EE149
/
FinalProject
Final Project files for mBed development.
main.c@44:fd755ef0f862, 2014-12-18 (annotated)
- Committer:
- alecguertin
- Date:
- Thu Dec 18 05:20:51 2014 +0000
- Revision:
- 44:fd755ef0f862
- Parent:
- 43:a0c9549a6f8a
- Child:
- 45:b0f1d06aa6df
trying find_line
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lsaristo | 1:7e0243c27ecb | 1 | /** |
lsaristo | 1:7e0243c27ecb | 2 | * @file driver.c |
lsaristo | 29:459ff10d2a07 | 3 | * @brief Primary control logic for robot. |
lsaristo | 1:7e0243c27ecb | 4 | * |
lsaristo | 29:459ff10d2a07 | 5 | * @author John Wilkey |
lsaristo | 29:459ff10d2a07 | 6 | * @author Alec Guertin |
lsaristo | 29:459ff10d2a07 | 7 | * @author Chester Chu |
lsaristo | 1:7e0243c27ecb | 8 | */ |
lsaristo | 9:3a0433c391cb | 9 | #include "main.h" |
John Wilkey |
5:01882c3de2dc | 10 | |
lsaristo | 29:459ff10d2a07 | 11 | m3pi pi; /**< m3pi Object for all control operations. */ |
lsaristo | 29:459ff10d2a07 | 12 | Timer timer; /**< Timer used to wait in timerWait. */ |
lsaristo | 29:459ff10d2a07 | 13 | DigitalIn start_button(p21); /**< Pi start button input on mBed pin 32 */ |
lsaristo | 29:459ff10d2a07 | 14 | int draw; /**< Boolean for drawing/moving. */ |
lsaristo | 9:3a0433c391cb | 15 | |
lsaristo | 29:459ff10d2a07 | 16 | /* 4 mBed onboard LEDs */ |
lsaristo | 29:459ff10d2a07 | 17 | DigitalOut oled_1(LED1), oled_2(LED2), oled_3(LED3), oled_4(LED4); |
lsaristo | 7:6e5cc24e1ce7 | 18 | |
lsaristo | 29:459ff10d2a07 | 19 | /* 8 LEDs driven from mBed digital outs. */ |
lsaristo | 29:459ff10d2a07 | 20 | DigitalOut pin13(p13), pin14(p14), pin15(p15), pin16(p16), |
lsaristo | 29:459ff10d2a07 | 21 | pin17(p17), pin18(p18), pin19(p19), pin20(p20); |
lsaristo | 9:3a0433c391cb | 22 | |
alecguertin | 15:14d4e7021125 | 23 | /* Local File System */ |
alecguertin | 15:14d4e7021125 | 24 | LocalFileSystem local("local"); |
lsaristo | 9:3a0433c391cb | 25 | |
alecguertin | 41:1b6d8664d7a7 | 26 | enum RobotState { |
alecguertin | 41:1b6d8664d7a7 | 27 | ERROR, |
alecguertin | 43:a0c9549a6f8a | 28 | LINE_CAL, |
alecguertin | 43:a0c9549a6f8a | 29 | FIND_CORNER, |
alecguertin | 43:a0c9549a6f8a | 30 | REV_TURN, |
alecguertin | 43:a0c9549a6f8a | 31 | DRAW_INIT, |
alecguertin | 41:1b6d8664d7a7 | 32 | PARSE, |
alecguertin | 41:1b6d8664d7a7 | 33 | TURN, |
alecguertin | 41:1b6d8664d7a7 | 34 | MOVE, |
alecguertin | 41:1b6d8664d7a7 | 35 | DRAW, |
alecguertin | 44:fd755ef0f862 | 36 | FIND_LINE, |
alecguertin | 42:727612987d77 | 37 | FINISHED, |
alecguertin | 41:1b6d8664d7a7 | 38 | }; |
alecguertin | 41:1b6d8664d7a7 | 39 | |
lsaristo | 29:459ff10d2a07 | 40 | /** @brief Entry point. Main loop. */ |
John Wilkey |
5:01882c3de2dc | 41 | int main() |
John Wilkey |
5:01882c3de2dc | 42 | { |
alecguertin | 39:cc8691700d2a | 43 | Timer caltimer; |
alecguertin | 39:cc8691700d2a | 44 | FILE *ps_file; |
alecguertin | 41:1b6d8664d7a7 | 45 | RobotState state, last_state; |
alecguertin | 39:cc8691700d2a | 46 | double dist; |
alecguertin | 44:fd755ef0f862 | 47 | float delta_a, angle, cal_time, pos, last_pos; |
alecguertin | 39:cc8691700d2a | 48 | size_t bytes_read; |
alecguertin | 44:fd755ef0f862 | 49 | int corner, err, init, x, y, last_x, last_y, dim_x, dim_y, offset, right_found, complete; |
alecguertin | 39:cc8691700d2a | 50 | char instbuf[INST_BUF_SIZE]; |
alecguertin | 39:cc8691700d2a | 51 | char *cur, *next; |
alecguertin | 39:cc8691700d2a | 52 | angle = 0; |
alecguertin | 41:1b6d8664d7a7 | 53 | x = 0; |
alecguertin | 41:1b6d8664d7a7 | 54 | y = 0; |
alecguertin | 39:cc8691700d2a | 55 | last_x = 0; |
