MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

main.cpp@33:68ce1f74ab5f, 2017-05-26 (annotated)

Committer:
sahilmgandhi
Date:
Fri May 26 06:23:19 2017 +0000
Revision:
33:68ce1f74ab5f
Parent:
32:69acb14778ea
Child:
34:69342782fb68
PID working with the new IRs now ... need to tune it a bit though.

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 33:68ce1f74ab5f 40
sahilmgandhi 33:68ce1f74ab5f 41 #define IP_CONSTANT 1.93
sahilmgandhi 33:68ce1f74ab5f 42 #define II_CONSTANT 0.00001
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
sahilmgandhi 14:9e7bb03ddccb 193 void moveForwardUntilWallIr()
sahilmgandhi 14:9e7bb03ddccb 194 {
kyleliangus 9:1d8e4da058cd 195 double currentError = 0;
kyleliangus 9:1d8e4da058cd 196 double previousError = 0;
kyleliangus 9:1d8e4da058cd 197 double derivError = 0;
kyleliangus 9:1d8e4da058cd 198 double sumError = 0;
christine222 25:f827a8b7880e 199
vanshg 11:8fc2b703086b 200 double HIGH_PWM_VOLTAGE = 0.1;
christine222 25:f827a8b7880e 201
christine222 25:f827a8b7880e 202 double rightSpeed = 0.25;
christine222 25:f827a8b7880e 203 double leftSpeed = 0.23;
christine222 25:f827a8b7880e 204
kyleliangus 9:1d8e4da058cd 205 float ir2 = IRP_2.getSamples( SAMPLE_NUM );
kyleliangus 9:1d8e4da058cd 206 float ir3 = IRP_3.getSamples( SAMPLE_NUM );
christine222 25:f827a8b7880e 207
vanshg 11:8fc2b703086b 208 int count = encoder0.getPulses();
christine222 21:9a6cb07bdcb6 209 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 210
christine222 21:9a6cb07bdcb6 211 if((IRP_2.getSamples(SAMPLE_NUM) < 0.005 || IRP_3.getSamples(SAMPLE_NUM) < 0.005)) {
sahilmgandhi 31:9b71b44e0867 212 //moveForwardWallEncoder();
sahilmgandhi 31:9b71b44e0867 213 } else if(IRP_2.getSamples(SAMPLE_NUM) < 0.005) { // left wall gone
christine222 22:681190ff98f0 214 //moveForwardRightWall();
sahilmgandhi 31:9b71b44e0867 215 } else if(IRP_3.getSamples(SAMPLE_NUM) < 0.005) { // right wall gone
christine222 22:681190ff98f0 216 //moveForwardLeftWall();
sahilmgandhi 31:9b71b44e0867 217 } else {
sahilmgandhi 31:9b71b44e0867 218 // will move forward using encoders only
sahilmgandhi 31:9b71b44e0867 219 // if cell ahead doesn't have a wall on either one side or both sides
christine222 25:f827a8b7880e 220
christine222 21:9a6cb07bdcb6 221 int pulseCount = (encoder0.getPulses()-count) % 5600;
christine222 21:9a6cb07bdcb6 222 if (pulseCount > 5400 && pulseCount < 5800) {
christine222 21:9a6cb07bdcb6 223 blueLed.write(0);
christine222 21:9a6cb07bdcb6 224 } else {
christine222 21:9a6cb07bdcb6 225 blueLed.write(1);
christine222 21:9a6cb07bdcb6 226 }
christine222 21:9a6cb07bdcb6 227 sumError += currentError;
christine222 25:f827a8b7880e 228 currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg/initAverageL) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg/initAverageR) ) ;
christine222 21:9a6cb07bdcb6 229 derivError = currentError - previousError;
christine222 21:9a6cb07bdcb6 230 double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError;
christine222 21:9a6cb07bdcb6 231 if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down
christine222 21:9a6cb07bdcb6 232 rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
christine222 21:9a6cb07bdcb6 233 leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
christine222 21:9a6cb07bdcb6 234 } else { // r is faster than L. speed up l, slow down r
christine222 21:9a6cb07bdcb6 235 rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
christine222 21:9a6cb07bdcb6 236 leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
christine222 21:9a6cb07bdcb6 237 }
christine222 25:f827a8b7880e 238
christine222 21:9a6cb07bdcb6 239 if (leftSpeed > 0.30) leftSpeed = 0.30;
christine222 21:9a6cb07bdcb6 240 if (leftSpeed < 0) leftSpeed = 0;
christine222 21:9a6cb07bdcb6 241 if (rightSpeed > 0.30) rightSpeed = 0.30;
christine222 21:9a6cb07bdcb6 242 if (rightSpeed < 0) rightSpeed = 0;
christine222 25:f827a8b7880e 243
christine222 21:9a6cb07bdcb6 244 right_motor.forward(rightSpeed);
christine222 21:9a6cb07bdcb6 245 left_motor.forward(leftSpeed);
christine222 25:f827a8b7880e 246
christine222 21:9a6cb07bdcb6 247 previousError = currentError;
christine222 25:f827a8b7880e 248
christine222 21:9a6cb07bdcb6 249 ir2 = IRP_2.getSamples( SAMPLE_NUM );
christine222 21:9a6cb07bdcb6 250 ir3 = IRP_3.getSamples( SAMPLE_NUM );
christine222 25:f827a8b7880e 251
kyleliangus 9:1d8e4da058cd 252 }
christine222 25:f827a8b7880e 253
christine222 21:9a6cb07bdcb6 254 //backward();
christine222 22:681190ff98f0 255 //wait_ms(40);
christine222 21:9a6cb07bdcb6 256 //brake();
christine222 25:f827a8b7880e 257
christine222 21:9a6cb07bdcb6 258 left_motor.brake();
christine222 21:9a6cb07bdcb6 259 right_motor.brake();
kyleliangus 9:1d8e4da058cd 260 }
vanshg 10:810d1849da9d 261 }
sahilmgandhi 31:9b71b44e0867 262
sahilmgandhi 14:9e7bb03ddccb 263 void printDipFlag()
sahilmgandhi 14:9e7bb03ddccb 264 {
vanshg 11:8fc2b703086b 265 if (DEBUGGING) serial.printf("Flag value is %d", dipFlags);
vanshg 11:8fc2b703086b 266 }
sahilmgandhi 31:9b71b44e0867 267
sahilmgandhi 14:9e7bb03ddccb 268 void enableButton1()
sahilmgandhi 14:9e7bb03ddccb 269 {
vanshg 10:810d1849da9d 270 dipFlags |= BUTTON1_FLAG;
vanshg 11:8fc2b703086b 271 printDipFlag();
vanshg 10:810d1849da9d 272 }
sahilmgandhi 14:9e7bb03ddccb 273 void enableButton2()
sahilmgandhi 14:9e7bb03ddccb 274 {
vanshg 10:810d1849da9d 275 dipFlags |= BUTTON2_FLAG;
vanshg 11:8fc2b703086b 276 printDipFlag();
