MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

main.h@26:d20f1adac2d3, 2017-05-21 (annotated)

Committer:
sahilmgandhi
Date:
Sun May 21 09:58:54 2017 +0000
Revision:
26:d20f1adac2d3
Parent:
20:82836745332e
Child:
29:ec2c5a69acd6
Added floodfill to the code ... need to tune it now to get the wall array properly fixed!;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kyleliangus 4:b5b7836ca2b0 1 #ifndef MAIN_H
kyleliangus 4:b5b7836ca2b0 2 #define MAIN_H
kyleliangus 4:b5b7836ca2b0 3
kyleliangus 4:b5b7836ca2b0 4 #include "mbed.h"
kyleliangus 4:b5b7836ca2b0 5 #include "ITG3200.h"
kyleliangus 9:1d8e4da058cd 6 #include "motor.h"
vanshg 11:8fc2b703086b 7 #include "QEI.h"
sahilmgandhi 26:d20f1adac2d3 8 #include <stack> // std::stack
sahilmgandhi 26:d20f1adac2d3 9 #include <utility> // std::pair, std::make_pair
sahilmgandhi 26:d20f1adac2d3 10
vanshg 11:8fc2b703086b 11 #define PULSES 3520
vanshg 11:8fc2b703086b 12 #define SAMPLE_NUM 100
kyleliangus 4:b5b7836ca2b0 13
kyleliangus 4:b5b7836ca2b0 14 // Motors
kyleliangus 8:a0760acdc59e 15 /*
kyleliangus 4:b5b7836ca2b0 16 PwmOut left1(PB_7);
kyleliangus 4:b5b7836ca2b0 17 PwmOut left2(PB_8);
kyleliangus 4:b5b7836ca2b0 18 PwmOut right1(PA_10);
kyleliangus 4:b5b7836ca2b0 19 PwmOut right2(PA_11);
kyleliangus 4:b5b7836ca2b0 20
sahilmgandhi 7:6f5cb6377bd4 21 DigitalOut enableLeftMotor(PB_4);
sahilmgandhi 7:6f5cb6377bd4 22 DigitalOut enableRightMotor(PB_5);
kyleliangus 8:a0760acdc59e 23 */
sahilmgandhi 7:6f5cb6377bd4 24
kyleliangus 4:b5b7836ca2b0 25 // RGB LED
kyleliangus 4:b5b7836ca2b0 26 DigitalOut redLed(PC_0);
kyleliangus 4:b5b7836ca2b0 27 DigitalOut blueLed(PC_1);
kyleliangus 4:b5b7836ca2b0 28 DigitalOut greenLed(PC_2);
kyleliangus 4:b5b7836ca2b0 29
kyleliangus 9:1d8e4da058cd 30 // IRPairs
kyleliangus 9:1d8e4da058cd 31 IRPair IRP_4( PB_1, PC_5 );
kyleliangus 9:1d8e4da058cd 32 IRPair IRP_3( PB_13, PC_4 );
kyleliangus 9:1d8e4da058cd 33 IRPair IRP_2( PB_0, PA_6 );
kyleliangus 9:1d8e4da058cd 34 IRPair IRP_1( PB_14, PA_7 );
kyleliangus 9:1d8e4da058cd 35
kyleliangus 15:b80555a4a8b9 36 Motor left_motor( PB_8, PB_7, PB_4 ); // forward, backwards, enable
kyleliangus 15:b80555a4a8b9 37 Motor right_motor( PA_11, PA_10, PB_5 ); // forward, backwards, enable
kyleliangus 9:1d8e4da058cd 38
kyleliangus 9:1d8e4da058cd 39 /*
kyleliangus 4:b5b7836ca2b0 40 DigitalOut IR_1(PB_1);
kyleliangus 4:b5b7836ca2b0 41 DigitalOut IR_2(PB_13);
kyleliangus 4:b5b7836ca2b0 42 DigitalOut IR_3(PB_0);
kyleliangus 4:b5b7836ca2b0 43 DigitalOut IR_4(PB_14);
kyleliangus 4:b5b7836ca2b0 44 // Receivers
kyleliangus 4:b5b7836ca2b0 45 AnalogIn Rec_1(PC_5);
kyleliangus 4:b5b7836ca2b0 46 AnalogIn Rec_2(PC_4);
kyleliangus 4:b5b7836ca2b0 47 AnalogIn Rec_3(PA_6);
kyleliangus 4:b5b7836ca2b0 48 AnalogIn Rec_4(PA_7);
kyleliangus 9:1d8e4da058cd 49 */
kyleliangus 4:b5b7836ca2b0 50
kyleliangus 4:b5b7836ca2b0 51 // Doing DEBUGGING
kyleliangus 4:b5b7836ca2b0 52 #define DEBUGGING 1
kyleliangus 4:b5b7836ca2b0 53 Serial serial(PC_6, PC_7);
kyleliangus 4:b5b7836ca2b0 54