alecguertin | 39:cc8691700d2a | 56 | last_y = 0; |
alecguertin | 39:cc8691700d2a | 57 | bytes_read = 0; |
alecguertin | 39:cc8691700d2a | 58 | offset = 0; |
alecguertin | 41:1b6d8664d7a7 | 59 | init = 0; |
alecguertin | 43:a0c9549a6f8a | 60 | right_found = 0; |
alecguertin | 44:fd755ef0f862 | 61 | delta_a = 0; |
alecguertin | 44:fd755ef0f862 | 62 | angle = 0; |
alecguertin | 44:fd755ef0f862 | 63 | cal_time = 0; |
alecguertin | 44:fd755ef0f862 | 64 | pos = 0; |
alecguertin | 44:fd755ef0f862 | 65 | last_pos = 0; |
alecguertin | 44:fd755ef0f862 | 66 | complete = 0; |
alecguertin | 44:fd755ef0f862 | 67 | cur = NULL; |
alecguertin | 44:fd755ef0f862 | 68 | next = NULL; |
alecguertin | 44:fd755ef0f862 | 69 | ps_file = NULL; |
alecguertin | 44:fd755ef0f862 | 70 | caltimer = Timer(); |
alecguertin | 43:a0c9549a6f8a | 71 | |
alecguertin | 43:a0c9549a6f8a | 72 | /* |
alecguertin | 39:cc8691700d2a | 73 | * File open and buffer setup. Begin reading instructions and |
alecguertin | 39:cc8691700d2a | 74 | * moving robot. Refill buffer after each instruction. |
alecguertin | 39:cc8691700d2a | 75 | */ |
alecguertin | 43:a0c9549a6f8a | 76 | state = LINE_CAL; |
alecguertin | 43:a0c9549a6f8a | 77 | last_state = LINE_CAL; |
alecguertin | 42:727612987d77 | 78 | while (1) { |
alecguertin | 41:1b6d8664d7a7 | 79 | switch (state) { |
alecguertin | 44:fd755ef0f862 | 80 | |
alecguertin | 44:fd755ef0f862 | 81 | // Calibrate the m3pi line sensors |
alecguertin | 43:a0c9549a6f8a | 82 | case LINE_CAL: |
alecguertin | 43:a0c9549a6f8a | 83 | pi.sensor_auto_calibrate(); |
alecguertin | 43:a0c9549a6f8a | 84 | timerWait(0.2); |
alecguertin | 43:a0c9549a6f8a | 85 | last_state = state; |
alecguertin | 43:a0c9549a6f8a | 86 | state = FIND_CORNER; |
alecguertin | 43:a0c9549a6f8a | 87 | break; |
alecguertin | 44:fd755ef0f862 | 88 | |
alecguertin | 44:fd755ef0f862 | 89 | // Find a corner of the frame |
alecguertin | 43:a0c9549a6f8a | 90 | case FIND_CORNER: |
alecguertin | 43:a0c9549a6f8a | 91 | last_state = state; |
alecguertin | 44:fd755ef0f862 | 92 | // Corner we are looking for specified by right_found |
alecguertin | 44:fd755ef0f862 | 93 | // If we already found the right corner, measure frame |
alecguertin | 44:fd755ef0f862 | 94 | if (right_found && !complete) { |
alecguertin | 43:a0c9549a6f8a | 95 | caltimer.start(); |
alecguertin | 43:a0c9549a6f8a | 96 | } |
alecguertin | 43:a0c9549a6f8a | 97 | corner = find_corner(1-right_found); |
alecguertin | 43:a0c9549a6f8a | 98 | if (!corner) { |
alecguertin | 43:a0c9549a6f8a | 99 | state = ERROR; |
alecguertin | 43:a0c9549a6f8a | 100 | break; |
alecguertin | 43:a0c9549a6f8a | 101 | } |
alecguertin | 44:fd755ef0f862 | 102 | if (right_found && !complete) { |
alecguertin | 43:a0c9549a6f8a | 103 | caltimer.stop(); |
alecguertin | 43:a0c9549a6f8a | 104 | cal_time = caltimer.read_ms(); |
alecguertin | 43:a0c9549a6f8a | 105 | } |
alecguertin | 43:a0c9549a6f8a | 106 | state = REV_TURN; |
alecguertin | 43:a0c9549a6f8a | 107 | break; |
alecguertin | 44:fd755ef0f862 | 108 | |
alecguertin | 44:fd755ef0f862 | 109 | // Reverse robot to face other corner of frame |
alecguertin | 43:a0c9549a6f8a | 110 | case REV_TURN: |
alecguertin | 43:a0c9549a6f8a | 111 | last_state = state; |
alecguertin | 44:fd755ef0f862 | 112 | if (complete) { |
alecguertin | 44:fd755ef0f862 | 113 | right(HALF_TURN); |
alecguertin | 44:fd755ef0f862 | 114 | state = FINISHED; |
alecguertin | 44:fd755ef0f862 | 115 | } else if (right_found) { |
alecguertin | 43:a0c9549a6f8a | 116 | right(HALF_TURN); |
alecguertin | 43:a0c9549a6f8a | 117 | state = DRAW_INIT; |
