uyvug
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of theRobot by
main.cpp@34:cd4980573159, 2014-04-24 (annotated)
- Committer:
- Fairy_Paolina
- Date:
- Thu Apr 24 23:20:43 2014 +0000
- Revision:
- 34:cd4980573159
- Parent:
- 33:a41981e18a7d
Rolls up to the rig markings. ;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tashworth | 0:1b64a0cedc5d | 1 | #include "mbed.h" |
tashworth | 0:1b64a0cedc5d | 2 | #include "Adafruit_PWMServoDriver.h" |
tashworth | 0:1b64a0cedc5d | 3 | #include "ShapeDetect.h" |
tashworth | 8:77a57909aa15 | 4 | #include "rtos.h" |
tashworth | 8:77a57909aa15 | 5 | #include "PID.h" |
tashworth | 8:77a57909aa15 | 6 | #include "PololuQik2.h" |
tashworth | 8:77a57909aa15 | 7 | #include "QEI.h" |
tashworth | 8:77a57909aa15 | 8 | #include "HCSR04.h" |
tashworth | 8:77a57909aa15 | 9 | #include "stdio.h" |
tashworth | 8:77a57909aa15 | 10 | #include "LPC17xx.h" |
tashworth | 8:77a57909aa15 | 11 | #include "Sharp.h" |
tashworth | 28:2bb6b0fe39d0 | 12 | |
tashworth | 28:2bb6b0fe39d0 | 13 | |
tashworth | 20:55dcff40c5d9 | 14 | #define PI 3.14159 |
tashworth | 28:2bb6b0fe39d0 | 15 | |
tashworth | 28:2bb6b0fe39d0 | 16 | |
tashworth | 28:2bb6b0fe39d0 | 17 | |
tashworth | 8:77a57909aa15 | 18 | /* Navigation Definitions */ |
tashworth | 8:77a57909aa15 | 19 | #define PIN_TRIGGERL (p12) |
tashworth | 8:77a57909aa15 | 20 | #define PIN_ECHOL (p11) |
tashworth | 8:77a57909aa15 | 21 | #define PIN_TRIGGERR (p29) |
tashworth | 8:77a57909aa15 | 22 | #define PIN_ECHOR (p30) |
tashworth | 8:77a57909aa15 | 23 | #define PULSE_PER_REV (1192) |
tashworth | 8:77a57909aa15 | 24 | #define WHEEL_CIRCUM (12.56637) |
tashworth | 8:77a57909aa15 | 25 | #define DIST_PER_PULSE (0.01054225722682) |
tashworth | 8:77a57909aa15 | 26 | #define MTRS_TO_INCH (39.3701) |
tashworth | 8:77a57909aa15 | 27 | #define MAX_SPEED (0.3*127) |
tashworth | 8:77a57909aa15 | 28 | #define PPR (4331/4) |
tashworth | 8:77a57909aa15 | 29 | #define LEFT (1) |
tashworth | 8:77a57909aa15 | 30 | #define RIGHT (0) |
tashworth | 12:284be46593ae | 31 | #define STRAIGHT (2) |
tashworth | 8:77a57909aa15 | 32 | #define FORWARD (1) |
tashworth | 8:77a57909aa15 | 33 | #define BACKWARD (0) |
tashworth | 8:77a57909aa15 | 34 | #define TOOLS (0) |
tashworth | 8:77a57909aa15 | 35 | #define MID (1) |
tashworth | 8:77a57909aa15 | 36 | #define RIGS (2) |
tashworth | 12:284be46593ae | 37 | #define MID2 (3) |
tashworth | 12:284be46593ae | 38 | #define RETURN (4) |
tashworth | 8:77a57909aa15 | 39 | #define FAR (1) |
tashworth | 28:2bb6b0fe39d0 | 40 | |
tashworth | 28:2bb6b0fe39d0 | 41 | |
tashworth | 6:75259c3306dd | 42 | //States |
tashworth | 6:75259c3306dd | 43 | #define START 0 |
tashworth | 6:75259c3306dd | 44 | #define OILRIG1_POS 1 |
tashworth | 6:75259c3306dd | 45 | #define OILRIG2_POS 2 |
tashworth | 12:284be46593ae | 46 | #define GOTO_TOOLS1 3 |
tashworth | 6:75259c3306dd | 47 | #define IDENTIFY_TOOLS 4 |
tashworth | 6:75259c3306dd | 48 | #define AQUIRE_TOOL1 5 |
tashworth | 6:75259c3306dd | 49 | #define AQUIRE_TOOL2 6 |
tashworth | 6:75259c3306dd | 50 | #define AQUIRE_TOOL3 7 |
tashworth | 6:75259c3306dd | 51 | #define NAVIGATE_WAVES_ROW1 8 |
tashworth | 6:75259c3306dd | 52 | #define NAVIGATE_WAVES_ROW2 9 |
tashworth | 6:75259c3306dd | 53 | #define NAVIGATE_WAVES_ROW3 10 |
tashworth | 6:75259c3306dd | 54 | #define NAVIGATE_TO_SQUARE_RIG 11 |
tashworth | 6:75259c3306dd | 55 | #define NAVIGATE_TO_TRIANGLE_RIG 12 |
tashworth | 6:75259c3306dd | 56 | #define NAVIGATE_TO_CIRCLE_RIG 13 |
tashworth | 6:75259c3306dd | 57 | #define RIG_ALIGN 14 |
tashworth | 6:75259c3306dd | 58 | #define INSERT_TOOL 15 |
tashworth | 6:75259c3306dd | 59 | #define END 16 |
tashworth | 12:284be46593ae | 60 | #define GOTO_TOOLS2 17 |
tashworth | 22:79c5871543b5 | 61 | #define RETURN_TO_START 18 |
tashworth | 28:2bb6b0fe39d0 | 62 | |
tashworth | 28:2bb6b0fe39d0 | 63 | |
tashworth | 28:2bb6b0fe39d0 | 64 | |
tashworth | 6:75259c3306dd | 65 | //Servo Static Positions |
tashworth | 6:75259c3306dd | 66 | #define STORE_POSITION 0 |
tashworth | 6:75259c3306dd | 67 | #define OIL_RIG1 1 |
tashworth | 6:75259c3306dd | 68 | #define OIL_RIG2 2 |
tashworth | 6:75259c3306dd | 69 | #define OIL_RIG3 3 |
tashworth | 6:75259c3306dd | 70 | #define DRIVE_POSITION_NOTOOL 4 |
tashworth | 6:75259c3306dd | 71 | #define TOOL_1 5 |
tashworth | 6:75259c3306dd | 72 | #define TOOL_2 6 |
tashworth | 6:75259c3306dd | 73 | #define TOOL_3 7 |
tashworth | 6:75259c3306dd | 74 | #define DRIVE_POSITION_TOOL 8 |
tashworth | 6:75259c3306dd | 75 | #define ORIENT_TOOL 9 |
tashworth | 29:22b243e288c8 | 76 | #define PU_TOOL_1 10 |
tashworth | 29:22b243e288c8 | 77 | #define PU_TOOL_2 11 |
tashworth | 29:22b243e288c8 | 78 | #define PU_TOOL_3 12 |
tashworth | 29:22b243e288c8 | 79 | #define INSERT_TOOL_1 13 |
tashworth | 28:2bb6b0fe39d0 | 80 | |
tashworth | 28:2bb6b0fe39d0 | 81 | |
tashworth | 6:75259c3306dd | 82 | //Rig definitions |
tashworth | 6:75259c3306dd | 83 | #define SQUARE 1 |
tashworth | 6:75259c3306dd | 84 | #define TRIANGLE 2 |
tashworth | 6:75259c3306dd | 85 | #define CIRCLE 3 |
tashworth | 28:2bb6b0fe39d0 | 86 | |
tashworth | 28:2bb6b0fe39d0 | 87 | |
tashworth | 6:75259c3306dd | 88 | //Oil Rig distance thresholds |
tashworth | 21:0907e1f5e16c | 89 | #define OILRIG1_MAX 1800 |
tashworth | 8:77a57909aa15 | 90 | #define OILRIG1_MIN 1000 |
tashworth | 21:0907e1f5e16c | 91 | #define OILRIG2_MAX 1800 |
tashworth | 8:77a57909aa15 | 92 | #define OILRIG2_MIN 1000 |
tashworth | 21:0907e1f5e16c | 93 | #define OILRIG3_MAX 1800 |
tashworth | 8:77a57909aa15 | 94 | #define OILRIG3_MIN 1000 |
tashworth | 28:2bb6b0fe39d0 | 95 | |
tashworth | 6:75259c3306dd | 96 | //for servo normalization |
tashworth | 3:b7b4780a7f6e | 97 | #define MIN_SERVO_PULSE 900 |
tashworth | 3:b7b4780a7f6e | 98 | #define MAX_SERVO_PULSE 2100 |
tashworth | 3:b7b4780a7f6e | 99 | #define SERVO_MAX_ANGLE 180 |
tashworth | 28:2bb6b0fe39d0 | 100 | |
tashworth | 17:a5bb85ee205d | 101 | #define X_CENTER 80 |
tashworth | 17:a5bb85ee205d | 102 | #define Y_CENTER 60 |
tashworth | 28:2bb6b0fe39d0 | 103 | |
tashworth | 28:2bb6b0fe39d0 | 104 | |
tashworth | 8:77a57909aa15 | 105 | DigitalOut myled1(LED1); |
tashworth | 8:77a57909aa15 | 106 | DigitalOut myled2(LED2); |
tashworth | 8:77a57909aa15 | 107 | DigitalOut myled3(LED3); |
tashworth | 8:77a57909aa15 | 108 | DigitalOut myled4(LED4); |
tashworth | 16:8bb212df81b7 | 109 | InterruptIn startBtn(p7); |
tashworth | 28:2bb6b0fe39d0 | 110 | |
tashworth | 8:77a57909aa15 | 111 | void errFunction(void); |
tashworth | 8:77a57909aa15 | 112 | bool cRc; |
tashworth | 28:2bb6b0fe39d0 | 113 | |
tashworth | 8:77a57909aa15 | 114 | Serial pc(USBTX,USBRX); //USB Comm |
tashworth | 8:77a57909aa15 | 115 | Adafruit_PWMServoDriver pwm(p28,p27); //pwm(SDA,SCL) - Servo Control PWM |
tashworth | 8:77a57909aa15 | 116 | extern Serial lrf; //Laser Range Finder lrf(p13,p14) |
tashworth | 8:77a57909aa15 | 117 | //Hardware Initialization |
tashworth | 8:77a57909aa15 | 118 | //Serial bt(p13,p14); |
Fairy_Paolina | 27:5540aa3c828c | 119 | HCSR04 rangeFinderFront( PIN_TRIGGERL, PIN_ECHOL ); |
tashworth | 8:77a57909aa15 | 120 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
Fairy_Paolina | 33:a41981e18a7d | 121 | PID pid1(25.0,2.0,1.0,0.0001); |
Fairy_Paolina | 30:db07aea6d119 | 122 | PololuQik2 motors(p9, p10, p8, p11, &errFunction, cRc); |
Fairy_Paolina | 30:db07aea6d119 | 123 | QEI rightEncoder(p22,p21,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 30:db07aea6d119 | 124 | QEI leftEncoder(p23,p24,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 30:db07aea6d119 | 125 | Sharp IRLeftFront(p18); |
Fairy_Paolina | 30:db07aea6d119 | 126 | Sharp IRLeftBack(p17); |
Fairy_Paolina | 30:db07aea6d119 | 127 | Sharp IRRightFront(p20); |
Fairy_Paolina | 30:db07aea6d119 | 128 | Sharp IRRightBack(p15); |
Fairy_Paolina | 30:db07aea6d119 | 129 | Sharp IRFrontL(p19); |
Fairy_Paolina | 30:db07aea6d119 | 130 | Sharp IRFrontR(p16); |
tashworth | 8:77a57909aa15 | 131 | //InterruptIn encoder(p29); |
tashworth | 28:2bb6b0fe39d0 | 132 | |
tashworth | 28:2bb6b0fe39d0 | 133 | |
tashworth | 28:2bb6b0fe39d0 | 134 | |
tashworth | 28:2bb6b0fe39d0 | 135 | |
tashworth | 6:75259c3306dd | 136 | /*************** |
tashworth | 6:75259c3306dd | 137 | local servo functions |
tashworth | 6:75259c3306dd | 138 | ****************/ |
tashworth | 1:fe4a0b47ff25 | 139 | void servoBegin(void); |
tashworth | 0:1b64a0cedc5d | 140 | void initServoDriver(void); |
tashworth | 3:b7b4780a7f6e | 141 | void setServoPulse(uint8_t n, int angle); |
tashworth | 17:a5bb85ee205d | 142 | void setServoPulse2(uint8_t n, float angle); //float precision |
tashworth | 3:b7b4780a7f6e | 143 | void setServoPulseNo_delay(uint8_t n, int angle); |
tashworth | 0:1b64a0cedc5d | 144 | void servoPosition(int set); |
tashworth | 6:75259c3306dd | 145 | int fire_checker(int rig); |
tashworth | 16:8bb212df81b7 | 146 | int button_start = 0; |
tashworth | 28:2bb6b0fe39d0 | 147 | |
tashworth | 28:2bb6b0fe39d0 | 148 | |
tashworth | 8:77a57909aa15 | 149 | //Navigation Functions |
tashworth | 12:284be46593ae | 150 | void wall_follow2(int side, int direction, int section, float location, int rig); |
tashworth | 8:77a57909aa15 | 151 | void leftTurn(void); |
tashworth | 8:77a57909aa15 | 152 | void slightleft(void); |
tashworth | 12:284be46593ae | 153 | void slightright(void); |
tashworth | 8:77a57909aa15 | 154 | void rightTurn(void); |
tashworth | 12:284be46593ae | 155 | void slightMove(int direction, float pulses); |
Fairy_Paolina | 27:5540aa3c828c | 156 | void tools_section_return(float* location, float ¤t); |
tashworth | 12:284be46593ae | 157 | void to_tools_section1(float* location, float ¤t); |
tashworth | 12:284be46593ae | 158 | void to_tools_section2(float* location, float ¤t); |
tashworth | 8:77a57909aa15 | 159 | void from_tools_section(float* location, float ¤t); |
tashworth | 8:77a57909aa15 | 160 | void mid_section(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 161 | void mid_section2(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 162 | void rig_section(float* location, float ¤t, int* direction, int rig); |
tashworth | 12:284be46593ae | 163 | void mid_section_return(float* location, float ¤t, int* direction); |
tashworth | 12:284be46593ae | 164 | void mid_section2_return(float* location, float ¤t, int* direction); |
tashworth | 12:284be46593ae | 165 | void rig_section_return(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 166 | void overBump(int section); |
tashworth | 8:77a57909aa15 | 167 | void alignWithWall(int section); |
tashworth | 12:284be46593ae | 168 | void UntilWall(int dir); |
Fairy_Paolina | 33:a41981e18a7d | 169 | void alignWithGap(void); |
Fairy_Paolina | 34:cd4980573159 | 170 | void toRig(void); |
Fairy_Paolina | 34:cd4980573159 | 171 | void alignWithRigWall(float ¤t); |
tashworth | 28:2bb6b0fe39d0 | 172 | |
tashworth | 28:2bb6b0fe39d0 | 173 | void testSensors(void); |
tashworth | 20:55dcff40c5d9 | 174 | float normd(int* pop, int count, int threshold); |
tashworth | 20:55dcff40c5d9 | 175 | int Xadjust(int tool); |
tashworth | 28:2bb6b0fe39d0 | 176 | |
tashworth | 16:8bb212df81b7 | 177 | extern "C" void mbed_reset(); |
tashworth | 28:2bb6b0fe39d0 | 178 | |
tashworth | 6:75259c3306dd | 179 | /************ |
tashworth | 6:75259c3306dd | 180 | Main Variables |
tashworth | 6:75259c3306dd | 181 | *************/ |
tashworth | 6:75259c3306dd | 182 | int state = START; |
tashworth | 6:75259c3306dd | 183 | int fire = 0; |
tashworth | 20:55dcff40c5d9 | 184 | int tool_needed = 1; |
tashworth | 6:75259c3306dd | 185 | int shape_detected = 0; |
Fairy_Paolina | 27:5540aa3c828c | 186 | float range, range2, range3, pid_return; |
tashworth | 19:d4d967a885dc | 187 | int num, input; |
tashworth | 28:2bb6b0fe39d0 | 188 | |
tashworth | 28:2bb6b0fe39d0 | 189 | |
tashworth | 0:1b64a0cedc5d | 190 | /************ |
tashworth | 0:1b64a0cedc5d | 191 | Variables for Servos |
tashworth | 0:1b64a0cedc5d | 192 | *************/ |
tashworth | 3:b7b4780a7f6e | 193 | int servoNum, servoAngle, outputDisabled, posNum, testVal; |
tashworth | 3:b7b4780a7f6e | 194 | int currentPosition[7]; |
tashworth | 28:2bb6b0fe39d0 | 195 | |
tashworth | 3:b7b4780a7f6e | 196 | typedef struct { |
tashworth | 6:75259c3306dd | 197 | int arm_position_name; //for organization only (STORE, OILRIG1, OILRIG2...) |
tashworth | 3:b7b4780a7f6e | 198 | int base_rotate; |
tashworth | 3:b7b4780a7f6e | 199 | int base_arm; |
tashworth | 3:b7b4780a7f6e | 200 | int big_arm; |
tashworth | 3:b7b4780a7f6e | 201 | int claw_arm; |
tashworth | 3:b7b4780a7f6e | 202 | int claw_rotate; |
tashworth | 3:b7b4780a7f6e | 203 | int claw_open; |
tashworth | 3:b7b4780a7f6e | 204 | } Coord; |
tashworth | 28:2bb6b0fe39d0 | 205 | |
tashworth | 6:75259c3306dd | 206 | /******************** |
tashworth | 6:75259c3306dd | 207 | Static Arm Positions |
tashworth | 6:75259c3306dd | 208 | *********************/ |
tashworth | 28:2bb6b0fe39d0 | 209 | |
tashworth | 3:b7b4780a7f6e | 210 | Coord Arm_Table[] = { |
tashworth | 28:2bb6b0fe39d0 | 211 | |
tashworth | 3:b7b4780a7f6e | 212 | // POSITION ODER: |
tashworth | 6:75259c3306dd | 213 | // base_rotate, base_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open |
tashworth | 28:2bb6b0fe39d0 | 214 | |
tashworth | 8:77a57909aa15 | 215 | //increase in number 5 rotates gripper |
tashworth | 28:2bb6b0fe39d0 | 216 | |
srsmitherman | 31:99cf9c25b0f2 | 217 | {STORE_POSITION, 85, 8, 0, 170, 60, 0}, // storing position |
jjcarr2 | 32:4a42f61f64a6 | 218 | {OIL_RIG1, 158, 20, 61, 100, 175, 0}, // point laser at oilrig1 |
jjcarr2 | 32:4a42f61f64a6 | 219 | {OIL_RIG2, 158, 20, 61, 100, 175, 0}, // point laser at oilrig2 |
tashworth | 28:2bb6b0fe39d0 | 220 | {OIL_RIG3, 130, 90, 90, 100, 175, 0}, // NOT USED!!!!! point laser at oilrig2 |
tashworth | 28:2bb6b0fe39d0 | 221 | {DRIVE_POSITION_NOTOOL, 85, 10, 0, 165, 60, 0}, // Drive through course |
tashworth | 28:2bb6b0fe39d0 | 222 | {TOOL_1, 101, 50, 80, 133, 60, 0}, // Look over first tool |
tashworth | 28:2bb6b0fe39d0 | 223 | {TOOL_2, 82, 50, 80, 133, 60, 0}, // Look over second tool |
