Texas State IEEE / navigation

navigation updated with completed dijkstra's algo

Dependents:   R5 2016 Robotics Team 1

navigation.cpp@6:d2da4d4b5112, 2016-04-06 (annotated)

Committer:
j_j205
Date:
Wed Apr 06 22:01:59 2016 +0000
Revision:
6:d2da4d4b5112
Parent:
5:d0954e0aecc9
Child:
7:f7489797746b
changes to localization;

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 4:a5d44517c65c 211 pc.printf("\nChanged angle %f degrees to %f", differenceAngle, targetAngle);
j_j205 4:a5d44517c65c 212
j_j205 2:17bd430aeca1 213 // wait for move to complete
j_j205 2:17bd430aeca1 214 while(!drive.isMoveDone())
j_j205 2:17bd430aeca1 215 {
j_j205 3:27cc2bacd6af 216 wait(1e-6);
j_j205 2:17bd430aeca1 217 }
j_j205 6:d2da4d4b5112 218
j_j205 6:d2da4d4b5112 219 distLocalL = longRangeL.distInchesLOne();
j_j205 6:d2da4d4b5112 220 distLocalR = longRangeR.distInchesROne();
j_j205 6:d2da4d4b5112 221 pc.printf("\n distLocalL = %f", distLocalL);
j_j205 6:d2da4d4b5112 222 pc.printf("\n distLocalR = %f", distLocalR);
j_j205 6:d2da4d4b5112 223 if ((distLocalL <= 8.0) && (distLocalL >= 3.0)) // wall in range
j_j205 6:d2da4d4b5112 224 {
j_j205 6:d2da4d4b5112 225 localizeRight();
j_j205 6:d2da4d4b5112 226 }
j_j205 6:d2da4d4b5112 227
j_j205 6:d2da4d4b5112 228 else if ((distLocalR <= 10.5) && (distLocalR >= 5.0)) // wall in range
j_j205 6:d2da4d4b5112 229 {
j_j205 6:d2da4d4b5112 230 localizeLeft();
j_j205 6:d2da4d4b5112 231 }
j_j205 2:17bd430aeca1 232 }
j_j205 4:a5d44517c65c 233
j_j205 2:17bd430aeca1 234 /* send targetDist to motors */
j_j205 3:27cc2bacd6af 235 int returnVal = drive.move(targetDist, 0);
j_j205 2:17bd430aeca1 236 pc.printf("\nMoved forward a distance of %f to node %i", targetDist, target);
j_j205 3:27cc2bacd6af 237
j_j205 2:17bd430aeca1 238 // wait for move to complete
j_j205 2:17bd430aeca1 239 while(!drive.isMoveDone())
j_j205 2:17bd430aeca1 240 {
j_j205 3:27cc2bacd6af 241 wait(1e-6);
j_j205 2:17bd430aeca1 242 }
j_j205 4:a5d44517c65c 243
j_j205 2:17bd430aeca1 244 vertex = target;
j_j205 2:17bd430aeca1 245 angle = targetAngle;
j_j205 6:d2da4d4b5112 246
j_j205 6:d2da4d4b5112 247 distLocalL = longRangeL.distInchesLOne();
j_j205 6:d2da4d4b5112 248 distLocalR = longRangeR.distInchesROne();
j_j205 6:d2da4d4b5112 249 pc.printf("\n distLocalL = %f", distLocalL);
j_j205 6:d2da4d4b5112 250 pc.printf("\n distLocalR = %f", distLocalR);
j_j205 6:d2da4d4b5112 251 if ((distLocalL <= 8.5) && (distLocalL >= 3.0)) // wall in range
j_j205 6:d2da4d4b5112 252 {
j_j205 6:d2da4d4b5112 253 localizeRight();
j_j205 6:d2da4d4b5112 254 }
j_j205 6:d2da4d4b5112 255
j_j205 6:d2da4d4b5112 256 else if ((distLocalR <= 10.5) && (distLocalR >= 5.0)) // wall in range
j_j205 6:d2da4d4b5112 257 {
j_j205 6:d2da4d4b5112 258 localizeLeft();
j_j205 6:d2da4d4b5112 259 }
j_j205 1:a53d97b74fab 260 }
j_j205 1:a53d97b74fab 261 }
j_j205 1:a53d97b74fab 262
j_j205 0:fd72f6df078c 263 // utility function
j_j205 0:fd72f6df078c 264 void Navigation::printPrevious(Serial &pc)
j_j205 0:fd72f6df078c 265 {
j_j205 0:fd72f6df078c 266 for(int i = 0; i < previous.size(); i++)
j_j205 0:fd72f6df078c 267 {
j_j205 2:17bd430aeca1 268 pc.printf("Node %f is prev to node %f\n", previous[i], i);
j_j205 0:fd72f6df078c 269 }
j_j205 0:fd72f6df078c 270 }
