Mouse code for the MacroRat
main.cpp@39:058fb32c24e0, 2017-05-28 (annotated)
- Committer:
- vanshg
- Date:
- Sun May 28 03:42:59 2017 +0000
- Revision:
- 39:058fb32c24e0
- Parent:
- 38:fe05f93009a2
- Child:
- 40:465d2b565977
calibration n shit
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 | 33:68ce1f74ab5f | 15 | /*LEFT/RIGHT BOTH WALLS |
sahilmgandhi | 33:68ce1f74ab5f | 16 | 0.34 0.12 |
sahilmgandhi | 33:68ce1f74ab5f | 17 | |
sahilmgandhi | 33:68ce1f74ab5f | 18 | LEFT/RIGHT LEFT WALL GONE |
sahilmgandhi | 33:68ce1f74ab5f | 19 | 0.02 0.11 |
sahilmgandhi | 31:9b71b44e0867 | 20 | |
sahilmgandhi | 33:68ce1f74ab5f | 21 | LEFT/RIGHT RIGTH WALL GONE |
sahilmgandhi | 33:68ce1f74ab5f | 22 | 0.33 0.008 |
sahilmgandhi | 31:9b71b44e0867 | 23 | |
sahilmgandhi | 33:68ce1f74ab5f | 24 | LEFT/RIGHT BOTH WALLS GONE |
sahilmgandhi | 33:68ce1f74ab5f | 25 | 0.02 0.008 |
sahilmgandhi | 33:68ce1f74ab5f | 26 | |
sahilmgandhi | 33:68ce1f74ab5f | 27 | LEFT/RIGHT CLOSE TO RIGHT WALL |
sahilmgandhi | 33:68ce1f74ab5f | 28 | 0.14 0.47 |
sahilmgandhi | 31:9b71b44e0867 | 29 | |
sahilmgandhi | 33:68ce1f74ab5f | 30 | LEFT/RIGHT CLOSE TO LEFT WALL |
sahilmgandhi | 33:68ce1f74ab5f | 31 | 0.89 0.05 |
sahilmgandhi | 31:9b71b44e0867 | 32 | |
sahilmgandhi | 33:68ce1f74ab5f | 33 | FRONT IRS NEAR WALL (STOPPING DISTANCE) |
sahilmgandhi | 33:68ce1f74ab5f | 34 | 0.41 0.49 |
sahilmgandhi | 31:9b71b44e0867 | 35 | |
sahilmgandhi | 33:68ce1f74ab5f | 36 | FRONT IRS NO WALL AHEAD (FOR ATLEAST 1 FULL CELL) |
sahilmgandhi | 33:68ce1f74ab5f | 37 | 0.07 0.06 |
sahilmgandhi | 31:9b71b44e0867 | 38 | |
sahilmgandhi | 33:68ce1f74ab5f | 39 | */ |
sahilmgandhi | 34:69342782fb68 | 40 | |
sahilmgandhi | 37:3dcc95e9321c | 41 | #define IP_CONSTANT 2.00 |
sahilmgandhi | 37:3dcc95e9321c | 42 | #define II_CONSTANT 0.00001 |
vanshg | 39:058fb32c24e0 | 43 | #define ID_CONSTANT 0.2 |
sahilmgandhi | 29:ec2c5a69acd6 | 44 | |
sahilmgandhi | 16:d9252437bd92 | 45 | void pidOnEncoders(); |
sahilmgandhi | 29:ec2c5a69acd6 | 46 | |
sahilmgandhi | 31:9b71b44e0867 | 47 | void moveForwardCellEncoder(double cellNum) |
sahilmgandhi | 31:9b71b44e0867 | 48 | { |
sahilmgandhi | 17:f713758f6238 | 49 | int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellNum; |
sahilmgandhi | 17:f713758f6238 | 50 | int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellNum; |
sahilmgandhi | 31:9b71b44e0867 | 51 | |
sahilmgandhi | 37:3dcc95e9321c | 52 | left_motor.forward(WHEEL_SPEED); |
sahilmgandhi | 37:3dcc95e9321c | 53 | right_motor.forward(WHEEL_SPEED); |
sahilmgandhi | 19:7b66a518b6f8 | 54 | wait_ms(1); |
sahilmgandhi | 31:9b71b44e0867 | 55 | while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1) { |
sahilmgandhi | 20:82836745332e | 56 | receiverTwoReading = IRP_2.getSamples(100); |
sahilmgandhi | 20:82836745332e | 57 | receiverThreeReading = IRP_3.getSamples(100); |
sahilmgandhi | 20:82836745332e | 58 | // 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 | 59 | if (receiverThreeReading < ir3base) { |
sahilmgandhi | 20:82836745332e | 60 | // redLed.write(1); |
sahilmgandhi | 20:82836745332e | 61 | // blueLed.write(0); |
sahilmgandhi | 19:7b66a518b6f8 | 62 | turnFlag |= RIGHT_FLAG; |
sahilmgandhi | 31:9b71b44e0867 | 63 | } else if (receiverTwoReading < ir2base) { |
sahilmgandhi | 20:82836745332e | 64 | // redLed.write(0); |
sahilmgandhi | 20:82836745332e | 65 | // blueLed.write(1); |
sahilmgandhi | 17:f713758f6238 | 66 | turnFlag |= LEFT_FLAG; |
sahilmgandhi | 20:82836745332e | 67 | } |
sahilmgandhi | 16:d9252437bd92 | 68 | pidOnEncoders(); |
sahilmgandhi | 16:d9252437bd92 | 69 | } |
sahilmgandhi | 31:9b71b44e0867 | 70 | |
sahilmgandhi | 16:d9252437bd92 | 71 | left_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 72 | right_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 73 | } |
sahilmgandhi | 31:9b71b44e0867 | 74 | |
sahilmgandhi | 31:9b71b44e0867 | 75 | |
sahilmgandhi | 31:9b71b44e0867 | 76 | void moveForwardEncoder(double num) |
sahilmgandhi | 31:9b71b44e0867 | 77 | { |
christine222 | 21:9a6cb07bdcb6 | 78 | int count0; |
christine222 | 21:9a6cb07bdcb6 | 79 | int count1; |
christine222 | 21:9a6cb07bdcb6 | 80 | count0 = encoder0.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 81 | count1 = encoder1.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 82 | int initial1 = count1; |
christine222 | 21:9a6cb07bdcb6 | 83 | int initial0 = count0; |
christine222 | 21:9a6cb07bdcb6 | 84 | int diff = count0 - count1; |
christine222 | 21:9a6cb07bdcb6 | 85 | double kp = 0.00015; |
christine222 | 21:9a6cb07bdcb6 | 86 | double kd = 0.00019; |
christine222 | 21:9a6cb07bdcb6 | 87 | int prev = 0; |
christine222 | 25:f827a8b7880e | 88 | |
sahilmgandhi | 37:3dcc95e9321c | 89 | double speed0 = WHEEL_SPEED; |
sahilmgandhi | 37:3dcc95e9321c | 90 | double speed1 = WHEEL_SPEED; |
christine222 | 21:9a6cb07bdcb6 | 91 | right_motor.move(speed0); |
christine222 | 21:9a6cb07bdcb6 | 92 | left_motor.move(speed1); |
sahilmgandhi | 38:fe05f93009a2 | 93 | receiverOneReading = IRP_1.getSamples(100); |
sahilmgandhi | 38:fe05f93009a2 | 94 | receiverTwoReading = IRP_4.getSamples(100); |
sahilmgandhi | 31:9b71b44e0867 | 95 | |
vanshg | 39:058fb32c24e0 | 96 | while( ((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200)*num && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)*num) && receiverOneReading < IRP_1.sensorAvg*frontStop && receiverFourReading < IRP_4.sensorAvg*frontStop) { |
sahilmgandhi | 31:9b71b44e0867 | 97 | //while( (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4 ){ |
christine222 | 21:9a6cb07bdcb6 | 98 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
sahilmgandhi | 31:9b71b44e0867 | 99 | |
christine222 | 21:9a6cb07bdcb6 | 100 | count0 = encoder0.getPulses() - initial0; |
christine222 | 21:9a6cb07bdcb6 | 101 | count1 = encoder1.getPulses() - initial1; |
christine222 | 21:9a6cb07bdcb6 | 102 | int x = count0 - count1; |
christine222 | 21:9a6cb07bdcb6 | 103 | //double d = kp * x + kd * ( x - prev ); |
christine222 | 21:9a6cb07bdcb6 | 104 | double kppart = kp * x; |
christine222 | 21:9a6cb07bdcb6 | 105 | double kdpart = kd * (x-prev); |
christine222 | 21:9a6cb07bdcb6 | 106 | double d = kppart + kdpart; |
sahilmgandhi | 31:9b71b44e0867 | 107 | |
christine222 | 21:9a6cb07bdcb6 | 108 | //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 | 109 | if( x < diff - 40 ) { // count1 is bigger, right wheel pushed forward |
christine222 | 21:9a6cb07bdcb6 | 110 | left_motor.move( speed1-0.8*d ); |
christine222 | 21:9a6cb07bdcb6 | 111 | right_motor.move( speed0+d ); |
sahilmgandhi | 31:9b71b44e0867 | 112 | } else if( x > diff + 40 ) { |
christine222 | 21:9a6cb07bdcb6 | 113 | left_motor.move( speed1-0.8*d ); |
christine222 | 21:9a6cb07bdcb6 | 114 | right_motor.move( speed0+d ); |
christine222 | 21:9a6cb07bdcb6 | 115 | } |
sahilmgandhi | 38:fe05f93009a2 | 116 | prev = x; |
sahilmgandhi | 38:fe05f93009a2 | 117 | receiverOneReading = IRP_1.getSamples(100); |
sahilmgandhi | 38:fe05f93009a2 | 118 | receiverFourReading = IRP_4.getSamples(100); |
sahilmgandhi | 38:fe05f93009a2 | 119 | } |
sahilmgandhi | 38:fe05f93009a2 | 120 | |
sahilmgandhi | 38:fe05f93009a2 | 121 | //pidOnEncoders(); |
sahilmgandhi | 38:fe05f93009a2 | 122 | //pidBrake(); |
