Texas State IEEE / Mbed 2 deprecated R5 2016 Robotics Team 1

Code to drive Team 1's robot for the 2016 R5 robotics competition.

Dependencies:   mbed navigation R5_StepperDrive LongRangeSensor DistanceSensor scanner Gripper ColorSensor

r5driver.cpp@35:4e09da30bda2, 2016-03-26 (annotated)

Committer:
j_j205
Date:
Sat Mar 26 22:59:55 2016 +0000
Revision:
35:4e09da30bda2
Parent:
32:82bfece56f8f
Child:
36:5b0bf9153c3d
made changes to driver and scanner JJ

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j_j205 8:90af8914ce03 1 #include "navigation.h"
j_j205 29:e77e8891d985 2 #include "Gripper.h"
j_j205 15:d8940756d5d5 3 #include "scanner.h"
j_j205 12:e9f878ced6e7 4 #include "StepperDrive.h"
j_j205 32:82bfece56f8f 5 #include "ShortRangeSensor.h"
j_j205 8:90af8914ce03 6 #include "stdint.h"
j_j205 2:3b162e764c9d 7 #include "mbed.h"
j_j205 0:a3c39d3359ac 8
j_j205 0:a3c39d3359ac 9 Serial pc(USBTX, USBRX);
j_j205 28:17c17157e728 10 // Serial pc(PTE16,PTE17); // bluetooth
j_j205 12:e9f878ced6e7 11 InterruptIn start(SW1);
j_j205 12:e9f878ced6e7 12 DigitalOut led_red(LED_RED);
j_j205 12:e9f878ced6e7 13 DigitalOut led_green(LED_GREEN);
j_j205 12:e9f878ced6e7 14 bool active = false;
j_j205 12:e9f878ced6e7 15
j_j205 12:e9f878ced6e7 16 void activate();
j_j205 0:a3c39d3359ac 17
j_j205 0:a3c39d3359ac 18 int main()
j_j205 0:a3c39d3359ac 19 {
j_j205 0:a3c39d3359ac 20 pc.baud(115200);
j_j205 28:17c17157e728 21 // pc.baud(9600); /* interface via Bluetooth at 9600 */
j_j205 12:e9f878ced6e7 22 start.mode(PullUp); /* Start/Stop button is active low needing PullUp */
j_j205 12:e9f878ced6e7 23 start.fall(&activate);
j_j205 20:53ab414d7b33 24
j_j205 12:e9f878ced6e7 25 led_red = 0;
j_j205 12:e9f878ced6e7 26 led_green = 1;
j_j205 20:53ab414d7b33 27
j_j205 25:670a59096bf8 28 pc.printf("\nWaiting for START BUTTON\n");
j_j205 25:670a59096bf8 29 while(!active) // wait for start_button
j_j205 25:670a59096bf8 30 {
j_j205 25:670a59096bf8 31 wait(1e-6);
j_j205 25:670a59096bf8 32 }
j_j205 25:670a59096bf8 33
j_j205 32:82bfece56f8f 34 StepperDrive drive(pc, PTE19, PTE18, 0, PTE3, PTE2, 1, 10.0625, 8.4800, 500); // 8.375
j_j205 25:670a59096bf8 35 //(serial &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
j_j205 25:670a59096bf8 36
j_j205 32:82bfece56f8f 37 ShortRangeSensor shortRangeL(PTE0, PTE1); // verify i2c pins
j_j205 32:82bfece56f8f 38 ShortRangeSensor shortRangeR(PTC9, PTC8); // verify i2c pins
j_j205 26:d99d078921a0 39 LongRangeSensor longRangeL(pc, PTB2);
j_j205 26:d99d078921a0 40 LongRangeSensor longRangeR(pc, PTB3);
j_j205 25:670a59096bf8 41
Hellkite85 30:c07381708ffd 42 Scanner scanner(pc, drive, PTB0, PTB1, shortRangeL, shortRangeR, longRangeL, longRangeR, 0.075);
j_j205 25:670a59096bf8 43 // (Serial &, PinName servoL, PinName servoR, shortRangeL, shortRangeR, longRangeL, longRangeR, period)
j_j205 25:670a59096bf8 44
j_j205 35:4e09da30bda2 45 Navigation r5nav(scanner, 25);
j_j205 8:90af8914ce03 46 wait(0.1);
j_j205 32:82bfece56f8f 47 /*
j_j205 25:670a59096bf8 48 r5nav.addGraphNode(0, 1, 10.0625, 0);
j_j205 25:670a59096bf8 49 r5nav.addGraphNode(1, 0, 10.0625, 180);
j_j205 25:670a59096bf8 50 r5nav.addGraphNode(1, 2, 10.0625, 270);
j_j205 25:670a59096bf8 51 r5nav.addGraphNode(2, 1, 10.0625, 90);
j_j205 25:670a59096bf8 52 r5nav.addGraphNode(2, 3, 10.0625, 180);
j_j205 25:670a59096bf8 53 r5nav.addGraphNode(3, 2, 10.0625, 0);
j_j205 25:670a59096bf8 54 r5nav.addGraphNode(3, 0, 10.0625, 90);
j_j205 25:670a59096bf8 55 r5nav.addGraphNode(0, 3, 10.0625, 270);
j_j205 29:e77e8891d985 56 */
j_j205 32:82bfece56f8f 57
j_j205 20:53ab414d7b33 58 // loading r5 map
j_j205 32:82bfece56f8f 59 r5nav.addGraphNode(0, 1, 13, 0);
j_j205 32:82bfece56f8f 60 r5nav.addGraphNode(1, 0, 13, 180);
