Mouse code for the MacroRat
main.cpp@29:ec2c5a69acd6, 2017-05-24 (annotated)
- Committer:
- sahilmgandhi
- Date:
- Wed May 24 01:57:01 2017 +0000
- Revision:
- 29:ec2c5a69acd6
- Parent:
- 28:8126a4d620e8
- Child:
- 31:9b71b44e0867
Need to change ir2-ir3 to now be ir1 - ir4
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sahilmgandhi | 0:a03c771ab78e | 1 | #include "mbed.h" |
sahilmgandhi | 26:d20f1adac2d3 | 2 | |
kyleliangus | 6:3d68fedd6fd9 | 3 | #include "irpair.h" |
kyleliangus | 4:b5b7836ca2b0 | 4 | #include "main.h" |
kyleliangus | 4:b5b7836ca2b0 | 5 | #include "motor.h" |
sahilmgandhi | 26:d20f1adac2d3 | 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" |
sahilmgandhi | 26:d20f1adac2d3 | 14 | |
sahilmgandhi | 17:f713758f6238 | 15 | |
christine222 | 25:f827a8b7880e | 16 | |
sahilmgandhi | 26:d20f1adac2d3 | 17 | //IRSAvg= >: 0.143701, 0.128285 |
sahilmgandhi | 26:d20f1adac2d3 | 18 | |
sahilmgandhi | 26:d20f1adac2d3 | 19 | //facing wall ir2 and ir3 |
sahilmgandhi | 26:d20f1adac2d3 | 20 | //0.144562, 0.113971 in maze |
sahilmgandhi | 26:d20f1adac2d3 | 21 | |
sahilmgandhi | 26:d20f1adac2d3 | 22 | // normal hall ir2 and ir3 |
sahilmgandhi | 26:d20f1adac2d3 | 23 | //0.013665, 0.010889 in maze |
sahilmgandhi | 26:d20f1adac2d3 | 24 | |
sahilmgandhi | 26:d20f1adac2d3 | 25 | //0.014462, 0.009138 |
sahilmgandhi | 26:d20f1adac2d3 | 26 | // 0.013888, 0.010530 |
sahilmgandhi | 26:d20f1adac2d3 | 27 | |
sahilmgandhi | 26:d20f1adac2d3 | 28 | |
sahilmgandhi | 26:d20f1adac2d3 | 29 | //no walls ir2 and ir3 |
sahilmgandhi | 26:d20f1adac2d3 | 30 | //0.003265, 0.002904 in maze9 |
sahilmgandhi | 26:d20f1adac2d3 | 31 | |
sahilmgandhi | 26:d20f1adac2d3 | 32 | //0.003162, 0.003123 |
sahilmgandhi | 26:d20f1adac2d3 | 33 | //0.003795, |
sahilmgandhi | 26:d20f1adac2d3 | 34 | |
sahilmgandhi | 26:d20f1adac2d3 | 35 | //0.005297, 0.007064 |
sahilmgandhi | 29:ec2c5a69acd6 | 36 | |
sahilmgandhi | 16:d9252437bd92 | 37 | void pidOnEncoders(); |
sahilmgandhi | 29:ec2c5a69acd6 | 38 | |
sahilmgandhi | 17:f713758f6238 | 39 | void moveForwardCellEncoder(double cellNum){ |
sahilmgandhi | 17:f713758f6238 | 40 | int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellNum; |
sahilmgandhi | 17:f713758f6238 | 41 | int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellNum; |
sahilmgandhi | 26:d20f1adac2d3 | 42 | |
sahilmgandhi | 20:82836745332e | 43 | left_motor.forward(0.125); |
sahilmgandhi | 20:82836745332e | 44 | right_motor.forward(0.095); |
sahilmgandhi | 19:7b66a518b6f8 | 45 | wait_ms(1); |
sahilmgandhi | 16:d9252437bd92 | 46 | while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1){ |
sahilmgandhi | 20:82836745332e | 47 | receiverTwoReading = IRP_2.getSamples(100); |
sahilmgandhi | 20:82836745332e | 48 | receiverThreeReading = IRP_3.getSamples(100); |
sahilmgandhi | 20:82836745332e | 49 | // serial.printf("Average 2: %f Average 3: %f Sensor 2: %f Sensor 3: %f\n", IRP_2.sensorAvg, IRP_3.sensorAvg, receiverTwoReading, receiverThreeReading); |
sahilmgandhi | 26:d20f1adac2d3 | 50 | if (receiverThreeReading < ir3base){ |
sahilmgandhi | 20:82836745332e | 51 | // redLed.write(1); |
sahilmgandhi | 20:82836745332e | 52 | // blueLed.write(0); |
sahilmgandhi | 19:7b66a518b6f8 | 53 | turnFlag |= RIGHT_FLAG; |
sahilmgandhi | 20:82836745332e | 54 | } |
sahilmgandhi | 26:d20f1adac2d3 | 55 | else if (receiverTwoReading < ir2base){ |
sahilmgandhi | 20:82836745332e | 56 | // redLed.write(0); |
sahilmgandhi | 20:82836745332e | 57 | // blueLed.write(1); |
sahilmgandhi | 17:f713758f6238 | 58 | turnFlag |= LEFT_FLAG; |
sahilmgandhi | 20:82836745332e | 59 | } |
sahilmgandhi | 16:d9252437bd92 | 60 | pidOnEncoders(); |
sahilmgandhi | 16:d9252437bd92 | 61 | } |
sahilmgandhi | 26:d20f1adac2d3 | 62 | |
sahilmgandhi | 16:d9252437bd92 | 63 | left_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 64 | right_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 65 | } |
sahilmgandhi | 26:d20f1adac2d3 | 66 | |
sahilmgandhi | 26:d20f1adac2d3 | 67 | |
sahilmgandhi | 26:d20f1adac2d3 | 68 | void moveForwardEncoder(double num){ |
sahilmgandhi | 26:d20f1adac2d3 | 69 | |
christine222 | 21:9a6cb07bdcb6 | 70 | int count0; |
christine222 | 21:9a6cb07bdcb6 | 71 | int count1; |
christine222 | 21:9a6cb07bdcb6 | 72 | count0 = encoder0.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 73 | count1 = encoder1.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 74 | int initial1 = count1; |
christine222 | 21:9a6cb07bdcb6 | 75 | int initial0 = count0; |
christine222 | 21:9a6cb07bdcb6 | 76 | int diff = count0 - count1; |
christine222 | 21:9a6cb07bdcb6 | 77 | double kp = 0.00015; |
christine222 | 21:9a6cb07bdcb6 | 78 | double kd = 0.00019; |
christine222 | 21:9a6cb07bdcb6 | 79 | int prev = 0; |
christine222 | 25:f827a8b7880e | 80 | |
christine222 | 23:690b0ca34ee9 | 81 | double speed0 = 0.10; |
christine222 | 23:690b0ca34ee9 | 82 | double speed1 = 0.12; |
christine222 | 21:9a6cb07bdcb6 | 83 | right_motor.move(speed0); |
christine222 | 21:9a6cb07bdcb6 | 84 | left_motor.move(speed1); |
sahilmgandhi | 26:d20f1adac2d3 | 85 | |
sahilmgandhi | 26:d20f1adac2d3 | 86 | |
sahilmgandhi | 26:d20f1adac2d3 | 87 | while( ((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200)*num && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)*num) || IRP_1.getSamples(50) > IRP_1.sensorAvg*0.8 || IRP_4.getSamples(50) > IRP_4.sensorAvg*0.8){ |
christine222 | 23:690b0ca34ee9 | 88 | //while( (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4 ){ |
christine222 | 21:9a6cb07bdcb6 | 89 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
christine222 | 21:9a6cb07bdcb6 | 90 | |
christine222 | 21:9a6cb07bdcb6 | 91 | count0 = encoder0.getPulses() - initial0; |
christine222 | 21:9a6cb07bdcb6 | 92 | count1 = encoder1.getPulses() - initial1; |
christine222 | 21:9a6cb07bdcb6 | 93 | int x = count0 - count1; |
christine222 | 21:9a6cb07bdcb6 | 94 | //double d = kp * x + kd * ( x - prev ); |
christine222 | 21:9a6cb07bdcb6 | 95 | double kppart = kp * x; |
christine222 | 21:9a6cb07bdcb6 | 96 | double kdpart = kd * (x-prev); |
christine222 | 21:9a6cb07bdcb6 | 97 | double d = kppart + kdpart; |
christine222 | 21:9a6cb07bdcb6 | 98 | |
christine222 | 21:9a6cb07bdcb6 | 99 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
christine222 | 21:9a6cb07bdcb6 | 100 | if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward |
christine222 | 21:9a6cb07bdcb6 | 101 | { |
christine222 | 21:9a6cb07bdcb6 | 102 | left_motor.move( speed1-0.8*d ); |
christine222 | 21:9a6cb07bdcb6 | 103 | right_motor.move( speed0+d ); |
christine222 | 21:9a6cb07bdcb6 | 104 | } |
christine222 | 21:9a6cb07bdcb6 | 105 | else if( x > diff + 40 ) |
christine222 | 21:9a6cb07bdcb6 | 106 | { |
christine222 | 21:9a6cb07bdcb6 | 107 | left_motor.move( speed1-0.8*d ); |
christine222 | 21:9a6cb07bdcb6 | 108 | right_motor.move( speed0+d ); |
christine222 | 21:9a6cb07bdcb6 | 109 | } |
christine222 | 21:9a6cb07bdcb6 | 110 | // else |
christine222 | 21:9a6cb07bdcb6 | 111 | // { |
christine222 | 21:9a6cb07bdcb6 | 112 | // left_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 113 | // right_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 114 | // } |
christine222 | 21:9a6cb07bdcb6 | 115 | prev = x; |
christine222 | 21:9a6cb07bdcb6 | 116 | } |
sahilmgandhi | 26:d20f1adac2d3 | 117 | |
christine222 | 21:9a6cb07bdcb6 | 118 | //pidOnEncoders(); |
christine222 | 23:690b0ca34ee9 | 119 | //pidBrake(); |
christine222 | 23:690b0ca34ee9 | 120 | right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 121 | left_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 122 | return; |
christine222 | 23:690b0ca34ee9 | 123 | } |
sahilmgandhi | 26:d20f1adac2d3 | 124 | |
sahilmgandhi | 26:d20f1adac2d3 | 125 | |
christine222 | 23:690b0ca34ee9 | 126 | void moveForwardWallEncoder(){ |
sahilmgandhi | 26:d20f1adac2d3 | 127 | int count0; |
christine222 | 23:690b0ca34ee9 | 128 | int count1; |
christine222 | 23:690b0ca34ee9 | 129 | count0 = encoder0.getPulses(); |
christine222 | 23:690b0ca34ee9 | 130 | count1 = encoder1.getPulses(); |
christine222 | 23:690b0ca34ee9 | 131 | int initial1 = count1; |
christine222 | 23:690b0ca34ee9 | 132 | int initial0 = count0; |
christine222 | 23:690b0ca34ee9 | 133 | int diff = count0 - count1; |
christine222 | 23:690b0ca34ee9 | 134 | double kp = 0.00015; |
christine222 | 23:690b0ca34ee9 | 135 | double kd = 0.00019; |
christine222 | 23:690b0ca34ee9 | 136 | int prev = 0; |
