(int x, int y) |
sahilmgandhi | 31:9b71b44e0867 | 510 | { |
sahilmgandhi | 27:02ce1040f331 | 511 | return (wallArray[MAZE_LEN - y - 1][x] & R_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 512 | } |
sahilmgandhi | 31:9b71b44e0867 | 513 | bool isWallOnLeft(int x, int y) |
sahilmgandhi | 31:9b71b44e0867 | 514 | { |
sahilmgandhi | 27:02ce1040f331 | 515 | return (wallArray[MAZE_LEN - y - 1][x] & L_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 516 | } |
sahilmgandhi | 26:d20f1adac2d3 | 517 | |
sahilmgandhi | 31:9b71b44e0867 | 518 | int chooseNextMovement() |
sahilmgandhi | 31:9b71b44e0867 | 519 | { |
sahilmgandhi | 26:d20f1adac2d3 | 520 | int currentDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX]; |
sahilmgandhi | 31:9b71b44e0867 | 521 | if (goingToCenter && (currentDistance == 0)) { |
sahilmgandhi | 26:d20f1adac2d3 | 522 | goingToCenter = false; |
sahilmgandhi | 26:d20f1adac2d3 | 523 | changeManhattanDistance(goingToCenter); |
sahilmgandhi | 31:9b71b44e0867 | 524 | } else if (!goingToCenter && (currentDistance == 0)) { |
sahilmgandhi | 26:d20f1adac2d3 | 525 | goingToCenter == true; |
sahilmgandhi | 26:d20f1adac2d3 | 526 | changeManhattanDistance(goingToCenter); |
sahilmgandhi | 26:d20f1adac2d3 | 527 | } |
sahilmgandhi | 26:d20f1adac2d3 | 528 | |
sahilmgandhi | 26:d20f1adac2d3 | 529 | visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 530 | int currX = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 531 | int currY = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 532 | int currDist = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 533 | int dirToGo = 0; |
sahilmgandhi | 31:9b71b44e0867 | 534 | if (!justTurned) { |
sahilmgandhi | 26:d20f1adac2d3 | 535 | cellsToVisit.push(make_pair(mouseX, mouseY)); |
sahilmgandhi | 26:d20f1adac2d3 | 536 | while (!cellsToVisit.empty()) { |
sahilmgandhi | 26:d20f1adac2d3 | 537 | pair<int, int> curr = cellsToVisit.top(); |
sahilmgandhi | 26:d20f1adac2d3 | 538 | cellsToVisit.pop(); |
sahilmgandhi | 26:d20f1adac2d3 | 539 | currX = curr.first; |
sahilmgandhi | 26:d20f1adac2d3 | 540 | currY = curr.second; |
sahilmgandhi | 26:d20f1adac2d3 | 541 | currDist = manhattanDistances[(MAZE_LEN - 1) - currY][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 542 | int minDist = INT_MAX; |
sahilmgandhi | 26:d20f1adac2d3 | 543 | |
sahilmgandhi | 31:9b71b44e0867 | 544 | if (hasVisited(currX, currY)) { // then we want to actually see where the walls are, else we treat it as if there are no walls! |
sahilmgandhi | 26:d20f1adac2d3 | 545 | if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 546 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 547 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 548 | } |
sahilmgandhi | 26:d20f1adac2d3 | 549 | } |
sahilmgandhi | 27:02ce1040f331 | 550 | if (currX - 1 >= 0 && !isWallOnLeft(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 551 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX - 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 552 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 553 | } |
sahilmgandhi | 26:d20f1adac2d3 | 554 | } |
sahilmgandhi | 27:02ce1040f331 | 555 | if (currY + 1 < MAZE_LEN && !isWallInFront( currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 556 | if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 557 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 558 | } |
sahilmgandhi | 26:d20f1adac2d3 | 559 | } |
sahilmgandhi | 27:02ce1040f331 | 560 | if (currY - 1 >= 0 && !isWallInBack(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 561 | if (manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 562 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 563 | } |
sahilmgandhi | 26:d20f1adac2d3 | 564 | } |
sahilmgandhi | 26:d20f1adac2d3 | 565 | } else { |
sahilmgandhi | 26:d20f1adac2d3 | 566 | if (currX + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 567 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 568 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 569 | } |
sahilmgandhi | 26:d20f1adac2d3 | 570 | } |
