MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

main.cpp@36:9c4cc9944b69, 2017-05-27 (annotated)

Committer:
kyleliangus
Date:
Sat May 27 02:40:10 2017 +0000
Revision:
36:9c4cc9944b69
Parent:
35:a5bd9ef82210
Child:
37:3dcc95e9321c
Fixed Right turn, left turn inconsistent

Who changed what in which revision?

UserRevisionLine numberNew 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 33:68ce1f74ab5f 41 #define IP_CONSTANT 1.93
kyleliangus 35:a5bd9ef82210 42 #define II_CONSTANT 0.0001
sahilmgandhi 33:68ce1f74ab5f 43 #define ID_CONSTANT 0.175
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 20:82836745332e 52 left_motor.forward(0.125);
sahilmgandhi 20:82836745332e 53 right_motor.forward(0.095);
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 33:68ce1f74ab5f 89 double speed0 = 0.11;
sahilmgandhi 33:68ce1f74ab5f 90 double speed1 = 0.13;
christine222 21:9a6cb07bdcb6 91 right_motor.move(speed0);
christine222 21:9a6cb07bdcb6 92 left_motor.move(speed1);
sahilmgandhi 31:9b71b44e0867 93
sahilmgandhi 33:68ce1f74ab5f 94 while( ((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200)*num && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)*num)) {
sahilmgandhi 31:9b71b44e0867 95 //while( (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4 ){
christine222 21:9a6cb07bdcb6 96 //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ));
sahilmgandhi 31:9b71b44e0867 97
christine222 21:9a6cb07bdcb6 98 count0 = encoder0.getPulses() - initial0;
christine222 21:9a6cb07bdcb6 99 count1 = encoder1.getPulses() - initial1;
christine222 21:9a6cb07bdcb6 100 int x = count0 - count1;
christine222 21:9a6cb07bdcb6 101 //double d = kp * x + kd * ( x - prev );
christine222 21:9a6cb07bdcb6 102 double kppart = kp * x;
christine222 21:9a6cb07bdcb6 103 double kdpart = kd * (x-prev);
christine222 21:9a6cb07bdcb6 104 double d = kppart + kdpart;
sahilmgandhi 31:9b71b44e0867 105
christine222 21:9a6cb07bdcb6 106 //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 107 if( x < diff - 40 ) { // count1 is bigger, right wheel pushed forward
christine222 21:9a6cb07bdcb6 108 left_motor.move( speed1-0.8*d );
christine222 21:9a6cb07bdcb6 109 right_motor.move( speed0+d );
sahilmgandhi 31:9b71b44e0867 110 } else if( x > diff + 40 ) {
christine222 21:9a6cb07bdcb6 111 left_motor.move( speed1-0.8*d );
christine222 21:9a6cb07bdcb6 112 right_motor.move( speed0+d );
christine222 21:9a6cb07bdcb6 113 }
christine222 21:9a6cb07bdcb6 114 // else
christine222 21:9a6cb07bdcb6 115 // {
christine222 21:9a6cb07bdcb6 116 // left_motor.brake();
sahilmgandhi 31:9b71b44e0867 117 // right_motor.brake();
christine222 21:9a6cb07bdcb6 118 // }
sahilmgandhi 31:9b71b44e0867 119 prev = x;
christine222 21:9a6cb07bdcb6 120 }
sahilmgandhi 31:9b71b44e0867 121
christine222 21:9a6cb07bdcb6 122 //pidOnEncoders();
christine222 23:690b0ca34ee9 123 //pidBrake();
christine222 23:690b0ca34ee9 124 right_motor.brake();
christine222 23:690b0ca34ee9 125 left_motor.brake();
christine222 23:690b0ca34ee9 126 return;
christine222 23:690b0ca34ee9 127 }
sahilmgandhi 31:9b71b44e0867 128
sahilmgandhi 31:9b71b44e0867 129
sahilmgandhi 31:9b71b44e0867 130 void moveForwardWallEncoder()
sahilmgandhi 31:9b71b44e0867 131 {
sahilmgandhi 31:9b71b44e0867 132 int count0;
christine222 23:690b0ca34ee9 133 int count1;
christine222 23:690b0ca34ee9 134 count0 = encoder0.getPulses();
christine222 23:690b0ca34ee9 135 count1 = encoder1.getPulses();
christine222 23:690b0ca34ee9 136 int initial1 = count1;
christine222 23:690b0ca34ee9 137 int initial0 = count0;
christine222 23:690b0ca34ee9 138 int diff = count0 - count1;
christine222 23:690b0ca34ee9 139 double kp = 0.00015;
christine222 23:690b0ca34ee9 140 double kd = 0.00019;
christine222 23:690b0ca34ee9 141 int prev = 0;
christine222 25:f827a8b7880e 142
christine222 25:f827a8b7880e 143 double speed0 = 0.11;
christine222 25:f827a8b7880e 144 double speed1 = 0.13;
christine222 23:690b0ca34ee9 145 right_motor.move(speed0);
christine222 23:690b0ca34ee9 146 left_motor.move(speed1);
christine222 23:690b0ca34ee9 147
kyleliangus 32:69acb14778ea 148 double ir1 = IRP_1.getSamples(50);
kyleliangus 32:69acb14778ea 149 double ir4 = IRP_4.getSamples(50);
christine222 25:f827a8b7880e 150
sahilmgandhi 31:9b71b44e0867 151 if((ir1 + ir4)/2 > ((IRP_1.sensorAvg+IRP_4.sensorAvg)/2)*0.4) {
christine222 24:e7063765d6f0 152 return;
christine222 24:e7063765d6f0 153 }
christine222 25:f827a8b7880e 154
christine222 23:690b0ca34ee9 155 //while((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) {
christine222 25:f827a8b7880e 156 //while( (ir1 + ir4)/2 < ((IRP_1.sensorAvg+IRP_4.sensorAvg)/2)*0.4 ){
sahilmgandhi 31:9b71b44e0867 157 while( ir1 < IRP_1.sensorAvg*0.7 || ir4 < IRP_4.sensorAvg*0.7 ) {
christine222 23:690b0ca34ee9 158 //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ));
sahilmgandhi 31:9b71b44e0867 159
christine222 23:690b0ca34ee9 160 count0 = encoder0.getPulses() - initial0;
christine222 23:690b0ca34ee9 161 count1 = encoder1.getPulses() - initial1;
christine222 23:690b0ca34ee9 162 int x = count0 - count1;
christine222 23:690b0ca34ee9 163 //double d = kp * x + kd * ( x - prev );
christine222 23:690b0ca34ee9 164 double kppart = kp * x;
christine222 23:690b0ca34ee9 165 double kdpart = kd * (x-prev);
christine222 23:690b0ca34ee9 166 double d = kppart + kdpart;
sahilmgandhi 31:9b71b44e0867 167
christine222 23:690b0ca34ee9 168 //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 169 if( x < diff - 40 ) { // count1 is bigger, right wheel pushed forward
christine222 23:690b0ca34ee9 170 left_motor.move( speed1-0.8*d );
christine222 23:690b0ca34ee9 171 right_motor.move( speed0+d );
sahilmgandhi 31:9b71b44e0867 172 } else if( x > diff + 40 ) {
christine222 23:690b0ca34ee9 173 left_motor.move( speed1-0.8*d );
christine222 23:690b0ca34ee9 174 right_motor.move( speed0+d );
christine222 23:690b0ca34ee9 175 }
christine222 23:690b0ca34ee9 176 // else
christine222 23:690b0ca34ee9 177 // {
christine222 23:690b0ca34ee9 178 // left_motor.brake();
sahilmgandhi 31:9b71b44e0867 179 // right_motor.brake();
christine222 23:690b0ca34ee9 180 // }
