File content as of revision 24:e7063765d6f0:

#include "mbed.h"
 
#include "irpair.h"
#include "main.h"
#include "motor.h"
 
#include <stdlib.h>
#include "ITG3200.h"
#include "stm32f4xx.h"
#include "QEI.h"
 
/* Constants for when HIGH_PWM_VOLTAGE = 0.2
#define IP_CONSTANT 6
#define II_CONSTANT 0
#define ID_CONSTANT 1
*/
 
// Constants for when HIGH_PWM_VOLTAGE = 0.1
// #define IP_CONSTANT 8.85
// #define II_CONSTANT 0.005
// #define ID_CONSTANT 3.15
#define IP_CONSTANT 13.5
#define II_CONSTANT 0.095
#define ID_CONSTANT 8.85
 
const int desiredCount180 = 2900;
const int desiredCountR = 1500;
const int desiredCountL = 1575;
 
const int oneCellCount = 5400;
const int oneCellCountMomentum = 4400;//4800;      // one cell count is actually approximately 5400, but this value is considering momentum!
 
float receiverOneReading = 0.0;
float receiverTwoReading = 0.0;
float receiverThreeReading = 0.0;
float receiverFourReading = 0.0;

float ir1base = 0.0;
float ir2base = 0.0;

float ir3base = 0.0;

float ir4base = 0.0;

 
//IRSAvg= >: 0.143701, 0.128285
 
 
 
 
 
 
 
        //facing wall ir2 and ir3
        //0.144562, 0.113971 in maze
 
        // normal hall ir2 and ir3
        //0.013665, 0.010889  in maze
 
        //0.014462, 0.009138 
        // 0.013888, 0.010530 
 
 
        //no walls ir2 and ir3
        //0.003265, 0.002904  in maze9
 
        //0.003162, 0.003123 
        //0.003795, 
 
//0.005297, 0.007064 
 
 
 float noWallR = 0.007;
 float noWallL = 0.007;
 
void pidOnEncoders();
 
 
void turnLeft()
{
    double speed0 = 0.11;
    double speed1 = -0.13;
 
    int counter = 0;
    int initial0 = encoder0.getPulses();
    int initial1 = encoder1.getPulses();
 
    int desiredCount0 = initial0 - desiredCountL;
    int desiredCount1 = initial1 + desiredCountL;
 
    int count0 = initial0;
    int count1 = initial1;
 
    double error0 = count0 - desiredCount0;
    double error1 = count1 - desiredCount1;
 
 
    while(1) {
 
        if(!(abs(error0) < 1) && !(abs(error1) < 1)) {
            count0 = encoder0.getPulses();
            count1 = encoder1.getPulses();
 
            error0 = count0 - desiredCount0;
            error1 = count1 - desiredCount1;
 
            right_motor.move(speed0);
            left_motor.move(speed1);
            counter = 0;
        } else {
            counter++;
            right_motor.brake();
            left_motor.brake();
        }
 
        if (counter > 60) {
            break;
        }
    }
 
    right_motor.brake();
    left_motor.brake();
    turnFlag = 0;           // zeroing out the flags!
    currDir -= 1;
}
 
void turnRight()
{
    double speed0 = -0.11;
    double speed1 = 0.13;
 
    int counter = 0;
    int initial0 = encoder0.getPulses();
    int initial1 = encoder1.getPulses();
 
    int desiredCount0 = initial0 + desiredCountR;
    int desiredCount1 = initial1 - desiredCountR;
 
    int count0 = initial0;
    int count1 = initial1;
 
    double error0 = count0 - desiredCount0;
    double error1 = count1 - desiredCount1;
 
    while(1) {
 
        if(!(abs(error0) < 1) && !(abs(error1) < 1)) {
            count0 = encoder0.getPulses();
            count1 = encoder1.getPulses();
 
            error0 = count0 - desiredCount0;
            error1 = count1 - desiredCount1;
 
            right_motor.move(speed0);
            left_motor.move(speed1);
            counter = 0;
        } else {
            counter++;
            right_motor.brake();
            left_motor.brake();
        }
 
        if (counter > 60) {
            break;
        }
    }
 
    right_motor.brake();
    left_motor.brake();
    turnFlag = 0;
    currDir += 1;
}
 