vanshg 10:810d1849da9d 277 }
sahilmgandhi 14:9e7bb03ddccb 278 void enableButton3()
sahilmgandhi 14:9e7bb03ddccb 279 {
vanshg 10:810d1849da9d 280 dipFlags |= BUTTON3_FLAG;
vanshg 11:8fc2b703086b 281 printDipFlag();
vanshg 10:810d1849da9d 282 }
sahilmgandhi 14:9e7bb03ddccb 283 void enableButton4()
sahilmgandhi 14:9e7bb03ddccb 284 {
vanshg 10:810d1849da9d 285 dipFlags |= BUTTON4_FLAG;
vanshg 11:8fc2b703086b 286 printDipFlag();
vanshg 10:810d1849da9d 287 }
sahilmgandhi 14:9e7bb03ddccb 288 void disableButton1()
sahilmgandhi 14:9e7bb03ddccb 289 {
vanshg 10:810d1849da9d 290 dipFlags &= ~BUTTON1_FLAG;
vanshg 11:8fc2b703086b 291 printDipFlag();
vanshg 10:810d1849da9d 292 }
sahilmgandhi 14:9e7bb03ddccb 293 void disableButton2()
sahilmgandhi 14:9e7bb03ddccb 294 {
vanshg 10:810d1849da9d 295 dipFlags &= ~BUTTON2_FLAG;
vanshg 11:8fc2b703086b 296 printDipFlag();
vanshg 10:810d1849da9d 297 }
sahilmgandhi 14:9e7bb03ddccb 298 void disableButton3()
sahilmgandhi 14:9e7bb03ddccb 299 {
vanshg 10:810d1849da9d 300 dipFlags &= ~BUTTON3_FLAG;
vanshg 11:8fc2b703086b 301 printDipFlag();
vanshg 10:810d1849da9d 302 }
sahilmgandhi 14:9e7bb03ddccb 303 void disableButton4()
sahilmgandhi 14:9e7bb03ddccb 304 {
vanshg 10:810d1849da9d 305 dipFlags &= ~BUTTON4_FLAG;
vanshg 11:8fc2b703086b 306 printDipFlag();
kyleliangus 9:1d8e4da058cd 307 }
sahilmgandhi 31:9b71b44e0867 308
kyleliangus 15:b80555a4a8b9 309 void pidOnEncoders()
kyleliangus 15:b80555a4a8b9 310 {
kyleliangus 15:b80555a4a8b9 311 int count0;
kyleliangus 15:b80555a4a8b9 312 int count1;
kyleliangus 15:b80555a4a8b9 313 count0 = encoder0.getPulses();
kyleliangus 15:b80555a4a8b9 314 count1 = encoder1.getPulses();
kyleliangus 15:b80555a4a8b9 315 int diff = count0 - count1;
sahilmgandhi 33:68ce1f74ab5f 316 double kp = 0.00016;
sahilmgandhi 28:8126a4d620e8 317 double kd = 0.00016;
kyleliangus 15:b80555a4a8b9 318 int prev = 0;
sahilmgandhi 31:9b71b44e0867 319
sahilmgandhi 16:d9252437bd92 320 int counter = 0;
sahilmgandhi 31:9b71b44e0867 321 while(1) {
kyleliangus 15:b80555a4a8b9 322 count0 = encoder0.getPulses();
kyleliangus 15:b80555a4a8b9 323 count1 = encoder1.getPulses();
kyleliangus 15:b80555a4a8b9 324 int x = count0 - count1;
kyleliangus 15:b80555a4a8b9 325 //double d = kp * x + kd * ( x - prev );
kyleliangus 15:b80555a4a8b9 326 double kppart = kp * x;
kyleliangus 15:b80555a4a8b9 327 double kdpart = kd * (x-prev);
kyleliangus 15:b80555a4a8b9 328 double d = kppart + kdpart;
sahilmgandhi 31:9b71b44e0867 329
kyleliangus 15:b80555a4a8b9 330 //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 331 if( x < diff - 60 ) { // count1 is bigger, right wheel pushed forward
kyleliangus 15:b80555a4a8b9 332 left_motor.move( -d );
kyleliangus 15:b80555a4a8b9 333 right_motor.move( d );
sahilmgandhi 31:9b71b44e0867 334 } else if( x > diff + 60 ) {
kyleliangus 15:b80555a4a8b9 335 left_motor.move( -d );
kyleliangus 15:b80555a4a8b9 336 right_motor.move( d );
kyleliangus 15:b80555a4a8b9 337 }
sahilmgandhi 16:d9252437bd92 338 // else
sahilmgandhi 16:d9252437bd92 339 // {
sahilmgandhi 16:d9252437bd92 340 // left_motor.brake();
sahilmgandhi 31:9b71b44e0867 341 // right_motor.brake();
sahilmgandhi 16:d9252437bd92 342 // }
kyleliangus 15:b80555a4a8b9 343 prev = x;
sahilmgandhi 16:d9252437bd92 344 counter++;
sahilmgandhi 28:8126a4d620e8 345 if (counter == 10)
sahilmgandhi 16:d9252437bd92 346 break;
kyleliangus 15:b80555a4a8b9 347 }
kyleliangus 15:b80555a4a8b9 348 }
sahilmgandhi 31:9b71b44e0867 349
sahilmgandhi 31:9b71b44e0867 350 void nCellEncoderAndIR(double cellCount)
sahilmgandhi 31:9b71b44e0867 351 {
sahilmgandhi 19:7b66a518b6f8 352 double currentError = 0;
sahilmgandhi 19:7b66a518b6f8 353 double previousError = 0;
sahilmgandhi 19:7b66a518b6f8 354 double derivError = 0;
sahilmgandhi 19:7b66a518b6f8 355 double sumError = 0;
christine222 25:f827a8b7880e 356
sahilmgandhi 29:ec2c5a69acd6 357 double HIGH_PWM_VOLTAGE_R = 0.15;
sahilmgandhi 29:ec2c5a69acd6 358 double HIGH_PWM_VOLTAGE_L = 0.16;
sahilmgandhi 29:ec2c5a69acd6 359
sahilmgandhi 29:ec2c5a69acd6 360 double rightSpeed = 0.15;
sahilmgandhi 29:ec2c5a69acd6 361 double leftSpeed = 0.16;
christine222 25:f827a8b7880e 362
christine222 25:f827a8b7880e 363 int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellCount;
christine222 25:f827a8b7880e 364 int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellCount;
kyleliangus 32:69acb14778ea 365 serial.printf("%d, %d\n", desiredCount0, desiredCount1 );
christine222 25:f827a8b7880e 366
kyleliangus 32:69acb14778ea 367 left_motor.forward(0.15);
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 23:690b0ca34ee9 373 int state = 0;
christine222 23:690b0ca34ee9 374
sahilmgandhi 31:9b71b44e0867 375 while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1) {
sahilmgandhi 33:68ce1f74ab5f 376 // 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 377 receiverTwoReading = IRP_2.getSamples( SAMPLE_NUM );
kyleliangus 32:69acb14778ea 378 receiverThreeReading = IRP_3.getSamples( SAMPLE_NUM );
kyleliangus 32:69acb14778ea 379 receiverOneReading = IRP_1.getSamples( SAMPLE_NUM );
kyleliangus 32:69acb14778ea 380 receiverFourReading = IRP_4.getSamples( SAMPLE_NUM );
sahilmgandhi 33:68ce1f74ab5f 381 // serial.printf("IR2 = %f, IR2AVE = %f, IR3 = %f, IR3_AVE = %f\n", receiverTwoReading, IRP_2.sensorAvg, receiverThreeReading, IRP_3.sensorAvg);