sahilmgandhi 31:9b71b44e0867 181 prev = x;
christine222 25:f827a8b7880e 182 ir1 = IRP_1.getSamples(50);
christine222 25:f827a8b7880e 183 ir4 = IRP_4.getSamples(50);
christine222 23:690b0ca34ee9 184 }
christine222 25:f827a8b7880e 185
christine222 23:690b0ca34ee9 186 //pidOnEncoders();
christine222 23:690b0ca34ee9 187 //pidBrake();
christine222 23:690b0ca34ee9 188 right_motor.brake();
christine222 23:690b0ca34ee9 189 left_motor.brake();
christine222 21:9a6cb07bdcb6 190 return;
christine222 21:9a6cb07bdcb6 191 }
sahilmgandhi 31:9b71b44e0867 192
kyleliangus 36:9c4cc9944b69 193 /*
sahilmgandhi 14:9e7bb03ddccb 194 void moveForwardUntilWallIr()
sahilmgandhi 14:9e7bb03ddccb 195 {
kyleliangus 9:1d8e4da058cd 196 double currentError = 0;
kyleliangus 9:1d8e4da058cd 197 double previousError = 0;
kyleliangus 9:1d8e4da058cd 198 double derivError = 0;
kyleliangus 9:1d8e4da058cd 199 double sumError = 0;
christine222 25:f827a8b7880e 200
vanshg 11:8fc2b703086b 201 double HIGH_PWM_VOLTAGE = 0.1;
christine222 25:f827a8b7880e 202
christine222 25:f827a8b7880e 203 double rightSpeed = 0.25;
christine222 25:f827a8b7880e 204 double leftSpeed = 0.23;
christine222 25:f827a8b7880e 205
kyleliangus 9:1d8e4da058cd 206 float ir2 = IRP_2.getSamples( SAMPLE_NUM );
kyleliangus 9:1d8e4da058cd 207 float ir3 = IRP_3.getSamples( SAMPLE_NUM );
christine222 25:f827a8b7880e 208
vanshg 11:8fc2b703086b 209 int count = encoder0.getPulses();
christine222 21:9a6cb07bdcb6 210 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 211
christine222 21:9a6cb07bdcb6 212 if((IRP_2.getSamples(SAMPLE_NUM) < 0.005 || IRP_3.getSamples(SAMPLE_NUM) < 0.005)) {
sahilmgandhi 31:9b71b44e0867 213 //moveForwardWallEncoder();
sahilmgandhi 31:9b71b44e0867 214 } else if(IRP_2.getSamples(SAMPLE_NUM) < 0.005) { // left wall gone
christine222 22:681190ff98f0 215 //moveForwardRightWall();
sahilmgandhi 31:9b71b44e0867 216 } else if(IRP_3.getSamples(SAMPLE_NUM) < 0.005) { // right wall gone
christine222 22:681190ff98f0 217 //moveForwardLeftWall();
sahilmgandhi 31:9b71b44e0867 218 } else {
sahilmgandhi 31:9b71b44e0867 219 // will move forward using encoders only
sahilmgandhi 31:9b71b44e0867 220 // if cell ahead doesn't have a wall on either one side or both sides
christine222 25:f827a8b7880e 221
christine222 21:9a6cb07bdcb6 222 int pulseCount = (encoder0.getPulses()-count) % 5600;
christine222 21:9a6cb07bdcb6 223 if (pulseCount > 5400 && pulseCount < 5800) {
christine222 21:9a6cb07bdcb6 224 blueLed.write(0);
christine222 21:9a6cb07bdcb6 225 } else {
christine222 21:9a6cb07bdcb6 226 blueLed.write(1);
christine222 21:9a6cb07bdcb6 227 }
christine222 21:9a6cb07bdcb6 228 sumError += currentError;
christine222 25:f827a8b7880e 229 currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg/initAverageL) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg/initAverageR) ) ;
christine222 21:9a6cb07bdcb6 230 derivError = currentError - previousError;
christine222 21:9a6cb07bdcb6 231 double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError;
christine222 21:9a6cb07bdcb6 232 if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down
christine222 21:9a6cb07bdcb6 233 rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
christine222 21:9a6cb07bdcb6 234 leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
christine222 21:9a6cb07bdcb6 235 } else { // r is faster than L. speed up l, slow down r
christine222 21:9a6cb07bdcb6 236 rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
christine222 21:9a6cb07bdcb6 237 leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
christine222 21:9a6cb07bdcb6 238 }
christine222 25:f827a8b7880e 239
christine222 21:9a6cb07bdcb6 240 if (leftSpeed > 0.30) leftSpeed = 0.30;
christine222 21:9a6cb07bdcb6 241 if (leftSpeed < 0) leftSpeed = 0;
christine222 21:9a6cb07bdcb6 242 if (rightSpeed > 0.30) rightSpeed = 0.30;
christine222 21:9a6cb07bdcb6 243 if (rightSpeed < 0) rightSpeed = 0;
christine222 25:f827a8b7880e 244
christine222 21:9a6cb07bdcb6 245 right_motor.forward(rightSpeed);
christine222 21:9a6cb07bdcb6 246 left_motor.forward(leftSpeed);
christine222 25:f827a8b7880e 247
christine222 21:9a6cb07bdcb6 248 previousError = currentError;
christine222 25:f827a8b7880e 249
christine222 21:9a6cb07bdcb6 250 ir2 = IRP_2.getSamples( SAMPLE_NUM );
christine222 21:9a6cb07bdcb6 251 ir3 = IRP_3.getSamples( SAMPLE_NUM );
christine222 25:f827a8b7880e 252
kyleliangus 9:1d8e4da058cd 253 }
christine222 21:9a6cb07bdcb6 254 left_motor.brake();
christine222 21:9a6cb07bdcb6 255 right_motor.brake();
kyleliangus 9:1d8e4da058cd 256 }
vanshg 10:810d1849da9d 257 }
kyleliangus 36:9c4cc9944b69 258 */
sahilmgandhi 14:9e7bb03ddccb 259 void printDipFlag()
sahilmgandhi 14:9e7bb03ddccb 260 {
vanshg 11:8fc2b703086b 261 if (DEBUGGING) serial.printf("Flag value is %d", dipFlags);
vanshg 11:8fc2b703086b 262 }
sahilmgandhi 31:9b71b44e0867 263
sahilmgandhi 14:9e7bb03ddccb 264 void enableButton1()
sahilmgandhi 14:9e7bb03ddccb 265 {
vanshg 10:810d1849da9d 266 dipFlags |= BUTTON1_FLAG;
vanshg 11:8fc2b703086b 267 printDipFlag();
vanshg 10:810d1849da9d 268 }
sahilmgandhi 14:9e7bb03ddccb 269 void enableButton2()
sahilmgandhi 14:9e7bb03ddccb 270 {
vanshg 10:810d1849da9d 271 dipFlags |= BUTTON2_FLAG;
vanshg 11:8fc2b703086b 272 printDipFlag();
vanshg 10:810d1849da9d 273 }
sahilmgandhi 14:9e7bb03ddccb 274 void enableButton3()
sahilmgandhi 14:9e7bb03ddccb 275 {
vanshg 10:810d1849da9d 276 dipFlags |= BUTTON3_FLAG;
vanshg 11:8fc2b703086b 277 printDipFlag();
vanshg 10:810d1849da9d 278 }
sahilmgandhi 14:9e7bb03ddccb 279 void enableButton4()
sahilmgandhi 14:9e7bb03ddccb 280 {
vanshg 10:810d1849da9d 281 dipFlags |= BUTTON4_FLAG;
vanshg 11:8fc2b703086b 282 printDipFlag();
vanshg 10:810d1849da9d 283 }
sahilmgandhi 14:9e7bb03ddccb 284 void disableButton1()
sahilmgandhi 14:9e7bb03ddccb 285 {
vanshg 10:810d1849da9d 286 dipFlags &= ~BUTTON1_FLAG;
vanshg 11:8fc2b703086b 287 printDipFlag();
vanshg 10:810d1849da9d 288 }
sahilmgandhi 14:9e7bb03ddccb 289 void disableButton2()
sahilmgandhi 14:9e7bb03ddccb 290 {
vanshg 10:810d1849da9d 291 dipFlags &= ~BUTTON2_FLAG;
vanshg 11:8fc2b703086b 292 printDipFlag();
vanshg 10:810d1849da9d 293 }
