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@36:5b0bf9153c3d, 2016-03-26 (annotated)
- Committer:
- j_j205
- Date:
- Sat Mar 26 23:21:21 2016 +0000
- Revision:
- 36:5b0bf9153c3d
- Parent:
- 35:4e09da30bda2
- Child:
- 38:ebf73b654553
updated jj
Who changed what in which revision?
User | Revision | Line number | New 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 | 36:5b0bf9153c3d | 41 | Gripper gripper(PTB2, PTB3); // grip pin, wrist pin |
j_j205 | 25:670a59096bf8 | 42 | |
j_j205 | 36:5b0bf9153c3d | 43 | Scanner scanner(pc, drive, PTB0, PTB1, shortRangeL, shortRangeR, longRangeL, longRangeR, gripper, 0.075); |
j_j205 | 25:670a59096bf8 | 44 | // (Serial &, PinName servoL, PinName servoR, shortRangeL, shortRangeR, longRangeL, longRangeR, period) |
j_j205 | 25:670a59096bf8 | 45 | |
j_j205 | 35:4e09da30bda2 | 46 | Navigation r5nav(scanner, 25); |
j_j205 | 8:90af8914ce03 | 47 | wait(0.1); |
j_j205 | 32:82bfece56f8f | 48 | /* |
j_j205 | 25:670a59096bf8 | 49 | r5nav.addGraphNode(0, 1, 10.0625, 0); |
j_j205 | 25:670a59096bf8 | 50 | r5nav.addGraphNode(1, 0, 10.0625, 180); |
j_j205 | 25:670a59096bf8 | 51 | r5nav.addGraphNode(1, 2, 10.0625, 270); |
j_j205 | 25:670a59096bf8 | 52 | r5nav.addGraphNode(2, 1, 10.0625, 90); |
j_j205 | 25:670a59096bf8 | 53 | r5nav.addGraphNode(2, 3, 10.0625, 180); |
j_j205 | 25:670a59096bf8 | 54 | r5nav.addGraphNode(3, 2, 10.0625, 0); |
j_j205 | 25:670a59096bf8 | 55 | r5nav.addGraphNode(3, 0, 10.0625, 90); |
j_j205 | 25:670a59096bf8 | 56 | r5nav.addGraphNode(0, 3, 10.0625, 270); |
j_j205 | 29:e77e8891d985 | 57 | */ |
j_j205 | 32:82bfece56f8f | 58 | |
j_j205 | 20:53ab414d7b33 | 59 | // loading r5 map |
j_j205 | 32:82bfece56f8f | 60 | r5nav.addGraphNode(0, 1, 13, 0); |
j_j205 | 32:82bfece56f8f | 61 | r5nav.addGraphNode(1, 0, 13, 180); |
j_j205 | 35:4e09da30bda2 | 62 | r5nav.addGraphNode(1, 2, 68, 356.5); // original angle = 0 |
j_j205 | 32:82bfece56f8f | 63 | r5nav.addGraphNode(1, 3, 15, 90); |
j_j205 | 35:4e09da30bda2 | 64 | r5nav.addGraphNode(2, 1, 68, 180); |
j_j205 | 32:82bfece56f8f | 65 | r5nav.addGraphNode(3, 1, 15, 270); |
j_j205 | 35:4e09da30bda2 | 66 | r5nav.addGraphNode(3, 4, 8, 180); |
j_j205 | 35:4e09da30bda2 | 67 | // r5nav.addGraphNode(3, 5, 23, 356.5); // (-5 degrees) original angle = 0 |
j_j205 | 35:4e09da30bda2 | 68 | r5nav.addGraphNode(3, 15, 6, 0); |
j_j205 | 35:4e09da30bda2 | 69 | r5nav.addGraphNode(4, 3, 8, 0); |
j_j205 | 35:4e09da30bda2 | 70 | // r5nav.addGraphNode(5, 3, 23, 180); |
j_j205 | 8:90af8914ce03 | 71 | r5nav.addGraphNode(5, 6, 37, 0); |
j_j205 | 32:82bfece56f8f | 72 | r5nav.addGraphNode(5, 8, 12.5, 90); |
j_j205 | 35:4e09da30bda2 | 73 | r5nav.addGraphNode(5, 15, 17, 180); |
j_j205 | 32:82bfece56f8f | 74 | r5nav.addGraphNode(6, 5, 37, 176.5); // original angle = 180 |
j_j205 | 35:4e09da30bda2 | 75 | r5nav.addGraphNode(6, 7, 6, 0); |
j_j205 | 32:82bfece56f8f | 76 | r5nav.addGraphNode(6, 10, 12.5, 90); |
j_j205 | 35:4e09da30bda2 | 77 | r5nav.addGraphNode(7, 6, 6, 180); |
j_j205 | 32:82bfece56f8f | 78 | r5nav.addGraphNode(8, 5, 12.75, 270); // original distance = 12.5 |
j_j205 | 35:4e09da30bda2 | 79 | // r5nav.addGraphNode(8, 9, 35, 174.5); // original angle = 180 |
j_j205 | 35:4e09da30bda2 | 80 | // r5nav.addGraphNode(8, 10, 37, 0); |
j_j205 | 28:17c17157e728 | 81 | r5nav.addGraphNode(8, 11, 12, 90); |
j_j205 | 35:4e09da30bda2 | 82 | r5nav.addGraphNode(8, 16, 6, 180); |
j_j205 | 35:4e09da30bda2 | 83 | r5nav.addGraphNode(8, 17, 6, 0); |
j_j205 | 35:4e09da30bda2 | 84 | // r5nav.addGraphNode(9, 8, 35, 0); |
j_j205 | 35:4e09da30bda2 | 85 | r5nav.addGraphNode(9, 16, 23, 0); |
j_j205 | 32:82bfece56f8f | 86 | r5nav.addGraphNode(10, 6, 12.5, 270); |
j_j205 | 35:4e09da30bda2 | 87 | r5nav.addGraphNode(10, 13, 12, 90); |
j_j205 | 35:4e09da30bda2 | 88 | r5nav.addGraphNode(10, 18, 6, 180); |
j_j205 | 28:17c17157e728 | 89 | r5nav.addGraphNode(11, 8, 12, 270); |