sahilmgandhi 33:68ce1f74ab5f 382 if( receiverOneReading > IRP_1.sensorAvg * 3.4 || receiverFourReading > IRP_4.sensorAvg * 3.4) {
sahilmgandhi 26:d20f1adac2d3 383 break;
sahilmgandhi 26:d20f1adac2d3 384 }
christine222 25:f827a8b7880e 385
sahilmgandhi 33:68ce1f74ab5f 386 if((receiverThreeReading < IRP_3.sensorAvg/5) && (receiverTwoReading < IRP_2.sensorAvg/5)) {
christine222 25:f827a8b7880e 387 // both sides gone
sahilmgandhi 33:68ce1f74ab5f 388 double prev0 = encoder0.getPulses();
sahilmgandhi 33:68ce1f74ab5f 389 double prev1 = encoder1.getPulses();
sahilmgandhi 33:68ce1f74ab5f 390 double diff0 = desiredCount0 - prev0;
sahilmgandhi 33:68ce1f74ab5f 391 double diff1 = desiredCount1 - prev1;
sahilmgandhi 33:68ce1f74ab5f 392 double valToPass = ((diff0 + diff1)/2)/(oneCellCountMomentum);
sahilmgandhi 33:68ce1f74ab5f 393 // serial.printf("Going to go over to move forward with encoder, and passing %f\n", valToPass);
sahilmgandhi 26:d20f1adac2d3 394 moveForwardEncoder(valToPass);
sahilmgandhi 33:68ce1f74ab5f 395 continue;
sahilmgandhi 33:68ce1f74ab5f 396 } else if (receiverThreeReading < IRP_3.sensorAvg/3.5) { // right wall gone RED
christine222 25:f827a8b7880e 397 state = 1;
christine222 25:f827a8b7880e 398 redLed.write(0);
christine222 25:f827a8b7880e 399 greenLed.write(1);
christine222 25:f827a8b7880e 400 blueLed.write(1);
sahilmgandhi 33:68ce1f74ab5f 401 } else if (receiverTwoReading < IRP_2.sensorAvg/3.5) { // left wall gone
christine222 25:f827a8b7880e 402 // BLUE BLUE BLUE BLUE
christine222 25:f827a8b7880e 403 state = 2;
christine222 25:f827a8b7880e 404 redLed.write(1);
christine222 25:f827a8b7880e 405 greenLed.write(1);
christine222 25:f827a8b7880e 406 blueLed.write(0);
sahilmgandhi 33:68ce1f74ab5f 407 } else if ((receiverTwoReading > ((IRP_2.sensorAvg)*averageDivUpper)) && (receiverThreeReading > ((IRP_3.sensorAvg)*averageDivUpper))) {
christine222 25:f827a8b7880e 408 // both walls there
christine222 25:f827a8b7880e 409 state = 0;
christine222 25:f827a8b7880e 410 redLed.write(1);
christine222 25:f827a8b7880e 411 greenLed.write(0);
christine222 25:f827a8b7880e 412 blueLed.write(1);
christine222 25:f827a8b7880e 413 }
christine222 25:f827a8b7880e 414
kyleliangus 32:69acb14778ea 415 //serial.printf("Entering switch\n");
sahilmgandhi 31:9b71b44e0867 416 switch(state) {
sahilmgandhi 31:9b71b44e0867 417 case(0): { // both walls there
sahilmgandhi 33:68ce1f74ab5f 418 currentError = ( receiverTwoReading - IRP_2.sensorAvg) - ( receiverThreeReading - IRP_3.sensorAvg);
christine222 25:f827a8b7880e 419 break;
christine222 25:f827a8b7880e 420 }
sahilmgandhi 31:9b71b44e0867 421 case(1): { // RED RED RED RED RED
sahilmgandhi 33:68ce1f74ab5f 422 currentError = (receiverTwoReading - IRP_2.sensorAvg) - (IRP_3.sensorAvg*0.001);
sahilmgandhi 31:9b71b44e0867 423 break;
christine222 25:f827a8b7880e 424 }
sahilmgandhi 31:9b71b44e0867 425 case(2): { // blue
sahilmgandhi 33:68ce1f74ab5f 426 currentError = (IRP_2.sensorAvg*0.001) - (receiverThreeReading - IRP_3.sensorAvg);
christine222 25:f827a8b7880e 427 break;
christine222 25:f827a8b7880e 428 }
sahilmgandhi 31:9b71b44e0867 429 default: {
sahilmgandhi 33:68ce1f74ab5f 430 currentError = ( receiverTwoReading - IRP_2.sensorAvg) - ( receiverThreeReading - IRP_3.sensorAvg);
christine222 25:f827a8b7880e 431 break;
christine222 25:f827a8b7880e 432 }
christine222 25:f827a8b7880e 433 }
kyleliangus 32:69acb14778ea 434 //serial.printf("Exiting switch");
christine222 25:f827a8b7880e 435
christine222 25:f827a8b7880e 436 sumError += currentError;
christine222 25:f827a8b7880e 437 derivError = currentError - previousError;
christine222 25:f827a8b7880e 438 double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError;
christine222 25:f827a8b7880e 439 if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down
sahilmgandhi 29:ec2c5a69acd6 440 rightSpeed = HIGH_PWM_VOLTAGE_R - abs(PIDSum*HIGH_PWM_VOLTAGE_R);
sahilmgandhi 29:ec2c5a69acd6 441 leftSpeed = HIGH_PWM_VOLTAGE_L + abs(PIDSum*HIGH_PWM_VOLTAGE_L);
christine222 25:f827a8b7880e 442 } else { // r is faster than L. speed up l, slow down r
sahilmgandhi 29:ec2c5a69acd6 443 rightSpeed = HIGH_PWM_VOLTAGE_R + abs(PIDSum*HIGH_PWM_VOLTAGE_R);
sahilmgandhi 29:ec2c5a69acd6 444 leftSpeed = HIGH_PWM_VOLTAGE_L - abs(PIDSum*HIGH_PWM_VOLTAGE_L);
sahilmgandhi 31:9b71b44e0867 445 }
kyleliangus 32:69acb14778ea 446
kyleliangus 32:69acb14778ea 447 //serial.printf("%f, %f\n", leftSpeed, rightSpeed);
christine222 25:f827a8b7880e 448 if (leftSpeed > 0.30) leftSpeed = 0.30;
christine222 25:f827a8b7880e 449 if (leftSpeed < 0) leftSpeed = 0;
christine222 25:f827a8b7880e 450 if (rightSpeed > 0.30) rightSpeed = 0.30;
christine222 25:f827a8b7880e 451 if (rightSpeed < 0) rightSpeed = 0;
sahilmgandhi 31:9b71b44e0867 452
christine222 25:f827a8b7880e 453 right_motor.forward(rightSpeed);
christine222 25:f827a8b7880e 454 left_motor.forward(leftSpeed);
sahilmgandhi 33:68ce1f74ab5f 455 pidOnEncoders();
sahilmgandhi 31:9b71b44e0867 456
christine222 25:f827a8b7880e 457 previousError = currentError;
sahilmgandhi 26:d20f1adac2d3 458 }
sahilmgandhi 31:9b71b44e0867 459 if (encoder0.getPulses() >= 0.6*desiredCount0 && encoder1.getPulses() >= 0.6*desiredCount1) {
sahilmgandhi 31:9b71b44e0867 460 if (currDir % 4 == 0) {
sahilmgandhi 31:9b71b44e0867 461 mouseY += 1;
sahilmgandhi 31:9b71b44e0867 462 } else if (currDir % 4 == 1) {
kyleliangus 32:69acb14778ea 463 mouseX += 1;
sahilmgandhi 31:9b71b44e0867 464 } else if (currDir % 4 == 2) {