christine222 | 25:f827a8b7880e | 137 | |
christine222 | 25:f827a8b7880e | 138 | double speed0 = 0.11; |
christine222 | 25:f827a8b7880e | 139 | double speed1 = 0.13; |
christine222 | 23:690b0ca34ee9 | 140 | right_motor.move(speed0); |
christine222 | 23:690b0ca34ee9 | 141 | left_motor.move(speed1); |
christine222 | 23:690b0ca34ee9 | 142 | |
christine222 | 25:f827a8b7880e | 143 | float ir1 = IRP_1.getSamples(50); |
christine222 | 25:f827a8b7880e | 144 | float ir4 = IRP_4.getSamples(50); |
christine222 | 25:f827a8b7880e | 145 | |
christine222 | 25:f827a8b7880e | 146 | if((ir1 + ir4)/2 > ((IRP_1.sensorAvg+IRP_4.sensorAvg)/2)*0.4){ |
christine222 | 24:e7063765d6f0 | 147 | return; |
christine222 | 24:e7063765d6f0 | 148 | } |
christine222 | 25:f827a8b7880e | 149 | |
christine222 | 23:690b0ca34ee9 | 150 | //while((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) { |
christine222 | 25:f827a8b7880e | 151 | //while( (ir1 + ir4)/2 < ((IRP_1.sensorAvg+IRP_4.sensorAvg)/2)*0.4 ){ |
christine222 | 25:f827a8b7880e | 152 | while( ir1 < IRP_1.sensorAvg*0.7 || ir4 < IRP_4.sensorAvg*0.7 ){ |
christine222 | 23:690b0ca34ee9 | 153 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
christine222 | 23:690b0ca34ee9 | 154 | |
christine222 | 23:690b0ca34ee9 | 155 | count0 = encoder0.getPulses() - initial0; |
christine222 | 23:690b0ca34ee9 | 156 | count1 = encoder1.getPulses() - initial1; |
christine222 | 23:690b0ca34ee9 | 157 | int x = count0 - count1; |
christine222 | 23:690b0ca34ee9 | 158 | //double d = kp * x + kd * ( x - prev ); |
christine222 | 23:690b0ca34ee9 | 159 | double kppart = kp * x; |
christine222 | 23:690b0ca34ee9 | 160 | double kdpart = kd * (x-prev); |
christine222 | 23:690b0ca34ee9 | 161 | double d = kppart + kdpart; |
christine222 | 23:690b0ca34ee9 | 162 | |
christine222 | 23:690b0ca34ee9 | 163 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
christine222 | 23:690b0ca34ee9 | 164 | if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward |
christine222 | 23:690b0ca34ee9 | 165 | { |
christine222 | 23:690b0ca34ee9 | 166 | left_motor.move( speed1-0.8*d ); |
christine222 | 23:690b0ca34ee9 | 167 | right_motor.move( speed0+d ); |
christine222 | 23:690b0ca34ee9 | 168 | } |
christine222 | 23:690b0ca34ee9 | 169 | else if( x > diff + 40 ) |
christine222 | 23:690b0ca34ee9 | 170 | { |
christine222 | 23:690b0ca34ee9 | 171 | left_motor.move( speed1-0.8*d ); |
christine222 | 23:690b0ca34ee9 | 172 | right_motor.move( speed0+d ); |
christine222 | 23:690b0ca34ee9 | 173 | } |
christine222 | 23:690b0ca34ee9 | 174 | // else |
christine222 | 23:690b0ca34ee9 | 175 | // { |
christine222 | 23:690b0ca34ee9 | 176 | // left_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 177 | // right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 178 | // } |
christine222 | 23:690b0ca34ee9 | 179 | prev = x; |
christine222 | 25:f827a8b7880e | 180 | ir1 = IRP_1.getSamples(50); |
christine222 | 25:f827a8b7880e | 181 | ir4 = IRP_4.getSamples(50); |
christine222 | 23:690b0ca34ee9 | 182 | } |
christine222 | 25:f827a8b7880e | 183 | |
christine222 | 23:690b0ca34ee9 | 184 | //pidOnEncoders(); |
christine222 | 23:690b0ca34ee9 | 185 | //pidBrake(); |
christine222 | 23:690b0ca34ee9 | 186 | right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 187 | left_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 188 | return; |
christine222 | 21:9a6cb07bdcb6 | 189 | } |
sahilmgandhi | 26:d20f1adac2d3 | 190 | |
sahilmgandhi | 14:9e7bb03ddccb | 191 | void moveForwardUntilWallIr() |
sahilmgandhi | 14:9e7bb03ddccb | 192 | { |
kyleliangus | 9:1d8e4da058cd | 193 | double currentError = 0; |
kyleliangus | 9:1d8e4da058cd | 194 | double previousError = 0; |
kyleliangus | 9:1d8e4da058cd | 195 | double derivError = 0; |
kyleliangus | 9:1d8e4da058cd | 196 | double sumError = 0; |
christine222 | 25:f827a8b7880e | 197 | |
vanshg | 11:8fc2b703086b | 198 | double HIGH_PWM_VOLTAGE = 0.1; |
christine222 | 25:f827a8b7880e | 199 | |
christine222 | 25:f827a8b7880e | 200 | double rightSpeed = 0.25; |
christine222 | 25:f827a8b7880e | 201 | double leftSpeed = 0.23; |
christine222 | 25:f827a8b7880e | 202 | |
kyleliangus | 9:1d8e4da058cd | 203 | float ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
kyleliangus | 9:1d8e4da058cd | 204 | float ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 25:f827a8b7880e | 205 | |
vanshg | 11:8fc2b703086b | 206 | int count = encoder0.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 207 | while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) { // while the front facing IR's arent covered |
christine222 | 21:9a6cb07bdcb6 | 208 | |
christine222 | 21:9a6cb07bdcb6 | 209 | if((IRP_2.getSamples(SAMPLE_NUM) < 0.005 || IRP_3.getSamples(SAMPLE_NUM) < 0.005)) { |
christine222 | 23:690b0ca34ee9 | 210 | //moveForwardWallEncoder(); |
christine222 | 22:681190ff98f0 | 211 | }else if(IRP_2.getSamples(SAMPLE_NUM) < 0.005){ // left wall gone |
christine222 | 22:681190ff98f0 | 212 | //moveForwardRightWall(); |
christine222 | 22:681190ff98f0 | 213 | }else if(IRP_3.getSamples(SAMPLE_NUM) < 0.005){ // right wall gone |
christine222 | 22:681190ff98f0 | 214 | //moveForwardLeftWall(); |
christine222 | 21:9a6cb07bdcb6 | 215 | }else{ |
christine222 | 21:9a6cb07bdcb6 | 216 | // will move forward using encoders only |
christine222 | 21:9a6cb07bdcb6 | 217 | // if cell ahead doesn't have a wall on either one side or both sides |
christine222 | 25:f827a8b7880e | 218 | |
christine222 | 21:9a6cb07bdcb6 | 219 | int pulseCount = (encoder0.getPulses()-count) % 5600; |
christine222 | 21:9a6cb07bdcb6 | 220 | if (pulseCount > 5400 && pulseCount < 5800) { |
christine222 | 21:9a6cb07bdcb6 | 221 | blueLed.write(0); |
christine222 | 21:9a6cb07bdcb6 | 222 | } else { |
christine222 | 21:9a6cb07bdcb6 | 223 | blueLed.write(1); |
christine222 | 21:9a6cb07bdcb6 | 224 | } |
christine222 | 21:9a6cb07bdcb6 | 225 | sumError += currentError; |
christine222 | 25:f827a8b7880e | 226 | currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg/initAverageL) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg/initAverageR) ) ; |
christine222 | 21:9a6cb07bdcb6 | 227 | derivError = currentError - previousError; |
christine222 | 21:9a6cb07bdcb6 | 228 | double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; |
christine222 | 21:9a6cb07bdcb6 | 229 | if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down |
christine222 | 21:9a6cb07bdcb6 | 230 | rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 231 | leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 232 | } else { // r is faster than L. speed up l, slow down r |
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 | } |
christine222 | 25:f827a8b7880e | 236 | |
christine222 | 21:9a6cb07bdcb6 | 237 | if (leftSpeed > 0.30) leftSpeed = 0.30; |
christine222 | 21:9a6cb07bdcb6 | 238 | if (leftSpeed < 0) leftSpeed = 0; |
christine222 | 21:9a6cb07bdcb6 | 239 | if (rightSpeed > 0.30) rightSpeed = 0.30; |
christine222 | 21:9a6cb07bdcb6 | 240 | if (rightSpeed < 0) rightSpeed = 0; |
christine222 | 25:f827a8b7880e | 241 | |
christine222 | 21:9a6cb07bdcb6 | 242 | right_motor.forward(rightSpeed); |
christine222 | 21:9a6cb07bdcb6 | 243 | left_motor.forward(leftSpeed); |
christine222 | 25:f827a8b7880e | 244 | |
christine222 | 21:9a6cb07bdcb6 | 245 | previousError = currentError; |
christine222 | 25:f827a8b7880e | 246 | |
christine222 | 21:9a6cb07bdcb6 | 247 | ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
christine222 | 21:9a6cb07bdcb6 | 248 | ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 25:f827a8b7880e | 249 | |
kyleliangus | 9:1d8e4da058cd | 250 | } |
christine222 | 25:f827a8b7880e | 251 | |
christine222 | 21:9a6cb07bdcb6 | 252 | //backward(); |
christine222 | 22:681190ff98f0 | 253 | //wait_ms(40); |
christine222 | 21:9a6cb07bdcb6 | 254 | //brake(); |
christine222 | 25:f827a8b7880e | 255 | |
christine222 | 21:9a6cb07bdcb6 | 256 | left_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 257 | right_motor.brake(); |
kyleliangus | 9:1d8e4da058cd | 258 | } |
vanshg | 10:810d1849da9d | 259 | } |
sahilmgandhi | 26:d20f1adac2d3 | 260 | |
sahilmgandhi | 14:9e7bb03ddccb | 261 | void printDipFlag() |
sahilmgandhi | 14:9e7bb03ddccb | 262 | { |
vanshg | 11:8fc2b703086b | 263 | if (DEBUGGING) serial.printf("Flag value is %d", dipFlags); |
vanshg | 11:8fc2b703086b | 264 | } |
sahilmgandhi | 26:d20f1adac2d3 | 265 | |
sahilmgandhi | 14:9e7bb03ddccb | 266 | void enableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 267 | { |