sahilmgandhi | 26:d20f1adac2d3 | 571 | if (currX - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 572 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX - 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 573 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 574 | } |
sahilmgandhi | 26:d20f1adac2d3 | 575 | } |
sahilmgandhi | 26:d20f1adac2d3 | 576 | if (currY + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 577 | if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 578 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 579 | } |
sahilmgandhi | 26:d20f1adac2d3 | 580 | } |
sahilmgandhi | 26:d20f1adac2d3 | 581 | if (currY - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 582 | if (manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 583 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 584 | } |
sahilmgandhi | 26:d20f1adac2d3 | 585 | } |
sahilmgandhi | 26:d20f1adac2d3 | 586 | } |
sahilmgandhi | 26:d20f1adac2d3 | 587 | |
sahilmgandhi | 26:d20f1adac2d3 | 588 | if (minDist == INT_MAX) |
sahilmgandhi | 26:d20f1adac2d3 | 589 | continue; |
sahilmgandhi | 26:d20f1adac2d3 | 590 | if (currDist > minDist) |
sahilmgandhi | 26:d20f1adac2d3 | 591 | continue; |
sahilmgandhi | 26:d20f1adac2d3 | 592 | if (currDist <= minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 593 | manhattanDistances[MAZE_LEN - 1 - currY][currX] = minDist + 1; |
sahilmgandhi | 26:d20f1adac2d3 | 594 | } |
sahilmgandhi | 26:d20f1adac2d3 | 595 | if (hasVisited(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 596 | if (currY + 1 < MAZE_LEN && !isWallInFront(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 597 | cellsToVisit.push(make_pair(currX, currY + 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 598 | } |
sahilmgandhi | 26:d20f1adac2d3 | 599 | if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 600 | cellsToVisit.push(make_pair(currX + 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 601 | } |
sahilmgandhi | 26:d20f1adac2d3 | 602 | if (currY - 1 >= 0 && !isWallInBack(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 603 | cellsToVisit.push(make_pair(currX, currY - 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 604 | } |
sahilmgandhi | 26:d20f1adac2d3 | 605 | if (currX - 1 >= 0 && !isWallOnLeft( currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 606 | cellsToVisit.push(make_pair(currX - 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 607 | } |
sahilmgandhi | 26:d20f1adac2d3 | 608 | } else { |
sahilmgandhi | 26:d20f1adac2d3 | 609 | if (currY + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 610 | cellsToVisit.push(make_pair(currX, currY + 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 611 | } |
sahilmgandhi | 26:d20f1adac2d3 | 612 | if (currX + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 613 | cellsToVisit.push(make_pair(currX + 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 614 | } |
sahilmgandhi | 26:d20f1adac2d3 | 615 | if (currY - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 616 | cellsToVisit.push(make_pair(currX, currY - 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 617 | } |
sahilmgandhi | 26:d20f1adac2d3 | 618 | if (currX - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 619 | cellsToVisit.push(make_pair(currX - 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 620 | } |
sahilmgandhi | 26:d20f1adac2d3 | 621 | } |
sahilmgandhi | 26:d20f1adac2d3 | 622 | } |
sahilmgandhi | 26:d20f1adac2d3 | 623 | |
sahilmgandhi | 26:d20f1adac2d3 | 624 | int minDistance = INT_MAX; |
sahilmgandhi | 26:d20f1adac2d3 | 625 | if (currDir % 4 == 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 626 | if (mouseX + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 627 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 628 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 629 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 630 | } |
sahilmgandhi | 26:d20f1adac2d3 | 631 | } |
sahilmgandhi | 26:d20f1adac2d3 | 632 | if (mouseX - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 633 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 634 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 635 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 636 | } |