sahilmgandhi | 38:fe05f93009a2 | 123 | right_motor.brake(); |
sahilmgandhi | 38:fe05f93009a2 | 124 | left_motor.brake(); |
sahilmgandhi | 38:fe05f93009a2 | 125 | return; |
sahilmgandhi | 38:fe05f93009a2 | 126 | } |
sahilmgandhi | 38:fe05f93009a2 | 127 | |
sahilmgandhi | 38:fe05f93009a2 | 128 | |
sahilmgandhi | 38:fe05f93009a2 | 129 | void moveForwardWallEncoder() |
sahilmgandhi | 38:fe05f93009a2 | 130 | { |
sahilmgandhi | 38:fe05f93009a2 | 131 | int count0; |
sahilmgandhi | 38:fe05f93009a2 | 132 | int count1; |
sahilmgandhi | 38:fe05f93009a2 | 133 | count0 = encoder0.getPulses(); |
sahilmgandhi | 38:fe05f93009a2 | 134 | count1 = encoder1.getPulses(); |
sahilmgandhi | 38:fe05f93009a2 | 135 | int initial1 = count1; |
sahilmgandhi | 38:fe05f93009a2 | 136 | int initial0 = count0; |
sahilmgandhi | 38:fe05f93009a2 | 137 | int diff = count0 - count1; |
sahilmgandhi | 38:fe05f93009a2 | 138 | double kp = 0.00015; |
sahilmgandhi | 38:fe05f93009a2 | 139 | double kd = 0.00019; |
sahilmgandhi | 38:fe05f93009a2 | 140 | int prev = 0; |
sahilmgandhi | 38:fe05f93009a2 | 141 | |
sahilmgandhi | 38:fe05f93009a2 | 142 | double speed0 = WHEEL_SPEED; |
sahilmgandhi | 38:fe05f93009a2 | 143 | double speed1 = WHEEL_SPEED; |
sahilmgandhi | 38:fe05f93009a2 | 144 | right_motor.move(speed0); |
sahilmgandhi | 38:fe05f93009a2 | 145 | left_motor.move(speed1); |
sahilmgandhi | 38:fe05f93009a2 | 146 | |
sahilmgandhi | 38:fe05f93009a2 | 147 | double ir1 = IRP_1.getSamples(50); |
sahilmgandhi | 38:fe05f93009a2 | 148 | double ir4 = IRP_4.getSamples(50); |
sahilmgandhi | 38:fe05f93009a2 | 149 | |
sahilmgandhi | 38:fe05f93009a2 | 150 | if(ir1 > IRP_1.sensorAvg*4 || ir4 > IRP_2.sensorAvg*4){ |
sahilmgandhi | 38:fe05f93009a2 | 151 | return; |
sahilmgandhi | 38:fe05f93009a2 | 152 | } |
sahilmgandhi | 38:fe05f93009a2 | 153 | |
sahilmgandhi | 38:fe05f93009a2 | 154 | //while((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) { |
sahilmgandhi | 38:fe05f93009a2 | 155 | //while( (ir1 + ir4)/2 < ((IRP_1.sensorAvg+IRP_4.sensorAvg)/2)*0.4 ){ |
sahilmgandhi | 38:fe05f93009a2 | 156 | while( ir1 < IRP_1.sensorAvg*0.7 || ir4 < IRP_4.sensorAvg*0.7 ) { |
sahilmgandhi | 38:fe05f93009a2 | 157 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
sahilmgandhi | 38:fe05f93009a2 | 158 | |
sahilmgandhi | 38:fe05f93009a2 | 159 | count0 = encoder0.getPulses() - initial0; |
sahilmgandhi | 38:fe05f93009a2 | 160 | count1 = encoder1.getPulses() - initial1; |
sahilmgandhi | 38:fe05f93009a2 | 161 | int x = count0 - count1; |
sahilmgandhi | 38:fe05f93009a2 | 162 | //double d = kp * x + kd * ( x - prev ); |
sahilmgandhi | 38:fe05f93009a2 | 163 | double kppart = kp * x; |
sahilmgandhi | 38:fe05f93009a2 | 164 | double kdpart = kd * (x-prev); |
sahilmgandhi | 38:fe05f93009a2 | 165 | double d = kppart + kdpart; |
sahilmgandhi | 38:fe05f93009a2 | 166 | |
sahilmgandhi | 38:fe05f93009a2 | 167 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
sahilmgandhi | 38:fe05f93009a2 | 168 | if( x < diff - 40 ) { // count1 is bigger, right wheel pushed forward |
sahilmgandhi | 38:fe05f93009a2 | 169 | left_motor.move( speed1-0.8*d ); |
sahilmgandhi | 38:fe05f93009a2 | 170 | right_motor.move( speed0+d ); |
sahilmgandhi | 38:fe05f93009a2 | 171 | } else if( x > diff + 40 ) { |
sahilmgandhi | 38:fe05f93009a2 | 172 | left_motor.move( speed1-0.8*d ); |
sahilmgandhi | 38:fe05f93009a2 | 173 | right_motor.move( speed0+d ); |
sahilmgandhi | 38:fe05f93009a2 | 174 | } |
christine222 | 21:9a6cb07bdcb6 | 175 | // else |
christine222 | 21:9a6cb07bdcb6 | 176 | // { |
christine222 | 21:9a6cb07bdcb6 | 177 | // left_motor.brake(); |
sahilmgandhi | 31:9b71b44e0867 | 178 | // right_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 179 | // } |
sahilmgandhi | 31:9b71b44e0867 | 180 | prev = x; |
christine222 | 21:9a6cb07bdcb6 | 181 | } |
sahilmgandhi | 31:9b71b44e0867 | 182 | |
christine222 | 21:9a6cb07bdcb6 | 183 | //pidOnEncoders(); |
christine222 | 23:690b0ca34ee9 | 184 | //pidBrake(); |
christine222 | 23:690b0ca34ee9 | 185 | right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 186 | left_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 187 | return; |
christine222 | 23:690b0ca34ee9 | 188 | } |
sahilmgandhi | 31:9b71b44e0867 | 189 | |
sahilmgandhi | 14:9e7bb03ddccb | 190 | void printDipFlag() |
sahilmgandhi | 14:9e7bb03ddccb | 191 | { |
vanshg | 11:8fc2b703086b | 192 | if (DEBUGGING) serial.printf("Flag value is %d", dipFlags); |
vanshg | 11:8fc2b703086b | 193 | } |
sahilmgandhi | 31:9b71b44e0867 | 194 | |
sahilmgandhi | 14:9e7bb03ddccb | 195 | void enableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 196 | { |
vanshg | 10:810d1849da9d | 197 | dipFlags |= BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 198 | printDipFlag(); |
vanshg | 10:810d1849da9d | 199 | } |
sahilmgandhi | 14:9e7bb03ddccb | 200 | void enableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 201 | { |
vanshg | 10:810d1849da9d | 202 | dipFlags |= BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 203 | printDipFlag(); |
vanshg | 10:810d1849da9d | 204 | } |
sahilmgandhi | 14:9e7bb03ddccb | 205 | void enableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 206 | { |
vanshg | 10:810d1849da9d | 207 | dipFlags |= BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 208 | printDipFlag(); |
vanshg | 10:810d1849da9d | 209 | } |
sahilmgandhi | 14:9e7bb03ddccb | 210 | void enableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 211 | { |
vanshg | 10:810d1849da9d | 212 | dipFlags |= BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 213 | printDipFlag(); |
vanshg | 10:810d1849da9d | 214 | } |
sahilmgandhi | 14:9e7bb03ddccb | 215 | void disableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 216 | { |
vanshg | 10:810d1849da9d | 217 | dipFlags &= ~BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 218 | printDipFlag(); |
vanshg | 10:810d1849da9d | 219 | } |
sahilmgandhi | 14:9e7bb03ddccb | 220 | void disableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 221 | { |
vanshg | 10:810d1849da9d | 222 | dipFlags &= ~BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 223 | printDipFlag(); |
vanshg | 10:810d1849da9d | 224 | } |
sahilmgandhi | 14:9e7bb03ddccb | 225 | void disableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 226 | { |
vanshg | 10:810d1849da9d | 227 | dipFlags &= ~BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 228 | printDipFlag(); |
vanshg | 10:810d1849da9d | 229 | } |
sahilmgandhi | 14:9e7bb03ddccb | 230 | void disableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 231 | { |
vanshg | 10:810d1849da9d | 232 | dipFlags &= ~BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 233 | printDipFlag(); |
kyleliangus | 9:1d8e4da058cd | 234 | } |
sahilmgandhi | 31:9b71b44e0867 | 235 | |
kyleliangus | 15:b80555a4a8b9 | 236 | void pidOnEncoders() |
kyleliangus | 15:b80555a4a8b9 | 237 | { |
kyleliangus | 15:b80555a4a8b9 | 238 | int count0; |
kyleliangus | 15:b80555a4a8b9 | 239 | int count1; |
kyleliangus | 15:b80555a4a8b9 | 240 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 241 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 242 | int diff = count0 - count1; |
sahilmgandhi | 33:68ce1f74ab5f | 243 | double kp = 0.00016; |
sahilmgandhi | 28:8126a4d620e8 | 244 | double kd = 0.00016; |