j_j205 | 28:17c17157e728 | 90 | r5nav.addGraphNode(11, 12, 35, 180); |
j_j205 | 35:4e09da30bda2 | 91 | r5nav.addGraphNode(11, 19, 6, 180); |
j_j205 | 28:17c17157e728 | 92 | r5nav.addGraphNode(12, 11, 35, 0); |
j_j205 | 35:4e09da30bda2 | 93 | r5nav.addGraphNode(12, 19, 23, 0); |
j_j205 | 35:4e09da30bda2 | 94 | r5nav.addGraphNode(13, 10, 12, 270); |
j_j205 | 28:17c17157e728 | 95 | r5nav.addGraphNode(13, 14, 12, 0); |
j_j205 | 28:17c17157e728 | 96 | r5nav.addGraphNode(14, 13, 12, 180); |
j_j205 | 35:4e09da30bda2 | 97 | r5nav.addGraphNode(14, 20, 21, 90); |
j_j205 | 35:4e09da30bda2 | 98 | r5nav.addGraphNode(15, 3, 6, 180); |
j_j205 | 35:4e09da30bda2 | 99 | r5nav.addGraphNode(15, 5, 17, 0); |
j_j205 | 35:4e09da30bda2 | 100 | r5nav.addGraphNode(16, 8, 6, 0); |
j_j205 | 35:4e09da30bda2 | 101 | r5nav.addGraphNode(16, 9, 23, 180); |
j_j205 | 35:4e09da30bda2 | 102 | r5nav.addGraphNode(17, 8, 6, 180); |
j_j205 | 35:4e09da30bda2 | 103 | r5nav.addGraphNode(17, 18, 25, 0); |
j_j205 | 35:4e09da30bda2 | 104 | r5nav.addGraphNode(18, 10, 6, 0); |
j_j205 | 35:4e09da30bda2 | 105 | r5nav.addGraphNode(18, 17, 25, 180); |
j_j205 | 35:4e09da30bda2 | 106 | r5nav.addGraphNode(19, 11, 6, 0); |
j_j205 | 35:4e09da30bda2 | 107 | r5nav.addGraphNode(19, 12, 23, 180); |
j_j205 | 35:4e09da30bda2 | 108 | r5nav.addGraphNode(20, 14, 21, 270); |
j_j205 | 35:4e09da30bda2 | 109 | r5nav.addGraphNode(20, 21, 24, 90); |
j_j205 | 35:4e09da30bda2 | 110 | r5nav.addGraphNode(21, 20, 24, 270); |
j_j205 | 35:4e09da30bda2 | 111 | r5nav.addGraphNode(21, 22, 4, 180); |
j_j205 | 35:4e09da30bda2 | 112 | r5nav.addGraphNode(22, 21, 4, 0); |
j_j205 | 35:4e09da30bda2 | 113 | r5nav.addGraphNode(22, 23, 80, 180); |
j_j205 | 35:4e09da30bda2 | 114 | r5nav.addGraphNode(23, 22, 80, 0); |
j_j205 | 35:4e09da30bda2 | 115 | r5nav.addGraphNode(23, 24, 2, 270); |
j_j205 | 35:4e09da30bda2 | 116 | r5nav.addGraphNode(24, 23, 2, 90); |
j_j205 | 32:82bfece56f8f | 117 | |
j_j205 | 35:4e09da30bda2 | 118 | const uint16_t V1 = 7; |
j_j205 | 35:4e09da30bda2 | 119 | const uint16_t V2 = 9; |
j_j205 | 35:4e09da30bda2 | 120 | const uint16_t V3 = 12; |
j_j205 | 35:4e09da30bda2 | 121 | const uint16_t V4 = 20; |
j_j205 | 35:4e09da30bda2 | 122 | const uint16_t V5 = 22; |
j_j205 | 35:4e09da30bda2 | 123 | const uint16_t V6 = 24; |
j_j205 | 8:90af8914ce03 | 124 | const uint16_t YELLOW_DROP_ZONE = 4; |
j_j205 | 8:90af8914ce03 | 125 | const uint16_t RED_DROP_ZONE = 2; |
j_j205 | 32:82bfece56f8f | 126 | |
j_j205 | 29:e77e8891d985 | 127 | /* |
j_j205 | 15:d8940756d5d5 | 128 | r5nav.getShortestPath(1); |
j_j205 | 15:d8940756d5d5 | 129 | pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) ); |
j_j205 | 15:d8940756d5d5 | 130 | pc.printf("Route:\n"); |
j_j205 | 15:d8940756d5d5 | 131 | r5nav.executeRoute(pc, drive); |
j_j205 | 15:d8940756d5d5 | 132 | wait(0.1); |
j_j205 | 20:53ab414d7b33 | 133 | |
j_j205 | 15:d8940756d5d5 | 134 | r5nav.getShortestPath(2); |
j_j205 | 15:d8940756d5d5 | 135 | pc.printf("\n\nDistance from 1 to 2: %i\n", r5nav.getMinDist(2) ); |
j_j205 | 15:d8940756d5d5 | 136 | pc.printf("Route:\n"); |
j_j205 | 15:d8940756d5d5 | 137 | r5nav.executeRoute(pc, drive); |
j_j205 | 15:d8940756d5d5 | 138 | wait(0.1); |
j_j205 | 20:53ab414d7b33 | 139 | |
j_j205 | 15:d8940756d5d5 | 140 | r5nav.getShortestPath(3); |
j_j205 | 15:d8940756d5d5 | 141 | pc.printf("\n\nDistance from 2 to 3: %i\n", r5nav.getMinDist(3) ); |
j_j205 | 8:90af8914ce03 | 142 | pc.printf("Route:\n"); |
j_j205 | 15:d8940756d5d5 | 143 | r5nav.executeRoute(pc, drive); |
j_j205 | 15:d8940756d5d5 | 144 | wait(0.1); |
j_j205 | 20:53ab414d7b33 | 145 | |
j_j205 | 15:d8940756d5d5 | 146 | r5nav.getShortestPath(0); |
j_j205 | 15:d8940756d5d5 | 147 | pc.printf("\n\nDistance from 3 to 0: %i\n", r5nav.getMinDist(0) ); |
j_j205 | 15:d8940756d5d5 | 148 | pc.printf("Route:\n"); |
j_j205 | 15:d8940756d5d5 | 149 | r5nav.executeRoute(pc, drive); |
j_j205 | 15:d8940756d5d5 | 150 | wait(0.1); |
