3/26/16 12:25 am JJ
Dependents: steppertest R5 2016 Robotics Team 1
Fork of scanner by
scanner.cpp@9:bae63bc84829, 2016-03-26 (annotated)
- Committer:
- Hellkite85
- Date:
- Sat Mar 26 23:01:49 2016 +0000
- Revision:
- 9:bae63bc84829
- Parent:
- 8:32a445ae1d72
- Child:
- 12:514544a4014f
Modified hunt function in scanner.cpp and scanner.h on 3-26-2016
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
j_j205 | 0:999bb8fcd0b2 | 1 | #include "scanner.h" |
j_j205 | 0:999bb8fcd0b2 | 2 | #include "mbed.h" |
j_j205 | 4:6a8d80954323 | 3 | #include "LongRangeSensor.h" |
j_j205 | 8:32a445ae1d72 | 4 | #include "ShortRangeSensor.h" |
Hellkite85 | 7:52c4be3bfc1b | 5 | #include "StepperDrive.h" |
Hellkite85 | 9:bae63bc84829 | 6 | #include "Gripper.h" |
Hellkite85 | 7:52c4be3bfc1b | 7 | #include <stack> |
j_j205 | 0:999bb8fcd0b2 | 8 | |
j_j205 | 0:999bb8fcd0b2 | 9 | // FUNCTION: |
j_j205 | 0:999bb8fcd0b2 | 10 | // Scanner() |
j_j205 | 0:999bb8fcd0b2 | 11 | // IN-PARAMETERS: |
Hellkite85 | 7:52c4be3bfc1b | 12 | // Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR, |
j_j205 | 2:b281034eda86 | 13 | // VL6180x &_shortRangeL, VL6180x &_shortRangeR, Gp2x &_longRangeL, |
j_j205 | 2:b281034eda86 | 14 | // Gp2x &_longRangeR, float _period = 10e-3 |
j_j205 | 0:999bb8fcd0b2 | 15 | // OUT-PARAMETERS: |
j_j205 | 2:b281034eda86 | 16 | // None |
j_j205 | 0:999bb8fcd0b2 | 17 | // DESCRIPTION: |
j_j205 | 2:b281034eda86 | 18 | // Constructor. |
Hellkite85 | 7:52c4be3bfc1b | 19 | Scanner::Scanner(Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR, |
j_j205 | 8:32a445ae1d72 | 20 | ShortRangeSensor &_shortRangeL, ShortRangeSensor &_shortRangeR, LongRangeSensor &_longRangeL, |
Hellkite85 | 9:bae63bc84829 | 21 | LongRangeSensor &_longRangeR, Gripper &_robotGrip, float _period) : pc(pc1), drive(_drive), servoL(_servoL), |
j_j205 | 2:b281034eda86 | 22 | servoR(_servoR), shortRangeL(_shortRangeL), |
j_j205 | 2:b281034eda86 | 23 | shortRangeR(_shortRangeR), longRangeL(_longRangeL), |
Hellkite85 | 9:bae63bc84829 | 24 | longRangeR(_longRangeR), grip(_robotGrip), period(_period) |
j_j205 | 0:999bb8fcd0b2 | 25 | { |
j_j205 | 0:999bb8fcd0b2 | 26 | servoL.period(1.0/50.0); |
j_j205 | 0:999bb8fcd0b2 | 27 | servoR.period(1.0/50.0); |
j_j205 | 2:b281034eda86 | 28 | |
j_j205 | 6:5e24ff86b743 | 29 | float temp[7] = {0.0575, 0.0663, 0.0750, 0.0837, 0.0925, |
j_j205 | 6:5e24ff86b743 | 30 | 0.1013, 0.1100}; // sub-micro |
j_j205 | 2:b281034eda86 | 31 | |
j_j205 | 6:5e24ff86b743 | 32 | for (int i = 0; i < 7; i++) |
j_j205 | 3:992558a021d7 | 33 | DUTY[i] = temp[i]; |
j_j205 | 3:992558a021d7 | 34 | |
j_j205 | 3:992558a021d7 | 35 | obstacle = 0; |
j_j205 | 3:992558a021d7 | 36 | distLeft = 0.0; |
j_j205 | 3:992558a021d7 | 37 | distRight = 0.0; |
j_j205 | 6:5e24ff86b743 | 38 | distForwardL = 0.0; |