sahilmgandhi 14:9e7bb03ddccb 294 void disableButton3()
sahilmgandhi 14:9e7bb03ddccb 295 {
vanshg 10:810d1849da9d 296 dipFlags &= ~BUTTON3_FLAG;
vanshg 11:8fc2b703086b 297 printDipFlag();
vanshg 10:810d1849da9d 298 }
sahilmgandhi 14:9e7bb03ddccb 299 void disableButton4()
sahilmgandhi 14:9e7bb03ddccb 300 {
vanshg 10:810d1849da9d 301 dipFlags &= ~BUTTON4_FLAG;
vanshg 11:8fc2b703086b 302 printDipFlag();
kyleliangus 9:1d8e4da058cd 303 }
sahilmgandhi 31:9b71b44e0867 304
kyleliangus 15:b80555a4a8b9 305 void pidOnEncoders()
kyleliangus 15:b80555a4a8b9 306 {
kyleliangus 15:b80555a4a8b9 307 int count0;
kyleliangus 15:b80555a4a8b9 308 int count1;
kyleliangus 15:b80555a4a8b9 309 count0 = encoder0.getPulses();
kyleliangus 15:b80555a4a8b9 310 count1 = encoder1.getPulses();
kyleliangus 15:b80555a4a8b9 311 int diff = count0 - count1;
sahilmgandhi 33:68ce1f74ab5f 312 double kp = 0.00016;
sahilmgandhi 28:8126a4d620e8 313 double kd = 0.00016;
kyleliangus 15:b80555a4a8b9 314 int prev = 0;
sahilmgandhi 31:9b71b44e0867 315
sahilmgandhi 16:d9252437bd92 316 int counter = 0;
sahilmgandhi 31:9b71b44e0867 317 while(1) {
kyleliangus 15:b80555a4a8b9 318 count0 = encoder0.getPulses();
kyleliangus 15:b80555a4a8b9 319 count1 = encoder1.getPulses();
kyleliangus 15:b80555a4a8b9 320 int x = count0 - count1;
kyleliangus 15:b80555a4a8b9 321 //double d = kp * x + kd * ( x - prev );
kyleliangus 15:b80555a4a8b9 322 double kppart = kp * x;
kyleliangus 15:b80555a4a8b9 323 double kdpart = kd * (x-prev);
kyleliangus 15:b80555a4a8b9 324 double d = kppart + kdpart;
sahilmgandhi 31:9b71b44e0867 325
kyleliangus 15:b80555a4a8b9 326 //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 327 if( x < diff - 60 ) { // count1 is bigger, right wheel pushed forward
kyleliangus 15:b80555a4a8b9 328 left_motor.move( -d );
kyleliangus 15:b80555a4a8b9 329 right_motor.move( d );
sahilmgandhi 31:9b71b44e0867 330 } else if( x > diff + 60 ) {
kyleliangus 15:b80555a4a8b9 331 left_motor.move( -d );
kyleliangus 15:b80555a4a8b9 332 right_motor.move( d );
kyleliangus 15:b80555a4a8b9 333 }
sahilmgandhi 16:d9252437bd92 334 // else
sahilmgandhi 16:d9252437bd92 335 // {
sahilmgandhi 16:d9252437bd92 336 // left_motor.brake();
sahilmgandhi 31:9b71b44e0867 337 // right_motor.brake();
sahilmgandhi 16:d9252437bd92 338 // }
kyleliangus 15:b80555a4a8b9 339 prev = x;
sahilmgandhi 16:d9252437bd92 340 counter++;
sahilmgandhi 28:8126a4d620e8 341 if (counter == 10)
sahilmgandhi 16:d9252437bd92 342 break;
kyleliangus 15:b80555a4a8b9 343 }
kyleliangus 15:b80555a4a8b9 344 }
sahilmgandhi 31:9b71b44e0867 345
sahilmgandhi 31:9b71b44e0867 346 void nCellEncoderAndIR(double cellCount)
sahilmgandhi 31:9b71b44e0867 347 {
sahilmgandhi 19:7b66a518b6f8 348 double currentError = 0;
sahilmgandhi 19:7b66a518b6f8 349 double previousError = 0;
sahilmgandhi 19:7b66a518b6f8 350 double derivError = 0;
sahilmgandhi 19:7b66a518b6f8 351 double sumError = 0;
christine222 25:f827a8b7880e 352
kyleliangus 36:9c4cc9944b69 353 double HIGH_PWM_VOLTAGE_R = 0.11;
kyleliangus 36:9c4cc9944b69 354 double HIGH_PWM_VOLTAGE_L = 0.11;
sahilmgandhi 29:ec2c5a69acd6 355
kyleliangus 36:9c4cc9944b69 356 double rightSpeed = 0.11;
kyleliangus 36:9c4cc9944b69 357 double leftSpeed = 0.11;
christine222 25:f827a8b7880e 358
christine222 25:f827a8b7880e 359 int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellCount;
christine222 25:f827a8b7880e 360 int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellCount;
kyleliangus 32:69acb14778ea 361 serial.printf("%d, %d\n", desiredCount0, desiredCount1 );
christine222 25:f827a8b7880e 362
kyleliangus 36:9c4cc9944b69 363 left_motor.forward(0.11);
kyleliangus 36:9c4cc9944b69 364 right_motor.forward(0.11);
christine222 25:f827a8b7880e 365
sahilmgandhi 19:7b66a518b6f8 366 float ir2 = IRP_2.getSamples( SAMPLE_NUM );
sahilmgandhi 19:7b66a518b6f8 367 float ir3 = IRP_3.getSamples( SAMPLE_NUM );
christine222 25:f827a8b7880e 368
christine222 23:690b0ca34ee9 369 int state = 0;
christine222 23:690b0ca34ee9 370
sahilmgandhi 31:9b71b44e0867 371 while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1) {
sahilmgandhi 33:68ce1f74ab5f 372 // 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 373 receiverTwoReading = IRP_2.getSamples( SAMPLE_NUM );
kyleliangus 32:69acb14778ea 374 receiverThreeReading = IRP_3.getSamples( SAMPLE_NUM );
kyleliangus 32:69acb14778ea 375 receiverOneReading = IRP_1.getSamples( SAMPLE_NUM );
kyleliangus 32:69acb14778ea 376 receiverFourReading = IRP_4.getSamples( SAMPLE_NUM );
sahilmgandhi 33:68ce1f74ab5f 377 // serial.printf("IR2 = %f, IR2AVE = %f, IR3 = %f, IR3_AVE = %f\n", receiverTwoReading, IRP_2.sensorAvg, receiverThreeReading, IRP_3.sensorAvg);
sahilmgandhi 33:68ce1f74ab5f 378 if( receiverOneReading > IRP_1.sensorAvg * 3.4 || receiverFourReading > IRP_4.sensorAvg * 3.4) {
sahilmgandhi 26:d20f1adac2d3 379 break;
sahilmgandhi 26:d20f1adac2d3 380 }
christine222 25:f827a8b7880e 381
sahilmgandhi 33:68ce1f74ab5f 382 if((receiverThreeReading < IRP_3.sensorAvg/5) && (receiverTwoReading < IRP_2.sensorAvg/5)) {
christine222 25:f827a8b7880e 383 // both sides gone
sahilmgandhi 33:68ce1f74ab5f 384 double prev0 = encoder0.getPulses();
sahilmgandhi 33:68ce1f74ab5f 385 double prev1 = encoder1.getPulses();
sahilmgandhi 33:68ce1f74ab5f 386 double diff0 = desiredCount0 - prev0;
sahilmgandhi 33:68ce1f74ab5f 387 double diff1 = desiredCount1 - prev1;
sahilmgandhi 33:68ce1f74ab5f 388 double valToPass = ((diff0 + diff1)/2)/(oneCellCountMomentum);
sahilmgandhi 33:68ce1f74ab5f 389 // serial.printf("Going to go over to move forward with encoder, and passing %f\n", valToPass);
sahilmgandhi 26:d20f1adac2d3 390 moveForwardEncoder(valToPass);
sahilmgandhi 33:68ce1f74ab5f 391 continue;
sahilmgandhi 33:68ce1f74ab5f 392 } else if (receiverThreeReading < IRP_3.sensorAvg/3.5) { // right wall gone RED
christine222 25:f827a8b7880e 393 state = 1;
christine222 25:f827a8b7880e 394 redLed.write(0);
christine222 25:f827a8b7880e 395 greenLed.write(1);
christine222 25:f827a8b7880e 396 blueLed.write(1);
sahilmgandhi 33:68ce1f74ab5f 397 } else if (receiverTwoReading < IRP_2.sensorAvg/3.5) { // left wall gone