sahilmgandhi 28:8126a4d620e8 465 mouseY -= 1;
sahilmgandhi 31:9b71b44e0867 466 } else if (currDir % 4 == 3) {
sahilmgandhi 28:8126a4d620e8 467 mouseX -= 1;
sahilmgandhi 28:8126a4d620e8 468 }
sahilmgandhi 31:9b71b44e0867 469
sahilmgandhi 31:9b71b44e0867 470 // the mouse has moved forward, we need to update the wall map now
sahilmgandhi 33:68ce1f74ab5f 471 receiverOneReading = IRP_1.getSamples(75);
sahilmgandhi 33:68ce1f74ab5f 472 receiverTwoReading = IRP_2.getSamples(75);
sahilmgandhi 33:68ce1f74ab5f 473 receiverThreeReading = IRP_3.getSamples(75);
sahilmgandhi 33:68ce1f74ab5f 474 receiverFourReading = IRP_4.getSamples(75);
sahilmgandhi 31:9b71b44e0867 475
sahilmgandhi 33:68ce1f74ab5f 476 if (receiverOneReading >= 0.3f && receiverFourReading >= 0.3f) {
sahilmgandhi 31:9b71b44e0867 477 if (currDir % 4 == 0) {
sahilmgandhi 31:9b71b44e0867 478 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL;
sahilmgandhi 31:9b71b44e0867 479 } else if (currDir % 4 == 1) {
sahilmgandhi 31:9b71b44e0867 480 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL;
sahilmgandhi 31:9b71b44e0867 481 } else if (currDir % 4 == 2) {
sahilmgandhi 31:9b71b44e0867 482 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= L_WALL;
sahilmgandhi 31:9b71b44e0867 483 } else if (currDir % 4 == 3) {
sahilmgandhi 31:9b71b44e0867 484 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL;
sahilmgandhi 31:9b71b44e0867 485 }
sahilmgandhi 31:9b71b44e0867 486 }
sahilmgandhi 33:68ce1f74ab5f 487 if (receiverThreeReading >= IRP_3.sensorAvg*0.6) {
sahilmgandhi 31:9b71b44e0867 488 if (currDir % 4 == 0) {
sahilmgandhi 31:9b71b44e0867 489 wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL;
sahilmgandhi 31:9b71b44e0867 490 } else if (currDir % 4 == 1) {
sahilmgandhi 31:9b71b44e0867 491 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= B_WALL;
sahilmgandhi 31:9b71b44e0867 492 } else if (currDir % 4 == 2) {
sahilmgandhi 31:9b71b44e0867 493 wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= L_WALL;
sahilmgandhi 31:9b71b44e0867 494 } else if (currDir % 4 == 3) {
sahilmgandhi 31:9b71b44e0867 495 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= F_WALL;
sahilmgandhi 31:9b71b44e0867 496 }
sahilmgandhi 31:9b71b44e0867 497 }
sahilmgandhi 33:68ce1f74ab5f 498 if (receiverTwoReading >= IRP_2.sensorAvg*0.6) {
sahilmgandhi 31:9b71b44e0867 499 if (currDir % 4 == 0) {
sahilmgandhi 31:9b71b44e0867 500 wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL;
sahilmgandhi 31:9b71b44e0867 501 } else if (currDir % 4 == 1) {
sahilmgandhi 31:9b71b44e0867 502 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= F_WALL;
sahilmgandhi 31:9b71b44e0867 503 } else if (currDir % 4 == 2) {
sahilmgandhi 31:9b71b44e0867 504 wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= R_WALL;
sahilmgandhi 31:9b71b44e0867 505 } else if (currDir % 4 == 3) {
sahilmgandhi 31:9b71b44e0867 506 wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= B_WALL;
sahilmgandhi 31:9b71b44e0867 507 }
sahilmgandhi 31:9b71b44e0867 508 }
sahilmgandhi 26:d20f1adac2d3 509 }
sahilmgandhi 31:9b71b44e0867 510
kyleliangus 32:69acb14778ea 511 //serial.printf("What?\n");
sahilmgandhi 19:7b66a518b6f8 512 left_motor.brake();
sahilmgandhi 19:7b66a518b6f8 513 right_motor.brake();
sahilmgandhi 17:f713758f6238 514 }
christine222 25:f827a8b7880e 515
sahilmgandhi 33:68ce1f74ab5f 516 bool isWallInFront(int x, int y){
sahilmgandhi 27:02ce1040f331 517 return (wallArray[MAZE_LEN - y - 1][x] & F_WALL);
sahilmgandhi 26:d20f1adac2d3 518 }
sahilmgandhi 33:68ce1f74ab5f 519 bool isWallInBack(int x, int y){
sahilmgandhi 27:02ce1040f331 520 return (wallArray[MAZE_LEN - y - 1][x] & B_WALL);
sahilmgandhi 26:d20f1adac2d3 521 }
sahilmgandhi 33:68ce1f74ab5f 522 bool isWallOnRight(int x, int y){
sahilmgandhi 27:02ce1040f331 523 return (wallArray[MAZE_LEN - y - 1][x] & R_WALL);
sahilmgandhi 26:d20f1adac2d3 524 }
sahilmgandhi 33:68ce1f74ab5f 525 bool isWallOnLeft(int x, int y){
sahilmgandhi 27:02ce1040f331 526 return (wallArray[MAZE_LEN - y - 1][x] & L_WALL);
sahilmgandhi 26:d20f1adac2d3 527 }
sahilmgandhi 26:d20f1adac2d3 528
sahilmgandhi 31:9b71b44e0867 529 int chooseNextMovement()
sahilmgandhi 31:9b71b44e0867 530 {
sahilmgandhi 26:d20f1adac2d3 531 int currentDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX];
sahilmgandhi 31:9b71b44e0867 532 if (goingToCenter && (currentDistance == 0)) {
sahilmgandhi 26:d20f1adac2d3 533 goingToCenter = false;
sahilmgandhi 26:d20f1adac2d3 534 changeManhattanDistance(goingToCenter);
sahilmgandhi 31:9b71b44e0867 535 } else if (!goingToCenter && (currentDistance == 0)) {
kyleliangus 32:69acb14778ea 536 goingToCenter = true;
sahilmgandhi 26:d20f1adac2d3 537 changeManhattanDistance(goingToCenter);
sahilmgandhi 26:d20f1adac2d3 538 }
sahilmgandhi 26:d20f1adac2d3 539
sahilmgandhi 26:d20f1adac2d3 540 visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1;
sahilmgandhi 26:d20f1adac2d3 541 int currX = 0;
sahilmgandhi 26:d20f1adac2d3 542 int currY = 0;
sahilmgandhi 26:d20f1adac2d3 543 int currDist = 0;
sahilmgandhi 26:d20f1adac2d3 544 int dirToGo = 0;
sahilmgandhi 31:9b71b44e0867 545 if (!justTurned) {
sahilmgandhi 26:d20f1adac2d3 546 cellsToVisit.push(make_pair(mouseX, mouseY));
sahilmgandhi 26:d20f1adac2d3 547 while (!cellsToVisit.empty()) {
sahilmgandhi 26:d20f1adac2d3 548 pair<int, int> curr = cellsToVisit.top();
sahilmgandhi 26:d20f1adac2d3 549 cellsToVisit.pop();