vanshg | 10:810d1849da9d | 268 | dipFlags |= BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 269 | printDipFlag(); |
vanshg | 10:810d1849da9d | 270 | } |
sahilmgandhi | 14:9e7bb03ddccb | 271 | void enableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 272 | { |
vanshg | 10:810d1849da9d | 273 | dipFlags |= BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 274 | printDipFlag(); |
vanshg | 10:810d1849da9d | 275 | } |
sahilmgandhi | 14:9e7bb03ddccb | 276 | void enableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 277 | { |
vanshg | 10:810d1849da9d | 278 | dipFlags |= BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 279 | printDipFlag(); |
vanshg | 10:810d1849da9d | 280 | } |
sahilmgandhi | 14:9e7bb03ddccb | 281 | void enableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 282 | { |
vanshg | 10:810d1849da9d | 283 | dipFlags |= BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 284 | printDipFlag(); |
vanshg | 10:810d1849da9d | 285 | } |
sahilmgandhi | 14:9e7bb03ddccb | 286 | void disableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 287 | { |
vanshg | 10:810d1849da9d | 288 | dipFlags &= ~BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 289 | printDipFlag(); |
vanshg | 10:810d1849da9d | 290 | } |
sahilmgandhi | 14:9e7bb03ddccb | 291 | void disableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 292 | { |
vanshg | 10:810d1849da9d | 293 | dipFlags &= ~BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 294 | printDipFlag(); |
vanshg | 10:810d1849da9d | 295 | } |
sahilmgandhi | 14:9e7bb03ddccb | 296 | void disableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 297 | { |
vanshg | 10:810d1849da9d | 298 | dipFlags &= ~BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 299 | printDipFlag(); |
vanshg | 10:810d1849da9d | 300 | } |
sahilmgandhi | 14:9e7bb03ddccb | 301 | void disableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 302 | { |
vanshg | 10:810d1849da9d | 303 | dipFlags &= ~BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 304 | printDipFlag(); |
kyleliangus | 9:1d8e4da058cd | 305 | } |
sahilmgandhi | 26:d20f1adac2d3 | 306 | |
kyleliangus | 15:b80555a4a8b9 | 307 | void pidOnEncoders() |
kyleliangus | 15:b80555a4a8b9 | 308 | { |
kyleliangus | 15:b80555a4a8b9 | 309 | int count0; |
kyleliangus | 15:b80555a4a8b9 | 310 | int count1; |
kyleliangus | 15:b80555a4a8b9 | 311 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 312 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 313 | int diff = count0 - count1; |
sahilmgandhi | 28:8126a4d620e8 | 314 | double kp = 0.00013; |
sahilmgandhi | 28:8126a4d620e8 | 315 | double kd = 0.00016; |
kyleliangus | 15:b80555a4a8b9 | 316 | int prev = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 317 | |
sahilmgandhi | 16:d9252437bd92 | 318 | int counter = 0; |
kyleliangus | 15:b80555a4a8b9 | 319 | while(1) |
kyleliangus | 15:b80555a4a8b9 | 320 | { |
kyleliangus | 15:b80555a4a8b9 | 321 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 322 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 323 | int x = count0 - count1; |
kyleliangus | 15:b80555a4a8b9 | 324 | //double d = kp * x + kd * ( x - prev ); |
kyleliangus | 15:b80555a4a8b9 | 325 | double kppart = kp * x; |
kyleliangus | 15:b80555a4a8b9 | 326 | double kdpart = kd * (x-prev); |
kyleliangus | 15:b80555a4a8b9 | 327 | double d = kppart + kdpart; |
kyleliangus | 15:b80555a4a8b9 | 328 | |
kyleliangus | 15:b80555a4a8b9 | 329 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
sahilmgandhi | 28:8126a4d620e8 | 330 | if( x < diff - 60 ) // count1 is bigger, right wheel pushed forward |
kyleliangus | 15:b80555a4a8b9 | 331 | { |
kyleliangus | 15:b80555a4a8b9 | 332 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 333 | right_motor.move( d ); |
kyleliangus | 15:b80555a4a8b9 | 334 | } |
sahilmgandhi | 28:8126a4d620e8 | 335 | else if( x > diff + 60 ) |
kyleliangus | 15:b80555a4a8b9 | 336 | { |
kyleliangus | 15:b80555a4a8b9 | 337 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 338 | right_motor.move( d ); |
kyleliangus | 15:b80555a4a8b9 | 339 | } |
sahilmgandhi | 16:d9252437bd92 | 340 | // else |
sahilmgandhi | 16:d9252437bd92 | 341 | // { |
sahilmgandhi | 16:d9252437bd92 | 342 | // left_motor.brake(); |
sahilmgandhi | 16:d9252437bd92 | 343 | // right_motor.brake(); |
sahilmgandhi | 16:d9252437bd92 | 344 | // } |
kyleliangus | 15:b80555a4a8b9 | 345 | prev = x; |
sahilmgandhi | 16:d9252437bd92 | 346 | counter++; |
sahilmgandhi | 28:8126a4d620e8 | 347 | if (counter == 10) |
sahilmgandhi | 16:d9252437bd92 | 348 | break; |
kyleliangus | 15:b80555a4a8b9 | 349 | } |
kyleliangus | 15:b80555a4a8b9 | 350 | } |
sahilmgandhi | 26:d20f1adac2d3 | 351 | |
christine222 | 22:681190ff98f0 | 352 | void nCellEncoderAndIR(double cellCount){ |
sahilmgandhi | 19:7b66a518b6f8 | 353 | double currentError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 354 | double previousError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 355 | double derivError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 356 | double sumError = 0; |
christine222 | 25:f827a8b7880e | 357 | |
sahilmgandhi | 29:ec2c5a69acd6 | 358 | double HIGH_PWM_VOLTAGE_R = 0.15; |
sahilmgandhi | 29:ec2c5a69acd6 | 359 | double HIGH_PWM_VOLTAGE_L = 0.16; |
sahilmgandhi | 29:ec2c5a69acd6 | 360 | |
sahilmgandhi | 29:ec2c5a69acd6 | 361 | double rightSpeed = 0.15; |
sahilmgandhi | 29:ec2c5a69acd6 | 362 | double leftSpeed = 0.16; |
christine222 | 25:f827a8b7880e | 363 | |
christine222 | 25:f827a8b7880e | 364 | int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellCount; |
christine222 | 25:f827a8b7880e | 365 | int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellCount; |
christine222 | 25:f827a8b7880e | 366 | |
sahilmgandhi | 29:ec2c5a69acd6 | 367 | left_motor.forward(0.16); |
sahilmgandhi | 29:ec2c5a69acd6 | 368 | right_motor.forward(0.15); |
christine222 | 25:f827a8b7880e | 369 | |
sahilmgandhi | 19:7b66a518b6f8 | 370 | float ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
sahilmgandhi | 19:7b66a518b6f8 | 371 | float ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 25:f827a8b7880e | 372 | |
christine222 | 25:f827a8b7880e | 373 | // float previr2 = ir2; |
christine222 | 25:f827a8b7880e | 374 | // float previr3 = ir3; |
christine222 | 25:f827a8b7880e | 375 | |
christine222 | 23:690b0ca34ee9 | 376 | int state = 0; |
christine222 | 23:690b0ca34ee9 | 377 | |
sahilmgandhi | 26:d20f1adac2d3 | 378 | while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1){ |
sahilmgandhi | 29:ec2c5a69acd6 | 379 | receiverTwoReading = IRP_2.getSamples(100); |
sahilmgandhi | 29:ec2c5a69acd6 | 380 | receiverThreeReading = IRP_3.getSamples(100); |
sahilmgandhi | 29:ec2c5a69acd6 | 381 | receiverOneReading = IRP_1.getSamples(100); |
sahilmgandhi | 29:ec2c5a69acd6 | 382 | receiverFourReading = IRP_4.getSamples(100); |
christine222 | 25:f827a8b7880e | 383 | |
sahilmgandhi | 27:02ce1040f331 | 384 | if( receiverOneReading > IRP_1.sensorAvg*0.70 || receiverFourReading > IRP_4.sensorAvg*0.70 ){ |
sahilmgandhi | 26:d20f1adac2d3 | 385 | if (currDir % 4 == 0){ |
sahilmgandhi | 27:02ce1040f331 | 386 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL; |
sahilmgandhi | 26:d20f1adac2d3 | 387 | } |
sahilmgandhi | 26:d20f1adac2d3 | 388 | else if (currDir % 4 == 1){ |
sahilmgandhi | 27:02ce1040f331 | 389 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL; |
sahilmgandhi | 26:d20f1adac2d3 | 390 | } |
sahilmgandhi | 26:d20f1adac2d3 | 391 | else if (currDir % 4 == 2){ |
sahilmgandhi | 27:02ce1040f331 | 392 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= L_WALL; |
sahilmgandhi | 26:d20f1adac2d3 | 393 | } |
sahilmgandhi | 26:d20f1adac2d3 | 394 | else if (currDir % 4 == 3){ |
sahilmgandhi | 27:02ce1040f331 | 395 | wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL; |
sahilmgandhi | 26:d20f1adac2d3 | 396 | } |
sahilmgandhi | 26:d20f1adac2d3 | 397 | break; |
sahilmgandhi | 26:d20f1adac2d3 | 398 | } |
christine222 | 25:f827a8b7880e | 399 | |
sahilmgandhi | 28:8126a4d620e8 | 400 | if((receiverThreeReading < 3*IRP_3.sensorAvg/(averageDivR)) && (receiverTwoReading < 3*IRP_2.sensorAvg/(averageDivL))){ |
christine222 | 25:f827a8b7880e | 401 | // both sides gone |
sahilmgandhi | 26:d20f1adac2d3 | 402 | int prev0 = encoder0.getPulses(); |
sahilmgandhi | 26:d20f1adac2d3 | 403 | int prev1 = encoder1.getPulses(); |