kyleliangus | 15:b80555a4a8b9 | 245 | int prev = 0; |
sahilmgandhi | 31:9b71b44e0867 | 246 | |
sahilmgandhi | 16:d9252437bd92 | 247 | int counter = 0; |
sahilmgandhi | 31:9b71b44e0867 | 248 | while(1) { |
kyleliangus | 15:b80555a4a8b9 | 249 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 250 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 251 | int x = count0 - count1; |
kyleliangus | 15:b80555a4a8b9 | 252 | //double d = kp * x + kd * ( x - prev ); |
kyleliangus | 15:b80555a4a8b9 | 253 | double kppart = kp * x; |
kyleliangus | 15:b80555a4a8b9 | 254 | double kdpart = kd * (x-prev); |
kyleliangus | 15:b80555a4a8b9 | 255 | double d = kppart + kdpart; |
sahilmgandhi | 31:9b71b44e0867 | 256 | |
kyleliangus | 15:b80555a4a8b9 | 257 | //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 | 258 | if( x < diff - 60 ) { // count1 is bigger, right wheel pushed forward |
kyleliangus | 15:b80555a4a8b9 | 259 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 260 | right_motor.move( d ); |
sahilmgandhi | 31:9b71b44e0867 | 261 | } else if( x > diff + 60 ) { |
kyleliangus | 15:b80555a4a8b9 | 262 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 263 | right_motor.move( d ); |
kyleliangus | 15:b80555a4a8b9 | 264 | } |
sahilmgandhi | 16:d9252437bd92 | 265 | // else |
sahilmgandhi | 16:d9252437bd92 | 266 | // { |
sahilmgandhi | 16:d9252437bd92 | 267 | // left_motor.brake(); |
sahilmgandhi | 31:9b71b44e0867 | 268 | // right_motor.brake(); |
sahilmgandhi | 16:d9252437bd92 | 269 | // } |
kyleliangus | 15:b80555a4a8b9 | 270 | prev = x; |
sahilmgandhi | 16:d9252437bd92 | 271 | counter++; |
sahilmgandhi | 28:8126a4d620e8 | 272 | if (counter == 10) |
sahilmgandhi | 16:d9252437bd92 | 273 | break; |
kyleliangus | 15:b80555a4a8b9 | 274 | } |
kyleliangus | 15:b80555a4a8b9 | 275 | } |
sahilmgandhi | 31:9b71b44e0867 | 276 | |
sahilmgandhi | 31:9b71b44e0867 | 277 | void nCellEncoderAndIR(double cellCount) |
sahilmgandhi | 31:9b71b44e0867 | 278 | { |
sahilmgandhi | 19:7b66a518b6f8 | 279 | double currentError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 280 | double previousError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 281 | double derivError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 282 | double sumError = 0; |
christine222 | 25:f827a8b7880e | 283 | |
sahilmgandhi | 37:3dcc95e9321c | 284 | double HIGH_PWM_VOLTAGE_R = WHEEL_SPEED; |
sahilmgandhi | 37:3dcc95e9321c | 285 | double HIGH_PWM_VOLTAGE_L = WHEEL_SPEED; |
sahilmgandhi | 29:ec2c5a69acd6 | 286 | |
sahilmgandhi | 37:3dcc95e9321c | 287 | double rightSpeed = WHEEL_SPEED; |
sahilmgandhi | 37:3dcc95e9321c | 288 | double leftSpeed = WHEEL_SPEED; |
christine222 | 25:f827a8b7880e | 289 | |
christine222 | 25:f827a8b7880e | 290 | int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellCount; |
christine222 | 25:f827a8b7880e | 291 | int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellCount; |
christine222 | 25:f827a8b7880e | 292 | |
sahilmgandhi | 37:3dcc95e9321c | 293 | left_motor.forward(WHEEL_SPEED); |
sahilmgandhi | 37:3dcc95e9321c | 294 | right_motor.forward(WHEEL_SPEED); |
christine222 | 25:f827a8b7880e | 295 | |
sahilmgandhi | 19:7b66a518b6f8 | 296 | float ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
sahilmgandhi | 19:7b66a518b6f8 | 297 | float ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 25:f827a8b7880e | 298 | |
christine222 | 23:690b0ca34ee9 | 299 | int state = 0; |
christine222 | 23:690b0ca34ee9 | 300 | |
sahilmgandhi | 31:9b71b44e0867 | 301 | while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1) { |
sahilmgandhi | 33:68ce1f74ab5f | 302 | // serial.printf("The desiredCount0 is: %d \t The desiredCount1 is: %d\t the 0encoderval is :%d\t the 1encoderval is : %d\t\n", desiredCount0, desiredCount1, encoder0.getPulses(), encoder1.getPulses()); |
kyleliangus | 32:69acb14778ea | 303 | receiverTwoReading = IRP_2.getSamples( SAMPLE_NUM ); |
kyleliangus | 32:69acb14778ea | 304 | receiverThreeReading = IRP_3.getSamples( SAMPLE_NUM ); |
kyleliangus | 32:69acb14778ea | 305 | receiverOneReading = IRP_1.getSamples( SAMPLE_NUM ); |
kyleliangus | 32:69acb14778ea | 306 | receiverFourReading = IRP_4.getSamples( SAMPLE_NUM ); |
sahilmgandhi | 33:68ce1f74ab5f | 307 | // serial.printf("IR2 = %f, IR2AVE = %f, IR3 = %f, IR3_AVE = %f\n", receiverTwoReading, IRP_2.sensorAvg, receiverThreeReading, IRP_3.sensorAvg); |
vanshg | 39:058fb32c24e0 | 308 | if( receiverOneReading > IRP_1.sensorAvg * frontStop || receiverFourReading > IRP_4.sensorAvg * frontStop ) { |
sahilmgandhi | 26:d20f1adac2d3 | 309 | break; |
sahilmgandhi | 26:d20f1adac2d3 | 310 | } |
christine222 | 25:f827a8b7880e | 311 | |
sahilmgandhi | 33:68ce1f74ab5f | 312 | if((receiverThreeReading < IRP_3.sensorAvg/5) && (receiverTwoReading < IRP_2.sensorAvg/5)) { |
christine222 | 25:f827a8b7880e | 313 | // both sides gone |
sahilmgandhi | 33:68ce1f74ab5f | 314 | double prev0 = encoder0.getPulses(); |
sahilmgandhi | 33:68ce1f74ab5f | 315 | double prev1 = encoder1.getPulses(); |
sahilmgandhi | 33:68ce1f74ab5f | 316 | double diff0 = desiredCount0 - prev0; |
sahilmgandhi | 33:68ce1f74ab5f | 317 | double diff1 = desiredCount1 - prev1; |
sahilmgandhi | 33:68ce1f74ab5f | 318 | double valToPass = ((diff0 + diff1)/2)/(oneCellCountMomentum); |
vanshg | 39:058fb32c24e0 | 319 | redLed.write(1); |
vanshg | 39:058fb32c24e0 | 320 | greenLed.write(0); |
vanshg | 39:058fb32c24e0 | 321 | blueLed.write(0); |
sahilmgandhi | 33:68ce1f74ab5f | 322 | // serial.printf("Going to go over to move forward with encoder, and passing %f\n", valToPass); |
sahilmgandhi | 26:d20f1adac2d3 | 323 | moveForwardEncoder(valToPass); |
sahilmgandhi | 33:68ce1f74ab5f | 324 | continue; |
vanshg | 39:058fb32c24e0 | 325 | } else if (receiverThreeReading < IRP_3.sensorAvg/LRAvg) { // right wall gone RED |
christine222 | 25:f827a8b7880e | 326 | state = 1; |
christine222 | 25:f827a8b7880e | 327 | redLed.write(0); |
christine222 | 25:f827a8b7880e | 328 | greenLed.write(1); |
christine222 | 25:f827a8b7880e | 329 | blueLed.write(1); |
vanshg | 39:058fb32c24e0 | 330 | } else if (receiverTwoReading < IRP_2.sensorAvg/LRAvg) { // left wall gone |
christine222 | 25:f827a8b7880e | 331 | // BLUE BLUE BLUE BLUE |
christine222 | 25:f827a8b7880e | 332 | state = 2; |
christine222 | 25:f827a8b7880e | 333 | redLed.write(1); |
christine222 | 25:f827a8b7880e | 334 | greenLed.write(1); |
christine222 | 25:f827a8b7880e | 335 | blueLed.write(0); |
sahilmgandhi | 33:68ce1f74ab5f | 336 | } else if ((receiverTwoReading > ((IRP_2.sensorAvg)*averageDivUpper)) && (receiverThreeReading > ((IRP_3.sensorAvg)*averageDivUpper))) { |
christine222 | 25:f827a8b7880e | 337 | // both walls there |
christine222 | 25:f827a8b7880e | 338 | state = 0; |
christine222 | 25:f827a8b7880e | 339 | redLed.write(1); |
christine222 | 25:f827a8b7880e | 340 | greenLed.write(0); |
christine222 | 25:f827a8b7880e | 341 | blueLed.write(1); |
christine222 | 25:f827a8b7880e | 342 | } |
christine222 | 25:f827a8b7880e | 343 | |
kyleliangus | 32:69acb14778ea | 344 | //serial.printf("Entering switch\n"); |
sahilmgandhi | 31:9b71b44e0867 | 345 | switch(state) { |
sahilmgandhi | 31:9b71b44e0867 | 346 | case(0): { // both walls there |