j_j205 | 6:5e24ff86b743 | 39 | distForwardR = 0.0; |
j_j205 | 2:b281034eda86 | 40 | |
j_j205 | 2:b281034eda86 | 41 | // initializing to avoid status |
j_j205 | 3:992558a021d7 | 42 | avoidFlag = 1; |
j_j205 | 3:992558a021d7 | 43 | huntFlag = 0; |
j_j205 | 3:992558a021d7 | 44 | invertL = -1; |
j_j205 | 3:992558a021d7 | 45 | invertR = 1; |
j_j205 | 3:992558a021d7 | 46 | dutyL = MAX_DUTY; |
j_j205 | 3:992558a021d7 | 47 | dutyR = MIN_DUTY; |
j_j205 | 2:b281034eda86 | 48 | servoL.write(DUTY[dutyL]); |
j_j205 | 2:b281034eda86 | 49 | servoR.write(DUTY[dutyR]); |
j_j205 | 2:b281034eda86 | 50 | wait(0.2); |
j_j205 | 2:b281034eda86 | 51 | pitEnable = 1; |
j_j205 | 3:992558a021d7 | 52 | scanPit.attach(this, &Scanner::scan, period); |
j_j205 | 6:5e24ff86b743 | 53 | pc.printf("Scanner created\n"); |
j_j205 | 0:999bb8fcd0b2 | 54 | } |
j_j205 | 0:999bb8fcd0b2 | 55 | |
j_j205 | 0:999bb8fcd0b2 | 56 | // FUNCTION: |
j_j205 | 3:992558a021d7 | 57 | // huntMode() |
j_j205 | 0:999bb8fcd0b2 | 58 | // IN-PARAMETERS: |
j_j205 | 2:b281034eda86 | 59 | // None |
j_j205 | 2:b281034eda86 | 60 | // None |
j_j205 | 0:999bb8fcd0b2 | 61 | // DESCRIPTION: |
j_j205 | 0:999bb8fcd0b2 | 62 | // Hunts for victim. |
j_j205 | 3:992558a021d7 | 63 | void Scanner::huntMode() |
j_j205 | 0:999bb8fcd0b2 | 64 | { |
j_j205 | 2:b281034eda86 | 65 | pitEnable = 0; |
j_j205 | 3:992558a021d7 | 66 | avoidFlag = 0; |
j_j205 | 3:992558a021d7 | 67 | huntFlag = 1; |
j_j205 | 3:992558a021d7 | 68 | invertL = -1; |
j_j205 | 3:992558a021d7 | 69 | invertR = 1; |
j_j205 | 6:5e24ff86b743 | 70 | dutyL = MAX_DUTY; |
j_j205 | 6:5e24ff86b743 | 71 | dutyR = MIN_DUTY; |
j_j205 | 2:b281034eda86 | 72 | servoL.write(DUTY[dutyL]); |
j_j205 | 2:b281034eda86 | 73 | servoR.write(DUTY[dutyR]); |
j_j205 | 2:b281034eda86 | 74 | wait(0.1); |
j_j205 | 2:b281034eda86 | 75 | pitEnable = 1; |
j_j205 | 0:999bb8fcd0b2 | 76 | } |
j_j205 | 0:999bb8fcd0b2 | 77 | |
j_j205 | 0:999bb8fcd0b2 | 78 | // FUNCTION: |
j_j205 | 3:992558a021d7 | 79 | // avoidMode() |
j_j205 | 0:999bb8fcd0b2 | 80 | // IN-PARAMETERS: |
j_j205 | 2:b281034eda86 | 81 | // None |
j_j205 | 0:999bb8fcd0b2 | 82 | // OUT-PARAMETERS: |
j_j205 | 2:b281034eda86 | 83 | // None |
j_j205 | 0:999bb8fcd0b2 | 84 | // DESCRIPTION: |
j_j205 | 0:999bb8fcd0b2 | 85 | // Scans to avoid obstacles. |
j_j205 | 3:992558a021d7 | 86 | void Scanner::avoidMode() |
j_j205 | 0:999bb8fcd0b2 | 87 | { |
j_j205 | 2:b281034eda86 | 88 | pitEnable = 0; |
j_j205 | 3:992558a021d7 | 89 | avoidFlag = 1; |
j_j205 | 3:992558a021d7 | 90 | huntFlag = 0; |
j_j205 | 3:992558a021d7 | 91 | invertL = -1; |
j_j205 | 3:992558a021d7 | 92 | invertR = 1; |
j_j205 | 3:992558a021d7 | 93 | dutyL = MAX_DUTY; |
j_j205 | 3:992558a021d7 | 94 | dutyR = MIN_DUTY; |
j_j205 | 2:b281034eda86 | 95 | servoL.write(DUTY[dutyL]); |