sahilmgandhi | 26:d20f1adac2d3 | 637 | } |
sahilmgandhi | 26:d20f1adac2d3 | 638 | if (mouseY + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 639 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 640 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 641 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 642 | } |
sahilmgandhi | 26:d20f1adac2d3 | 643 | } |
sahilmgandhi | 26:d20f1adac2d3 | 644 | if (mouseY - 1 >= 0 && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 645 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 646 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 647 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 648 | } |
sahilmgandhi | 26:d20f1adac2d3 | 649 | } |
sahilmgandhi | 26:d20f1adac2d3 | 650 | } else if (currDir % 4 == 2) { |
sahilmgandhi | 26:d20f1adac2d3 | 651 | if (mouseX - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 652 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 653 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 654 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 655 | } |
sahilmgandhi | 26:d20f1adac2d3 | 656 | } |
sahilmgandhi | 26:d20f1adac2d3 | 657 | if (mouseX + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 658 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 659 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 660 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 661 | } |
sahilmgandhi | 26:d20f1adac2d3 | 662 | } |
sahilmgandhi | 26:d20f1adac2d3 | 663 | if (mouseY - 1 >= 0 && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 664 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 665 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 666 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 667 | } |
sahilmgandhi | 26:d20f1adac2d3 | 668 | } |
sahilmgandhi | 26:d20f1adac2d3 | 669 | if (mouseY + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 670 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 671 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 672 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 673 | } |
sahilmgandhi | 26:d20f1adac2d3 | 674 | } |
sahilmgandhi | 26:d20f1adac2d3 | 675 | } else if (currDir % 4 == 1) { |
sahilmgandhi | 26:d20f1adac2d3 | 676 | if (mouseY - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 677 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 678 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 679 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 680 | } |
sahilmgandhi | 26:d20f1adac2d3 | 681 | } |
sahilmgandhi | 26:d20f1adac2d3 | 682 | if (mouseY + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 683 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 684 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 685 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 686 | } |
sahilmgandhi | 26:d20f1adac2d3 | 687 | } |
sahilmgandhi | 26:d20f1adac2d3 | 688 | if (mouseX + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 689 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 690 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 691 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 692 | } |
sahilmgandhi | 26:d20f1adac2d3 | 693 | } |
sahilmgandhi | 26:d20f1adac2d3 | 694 | if (mouseX - 1 >= 0 && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 695 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 696 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 697 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 698 | } |
sahilmgandhi | 26:d20f1adac2d3 | 699 | } |
sahilmgandhi | 26:d20f1adac2d3 | 700 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 26:d20f1adac2d3 | 701 | if (mouseY + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 702 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 703 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 704 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 705 | } |
sahilmgandhi | 26:d20f1adac2d3 | 706 | } |