alecguertin | 43:a0c9549a6f8a | 118 | } else { |
alecguertin | 43:a0c9549a6f8a | 119 | left(HALF_TURN); |
alecguertin | 43:a0c9549a6f8a | 120 | state = FIND_CORNER; |
alecguertin | 43:a0c9549a6f8a | 121 | right_found = 1; |
alecguertin | 43:a0c9549a6f8a | 122 | } |
alecguertin | 43:a0c9549a6f8a | 123 | break; |
alecguertin | 44:fd755ef0f862 | 124 | |
alecguertin | 44:fd755ef0f862 | 125 | // Setup for drawing stage |
alecguertin | 43:a0c9549a6f8a | 126 | case DRAW_INIT: |
alecguertin | 44:fd755ef0f862 | 127 | // Backup to start at (0,0) |
alecguertin | 43:a0c9549a6f8a | 128 | timerWait(0.2); |
alecguertin | 43:a0c9549a6f8a | 129 | backward(400); |
alecguertin | 43:a0c9549a6f8a | 130 | last_state = state; |
alecguertin | 43:a0c9549a6f8a | 131 | |
alecguertin | 44:fd755ef0f862 | 132 | // Open the instructions file |
alecguertin | 43:a0c9549a6f8a | 133 | ps_file = fopen("/local/test.ps", "r"); |
alecguertin | 43:a0c9549a6f8a | 134 | if (ps_file == NULL) { |
alecguertin | 43:a0c9549a6f8a | 135 | state = ERROR; |
alecguertin | 43:a0c9549a6f8a | 136 | break; |
alecguertin | 43:a0c9549a6f8a | 137 | } |
alecguertin | 43:a0c9549a6f8a | 138 | |
alecguertin | 44:fd755ef0f862 | 139 | // Read start of file into buffer |
alecguertin | 43:a0c9549a6f8a | 140 | memset(instbuf, 0, INST_BUF_SIZE); |
alecguertin | 43:a0c9549a6f8a | 141 | bytes_read = fread(instbuf, sizeof(char), INST_BUF_SIZE-1, ps_file); |
alecguertin | 43:a0c9549a6f8a | 142 | if (bytes_read == 0) { |
alecguertin | 43:a0c9549a6f8a | 143 | state = ERROR; |
alecguertin | 43:a0c9549a6f8a | 144 | break; |
alecguertin | 43:a0c9549a6f8a | 145 | } |
alecguertin | 44:fd755ef0f862 | 146 | |
alecguertin | 44:fd755ef0f862 | 147 | // Find dimensions of PS instructions |
alecguertin | 43:a0c9549a6f8a | 148 | err = sscanf(instbuf, "%d/%d", &dim_x, &dim_y); |
alecguertin | 43:a0c9549a6f8a | 149 | if (err != 2) { |
alecguertin | 43:a0c9549a6f8a | 150 | state = ERROR; |
alecguertin | 43:a0c9549a6f8a | 151 | break; |
alecguertin | 43:a0c9549a6f8a | 152 | } |
alecguertin | 43:a0c9549a6f8a | 153 | cur = strchr(instbuf, '\n'); |
alecguertin | 43:a0c9549a6f8a | 154 | cur++; |
alecguertin | 43:a0c9549a6f8a | 155 | offset = instbuf+INST_BUF_SIZE-cur-1; |
alecguertin | 43:a0c9549a6f8a | 156 | memcpy(instbuf, cur, offset); |
alecguertin | 43:a0c9549a6f8a | 157 | state = PARSE; |
alecguertin | 43:a0c9549a6f8a | 158 | break; |
alecguertin | 44:fd755ef0f862 | 159 | |
alecguertin | 44:fd755ef0f862 | 160 | // Retrieve the next instruction |
alecguertin | 44:fd755ef0f862 | 161 | // Update robot vars to give desired position |
alecguertin | 41:1b6d8664d7a7 | 162 | case PARSE: |
alecguertin | 44:fd755ef0f862 | 163 | // Parsing uses in place buffer |
alecguertin | 44:fd755ef0f862 | 164 | // next instruction is at start of buffer |
alecguertin | 43:a0c9549a6f8a | 165 | last_state = state; |
alecguertin | 42:727612987d77 | 166 | if (init) { |
alecguertin | 44:fd755ef0f862 | 167 | // Advance to next instruction |
alecguertin | 41:1b6d8664d7a7 | 168 | next = strchr(cur, '\n'); |
alecguertin | 41:1b6d8664d7a7 | 169 | if (next == NULL) { |
alecguertin | 41:1b6d8664d7a7 | 170 | state = ERROR; |
alecguertin | 41:1b6d8664d7a7 | 171 | break; |
alecguertin | 41:1b6d8664d7a7 | 172 | } |
alecguertin | 41:1b6d8664d7a7 | 173 | cur = next+1; |
alecguertin | 41:1b6d8664d7a7 | 174 | offset = instbuf+INST_BUF_SIZE-cur-1; |
alecguertin | 41:1b6d8664d7a7 | 175 | memcpy(instbuf, cur, offset); |
alecguertin | 41:1b6d8664d7a7 | 176 | } |
alecguertin | 42:727612987d77 | 177 | init = 1; |
alecguertin | 41:1b6d8664d7a7 | 178 | |
