Texas State IEEE / navigation

navigation updated with completed dijkstra's algo

Dependents:   R5 2016 Robotics Team 1

navigation.cpp@12:6d37ea71da65, 2017-02-27 (annotated)

Committer:
j_j205
Date:
Mon Feb 27 12:02:07 2017 +0000
Revision:
12:6d37ea71da65
Parent:
11:ea1809fcc27c 
removed debug print statements

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j_j205 2:17bd430aeca1 1 #include "StepperDrive.h"
j_j205 6:d2da4d4b5112 2 #include "LongRangeSensor.h"
j_j205 0:fd72f6df078c 3 #include "navigation.h"
j_j205 0:fd72f6df078c 4 #include "stdint.h"
j_j205 2:17bd430aeca1 5 #include <cmath>
j_j205 0:fd72f6df078c 6 #include <fstream>
j_j205 0:fd72f6df078c 7 #include <stack>
j_j205 0:fd72f6df078c 8 #include <set>
j_j205 0:fd72f6df078c 9
j_j205 0:fd72f6df078c 10 // FUNCTION:
j_j205 0:fd72f6df078c 11 // Navigation(int size = DEFAULT_SIZE)
j_j205 0:fd72f6df078c 12 // IN-PARAMETERS:
j_j205 0:fd72f6df078c 13 // Number of initial vertices (DEFAULT = 1)
j_j205 0:fd72f6df078c 14 // OUT-PARAMETERS:
j_j205 0:fd72f6df078c 15 // None
j_j205 0:fd72f6df078c 16 // DESCRIPTION:
j_j205 0:fd72f6df078c 17 // Default and 1-parameter constructor.
j_j205 6:d2da4d4b5112 18 Navigation::Navigation(Serial &_pc, StepperDrive &_drive,
j_j205 6:d2da4d4b5112 19 LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR, DigitalOut &_led_red, DigitalOut &_led_green,
j_j205 6:d2da4d4b5112 20 int size = DEFAULT_SIZE) : pc(_pc), drive(_drive),
j_j205 6:d2da4d4b5112 21 longRangeL(_longRangeL), longRangeR(_longRangeR), led_red(_led_red), led_green(_led_green),
j_j205 6:d2da4d4b5112 22 vertex(DEFAULT_VERTEX), angle(DEFAULT_ANGLE)
j_j205 0:fd72f6df078c 23 {
j_j205 0:fd72f6df078c 24 graph.resize(size);
j_j205 6:d2da4d4b5112 25 distLocalL = 0.0;
j_j205 0:fd72f6df078c 26 }
j_j205 0:fd72f6df078c 27
j_j205 0:fd72f6df078c 28 // FUNCTION:
j_j205 0:fd72f6df078c 29 // addGraphNode(uint16_t src, uint16_t target, uint16_t dist,
j_j205 0:fd72f6df078c 30 // uint16_t angle)
j_j205 0:fd72f6df078c 31 // IN-PARAMETERS:
j_j205 0:fd72f6df078c 32 // Source node (uint16_t), target node (uint16_t), edge distance
j_j205 0:fd72f6df078c 33 // (uint16_t), and angle (uint16_t)
j_j205 0:fd72f6df078c 34 // OUT-PARAMETERS:
j_j205 0:fd72f6df078c 35 // None
j_j205 0:fd72f6df078c 36 // DESCRIPTION:
j_j205 0:fd72f6df078c 37 // Adds a graph node to the graph.