sahilmgandhi | 26:d20f1adac2d3 | 707 | if (mouseY - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 708 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 709 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 710 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 711 | } |
sahilmgandhi | 26:d20f1adac2d3 | 712 | } |
sahilmgandhi | 26:d20f1adac2d3 | 713 | if (mouseX - 1 >= 0 && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 714 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 715 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 716 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 717 | } |
sahilmgandhi | 26:d20f1adac2d3 | 718 | } |
sahilmgandhi | 26:d20f1adac2d3 | 719 | if (mouseX + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 720 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 721 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 722 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 723 | } |
sahilmgandhi | 26:d20f1adac2d3 | 724 | } |
sahilmgandhi | 26:d20f1adac2d3 | 725 | } |
sahilmgandhi | 31:9b71b44e0867 | 726 | } else { |
sahilmgandhi | 26:d20f1adac2d3 | 727 | justTurned = false; |
sahilmgandhi | 26:d20f1adac2d3 | 728 | dirToGo = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 729 | } |
sahilmgandhi | 26:d20f1adac2d3 | 730 | |
sahilmgandhi | 26:d20f1adac2d3 | 731 | return dirToGo; |
sahilmgandhi | 26:d20f1adac2d3 | 732 | } |
sahilmgandhi | 26:d20f1adac2d3 | 733 | |
sahilmgandhi | 31:9b71b44e0867 | 734 | bool hasVisited(int x, int y) |
sahilmgandhi | 31:9b71b44e0867 | 735 | { |
sahilmgandhi | 26:d20f1adac2d3 | 736 | return visitedCells[MAZE_LEN - 1 - y][x]; |
sahilmgandhi | 26:d20f1adac2d3 | 737 | } |
sahilmgandhi | 26:d20f1adac2d3 | 738 | |
sahilmgandhi | 31:9b71b44e0867 | 739 | void changeManhattanDistance(bool headCenter) |
sahilmgandhi | 31:9b71b44e0867 | 740 | { |
sahilmgandhi | 31:9b71b44e0867 | 741 | if (headCenter) { |
sahilmgandhi | 29:ec2c5a69acd6 | 742 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 743 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 744 | distanceToCenter[i][j] = manhattanDistances[i][j]; |
sahilmgandhi | 26:d20f1adac2d3 | 745 | } |
sahilmgandhi | 26:d20f1adac2d3 | 746 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 747 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 748 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 749 | manhattanDistances[i][j] = distanceToStart[i][j]; |
sahilmgandhi | 26:d20f1adac2d3 | 750 | } |
sahilmgandhi | 26:d20f1adac2d3 | 751 | } |
sahilmgandhi | 31:9b71b44e0867 | 752 | } else { |
sahilmgandhi | 31:9b71b44e0867 | 753 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 754 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 755 | distanceToStart[i][j] = manhattanDistances[i][j]; |
sahilmgandhi | 29:ec2c5a69acd6 | 756 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 757 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 758 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 759 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 760 | manhattanDistances[i][j] = distanceToCenter[i][j]; |
sahilmgandhi | 29:ec2c5a69acd6 | 761 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 762 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 763 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 764 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 765 | |
sahilmgandhi | 31:9b71b44e0867 | 766 | void initializeDistances() |
sahilmgandhi | 31:9b71b44e0867 | 767 | { |
sahilmgandhi | 29:ec2c5a69acd6 | 768 | for (int i = 0; i < MAZE_LEN / 2; i++) { |
sahilmgandhi | 31:9b71b44e0867 | 769 | for (int j = 0; j < MAZE_LEN / 2; j++) { |
sahilmgandhi | 31:9b71b44e0867 | 770 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 771 | } |
sahilmgandhi | 31:9b71b44e0867 | 772 | } |
sahilmgandhi | 31:9b71b44e0867 | 773 | for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) { |
sahilmgandhi | 31:9b71b44e0867 | 774 | for (int j = 0; j < MAZE_LEN / 2; j++) { |
sahilmgandhi | 31:9b71b44e0867 | 775 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 776 | } |
sahilmgandhi | 31:9b71b44e0867 | 777 | } |
