main.h

00001 /**
00002  * @file    main.h
00003  * @brief   Main header file for includes and defs 
00004  * @author  John Wilkey
00005  * @author  Alec Guertin
00006  * @author  Chester Chu
00007  */
00008  
00009 #ifndef _MAIN_H
00010 #define _MAIN_H
00011 
00012 #include "mbed.h"
00013 #include "m3pi.h"
00014 #include <string.h>
00015 #include <stdarg.h>
00016 #include <stdio.h>
00017 #include <math.h>
00018 
00019 /* Constants used in main.c */
00020 #define TURN_SPEED              0.15    /**< Motor power for turning */
00021 #define DRIVE_SPEED             0.25    /**< Motor power for drawing/moving */
00022 #define TIME_FACT               1780    /**< Multiplier for forward() and backward() */
00023 #define CAL_SPEED               0.25    /**< Drive speed during calibration */
00024 #define CLOSE_ENOUGH            0.0008  /**< Threshold for calibration line centering */
00025 #define WIGGLE_MAX              30      /**< Max 'wiggles' during calibration */
00026 #define CORNER_THRESHOLD        0.3     /**< Threshold for checking if line position denotes a corner */
00027 #define INST_BUF_SIZE           250     /**< Size of input buffer for instructions */
00028 #define CORRECTION_SPEED        0.2*DRIVE_SPEED     /**< Amount to change speed of one wheel when following line */
00029 #define CORRECTION_THRESHOLD    0.05    /**< Maximum tolerable deviation from line when following line */
00030 #define RAD_TO_DEG              57.29   /**< Factor to convert radians to degrees */
00031 #define FULL_TURN               360     /**< Degrees for a full turn */
00032 #define HALF_TURN               180     /**< Degrees for a half turn */
00033 #define QUARTER_TURN            90      /**< Degrees for a quarter (right angle) turn */
00034 #define CAL_FACTOR              1.1     /**< Scaling factor for time to drive */
00035 #define DEGREE_CORRECTION       0       /**< Amount (in degrees) added to the angle for each turn */
00036 #define SEC_TO_MSEC             1000    /**< Scaling factor to convert seconds to milliseconds */
00037 #define SEC_TO_USEC             1000000 /**< Scaling factor to convert seconds to microseconds */
00038 #define MSEC_TO_USEC            1000    /**< Scaling factor to convert milliseconds to microseconds */
00039 
00040 /**
00041  * @brief get values of next PostScript instruction.
00042  *
00043  * @param       buf     Buffer with PS instructions.
00044  * @param       x       Pointer to storage for x coordinate.
00045  * @param       y       Pointer to storage for y coordinate.
00046  * @param       draw    Pointer to storage for draw/move boolean.
00047  * 
00048  * @return              Success or failure code.
00049  */
00050 int retrieve_inst(char *buf, int *x, int *y, int *draw);
00051 
00052 /**
00053  * @brief Driver forward for a time.
00054  *
00055  * @param[in]   amt     Amount to drive forward. In milliseconds.
00056  */
00057 void forward(int amt);
00058 
00059 /**
00060  * @brief Drive backward for a time.
00061  *
00062  * @param[in]   amt     Amount to drive backward. In milliseconds.
00063  */
00064 void backward(int amt);
00065 
00066 /**
00067  * @brief Turn right by some angle.
00068  *
00069  * @param[in]   deg     Desired final turn angle in degrees from start.
00070  *                      Note that a negative angle will turn in the opposite
00071  *                      direction.
00072  */
00073 void right(float deg);
00074 
00075 /**
00076  * @brief Turn left by some angle.
00077  *
00078  * @param[in]   deg     Desired final turn angle in degrees from start.
00079  *                      Note that a negative angle will turn in the opposite
00080  *                      direction.
00081  */
00082 void left (float deg);
00083 
00084 /**
00085  * @brief   Wait for a number of seconds, possibly fractional.
00086  * 
00087  * Timer resolution is on the order of microseconds. A negative wait
00088  * time does nothing. 
00089  *
00090  * @param[in]   amt     Time to wait, in seconds.
00091  */
00092 void timerWait(float amt);
00093 
00094 /**
00095  * @brief       Follows the non-reflective line to a corner
00096  *
00097  * @param[in]   left    boolean specifying if the corner to look for
00098  *                      is a left corner
00099  *
00100  * @return      returns an error code
00101  */
00102 int find_corner(int left);
00103 
00104 /**
00105  * @brief   Turns towards the base line and moves to reach it
00106  */
00107 void find_line();
00108 
00109 /**
00110  * @brief   Computes the Euclidean distance between two points
00111  *
00112  * @param[in]   x1      the x-coordinate of the first point
00113  * @param[in]   y1      the y-coordinate of the first point
00114  * @param[in]   x2      the x-coordinate of the second point
00115  * @param[in]   y2      the y-coordinate of the second point
00116  *
00117  * @return      the distance between points (x1,y1) and (x2,y2)
00118  */
00119 float distance(int x1, int y1, int x2, int y2);
00120 
00121 /**
00122  * @brief   prints to the m3pi's screen
00123  *
00124  * @param[in]   line    the line on the screen to print to, in {0,1}
00125  * @param[in]   format  the format string to print
00126  * @param[in]   ...     the arguments to pass into the format string
00127  */
00128 void robot_printf(int line, const char *format, ...);
00129 
00130 /**
00131  * @brief   computes the angle to turn to face towards (x,y)
00132  *
00133  * @param[in]   last_x  the current x-coordinate
00134  * @param[in]   last_y  the current y-coordinate
00135  * @param[in]   x       the desired x-coordinate
00136  * @param[in]   y       the desired y-coordinate
00137  * @param[in]   angle   the current angle the m3pi is facing
00138  *
00139  * @return      the angle to turn left
00140  */
00141 float compute_turn_angle(int last_x, int last_y, int x, int y, float angle);
00142 
00143 /**
00144  * @brief       sends the signal on the output pin for the led
00145  *              to turn it on
00146  */
00147 void pen_up();
00148 
00149 /**
00150  * @brief       turns off the signal to the led
00151  */
00152 void pen_down();
00153 
00154 #endif