j_j205 6:d2da4d4b5112 38 void Navigation::addGraphNode(uint8_t src, uint8_t target, float dist,
j_j205 2:17bd430aeca1 39 float angle)
j_j205 0:fd72f6df078c 40 {
j_j205 0:fd72f6df078c 41 graph[src].push_back(graphNode(target, dist, angle));
j_j205 0:fd72f6df078c 42 }
j_j205 0:fd72f6df078c 43
j_j205 0:fd72f6df078c 44 // FUNCTION:
j_j205 0:fd72f6df078c 45 // addGraphNode(uint16_t src, uint16_t target, uint16_t dist,
j_j205 0:fd72f6df078c 46 // uint16_t angle)
j_j205 0:fd72f6df078c 47 // IN-PARAMETERS:
j_j205 0:fd72f6df078c 48 // Source node (uint16_t)
j_j205 0:fd72f6df078c 49 // OUT-PARAMETERS:
j_j205 0:fd72f6df078c 50 // None
j_j205 0:fd72f6df078c 51 // DESCRIPTION:
j_j205 0:fd72f6df078c 52 // Adds a graph node to the graph, with target, dist, and angle
j_j205 0:fd72f6df078c 53 // initialized to infinity
j_j205 6:d2da4d4b5112 54 void Navigation::addGraphNode(uint8_t src)
j_j205 0:fd72f6df078c 55 {
j_j205 0:fd72f6df078c 56 graph[src].push_back(graphNode());
j_j205 0:fd72f6df078c 57 }
j_j205 0:fd72f6df078c 58
j_j205 0:fd72f6df078c 59 // FUNCTION:
j_j205 0:fd72f6df078c 60 // int loadMap(char* infile);
j_j205 0:fd72f6df078c 61 // IN-PARAMETERS:
j_j205 0:fd72f6df078c 62 // Input file name (*char[])
j_j205 0:fd72f6df078c 63 // OUT-PARAMETERS:
j_j205 0:fd72f6df078c 64 // Returns 1 if file doesn't open
j_j205 0:fd72f6df078c 65 // Returns 0 if file opens succesfully
j_j205 0:fd72f6df078c 66 // DESCRIPTION:
j_j205 0:fd72f6df078c 67 // Loads contents of a file as a weighted graph. First entry in the file
j_j205 0:fd72f6df078c 68 // should be the number of vertices. All subsequent entries indicate edges
j_j205 0:fd72f6df078c 69 // by listing a source vertex, a target vertex, the distance between them
j_j205 0:fd72f6df078c 70 // and the angle from source to target (0 - 359 degrees) . Only edges
j_j205 0:fd72f6df078c 71 // are listed. Assumes that inverse angles/edges are included in file.
j_j205 0:fd72f6df078c 72 int Navigation::loadMap(char* inputFile)
j_j205 0:fd72f6df078c 73 {
j_j205 0:fd72f6df078c 74 std::ifstream inFile;
j_j205 0:fd72f6df078c 75 inFile.open(inputFile);
j_j205 0:fd72f6df078c 76 if (!inFile)
j_j205 0:fd72f6df078c 77 return 1; // returns 1 if file fails to open
j_j205 0:fd72f6df078c 78
j_j205 0:fd72f6df078c 79 int vertices;
j_j205 0:fd72f6df078c 80 inFile >> vertices; // reads first entry as number of vertices
j_j205 0:fd72f6df078c 81 graph.resize(vertices); // resizes vector as necessary
j_j205 0:fd72f6df078c 82
j_j205 6:d2da4d4b5112 83 uint8_t src;
j_j205 6:d2da4d4b5112 84 uint8_t target;
j_j205 2:17bd430aeca1 85 float dist;
j_j205 2:17bd430aeca1 86 float angle;
j_j205 0:fd72f6df078c 87
j_j205 0:fd72f6df078c 88 while (!inFile.eof() )
j_j205 0:fd72f6df078c 89 {
j_j205 0:fd72f6df078c 90 inFile >> src;
j_j205 0:fd72f6df078c 91 inFile >> target;
j_j205 0:fd72f6df078c 92 inFile >> dist;
j_j205 0:fd72f6df078c 93 inFile >> angle;
j_j205 0:fd72f6df078c 94
j_j205 0:fd72f6df078c 95 addGraphNode(src, target, dist, angle);
j_j205 0:fd72f6df078c 96 } // loads all data from file into graph
j_j205 0:fd72f6df078c 97
j_j205 0:fd72f6df078c 98 return 0;
j_j205 0:fd72f6df078c 99 }
j_j205 0:fd72f6df078c 100
j_j205 0:fd72f6df078c 101 // FUNCTION:
j_j205 0:fd72f6df078c 102 // void getShortestPath(uint16_t src, uint16_t destination)
j_j205 0:fd72f6df078c 103 // IN-PARAMETERS:
j_j205 0:fd72f6df078c 104 // Target vertex (uint16_t)
j_j205 0:fd72f6df078c 105 // OUT-PARAMETERS:
j_j205 0:fd72f6df078c 106 // None
j_j205 0:fd72f6df078c 107 // DESCRIPTION:
j_j205 0:fd72f6df078c 108 // Implementation of Dijkstra's algorithm. Uses current vertex as source
j_j205 0:fd72f6df078c 109 // and calculates shortest path information for all other vertices.
j_j205 0:fd72f6df078c 110 // Subroutine ends when shortest path for target vertex has been found
j_j205 0:fd72f6df078c 111 // and then loads the path into route.