sahilmgandhi | 33:68ce1f74ab5f | 347 | currentError = ( receiverTwoReading - IRP_2.sensorAvg) - ( receiverThreeReading - IRP_3.sensorAvg); |
christine222 | 25:f827a8b7880e | 348 | break; |
christine222 | 25:f827a8b7880e | 349 | } |
sahilmgandhi | 31:9b71b44e0867 | 350 | case(1): { // RED RED RED RED RED |
sahilmgandhi | 33:68ce1f74ab5f | 351 | currentError = (receiverTwoReading - IRP_2.sensorAvg) - (IRP_3.sensorAvg*0.001); |
sahilmgandhi | 31:9b71b44e0867 | 352 | break; |
christine222 | 25:f827a8b7880e | 353 | } |
sahilmgandhi | 31:9b71b44e0867 | 354 | case(2): { // blue |
sahilmgandhi | 33:68ce1f74ab5f | 355 | currentError = (IRP_2.sensorAvg*0.001) - (receiverThreeReading - IRP_3.sensorAvg); |
christine222 | 25:f827a8b7880e | 356 | break; |
christine222 | 25:f827a8b7880e | 357 | } |
sahilmgandhi | 31:9b71b44e0867 | 358 | default: { |
sahilmgandhi | 33:68ce1f74ab5f | 359 | currentError = ( receiverTwoReading - IRP_2.sensorAvg) - ( receiverThreeReading - IRP_3.sensorAvg); |
christine222 | 25:f827a8b7880e | 360 | break; |
christine222 | 25:f827a8b7880e | 361 | } |
christine222 | 25:f827a8b7880e | 362 | } |
kyleliangus | 32:69acb14778ea | 363 | //serial.printf("Exiting switch"); |
christine222 | 25:f827a8b7880e | 364 | |
christine222 | 25:f827a8b7880e | 365 | sumError += currentError; |
christine222 | 25:f827a8b7880e | 366 | derivError = currentError - previousError; |
christine222 | 25:f827a8b7880e | 367 | double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; |
vanshg | 39:058fb32c24e0 | 368 | |
vanshg | 39:058fb32c24e0 | 369 | double prev0 = encoder0.getPulses(); |
vanshg | 39:058fb32c24e0 | 370 | double prev1 = encoder1.getPulses(); |
vanshg | 39:058fb32c24e0 | 371 | double diff0 = desiredCount0 - prev0; |
vanshg | 39:058fb32c24e0 | 372 | double diff1 = desiredCount1 - prev1; |
vanshg | 39:058fb32c24e0 | 373 | double kp = .1/1000; |
vanshg | 39:058fb32c24e0 | 374 | |
vanshg | 39:058fb32c24e0 | 375 | |
vanshg | 39:058fb32c24e0 | 376 | rightSpeed = HIGH_PWM_VOLTAGE_R; |
vanshg | 39:058fb32c24e0 | 377 | leftSpeed = HIGH_PWM_VOLTAGE_L; |
vanshg | 39:058fb32c24e0 | 378 | if (diff1 < 1000 || diff0 < 1000) { |
vanshg | 39:058fb32c24e0 | 379 | rightSpeed = kp * HIGH_PWM_VOLTAGE_R; |
vanshg | 39:058fb32c24e0 | 380 | leftSpeed = kp * HIGH_PWM_VOLTAGE_L; |
vanshg | 39:058fb32c24e0 | 381 | } |
vanshg | 39:058fb32c24e0 | 382 | |
christine222 | 25:f827a8b7880e | 383 | if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down |
vanshg | 39:058fb32c24e0 | 384 | rightSpeed = rightSpeed - abs(PIDSum*HIGH_PWM_VOLTAGE_R); |
vanshg | 39:058fb32c24e0 | 385 | leftSpeed = leftSpeed + abs(PIDSum*HIGH_PWM_VOLTAGE_L); |
christine222 | 25:f827a8b7880e | 386 | } else { // r is faster than L. speed up l, slow down r |
vanshg | 39:058fb32c24e0 | 387 | rightSpeed = rightSpeed + abs(PIDSum*HIGH_PWM_VOLTAGE_R); |
vanshg | 39:058fb32c24e0 | 388 | leftSpeed = leftSpeed - abs(PIDSum*HIGH_PWM_VOLTAGE_L); |
sahilmgandhi | 31:9b71b44e0867 | 389 | } |
sahilmgandhi | 34:69342782fb68 | 390 | |
vanshg | 39:058fb32c24e0 | 391 | |
kyleliangus | 32:69acb14778ea | 392 | //serial.printf("%f, %f\n", leftSpeed, rightSpeed); |
christine222 | 25:f827a8b7880e | 393 | if (leftSpeed > 0.30) leftSpeed = 0.30; |
christine222 | 25:f827a8b7880e | 394 | if (leftSpeed < 0) leftSpeed = 0; |
christine222 | 25:f827a8b7880e | 395 | if (rightSpeed > 0.30) rightSpeed = 0.30; |
christine222 | 25:f827a8b7880e | 396 | if (rightSpeed < 0) rightSpeed = 0; |
sahilmgandhi | 31:9b71b44e0867 | 397 | |
christine222 | 25:f827a8b7880e | 398 | right_motor.forward(rightSpeed); |
christine222 | 25:f827a8b7880e | 399 | left_motor.forward(leftSpeed); |
sahilmgandhi | 33:68ce1f74ab5f | 400 | pidOnEncoders(); |
sahilmgandhi | 31:9b71b44e0867 | 401 | |
christine222 | 25:f827a8b7880e | 402 | previousError = currentError; |
sahilmgandhi | 26:d20f1adac2d3 | 403 | } |
sahilmgandhi | 34:69342782fb68 | 404 | |
sahilmgandhi | 34:69342782fb68 | 405 | // GO BACK A BIT BEFORE BRAKING?? |
sahilmgandhi | 34:69342782fb68 | 406 | left_motor.backward(0.01); |
sahilmgandhi | 34:69342782fb68 | 407 | right_motor.backward(0.01); |
sahilmgandhi | 37:3dcc95e9321c | 408 | wait_us(150); |
sahilmgandhi | 34:69342782fb68 | 409 | // DELETE THIS IF IT DOES NOT WORK!! |
sahilmgandhi | 34:69342782fb68 | 410 | |
sahilmgandhi | 34:69342782fb68 | 411 | left_motor.brake(); |
sahilmgandhi | 34:69342782fb68 | 412 | right_motor.brake(); |
sahilmgandhi | 31:9b71b44e0867 | 413 | if (encoder0.getPulses() >= 0.6*desiredCount0 && encoder1.getPulses() >= 0.6*desiredCount1) { |
sahilmgandhi | 31:9b71b44e0867 | 414 | if (currDir % 4 == 0) { |
sahilmgandhi | 31:9b71b44e0867 | 415 | mouseY += 1; |
sahilmgandhi | 31:9b71b44e0867 | 416 | } else if (currDir % 4 == 1) { |
kyleliangus | 32:69acb14778ea | 417 | mouseX += 1; |
sahilmgandhi | 31:9b71b44e0867 | 418 | } else if (currDir % 4 == 2) { |
sahilmgandhi | 28:8126a4d620e8 | 419 | mouseY -= 1; |
sahilmgandhi | 31:9b71b44e0867 | 420 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 28:8126a4d620e8 | 421 | mouseX -= 1; |
sahilmgandhi | 28:8126a4d620e8 | 422 | } |
sahilmgandhi | 31:9b71b44e0867 | 423 | |
sahilmgandhi | 31:9b71b44e0867 | 424 | // the mouse has moved forward, we need to update the wall map now |
sahilmgandhi | 33:68ce1f74ab5f | 425 | receiverOneReading = IRP_1.getSamples(75); |
sahilmgandhi | 33:68ce1f74ab5f | 426 | receiverTwoReading = IRP_2.getSamples(75); |
sahilmgandhi | 33:68ce1f74ab5f | 427 | receiverThreeReading = IRP_3.getSamples(75); |
sahilmgandhi | 33:68ce1f74ab5f | 428 | receiverFourReading = IRP_4.getSamples(75); |
sahilmgandhi | 31:9b71b44e0867 | 429 | |
vanshg | 39:058fb32c24e0 | 430 | // serial.printf("R1: %f \t R4: %f \t R1Avg: %f \t R4Avg: %f\n", receiverOneReading, receiverFourReading, IRP_1.sensorAvg, IRP_4.sensorAvg); |
vanshg | 39:058fb32c24e0 | 431 | // serial.printf("R2: %f \t R3: %f \t R2Avg: %f \t R3Avg: %f\n", receiverTwoReading, receiverThreeReading, IRP_2.sensorAvg, IRP_3.sensorAvg); |
vanshg | 39:058fb32c24e0 | 432 | |
vanshg | 39:058fb32c24e0 | 433 | if (receiverOneReading >= IRP_1.sensorAvg * 2.5 || receiverFourReading >= IRP_4.sensorAvg * 2.5) { |
vanshg | 39:058fb32c24e0 | 434 | // serial.printf("Front wall is there\n"); |
sahilmgandhi | 31:9b71b44e0867 | 435 | if (currDir % 4 == 0) { |
sahilmgandhi | 31:9b71b44e0867 | 436 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 437 | } else if (currDir % 4 == 1) { |
sahilmgandhi | 31:9b71b44e0867 | 438 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 439 | } else if (currDir % 4 == 2) { |
vanshg | 39:058fb32c24e0 | 440 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL; |
vanshg | 39:058fb32c24e0 | 441 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 31:9b71b44e0867 | 442 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= L_WALL; |
vanshg | 39:058fb32c24e0 | 443 | } |
vanshg | 39:058fb32c24e0 | 444 | } |
vanshg | 39:058fb32c24e0 | 445 | if((receiverThreeReading < IRP_3.sensorAvg/5) && (receiverTwoReading < IRP_2.sensorAvg/5)) { |
vanshg | 39:058fb32c24e0 | 446 | // do nothing, the walls are not there |
vanshg | 39:058fb32c24e0 | 447 | } else if (receiverThreeReading < IRP_3.sensorAvg/LRAvg) { // right wall gone, left wall is there RED |
vanshg | 39:058fb32c24e0 | 448 | // serial.printf("Left wall\n"); |
