![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Code to drive Team 1's robot for the 2016 R5 robotics competition.
Dependencies: mbed navigation R5_StepperDrive LongRangeSensor DistanceSensor scanner Gripper ColorSensor
Diff: r5driver.cpp
- Revision:
- 39:1e26cc57c8b7
- Parent:
- 38:ebf73b654553
- Child:
- 40:2d33bb4d6d6f
diff -r ebf73b654553 -r 1e26cc57c8b7 r5driver.cpp --- a/r5driver.cpp Fri Apr 01 15:56:01 2016 +0000 +++ b/r5driver.cpp Wed Apr 06 22:07:38 2016 +0000 @@ -1,727 +1,19 @@ +#include "mbed.h" +#include "StepperDrive.h" +#include "LongRangeSensor.h" #include "navigation.h" #include "Gripper.h" -#include "scanner.h" -#include "StepperDrive.h" -#include "ShortRangeSensor.h" -#include "stdint.h" -#include "mbed.h" + Serial pc(USBTX, USBRX); -// Serial pc(PTE16,PTE17); // bluetooth +Serial bluetooth(PTE16,PTE17); // bluetooth InterruptIn start(SW1); DigitalOut led_red(LED_RED); DigitalOut led_green(LED_GREEN); bool active = false; -bool v3Flag = 0; - -void activate(); - -int main() -{ - pc.baud(115200); - // pc.baud(9600); /* interface via Bluetooth at 9600 */ - start.mode(PullUp); /* Start/Stop button is active low needing PullUp */ - start.fall(&activate); - - led_red = 0; - led_green = 1; - - pc.printf("\nWaiting for START BUTTON\n"); - while(!active) // wait for start_button - { - wait(1e-6); - } - - StepperDrive drive(pc, PTE19, PTE18, 0, PTE3, PTE2, 1, 10.0625, 8.4800, 650); // 8.375 - //(serial &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs) - - ShortRangeSensor shortRangeL(PTE0, PTE1); // verify i2c pins - ShortRangeSensor shortRangeR(PTC9, PTC8); // verify i2c pins - LongRangeSensor longRangeL(pc, PTB2); - LongRangeSensor longRangeR(pc, PTB3); - Gripper gripper(PTB2, PTB3); // grip pin, wrist pin - - Scanner scanner(pc, drive, PTB0, PTB1, shortRangeL, shortRangeR, longRangeL, longRangeR, gripper, 1.0); // original period = 0.075 - // (Serial &, PinName servoL, PinName servoR, shortRangeL, shortRangeR, longRangeL, longRangeR, period) - - Navigation r5nav(scanner, 25); - wait(0.1); -/* - r5nav.addGraphNode(0, 1, 10.0625, 0); - r5nav.addGraphNode(1, 0, 10.0625, 180); - r5nav.addGraphNode(1, 2, 10.0625, 270); - r5nav.addGraphNode(2, 1, 10.0625, 90); - r5nav.addGraphNode(2, 3, 10.0625, 180); - r5nav.addGraphNode(3, 2, 10.0625, 0); - r5nav.addGraphNode(3, 0, 10.0625, 90); - r5nav.addGraphNode(0, 3, 10.0625, 270); -*/ - - // loading r5 map - r5nav.addGraphNode(0, 1, 13, 0); - r5nav.addGraphNode(1, 0, 13, 180); - r5nav.addGraphNode(1, 2, 68, 356.5); // original angle = 0 - r5nav.addGraphNode(1, 3, 15, 90); - r5nav.addGraphNode(2, 1, 68, 180); - r5nav.addGraphNode(3, 1, 15, 270); - 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, 358); // (-2 degrees) original angle = 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, 6, 0); - r5nav.addGraphNode(6, 10, 12.5, 90); - 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, 11, 12, 90); - 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 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; - -/* - r5nav.getShortestPath(1); - pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) ); - pc.printf("Route:\n"); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(2); - pc.printf("\n\nDistance from 1 to 2: %i\n", r5nav.getMinDist(2) ); - pc.printf("Route:\n"); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(3); - pc.printf("\n\nDistance from 2 to 3: %i\n", r5nav.getMinDist(3) ); - pc.printf("Route:\n"); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(0); - pc.printf("\n\nDistance from 3 to 0: %i\n", r5nav.getMinDist(0) ); - pc.printf("Route:\n"); - r5nav.executeRoute(pc, drive); - wait(0.1); -*/ - - /* Begin 1st peg retrieval */ - - r5nav.getShortestPath(1); - pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) ); - pc.printf("Route:\n"); - scanner.setLocalizeRightFlag(1); - scanner.setLocalizeLeftFlag(0); - 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(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"); - 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); - } +float distLocalL = 0.0; - 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); - } - - 