j_j205 6:d2da4d4b5112 112 void Navigation::getShortestPath(uint8_t destination)
j_j205 0:fd72f6df078c 113 {
j_j205 6:d2da4d4b5112 114 uint8_t src = vertex;
j_j205 6:d2da4d4b5112 115 uint8_t v; // stores temporary vertex
j_j205 0:fd72f6df078c 116 int n = graph.size();
j_j205 0:fd72f6df078c 117 minDistance.clear();
j_j205 0:fd72f6df078c 118 minDistance.resize(n, MAX_DIST);
j_j205 0:fd72f6df078c 119 minDistance[src] = 0;
j_j205 0:fd72f6df078c 120 previous.clear();
j_j205 0:fd72f6df078c 121 previous.resize(n, -1);
j_j205 6:d2da4d4b5112 122 std::set<std::pair<float, uint8_t> > vertex_queue;
j_j205 0:fd72f6df078c 123 vertex_queue.insert(std::make_pair(minDistance[src], src));
j_j205 0:fd72f6df078c 124
j_j205 0:fd72f6df078c 125 while (!vertex_queue.empty())
j_j205 0:fd72f6df078c 126 {
j_j205 2:17bd430aeca1 127 float dist = vertex_queue.begin()->first;
j_j205 6:d2da4d4b5112 128 uint8_t u = vertex_queue.begin()->second;
j_j205 0:fd72f6df078c 129 vertex_queue.erase(vertex_queue.begin());
j_j205 0:fd72f6df078c 130
j_j205 0:fd72f6df078c 131 // Visit each edge exiting u
j_j205 0:fd72f6df078c 132 const std::vector<graphNode> &neighbors = graph[u];
j_j205 0:fd72f6df078c 133 for (std::vector<graphNode>::const_iterator neighbor_iter = neighbors.begin();
j_j205 0:fd72f6df078c 134 neighbor_iter != neighbors.end();
j_j205 0:fd72f6df078c 135 neighbor_iter++)
j_j205 0:fd72f6df078c 136 {
j_j205 0:fd72f6df078c 137 v = neighbor_iter->neighbor;
j_j205 2:17bd430aeca1 138 float weight = neighbor_iter->distance;
j_j205 2:17bd430aeca1 139 float distance_through_u = dist + weight;
j_j205 0:fd72f6df078c 140
j_j205 0:fd72f6df078c 141 if (distance_through_u < minDistance[v])
j_j205 0:fd72f6df078c 142 {
j_j205 0:fd72f6df078c 143 vertex_queue.erase(std::make_pair(minDistance[v], v));
j_j205 0:fd72f6df078c 144
j_j205 0:fd72f6df078c 145 minDistance[v] = distance_through_u;
j_j205 0:fd72f6df078c 146 previous[v] = u;
j_j205 0:fd72f6df078c 147 vertex_queue.insert(std::make_pair(minDistance[v], v));
j_j205 0:fd72f6df078c 148 }
j_j205 0:fd72f6df078c 149 if (v == destination)
j_j205 0:fd72f6df078c 150 break;
j_j205 0:fd72f6df078c 151 }
j_j205 0:fd72f6df078c 152 if (v == destination)
j_j205 0:fd72f6df078c 153 break;
j_j205 0:fd72f6df078c 154 }
j_j205 0:fd72f6df078c 155 while (v != src)
j_j205 0:fd72f6df078c 156 {
j_j205 0:fd72f6df078c 157 route.push(v);
j_j205 0:fd72f6df078c 158 v = previous[v];
j_j205 0:fd72f6df078c 159 }
j_j205 0:fd72f6df078c 160 }
j_j205 0:fd72f6df078c 161
j_j205 1:a53d97b74fab 162 // FUNCTION:
j_j205 1:a53d97b74fab 163 // void executeRoute()
j_j205 1:a53d97b74fab 164 // IN-PARAMETERS:
j_j205 1:a53d97b74fab 165 // Address of left and right steppers (StepperMotor &)
j_j205 1:a53d97b74fab 166 // OUT-PARAMETERS:
j_j205 1:a53d97b74fab 167 // None
j_j205 1:a53d97b74fab 168 // DESCRIPTION:
j_j205 1:a53d97b74fab 169 // Sends command to steppers to execute route.