j_j205 | 29:e77e8891d985 | 151 | */ |
j_j205 | 32:82bfece56f8f | 152 | |
j_j205 | 35:4e09da30bda2 | 153 | /* Begin 1st peg retrieval */ |
j_j205 | 35:4e09da30bda2 | 154 | |
j_j205 | 35:4e09da30bda2 | 155 | r5nav.getShortestPath(1); |
j_j205 | 35:4e09da30bda2 | 156 | pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) ); |
j_j205 | 15:d8940756d5d5 | 157 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 158 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 159 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 12:e9f878ced6e7 | 160 | r5nav.executeRoute(pc, drive); |
j_j205 | 8:90af8914ce03 | 161 | wait(0.1); |
j_j205 | 1:1958e6db41fc | 162 | |
j_j205 | 35:4e09da30bda2 | 163 | r5nav.getShortestPath(3); |
j_j205 | 35:4e09da30bda2 | 164 | pc.printf("\n\nDistance from 1 to 3: %i\n", r5nav.getMinDist(3) ); |
j_j205 | 35:4e09da30bda2 | 165 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 166 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 167 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 168 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 169 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 170 | |
j_j205 | 35:4e09da30bda2 | 171 | r5nav.getShortestPath(15); |
j_j205 | 35:4e09da30bda2 | 172 | pc.printf("\n\nDistance from 3 to 15: %i\n", r5nav.getMinDist(15) ); |
j_j205 | 35:4e09da30bda2 | 173 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 174 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 175 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 176 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 177 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 178 | |
j_j205 | 35:4e09da30bda2 | 179 | r5nav.getShortestPath(V1); |
j_j205 | 35:4e09da30bda2 | 180 | pc.printf("\n\nDistance from 15 to V1: %i\n", r5nav.getMinDist(V1) ); |
j_j205 | 35:4e09da30bda2 | 181 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 182 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 183 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 184 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 185 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 186 | |
j_j205 | 35:4e09da30bda2 | 187 | /* add hunt method call */ |
j_j205 | 35:4e09da30bda2 | 188 | |
j_j205 | 35:4e09da30bda2 | 189 | r5nav.getShortestPath(15); |
j_j205 | 35:4e09da30bda2 | 190 | pc.printf("\n\nDistance from V1 to 15: %i\n", r5nav.getMinDist(15) ); |
j_j205 | 35:4e09da30bda2 | 191 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 192 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 193 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 194 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 195 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 196 | |
j_j205 | 35:4e09da30bda2 | 197 | r5nav.getShortestPath(3); |
j_j205 | 35:4e09da30bda2 | 198 | pc.printf("\n\nDistance from 15 to 3: %i\n", r5nav.getMinDist(3) ); |
j_j205 | 8:90af8914ce03 | 199 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 200 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 201 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 202 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 203 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 204 | |
j_j205 | 35:4e09da30bda2 | 205 | if (scanner.getYellowFlag() == 1) |
j_j205 | 35:4e09da30bda2 | 206 | { |
j_j205 | 35:4e09da30bda2 | 207 | r5nav.getShortestPath(YELLOW_DROP_ZONE); |
j_j205 | 35:4e09da30bda2 | 208 | pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) ); |
j_j205 | 35:4e09da30bda2 | 209 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 210 | //r5nav.printRoute(pc); |
j_j205 | 35:4e09da30bda2 | 211 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 212 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 213 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 214 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 215 | } |
