Diff: r5driver.cpp

Revision:

35:4e09da30bda2

Parent:

32:82bfece56f8f

Child:

36:5b0bf9153c3d

--- a/r5driver.cpp	Sat Mar 26 16:51:42 2016 +0000
+++ b/r5driver.cpp	Sat Mar 26 22:59:55 2016 +0000
@@ -42,7 +42,7 @@
     Scanner scanner(pc, drive, PTB0, PTB1, shortRangeL, shortRangeR, longRangeL, longRangeR, 0.075);
         // (Serial &, PinName servoL, PinName servoR, shortRangeL, shortRangeR, longRangeL, longRangeR, period)
 
-    Navigation r5nav(scanner, 15);
+    Navigation r5nav(scanner, 25);
     wait(0.1);
 /*
     r5nav.addGraphNode(0, 1, 10.0625, 0);
@@ -58,34 +58,68 @@
     // loading r5 map
     r5nav.addGraphNode(0, 1, 13, 0);
     r5nav.addGraphNode(1, 0, 13, 180);
-    r5nav.addGraphNode(1, 2, 72, 356.5); // original angle = 0
+    r5nav.addGraphNode(1, 2, 68, 356.5); // original angle = 0
     r5nav.addGraphNode(1, 3, 15, 90);
-    r5nav.addGraphNode(2, 1, 72, 180);
+    r5nav.addGraphNode(2, 1, 68, 180);
     r5nav.addGraphNode(3, 1, 15, 270);
-    r5nav.addGraphNode(3, 4, 12, 180);
-    r5nav.addGraphNode(3, 5, 23, 356.5); // (-5 degrees) original angle = 0
-    r5nav.addGraphNode(4, 3, 12, 0);
-    r5nav.addGraphNode(5, 3, 23, 180);
+    r5nav.addGraphNode(3, 4, 8, 180);
+//    r5nav.addGraphNode(3, 5, 23, 356.5); // (-5 degrees) original angle = 0
+    r5nav.addGraphNode(3, 15, 6, 0);
+    r5nav.addGraphNode(4, 3, 8, 0);
+//    r5nav.addGraphNode(5, 3, 23, 180);
     r5nav.addGraphNode(5, 6, 37, 0);
     r5nav.addGraphNode(5, 8, 12.5, 90);
+    r5nav.addGraphNode(5, 15, 17, 180);
     r5nav.addGraphNode(6, 5, 37, 176.5); // original angle = 180
-    r5nav.addGraphNode(6, 7, 12, 0);
+    r5nav.addGraphNode(6, 7, 6, 0);
     r5nav.addGraphNode(6, 10, 12.5, 90);
-    r5nav.addGraphNode(7, 6, 12, 180);
+    r5nav.addGraphNode(7, 6, 6, 180);
     r5nav.addGraphNode(8, 5, 12.75, 270); // original distance = 12.5
-    r5nav.addGraphNode(8, 9, 35, 174.5); // original angle = 180
-    r5nav.addGraphNode(8, 10, 37, 0);
+//    r5nav.addGraphNode(8, 9, 35, 174.5); // original angle = 180
+//    r5nav.addGraphNode(8, 10, 37, 0);
     r5nav.addGraphNode(8, 11, 12, 90);
-    r5nav.addGraphNode(9, 8, 35, 0);
+    r5nav.addGraphNode(8, 16, 6, 180);
+    r5nav.addGraphNode(8, 17, 6, 0);
+//    r5nav.addGraphNode(9, 8, 35, 0);
+    r5nav.addGraphNode(9, 16, 23, 0);
     r5nav.addGraphNode(10, 6, 12.5, 270);
+    r5nav.addGraphNode(10, 13, 12, 90);
+    r5nav.addGraphNode(10, 18, 6, 180);
     r5nav.addGraphNode(11, 8, 12, 270);
     r5nav.addGraphNode(11, 12, 35, 180);
+    r5nav.addGraphNode(11, 19, 6, 180);
     r5nav.addGraphNode(12, 11, 35, 0);
+    r5nav.addGraphNode(12, 19, 23, 0);
+    r5nav.addGraphNode(13, 10, 12, 270);
     r5nav.addGraphNode(13, 14, 12, 0);
     r5nav.addGraphNode(14, 13, 12, 180);
+    r5nav.addGraphNode(14, 20, 21, 90);
+    r5nav.addGraphNode(15, 3, 6, 180);
+    r5nav.addGraphNode(15, 5, 17, 0);
+    r5nav.addGraphNode(16, 8, 6, 0);
+    r5nav.addGraphNode(16, 9, 23, 180);
+    r5nav.addGraphNode(17, 8, 6, 180);
+    r5nav.addGraphNode(17, 18, 25, 0);
+    r5nav.addGraphNode(18, 10, 6, 0);
+    r5nav.addGraphNode(18, 17, 25, 180);
+    r5nav.addGraphNode(19, 11, 6, 0);
+    r5nav.addGraphNode(19, 12, 23, 180);
+    r5nav.addGraphNode(20, 14, 21, 270);
+    r5nav.addGraphNode(20, 21, 24, 90);
+    r5nav.addGraphNode(21, 20, 24, 270);
+    r5nav.addGraphNode(21, 22, 4, 180);
+    r5nav.addGraphNode(22, 21, 4, 0);
+    r5nav.addGraphNode(22, 23, 80, 180);
+    r5nav.addGraphNode(23, 22, 80, 0);
+    r5nav.addGraphNode(23, 24, 2, 270);
+    r5nav.addGraphNode(24, 23, 2, 90);    
 