j_j205 | 2:b281034eda86 | 96 | servoR.write(DUTY[dutyR]); |
j_j205 | 2:b281034eda86 | 97 | wait(0.1); |
j_j205 | 2:b281034eda86 | 98 | pitEnable = 1; |
j_j205 | 0:999bb8fcd0b2 | 99 | } |
Hellkite85 | 7:52c4be3bfc1b | 100 | // FUNCTION: |
Hellkite85 | 7:52c4be3bfc1b | 101 | // |
Hellkite85 | 7:52c4be3bfc1b | 102 | void Scanner::hunt() |
Hellkite85 | 7:52c4be3bfc1b | 103 | { |
Hellkite85 | 9:bae63bc84829 | 104 | // This creates an instance of a structure |
Hellkite85 | 9:bae63bc84829 | 105 | // call huntMove. This structure is used to |
Hellkite85 | 9:bae63bc84829 | 106 | // store the distance value and angle value |
Hellkite85 | 9:bae63bc84829 | 107 | // when implementing the Navigation drive |
Hellkite85 | 9:bae63bc84829 | 108 | // code. |
Hellkite85 | 9:bae63bc84829 | 109 | huntMove moveRobot; |
Hellkite85 | 9:bae63bc84829 | 110 | |
Hellkite85 | 7:52c4be3bfc1b | 111 | // Used to store temporary distance |
Hellkite85 | 7:52c4be3bfc1b | 112 | // recorded from VL6180x short range |
Hellkite85 | 7:52c4be3bfc1b | 113 | // sensor. |
Hellkite85 | 7:52c4be3bfc1b | 114 | float tempDistShortL; |
Hellkite85 | 7:52c4be3bfc1b | 115 | float tempDistShortR; |
Hellkite85 | 9:bae63bc84829 | 116 | |
Hellkite85 | 9:bae63bc84829 | 117 | float distShortL; |
Hellkite85 | 9:bae63bc84829 | 118 | float distShortR; |
Hellkite85 | 7:52c4be3bfc1b | 119 | |
Hellkite85 | 7:52c4be3bfc1b | 120 | // Used to temporary store the number |
Hellkite85 | 7:52c4be3bfc1b | 121 | // of stepper motor increments. |
Hellkite85 | 7:52c4be3bfc1b | 122 | int tempStepCount = 0; |
Hellkite85 | 7:52c4be3bfc1b | 123 | |
Hellkite85 | 9:bae63bc84829 | 124 | // This variable is half of the available |
Hellkite85 | 9:bae63bc84829 | 125 | // tolerance of the gripper with regards |
Hellkite85 | 9:bae63bc84829 | 126 | // to the peg. |
Hellkite85 | 9:bae63bc84829 | 127 | float tolerance = 0.1875; |
Hellkite85 | 9:bae63bc84829 | 128 | |
Hellkite85 | 9:bae63bc84829 | 129 | // These variables represent the tolerance |
Hellkite85 | 9:bae63bc84829 | 130 | // and plus/minus half the diameter of the |
Hellkite85 | 9:bae63bc84829 | 131 | // peg measured in inches. |
Hellkite85 | 9:bae63bc84829 | 132 | float toleranceAHP = 0.9375; |
Hellkite85 | 9:bae63bc84829 | 133 | float toleranceSHP = 0.5625; |
Hellkite85 | 9:bae63bc84829 | 134 | |
Hellkite85 | 7:52c4be3bfc1b | 135 | pitEnable = 0; |
Hellkite85 | 7:52c4be3bfc1b | 136 | |
Hellkite85 | 9:bae63bc84829 | 137 | // This positions both of the servos to |
Hellkite85 | 9:bae63bc84829 | 138 | // be 60 degrees inwards. |
Hellkite85 | 7:52c4be3bfc1b | 139 | servoL.write(DUTY[4]); |
Hellkite85 | 7:52c4be3bfc1b | 140 | servoR.write(DUTY[2]); |
Hellkite85 | 7:52c4be3bfc1b | 141 | |
Hellkite85 | 9:bae63bc84829 | 142 | // This initializes the temporary distance variables |