vanshg | 39:058fb32c24e0 | 449 | if (currDir % 4 == 0) { |
vanshg | 39:058fb32c24e0 | 450 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= L_WALL; |
vanshg | 39:058fb32c24e0 | 451 | } else if (currDir % 4 == 1) { |
vanshg | 39:058fb32c24e0 | 452 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL; |
vanshg | 39:058fb32c24e0 | 453 | } else if (currDir % 4 == 2) { |
vanshg | 39:058fb32c24e0 | 454 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 455 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 31:9b71b44e0867 | 456 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 457 | } |
vanshg | 39:058fb32c24e0 | 458 | } else if (receiverTwoReading < IRP_2.sensorAvg/LRAvg) { // left wall gone, right wall is there |
vanshg | 39:058fb32c24e0 | 459 | // serial.printf("Right wall\n"); |
sahilmgandhi | 31:9b71b44e0867 | 460 | if (currDir % 4 == 0) { |
vanshg | 39:058fb32c24e0 | 461 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 462 | } else if (currDir % 4 == 1) { |
vanshg | 39:058fb32c24e0 | 463 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 464 | } else if (currDir % 4 == 2) { |
vanshg | 39:058fb32c24e0 | 465 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= L_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 466 | } else if (currDir % 4 == 3) { |
vanshg | 39:058fb32c24e0 | 467 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 468 | } |
vanshg | 39:058fb32c24e0 | 469 | } else if ((receiverTwoReading > ((IRP_2.sensorAvg)*averageDivUpper)) && (receiverThreeReading > ((IRP_3.sensorAvg)*averageDivUpper))) { |
vanshg | 39:058fb32c24e0 | 470 | // serial.printf("Both walls \n"); |
vanshg | 39:058fb32c24e0 | 471 | if (currDir %4 == 0){ |
vanshg | 39:058fb32c24e0 | 472 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= R_WALL; |
vanshg | 39:058fb32c24e0 | 473 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= L_WALL; |
vanshg | 39:058fb32c24e0 | 474 | } else if (currDir %4 == 1){ |
vanshg | 39:058fb32c24e0 | 475 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= F_WALL; |
vanshg | 39:058fb32c24e0 | 476 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= B_WALL; |
vanshg | 39:058fb32c24e0 | 477 | } else if (currDir % 4 == 2){ |
vanshg | 39:058fb32c24e0 | 478 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= R_WALL; |
vanshg | 39:058fb32c24e0 | 479 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= L_WALL; |
vanshg | 39:058fb32c24e0 | 480 | } else if (currDir %4 == 3){ |
vanshg | 39:058fb32c24e0 | 481 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= F_WALL; |
vanshg | 39:058fb32c24e0 | 482 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= B_WALL; |
sahilmgandhi | 31:9b71b44e0867 | 483 | } |
sahilmgandhi | 31:9b71b44e0867 | 484 | } |
sahilmgandhi | 26:d20f1adac2d3 | 485 | } |
sahilmgandhi | 17:f713758f6238 | 486 | } |
christine222 | 25:f827a8b7880e | 487 | |
sahilmgandhi | 34:69342782fb68 | 488 | bool isWallInFront(int x, int y) |
sahilmgandhi | 34:69342782fb68 | 489 | { |
sahilmgandhi | 27:02ce1040f331 | 490 | return (wallArray[MAZE_LEN - y - 1][x] & F_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 491 | } |
sahilmgandhi | 34:69342782fb68 | 492 | bool isWallInBack(int x, int y) |
sahilmgandhi | 34:69342782fb68 | 493 | { |
sahilmgandhi | 27:02ce1040f331 | 494 | return (wallArray[MAZE_LEN - y - 1][x] & B_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 495 | } |
sahilmgandhi | 34:69342782fb68 | 496 | bool isWallOnRight(int x, int y) |
sahilmgandhi | 34:69342782fb68 | 497 | { |
sahilmgandhi | 27:02ce1040f331 | 498 | return (wallArray[MAZE_LEN - y - 1][x] & R_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 499 | } |
sahilmgandhi | 34:69342782fb68 | 500 | bool isWallOnLeft(int x, int y) |
sahilmgandhi | 34:69342782fb68 | 501 | { |
sahilmgandhi | 27:02ce1040f331 | 502 | return (wallArray[MAZE_LEN - y - 1][x] & L_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 503 | } |
sahilmgandhi | 26:d20f1adac2d3 | 504 | |
sahilmgandhi | 31:9b71b44e0867 | 505 | int chooseNextMovement() |
sahilmgandhi | 31:9b71b44e0867 | 506 | { |
sahilmgandhi | 26:d20f1adac2d3 | 507 | int currentDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX]; |
sahilmgandhi | 31:9b71b44e0867 | 508 | if (goingToCenter && (currentDistance == 0)) { |
sahilmgandhi | 26:d20f1adac2d3 | 509 | goingToCenter = false; |
sahilmgandhi | 26:d20f1adac2d3 | 510 | changeManhattanDistance(goingToCenter); |
sahilmgandhi | 31:9b71b44e0867 | 511 | } else if (!goingToCenter && (currentDistance == 0)) { |
kyleliangus | 32:69acb14778ea | 512 | goingToCenter = true; |
sahilmgandhi | 26:d20f1adac2d3 | 513 | changeManhattanDistance(goingToCenter); |
sahilmgandhi | 26:d20f1adac2d3 | 514 | } |
sahilmgandhi | 26:d20f1adac2d3 | 515 | |
sahilmgandhi | 26:d20f1adac2d3 | 516 | visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 517 | int currX = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 518 | int currY = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 519 | int currDist = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 520 | int dirToGo = 0; |
sahilmgandhi | 31:9b71b44e0867 | 521 | if (!justTurned) { |
sahilmgandhi | 26:d20f1adac2d3 | 522 | cellsToVisit.push(make_pair(mouseX, mouseY)); |
sahilmgandhi | 26:d20f1adac2d3 | 523 | while (!cellsToVisit.empty()) { |
sahilmgandhi | 26:d20f1adac2d3 | 524 | pair<int, int> curr = cellsToVisit.top(); |
sahilmgandhi | 26:d20f1adac2d3 | 525 | cellsToVisit.pop(); |
sahilmgandhi | 26:d20f1adac2d3 | 526 | currX = curr.first; |
sahilmgandhi | 26:d20f1adac2d3 | 527 | currY = curr.second; |
sahilmgandhi | 26:d20f1adac2d3 | 528 | currDist = manhattanDistances[(MAZE_LEN - 1) - currY][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 529 | int minDist = INT_MAX; |
sahilmgandhi | 26:d20f1adac2d3 | 530 | |
sahilmgandhi | 31:9b71b44e0867 | 531 | 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 | 532 | if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 533 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 534 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 535 | } |
sahilmgandhi | 26:d20f1adac2d3 | 536 | } |
sahilmgandhi | 27:02ce1040f331 | 537 | if (currX - 1 >= 0 && !isWallOnLeft(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 538 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX - 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 539 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 540 | } |
sahilmgandhi | 26:d20f1adac2d3 | 541 | } |
sahilmgandhi | 27:02ce1040f331 | 542 | if (currY + 1 < MAZE_LEN && !isWallInFront( currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 543 | if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 544 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 545 | } |
sahilmgandhi | 26:d20f1adac2d3 | 546 | } |
sahilmgandhi | 27:02ce1040f331 | 547 | if (currY - 1 >= 0 && !isWallInBack(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 548 | if (manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 549 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 550 | } |
sahilmgandhi | 26:d20f1adac2d3 | 551 | } |
sahilmgandhi | 26:d20f1adac2d3 | 552 | } else { |