alecguertin | 41:1b6d8664d7a7 | 179 | memset(instbuf+offset, 0, INST_BUF_SIZE-offset); |
alecguertin | 41:1b6d8664d7a7 | 180 | bytes_read = fread(instbuf+offset, sizeof(char), INST_BUF_SIZE-1-offset, ps_file); |
alecguertin | 41:1b6d8664d7a7 | 181 | if (instbuf[0] == '\0') { |
alecguertin | 41:1b6d8664d7a7 | 182 | pen_up(); |
alecguertin | 44:fd755ef0f862 | 183 | state = FIND_LINE; |
alecguertin | 41:1b6d8664d7a7 | 184 | break; |
alecguertin | 41:1b6d8664d7a7 | 185 | } |
alecguertin | 41:1b6d8664d7a7 | 186 | |
alecguertin | 44:fd755ef0f862 | 187 | // Update robot position |
alecguertin | 41:1b6d8664d7a7 | 188 | last_x = x; |
alecguertin | 41:1b6d8664d7a7 | 189 | last_y = y; |
alecguertin | 44:fd755ef0f862 | 190 | |
alecguertin | 44:fd755ef0f862 | 191 | // Get next instruction |
alecguertin | 41:1b6d8664d7a7 | 192 | cur = instbuf; |
alecguertin | 41:1b6d8664d7a7 | 193 | err = retrieve_inst(instbuf, &x, &y, &draw); |
alecguertin | 41:1b6d8664d7a7 | 194 | if (err == 0) { |
alecguertin | 41:1b6d8664d7a7 | 195 | state = ERROR; |
alecguertin | 41:1b6d8664d7a7 | 196 | break; |
alecguertin | 41:1b6d8664d7a7 | 197 | } else { |
alecguertin | 41:1b6d8664d7a7 | 198 | state = TURN; |
alecguertin | 41:1b6d8664d7a7 | 199 | break; |
alecguertin | 41:1b6d8664d7a7 | 200 | } |
alecguertin | 41:1b6d8664d7a7 | 201 | |
alecguertin | 44:fd755ef0f862 | 202 | // Move angle needed to reach desired position |
alecguertin | 41:1b6d8664d7a7 | 203 | case TURN: |
alecguertin | 43:a0c9549a6f8a | 204 | last_state = state; |
alecguertin | 44:fd755ef0f862 | 205 | |
alecguertin | 44:fd755ef0f862 | 206 | // Computed necessary angle |
alecguertin | 41:1b6d8664d7a7 | 207 | delta_a = compute_turn_angle(last_x, last_y, x, y, angle); |
alecguertin | 44:fd755ef0f862 | 208 | |
alecguertin | 44:fd755ef0f862 | 209 | // Update robot angle |
alecguertin | 41:1b6d8664d7a7 | 210 | angle += delta_a; |
alecguertin | 41:1b6d8664d7a7 | 211 | if (angle >= FULL_TURN) { |
alecguertin | 41:1b6d8664d7a7 | 212 | angle -= FULL_TURN; |
alecguertin | 41:1b6d8664d7a7 | 213 | } |
alecguertin | 44:fd755ef0f862 | 214 | if (angle <= -FULL_TURN) { |
alecguertin | 44:fd755ef0f862 | 215 | angle += FULL_TURN; |
alecguertin | 44:fd755ef0f862 | 216 | } |
alecguertin | 44:fd755ef0f862 | 217 | |
alecguertin | 44:fd755ef0f862 | 218 | // Move desired angle |
alecguertin | 41:1b6d8664d7a7 | 219 | left(delta_a); |
alecguertin | 41:1b6d8664d7a7 | 220 | if (draw) { |
alecguertin | 41:1b6d8664d7a7 | 221 | state = DRAW; |
alecguertin | 41:1b6d8664d7a7 | 222 | break; |
alecguertin | 41:1b6d8664d7a7 | 223 | } else { |
alecguertin | 41:1b6d8664d7a7 | 224 | state = MOVE; |
alecguertin | 41:1b6d8664d7a7 | 225 | break; |
alecguertin | 41:1b6d8664d7a7 | 226 | } |
alecguertin | 44:fd755ef0f862 | 227 | |
alecguertin | 44:fd755ef0f862 | 228 | // Move to desired position while drawing |
alecguertin | 41:1b6d8664d7a7 | 229 | case DRAW: |
alecguertin | 44:fd755ef0f862 | 230 | // Compute Euclidean distance between points |
alecguertin | 41:1b6d8664d7a7 | 231 | dist = fabs(distance(last_x, last_y, x, y)); |
alecguertin | 41:1b6d8664d7a7 | 232 | pen_down(); |
alecguertin | 44:fd755ef0f862 | 233 | // Move desired distance |
alecguertin | 42:727612987d77 | 234 | forward(CAL_FACTOR*cal_time*(dist/(double)dim_x)); |
alecguertin | 41:1b6d8664d7a7 | 235 | pen_up(); |
alecguertin | 41:1b6d8664d7a7 | 236 | last_state = state; |
alecguertin | 41:1b6d8664d7a7 | 237 | state = PARSE; |
alecguertin | 41:1b6d8664d7a7 | 238 | break; |
alecguertin | 44:fd755ef0f862 | 239 | |
alecguertin | 44:fd755ef0f862 | 240 | // Move to desired position w/o drawing |