j_j205 35:4e09da30bda2 61 r5nav.addGraphNode(1, 2, 68, 356.5); // original angle = 0
j_j205 32:82bfece56f8f 62 r5nav.addGraphNode(1, 3, 15, 90);
j_j205 35:4e09da30bda2 63 r5nav.addGraphNode(2, 1, 68, 180);
j_j205 32:82bfece56f8f 64 r5nav.addGraphNode(3, 1, 15, 270);
j_j205 35:4e09da30bda2 65 r5nav.addGraphNode(3, 4, 8, 180);
j_j205 35:4e09da30bda2 66 // r5nav.addGraphNode(3, 5, 23, 356.5); // (-5 degrees) original angle = 0
j_j205 35:4e09da30bda2 67 r5nav.addGraphNode(3, 15, 6, 0);
j_j205 35:4e09da30bda2 68 r5nav.addGraphNode(4, 3, 8, 0);
j_j205 35:4e09da30bda2 69 // r5nav.addGraphNode(5, 3, 23, 180);
j_j205 8:90af8914ce03 70 r5nav.addGraphNode(5, 6, 37, 0);
j_j205 32:82bfece56f8f 71 r5nav.addGraphNode(5, 8, 12.5, 90);
j_j205 35:4e09da30bda2 72 r5nav.addGraphNode(5, 15, 17, 180);
j_j205 32:82bfece56f8f 73 r5nav.addGraphNode(6, 5, 37, 176.5); // original angle = 180
j_j205 35:4e09da30bda2 74 r5nav.addGraphNode(6, 7, 6, 0);
j_j205 32:82bfece56f8f 75 r5nav.addGraphNode(6, 10, 12.5, 90);
j_j205 35:4e09da30bda2 76 r5nav.addGraphNode(7, 6, 6, 180);
j_j205 32:82bfece56f8f 77 r5nav.addGraphNode(8, 5, 12.75, 270); // original distance = 12.5
j_j205 35:4e09da30bda2 78 // r5nav.addGraphNode(8, 9, 35, 174.5); // original angle = 180
j_j205 35:4e09da30bda2 79 // r5nav.addGraphNode(8, 10, 37, 0);
j_j205 28:17c17157e728 80 r5nav.addGraphNode(8, 11, 12, 90);
j_j205 35:4e09da30bda2 81 r5nav.addGraphNode(8, 16, 6, 180);
j_j205 35:4e09da30bda2 82 r5nav.addGraphNode(8, 17, 6, 0);
j_j205 35:4e09da30bda2 83 // r5nav.addGraphNode(9, 8, 35, 0);
j_j205 35:4e09da30bda2 84 r5nav.addGraphNode(9, 16, 23, 0);
j_j205 32:82bfece56f8f 85 r5nav.addGraphNode(10, 6, 12.5, 270);
j_j205 35:4e09da30bda2 86 r5nav.addGraphNode(10, 13, 12, 90);
j_j205 35:4e09da30bda2 87 r5nav.addGraphNode(10, 18, 6, 180);
j_j205 28:17c17157e728 88 r5nav.addGraphNode(11, 8, 12, 270);
j_j205 28:17c17157e728 89 r5nav.addGraphNode(11, 12, 35, 180);
j_j205 35:4e09da30bda2 90 r5nav.addGraphNode(11, 19, 6, 180);
j_j205 28:17c17157e728 91 r5nav.addGraphNode(12, 11, 35, 0);
j_j205 35:4e09da30bda2 92 r5nav.addGraphNode(12, 19, 23, 0);
j_j205 35:4e09da30bda2 93 r5nav.addGraphNode(13, 10, 12, 270);
j_j205 28:17c17157e728 94 r5nav.addGraphNode(13, 14, 12, 0);
j_j205 28:17c17157e728 95 r5nav.addGraphNode(14, 13, 12, 180);
j_j205 35:4e09da30bda2 96 r5nav.addGraphNode(14, 20, 21, 90);
j_j205 35:4e09da30bda2 97 r5nav.addGraphNode(15, 3, 6, 180);
j_j205 35:4e09da30bda2 98 r5nav.addGraphNode(15, 5, 17, 0);
j_j205 35:4e09da30bda2 99 r5nav.addGraphNode(16, 8, 6, 0);
j_j205 35:4e09da30bda2 100 r5nav.addGraphNode(16, 9, 23, 180);
j_j205 35:4e09da30bda2 101 r5nav.addGraphNode(17, 8, 6, 180);
j_j205 35:4e09da30bda2 102 r5nav.addGraphNode(17, 18, 25, 0);
j_j205 35:4e09da30bda2 103 r5nav.addGraphNode(18, 10, 6, 0);
j_j205 35:4e09da30bda2 104 r5nav.addGraphNode(18, 17, 25, 180);
j_j205 35:4e09da30bda2 105 r5nav.addGraphNode(19, 11, 6, 0);
j_j205 35:4e09da30bda2 106 r5nav.addGraphNode(19, 12, 23, 180);
j_j205 35:4e09da30bda2 107 r5nav.addGraphNode(20, 14, 21, 270);
j_j205 35:4e09da30bda2 108 r5nav.addGraphNode(20, 21, 24, 90);
j_j205 35:4e09da30bda2 109 r5nav.addGraphNode(21, 20, 24, 270);
j_j205 35:4e09da30bda2 110 r5nav.addGraphNode(21, 22, 4, 180);
j_j205 35:4e09da30bda2 111 r5nav.addGraphNode(22, 21, 4, 0);
j_j205 35:4e09da30bda2 112 r5nav.addGraphNode(22, 23, 80, 180);
j_j205 35:4e09da30bda2 113 r5nav.addGraphNode(23, 22, 80, 0);
j_j205 35:4e09da30bda2 114 r5nav.addGraphNode(23, 24, 2, 270);
j_j205 35:4e09da30bda2 115 r5nav.addGraphNode(24, 23, 2, 90);
j_j205 32:82bfece56f8f 116
j_j205 35:4e09da30bda2 117 const uint16_t V1 = 7;
j_j205 35:4e09da30bda2 118 const uint16_t V2 = 9;
j_j205 35:4e09da30bda2 119 const uint16_t V3 = 12;
j_j205 35:4e09da30bda2 120 const uint16_t V4 = 20;
