File content as of revision 15:4efc66de795a:

/*
 * BROBOT.cpp
 *
 */

#include <cmath>
#include "Brobot.h"

Brobot::Brobot(SpeedControl& speedctrl_, AnalogIn& distance_, DigitalOut& enable_, DigitalOut& bit0_, DigitalOut& bit1_, DigitalOut& bit2_, DigitalOut* led_ptr, Pixy& pixy_, UniServ& servo_) :
    speedctrl(speedctrl_), distance(distance_), enable(enable_), bit0(bit0_), bit1(bit1_), bit2(bit2_), leds(led_ptr), pixy(pixy_), servo(servo_) // assigning parameters to class variables
{
    //initialize distance sensors
    for( int ii = 0; ii<6; ++ii)
        sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii);

    //defining the sensors for
    sensor_front.init( &distance, &bit0, &bit1, &bit2, 0);  // & give the address of the object
    sensor_left.init( &distance, &bit0, &bit1, &bit2, 5);
    sensor_right.init( &distance, &bit0, &bit1, &bit2, 1);

    //                      kp        ki       kd      min     max
    //pid.setPIDValues(      0.025f,    0.00005f,  0.001f,   0.5f, -0.5f, 1000);
    pid.setPIDValues(      0.4f,    0.001f,  0.001f,   0.5f, -0.5f, 1000);
    pixypid.setPIDValues(  0.0002f, 0.000f, 0.000f, 0.3f, -0.3f, 1000);

}

void Brobot::avoidObstacleAndMove(int vtrans)
{
    float vrot = 0;   // rpm
    static float e = 0.0f ;

    if(sensor_left.read() <0.3f || sensor_right.read() <0.3f) { // to avoid obstacles

        e = sensor_left.read() - sensor_right.read();
        float diff = pid.calc( e, 0.05f );  // error and period are arguments

        vrot = diff*50; //turn

        if( vrot<= -20)
            vrot=-20;
        else if (vrot > 20)
            vrot=20;
    }

    speedctrl.setDesiredSpeed( vtrans - vrot, -vtrans - vrot );
    int delay = vtrans/100 ;

    if(sensor_front.read() <=0.25f) { // when approaching normal to wall
        speedctrl.setDesiredSpeed( 0, 0 );

        int direction=rand()%2 ;    // so there is variablility in the robots path
        if(direction==0) {
            //stingray.rotate(10);
            speedctrl.setDesiredSpeed(15, 15 );
            wait(delay);
        } else if (direction==1) {
            //stingray.rotate(-10);
            speedctrl.setDesiredSpeed( -15, -15 );
            wait(delay);
        }
    }
}

void Brobot::startLeds()
{
    t1.attach( callback(this, &Brobot::ledShow), 0.05f );
}

void Brobot::ledDistance()
{
    for( int ii = 0; ii<6; ++ii)
        sensors[ii]< 0.1f ? leds[ii].write(1) : leds[ii].write(0);   // an if statement in one line
}

void Brobot::ledShow()
{
    static int timer = 0;   // static is only the first time/loop
    // for( int ii = 0; ii<6; ++ii)
    //   leds[ii] = !leds[ii];

    //quit ticker and start led distance show
    if( ++timer > 10) {
        t1.detach();
        t1.attach( callback(this, &Brobot::ledDistance), 0.01f );
    }
}

bool Brobot::foundGreenBrick()
{

    if( pixy.objectDetected() ) {
        if( pixy.getSignature() == 1) {  // 1 is the green brick
            return true;
        }
    }
    return false;
}

bool Brobot::foundHome()
{
    if( pixy.objectDetected() ) {
        if( pixy.getSignature() == 2) {  // 2 is the home
            return true;
        }
    }
    return false;
}

void Brobot::approachBrick()
{
    // Crystal's code
    float e = 160-pixy.getX();
    float diff = pixypid.calc( e, 0.005f );
    speedctrl.setDesiredSpeed( -(diff*50.0f), -(diff*50.0f)) ;
    // function assumes Brick is in open grips
}

bool Brobot::approachHome()
{
    float x_e, diff ;
    int triggered_sensors = 0, rotate_count = 0;
    bool home_reached = false;
    //the time to rotate after the brick is released and the distance away from
    // the way that the robot should stop at
    float sensor_trigger_dist=0.3;

    while(!home_reached) {
        // find the error in the x alignment and calculate the restoring voltage
        x_e = pixy.getX()-160;
        diff = 50*pid.calc(x_e,0.05);

        // if home is detected drive the robot forward while continuously realigning the robot
        if (pixy.objectDetected() && (pixy.getSignature() == 2)) {
            speedctrl.setDesiredSpeed(15-diff,-15-diff);
            rotate_count = 0;
        }
        // check the distance sensors. Home is reached when 2 sensors read < 0.3m
        triggered_sensors = (sensor_left<sensor_trigger_dist)+(sensor_right<sensor_trigger_dist)+(sensor_front<sensor_trigger_dist);
        if (triggered_sensors >= 2)
            home_reached = true;

        // if home is not detected spin CW and check again
        if (!pixy.objectDetected() || (pixy.objectDetected() && pixy.getSignature() == 1)) {
            Brobot::rotate(5);
            rotate_count++;
            if (rotate_count > 10)
                break; //break the loop if the robot rotates enough times in a row without detecting home
        }
    }
    return home_reached;
}

void Brobot::closeGrip()
{
    int close=600;
    servo.write_us(close);
}

void Brobot::openGrip()
{
    int open=2100;
    servo.write_us(open);
}


void Brobot::rotate(int phi)
{
    if(phi>25|| phi<-25) {
        phi=10;
    }
    speedctrl.setDesiredSpeed(phi, phi);
}

void Brobot::forward()
{
    speedctrl.setDesiredSpeed(20, -20);  // rpms
}

void Brobot::back()
{
    speedctrl.setDesiredSpeed(-15, 15);  //rpms
}

void Brobot::stop()
{
    speedctrl.setDesiredSpeed(0.0f, 0.0f);
}