christine222 25:f827a8b7880e 398 // BLUE BLUE BLUE BLUE
christine222 25:f827a8b7880e 399 state = 2;
christine222 25:f827a8b7880e 400 redLed.write(1);
christine222 25:f827a8b7880e 401 greenLed.write(1);
christine222 25:f827a8b7880e 402 blueLed.write(0);
sahilmgandhi 33:68ce1f74ab5f 403 } else if ((receiverTwoReading > ((IRP_2.sensorAvg)*averageDivUpper)) && (receiverThreeReading > ((IRP_3.sensorAvg)*averageDivUpper))) {
christine222 25:f827a8b7880e 404 // both walls there
christine222 25:f827a8b7880e 405 state = 0;
christine222 25:f827a8b7880e 406 redLed.write(1);
christine222 25:f827a8b7880e 407 greenLed.write(0);
christine222 25:f827a8b7880e 408 blueLed.write(1);
christine222 25:f827a8b7880e 409 }
christine222 25:f827a8b7880e 410
kyleliangus 32:69acb14778ea 411 //serial.printf("Entering switch\n");
sahilmgandhi 31:9b71b44e0867 412 switch(state) {
sahilmgandhi 31:9b71b44e0867 413 case(0): { // both walls there
sahilmgandhi 33:68ce1f74ab5f 414 currentError = ( receiverTwoReading - IRP_2.sensorAvg) - ( receiverThreeReading - IRP_3.sensorAvg);
christine222 25:f827a8b7880e 415 break;
christine222 25:f827a8b7880e 416 }
sahilmgandhi 31:9b71b44e0867 417 case(1): { // RED RED RED RED RED
sahilmgandhi 33:68ce1f74ab5f 418 currentError = (receiverTwoReading - IRP_2.sensorAvg) - (IRP_3.sensorAvg*0.001);
sahilmgandhi 31:9b71b44e0867 419 break;
christine222 25:f827a8b7880e 420 }
sahilmgandhi 31:9b71b44e0867 421 case(2): { // blue
sahilmgandhi 33:68ce1f74ab5f 422 currentError = (IRP_2.sensorAvg*0.001) - (receiverThreeReading - IRP_3.sensorAvg);
christine222 25:f827a8b7880e 423 break;
christine222 25:f827a8b7880e 424 }
sahilmgandhi 31:9b71b44e0867 425 default: {
sahilmgandhi 33:68ce1f74ab5f 426 currentError = ( receiverTwoReading - IRP_2.sensorAvg) - ( receiverThreeReading - IRP_3.sensorAvg);
christine222 25:f827a8b7880e 427 break;
christine222 25:f827a8b7880e 428 }
christine222 25:f827a8b7880e 429 }
kyleliangus 32:69acb14778ea 430 //serial.printf("Exiting switch");
christine222 25:f827a8b7880e 431
christine222 25:f827a8b7880e 432 sumError += currentError;
christine222 25:f827a8b7880e 433 derivError = currentError - previousError;
christine222 25:f827a8b7880e 434 double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError;
christine222 25:f827a8b7880e 435 if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down
sahilmgandhi 29:ec2c5a69acd6 436 rightSpeed = HIGH_PWM_VOLTAGE_R - abs(PIDSum*HIGH_PWM_VOLTAGE_R);
sahilmgandhi 29:ec2c5a69acd6 437 leftSpeed = HIGH_PWM_VOLTAGE_L + abs(PIDSum*HIGH_PWM_VOLTAGE_L);
christine222 25:f827a8b7880e 438 } else { // r is faster than L. speed up l, slow down r
sahilmgandhi 29:ec2c5a69acd6 439 rightSpeed = HIGH_PWM_VOLTAGE_R + abs(PIDSum*HIGH_PWM_VOLTAGE_R);
sahilmgandhi 29:ec2c5a69acd6 440 leftSpeed = HIGH_PWM_VOLTAGE_L - abs(PIDSum*HIGH_PWM_VOLTAGE_L);
sahilmgandhi 31:9b71b44e0867 441 }
sahilmgandhi 34:69342782fb68 442
kyleliangus 32:69acb14778ea 443 //serial.printf("%f, %f\n", leftSpeed, rightSpeed);
christine222 25:f827a8b7880e 444 if (leftSpeed > 0.30) leftSpeed = 0.30;
christine222 25:f827a8b7880e 445 if (leftSpeed < 0) leftSpeed = 0;
christine222 25:f827a8b7880e 446 if (rightSpeed > 0.30) rightSpeed = 0.30;
christine222 25:f827a8b7880e 447 if (rightSpeed < 0) rightSpeed = 0;
sahilmgandhi 31:9b71b44e0867 448
christine222 25:f827a8b7880e 449 right_motor.forward(rightSpeed);
christine222 25:f827a8b7880e 450 left_motor.forward(leftSpeed);
sahilmgandhi 33:68ce1f74ab5f 451 pidOnEncoders();
sahilmgandhi 31:9b71b44e0867 452
christine222 25:f827a8b7880e 453 previousError = currentError;
sahilmgandhi 26:d20f1adac2d3 454 }
sahilmgandhi 34:69342782fb68 455
sahilmgandhi 34:69342782fb68 456 // GO BACK A BIT BEFORE BRAKING??
sahilmgandhi 34:69342782fb68 457 left_motor.backward(0.01);
sahilmgandhi 34:69342782fb68 458 right_motor.backward(0.01);
sahilmgandhi 34:69342782fb68 459 wait_us(100);
sahilmgandhi 34:69342782fb68 460 // DELETE THIS IF IT DOES NOT WORK!!
sahilmgandhi 34:69342782fb68 461
sahilmgandhi 34:69342782fb68 462 left_motor.brake();
sahilmgandhi 34:69342782fb68 463 right_motor.brake();
sahilmgandhi 31:9b71b44e0867 464 if (encoder0.getPulses() >= 0.6*desiredCount0 && encoder1.getPulses() >= 0.6*desiredCount1) {
sahilmgandhi 31:9b71b44e0867 465 if (currDir % 4 == 0) {
sahilmgandhi 31:9b71b44e0867 466 mouseY += 1;
sahilmgandhi 31:9b71b44e0867 467 } else if (currDir % 4 == 1) {
kyleliangus 32:69acb14778ea 468 mouseX += 1;
sahilmgandhi 31:9b71b44e0867 469 } else if (currDir % 4 == 2) {
sahilmgandhi 28:8126a4d620e8 470 mouseY -= 1;
sahilmgandhi 31:9b71b44e0867 471 } else if (currDir % 4 == 3) {
sahilmgandhi 28:8126a4d620e8 472 mouseX -= 1;
sahilmgandhi 28:8126a4d620e8 473 }
sahilmgandhi 31:9b71b44e0867 474
sahilmgandhi 31:9b71b44e0867 475 // the mouse has moved forward, we need to update the wall map now
sahilmgandhi 33:68ce1f74ab5f 476 receiverOneReading = IRP_1.getSamples(75);
sahilmgandhi 33:68ce1f74ab5f 477 receiverTwoReading = IRP_2.getSamples(75);
sahilmgandhi 33:68ce1f74ab5f 478 receiverThreeReading = IRP_3.getSamples(75);
sahilmgandhi 33:68ce1f74ab5f 479 receiverFourReading = IRP_4.getSamples(75);
sahilmgandhi 31:9b71b44e0867 480
sahilmgandhi 33:68ce1f74ab5f 481 if (receiverOneReading >= 0.3f && receiverFourReading >= 0.3f) {
sahilmgandhi 31:9b71b44e0867 482 if (currDir % 4 == 0) {
sahilmgandhi 31:9b71b44e0867 483 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL;
sahilmgandhi 31:9b71b44e0867 484 } else if (currDir % 4 == 1) {
sahilmgandhi 31:9b71b44e0867 485 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL;
sahilmgandhi 31:9b71b44e0867 486 } else if (currDir % 4 == 2) {
sahilmgandhi 31:9b71b44e0867 487 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= L_WALL;
sahilmgandhi 31:9b71b44e0867 488 } else if (currDir % 4 == 3) {
sahilmgandhi 31:9b71b44e0867 489 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL;
sahilmgandhi 31:9b71b44e0867 490 }
sahilmgandhi 31:9b71b44e0867 491 }
sahilmgandhi 33:68ce1f74ab5f 492 if (receiverThreeReading >= IRP_3.sensorAvg*0.6) {
sahilmgandhi 31:9b71b44e0867 493 if (currDir % 4 == 0) {