sahilmgandhi | 31:9b71b44e0867 | 778 | for (int i = 0; i < MAZE_LEN / 2; i++) { |
sahilmgandhi | 31:9b71b44e0867 | 779 | for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) { |
sahilmgandhi | 31:9b71b44e0867 | 780 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 781 | } |
sahilmgandhi | 31:9b71b44e0867 | 782 | } |
sahilmgandhi | 31:9b71b44e0867 | 783 | for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) { |
sahilmgandhi | 31:9b71b44e0867 | 784 | for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) { |
sahilmgandhi | 31:9b71b44e0867 | 785 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 786 | } |
sahilmgandhi | 31:9b71b44e0867 | 787 | } |
sahilmgandhi | 26:d20f1adac2d3 | 788 | } |
sahilmgandhi | 31:9b71b44e0867 | 789 | |
sahilmgandhi | 0:a03c771ab78e | 790 | int main() |
sahilmgandhi | 0:a03c771ab78e | 791 | { |
christine222 | 3:880f15be8c72 | 792 | //Set highest bandwidth. |
christine222 | 23:690b0ca34ee9 | 793 | //gyro.setLpBandwidth(LPFBW_42HZ); |
sahilmgandhi | 29:ec2c5a69acd6 | 794 | initializeDistances(); |
christine222 | 3:880f15be8c72 | 795 | serial.baud(9600); |
christine222 | 23:690b0ca34ee9 | 796 | //serial.printf("The gyro's address is %s", gyro.getWhoAmI()); |
sahilmgandhi | 31:9b71b44e0867 | 797 | |
sahilmgandhi | 1:8a4b2f573923 | 798 | wait (0.1); |
sahilmgandhi | 31:9b71b44e0867 | 799 | |
sahilmgandhi | 2:771db996cee0 | 800 | redLed.write(1); |
sahilmgandhi | 14:9e7bb03ddccb | 801 | greenLed.write(0); |
sahilmgandhi | 2:771db996cee0 | 802 | blueLed.write(1); |
sahilmgandhi | 31:9b71b44e0867 | 803 | |
kyleliangus | 9:1d8e4da058cd | 804 | //left_motor.forward(0.1); |
kyleliangus | 9:1d8e4da058cd | 805 | //right_motor.forward(0.1); |
sahilmgandhi | 31:9b71b44e0867 | 806 | |
kyleliangus | 8:a0760acdc59e | 807 | // PA_1 is A of right |
kyleliangus | 8:a0760acdc59e | 808 | // PA_0 is B of right |
kyleliangus | 8:a0760acdc59e | 809 | // PA_5 is A of left |
kyleliangus | 8:a0760acdc59e | 810 | // PB_3 is B of left |
vanshg | 11:8fc2b703086b | 811 | //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); |
sahilmgandhi | 26:d20f1adac2d3 | 812 | // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); |
sahilmgandhi | 31:9b71b44e0867 | 813 | |
vanshg | 10:810d1849da9d | 814 | // TODO: Setting all the registers and what not for Quadrature Encoders |
sahilmgandhi | 14:9e7bb03ddccb | 815 | /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3) |
sahilmgandhi | 14:9e7bb03ddccb | 816 | RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B) |
sahilmgandhi | 14:9e7bb03ddccb | 817 | GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2 |
sahilmgandhi | 14:9e7bb03ddccb | 818 | GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5 |
sahilmgandhi | 14:9e7bb03ddccb | 819 | */ |
sahilmgandhi | 31:9b71b44e0867 | 820 | |
kyleliangus | 12:5790e56a056f | 821 | // set GPIO pins to alternate for the pins corresponding to A/B for eacah encoder, and 2 alternate function registers need to be selected for each type |
kyleliangus | 12:5790e56a056f | 822 | // of alternate function specified |
kyleliangus | 12:5790e56a056f | 823 | // 4 modes sets AHB1ENR |
kyleliangus | 12:5790e56a056f | 824 | // Now TMR: enable clock with timer, APB1ENR |
kyleliangus | 12:5790e56a056f | 825 | // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN |
kyleliangus | 12:5790e56a056f | 826 | // |
kyleliangus | 12:5790e56a056f | 827 | // Encoder mode: disable timer before changing timer to encoder |
kyleliangus | 12:5790e56a056f | 828 | // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use |
kyleliangus | 12:5790e56a056f | 829 | // CCMR sets sample rate and set the channel to input |
kyleliangus | 12:5790e56a056f | 830 | // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels |
kyleliangus | 12:5790e56a056f | 831 | // SMCR - encoder mode |
kyleliangus | 12:5790e56a056f | 832 | // CR1 reenabales |
kyleliangus | 12:5790e56a056f | 833 | // then read CNT reg of timer |
sahilmgandhi | 31:9b71b44e0867 | 834 | |
sahilmgandhi | 31:9b71b44e0867 | 835 | |
vanshg | 10:810d1849da9d | 836 | dipButton1.rise(&enableButton1); |