sahilmgandhi | 26:d20f1adac2d3 | 553 | if (currX + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 554 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 555 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 556 | } |
sahilmgandhi | 26:d20f1adac2d3 | 557 | } |
sahilmgandhi | 26:d20f1adac2d3 | 558 | if (currX - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 559 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX - 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 560 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 561 | } |
sahilmgandhi | 26:d20f1adac2d3 | 562 | } |
sahilmgandhi | 26:d20f1adac2d3 | 563 | if (currY + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 564 | if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 565 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 566 | } |
sahilmgandhi | 26:d20f1adac2d3 | 567 | } |
sahilmgandhi | 26:d20f1adac2d3 | 568 | if (currY - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 569 | if (manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 570 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 571 | } |
sahilmgandhi | 26:d20f1adac2d3 | 572 | } |
sahilmgandhi | 26:d20f1adac2d3 | 573 | } |
sahilmgandhi | 26:d20f1adac2d3 | 574 | |
sahilmgandhi | 26:d20f1adac2d3 | 575 | if (minDist == INT_MAX) |
sahilmgandhi | 26:d20f1adac2d3 | 576 | continue; |
sahilmgandhi | 26:d20f1adac2d3 | 577 | if (currDist > minDist) |
sahilmgandhi | 26:d20f1adac2d3 | 578 | continue; |
sahilmgandhi | 26:d20f1adac2d3 | 579 | if (currDist <= minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 580 | manhattanDistances[MAZE_LEN - 1 - currY][currX] = minDist + 1; |
sahilmgandhi | 26:d20f1adac2d3 | 581 | } |
sahilmgandhi | 26:d20f1adac2d3 | 582 | if (hasVisited(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 583 | if (currY + 1 < MAZE_LEN && !isWallInFront(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 584 | cellsToVisit.push(make_pair(currX, currY + 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 585 | } |
sahilmgandhi | 26:d20f1adac2d3 | 586 | if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 587 | cellsToVisit.push(make_pair(currX + 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 588 | } |
sahilmgandhi | 26:d20f1adac2d3 | 589 | if (currY - 1 >= 0 && !isWallInBack(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 590 | cellsToVisit.push(make_pair(currX, currY - 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 591 | } |
sahilmgandhi | 26:d20f1adac2d3 | 592 | if (currX - 1 >= 0 && !isWallOnLeft( currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 593 | cellsToVisit.push(make_pair(currX - 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 594 | } |
sahilmgandhi | 26:d20f1adac2d3 | 595 | } else { |
sahilmgandhi | 26:d20f1adac2d3 | 596 | if (currY + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 597 | cellsToVisit.push(make_pair(currX, currY + 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 598 | } |
sahilmgandhi | 26:d20f1adac2d3 | 599 | if (currX + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 600 | cellsToVisit.push(make_pair(currX + 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 601 | } |
sahilmgandhi | 26:d20f1adac2d3 | 602 | if (currY - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 603 | cellsToVisit.push(make_pair(currX, currY - 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 604 | } |
sahilmgandhi | 26:d20f1adac2d3 | 605 | if (currX - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 606 | cellsToVisit.push(make_pair(currX - 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 607 | } |
sahilmgandhi | 26:d20f1adac2d3 | 608 | } |
sahilmgandhi | 26:d20f1adac2d3 | 609 | } |
sahilmgandhi | 26:d20f1adac2d3 | 610 | |
sahilmgandhi | 26:d20f1adac2d3 | 611 | int minDistance = INT_MAX; |
sahilmgandhi | 26:d20f1adac2d3 | 612 | if (currDir % 4 == 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 613 | if (mouseX + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 614 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 615 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 616 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 617 | } |
sahilmgandhi | 26:d20f1adac2d3 | 618 | } |
sahilmgandhi | 26:d20f1adac2d3 | 619 | if (mouseX - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 620 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 621 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 622 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 623 | } |
sahilmgandhi | 26:d20f1adac2d3 | 624 | } |
sahilmgandhi | 26:d20f1adac2d3 | 625 | if (mouseY + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 626 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 627 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 628 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 629 | } |
sahilmgandhi | 26:d20f1adac2d3 | 630 | } |
sahilmgandhi | 26:d20f1adac2d3 | 631 | if (mouseY - 1 >= 0 && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 632 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 633 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 634 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 635 | } |
sahilmgandhi | 26:d20f1adac2d3 | 636 | } |
sahilmgandhi | 26:d20f1adac2d3 | 637 | } else if (currDir % 4 == 2) { |
sahilmgandhi | 26:d20f1adac2d3 | 638 | if (mouseX - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 639 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 640 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 641 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 642 | } |
sahilmgandhi | 26:d20f1adac2d3 | 643 | } |
sahilmgandhi | 26:d20f1adac2d3 | 644 | if (mouseX + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 645 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 646 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 647 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 648 | } |
sahilmgandhi | 26:d20f1adac2d3 | 649 | } |
sahilmgandhi | 26:d20f1adac2d3 | 650 | if (mouseY - 1 >= 0 && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 651 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 652 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 653 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 654 | } |
sahilmgandhi | 26:d20f1adac2d3 | 655 | } |
sahilmgandhi | 26:d20f1adac2d3 | 656 | if (mouseY + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 657 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 658 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 659 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 660 | } |
sahilmgandhi | 26:d20f1adac2d3 | 661 | } |
sahilmgandhi | 26:d20f1adac2d3 | 662 | } else if (currDir % 4 == 1) { |
sahilmgandhi | 26:d20f1adac2d3 | 663 | if (mouseY - 1 >= 0 && !isWallOnRight(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 = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 667 | } |
sahilmgandhi | 26:d20f1adac2d3 | 668 | } |
sahilmgandhi | 26:d20f1adac2d3 | 669 | if (mouseY + 1 < MAZE_LEN && !isWallOnLeft(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 = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 673 | } |
sahilmgandhi | 26:d20f1adac2d3 | 674 | } |