Hellkite85 | 9:bae63bc84829 | 143 | // with the data collected from the VL6180X sensors. |
Hellkite85 | 9:bae63bc84829 | 144 | tempDistShortL = shortRangeL.getRange(); |
Hellkite85 | 9:bae63bc84829 | 145 | tempDistShortR = shortRangeR.getRange(); |
Hellkite85 | 7:52c4be3bfc1b | 146 | |
Hellkite85 | 9:bae63bc84829 | 147 | // This code converts the measurements from the short |
Hellkite85 | 9:bae63bc84829 | 148 | // range sensor from millimeters to inches. |
Hellkite85 | 9:bae63bc84829 | 149 | distShortL = (tempDistShortL / 25.0); |
Hellkite85 | 9:bae63bc84829 | 150 | distShortR = (tempDistShortR / 25.0); |
Hellkite85 | 9:bae63bc84829 | 151 | |
Hellkite85 | 9:bae63bc84829 | 152 | // This while loop statement moves the robot forward in order |
Hellkite85 | 9:bae63bc84829 | 153 | // to continue the hunt of the peg. The equals to comparsion |
Hellkite85 | 9:bae63bc84829 | 154 | // statements need to be updated to reflect what the short |
Hellkite85 | 9:bae63bc84829 | 155 | // range sensors output when there is nothing within the |
Hellkite85 | 9:bae63bc84829 | 156 | // range of the short distance sensors. |
Hellkite85 | 9:bae63bc84829 | 157 | while(distShortL == 0.0 && distShortR == 0.0 && tempStepCount < 34) |
Hellkite85 | 7:52c4be3bfc1b | 158 | { |
Hellkite85 | 7:52c4be3bfc1b | 159 | drive.move(0.25, 0.0); |
Hellkite85 | 9:bae63bc84829 | 160 | |
Hellkite85 | 9:bae63bc84829 | 161 | moveRobot.distance = 0.25; |
Hellkite85 | 9:bae63bc84829 | 162 | moveRobot.angle = 0.0; |
Hellkite85 | 9:bae63bc84829 | 163 | |
Hellkite85 | 9:bae63bc84829 | 164 | myStack.push(moveRobot); |
Hellkite85 | 9:bae63bc84829 | 165 | } |
Hellkite85 | 7:52c4be3bfc1b | 166 | |
Hellkite85 | 7:52c4be3bfc1b | 167 | // Adjust the comparsion for floats with |
Hellkite85 | 9:bae63bc84829 | 168 | // regards to the sensor data. This |
Hellkite85 | 9:bae63bc84829 | 169 | // while loop ideally checks the short range |
Hellkite85 | 7:52c4be3bfc1b | 170 | // sensors and if they are not equal to |
Hellkite85 | 7:52c4be3bfc1b | 171 | // each other, the code will center the |
Hellkite85 | 9:bae63bc84829 | 172 | // robot according to the short range sensor. |
Hellkite85 | 9:bae63bc84829 | 173 | while((distShortL <= distShortR + tolerance) && (distShortL >= distShortR + tolerance)) |
Hellkite85 | 7:52c4be3bfc1b | 174 | { |
Hellkite85 | 7:52c4be3bfc1b | 175 | // Adjust this comparsion for floats |
Hellkite85 | 7:52c4be3bfc1b | 176 | // with regards to the sensor data. |
Hellkite85 | 9:bae63bc84829 | 177 | if(distShortL > (distShortR + tolerance)) |
Hellkite85 | 9:bae63bc84829 | 178 | { |
Hellkite85 | 7:52c4be3bfc1b | 179 | drive.move(0.0, -5.0); |
Hellkite85 | 9:bae63bc84829 | 180 | |
Hellkite85 | 9:bae63bc84829 | 181 | moveRobot.distance = 0.0; |