sahilmgandhi | 26:d20f1adac2d3 | 404 | int diff0 = desiredCount0 - prev0; |
sahilmgandhi | 26:d20f1adac2d3 | 405 | int diff1 = desiredCount1 - prev1; |
sahilmgandhi | 26:d20f1adac2d3 | 406 | int valToPass = ((diff0 + diff1)/2)/(oneCellCountMomentum); |
sahilmgandhi | 26:d20f1adac2d3 | 407 | moveForwardEncoder(valToPass); |
sahilmgandhi | 26:d20f1adac2d3 | 408 | } |
sahilmgandhi | 28:8126a4d620e8 | 409 | else if (receiverThreeReading < 3*IRP_3.sensorAvg/averageDivR){// right wall gone |
sahilmgandhi | 27:02ce1040f331 | 410 | // if (currDir % 4 == 0){ |
sahilmgandhi | 27:02ce1040f331 | 411 | // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL; |
sahilmgandhi | 27:02ce1040f331 | 412 | // } |
sahilmgandhi | 27:02ce1040f331 | 413 | // else if (currDir % 4 == 1){ |
sahilmgandhi | 27:02ce1040f331 | 414 | // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= F_WALL; |
sahilmgandhi | 27:02ce1040f331 | 415 | // } |
sahilmgandhi | 27:02ce1040f331 | 416 | // else if (currDir % 4 == 2){ |
sahilmgandhi | 27:02ce1040f331 | 417 | // wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= R_WALL; |
sahilmgandhi | 27:02ce1040f331 | 418 | // } |
sahilmgandhi | 27:02ce1040f331 | 419 | // else if (currDir % 4 == 3){ |
sahilmgandhi | 27:02ce1040f331 | 420 | // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= B_WALL; |
sahilmgandhi | 27:02ce1040f331 | 421 | // } |
christine222 | 25:f827a8b7880e | 422 | // RED RED RED RED RED |
christine222 | 25:f827a8b7880e | 423 | state = 1; |
christine222 | 25:f827a8b7880e | 424 | redLed.write(0); |
christine222 | 25:f827a8b7880e | 425 | greenLed.write(1); |
christine222 | 25:f827a8b7880e | 426 | blueLed.write(1); |
sahilmgandhi | 28:8126a4d620e8 | 427 | }else if (receiverTwoReading < 3*IRP_2.sensorAvg/averageDivL){// left wall gone |
sahilmgandhi | 27:02ce1040f331 | 428 | // if (currDir % 4 == 0){ |
sahilmgandhi | 27:02ce1040f331 | 429 | // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL; |
sahilmgandhi | 27:02ce1040f331 | 430 | // } |
sahilmgandhi | 27:02ce1040f331 | 431 | // else if (currDir % 4 == 1){ |
sahilmgandhi | 27:02ce1040f331 | 432 | // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= B_WALL; |
sahilmgandhi | 27:02ce1040f331 | 433 | // } |
sahilmgandhi | 27:02ce1040f331 | 434 | // else if (currDir % 4 == 2){ |
sahilmgandhi | 27:02ce1040f331 | 435 | // wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= L_WALL; |
sahilmgandhi | 27:02ce1040f331 | 436 | // } |
sahilmgandhi | 27:02ce1040f331 | 437 | // else if (currDir % 4 == 3){ |
sahilmgandhi | 27:02ce1040f331 | 438 | // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= F_WALL; |
sahilmgandhi | 27:02ce1040f331 | 439 | // } |
christine222 | 25:f827a8b7880e | 440 | // BLUE BLUE BLUE BLUE |
christine222 | 25:f827a8b7880e | 441 | state = 2; |
christine222 | 25:f827a8b7880e | 442 | redLed.write(1); |
christine222 | 25:f827a8b7880e | 443 | greenLed.write(1); |
christine222 | 25:f827a8b7880e | 444 | blueLed.write(0); |
sahilmgandhi | 27:02ce1040f331 | 445 | }else if ((receiverTwoReading > ((IRP_2.sensorAvg/initAverageL)*averageDivUpper)) && (receiverThreeReading > ((IRP_3.sensorAvg/initAverageR)*averageDivUpper))){ |
sahilmgandhi | 28:8126a4d620e8 | 446 | // if (currDir % 4 == 0){ |
sahilmgandhi | 28:8126a4d620e8 | 447 | // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL; |
sahilmgandhi | 28:8126a4d620e8 | 448 | // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL; |
sahilmgandhi | 28:8126a4d620e8 | 449 | // } |
sahilmgandhi | 28:8126a4d620e8 | 450 | // else if (currDir % 4 == 1){ |
sahilmgandhi | 28:8126a4d620e8 | 451 | // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= F_WALL; |
sahilmgandhi | 28:8126a4d620e8 | 452 | // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= B_WALL; |
sahilmgandhi | 28:8126a4d620e8 | 453 | // } |
sahilmgandhi | 28:8126a4d620e8 | 454 | // else if (currDir % 4 == 2){ |
sahilmgandhi | 28:8126a4d620e8 | 455 | // wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= R_WALL; |
sahilmgandhi | 28:8126a4d620e8 | 456 | // wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= L_WALL; |
sahilmgandhi | 28:8126a4d620e8 | 457 | // } |
sahilmgandhi | 28:8126a4d620e8 | 458 | // else if (currDir % 4 == 3){ |
sahilmgandhi | 28:8126a4d620e8 | 459 | // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= F_WALL; |
sahilmgandhi | 28:8126a4d620e8 | 460 | // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= B_WALL; |
sahilmgandhi | 28:8126a4d620e8 | 461 | // } |
christine222 | 25:f827a8b7880e | 462 | // both walls there |
christine222 | 25:f827a8b7880e | 463 | state = 0; |
christine222 | 25:f827a8b7880e | 464 | redLed.write(1); |
christine222 | 25:f827a8b7880e | 465 | greenLed.write(0); |
christine222 | 25:f827a8b7880e | 466 | blueLed.write(1); |
christine222 | 25:f827a8b7880e | 467 | } |
christine222 | 25:f827a8b7880e | 468 | |
christine222 | 25:f827a8b7880e | 469 | switch(state){ |
christine222 | 25:f827a8b7880e | 470 | case(0):{ // both walls there |
christine222 | 25:f827a8b7880e | 471 | currentError = ( receiverTwoReading - IRP_2.sensorAvg/initAverageL) - ( receiverThreeReading - IRP_3.sensorAvg/initAverageR); |
christine222 | 25:f827a8b7880e | 472 | break; |
christine222 | 25:f827a8b7880e | 473 | } |
christine222 | 25:f827a8b7880e | 474 | case(1):{// RED RED RED RED RED |
christine222 | 25:f827a8b7880e | 475 | currentError = (receiverTwoReading - IRP_2.sensorAvg/initAverageL) - (IRP_2.sensorAvg/initAverageL); |
christine222 | 25:f827a8b7880e | 476 | break; |
christine222 | 25:f827a8b7880e | 477 | } |
christine222 | 25:f827a8b7880e | 478 | case(2):{// blue |
christine222 | 25:f827a8b7880e | 479 | currentError = (IRP_3.sensorAvg/initAverageR) - (receiverThreeReading - IRP_3.sensorAvg/initAverageR); |
christine222 | 25:f827a8b7880e | 480 | break; |
christine222 | 25:f827a8b7880e | 481 | } |
christine222 | 25:f827a8b7880e | 482 | default:{ |
christine222 | 25:f827a8b7880e | 483 | currentError = ( receiverTwoReading - IRP_2.sensorAvg/initAverageL) - ( receiverThreeReading - IRP_3.sensorAvg/initAverageR); |
christine222 | 25:f827a8b7880e | 484 | break; |
christine222 | 25:f827a8b7880e | 485 | } |
christine222 | 25:f827a8b7880e | 486 | } |
christine222 | 25:f827a8b7880e | 487 | |
christine222 | 25:f827a8b7880e | 488 | sumError += currentError; |
christine222 | 25:f827a8b7880e | 489 | derivError = currentError - previousError; |
christine222 | 25:f827a8b7880e | 490 | double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; |
christine222 | 25:f827a8b7880e | 491 | if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down |
sahilmgandhi | 29:ec2c5a69acd6 | 492 | rightSpeed = HIGH_PWM_VOLTAGE_R - abs(PIDSum*HIGH_PWM_VOLTAGE_R); |
sahilmgandhi | 29:ec2c5a69acd6 | 493 | leftSpeed = HIGH_PWM_VOLTAGE_L + abs(PIDSum*HIGH_PWM_VOLTAGE_L); |
christine222 | 25:f827a8b7880e | 494 | } else { // r is faster than L. speed up l, slow down r |
sahilmgandhi | 29:ec2c5a69acd6 | 495 | rightSpeed = HIGH_PWM_VOLTAGE_R + abs(PIDSum*HIGH_PWM_VOLTAGE_R); |
sahilmgandhi | 29:ec2c5a69acd6 | 496 | leftSpeed = HIGH_PWM_VOLTAGE_L - abs(PIDSum*HIGH_PWM_VOLTAGE_L); |
christine222 | 25:f827a8b7880e | 497 | } |
christine222 | 25:f827a8b7880e | 498 | if (leftSpeed > 0.30) leftSpeed = 0.30; |
christine222 | 25:f827a8b7880e | 499 | if (leftSpeed < 0) leftSpeed = 0; |
christine222 | 25:f827a8b7880e | 500 | if (rightSpeed > 0.30) rightSpeed = 0.30; |
christine222 | 25:f827a8b7880e | 501 | if (rightSpeed < 0) rightSpeed = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 502 | |
christine222 | 25:f827a8b7880e | 503 | right_motor.forward(rightSpeed); |
christine222 | 25:f827a8b7880e | 504 | left_motor.forward(leftSpeed); |
christine222 | 25:f827a8b7880e | 505 | pidOnEncoders(); |
sahilmgandhi | 26:d20f1adac2d3 | 506 | |
christine222 | 25:f827a8b7880e | 507 | previousError = currentError; |
sahilmgandhi | 26:d20f1adac2d3 | 508 | } |
sahilmgandhi | 28:8126a4d620e8 | 509 | if (encoder0.getPulses() >= 0.6*desiredCount0 && encoder1.getPulses() >= 0.6*desiredCount1){ |
sahilmgandhi | 28:8126a4d620e8 | 510 | if (currDir % 4 == 0){ |
sahilmgandhi | 26:d20f1adac2d3 | 511 | mouseY += 1; |
sahilmgandhi | 28:8126a4d620e8 | 512 | } |
sahilmgandhi | 28:8126a4d620e8 | 513 | else if (currDir % 4 == 1){ |
sahilmgandhi | 28:8126a4d620e8 | 514 | mouseX + 1; |
sahilmgandhi | 28:8126a4d620e8 | 515 | } |
sahilmgandhi | 28:8126a4d620e8 | 516 | else if (currDir % 4 == 2){ |
sahilmgandhi | 28:8126a4d620e8 | 517 | mouseY -= 1; |