kyleliangus 4:b5b7836ca2b0 55 // Gyro
kyleliangus 4:b5b7836ca2b0 56 ITG3200 gyro(PC_9, PA_8);
kyleliangus 4:b5b7836ca2b0 57
kyleliangus 4:b5b7836ca2b0 58 volatile double reading = 0;
kyleliangus 4:b5b7836ca2b0 59
kyleliangus 4:b5b7836ca2b0 60 int gyroX = 0;
kyleliangus 4:b5b7836ca2b0 61 int gyroY = 0;
kyleliangus 4:b5b7836ca2b0 62 int gyroZ = 0;
kyleliangus 4:b5b7836ca2b0 63
vanshg 10:810d1849da9d 64 InterruptIn dipButton1(PB_15);
vanshg 10:810d1849da9d 65 InterruptIn dipButton2(PB_10);
vanshg 10:810d1849da9d 66 InterruptIn dipButton3(PB_9);
vanshg 10:810d1849da9d 67 InterruptIn dipButton4(PB_12);
vanshg 10:810d1849da9d 68
vanshg 10:810d1849da9d 69 void enableButton1();
vanshg 10:810d1849da9d 70 void enableButton2();
vanshg 10:810d1849da9d 71 void enableButton3();
vanshg 10:810d1849da9d 72 void enableButton4();
vanshg 10:810d1849da9d 73 void disableButton1();
vanshg 10:810d1849da9d 74 void disableButton2();
vanshg 10:810d1849da9d 75 void disableButton3();
vanshg 10:810d1849da9d 76 void disableButton4();
vanshg 10:810d1849da9d 77
sahilmgandhi 26:d20f1adac2d3 78 bool isWallInFront(int x, int y);
sahilmgandhi 26:d20f1adac2d3 79 bool isWallInBack(int x, int y);
sahilmgandhi 26:d20f1adac2d3 80 bool isWallOnRight(int x, int y);
sahilmgandhi 26:d20f1adac2d3 81 bool isWallOnLeft(int x, int y);
sahilmgandhi 26:d20f1adac2d3 82
sahilmgandhi 26:d20f1adac2d3 83 int chooseNextMovement();
sahilmgandhi 26:d20f1adac2d3 84 void changeManhattanDistance(bool headCenter);
sahilmgandhi 26:d20f1adac2d3 85 bool hasVisited(int x, int y);
sahilmgandhi 26:d20f1adac2d3 86
vanshg 10:810d1849da9d 87 int dipFlags = 0;
vanshg 11:8fc2b703086b 88 #define BUTTON1_FLAG 0x1
vanshg 11:8fc2b703086b 89 #define BUTTON2_FLAG 0x2
vanshg 11:8fc2b703086b 90 #define BUTTON3_FLAG 0x4
vanshg 11:8fc2b703086b 91 #define BUTTON4_FLAG 0x8
vanshg 11:8fc2b703086b 92
sahilmgandhi 17:f713758f6238 93 int turnFlag = 0;
sahilmgandhi 17:f713758f6238 94 #define LEFT_FLAG 0x1
sahilmgandhi 17:f713758f6238 95 #define RIGHT_FLAG 0x2
sahilmgandhi 17:f713758f6238 96
vanshg 11:8fc2b703086b 97 QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING );
vanshg 11:8fc2b703086b 98 QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING );
vanshg 10:810d1849da9d 99
sahilmgandhi 20:82836745332e 100 #define F_WALL 0x1
sahilmgandhi 20:82836745332e 101 #define L_WALL 0x2
sahilmgandhi 20:82836745332e 102 #define R_WALL 0x4
sahilmgandhi 20:82836745332e 103 #define B_WALL 0x8
sahilmgandhi 20:82836745332e 104
sahilmgandhi 26:d20f1adac2d3 105 #define MAZE_LEN 16
sahilmgandhi 26:d20f1adac2d3 106
sahilmgandhi 26:d20f1adac2d3 107 int mouseX = 0;
sahilmgandhi 26:d20f1adac2d3 108 int mouseY = 0;
sahilmgandhi 26:d20f1adac2d3 109 bool justTurned = false;
sahilmgandhi 26:d20f1adac2d3 110 bool goingToCenter = true;
sahilmgandhi 26:d20f1adac2d3 111
sahilmgandhi 26:d20f1adac2d3 112 stack< pair<int, int> > cellsToVisit;
sahilmgandhi 26:d20f1adac2d3 113
sahilmgandhi 26:d20f1adac2d3 114 int currDir = 102; // modulo this to keep track of the current direction of the mouse!