j_j205 6:d2da4d4b5112 170 void Navigation::executeRoute()
j_j205 1:a53d97b74fab 171 {
j_j205 6:d2da4d4b5112 172 uint8_t target;
j_j205 2:17bd430aeca1 173 float targetAngle;
j_j205 2:17bd430aeca1 174 float targetDist;
j_j205 2:17bd430aeca1 175 float differenceAngle;
j_j205 4:a5d44517c65c 176
j_j205 1:a53d97b74fab 177 while (!route.empty() )
j_j205 1:a53d97b74fab 178 {
j_j205 1:a53d97b74fab 179 target = route.top();
j_j205 1:a53d97b74fab 180 route.pop();
j_j205 4:a5d44517c65c 181
j_j205 2:17bd430aeca1 182 for (int i = 0; i < graph[vertex].size(); i++)
j_j205 2:17bd430aeca1 183 {
j_j205 2:17bd430aeca1 184 if (graph[vertex][i].neighbor == target)
j_j205 2:17bd430aeca1 185 {
j_j205 2:17bd430aeca1 186 targetAngle = graph[vertex][i].angle;
j_j205 2:17bd430aeca1 187 targetDist = graph[vertex][i].distance;
j_j205 2:17bd430aeca1 188 break;
j_j205 2:17bd430aeca1 189 }
j_j205 2:17bd430aeca1 190 }
j_j205 4:a5d44517c65c 191
j_j205 2:17bd430aeca1 192 if (targetAngle != angle)
j_j205 2:17bd430aeca1 193 {
j_j205 2:17bd430aeca1 194 differenceAngle = targetAngle - angle;
j_j205 4:a5d44517c65c 195
j_j205 2:17bd430aeca1 196 if (abs(differenceAngle) > 180)
j_j205 2:17bd430aeca1 197 {
j_j205 6:d2da4d4b5112 198 if (differenceAngle < 0)
j_j205 2:17bd430aeca1 199 differenceAngle = 360 - abs(differenceAngle);
j_j205 2:17bd430aeca1 200 else
j_j205 2:17bd430aeca1 201 differenceAngle = -(360 - differenceAngle);
j_j205 2:17bd430aeca1 202 }
j_j205 4:a5d44517c65c 203
j_j205 2:17bd430aeca1 204 else
j_j205 2:17bd430aeca1 205 {
j_j205 2:17bd430aeca1 206 /* do nothing */
j_j205 2:17bd430aeca1 207 }
j_j205 4:a5d44517c65c 208
j_j205 2:17bd430aeca1 209 /* send -(differenceAngle) to motors */
j_j205 3:27cc2bacd6af 210 int returnVal = drive.move(0, ((-differenceAngle)*(PI / 180.0)) );
j_j205 2:17bd430aeca1 211 // wait for move to complete
j_j205 2:17bd430aeca1 212 while(!drive.isMoveDone())
j_j205 2:17bd430aeca1 213 {
j_j205 3:27cc2bacd6af 214 wait(1e-6);
j_j205 2:17bd430aeca1 215 }
j_j205 2:17bd430aeca1 216 }
j_j205 4:a5d44517c65c 217
j_j205 2:17bd430aeca1 218 /* send targetDist to motors */
j_j205 11:ea1809fcc27c 219 drive.move(targetDist, 0);
j_j205 2:17bd430aeca1 220 // wait for move to complete
j_j205 2:17bd430aeca1 221 while(!drive.isMoveDone())
j_j205 2:17bd430aeca1 222 {
j_j205 3:27cc2bacd6af 223 wait(1e-6);
j_j205 2:17bd430aeca1 224 }
j_j205 4:a5d44517c65c 225
j_j205 2:17bd430aeca1 226 vertex = target;
j_j205 2:17bd430aeca1 227 angle = targetAngle;
j_j205 6:d2da4d4b5112 228
j_j205 6:d2da4d4b5112 229 distLocalL = longRangeL.distInchesLOne();
j_j205 6:d2da4d4b5112 230 distLocalR = longRangeR.distInchesROne();
j_j205 12:6d37ea71da65 231
j_j205 8:290a110bcf0e 232 if (distLocalL <= 18.0) // wall in range
j_j205 7:f7489797746b 233 {
j_j205 8:290a110bcf0e 234 newLocalizeRight();
j_j205 7:f7489797746b 235 }
j_j205 6:d2da4d4b5112 236
j_j205 8:290a110bcf0e 237 else if (distLocalR <= 13.0) // wall in range
j_j205 7:f7489797746b 238 {
j_j205 8:290a110bcf0e 239 newLocalizeLeft();
j_j205 7:f7489797746b 240 }
j_j205 1:a53d97b74fab 241 }
j_j205 1:a53d97b74fab 242 }
j_j205 1:a53d97b74fab 243
j_j205 0:fd72f6df078c 244 // utility function
j_j205 0:fd72f6df078c 245 void Navigation::printPrevious(Serial &pc)
j_j205 0:fd72f6df078c 246 {
j_j205 0:fd72f6df078c 247 for(int i = 0; i < previous.size(); i++)
j_j205 0:fd72f6df078c 248 {
j_j205 2:17bd430aeca1 249 pc.printf("Node %f is prev to node %f\n", previous[i], i);
j_j205 0:fd72f6df078c 250 }
j_j205 0:fd72f6df078c 251 }
j_j205 0:fd72f6df078c 252