tashworth | 28:2bb6b0fe39d0 | 224 | {TOOL_3, 62, 50, 80, 132, 60, 0}, // Look over third tool |
tashworth | 28:2bb6b0fe39d0 | 225 | {DRIVE_POSITION_TOOL, 85, 10, 0, 165, 140, 120}, // Drive with tool loaded |
tashworth | 6:75259c3306dd | 226 | {ORIENT_TOOL, 135, 60, 75, 60, 90, 90}, // position tool to be inserted |
jjcarr2 | 32:4a42f61f64a6 | 227 | {PU_TOOL_1, 99, 46, 78, 110, 138, 0}, // STATIC Pickup tool POSITION |
jjcarr2 | 32:4a42f61f64a6 | 228 | {PU_TOOL_2, 76, 47, 80, 112, 138, 0}, // STATIC Pickup tool POSITION |
jjcarr2 | 32:4a42f61f64a6 | 229 | {PU_TOOL_3, 59, 44, 76, 110, 138, 0}, // STATIC Pickup tool POSITION |
tashworth | 28:2bb6b0fe39d0 | 230 | {INSERT_TOOL_1, 170, 50, 127, 52, 140, 120}, // InsertToolIntoRig |
tashworth | 28:2bb6b0fe39d0 | 231 | |
tashworth | 3:b7b4780a7f6e | 232 | }; |
tashworth | 28:2bb6b0fe39d0 | 233 | |
tashworth | 28:2bb6b0fe39d0 | 234 | |
tashworth | 3:b7b4780a7f6e | 235 | /* Variables for imageprocessing and distance */ |
tashworth | 3:b7b4780a7f6e | 236 | int x_coord; |
tashworth | 3:b7b4780a7f6e | 237 | int y_coord; |
tashworth | 3:b7b4780a7f6e | 238 | int area; |
tashworth | 3:b7b4780a7f6e | 239 | int shape; |
tashworth | 13:529323807361 | 240 | int shape_alignX_done = 0; |
tashworth | 16:8bb212df81b7 | 241 | int shape_alignY_done = 0; |
tashworth | 17:a5bb85ee205d | 242 | float deltaX = 0; |
tashworth | 28:2bb6b0fe39d0 | 243 | |
tashworth | 28:2bb6b0fe39d0 | 244 | |
tashworth | 6:75259c3306dd | 245 | /* Variables for distance sensor*/ |
tashworth | 8:77a57909aa15 | 246 | int distLaser; |
tashworth | 6:75259c3306dd | 247 | int fire_detected = 0; |
tashworth | 6:75259c3306dd | 248 | int fire_not_detected = 0; |
tashworth | 28:2bb6b0fe39d0 | 249 | |
tashworth | 16:8bb212df81b7 | 250 | void button_int(void) |
tashworth | 16:8bb212df81b7 | 251 | { |
tashworth | 16:8bb212df81b7 | 252 | if(!button_start) { |
tashworth | 16:8bb212df81b7 | 253 | button_start = 1; |
tashworth | 16:8bb212df81b7 | 254 | wait(1.0); |
tashworth | 16:8bb212df81b7 | 255 | } else { |
tashworth | 16:8bb212df81b7 | 256 | button_start = 0; |
tashworth | 16:8bb212df81b7 | 257 | mbed_reset(); |
tashworth | 16:8bb212df81b7 | 258 | } |
tashworth | 16:8bb212df81b7 | 259 | return; |
tashworth | 16:8bb212df81b7 | 260 | } |
tashworth | 28:2bb6b0fe39d0 | 261 | |
tashworth | 28:2bb6b0fe39d0 | 262 | |
tashworth | 28:2bb6b0fe39d0 | 263 | |
tashworth | 3:b7b4780a7f6e | 264 | int main() |
tashworth | 3:b7b4780a7f6e | 265 | { |
tashworth | 28:2bb6b0fe39d0 | 266 | |
tashworth | 28:2bb6b0fe39d0 | 267 | |
tashworth | 3:b7b4780a7f6e | 268 | /***************** |
tashworth | 3:b7b4780a7f6e | 269 | INITIALIZATIONS |
tashworth | 3:b7b4780a7f6e | 270 | *******************/ |
tashworth | 12:284be46593ae | 271 | float location[3], current=4; |
tashworth | 8:77a57909aa15 | 272 | int direction[3]; |
tashworth | 8:77a57909aa15 | 273 | double distance; |
tashworth | 28:2bb6b0fe39d0 | 274 | |
tashworth | 17:a5bb85ee205d | 275 | int pu, num, input; |
tashworth | 28:2bb6b0fe39d0 | 276 | |
tashworth | 28:2bb6b0fe39d0 | 277 | |
tashworth | 3:b7b4780a7f6e | 278 | pc.baud(115200); |
tashworth | 28:2bb6b0fe39d0 | 279 | |
tashworth | 6:75259c3306dd | 280 | //Laser Range Finder Initialization |
tashworth | 3:b7b4780a7f6e | 281 | lrf_baudCalibration(); |
tashworth | 28:2bb6b0fe39d0 | 282 | |
tashworth | 8:77a57909aa15 | 283 | motors.begin(); |
tashworth | 28:2bb6b0fe39d0 | 284 | |
tashworth | 16:8bb212df81b7 | 285 | startBtn.rise(&button_int); |
srsmitherman | 31:99cf9c25b0f2 | 286 | //////////////////////////// TEST SERVOS ///////////////////////// |
Fairy_Paolina | 30:db07aea6d119 | 287 | //testSensors(); |
srsmitherman | 31:99cf9c25b0f2 | 288 | |
Fairy_Paolina | 30:db07aea6d119 | 289 | motors.begin(); |
Fairy_Paolina | 30:db07aea6d119 | 290 | //wall_follow2(LEFT, FORWARD, TOOLS, 10, 1); |
Fairy_Paolina | 30:db07aea6d119 | 291 | //while(1); |
tashworth | 28:2bb6b0fe39d0 | 292 | |
tashworth | 6:75259c3306dd | 293 | //Servo initialization |
tashworth | 3:b7b4780a7f6e | 294 | initServoDriver(); |
tashworth | 6:75259c3306dd | 295 | servoBegin(); //initiates servos to start position |
tashworth | 11:8d2455e383ce | 296 | //ServoOutputDisable = 0; |
tashworth | 28:2bb6b0fe39d0 | 297 | |
tashworth | 7:8fb4204f9600 | 298 | /******************************** |
tashworth | 7:8fb4204f9600 | 299 | MAIN WHILE LOOP FOR COMPETITION |
tashworth | 7:8fb4204f9600 | 300 | *********************************/ |
tashworth | 28:2bb6b0fe39d0 | 301 | |
tashworth | 28:2bb6b0fe39d0 | 302 | |
tashworth | 3:b7b4780a7f6e | 303 | while(1) { |
tashworth | 28:2bb6b0fe39d0 | 304 | //if(1) { |
tashworth | 16:8bb212df81b7 | 305 | if(button_start == 1) { |
srsmitherman | 31:99cf9c25b0f2 | 306 | |
tashworth | 28:2bb6b0fe39d0 | 307 | /* |
tashworth | 28:2bb6b0fe39d0 | 308 | pc.printf("Servo Test"); |
tashworth | 28:2bb6b0fe39d0 | 309 | while(1) { |
tashworth | 28:2bb6b0fe39d0 | 310 | pc.scanf("%d %d", &servoNum, &servoAngle); |
tashworth | 28:2bb6b0fe39d0 | 311 | if(servoAngle > 175) { |
tashworth | 28:2bb6b0fe39d0 | 312 | servoAngle = 175; |
tashworth | 28:2bb6b0fe39d0 | 313 | } |
tashworth | 28:2bb6b0fe39d0 | 314 | if(servoNum > 5 ) { |
tashworth | 28:2bb6b0fe39d0 | 315 | servoNum = 0; |
tashworth | 28:2bb6b0fe39d0 | 316 | servoAngle = 90; |
tashworth | 28:2bb6b0fe39d0 | 317 | } |
tashworth | 28:2bb6b0fe39d0 | 318 | setServoPulse(servoNum, servoAngle); |
tashworth | 28:2bb6b0fe39d0 | 319 | |
tashworth | 28:2bb6b0fe39d0 | 320 | };*/ |
tashworth | 28:2bb6b0fe39d0 | 321 | |
tashworth | 28:2bb6b0fe39d0 | 322 | |
tashworth | 16:8bb212df81b7 | 323 | switch (state) { |
tashworth | 28:2bb6b0fe39d0 | 324 | |
tashworth | 16:8bb212df81b7 | 325 | /************************************************** |
tashworth | 16:8bb212df81b7 | 326 | * STAGE 0 |
tashworth | 16:8bb212df81b7 | 327 | * |
tashworth | 16:8bb212df81b7 | 328 | * - START OF THE COMETITION |
tashworth | 16:8bb212df81b7 | 329 | * |
tashworth | 16:8bb212df81b7 | 330 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 331 | case START : |
tashworth | 16:8bb212df81b7 | 332 | myled1 = 1; |
Fairy_Paolina | 34:cd4980573159 | 333 | //current=16; |
Fairy_Paolina | 34:cd4980573159 | 334 | //state=NAVIGATE_WAVES_ROW3; |
Fairy_Paolina | 33:a41981e18a7d | 335 | current=68; |
Fairy_Paolina | 33:a41981e18a7d | 336 | state = NAVIGATE_WAVES_ROW1; |
Fairy_Paolina | 33:a41981e18a7d | 337 | //state = OILRIG1_POS; |
tashworth | 16:8bb212df81b7 | 338 | break; |
tashworth | 28:2bb6b0fe39d0 | 339 | |
tashworth | 28:2bb6b0fe39d0 | 340 | |
tashworth | 16:8bb212df81b7 | 341 | /************************************************** |
tashworth | 16:8bb212df81b7 | 342 | * STAGE 1 |
tashworth | 16:8bb212df81b7 | 343 | * |
tashworth | 16:8bb212df81b7 | 344 | * - DETERMINE OIL RIG ON FIRE |
tashworth | 16:8bb212df81b7 | 345 | * |
tashworth | 16:8bb212df81b7 | 346 | **************************************************/ |
tashworth | 28:2bb6b0fe39d0 | 347 | |
tashworth | 16:8bb212df81b7 | 348 | case OILRIG1_POS: //aims arm at square oil rig |
tashworth | 28:2bb6b0fe39d0 | 349 | |
tashworth | 16:8bb212df81b7 | 350 | servoPosition(OIL_RIG1); |
tashworth | 16:8bb212df81b7 | 351 | wait(3); //wait for servo to settle before laser distance |
tashworth | 28:2bb6b0fe39d0 | 352 | |
tashworth | 16:8bb212df81b7 | 353 | fire = fire_checker(OIL_RIG1); //determines if oil rig is on fire |
tashworth | 28:2bb6b0fe39d0 | 354 | |
tashworth | 16:8bb212df81b7 | 355 | //determines what tool is needed |
tashworth | 16:8bb212df81b7 | 356 | if (fire == 1) { |
tashworth | 16:8bb212df81b7 | 357 | pc.printf("FIRE FOUND!!!!!!!!\n\r"); |
tashworth | 16:8bb212df81b7 | 358 | tool_needed = SQUARE; |
tashworth | 16:8bb212df81b7 | 359 | state = GOTO_TOOLS1; |
tashworth | 16:8bb212df81b7 | 360 | } else { |
tashworth | 16:8bb212df81b7 | 361 | pc.printf("XXXXXX FIRE NOT FOUND XXXXXX"); |
tashworth | 16:8bb212df81b7 | 362 | state = OILRIG2_POS; |
tashworth | 16:8bb212df81b7 | 363 | } |
tashworth | 16:8bb212df81b7 | 364 | break; |
tashworth | 28:2bb6b0fe39d0 | 365 | |
tashworth | 16:8bb212df81b7 | 366 | case OILRIG2_POS: |
tashworth | 28:2bb6b0fe39d0 | 367 | |
tashworth | 16:8bb212df81b7 | 368 | setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm); |
tashworth | 16:8bb212df81b7 | 369 | setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm); |
tashworth | 16:8bb212df81b7 | 370 | setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm); |
tashworth | 16:8bb212df81b7 | 371 | setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate); |
tashworth | 16:8bb212df81b7 | 372 | setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate); |
tashworth | 16:8bb212df81b7 | 373 | setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open); |
tashworth | 16:8bb212df81b7 | 374 | wait(3); //wait for servos to settle |
tashworth | 28:2bb6b0fe39d0 | 375 | |
tashworth | 16:8bb212df81b7 | 376 | to_tools_section2(location, current); // moves to second rig |
tashworth | 28:2bb6b0fe39d0 | 377 | |
tashworth | 16:8bb212df81b7 | 378 | servoPosition(OIL_RIG2); //position arm to point at first oilrig |
tashworth | 16:8bb212df81b7 | 379 | wait(3); |
tashworth | 28:2bb6b0fe39d0 | 380 | |
tashworth | 16:8bb212df81b7 | 381 | fire = fire_checker(OIL_RIG2); |
tashworth | 16:8bb212df81b7 | 382 | if (fire == 1) { |
tashworth | 16:8bb212df81b7 | 383 | pc.printf("FIRE FOUND!!!!!!!!"); |
tashworth | 16:8bb212df81b7 | 384 | tool_needed = TRIANGLE; |
tashworth | 16:8bb212df81b7 | 385 | state = GOTO_TOOLS2; |
tashworth | 16:8bb212df81b7 | 386 | } else { |
tashworth | 16:8bb212df81b7 | 387 | pc.printf("XXXXXX FIRE NOT FOUND XXXXXX"); |
tashworth | 16:8bb212df81b7 | 388 | tool_needed = CIRCLE; |
tashworth | 16:8bb212df81b7 | 389 | state = GOTO_TOOLS2; |
tashworth | 16:8bb212df81b7 | 390 | } |
tashworth | 16:8bb212df81b7 | 391 | break; |
tashworth | 28:2bb6b0fe39d0 | 392 | |
tashworth | 16:8bb212df81b7 | 393 | /************************************************** |
tashworth | 16:8bb212df81b7 | 394 | * STAGE 2 |
tashworth | 16:8bb212df81b7 | 395 | * |
tashworth | 16:8bb212df81b7 | 396 | * - TRAVEL TO TOOLS |
tashworth | 16:8bb212df81b7 | 397 | * |
tashworth | 16:8bb212df81b7 | 398 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 399 | case GOTO_TOOLS1: |
tashworth | 16:8bb212df81b7 | 400 | setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm); |
tashworth | 16:8bb212df81b7 | 401 | setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm); |
tashworth | 16:8bb212df81b7 | 402 | setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm); |
tashworth | 16:8bb212df81b7 | 403 | setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate); |
tashworth | 16:8bb212df81b7 | 404 | setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate); |
tashworth | 16:8bb212df81b7 | 405 | setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open); |
tashworth | 16:8bb212df81b7 | 406 | wait(3); //wait for servos to settle |
tashworth | 28:2bb6b0fe39d0 | 407 | |
tashworth | 16:8bb212df81b7 | 408 | to_tools_section1(location, current); |
tashworth | 16:8bb212df81b7 | 409 | state = IDENTIFY_TOOLS; |
tashworth | 16:8bb212df81b7 | 410 | break; |
tashworth | 28:2bb6b0fe39d0 | 411 | |
tashworth | 16:8bb212df81b7 | 412 | case GOTO_TOOLS2: |
tashworth | 28:2bb6b0fe39d0 | 413 | |
tashworth | 16:8bb212df81b7 | 414 | setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm); |
tashworth | 16:8bb212df81b7 | 415 | setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm); |
tashworth | 16:8bb212df81b7 | 416 | setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm); |
tashworth | 16:8bb212df81b7 | 417 | setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate); |
tashworth | 16:8bb212df81b7 | 418 | setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate); |
tashworth | 16:8bb212df81b7 | 419 | setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open); |
tashworth | 16:8bb212df81b7 | 420 | wait(3); //wait for servos to settle |
tashworth | 28:2bb6b0fe39d0 | 421 | |
tashworth | 21:0907e1f5e16c | 422 | slightMove(FORWARD,3250); |
tashworth | 16:8bb212df81b7 | 423 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 424 | |
tashworth | 16:8bb212df81b7 | 425 | state = IDENTIFY_TOOLS; |
tashworth | 16:8bb212df81b7 | 426 | break; |
tashworth | 28:2bb6b0fe39d0 | 427 | |
tashworth | 28:2bb6b0fe39d0 | 428 | |
tashworth | 28:2bb6b0fe39d0 | 429 | |
tashworth | 16:8bb212df81b7 | 430 | /************************************************** |
tashworth | 16:8bb212df81b7 | 431 | * STAGE 3 |
tashworth | 16:8bb212df81b7 | 432 | * |
tashworth | 16:8bb212df81b7 | 433 | * - Determine order of tools |
tashworth | 16:8bb212df81b7 | 434 | * - Aquire appropriate tool |
tashworth | 16:8bb212df81b7 | 435 | * |
tashworth | 16:8bb212df81b7 | 436 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 437 | case IDENTIFY_TOOLS: |
Fairy_Paolina | 33:a41981e18a7d | 438 | |
tashworth | 20:55dcff40c5d9 | 439 | //wait(5); |
tashworth | 16:8bb212df81b7 | 440 | servoPosition(TOOL_2); //arm/camera looks over tool |
tashworth | 16:8bb212df81b7 | 441 | wait(5); //wait for servos to settle |
tashworth | 28:2bb6b0fe39d0 | 442 | |
tashworth | 16:8bb212df81b7 | 443 | //shape_detected = shapeDetection(); //determines the shape |
tashworth | 16:8bb212df81b7 | 444 | //clearBounds(); |
tashworth | 16:8bb212df81b7 | 445 | //printImageToFile(BINARY); |
tashworth | 16:8bb212df81b7 | 446 | shape_alignX_done = 0; |
tashworth | 16:8bb212df81b7 | 447 | shape_alignY_done = 0; |
tashworth | 17:a5bb85ee205d | 448 | /* |
tashworth | 17:a5bb85ee205d | 449 | while( shape_alignY_done == 0) { |
tashworth | 17:a5bb85ee205d | 450 | wait(1); |
tashworth | 17:a5bb85ee205d | 451 | shape_detected = shapeDetection(); |
tashworth | 28:2bb6b0fe39d0 | 452 | |
tashworth | 17:a5bb85ee205d | 453 | pc.printf("Y - Adjust to center tool\n\r"); |
tashworth | 28:2bb6b0fe39d0 | 454 | |
tashworth | 17:a5bb85ee205d | 455 | if(get_com_y() < 50) { |
tashworth | 17:a5bb85ee205d | 456 | wait(1); |
tashworth | 17:a5bb85ee205d | 457 | slightMove(FORWARD,25); |
tashworth | 17:a5bb85ee205d | 458 | current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 459 | |