Hellkite85 | 9:bae63bc84829 | 182 | moveRobot.angle = -5.0; |
Hellkite85 | 9:bae63bc84829 | 183 | |
Hellkite85 | 9:bae63bc84829 | 184 | myStack.push(moveRobot); |
Hellkite85 | 9:bae63bc84829 | 185 | } |
Hellkite85 | 7:52c4be3bfc1b | 186 | else |
Hellkite85 | 9:bae63bc84829 | 187 | { |
Hellkite85 | 7:52c4be3bfc1b | 188 | drive.move(0.0, 5.0); |
Hellkite85 | 9:bae63bc84829 | 189 | |
Hellkite85 | 9:bae63bc84829 | 190 | moveRobot.distance = 0.0; |
Hellkite85 | 9:bae63bc84829 | 191 | moveRobot.angle = 5.0; |
Hellkite85 | 9:bae63bc84829 | 192 | |
Hellkite85 | 9:bae63bc84829 | 193 | myStack.push(moveRobot); |
Hellkite85 | 9:bae63bc84829 | 194 | } |
Hellkite85 | 7:52c4be3bfc1b | 195 | } |
Hellkite85 | 7:52c4be3bfc1b | 196 | |
Hellkite85 | 7:52c4be3bfc1b | 197 | servoL.write(DUTY[dutyR]); |
Hellkite85 | 7:52c4be3bfc1b | 198 | servoR.write(DUTY[dutyL]); |
Hellkite85 | 7:52c4be3bfc1b | 199 | |
Hellkite85 | 9:bae63bc84829 | 200 | // This code reinitializes the short distance |
Hellkite85 | 9:bae63bc84829 | 201 | // variable now that the short distance sensors |
Hellkite85 | 9:bae63bc84829 | 202 | // are pointing inward. |
Hellkite85 | 9:bae63bc84829 | 203 | distShortL = shortRangeL.getRange(); |
Hellkite85 | 9:bae63bc84829 | 204 | distShortR = shortRangeR.getRange(); |
Hellkite85 | 7:52c4be3bfc1b | 205 | |
Hellkite85 | 7:52c4be3bfc1b | 206 | // This while loop is used to position the robot |
Hellkite85 | 9:bae63bc84829 | 207 | // at the correct location vertically with regards |
Hellkite85 | 9:bae63bc84829 | 208 | // to the peg in order to pick up the peg. The tolerance |
Hellkite85 | 9:bae63bc84829 | 209 | while(((distShortL + toleranceSHP) <= distShortR) && ((distShortL + toleranceAHP) >= distShortR)) |
Hellkite85 | 7:52c4be3bfc1b | 210 | { |
Hellkite85 | 9:bae63bc84829 | 211 | drive.move(0.125, 0.0); |
Hellkite85 | 9:bae63bc84829 | 212 | |
Hellkite85 | 9:bae63bc84829 | 213 | moveRobot.distance = 0.125; |
Hellkite85 | 9:bae63bc84829 | 214 | moveRobot.angle = 0.0; |
Hellkite85 | 9:bae63bc84829 | 215 | |
Hellkite85 | 9:bae63bc84829 | 216 | myStack.push(moveRobot); |
Hellkite85 | 9:bae63bc84829 | 217 | } |
Hellkite85 | 9:bae63bc84829 | 218 | |
Hellkite85 | 9:bae63bc84829 | 219 | // This is the code to enable the gripper to grip the peg. |
Hellkite85 | 9:bae63bc84829 | 220 | robotGrip.grip() |
Hellkite85 | 9:bae63bc84829 | 221 | |
Hellkite85 | 9:bae63bc84829 | 222 | /* pseudocode |
Hellkite85 | 9:bae63bc84829 | 223 | implement the code for reading a value from the color sensor |
Hellkite85 | 9:bae63bc84829 | 224 | store the value that is returned from the color sensor |
Hellkite85 | 9:bae63bc84829 | 225 | */ |
Hellkite85 | 9:bae63bc84829 | 226 | |
Hellkite85 | 9:bae63bc84829 | 227 | // This is the code to enable the gripper to lift the peg. |