j_j205 0:fd72f6df078c 271
j_j205 0:fd72f6df078c 272 // utility function
j_j205 0:fd72f6df078c 273 void Navigation::printRoute(Serial &pc)
j_j205 0:fd72f6df078c 274 {
j_j205 0:fd72f6df078c 275 while (!route.empty() )
j_j205 0:fd72f6df078c 276 {
j_j205 0:fd72f6df078c 277 pc.printf("Go to node %i\n", route.top() );
j_j205 0:fd72f6df078c 278 route.pop();
j_j205 0:fd72f6df078c 279 }
j_j205 0:fd72f6df078c 280 }
j_j205 0:fd72f6df078c 281
j_j205 0:fd72f6df078c 282 // utility function
j_j205 0:fd72f6df078c 283 void Navigation::printGraph(Serial &pc)
j_j205 0:fd72f6df078c 284 {
j_j205 0:fd72f6df078c 285 for (int i = 0; i < graph.size(); i++)
j_j205 0:fd72f6df078c 286 for (int j = 0; j < graph[i].size(); j++)
j_j205 0:fd72f6df078c 287 {
j_j205 2:17bd430aeca1 288 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 289 }
j_j205 5:d0954e0aecc9 290 }
j_j205 6:d2da4d4b5112 291
j_j205 6:d2da4d4b5112 292 // FUNCTION:
j_j205 6:d2da4d4b5112 293 // void localizeRight()
j_j205 6:d2da4d4b5112 294 // IN-PARAMETERS:
j_j205 6:d2da4d4b5112 295 // None
j_j205 6:d2da4d4b5112 296 // OUT-PARAMETERS:
j_j205 6:d2da4d4b5112 297 // None
j_j205 6:d2da4d4b5112 298 // DESCRIPTION:
j_j205 6:d2da4d4b5112 299 // Using sensor longRangeL this method will localize to the wall
j_j205 6:d2da4d4b5112 300 // to the right
j_j205 6:d2da4d4b5112 301 void Navigation::localizeRight()
j_j205 6:d2da4d4b5112 302 {
j_j205 6:d2da4d4b5112 303 if (distLocalL >= 7.1) // too close left, turn right
j_j205 6:d2da4d4b5112 304 {
j_j205 6:d2da4d4b5112 305 drive.move(0, (2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 306 // wait for move to complete
j_j205 6:d2da4d4b5112 307 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 308 {
j_j205 6:d2da4d4b5112 309 wait(1e-6);
j_j205 6:d2da4d4b5112 310 }
j_j205 6:d2da4d4b5112 311 pc.printf("\n Adjusted angle right, in localizeRight");
j_j205 6:d2da4d4b5112 312 }
j_j205 6:d2da4d4b5112 313
j_j205 6:d2da4d4b5112 314 else if (distLocalL <= 5.9) // too close right, turn left
j_j205 6:d2da4d4b5112 315 {
j_j205 6:d2da4d4b5112 316 drive.move(0, (-2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 317 // wait for move to complete
j_j205 6:d2da4d4b5112 318 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 319 {
j_j205 6:d2da4d4b5112 320 wait(1e-6);
j_j205 6:d2da4d4b5112 321 }
j_j205 6:d2da4d4b5112 322 pc.printf("\n Adjusted angle left , in localizeRight");
j_j205 6:d2da4d4b5112 323 }
j_j205 6:d2da4d4b5112 324
j_j205 6:d2da4d4b5112 325 else
j_j205 6:d2da4d4b5112 326 {
j_j205 6:d2da4d4b5112 327 /* do nothing */
j_j205 6:d2da4d4b5112 328 pc.printf("\n No need to adjust, in localizeRight");
j_j205 6:d2da4d4b5112 329 }
j_j205 6:d2da4d4b5112 330 }
j_j205 6:d2da4d4b5112 331
j_j205 6:d2da4d4b5112 332 // FUNCTION:
j_j205 6:d2da4d4b5112 333 // void localizeLeft()
j_j205 6:d2da4d4b5112 334 // IN-PARAMETERS:
j_j205 6:d2da4d4b5112 335 // None
j_j205 6:d2da4d4b5112 336 // OUT-PARAMETERS:
j_j205 6:d2da4d4b5112 337 // None
j_j205 6:d2da4d4b5112 338 // DESCRIPTION:
j_j205 6:d2da4d4b5112 339 // Using sensor longRangeR this method will localize to the wall
j_j205 6:d2da4d4b5112 340 // to the left during stretches of forward motion where robot
j_j205 6:d2da4d4b5112 341 // should remain xxx distance from the left wall.