tashworth | 17:a5bb85ee205d | 460 | } else if(get_com_y() > 70) { |
tashworth | 17:a5bb85ee205d | 461 | wait(1); |
tashworth | 17:a5bb85ee205d | 462 | slightMove(BACKWARD,25); |
tashworth | 17:a5bb85ee205d | 463 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 464 | |
tashworth | 17:a5bb85ee205d | 465 | } else { |
tashworth | 17:a5bb85ee205d | 466 | shape_alignY_done = 1; |
tashworth | 17:a5bb85ee205d | 467 | } |
tashworth | 17:a5bb85ee205d | 468 | }*/ |
tashworth | 28:2bb6b0fe39d0 | 469 | |
tashworth | 20:55dcff40c5d9 | 470 | // aveArea = sumArea/count; |
tashworth | 17:a5bb85ee205d | 471 | //printImageToFile(BINARY); |
tashworth | 16:8bb212df81b7 | 472 | //either goes to aquire the tool or look at the next shape |
tashworth | 28:2bb6b0fe39d0 | 473 | |
tashworth | 22:79c5871543b5 | 474 | //****************//if(Xadjust(TOOL_2) == tool_needed) { |
tashworth | 22:79c5871543b5 | 475 | if(Xadjust(TOOL_2) == 162) { |
tashworth | 20:55dcff40c5d9 | 476 | //printImageToFile(BINARY); |
tashworth | 16:8bb212df81b7 | 477 | state = AQUIRE_TOOL2; |
tashworth | 16:8bb212df81b7 | 478 | break; |
tashworth | 13:529323807361 | 479 | } else { |
tashworth | 20:55dcff40c5d9 | 480 | //printImageToFile(BINARY); |
tashworth | 21:0907e1f5e16c | 481 | slightMove(FORWARD,70); |
tashworth | 16:8bb212df81b7 | 482 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 16:8bb212df81b7 | 483 | servoPosition(TOOL_1); |
tashworth | 16:8bb212df81b7 | 484 | wait(5); //wait for servos to settle |
tashworth | 16:8bb212df81b7 | 485 | shape_alignX_done = 0; |
tashworth | 16:8bb212df81b7 | 486 | shape_alignY_done = 0; |
tashworth | 17:a5bb85ee205d | 487 | /* |
tashworth | 16:8bb212df81b7 | 488 | while( shape_alignY_done == 0) { |
tashworth | 16:8bb212df81b7 | 489 | wait(1); |
tashworth | 16:8bb212df81b7 | 490 | shape_detected = shapeDetection(); |
tashworth | 28:2bb6b0fe39d0 | 491 | |
tashworth | 16:8bb212df81b7 | 492 | pc.printf("Y - Adjust to center tool\n\r"); |
tashworth | 28:2bb6b0fe39d0 | 493 | |
tashworth | 17:a5bb85ee205d | 494 | if(get_com_y() < 50) { |
tashworth | 16:8bb212df81b7 | 495 | wait(1); |
tashworth | 16:8bb212df81b7 | 496 | slightMove(FORWARD,25); |
tashworth | 16:8bb212df81b7 | 497 | current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 498 | |
tashworth | 17:a5bb85ee205d | 499 | } else if(get_com_y() > 70) { |
tashworth | 16:8bb212df81b7 | 500 | wait(1); |
tashworth | 16:8bb212df81b7 | 501 | slightMove(BACKWARD,25); |
tashworth | 16:8bb212df81b7 | 502 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 503 | |
tashworth | 16:8bb212df81b7 | 504 | } else { |
tashworth | 16:8bb212df81b7 | 505 | shape_alignY_done = 1; |
tashworth | 16:8bb212df81b7 | 506 | } |
tashworth | 17:a5bb85ee205d | 507 | }*/ |
tashworth | 22:79c5871543b5 | 508 | //****************// if (Xadjust(TOOL_1) == tool_needed) { |
tashworth | 22:79c5871543b5 | 509 | if (Xadjust(TOOL_1) == 169) { |
tashworth | 16:8bb212df81b7 | 510 | state = AQUIRE_TOOL1; |
tashworth | 16:8bb212df81b7 | 511 | break; |
tashworth | 16:8bb212df81b7 | 512 | } else { |
tashworth | 16:8bb212df81b7 | 513 | servoPosition(TOOL_3); |
tashworth | 16:8bb212df81b7 | 514 | wait(3); //wait for servos to settle |
tashworth | 16:8bb212df81b7 | 515 | state = AQUIRE_TOOL3; |
tashworth | 16:8bb212df81b7 | 516 | } |
tashworth | 13:529323807361 | 517 | } |
tashworth | 28:2bb6b0fe39d0 | 518 | |
tashworth | 16:8bb212df81b7 | 519 | break; |
tashworth | 28:2bb6b0fe39d0 | 520 | |
tashworth | 16:8bb212df81b7 | 521 | case AQUIRE_TOOL1: |
tashworth | 28:2bb6b0fe39d0 | 522 | |
tashworth | 16:8bb212df81b7 | 523 | servoPosition(PU_TOOL_1); |
tashworth | 18:a0ea7ecaf4fe | 524 | setServoPulse(4, 175); |
tashworth | 16:8bb212df81b7 | 525 | wait(5); |
tashworth | 20:55dcff40c5d9 | 526 | setServoPulse(0, Arm_Table[PU_TOOL_1].base_rotate - 1); |
tashworth | 16:8bb212df81b7 | 527 | wait(1); |
tashworth | 16:8bb212df81b7 | 528 | setServoPulse(1, Arm_Table[PU_TOOL_1].base_arm - 5); |
tashworth | 16:8bb212df81b7 | 529 | wait(1); |
tashworth | 28:2bb6b0fe39d0 | 530 | setServoPulse(4, 175); |
tashworth | 28:2bb6b0fe39d0 | 531 | wait(2); |
tashworth | 16:8bb212df81b7 | 532 | setServoPulse(1, Arm_Table[PU_TOOL_1].base_arm - 6); |
tashworth | 16:8bb212df81b7 | 533 | wait(.5); |
tashworth | 28:2bb6b0fe39d0 | 534 | setServoPulse(5, 100); |
tashworth | 16:8bb212df81b7 | 535 | wait(.5); |
tashworth | 16:8bb212df81b7 | 536 | setServoPulse(5, 00); |
tashworth | 17:a5bb85ee205d | 537 | setServoPulse(1, Arm_Table[PU_TOOL_1].base_arm - 10); |
tashworth | 16:8bb212df81b7 | 538 | wait(1); |
tashworth | 28:2bb6b0fe39d0 | 539 | setServoPulse(5, 120); |
tashworth | 16:8bb212df81b7 | 540 | wait(1); |
tashworth | 16:8bb212df81b7 | 541 | setServoPulse(1, Arm_Table[PU_TOOL_1].base_arm); |
tashworth | 17:a5bb85ee205d | 542 | wait(2); |
tashworth | 28:2bb6b0fe39d0 | 543 | |
tashworth | 17:a5bb85ee205d | 544 | setServoPulse(2, Arm_Table[DRIVE_POSITION_TOOL].big_arm); |
tashworth | 17:a5bb85ee205d | 545 | setServoPulse(3, Arm_Table[DRIVE_POSITION_TOOL].claw_arm); |
tashworth | 17:a5bb85ee205d | 546 | setServoPulse(1, Arm_Table[DRIVE_POSITION_TOOL].base_arm); |
tashworth | 17:a5bb85ee205d | 547 | setServoPulse(0, Arm_Table[DRIVE_POSITION_TOOL].base_rotate); |
tashworth | 17:a5bb85ee205d | 548 | setServoPulse(4, Arm_Table[DRIVE_POSITION_TOOL].claw_rotate); |
tashworth | 17:a5bb85ee205d | 549 | setServoPulse(5, Arm_Table[DRIVE_POSITION_TOOL].claw_open); |
tashworth | 28:2bb6b0fe39d0 | 550 | |
tashworth | 28:2bb6b0fe39d0 | 551 | |
tashworth | 16:8bb212df81b7 | 552 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 16:8bb212df81b7 | 553 | break; |
tashworth | 28:2bb6b0fe39d0 | 554 | |
tashworth | 16:8bb212df81b7 | 555 | case AQUIRE_TOOL2: |
tashworth | 16:8bb212df81b7 | 556 | servoPosition(PU_TOOL_2); |
tashworth | 17:a5bb85ee205d | 557 | setServoPulse(4, 175); |
tashworth | 16:8bb212df81b7 | 558 | wait(5); |
tashworth | 20:55dcff40c5d9 | 559 | setServoPulse(0, Arm_Table[PU_TOOL_2].base_rotate - 1); |
tashworth | 16:8bb212df81b7 | 560 | wait(1); |
tashworth | 17:a5bb85ee205d | 561 | setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm - 2); |
tashworth | 17:a5bb85ee205d | 562 | wait(1); |
tashworth | 17:a5bb85ee205d | 563 | setServoPulse(3, Arm_Table[PU_TOOL_2].claw_arm - 2); |
tashworth | 16:8bb212df81b7 | 564 | wait(1); |
tashworth | 28:2bb6b0fe39d0 | 565 | setServoPulse(4, 175); |
tashworth | 28:2bb6b0fe39d0 | 566 | wait(2); |
tashworth | 16:8bb212df81b7 | 567 | setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm - 6); |
tashworth | 17:a5bb85ee205d | 568 | wait(2); |
tashworth | 28:2bb6b0fe39d0 | 569 | setServoPulse(5, 100); |
tashworth | 17:a5bb85ee205d | 570 | wait(2); |
tashworth | 16:8bb212df81b7 | 571 | setServoPulse(5, 00); |
tashworth | 17:a5bb85ee205d | 572 | setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm - 10); |
tashworth | 17:a5bb85ee205d | 573 | wait(2); |
tashworth | 28:2bb6b0fe39d0 | 574 | setServoPulse(5, 120); |
tashworth | 17:a5bb85ee205d | 575 | wait(2); |
tashworth | 16:8bb212df81b7 | 576 | setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm); |
tashworth | 28:2bb6b0fe39d0 | 577 | |
tashworth | 17:a5bb85ee205d | 578 | wait(2); |
tashworth | 28:2bb6b0fe39d0 | 579 | |
tashworth | 17:a5bb85ee205d | 580 | setServoPulse(2, Arm_Table[DRIVE_POSITION_TOOL].big_arm); |
tashworth | 17:a5bb85ee205d | 581 | setServoPulse(3, Arm_Table[DRIVE_POSITION_TOOL].claw_arm); |
tashworth | 17:a5bb85ee205d | 582 | setServoPulse(1, Arm_Table[DRIVE_POSITION_TOOL].base_arm); |
tashworth | 17:a5bb85ee205d | 583 | setServoPulse(0, Arm_Table[DRIVE_POSITION_TOOL].base_rotate); |
tashworth | 17:a5bb85ee205d | 584 | setServoPulse(4, Arm_Table[DRIVE_POSITION_TOOL].claw_rotate); |
tashworth | 17:a5bb85ee205d | 585 | setServoPulse(5, Arm_Table[DRIVE_POSITION_TOOL].claw_open); |
tashworth | 28:2bb6b0fe39d0 | 586 | |
tashworth | 28:2bb6b0fe39d0 | 587 | |
tashworth | 16:8bb212df81b7 | 588 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 16:8bb212df81b7 | 589 | break; |
tashworth | 28:2bb6b0fe39d0 | 590 | |
tashworth | 16:8bb212df81b7 | 591 | case AQUIRE_TOOL3: |
tashworth | 17:a5bb85ee205d | 592 | /* |
tashworth | 17:a5bb85ee205d | 593 | while( shape_alignY_done == 0) { |
tashworth | 17:a5bb85ee205d | 594 | wait(1); |
tashworth | 28:2bb6b0fe39d0 | 595 | |
tashworth | 17:a5bb85ee205d | 596 | servoPosition(PU_TOOL_3); |
tashworth | 17:a5bb85ee205d | 597 | shape_detected = shapeDetection(); |
tashworth | 17:a5bb85ee205d | 598 | wait(2); |
tashworth | 28:2bb6b0fe39d0 | 599 | |
tashworth | 17:a5bb85ee205d | 600 | pc.printf("Y - Adjust to center tool\n\r"); |
tashworth | 28:2bb6b0fe39d0 | 601 | |
tashworth | 17:a5bb85ee205d | 602 | if(get_com_y() < 50) { |
tashworth | 17:a5bb85ee205d | 603 | wait(1); |
tashworth | 17:a5bb85ee205d | 604 | slightMove(FORWARD,25); |
tashworth | 17:a5bb85ee205d | 605 | current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 606 | |
tashworth | 17:a5bb85ee205d | 607 | } else if(get_com_y() > 70) { |
tashworth | 17:a5bb85ee205d | 608 | wait(1); |
tashworth | 17:a5bb85ee205d | 609 | slightMove(BACKWARD,25); |
tashworth | 17:a5bb85ee205d | 610 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 611 | |
tashworth | 17:a5bb85ee205d | 612 | } else { |
tashworth | 17:a5bb85ee205d | 613 | shape_alignY_done = 1; |
tashworth | 17:a5bb85ee205d | 614 | } |
tashworth | 17:a5bb85ee205d | 615 | } |
tashworth | 28:2bb6b0fe39d0 | 616 | |
tashworth | 17:a5bb85ee205d | 617 | */ |
tashworth | 20:55dcff40c5d9 | 618 | Xadjust(TOOL_3); |
tashworth | 28:2bb6b0fe39d0 | 619 | |
tashworth | 18:a0ea7ecaf4fe | 620 | setServoPulse(4, 175); |
tashworth | 16:8bb212df81b7 | 621 | wait(5); |
tashworth | 22:79c5871543b5 | 622 | setServoPulse(0, Arm_Table[PU_TOOL_3].base_rotate - 1); |
tashworth | 16:8bb212df81b7 | 623 | wait(1); |
jjcarr2 | 32:4a42f61f64a6 | 624 | setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm - 2); |
tashworth | 17:a5bb85ee205d | 625 | wait(1); |
jjcarr2 | 32:4a42f61f64a6 | 626 | setServoPulse(3, Arm_Table[PU_TOOL_3].claw_arm - 2); |
tashworth | 16:8bb212df81b7 | 627 | wait(1); |
tashworth | 28:2bb6b0fe39d0 | 628 | setServoPulse(4, 175); |
tashworth | 28:2bb6b0fe39d0 | 629 | wait(2); |
tashworth | 22:79c5871543b5 | 630 | setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm - 9); |
tashworth | 16:8bb212df81b7 | 631 | wait(.5); |
tashworth | 28:2bb6b0fe39d0 | 632 | setServoPulse(5, 100); |
tashworth | 16:8bb212df81b7 | 633 | wait(.5); |
tashworth | 16:8bb212df81b7 | 634 | setServoPulse(5, 00); |
tashworth | 17:a5bb85ee205d | 635 | setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm - 10); |
tashworth | 16:8bb212df81b7 | 636 | wait(1); |
tashworth | 28:2bb6b0fe39d0 | 637 | setServoPulse(5, 120); |
tashworth | 16:8bb212df81b7 | 638 | wait(1); |
tashworth | 16:8bb212df81b7 | 639 | setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm); |
tashworth | 28:2bb6b0fe39d0 | 640 | |
tashworth | 17:a5bb85ee205d | 641 | wait(2); |
tashworth | 28:2bb6b0fe39d0 | 642 | |
tashworth | 17:a5bb85ee205d | 643 | setServoPulse(2, Arm_Table[DRIVE_POSITION_TOOL].big_arm); |
tashworth | 17:a5bb85ee205d | 644 | setServoPulse(3, Arm_Table[DRIVE_POSITION_TOOL].claw_arm); |
tashworth | 17:a5bb85ee205d | 645 | setServoPulse(1, Arm_Table[DRIVE_POSITION_TOOL].base_arm); |
tashworth | 17:a5bb85ee205d | 646 | setServoPulse(0, Arm_Table[DRIVE_POSITION_TOOL].base_rotate); |
tashworth | 17:a5bb85ee205d | 647 | setServoPulse(4, Arm_Table[DRIVE_POSITION_TOOL].claw_rotate); |
tashworth | 17:a5bb85ee205d | 648 | setServoPulse(5, Arm_Table[DRIVE_POSITION_TOOL].claw_open); |
tashworth | 28:2bb6b0fe39d0 | 649 | |
tashworth | 16:8bb212df81b7 | 650 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 16:8bb212df81b7 | 651 | break; |
tashworth | 28:2bb6b0fe39d0 | 652 | |
tashworth | 28:2bb6b0fe39d0 | 653 | |
tashworth | 16:8bb212df81b7 | 654 | /************************************************** |
tashworth | 16:8bb212df81b7 | 655 | * STAGE 4 |
tashworth | 16:8bb212df81b7 | 656 | * |
tashworth | 16:8bb212df81b7 | 657 | * - Navigate through the ocean |
tashworth | 16:8bb212df81b7 | 658 | * |
tashworth | 16:8bb212df81b7 | 659 | **************************************************/ |
tashworth | 28:2bb6b0fe39d0 | 660 | |
tashworth | 16:8bb212df81b7 | 661 | case NAVIGATE_WAVES_ROW1: |
tashworth | 17:a5bb85ee205d | 662 | from_tools_section(location,current); |
tashworth | 28:2bb6b0fe39d0 | 663 | |
tashworth | 17:a5bb85ee205d | 664 | mid_section(location, current, direction); |
tashworth | 28:2bb6b0fe39d0 | 665 | |
tashworth | 16:8bb212df81b7 | 666 | state = NAVIGATE_WAVES_ROW2; |
tashworth | 16:8bb212df81b7 | 667 | break; |
tashworth | 28:2bb6b0fe39d0 | 668 | |
tashworth | 16:8bb212df81b7 | 669 | case NAVIGATE_WAVES_ROW2: |
tashworth | 17:a5bb85ee205d | 670 | mid_section2(location, current, direction); |
tashworth | 16:8bb212df81b7 | 671 | state = NAVIGATE_WAVES_ROW3; |
tashworth | 16:8bb212df81b7 | 672 | break; |
tashworth | 28:2bb6b0fe39d0 | 673 | |
tashworth | 16:8bb212df81b7 | 674 | case NAVIGATE_WAVES_ROW3: |
Fairy_Paolina | 33:a41981e18a7d | 675 | tool_needed = 2; |
Fairy_Paolina | 23:f8e806d1ffcc | 676 | if(tool_needed == 1) { |
tashworth | 17:a5bb85ee205d | 677 | rig_section(location, current, direction, 1); |
tashworth | 22:79c5871543b5 | 678 | //state = NAVIGATE_TO_SQUARE_RIG; |
tashworth | 22:79c5871543b5 | 679 | state = RETURN_TO_START; |
Fairy_Paolina | 23:f8e806d1ffcc | 680 | } else if(tool_needed == 2) { |
tashworth | 17:a5bb85ee205d | 681 | rig_section(location, current, direction, 2); |
tashworth | 22:79c5871543b5 | 682 | //state = NAVIGATE_TO_TRIANGLE_RIG; |
tashworth | 22:79c5871543b5 | 683 | state = RETURN_TO_START; |
tashworth | 16:8bb212df81b7 | 684 | } else { |
tashworth | 17:a5bb85ee205d | 685 | rig_section(location, current, direction, 3); |
tashworth | 22:79c5871543b5 | 686 | //state = NAVIGATE_TO_CIRCLE_RIG; |
tashworth | 22:79c5871543b5 | 687 | state = RETURN_TO_START; |
tashworth | 28:2bb6b0fe39d0 | 688 | |
tashworth | 16:8bb212df81b7 | 689 | } |
tashworth | 16:8bb212df81b7 | 690 | break; |
tashworth | 28:2bb6b0fe39d0 | 691 | |