j_j205 35:4e09da30bda2 121 const uint16_t V5 = 22;
j_j205 35:4e09da30bda2 122 const uint16_t V6 = 24;
j_j205 8:90af8914ce03 123 const uint16_t YELLOW_DROP_ZONE = 4;
j_j205 8:90af8914ce03 124 const uint16_t RED_DROP_ZONE = 2;
j_j205 32:82bfece56f8f 125
j_j205 29:e77e8891d985 126 /*
j_j205 15:d8940756d5d5 127 r5nav.getShortestPath(1);
j_j205 15:d8940756d5d5 128 pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) );
j_j205 15:d8940756d5d5 129 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 130 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 131 wait(0.1);
j_j205 20:53ab414d7b33 132
j_j205 15:d8940756d5d5 133 r5nav.getShortestPath(2);
j_j205 15:d8940756d5d5 134 pc.printf("\n\nDistance from 1 to 2: %i\n", r5nav.getMinDist(2) );
j_j205 15:d8940756d5d5 135 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 136 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 137 wait(0.1);
j_j205 20:53ab414d7b33 138
j_j205 15:d8940756d5d5 139 r5nav.getShortestPath(3);
j_j205 15:d8940756d5d5 140 pc.printf("\n\nDistance from 2 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 8:90af8914ce03 141 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 142 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 143 wait(0.1);
j_j205 20:53ab414d7b33 144
j_j205 15:d8940756d5d5 145 r5nav.getShortestPath(0);
j_j205 15:d8940756d5d5 146 pc.printf("\n\nDistance from 3 to 0: %i\n", r5nav.getMinDist(0) );
j_j205 15:d8940756d5d5 147 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 148 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 149 wait(0.1);
j_j205 29:e77e8891d985 150 */
j_j205 32:82bfece56f8f 151
j_j205 35:4e09da30bda2 152 /* Begin 1st peg retrieval */
j_j205 35:4e09da30bda2 153
j_j205 35:4e09da30bda2 154 r5nav.getShortestPath(1);
j_j205 35:4e09da30bda2 155 pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) );
j_j205 15:d8940756d5d5 156 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 157 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 158 scanner.setLocalizeLeftFlag(0);
j_j205 12:e9f878ced6e7 159 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 160 wait(0.1);
j_j205 1:1958e6db41fc 161
j_j205 35:4e09da30bda2 162 r5nav.getShortestPath(3);
j_j205 35:4e09da30bda2 163 pc.printf("\n\nDistance from 1 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 35:4e09da30bda2 164 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 165 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 166 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 167 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 168 wait(0.1);
j_j205 35:4e09da30bda2 169
j_j205 35:4e09da30bda2 170 r5nav.getShortestPath(15);
j_j205 35:4e09da30bda2 171 pc.printf("\n\nDistance from 3 to 15: %i\n", r5nav.getMinDist(15) );
j_j205 35:4e09da30bda2 172 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 173 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 174 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 175 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 176 wait(0.1);
j_j205 35:4e09da30bda2 177
j_j205 35:4e09da30bda2 178 r5nav.getShortestPath(V1);
j_j205 35:4e09da30bda2 179 pc.printf("\n\nDistance from 15 to V1: %i\n", r5nav.getMinDist(V1) );
j_j205 35:4e09da30bda2 180 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 181 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 182 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 183 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 184 wait(0.1);
j_j205 35:4e09da30bda2 185
j_j205 35:4e09da30bda2 186 /* add hunt method call */
j_j205 35:4e09da30bda2 187
j_j205 35:4e09da30bda2 188 r5nav.getShortestPath(15);
j_j205 35:4e09da30bda2 189 pc.printf("\n\nDistance from V1 to 15: %i\n", r5nav.getMinDist(15) );