j_j205 0:fd72f6df078c 253 // utility function
j_j205 0:fd72f6df078c 254 void Navigation::printRoute(Serial &pc)
j_j205 0:fd72f6df078c 255 {
j_j205 0:fd72f6df078c 256 while (!route.empty() )
j_j205 0:fd72f6df078c 257 {
j_j205 0:fd72f6df078c 258 pc.printf("Go to node %i\n", route.top() );
j_j205 0:fd72f6df078c 259 route.pop();
j_j205 0:fd72f6df078c 260 }
j_j205 0:fd72f6df078c 261 }
j_j205 0:fd72f6df078c 262
j_j205 0:fd72f6df078c 263 // utility function
j_j205 0:fd72f6df078c 264 void Navigation::printGraph(Serial &pc)
j_j205 0:fd72f6df078c 265 {
j_j205 0:fd72f6df078c 266 for (int i = 0; i < graph.size(); i++)
j_j205 0:fd72f6df078c 267 for (int j = 0; j < graph[i].size(); j++)
j_j205 0:fd72f6df078c 268 {
j_j205 2:17bd430aeca1 269 pc.printf("Node %i to %i = dist - %f, angle - %f\n", i, j, graph[i][j].distance, graph[i][j].angle);
j_j205 0:fd72f6df078c 270 }
j_j205 5:d0954e0aecc9 271 }
j_j205 6:d2da4d4b5112 272
j_j205 6:d2da4d4b5112 273 // FUNCTION:
j_j205 6:d2da4d4b5112 274 // void localizeRight()
j_j205 6:d2da4d4b5112 275 // IN-PARAMETERS:
j_j205 6:d2da4d4b5112 276 // None
j_j205 6:d2da4d4b5112 277 // OUT-PARAMETERS:
j_j205 6:d2da4d4b5112 278 // None
j_j205 6:d2da4d4b5112 279 // DESCRIPTION:
j_j205 6:d2da4d4b5112 280 // Using sensor longRangeL this method will localize to the wall
j_j205 6:d2da4d4b5112 281 // to the right
j_j205 6:d2da4d4b5112 282 void Navigation::localizeRight()
j_j205 6:d2da4d4b5112 283 {
j_j205 7:f7489797746b 284 if (distLocalL >= 7.8) // very close left, turn more right
j_j205 7:f7489797746b 285 {
j_j205 7:f7489797746b 286 drive.move(0, (5.0)*(3.14159 / 180.0));
j_j205 7:f7489797746b 287 // wait for move to complete
j_j205 7:f7489797746b 288 while(!drive.isMoveDone())
j_j205 7:f7489797746b 289 {
j_j205 7:f7489797746b 290 wait(1e-6);
j_j205 7:f7489797746b 291 }
j_j205 7:f7489797746b 292 }
j_j205 7:f7489797746b 293
j_j205 7:f7489797746b 294 else if (distLocalL >= 6.9) // too close left, turn right
j_j205 6:d2da4d4b5112 295 {
j_j205 6:d2da4d4b5112 296 drive.move(0, (2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 297 // wait for move to complete
j_j205 6:d2da4d4b5112 298 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 299 {
j_j205 6:d2da4d4b5112 300 wait(1e-6);
j_j205 6:d2da4d4b5112 301 }
j_j205 6:d2da4d4b5112 302 }
j_j205 6:d2da4d4b5112 303
j_j205 7:f7489797746b 304 else if (distLocalL <= 5.5) // too close right, turn left
j_j205 6:d2da4d4b5112 305 {
j_j205 6:d2da4d4b5112 306 drive.move(0, (-2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 307 // wait for move to complete
j_j205 6:d2da4d4b5112 308 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 309 {
j_j205 6:d2da4d4b5112 310 wait(1e-6);
j_j205 6:d2da4d4b5112 311 }
j_j205 6:d2da4d4b5112 312 }
j_j205 6:d2da4d4b5112 313
j_j205 6:d2da4d4b5112 314 else
j_j205 6:d2da4d4b5112 315 {
j_j205 6:d2da4d4b5112 316 /* do nothing */
j_j205 6:d2da4d4b5112 317 }
j_j205 6:d2da4d4b5112 318 }
j_j205 6:d2da4d4b5112 319
j_j205 6:d2da4d4b5112 320 // FUNCTION:
j_j205 6:d2da4d4b5112 321 // void localizeLeft()
j_j205 6:d2da4d4b5112 322 // IN-PARAMETERS:
j_j205 6:d2da4d4b5112 323 // None
j_j205 6:d2da4d4b5112 324 // OUT-PARAMETERS:
j_j205 6:d2da4d4b5112 325 // None
j_j205 6:d2da4d4b5112 326 // DESCRIPTION:
j_j205 6:d2da4d4b5112 327 // Using sensor longRangeR this method will localize to the wall
j_j205 6:d2da4d4b5112 328 // to the left during stretches of forward motion where robot
j_j205 6:d2da4d4b5112 329 // should remain xxx distance from the left wall.