tashworth | 16:8bb212df81b7 | 692 | /************************************************** |
tashworth | 16:8bb212df81b7 | 693 | * STAGE 5 |
tashworth | 16:8bb212df81b7 | 694 | * |
tashworth | 16:8bb212df81b7 | 695 | * - Travel to appropriate rig |
tashworth | 16:8bb212df81b7 | 696 | * |
tashworth | 16:8bb212df81b7 | 697 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 698 | case NAVIGATE_TO_SQUARE_RIG: |
tashworth | 16:8bb212df81b7 | 699 | //NAVIGATION CODE HERE |
tashworth | 16:8bb212df81b7 | 700 | state = RIG_ALIGN; |
tashworth | 16:8bb212df81b7 | 701 | break; |
tashworth | 16:8bb212df81b7 | 702 | case NAVIGATE_TO_TRIANGLE_RIG: |
tashworth | 16:8bb212df81b7 | 703 | //NAVIGATION CODE HERE |
tashworth | 16:8bb212df81b7 | 704 | state = RIG_ALIGN; |
tashworth | 16:8bb212df81b7 | 705 | break; |
tashworth | 16:8bb212df81b7 | 706 | case NAVIGATE_TO_CIRCLE_RIG: |
tashworth | 16:8bb212df81b7 | 707 | //NAVIGATION CODE HERE |
tashworth | 16:8bb212df81b7 | 708 | state = RIG_ALIGN; |
tashworth | 16:8bb212df81b7 | 709 | break; |
tashworth | 28:2bb6b0fe39d0 | 710 | |
tashworth | 16:8bb212df81b7 | 711 | /************************************************** |
tashworth | 16:8bb212df81b7 | 712 | * STAGE 6 |
tashworth | 16:8bb212df81b7 | 713 | * |
tashworth | 16:8bb212df81b7 | 714 | * - Align with appropriate rig |
tashworth | 16:8bb212df81b7 | 715 | * |
tashworth | 16:8bb212df81b7 | 716 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 717 | case RIG_ALIGN: |
tashworth | 28:2bb6b0fe39d0 | 718 | |
tashworth | 16:8bb212df81b7 | 719 | //*********************// |
tashworth | 16:8bb212df81b7 | 720 | //******* TODO ********// |
tashworth | 16:8bb212df81b7 | 721 | //*********************// |
tashworth | 16:8bb212df81b7 | 722 | // CODE TO ALIGN ROBOT WITH RIG |
tashworth | 28:2bb6b0fe39d0 | 723 | |
tashworth | 16:8bb212df81b7 | 724 | servoPosition(ORIENT_TOOL); |
tashworth | 16:8bb212df81b7 | 725 | wait(1); //wait for servos to settle |
tashworth | 16:8bb212df81b7 | 726 | state = INSERT_TOOL; |
tashworth | 16:8bb212df81b7 | 727 | break; |
tashworth | 28:2bb6b0fe39d0 | 728 | |
tashworth | 16:8bb212df81b7 | 729 | /************************************************** |
tashworth | 16:8bb212df81b7 | 730 | * STAGE 7 |
tashworth | 16:8bb212df81b7 | 731 | * |
tashworth | 16:8bb212df81b7 | 732 | * - Insert Tool |
tashworth | 16:8bb212df81b7 | 733 | * - Extenguish fire |
tashworth | 16:8bb212df81b7 | 734 | * - win contest |
tashworth | 16:8bb212df81b7 | 735 | * |
tashworth | 16:8bb212df81b7 | 736 | **************************************************/ |
tashworth | 28:2bb6b0fe39d0 | 737 | |
tashworth | 16:8bb212df81b7 | 738 | case INSERT_TOOL: |
tashworth | 16:8bb212df81b7 | 739 | //*********************// |
tashworth | 16:8bb212df81b7 | 740 | //******* TODO ********// |
tashworth | 16:8bb212df81b7 | 741 | //*********************// |
tashworth | 16:8bb212df81b7 | 742 | // CODE TO INSERT TOOL |
tashworth | 16:8bb212df81b7 | 743 | break; |
tashworth | 28:2bb6b0fe39d0 | 744 | |
tashworth | 16:8bb212df81b7 | 745 | /************************************************** |
tashworth | 16:8bb212df81b7 | 746 | * STAGE 8 |
tashworth | 16:8bb212df81b7 | 747 | * |
tashworth | 22:79c5871543b5 | 748 | * - Return to start zone |
tashworth | 22:79c5871543b5 | 749 | * |
tashworth | 22:79c5871543b5 | 750 | **************************************************/ |
tashworth | 22:79c5871543b5 | 751 | case RETURN_TO_START: |
Fairy_Paolina | 34:cd4980573159 | 752 | wait(5); |
Fairy_Paolina | 34:cd4980573159 | 753 | while(1); |
tashworth | 22:79c5871543b5 | 754 | rig_section_return(location, current, direction); |
tashworth | 22:79c5871543b5 | 755 | mid_section2_return(location, current, direction); |
tashworth | 22:79c5871543b5 | 756 | mid_section_return(location, current, direction); |
tashworth | 22:79c5871543b5 | 757 | tools_section_return(location,current); |
tashworth | 22:79c5871543b5 | 758 | while(1); |
tashworth | 22:79c5871543b5 | 759 | state = END; |
tashworth | 22:79c5871543b5 | 760 | break; |
tashworth | 28:2bb6b0fe39d0 | 761 | |
tashworth | 22:79c5871543b5 | 762 | /************************************************** |
tashworth | 22:79c5871543b5 | 763 | * STAGE 9 |
tashworth | 22:79c5871543b5 | 764 | * |
tashworth | 16:8bb212df81b7 | 765 | * - END COMPETITION |
tashworth | 16:8bb212df81b7 | 766 | * |
tashworth | 16:8bb212df81b7 | 767 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 768 | case END: |
tashworth | 16:8bb212df81b7 | 769 | servoPosition(STORE_POSITION); |
tashworth | 16:8bb212df81b7 | 770 | myled1 = 1; |
tashworth | 16:8bb212df81b7 | 771 | wait(.2); |
tashworth | 16:8bb212df81b7 | 772 | myled2 = 1; |
tashworth | 16:8bb212df81b7 | 773 | wait(.2); |
tashworth | 16:8bb212df81b7 | 774 | myled3 = 1; |
tashworth | 16:8bb212df81b7 | 775 | wait(.2); |
tashworth | 16:8bb212df81b7 | 776 | myled4 = 1; |
tashworth | 16:8bb212df81b7 | 777 | wait(.2); |
tashworth | 16:8bb212df81b7 | 778 | break; |
tashworth | 16:8bb212df81b7 | 779 | default: |
tashworth | 28:2bb6b0fe39d0 | 780 | |
tashworth | 16:8bb212df81b7 | 781 | break; |
tashworth | 16:8bb212df81b7 | 782 | } |
tashworth | 16:8bb212df81b7 | 783 | } // End while loop |
tashworth | 28:2bb6b0fe39d0 | 784 | |
tashworth | 16:8bb212df81b7 | 785 | } // End if for start button |
tashworth | 28:2bb6b0fe39d0 | 786 | |
tashworth | 28:2bb6b0fe39d0 | 787 | |
tashworth | 16:8bb212df81b7 | 788 | } // main loop |
tashworth | 28:2bb6b0fe39d0 | 789 | |
tashworth | 28:2bb6b0fe39d0 | 790 | |
tashworth | 28:2bb6b0fe39d0 | 791 | |
tashworth | 14:784acd735b8c | 792 | /************ |
tashworth | 28:2bb6b0fe39d0 | 793 | |
tashworth | 14:784acd735b8c | 794 | Servo Functions |
tashworth | 28:2bb6b0fe39d0 | 795 | |
tashworth | 14:784acd735b8c | 796 | **************/ |
tashworth | 28:2bb6b0fe39d0 | 797 | |
tashworth | 14:784acd735b8c | 798 | void setServoPulse(uint8_t n, int angle) |
tashworth | 14:784acd735b8c | 799 | { |
tashworth | 14:784acd735b8c | 800 | int pulse; |
tashworth | 14:784acd735b8c | 801 | pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 14:784acd735b8c | 802 | float pulselength = 20000; // 20,000 us per second |
tashworth | 14:784acd735b8c | 803 | int i = currentPosition[n]; |
tashworth | 20:55dcff40c5d9 | 804 | //pc.printf("ServoNumber: %d Begining Pulse: %d\n\r",n,currentPosition[n]); |
tashworth | 14:784acd735b8c | 805 | int pulse2; |
tashworth | 14:784acd735b8c | 806 | if(currentPosition[n] < pulse) { |
tashworth | 14:784acd735b8c | 807 | for(i; i < pulse; i++) { |
tashworth | 14:784acd735b8c | 808 | pulse2 = 4094 * i / pulselength; |
tashworth | 14:784acd735b8c | 809 | pwm.setPWM(n, 0, pulse2); |
tashworth | 14:784acd735b8c | 810 | wait_ms(3); |
tashworth | 14:784acd735b8c | 811 | } |
tashworth | 14:784acd735b8c | 812 | } else if (currentPosition[n] > pulse) { |
tashworth | 14:784acd735b8c | 813 | for(i; i > pulse; i--) { |
tashworth | 14:784acd735b8c | 814 | pulse2 = 4094 * i / pulselength; |
tashworth | 14:784acd735b8c | 815 | pwm.setPWM(n, 0, pulse2); |
tashworth | 14:784acd735b8c | 816 | wait_ms(3); |
tashworth | 13:529323807361 | 817 | } |
tashworth | 14:784acd735b8c | 818 | } |
tashworth | 14:784acd735b8c | 819 | currentPosition[n] = i; |
tashworth | 20:55dcff40c5d9 | 820 | //pc.printf("END: pulse: %d, angle: %d\n\r", i, angle); |
tashworth | 14:784acd735b8c | 821 | } |
tashworth | 28:2bb6b0fe39d0 | 822 | |
tashworth | 14:784acd735b8c | 823 | void initServoDriver(void) |
tashworth | 14:784acd735b8c | 824 | { |
tashworth | 14:784acd735b8c | 825 | pwm.begin(); |
tashworth | 14:784acd735b8c | 826 | //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale(). |
tashworth | 14:784acd735b8c | 827 | pwm.setPrescale(140); //This value is decided for 20ms interval. |
tashworth | 14:784acd735b8c | 828 | pwm.setI2Cfreq(400000); //400kHz |
tashworth | 28:2bb6b0fe39d0 | 829 | |
tashworth | 14:784acd735b8c | 830 | } |
tashworth | 28:2bb6b0fe39d0 | 831 | |
tashworth | 14:784acd735b8c | 832 | void servoBegin(void) |
tashworth | 14:784acd735b8c | 833 | { |
tashworth | 14:784acd735b8c | 834 | pc.printf("Setting Initial Servo Position\n\r"); |
tashworth | 16:8bb212df81b7 | 835 | setServoPulseNo_delay(3, Arm_Table[STORE_POSITION].claw_arm); |
tashworth | 16:8bb212df81b7 | 836 | setServoPulseNo_delay(2, Arm_Table[STORE_POSITION].big_arm); |
tashworth | 16:8bb212df81b7 | 837 | wait(2); |
tashworth | 16:8bb212df81b7 | 838 | setServoPulseNo_delay(1, Arm_Table[STORE_POSITION].base_arm); |
tashworth | 16:8bb212df81b7 | 839 | setServoPulseNo_delay(0, Arm_Table[STORE_POSITION].base_rotate); |
tashworth | 16:8bb212df81b7 | 840 | setServoPulseNo_delay(4, Arm_Table[STORE_POSITION].claw_rotate); |
tashworth | 16:8bb212df81b7 | 841 | setServoPulseNo_delay(5, Arm_Table[STORE_POSITION].claw_open); |
tashworth | 14:784acd735b8c | 842 | } |
tashworth | 28:2bb6b0fe39d0 | 843 | |
tashworth | 14:784acd735b8c | 844 | void setServoPulseNo_delay(uint8_t n, int angle) |
tashworth | 14:784acd735b8c | 845 | { |
tashworth | 14:784acd735b8c | 846 | int pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 14:784acd735b8c | 847 | float pulselength = 20000; // 20,000 us per second |
tashworth | 14:784acd735b8c | 848 | currentPosition[n] = pulse; |
tashworth | 14:784acd735b8c | 849 | //pc.printf("ServoNumber: %d Pulsewidth: %d Angle: %d \n\r",n,pulse, angle); |
tashworth | 14:784acd735b8c | 850 | pulse = 4094 * pulse / pulselength; |
tashworth | 14:784acd735b8c | 851 | pwm.setPWM(n, 0, pulse); |
tashworth | 28:2bb6b0fe39d0 | 852 | |
tashworth | 14:784acd735b8c | 853 | } |
tashworth | 17:a5bb85ee205d | 854 | void setServoPulse2(uint8_t n, float angle) |
tashworth | 17:a5bb85ee205d | 855 | { |
tashworth | 17:a5bb85ee205d | 856 | float pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 17:a5bb85ee205d | 857 | float pulselength = 20000; // 10,000 us per second |
tashworth | 17:a5bb85ee205d | 858 | pulse = 4094 * pulse / pulselength; |
tashworth | 17:a5bb85ee205d | 859 | pwm.setPWM(n, 0, pulse); |
tashworth | 17:a5bb85ee205d | 860 | } |
tashworth | 28:2bb6b0fe39d0 | 861 | |
tashworth | 28:2bb6b0fe39d0 | 862 | |
tashworth | 28:2bb6b0fe39d0 | 863 | |
tashworth | 14:784acd735b8c | 864 | void servoPosition(int set) |
tashworth | 14:784acd735b8c | 865 | { |
tashworth | 14:784acd735b8c | 866 | //moves to current position |
tashworth | 14:784acd735b8c | 867 | setServoPulse(3, Arm_Table[set].claw_arm); |
tashworth | 14:784acd735b8c | 868 | setServoPulse(2, Arm_Table[set].big_arm); |
tashworth | 14:784acd735b8c | 869 | setServoPulse(1, Arm_Table[set].base_arm); |
tashworth | 14:784acd735b8c | 870 | setServoPulse(0, Arm_Table[set].base_rotate); |
tashworth | 14:784acd735b8c | 871 | setServoPulse(4, Arm_Table[set].claw_rotate); |
tashworth | 14:784acd735b8c | 872 | setServoPulse(5, Arm_Table[set].claw_open); |
tashworth | 14:784acd735b8c | 873 | } |
Fairy_Paolina | 27:5540aa3c828c | 874 | |
tashworth | 14:784acd735b8c | 875 | int fire_checker(int rig) |
tashworth | 14:784acd735b8c | 876 | { |
tashworth | 14:784acd735b8c | 877 | switch (rig) { |
tashworth | 28:2bb6b0fe39d0 | 878 | |
tashworth | 14:784acd735b8c | 879 | case 1: |
tashworth | 14:784acd735b8c | 880 | for (int i = 0; i<10; i++) { |
tashworth | 14:784acd735b8c | 881 | distLaser = getDistance(); |
tashworth | 14:784acd735b8c | 882 | pc.printf("L DISTANCE: %d \n\r", distLaser); |
tashworth | 14:784acd735b8c | 883 | if ((distLaser < OILRIG1_MAX) |
tashworth | 14:784acd735b8c | 884 | && (distLaser > OILRIG1_MIN)) { |
tashworth | 14:784acd735b8c | 885 | fire_detected++; |
tashworth | 8:77a57909aa15 | 886 | } else { |
tashworth | 14:784acd735b8c | 887 | fire_not_detected++; |
tashworth | 8:77a57909aa15 | 888 | } |
tashworth | 14:784acd735b8c | 889 | } |
tashworth | 14:784acd735b8c | 890 | break; |
tashworth | 14:784acd735b8c | 891 | case 2: |
tashworth | 14:784acd735b8c | 892 | for (int i = 0; i<10; i++) { |
tashworth | 14:784acd735b8c | 893 | distLaser = getDistance(); |
tashworth | 14:784acd735b8c | 894 | pc.printf("L DISTANCE: %d \n\r", distLaser); |
tashworth | 14:784acd735b8c | 895 | if ((distLaser < OILRIG2_MAX) |
tashworth | 14:784acd735b8c | 896 | && (distLaser > OILRIG2_MIN)) { |
tashworth | 14:784acd735b8c | 897 | fire_detected++; |
tashworth | 13:529323807361 | 898 | } else { |
tashworth | 14:784acd735b8c | 899 | fire_not_detected++; |
tashworth | 13:529323807361 | 900 | } |
tashworth | 13:529323807361 | 901 | } |
tashworth | 14:784acd735b8c | 902 | break; |
tashworth | 28:2bb6b0fe39d0 | 903 | |
tashworth | 14:784acd735b8c | 904 | } |
tashworth | 28:2bb6b0fe39d0 | 905 | |
tashworth | 14:784acd735b8c | 906 | if (fire_detected > 0) { |
tashworth | 14:784acd735b8c | 907 | return 1; |
tashworth | 14:784acd735b8c | 908 | } else { |
tashworth | 14:784acd735b8c | 909 | return 0; |
tashworth | 14:784acd735b8c | 910 | } |
tashworth | 14:784acd735b8c | 911 | } |
tashworth | 28:2bb6b0fe39d0 | 912 | |
tashworth | 14:784acd735b8c | 913 | void errFunction(void) |
tashworth | 14:784acd735b8c | 914 | { |
tashworth | 20:55dcff40c5d9 | 915 | pc.printf("\n\nERROR: %d", motors.getError() ); |
tashworth | 28:2bb6b0fe39d0 | 916 | |
tashworth | 14:784acd735b8c | 917 | } |
tashworth | 28:2bb6b0fe39d0 | 918 | |
tashworth | 28:2bb6b0fe39d0 | 919 | |
tashworth | 14:784acd735b8c | 920 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
tashworth | 28:2bb6b0fe39d0 | 921 | |
tashworth | 14:784acd735b8c | 922 | void wall_follow2(int side, int direction, int section, float location, int rig) |
tashworth | 14:784acd735b8c | 923 | { |
Fairy_Paolina | 30:db07aea6d119 | 924 | int dir=1, limit=78, lowlim=4; |
Fairy_Paolina | 27:5540aa3c828c | 925 | float set=28, loc=0, Rigloc=0, location_cal=0; |
tashworth | 28:2bb6b0fe39d0 | 926 | |
tashworth | 14:784acd735b8c | 927 | if(rig == 1) Rigloc= 16; |
tashworth | 14:784acd735b8c | 928 | else if(rig == 2) Rigloc= 45; |
tashworth | 14:784acd735b8c | 929 | else if(rig== 3) Rigloc = 70; |
tashworth | 28:2bb6b0fe39d0 | 930 | |
tashworth | 14:784acd735b8c | 931 | pid1.reset(); |
tashworth | 28:2bb6b0fe39d0 | 932 | |
tashworth | 14:784acd735b8c | 933 | if(section == TOOLS) { |
Fairy_Paolina | 23:f8e806d1ffcc | 934 | limit = 100; |