j_j205 35:4e09da30bda2 190 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 191 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 192 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 193 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 194 wait(0.1);
j_j205 35:4e09da30bda2 195
j_j205 35:4e09da30bda2 196 r5nav.getShortestPath(3);
j_j205 35:4e09da30bda2 197 pc.printf("\n\nDistance from 15 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 8:90af8914ce03 198 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 199 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 200 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 201 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 202 wait(0.1);
j_j205 35:4e09da30bda2 203
j_j205 35:4e09da30bda2 204 if (scanner.getYellowFlag() == 1)
j_j205 35:4e09da30bda2 205 {
j_j205 35:4e09da30bda2 206 r5nav.getShortestPath(YELLOW_DROP_ZONE);
j_j205 35:4e09da30bda2 207 pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
j_j205 35:4e09da30bda2 208 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 209 //r5nav.printRoute(pc);
j_j205 35:4e09da30bda2 210 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 211 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 212 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 213 wait(0.1);
j_j205 35:4e09da30bda2 214 }
j_j205 35:4e09da30bda2 215
j_j205 35:4e09da30bda2 216 else
j_j205 35:4e09da30bda2 217 {
j_j205 35:4e09da30bda2 218 r5nav.getShortestPath(1);
j_j205 35:4e09da30bda2 219 pc.printf("\n\nDistance from 3 to 1: %i\n", r5nav.getMinDist(1) );
j_j205 35:4e09da30bda2 220 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 221 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 222 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 223 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 224 wait(0.1);
j_j205 35:4e09da30bda2 225
j_j205 35:4e09da30bda2 226 r5nav.getShortestPath(RED_DROP_ZONE);
j_j205 35:4e09da30bda2 227 pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
j_j205 35:4e09da30bda2 228 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 229 //r5nav.printRoute(pc);
j_j205 35:4e09da30bda2 230 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 231 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 232 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 233 wait(0.1);
j_j205 35:4e09da30bda2 234 }
j_j205 35:4e09da30bda2 235
j_j205 35:4e09da30bda2 236 /* 1st peg retrieval complete
j_j205 35:4e09da30bda2 237 Begin 2nd peg retrieval */
j_j205 35:4e09da30bda2 238
j_j205 35:4e09da30bda2 239 if (r5nav.getVertex() == YELLOW_DROP_ZONE)
j_j205 35:4e09da30bda2 240 {
j_j205 35:4e09da30bda2 241 r5nav.getShortestPath(3);
j_j205 35:4e09da30bda2 242 pc.printf("\n\nDistance from YELLOW_DROP_ZONE to 3: %i\n", r5nav.getMinDist(3) );
j_j205 35:4e09da30bda2 243 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 244 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 245 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 246 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 247 wait(0.1);
j_j205 35:4e09da30bda2 248 }
j_j205 35:4e09da30bda2 249
j_j205 35:4e09da30bda2 250 else
j_j205 35:4e09da30bda2 251 {
j_j205 35:4e09da30bda2 252 r5nav.getShortestPath(1);
j_j205 35:4e09da30bda2 253 pc.printf("\n\nDistance from RED_DROP_ZONE to 1: %i\n", r5nav.getMinDist(1) );
j_j205 35:4e09da30bda2 254 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 255 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 256 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 257 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 258 wait(0.1);
j_j205 35:4e09da30bda2 259
j_j205 35:4e09da30bda2 260 r5nav.getShortestPath(3);
