Robotics Term Project
/
Robottics_Motion
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Dependencies: mbed
Revision 14:c46f22bcaa38, committed 2016-05-25
- Comitter:
- smilestone520
- Date:
- Wed May 25 11:00:16 2016 +0000
- Parent:
- 12:c1a667ca6c53
- Child:
- 15:3e0a4079b28a
- Commit message:
- hahaha;
Changed in this revision
| AI_Friday.cpp | Show annotated file Show diff for this revision Revisions of this file |
| ai.cpp | Show diff for this revision Revisions of this file |
--- a/AI_Friday.cpp Wed May 25 10:39:33 2016 +0000
+++ b/AI_Friday.cpp Wed May 25 11:00:16 2016 +0000
@@ -45,13 +45,13 @@
float v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;
//**** receive and return by bluetooth ************** // bluetooth.getc()
-float xC, yC // car's position
+float xC, yC; // car's position
-float angleC // car's angle
+float angleC;// car's angle
-float xP,yP //position that car need to reach
+float xP,yP; //position that car need to reach
-float angleR // angleR = car-nextSpot direction ---> car direction
+float angleR; // angleR = car-nextSpot direction ---> car direction
int aI_State = 0;
@@ -119,15 +119,15 @@
//***** get position information from the bluetooth
- xC = ;
- yC = ; // car's position
+ xC = 0;
+ yC = 0; // car's position
- angleC = ; // car's angle
+ angleC = 0; // car's angle
- xP = ;
- yP = ;//position that car need to reach
+ xP = 0;
+ yP = 0;//position that car need to reach
- angleR = ; // angleR = car-nextSpot direction ---> car direction
+ angleR = 0; // angleR = car-nextSpot direction ---> car direction
//**** AI_State ********************
@@ -137,7 +137,7 @@
// IDLE check if stop color appear
//check purple color appear or not
- setSpecs();
+ //****setSpecs();
break;
case 1: // get first information
// set everything icludes the car's and ball's position
@@ -145,12 +145,12 @@
break;
case 2: /// border condition
// check if car fit border conditions
- funcBorder();
- to case3
+ //****funcBorder();
+ //****to case3
break;
case 3://move to get ball
- getBall();
+ //****getBall();
break;
case 4: /// move to the gate and release ball
// move to the point in front of the gate first
--- a/ai.cpp Wed May 25 10:39:33 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,292 +0,0 @@
-
-
-**** receive and return by bluetooth ************** // bluetooth.getc()
-float xC, yC // car's position
-
-float angleC // car's angle
-
-float xP,yP //position that car need to reach
-
-float angleR // angleR = car-nextSpot direction ---> car direction
-
-**** specs of everything ***************
-
-float longC // car's length
-
-float ballSize // ball size
-
-float longB // long of the court
-
-float wideB // wide of the court
-
-int mobile_state;
-
-***** Code Begin **********
-
-int yB1 yB2 xB3 xB4; // broder conditions
-
-yB1 = longC;
-
-yB2 = wideB - longC ;
-
-xB3 = longC ;
-
-xB4 = longB-longC;
-*******************************************************************************
-
-遠離邊界
-
-car: away from the border --> turn to the ball direction --> to get the ball --> get ball
- ---> turn to the point before the gate ---> to the point before the gate --> turn to the gate direction
- ---> to the gate --> release the ball
-
-
-
-matlab:
-
-
-
-
-****************** main structure ***********************************
-
-
-switch(mobile_state)
-{
- case 0: // IDLE
- // IDLE check if stop color appear
- //check purple color appear or not
-
- setSpecs();
- break;
- case 1: // get first information
- // set everything icludes the car's and ball's position
- // go to case 2 after get all the information
- break;
- case 2: /// border condition
- // check if car fit border conditions
- funcBorder();
- to case3
- break;
- case 3://move to get ball
-
- getBall();