j_j205 | 35:4e09da30bda2 | 216 | |
j_j205 | 35:4e09da30bda2 | 217 | else |
j_j205 | 35:4e09da30bda2 | 218 | { |
j_j205 | 35:4e09da30bda2 | 219 | r5nav.getShortestPath(1); |
j_j205 | 35:4e09da30bda2 | 220 | pc.printf("\n\nDistance from 3 to 1: %i\n", r5nav.getMinDist(1) ); |
j_j205 | 35:4e09da30bda2 | 221 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 222 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 223 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 224 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 225 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 226 | |
j_j205 | 35:4e09da30bda2 | 227 | r5nav.getShortestPath(RED_DROP_ZONE); |
j_j205 | 35:4e09da30bda2 | 228 | pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) ); |
j_j205 | 35:4e09da30bda2 | 229 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 230 | //r5nav.printRoute(pc); |
j_j205 | 35:4e09da30bda2 | 231 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 232 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 233 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 234 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 235 | } |
j_j205 | 35:4e09da30bda2 | 236 | |
j_j205 | 35:4e09da30bda2 | 237 | /* 1st peg retrieval complete |
j_j205 | 35:4e09da30bda2 | 238 | Begin 2nd peg retrieval */ |
j_j205 | 35:4e09da30bda2 | 239 | |
j_j205 | 35:4e09da30bda2 | 240 | if (r5nav.getVertex() == YELLOW_DROP_ZONE) |
j_j205 | 35:4e09da30bda2 | 241 | { |
j_j205 | 35:4e09da30bda2 | 242 | r5nav.getShortestPath(3); |
j_j205 | 35:4e09da30bda2 | 243 | pc.printf("\n\nDistance from YELLOW_DROP_ZONE to 3: %i\n", r5nav.getMinDist(3) ); |
j_j205 | 35:4e09da30bda2 | 244 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 245 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 246 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 247 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 248 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 249 | } |
j_j205 | 35:4e09da30bda2 | 250 | |
j_j205 | 35:4e09da30bda2 | 251 | else |
j_j205 | 35:4e09da30bda2 | 252 | { |
j_j205 | 35:4e09da30bda2 | 253 | r5nav.getShortestPath(1); |
j_j205 | 35:4e09da30bda2 | 254 | pc.printf("\n\nDistance from RED_DROP_ZONE to 1: %i\n", r5nav.getMinDist(1) ); |
j_j205 | 35:4e09da30bda2 | 255 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 256 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 257 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 258 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 259 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 260 | |
j_j205 | 35:4e09da30bda2 | 261 | r5nav.getShortestPath(3); |
j_j205 | 35:4e09da30bda2 | 262 | pc.printf("\n\nDistance from 1 to 3: %i\n", r5nav.getMinDist(3) ); |
j_j205 | 35:4e09da30bda2 | 263 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 264 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 265 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 266 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 267 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 268 | } |
j_j205 | 35:4e09da30bda2 | 269 | |
j_j205 | 35:4e09da30bda2 | 270 | r5nav.getShortestPath(15); |
j_j205 | 35:4e09da30bda2 | 271 | pc.printf("\n\nDistance from 3 to 15: %i\n", r5nav.getMinDist(15) ); |
j_j205 | 35:4e09da30bda2 | 272 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 273 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 274 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 275 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 276 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 277 | |
j_j205 | 35:4e09da30bda2 | 278 | r5nav.getShortestPath(5); |
j_j205 | 35:4e09da30bda2 | 279 | pc.printf("\n\nDistance from 15 to 5: %i\n", r5nav.getMinDist(5) ); |