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(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 */ - - 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); - - 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); - // at node 5 - - if (scanner.getObjectFound() == 1) - { - v3Flag = 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); - - /* add drop peg code */ - - r5nav.getShortestPath(15) - pc.printf("\n\nDistance from %i to 15%i\n", r5nav.getVertex(), r5nav.getMinDist(15); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeLeftFlag(1); - scanner.setLocalizeRightFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(5); - pc.printf("\n\nDistance from %i to 5: %i\n", r5nav.getVertex(), r5nav.getMinDist(5) ); - 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); - - r5nav.getShortestPath(1); - pc.printf("\n\nDistance from %i to 1: %i\n", r5nav.getVertex(), r5nav.getMinDist(1) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(0); - scanner.setLocalizeLeftFlag(1); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(3); - pc.printf("\n\nDistance from %i to 3: %i\n", r5nav.getVertex(), r5nav.getMinDist(3) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(0); - scanner.setLocalizeLeftFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(15); - pc.printf("\n\nDistance from %i to 15: %i\n", r5nav.getVertex(), r5nav.getMinDist(15) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(0); - scanner.setLocalizeLeftFlag(1); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(5); - pc.printf("\n\nDistance from %i to 5: %i\n", r5nav.getVertex(), r5nav.getMinDist(5) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(1); - scanner.setLocalizeLeftFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - /* 3rd peg retrieval complete - Begin 4th peg retrieval */ - } - } - - // peg V3 not found and at node 5 - - r5nav.getShortestPath(6); - pc.printf("\n\nDistance from %i to 6: %i\n", r5nav.getVertex(), r5nav.getMinDist(6) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(1); - scanner.setLocalizeLeftFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(14); - pc.printf("\n\nDistance from %i to 14: %i\n", r5nav.getVertex(), r5nav.getMinDist(14) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(0); - scanner.setLocalizeLeftFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(20); - pc.printf("\n\nDistance from %i to 20: %i\n", r5nav.getVertex(), r5nav.getMinDist(20) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(1); - scanner.setLocalizeLeftFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - /* add hunt code */ - - if (scanner.getObjectFound() == 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(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - // may need to break up above route - - 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); - - /* add drop peg code */ - - r5nav.getShortestPath(15) - pc.printf("\n\nDistance from %i to 15%i\n", r5nav.getVertex(), r5nav.getMinDist(15); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeLeftFlag(1); - scanner.setLocalizeRightFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(5); - pc.printf("\n\nDistance from %i to 5: %i\n", r5nav.getVertex(), r5nav.getMinDist(5) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(1); - scanner.setLocalizeLeftFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - /* may need to get back to 20 */ - } - - 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); - - r5nav.getShortestPath(1); - pc.printf("\n\nDistance from %i to 1: %i\n", r5nav.getVertex(), r5nav.getMinDist(1) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(0); - scanner.setLocalizeLeftFlag(1); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(3); - pc.printf("\n\nDistance from %i to 3: %i\n", r5nav.getVertex(), r5nav.getMinDist(3) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(0); - scanner.setLocalizeLeftFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(15); - pc.printf("\n\nDistance from %i to 15: %i\n", r5nav.getVertex(), r5nav.getMinDist(15) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(0); - scanner.setLocalizeLeftFlag(1); - r5nav.executeRoute(pc, drive); - wait(0.1); - - r5nav.getShortestPath(5); - pc.printf("\n\nDistance