vanshg | 10:810d1849da9d | 837 | dipButton2.rise(&enableButton2); |
vanshg | 10:810d1849da9d | 838 | dipButton3.rise(&enableButton3); |
vanshg | 10:810d1849da9d | 839 | dipButton4.rise(&enableButton4); |
sahilmgandhi | 31:9b71b44e0867 | 840 | |
vanshg | 10:810d1849da9d | 841 | dipButton1.fall(&disableButton1); |
vanshg | 10:810d1849da9d | 842 | dipButton2.fall(&disableButton2); |
vanshg | 10:810d1849da9d | 843 | dipButton3.fall(&disableButton3); |
vanshg | 10:810d1849da9d | 844 | dipButton4.fall(&disableButton4); |
sahilmgandhi | 7:6f5cb6377bd4 | 845 | |
sahilmgandhi | 26:d20f1adac2d3 | 846 | // if(dipFlags == 0x1){ |
sahilmgandhi | 26:d20f1adac2d3 | 847 | // }else{ |
sahilmgandhi | 26:d20f1adac2d3 | 848 | // turnRight(); |
sahilmgandhi | 26:d20f1adac2d3 | 849 | // IRP_1.calibrateSensor(); |
sahilmgandhi | 26:d20f1adac2d3 | 850 | // IRP_4.calibrateSensor(); |
sahilmgandhi | 26:d20f1adac2d3 | 851 | // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL; |
sahilmgandhi | 26:d20f1adac2d3 | 852 | // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL; |
sahilmgandhi | 26:d20f1adac2d3 | 853 | |
sahilmgandhi | 26:d20f1adac2d3 | 854 | // wait_ms(300); |
sahilmgandhi | 26:d20f1adac2d3 | 855 | // turnLeft(); |
sahilmgandhi | 26:d20f1adac2d3 | 856 | // wait_ms(300); |
sahilmgandhi | 26:d20f1adac2d3 | 857 | // } |
sahilmgandhi | 26:d20f1adac2d3 | 858 | |
sahilmgandhi | 26:d20f1adac2d3 | 859 | |
sahilmgandhi | 26:d20f1adac2d3 | 860 | // init the wall, and mouse loc arrays: |
sahilmgandhi | 26:d20f1adac2d3 | 861 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] = 0xE; |
sahilmgandhi | 26:d20f1adac2d3 | 862 | visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 863 | |
sahilmgandhi | 28:8126a4d620e8 | 864 | int prevEncoder0Count = 0; |
sahilmgandhi | 28:8126a4d620e8 | 865 | int prevEncoder1Count = 0; |
sahilmgandhi | 28:8126a4d620e8 | 866 | int currEncoder0Count = 0; |
sahilmgandhi | 28:8126a4d620e8 | 867 | int currEncoder1Count = 0; |
sahilmgandhi | 28:8126a4d620e8 | 868 | |
sahilmgandhi | 28:8126a4d620e8 | 869 | bool overrideFloodFill = false; |
christine222 | 25:f827a8b7880e | 870 | //right_motor.forward( 0.2 ); |
christine222 | 25:f827a8b7880e | 871 | //left_motor.forward( 0.2 ); |
sahilmgandhi | 26:d20f1adac2d3 | 872 | //turnRight180(); |
sahilmgandhi | 26:d20f1adac2d3 | 873 | //wait_ms(1500); |
sahilmgandhi | 26:d20f1adac2d3 | 874 | int nextMovement = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 875 | while (1) { |
sahilmgandhi | 31:9b71b44e0867 | 876 | // prevEncoder0Count = encoder0.getPulses(); |
sahilmgandhi | 29:ec2c5a69acd6 | 877 | // prevEncoder1Count = encoder1.getPulses(); |
sahilmgandhi | 29:ec2c5a69acd6 | 878 | // |
sahilmgandhi | 29:ec2c5a69acd6 | 879 | // if (!overrideFloodFill){ |
sahilmgandhi | 29:ec2c5a69acd6 | 880 | // nextMovement = chooseNextMovement(); |
sahilmgandhi | 29:ec2c5a69acd6 | 881 | // if (nextMovement == 0){ |
sahilmgandhi | 29:ec2c5a69acd6 | 882 | // nCellEncoderAndIR(1); |
sahilmgandhi | 29:ec2c5a69acd6 | 883 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 884 | // else if (nextMovement == 1){ |
sahilmgandhi | 29:ec2c5a69acd6 | 885 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 886 | // turnRight(); |
sahilmgandhi | 29:ec2c5a69acd6 | 887 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 888 | // else if (nextMovement == 2){ |
sahilmgandhi | 29:ec2c5a69acd6 | 889 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 890 | // turnLeft(); |
sahilmgandhi | 29:ec2c5a69acd6 | 891 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 892 | // else if (nextMovement == 3){ |
sahilmgandhi | 29:ec2c5a69acd6 | 893 | // nCellEncoderAndIR(1); |
sahilmgandhi | 29:ec2c5a69acd6 | 894 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 895 | // else if (nextMovement == 4){ |
sahilmgandhi | 29:ec2c5a69acd6 | 896 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 897 | // turnRight180(); |
sahilmgandhi | 29:ec2c5a69acd6 | 898 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 899 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 900 | // else{ |