void turnLeft180()
{
    double speed0 = 0.15;
    double speed1 = -0.15;
 
    int counter = 0;
    int initial0 = encoder0.getPulses();
    int initial1 = encoder1.getPulses();
 
    int desiredCount0 = initial0 - desiredCountL*2;
    int desiredCount1 = initial1 + desiredCountL*2;
 
    int count0 = initial0;
    int count1 = initial1;
 
    double error0 = count0 - desiredCount0;
    double error1 = count1 - desiredCount1;
 
 
    while(1) {
    
        if(!(abs(error0) < 1) && !(abs(error1) < 1)) {
            count0 = encoder0.getPulses();
            count1 = encoder1.getPulses();
 
            error0 = count0 - desiredCount0;
            error1 = count1 - desiredCount1;
 
            right_motor.move(speed0);
            left_motor.move(speed1);
            counter = 0;
        } else {
            counter++;
            right_motor.brake();
            left_motor.brake();
        }
 
        if (counter > 60) {
            break;
        }
    }
 
    right_motor.brake();
    left_motor.brake();
    currDir -= 2;
}
 
void turnRight180()
{
    double speed0 = -0.16;
    double speed1 = 0.16;
 
    int counter = 0;
    int initial0 = encoder0.getPulses();
    int initial1 = encoder1.getPulses();
 
    int desiredCount0 = initial0 + desiredCount180;
    int desiredCount1 = initial1 - desiredCount180;
 
    int count0 = initial0;
    int count1 = initial1;
 
    double error0 = count0 - desiredCount0;
    double error1 = count1 - desiredCount1;
 
 
    while(1) {
 
        if(!(abs(error0) < 1) && !(abs(error1) < 1)) {
            count0 = encoder0.getPulses();
            count1 = encoder1.getPulses();
 
            error0 = count0 - desiredCount0;
            error1 = count1 - desiredCount1;
 
            right_motor.move(speed0);
            left_motor.move(speed1);
            counter = 0;
        } else {
            counter++;
            right_motor.brake();
            left_motor.brake();
        }
 
        if (counter > 60) {
            break;
        }
    }
    right_motor.brake();
    left_motor.brake();
    currDir += 2;
}
 
void moveForwardCellEncoder(double cellNum){
    int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellNum;
    int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellNum;
 
    left_motor.forward(0.125);
    right_motor.forward(0.095);
    wait_ms(1);
    while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1){
        receiverTwoReading = IRP_2.getSamples(100);
        receiverThreeReading = IRP_3.getSamples(100);
        // serial.printf("Average 2: %f Average 3: %f Sensor 2: %f Sensor 3: %f\n", IRP_2.sensorAvg, IRP_3.sensorAvg, receiverTwoReading, receiverThreeReading);
        if (receiverThreeReading < ir3base){
            // redLed.write(1);
            // blueLed.write(0);
            turnFlag |= RIGHT_FLAG;
        }
        else if (receiverTwoReading < ir2base){
            // redLed.write(0);
            // blueLed.write(1);
            turnFlag |= LEFT_FLAG;
        }
        pidOnEncoders();
    }
 
    left_motor.brake();
    right_motor.brake();
}
 
void handleTurns(){
    if (turnFlag == 0x1){
        // moveForwardCellEncoder(0.3);
        turnLeft();
    }
    else if (turnFlag == 0x2){
        // moveForwardCellEncoder(0.3);
        turnRight();
    }
    else if (turnFlag == 0x3){
        // moveForwardCellEncoder(0.3);
        turnLeft();
        turnRight();
    }
}
 
void pidBrake(){
 
    int count0;
    int count1;
    count0 = encoder0.getPulses();
    count1 = encoder1.getPulses();
    int initial0 = count0;
    int initial1 = count1;
    double kp = 0.00011;
 