alecguertin | 44:fd755ef0f862 | 241 | // (lifting pen and starting somewhere else) |
alecguertin | 41:1b6d8664d7a7 | 242 | case MOVE: |
alecguertin | 44:fd755ef0f862 | 243 | // Compute Euclidean distance |
alecguertin | 41:1b6d8664d7a7 | 244 | dist = fabs(distance(last_x, last_y, x, y)); |
alecguertin | 44:fd755ef0f862 | 245 | // Move desired distance |
alecguertin | 42:727612987d77 | 246 | forward(CAL_FACTOR*cal_time*(dist/(double)dim_x)); |
alecguertin | 41:1b6d8664d7a7 | 247 | last_state = state; |
alecguertin | 41:1b6d8664d7a7 | 248 | state = PARSE; |
alecguertin | 41:1b6d8664d7a7 | 249 | break; |
alecguertin | 44:fd755ef0f862 | 250 | |
alecguertin | 44:fd755ef0f862 | 251 | case FIND_LINE: |
alecguertin | 44:fd755ef0f862 | 252 | if (angle > 0) { |
alecguertin | 44:fd755ef0f862 | 253 | right(angle+QUARTER_TURN); |
alecguertin | 44:fd755ef0f862 | 254 | } else { |
alecguertin | 44:fd755ef0f862 | 255 | right(angle+QUARTER_TURN); |
alecguertin | 44:fd755ef0f862 | 256 | } |
alecguertin | 44:fd755ef0f862 | 257 | pos = pi.line_position(); |
alecguertin | 44:fd755ef0f862 | 258 | last_pos = pos; |
alecguertin | 44:fd755ef0f862 | 259 | pi.forward(DRIVE_SPEED/2); |
alecguertin | 44:fd755ef0f862 | 260 | while (pos < 0.6 && fabs(pos-last_pos) > 0.1) { |
alecguertin | 44:fd755ef0f862 | 261 | pos = pi.line_position(); |
alecguertin | 44:fd755ef0f862 | 262 | last_pos = pos; |
alecguertin | 44:fd755ef0f862 | 263 | robot_printf(0, "%f", pos); |
alecguertin | 44:fd755ef0f862 | 264 | } |
alecguertin | 44:fd755ef0f862 | 265 | pi.stop(); |
alecguertin | 44:fd755ef0f862 | 266 | forward(300); |
alecguertin | 44:fd755ef0f862 | 267 | right(QUARTER_TURN); |
alecguertin | 44:fd755ef0f862 | 268 | last_state = state; |
alecguertin | 44:fd755ef0f862 | 269 | state = FIND_CORNER; |
alecguertin | 44:fd755ef0f862 | 270 | break; |
alecguertin | 44:fd755ef0f862 | 271 | |
alecguertin | 44:fd755ef0f862 | 272 | // Done drawing - alert user |
alecguertin | 42:727612987d77 | 273 | case FINISHED: |
alecguertin | 44:fd755ef0f862 | 274 | pi.stop(); |
alecguertin | 44:fd755ef0f862 | 275 | pen_up(); |
alecguertin | 43:a0c9549a6f8a | 276 | robot_printf(0, "done"); |
alecguertin | 42:727612987d77 | 277 | while(1); |
alecguertin | 44:fd755ef0f862 | 278 | |
alecguertin | 44:fd755ef0f862 | 279 | // Error - alert user |
alecguertin | 41:1b6d8664d7a7 | 280 | case ERROR: |
alecguertin | 44:fd755ef0f862 | 281 | pi.stop(); |
alecguertin | 44:fd755ef0f862 | 282 | pen_up(); |
alecguertin | 43:a0c9549a6f8a | 283 | robot_printf(0, "E:%d", last_state); |
alecguertin | 41:1b6d8664d7a7 | 284 | while(1); |
alecguertin | 44:fd755ef0f862 | 285 | |
alecguertin | 44:fd755ef0f862 | 286 | // Unrecognized state - go to ERROR |
alecguertin | 42:727612987d77 | 287 | default: |
alecguertin | 42:727612987d77 | 288 | last_state = state; |
alecguertin | 42:727612987d77 | 289 | state = ERROR; |
alecguertin | 42:727612987d77 | 290 | break; |
alecguertin | 41:1b6d8664d7a7 | 291 | } |
alecguertin | 41:1b6d8664d7a7 | 292 | } |
John Wilkey |
5:01882c3de2dc | 293 | } |
lsaristo | 8:12d780f7443e | 294 | |
alecguertin | 39:cc8691700d2a | 295 | float compute_turn_angle(int last_x, int last_y, int x, int y, float angle) |
alecguertin | 39:cc8691700d2a | 296 | { |
alecguertin | 39:cc8691700d2a | 297 | int delta_x, delta_y; |
alecguertin | 39:cc8691700d2a | 298 | float theta, delta_a; |
alecguertin | 39:cc8691700d2a | 299 | delta_x = x-last_x; |
alecguertin | 39:cc8691700d2a | 300 | delta_y = y-last_y; |
alecguertin | 39:cc8691700d2a | 301 | if (delta_y == 0) { |