Hellkite85 | 9:bae63bc84829 | 228 | robotGrip.lift(); |
Hellkite85 | 9:bae63bc84829 | 229 | |
Hellkite85 | 9:bae63bc84829 | 230 | // This code uses the stack to reverse all the movement |
Hellkite85 | 9:bae63bc84829 | 231 | // of the robot during this function. |
Hellkite85 | 9:bae63bc84829 | 232 | while(!myStack.empty()) |
Hellkite85 | 9:bae63bc84829 | 233 | { |
Hellkite85 | 9:bae63bc84829 | 234 | myStack.top(); |
Hellkite85 | 9:bae63bc84829 | 235 | myStack.pop(); |
Hellkite85 | 9:bae63bc84829 | 236 | |
Hellkite85 | 9:bae63bc84829 | 237 | drive.move((-(moveRobot.distance)),(-(moveRobot.angle))); |
Hellkite85 | 9:bae63bc84829 | 238 | } |
Hellkite85 | 7:52c4be3bfc1b | 239 | } |
j_j205 | 0:999bb8fcd0b2 | 240 | |
j_j205 | 0:999bb8fcd0b2 | 241 | // FUNCTION: |
j_j205 | 0:999bb8fcd0b2 | 242 | // localize() |
j_j205 | 0:999bb8fcd0b2 | 243 | // IN-PARAMETERS: |
j_j205 | 2:b281034eda86 | 244 | // None |
j_j205 | 0:999bb8fcd0b2 | 245 | // OUT-PARAMETERS: |
j_j205 | 2:b281034eda86 | 246 | // None |
j_j205 | 0:999bb8fcd0b2 | 247 | // DESCRIPTION: |
j_j205 | 0:999bb8fcd0b2 | 248 | // Checks localization points. |
j_j205 | 3:992558a021d7 | 249 | void Scanner::localize() |
j_j205 | 0:999bb8fcd0b2 | 250 | { |
j_j205 | 3:992558a021d7 | 251 | pitEnable = 0; |
j_j205 | 3:992558a021d7 | 252 | dutyL = MIN_DUTY; |
j_j205 | 3:992558a021d7 | 253 | dutyR = MAX_DUTY; |
j_j205 | 3:992558a021d7 | 254 | servoL.write(DUTY[dutyL]); |
j_j205 | 3:992558a021d7 | 255 | servoR.write(DUTY[dutyR]); |
j_j205 | 3:992558a021d7 | 256 | wait(0.1); |
j_j205 | 5:4d5601a9dffe | 257 | distLeft = longRangeL.distInchesL(); |
j_j205 | 5:4d5601a9dffe | 258 | distRight = longRangeR.distInchesR(); |
j_j205 | 6:5e24ff86b743 | 259 | dutyL = MAX_DUTY; |
j_j205 | 6:5e24ff86b743 | 260 | dutyR = MIN_DUTY; |
j_j205 | 3:992558a021d7 | 261 | servoL.write(DUTY[dutyL]); |
j_j205 | 3:992558a021d7 | 262 | servoR.write(DUTY[dutyR]); |
j_j205 | 3:992558a021d7 | 263 | wait(0.1); |
j_j205 | 6:5e24ff86b743 | 264 | distForwardL = longRangeL.distInchesL(); |
j_j205 | 6:5e24ff86b743 | 265 | distForwardR = longRangeR.distInchesR(); |
j_j205 | 3:992558a021d7 | 266 | pitEnable = 1; |
j_j205 | 0:999bb8fcd0b2 | 267 | } |
j_j205 | 0:999bb8fcd0b2 | 268 | |
j_j205 | 0:999bb8fcd0b2 | 269 | // FUNCTION: |
j_j205 | 6:5e24ff86b743 | 270 | // void localizeLeft() |
j_j205 | 6:5e24ff86b743 | 271 | // IN-PARAMETERS: |
j_j205 | 6:5e24ff86b743 | 272 | // None |
j_j205 | 6:5e24ff86b743 | 273 | // OUT-PARAMETERS: |
j_j205 | 6:5e24ff86b743 | 274 | // None |
j_j205 | 6:5e24ff86b743 | 275 | // DESCRIPTION: |
j_j205 | 6:5e24ff86b743 | 276 | // Using sensor longRangeR this method will localize to the wall |
j_j205 | 6:5e24ff86b743 | 277 | // to the left during stretches of forward motion where robot |