sahilmgandhi | 26:d20f1adac2d3 | 675 | if (mouseX + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 676 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 677 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 678 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 679 | } |
sahilmgandhi | 26:d20f1adac2d3 | 680 | } |
sahilmgandhi | 26:d20f1adac2d3 | 681 | if (mouseX - 1 >= 0 && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 682 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 683 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 684 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 685 | } |
sahilmgandhi | 26:d20f1adac2d3 | 686 | } |
sahilmgandhi | 26:d20f1adac2d3 | 687 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 26:d20f1adac2d3 | 688 | if (mouseY + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 689 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 690 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 691 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 692 | } |
sahilmgandhi | 26:d20f1adac2d3 | 693 | } |
sahilmgandhi | 26:d20f1adac2d3 | 694 | if (mouseY - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 695 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 696 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 697 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 698 | } |
sahilmgandhi | 26:d20f1adac2d3 | 699 | } |
sahilmgandhi | 26:d20f1adac2d3 | 700 | if (mouseX - 1 >= 0 && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 701 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 702 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 703 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 704 | } |
sahilmgandhi | 26:d20f1adac2d3 | 705 | } |
sahilmgandhi | 26:d20f1adac2d3 | 706 | if (mouseX + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 707 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 708 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 709 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 710 | } |
sahilmgandhi | 26:d20f1adac2d3 | 711 | } |
sahilmgandhi | 26:d20f1adac2d3 | 712 | } |
sahilmgandhi | 31:9b71b44e0867 | 713 | } else { |
sahilmgandhi | 26:d20f1adac2d3 | 714 | justTurned = false; |
sahilmgandhi | 26:d20f1adac2d3 | 715 | dirToGo = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 716 | } |
sahilmgandhi | 26:d20f1adac2d3 | 717 | |
sahilmgandhi | 26:d20f1adac2d3 | 718 | return dirToGo; |
sahilmgandhi | 26:d20f1adac2d3 | 719 | } |
sahilmgandhi | 26:d20f1adac2d3 | 720 | |
sahilmgandhi | 34:69342782fb68 | 721 | bool hasVisited(int x, int y) |
sahilmgandhi | 34:69342782fb68 | 722 | { |
sahilmgandhi | 26:d20f1adac2d3 | 723 | return visitedCells[MAZE_LEN - 1 - y][x]; |
sahilmgandhi | 26:d20f1adac2d3 | 724 | } |
sahilmgandhi | 26:d20f1adac2d3 | 725 | |
sahilmgandhi | 31:9b71b44e0867 | 726 | void changeManhattanDistance(bool headCenter) |
sahilmgandhi | 31:9b71b44e0867 | 727 | { |
sahilmgandhi | 31:9b71b44e0867 | 728 | if (headCenter) { |
sahilmgandhi | 29:ec2c5a69acd6 | 729 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 730 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 731 | distanceToCenter[i][j] = manhattanDistances[i][j]; |
sahilmgandhi | 26:d20f1adac2d3 | 732 | } |
sahilmgandhi | 26:d20f1adac2d3 | 733 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 734 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 735 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 736 | manhattanDistances[i][j] = distanceToStart[i][j]; |
sahilmgandhi | 26:d20f1adac2d3 | 737 | } |
sahilmgandhi | 26:d20f1adac2d3 | 738 | } |
sahilmgandhi | 31:9b71b44e0867 | 739 | } else { |
sahilmgandhi | 31:9b71b44e0867 | 740 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 741 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 742 | distanceToStart[i][j] = manhattanDistances[i][j]; |
sahilmgandhi | 29:ec2c5a69acd6 | 743 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 744 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 745 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 746 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 747 | manhattanDistances[i][j] = distanceToCenter[i][j]; |
sahilmgandhi | 29:ec2c5a69acd6 | 748 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 749 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 750 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 751 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 752 | |
sahilmgandhi | 31:9b71b44e0867 | 753 | void initializeDistances() |
sahilmgandhi | 31:9b71b44e0867 | 754 | { |
sahilmgandhi | 29:ec2c5a69acd6 | 755 | for (int i = 0; i < MAZE_LEN / 2; i++) { |
sahilmgandhi | 31:9b71b44e0867 | 756 | for (int j = 0; j < MAZE_LEN / 2; j++) { |
sahilmgandhi | 31:9b71b44e0867 | 757 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 758 | } |
sahilmgandhi | 31:9b71b44e0867 | 759 | } |
sahilmgandhi | 31:9b71b44e0867 | 760 | for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) { |
sahilmgandhi | 31:9b71b44e0867 | 761 | for (int j = 0; j < MAZE_LEN / 2; j++) { |
sahilmgandhi | 31:9b71b44e0867 | 762 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 763 | } |
sahilmgandhi | 31:9b71b44e0867 | 764 | } |
sahilmgandhi | 31:9b71b44e0867 | 765 | for (int i = 0; i < MAZE_LEN / 2; i++) { |
sahilmgandhi | 31:9b71b44e0867 | 766 | for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) { |
sahilmgandhi | 31:9b71b44e0867 | 767 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 768 | } |
sahilmgandhi | 31:9b71b44e0867 | 769 | } |
sahilmgandhi | 31:9b71b44e0867 | 770 | for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) { |
sahilmgandhi | 31:9b71b44e0867 | 771 | for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) { |
sahilmgandhi | 31:9b71b44e0867 | 772 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 773 | } |
sahilmgandhi | 31:9b71b44e0867 | 774 | } |
sahilmgandhi | 26:d20f1adac2d3 | 775 | } |
sahilmgandhi | 31:9b71b44e0867 | 776 | |
kyleliangus | 36:9c4cc9944b69 | 777 | void waitButton4() |
kyleliangus | 36:9c4cc9944b69 | 778 | { |
kyleliangus | 36:9c4cc9944b69 | 779 | //serial.printf("%d, %d, %d\n", dipFlags, BUTTON1_FLAG, dipFlags & BUTTON1_FLAG); |
kyleliangus | 36:9c4cc9944b69 | 780 | int init_val = dipFlags & BUTTON4_FLAG; |
kyleliangus | 36:9c4cc9944b69 | 781 | while( (dipFlags & BUTTON4_FLAG) == init_val ) |
kyleliangus | 36:9c4cc9944b69 | 782 | { |
kyleliangus | 36:9c4cc9944b69 | 783 | // do nothing until ready |
kyleliangus | 36:9c4cc9944b69 | 784 | } |
kyleliangus | 36:9c4cc9944b69 | 785 | //serial.printf("%d, %d, %d\n", dipFlags, BUTTON1_FLAG, dipFlags & BUTTON1_FLAG); |
vanshg | 39:058fb32c24e0 | 786 | wait( 3 ); |
kyleliangus | 36:9c4cc9944b69 | 787 | } |
kyleliangus | 36:9c4cc9944b69 | 788 | |
sahilmgandhi | 0:a03c771ab78e | 789 | int main() |
sahilmgandhi | 0:a03c771ab78e | 790 | { |
christine222 | 3:880f15be8c72 | 791 | //Set highest bandwidth. |
christine222 | 23:690b0ca34ee9 | 792 | //gyro.setLpBandwidth(LPFBW_42HZ); |
sahilmgandhi | 29:ec2c5a69acd6 | 793 | initializeDistances(); |
christine222 | 3:880f15be8c72 | 794 | serial.baud(9600); |
christine222 | 23:690b0ca34ee9 | 795 | //serial.printf("The gyro's address is %s", gyro.getWhoAmI()); |
sahilmgandhi | 31:9b71b44e0867 | 796 | |
sahilmgandhi | 1:8a4b2f573923 | 797 | wait (0.1); |
sahilmgandhi | 31:9b71b44e0867 | 798 | |
