Mouse code for the MacroRat
main.cpp
- Committer:
- sahilmgandhi
- Date:
- 2017-05-24
- Revision:
- 29:ec2c5a69acd6
- Parent:
- 28:8126a4d620e8
- Child:
- 31:9b71b44e0867
File content as of revision 29:ec2c5a69acd6:
#include "mbed.h" #include "irpair.h" #include "main.h" #include "motor.h" #include <stdlib.h> #include <stack> // std::stack #include <utility> // std::pair, std::make_pair #include "ITG3200.h" #include "stm32f4xx.h" #include "QEI.h" //IRSAvg= >: 0.143701, 0.128285 //facing wall ir2 and ir3 //0.144562, 0.113971 in maze // normal hall ir2 and ir3 //0.013665, 0.010889 in maze //0.014462, 0.009138 // 0.013888, 0.010530 //no walls ir2 and ir3 //0.003265, 0.002904 in maze9 //0.003162, 0.003123 //0.003795, //0.005297, 0.007064 void pidOnEncoders(); void moveForwardCellEncoder(double cellNum){ int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellNum; int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellNum; left_motor.forward(0.125); right_motor.forward(0.095); wait_ms(1); while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1){ receiverTwoReading = IRP_2.getSamples(100); receiverThreeReading = IRP_3.getSamples(100); // serial.printf("Average 2: %f Average 3: %f Sensor 2: %f Sensor 3: %f\n", IRP_2.sensorAvg, IRP_3.sensorAvg, receiverTwoReading, receiverThreeReading); if (receiverThreeReading < ir3base){ // redLed.write(1); // blueLed.write(0); turnFlag |= RIGHT_FLAG; } else if (receiverTwoReading < ir2base){ // redLed.write(0); // blueLed.write(1); turnFlag |= LEFT_FLAG; } pidOnEncoders(); } left_motor.brake(); right_motor.brake(); } void moveForwardEncoder(double num){ int count0; int count1; count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); int initial1 = count1; int initial0 = count0; int diff = count0 - count1; double kp = 0.00015; double kd = 0.00019; int prev = 0; double speed0 = 0.10; double speed1 = 0.12; right_motor.move(speed0); left_motor.move(speed1); 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){ //while( (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4 ){ //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); count0 = encoder0.getPulses() - initial0; count1 = encoder1.getPulses() - initial1; int x = count0 - count1; //double d = kp * x + kd * ( x - prev ); double kppart = kp * x; double kdpart = kd * (x-prev); double d = kppart + kdpart; //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward { left_motor.move( speed1-0.8*d ); right_motor.move( speed0+d ); } else if( x > diff + 40 ) { left_motor.move( speed1-0.8*d ); right_motor.move( speed0+d ); } // else // { // left_motor.brake(); // right_motor.brake(); // } prev = x; } //pidOnEncoders(); //pidBrake(); right_motor.brake(); left_motor.brake(); return; } void moveForwardWallEncoder(){ int count0; int count1; count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); int initial1 = count1; int initial0 = count0; int diff = count0 - count1; double kp = 0.00015; double kd = 0.00019; int prev = 0; double speed0 = 0.11; double speed1 = 0.13; right_motor.move(speed0); left_motor.move(speed1); float ir1 = IRP_1.getSamples(50); float ir4 = IRP_4.getSamples(50); if((ir1 + ir4)/2 > ((IRP_1.sensorAvg+IRP_4.sensorAvg)/2)*0.4){ return; } //while((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) { //while( (ir1 + ir4)/2 < ((IRP_1.sensorAvg+IRP_4.sensorAvg)/2)*0.4 ){ while( ir1 < IRP_1.sensorAvg*0.7 || ir4 < IRP_4.sensorAvg*0.7 ){ //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); count0 = encoder0.getPulses() - initial0; count1 = encoder1.getPulses() - initial1; int x = count0 - count1; //double d = kp * x + kd * ( x - prev ); double kppart = kp * x; double kdpart = kd * (x-prev); double d = kppart + kdpart; //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward { left_motor.move( speed1-0.8*d ); right_motor.move( speed0+d ); } else if( x > diff + 40 ) { left_motor.move( speed1-0.8*d ); right_motor.move( speed0+d ); } // else // { // left_motor.brake(); // right_motor.brake(); // } prev = x; ir1 = IRP_1.getSamples(50); ir4 = IRP_4.getSamples(50); } //pidOnEncoders(); //pidBrake(); right_motor.brake(); left_motor.brake(); return; } void