-    const uint16_t YELLOW_VICTIM = 7;
-    const uint16_t RED_VICTIM = 9;
+    const uint16_t V1 = 7;
+    const uint16_t V2 = 9;
+    const uint16_t V3 = 12;
+    const uint16_t V4 = 20;
+    const uint16_t V5 = 22;
+    const uint16_t V6 = 24;
     const uint16_t YELLOW_DROP_ZONE = 4;
     const uint16_t RED_DROP_ZONE = 2;
 
@@ -115,37 +149,383 @@
     wait(0.1);
 */
 
-    r5nav.getShortestPath(YELLOW_VICTIM);
-    pc.printf("\n\nDistance from 0 to YELLOW_VICTIM: %i\n", r5nav.getMinDist(YELLOW_VICTIM) );
+    /* Begin 1st peg retrieval */
+    
+    r5nav.getShortestPath(1);
+    pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) );
     pc.printf("Route:\n");
-    //r5nav.printRoute(pc);
-    //r5nav.setVertex(YELLOW_VICTIM)
-    r5nav.executeRoute(pc, drive);
-    wait(0.1);
-
-    r5nav.getShortestPath(YELLOW_DROP_ZONE);
-    pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
-    pc.printf("Route:\n");
-    //r5nav.printRoute(pc);
-    //r5nav.setVertex(YELLOW_DROP_ZONE);
+    scanner.setLocalizeRightFlag(1);
+    scanner.setLocalizeLeftFlag(0);
     r5nav.executeRoute(pc, drive);
     wait(0.1);
 