Fairy_Paolina | 23:f8e806d1ffcc | 935 | lowlim=10; |
tashworth | 28:2bb6b0fe39d0 | 936 | } else if(section == RIGS) set = 18; |
Fairy_Paolina | 30:db07aea6d119 | 937 | else if(section == MID2) limit =80; |
tashworth | 28:2bb6b0fe39d0 | 938 | |
tashworth | 22:79c5871543b5 | 939 | if(direction == BACKWARD) { |
tashworth | 22:79c5871543b5 | 940 | dir=-1; |
tashworth | 22:79c5871543b5 | 941 | limit = 100; |
tashworth | 22:79c5871543b5 | 942 | } else if(direction == FORWARD) lowlim=-20; |
tashworth | 28:2bb6b0fe39d0 | 943 | |
tashworth | 20:55dcff40c5d9 | 944 | if(location <4) limit=80; |
tashworth | 28:2bb6b0fe39d0 | 945 | |
tashworth | 14:784acd735b8c | 946 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 947 | rightEncoder.reset(); |
tashworth | 28:2bb6b0fe39d0 | 948 | |
tashworth | 20:55dcff40c5d9 | 949 | //pc.printf("dir*loc+location %f\r\n",dir*loc + location ); |
tashworth | 20:55dcff40c5d9 | 950 | //pc.printf("limit %d \r\n", limit); |
Fairy_Paolina | 23:f8e806d1ffcc | 951 | if((section == RIGS || section == RETURN) && side == LEFT)location_cal= -1*dir*loc + location; |
Fairy_Paolina | 23:f8e806d1ffcc | 952 | else location_cal= dir*loc + location; |
tashworth | 28:2bb6b0fe39d0 | 953 | |
Fairy_Paolina | 23:f8e806d1ffcc | 954 | while((location_cal <= limit) && (location_cal >= lowlim)) { |
tashworth | 28:2bb6b0fe39d0 | 955 | |
tashworth | 14:784acd735b8c | 956 | loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 957 | |
Fairy_Paolina | 23:f8e806d1ffcc | 958 | if((section == RIGS || section == RETURN) && side == LEFT)location_cal= -1*dir*loc + location; |
Fairy_Paolina | 23:f8e806d1ffcc | 959 | else location_cal= dir*loc + location; |
tashworth | 28:2bb6b0fe39d0 | 960 | |
tashworth | 14:784acd735b8c | 961 | pid1.setInputLimits(0.0, set); |
Fairy_Paolina | 30:db07aea6d119 | 962 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
tashworth | 14:784acd735b8c | 963 | pid1.setSetPoint(set); |
tashworth | 28:2bb6b0fe39d0 | 964 | |
Fairy_Paolina | 30:db07aea6d119 | 965 | if(side== LEFT) { |
Fairy_Paolina | 30:db07aea6d119 | 966 | range = IRLeftFront.getIRDistance(); |
Fairy_Paolina | 30:db07aea6d119 | 967 | range2= IRLeftBack.getIRDistance(); |
tashworth | 14:784acd735b8c | 968 | } else { |
Fairy_Paolina | 30:db07aea6d119 | 969 | range = IRRightFront.getIRDistance(); |
Fairy_Paolina | 30:db07aea6d119 | 970 | range2= IRRightBack.getIRDistance(); |
tashworth | 14:784acd735b8c | 971 | } |
tashworth | 28:2bb6b0fe39d0 | 972 | |
Fairy_Paolina | 30:db07aea6d119 | 973 | if(section == RIGS) {// check for the rigs on opposite side |
tashworth | 28:2bb6b0fe39d0 | 974 | if(side == LEFT) { |
Fairy_Paolina | 30:db07aea6d119 | 975 | range = IRRightFront.getIRDistance(); |
Fairy_Paolina | 30:db07aea6d119 | 976 | range2= IRRightBack.getIRDistance(); |
Fairy_Paolina | 27:5540aa3c828c | 977 | |
tashworth | 28:2bb6b0fe39d0 | 978 | } else { |
Fairy_Paolina | 30:db07aea6d119 | 979 | range = IRLeftFront.getIRDistance(); |
Fairy_Paolina | 30:db07aea6d119 | 980 | range2= IRLeftBack.getIRDistance(); |
Fairy_Paolina | 23:f8e806d1ffcc | 981 | } |
tashworth | 28:2bb6b0fe39d0 | 982 | |
Fairy_Paolina | 30:db07aea6d119 | 983 | if(range2 < 40 || range < 40 ) { |
Fairy_Paolina | 23:f8e806d1ffcc | 984 | if( abs(location_cal - Rigloc) < 10) { |
tashworth | 14:784acd735b8c | 985 | //STOP |
tashworth | 17:a5bb85ee205d | 986 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 987 | break; |
tashworth | 12:284be46593ae | 988 | } |
tashworth | 12:284be46593ae | 989 | } |
tashworth | 12:284be46593ae | 990 | } |
srsmitherman | 31:99cf9c25b0f2 | 991 | |
Fairy_Paolina | 30:db07aea6d119 | 992 | if(range > 40 && range2 > 40 && section != RIGS) { |
srsmitherman | 31:99cf9c25b0f2 | 993 | pc.printf("RANGE %f \tRANGE3 %f\r\n",range,range3); |
srsmitherman | 31:99cf9c25b0f2 | 994 | //STOP |
srsmitherman | 31:99cf9c25b0f2 | 995 | motors.stopBothMotors(127); |
srsmitherman | 31:99cf9c25b0f2 | 996 | break; |
tashworth | 28:2bb6b0fe39d0 | 997 | |
tashworth | 14:784acd735b8c | 998 | } else { |
Fairy_Paolina | 30:db07aea6d119 | 999 | if(direction == FORWARD) pid1.setProcessValue(range); |
Fairy_Paolina | 30:db07aea6d119 | 1000 | else pid1.setProcessValue(range2); |
Fairy_Paolina | 30:db07aea6d119 | 1001 | |
srsmitherman | 31:99cf9c25b0f2 | 1002 | if(abs(range - range2) < 10) { // does it see a wavegap? |
Fairy_Paolina | 30:db07aea6d119 | 1003 | pid_return = pid1.compute(); |
Fairy_Paolina | 30:db07aea6d119 | 1004 | //pc.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
tashworth | 28:2bb6b0fe39d0 | 1005 | |
Fairy_Paolina | 30:db07aea6d119 | 1006 | if(pid_return > 0) { |
Fairy_Paolina | 30:db07aea6d119 | 1007 | if(side) { |
Fairy_Paolina | 30:db07aea6d119 | 1008 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 30:db07aea6d119 | 1009 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 30:db07aea6d119 | 1010 | } else { |
Fairy_Paolina | 30:db07aea6d119 | 1011 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 30:db07aea6d119 | 1012 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 30:db07aea6d119 | 1013 | } |
Fairy_Paolina | 30:db07aea6d119 | 1014 | } else if(pid_return < 0) { |
Fairy_Paolina | 30:db07aea6d119 | 1015 | if(side) { |
Fairy_Paolina | 30:db07aea6d119 | 1016 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 30:db07aea6d119 | 1017 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 30:db07aea6d119 | 1018 | } else { |
Fairy_Paolina | 30:db07aea6d119 | 1019 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 30:db07aea6d119 | 1020 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 30:db07aea6d119 | 1021 | } |
tashworth | 14:784acd735b8c | 1022 | } else { |
Fairy_Paolina | 30:db07aea6d119 | 1023 | motors.setMotor0Speed(dir*MAX_SPEED); |
Fairy_Paolina | 30:db07aea6d119 | 1024 | motors.setMotor1Speed(dir*MAX_SPEED); |
tashworth | 12:284be46593ae | 1025 | } |
tashworth | 14:784acd735b8c | 1026 | } |
tashworth | 14:784acd735b8c | 1027 | } |
tashworth | 14:784acd735b8c | 1028 | } |
tashworth | 28:2bb6b0fe39d0 | 1029 | |
tashworth | 14:784acd735b8c | 1030 | //STOP |
tashworth | 17:a5bb85ee205d | 1031 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1032 | } |
tashworth | 28:2bb6b0fe39d0 | 1033 | |
tashworth | 28:2bb6b0fe39d0 | 1034 | |
tashworth | 14:784acd735b8c | 1035 | void alignWithWall(int section) |
tashworth | 14:784acd735b8c | 1036 | { |
tashworth | 14:784acd735b8c | 1037 | float usValue = 0; |
tashworth | 28:2bb6b0fe39d0 | 1038 | |
tashworth | 14:784acd735b8c | 1039 | if(section == TOOLS) { |
tashworth | 20:55dcff40c5d9 | 1040 | //pc.printf("tools section align\r\n"); |
tashworth | 14:784acd735b8c | 1041 | // turn at an angle |
tashworth | 14:784acd735b8c | 1042 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1043 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1044 | motors.setMotor0Speed(-1.2*MAX_SPEED); //right |
tashworth | 14:784acd735b8c | 1045 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
tashworth | 14:784acd735b8c | 1046 | while(rightEncoder.getPulses()>-1000); |
tashworth | 14:784acd735b8c | 1047 | motors.stopBothMotors(0); |
tashworth | 28:2bb6b0fe39d0 | 1048 | |
tashworth | 14:784acd735b8c | 1049 | //go backwards toward wall |
tashworth | 14:784acd735b8c | 1050 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1051 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1052 | motors.setMotor0Speed(-0.25*127); //right |
tashworth | 14:784acd735b8c | 1053 | motors.setMotor1Speed(-0.25*127); //left |
tashworth | 14:784acd735b8c | 1054 | while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300); |
tashworth | 14:784acd735b8c | 1055 | motors.stopBothMotors(0); |
tashworth | 28:2bb6b0fe39d0 | 1056 | |
tashworth | 14:784acd735b8c | 1057 | // turn left towards wall |
tashworth | 14:784acd735b8c | 1058 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1059 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1060 | motors.setMotor0Speed(MAX_SPEED); //right |
tashworth | 14:784acd735b8c | 1061 | motors.setMotor1Speed(-MAX_SPEED); //left |
tashworth | 14:784acd735b8c | 1062 | while(rightEncoder.getPulses() < 20 || abs(leftEncoder.getPulses()) < 20); |
tashworth | 28:2bb6b0fe39d0 | 1063 | |
tashworth | 20:55dcff40c5d9 | 1064 | motors.stopBothMotors(127); |
tashworth | 20:55dcff40c5d9 | 1065 | wait_ms(300); |
tashworth | 20:55dcff40c5d9 | 1066 | return; |
tashworth | 28:2bb6b0fe39d0 | 1067 | |
tashworth | 17:a5bb85ee205d | 1068 | } else if(section == RIGS) { |
tashworth | 28:2bb6b0fe39d0 | 1069 | |
Fairy_Paolina | 23:f8e806d1ffcc | 1070 | // turn left at an angle |
tashworth | 14:784acd735b8c | 1071 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1072 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1073 | motors.setMotor1Speed(-1.2*MAX_SPEED); //left |
tashworth | 14:784acd735b8c | 1074 | motors.setMotor0Speed(0.4*MAX_SPEED); //right |
tashworth | 17:a5bb85ee205d | 1075 | while(abs(leftEncoder.getPulses())<500); |
tashworth | 14:784acd735b8c | 1076 | motors.stopBothMotors(0); |
Fairy_Paolina | 23:f8e806d1ffcc | 1077 | wait_ms(200); |
tashworth | 28:2bb6b0fe39d0 | 1078 | |
Fairy_Paolina | 23:f8e806d1ffcc | 1079 | //go backwards away form wall |
tashworth | 20:55dcff40c5d9 | 1080 | leftEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1081 | rightEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1082 | motors.setMotor0Speed(-0.25*127); //right |
tashworth | 20:55dcff40c5d9 | 1083 | motors.setMotor1Speed(-0.25*127); //left |
tashworth | 20:55dcff40c5d9 | 1084 | while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150); |
Fairy_Paolina | 23:f8e806d1ffcc | 1085 | motors.stopBothMotors(127); |
Fairy_Paolina | 33:a41981e18a7d | 1086 | wait(1); |
tashworth | 28:2bb6b0fe39d0 | 1087 | |
Fairy_Paolina | 33:a41981e18a7d | 1088 | if(IRLeftFront.getIRDistance() > 35 && IRLeftBack.getIRDistance() > 35) return; |
Fairy_Paolina | 33:a41981e18a7d | 1089 | // align with wave |
Fairy_Paolina | 33:a41981e18a7d | 1090 | while(IRLeftFront.getIRDistance() > 35) { |
Fairy_Paolina | 33:a41981e18a7d | 1091 | pc.printf("front sensor sees gap\r\n"); |
Fairy_Paolina | 33:a41981e18a7d | 1092 | motors.setMotor0Speed(-0.1*127);//right |
Fairy_Paolina | 33:a41981e18a7d | 1093 | motors.setMotor1Speed(-0.1*127);//left |
Fairy_Paolina | 33:a41981e18a7d | 1094 | } |
Fairy_Paolina | 33:a41981e18a7d | 1095 | while(IRLeftBack.getIRDistance() >35 ) { |
Fairy_Paolina | 33:a41981e18a7d | 1096 | pc.printf("back sensor sees gap\r\n"); |
Fairy_Paolina | 33:a41981e18a7d | 1097 | motors.setMotor0Speed(0.1*127);//right |
Fairy_Paolina | 33:a41981e18a7d | 1098 | motors.setMotor1Speed(0.1*127);//left |
Fairy_Paolina | 33:a41981e18a7d | 1099 | } |
tashworth | 20:55dcff40c5d9 | 1100 | motors.stopBothMotors(127); |
Fairy_Paolina | 23:f8e806d1ffcc | 1101 | |
Fairy_Paolina | 33:a41981e18a7d | 1102 | } |
tashworth | 14:784acd735b8c | 1103 | } |
tashworth | 28:2bb6b0fe39d0 | 1104 | |
tashworth | 14:784acd735b8c | 1105 | void rightTurn(void) |
tashworth | 14:784acd735b8c | 1106 | { |
tashworth | 14:784acd735b8c | 1107 | motors.begin(); |
tashworth | 14:784acd735b8c | 1108 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1109 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1110 | motors.setMotor0Speed(-0.5*127);//right |
tashworth | 14:784acd735b8c | 1111 | motors.setMotor1Speed(0.5*127);//left |
Fairy_Paolina | 24:3369d51f6cbd | 1112 | while(abs(leftEncoder.getPulses())<800 || abs(rightEncoder.getPulses())<800); |
tashworth | 17:a5bb85ee205d | 1113 | motors.stopBothMotors(127); |
Fairy_Paolina | 27:5540aa3c828c | 1114 | wait_ms(300); |
tashworth | 28:2bb6b0fe39d0 | 1115 | |
Fairy_Paolina | 30:db07aea6d119 | 1116 | if(IRLeftFront.getIRDistance() > 35 && IRLeftBack.getIRDistance() > 35) return; |
Fairy_Paolina | 27:5540aa3c828c | 1117 | // align with wave |
Fairy_Paolina | 30:db07aea6d119 | 1118 | while(IRLeftFront.getIRDistance() > 35) { |
Fairy_Paolina | 27:5540aa3c828c | 1119 | pc.printf("front sensor sees gap\r\n"); |
Fairy_Paolina | 27:5540aa3c828c | 1120 | motors.setMotor0Speed(-0.1*127);//right |
Fairy_Paolina | 27:5540aa3c828c | 1121 | motors.setMotor1Speed(-0.1*127);//left |
Fairy_Paolina | 27:5540aa3c828c | 1122 | } |
Fairy_Paolina | 30:db07aea6d119 | 1123 | while(IRLeftBack.getIRDistance() >35 ) { |
tashworth | 28:2bb6b0fe39d0 | 1124 | pc.printf("back sensor sees gap\r\n"); |
Fairy_Paolina | 27:5540aa3c828c | 1125 | motors.setMotor0Speed(0.1*127);//right |
tashworth | 28:2bb6b0fe39d0 | 1126 | motors.setMotor1Speed(0.1*127);//left |
Fairy_Paolina | 27:5540aa3c828c | 1127 | } |
Fairy_Paolina | 27:5540aa3c828c | 1128 | motors.stopBothMotors(127); |
Fairy_Paolina | 27:5540aa3c828c | 1129 | wait_ms(300); |
tashworth | 28:2bb6b0fe39d0 | 1130 | |
Fairy_Paolina | 30:db07aea6d119 | 1131 | while(IRLeftFront.getIRDistance() - IRLeftBack.getIRDistance() > 0.5) { |
tashworth | 28:2bb6b0fe39d0 | 1132 | pc.printf("turn left\r\n"); |
tashworth | 28:2bb6b0fe39d0 | 1133 | motors.setMotor0Speed(0.3*127);// right |
tashworth | 28:2bb6b0fe39d0 | 1134 | motors.setMotor1Speed(-0.3*127);// left |
Fairy_Paolina | 27:5540aa3c828c | 1135 | } |
Fairy_Paolina | 30:db07aea6d119 | 1136 | while(IRLeftFront.getIRDistance() - IRLeftBack.getIRDistance() < -0.5) { |
tashworth | 28:2bb6b0fe39d0 | 1137 | pc.printf("turn right\r\n"); |
tashworth | 28:2bb6b0fe39d0 | 1138 | motors.setMotor0Speed(-0.3*127);//right |
tashworth | 28:2bb6b0fe39d0 | 1139 | motors.setMotor1Speed(0.3*127);// left |
Fairy_Paolina | 27:5540aa3c828c | 1140 | } |
tashworth | 28:2bb6b0fe39d0 | 1141 | |
Fairy_Paolina | 27:5540aa3c828c | 1142 | motors.stopBothMotors(127); |
Fairy_Paolina | 27:5540aa3c828c | 1143 | wait_ms(300); |
tashworth | 28:2bb6b0fe39d0 | 1144 | |
tashworth | 14:784acd735b8c | 1145 | } |
tashworth | 28:2bb6b0fe39d0 | 1146 | |
tashworth | 14:784acd735b8c | 1147 | void leftTurn(void) |
tashworth | 14:784acd735b8c | 1148 | { |
tashworth | 14:784acd735b8c | 1149 | motors.begin(); |
tashworth | 14:784acd735b8c | 1150 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1151 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1152 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 14:784acd735b8c | 1153 | motors.setMotor1Speed(-0.5*127);// left |