- break;
- case 4: /// move to the gate and release ball
- // move to the point in front of the gate first
- // then head to the gate
- break;
- case 5:
- break;
-
-}
-
-
-
-
-
-
-**************** funcBorder() *****************************************
-
-funcBorder() // check if car is too close to the border
-
- // miss the ball restriction part
-
- if(yC > yB1 || yC < yB2 || xC < xB3 || xC > xB4){
-
- if(yC > yB1) // 靠近上邊界
- {
- if(xC < xB3) //左上角
- {
- if(angleC <0 && angleC >=-90) // I
-
- //clockwise, to angleC = 45
-
- else if(angleC > -180 && angleC <-90) // II
-
- //back 0.5*longC, judge again
-
- else if(angleC <=180 && angleC >=90) // III
-
- //counter clockwise, to angleC = 45
-
- else if(angleC < 90 && angleC >=0) // IV
-
- //forward 0.5*longC, judge again
-
- }
- else if(xC > xB4) //右上角
- {
- if(angleC <0 && angleC >=-90) // I
-
- //back 0.5*longC, judge again
-
- else if(angleC > -180 && angleC <-90) // II
-
- //counter clockwise, to angleC = 135
-
- else if(angleC <=180 && angleC >=90) // III
-
- //forward 0.5*longC, judge again
-
- else if(angleC < 90 && angleC >=0) // IV
-
- //clockwise, to angleC = 135
-
- }
- else //上邊界
- {
- if(angleC = -90 || angleC = 90)
- {} // do nothing, turn to next point
- else
- {smallAngle(90);} // turn to 90, then turn to next point
- }
-
- }
- else if(yC < yB2) // 靠近下邊界
- {
- if(xC < xB3) //左下角
- {
- if(angleC <0 && angleC >=-90) // I
-
- //forward 0.5*longC, judge again
-
- else if(angleC > -180 && angleC <-90) // II
-
- //clockwise, to angleC = -45
-
- else if(angleC <=180 && angleC >=90) // III
-
- //back 0.5*longC, judge again
-
- else if(angleC < 90 && angleC >=0) // IV
-
- //counter clockwise, to angleC = -45
-
- }
- else if(xC > xB4) //右下角
- {
- if(angleC <0 && angleC >=-90) // I
-
- //counter clockwise, to angleC = -135
-
- else if(angleC > -180 && angleC <-90) // II
-
- //forward 0.5*longC, judge again
-
- else if(angleC <=180 && angleC >=90) // III
-
- //clockwise, to angleC = -135
-
- else if(angleC < 90 && angleC >=0) // IV
-
- //back 0.5*longC, judge again
-
- }
- else //下邊界
- {
- if(angleC = -90 || angleC = 90)
- {} // do nothing, turn to next point
- else
- {smallAngle(-90);} // turn to 90, then turn to next point
- }
-
- else if(xC < xB3) //靠近左邊界
- {
- if(angleC = 0 || angleC = 180)
- {} // do nothing, turn to next point
- else
- {smallAngle(0);} // turn to 90, then turn to next point
- }
-
- else if(xC > xB4) //靠近右邊界
- {
- if(angleC = 0 || angleC = 180)
- {} // do nothing, turn to next point
- else
- {smallAngle(180);} // turn to 90, then turn to next point
- }
- }
-
-**************** smallAngle() *****************************************
-
-smallAngle( float goodAngle ) // use the smallest turn to right angle ccw / cw, based on 0~360 degree system
-{
- if(angleR > 0) // CW
- {
- // turn clockwise to goodAngle;
- }
- else if(angleR < 0) //CCW
- {
- // turn counter clockwise to goodAngle;
- }
-}
-
-*************** turnCW() ***********************************
-
-turnCW(float goodAngle)
-{
- // turn clockwise to goodAngle;
-}
-
-*************** turnCCW() ***********************************
-
-turnCCW(float goodAngle)
-{
- // turn counter clockwise to goodAngle;
-}
-
-
-********** getBall() ********************88
-
-getBall()
-{
- // keep update car's and ball's position data from bluetooth
-
- // if angleR is too much, stop , aim the direction, then move again
-
- // when ball in the hunt region, activate the claw to get the ball
-
- // check if ball is inside the region ,
-
- // Yes --> next state case 4
-
- // No --> take back the claw
-
- // back to case 1
-
-
-}
-
-******* moveToGate() ***************************
-
-moveToGate()
-{
-
-
-
-}
-
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