j_j205 6:d2da4d4b5112 330 void Navigation::localizeLeft()
j_j205 6:d2da4d4b5112 331 {
j_j205 6:d2da4d4b5112 332 if (distLocalR >= 9.7) // too close right, turn left
j_j205 6:d2da4d4b5112 333 {
j_j205 6:d2da4d4b5112 334 drive.move(0.0, (-2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 335 // wait for move to complete
j_j205 6:d2da4d4b5112 336 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 337 {
j_j205 6:d2da4d4b5112 338 wait(1e-6);
j_j205 6:d2da4d4b5112 339 }
j_j205 6:d2da4d4b5112 340 }
j_j205 6:d2da4d4b5112 341
j_j205 6:d2da4d4b5112 342 else if (distLocalR <= 8.3) // too close left, turn right
j_j205 6:d2da4d4b5112 343 {
j_j205 6:d2da4d4b5112 344 drive.move(0.0, (2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 345 // wait for move to complete
j_j205 6:d2da4d4b5112 346 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 347 {
j_j205 6:d2da4d4b5112 348 wait(1e-6);
j_j205 6:d2da4d4b5112 349 }
j_j205 6:d2da4d4b5112 350 }
j_j205 6:d2da4d4b5112 351
j_j205 6:d2da4d4b5112 352 else
j_j205 6:d2da4d4b5112 353 {
j_j205 6:d2da4d4b5112 354 /* do nothing */
j_j205 6:d2da4d4b5112 355 }
j_j205 6:d2da4d4b5112 356 }
j_j205 6:d2da4d4b5112 357
j_j205 6:d2da4d4b5112 358 // FUNCTION:
j_j205 6:d2da4d4b5112 359 // void localizeRightReverse()
j_j205 6:d2da4d4b5112 360 // IN-PARAMETERS:
j_j205 6:d2da4d4b5112 361 // None
j_j205 6:d2da4d4b5112 362 // OUT-PARAMETERS:
j_j205 6:d2da4d4b5112 363 // None
j_j205 6:d2da4d4b5112 364 // DESCRIPTION:
j_j205 6:d2da4d4b5112 365 // Using sensor longRangeL this method will localize to the wall
j_j205 6:d2da4d4b5112 366 // to the right
j_j205 6:d2da4d4b5112 367 void Navigation::localizeRightReverse()
j_j205 6:d2da4d4b5112 368 {
j_j205 6:d2da4d4b5112 369 if (distLocalL >= 7.2) // too close left, turn left
j_j205 6:d2da4d4b5112 370 {
j_j205 6:d2da4d4b5112 371 drive.move(0, (-2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 372 // wait for move to complete
j_j205 6:d2da4d4b5112 373 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 374 {
j_j205 6:d2da4d4b5112 375 wait(1e-6);
j_j205 6:d2da4d4b5112 376 }
j_j205 6:d2da4d4b5112 377 }
j_j205 6:d2da4d4b5112 378
j_j205 6:d2da4d4b5112 379 else if (distLocalL <= 6.2) // too close right, turn right
j_j205 6:d2da4d4b5112 380 {
j_j205 6:d2da4d4b5112 381 drive.move(0, (2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 382 // wait for move to complete
j_j205 6:d2da4d4b5112 383 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 384 {
j_j205 6:d2da4d4b5112 385 wait(1e-6);
j_j205 6:d2da4d4b5112 386 }
j_j205 6:d2da4d4b5112 387 }
j_j205 6:d2da4d4b5112 388
j_j205 6:d2da4d4b5112 389 else
j_j205 6:d2da4d4b5112 390 {
j_j205 6:d2da4d4b5112 391 /* do nothing */
j_j205 6:d2da4d4b5112 392 }
j_j205 6:d2da4d4b5112 393 }
j_j205 6:d2da4d4b5112 394
j_j205 6:d2da4d4b5112 395 // FUNCTION:
j_j205 6:d2da4d4b5112 396 // void localizeLeftReverse()
j_j205 6:d2da4d4b5112 397 // IN-PARAMETERS:
j_j205 6:d2da4d4b5112 398 // None
j_j205 6:d2da4d4b5112 399 // OUT-PARAMETERS:
j_j205 6:d2da4d4b5112 400 // None
j_j205 6:d2da4d4b5112 401 // DESCRIPTION:
j_j205 6:d2da4d4b5112 402 // Using sensor longRangeR this method will localize to the wall
j_j205 6:d2da4d4b5112 403 // to the left during stretches of forward motion where robot
j_j205 6:d2da4d4b5112 404 // should remain xxx distance from the left wall.