sahilmgandhi 31:9b71b44e0867 494 wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL;
sahilmgandhi 31:9b71b44e0867 495 } else if (currDir % 4 == 1) {
sahilmgandhi 31:9b71b44e0867 496 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= B_WALL;
sahilmgandhi 31:9b71b44e0867 497 } else if (currDir % 4 == 2) {
sahilmgandhi 31:9b71b44e0867 498 wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= L_WALL;
sahilmgandhi 31:9b71b44e0867 499 } else if (currDir % 4 == 3) {
sahilmgandhi 31:9b71b44e0867 500 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= F_WALL;
sahilmgandhi 31:9b71b44e0867 501 }
sahilmgandhi 31:9b71b44e0867 502 }
sahilmgandhi 33:68ce1f74ab5f 503 if (receiverTwoReading >= IRP_2.sensorAvg*0.6) {
sahilmgandhi 31:9b71b44e0867 504 if (currDir % 4 == 0) {
sahilmgandhi 31:9b71b44e0867 505 wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL;
sahilmgandhi 31:9b71b44e0867 506 } else if (currDir % 4 == 1) {
sahilmgandhi 31:9b71b44e0867 507 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= F_WALL;
sahilmgandhi 31:9b71b44e0867 508 } else if (currDir % 4 == 2) {
sahilmgandhi 31:9b71b44e0867 509 wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= R_WALL;
sahilmgandhi 31:9b71b44e0867 510 } else if (currDir % 4 == 3) {
sahilmgandhi 31:9b71b44e0867 511 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= B_WALL;
sahilmgandhi 31:9b71b44e0867 512 }
sahilmgandhi 31:9b71b44e0867 513 }
sahilmgandhi 26:d20f1adac2d3 514 }
sahilmgandhi 17:f713758f6238 515 }
christine222 25:f827a8b7880e 516
sahilmgandhi 34:69342782fb68 517 bool isWallInFront(int x, int y)
sahilmgandhi 34:69342782fb68 518 {
sahilmgandhi 27:02ce1040f331 519 return (wallArray[MAZE_LEN - y - 1][x] & F_WALL);
sahilmgandhi 26:d20f1adac2d3 520 }
sahilmgandhi 34:69342782fb68 521 bool isWallInBack(int x, int y)
sahilmgandhi 34:69342782fb68 522 {
sahilmgandhi 27:02ce1040f331 523 return (wallArray[MAZE_LEN - y - 1][x] & B_WALL);
sahilmgandhi 26:d20f1adac2d3 524 }
sahilmgandhi 34:69342782fb68 525 bool isWallOnRight(int x, int y)
sahilmgandhi 34:69342782fb68 526 {
sahilmgandhi 27:02ce1040f331 527 return (wallArray[MAZE_LEN - y - 1][x] & R_WALL);
sahilmgandhi 26:d20f1adac2d3 528 }
sahilmgandhi 34:69342782fb68 529 bool isWallOnLeft(int x, int y)
sahilmgandhi 34:69342782fb68 530 {
sahilmgandhi 27:02ce1040f331 531 return (wallArray[MAZE_LEN - y - 1][x] & L_WALL);
sahilmgandhi 26:d20f1adac2d3 532 }
sahilmgandhi 26:d20f1adac2d3 533
sahilmgandhi 31:9b71b44e0867 534 int chooseNextMovement()
sahilmgandhi 31:9b71b44e0867 535 {
sahilmgandhi 26:d20f1adac2d3 536 int currentDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX];
sahilmgandhi 31:9b71b44e0867 537 if (goingToCenter && (currentDistance == 0)) {
sahilmgandhi 26:d20f1adac2d3 538 goingToCenter = false;
sahilmgandhi 26:d20f1adac2d3 539 changeManhattanDistance(goingToCenter);
sahilmgandhi 31:9b71b44e0867 540 } else if (!goingToCenter && (currentDistance == 0)) {
kyleliangus 32:69acb14778ea 541 goingToCenter = true;
sahilmgandhi 26:d20f1adac2d3 542 changeManhattanDistance(goingToCenter);
sahilmgandhi 26:d20f1adac2d3 543 }
sahilmgandhi 26:d20f1adac2d3 544
sahilmgandhi 26:d20f1adac2d3 545 visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1;
sahilmgandhi 26:d20f1adac2d3 546 int currX = 0;
sahilmgandhi 26:d20f1adac2d3 547 int currY = 0;
sahilmgandhi 26:d20f1adac2d3 548 int currDist = 0;
sahilmgandhi 26:d20f1adac2d3 549 int dirToGo = 0;
sahilmgandhi 31:9b71b44e0867 550 if (!justTurned) {
sahilmgandhi 26:d20f1adac2d3 551 cellsToVisit.push(make_pair(mouseX, mouseY));
sahilmgandhi 26:d20f1adac2d3 552 while (!cellsToVisit.empty()) {
sahilmgandhi 26:d20f1adac2d3 553 pair<int, int> curr = cellsToVisit.top();
sahilmgandhi 26:d20f1adac2d3 554 cellsToVisit.pop();
sahilmgandhi 26:d20f1adac2d3 555 currX = curr.first;
sahilmgandhi 26:d20f1adac2d3 556 currY = curr.second;
sahilmgandhi 26:d20f1adac2d3 557 currDist = manhattanDistances[(MAZE_LEN - 1) - currY][currX];
sahilmgandhi 26:d20f1adac2d3 558 int minDist = INT_MAX;
sahilmgandhi 26:d20f1adac2d3 559
sahilmgandhi 31:9b71b44e0867 560 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 561 if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 562 if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) {
sahilmgandhi 26:d20f1adac2d3 563 minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1];
sahilmgandhi 26:d20f1adac2d3 564 }
sahilmgandhi 26:d20f1adac2d3 565 }
sahilmgandhi 27:02ce1040f331 566 if (currX - 1 >= 0 && !isWallOnLeft(currX, currY)) {
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 27:02ce1040f331 571 if (currY + 1 < MAZE_LEN && !isWallInFront( currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 572 if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) {
sahilmgandhi 26:d20f1adac2d3 573 minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX];
sahilmgandhi 26:d20f1adac2d3 574 }
sahilmgandhi 26:d20f1adac2d3 575 }
sahilmgandhi 27:02ce1040f331 576 if (currY - 1 >= 0 && !isWallInBack(currX, currY)) {
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 } else {
sahilmgandhi 26:d20f1adac2d3 582 if (currX + 1 < MAZE_LEN) {
sahilmgandhi 26:d20f1adac2d3 583 if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) {
sahilmgandhi 26:d20f1adac2d3 584 minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1];
sahilmgandhi 26:d20f1adac2d3 585 }
sahilmgandhi 26:d20f1adac2d3 586 }
sahilmgandhi 26:d20f1adac2d3 587 if (currX - 1 >= 0) {
sahilmgandhi 26:d20f1adac2d3 588 if (manhattanDistances[MAZE_LEN - 1 - currY][currX - 1] < minDist) {
sahilmgandhi 26:d20f1adac2d3 589 minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX - 1];
sahilmgandhi 26:d20f1adac2d3 590 }
sahilmgandhi 26:d20f1adac2d3 591 }
sahilmgandhi 26:d20f1adac2d3 592 if (currY + 1 < MAZE_LEN) {
sahilmgandhi 26:d20f1adac2d3 593 if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) {
sahilmgandhi 26:d20f1adac2d3 594 minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX];
sahilmgandhi 26:d20f1adac2d3 595 }
sahilmgandhi 26:d20f1adac2d3 596 }
sahilmgandhi 26:d20f1adac2d3 597 if (currY - 1 >= 0) {
sahilmgandhi 26:d20f1adac2d3 598 if (manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX] < minDist) {