sahilmgandhi | 28:8126a4d620e8 | 518 | } |
sahilmgandhi | 28:8126a4d620e8 | 519 | else if (currDir % 4 == 3){ |
sahilmgandhi | 28:8126a4d620e8 | 520 | mouseX -= 1; |
sahilmgandhi | 28:8126a4d620e8 | 521 | } |
sahilmgandhi | 26:d20f1adac2d3 | 522 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 523 | |
sahilmgandhi | 26:d20f1adac2d3 | 524 | |
sahilmgandhi | 19:7b66a518b6f8 | 525 | left_motor.brake(); |
sahilmgandhi | 19:7b66a518b6f8 | 526 | right_motor.brake(); |
sahilmgandhi | 17:f713758f6238 | 527 | } |
christine222 | 25:f827a8b7880e | 528 | |
sahilmgandhi | 26:d20f1adac2d3 | 529 | bool isWallInFront(int x, int y){ |
sahilmgandhi | 27:02ce1040f331 | 530 | return (wallArray[MAZE_LEN - y - 1][x] & F_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 531 | } |
sahilmgandhi | 26:d20f1adac2d3 | 532 | bool isWallInBack(int x, int y){ |
sahilmgandhi | 27:02ce1040f331 | 533 | return (wallArray[MAZE_LEN - y - 1][x] & B_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 534 | } |
sahilmgandhi | 26:d20f1adac2d3 | 535 | bool isWallOnRight(int x, int y){ |
sahilmgandhi | 27:02ce1040f331 | 536 | return (wallArray[MAZE_LEN - y - 1][x] & R_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 537 | } |
sahilmgandhi | 26:d20f1adac2d3 | 538 | bool isWallOnLeft(int x, int y){ |
sahilmgandhi | 27:02ce1040f331 | 539 | return (wallArray[MAZE_LEN - y - 1][x] & L_WALL); |
sahilmgandhi | 26:d20f1adac2d3 | 540 | } |
sahilmgandhi | 26:d20f1adac2d3 | 541 | |
sahilmgandhi | 26:d20f1adac2d3 | 542 | int chooseNextMovement(){ |
sahilmgandhi | 26:d20f1adac2d3 | 543 | int currentDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 544 | if (goingToCenter && (currentDistance == 0)){ |
sahilmgandhi | 26:d20f1adac2d3 | 545 | goingToCenter = false; |
sahilmgandhi | 26:d20f1adac2d3 | 546 | changeManhattanDistance(goingToCenter); |
sahilmgandhi | 26:d20f1adac2d3 | 547 | } |
sahilmgandhi | 26:d20f1adac2d3 | 548 | else if (!goingToCenter && (currentDistance == 0)){ |
sahilmgandhi | 26:d20f1adac2d3 | 549 | goingToCenter == true; |
sahilmgandhi | 26:d20f1adac2d3 | 550 | changeManhattanDistance(goingToCenter); |
sahilmgandhi | 26:d20f1adac2d3 | 551 | } |
sahilmgandhi | 26:d20f1adac2d3 | 552 | |
sahilmgandhi | 26:d20f1adac2d3 | 553 | visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 554 | int currX = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 555 | int currY = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 556 | int currDist = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 557 | int dirToGo = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 558 | if (!justTurned){ |
sahilmgandhi | 26:d20f1adac2d3 | 559 | cellsToVisit.push(make_pair(mouseX, mouseY)); |
sahilmgandhi | 26:d20f1adac2d3 | 560 | while (!cellsToVisit.empty()) { |
sahilmgandhi | 26:d20f1adac2d3 | 561 | pair<int, int> curr = cellsToVisit.top(); |
sahilmgandhi | 26:d20f1adac2d3 | 562 | cellsToVisit.pop(); |
sahilmgandhi | 26:d20f1adac2d3 | 563 | currX = curr.first; |
sahilmgandhi | 26:d20f1adac2d3 | 564 | currY = curr.second; |
sahilmgandhi | 26:d20f1adac2d3 | 565 | currDist = manhattanDistances[(MAZE_LEN - 1) - currY][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 566 | int minDist = INT_MAX; |
sahilmgandhi | 26:d20f1adac2d3 | 567 | |
sahilmgandhi | 26:d20f1adac2d3 | 568 | 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 | 569 | if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 570 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 571 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 572 | } |
sahilmgandhi | 26:d20f1adac2d3 | 573 | } |
sahilmgandhi | 27:02ce1040f331 | 574 | if (currX - 1 >= 0 && !isWallOnLeft(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 575 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX - 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 576 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 577 | } |
sahilmgandhi | 26:d20f1adac2d3 | 578 | } |
sahilmgandhi | 27:02ce1040f331 | 579 | if (currY + 1 < MAZE_LEN && !isWallInFront( currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 580 | if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 581 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 582 | } |
sahilmgandhi | 26:d20f1adac2d3 | 583 | } |
sahilmgandhi | 27:02ce1040f331 | 584 | if (currY - 1 >= 0 && !isWallInBack(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 585 | if (manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 586 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 587 | } |
sahilmgandhi | 26:d20f1adac2d3 | 588 | } |
sahilmgandhi | 26:d20f1adac2d3 | 589 | } else { |
sahilmgandhi | 26:d20f1adac2d3 | 590 | if (currX + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 591 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 592 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 593 | } |
sahilmgandhi | 26:d20f1adac2d3 | 594 | } |
sahilmgandhi | 26:d20f1adac2d3 | 595 | if (currX - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 596 | if (manhattanDistances[MAZE_LEN - 1 - currY][currX - 1] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 597 | minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 598 | } |
sahilmgandhi | 26:d20f1adac2d3 | 599 | } |
sahilmgandhi | 26:d20f1adac2d3 | 600 | if (currY + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 601 | if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 602 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 603 | } |
sahilmgandhi | 26:d20f1adac2d3 | 604 | } |
sahilmgandhi | 26:d20f1adac2d3 | 605 | if (currY - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 606 | if (manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX] < minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 607 | minDist = manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX]; |
sahilmgandhi | 26:d20f1adac2d3 | 608 | } |
sahilmgandhi | 26:d20f1adac2d3 | 609 | } |
sahilmgandhi | 26:d20f1adac2d3 | 610 | } |
sahilmgandhi | 26:d20f1adac2d3 | 611 | |
sahilmgandhi | 26:d20f1adac2d3 | 612 | if (minDist == INT_MAX) |
sahilmgandhi | 26:d20f1adac2d3 | 613 | continue; |
sahilmgandhi | 26:d20f1adac2d3 | 614 | if (currDist > minDist) |
sahilmgandhi | 26:d20f1adac2d3 | 615 | continue; |
sahilmgandhi | 26:d20f1adac2d3 | 616 | if (currDist <= minDist) { |
sahilmgandhi | 26:d20f1adac2d3 | 617 | manhattanDistances[MAZE_LEN - 1 - currY][currX] = minDist + 1; |
sahilmgandhi | 26:d20f1adac2d3 | 618 | } |
sahilmgandhi | 26:d20f1adac2d3 | 619 | if (hasVisited(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 620 | if (currY + 1 < MAZE_LEN && !isWallInFront(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 621 | cellsToVisit.push(make_pair(currX, currY + 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 622 | } |
sahilmgandhi | 26:d20f1adac2d3 | 623 | if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 624 | cellsToVisit.push(make_pair(currX + 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 625 | } |
sahilmgandhi | 26:d20f1adac2d3 | 626 | if (currY - 1 >= 0 && !isWallInBack(currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 627 | cellsToVisit.push(make_pair(currX, currY - 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 628 | } |
sahilmgandhi | 26:d20f1adac2d3 | 629 | if (currX - 1 >= 0 && !isWallOnLeft( currX, currY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 630 | cellsToVisit.push(make_pair(currX - 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 631 | } |
sahilmgandhi | 26:d20f1adac2d3 | 632 | } else { |
sahilmgandhi | 26:d20f1adac2d3 | 633 | if (currY + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 634 | cellsToVisit.push(make_pair(currX, currY + 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 635 | } |
sahilmgandhi | 26:d20f1adac2d3 | 636 | if (currX + 1 < MAZE_LEN) { |
sahilmgandhi | 26:d20f1adac2d3 | 637 | cellsToVisit.push(make_pair(currX + 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 638 | } |
sahilmgandhi | 26:d20f1adac2d3 | 639 | if (currY - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 640 | cellsToVisit.push(make_pair(currX, currY - 1)); |
sahilmgandhi | 26:d20f1adac2d3 | 641 | } |
sahilmgandhi | 26:d20f1adac2d3 | 642 | if (currX - 1 >= 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 643 | cellsToVisit.push(make_pair(currX - 1, currY)); |
sahilmgandhi | 26:d20f1adac2d3 | 644 | } |
sahilmgandhi | 26:d20f1adac2d3 | 645 | } |
sahilmgandhi | 26:d20f1adac2d3 | 646 | } |