moveForwardUntilWallIr() { double currentError = 0; double previousError = 0; double derivError = 0; double sumError = 0; double HIGH_PWM_VOLTAGE = 0.1; double rightSpeed = 0.25; double leftSpeed = 0.23; float ir2 = IRP_2.getSamples( SAMPLE_NUM ); float ir3 = IRP_3.getSamples( SAMPLE_NUM ); int count = encoder0.getPulses(); while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) { // while the front facing IR's arent covered if((IRP_2.getSamples(SAMPLE_NUM) < 0.005 || IRP_3.getSamples(SAMPLE_NUM) < 0.005)) { //moveForwardWallEncoder(); }else if(IRP_2.getSamples(SAMPLE_NUM) < 0.005){ // left wall gone //moveForwardRightWall(); }else if(IRP_3.getSamples(SAMPLE_NUM) < 0.005){ // right wall gone //moveForwardLeftWall(); }else{ // will move forward using encoders only // if cell ahead doesn't have a wall on either one side or both sides int pulseCount = (encoder0.getPulses()-count) % 5600; if (pulseCount > 5400 && pulseCount < 5800) { blueLed.write(0); } else { blueLed.write(1); } sumError += currentError; currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg/initAverageL) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg/initAverageR) ) ; derivError = currentError - previousError; double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); } else { // r is faster than L. speed up l, slow down r rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); } if (leftSpeed > 0.30) leftSpeed = 0.30; if (leftSpeed < 0) leftSpeed = 0; if (rightSpeed > 0.30) rightSpeed = 0.30; if (rightSpeed < 0) rightSpeed = 0; right_motor.forward(rightSpeed); left_motor.forward(leftSpeed); previousError = currentError; ir2 = IRP_2.getSamples( SAMPLE_NUM ); ir3 = IRP_3.getSamples( SAMPLE_NUM ); } //backward(); //wait_ms(40); //brake(); left_motor.brake(); right_motor.brake(); } } void printDipFlag() { if (DEBUGGING) serial.printf("Flag value is %d", dipFlags); } void enableButton1() { dipFlags |= BUTTON1_FLAG; printDipFlag(); } void enableButton2() { dipFlags |= BUTTON2_FLAG; printDipFlag(); } void enableButton3() { dipFlags |= BUTTON3_FLAG; printDipFlag(); } void enableButton4() { dipFlags |= BUTTON4_FLAG; printDipFlag(); } void disableButton1() { dipFlags &= ~BUTTON1_FLAG; printDipFlag(); } void disableButton2() { dipFlags &= ~BUTTON2_FLAG; printDipFlag(); } void disableButton3() { dipFlags &= ~BUTTON3_FLAG; printDipFlag(); } void disableButton4() { dipFlags &= ~BUTTON4_FLAG; printDipFlag(); } void pidOnEncoders() { int count0; int count1; count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); int diff = count0 - count1; double kp = 0.00013; double kd = 0.00016; int prev = 0; int counter = 0; while(1) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); int x = count0 - count1; //double d = kp * x + kd * ( x - prev ); double kppart = kp * x; double kdpart = kd * (x-prev); double d = kppart + kdpart; //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); if( x < diff - 60 ) // count1 is bigger, right wheel pushed forward { left_motor.move( -d ); right_motor.move( d ); } else if( x > diff + 60 ) { left_motor.move( -d ); right_motor.move( d ); } // else // { // left_motor.brake(); // right_motor.brake(); // } prev = x; counter++; if (counter == 10) break; } } void nCellEncoderAndIR(double cellCount){ double currentError = 0; double previousError = 0; double derivError = 0; double sumError = 0; double HIGH_PWM_VOLTAGE_R = 0.15; double HIGH_PWM_VOLTAGE_L = 0.16; double rightSpeed = 0.15; double leftSpeed = 0.16; int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellCount; int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellCount; left_motor.forward(0.16); right_motor.forward(0.15); float ir2 = IRP_2.getSamples( SAMPLE_NUM ); float ir3 = IRP_3.getSamples( SAMPLE_NUM ); // float previr2 = ir2; // float previr3 = ir3; int state = 0; while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1){ receiverTwoReading = IRP_2.getSamples(100); receiverThreeReading = IRP_3.getSamples(100); receiverOneReading = IRP_1.getSamples(100); receiverFourReading = IRP_4.getSamples(100); if( receiverOneReading > IRP_1.sensorAvg*0.70 || receiverFourReading > IRP_4.sensorAvg*0.70 ){ if (currDir % 4 == 0){ wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL; } else if (currDir % 4 == 1){ wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL; } else if (currDir % 4 == 2){ wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= L_WALL; } else if (currDir % 4 == 3){ wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL; } break; } if((receiverThreeReading < 3*IRP_3.sensorAvg/(averageDivR)) && (receiverTwoReading < 3*IRP_2.sensorAvg/(averageDivL))){ // both sides gone int prev0 = encoder0.getPulses(); int prev1 = encoder1.getPulses(); int diff0 = desiredCount0 - prev0; int diff1 = desiredCount1 - prev1; int valToPass = ((diff0 + diff1)/2)/(oneCellCountMomentum); moveForwardEncoder(valToPass); } else if (receiverThreeReading < 3*IRP_3.sensorAvg/averageDivR){// right wall gone // if (currDir % 4 == 0){ // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL; // } // else if (currDir % 4 == 1){ // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= F_WALL; // } // else if (currDir % 4 == 2){ // wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= R_WALL; // } // else if (currDir % 4 == 3){ // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= B_WALL; // } // RED RED RED RED RED state = 1; redLed.write(0); greenLed.write(1); blueLed.write(1); }else if (receiverTwoReading < 3*IRP_2.sensorAvg/averageDivL){// left wall gone // if (currDir % 4 == 0){ // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL; // } // else if (currDir % 4 == 1){ // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= B_WALL; // } // else if (currDir % 4 == 2){ // wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= L_WALL; // } // else if (currDir % 4 == 3){ // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= F_WALL; // } // BLUE BLUE BLUE BLUE state = 2; redLed.write(1); greenLed.write(1); blueLed.write(0); }else if ((receiverTwoReading > ((IRP_2.sensorAvg/initAverageL)*averageDivUpper)) && (receiverThreeReading > ((IRP_3.sensorAvg/initAverageR)*averageDivUpper))){ // if (currDir % 4 == 0){ // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL; // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL; // } // else if (currDir % 4 == 1){ // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= F_WALL; // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX+1] |= B_WALL; // } // else if (currDir % 4 == 2){ // wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= R_WALL; // wallArray[MAZE_LEN - 1 - (mouseY - 1)][mouseX] |= L_WALL; // } // else if (currDir % 4 == 3){ // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= F_WALL; // wallArray[MAZE_LEN - 1 - (mouseY)][mouseX-1] |= B_WALL; // } // both walls there state = 0; redLed.write(1); greenLed.write(0); blueLed.write(1); } switch(state){ case(0):{ // both walls there currentError = ( receiverTwoReading - IRP_2.sensorAvg/initAverageL) - ( receiverThreeReading - IRP_3.sensorAvg/initAverageR); break; } case(1):{// RED RED RED RED RED currentError = (receiverTwoReading - IRP_2.sensorAvg/initAverageL) - (IRP_2.sensorAvg/initAverageL); break; } case(2):{// blue currentError = (IRP_3.sensorAvg/initAverageR) - (receiverThreeReading - IRP_3.sensorAvg/initAverageR); break; } default:{ currentError = ( receiverTwoReading - IRP_2.sensorAvg/initAverageL) - ( receiverThreeReading - IRP_3.sensorAvg/initAverageR); break; } } sumError += currentError; derivError = currentError - previousError; double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down rightSpeed = HIGH_PWM_VOLTAGE_R - abs(PIDSum*HIGH_PWM_VOLTAGE_R); leftSpeed = HIGH_PWM_VOLTAGE_L + abs(PIDSum*HIGH_PWM_VOLTAGE_L); } else { // r is faster than L. speed up l, slow down r rightSpeed = HIGH_PWM_VOLTAGE_R + abs(PIDSum*HIGH_PWM_VOLTAGE_R); leftSpeed = HIGH_PWM_VOLTAGE_L - abs(PIDSum*HIGH_PWM_VOLTAGE_L); } if (leftSpeed > 0.30) leftSpeed = 0.30; if (leftSpeed < 0) leftSpeed = 0; if (rightSpeed > 0.30) rightSpeed = 0.30; if (rightSpeed < 0) rightSpeed = 0; right_motor.forward(rightSpeed); left_motor.forward(leftSpeed); pidOnEncoders(); previousError = currentError; } if (encoder0.getPulses() >= 0.6*desiredCount0 && encoder1.getPulses() >= 0.6*desiredCount1){ if (currDir % 4 == 0){ mouseY += 1; } else if (currDir % 4 == 1){ mouseX + 1; } else if (currDir % 4 == 2){ mouseY -= 1; } else if (currDir % 4 == 3){ mouseX -= 1; } } left_motor.brake(); right_motor.brake(); } bool isWallInFront(int x, int y){ return (wallArray[MAZE_LEN - y - 1][x] & F_WALL); } bool isWallInBack(int x, int y){ return (wallArray[MAZE_LEN - y - 1][x] & B_WALL); } bool isWallOnRight(int x, int y){ return (wallArray[MAZE_LEN - y - 1][x] & R_WALL); } bool isWallOnLeft(int x, int y){ return (wallArray[MAZE_LEN - y - 1][x] & L_WALL); } int chooseNextMovement(){ int currentDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX]; if (goingToCenter && (currentDistance == 0)){ goingToCenter = false; changeManhattanDistance(goingToCenter); } else if (!goingToCenter && (currentDistance == 0)){ goingToCenter == true; changeManhattanDistance(goingToCenter); } visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1; int currX = 0; int currY = 0; int currDist = 0; int dirToGo = 0; if (!justTurned){ cellsToVisit.push(make_pair(mouseX, mouseY)); while (!cellsToVisit.empty()) { pair<int, int> curr = cellsToVisit.top(); cellsToVisit.pop(); currX = curr.first; currY = curr.second; currDist = manhattanDistances[(MAZE_LEN - 1) - currY][currX]; int minDist = INT_MAX; if (hasVisited(currX, currY)) { // then we want to actually see where the walls are, else we treat it as if there are no walls! if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) { if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) { minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1]; } } if (currX - 1 >= 0 && !isWallOnLeft(currX, currY)) { if (manhattanDistances[MAZE_LEN - 1 - currY][currX - 1] < minDist) { minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX - 1]; } } if (currY + 1 < MAZE_LEN && !isWallInFront( currX, currY)) { if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) { minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX]; } } if (currY - 1 >= 0 && !isWallInBack(currX, currY)) { if (manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX] < minDist) { minDist = manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX]; } } } else { if (currX + 1 < MAZE_LEN) { if (manhattanDistances[MAZE_LEN - 1 - currY][currX + 1] < minDist) { minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX + 1]; } } if (currX - 1 >= 0) { if (manhattanDistances[MAZE_LEN - 1 - currY][currX - 1] < minDist) { minDist = manhattanDistances[MAZE_LEN - 1 - currY][currX - 1]; } } if (currY + 1 < MAZE_LEN) { if (manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX] < minDist) { minDist = manhattanDistances[MAZE_LEN - 1 - (currY + 1)][currX]; } } if (currY - 1 >= 0) { if (manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX] < minDist) { minDist = manhattanDistances[MAZE_LEN - 1 - (currY - 1)][currX]; } } } if (minDist == INT_MAX) continue; if (currDist > minDist) continue; if (currDist <= minDist) { manhattanDistances[MAZE_LEN - 1 - currY][currX] = minDist + 1; } if (hasVisited(currX, currY)) { if (currY + 1 < MAZE_LEN && !isWallInFront(currX, currY)) { cellsToVisit.push(make_pair(currX, currY + 1)); } if (currX + 1 < MAZE_LEN && !isWallOnRight(currX, currY)) { cellsToVisit.push(make_pair(currX + 1, currY)); } if (currY - 1 >= 0 && !isWallInBack(currX, currY)) { cellsToVisit.push(make_pair(currX, currY - 1)); } if (currX - 1 >= 0 && !isWallOnLeft( currX, currY)) { cellsToVisit.push(make_pair(currX - 1, currY)); } } else { if (currY + 1 < MAZE_LEN) { cellsToVisit.push(make_pair(currX, currY + 1)); } if (currX + 1 < MAZE_LEN) { cellsToVisit.push(make_pair(currX + 1, currY)); } if (currY - 1 >= 0) { cellsToVisit.push(make_pair(currX, currY - 1)); } if (currX - 1 >= 0) { cellsToVisit.push(make_pair(currX - 1, currY)); } } } int minDistance = INT_MAX; if (currDir % 4 == 0) { if (mouseX + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1]; dirToGo = 1; } } if (mouseX - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1]; dirToGo = 2; } } if (mouseY + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; dirToGo = 3; } } if (mouseY - 1 >= 0 && !isWallInBack(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; dirToGo = 4; } } } else if (currDir % 4 == 2) { if (mouseX - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1]; dirToGo = 1; } } if (mouseX + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1]; dirToGo = 2; } } if (mouseY - 1 >= 0 && !isWallInFront(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; dirToGo = 3; } } if (mouseY + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; dirToGo = 4; } } } else if (currDir % 4 == 1) { if (mouseY - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; dirToGo = 1; } } if (mouseY + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; dirToGo = 2; } } if (mouseX + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1]; dirToGo = 3; } } if (mouseX - 1 >= 0 && !isWallInBack(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1]; dirToGo = 4; } } } else if (currDir % 4 == 3) { if (mouseY + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX]; dirToGo = 1; } } if (mouseY - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX]; dirToGo = 2; } } if (mouseX - 1 >= 0 && !isWallInFront(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1]; dirToGo = 3; } } if (mouseX + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) { if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1] <= minDistance) { minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1]; dirToGo = 4; } } } } else{ justTurned = false; dirToGo = 0; } return dirToGo; } bool hasVisited(int x, int y){ return visitedCells[MAZE_LEN - 1 - y][x]; } void changeManhattanDistance(bool headCenter){ if (headCenter){ for (int i = 0; i < MAZE_LEN; i++) { for (int j = 0; j < MAZE_LEN; j++) { distanceToCenter[i][j] = manhattanDistances[i][j]; } } for (int i = 0; i < MAZE_LEN; i++) { for (int j = 0; j < MAZE_LEN; j++) { manhattanDistances[i][j] = distanceToStart[i][j]; } } } else { for (int i = 0; i < MAZE_LEN; i++) { for (int j = 0; j < MAZE_LEN; j++) { distanceToStart[i][j] = manhattanDistances[i][j]; } } for (int i = 0; i < MAZE_LEN; i++) { for (int j = 0; j < MAZE_LEN; j++) { manhattanDistances[i][j] = distanceToCenter[i][j]; } } } } void initializeDistances(){ for (int i = 0; i < MAZE_LEN / 2; i++) { for (int j = 0; j < MAZE_LEN / 2; j++) { distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); } } for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) { for (int j = 0; j < MAZE_LEN / 2; j++) { distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); } } for (int i = 0; i < MAZE_LEN / 2; i++) { for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) { distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); } } for (int i = MAZE_LEN / 2; i < MAZE_LEN; i++) { for (int j = MAZE_LEN / 2; j < MAZE_LEN; j++) { distanceToStart[MAZE_LEN - 1 - j][i] = abs(0 - j) + abs(0 - i); } } } int main() { //Set highest bandwidth. //gyro.setLpBandwidth(LPFBW_42HZ); initializeDistances(); serial.baud(9600); //serial.printf("The gyro's address is %s", gyro.getWhoAmI()); wait (0.1); redLed.write(1); greenLed.write(0); blueLed.write(1); //left_motor.forward(0.1); //right_motor.forward(0.1); // PA_1 is A of right // PA_0 is B of right // PA_5 is A of left // PB_3 is B of left //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); // TODO: Setting all the registers and what not for Quadrature Encoders /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3) RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B) GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2 GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5 */ // 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 // of alternate function specified // 4 modes sets AHB1ENR // Now TMR: enable clock with timer, APB1ENR // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN // // Encoder mode: disable timer before changing timer to encoder // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use // CCMR sets sample rate and set the channel to input // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels // SMCR - encoder mode // CR1 reenabales // then read CNT reg of timer dipButton1.rise(&enableButton1); dipButton2.rise(&enableButton2); dipButton3.rise(&enableButton3); dipButton4.rise(&enableButton4); dipButton1.fall(&disableButton1); dipButton2.fall(&disableButton2); dipButton3.fall(&disableButton3); dipButton4.fall(&disableButton4); // if(dipFlags == 0x1){ turnRight180(); wait_ms(1000); // }else{ // turnRight(); // IRP_1.calibrateSensor(); // IRP_4.calibrateSensor(); // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= L_WALL; // wallArray[MAZE_LEN - 1 - (mouseY + 1)][mouseX] |= R_WALL; // wait_ms(300); // turnLeft(); // wait_ms(300); // } // init the wall, and mouse loc arrays: wallArray[MAZE_LEN - 1 - mouseY][mouseX] = 0xE; visitedCells[MAZE_LEN - 1 - mouseY][mouseX] = 1; int prevEncoder0Count = 0; int prevEncoder1Count = 0; int currEncoder0Count = 0; int currEncoder1Count = 0; bool overrideFloodFill = false; //right_motor.forward( 0.2 ); //left_motor.forward( 0.2 ); //turnRight180(); //wait_ms(1500); int nextMovement = 0; while (1) { // prevEncoder0Count = encoder0.getPulses(); // prevEncoder1Count = encoder1.getPulses(); // // if (!overrideFloodFill){ // nextMovement = chooseNextMovement(); // if (nextMovement == 0){ // nCellEncoderAndIR(1); // } // else if (nextMovement == 1){ // justTurned = true; // turnRight(); // } // else if (nextMovement == 2){ // justTurned = true; // turnLeft(); // } // else if (nextMovement == 3){ // nCellEncoderAndIR(1); // } // else if (nextMovement == 4){ // justTurned = true; // turnRight180(); // } // } // else{ // overrideFloodFill = false; // if ((rand()%2 + 1) == 1){ // justTurned = true; // turnLeft(); // } // else{ // justTurned = true; // turnRight(); // } // } // currEncoder0Count = encoder0.getPulses(); // currEncoder1Count = encoder1.getPulses(); // // if (!justTurned && (currEncoder0Count <= prevEncoder0Count + 100) && (currEncoder1Count <= prevEncoder1Count + 100) && !overrideFloodFill){ // overrideFloodFill = true; // } // // wait_ms(300); // reduce this once we fine tune this! //wait_ms(1500); //turnRight(); //wait_ms(1500); //turnLeft(); // nCellEncoderAndIR(1); // wait_ms(500); // turnRight(); // wait_ms(500); // nCellEncoderAndIR(1); // wait_ms(500); // turnRight(); // wait_ms(500); // nCellEncoderAndIR(1); // wait_ms(500); // turnLeft(); // wait_ms(500); // nCellEncoderAndIR(2); // wait_ms(500); // turnRight(); // wait_ms(500); // nCellEncoderAndIR(1); // wait_ms(500); // turnRight(); // wait_ms(500); // nCellEncoderAndIR(5); // break; // turnRight180(); // int number = rand() % 4 + 1; // switch(number){ // case(1):{//turn right // turnRight(); // break; // } // case(2):{ // turn left // turnLeft(); // break; // } // case(3):{// keep going // break; // } // case(4):{// turnaround // turnRight180(); // break; // } // default:{// keep going // break; // } // } // float irbase2 = IRP_2.sensorAvg/initAverageL/averageDivL; // float irbase3 = IRP_3.sensorAvg/initAverageR/averageDivR; // float ir3 = IRP_2.getSamples(100)/initAverageL; // float ir2 = IRP_3.getSamples(100)/initAverageR; /* counter2++; counter3++; ir2tot += IRP_2.getSamples(100); ir3tot += IRP_3.getSamples(100); ir2 = ir2tot/counter2; ir3 = ir3tot/counter3; serial.printf("IRS= >: %f, %f \r\n", ir2, ir3); */ //serial.printf("%f, %f \n", IRP_2.sensorAvg/initAverageL/averageDivL, IRP_3.sensorAvg/initAverageR/averageDivR); //serial.printf("IRBASEnowall= >: %f, %f \r\n", irbase2, irbase3); //break; //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples(100), IRP_3.getSamples(100)); //serial.printf("IRSAvg= >: %f, %f \r\n", ir2, ir3); //serial.printf("IRSAvg= >: %f, %f \r\n", IRP_2.sensorAvg, IRP_3.sensorAvg); //////////////////////////////////////////////////////////////// //nCellEncoderAndIR(3); //break; //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)); //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); //break; // moveForwardCellEncoder(1); // wait(0.5); // handleTurns(); // wait(0.5); // moveForwardCellEncoder(1); // wait(0.5); // handleTurns(); //break; //pidOnEncoders(); // moveForwardUntilWallIr(); //serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses()); double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; 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 ); //reading = Rec_4.read(); // serial.printf("reading: %f\n", reading); } }