j_j205 6:d2da4d4b5112 405 void Navigation::localizeLeftReverse()
j_j205 6:d2da4d4b5112 406 {
j_j205 6:d2da4d4b5112 407 if (distLocalR >= 9.7) // toos close right, turn right
j_j205 6:d2da4d4b5112 408 {
j_j205 6:d2da4d4b5112 409 drive.move(0.0, (2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 410 // wait for move to complete
j_j205 6:d2da4d4b5112 411 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 412 {
j_j205 6:d2da4d4b5112 413 wait(1e-6);
j_j205 6:d2da4d4b5112 414 }
j_j205 6:d2da4d4b5112 415 }
j_j205 6:d2da4d4b5112 416
j_j205 6:d2da4d4b5112 417 else if (distLocalR <= 8.3) // too close left, turn left
j_j205 6:d2da4d4b5112 418 {
j_j205 6:d2da4d4b5112 419 drive.move(0.0, (-2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 420 // wait for move to complete
j_j205 6:d2da4d4b5112 421 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 422 {
j_j205 6:d2da4d4b5112 423 wait(1e-6);
j_j205 6:d2da4d4b5112 424 }
j_j205 6:d2da4d4b5112 425 }
j_j205 6:d2da4d4b5112 426
j_j205 6:d2da4d4b5112 427 else
j_j205 6:d2da4d4b5112 428 {
j_j205 6:d2da4d4b5112 429 /* do nothing */
j_j205 6:d2da4d4b5112 430 }
j_j205 6:d2da4d4b5112 431 }
j_j205 7:f7489797746b 432
j_j205 7:f7489797746b 433 // FUNCTION:
j_j205 7:f7489797746b 434 // void newLocalize()
j_j205 7:f7489797746b 435 // IN-PARAMETERS:
j_j205 7:f7489797746b 436 // None
j_j205 7:f7489797746b 437 // OUT-PARAMETERS:
j_j205 7:f7489797746b 438 // None
j_j205 7:f7489797746b 439 // DESCRIPTION:
j_j205 7:f7489797746b 440 // Uses difference between sensors to adjust angle
j_j205 7:f7489797746b 441 void Navigation::newLocalize()
j_j205 7:f7489797746b 442 {
j_j205 7:f7489797746b 443 float k = 2.5;
j_j205 7:f7489797746b 444 float angleAdjust = k*(distLocalL - distLocalR);
j_j205 7:f7489797746b 445
j_j205 8:290a110bcf0e 446 drive.move(0, angleAdjust*(PI / 180.0));
j_j205 8:290a110bcf0e 447 // wait for move to complete
j_j205 8:290a110bcf0e 448 while(!drive.isMoveDone())
j_j205 8:290a110bcf0e 449 {
j_j205 8:290a110bcf0e 450 wait(1e-6);
j_j205 8:290a110bcf0e 451 }
j_j205 8:290a110bcf0e 452 angle += angleAdjust;
j_j205 8:290a110bcf0e 453 }
j_j205 8:290a110bcf0e 454
j_j205 8:290a110bcf0e 455 // FUNCTION:
j_j205 8:290a110bcf0e 456 // void newLocalizeRight()
j_j205 8:290a110bcf0e 457 // IN-PARAMETERS:
j_j205 8:290a110bcf0e 458 // None
j_j205 8:290a110bcf0e 459 // OUT-PARAMETERS:
j_j205 8:290a110bcf0e 460 // None
j_j205 8:290a110bcf0e 461 // DESCRIPTION:
j_j205 8:290a110bcf0e 462 // Left sensor to adjust off right wall
j_j205 8:290a110bcf0e 463 void Navigation::newLocalizeRight()
j_j205 8:290a110bcf0e 464 {
j_j205 8:290a110bcf0e 465 float k = 2.0;
j_j205 8:290a110bcf0e 466
j_j205 8:290a110bcf0e 467 float angleAdjust = k*(distLocalL - 13.0);
j_j205 8:290a110bcf0e 468
j_j205 8:290a110bcf0e 469 drive.move(0, angleAdjust*(PI / 180.0));
j_j205 7:f7489797746b 470 // wait for move to complete
j_j205 7:f7489797746b 471 while(!drive.isMoveDone())
j_j205 7:f7489797746b 472 {
j_j205 7:f7489797746b 473 wait(1e-6);
j_j205 7:f7489797746b 474 }