 
 
    int error = count0 - count1;
 
    int counter = 0;
    right_motor.move(0.7);
    left_motor.move(0.7);
 
    double speed0 = 0.7;
    double speed1 = 0.7;
 
    while(1)
    {
        if(abs(error) < 3){
            right_motor.brake();
            left_motor.brake();
            counter++;
        }else{
            count0 = encoder0.getPulses() - initial0;
            count1 = encoder1.getPulses() - initial1;
            error = count0 - count1;
            speed0 = -error*kp + speed0;
            speed1 = error*kp + speed1;
 
            right_motor.move(speed0);
            left_motor.move(speed1);
 
            counter = 0;
        }
        if (counter > 10){
            break;
        }
 
    }
    return;
}
 
void moveForwardEncoder(){
 
    int count0;
    int count1;
    count0 = encoder0.getPulses();
    count1 = encoder1.getPulses();
    int initial1 = count1;
    int initial0 = count0;
    int diff = count0 - count1;
    double kp = 0.00015;
    double kd = 0.00019;
    int prev = 0;
 
 
 
    double speed0 = 0.10;
    double speed1 = 0.12;
    right_motor.move(speed0);
    left_motor.move(speed1);
 
 
    while(  ((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200))  ||   IRP_1.getSamples(50) > IRP_1.sensorAvg*0.8 || IRP_4.getSamples(50) > IRP_4.sensorAvg*0.8){
    //while(     (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4   ){
        //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ));
  
        count0 = encoder0.getPulses() - initial0;
        count1 = encoder1.getPulses() - initial1;
        int x = count0 - count1;
        //double d = kp * x + kd * ( x - prev );
        double kppart = kp * x;
        double kdpart = kd * (x-prev);
        double d = kppart + kdpart;
        
        //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart );
        if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward
        {
            left_motor.move( speed1-0.8*d );
            right_motor.move( speed0+d );
        }
        else if( x > diff + 40 )
        {
            left_motor.move( speed1-0.8*d );
            right_motor.move( speed0+d );
        }
        // else
        // {
        //     left_motor.brake();
        //     right_motor.brake();   
        // }
        prev = x; 
    }
 
    //pidOnEncoders();
    //pidBrake();
    right_motor.brake();
    left_motor.brake();
    return;
}
 
 
void moveForwardWallEncoder(){
 
    int count0;
    int count1;
    count0 = encoder0.getPulses();
    count1 = encoder1.getPulses();
    int initial1 = count1;
    int initial0 = count0;
    int diff = count0 - count1;
    double kp = 0.00015;
    double kd = 0.00019;
    int prev = 0;
 
 
 
    double speed0 = 0.07;
    double speed1 = 0.07;
    right_motor.move(speed0);
    left_motor.move(speed1);

    if( IRP_1.getSamples(50) > IRP_1.sensorAvg*0.8 || IRP_4.getSamples(50) > IRP_4.sensorAvg*0.8){
        return;
    }
 
 
    //while((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) {
    while(     (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4   ){
        //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ));
  
        count0 = encoder0.getPulses() - initial0;
        count1 = encoder1.getPulses() - initial1;
        int x = count0 - count1;
        //double d = kp * x + kd * ( x - prev );
        double kppart = kp * x;
        double kdpart = kd * (x-prev);
        double d = kppart + kdpart;
        
        //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart );
        if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward
        {
            left_motor.move( speed1-0.8*d );
            right_motor.move( speed0+d );
        }
        else if( x > diff + 40 )
        {
            left_motor.move( speed1-0.8*d );
            right_motor.move( speed0+d );
        }
        // else
        // {
        //     left_motor.brake();
        //     right_motor.brake();   
        // }
        prev = x; 
    }
 
    //pidOnEncoders();
    //pidBrake();
    right_motor.brake();
    left_motor.brake();
    return;
}
 
void moveForwardUntilWallIr()
{
    double currentError = 0;
    double previousError = 0;
    double derivError = 0;
    double sumError = 0;
 
    double HIGH_PWM_VOLTAGE = 0.1;
 
    double rightSpeed = 0.14;
    double leftSpeed = 0.17;
 
    float ir2 = IRP_2.getSamples( SAMPLE_NUM );
    float ir3 = IRP_3.getSamples( SAMPLE_NUM );
 
    int count = encoder0.getPulses();
    while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) { // while the front facing IR's arent covered
        