sahilmgandhi | 29:ec2c5a69acd6 | 901 | // overrideFloodFill = false; |
sahilmgandhi | 29:ec2c5a69acd6 | 902 | // if ((rand()%2 + 1) == 1){ |
sahilmgandhi | 29:ec2c5a69acd6 | 903 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 904 | // turnLeft(); |
sahilmgandhi | 29:ec2c5a69acd6 | 905 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 906 | // else{ |
sahilmgandhi | 29:ec2c5a69acd6 | 907 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 908 | // turnRight(); |
sahilmgandhi | 29:ec2c5a69acd6 | 909 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 910 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 911 | // currEncoder0Count = encoder0.getPulses(); |
sahilmgandhi | 29:ec2c5a69acd6 | 912 | // currEncoder1Count = encoder1.getPulses(); |
sahilmgandhi | 31:9b71b44e0867 | 913 | // |
sahilmgandhi | 29:ec2c5a69acd6 | 914 | // if (!justTurned && (currEncoder0Count <= prevEncoder0Count + 100) && (currEncoder1Count <= prevEncoder1Count + 100) && !overrideFloodFill){ |
sahilmgandhi | 29:ec2c5a69acd6 | 915 | // overrideFloodFill = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 916 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 917 | // |
sahilmgandhi | 29:ec2c5a69acd6 | 918 | // wait_ms(300); // reduce this once we fine tune this! |
christine222 | 24:e7063765d6f0 | 919 | |
christine222 | 23:690b0ca34ee9 | 920 | //wait_ms(1500); |
christine222 | 23:690b0ca34ee9 | 921 | //turnRight(); |
christine222 | 23:690b0ca34ee9 | 922 | //wait_ms(1500); |
christine222 | 23:690b0ca34ee9 | 923 | //turnLeft(); |
sahilmgandhi | 26:d20f1adac2d3 | 924 | // nCellEncoderAndIR(1); |
sahilmgandhi | 26:d20f1adac2d3 | 925 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 926 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 927 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 928 | // nCellEncoderAndIR(1); |
christine222 | 23:690b0ca34ee9 | 929 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 930 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 931 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 932 | // nCellEncoderAndIR(1); |
christine222 | 23:690b0ca34ee9 | 933 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 934 | // turnLeft(); |
christine222 | 23:690b0ca34ee9 | 935 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 936 | // nCellEncoderAndIR(2); |
christine222 | 23:690b0ca34ee9 | 937 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 938 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 939 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 940 | // nCellEncoderAndIR(1); |
christine222 | 23:690b0ca34ee9 | 941 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 942 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 943 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 944 | // nCellEncoderAndIR(5); |
christine222 | 23:690b0ca34ee9 | 945 | // break; |
christine222 | 23:690b0ca34ee9 | 946 | // turnRight180(); |
sahilmgandhi | 31:9b71b44e0867 | 947 | |
christine222 | 23:690b0ca34ee9 | 948 | // int number = rand() % 4 + 1; |
christine222 | 23:690b0ca34ee9 | 949 | // switch(number){ |
christine222 | 23:690b0ca34ee9 | 950 | // case(1):{//turn right |
christine222 | 23:690b0ca34ee9 | 951 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 952 | // break; |
christine222 | 23:690b0ca34ee9 | 953 | // } |
christine222 | 23:690b0ca34ee9 | 954 | // case(2):{ // turn left |
christine222 | 23:690b0ca34ee9 | 955 | // turnLeft(); |
christine222 | 23:690b0ca34ee9 | 956 | // break; |
christine222 | 23:690b0ca34ee9 | 957 | // } |
christine222 | 23:690b0ca34ee9 | 958 | // case(3):{// keep going |
sahilmgandhi | 31:9b71b44e0867 | 959 | |
christine222 | 23:690b0ca34ee9 | 960 | // break; |
christine222 | 23:690b0ca34ee9 | 961 | // } |
christine222 | 23:690b0ca34ee9 | 962 | // case(4):{// turnaround |
christine222 | 23:690b0ca34ee9 | 963 | // turnRight180(); |
christine222 | 23:690b0ca34ee9 | 964 | // break; |
christine222 | 23:690b0ca34ee9 | 965 | // } |
christine222 | 23:690b0ca34ee9 | 966 | // default:{// keep going |
christine222 | 23:690b0ca34ee9 | 967 | // break; |