sahilmgandhi 26:d20f1adac2d3 115 // 0 = forward, 1 = right, 2 = down, 3 = left
sahilmgandhi 20:82836745332e 116 int wallArray[16][16] = {0}; // array to keep track of the walls
sahilmgandhi 26:d20f1adac2d3 117 int visitedCells[16][16] = {0}; // array to keep track of the mouse's current location
sahilmgandhi 26:d20f1adac2d3 118 int manhattanDistances[16][16] = {
sahilmgandhi 20:82836745332e 119 {14, 13, 12, 11, 10, 9, 8, 7, 7, 8, 9, 10, 11, 12, 13, 14},
sahilmgandhi 20:82836745332e 120 {13, 12, 11, 10, 9, 8, 7, 6, 6, 7, 8, 9, 10, 11, 12, 13},
sahilmgandhi 20:82836745332e 121 {12, 11, 10, 9, 8, 7, 6, 5, 5, 6, 7, 8, 9, 10, 11, 12},
sahilmgandhi 20:82836745332e 122 {11, 10, 9, 8, 7, 6, 5, 4, 4, 5, 6, 7, 8, 9, 10, 11},
sahilmgandhi 20:82836745332e 123 {10, 9, 8, 7, 6, 5, 4, 3, 3, 4, 5, 6, 7, 8, 9, 10},
sahilmgandhi 20:82836745332e 124 {9, 8, 7, 6, 5, 4, 3, 2, 2, 3, 4, 5, 6, 7, 8, 9},
sahilmgandhi 20:82836745332e 125 {8, 7, 6, 5, 4, 3, 2, 1, 1, 2, 3, 4, 5, 6, 7, 8},
sahilmgandhi 20:82836745332e 126 {7, 6, 5, 4, 3, 2, 1, 0, 0, 1, 2, 3, 4, 5, 6, 7},
sahilmgandhi 20:82836745332e 127 {7, 6, 5, 4, 3, 2, 1, 0, 0, 1, 2, 3, 4, 5, 6, 7},
sahilmgandhi 20:82836745332e 128 {8, 7, 6, 5, 4, 3, 2, 1, 1, 2, 3, 4, 5, 6, 7, 8},
sahilmgandhi 20:82836745332e 129 {9, 8, 7, 6, 5, 4, 3, 2, 2, 3, 4, 5, 6, 7, 8, 9},
sahilmgandhi 20:82836745332e 130 {10, 9, 8, 7, 6, 5, 4, 3, 3, 4, 5, 6, 7, 8, 9, 10},
sahilmgandhi 20:82836745332e 131 {11, 10, 9, 8, 7, 6, 5, 4, 4, 5, 6, 7, 8, 9, 10, 11},
sahilmgandhi 20:82836745332e 132 {12, 11, 10, 9, 8, 7, 6, 5, 5, 6, 7, 8, 9, 10, 11, 12},
sahilmgandhi 20:82836745332e 133 {13, 12, 11, 10, 9, 8, 7, 6, 6, 7, 8, 9, 10, 11, 12, 13},
sahilmgandhi 20:82836745332e 134 {14, 13, 12, 11, 10, 9, 8, 7, 7, 8, 9, 10, 11, 12, 13, 14},
sahilmgandhi 20:82836745332e 135 };
sahilmgandhi 20:82836745332e 136
kyleliangus 4:b5b7836ca2b0 137 #endif