from %i to 5: %i\n", r5nav.getVertex(), r5nav.getMinDist(5) ); - pc.printf("Route:\n"); - //r5nav.printRoute(pc); - scanner.setLocalizeRightFlag(1); - scanner.setLocalizeLeftFlag(0); - r5nav.executeRoute(pc, drive); - wait(0.1); - - /* may need to get back to 20 */ - - /* V4 peg retrieval complete - Begin V5 peg retrieval */ - } - } - - /* add more code for for V5 and V6 */ - -/* - drive.move(0, ((90.0)*(3.14159 / 180.0))); // return to initial angle - // wait for move to complete - while(!drive.isMoveDone()) - { - wait(1e-6); - } -*/ - pc.printf("\n\nExercise Complete"); - return 0; -} +void reverseMove(StepperDrive &drive, float dist, float angle); void activate() { @@ -729,3 +21,409 @@ led_green = 0; active = true; } + +int main() +{ + pc.baud(115200); + bluetooth.baud(9600); /* interface via Bluetooth at 9600 */ + start.mode(PullUp); /* Button is active low needing PullUp */ + start.fall(&activate); + + led_red = 0; + led_green = 1; + + LongRangeSensor longRangeL(bluetooth, PTB2); + LongRangeSensor longRangeR(bluetooth, PTB3); +pc.printf("\nLong Range Sensors created"); +bluetooth.printf("\nLong Range Sensors created"); + + StepperDrive drive(bluetooth, PTE19, PTE18, 1, PTE3, PTE2, 0, 10.0625, + 8.4800, 650); // 8.375 + /* (serial &, stepPinLeft, dirPinLeft, invertLeft, + stepPinRight, dirPinRight, invertRight, wheelCircum, + wheelSepar, periodUs) */ +pc.printf("\nStepperDrive created"); +bluetooth.printf("\nStepperDrive created"); + +// Gripper gripper(PTE20, PTE21); // grip pin, wrist pin + + Navigation r5map(bluetooth, drive, longRangeL, longRangeR, led_red, led_green, 61); +pc.printf("\nNavigation created"); +bluetooth.printf("\nNavigation created"); + + //loading r5 map... + r5map.addGraphNode(0, 1, 6, 0); + r5map.addGraphNode(1, 0, 6, 180); + r5map.addGraphNode(1, 2, 7, 0); + r5map.addGraphNode(2, 1, 7, 180); + r5map.addGraphNode(2, 3, 8, 0); + r5map.addGraphNode(2, 12, 15, 90); + r5map.addGraphNode(3, 2, 8, 180); + r5map.addGraphNode(3, 4, 8, 0); + r5map.addGraphNode(4, 3, 8, 180); + r5map.addGraphNode(4, 5, 8, 0); + r5map.addGraphNode(5, 4, 8, 180); + r5map.addGraphNode(5, 6, 8, 0); + r5map.addGraphNode(6, 5, 8, 180); + r5map.addGraphNode(6, 7, 8, 0); + r5map.addGraphNode(7, 6, 8, 180); + r5map.addGraphNode(7, 8, 8, 0); + r5map.addGraphNode(8, 7, 8, 180); + r5map.addGraphNode(8, 9, 8, 0); + r5map.addGraphNode(9, 8, 8, 180); + r5map.addGraphNode(9, 10, 8, 0); + r5map.addGraphNode(10, 9, 8, 180); + r5map.addGraphNode(10, 11, 4, 0); + r5map.addGraphNode(11, 10, 4, 180); + r5map.addGraphNode(12, 2, 15, 270); + r5map.addGraphNode(12, 13, 8, 180); + r5map.addGraphNode(12, 14, 6, 0); + r5map.addGraphNode(13, 12, 8, 0); + r5map.addGraphNode(14, 12, 6, 180); + r5map.addGraphNode(14, 15, 7, 0); + r5map.addGraphNode(15, 14, 7, 180); + r5map.addGraphNode(15, 16, 7, 0); + r5map.addGraphNode(16, 15, 7, 180); + r5map.addGraphNode(16, 17, 3, 0); + r5map.addGraphNode(17, 16, 3, 180); + r5map.addGraphNode(17, 18, 8, 0); + r5map.addGraphNode(17, 30, 12, 90); + r5map.addGraphNode(18, 17, 8, 180); + r5map.addGraphNode(18, 19, 8, 0); + r5map.addGraphNode(19, 18, 8, 180); + r5map.addGraphNode(19, 20, 7, 0); + r5map.addGraphNode(20, 19, 7, 180); + r5map.addGraphNode(20, 21, 7, 0); + r5map.addGraphNode(21, 20, 7, 180); + r5map.addGraphNode(21, 22, 7, 0); + r5map.addGraphNode(22, 21, 7, 180); + r5map.addGraphNode(22, 23, 6, 0); + r5map.addGraphNode(23, 22, 6, 180); + r5map.addGraphNode(24, 22, 12, 270); + r5map.addGraphNode(24, 25, 6, 180); + r5map.addGraphNode(24, 42, 12, 90); + r5map.addGraphNode(25, 24, 6, 0); + r5map.addGraphNode(25, 26, 8, 180); + r5map.addGraphNode(26, 25, 7, 0); + r5map.addGraphNode(26, 27, 7, 180); + r5map.addGraphNode(27, 26, 7, 0); + r5map.addGraphNode(27, 28, 7, 180); + r5map.addGraphNode(28, 27, 7, 0); + r5map.addGraphNode(28, 29, 4, 180); + r5map.addGraphNode(29, 28, 4, 0); + r5map.addGraphNode(29, 30, 7, 180); + r5map.addGraphNode(30, 18, 12, 270); + r5map.addGraphNode(30, 29, 6, 0); + r5map.addGraphNode(30, 31, 6, 180); + r5map.addGraphNode(30, 36, 12, 