-    r5nav.getShortestPath(RED_VICTIM);
-    pc.printf("\n\nDistance from %i to RED_VICTIM: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_VICTIM) );
+    r5nav.getShortestPath(3);
+    pc.printf("\n\nDistance from 1 to 3: %i\n", r5nav.getMinDist(3) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(15);
+    pc.printf("\n\nDistance from 3 to 15: %i\n", r5nav.getMinDist(15) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(1);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(V1);
+    pc.printf("\n\nDistance from 15 to V1: %i\n", r5nav.getMinDist(V1) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(1);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    /* add hunt method call */
+    
+    r5nav.getShortestPath(15);
+    pc.printf("\n\nDistance from V1 to 15: %i\n", r5nav.getMinDist(15) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(1);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(3);
+    pc.printf("\n\nDistance from 15 to 3: %i\n", r5nav.getMinDist(3) );
     pc.printf("Route:\n");
-    //r5nav.printRoute(pc);
-    //r5nav.setVertex(RED_VICTIM);
+    scanner.setLocalizeRightFlag(1);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    if (scanner.getYellowFlag() == 1)
+    {
+        r5nav.getShortestPath(YELLOW_DROP_ZONE);
+        pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
+        pc.printf("Route:\n");
+        //r5nav.printRoute(pc);
+        scanner.setLocalizeRightFlag(1);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+    }
+    
+    else
+    {
+        r5nav.getShortestPath(1);
+        pc.printf("\n\nDistance from 3 to 1: %i\n", r5nav.getMinDist(1) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+        
+        r5nav.getShortestPath(RED_DROP_ZONE);
+        pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
+        pc.printf("Route:\n");
+        //r5nav.printRoute(pc);
+        scanner.setLocalizeRightFlag(1);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+    }
+    
+    /*  1st peg retrieval complete
+        Begin 2nd peg retrieval   */  
+    
+    if (r5nav.getVertex() == YELLOW_DROP_ZONE)
+    {
+        r5nav.getShortestPath(3);
+        pc.printf("\n\nDistance from YELLOW_DROP_ZONE to 3: %i\n", r5nav.getMinDist(3) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(1);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+    }
+
+    else
+    {
+        r5nav.getShortestPath(1);
+        pc.printf("\n\nDistance from RED_DROP_ZONE to 1: %i\n", r5nav.getMinDist(1) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(1);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+        
+        r5nav.getShortestPath(3);
+        pc.printf("\n\nDistance from 1 to 3: %i\n", r5nav.getMinDist(3) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+    }
+    
+    r5nav.getShortestPath(15);
+    pc.printf("\n\nDistance from 3 to 15: %i\n", r5nav.getMinDist(15) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(1);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(5);
+    pc.printf("\n\nDistance from 15 to 5: %i\n", r5nav.getMinDist(5) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(1);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(16);
+    pc.printf("\n\nDistance from 5 to 16: %i\n", r5nav.getMinDist(16) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(V2);
+    pc.printf("\n\nDistance from 16 to V2: %i\n", r5nav.getMinDist(V2) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(1);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    /* add hunt method call */
+    
+    r5nav.getShortestPath(16);
+    pc.printf("\n\nDistance from V2 to 16: %i\n", r5nav.getMinDist(16) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(1);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(5);
+    pc.printf("\n\nDistance from 16 to 5: %i\n", r5nav.getMinDist(5) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(15);
+    pc.printf("\n\nDistance from 5 to 15: %i\n", r5nav.getMinDist(15) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(1);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(3);
+    pc.printf("\n\nDistance from 15 to 3: %i\n", r5nav.getMinDist(3) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(1);
     r5nav.executeRoute(pc, drive);
     wait(0.1);
+    
+    if (scanner.getYellowFlag() == 1)
+    {
+        r5nav.getShortestPath(YELLOW_DROP_ZONE);
+        pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
+        pc.printf("Route:\n");
+        //r5nav.printRoute(pc);
+        scanner.setLocalizeRightFlag(1);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+    }
+    
+    else
+    {
+        r5nav.getShortestPath(1);
+        pc.printf("\n\nDistance from 3 to 1: %i\n", r5nav.getMinDist(1) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+        
+        r5nav.getShortestPath(RED_DROP_ZONE);
+        pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
+        pc.printf("Route:\n");
+        //r5nav.printRoute(pc);
+        scanner.setLocalizeRightFlag(1);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+    }
+    
+    /*  2nd peg retrieval complete
+        Begin 3nd peg retrieval   */
+        
+    
+    if (r5nav.getVertex() == YELLOW_DROP_ZONE)
+    {
+        r5nav.getShortestPath(3);
+        pc.printf("\n\nDistance from YELLOW_DROP_ZONE to 3: %i\n", r5nav.getMinDist(3) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(1);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+    }
 