j_j205 35:4e09da30bda2 261 pc.printf("\n\nDistance from 1 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 35:4e09da30bda2 262 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 263 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 264 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 265 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 266 wait(0.1);
j_j205 35:4e09da30bda2 267 }
j_j205 35:4e09da30bda2 268
j_j205 35:4e09da30bda2 269 r5nav.getShortestPath(15);
j_j205 35:4e09da30bda2 270 pc.printf("\n\nDistance from 3 to 15: %i\n", r5nav.getMinDist(15) );
j_j205 35:4e09da30bda2 271 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 272 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 273 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 274 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 275 wait(0.1);
j_j205 35:4e09da30bda2 276
j_j205 35:4e09da30bda2 277 r5nav.getShortestPath(5);
j_j205 35:4e09da30bda2 278 pc.printf("\n\nDistance from 15 to 5: %i\n", r5nav.getMinDist(5) );
j_j205 35:4e09da30bda2 279 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 280 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 281 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 282 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 283 wait(0.1);
j_j205 35:4e09da30bda2 284
j_j205 35:4e09da30bda2 285 r5nav.getShortestPath(16);
j_j205 35:4e09da30bda2 286 pc.printf("\n\nDistance from 5 to 16: %i\n", r5nav.getMinDist(16) );
j_j205 35:4e09da30bda2 287 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 288 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 289 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 290 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 291 wait(0.1);
j_j205 35:4e09da30bda2 292
j_j205 35:4e09da30bda2 293 r5nav.getShortestPath(V2);
j_j205 35:4e09da30bda2 294 pc.printf("\n\nDistance from 16 to V2: %i\n", r5nav.getMinDist(V2) );
j_j205 35:4e09da30bda2 295 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 296 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 297 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 298 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 299 wait(0.1);
j_j205 35:4e09da30bda2 300
j_j205 35:4e09da30bda2 301 /* add hunt method call */
j_j205 35:4e09da30bda2 302
j_j205 35:4e09da30bda2 303 r5nav.getShortestPath(16);
j_j205 35:4e09da30bda2 304 pc.printf("\n\nDistance from V2 to 16: %i\n", r5nav.getMinDist(16) );
j_j205 35:4e09da30bda2 305 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 306 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 307 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 308 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 309 wait(0.1);
j_j205 35:4e09da30bda2 310
j_j205 35:4e09da30bda2 311 r5nav.getShortestPath(5);
j_j205 35:4e09da30bda2 312 pc.printf("\n\nDistance from 16 to 5: %i\n", r5nav.getMinDist(5) );
j_j205 35:4e09da30bda2 313 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 314 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 315 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 316 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 317 wait(0.1);
j_j205 35:4e09da30bda2 318
j_j205 35:4e09da30bda2 319 r5nav.getShortestPath(15);
j_j205 35:4e09da30bda2 320 pc.printf("\n\nDistance from 5 to 15: %i\n", r5nav.getMinDist(15) );
j_j205 35:4e09da30bda2 321 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 322 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 323 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 324 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 325 wait(0.1);
j_j205 35:4e09da30bda2 326
j_j205 35:4e09da30bda2 327 r5nav.getShortestPath(3);