j_j205 6:d2da4d4b5112 342 void Navigation::localizeLeft()
j_j205 6:d2da4d4b5112 343 {
j_j205 6:d2da4d4b5112 344 if (distLocalR >= 9.7) // too close right, turn left
j_j205 6:d2da4d4b5112 345 {
j_j205 6:d2da4d4b5112 346 drive.move(0.0, (-2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 347 // wait for move to complete
j_j205 6:d2da4d4b5112 348 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 349 {
j_j205 6:d2da4d4b5112 350 wait(1e-6);
j_j205 6:d2da4d4b5112 351 }
j_j205 6:d2da4d4b5112 352 pc.printf("\n Adjusted angle left, in localizeLeft");
j_j205 6:d2da4d4b5112 353 }
j_j205 6:d2da4d4b5112 354
j_j205 6:d2da4d4b5112 355 else if (distLocalR <= 8.3) // too close left, turn right
j_j205 6:d2da4d4b5112 356 {
j_j205 6:d2da4d4b5112 357 drive.move(0.0, (2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 358 // wait for move to complete
j_j205 6:d2da4d4b5112 359 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 360 {
j_j205 6:d2da4d4b5112 361 wait(1e-6);
j_j205 6:d2da4d4b5112 362 }
j_j205 6:d2da4d4b5112 363 pc.printf("\n Adjusted angle right, in localizeLeft");
j_j205 6:d2da4d4b5112 364 }
j_j205 6:d2da4d4b5112 365
j_j205 6:d2da4d4b5112 366 else
j_j205 6:d2da4d4b5112 367 {
j_j205 6:d2da4d4b5112 368 /* do nothing */
j_j205 6:d2da4d4b5112 369 pc.printf("\n No need to adjust, in localizeLeft");
j_j205 6:d2da4d4b5112 370 }
j_j205 6:d2da4d4b5112 371 }
j_j205 6:d2da4d4b5112 372
j_j205 6:d2da4d4b5112 373 // FUNCTION:
j_j205 6:d2da4d4b5112 374 // void localizeRightReverse()
j_j205 6:d2da4d4b5112 375 // IN-PARAMETERS:
j_j205 6:d2da4d4b5112 376 // None
j_j205 6:d2da4d4b5112 377 // OUT-PARAMETERS:
j_j205 6:d2da4d4b5112 378 // None
j_j205 6:d2da4d4b5112 379 // DESCRIPTION:
j_j205 6:d2da4d4b5112 380 // Using sensor longRangeL this method will localize to the wall
j_j205 6:d2da4d4b5112 381 // to the right
j_j205 6:d2da4d4b5112 382 void Navigation::localizeRightReverse()
j_j205 6:d2da4d4b5112 383 {
j_j205 6:d2da4d4b5112 384 if (distLocalL >= 7.2) // too close left, turn left
j_j205 6:d2da4d4b5112 385 {
j_j205 6:d2da4d4b5112 386 drive.move(0, (-2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 387 // wait for move to complete
j_j205 6:d2da4d4b5112 388 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 389 {
j_j205 6:d2da4d4b5112 390 wait(1e-6);
j_j205 6:d2da4d4b5112 391 }
j_j205 6:d2da4d4b5112 392 pc.printf("\n Adjusted angle left, in localizeRightReverse");
j_j205 6:d2da4d4b5112 393 }
j_j205 6:d2da4d4b5112 394
j_j205 6:d2da4d4b5112 395 else if (distLocalL <= 6.2) // too close right, turn right
j_j205 6:d2da4d4b5112 396 {