sahilmgandhi 26:d20f1adac2d3 599 minDist = manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX];
sahilmgandhi 26:d20f1adac2d3 600 }
sahilmgandhi 26:d20f1adac2d3 601 }
sahilmgandhi 26:d20f1adac2d3 602 }
sahilmgandhi 26:d20f1adac2d3 603
sahilmgandhi 26:d20f1adac2d3 604 if (minDist == INT_MAX)
sahilmgandhi 26:d20f1adac2d3 605 continue;
sahilmgandhi 26:d20f1adac2d3 606 if (currDist > minDist)
sahilmgandhi 26:d20f1adac2d3 607 continue;
sahilmgandhi 26:d20f1adac2d3 608 if (currDist <= minDist) {
sahilmgandhi 26:d20f1adac2d3 609 manhattanDistances[MAZE_LEN - 1 - currY][currX] = minDist + 1;
sahilmgandhi 26:d20f1adac2d3 610 }
sahilmgandhi 26:d20f1adac2d3 611 if (hasVisited(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 612 if (currY + 1 < MAZE_LEN && !isWallInFront(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 613 cellsToVisit.push(make_pair(currX, currY + 1));
sahilmgandhi 26:d20f1adac2d3 614 }
sahilmgandhi 26:d20f1adac2d3 615 if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 616 cellsToVisit.push(make_pair(currX + 1, currY));
sahilmgandhi 26:d20f1adac2d3 617 }
sahilmgandhi 26:d20f1adac2d3 618 if (currY - 1 >= 0 && !isWallInBack(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 619 cellsToVisit.push(make_pair(currX, currY - 1));
sahilmgandhi 26:d20f1adac2d3 620 }
sahilmgandhi 26:d20f1adac2d3 621 if (currX - 1 >= 0 && !isWallOnLeft( currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 622 cellsToVisit.push(make_pair(currX - 1, currY));
sahilmgandhi 26:d20f1adac2d3 623 }
sahilmgandhi 26:d20f1adac2d3 624 } else {
sahilmgandhi 26:d20f1adac2d3 625 if (currY + 1 < MAZE_LEN) {
sahilmgandhi 26:d20f1adac2d3 626 cellsToVisit.push(make_pair(currX, currY + 1));
sahilmgandhi 26:d20f1adac2d3 627 }
sahilmgandhi 26:d20f1adac2d3 628 if (currX + 1 < MAZE_LEN) {
sahilmgandhi 26:d20f1adac2d3 629 cellsToVisit.push(make_pair(currX + 1, currY));
sahilmgandhi 26:d20f1adac2d3 630 }
sahilmgandhi 26:d20f1adac2d3 631 if (currY - 1 >= 0) {
sahilmgandhi 26:d20f1adac2d3 632 cellsToVisit.push(make_pair(currX, currY - 1));
sahilmgandhi 26:d20f1adac2d3 633 }
sahilmgandhi 26:d20f1adac2d3 634 if (currX - 1 >= 0) {
sahilmgandhi 26:d20f1adac2d3 635 cellsToVisit.push(make_pair(currX - 1, currY));
sahilmgandhi 26:d20f1adac2d3 636 }
sahilmgandhi 26:d20f1adac2d3 637 }
sahilmgandhi 26:d20f1adac2d3 638 }
sahilmgandhi 26:d20f1adac2d3 639
sahilmgandhi 26:d20f1adac2d3 640 int minDistance = INT_MAX;
sahilmgandhi 26:d20f1adac2d3 641 if (currDir % 4 == 0) {
sahilmgandhi 26:d20f1adac2d3 642 if (mouseX + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 643 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 644 minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1];
sahilmgandhi 26:d20f1adac2d3 645 dirToGo = 1;
sahilmgandhi 26:d20f1adac2d3 646 }
sahilmgandhi 26:d20f1adac2d3 647 }
sahilmgandhi 26:d20f1adac2d3 648 if (mouseX - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 649 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 650 minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1];
sahilmgandhi 26:d20f1adac2d3 651 dirToGo = 2;
sahilmgandhi 26:d20f1adac2d3 652 }
sahilmgandhi 26:d20f1adac2d3 653 }
sahilmgandhi 26:d20f1adac2d3 654 if (mouseY + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 655 if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 656 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 657 dirToGo = 3;
sahilmgandhi 26:d20f1adac2d3 658 }
sahilmgandhi 26:d20f1adac2d3 659 }
sahilmgandhi 26:d20f1adac2d3 660 if (mouseY - 1 >= 0 && !isWallInBack(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 661 if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 662 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 663 dirToGo = 4;
sahilmgandhi 26:d20f1adac2d3 664 }
sahilmgandhi 26:d20f1adac2d3 665 }
sahilmgandhi 26:d20f1adac2d3 666 } else if (currDir % 4 == 2) {
sahilmgandhi 26:d20f1adac2d3 667 if (mouseX - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 668 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 669 minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1];
sahilmgandhi 26:d20f1adac2d3 670 dirToGo = 1;
sahilmgandhi 26:d20f1adac2d3 671 }
sahilmgandhi 26:d20f1adac2d3 672 }
sahilmgandhi 26:d20f1adac2d3 673 if (mouseX + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 674 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 675 minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1];
sahilmgandhi 26:d20f1adac2d3 676 dirToGo = 2;
sahilmgandhi 26:d20f1adac2d3 677 }
sahilmgandhi 26:d20f1adac2d3 678 }
sahilmgandhi 26:d20f1adac2d3 679 if (mouseY - 1 >= 0 && !isWallInFront(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 680 if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 681 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 682 dirToGo = 3;
sahilmgandhi 26:d20f1adac2d3 683 }
sahilmgandhi 26:d20f1adac2d3 684 }
sahilmgandhi 26:d20f1adac2d3 685 if (mouseY + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 686 if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 687 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 688 dirToGo = 4;
sahilmgandhi 26:d20f1adac2d3 689 }
sahilmgandhi 26:d20f1adac2d3 690 }
sahilmgandhi 26:d20f1adac2d3 691 } else if (currDir % 4 == 1) {
sahilmgandhi 26:d20f1adac2d3 692 if (mouseY - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 693 if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 694 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 695 dirToGo = 1;
sahilmgandhi 26:d20f1adac2d3 696 }
sahilmgandhi 26:d20f1adac2d3 697 }
sahilmgandhi 26:d20f1adac2d3 698 if (mouseY + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 699 if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 700 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 701 dirToGo = 2;
sahilmgandhi 26:d20f1adac2d3 702 }
sahilmgandhi 26:d20f1adac2d3 703 }
sahilmgandhi 26:d20f1adac2d3 704 if (mouseX + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 705 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 706 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1];
sahilmgandhi 26:d20f1adac2d3 707 dirToGo = 3;