j_j205 35:4e09da30bda2 328 pc.printf("\n\nDistance from 15 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 35:4e09da30bda2 329 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 330 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 331 scanner.setLocalizeLeftFlag(1);
j_j205 12:e9f878ced6e7 332 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 333 wait(0.1);
j_j205 35:4e09da30bda2 334
j_j205 35:4e09da30bda2 335 if (scanner.getYellowFlag() == 1)
j_j205 35:4e09da30bda2 336 {
j_j205 35:4e09da30bda2 337 r5nav.getShortestPath(YELLOW_DROP_ZONE);
j_j205 35:4e09da30bda2 338 pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
j_j205 35:4e09da30bda2 339 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 340 //r5nav.printRoute(pc);
j_j205 35:4e09da30bda2 341 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 342 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 343 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 344 wait(0.1);
j_j205 35:4e09da30bda2 345 }
j_j205 35:4e09da30bda2 346
j_j205 35:4e09da30bda2 347 else
j_j205 35:4e09da30bda2 348 {
j_j205 35:4e09da30bda2 349 r5nav.getShortestPath(1);
j_j205 35:4e09da30bda2 350 pc.printf("\n\nDistance from 3 to 1: %i\n", r5nav.getMinDist(1) );
j_j205 35:4e09da30bda2 351 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 352 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 353 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 354 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 355 wait(0.1);
j_j205 35:4e09da30bda2 356
j_j205 35:4e09da30bda2 357 r5nav.getShortestPath(RED_DROP_ZONE);
j_j205 35:4e09da30bda2 358 pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
j_j205 35:4e09da30bda2 359 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 360 //r5nav.printRoute(pc);
j_j205 35:4e09da30bda2 361 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 362 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 363 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 364 wait(0.1);
j_j205 35:4e09da30bda2 365 }
j_j205 35:4e09da30bda2 366
j_j205 35:4e09da30bda2 367 /* 2nd peg retrieval complete
j_j205 35:4e09da30bda2 368 Begin 3nd peg retrieval */
j_j205 35:4e09da30bda2 369
j_j205 35:4e09da30bda2 370
j_j205 35:4e09da30bda2 371 if (r5nav.getVertex() == YELLOW_DROP_ZONE)
j_j205 35:4e09da30bda2 372 {
j_j205 35:4e09da30bda2 373 r5nav.getShortestPath(3);
j_j205 35:4e09da30bda2 374 pc.printf("\n\nDistance from YELLOW_DROP_ZONE to 3: %i\n", r5nav.getMinDist(3) );
j_j205 35:4e09da30bda2 375 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 376 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 377 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 378 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 379 wait(0.1);
j_j205 35:4e09da30bda2 380 }
j_j205 1:1958e6db41fc 381
j_j205 35:4e09da30bda2 382 else
j_j205 35:4e09da30bda2 383 {
j_j205 35:4e09da30bda2 384 r5nav.getShortestPath(1);
j_j205 35:4e09da30bda2 385 pc.printf("\n\nDistance from RED_DROP_ZONE to 1: %i\n", r5nav.getMinDist(1) );
j_j205 35:4e09da30bda2 386 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 387 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 388 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 389 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 390 wait(0.1);
j_j205 35:4e09da30bda2 391
j_j205 35:4e09da30bda2 392 r5nav.getShortestPath(3);
j_j205 35:4e09da30bda2 393 pc.printf("\n\nDistance from 1 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 35:4e09da30bda2 394 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 395 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 396 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 397 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 398 wait(0.1);
j_j205 35:4e09da30bda2 399 }
j_j205 35:4e09da30bda2 400
j_j205 35:4e09da30bda2 401 r5nav.getShortestPath(15);