90); + r5map.addGraphNode(31, 30, 6, 0); + r5map.addGraphNode(31, 32, 7, 180); + r5map.addGraphNode(32, 31, 7, 0); + r5map.addGraphNode(32, 33, 7, 180); + r5map.addGraphNode(33, 32, 7, 0); + r5map.addGraphNode(33, 34, 7, 180); + r5map.addGraphNode(34, 33, 7, 0); + r5map.addGraphNode(34, 35, 2, 180); + r5map.addGraphNode(35, 34, 2, 0); + r5map.addGraphNode(36, 30, 12, 270); + r5map.addGraphNode(36, 37, 6, 180); + r5map.addGraphNode(37, 36, 7, 0); + r5map.addGraphNode(37, 38, 7, 180); + r5map.addGraphNode(38, 37, 7, 0); + r5map.addGraphNode(38, 39, 7, 180); + r5map.addGraphNode(39, 38, 7, 0); + r5map.addGraphNode(39, 40, 7, 180); + r5map.addGraphNode(40, 39, 7, 0); + r5map.addGraphNode(40, 41, 2, 180); + r5map.addGraphNode(41, 40, 2, 0); + r5map.addGraphNode(42, 24, 12, 270); + r5map.addGraphNode(42, 43, 6, 0); + r5map.addGraphNode(43, 42, 6, 180); + r5map.addGraphNode(43, 44, 6, 0); + r5map.addGraphNode(44, 43, 6, 180); + r5map.addGraphNode(44, 45, 7, 90); + r5map.addGraphNode(45, 44, 7, 270); + r5map.addGraphNode(45, 46, 7, 90); + r5map.addGraphNode(46, 45, 7, 270); + r5map.addGraphNode(46, 47, 7, 90); + r5map.addGraphNode(47, 46, 7, 270); + r5map.addGraphNode(47, 48, 8, 90); + r5map.addGraphNode(48, 47, 8, 270); + r5map.addGraphNode(48, 49, 8, 90); + r5map.addGraphNode(49, 48, 8, 270); + r5map.addGraphNode(49, 50, 8, 90); + r5map.addGraphNode(50, 49, 8, 270); + r5map.addGraphNode(50, 51, 4, 180); + r5map.addGraphNode(51, 50, 4, 0); + r5map.addGraphNode(51, 52, 10, 180); + r5map.addGraphNode(52, 51, 10, 0); + r5map.addGraphNode(52, 53, 10, 180); + r5map.addGraphNode(53, 52, 10, 0); + r5map.addGraphNode(53, 54, 10, 180); + r5map.addGraphNode(54, 53, 10, 0); + r5map.addGraphNode(54, 55, 10, 180); + r5map.addGraphNode(55, 54, 10, 0); + r5map.addGraphNode(55, 56, 10, 180); + r5map.addGraphNode(56, 55, 10, 0); + r5map.addGraphNode(56, 57, 10, 180); + r5map.addGraphNode(57, 56, 10, 0); + r5map.addGraphNode(57, 55, 10, 180); + r5map.addGraphNode(58, 57, 10, 0); + r5map.addGraphNode(58, 59, 10, 180); + r5map.addGraphNode(59, 58, 10, 0); + r5map.addGraphNode(59, 60, 2, 270); + r5map.addGraphNode(60, 59, 2, 90); + +// gripper.lift(); +// gripper.release(); + + const uint8_t V1 = 23; + const uint8_t V2 = 35; + const uint8_t V3 = 41; + const uint8_t V4 = 47; + const uint8_t V5 = 51; + const uint8_t V6 = 60; + const uint8_t YELLOW_DROP_ZONE = 13; + const uint8_t RED_DROP_ZONE = 11; + + pc.printf("\nWaiting for START BUTTON\n"); + bluetooth.printf("\nWaiting for START BUTTON\n"); + while(!active) // wait for start_button + { + wait(1e-6); + } + + int target = V1; + r5map.getShortestPath(target); + pc.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(V1) ); + bluetooth.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(V1) ); + r5map.executeRoute(); + wait(0.1); + +// gripper.lower(); +// gripper.grip(); +// gripper.lift(); + + /* back up to safe turn-around location */ + pc.printf("\nBack up to safe turn around location"); + bluetooth.printf("\nBack up to safe turn around location"); + reverseMove(drive, 6.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(22); + + target = YELLOW_DROP_ZONE; + r5map.getShortestPath(target); + pc.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(YELLOW_DROP_ZONE) ); + bluetooth.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(YELLOW_DROP_ZONE) ); + r5map.executeRoute(); + wait(0.1); + + /* back up to safe turn-around location */ + pc.printf("\nBack up to a safe turn around location"); + bluetooth.printf("\nBack up to a safe turn around location"); + r5map.localizeLeftReverse(); + reverseMove(drive, 6.0, 0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(12); + r5map.localizeLeftReverse(); + + target = V2; + r5map.getShortestPath(target); + pc.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(V2) ); + bluetooth.