tashworth | 20:55dcff40c5d9 | 1154 | while(abs(leftEncoder.getPulses())<1075 || rightEncoder.getPulses()<1075); |
tashworth | 17:a5bb85ee205d | 1155 | motors.stopBothMotors(127); |
Fairy_Paolina | 27:5540aa3c828c | 1156 | wait_ms(300); |
tashworth | 28:2bb6b0fe39d0 | 1157 | |
Fairy_Paolina | 30:db07aea6d119 | 1158 | if(IRLeftFront.getIRDistance() > 35 && IRLeftBack.getIRDistance() > 35) return; |
Fairy_Paolina | 27:5540aa3c828c | 1159 | // align with wave |
Fairy_Paolina | 30:db07aea6d119 | 1160 | while(IRLeftFront.getIRDistance() > 35) { |
Fairy_Paolina | 27:5540aa3c828c | 1161 | pc.printf("front sensor sees gap\r\n"); |
Fairy_Paolina | 27:5540aa3c828c | 1162 | motors.setMotor0Speed(-0.1*127);//right |
Fairy_Paolina | 27:5540aa3c828c | 1163 | motors.setMotor1Speed(-0.1*127);//left |
Fairy_Paolina | 27:5540aa3c828c | 1164 | } |
Fairy_Paolina | 30:db07aea6d119 | 1165 | while(IRLeftBack.getIRDistance() >35 ) { |
tashworth | 28:2bb6b0fe39d0 | 1166 | pc.printf("back sensor sees gap\r\n"); |
Fairy_Paolina | 27:5540aa3c828c | 1167 | motors.setMotor0Speed(0.1*127);//right |
tashworth | 28:2bb6b0fe39d0 | 1168 | motors.setMotor1Speed(0.1*127);//left |
Fairy_Paolina | 27:5540aa3c828c | 1169 | } |
Fairy_Paolina | 27:5540aa3c828c | 1170 | motors.stopBothMotors(127); |
Fairy_Paolina | 27:5540aa3c828c | 1171 | wait_ms(300); |
tashworth | 28:2bb6b0fe39d0 | 1172 | |
Fairy_Paolina | 30:db07aea6d119 | 1173 | while(IRLeftFront.getIRDistance() - IRLeftBack.getIRDistance() > 0.5) { |
tashworth | 28:2bb6b0fe39d0 | 1174 | pc.printf("turn left\r\n"); |
tashworth | 28:2bb6b0fe39d0 | 1175 | motors.setMotor0Speed(0.3*127);// right |
tashworth | 28:2bb6b0fe39d0 | 1176 | motors.setMotor1Speed(-0.3*127);// left |
Fairy_Paolina | 27:5540aa3c828c | 1177 | } |
Fairy_Paolina | 30:db07aea6d119 | 1178 | while(IRLeftFront.getIRDistance() - IRLeftBack.getIRDistance() < -0.5) { |
tashworth | 28:2bb6b0fe39d0 | 1179 | pc.printf("turn right\r\n"); |
tashworth | 28:2bb6b0fe39d0 | 1180 | motors.setMotor0Speed(-0.3*127);//right |
tashworth | 28:2bb6b0fe39d0 | 1181 | motors.setMotor1Speed(0.3*127);// left |
Fairy_Paolina | 27:5540aa3c828c | 1182 | } |
tashworth | 28:2bb6b0fe39d0 | 1183 | |
Fairy_Paolina | 27:5540aa3c828c | 1184 | motors.stopBothMotors(127); |
tashworth | 28:2bb6b0fe39d0 | 1185 | wait_ms(300); |
tashworth | 28:2bb6b0fe39d0 | 1186 | |
tashworth | 14:784acd735b8c | 1187 | } |
tashworth | 28:2bb6b0fe39d0 | 1188 | |
tashworth | 14:784acd735b8c | 1189 | void slightleft(void) |
tashworth | 14:784acd735b8c | 1190 | { |
Fairy_Paolina | 30:db07aea6d119 | 1191 | motors.begin(); |
tashworth | 14:784acd735b8c | 1192 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1193 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1194 | motors.setMotor0Speed(0.5*127);// right |
Fairy_Paolina | 30:db07aea6d119 | 1195 | motors.setMotor1Speed(0.5*127);// left |
srsmitherman | 31:99cf9c25b0f2 | 1196 | while(abs(leftEncoder.getPulses())<50 || abs(rightEncoder.getPulses())<50) { |
srsmitherman | 31:99cf9c25b0f2 | 1197 | |
Fairy_Paolina | 30:db07aea6d119 | 1198 | } |
tashworth | 17:a5bb85ee205d | 1199 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1200 | } |
tashworth | 28:2bb6b0fe39d0 | 1201 | |
tashworth | 14:784acd735b8c | 1202 | void slightright(void) |
tashworth | 14:784acd735b8c | 1203 | { |
tashworth | 28:2bb6b0fe39d0 | 1204 | |
tashworth | 14:784acd735b8c | 1205 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1206 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1207 | motors.setMotor0Speed(-0.4*127);// right |
tashworth | 14:784acd735b8c | 1208 | motors.setMotor1Speed(0.4*127);// left |
tashworth | 20:55dcff40c5d9 | 1209 | while(abs(leftEncoder.getPulses())<200 || abs(rightEncoder.getPulses())<200); |
tashworth | 17:a5bb85ee205d | 1210 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1211 | } |
tashworth | 28:2bb6b0fe39d0 | 1212 | |
tashworth | 14:784acd735b8c | 1213 | void slightMove(int direction, float pulses) |
tashworth | 14:784acd735b8c | 1214 | { |
tashworth | 14:784acd735b8c | 1215 | int dir=1; |
tashworth | 28:2bb6b0fe39d0 | 1216 | |
tashworth | 14:784acd735b8c | 1217 | if(direction == BACKWARD) dir= -1; |
tashworth | 28:2bb6b0fe39d0 | 1218 | |
tashworth | 14:784acd735b8c | 1219 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1220 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1221 | motors.setMotor0Speed(dir*0.25*127); //right |
jjcarr2 | 32:4a42f61f64a6 | 1222 | motors.setMotor1Speed(dir*0.23*127); //left |
tashworth | 14:784acd735b8c | 1223 | while(abs(leftEncoder.getPulses()) < pulses || abs(rightEncoder.getPulses()) < pulses); |
tashworth | 28:2bb6b0fe39d0 | 1224 | |
tashworth | 14:784acd735b8c | 1225 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1226 | } |
tashworth | 28:2bb6b0fe39d0 | 1227 | |
tashworth | 14:784acd735b8c | 1228 | void UntilWall(int dir) |
tashworth | 14:784acd735b8c | 1229 | { |
tashworth | 28:2bb6b0fe39d0 | 1230 | |
tashworth | 14:784acd735b8c | 1231 | if(dir == BACKWARD) dir=-1; |
tashworth | 28:2bb6b0fe39d0 | 1232 | |
tashworth | 14:784acd735b8c | 1233 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1234 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1235 | motors.setMotor0Speed(dir*0.2*127); //right |
tashworth | 14:784acd735b8c | 1236 | motors.setMotor1Speed(dir*0.2*127); //left |
tashworth | 28:2bb6b0fe39d0 | 1237 | |
tashworth | 14:784acd735b8c | 1238 | range = 30; |
tashworth | 28:2bb6b0fe39d0 | 1239 | |
tashworth | 14:784acd735b8c | 1240 | while(range > 20) { |
tashworth | 14:784acd735b8c | 1241 | rangeFinderRight.startMeas(); |
tashworth | 14:784acd735b8c | 1242 | wait_ms(20); |
tashworth | 14:784acd735b8c | 1243 | rangeFinderRight.getMeas(range); |
tashworth | 14:784acd735b8c | 1244 | } |
tashworth | 28:2bb6b0fe39d0 | 1245 | |
tashworth | 17:a5bb85ee205d | 1246 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1247 | } |
tashworth | 28:2bb6b0fe39d0 | 1248 | |
tashworth | 14:784acd735b8c | 1249 | void overBump(int section) |
tashworth | 14:784acd735b8c | 1250 | { |
Fairy_Paolina | 27:5540aa3c828c | 1251 | float avg=0; |
Fairy_Paolina | 27:5540aa3c828c | 1252 | int i; |
tashworth | 28:2bb6b0fe39d0 | 1253 | |
Fairy_Paolina | 24:3369d51f6cbd | 1254 | // first set |
Fairy_Paolina | 24:3369d51f6cbd | 1255 | motors.setMotor1Speed(0.1*127);//left |
Fairy_Paolina | 24:3369d51f6cbd | 1256 | motors.setMotor0Speed(0.1*127);//right |
Fairy_Paolina | 24:3369d51f6cbd | 1257 | wait_ms(100); |
Fairy_Paolina | 24:3369d51f6cbd | 1258 | while(motors.GetMotor0Current()<5 || motors.GetMotor1Current() <5 ); |
Fairy_Paolina | 24:3369d51f6cbd | 1259 | |
Fairy_Paolina | 24:3369d51f6cbd | 1260 | while(motors.GetMotor0Current()>5 || motors.GetMotor1Current() >5 ) { |
Fairy_Paolina | 24:3369d51f6cbd | 1261 | pc.printf("left %d \t right %d \r\n", motors.GetMotor0Current(), motors.GetMotor1Current()); |
Fairy_Paolina | 24:3369d51f6cbd | 1262 | motors.setMotor1Speed(0.3*127);//left |
Fairy_Paolina | 24:3369d51f6cbd | 1263 | motors.setMotor0Speed(0.3*127);//right |
Fairy_Paolina | 24:3369d51f6cbd | 1264 | wait_ms(220); |
Fairy_Paolina | 24:3369d51f6cbd | 1265 | motors.stopBothMotors(127); |
Fairy_Paolina | 24:3369d51f6cbd | 1266 | wait_ms(10); |
Fairy_Paolina | 24:3369d51f6cbd | 1267 | } |
Fairy_Paolina | 24:3369d51f6cbd | 1268 | |
Fairy_Paolina | 24:3369d51f6cbd | 1269 | motors.setMotor1Speed(0.1*127);//left |
Fairy_Paolina | 24:3369d51f6cbd | 1270 | motors.setMotor0Speed(0.1*127);//right |
Fairy_Paolina | 24:3369d51f6cbd | 1271 | wait_ms(100); |
Fairy_Paolina | 24:3369d51f6cbd | 1272 | while(motors.GetMotor0Current()<5 || motors.GetMotor1Current() <5 ); |
Fairy_Paolina | 24:3369d51f6cbd | 1273 | |
Fairy_Paolina | 24:3369d51f6cbd | 1274 | motors.setMotor1Speed(0.3*127);//left |
Fairy_Paolina | 24:3369d51f6cbd | 1275 | motors.setMotor0Speed(0.3*127);//right |
Fairy_Paolina | 24:3369d51f6cbd | 1276 | // second set |
tashworth | 14:784acd735b8c | 1277 | wait_ms(200); |
Fairy_Paolina | 24:3369d51f6cbd | 1278 | motors.stopBothMotors(127); |
Fairy_Paolina | 27:5540aa3c828c | 1279 | wait_ms(500); |
srsmitherman | 31:99cf9c25b0f2 | 1280 | |
Fairy_Paolina | 24:3369d51f6cbd | 1281 | if(section!= RIGS) { |
Fairy_Paolina | 27:5540aa3c828c | 1282 | range = 0; |
tashworth | 28:2bb6b0fe39d0 | 1283 | |
tashworth | 28:2bb6b0fe39d0 | 1284 | do { |
Fairy_Paolina | 30:db07aea6d119 | 1285 | pc.printf("front left %f \t front right %f\r\n", IRFrontL.getIRDistance(),IRFrontR.getIRDistance()); |
Fairy_Paolina | 30:db07aea6d119 | 1286 | if(IRFrontL.getIRDistance() < 20 && IRFrontR.getIRDistance() < 20) { |
Fairy_Paolina | 27:5540aa3c828c | 1287 | motors.stopBothMotors(127); |
Fairy_Paolina | 27:5540aa3c828c | 1288 | wait_ms(200); |
Fairy_Paolina | 27:5540aa3c828c | 1289 | break; |
Fairy_Paolina | 27:5540aa3c828c | 1290 | } |
Fairy_Paolina | 27:5540aa3c828c | 1291 | |
srsmitherman | 31:99cf9c25b0f2 | 1292 | motors.setMotor1Speed(0.33*127);//left |
srsmitherman | 31:99cf9c25b0f2 | 1293 | motors.setMotor0Speed(0.33*127);//right |
Fairy_Paolina | 24:3369d51f6cbd | 1294 | wait_ms(220); |
Fairy_Paolina | 24:3369d51f6cbd | 1295 | motors.stopBothMotors(127); |
Fairy_Paolina | 27:5540aa3c828c | 1296 | wait_ms(500); |
tashworth | 28:2bb6b0fe39d0 | 1297 | |
Fairy_Paolina | 30:db07aea6d119 | 1298 | } while(IRFrontL.getIRDistance() > 20 && IRFrontR.getIRDistance() > 20); |
tashworth | 28:2bb6b0fe39d0 | 1299 | |
Fairy_Paolina | 24:3369d51f6cbd | 1300 | motors.setMotor1Speed(0.1*127);//left |
Fairy_Paolina | 24:3369d51f6cbd | 1301 | motors.setMotor0Speed(0.1*127);//right |
Fairy_Paolina | 24:3369d51f6cbd | 1302 | wait_ms(100); |
Fairy_Paolina | 24:3369d51f6cbd | 1303 | while(motors.GetMotor0Current()<5 || motors.GetMotor1Current() <5); |
Fairy_Paolina | 24:3369d51f6cbd | 1304 | motors.stopBothMotors(127); |
tashworth | 28:2bb6b0fe39d0 | 1305 | wait_ms(200); |
tashworth | 28:2bb6b0fe39d0 | 1306 | |
Fairy_Paolina | 24:3369d51f6cbd | 1307 | } else { |
tashworth | 14:784acd735b8c | 1308 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1309 | rightEncoder.reset(); |
Fairy_Paolina | 24:3369d51f6cbd | 1310 | |
tashworth | 28:2bb6b0fe39d0 | 1311 | |
Fairy_Paolina | 24:3369d51f6cbd | 1312 | while(leftEncoder.getPulses()<500 || rightEncoder.getPulses()<500) { |
Fairy_Paolina | 30:db07aea6d119 | 1313 | pc.printf("left %d \t right %d \r\n", motors.GetMotor0Current(), motors.GetMotor1Current()); |
Fairy_Paolina | 24:3369d51f6cbd | 1314 | motors.setMotor1Speed(0.1*127);//left |
Fairy_Paolina | 24:3369d51f6cbd | 1315 | motors.setMotor0Speed(0.1*127);//right |
Fairy_Paolina | 24:3369d51f6cbd | 1316 | wait_ms(220); |
srsmitherman | 31:99cf9c25b0f2 | 1317 | |
tashworth | 28:2bb6b0fe39d0 | 1318 | if(motors.GetMotor0Current()>5 || motors.GetMotor1Current() >5) { |
Fairy_Paolina | 30:db07aea6d119 | 1319 | pc.printf("fast left %d \t right %d \r\n", motors.GetMotor0Current(), motors.GetMotor1Current()); |
Fairy_Paolina | 30:db07aea6d119 | 1320 | motors.setMotor1Speed(0.35*127);//left |
Fairy_Paolina | 30:db07aea6d119 | 1321 | motors.setMotor0Speed(0.35*127);//right |
Fairy_Paolina | 24:3369d51f6cbd | 1322 | wait_ms(220); |
Fairy_Paolina | 24:3369d51f6cbd | 1323 | motors.stopBothMotors(127); |
Fairy_Paolina | 30:db07aea6d119 | 1324 | wait_ms(500); |
Fairy_Paolina | 24:3369d51f6cbd | 1325 | leftEncoder.reset(); |
Fairy_Paolina | 24:3369d51f6cbd | 1326 | rightEncoder.reset(); |
Fairy_Paolina | 24:3369d51f6cbd | 1327 | } |
Fairy_Paolina | 30:db07aea6d119 | 1328 | |
tashworth | 12:284be46593ae | 1329 | } |
Fairy_Paolina | 30:db07aea6d119 | 1330 | motors.stopBothMotors(127); |
Fairy_Paolina | 30:db07aea6d119 | 1331 | wait_ms(200); |
tashworth | 14:784acd735b8c | 1332 | } |
Fairy_Paolina | 24:3369d51f6cbd | 1333 | |
Fairy_Paolina | 24:3369d51f6cbd | 1334 | |
tashworth | 28:2bb6b0fe39d0 | 1335 | |
tashworth | 28:2bb6b0fe39d0 | 1336 | |
tashworth | 17:a5bb85ee205d | 1337 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1338 | wait_ms(20); |
tashworth | 14:784acd735b8c | 1339 | motors.begin(); |
tashworth | 28:2bb6b0fe39d0 | 1340 | |
tashworth | 14:784acd735b8c | 1341 | } |
tashworth | 28:2bb6b0fe39d0 | 1342 | |
tashworth | 28:2bb6b0fe39d0 | 1343 | |
tashworth | 14:784acd735b8c | 1344 | void to_tools_section1(float* location, float ¤t) |
tashworth | 14:784acd735b8c | 1345 | { |
tashworth | 22:79c5871543b5 | 1346 | slightMove(FORWARD,6650); |
tashworth | 14:784acd735b8c | 1347 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 1348 | |
tashworth | 14:784acd735b8c | 1349 | } |
tashworth | 28:2bb6b0fe39d0 | 1350 | |
tashworth | 14:784acd735b8c | 1351 | void to_tools_section2(float* location, float ¤t) |
tashworth | 14:784acd735b8c | 1352 | { |
tashworth | 20:55dcff40c5d9 | 1353 | slightMove(FORWARD,3250); |
tashworth | 14:784acd735b8c | 1354 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 28:2bb6b0fe39d0 | 1355 | |
tashworth | 14:784acd735b8c | 1356 | } |
tashworth | 28:2bb6b0fe39d0 | 1357 | |
tashworth | 14:784acd735b8c | 1358 | void from_tools_section(float* location, float ¤t) |
tashworth | 14:784acd735b8c | 1359 | { |
tashworth | 28:2bb6b0fe39d0 | 1360 | |
Fairy_Paolina | 30:db07aea6d119 | 1361 | pc.printf("IR front %f \t back %f \r\n", IRLeftFront.getIRDistance(), IRLeftBack.getIRDistance()); |
tashworth | 28:2bb6b0fe39d0 | 1362 | |
jjcarr2 | 32:4a42f61f64a6 | 1363 | if(IRLeftFront.getIRDistance() < 40 && IRLeftBack.getIRDistance() < 40) { |
Fairy_Paolina | 27:5540aa3c828c | 1364 | wall_follow2(LEFT,BACKWARD,TOOLS, current,0); |
srsmitherman | 31:99cf9c25b0f2 | 1365 | |
Fairy_Paolina | 30:db07aea6d119 | 1366 | pc.printf("IR front %f \t back %f \r\n", IRLeftFront.getIRDistance(), IRLeftBack.getIRDistance()); |
tashworth | 14:784acd735b8c | 1367 | location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1368 | current= location[0]; |
srsmitherman | 31:99cf9c25b0f2 | 1369 | /*********************************************** |
srsmitherman | 31:99cf9c25b0f2 | 1370 | ALIGN with GAP |
srsmitherman | 31:99cf9c25b0f2 | 1371 | ***********************************************/ |