sahilmgandhi 26:d20f1adac2d3 550 currX = curr.first;
sahilmgandhi 26:d20f1adac2d3 551 currY = curr.second;
sahilmgandhi 26:d20f1adac2d3 552 currDist = manhattanDistances[(MAZE_LEN - 1) - currY][currX];
sahilmgandhi 26:d20f1adac2d3 553 int minDist = INT_MAX;
sahilmgandhi 26:d20f1adac2d3 554
sahilmgandhi 31:9b71b44e0867 555 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 556 if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 557 if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) {
sahilmgandhi 26:d20f1adac2d3 558 minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1];
sahilmgandhi 26:d20f1adac2d3 559 }
sahilmgandhi 26:d20f1adac2d3 560 }
sahilmgandhi 27:02ce1040f331 561 if (currX - 1 >= 0 && !isWallOnLeft(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 (currY + 1 < MAZE_LEN && !isWallInFront( currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 567 if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) {
sahilmgandhi 26:d20f1adac2d3 568 minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX];
sahilmgandhi 26:d20f1adac2d3 569 }
sahilmgandhi 26:d20f1adac2d3 570 }
sahilmgandhi 27:02ce1040f331 571 if (currY - 1 >= 0 && !isWallInBack(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 26:d20f1adac2d3 576 } else {
sahilmgandhi 26:d20f1adac2d3 577 if (currX + 1 < MAZE_LEN) {
sahilmgandhi 26:d20f1adac2d3 578 if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) {
sahilmgandhi 26:d20f1adac2d3 579 minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1];
sahilmgandhi 26:d20f1adac2d3 580 }
sahilmgandhi 26:d20f1adac2d3 581 }
sahilmgandhi 26:d20f1adac2d3 582 if (currX - 1 >= 0) {
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 (currY + 1 < MAZE_LEN) {
sahilmgandhi 26:d20f1adac2d3 588 if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) {
sahilmgandhi 26:d20f1adac2d3 589 minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX];
sahilmgandhi 26:d20f1adac2d3 590 }
sahilmgandhi 26:d20f1adac2d3 591 }
sahilmgandhi 26:d20f1adac2d3 592 if (currY - 1 >= 0) {
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 }
sahilmgandhi 26:d20f1adac2d3 598
sahilmgandhi 26:d20f1adac2d3 599 if (minDist == INT_MAX)
sahilmgandhi 26:d20f1adac2d3 600 continue;
sahilmgandhi 26:d20f1adac2d3 601 if (currDist > minDist)
sahilmgandhi 26:d20f1adac2d3 602 continue;
sahilmgandhi 26:d20f1adac2d3 603 if (currDist <= minDist) {
sahilmgandhi 26:d20f1adac2d3 604 manhattanDistances[MAZE_LEN - 1 - currY][currX] = minDist + 1;
sahilmgandhi 26:d20f1adac2d3 605 }
sahilmgandhi 26:d20f1adac2d3 606 if (hasVisited(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 607 if (currY + 1 < MAZE_LEN && !isWallInFront(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 608 cellsToVisit.push(make_pair(currX, currY + 1));
sahilmgandhi 26:d20f1adac2d3 609 }
sahilmgandhi 26:d20f1adac2d3 610 if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 611 cellsToVisit.push(make_pair(currX + 1, currY));
sahilmgandhi 26:d20f1adac2d3 612 }
sahilmgandhi 26:d20f1adac2d3 613 if (currY - 1 >= 0 && !isWallInBack(currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 614 cellsToVisit.push(make_pair(currX, currY - 1));
sahilmgandhi 26:d20f1adac2d3 615 }
sahilmgandhi 26:d20f1adac2d3 616 if (currX - 1 >= 0 && !isWallOnLeft( currX, currY)) {
sahilmgandhi 26:d20f1adac2d3 617 cellsToVisit.push(make_pair(currX - 1, currY));
sahilmgandhi 26:d20f1adac2d3 618 }
sahilmgandhi 26:d20f1adac2d3 619 } else {
sahilmgandhi 26:d20f1adac2d3 620 if (currY + 1 < MAZE_LEN) {
sahilmgandhi 26:d20f1adac2d3 621 cellsToVisit.push(make_pair(currX, currY + 1));
sahilmgandhi 26:d20f1adac2d3 622 }
sahilmgandhi 26:d20f1adac2d3 623 if (currX + 1 < MAZE_LEN) {
sahilmgandhi 26:d20f1adac2d3 624 cellsToVisit.push(make_pair(currX + 1, currY));
sahilmgandhi 26:d20f1adac2d3 625 }
sahilmgandhi 26:d20f1adac2d3 626 if (currY - 1 >= 0) {
sahilmgandhi 26:d20f1adac2d3 627 cellsToVisit.push(make_pair(currX, currY - 1));
sahilmgandhi 26:d20f1adac2d3 628 }
sahilmgandhi 26:d20f1adac2d3 629 if (currX - 1 >= 0) {
sahilmgandhi 26:d20f1adac2d3 630 cellsToVisit.push(make_pair(currX - 1, currY));
sahilmgandhi 26:d20f1adac2d3 631 }
sahilmgandhi 26:d20f1adac2d3 632 }
sahilmgandhi 26:d20f1adac2d3 633 }
sahilmgandhi 26:d20f1adac2d3 634
sahilmgandhi 26:d20f1adac2d3 635 int minDistance = INT_MAX;
sahilmgandhi 26:d20f1adac2d3 636 if (currDir % 4 == 0) {
sahilmgandhi 26:d20f1adac2d3 637 if (mouseX + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 638 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 639 minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1];
sahilmgandhi 26:d20f1adac2d3 640 dirToGo = 1;
sahilmgandhi 26:d20f1adac2d3 641 }
sahilmgandhi 26:d20f1adac2d3 642 }
sahilmgandhi 26:d20f1adac2d3 643 if (mouseX - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 644 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 645 minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1];
sahilmgandhi 26:d20f1adac2d3 646 dirToGo = 2;
sahilmgandhi 26:d20f1adac2d3 647 }
sahilmgandhi 26:d20f1adac2d3 648 }
sahilmgandhi 26:d20f1adac2d3 649 if (mouseY + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 650 if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 651 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 652 dirToGo = 3;
sahilmgandhi 26:d20f1adac2d3 653 }
sahilmgandhi 26:d20f1adac2d3 654 }