j_j205 6:d2da4d4b5112 397 drive.move(0, (2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 398 // wait for move to complete
j_j205 6:d2da4d4b5112 399 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 400 {
j_j205 6:d2da4d4b5112 401 wait(1e-6);
j_j205 6:d2da4d4b5112 402 }
j_j205 6:d2da4d4b5112 403 pc.printf("\n Adjusted angle right, in localizeRightReverse");
j_j205 6:d2da4d4b5112 404 }
j_j205 6:d2da4d4b5112 405
j_j205 6:d2da4d4b5112 406 else
j_j205 6:d2da4d4b5112 407 {
j_j205 6:d2da4d4b5112 408 /* do nothing */
j_j205 6:d2da4d4b5112 409 pc.printf("\n No need to adjust, in localizeRightReverse");
j_j205 6:d2da4d4b5112 410 }
j_j205 6:d2da4d4b5112 411 }
j_j205 6:d2da4d4b5112 412
j_j205 6:d2da4d4b5112 413 // FUNCTION:
j_j205 6:d2da4d4b5112 414 // void localizeLeftReverse()
j_j205 6:d2da4d4b5112 415 // IN-PARAMETERS:
j_j205 6:d2da4d4b5112 416 // None
j_j205 6:d2da4d4b5112 417 // OUT-PARAMETERS:
j_j205 6:d2da4d4b5112 418 // None
j_j205 6:d2da4d4b5112 419 // DESCRIPTION:
j_j205 6:d2da4d4b5112 420 // Using sensor longRangeR this method will localize to the wall
j_j205 6:d2da4d4b5112 421 // to the left during stretches of forward motion where robot
j_j205 6:d2da4d4b5112 422 // should remain xxx distance from the left wall.
j_j205 6:d2da4d4b5112 423 void Navigation::localizeLeftReverse()
j_j205 6:d2da4d4b5112 424 {
j_j205 6:d2da4d4b5112 425 if (distLocalR >= 9.7) // toos close right, turn right
j_j205 6:d2da4d4b5112 426 {
j_j205 6:d2da4d4b5112 427 drive.move(0.0, (2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 428 // wait for move to complete
j_j205 6:d2da4d4b5112 429 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 430 {
j_j205 6:d2da4d4b5112 431 wait(1e-6);
j_j205 6:d2da4d4b5112 432 }
j_j205 6:d2da4d4b5112 433 pc.printf("\n Adjusted angle right, in localizeLeftReverse");
j_j205 6:d2da4d4b5112 434 }
j_j205 6:d2da4d4b5112 435
j_j205 6:d2da4d4b5112 436 else if (distLocalR <= 8.3) // too close left, turn left
j_j205 6:d2da4d4b5112 437 {
j_j205 6:d2da4d4b5112 438 drive.move(0.0, (-2.0)*(3.14159 / 180.0));
j_j205 6:d2da4d4b5112 439 // wait for move to complete
j_j205 6:d2da4d4b5112 440 while(!drive.isMoveDone())
j_j205 6:d2da4d4b5112 441 {
j_j205 6:d2da4d4b5112 442 wait(1e-6);
j_j205 6:d2da4d4b5112 443 }
j_j205 6:d2da4d4b5112 444 pc.printf("\n Adjusted angle left, in localizeLeftReverse");
j_j205 6:d2da4d4b5112 445 }
j_j205 6:d2da4d4b5112 446
j_j205 6:d2da4d4b5112 447 else
j_j205 6:d2da4d4b5112 448 {
j_j205 6:d2da4d4b5112 449 /* do nothing */
j_j205 6:d2da4d4b5112 450 pc.printf("\n No need to adjust, in localizeLeftReverse");
j_j205 6:d2da4d4b5112 451 }
j_j205 6:d2da4d4b5112 452 }