sahilmgandhi | 26:d20f1adac2d3 | 647 | |
sahilmgandhi | 26:d20f1adac2d3 | 648 | int minDistance = INT_MAX; |
sahilmgandhi | 26:d20f1adac2d3 | 649 | if (currDir % 4 == 0) { |
sahilmgandhi | 26:d20f1adac2d3 | 650 | if (mouseX + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 651 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 652 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 653 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 654 | } |
sahilmgandhi | 26:d20f1adac2d3 | 655 | } |
sahilmgandhi | 26:d20f1adac2d3 | 656 | if (mouseX - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 657 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 658 | minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 659 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 660 | } |
sahilmgandhi | 26:d20f1adac2d3 | 661 | } |
sahilmgandhi | 26:d20f1adac2d3 | 662 | if (mouseY + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 663 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 664 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 665 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 666 | } |
sahilmgandhi | 26:d20f1adac2d3 | 667 | } |
sahilmgandhi | 26:d20f1adac2d3 | 668 | if (mouseY - 1 >= 0 && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 669 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 670 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 671 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 672 | } |
sahilmgandhi | 26:d20f1adac2d3 | 673 | } |
sahilmgandhi | 26:d20f1adac2d3 | 674 | } else if (currDir % 4 == 2) { |
sahilmgandhi | 26:d20f1adac2d3 | 675 | if (mouseX - 1 >= 0 && !isWallOnRight(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 = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 679 | } |
sahilmgandhi | 26:d20f1adac2d3 | 680 | } |
sahilmgandhi | 26:d20f1adac2d3 | 681 | if (mouseX + 1 < MAZE_LEN && !isWallOnLeft(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 = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 685 | } |
sahilmgandhi | 26:d20f1adac2d3 | 686 | } |
sahilmgandhi | 26:d20f1adac2d3 | 687 | if (mouseY - 1 >= 0 && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 688 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 689 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 690 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 691 | } |
sahilmgandhi | 26:d20f1adac2d3 | 692 | } |
sahilmgandhi | 26:d20f1adac2d3 | 693 | if (mouseY + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 694 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 695 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 696 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 697 | } |
sahilmgandhi | 26:d20f1adac2d3 | 698 | } |
sahilmgandhi | 26:d20f1adac2d3 | 699 | } else if (currDir % 4 == 1) { |
sahilmgandhi | 26:d20f1adac2d3 | 700 | if (mouseY - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 701 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 702 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 703 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 704 | } |
sahilmgandhi | 26:d20f1adac2d3 | 705 | } |
sahilmgandhi | 26:d20f1adac2d3 | 706 | if (mouseY + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 707 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 708 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 709 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 710 | } |
sahilmgandhi | 26:d20f1adac2d3 | 711 | } |
sahilmgandhi | 26:d20f1adac2d3 | 712 | if (mouseX + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 713 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 714 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 715 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 716 | } |
sahilmgandhi | 26:d20f1adac2d3 | 717 | } |
sahilmgandhi | 26:d20f1adac2d3 | 718 | if (mouseX - 1 >= 0 && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 719 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 720 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 721 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 722 | } |
sahilmgandhi | 26:d20f1adac2d3 | 723 | } |
sahilmgandhi | 26:d20f1adac2d3 | 724 | } else if (currDir % 4 == 3) { |
sahilmgandhi | 26:d20f1adac2d3 | 725 | if (mouseY + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 726 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 727 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 728 | dirToGo = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 729 | } |
sahilmgandhi | 26:d20f1adac2d3 | 730 | } |
sahilmgandhi | 26:d20f1adac2d3 | 731 | if (mouseY - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 732 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 733 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; |
sahilmgandhi | 26:d20f1adac2d3 | 734 | dirToGo = 2; |
sahilmgandhi | 26:d20f1adac2d3 | 735 | } |
sahilmgandhi | 26:d20f1adac2d3 | 736 | } |
sahilmgandhi | 26:d20f1adac2d3 | 737 | if (mouseX - 1 >= 0 && !isWallInFront(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 738 | if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 739 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 740 | dirToGo = 3; |
sahilmgandhi | 26:d20f1adac2d3 | 741 | } |
sahilmgandhi | 26:d20f1adac2d3 | 742 | } |
sahilmgandhi | 26:d20f1adac2d3 | 743 | if (mouseX + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) { |
sahilmgandhi | 26:d20f1adac2d3 | 744 | if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1] <= minDistance) { |
sahilmgandhi | 26:d20f1adac2d3 | 745 | minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1]; |
sahilmgandhi | 26:d20f1adac2d3 | 746 | dirToGo = 4; |
sahilmgandhi | 26:d20f1adac2d3 | 747 | } |
sahilmgandhi | 26:d20f1adac2d3 | 748 | } |
sahilmgandhi | 26:d20f1adac2d3 | 749 | } |
sahilmgandhi | 26:d20f1adac2d3 | 750 | } |
sahilmgandhi | 26:d20f1adac2d3 | 751 | else{ |
sahilmgandhi | 26:d20f1adac2d3 | 752 | justTurned = false; |
sahilmgandhi | 26:d20f1adac2d3 | 753 | dirToGo = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 754 | } |
sahilmgandhi | 26:d20f1adac2d3 | 755 | |
sahilmgandhi | 26:d20f1adac2d3 | 756 | return dirToGo; |
sahilmgandhi | 26:d20f1adac2d3 | 757 | } |
sahilmgandhi | 26:d20f1adac2d3 | 758 | |
sahilmgandhi | 26:d20f1adac2d3 | 759 | bool hasVisited(int x, int y){ |
sahilmgandhi | 26:d20f1adac2d3 | 760 | return visitedCells[MAZE_LEN - 1 - y][x]; |
sahilmgandhi | 26:d20f1adac2d3 | 761 | } |
sahilmgandhi | 26:d20f1adac2d3 | 762 | |
sahilmgandhi | 26:d20f1adac2d3 | 763 | void changeManhattanDistance(bool headCenter){ |
sahilmgandhi | 26:d20f1adac2d3 | 764 | if (headCenter){ |
sahilmgandhi | 29:ec2c5a69acd6 | 765 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 766 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 767 | distanceToCenter[i][j] = manhattanDistances[i][j]; |
sahilmgandhi | 26:d20f1adac2d3 | 768 | } |
sahilmgandhi | 26:d20f1adac2d3 | 769 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 770 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 771 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 772 | manhattanDistances[i][j] = distanceToStart[i][j]; |
sahilmgandhi | 26:d20f1adac2d3 | 773 | } |
sahilmgandhi | 26:d20f1adac2d3 | 774 | } |
sahilmgandhi | 26:d20f1adac2d3 | 775 | } |
sahilmgandhi | 26:d20f1adac2d3 | 776 | else { |
sahilmgandhi | 29:ec2c5a69acd6 | 777 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 778 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 779 | distanceToStart[i][j] = manhattanDistances[i][j]; |
sahilmgandhi | 29:ec2c5a69acd6 | 780 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 781 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 782 | for (int i = 0; i < MAZE_LEN; i++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 783 | for (int j = 0; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 784 | manhattanDistances[i][j] = distanceToCenter[i][j]; |
sahilmgandhi | 29:ec2c5a69acd6 | 785 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 786 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 787 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 788 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 789 | |
sahilmgandhi | 29:ec2c5a69acd6 | 790 | void initializeDistances(){ |
sahilmgandhi | 29:ec2c5a69acd6 | 791 | for (int i = 0; i < MAZE_LEN / 2; i++) { |