christine222 | 23:690b0ca34ee9 | 968 | // } |
christine222 | 23:690b0ca34ee9 | 969 | // } |
sahilmgandhi | 31:9b71b44e0867 | 970 | |
christine222 | 23:690b0ca34ee9 | 971 | // float irbase2 = IRP_2.sensorAvg/initAverageL/averageDivL; |
christine222 | 23:690b0ca34ee9 | 972 | // float irbase3 = IRP_3.sensorAvg/initAverageR/averageDivR; |
sahilmgandhi | 31:9b71b44e0867 | 973 | |
christine222 | 23:690b0ca34ee9 | 974 | // float ir3 = IRP_2.getSamples(100)/initAverageL; |
christine222 | 23:690b0ca34ee9 | 975 | // float ir2 = IRP_3.getSamples(100)/initAverageR; |
sahilmgandhi | 31:9b71b44e0867 | 976 | |
sahilmgandhi | 31:9b71b44e0867 | 977 | |
christine222 | 25:f827a8b7880e | 978 | |
christine222 | 23:690b0ca34ee9 | 979 | /* |
christine222 | 23:690b0ca34ee9 | 980 | counter2++; |
sahilmgandhi | 31:9b71b44e0867 | 981 | counter3++; |
christine222 | 23:690b0ca34ee9 | 982 | ir2tot += IRP_2.getSamples(100); |
christine222 | 23:690b0ca34ee9 | 983 | ir3tot += IRP_3.getSamples(100); |
sahilmgandhi | 31:9b71b44e0867 | 984 | |
sahilmgandhi | 31:9b71b44e0867 | 985 | |
christine222 | 23:690b0ca34ee9 | 986 | ir2 = ir2tot/counter2; |
christine222 | 23:690b0ca34ee9 | 987 | ir3 = ir3tot/counter3; |
sahilmgandhi | 31:9b71b44e0867 | 988 | |
sahilmgandhi | 31:9b71b44e0867 | 989 | |
christine222 | 23:690b0ca34ee9 | 990 | serial.printf("IRS= >: %f, %f \r\n", ir2, ir3); |
christine222 | 23:690b0ca34ee9 | 991 | */ |
christine222 | 23:690b0ca34ee9 | 992 | //serial.printf("%f, %f \n", IRP_2.sensorAvg/initAverageL/averageDivL, IRP_3.sensorAvg/initAverageR/averageDivR); |
christine222 | 23:690b0ca34ee9 | 993 | //serial.printf("IRBASEnowall= >: %f, %f \r\n", irbase2, irbase3); |
christine222 | 23:690b0ca34ee9 | 994 | //break; |
christine222 | 23:690b0ca34ee9 | 995 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples(100), IRP_3.getSamples(100)); |
christine222 | 23:690b0ca34ee9 | 996 | //serial.printf("IRSAvg= >: %f, %f \r\n", ir2, ir3); |
christine222 | 23:690b0ca34ee9 | 997 | //serial.printf("IRSAvg= >: %f, %f \r\n", IRP_2.sensorAvg, IRP_3.sensorAvg); |
sahilmgandhi | 31:9b71b44e0867 | 998 | |
sahilmgandhi | 31:9b71b44e0867 | 999 | |
christine222 | 23:690b0ca34ee9 | 1000 | //////////////////////////////////////////////////////////////// |
sahilmgandhi | 31:9b71b44e0867 | 1001 | |
christine222 | 22:681190ff98f0 | 1002 | //nCellEncoderAndIR(3); |
christine222 | 22:681190ff98f0 | 1003 | //break; |
sahilmgandhi | 31:9b71b44e0867 | 1004 | |
christine222 | 23:690b0ca34ee9 | 1005 | //serial.printf("IRS= >: %f, %f, %f, %f \r\n", IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100)); |
christine222 | 25:f827a8b7880e | 1006 | |
christine222 | 21:9a6cb07bdcb6 | 1007 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
sahilmgandhi | 31:9b71b44e0867 | 1008 | |
christine222 | 21:9a6cb07bdcb6 | 1009 | //break; |
christine222 | 21:9a6cb07bdcb6 | 1010 | // moveForwardCellEncoder(1); |
christine222 | 21:9a6cb07bdcb6 | 1011 | // wait(0.5); |
christine222 | 21:9a6cb07bdcb6 | 1012 | // handleTurns(); |
christine222 | 21:9a6cb07bdcb6 | 1013 | // wait(0.5); |
christine222 | 21:9a6cb07bdcb6 | 1014 | // moveForwardCellEncoder(1); |
christine222 | 21:9a6cb07bdcb6 | 1015 | // wait(0.5); |
christine222 | 21:9a6cb07bdcb6 | 1016 | // handleTurns(); |
christine222 | 21:9a6cb07bdcb6 | 1017 | //break; |
sahilmgandhi | 16:d9252437bd92 | 1018 | //pidOnEncoders(); |
sahilmgandhi | 31:9b71b44e0867 | 1019 | // moveForwardUntilWallIr(); |
kyleliangus | 15:b80555a4a8b9 | 1020 | //serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses()); |
sahilmgandhi | 31:9b71b44e0867 | 1021 | double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; |
sahilmgandhi | 29:ec2c5a69acd6 | 1022 | serial.printf("IRS= >: %f, %f, %f, %f, %f \r\n", IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100), currentError ); |
sahilmgandhi | 31:9b71b44e0867 | 1023 | |
christine222 | 3:880f15be8c72 | 1024 | //reading = Rec_4.read(); |
christine222 | 3:880f15be8c72 | 1025 | // serial.printf("reading: %f\n", reading); |
christine222 | 3:880f15be8c72 | 1026 | } |
sahilmgandhi | 26:d20f1adac2d3 | 1027 | } |