j_j205 8:290a110bcf0e 475 //angle += (-1*angleAdjust);
j_j205 8:290a110bcf0e 476 }
j_j205 8:290a110bcf0e 477
j_j205 8:290a110bcf0e 478 // FUNCTION:
j_j205 8:290a110bcf0e 479 // void newLocalizeLeft()
j_j205 8:290a110bcf0e 480 // IN-PARAMETERS:
j_j205 8:290a110bcf0e 481 // None
j_j205 8:290a110bcf0e 482 // OUT-PARAMETERS:
j_j205 8:290a110bcf0e 483 // None
j_j205 8:290a110bcf0e 484 // DESCRIPTION:
j_j205 8:290a110bcf0e 485 // Right sensor to adjust off Left wall
j_j205 8:290a110bcf0e 486 void Navigation::newLocalizeLeft()
j_j205 8:290a110bcf0e 487 {
j_j205 11:ea1809fcc27c 488 float k = 3.5; // 1.125
j_j205 8:290a110bcf0e 489 float angleAdjust = k*(9.1 - distLocalR);
j_j205 8:290a110bcf0e 490
j_j205 8:290a110bcf0e 491 drive.move(0, angleAdjust*(PI / 180.0));
j_j205 8:290a110bcf0e 492 // wait for move to complete
j_j205 8:290a110bcf0e 493 while(!drive.isMoveDone())
j_j205 8:290a110bcf0e 494 {
j_j205 8:290a110bcf0e 495 wait(1e-6);
j_j205 8:290a110bcf0e 496 }
j_j205 8:290a110bcf0e 497 //angle += (-1*angleAdjust);
j_j205 8:290a110bcf0e 498 }
j_j205 8:290a110bcf0e 499
j_j205 8:290a110bcf0e 500 // FUNCTION:
j_j205 8:290a110bcf0e 501 // void newLocalizeLeftReverse()
j_j205 8:290a110bcf0e 502 // IN-PARAMETERS:
j_j205 8:290a110bcf0e 503 // None
j_j205 8:290a110bcf0e 504 // OUT-PARAMETERS:
j_j205 8:290a110bcf0e 505 // None
j_j205 8:290a110bcf0e 506 // DESCRIPTION:
j_j205 8:290a110bcf0e 507 // Right sensor to adjust off Left wall
j_j205 8:290a110bcf0e 508 void Navigation::newLocalizeLeftReverse()
j_j205 8:290a110bcf0e 509 {
j_j205 8:290a110bcf0e 510 float k = 3.5;
j_j205 10:23e21c19b48a 511 float angleAdjust = k*(distLocalR - 9.1);
j_j205 8:290a110bcf0e 512
j_j205 10:23e21c19b48a 513 drive.move(0, angleAdjust*(PI / 180.0));
j_j205 8:290a110bcf0e 514 // wait for move to complete
j_j205 8:290a110bcf0e 515 while(!drive.isMoveDone())
j_j205 8:290a110bcf0e 516 {
j_j205 8:290a110bcf0e 517 wait(1e-6);
j_j205 8:290a110bcf0e 518 }
j_j205 8:290a110bcf0e 519 //angle += (-1*angleAdjust);
j_j205 8:290a110bcf0e 520 }
j_j205 8:290a110bcf0e 521
j_j205 8:290a110bcf0e 522 // FUNCTION:
j_j205 8:290a110bcf0e 523 // void newLocalizeRightReverse()
j_j205 8:290a110bcf0e 524 // IN-PARAMETERS:
j_j205 8:290a110bcf0e 525 // None
j_j205 8:290a110bcf0e 526 // OUT-PARAMETERS:
j_j205 8:290a110bcf0e 527 // None
j_j205 8:290a110bcf0e 528 // DESCRIPTION:
j_j205 8:290a110bcf0e 529 // Left sensor to adjust off right wall
j_j205 8:290a110bcf0e 530 void Navigation::newLocalizeRightReverse()
j_j205 8:290a110bcf0e 531 {
j_j205 10:23e21c19b48a 532 float k = 3.0;
j_j205 8:290a110bcf0e 533
j_j205 10:23e21c19b48a 534 float angleAdjust = k*(13.0 - distLocalL);
j_j205 8:290a110bcf0e 535
j_j205 10:23e21c19b48a 536 drive.move(0, angleAdjust*(PI / 180.0));
j_j205 8:290a110bcf0e 537 // wait for move to complete
j_j205 8:290a110bcf0e 538 while(!drive.isMoveDone())
j_j205 8:290a110bcf0e 539 {
j_j205 8:290a110bcf0e 540 wait(1e-6);
j_j205 8:290a110bcf0e 541 }
j_j205 8:290a110bcf0e 542 //angle += (-1*angleAdjust);
j_j205 8:290a110bcf0e 543 }
j_j205 8:290a110bcf0e 544