sahilmgandhi | 26:d20f1adac2d3 | 792 | for (int j = 0; j < MAZE_LEN / 2; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 793 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 794 | } |
sahilmgandhi | 26:d20f1adac2d3 | 795 | } |
sahilmgandhi | 26:d20f1adac2d3 | 796 | for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) { |
sahilmgandhi | 26:d20f1adac2d3 | 797 | for (int j = 0; j < MAZE_LEN / 2; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 798 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 799 | } |
sahilmgandhi | 26:d20f1adac2d3 | 800 | } |
sahilmgandhi | 26:d20f1adac2d3 | 801 | for (int i = 0; i < MAZE_LEN / 2; i++) { |
sahilmgandhi | 26:d20f1adac2d3 | 802 | for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 803 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 804 | } |
sahilmgandhi | 26:d20f1adac2d3 | 805 | } |
sahilmgandhi | 26:d20f1adac2d3 | 806 | for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) { |
sahilmgandhi | 26:d20f1adac2d3 | 807 | for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) { |
sahilmgandhi | 29:ec2c5a69acd6 | 808 | distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); |
sahilmgandhi | 26:d20f1adac2d3 | 809 | } |
sahilmgandhi | 26:d20f1adac2d3 | 810 | } |
sahilmgandhi | 26:d20f1adac2d3 | 811 | } |
sahilmgandhi | 29:ec2c5a69acd6 | 812 | |
sahilmgandhi | 0:a03c771ab78e | 813 | int main() |
sahilmgandhi | 0:a03c771ab78e | 814 | { |
christine222 | 3:880f15be8c72 | 815 | //Set highest bandwidth. |
christine222 | 23:690b0ca34ee9 | 816 | //gyro.setLpBandwidth(LPFBW_42HZ); |
sahilmgandhi | 29:ec2c5a69acd6 | 817 | initializeDistances(); |
christine222 | 3:880f15be8c72 | 818 | serial.baud(9600); |
christine222 | 23:690b0ca34ee9 | 819 | //serial.printf("The gyro's address is %s", gyro.getWhoAmI()); |
sahilmgandhi | 26:d20f1adac2d3 | 820 | |
sahilmgandhi | 1:8a4b2f573923 | 821 | wait (0.1); |
sahilmgandhi | 26:d20f1adac2d3 | 822 | |
sahilmgandhi | 2:771db996cee0 | 823 | redLed.write(1); |
sahilmgandhi | 14:9e7bb03ddccb | 824 | greenLed.write(0); |
sahilmgandhi | 2:771db996cee0 | 825 | blueLed.write(1); |
sahilmgandhi | 26:d20f1adac2d3 | 826 | |
kyleliangus | 9:1d8e4da058cd | 827 | //left_motor.forward(0.1); |
kyleliangus | 9:1d8e4da058cd | 828 | //right_motor.forward(0.1); |
sahilmgandhi | 26:d20f1adac2d3 | 829 | |
kyleliangus | 8:a0760acdc59e | 830 | // PA_1 is A of right |
kyleliangus | 8:a0760acdc59e | 831 | // PA_0 is B of right |
kyleliangus | 8:a0760acdc59e | 832 | // PA_5 is A of left |
kyleliangus | 8:a0760acdc59e | 833 | // PB_3 is B of left |
vanshg | 11:8fc2b703086b | 834 | //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); |
sahilmgandhi | 26:d20f1adac2d3 | 835 | // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); |
sahilmgandhi | 26:d20f1adac2d3 | 836 | |
vanshg | 10:810d1849da9d | 837 | // TODO: Setting all the registers and what not for Quadrature Encoders |
sahilmgandhi | 14:9e7bb03ddccb | 838 | /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3) |
sahilmgandhi | 14:9e7bb03ddccb | 839 | RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B) |
sahilmgandhi | 14:9e7bb03ddccb | 840 | GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2 |
sahilmgandhi | 14:9e7bb03ddccb | 841 | GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5 |
sahilmgandhi | 14:9e7bb03ddccb | 842 | */ |
sahilmgandhi | 26:d20f1adac2d3 | 843 | |
kyleliangus | 12:5790e56a056f | 844 | // 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 | 845 | // of alternate function specified |
kyleliangus | 12:5790e56a056f | 846 | // 4 modes sets AHB1ENR |
kyleliangus | 12:5790e56a056f | 847 | // Now TMR: enable clock with timer, APB1ENR |
kyleliangus | 12:5790e56a056f | 848 | // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN |
kyleliangus | 12:5790e56a056f | 849 | // |
kyleliangus | 12:5790e56a056f | 850 | // Encoder mode: disable timer before changing timer to encoder |
kyleliangus | 12:5790e56a056f | 851 | // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use |
kyleliangus | 12:5790e56a056f | 852 | // CCMR sets sample rate and set the channel to input |
kyleliangus | 12:5790e56a056f | 853 | // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels |
kyleliangus | 12:5790e56a056f | 854 | // SMCR - encoder mode |
kyleliangus | 12:5790e56a056f | 855 | // CR1 reenabales |
kyleliangus | 12:5790e56a056f | 856 | // then read CNT reg of timer |
sahilmgandhi | 26:d20f1adac2d3 | 857 | |
sahilmgandhi | 26:d20f1adac2d3 | 858 | |
vanshg | 10:810d1849da9d | 859 | dipButton1.rise(&enableButton1); |
vanshg | 10:810d1849da9d | 860 | dipButton2.rise(&enableButton2); |
vanshg | 10:810d1849da9d | 861 | dipButton3.rise(&enableButton3); |
vanshg | 10:810d1849da9d | 862 | dipButton4.rise(&enableButton4); |
sahilmgandhi | 26:d20f1adac2d3 | 863 | |
vanshg | 10:810d1849da9d | 864 | dipButton1.fall(&disableButton1); |
vanshg | 10:810d1849da9d | 865 | dipButton2.fall(&disableButton2); |
vanshg | 10:810d1849da9d | 866 | dipButton3.fall(&disableButton3); |
vanshg | 10:810d1849da9d | 867 | dipButton4.fall(&disableButton4); |
sahilmgandhi | 7:6f5cb6377bd4 | 868 | |
sahilmgandhi | 26:d20f1adac2d3 | 869 | // if(dipFlags == 0x1){ |
sahilmgandhi | 26:d20f1adac2d3 | 870 | turnRight180(); |
sahilmgandhi | 26:d20f1adac2d3 | 871 | wait_ms(1000); |
sahilmgandhi | 26:d20f1adac2d3 | 872 | // }else{ |
sahilmgandhi | 26:d20f1adac2d3 | 873 | // turnRight(); |
sahilmgandhi | 26:d20f1adac2d3 | 874 | // IRP_1.calibrateSensor(); |
sahilmgandhi | 26:d20f1adac2d3 | 875 | // IRP_4.calibrateSensor(); |
sahilmgandhi | 26:d20f1adac2d3 | 876 | // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL; |
sahilmgandhi | 26:d20f1adac2d3 | 877 | // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL; |
sahilmgandhi | 26:d20f1adac2d3 | 878 | |
sahilmgandhi | 26:d20f1adac2d3 | 879 | // wait_ms(300); |
sahilmgandhi | 26:d20f1adac2d3 | 880 | // turnLeft(); |
sahilmgandhi | 26:d20f1adac2d3 | 881 | // wait_ms(300); |
sahilmgandhi | 26:d20f1adac2d3 | 882 | // } |
sahilmgandhi | 26:d20f1adac2d3 | 883 | |
sahilmgandhi | 26:d20f1adac2d3 | 884 | |
sahilmgandhi | 26:d20f1adac2d3 | 885 | // init the wall, and mouse loc arrays: |
sahilmgandhi | 26:d20f1adac2d3 | 886 | wallArray[MAZE_LEN - 1 - mouseY][mouseX] = 0xE; |
sahilmgandhi | 26:d20f1adac2d3 | 887 | visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1; |
sahilmgandhi | 26:d20f1adac2d3 | 888 | |
sahilmgandhi | 28:8126a4d620e8 | 889 | int prevEncoder0Count = 0; |
sahilmgandhi | 28:8126a4d620e8 | 890 | int prevEncoder1Count = 0; |
sahilmgandhi | 28:8126a4d620e8 | 891 | int currEncoder0Count = 0; |
sahilmgandhi | 28:8126a4d620e8 | 892 | int currEncoder1Count = 0; |
sahilmgandhi | 28:8126a4d620e8 | 893 | |
sahilmgandhi | 28:8126a4d620e8 | 894 | bool overrideFloodFill = false; |
christine222 | 25:f827a8b7880e | 895 | //right_motor.forward( 0.2 ); |
christine222 | 25:f827a8b7880e | 896 | //left_motor.forward( 0.2 ); |
sahilmgandhi | 26:d20f1adac2d3 | 897 | //turnRight180(); |
sahilmgandhi | 26:d20f1adac2d3 | 898 | //wait_ms(1500); |
sahilmgandhi | 26:d20f1adac2d3 | 899 | int nextMovement = 0; |
sahilmgandhi | 26:d20f1adac2d3 | 900 | while (1) { |
sahilmgandhi | 29:ec2c5a69acd6 | 901 | // prevEncoder0Count = encoder0.getPulses(); |
sahilmgandhi | 29:ec2c5a69acd6 | 902 | // prevEncoder1Count = encoder1.getPulses(); |
sahilmgandhi | 29:ec2c5a69acd6 | 903 | // |
sahilmgandhi | 29:ec2c5a69acd6 | 904 | // if (!overrideFloodFill){ |
sahilmgandhi | 29:ec2c5a69acd6 | 905 | // nextMovement = chooseNextMovement(); |
sahilmgandhi | 29:ec2c5a69acd6 | 906 | // if (nextMovement == 0){ |
sahilmgandhi | 29:ec2c5a69acd6 | 907 | // nCellEncoderAndIR(1); |
sahilmgandhi | 29:ec2c5a69acd6 | 908 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 909 | // else if (nextMovement == 1){ |
sahilmgandhi | 29:ec2c5a69acd6 | 910 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 911 | // turnRight(); |
sahilmgandhi | 29:ec2c5a69acd6 | 912 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 913 | // else if (nextMovement == 2){ |
sahilmgandhi | 29:ec2c5a69acd6 | 914 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 915 | // turnLeft(); |
sahilmgandhi | 29:ec2c5a69acd6 | 916 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 917 | // else if (nextMovement == 3){ |
sahilmgandhi | 29:ec2c5a69acd6 | 918 | // nCellEncoderAndIR(1); |
sahilmgandhi | 29:ec2c5a69acd6 | 919 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 920 | // else if (nextMovement == 4){ |
