File content as of revision 16:4e76b53cdef2:

#include "scanner.h"
#include "mbed.h"
#include "LongRangeSensor.h"
#include "StepperDrive.h"
#include <stack>

// FUNCTION:
//      Scanner()
// IN-PARAMETERS:
//      Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR,
//      VL6180x &_shortRangeL, VL6180x &_shortRangeR, Gp2x &_longRangeL,
//      Gp2x &_longRangeR, float _period = 10e-3
// OUT-PARAMETERS:
//      None
// DESCRIPTION:
//      Constructor.
Scanner::Scanner(Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR,
    LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR, float _period) : pc(pc1), 
    drive(_drive), servoL(_servoL), servoR(_servoR), longRangeL(_longRangeL),
    longRangeR(_longRangeR), period(_period)
{
    servoL.period(1.0/50.0);
    servoR.period(1.0/50.0);

    float temp[7] = {0.0575, 0.0663, 0.0750, 0.0837, 0.0925,
    0.1013, 0.1100}; // sub-micro

    for (int i = 0; i < 7; i++)
        DUTY[i] = temp[i];

    obstacle = 0;
    distLeft = 0.0;
    distRight = 0.0;
    distForwardL = 0.0;
    distForwardR = 0.0;

    // initializing to localizeRight status
    avoidFlag = 0;
    huntFlag = 0;
    localizeRightFlag = 0;
    localizeLeftFlag = 0;
    invertL = -1;
    invertR = 1;
    dutyL = MIN_DUTY;
    dutyR = MIN_DUTY;
    servoL.write(DUTY[dutyL]);
    servoR.write(DUTY[dutyR]);
    wait(0.2);
    pitEnable = 1;
    scanPit.attach(this, &Scanner::scan, period);
pc.printf("Scanner created\n");
}

// FUNCTION:
//      void localizeLeftMode()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      None
// DESCRIPTION:
//      This method initializes to localizeLeft()
void Scanner::localizeLeftMode()
{   
    localizeRightFlag = 0;
    
    dutyL = MAX_DUTY;
    dutyR = MAX_DUTY;
    servoL.write(DUTY[dutyL]);
    servoR.write(DUTY[dutyR]);
    wait(0.2);
    
    localizeLeftFlag = 1;
}

// FUNCTION:
//      void localizeLeft()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      None
// DESCRIPTION:
//      Using sensor longRangeR this method will localize to the wall
//      to the left during stretches of forward motion where robot 
//      should remain xxx distance from the left wall. 
void Scanner::localizeLeft()
{   
    pitEnable = 0;
    float distLocalR = longRangeR.distInchesR();
    
    if (distLocalR >= 9.2)
    {
        drive.pauseMove();
        drive.move(0.0, ((-5.0)*(3.14159 / 180.0)));
        // wait for move to complete
        while(!drive.isMoveDone())
        {
            wait(1e-6);
        }
        drive.resumeMove();
    }
    else if (distLocalR <= 8.2)
    {
        drive.pauseMove();
        drive.move(0.0, ((5.0)*(3.14159 / 180.0)));
        // wait for move to complete
        while(!drive.isMoveDone())
        {
            wait(1e-6);
        }
        drive.resumeMove();
    }

    // wait for move to complete
    while(!drive.isMoveDone())
    {
        wait(1e-6);
    }
    pitEnable = 1;
}

// FUNCTION:
//      void localizeRightMode()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      None
// DESCRIPTION:
//      Initializes to localizeRight()
void Scanner::localizeRightMode()
{
    localizeLeftFlag = 0;
    
    dutyL = MIN_DUTY;
    dutyR = MIN_DUTY;
    servoL.write(DUTY[dutyL]);
    servoR.write(DUTY[dutyR]);
    wait(0.2);
    
    localizeRightFlag = 1;
}

// FUNCTION:
//      void localizeRight()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      None
// DESCRIPTION:
//      Using sensor longRangeL this method will localize to the wall
//      to the left during stretches of forward motion where robot 
//      should remain xxx distance from the left wall. This function
//      will be called from scan when the localizeRightFlag is set.
void Scanner::localizeRight()
{
    pitEnable = 0;
    float distLocalL = longRangeL.distInchesL();
    
    if (distLocalL >= 9.2)
    {
        drive.pauseMove();
        drive.move(0, ((5.0)*(3.14159 / 180.0)));
        // wait for move to complete
        while(!drive.isMoveDone())
        {
            wait(1e-6);
        }
        drive.resumeMove();
    }
    else if (distLocalL <= 8.2)
    {
        drive.pauseMove();
        drive.move(0, ((-5.0)*(3.14159 / 180.0)));
        // wait for move to complete
        while(!drive.isMoveDone())
        {
            wait(1e-6);
        }
        drive.resumeMove();
    }
    
    // wait for move to complete
    while(!drive.isMoveDone())
    {
        wait(1e-6);
    }
    pitEnable = 1;
}

// FUNCTION:
//      scan()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      None
// DESCRIPTION:
//      Ticker function to make servos scan either the inward-facing
//      90 degrees or the outward-facing 90 degrees. Distance
//      measures are obtained from both the short range and long
//      range sensors at 15 degree intervals.
void Scanner::scan()
{
    if (pitEnable == 1)
    {
        if (localizeRightFlag == 1)
            localizeRight();
        
        /*if (localizeLeftFlag == 1)
            localizeLeft();*/
    }
}