j_j205 | 35:4e09da30bda2 | 280 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 281 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 282 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 283 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 284 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 285 | |
j_j205 | 35:4e09da30bda2 | 286 | r5nav.getShortestPath(16); |
j_j205 | 35:4e09da30bda2 | 287 | pc.printf("\n\nDistance from 5 to 16: %i\n", r5nav.getMinDist(16) ); |
j_j205 | 35:4e09da30bda2 | 288 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 289 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 290 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 291 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 292 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 293 | |
j_j205 | 35:4e09da30bda2 | 294 | r5nav.getShortestPath(V2); |
j_j205 | 35:4e09da30bda2 | 295 | pc.printf("\n\nDistance from 16 to V2: %i\n", r5nav.getMinDist(V2) ); |
j_j205 | 35:4e09da30bda2 | 296 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 297 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 298 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 299 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 300 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 301 | |
j_j205 | 35:4e09da30bda2 | 302 | /* add hunt method call */ |
j_j205 | 35:4e09da30bda2 | 303 | |
j_j205 | 35:4e09da30bda2 | 304 | r5nav.getShortestPath(16); |
j_j205 | 35:4e09da30bda2 | 305 | pc.printf("\n\nDistance from V2 to 16: %i\n", r5nav.getMinDist(16) ); |
j_j205 | 35:4e09da30bda2 | 306 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 307 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 308 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 309 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 310 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 311 | |
j_j205 | 35:4e09da30bda2 | 312 | r5nav.getShortestPath(5); |
j_j205 | 35:4e09da30bda2 | 313 | pc.printf("\n\nDistance from 16 to 5: %i\n", r5nav.getMinDist(5) ); |
j_j205 | 35:4e09da30bda2 | 314 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 315 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 316 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 317 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 318 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 319 | |
j_j205 | 35:4e09da30bda2 | 320 | r5nav.getShortestPath(15); |
j_j205 | 35:4e09da30bda2 | 321 | pc.printf("\n\nDistance from 5 to 15: %i\n", r5nav.getMinDist(15) ); |
j_j205 | 35:4e09da30bda2 | 322 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 323 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 324 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 325 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 326 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 327 | |
j_j205 | 35:4e09da30bda2 | 328 | r5nav.getShortestPath(3); |
j_j205 | 35:4e09da30bda2 | 329 | pc.printf("\n\nDistance from 15 to 3: %i\n", r5nav.getMinDist(3) ); |
j_j205 | 35:4e09da30bda2 | 330 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 331 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 332 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 12:e9f878ced6e7 | 333 | r5nav.executeRoute(pc, drive); |
j_j205 | 8:90af8914ce03 | 334 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 335 | |
j_j205 | 35:4e09da30bda2 | 336 | if (scanner.getYellowFlag() == 1) |
j_j205 | 35:4e09da30bda2 | 337 | { |
j_j205 | 35:4e09da30bda2 | 338 | r5nav.getShortestPath(YELLOW_DROP_ZONE); |
j_j205 | 35:4e09da30bda2 | 339 | pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) ); |
j_j205 | 35:4e09da30bda2 | 340 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 341 | //r5nav.printRoute(pc); |
j_j205 | 35:4e09da30bda2 | 342 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 343 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 344 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 345 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 346 | } |