sahilmgandhi 26:d20f1adac2d3 655 if (mouseY - 1 >= 0 && !isWallInBack(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 656 if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 657 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 658 dirToGo = 4;
sahilmgandhi 26:d20f1adac2d3 659 }
sahilmgandhi 26:d20f1adac2d3 660 }
sahilmgandhi 26:d20f1adac2d3 661 } else if (currDir % 4 == 2) {
sahilmgandhi 26:d20f1adac2d3 662 if (mouseX - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 663 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 664 minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1];
sahilmgandhi 26:d20f1adac2d3 665 dirToGo = 1;
sahilmgandhi 26:d20f1adac2d3 666 }
sahilmgandhi 26:d20f1adac2d3 667 }
sahilmgandhi 26:d20f1adac2d3 668 if (mouseX + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 669 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 670 minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1];
sahilmgandhi 26:d20f1adac2d3 671 dirToGo = 2;
sahilmgandhi 26:d20f1adac2d3 672 }
sahilmgandhi 26:d20f1adac2d3 673 }
sahilmgandhi 26:d20f1adac2d3 674 if (mouseY - 1 >= 0 && !isWallInFront(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 675 if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 676 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 677 dirToGo = 3;
sahilmgandhi 26:d20f1adac2d3 678 }
sahilmgandhi 26:d20f1adac2d3 679 }
sahilmgandhi 26:d20f1adac2d3 680 if (mouseY + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 681 if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 682 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 683 dirToGo = 4;
sahilmgandhi 26:d20f1adac2d3 684 }
sahilmgandhi 26:d20f1adac2d3 685 }
sahilmgandhi 26:d20f1adac2d3 686 } else if (currDir % 4 == 1) {
sahilmgandhi 26:d20f1adac2d3 687 if (mouseY - 1 >= 0 && !isWallOnRight(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 = 1;
sahilmgandhi 26:d20f1adac2d3 691 }
sahilmgandhi 26:d20f1adac2d3 692 }
sahilmgandhi 26:d20f1adac2d3 693 if (mouseY + 1 < MAZE_LEN && !isWallOnLeft(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 = 2;
sahilmgandhi 26:d20f1adac2d3 697 }
sahilmgandhi 26:d20f1adac2d3 698 }
sahilmgandhi 26:d20f1adac2d3 699 if (mouseX + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 700 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 701 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1];
sahilmgandhi 26:d20f1adac2d3 702 dirToGo = 3;
sahilmgandhi 26:d20f1adac2d3 703 }
sahilmgandhi 26:d20f1adac2d3 704 }
sahilmgandhi 26:d20f1adac2d3 705 if (mouseX - 1 >= 0 && !isWallInBack(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 706 if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 707 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1];
sahilmgandhi 26:d20f1adac2d3 708 dirToGo = 4;
sahilmgandhi 26:d20f1adac2d3 709 }
sahilmgandhi 26:d20f1adac2d3 710 }
sahilmgandhi 26:d20f1adac2d3 711 } else if (currDir % 4 == 3) {
sahilmgandhi 26:d20f1adac2d3 712 if (mouseY + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 713 if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 714 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 715 dirToGo = 1;
sahilmgandhi 26:d20f1adac2d3 716 }
sahilmgandhi 26:d20f1adac2d3 717 }
sahilmgandhi 26:d20f1adac2d3 718 if (mouseY - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 719 if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 720 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
sahilmgandhi 26:d20f1adac2d3 721 dirToGo = 2;
sahilmgandhi 26:d20f1adac2d3 722 }
sahilmgandhi 26:d20f1adac2d3 723 }
sahilmgandhi 26:d20f1adac2d3 724 if (mouseX - 1 >= 0 && !isWallInFront(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 725 if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 726 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1];
sahilmgandhi 26:d20f1adac2d3 727 dirToGo = 3;
sahilmgandhi 26:d20f1adac2d3 728 }
sahilmgandhi 26:d20f1adac2d3 729 }
sahilmgandhi 26:d20f1adac2d3 730 if (mouseX + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) {
sahilmgandhi 26:d20f1adac2d3 731 if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1] <= minDistance) {
sahilmgandhi 26:d20f1adac2d3 732 minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1];
sahilmgandhi 26:d20f1adac2d3 733 dirToGo = 4;
sahilmgandhi 26:d20f1adac2d3 734 }
sahilmgandhi 26:d20f1adac2d3 735 }
sahilmgandhi 26:d20f1adac2d3 736 }
sahilmgandhi 31:9b71b44e0867 737 } else {
sahilmgandhi 26:d20f1adac2d3 738 justTurned = false;
sahilmgandhi 26:d20f1adac2d3 739 dirToGo = 0;
sahilmgandhi 26:d20f1adac2d3 740 }
sahilmgandhi 26:d20f1adac2d3 741
sahilmgandhi 26:d20f1adac2d3 742 return dirToGo;
sahilmgandhi 26:d20f1adac2d3 743 }
sahilmgandhi 26:d20f1adac2d3 744
sahilmgandhi 33:68ce1f74ab5f 745 bool hasVisited(int x, int y){
sahilmgandhi 26:d20f1adac2d3 746 return visitedCells[MAZE_LEN - 1 - y][x];
sahilmgandhi 26:d20f1adac2d3 747 }
sahilmgandhi 26:d20f1adac2d3 748
sahilmgandhi 31:9b71b44e0867 749 void changeManhattanDistance(bool headCenter)
sahilmgandhi 31:9b71b44e0867 750 {
sahilmgandhi 31:9b71b44e0867 751 if (headCenter) {
sahilmgandhi 29:ec2c5a69acd6 752 for (int i = 0; i < MAZE_LEN; i++) {
sahilmgandhi 29:ec2c5a69acd6 753 for (int j = 0; j < MAZE_LEN; j++) {
sahilmgandhi 29:ec2c5a69acd6 754 distanceToCenter[i][j] = manhattanDistances[i][j];
sahilmgandhi 26:d20f1adac2d3 755 }
sahilmgandhi 26:d20f1adac2d3 756 }
sahilmgandhi 29:ec2c5a69acd6 757 for (int i = 0; i < MAZE_LEN; i++) {
sahilmgandhi 29:ec2c5a69acd6 758 for (int j = 0; j < MAZE_LEN; j++) {