        if((IRP_2.getSamples(SAMPLE_NUM) < 0.005 || IRP_3.getSamples(SAMPLE_NUM) < 0.005)) {
            //moveForwardWallEncoder(); 
        }else if(IRP_2.getSamples(SAMPLE_NUM) < 0.005){ // left wall gone
            //moveForwardRightWall();
        }else if(IRP_3.getSamples(SAMPLE_NUM) < 0.005){ // right wall gone
            //moveForwardLeftWall();
        }else{
        // will move forward using encoders only 
        // if cell ahead doesn't have a wall on either one side or both sides
 
            int pulseCount = (encoder0.getPulses()-count) % 5600;
            if (pulseCount > 5400 && pulseCount < 5800) {
                blueLed.write(0);
            } else {
                blueLed.write(1);
            }
            sumError += currentError;
            currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - ir2base) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - ir3base) ) ;
            derivError = currentError - previousError;
            double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError;
            if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down
                rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
                leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
            } else { // r is faster than L. speed up l, slow down r
                rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
                leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
            }
 
            if (leftSpeed > 0.30) leftSpeed = 0.30;
            if (leftSpeed < 0) leftSpeed = 0;
            if (rightSpeed > 0.30) rightSpeed = 0.30;
            if (rightSpeed < 0) rightSpeed = 0;
 
            right_motor.forward(rightSpeed);
            left_motor.forward(leftSpeed);
 
            previousError = currentError;
 
            ir2 = IRP_2.getSamples( SAMPLE_NUM );
            ir3 = IRP_3.getSamples( SAMPLE_NUM );
 
        }
 
        //backward();
        //wait_ms(40);
        //brake();
 
        left_motor.brake();
        right_motor.brake();
    }
}
 
void printDipFlag()
{
    if (DEBUGGING) serial.printf("Flag value is %d", dipFlags);
}
 
void enableButton1()
{
    dipFlags |= BUTTON1_FLAG;
    printDipFlag();
}
void enableButton2()
{
    dipFlags |= BUTTON2_FLAG;
    printDipFlag();
}
void enableButton3()
{
    dipFlags |= BUTTON3_FLAG;
    printDipFlag();
}
void enableButton4()
{
    dipFlags |= BUTTON4_FLAG;
    printDipFlag();
}
void disableButton1()
{
    dipFlags &= ~BUTTON1_FLAG;
    printDipFlag();
}
void disableButton2()
{
    dipFlags &= ~BUTTON2_FLAG;
    printDipFlag();
}
void disableButton3()
{
    dipFlags &= ~BUTTON3_FLAG;
    printDipFlag();
}
void disableButton4()
{
    dipFlags &= ~BUTTON4_FLAG;
    printDipFlag();
}
 
void pidOnEncoders()
{
    int count0;
    int count1;
    count0 = encoder0.getPulses();
    count1 = encoder1.getPulses();
    int diff = count0 - count1;
    double kp = 0.00011;
    double kd = 0.00014;
    int prev = 0;
 
    int counter = 0;
    while(1)
    {
        count0 = encoder0.getPulses();
        count1 = encoder1.getPulses();
        int x = count0 - count1;
        //double d = kp * x + kd * ( x - prev );
        double kppart = kp * x;
        double kdpart = kd * (x-prev);
        double d = kppart + kdpart;
        
        //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart );
        if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward
        {
            left_motor.move( -d );
            right_motor.move( d );
        }
        else if( x > diff + 40 )
        {
            left_motor.move( -d );
            right_motor.move( d );
        }
        // else
        // {
        //     left_motor.brake();
        //     right_motor.brake();   
        // }
        prev = x;
        counter++;
        if (counter == 5)
            break;
    }
}
 
void nCellEncoderAndIR(double cellCount){
    double currentError = 0;
    double previousError = 0;
    double derivError = 0;
    double sumError = 0;
 
    double HIGH_PWM_VOLTAGE = 0.15;
    double rightSpeed = 0.095;
    double leftSpeed = 0.115;
 
 
    int initial0 = encoder0.getPulses();
    int initial1 = encoder1.getPulses();
 
    float ir2 = IRP_2.getSamples( SAMPLE_NUM );
    float ir3 = IRP_3.getSamples( SAMPLE_NUM );
    float ir1 = IRP_1.getSamples(50);
    float ir4 = IRP_4.getSamples(50);
 