j_j205 35:4e09da30bda2 402 pc.printf("\n\nDistance from 3 to 15: %i\n", r5nav.getMinDist(15) );
j_j205 8:90af8914ce03 403 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 404 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 405 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 406 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 407 wait(0.1);
j_j205 35:4e09da30bda2 408
j_j205 35:4e09da30bda2 409 r5nav.getShortestPath(5);
j_j205 35:4e09da30bda2 410 pc.printf("\n\nDistance from 15 to 5: %i\n", r5nav.getMinDist(5) );
j_j205 35:4e09da30bda2 411 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 412 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 413 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 414 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 415 wait(0.1);
j_j205 35:4e09da30bda2 416
j_j205 35:4e09da30bda2 417 r5nav.getShortestPath(19);
j_j205 35:4e09da30bda2 418 pc.printf("\n\nDistance from 5 to 19: %i\n", r5nav.getMinDist(19) );
j_j205 35:4e09da30bda2 419 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 420 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 421 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 422 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 423 wait(0.1);
j_j205 35:4e09da30bda2 424
j_j205 35:4e09da30bda2 425 r5nav.getShortestPath(V3);
j_j205 35:4e09da30bda2 426 pc.printf("\n\nDistance from 19 to V3: %i\n", r5nav.getMinDist(V3) );
j_j205 35:4e09da30bda2 427 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 428 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 429 scanner.setLocalizeLeftFlag(1);
j_j205 12:e9f878ced6e7 430 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 431 wait(0.1);
j_j205 35:4e09da30bda2 432
j_j205 35:4e09da30bda2 433 /* add hunt method call */
j_j205 35:4e09da30bda2 434
j_j205 35:4e09da30bda2 435 if (scanner.getObjectFound() == 1)
j_j205 35:4e09da30bda2 436 {
j_j205 35:4e09da30bda2 437 r5nav.getShortestPath(19);
j_j205 35:4e09da30bda2 438 pc.printf("\n\nDistance from V3 to 19: %i\n", r5nav.getMinDist(19) );
j_j205 35:4e09da30bda2 439 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 440 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 441 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 442 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 443 wait(0.1);
j_j205 35:4e09da30bda2 444
j_j205 35:4e09da30bda2 445 // at node 5
j_j205 35:4e09da30bda2 446 r5nav.getShortestPath(5);
j_j205 35:4e09da30bda2 447 pc.printf("\n\nDistance from 19 to 5: %i\n", r5nav.getMinDist(5) );
j_j205 35:4e09da30bda2 448 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 449 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 450 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 451 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 452 wait(0.1);
j_j205 35:4e09da30bda2 453
j_j205 35:4e09da30bda2 454 r5nav.getShortestPath(15);
j_j205 35:4e09da30bda2 455 pc.printf("\n\nDistance from 5 to 15: %i\n", r5nav.getMinDist(15) );
j_j205 35:4e09da30bda2 456 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 457 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 458 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 459 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 460 wait(0.1);
j_j205 35:4e09da30bda2 461
j_j205 35:4e09da30bda2 462 r5nav.getShortestPath(3);
j_j205 35:4e09da30bda2 463 pc.printf("\n\nDistance from 15 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 35:4e09da30bda2 464 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 465 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 466 scanner.setLocalizeLeftFlag(1);
j_j205 35:4e09da30bda2 467 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 468 wait(0.1);
j_j205 35:4e09da30bda2 469