srsmitherman | 31:99cf9c25b0f2 | 1372 | alignWithGap(); |
srsmitherman | 31:99cf9c25b0f2 | 1373 | |
tashworth | 20:55dcff40c5d9 | 1374 | //pc.printf("current %f \r\n",current); |
tashworth | 14:784acd735b8c | 1375 | // go backwards |
tashworth | 20:55dcff40c5d9 | 1376 | //slightMove(BACKWARD,200); |
tashworth | 28:2bb6b0fe39d0 | 1377 | |
tashworth | 14:784acd735b8c | 1378 | wait_ms(100); |
tashworth | 14:784acd735b8c | 1379 | leftTurn(); |
tashworth | 14:784acd735b8c | 1380 | overBump(TOOLS); |
tashworth | 14:784acd735b8c | 1381 | } else { |
Fairy_Paolina | 30:db07aea6d119 | 1382 | pc.printf("IR front %f \t back %f \r\n", IRLeftFront.getIRDistance(), IRLeftBack.getIRDistance()); |
tashworth | 20:55dcff40c5d9 | 1383 | //pc.printf("else greater than 20\r\n"); |
srsmitherman | 31:99cf9c25b0f2 | 1384 | /*********************************************** |
srsmitherman | 31:99cf9c25b0f2 | 1385 | ALIGN with GAP |
srsmitherman | 31:99cf9c25b0f2 | 1386 | ***********************************************/ |
srsmitherman | 31:99cf9c25b0f2 | 1387 | |
srsmitherman | 31:99cf9c25b0f2 | 1388 | alignWithGap(); |
srsmitherman | 31:99cf9c25b0f2 | 1389 | |
srsmitherman | 31:99cf9c25b0f2 | 1390 | |
tashworth | 14:784acd735b8c | 1391 | location[0]= current; |
tashworth | 14:784acd735b8c | 1392 | leftTurn(); |
tashworth | 14:784acd735b8c | 1393 | overBump(TOOLS); |
tashworth | 14:784acd735b8c | 1394 | } |
Fairy_Paolina | 27:5540aa3c828c | 1395 | pc.printf("First Wavegap = %f\r\n",location[0]); |
tashworth | 28:2bb6b0fe39d0 | 1396 | |
tashworth | 17:a5bb85ee205d | 1397 | } |
tashworth | 28:2bb6b0fe39d0 | 1398 | |
tashworth | 14:784acd735b8c | 1399 | void mid_section(float* location, float ¤t, int* direction) |
tashworth | 28:2bb6b0fe39d0 | 1400 | { |
Fairy_Paolina | 27:5540aa3c828c | 1401 | wait_ms(500); |
tashworth | 28:2bb6b0fe39d0 | 1402 | |
Fairy_Paolina | 30:db07aea6d119 | 1403 | if(IRFrontL.getIRDistance() > 40 && IRFrontR.getIRDistance() > 40) { |
srsmitherman | 31:99cf9c25b0f2 | 1404 | |
tashworth | 22:79c5871543b5 | 1405 | leftEncoder.reset(); |
tashworth | 22:79c5871543b5 | 1406 | rightEncoder.reset(); |
tashworth | 22:79c5871543b5 | 1407 | motors.setMotor0Speed(0.25*127); //right |
tashworth | 22:79c5871543b5 | 1408 | motors.setMotor1Speed(0.25*127); //left |
tashworth | 22:79c5871543b5 | 1409 | while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50); |
tashworth | 14:784acd735b8c | 1410 | direction[0]= STRAIGHT; |
tashworth | 14:784acd735b8c | 1411 | overBump(MID); |
tashworth | 14:784acd735b8c | 1412 | return; |
tashworth | 14:784acd735b8c | 1413 | } |
tashworth | 20:55dcff40c5d9 | 1414 | //pc.printf("before align with wall \r\n"); |
tashworth | 20:55dcff40c5d9 | 1415 | //alignWithWall(MID); |
tashworth | 20:55dcff40c5d9 | 1416 | //current-=4; |
tashworth | 20:55dcff40c5d9 | 1417 | //wait_ms(200); |
tashworth | 28:2bb6b0fe39d0 | 1418 | |
tashworth | 20:55dcff40c5d9 | 1419 | //if(current > 20){ |
tashworth | 20:55dcff40c5d9 | 1420 | //alignWithWall(MID2); |
tashworth | 20:55dcff40c5d9 | 1421 | //current-=4; |
tashworth | 20:55dcff40c5d9 | 1422 | //} |
tashworth | 20:55dcff40c5d9 | 1423 | rightTurn(); |
Fairy_Paolina | 24:3369d51f6cbd | 1424 | |
tashworth | 20:55dcff40c5d9 | 1425 | //pc.printf("mid section current = %f\r\n",current); |
tashworth | 14:784acd735b8c | 1426 | wall_follow2(LEFT,FORWARD,MID, current,0); |
tashworth | 14:784acd735b8c | 1427 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 20:55dcff40c5d9 | 1428 | //pc.printf("after wf2 current = %f\r\n",current); |
tashworth | 28:2bb6b0fe39d0 | 1429 | |
tashworth | 14:784acd735b8c | 1430 | wait_ms(500); |
tashworth | 28:2bb6b0fe39d0 | 1431 | |
Fairy_Paolina | 30:db07aea6d119 | 1432 | if(IRLeftFront.getIRDistance() > 40 && IRLeftBack.getIRDistance() > 40) { |
Fairy_Paolina | 23:f8e806d1ffcc | 1433 | wait(1); |
tashworth | 14:784acd735b8c | 1434 | direction[0]= RIGHT; |
tashworth | 14:784acd735b8c | 1435 | location[1]= current; |
tashworth | 20:55dcff40c5d9 | 1436 | wait_ms(300); |
tashworth | 22:79c5871543b5 | 1437 | slightMove(FORWARD,200); |
tashworth | 20:55dcff40c5d9 | 1438 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1439 | } else { |
tashworth | 14:784acd735b8c | 1440 | direction[0]= LEFT; |
tashworth | 14:784acd735b8c | 1441 | wall_follow2(LEFT,BACKWARD,MID,current,0); |
tashworth | 14:784acd735b8c | 1442 | location[1]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1443 | current= location[1]; |
tashworth | 28:2bb6b0fe39d0 | 1444 | |
tashworth | 14:784acd735b8c | 1445 | if(location[1] < 18) { |
tashworth | 20:55dcff40c5d9 | 1446 | slightMove(FORWARD, 75); |
tashworth | 14:784acd735b8c | 1447 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 28:2bb6b0fe39d0 | 1448 | } else slightMove(BACKWARD,75); |
tashworth | 28:2bb6b0fe39d0 | 1449 | |
tashworth | 14:784acd735b8c | 1450 | } |
tashworth | 28:2bb6b0fe39d0 | 1451 | |
tashworth | 20:55dcff40c5d9 | 1452 | wait_ms(200); |
tashworth | 20:55dcff40c5d9 | 1453 | //pc.printf("wavegap2 = %f\r\n",location[1]); |
tashworth | 20:55dcff40c5d9 | 1454 | //left turn |
srsmitherman | 31:99cf9c25b0f2 | 1455 | /*********************************************** |
srsmitherman | 31:99cf9c25b0f2 | 1456 | ALIGN with GAP |
srsmitherman | 31:99cf9c25b0f2 | 1457 | ***********************************************/ |
srsmitherman | 31:99cf9c25b0f2 | 1458 | |
srsmitherman | 31:99cf9c25b0f2 | 1459 | alignWithGap(); |
srsmitherman | 31:99cf9c25b0f2 | 1460 | |
tashworth | 20:55dcff40c5d9 | 1461 | motors.begin(); |
tashworth | 20:55dcff40c5d9 | 1462 | leftEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1463 | rightEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1464 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 20:55dcff40c5d9 | 1465 | motors.setMotor1Speed(-0.5*127);// left |
Fairy_Paolina | 23:f8e806d1ffcc | 1466 | while(abs(leftEncoder.getPulses())<110 || rightEncoder.getPulses()<1100); |
tashworth | 20:55dcff40c5d9 | 1467 | motors.stopBothMotors(127); |
tashworth | 28:2bb6b0fe39d0 | 1468 | |
tashworth | 14:784acd735b8c | 1469 | wait_ms(100); |
tashworth | 28:2bb6b0fe39d0 | 1470 | |
tashworth | 14:784acd735b8c | 1471 | overBump(MID); |
tashworth | 14:784acd735b8c | 1472 | } |
tashworth | 28:2bb6b0fe39d0 | 1473 | |
tashworth | 14:784acd735b8c | 1474 | void mid_section2(float* location, float ¤t, int* direction) |
tashworth | 14:784acd735b8c | 1475 | { |
tashworth | 20:55dcff40c5d9 | 1476 | //pc.printf("mid section 2\r\n"); |
Fairy_Paolina | 27:5540aa3c828c | 1477 | wait_ms(500); |
tashworth | 28:2bb6b0fe39d0 | 1478 | |
Fairy_Paolina | 30:db07aea6d119 | 1479 | if(IRFrontL.getIRDistance() > 40 && IRFrontR.getIRDistance() > 40) { |
tashworth | 22:79c5871543b5 | 1480 | leftEncoder.reset(); |
tashworth | 22:79c5871543b5 | 1481 | rightEncoder.reset(); |
tashworth | 22:79c5871543b5 | 1482 | motors.setMotor0Speed(0.25*127); //right |
tashworth | 22:79c5871543b5 | 1483 | motors.setMotor1Speed(0.25*127); //left |
tashworth | 22:79c5871543b5 | 1484 | while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50); |
tashworth | 14:784acd735b8c | 1485 | direction[1]= STRAIGHT; |
tashworth | 14:784acd735b8c | 1486 | overBump(RIGS); |
tashworth | 14:784acd735b8c | 1487 | return; |
tashworth | 14:784acd735b8c | 1488 | } |
tashworth | 28:2bb6b0fe39d0 | 1489 | |
tashworth | 20:55dcff40c5d9 | 1490 | //alignWithWall(MID); |
tashworth | 20:55dcff40c5d9 | 1491 | wait_ms(100); |
tashworth | 28:2bb6b0fe39d0 | 1492 | |
tashworth | 20:55dcff40c5d9 | 1493 | rightTurn(); |
tashworth | 20:55dcff40c5d9 | 1494 | wait_ms(100); |
tashworth | 28:2bb6b0fe39d0 | 1495 | |
tashworth | 28:2bb6b0fe39d0 | 1496 | |
tashworth | 14:784acd735b8c | 1497 | wall_follow2(LEFT,FORWARD,MID, current,0); |
tashworth | 14:784acd735b8c | 1498 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 28:2bb6b0fe39d0 | 1499 | |
tashworth | 14:784acd735b8c | 1500 | wait_ms(500); |
tashworth | 28:2bb6b0fe39d0 | 1501 | |
tashworth | 20:55dcff40c5d9 | 1502 | //pc.printf("midseection 2 after wf2 %f",current); |
tashworth | 28:2bb6b0fe39d0 | 1503 | |
Fairy_Paolina | 30:db07aea6d119 | 1504 | if(IRLeftFront.getIRDistance() > 40 && IRLeftBack.getIRDistance() > 40) { |
tashworth | 14:784acd735b8c | 1505 | direction[1]= RIGHT; |
tashworth | 14:784acd735b8c | 1506 | location[2]= current; |
Fairy_Paolina | 23:f8e806d1ffcc | 1507 | slightMove(FORWARD,150); |
tashworth | 17:a5bb85ee205d | 1508 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1509 | } else { |
tashworth | 14:784acd735b8c | 1510 | direction[1]= LEFT; |
tashworth | 14:784acd735b8c | 1511 | wall_follow2(LEFT,BACKWARD,MID,current,0); |
tashworth | 14:784acd735b8c | 1512 | location[2]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1513 | current=location[2]; |
tashworth | 20:55dcff40c5d9 | 1514 | //slightMove(BACKWARD,100); |
tashworth | 14:784acd735b8c | 1515 | } |
srsmitherman | 31:99cf9c25b0f2 | 1516 | /*********************************************** |
srsmitherman | 31:99cf9c25b0f2 | 1517 | ALIGN with GAP |
srsmitherman | 31:99cf9c25b0f2 | 1518 | ***********************************************/ |
srsmitherman | 31:99cf9c25b0f2 | 1519 | alignWithGap(); |
tashworth | 20:55dcff40c5d9 | 1520 | //LEFT turn |
tashworth | 20:55dcff40c5d9 | 1521 | motors.begin(); |
srsmitherman | 31:99cf9c25b0f2 | 1522 | motors.stopBothMotors(127); |
srsmitherman | 31:99cf9c25b0f2 | 1523 | wait_ms(200); |
tashworth | 20:55dcff40c5d9 | 1524 | leftEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1525 | rightEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1526 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 20:55dcff40c5d9 | 1527 | motors.setMotor1Speed(-0.5*127);// left |
srsmitherman | 31:99cf9c25b0f2 | 1528 | while(abs(leftEncoder.getPulses())<1000 || rightEncoder.getPulses()<1000); |
tashworth | 20:55dcff40c5d9 | 1529 | motors.stopBothMotors(127); |
Fairy_Paolina | 34:cd4980573159 | 1530 | |
Fairy_Paolina | 34:cd4980573159 | 1531 | slightMove(BACKWARD,50); |
tashworth | 14:784acd735b8c | 1532 | overBump(RIGS); |
tashworth | 20:55dcff40c5d9 | 1533 | //pc.printf("overbump rigs\r\n"); |
tashworth | 14:784acd735b8c | 1534 | } |
tashworth | 28:2bb6b0fe39d0 | 1535 | |
tashworth | 14:784acd735b8c | 1536 | void rig_section(float* location, float ¤t, int* direction, int rig) |
tashworth | 14:784acd735b8c | 1537 | { |
tashworth | 14:784acd735b8c | 1538 | float loc; |
tashworth | 28:2bb6b0fe39d0 | 1539 | |
tashworth | 14:784acd735b8c | 1540 | if(rig == 1) loc= 15; |
tashworth | 14:784acd735b8c | 1541 | else if(rig == 2) loc= 45; |
tashworth | 14:784acd735b8c | 1542 | else loc = 75; |
Fairy_Paolina | 33:a41981e18a7d | 1543 | // Backwards until the gap is hit. |
Fairy_Paolina | 33:a41981e18a7d | 1544 | motors.setMotor1Speed(-0.1*127);//left |
Fairy_Paolina | 33:a41981e18a7d | 1545 | motors.setMotor0Speed(-0.1*127);//right |
Fairy_Paolina | 33:a41981e18a7d | 1546 | wait_ms(100); |
Fairy_Paolina | 33:a41981e18a7d | 1547 | while(motors.GetMotor0Current()<5 || motors.GetMotor1Current() <5 ); |
Fairy_Paolina | 33:a41981e18a7d | 1548 | motors.stopBothMotors(127); |
Fairy_Paolina | 33:a41981e18a7d | 1549 | wait_ms(300); |
Fairy_Paolina | 33:a41981e18a7d | 1550 | |
tashworth | 17:a5bb85ee205d | 1551 | // Slight forward for turn |
Fairy_Paolina | 34:cd4980573159 | 1552 | slightMove(FORWARD,100); |
tashworth | 17:a5bb85ee205d | 1553 | wait_ms(100); |
Fairy_Paolina | 34:cd4980573159 | 1554 | //RIGHT TURN |
Fairy_Paolina | 34:cd4980573159 | 1555 | alignWithRigWall(current); |
Fairy_Paolina | 34:cd4980573159 | 1556 | if(current <80) current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 34:cd4980573159 | 1557 | else current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 28:2bb6b0fe39d0 | 1558 | |
tashworth | 28:2bb6b0fe39d0 | 1559 | |
tashworth | 14:784acd735b8c | 1560 | if(current > loc) { |
tashworth | 20:55dcff40c5d9 | 1561 | //pc.printf("RIG section %f\r\n",current); |
Fairy_Paolina | 34:cd4980573159 | 1562 | wall_follow2(RIGHT, BACKWARD, RIGS, current, rig); |
tashworth | 14:784acd735b8c | 1563 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1564 | } else { |
tashworth | 20:55dcff40c5d9 | 1565 | //pc.printf("RIG section %f\r\n",current); |
Fairy_Paolina | 34:cd4980573159 | 1566 | wall_follow2(RIGHT, FORWARD, RIGS, current, rig); |
tashworth | 14:784acd735b8c | 1567 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1568 | } |
Fairy_Paolina | 34:cd4980573159 | 1569 | wait_ms(500); |
Fairy_Paolina | 34:cd4980573159 | 1570 | wall_follow2(RIGHT, FORWARD, RIGS, current, rig); |
Fairy_Paolina | 34:cd4980573159 | 1571 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 34:cd4980573159 | 1572 | wait_ms(500); |
Fairy_Paolina | 34:cd4980573159 | 1573 | pc.printf("align with rig\r\n"); |
Fairy_Paolina | 34:cd4980573159 | 1574 | //toRig(); |
Fairy_Paolina | 34:cd4980573159 | 1575 | slightMove(FORWARD,785); |
tashworth | 14:784acd735b8c | 1576 | } |
tashworth | 28:2bb6b0fe39d0 | 1577 | |
tashworth | 14:784acd735b8c | 1578 | void tools_section_return(float* location, float ¤t) |
tashworth | 14:784acd735b8c | 1579 | { |
tashworth | 14:784acd735b8c | 1580 | if(location[0] > 16) { |
tashworth | 14:784acd735b8c | 1581 | leftTurn(); |
Fairy_Paolina | 23:f8e806d1ffcc | 1582 | wall_follow2(LEFT, BACKWARD, TOOLS, location[0], 0); |
tashworth | 14:784acd735b8c | 1583 | } |
Fairy_Paolina | 23:f8e806d1ffcc | 1584 | motors.stopBothMotors(127); |
tashworth | 28:2bb6b0fe39d0 | 1585 | |
tashworth | 14:784acd735b8c | 1586 | } |
tashworth | 28:2bb6b0fe39d0 | 1587 | |
tashworth | 14:784acd735b8c | 1588 | void mid_section_return(float* location, float ¤t, int* direction) |
tashworth | 14:784acd735b8c | 1589 | { |
tashworth | 14:784acd735b8c | 1590 | if(direction[0] == RIGHT) { |
tashworth | 14:784acd735b8c | 1591 | rightTurn(); |
Fairy_Paolina | 33:a41981e18a7d | 1592 | //alignWithWall(MID); |
Fairy_Paolina | 23:f8e806d1ffcc | 1593 | wall_follow2(LEFT, FORWARD, MID, current,0); |
Fairy_Paolina | 23:f8e806d1ffcc | 1594 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 23:f8e806d1ffcc | 1595 | slightMove(FORWARD, 50); |
tashworth | 14:784acd735b8c | 1596 | leftTurn(); |