sahilmgandhi 29:ec2c5a69acd6 759 manhattanDistances[i][j] = distanceToStart[i][j];
sahilmgandhi 26:d20f1adac2d3 760 }
sahilmgandhi 26:d20f1adac2d3 761 }
sahilmgandhi 31:9b71b44e0867 762 } else {
sahilmgandhi 31:9b71b44e0867 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 distanceToStart[i][j] = manhattanDistances[i][j];
sahilmgandhi 29:ec2c5a69acd6 766 }
sahilmgandhi 29:ec2c5a69acd6 767 }
sahilmgandhi 29:ec2c5a69acd6 768 for (int i = 0; i < MAZE_LEN; i++) {
sahilmgandhi 29:ec2c5a69acd6 769 for (int j = 0; j < MAZE_LEN; j++) {
sahilmgandhi 29:ec2c5a69acd6 770 manhattanDistances[i][j] = distanceToCenter[i][j];
sahilmgandhi 29:ec2c5a69acd6 771 }
sahilmgandhi 29:ec2c5a69acd6 772 }
sahilmgandhi 29:ec2c5a69acd6 773 }
sahilmgandhi 29:ec2c5a69acd6 774 }
sahilmgandhi 29:ec2c5a69acd6 775
sahilmgandhi 31:9b71b44e0867 776 void initializeDistances()
sahilmgandhi 31:9b71b44e0867 777 {
sahilmgandhi 29:ec2c5a69acd6 778 for (int i = 0; i < MAZE_LEN / 2; i++) {
sahilmgandhi 31:9b71b44e0867 779 for (int j = 0; j < MAZE_LEN / 2; j++) {
sahilmgandhi 31:9b71b44e0867 780 distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i);
sahilmgandhi 26:d20f1adac2d3 781 }
sahilmgandhi 31:9b71b44e0867 782 }
sahilmgandhi 31:9b71b44e0867 783 for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) {
sahilmgandhi 31:9b71b44e0867 784 for (int j = 0; j < MAZE_LEN / 2; j++) {
sahilmgandhi 31:9b71b44e0867 785 distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i);
sahilmgandhi 26:d20f1adac2d3 786 }
sahilmgandhi 31:9b71b44e0867 787 }
sahilmgandhi 31:9b71b44e0867 788 for (int i = 0; i < MAZE_LEN / 2; i++) {
sahilmgandhi 31:9b71b44e0867 789 for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) {
sahilmgandhi 31:9b71b44e0867 790 distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i);
sahilmgandhi 26:d20f1adac2d3 791 }
sahilmgandhi 31:9b71b44e0867 792 }
sahilmgandhi 31:9b71b44e0867 793 for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) {
sahilmgandhi 31:9b71b44e0867 794 for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) {
sahilmgandhi 31:9b71b44e0867 795 distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i);
sahilmgandhi 26:d20f1adac2d3 796 }
sahilmgandhi 31:9b71b44e0867 797 }
sahilmgandhi 26:d20f1adac2d3 798 }
sahilmgandhi 31:9b71b44e0867 799
sahilmgandhi 0:a03c771ab78e 800 int main()
sahilmgandhi 0:a03c771ab78e 801 {
christine222 3:880f15be8c72 802 //Set highest bandwidth.
christine222 23:690b0ca34ee9 803 //gyro.setLpBandwidth(LPFBW_42HZ);
sahilmgandhi 29:ec2c5a69acd6 804 initializeDistances();
christine222 3:880f15be8c72 805 serial.baud(9600);
christine222 23:690b0ca34ee9 806 //serial.printf("The gyro's address is %s", gyro.getWhoAmI());
sahilmgandhi 31:9b71b44e0867 807
sahilmgandhi 1:8a4b2f573923 808 wait (0.1);
sahilmgandhi 31:9b71b44e0867 809
sahilmgandhi 2:771db996cee0 810 redLed.write(1);
sahilmgandhi 14:9e7bb03ddccb 811 greenLed.write(0);
sahilmgandhi 2:771db996cee0 812 blueLed.write(1);
sahilmgandhi 31:9b71b44e0867 813
kyleliangus 9:1d8e4da058cd 814 //left_motor.forward(0.1);
kyleliangus 9:1d8e4da058cd 815 //right_motor.forward(0.1);
sahilmgandhi 31:9b71b44e0867 816
kyleliangus 8:a0760acdc59e 817 // PA_1 is A of right
kyleliangus 8:a0760acdc59e 818 // PA_0 is B of right
kyleliangus 8:a0760acdc59e 819 // PA_5 is A of left
kyleliangus 8:a0760acdc59e 820 // PB_3 is B of left
vanshg 11:8fc2b703086b 821 //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING );
sahilmgandhi 26:d20f1adac2d3 822 // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING );
sahilmgandhi 31:9b71b44e0867 823
vanshg 10:810d1849da9d 824 // TODO: Setting all the registers and what not for Quadrature Encoders
sahilmgandhi 14:9e7bb03ddccb 825 /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3)
sahilmgandhi 14:9e7bb03ddccb 826 RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B)
sahilmgandhi 14:9e7bb03ddccb 827 GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2
sahilmgandhi 14:9e7bb03ddccb 828 GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5
sahilmgandhi 14:9e7bb03ddccb 829 */
sahilmgandhi 31:9b71b44e0867 830
kyleliangus 12:5790e56a056f 831 // 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 832 // of alternate function specified
kyleliangus 12:5790e56a056f 833 // 4 modes sets AHB1ENR
kyleliangus 12:5790e56a056f 834 // Now TMR: enable clock with timer, APB1ENR
kyleliangus 12:5790e56a056f 835 // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN
kyleliangus 12:5790e56a056f 836 //
kyleliangus 12:5790e56a056f 837 // Encoder mode: disable timer before changing timer to encoder
kyleliangus 12:5790e56a056f 838 // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use
kyleliangus 12:5790e56a056f 839 // CCMR sets sample rate and set the channel to input
kyleliangus 12:5790e56a056f 840 // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels
kyleliangus 12:5790e56a056f 841 // SMCR - encoder mode
kyleliangus 12:5790e56a056f 842 // CR1 reenabales
kyleliangus 12:5790e56a056f 843 // then read CNT reg of timer
sahilmgandhi 31:9b71b44e0867 844
vanshg 10:810d1849da9d 845 dipButton1.rise(&enableButton1);
vanshg 10:810d1849da9d 846 dipButton2.rise(&enableButton2);
vanshg 10:810d1849da9d 847 dipButton3.rise(&enableButton3);
vanshg 10:810d1849da9d 848 dipButton4.rise(&enableButton4);
sahilmgandhi 31:9b71b44e0867 849
vanshg 10:810d1849da9d 850 dipButton1.fall(&disableButton1);