sahilmgandhi 26:d20f1adac2d3 708 }
sahilmgandhi 26:d20f1adac2d3 709 }
sahilmgandhi 26:d20f1adac2d3 710 if (mouseX - 1 >= 0 && !isWallInBack(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 711 if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 712 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1];
sahilmgandhi 26:d20f1adac2d3 713 dirToGo = 4;
sahilmgandhi 26:d20f1adac2d3 714 }
sahilmgandhi 26:d20f1adac2d3 715 }
sahilmgandhi 26:d20f1adac2d3 716 } else if (currDir % 4 == 3) {
sahilmgandhi 26:d20f1adac2d3 717 if (mouseY + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 718 if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 719 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 720 dirToGo = 1;
sahilmgandhi 26:d20f1adac2d3 721 }
sahilmgandhi 26:d20f1adac2d3 722 }
sahilmgandhi 26:d20f1adac2d3 723 if (mouseY - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 724 if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 725 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 726 dirToGo = 2;
sahilmgandhi 26:d20f1adac2d3 727 }
sahilmgandhi 26:d20f1adac2d3 728 }
sahilmgandhi 26:d20f1adac2d3 729 if (mouseX - 1 >= 0 && !isWallInFront(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 730 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 731 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1];
sahilmgandhi 26:d20f1adac2d3 732 dirToGo = 3;
sahilmgandhi 26:d20f1adac2d3 733 }
sahilmgandhi 26:d20f1adac2d3 734 }
sahilmgandhi 26:d20f1adac2d3 735 if (mouseX + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 736 if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 737 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1];
sahilmgandhi 26:d20f1adac2d3 738 dirToGo = 4;
sahilmgandhi 26:d20f1adac2d3 739 }
sahilmgandhi 26:d20f1adac2d3 740 }
sahilmgandhi 26:d20f1adac2d3 741 }
sahilmgandhi 31:9b71b44e0867 742 } else {
sahilmgandhi 26:d20f1adac2d3 743 justTurned = false;
sahilmgandhi 26:d20f1adac2d3 744 dirToGo = 0;
sahilmgandhi 26:d20f1adac2d3 745 }
sahilmgandhi 26:d20f1adac2d3 746
sahilmgandhi 26:d20f1adac2d3 747 return dirToGo;
sahilmgandhi 26:d20f1adac2d3 748 }
sahilmgandhi 26:d20f1adac2d3 749
sahilmgandhi 34:69342782fb68 750 bool hasVisited(int x, int y)
sahilmgandhi 34:69342782fb68 751 {
sahilmgandhi 26:d20f1adac2d3 752 return visitedCells[MAZE_LEN - 1 - y][x];
sahilmgandhi 26:d20f1adac2d3 753 }
sahilmgandhi 26:d20f1adac2d3 754
sahilmgandhi 31:9b71b44e0867 755 void changeManhattanDistance(bool headCenter)
sahilmgandhi 31:9b71b44e0867 756 {
sahilmgandhi 31:9b71b44e0867 757 if (headCenter) {
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 distanceToCenter[i][j] = manhattanDistances[i][j];
sahilmgandhi 26:d20f1adac2d3 761 }
sahilmgandhi 26:d20f1adac2d3 762 }
sahilmgandhi 29:ec2c5a69acd6 763 for (int i = 0; i < MAZE_LEN; i++) {
sahilmgandhi 29:ec2c5a69acd6 764 for (int j = 0; j < MAZE_LEN; j++) {
sahilmgandhi 29:ec2c5a69acd6 765 manhattanDistances[i][j] = distanceToStart[i][j];
sahilmgandhi 26:d20f1adac2d3 766 }
sahilmgandhi 26:d20f1adac2d3 767 }
sahilmgandhi 31:9b71b44e0867 768 } else {
sahilmgandhi 31:9b71b44e0867 769 for (int i = 0; i < MAZE_LEN; i++) {
sahilmgandhi 29:ec2c5a69acd6 770 for (int j = 0; j < MAZE_LEN; j++) {
sahilmgandhi 29:ec2c5a69acd6 771 distanceToStart[i][j] = manhattanDistances[i][j];
sahilmgandhi 29:ec2c5a69acd6 772 }
sahilmgandhi 29:ec2c5a69acd6 773 }
sahilmgandhi 29:ec2c5a69acd6 774 for (int i = 0; i < MAZE_LEN; i++) {
sahilmgandhi 29:ec2c5a69acd6 775 for (int j = 0; j < MAZE_LEN; j++) {
sahilmgandhi 29:ec2c5a69acd6 776 manhattanDistances[i][j] = distanceToCenter[i][j];
sahilmgandhi 29:ec2c5a69acd6 777 }
sahilmgandhi 29:ec2c5a69acd6 778 }
sahilmgandhi 29:ec2c5a69acd6 779 }
sahilmgandhi 29:ec2c5a69acd6 780 }
sahilmgandhi 29:ec2c5a69acd6 781
sahilmgandhi 31:9b71b44e0867 782 void initializeDistances()
sahilmgandhi 31:9b71b44e0867 783 {
sahilmgandhi 29:ec2c5a69acd6 784 for (int i = 0; i < MAZE_LEN / 2; i++) {
sahilmgandhi 31:9b71b44e0867 785 for (int j = 0; j < MAZE_LEN / 2; j++) {
sahilmgandhi 31:9b71b44e0867 786 distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i);
sahilmgandhi 26:d20f1adac2d3 787 }
sahilmgandhi 31:9b71b44e0867 788 }
sahilmgandhi 31:9b71b44e0867 789 for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) {
sahilmgandhi 31:9b71b44e0867 790 for (int j = 0; j < MAZE_LEN / 2; j++) {
sahilmgandhi 31:9b71b44e0867 791 distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i);
sahilmgandhi 26:d20f1adac2d3 792 }
sahilmgandhi 31:9b71b44e0867 793 }
sahilmgandhi 31:9b71b44e0867 794 for (int i = 0; i < MAZE_LEN / 2; i++) {
sahilmgandhi 31:9b71b44e0867 795 for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) {
sahilmgandhi 31:9b71b44e0867 796 distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i);
sahilmgandhi 26:d20f1adac2d3 797 }
sahilmgandhi 31:9b71b44e0867 798 }
sahilmgandhi 31:9b71b44e0867 799 for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) {
sahilmgandhi 31:9b71b44e0867 800 for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) {
sahilmgandhi 31:9b71b44e0867 801 distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i);
sahilmgandhi 26:d20f1adac2d3 802 }
sahilmgandhi 31:9b71b44e0867 803 }
sahilmgandhi 26:d20f1adac2d3 804 }
sahilmgandhi 31:9b71b44e0867 805
kyleliangus 36:9c4cc9944b69 806 void waitButton4()
kyleliangus 36:9c4cc9944b69 807 {
kyleliangus 36:9c4cc9944b69 808 //serial.printf("%d, %d, %d\n", dipFlags, BUTTON1_FLAG, dipFlags & BUTTON1_FLAG);
kyleliangus 36:9c4cc9944b69 809 int init_val = dipFlags & BUTTON4_FLAG;
kyleliangus 36:9c4cc9944b69 810 while( (dipFlags & BUTTON4_FLAG) == init_val )
kyleliangus 36:9c4cc9944b69 811 {
kyleliangus 36:9c4cc9944b69 812 // do nothing until ready
kyleliangus 36:9c4cc9944b69 813 }
kyleliangus 36:9c4cc9944b69 814 //serial.printf("%d, %d, %d\n", dipFlags, BUTTON1_FLAG, dipFlags & BUTTON1_FLAG);
kyleliangus 36:9c4cc9944b69 815 wait( 2 );
kyleliangus 36:9c4cc9944b69 816 }
kyleliangus 36:9c4cc9944b69 817
sahilmgandhi 0:a03c771ab78e 818 int main()
sahilmgandhi 0:a03c771ab78e 819 {
christine222 3:880f15be8c72 820 //Set highest bandwidth.