j_j205 35:4e09da30bda2 470 if (scanner.getYellowFlag() == 1)
j_j205 35:4e09da30bda2 471 {
j_j205 35:4e09da30bda2 472 r5nav.getShortestPath(YELLOW_DROP_ZONE);
j_j205 35:4e09da30bda2 473 pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
j_j205 35:4e09da30bda2 474 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 475 //r5nav.printRoute(pc);
j_j205 35:4e09da30bda2 476 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 477 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 478 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 479 wait(0.1);
j_j205 35:4e09da30bda2 480 }
j_j205 35:4e09da30bda2 481
j_j205 35:4e09da30bda2 482 else
j_j205 35:4e09da30bda2 483 {
j_j205 35:4e09da30bda2 484 r5nav.getShortestPath(1);
j_j205 35:4e09da30bda2 485 pc.printf("\n\nDistance from 3 to 1: %i\n", r5nav.getMinDist(1) );
j_j205 35:4e09da30bda2 486 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 487 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 488 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 489 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 490 wait(0.1);
j_j205 35:4e09da30bda2 491
j_j205 35:4e09da30bda2 492 r5nav.getShortestPath(RED_DROP_ZONE);
j_j205 35:4e09da30bda2 493 pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
j_j205 35:4e09da30bda2 494 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 495 //r5nav.printRoute(pc);
j_j205 35:4e09da30bda2 496 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 497 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 498 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 499 wait(0.1);
j_j205 35:4e09da30bda2 500 }
j_j205 35:4e09da30bda2 501 }
j_j205 35:4e09da30bda2 502
j_j205 35:4e09da30bda2 503 else // peg V3 not found
j_j205 35:4e09da30bda2 504 {
j_j205 35:4e09da30bda2 505 /* need to implement rest of moves
j_j205 35:4e09da30bda2 506
j_j205 35:4e09da30bda2 507 r5nav.getShortestPath(19);
j_j205 35:4e09da30bda2 508 pc.printf("\n\nDistance from 12 to 19: %i\n", r5nav.getMinDist(19) );
j_j205 35:4e09da30bda2 509 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 510 scanner.setLocalizeRightFlag(1);
j_j205 35:4e09da30bda2 511 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 512 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 513 wait(0.1);
j_j205 35:4e09da30bda2 514
j_j205 35:4e09da30bda2 515 // at node 5
j_j205 35:4e09da30bda2 516 r5nav.getShortestPath(5);
j_j205 35:4e09da30bda2 517 pc.printf("\n\nDistance from 19 to 5: %i\n", r5nav.getMinDist(5) );
j_j205 35:4e09da30bda2 518 pc.printf("Route:\n");
j_j205 35:4e09da30bda2 519 scanner.setLocalizeRightFlag(0);
j_j205 35:4e09da30bda2 520 scanner.setLocalizeLeftFlag(0);
j_j205 35:4e09da30bda2 521 r5nav.executeRoute(pc, drive);
j_j205 35:4e09da30bda2 522 wait(0.1); */
j_j205 35:4e09da30bda2 523 }
j_j205 35:4e09da30bda2 524
j_j205 35:4e09da30bda2 525 /* 3rd peg retrieval complete
j_j205 35:4e09da30bda2 526 Begin 4th peg retrieval */
j_j205 35:4e09da30bda2 527
j_j205 35:4e09da30bda2 528
j_j205 20:53ab414d7b33 529
j_j205 29:e77e8891d985 530 /*
j_j205 15:d8940756d5d5 531 drive.move(0, ((90.0)*(3.14159 / 180.0))); // return to initial angle
j_j205 15:d8940756d5d5 532 // wait for move to complete
j_j205 15:d8940756d5d5 533 while(!drive.isMoveDone())
j_j205 15:d8940756d5d5 534 {
j_j205 15:d8940756d5d5 535 wait(1e-6);
j_j205 15:d8940756d5d5 536 }
j_j205 29:e77e8891d985 537 */
j_j205 15:d8940756d5d5 538 pc.printf("\n\nExercise Complete");
j_j205 0:a3c39d3359ac 539 return 0;
j_j205 12:e9f878ced6e7 540 }
j_j205 12:e9f878ced6e7 541
j_j205 12:e9f878ced6e7 542 void activate()
j_j205 12:e9f878ced6e7 543 {
j_j205 12:e9f878ced6e7 544 led_red = 1;
j_j205 12:e9f878ced6e7 545 led_green = 0;
j_j205 12:e9f878ced6e7 546 active = true;
j_j205 25:670a59096bf8 547 }