File content as of revision 26:191ec0e78774:

#include "drivecontrol.h"
#include "io_modules.h"
#include "mbed.h"
#include "maze_solver.h"
//// PIN ASSIGNMENTS
AnalogIn battery(PA_3);
DigitalOut led_1(PB_12);
DigitalOut led_2(PB_13);
DigitalOut led_3(PB_14);
DigitalOut led_4(PB_15);
Serial serial (PA_9, PA_10);
// CONTROL CONSTANTS
const int STRAIGHT = 0, LEFT = 1, RIGHT = 2, UTURN = 3;
const int START_POS = 0, END_POS = 0;
const int CONTROL = 1;
Timer flood_fill_timer;
Timer state_timeout_timer;

void check_battery () {
    if (battery.read() < 0.70f){
        led_1 = 1;
        led_2 = 1;
        led_3 = 1;
        led_4 = 1;
    }
}

void flash_led (int _led_1, int _led_2, int _led_3, int _led_4) {
    led_1 = _led_1;
    led_2 = _led_2;
    led_3 = _led_3;
    led_4 = _led_4;
}

int main() {
    DriveControl * driver = new DriveControl (START_POS, END_POS);
    driver->resetEncoders();
    int state, count = 0;
    bool finished_traverse_one_cell = true;
    Mouse *my_mouse = new Mouse();
    flood_fill_timer.start();
    while(flood_fill_timer.read() < 50) {
       check_battery();
       wait_ms(1);
       if (finished_traverse_one_cell == true) {
            if (state_timeout_timer.read() > 10) {
                driver->stop();
                wait(0.5);
                driver->reverse();
                wait(0.5);
                driver->stop();
                driver->resetEncoders();
                state_timeout_timer.reset();
                state_timeout_timer.start();
            }
            state = my_mouse->solve_maze();
            if(state == RIGHT){
                flash_led(1,1,0,0);
                wait(0.25);
                driver->resetEncoders();
            }
            else if(state == LEFT){
                flash_led(1,0,1,0);
                wait(0.25);
                driver->resetEncoders();
            }
            else if(state == UTURN){
                flash_led(1,1,1,0);
                wait(0.25);
                driver->resetEncoders();
                count = 0;
            }
            finished_traverse_one_cell = false;
        }
        state_timeout_timer.start();
        if (state == STRAIGHT) {
            if (!driver->should_finish_drive_forward() && !driver-> has_front_wall()) {
                driver->drive_forward();
                flash_led(1, 0, 0, 0);
            }
            else {
                driver->clear_pid();
                driver->stop();
                driver->resetEncoders();
                flash_led (0, 0, 0, 0);
                finished_traverse_one_cell = true;
                continue;
            }
        }
        if (state == RIGHT) {
            if (!driver->should_finish_turn_right()) {
                driver->turn_right();
                flash_led (0, 1, 0, 0);
            }
            else {
                driver->stop();
                flash_led (0, 0, 0, 0);
                //finished_traverse_one_cell = true;
                state = STRAIGHT;
                driver->resetEncoders();
                driver->clear_pid();
               // wait(0.25);
                continue;
            }
        }
        if (state == LEFT) {
            if (!driver->should_finish_turn_left()) {
                driver->turn_left();
                flash_led (0, 0, 1, 0);
            }
            else {
                driver->stop();
                flash_led (0, 0, 0, 0);
                state = STRAIGHT;
                driver->resetEncoders();
                driver->clear_pid();
                continue;
            }
        }
        
        if (state == UTURN){
            if (!driver->should_finish_turn_left()) {
                driver->turn_left();
                flash_led (0, 1, 1, 0);
            }
            else {
                driver->stop();
                driver->resetEncoders();
                flash_led (0, 0, 0, 0);
                count == 1 ? finished_traverse_one_cell = true: count++;
                continue;
            }
        }
    }
    flood_fill_timer.stop();
    state = count = 0;
    finished_traverse_one_cell = true;
    
    flash_led(1,1,1,1);
    while(CONTROL) {
       check_battery();
       wait_ms(1);
       if (finished_traverse_one_cell == true) {
            if (!driver->has_right_wall() && !driver->has_left_wall()) {
                wait(1);
                if ((rand() % 3) == 0) {
                    state = LEFT;
                    driver->resetEncoders();
                }
                else {
                    state = RIGHT;
                    driver->resetEncoders();
                }
                    
            }
            else if (!driver->has_right_wall()) {
                wait(0.25);
                state = RIGHT;  
                driver->resetEncoders();
            }
            else if (!driver->has_left_wall()) {
                wait(0.25);
                state = LEFT;  
                driver->resetEncoders();
            }
            else if(!driver->has_front_wall()){
                state = STRAIGHT;
                driver->resetEncoders();
            }
            else{
                wait(0.25);
                state = UTURN;
                driver->resetEncoders();
                count = 0;
            }
            finished_traverse_one_cell = false;
        }
        
        if (state == STRAIGHT) {
            if (!driver->should_finish_drive_forward() && !driver-> has_front_wall()) {
                driver->drive_forward();
                flash_led(1, 0, 0, 0);
            }
            else {
                driver->clear_pid();
                driver->stop();
                driver->resetEncoders();
                flash_led (0, 0, 0, 0);
                finished_traverse_one_cell = true;
                continue;
            }
        }
        if (state == RIGHT) {
            if (!driver->should_finish_turn_right()) {
                driver->turn_right();
                flash_led (0, 1, 0, 0);
            }
            else {
                driver->stop();
                flash_led (0, 0, 0, 0);
                //finished_traverse_one_cell = true;
                state = STRAIGHT;
                driver->resetEncoders();
                driver->clear_pid();
               // wait(0.25);
                continue;
            }
        }
        if (state == LEFT) {
            if (!driver->should_finish_turn_left()) {
                driver->turn_left();
                flash_led (0, 0, 1, 0);
            }
            else {
                driver->stop();
                flash_led (0, 0, 0, 0);
                state = STRAIGHT;
                driver->resetEncoders();
                driver->clear_pid();
                continue;
            }
        }
        
        if (state == UTURN){
            if (!driver->should_finish_turn_left()) {
                driver->turn_left();
                flash_led (0, 1, 1, 0);
            }
            else {
                driver->stop();
                driver->resetEncoders();
                flash_led (0, 0, 0, 0);
                count == 1 ? finished_traverse_one_cell = true: count++;
                continue;
            }
        }
    }
}