j_j205 | 35:4e09da30bda2 | 347 | |
j_j205 | 35:4e09da30bda2 | 348 | else |
j_j205 | 35:4e09da30bda2 | 349 | { |
j_j205 | 35:4e09da30bda2 | 350 | r5nav.getShortestPath(1); |
j_j205 | 35:4e09da30bda2 | 351 | pc.printf("\n\nDistance from 3 to 1: %i\n", r5nav.getMinDist(1) ); |
j_j205 | 35:4e09da30bda2 | 352 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 353 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 354 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 355 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 356 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 357 | |
j_j205 | 35:4e09da30bda2 | 358 | r5nav.getShortestPath(RED_DROP_ZONE); |
j_j205 | 35:4e09da30bda2 | 359 | pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) ); |
j_j205 | 35:4e09da30bda2 | 360 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 361 | //r5nav.printRoute(pc); |
j_j205 | 35:4e09da30bda2 | 362 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 363 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 364 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 365 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 366 | } |
j_j205 | 35:4e09da30bda2 | 367 | |
j_j205 | 35:4e09da30bda2 | 368 | /* 2nd peg retrieval complete |
j_j205 | 35:4e09da30bda2 | 369 | Begin 3nd peg retrieval */ |
j_j205 | 35:4e09da30bda2 | 370 | |
j_j205 | 35:4e09da30bda2 | 371 | |
j_j205 | 35:4e09da30bda2 | 372 | if (r5nav.getVertex() == YELLOW_DROP_ZONE) |
j_j205 | 35:4e09da30bda2 | 373 | { |
j_j205 | 35:4e09da30bda2 | 374 | r5nav.getShortestPath(3); |
j_j205 | 35:4e09da30bda2 | 375 | pc.printf("\n\nDistance from YELLOW_DROP_ZONE to 3: %i\n", r5nav.getMinDist(3) ); |
j_j205 | 35:4e09da30bda2 | 376 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 377 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 378 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 379 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 380 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 381 | } |
j_j205 | 1:1958e6db41fc | 382 | |
j_j205 | 35:4e09da30bda2 | 383 | else |
j_j205 | 35:4e09da30bda2 | 384 | { |
j_j205 | 35:4e09da30bda2 | 385 | r5nav.getShortestPath(1); |
j_j205 | 35:4e09da30bda2 | 386 | pc.printf("\n\nDistance from RED_DROP_ZONE to 1: %i\n", r5nav.getMinDist(1) ); |
j_j205 | 35:4e09da30bda2 | 387 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 388 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 389 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 390 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 391 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 392 | |
j_j205 | 35:4e09da30bda2 | 393 | r5nav.getShortestPath(3); |
j_j205 | 35:4e09da30bda2 | 394 | pc.printf("\n\nDistance from 1 to 3: %i\n", r5nav.getMinDist(3) ); |
j_j205 | 35:4e09da30bda2 | 395 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 396 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 397 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 398 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 399 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 400 | } |
j_j205 | 35:4e09da30bda2 | 401 | |
j_j205 | 35:4e09da30bda2 | 402 | r5nav.getShortestPath(15); |
j_j205 | 35:4e09da30bda2 | 403 | pc.printf("\n\nDistance from 3 to 15: %i\n", r5nav.getMinDist(15) ); |
j_j205 | 8:90af8914ce03 | 404 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 405 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 406 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 407 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 408 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 409 | |
j_j205 | 35:4e09da30bda2 | 410 | r5nav.getShortestPath(5); |
j_j205 | 35:4e09da30bda2 | 411 | pc.printf("\n\nDistance from 15 to 5: %i\n", r5nav.getMinDist(5) ); |