    int state = 0;

    if(IRP_3.sensorAvg > noWallR){
        ir3base = IRP_3.sensorAvg;
    }
    if(IRP_2.sensorAvg > noWallL){
        ir2base = IRP_2.sensorAvg;
    }


    for (int i = 0; i < cellCount; i++){
        while ( ((encoder0.getPulses()-initial0) <= oneCellCountMomentum && (encoder1.getPulses()-initial1) <= oneCellCountMomentum)  &&  ir1 < IRP_1.sensorAvg*0.7 && ir4 < IRP_4.sensorAvg*0.7 ){
            ir2 = IRP_2.getSamples(50);
            ir3 = IRP_3.getSamples(50);
            ir1 = IRP_1.getSamples(50);
            ir4 = IRP_4.getSamples(50);

            if((ir3 < ir3base/4) && (ir2 < ir2base/4)){
                // both sides gone
                redLed.write(1);
                greenLed.write(1);
                blueLed.write(1);
                wait_ms(100);
                redLed.write(1);
                greenLed.write(1);
                blueLed.write(0);
                wait_ms(200);
                redLed.write(1);
                greenLed.write(1);
                blueLed.write(0);
                wait_ms(200);
                redLed.write(1);
                greenLed.write(1);
                blueLed.write(0);
                wait_ms(200);
                redLed.write(1);
                greenLed.write(1);
                blueLed.write(0);
                moveForwardEncoder();
            }else if (ir3 < ir3base/4){// right wall gone
                // RED RED RED RED RED
                currentError = (ir3 - ir2base);
                redLed.write(0);
                greenLed.write(1);
                blueLed.write(1);
            }else if (ir2 < ir2base){// left wall gone
                // BLUE BLUE BLUE BLUE
                currentError = (ir3base - ir2);
                redLed.write(1);
                greenLed.write(1);
                blueLed.write(0);
            }else{
                // both walls there
                currentError = (ir2 - ir2base)  - (ir3 - ir3base);
                redLed.write(1);
                greenLed.write(0);
                blueLed.write(1);
            }

            sumError += currentError;
            derivError = currentError - previousError;
            double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError;
            if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down
                rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
                leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
            } else { // r is faster than L. speed up l, slow down r
                rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
                leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
            }   
            if (leftSpeed > 0.30) leftSpeed = 0.30;
            if (leftSpeed < 0) leftSpeed = 0;
            if (rightSpeed > 0.30) rightSpeed = 0.30;
            if (rightSpeed < 0) rightSpeed = 0;
        
            right_motor.forward(rightSpeed);
            left_motor.forward(leftSpeed);
            pidOnEncoders();
        
            previousError = currentError;
            ir2 = IRP_2.getSamples( SAMPLE_NUM );
            ir3 = IRP_3.getSamples( SAMPLE_NUM );

            if(IRP_3.sensorAvg > noWallR){
                continue;
            }else if(ir3 > noWallR){
                ir3base = ir3;
            }

            if(IRP_2.sensorAvg > noWallL){
                continue;
            }else if(ir2 > noWallL){
                ir2base = ir2;
            }
        }
    }
 
    left_motor.brake();
    right_motor.brake();
    return;
}
 
int main()
{
    //Set highest bandwidth.
    //gyro.setLpBandwidth(LPFBW_42HZ);
    serial.baud(9600);
    //serial.printf("The gyro's address is %s", gyro.getWhoAmI());
 
    wait (0.1);
 
 
    redLed.write(1);
    greenLed.write(0);
    blueLed.write(1);
 
    //left_motor.forward(0.1);
    //right_motor.forward(0.1);
 
    // PA_1 is A of right
    // PA_0 is B of right
    // PA_5 is A of left
    // PB_3 is B of left
    //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING );
//    QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING );
 
    // TODO: Setting all the registers and what not for Quadrature Encoders
    /*    RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3)
        RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B)
        GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2
        GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5
        */
 