-    r5nav.getShortestPath(RED_DROP_ZONE);
-    pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
+    else
+    {
+        r5nav.getShortestPath(1);
+        pc.printf("\n\nDistance from RED_DROP_ZONE to 1: %i\n", r5nav.getMinDist(1) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(1);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+        
+        r5nav.getShortestPath(3);
+        pc.printf("\n\nDistance from 1 to 3: %i\n", r5nav.getMinDist(3) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+    }
+    
+    r5nav.getShortestPath(15);
+    pc.printf("\n\nDistance from 3 to 15: %i\n", r5nav.getMinDist(15) );
     pc.printf("Route:\n");
-    //r5nav.printRoute(pc);
-    //r5nav.setVertex(RED_DROP_ZONE);
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(1);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(5);
+    pc.printf("\n\nDistance from 15 to 5: %i\n", r5nav.getMinDist(5) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(1);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(19);
+    pc.printf("\n\nDistance from 5 to 19: %i\n", r5nav.getMinDist(19) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(0);
+    r5nav.executeRoute(pc, drive);
+    wait(0.1);
+    
+    r5nav.getShortestPath(V3);
+    pc.printf("\n\nDistance from 19 to V3: %i\n", r5nav.getMinDist(V3) );
+    pc.printf("Route:\n");
+    scanner.setLocalizeRightFlag(0);
+    scanner.setLocalizeLeftFlag(1);
     r5nav.executeRoute(pc, drive);
     wait(0.1);
+    
+    /* add hunt method call */
+    
+    if (scanner.getObjectFound() == 1)
+    {
+        r5nav.getShortestPath(19);
+        pc.printf("\n\nDistance from V3 to 19: %i\n", r5nav.getMinDist(19) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(1);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+        
+        // at node 5
+        r5nav.getShortestPath(5);
+        pc.printf("\n\nDistance from 19 to 5: %i\n", r5nav.getMinDist(5) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+        
+        r5nav.getShortestPath(15);
+        pc.printf("\n\nDistance from 5 to 15: %i\n", r5nav.getMinDist(15) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(1);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+        
+        r5nav.getShortestPath(3);
+        pc.printf("\n\nDistance from 15 to 3: %i\n", r5nav.getMinDist(3) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(1);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+        
+        if (scanner.getYellowFlag() == 1)
+        {
+            r5nav.getShortestPath(YELLOW_DROP_ZONE);
+            pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
+            pc.printf("Route:\n");
+            //r5nav.printRoute(pc);
+            scanner.setLocalizeRightFlag(1);
+            scanner.setLocalizeLeftFlag(0);
+            r5nav.executeRoute(pc, drive);
+            wait(0.1);
+        }
+        
+        else
+        {
+            r5nav.getShortestPath(1);
+            pc.printf("\n\nDistance from 3 to 1: %i\n", r5nav.getMinDist(1) );
+            pc.printf("Route:\n");
+            scanner.setLocalizeRightFlag(0);
+            scanner.setLocalizeLeftFlag(0);
+            r5nav.executeRoute(pc, drive);
+            wait(0.1);
+            
+            r5nav.getShortestPath(RED_DROP_ZONE);
+            pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
+            pc.printf("Route:\n");
+            //r5nav.printRoute(pc);
+            scanner.setLocalizeRightFlag(1);
+            scanner.setLocalizeLeftFlag(0);
+            r5nav.executeRoute(pc, drive);
+            wait(0.1);
+        }
+    }
+    
+    else // peg V3 not found
+    {
+        /* need to implement rest of moves
+        
+        r5nav.getShortestPath(19);
+        pc.printf("\n\nDistance from 12 to 19: %i\n", r5nav.getMinDist(19) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(1);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1);
+        
+        // at node 5
+        r5nav.getShortestPath(5);
+        pc.printf("\n\nDistance from 19 to 5: %i\n", r5nav.getMinDist(5) );
+        pc.printf("Route:\n");
+        scanner.setLocalizeRightFlag(0);
+        scanner.setLocalizeLeftFlag(0);
+        r5nav.executeRoute(pc, drive);
+        wait(0.1); */
+    }
+    
+    /*  3rd peg retrieval complete
+        Begin 4th peg retrieval   */
+    
+    
 
 /*
     drive.move(0, ((90.0)*(3.14159 / 180.0))); // return to initial angle