j_j205 | 35:4e09da30bda2 | 412 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 413 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 414 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 415 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 416 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 417 | |
j_j205 | 35:4e09da30bda2 | 418 | r5nav.getShortestPath(19); |
j_j205 | 35:4e09da30bda2 | 419 | pc.printf("\n\nDistance from 5 to 19: %i\n", r5nav.getMinDist(19) ); |
j_j205 | 35:4e09da30bda2 | 420 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 421 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 422 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 423 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 424 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 425 | |
j_j205 | 35:4e09da30bda2 | 426 | r5nav.getShortestPath(V3); |
j_j205 | 35:4e09da30bda2 | 427 | pc.printf("\n\nDistance from 19 to V3: %i\n", r5nav.getMinDist(V3) ); |
j_j205 | 35:4e09da30bda2 | 428 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 429 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 430 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 12:e9f878ced6e7 | 431 | r5nav.executeRoute(pc, drive); |
j_j205 | 8:90af8914ce03 | 432 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 433 | |
j_j205 | 35:4e09da30bda2 | 434 | /* add hunt method call */ |
j_j205 | 35:4e09da30bda2 | 435 | |
j_j205 | 35:4e09da30bda2 | 436 | if (scanner.getObjectFound() == 1) |
j_j205 | 35:4e09da30bda2 | 437 | { |
j_j205 | 35:4e09da30bda2 | 438 | r5nav.getShortestPath(19); |
j_j205 | 35:4e09da30bda2 | 439 | pc.printf("\n\nDistance from V3 to 19: %i\n", r5nav.getMinDist(19) ); |
j_j205 | 35:4e09da30bda2 | 440 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 441 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 442 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 443 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 444 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 445 | |
j_j205 | 35:4e09da30bda2 | 446 | // at node 5 |
j_j205 | 35:4e09da30bda2 | 447 | r5nav.getShortestPath(5); |
j_j205 | 35:4e09da30bda2 | 448 | pc.printf("\n\nDistance from 19 to 5: %i\n", r5nav.getMinDist(5) ); |
j_j205 | 35:4e09da30bda2 | 449 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 450 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 451 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 452 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 453 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 454 | |
j_j205 | 35:4e09da30bda2 | 455 | r5nav.getShortestPath(15); |
j_j205 | 35:4e09da30bda2 | 456 | pc.printf("\n\nDistance from 5 to 15: %i\n", r5nav.getMinDist(15) ); |
j_j205 | 35:4e09da30bda2 | 457 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 458 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 459 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 460 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 461 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 462 | |
j_j205 | 35:4e09da30bda2 | 463 | r5nav.getShortestPath(3); |
j_j205 | 35:4e09da30bda2 | 464 | pc.printf("\n\nDistance from 15 to 3: %i\n", r5nav.getMinDist(3) ); |
j_j205 | 35:4e09da30bda2 | 465 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 466 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 467 | scanner.setLocalizeLeftFlag(1); |
j_j205 | 35:4e09da30bda2 | 468 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 469 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 470 | |
j_j205 | 35:4e09da30bda2 | 471 | if (scanner.getYellowFlag() == 1) |
j_j205 | 35:4e09da30bda2 | 472 | { |
j_j205 | 35:4e09da30bda2 | 473 | r5nav.getShortestPath(YELLOW_DROP_ZONE); |
j_j205 | 35:4e09da30bda2 | 474 | pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) ); |
j_j205 | 35:4e09da30bda2 | 475 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 476 | //r5nav.printRoute(pc); |