alecguertin | 39:cc8691700d2a | 302 | if (delta_x < 0) { |
alecguertin | 39:cc8691700d2a | 303 | theta = HALF_TURN; |
alecguertin | 39:cc8691700d2a | 304 | } else { |
alecguertin | 39:cc8691700d2a | 305 | theta = 0; |
alecguertin | 39:cc8691700d2a | 306 | } |
alecguertin | 39:cc8691700d2a | 307 | } else if (delta_x == 0) { |
alecguertin | 39:cc8691700d2a | 308 | if (delta_y < 0) { |
alecguertin | 39:cc8691700d2a | 309 | theta = -QUARTER_TURN; |
alecguertin | 39:cc8691700d2a | 310 | } else { |
alecguertin | 39:cc8691700d2a | 311 | theta = QUARTER_TURN; |
alecguertin | 39:cc8691700d2a | 312 | } |
alecguertin | 39:cc8691700d2a | 313 | } else { |
alecguertin | 39:cc8691700d2a | 314 | theta = atan(((double) delta_y)/((double) delta_x)); |
alecguertin | 39:cc8691700d2a | 315 | theta *= RAD_TO_DEG; |
alecguertin | 39:cc8691700d2a | 316 | } |
alecguertin | 39:cc8691700d2a | 317 | if (delta_x < 0 && delta_y > 0) { |
alecguertin | 39:cc8691700d2a | 318 | theta += HALF_TURN; |
alecguertin | 39:cc8691700d2a | 319 | } |
alecguertin | 39:cc8691700d2a | 320 | delta_a = theta-angle; |
alecguertin | 39:cc8691700d2a | 321 | |
alecguertin | 39:cc8691700d2a | 322 | if (delta_x < 0 && delta_y < 0) { |
alecguertin | 39:cc8691700d2a | 323 | delta_a += HALF_TURN; |
alecguertin | 39:cc8691700d2a | 324 | } |
alecguertin | 39:cc8691700d2a | 325 | |
alecguertin | 39:cc8691700d2a | 326 | if (delta_a > HALF_TURN) { |
alecguertin | 39:cc8691700d2a | 327 | delta_a -= FULL_TURN; |
alecguertin | 39:cc8691700d2a | 328 | } else if (delta_a < -HALF_TURN) { |
alecguertin | 39:cc8691700d2a | 329 | delta_a = FULL_TURN + delta_a; |
alecguertin | 39:cc8691700d2a | 330 | } |
alecguertin | 39:cc8691700d2a | 331 | return delta_a; |
alecguertin | 39:cc8691700d2a | 332 | } |
alecguertin | 39:cc8691700d2a | 333 | |
alecguertin | 39:cc8691700d2a | 334 | void robot_printf(int line, const char *format, ...) |
alecguertin | 39:cc8691700d2a | 335 | { |
alecguertin | 39:cc8691700d2a | 336 | char buf[18]; |
alecguertin | 39:cc8691700d2a | 337 | va_list args; |
alecguertin | 39:cc8691700d2a | 338 | pi.cls(); |
alecguertin | 39:cc8691700d2a | 339 | pi.locate(0,line); |
alecguertin | 39:cc8691700d2a | 340 | va_start(args, format); |
alecguertin | 39:cc8691700d2a | 341 | vsprintf(buf, format, args); |
alecguertin | 39:cc8691700d2a | 342 | pi.printf("%s", buf); |
alecguertin | 39:cc8691700d2a | 343 | va_end(args); |
alecguertin | 39:cc8691700d2a | 344 | } |
alecguertin | 39:cc8691700d2a | 345 | |
alecguertin | 39:cc8691700d2a | 346 | float distance(int x1, int y1, int x2, int y2) |
alecguertin | 39:cc8691700d2a | 347 | { |
alecguertin | 39:cc8691700d2a | 348 | return sqrt(pow((double) (x2-x1),2) + pow((double) (y2-y1), 2)); |
alecguertin | 39:cc8691700d2a | 349 | } |
alecguertin | 39:cc8691700d2a | 350 | |
alecguertin | 39:cc8691700d2a | 351 | void find_line() |
alecguertin | 39:cc8691700d2a | 352 | { |
alecguertin | 39:cc8691700d2a | 353 | float pos, pos1; |
alecguertin | 39:cc8691700d2a | 354 | pi.forward(DRIVE_SPEED); |
alecguertin | 39:cc8691700d2a | 355 | pos1 = pi.line_position(); |
alecguertin | 39:cc8691700d2a | 356 | pos = pos1; |
alecguertin | 39:cc8691700d2a | 357 | while (fabs(pos1-pos) < 0.1 || pos == -1) { |
alecguertin | 39:cc8691700d2a | 358 | pos = pi.line_position(); |
alecguertin | 43:a0c9549a6f8a | 359 | robot_printf(0, "%f", pos); |
alecguertin | 39:cc8691700d2a | 360 | } |
alecguertin | 43:a0c9549a6f8a | 361 | robot_printf(0, "f:%f", pos); |
alecguertin | 39:cc8691700d2a | 362 | pi.stop(); |
alecguertin | 39:cc8691700d2a | 363 | } |