j_j205 | 6:5e24ff86b743 | 278 | // should remain xxx distance from the left wall. |
j_j205 | 6:5e24ff86b743 | 279 | void Scanner::localizeLeft() |
Hellkite85 | 7:52c4be3bfc1b | 280 | { |
Hellkite85 | 7:52c4be3bfc1b | 281 | float distLocalR = longRangeR.distInchesR(); |
j_j205 | 6:5e24ff86b743 | 282 | |
Hellkite85 | 7:52c4be3bfc1b | 283 | if (distLocalR > 8.5) |
Hellkite85 | 7:52c4be3bfc1b | 284 | { |
Hellkite85 | 7:52c4be3bfc1b | 285 | pitEnable = 0; |
Hellkite85 | 7:52c4be3bfc1b | 286 | drive.pauseMove(); |
Hellkite85 | 7:52c4be3bfc1b | 287 | drive.move(0.0, -1.0); |
Hellkite85 | 7:52c4be3bfc1b | 288 | drive.resumeMove(); |
Hellkite85 | 7:52c4be3bfc1b | 289 | pitEnable = 1; |
Hellkite85 | 7:52c4be3bfc1b | 290 | } |
Hellkite85 | 7:52c4be3bfc1b | 291 | else if (distLocalR < 7.5) |
Hellkite85 | 7:52c4be3bfc1b | 292 | { |
Hellkite85 | 7:52c4be3bfc1b | 293 | pitEnable = 0; |
Hellkite85 | 7:52c4be3bfc1b | 294 | drive.pauseMove(); |
Hellkite85 | 7:52c4be3bfc1b | 295 | drive.move(0.0, 1.0); |
Hellkite85 | 7:52c4be3bfc1b | 296 | drive.resumeMove(); |
Hellkite85 | 7:52c4be3bfc1b | 297 | pitEnable = 1; |
Hellkite85 | 7:52c4be3bfc1b | 298 | } |
j_j205 | 6:5e24ff86b743 | 299 | } |
j_j205 | 6:5e24ff86b743 | 300 | |
j_j205 | 6:5e24ff86b743 | 301 | // FUNCTION: |
j_j205 | 6:5e24ff86b743 | 302 | // void localizeRight() |
j_j205 | 6:5e24ff86b743 | 303 | // IN-PARAMETERS: |
j_j205 | 6:5e24ff86b743 | 304 | // None |
j_j205 | 6:5e24ff86b743 | 305 | // OUT-PARAMETERS: |
j_j205 | 6:5e24ff86b743 | 306 | // None |
j_j205 | 6:5e24ff86b743 | 307 | // DESCRIPTION: |
j_j205 | 6:5e24ff86b743 | 308 | // Using sensor longRangeL this method will localize to the wall |
j_j205 | 6:5e24ff86b743 | 309 | // to the left during stretches of forward motion where robot |
j_j205 | 6:5e24ff86b743 | 310 | // should remain xxx distance from the left wall. This function |
j_j205 | 6:5e24ff86b743 | 311 | // will be called from scan when the localizeRightFlag is set. |
Hellkite85 | 7:52c4be3bfc1b | 312 | void Scanner::localizeRight() |
j_j205 | 6:5e24ff86b743 | 313 | { |
Hellkite85 | 7:52c4be3bfc1b | 314 | float distLocalL = longRangeL.distInchesL(); |
j_j205 | 6:5e24ff86b743 | 315 | |
Hellkite85 | 7:52c4be3bfc1b | 316 | if (distLocalL > 8.5) |
Hellkite85 | 7:52c4be3bfc1b | 317 | { |
Hellkite85 | 7:52c4be3bfc1b | 318 | pitEnable = 0; |
Hellkite85 | 7:52c4be3bfc1b | 319 | drive.pauseMove(); |
Hellkite85 | 7:52c4be3bfc1b | 320 | drive.move(0.0, 1.0); |
Hellkite85 | 7:52c4be3bfc1b | 321 | drive.resumeMove(); |
Hellkite85 | 7:52c4be3bfc1b | 322 | pitEnable = 1; |
Hellkite85 | 7:52c4be3bfc1b | 323 | } |
Hellkite85 | 7:52c4be3bfc1b | 324 | else if (distLocalL < 7.5) |
Hellkite85 | 7:52c4be3bfc1b | 325 | { |
Hellkite85 | 7:52c4be3bfc1b | 326 | pitEnable = 0; |
Hellkite85 | 7:52c4be3bfc1b | 327 | drive.pauseMove(); |