    // 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
    // of alternate function specified
    // 4 modes sets AHB1ENR
    // Now TMR: enable clock with timer, APB1ENR
    // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN
    //
    // Encoder mode: disable timer before changing timer to encoder
    // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use
    // CCMR sets sample rate and set the channel to input
    // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels
    // SMCR - encoder mode
    // CR1 reenabales
    // then read CNT reg of timer
 
 
    dipButton1.rise(&enableButton1);
    dipButton2.rise(&enableButton2);
    dipButton3.rise(&enableButton3);
    dipButton4.rise(&enableButton4);
 
    dipButton1.fall(&disableButton1);
    dipButton2.fall(&disableButton2);
    dipButton3.fall(&disableButton3);
    dipButton4.fall(&disableButton4);

    if(dipFlags == 0x1){
        turnRight180();
        wait_ms(1000);
    }else{
        turnRight();
        IRP_1.calibrateSensor();
        IRP_4.calibrateSensor();
        wait_ms(300);
        turnLeft();
        wait_ms(300);
    }



 
    //right_motor.forward( 0.2 );
    //left_motor.forward( 0.2 );
    //turnRight180();
    //wait_ms(1500);
    while (1) {
        //wait_ms(1500);
        //turnRight();
        //wait_ms(1500);
        //turnLeft();
        nCellEncoderAndIR(1);
        wait_ms(500);
        // turnRight();
        // wait_ms(500);
        // nCellEncoderAndIR(1);
        // wait_ms(500);
        // turnRight();
        // wait_ms(500);
        // nCellEncoderAndIR(1);
        // wait_ms(500);
        // turnLeft();
        // wait_ms(500);
        // nCellEncoderAndIR(2);
        // wait_ms(500);
        // turnRight();
        // wait_ms(500);
        // nCellEncoderAndIR(1);
        // wait_ms(500);
        // turnRight();
        // wait_ms(500);
        // nCellEncoderAndIR(5);
        // break;
        // turnRight180();
 
 
 
        // int number = rand() % 4 + 1;
        // switch(number){
        //     case(1):{//turn right
        //         turnRight();
        //         break;
        //     }
        //     case(2):{ // turn left
        //         turnLeft();
        //         break;
        //     }
        //     case(3):{// keep going
 
        //         break;
        //     }
        //     case(4):{// turnaround
        //         turnRight180();
        //         break;
        //     }
        //     default:{// keep going
        //         break;
        //     }
        // }
 
        // float irbase2 = IRP_2.sensorAvg/initAverageL/averageDivL;
        // float irbase3 = IRP_3.sensorAvg/initAverageR/averageDivR;
 
        // float ir3  = IRP_2.getSamples(100)/initAverageL;
        // float ir2  = IRP_3.getSamples(100)/initAverageR;
        
 
 
 
        /*
        counter2++;
        counter3++; 
        ir2tot += IRP_2.getSamples(100);
        ir3tot += IRP_3.getSamples(100);
 
 
        ir2 = ir2tot/counter2;
        ir3 = ir3tot/counter3;
    
 
        serial.printf("IRS= >: %f, %f \r\n", ir2, ir3);
        */
        //serial.printf("%f, %f \n", IRP_2.sensorAvg/initAverageL/averageDivL, IRP_3.sensorAvg/initAverageR/averageDivR);
        //serial.printf("IRBASEnowall= >: %f, %f \r\n", irbase2, irbase3);
        //break;
        //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples(100), IRP_3.getSamples(100));
        //serial.printf("IRSAvg= >: %f, %f \r\n", ir2, ir3);
        //serial.printf("IRSAvg= >: %f, %f \r\n", IRP_2.sensorAvg, IRP_3.sensorAvg);
 
 
        ////////////////////////////////////////////////////////////////
 
        //nCellEncoderAndIR(3);
        //break;
 
        //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));
    
 
 
        //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ));
 
 
        //break;
        // moveForwardCellEncoder(1);
        // wait(0.5);
        // handleTurns();
        // wait(0.5);
        // moveForwardCellEncoder(1);
        // wait(0.5);
        // handleTurns();
        //break;
        //pidOnEncoders();
       // moveForwardUntilWallIr();
        //serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ());
        //serial.printf("Pulse Count=> e0:%d, e1:%d      \r\n", encoder0.getPulses(),encoder1.getPulses());
        // double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ;
        //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 );
 
        //reading = Rec_4.read();
//        serial.printf("reading: %f\n", reading);
    }
}