alecguertin | 39:cc8691700d2a | 364 | |
alecguertin | 39:cc8691700d2a | 365 | int find_corner(int left) |
alecguertin | 39:cc8691700d2a | 366 | { |
alecguertin | 39:cc8691700d2a | 367 | float pos; |
alecguertin | 39:cc8691700d2a | 368 | float threshold = CORNER_THRESHOLD; |
alecguertin | 39:cc8691700d2a | 369 | if (left) { |
alecguertin | 39:cc8691700d2a | 370 | threshold *= -1; |
alecguertin | 39:cc8691700d2a | 371 | } |
alecguertin | 39:cc8691700d2a | 372 | do { |
alecguertin | 39:cc8691700d2a | 373 | pos = pi.line_position(); |
alecguertin | 39:cc8691700d2a | 374 | if(pos > CORRECTION_THRESHOLD) { |
alecguertin | 39:cc8691700d2a | 375 | pi.right_motor(CAL_SPEED); |
alecguertin | 39:cc8691700d2a | 376 | pi.left_motor(CAL_SPEED-CORRECTION_SPEED); |
alecguertin | 39:cc8691700d2a | 377 | } else if(pos < -CORRECTION_THRESHOLD) { |
alecguertin | 39:cc8691700d2a | 378 | pi.left_motor(CAL_SPEED); |
alecguertin | 39:cc8691700d2a | 379 | pi.right_motor(CAL_SPEED-CORRECTION_SPEED); |
alecguertin | 39:cc8691700d2a | 380 | } else { |
alecguertin | 39:cc8691700d2a | 381 | pi.right_motor(CAL_SPEED); |
alecguertin | 39:cc8691700d2a | 382 | pi.left_motor(CAL_SPEED); |
alecguertin | 39:cc8691700d2a | 383 | } |
alecguertin | 39:cc8691700d2a | 384 | robot_printf(0, "Pos: %f", pos); |
alecguertin | 39:cc8691700d2a | 385 | } while(pos != -1 && ((left && pos > threshold) || (!left && pos < threshold))); |
alecguertin | 39:cc8691700d2a | 386 | pi.stop(); |
alecguertin | 39:cc8691700d2a | 387 | if(pos == -1) { |
alecguertin | 39:cc8691700d2a | 388 | oled_1 = 1; |
alecguertin | 39:cc8691700d2a | 389 | return 0; |
alecguertin | 39:cc8691700d2a | 390 | } |
alecguertin | 39:cc8691700d2a | 391 | return 1; |
alecguertin | 39:cc8691700d2a | 392 | } |
alecguertin | 39:cc8691700d2a | 393 | |
alecguertin | 17:c72c092fcdf7 | 394 | int retrieve_inst(char *buf, int *x, int *y, int *draw) |
alecguertin | 17:c72c092fcdf7 | 395 | { |
alecguertin | 17:c72c092fcdf7 | 396 | int matches; |
alecguertin | 17:c72c092fcdf7 | 397 | char *srch; |
alecguertin | 17:c72c092fcdf7 | 398 | matches = sscanf(buf, "%d %d", x, y); |
alecguertin | 17:c72c092fcdf7 | 399 | if (matches != 2) { |
alecguertin | 39:cc8691700d2a | 400 | robot_printf(0, "nomatch"); |
alecguertin | 17:c72c092fcdf7 | 401 | return 0; |
alecguertin | 17:c72c092fcdf7 | 402 | } |
alecguertin | 17:c72c092fcdf7 | 403 | srch = strchr(buf, ' '); |
alecguertin | 17:c72c092fcdf7 | 404 | srch++; |
chstrchu | 20:76718145b403 | 405 | srch = strchr(srch, ' '); |
alecguertin | 17:c72c092fcdf7 | 406 | srch++; |
alecguertin | 17:c72c092fcdf7 | 407 | if (srch[0] == 'm') { |
alecguertin | 17:c72c092fcdf7 | 408 | *draw = 0; |
chstrchu | 20:76718145b403 | 409 | } else if (srch[0] == 'l') { |
alecguertin | 17:c72c092fcdf7 | 410 | *draw = 1; |
alecguertin | 17:c72c092fcdf7 | 411 | } else { |
alecguertin | 39:cc8691700d2a | 412 | robot_printf(0, "%.8s", srch); |
alecguertin | 17:c72c092fcdf7 | 413 | return 0; |
alecguertin | 17:c72c092fcdf7 | 414 | } |
alecguertin | 17:c72c092fcdf7 | 415 | return 1; |
alecguertin | 17:c72c092fcdf7 | 416 | } |
alecguertin | 17:c72c092fcdf7 | 417 | |
lsaristo | 29:459ff10d2a07 | 418 | void forward(int amt) |
lsaristo | 8:12d780f7443e | 419 | { |
lsaristo | 12:1aa6b8a74136 | 420 | Timer t; |
lsaristo | 34:3066686d5152 | 421 | float ms = 0; |
lsaristo | 34:3066686d5152 | 422 | float last_ms = 0; |
alecguertin | 39:cc8691700d2a | 423 | robot_printf(0, "Fwd %d", amt); |
lsaristo | 30:3211e2962441 | 424 | t.start(); |
lsaristo | 34:3066686d5152 | 425 | pi.left_motor(DRIVE_SPEED+.002); |