j_j205 | 35:4e09da30bda2 | 477 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 478 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 479 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 480 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 481 | } |
j_j205 | 35:4e09da30bda2 | 482 | |
j_j205 | 35:4e09da30bda2 | 483 | else |
j_j205 | 35:4e09da30bda2 | 484 | { |
j_j205 | 35:4e09da30bda2 | 485 | r5nav.getShortestPath(1); |
j_j205 | 35:4e09da30bda2 | 486 | pc.printf("\n\nDistance from 3 to 1: %i\n", r5nav.getMinDist(1) ); |
j_j205 | 35:4e09da30bda2 | 487 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 488 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 489 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 490 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 491 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 492 | |
j_j205 | 35:4e09da30bda2 | 493 | r5nav.getShortestPath(RED_DROP_ZONE); |
j_j205 | 35:4e09da30bda2 | 494 | pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) ); |
j_j205 | 35:4e09da30bda2 | 495 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 496 | //r5nav.printRoute(pc); |
j_j205 | 35:4e09da30bda2 | 497 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 498 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 499 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 500 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 501 | } |
j_j205 | 35:4e09da30bda2 | 502 | } |
j_j205 | 35:4e09da30bda2 | 503 | |
j_j205 | 35:4e09da30bda2 | 504 | else // peg V3 not found |
j_j205 | 35:4e09da30bda2 | 505 | { |
j_j205 | 35:4e09da30bda2 | 506 | /* need to implement rest of moves |
j_j205 | 35:4e09da30bda2 | 507 | |
j_j205 | 35:4e09da30bda2 | 508 | r5nav.getShortestPath(19); |
j_j205 | 35:4e09da30bda2 | 509 | pc.printf("\n\nDistance from 12 to 19: %i\n", r5nav.getMinDist(19) ); |
j_j205 | 35:4e09da30bda2 | 510 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 511 | scanner.setLocalizeRightFlag(1); |
j_j205 | 35:4e09da30bda2 | 512 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 513 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 514 | wait(0.1); |
j_j205 | 35:4e09da30bda2 | 515 | |
j_j205 | 35:4e09da30bda2 | 516 | // at node 5 |
j_j205 | 35:4e09da30bda2 | 517 | r5nav.getShortestPath(5); |
j_j205 | 35:4e09da30bda2 | 518 | pc.printf("\n\nDistance from 19 to 5: %i\n", r5nav.getMinDist(5) ); |
j_j205 | 35:4e09da30bda2 | 519 | pc.printf("Route:\n"); |
j_j205 | 35:4e09da30bda2 | 520 | scanner.setLocalizeRightFlag(0); |
j_j205 | 35:4e09da30bda2 | 521 | scanner.setLocalizeLeftFlag(0); |
j_j205 | 35:4e09da30bda2 | 522 | r5nav.executeRoute(pc, drive); |
j_j205 | 35:4e09da30bda2 | 523 | wait(0.1); */ |
j_j205 | 35:4e09da30bda2 | 524 | } |
j_j205 | 35:4e09da30bda2 | 525 | |
j_j205 | 35:4e09da30bda2 | 526 | /* 3rd peg retrieval complete |
j_j205 | 35:4e09da30bda2 | 527 | Begin 4th peg retrieval */ |
j_j205 | 35:4e09da30bda2 | 528 | |
j_j205 | 35:4e09da30bda2 | 529 | |
j_j205 | 20:53ab414d7b33 | 530 | |
j_j205 | 29:e77e8891d985 | 531 | /* |
j_j205 | 15:d8940756d5d5 | 532 | drive.move(0, ((90.0)*(3.14159 / 180.0))); // return to initial angle |
j_j205 | 15:d8940756d5d5 | 533 | // wait for move to complete |
j_j205 | 15:d8940756d5d5 | 534 | while(!drive.isMoveDone()) |
j_j205 | 15:d8940756d5d5 | 535 | { |
j_j205 | 15:d8940756d5d5 | 536 | wait(1e-6); |
j_j205 | 15:d8940756d5d5 | 537 | } |
j_j205 | 29:e77e8891d985 | 538 | */ |
j_j205 | 15:d8940756d5d5 | 539 | pc.printf("\n\nExercise Complete"); |
j_j205 | 0:a3c39d3359ac | 540 | return 0; |
j_j205 | 12:e9f878ced6e7 | 541 | } |
j_j205 | 12:e9f878ced6e7 | 542 | |
j_j205 | 12:e9f878ced6e7 | 543 | void activate() |
j_j205 | 12:e9f878ced6e7 | 544 | { |
j_j205 | 12:e9f878ced6e7 | 545 | led_red = 1; |
j_j205 | 12:e9f878ced6e7 | 546 | led_green = 0; |
j_j205 | 12:e9f878ced6e7 | 547 | active = true; |
j_j205 | 25:670a59096bf8 | 548 | } |