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(V2) ); + r5map.executeRoute(); + wait(0.1); + + /* back up to safe turn-around location */ + pc.printf("\nBack up to a safe turn around location"); + bluetooth.printf("\nBack up to a safe turn around location"); + r5map.localizeLeftReverse(); + reverseMove(drive, 2.0, 0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(34); + r5map.localizeLeftReverse(); + reverseMove(drive, 7.0, 0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(33); + r5map.localizeLeftReverse(); + reverseMove(drive, 7.0, 0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(32); + r5map.localizeLeftReverse(); + reverseMove(drive, 7.0, 0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(31); + r5map.localizeLeftReverse(); + reverseMove(drive, 6.0, 0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(30); + r5map.localizeLeftReverse(); + + + target = RED_DROP_ZONE; + r5map.getShortestPath(target); + pc.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(RED_DROP_ZONE) ); + bluetooth.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(RED_DROP_ZONE) ); + r5map.executeRoute(); + wait(0.1); + + /* back up to safe turn around location + pc.printf("\nBack up to a safe turn around location"); + bluetooth.printf("\nBack up to a safe turn around location"); + r5map.localizeLeftReverse(); + reverseMove(drive, 4.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(10); + r5map.localizeLeftReverse(); + reverseMove(drive, 8.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(9); + r5map.localizeLeftReverse(); + reverseMove(drive, 8.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(8); + r5map.localizeLeftReverse(); + reverseMove(drive, 8.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(7); + r5map.localizeLeftReverse(); + reverseMove(drive, 8.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(6); + r5map.localizeLeftReverse(); + reverseMove(drive, 8.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(5); + r5map.localizeLeftReverse(); + reverseMove(drive, 8.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(4); + r5map.localizeLeftReverse(); + reverseMove(drive, 8.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(3); + r5map.localizeLeftReverse(); + reverseMove(drive, 8.0, 0); + while(!drive.isMoveDone()) + { + wait(1e-6); + } + r5map.setVertex(2); + r5map.localizeLeftReverse();*/ + + target = V3; + r5map.getShortestPath(target); + pc.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(V3) ); + bluetooth.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(V3) ); + r5map.executeRoute(); + wait(0.1); + + target = RED_DROP_ZONE; + r5map.getShortestPath(target); + pc.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(RED_DROP_ZONE) ); + bluetooth.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(RED_DROP_ZONE) ); + r5map.executeRoute(); + wait(0.1); + + target = V4; + r5map.getShortestPath(target); + pc.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(V4) ); + bluetooth.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(V4) ); + r5map.executeRoute(); + wait(0.1); + + target = YELLOW_DROP_ZONE; + r5map.getShortestPath(target); + pc.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(YELLOW_DROP_ZONE) ); + bluetooth.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(YELLOW_DROP_ZONE) ); + r5map.executeRoute(); + wait(0.1); + + target = 0; + r5map.getShortestPath(target); + pc.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(0) ); + bluetooth.printf("\n\nDistance from %i to %i: %f\n", r5map.getVertex(), target, r5map.getMinDist(0) ); + r5map.executeRoute(); + wait(0.1); + + pc.printf("\nExercise Complete"); + bluetooth.printf("\nExercise Complete"); +} // end of main + +// FUNCTION: +// void reverseMove(float dist, float angle) +// IN-PARAMETERS: +// dist (float), angle(float) +// OUT-PARAMETERS: +// None +// DESCRIPTION: +// Inverts values of invertLeft and invertRight and sends move +// command to move robot in reverse direction. +void reverseMove(StepperDrive &drive, float dist, float angle) +{ + // swap values for invertLeft and invertRight + drive.setInvertLeft(!drive.getInvertLeft()); + drive.setInvertRight(!drive.getInvertRight()); + + drive.move(dist, angle); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + + // restore original values for invertLeft and invertRight + drive.setInvertLeft(!drive.getInvertLeft()); + drive.setInvertRight(!drive.getInvertRight()); +} \ No newline at end of file