sahilmgandhi | 2:771db996cee0 | 799 | redLed.write(1); |
sahilmgandhi | 14:9e7bb03ddccb | 800 | greenLed.write(0); |
sahilmgandhi | 2:771db996cee0 | 801 | blueLed.write(1); |
sahilmgandhi | 31:9b71b44e0867 | 802 | |
kyleliangus | 9:1d8e4da058cd | 803 | //left_motor.forward(0.1); |
kyleliangus | 9:1d8e4da058cd | 804 | //right_motor.forward(0.1); |
sahilmgandhi | 31:9b71b44e0867 | 805 | |
kyleliangus | 8:a0760acdc59e | 806 | // PA_1 is A of right |
kyleliangus | 8:a0760acdc59e | 807 | // PA_0 is B of right |
kyleliangus | 8:a0760acdc59e | 808 | // PA_5 is A of left |
kyleliangus | 8:a0760acdc59e | 809 | // PB_3 is B of left |
vanshg | 11:8fc2b703086b | 810 | //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); |
sahilmgandhi | 26:d20f1adac2d3 | 811 | // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); |
sahilmgandhi | 31:9b71b44e0867 | 812 | |
vanshg | 10:810d1849da9d | 813 | // TODO: Setting all the registers and what not for Quadrature Encoders |
sahilmgandhi | 14:9e7bb03ddccb | 814 | /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3) |
sahilmgandhi | 14:9e7bb03ddccb | 815 | RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B) |
sahilmgandhi | 14:9e7bb03ddccb | 816 | GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2 |
sahilmgandhi | 14:9e7bb03ddccb | 817 | GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5 |
sahilmgandhi | 14:9e7bb03ddccb | 818 | */ |
sahilmgandhi | 31:9b71b44e0867 | 819 | |
kyleliangus | 12:5790e56a056f | 820 | // 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 | 821 | // of alternate function specified |
kyleliangus | 12:5790e56a056f | 822 | // 4 modes sets AHB1ENR |
kyleliangus | 12:5790e56a056f | 823 | // Now TMR: enable clock with timer, APB1ENR |
kyleliangus | 12:5790e56a056f | 824 | // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN |
kyleliangus | 12:5790e56a056f | 825 | // |
kyleliangus | 12:5790e56a056f | 826 | // Encoder mode: disable timer before changing timer to encoder |
kyleliangus | 12:5790e56a056f | 827 | // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use |
kyleliangus | 12:5790e56a056f | 828 | // CCMR sets sample rate and set the channel to input |
kyleliangus | 12:5790e56a056f | 829 | // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels |
kyleliangus | 12:5790e56a056f | 830 | // SMCR - encoder mode |
kyleliangus | 12:5790e56a056f | 831 | // CR1 reenabales |
kyleliangus | 12:5790e56a056f | 832 | // then read CNT reg of timer |
sahilmgandhi | 31:9b71b44e0867 | 833 | |
vanshg | 10:810d1849da9d | 834 | dipButton1.rise(&enableButton1); |
vanshg | 10:810d1849da9d | 835 | dipButton2.rise(&enableButton2); |
vanshg | 10:810d1849da9d | 836 | dipButton3.rise(&enableButton3); |
vanshg | 10:810d1849da9d | 837 | dipButton4.rise(&enableButton4); |
sahilmgandhi | 31:9b71b44e0867 | 838 | |
vanshg | 10:810d1849da9d | 839 | dipButton1.fall(&disableButton1); |
vanshg | 10:810d1849da9d | 840 | dipButton2.fall(&disableButton2); |
vanshg | 10:810d1849da9d | 841 | dipButton3.fall(&disableButton3); |
vanshg | 10:810d1849da9d | 842 | dipButton4.fall(&disableButton4); |
sahilmgandhi | 7:6f5cb6377bd4 | 843 | |
kyleliangus | 36:9c4cc9944b69 | 844 | //waitButton4(); |
kyleliangus | 35:a5bd9ef82210 | 845 | |
sahilmgandhi | 26:d20f1adac2d3 | 846 | // init the wall, and mouse loc arrays: |
sahilmgandhi | 26:d20f1adac2d3 | 847 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] = 0xE; |
sahilmgandhi | 26:d20f1adac2d3 | 848 | visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 849 | |
vanshg | 39:058fb32c24e0 | 850 | int prevEncoder0Count = 0; |
vanshg | 39:058fb32c24e0 | 851 | int prevEncoder1Count = 0; |
vanshg | 39:058fb32c24e0 | 852 | int currEncoder0Count = 0; |
vanshg | 39:058fb32c24e0 | 853 | int currEncoder1Count = 0; |
sahilmgandhi | 28:8126a4d620e8 | 854 | |
vanshg | 39:058fb32c24e0 | 855 | bool overrideFloodFill = false; |
sahilmgandhi | 37:3dcc95e9321c | 856 | right_motor.forward( WHEEL_SPEED ); |
sahilmgandhi | 37:3dcc95e9321c | 857 | left_motor.forward( WHEEL_SPEED ); |
kyleliangus | 36:9c4cc9944b69 | 858 | //turn180(); |
sahilmgandhi | 26:d20f1adac2d3 | 859 | //wait_ms(1500); |
vanshg | 39:058fb32c24e0 | 860 | int nextMovement = 0; |
vanshg | 39:058fb32c24e0 | 861 | |
vanshg | 39:058fb32c24e0 | 862 | |
sahilmgandhi | 26:d20f1adac2d3 | 863 | while (1) { |
vanshg | 39:058fb32c24e0 | 864 | prevEncoder0Count = encoder0.getPulses(); |
vanshg | 39:058fb32c24e0 | 865 | prevEncoder1Count = encoder1.getPulses(); |
vanshg | 39:058fb32c24e0 | 866 | |
vanshg | 39:058fb32c24e0 | 867 | if (!overrideFloodFill){ |
vanshg | 39:058fb32c24e0 | 868 | nextMovement = chooseNextMovement(); |
vanshg | 39:058fb32c24e0 | 869 | serial.printf("MouseX: %d, MouseY: %d\n", mouseX, mouseY); |
vanshg | 39:058fb32c24e0 | 870 | if (nextMovement == 0){ |
vanshg | 39:058fb32c24e0 | 871 | nCellEncoderAndIR(1); |
vanshg | 39:058fb32c24e0 | 872 | } |
vanshg | 39:058fb32c24e0 | 873 | else if (nextMovement == 1){ |
vanshg | 39:058fb32c24e0 | 874 | justTurned = true; |
vanshg | 39:058fb32c24e0 | 875 | turnRight(); |
vanshg | 39:058fb32c24e0 | 876 | } |
vanshg | 39:058fb32c24e0 | 877 | else if (nextMovement == 2){ |
vanshg | 39:058fb32c24e0 | 878 | justTurned = true; |
vanshg | 39:058fb32c24e0 | 879 | turnLeft(); |
vanshg | 39:058fb32c24e0 | 880 | } |
vanshg | 39:058fb32c24e0 | 881 | else if (nextMovement == 3){ |
vanshg | 39:058fb32c24e0 | 882 | nCellEncoderAndIR(1); |
vanshg | 39:058fb32c24e0 | 883 | } |
vanshg | 39:058fb32c24e0 | 884 | else if (nextMovement == 4){ |
vanshg | 39:058fb32c24e0 | 885 | justTurned = true; |
vanshg | 39:058fb32c24e0 | 886 | turn180(); |
vanshg | 39:058fb32c24e0 | 887 | } |
vanshg | 39:058fb32c24e0 | 888 | } |
vanshg | 39:058fb32c24e0 | 889 | else{ |
vanshg | 39:058fb32c24e0 | 890 | overrideFloodFill = false; |
vanshg | 39:058fb32c24e0 | 891 | } |
vanshg | 39:058fb32c24e0 | 892 | currEncoder0Count = encoder0.getPulses(); |
vanshg | 39:058fb32c24e0 | 893 | currEncoder1Count = encoder1.getPulses(); |
vanshg | 39:058fb32c24e0 | 894 | |
vanshg | 39:058fb32c24e0 | 895 | if (!justTurned && (currEncoder0Count <= prevEncoder0Count + 100) && (currEncoder1Count <= prevEncoder1Count + 100) && !overrideFloodFill){ |
vanshg | 39:058fb32c24e0 | 896 | overrideFloodFill = true; |
vanshg | 39:058fb32c24e0 | 897 | waitButton4(); |
vanshg | 39:058fb32c24e0 | 898 | } |
vanshg | 39:058fb32c24e0 | 899 | |
vanshg | 39:058fb32c24e0 | 900 | wait_ms(500); // reduce this once we fine tune this! |
christine222 | 24:e7063765d6f0 | 901 | |
sahilmgandhi | 31:9b71b44e0867 | 902 | |
sahilmgandhi | 34:69342782fb68 | 903 | //////////////////////// TESTING CODE GOES BELOW /////////////////////////// |
kyleliangus | 36:9c4cc9944b69 | 904 | |
vanshg | 39:058fb32c24e0 | 905 | // nCellEncoderAndIR(2); |
vanshg | 39:058fb32c24e0 | 906 | // waitButton4(); |
sahilmgandhi | 33:68ce1f74ab5f | 907 | // serial.printf("Encoder 0 is : %d \t Encoder 1 is %d\n",encoder0.getPulses(), encoder1.getPulses() ); |
sahilmgandhi | 33:68ce1f74ab5f | 908 | // double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; |
sahilmgandhi | 33:68ce1f74ab5f | 909 | // 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 ); |
christine222 | 3:880f15be8c72 | 910 | } |
sahilmgandhi | 26:d20f1adac2d3 | 911 | } |