vanshg 10:810d1849da9d 851 dipButton2.fall(&disableButton2);
vanshg 10:810d1849da9d 852 dipButton3.fall(&disableButton3);
vanshg 10:810d1849da9d 853 dipButton4.fall(&disableButton4);
sahilmgandhi 7:6f5cb6377bd4 854
sahilmgandhi 26:d20f1adac2d3 855 // init the wall, and mouse loc arrays:
sahilmgandhi 26:d20f1adac2d3 856 wallArray[MAZE_LEN - 1 - mouseY][mouseX] = 0xE;
sahilmgandhi 26:d20f1adac2d3 857 visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1;
sahilmgandhi 26:d20f1adac2d3 858
kyleliangus 32:69acb14778ea 859 //int prevEncoder0Count = 0;
kyleliangus 32:69acb14778ea 860 //int prevEncoder1Count = 0;
kyleliangus 32:69acb14778ea 861 //int currEncoder0Count = 0;
kyleliangus 32:69acb14778ea 862 //int currEncoder1Count = 0;
sahilmgandhi 28:8126a4d620e8 863
kyleliangus 32:69acb14778ea 864 //bool overrideFloodFill = false;
sahilmgandhi 33:68ce1f74ab5f 865 right_motor.forward( 0.2 );
sahilmgandhi 33:68ce1f74ab5f 866 left_motor.forward( 0.2 );
sahilmgandhi 26:d20f1adac2d3 867 //turnRight180();
sahilmgandhi 26:d20f1adac2d3 868 //wait_ms(1500);
kyleliangus 32:69acb14778ea 869 //int nextMovement = 0;
sahilmgandhi 26:d20f1adac2d3 870 while (1) {
sahilmgandhi 31:9b71b44e0867 871 // prevEncoder0Count = encoder0.getPulses();
sahilmgandhi 29:ec2c5a69acd6 872 // prevEncoder1Count = encoder1.getPulses();
sahilmgandhi 29:ec2c5a69acd6 873 //
sahilmgandhi 29:ec2c5a69acd6 874 // if (!overrideFloodFill){
sahilmgandhi 29:ec2c5a69acd6 875 // nextMovement = chooseNextMovement();
sahilmgandhi 29:ec2c5a69acd6 876 // if (nextMovement == 0){
sahilmgandhi 29:ec2c5a69acd6 877 // nCellEncoderAndIR(1);
sahilmgandhi 29:ec2c5a69acd6 878 // }
sahilmgandhi 29:ec2c5a69acd6 879 // else if (nextMovement == 1){
sahilmgandhi 29:ec2c5a69acd6 880 // justTurned = true;
sahilmgandhi 29:ec2c5a69acd6 881 // turnRight();
sahilmgandhi 29:ec2c5a69acd6 882 // }
sahilmgandhi 29:ec2c5a69acd6 883 // else if (nextMovement == 2){
sahilmgandhi 29:ec2c5a69acd6 884 // justTurned = true;
sahilmgandhi 29:ec2c5a69acd6 885 // turnLeft();
sahilmgandhi 29:ec2c5a69acd6 886 // }
sahilmgandhi 29:ec2c5a69acd6 887 // else if (nextMovement == 3){
sahilmgandhi 29:ec2c5a69acd6 888 // nCellEncoderAndIR(1);
sahilmgandhi 29:ec2c5a69acd6 889 // }
sahilmgandhi 29:ec2c5a69acd6 890 // else if (nextMovement == 4){
sahilmgandhi 29:ec2c5a69acd6 891 // justTurned = true;
sahilmgandhi 29:ec2c5a69acd6 892 // turnRight180();
sahilmgandhi 29:ec2c5a69acd6 893 // }
sahilmgandhi 29:ec2c5a69acd6 894 // }
sahilmgandhi 29:ec2c5a69acd6 895 // else{
sahilmgandhi 29:ec2c5a69acd6 896 // overrideFloodFill = false;
sahilmgandhi 29:ec2c5a69acd6 897 // if ((rand()%2 + 1) == 1){
sahilmgandhi 29:ec2c5a69acd6 898 // justTurned = true;
sahilmgandhi 29:ec2c5a69acd6 899 // turnLeft();
sahilmgandhi 29:ec2c5a69acd6 900 // }
sahilmgandhi 29:ec2c5a69acd6 901 // else{
sahilmgandhi 29:ec2c5a69acd6 902 // justTurned = true;
sahilmgandhi 29:ec2c5a69acd6 903 // turnRight();
sahilmgandhi 29:ec2c5a69acd6 904 // }
sahilmgandhi 29:ec2c5a69acd6 905 // }
sahilmgandhi 29:ec2c5a69acd6 906 // currEncoder0Count = encoder0.getPulses();
sahilmgandhi 29:ec2c5a69acd6 907 // currEncoder1Count = encoder1.getPulses();
sahilmgandhi 31:9b71b44e0867 908 //
sahilmgandhi 29:ec2c5a69acd6 909 // if (!justTurned && (currEncoder0Count <= prevEncoder0Count + 100) && (currEncoder1Count <= prevEncoder1Count + 100) && !overrideFloodFill){
sahilmgandhi 29:ec2c5a69acd6 910 // overrideFloodFill = true;
sahilmgandhi 29:ec2c5a69acd6 911 // }
sahilmgandhi 29:ec2c5a69acd6 912 //
sahilmgandhi 29:ec2c5a69acd6 913 // wait_ms(300); // reduce this once we fine tune this!
christine222 24:e7063765d6f0 914
sahilmgandhi 31:9b71b44e0867 915
sahilmgandhi 33:68ce1f74ab5f 916 //////////////////////// TESTING CODE GOES BELOW ///////////////////////////
sahilmgandhi 33:68ce1f74ab5f 917 nCellEncoderAndIR(4);
sahilmgandhi 33:68ce1f74ab5f 918 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 919 turnRight();
sahilmgandhi 33:68ce1f74ab5f 920 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 921 nCellEncoderAndIR(3);
sahilmgandhi 33:68ce1f74ab5f 922 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 923 turnRight();
sahilmgandhi 33:68ce1f74ab5f 924 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 925 nCellEncoderAndIR(2);
sahilmgandhi 33:68ce1f74ab5f 926 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 927 turnRight();
sahilmgandhi 33:68ce1f74ab5f 928 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 929 nCellEncoderAndIR(1);
sahilmgandhi 33:68ce1f74ab5f 930 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 931 turnLeft();
sahilmgandhi 33:68ce1f74ab5f 932 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 933 nCellEncoderAndIR(1);
sahilmgandhi 33:68ce1f74ab5f 934 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 935 turnLeft();
sahilmgandhi 33:68ce1f74ab5f 936 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 937 nCellEncoderAndIR(1);
sahilmgandhi 33:68ce1f74ab5f 938 wait_ms(200);
sahilmgandhi 33:68ce1f74ab5f 939 turnRight180();
sahilmgandhi 33:68ce1f74ab5f 940 break;
sahilmgandhi 33:68ce1f74ab5f 941 // serial.printf("Encoder 0 is : %d \t Encoder 1 is %d\n",encoder0.getPulses(), encoder1.getPulses() );
sahilmgandhi 33:68ce1f74ab5f 942 // double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ;
sahilmgandhi 33:68ce1f74ab5f 943 // 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 944 }
sahilmgandhi 26:d20f1adac2d3 945 }