christine222 23:690b0ca34ee9 821 //gyro.setLpBandwidth(LPFBW_42HZ);
sahilmgandhi 29:ec2c5a69acd6 822 initializeDistances();
christine222 3:880f15be8c72 823 serial.baud(9600);
christine222 23:690b0ca34ee9 824 //serial.printf("The gyro's address is %s", gyro.getWhoAmI());
sahilmgandhi 31:9b71b44e0867 825
sahilmgandhi 1:8a4b2f573923 826 wait (0.1);
sahilmgandhi 31:9b71b44e0867 827
sahilmgandhi 2:771db996cee0 828 redLed.write(1);
sahilmgandhi 14:9e7bb03ddccb 829 greenLed.write(0);
sahilmgandhi 2:771db996cee0 830 blueLed.write(1);
sahilmgandhi 31:9b71b44e0867 831
kyleliangus 9:1d8e4da058cd 832 //left_motor.forward(0.1);
kyleliangus 9:1d8e4da058cd 833 //right_motor.forward(0.1);
sahilmgandhi 31:9b71b44e0867 834
kyleliangus 8:a0760acdc59e 835 // PA_1 is A of right
kyleliangus 8:a0760acdc59e 836 // PA_0 is B of right
kyleliangus 8:a0760acdc59e 837 // PA_5 is A of left
kyleliangus 8:a0760acdc59e 838 // PB_3 is B of left
vanshg 11:8fc2b703086b 839 //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING );
sahilmgandhi 26:d20f1adac2d3 840 // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING );
sahilmgandhi 31:9b71b44e0867 841
vanshg 10:810d1849da9d 842 // TODO: Setting all the registers and what not for Quadrature Encoders
sahilmgandhi 14:9e7bb03ddccb 843 /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3)
sahilmgandhi 14:9e7bb03ddccb 844 RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B)
sahilmgandhi 14:9e7bb03ddccb 845 GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2
sahilmgandhi 14:9e7bb03ddccb 846 GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5
sahilmgandhi 14:9e7bb03ddccb 847 */
sahilmgandhi 31:9b71b44e0867 848
kyleliangus 12:5790e56a056f 849 // 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 850 // of alternate function specified
kyleliangus 12:5790e56a056f 851 // 4 modes sets AHB1ENR
kyleliangus 12:5790e56a056f 852 // Now TMR: enable clock with timer, APB1ENR
kyleliangus 12:5790e56a056f 853 // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN
kyleliangus 12:5790e56a056f 854 //
kyleliangus 12:5790e56a056f 855 // Encoder mode: disable timer before changing timer to encoder
kyleliangus 12:5790e56a056f 856 // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use
kyleliangus 12:5790e56a056f 857 // CCMR sets sample rate and set the channel to input
kyleliangus 12:5790e56a056f 858 // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels
kyleliangus 12:5790e56a056f 859 // SMCR - encoder mode
kyleliangus 12:5790e56a056f 860 // CR1 reenabales
kyleliangus 12:5790e56a056f 861 // then read CNT reg of timer
sahilmgandhi 31:9b71b44e0867 862
vanshg 10:810d1849da9d 863 dipButton1.rise(&enableButton1);
vanshg 10:810d1849da9d 864 dipButton2.rise(&enableButton2);
vanshg 10:810d1849da9d 865 dipButton3.rise(&enableButton3);
vanshg 10:810d1849da9d 866 dipButton4.rise(&enableButton4);
sahilmgandhi 31:9b71b44e0867 867
vanshg 10:810d1849da9d 868 dipButton1.fall(&disableButton1);
vanshg 10:810d1849da9d 869 dipButton2.fall(&disableButton2);
vanshg 10:810d1849da9d 870 dipButton3.fall(&disableButton3);
vanshg 10:810d1849da9d 871 dipButton4.fall(&disableButton4);
sahilmgandhi 7:6f5cb6377bd4 872
kyleliangus 36:9c4cc9944b69 873 //waitButton4();
kyleliangus 35:a5bd9ef82210 874
sahilmgandhi 26:d20f1adac2d3 875 // init the wall, and mouse loc arrays:
sahilmgandhi 26:d20f1adac2d3 876 wallArray[MAZE_LEN - 1 - mouseY][mouseX] = 0xE;
sahilmgandhi 26:d20f1adac2d3 877 visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1;
sahilmgandhi 26:d20f1adac2d3 878
kyleliangus 32:69acb14778ea 879 //int prevEncoder0Count = 0;
kyleliangus 32:69acb14778ea 880 //int prevEncoder1Count = 0;
kyleliangus 32:69acb14778ea 881 //int currEncoder0Count = 0;
kyleliangus 32:69acb14778ea 882 //int currEncoder1Count = 0;
sahilmgandhi 28:8126a4d620e8 883
kyleliangus 32:69acb14778ea 884 //bool overrideFloodFill = false;
kyleliangus 36:9c4cc9944b69 885 right_motor.forward( 0.11 );
kyleliangus 36:9c4cc9944b69 886 left_motor.forward( 0.11 );
kyleliangus 36:9c4cc9944b69 887 //turn180();
sahilmgandhi 26:d20f1adac2d3 888 //wait_ms(1500);
kyleliangus 32:69acb14778ea 889 //int nextMovement = 0;
sahilmgandhi 26:d20f1adac2d3 890 while (1) {
sahilmgandhi 31:9b71b44e0867 891 // prevEncoder0Count = encoder0.getPulses();
sahilmgandhi 29:ec2c5a69acd6 892 // prevEncoder1Count = encoder1.getPulses();
sahilmgandhi 29:ec2c5a69acd6 893 //
sahilmgandhi 29:ec2c5a69acd6 894 // if (!overrideFloodFill){
sahilmgandhi 29:ec2c5a69acd6 895 // nextMovement = chooseNextMovement();
sahilmgandhi 29:ec2c5a69acd6 896 // if (nextMovement == 0){
sahilmgandhi 29:ec2c5a69acd6 897 // nCellEncoderAndIR(1);
sahilmgandhi 29:ec2c5a69acd6 898 // }
sahilmgandhi 29:ec2c5a69acd6 899 // else if (nextMovement == 1){
sahilmgandhi 29:ec2c5a69acd6 900 // justTurned = true;
sahilmgandhi 29:ec2c5a69acd6 901 // turnRight();
sahilmgandhi 29:ec2c5a69acd6 902 // }
sahilmgandhi 29:ec2c5a69acd6 903 // else if (nextMovement == 2){
sahilmgandhi 29:ec2c5a69acd6 904 // justTurned = true;
sahilmgandhi 29:ec2c5a69acd6 905 // turnLeft();
sahilmgandhi 29:ec2c5a69acd6 906 // }
sahilmgandhi 29:ec2c5a69acd6 907 // else if (nextMovement == 3){
sahilmgandhi 29:ec2c5a69acd6 908 // nCellEncoderAndIR(1);
sahilmgandhi 29:ec2c5a69acd6 909 // }
sahilmgandhi 29:ec2c5a69acd6 910 // else if (nextMovement == 4){
sahilmgandhi 29:ec2c5a69acd6 911 // justTurned = true;
kyleliangus 36:9c4cc9944b69 912 // turn180();
sahilmgandhi 29:ec2c5a69acd6 913 // }
sahilmgandhi 29:ec2c5a69acd6 914 // }
sahilmgandhi 29:ec2c5a69acd6 915 // else{
sahilmgandhi 29:ec2c5a69acd6 916 // overrideFloodFill = false;
sahilmgandhi 29:ec2c5a69acd6 917 // if ((rand()%2 + 1) == 1){
sahilmgandhi 29:ec2c5a69acd6 918 // justTurned = true;
sahilmgandhi 29:ec2c5a69acd6 919 // turnLeft();
sahilmgandhi 29:ec2c5a69acd6 920 // }
sahilmgandhi 29:ec2c5a69acd6 921 // else{
sahilmgandhi 29:ec2c5a69acd6 922 // justTurned = true;
sahilmgandhi 29:ec2c5a69acd6 923 // turnRight();
sahilmgandhi 29:ec2c5a69acd6 924 // }
sahilmgandhi 29:ec2c5a69acd6 925 // }
sahilmgandhi 29:ec2c5a69acd6 926 // currEncoder0Count = encoder0.getPulses();
sahilmgandhi 29:ec2c5a69acd6 927 // currEncoder1Count = encoder1.getPulses();
sahilmgandhi 31:9b71b44e0867 928 //
sahilmgandhi 29:ec2c5a69acd6 929 // if (!justTurned && (currEncoder0Count <= prevEncoder0Count + 100) && (currEncoder1Count <= prevEncoder1Count + 100) && !overrideFloodFill){
sahilmgandhi 29:ec2c5a69acd6 930 // overrideFloodFill = true;
sahilmgandhi 29:ec2c5a69acd6 931 // }
sahilmgandhi 29:ec2c5a69acd6 932 //
sahilmgandhi 29:ec2c5a69acd6 933 // wait_ms(300); // reduce this once we fine tune this!
christine222 24:e7063765d6f0 934
sahilmgandhi 31:9b71b44e0867 935
sahilmgandhi 34:69342782fb68 936 //////////////////////// TESTING CODE GOES BELOW ///////////////////////////
kyleliangus 36:9c4cc9944b69 937
kyleliangus 36:9c4cc9944b69 938 turnLeft();
kyleliangus 36:9c4cc9944b69 939 wait_ms(300);
kyleliangus 36:9c4cc9944b69 940 turnLeft();
kyleliangus 36:9c4cc9944b69 941 wait_ms(300);
kyleliangus 36:9c4cc9944b69 942 turnLeft();
kyleliangus 36:9c4cc9944b69 943 wait_ms(300);
sahilmgandhi 33:68ce1f74ab5f 944 turnLeft();
kyleliangus 36:9c4cc9944b69 945 /*
kyleliangus 36:9c4cc9944b69 946 wait_ms(300);
kyleliangus 36:9c4cc9944b69 947 turn180();
kyleliangus 36:9c4cc9944b69 948 wait_ms(300);
kyleliangus 36:9c4cc9944b69 949 turn180();
kyleliangus 36:9c4cc9944b69 950 wait_ms(300);*/
kyleliangus 36:9c4cc9944b69 951
kyleliangus 36:9c4cc9944b69 952 waitButton4();
sahilmgandhi 33:68ce1f74ab5f 953 // serial.printf("Encoder 0 is : %d \t Encoder 1 is %d\n",encoder0.getPulses(), encoder1.getPulses() );
sahilmgandhi 33:68ce1f74ab5f 954 // double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ;
sahilmgandhi 33:68ce1f74ab5f 955 // 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 956 }
sahilmgandhi 26:d20f1adac2d3 957 }