Hellkite85 | 7:52c4be3bfc1b | 328 | drive.move(0.0, -1.0); |
Hellkite85 | 7:52c4be3bfc1b | 329 | drive.resumeMove(); |
Hellkite85 | 7:52c4be3bfc1b | 330 | pitEnable = 1; |
Hellkite85 | 7:52c4be3bfc1b | 331 | } |
j_j205 | 6:5e24ff86b743 | 332 | } |
j_j205 | 6:5e24ff86b743 | 333 | |
j_j205 | 6:5e24ff86b743 | 334 | // FUNCTION: |
j_j205 | 0:999bb8fcd0b2 | 335 | // scan() |
j_j205 | 0:999bb8fcd0b2 | 336 | // IN-PARAMETERS: |
j_j205 | 2:b281034eda86 | 337 | // None |
j_j205 | 0:999bb8fcd0b2 | 338 | // OUT-PARAMETERS: |
j_j205 | 2:b281034eda86 | 339 | // None |
j_j205 | 0:999bb8fcd0b2 | 340 | // DESCRIPTION: |
j_j205 | 2:b281034eda86 | 341 | // Ticker function to make servos scan either the inward-facing |
j_j205 | 2:b281034eda86 | 342 | // 90 degrees or the outward-facing 90 degrees. Distance |
j_j205 | 2:b281034eda86 | 343 | // measures are obtained from both the short range and long |
j_j205 | 2:b281034eda86 | 344 | // range sensors at 15 degree intervals. |
j_j205 | 0:999bb8fcd0b2 | 345 | void Scanner::scan() |
j_j205 | 0:999bb8fcd0b2 | 346 | { |
j_j205 | 2:b281034eda86 | 347 | if (pitEnable == 1) |
j_j205 | 2:b281034eda86 | 348 | { |
j_j205 | 6:5e24ff86b743 | 349 | /*// obtain distance measures from sensors |
j_j205 | 5:4d5601a9dffe | 350 | distLeft = longRangeL.distInchesL(); |
j_j205 | 5:4d5601a9dffe | 351 | distRight = longRangeR.distInchesR(); |
j_j205 | 5:4d5601a9dffe | 352 | |
j_j205 | 6:5e24ff86b743 | 353 | //check localize flags and make necessary method calls |
j_j205 | 6:5e24ff86b743 | 354 | |
j_j205 | 3:992558a021d7 | 355 | // check avoid flag |
j_j205 | 5:4d5601a9dffe | 356 | if (avoidFlag == 1) |
j_j205 | 5:4d5601a9dffe | 357 | { |
j_j205 | 5:4d5601a9dffe | 358 | // add obstacle avoid code |
j_j205 | 5:4d5601a9dffe | 359 | } |
j_j205 | 5:4d5601a9dffe | 360 | |
j_j205 | 3:992558a021d7 | 361 | // check hunt flag |
j_j205 | 6:5e24ff86b743 | 362 | if (huntFlag == 1) |
j_j205 | 5:4d5601a9dffe | 363 | { |
j_j205 | 5:4d5601a9dffe | 364 | // add hunt code |
j_j205 | 6:5e24ff86b743 | 365 | }*/ |
j_j205 | 3:992558a021d7 | 366 | |
j_j205 | 3:992558a021d7 | 367 | // increment/decrement servo position |
j_j205 | 2:b281034eda86 | 368 | dutyL += invertL; |
j_j205 | 2:b281034eda86 | 369 | dutyR += invertR; |
j_j205 | 2:b281034eda86 | 370 | servoL.write(DUTY[dutyL]); |
j_j205 | 2:b281034eda86 | 371 | servoR.write(DUTY[dutyR]); |
j_j205 | 6:5e24ff86b743 | 372 | if(((dutyL == MIN_DUTY) && (dutyR == MAX_DUTY)) || |
j_j205 | 2:b281034eda86 | 373 | ((dutyL == MAX_DUTY) && (dutyR == MIN_DUTY))) |
j_j205 | 2:b281034eda86 | 374 | { |
j_j205 | 2:b281034eda86 | 375 | invertL *= -1; |
j_j205 | 2:b281034eda86 | 376 | invertR *= -1; |
j_j205 | 2:b281034eda86 | 377 | } |
j_j205 | 2:b281034eda86 | 378 | } |
j_j205 | 3:992558a021d7 | 379 | } |