sahilmgandhi | 29:ec2c5a69acd6 | 921 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 922 | // turnRight180(); |
sahilmgandhi | 29:ec2c5a69acd6 | 923 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 924 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 925 | // else{ |
sahilmgandhi | 29:ec2c5a69acd6 | 926 | // overrideFloodFill = false; |
sahilmgandhi | 29:ec2c5a69acd6 | 927 | // if ((rand()%2 + 1) == 1){ |
sahilmgandhi | 29:ec2c5a69acd6 | 928 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 929 | // turnLeft(); |
sahilmgandhi | 29:ec2c5a69acd6 | 930 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 931 | // else{ |
sahilmgandhi | 29:ec2c5a69acd6 | 932 | // justTurned = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 933 | // turnRight(); |
sahilmgandhi | 29:ec2c5a69acd6 | 934 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 935 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 936 | // currEncoder0Count = encoder0.getPulses(); |
sahilmgandhi | 29:ec2c5a69acd6 | 937 | // currEncoder1Count = encoder1.getPulses(); |
sahilmgandhi | 29:ec2c5a69acd6 | 938 | // |
sahilmgandhi | 29:ec2c5a69acd6 | 939 | // if (!justTurned && (currEncoder0Count <= prevEncoder0Count + 100) && (currEncoder1Count <= prevEncoder1Count + 100) && !overrideFloodFill){ |
sahilmgandhi | 29:ec2c5a69acd6 | 940 | // overrideFloodFill = true; |
sahilmgandhi | 29:ec2c5a69acd6 | 941 | // } |
sahilmgandhi | 29:ec2c5a69acd6 | 942 | // |
sahilmgandhi | 29:ec2c5a69acd6 | 943 | // wait_ms(300); // reduce this once we fine tune this! |
christine222 | 24:e7063765d6f0 | 944 | |
christine222 | 23:690b0ca34ee9 | 945 | //wait_ms(1500); |
christine222 | 23:690b0ca34ee9 | 946 | //turnRight(); |
christine222 | 23:690b0ca34ee9 | 947 | //wait_ms(1500); |
christine222 | 23:690b0ca34ee9 | 948 | //turnLeft(); |
sahilmgandhi | 26:d20f1adac2d3 | 949 | // nCellEncoderAndIR(1); |
sahilmgandhi | 26:d20f1adac2d3 | 950 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 951 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 952 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 953 | // nCellEncoderAndIR(1); |
christine222 | 23:690b0ca34ee9 | 954 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 955 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 956 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 957 | // nCellEncoderAndIR(1); |
christine222 | 23:690b0ca34ee9 | 958 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 959 | // turnLeft(); |
christine222 | 23:690b0ca34ee9 | 960 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 961 | // nCellEncoderAndIR(2); |
christine222 | 23:690b0ca34ee9 | 962 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 963 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 964 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 965 | // nCellEncoderAndIR(1); |
christine222 | 23:690b0ca34ee9 | 966 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 967 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 968 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 969 | // nCellEncoderAndIR(5); |
christine222 | 23:690b0ca34ee9 | 970 | // break; |
christine222 | 23:690b0ca34ee9 | 971 | // turnRight180(); |
sahilmgandhi | 26:d20f1adac2d3 | 972 | |
christine222 | 23:690b0ca34ee9 | 973 | // int number = rand() % 4 + 1; |
christine222 | 23:690b0ca34ee9 | 974 | // switch(number){ |
christine222 | 23:690b0ca34ee9 | 975 | // case(1):{//turn right |
christine222 | 23:690b0ca34ee9 | 976 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 977 | // break; |
christine222 | 23:690b0ca34ee9 | 978 | // } |
christine222 | 23:690b0ca34ee9 | 979 | // case(2):{ // turn left |
christine222 | 23:690b0ca34ee9 | 980 | // turnLeft(); |
christine222 | 23:690b0ca34ee9 | 981 | // break; |
christine222 | 23:690b0ca34ee9 | 982 | // } |
christine222 | 23:690b0ca34ee9 | 983 | // case(3):{// keep going |
sahilmgandhi | 26:d20f1adac2d3 | 984 | |
christine222 | 23:690b0ca34ee9 | 985 | // break; |
christine222 | 23:690b0ca34ee9 | 986 | // } |
christine222 | 23:690b0ca34ee9 | 987 | // case(4):{// turnaround |
christine222 | 23:690b0ca34ee9 | 988 | // turnRight180(); |
christine222 | 23:690b0ca34ee9 | 989 | // break; |
christine222 | 23:690b0ca34ee9 | 990 | // } |
christine222 | 23:690b0ca34ee9 | 991 | // default:{// keep going |
christine222 | 23:690b0ca34ee9 | 992 | // break; |
christine222 | 23:690b0ca34ee9 | 993 | // } |
christine222 | 23:690b0ca34ee9 | 994 | // } |
sahilmgandhi | 26:d20f1adac2d3 | 995 | |
christine222 | 23:690b0ca34ee9 | 996 | // float irbase2 = IRP_2.sensorAvg/initAverageL/averageDivL; |
christine222 | 23:690b0ca34ee9 | 997 | // float irbase3 = IRP_3.sensorAvg/initAverageR/averageDivR; |
sahilmgandhi | 26:d20f1adac2d3 | 998 | |
christine222 | 23:690b0ca34ee9 | 999 | // float ir3 = IRP_2.getSamples(100)/initAverageL; |
christine222 | 23:690b0ca34ee9 | 1000 | // float ir2 = IRP_3.getSamples(100)/initAverageR; |
christine222 | 22:681190ff98f0 | 1001 | |
sahilmgandhi | 26:d20f1adac2d3 | 1002 | |
christine222 | 25:f827a8b7880e | 1003 | |
christine222 | 23:690b0ca34ee9 | 1004 | /* |
christine222 | 23:690b0ca34ee9 | 1005 | counter2++; |
christine222 | 23:690b0ca34ee9 | 1006 | counter3++; |
christine222 | 23:690b0ca34ee9 | 1007 | ir2tot += IRP_2.getSamples(100); |
christine222 | 23:690b0ca34ee9 | 1008 | ir3tot += IRP_3.getSamples(100); |
sahilmgandhi | 26:d20f1adac2d3 | 1009 | |
sahilmgandhi | 26:d20f1adac2d3 | 1010 | |
christine222 | 23:690b0ca34ee9 | 1011 | ir2 = ir2tot/counter2; |
christine222 | 23:690b0ca34ee9 | 1012 | ir3 = ir3tot/counter3; |
christine222 | 23:690b0ca34ee9 | 1013 | |
sahilmgandhi | 26:d20f1adac2d3 | 1014 | |
christine222 | 23:690b0ca34ee9 | 1015 | serial.printf("IRS= >: %f, %f \r\n", ir2, ir3); |
christine222 | 23:690b0ca34ee9 | 1016 | */ |
christine222 | 23:690b0ca34ee9 | 1017 | //serial.printf("%f, %f \n", IRP_2.sensorAvg/initAverageL/averageDivL, IRP_3.sensorAvg/initAverageR/averageDivR); |
christine222 | 23:690b0ca34ee9 | 1018 | //serial.printf("IRBASEnowall= >: %f, %f \r\n", irbase2, irbase3); |
christine222 | 23:690b0ca34ee9 | 1019 | //break; |
christine222 | 23:690b0ca34ee9 | 1020 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples(100), IRP_3.getSamples(100)); |
christine222 | 23:690b0ca34ee9 | 1021 | //serial.printf("IRSAvg= >: %f, %f \r\n", ir2, ir3); |
christine222 | 23:690b0ca34ee9 | 1022 | //serial.printf("IRSAvg= >: %f, %f \r\n", IRP_2.sensorAvg, IRP_3.sensorAvg); |
sahilmgandhi | 26:d20f1adac2d3 | 1023 | |
sahilmgandhi | 26:d20f1adac2d3 | 1024 | |
christine222 | 23:690b0ca34ee9 | 1025 | //////////////////////////////////////////////////////////////// |
sahilmgandhi | 26:d20f1adac2d3 | 1026 | |
christine222 | 22:681190ff98f0 | 1027 | //nCellEncoderAndIR(3); |
christine222 | 22:681190ff98f0 | 1028 | //break; |
sahilmgandhi | 26:d20f1adac2d3 | 1029 | |
christine222 | 23:690b0ca34ee9 | 1030 | //serial.printf("IRS= >: %f, %f, %f, %f \r\n", IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100)); |
christine222 | 25:f827a8b7880e | 1031 | |
christine222 | 21:9a6cb07bdcb6 | 1032 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
sahilmgandhi | 26:d20f1adac2d3 | 1033 | |
christine222 | 21:9a6cb07bdcb6 | 1034 | //break; |
christine222 | 21:9a6cb07bdcb6 | 1035 | // moveForwardCellEncoder(1); |
christine222 | 21:9a6cb07bdcb6 | 1036 | // wait(0.5); |
christine222 | 21:9a6cb07bdcb6 | 1037 | // handleTurns(); |
christine222 | 21:9a6cb07bdcb6 | 1038 | // wait(0.5); |
christine222 | 21:9a6cb07bdcb6 | 1039 | // moveForwardCellEncoder(1); |
christine222 | 21:9a6cb07bdcb6 | 1040 | // wait(0.5); |
christine222 | 21:9a6cb07bdcb6 | 1041 | // handleTurns(); |
christine222 | 21:9a6cb07bdcb6 | 1042 | //break; |
sahilmgandhi | 16:d9252437bd92 | 1043 | //pidOnEncoders(); |
sahilmgandhi | 20:82836745332e | 1044 | // moveForwardUntilWallIr(); |
kyleliangus | 15:b80555a4a8b9 | 1045 | //serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses()); |
sahilmgandhi | 29:ec2c5a69acd6 | 1046 | double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; |
sahilmgandhi | 29:ec2c5a69acd6 | 1047 | serial.printf("IRS= >: %f, %f, %f, %f, %f \r\n", IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100), currentError ); |
sahilmgandhi | 26:d20f1adac2d3 | 1048 | |
christine222 | 3:880f15be8c72 | 1049 | //reading = Rec_4.read(); |
christine222 | 3:880f15be8c72 | 1050 | // serial.printf("reading: %f\n", reading); |
christine222 | 3:880f15be8c72 | 1051 | } |
sahilmgandhi | 26:d20f1adac2d3 | 1052 | } |