lsaristo | 21:0c80a5d89ea3 | 426 | pi.right_motor(DRIVE_SPEED); |
lsaristo | 34:3066686d5152 | 427 | ms = t.read_ms(); |
lsaristo | 34:3066686d5152 | 428 | while(ms < amt) { |
alecguertin | 37:1d51cf101b03 | 429 | if (ms-last_ms > 500) { |
lsaristo | 34:3066686d5152 | 430 | t.stop(); |
alecguertin | 37:1d51cf101b03 | 431 | right(1.5); |
lsaristo | 34:3066686d5152 | 432 | last_ms = ms; |
lsaristo | 34:3066686d5152 | 433 | t.start(); |
lsaristo | 34:3066686d5152 | 434 | pi.left_motor(DRIVE_SPEED+.002); |
lsaristo | 34:3066686d5152 | 435 | pi.right_motor(DRIVE_SPEED); |
lsaristo | 34:3066686d5152 | 436 | } |
lsaristo | 34:3066686d5152 | 437 | ms = t.read_ms(); |
lsaristo | 34:3066686d5152 | 438 | } |
lsaristo | 12:1aa6b8a74136 | 439 | pi.stop(); |
lsaristo | 8:12d780f7443e | 440 | } |
lsaristo | 8:12d780f7443e | 441 | |
lsaristo | 29:459ff10d2a07 | 442 | void backward(int amt) |
lsaristo | 8:12d780f7443e | 443 | { |
lsaristo | 12:1aa6b8a74136 | 444 | Timer t; |
lsaristo | 12:1aa6b8a74136 | 445 | t.start(); |
alecguertin | 22:46b9d9b2e35c | 446 | pi.backward(.5*DRIVE_SPEED); |
chstrchu | 20:76718145b403 | 447 | while(t.read_ms() < amt); |
lsaristo | 12:1aa6b8a74136 | 448 | pi.stop(); |
lsaristo | 8:12d780f7443e | 449 | } |
lsaristo | 8:12d780f7443e | 450 | |
alecguertin | 39:cc8691700d2a | 451 | void left(float deg) |
alecguertin | 39:cc8691700d2a | 452 | { |
alecguertin | 39:cc8691700d2a | 453 | Timer t; |
alecguertin | 39:cc8691700d2a | 454 | deg += DEGREE_CORRECTION; |
alecguertin | 39:cc8691700d2a | 455 | if(deg < 0) { |
alecguertin | 39:cc8691700d2a | 456 | return right(-1*deg); |
alecguertin | 39:cc8691700d2a | 457 | } |
alecguertin | 39:cc8691700d2a | 458 | float amt = (((float)deg)/FULL_TURN)*TIME_FACT*1000; |
alecguertin | 39:cc8691700d2a | 459 | pi.left(TURN_SPEED); |
alecguertin | 39:cc8691700d2a | 460 | t.start(); |
alecguertin | 39:cc8691700d2a | 461 | while(t.read_us() < amt); |
alecguertin | 39:cc8691700d2a | 462 | pi.stop(); |
alecguertin | 39:cc8691700d2a | 463 | } |
alecguertin | 39:cc8691700d2a | 464 | |
lsaristo | 29:459ff10d2a07 | 465 | void right(float deg) |
lsaristo | 8:12d780f7443e | 466 | { |
alecguertin | 39:cc8691700d2a | 467 | Timer t; |
alecguertin | 39:cc8691700d2a | 468 | deg += DEGREE_CORRECTION; |
lsaristo | 24:b797563776fc | 469 | if(deg < 0) { |
lsaristo | 24:b797563776fc | 470 | return left(-1*deg); |
lsaristo | 24:b797563776fc | 471 | } |
alecguertin | 39:cc8691700d2a | 472 | float amt = ((((float)deg)/FULL_TURN)*TIME_FACT*1000); |
lsaristo | 12:1aa6b8a74136 | 473 | t.start(); |
lsaristo | 30:3211e2962441 | 474 | pi.right(TURN_SPEED); |
alecguertin | 37:1d51cf101b03 | 475 | while(t.read_us() < amt); |
lsaristo | 12:1aa6b8a74136 | 476 | pi.stop(); |
lsaristo | 8:12d780f7443e | 477 | } |
lsaristo | 8:12d780f7443e | 478 | |
lsaristo | 21:0c80a5d89ea3 | 479 | void timerWait(float seconds) |
lsaristo | 21:0c80a5d89ea3 | 480 | { |
lsaristo | 21:0c80a5d89ea3 | 481 | Timer t; |
lsaristo | 21:0c80a5d89ea3 | 482 | t.start(); |
lsaristo | 21:0c80a5d89ea3 | 483 | while(t.read_us() < 1000000*seconds); |
alecguertin | 40:0199bad6c979 | 484 | } |
alecguertin | 40:0199bad6c979 | 485 | |
alecguertin | 40:0199bad6c979 | 486 | void pen_down() |
alecguertin | 40:0199bad6c979 | 487 | { |
alecguertin | 40:0199bad6c979 | 488 | oled_3 = 1; |
alecguertin | 40:0199bad6c979 | 489 | } |
alecguertin | 40:0199bad6c979 | 490 | |
alecguertin | 40:0199bad6c979 | 491 | void pen_up() |
alecguertin | 40:0199bad6c979 | 492 | { |
alecguertin | 40:0199bad6c979 | 493 | oled_3 = 0; |
alecguertin | 40:0199bad6c979 | 494 | } |