Fairy_Paolina | 23:f8e806d1ffcc | 1597 | } else if(direction[0] == LEFT) { |
Fairy_Paolina | 23:f8e806d1ffcc | 1598 | rightTurn(); |
Fairy_Paolina | 23:f8e806d1ffcc | 1599 | wall_follow2(RIGHT, BACKWARD, MID, current,0); |
tashworth | 14:784acd735b8c | 1600 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 23:f8e806d1ffcc | 1601 | wait_ms(200); |
Fairy_Paolina | 23:f8e806d1ffcc | 1602 | slightMove(BACKWARD, 100); |
Fairy_Paolina | 23:f8e806d1ffcc | 1603 | leftTurn(); |
tashworth | 14:784acd735b8c | 1604 | } |
tashworth | 14:784acd735b8c | 1605 | //ELSE and GO FORWARD |
tashworth | 14:784acd735b8c | 1606 | overBump(RIGS); |
tashworth | 14:784acd735b8c | 1607 | } |
tashworth | 28:2bb6b0fe39d0 | 1608 | |
tashworth | 14:784acd735b8c | 1609 | void mid_section2_return(float* location, float ¤t, int* direction) |
tashworth | 14:784acd735b8c | 1610 | { |
tashworth | 14:784acd735b8c | 1611 | if(direction[1] == RIGHT) { |
Fairy_Paolina | 23:f8e806d1ffcc | 1612 | rightTurn(); |
Fairy_Paolina | 23:f8e806d1ffcc | 1613 | wall_follow2(LEFT, FORWARD, RETURN, current,0); |
Fairy_Paolina | 23:f8e806d1ffcc | 1614 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1615 | leftTurn(); |
tashworth | 14:784acd735b8c | 1616 | } else if(direction[1] == LEFT) { |
Fairy_Paolina | 23:f8e806d1ffcc | 1617 | rightTurn(); |
Fairy_Paolina | 23:f8e806d1ffcc | 1618 | wall_follow2(LEFT, BACKWARD, RETURN, current,0); |
Fairy_Paolina | 23:f8e806d1ffcc | 1619 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1620 | leftTurn(); |
tashworth | 14:784acd735b8c | 1621 | } |
tashworth | 14:784acd735b8c | 1622 | //ELSE and GO FORWARD |
tashworth | 14:784acd735b8c | 1623 | overBump(MID); |
tashworth | 14:784acd735b8c | 1624 | } |
tashworth | 28:2bb6b0fe39d0 | 1625 | |
tashworth | 14:784acd735b8c | 1626 | void rig_section_return(float* location, float ¤t, int* direction) |
tashworth | 14:784acd735b8c | 1627 | { |
Fairy_Paolina | 33:a41981e18a7d | 1628 | //alignWithWall(RIGS); |
tashworth | 28:2bb6b0fe39d0 | 1629 | |
tashworth | 14:784acd735b8c | 1630 | if(location[2] > current) { |
Fairy_Paolina | 23:f8e806d1ffcc | 1631 | wall_follow2(LEFT, BACKWARD, RETURN, current,0); |
tashworth | 14:784acd735b8c | 1632 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 23:f8e806d1ffcc | 1633 | wait_ms(500); |
Fairy_Paolina | 23:f8e806d1ffcc | 1634 | //slightMove(FORWARD,50); |
tashworth | 14:784acd735b8c | 1635 | } else { |
Fairy_Paolina | 23:f8e806d1ffcc | 1636 | wall_follow2(LEFT, FORWARD, RETURN, current,0); |
tashworth | 14:784acd735b8c | 1637 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1638 | } |
tashworth | 28:2bb6b0fe39d0 | 1639 | |
Fairy_Paolina | 23:f8e806d1ffcc | 1640 | // LEFT TURN |
Fairy_Paolina | 23:f8e806d1ffcc | 1641 | motors.begin(); |
Fairy_Paolina | 23:f8e806d1ffcc | 1642 | leftEncoder.reset(); |
Fairy_Paolina | 23:f8e806d1ffcc | 1643 | rightEncoder.reset(); |
Fairy_Paolina | 23:f8e806d1ffcc | 1644 | motors.setMotor0Speed(0.5*127);// right |
Fairy_Paolina | 23:f8e806d1ffcc | 1645 | motors.setMotor1Speed(-0.5*127);// left |
Fairy_Paolina | 23:f8e806d1ffcc | 1646 | while(abs(leftEncoder.getPulses())<1100 || rightEncoder.getPulses()<110); |
tashworth | 28:2bb6b0fe39d0 | 1647 | |
Fairy_Paolina | 23:f8e806d1ffcc | 1648 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1649 | overBump(MID2); |
tashworth | 20:55dcff40c5d9 | 1650 | } |
tashworth | 28:2bb6b0fe39d0 | 1651 | |
tashworth | 28:2bb6b0fe39d0 | 1652 | |
tashworth | 28:2bb6b0fe39d0 | 1653 | |
tashworth | 28:2bb6b0fe39d0 | 1654 | |
tashworth | 20:55dcff40c5d9 | 1655 | int Xadjust(int tool) |
tashworth | 20:55dcff40c5d9 | 1656 | { |
tashworth | 20:55dcff40c5d9 | 1657 | int areaArray[10]; |
tashworth | 20:55dcff40c5d9 | 1658 | float C, T, S; |
tashworth | 22:79c5871543b5 | 1659 | for(int i = 0; i < 5; i++) { |
tashworth | 20:55dcff40c5d9 | 1660 | areaArray[i] = shapeDetection(); |
tashworth | 20:55dcff40c5d9 | 1661 | wait(2); |
tashworth | 20:55dcff40c5d9 | 1662 | if(get_com_x() > X_CENTER ) { |
tashworth | 20:55dcff40c5d9 | 1663 | deltaX = get_com_x()-X_CENTER; |
tashworth | 20:55dcff40c5d9 | 1664 | setServoPulse2(0,Arm_Table[tool].base_rotate += (deltaX/60.0) ); |
tashworth | 20:55dcff40c5d9 | 1665 | Arm_Table[PU_TOOL_2].base_rotate = Arm_Table[TOOL_2].base_rotate; |
tashworth | 20:55dcff40c5d9 | 1666 | } |
tashworth | 20:55dcff40c5d9 | 1667 | if(get_com_x() < X_CENTER) { |
tashworth | 20:55dcff40c5d9 | 1668 | deltaX = get_com_x()-X_CENTER; |
tashworth | 20:55dcff40c5d9 | 1669 | setServoPulse2(0,Arm_Table[tool].base_rotate += (deltaX/60.0) ); |
tashworth | 20:55dcff40c5d9 | 1670 | Arm_Table[PU_TOOL_2].base_rotate = Arm_Table[TOOL_2].base_rotate; |
tashworth | 20:55dcff40c5d9 | 1671 | } |
tashworth | 28:2bb6b0fe39d0 | 1672 | |
tashworth | 28:2bb6b0fe39d0 | 1673 | |
tashworth | 20:55dcff40c5d9 | 1674 | } |
tashworth | 28:2bb6b0fe39d0 | 1675 | |
tashworth | 20:55dcff40c5d9 | 1676 | C = normd(areaArray, 10, CIRCLE_AREA); |
tashworth | 21:0907e1f5e16c | 1677 | // S = normd(areaArray, 10, SQUARE_AREA); |
tashworth | 21:0907e1f5e16c | 1678 | // T = normd(areaArray, 10, TRIANGLE_AREA); |
tashworth | 28:2bb6b0fe39d0 | 1679 | |
tashworth | 20:55dcff40c5d9 | 1680 | if((C < SQUARE_AREA) && (C > CIRCLE_AREA)) { |
tashworth | 22:79c5871543b5 | 1681 | pc.printf("\n\nCIRCLE DETECTED\n\r"); |
tashworth | 22:79c5871543b5 | 1682 | return CIRCLE; |
tashworth | 22:79c5871543b5 | 1683 | } else if( ( C > SQUARE_AREA) ) { |
tashworth | 20:55dcff40c5d9 | 1684 | pc.printf("\n\nSQUARE DETECTED\n\r"); |
tashworth | 20:55dcff40c5d9 | 1685 | return SQUARE; |
tashworth | 20:55dcff40c5d9 | 1686 | } else { |
tashworth | 20:55dcff40c5d9 | 1687 | pc.printf("\n\nTRIANGLE DETECTED\n\r"); |
tashworth | 20:55dcff40c5d9 | 1688 | return TRIANGLE; |
tashworth | 21:0907e1f5e16c | 1689 | } |
tashworth | 28:2bb6b0fe39d0 | 1690 | |
tashworth | 28:2bb6b0fe39d0 | 1691 | |
tashworth | 21:0907e1f5e16c | 1692 | /* |
tashworth | 21:0907e1f5e16c | 1693 | if((C < S) && (C < T)) { |
tashworth | 21:0907e1f5e16c | 1694 | pc.printf("\n\nCIRCLE DETECTED\n\r"); |
tashworth | 21:0907e1f5e16c | 1695 | return CIRCLE; |
tashworth | 21:0907e1f5e16c | 1696 | } else if( ( S<C ) && ( S<T ) ) { |
tashworth | 21:0907e1f5e16c | 1697 | pc.printf("\n\nSQUARE DETECTED\n\r"); |
tashworth | 21:0907e1f5e16c | 1698 | return SQUARE; |
tashworth | 21:0907e1f5e16c | 1699 | } else { |
tashworth | 21:0907e1f5e16c | 1700 | pc.printf("\n\nTRIANGLE DETECTED\n\r"); |
tashworth | 21:0907e1f5e16c | 1701 | return TRIANGLE; |
tashworth | 21:0907e1f5e16c | 1702 | }*/ |
tashworth | 20:55dcff40c5d9 | 1703 | } |
tashworth | 28:2bb6b0fe39d0 | 1704 | |
tashworth | 20:55dcff40c5d9 | 1705 | float normd(int* pop, int count, int threshold) |
tashworth | 20:55dcff40c5d9 | 1706 | { |
tashworth | 20:55dcff40c5d9 | 1707 | int i = 0; |
tashworth | 20:55dcff40c5d9 | 1708 | float mean=0, std=0; |
tashworth | 20:55dcff40c5d9 | 1709 | for(i=0; i<count; i++) { |
tashworth | 20:55dcff40c5d9 | 1710 | mean += pop[i]; |
tashworth | 20:55dcff40c5d9 | 1711 | } |
tashworth | 20:55dcff40c5d9 | 1712 | mean /= (float)count; |
tashworth | 20:55dcff40c5d9 | 1713 | pc.printf("\n\nMean: %f\n\r", mean); |
tashworth | 28:2bb6b0fe39d0 | 1714 | |
tashworth | 20:55dcff40c5d9 | 1715 | for(i=0; i<count; i++) { |
tashworth | 20:55dcff40c5d9 | 1716 | std += pow(((float)pop[i]-mean),2); |
tashworth | 20:55dcff40c5d9 | 1717 | } |
tashworth | 20:55dcff40c5d9 | 1718 | std /= (float)count; |
tashworth | 20:55dcff40c5d9 | 1719 | std = sqrt(std); |
tashworth | 20:55dcff40c5d9 | 1720 | //pc.printf("\n\nStd: %f\n\r", std); |
tashworth | 28:2bb6b0fe39d0 | 1721 | |
tashworth | 20:55dcff40c5d9 | 1722 | //pc.printf("\n\nNorm: %f\n\r", (1/(std*sqrt(2*PI)))*exp(-pow(((float)threshold-mean),2)/(2*pow(std,2)))); |
tashworth | 28:2bb6b0fe39d0 | 1723 | |
tashworth | 28:2bb6b0fe39d0 | 1724 | |
tashworth | 20:55dcff40c5d9 | 1725 | //return abs(mean - threshold); |
tashworth | 20:55dcff40c5d9 | 1726 | return mean; |
tashworth | 20:55dcff40c5d9 | 1727 | //return (1/(std*sqrt(2*PI)))*exp(-pow(((float)threshold-mean),2)/(2*pow(std,2))); |
tashworth | 28:2bb6b0fe39d0 | 1728 | |
Fairy_Paolina | 27:5540aa3c828c | 1729 | } |
Fairy_Paolina | 27:5540aa3c828c | 1730 | |
tashworth | 28:2bb6b0fe39d0 | 1731 | void testSensors(void) |
tashworth | 28:2bb6b0fe39d0 | 1732 | { |
Fairy_Paolina | 27:5540aa3c828c | 1733 | float range, range2; |
srsmitherman | 31:99cf9c25b0f2 | 1734 | |
tashworth | 28:2bb6b0fe39d0 | 1735 | |
tashworth | 28:2bb6b0fe39d0 | 1736 | while(1) { |
srsmitherman | 31:99cf9c25b0f2 | 1737 | |
Fairy_Paolina | 30:db07aea6d119 | 1738 | //pc.printf("us front %f \t us right %f \t IR front %f \t IR back %f\r\n", range, range2, IRLeftFront.getIRDistance(), IRLeftBack.getIRDistance()); |
srsmitherman | 31:99cf9c25b0f2 | 1739 | |
Fairy_Paolina | 30:db07aea6d119 | 1740 | pc.printf("IR LEFT front %f \t",IRLeftFront.getIRDistance()); |
Fairy_Paolina | 30:db07aea6d119 | 1741 | pc.printf("IR left back %f \t",IRLeftBack.getIRDistance()); |
srsmitherman | 31:99cf9c25b0f2 | 1742 | |
Fairy_Paolina | 30:db07aea6d119 | 1743 | pc.printf("IR right front %f \t",IRRightFront.getIRDistance()); |
Fairy_Paolina | 30:db07aea6d119 | 1744 | pc.printf("IR right back %f \t",IRRightBack.getIRDistance()); |
Fairy_Paolina | 30:db07aea6d119 | 1745 | |
Fairy_Paolina | 30:db07aea6d119 | 1746 | pc.printf("IR front left %f \t",IRFrontL.getIRDistance()); |
Fairy_Paolina | 30:db07aea6d119 | 1747 | pc.printf("IR front right %f \r\n",IRFrontR.getIRDistance()); |
Fairy_Paolina | 27:5540aa3c828c | 1748 | wait_ms(20); |
Fairy_Paolina | 27:5540aa3c828c | 1749 | } |
srsmitherman | 31:99cf9c25b0f2 | 1750 | } |
srsmitherman | 31:99cf9c25b0f2 | 1751 | |
srsmitherman | 31:99cf9c25b0f2 | 1752 | |
srsmitherman | 31:99cf9c25b0f2 | 1753 | void alignWithGap() |
srsmitherman | 31:99cf9c25b0f2 | 1754 | { |
srsmitherman | 31:99cf9c25b0f2 | 1755 | pc.printf("\r\n Align with gap."); |
Fairy_Paolina | 33:a41981e18a7d | 1756 | |
srsmitherman | 31:99cf9c25b0f2 | 1757 | wait(1); |
Fairy_Paolina | 33:a41981e18a7d | 1758 | |
Fairy_Paolina | 33:a41981e18a7d | 1759 | if(IRLeftBack.getIRDistance() > 30) { |
srsmitherman | 31:99cf9c25b0f2 | 1760 | motors.setMotor0Speed(-0.1*127); |
srsmitherman | 31:99cf9c25b0f2 | 1761 | motors.setMotor1Speed(-0.1*127); |
Fairy_Paolina | 33:a41981e18a7d | 1762 | while(IRLeftBack.getIRDistance() > 30); |
Fairy_Paolina | 33:a41981e18a7d | 1763 | pc.printf("IR left back %f \t",IRLeftBack.getIRDistance()); |
srsmitherman | 31:99cf9c25b0f2 | 1764 | |
Fairy_Paolina | 33:a41981e18a7d | 1765 | motors.stopBothMotors(127); |
Fairy_Paolina | 33:a41981e18a7d | 1766 | wait_ms(300); |
Fairy_Paolina | 33:a41981e18a7d | 1767 | } |
srsmitherman | 31:99cf9c25b0f2 | 1768 | |
Fairy_Paolina | 33:a41981e18a7d | 1769 | |
Fairy_Paolina | 33:a41981e18a7d | 1770 | if(IRLeftBack.getIRDistance() < 30 && IRLeftFront.getIRDistance() > 30) { |
srsmitherman | 31:99cf9c25b0f2 | 1771 | motors.setMotor0Speed(0.1*127); |
srsmitherman | 31:99cf9c25b0f2 | 1772 | motors.setMotor1Speed(0.1*127); |
Fairy_Paolina | 33:a41981e18a7d | 1773 | while(IRLeftBack.getIRDistance() < 30); |
srsmitherman | 31:99cf9c25b0f2 | 1774 | |
Fairy_Paolina | 33:a41981e18a7d | 1775 | pc.printf("IR left back %f \t\r\n",IRLeftBack.getIRDistance()); |
Fairy_Paolina | 33:a41981e18a7d | 1776 | motors.stopBothMotors(127); |
Fairy_Paolina | 33:a41981e18a7d | 1777 | wait_ms(300); |
Fairy_Paolina | 33:a41981e18a7d | 1778 | } |
srsmitherman | 31:99cf9c25b0f2 | 1779 | |
srsmitherman | 31:99cf9c25b0f2 | 1780 | leftEncoder.reset(); |
srsmitherman | 31:99cf9c25b0f2 | 1781 | rightEncoder.reset(); |
srsmitherman | 31:99cf9c25b0f2 | 1782 | |
srsmitherman | 31:99cf9c25b0f2 | 1783 | motors.setMotor0Speed(0.1*127); |
srsmitherman | 31:99cf9c25b0f2 | 1784 | motors.setMotor1Speed(0.1*127); |
srsmitherman | 31:99cf9c25b0f2 | 1785 | |
Fairy_Paolina | 33:a41981e18a7d | 1786 | while(abs(leftEncoder.getPulses())<575 || rightEncoder.getPulses()<575); |
srsmitherman | 31:99cf9c25b0f2 | 1787 | |
srsmitherman | 31:99cf9c25b0f2 | 1788 | motors.stopBothMotors(127); |
Fairy_Paolina | 33:a41981e18a7d | 1789 | wait_ms(300); |
Fairy_Paolina | 33:a41981e18a7d | 1790 | } |
Fairy_Paolina | 33:a41981e18a7d | 1791 | |
Fairy_Paolina | 34:cd4980573159 | 1792 | void toRig(){ |
Fairy_Paolina | 33:a41981e18a7d | 1793 | |
Fairy_Paolina | 34:cd4980573159 | 1794 | if(IRLeftFront.getIRDistance() < 38) { |
Fairy_Paolina | 33:a41981e18a7d | 1795 | motors.setMotor0Speed(0.1*127); |
Fairy_Paolina | 33:a41981e18a7d | 1796 | motors.setMotor1Speed(0.1*127); |
Fairy_Paolina | 34:cd4980573159 | 1797 | while(IRLeftFront.getIRDistance() < 38); |
Fairy_Paolina | 34:cd4980573159 | 1798 | pc.printf("IF\r\n"); |
Fairy_Paolina | 33:a41981e18a7d | 1799 | } |
Fairy_Paolina | 33:a41981e18a7d | 1800 | |
Fairy_Paolina | 33:a41981e18a7d | 1801 | motors.setMotor0Speed(0.1*127); |
Fairy_Paolina | 33:a41981e18a7d | 1802 | motors.setMotor1Speed(0.1*127); |
Fairy_Paolina | 34:cd4980573159 | 1803 | while(IRLeftBack.getIRDistance() > 38); |
Fairy_Paolina | 34:cd4980573159 | 1804 | |
Fairy_Paolina | 34:cd4980573159 | 1805 | //while(abs(leftEncoder.getPulses())<100 || rightEncoder.getPulses()<100); |
Fairy_Paolina | 34:cd4980573159 | 1806 | // forward until back sensor does not see the rig |
Fairy_Paolina | 34:cd4980573159 | 1807 | while(IRLeftBack.getIRDistance() < 38); |
Fairy_Paolina | 34:cd4980573159 | 1808 | pc.printf("align\r\n"); |
Fairy_Paolina | 34:cd4980573159 | 1809 | motors.stopBothMotors(127); |
Fairy_Paolina | 34:cd4980573159 | 1810 | wait_ms(300); |
Fairy_Paolina | 33:a41981e18a7d | 1811 | |
Fairy_Paolina | 34:cd4980573159 | 1812 | } |
Fairy_Paolina | 34:cd4980573159 | 1813 | |
Fairy_Paolina | 34:cd4980573159 | 1814 | void alignWithRigWall(float ¤t){ |
Fairy_Paolina | 34:cd4980573159 | 1815 | |
Fairy_Paolina | 34:cd4980573159 | 1816 | motors.begin(); |
Fairy_Paolina | 34:cd4980573159 | 1817 | leftEncoder.reset(); |
Fairy_Paolina | 34:cd4980573159 | 1818 | rightEncoder.reset(); |
Fairy_Paolina | 34:cd4980573159 | 1819 | motors.setMotor0Speed(-0.5*127);//right |
Fairy_Paolina | 34:cd4980573159 | 1820 | motors.setMotor1Speed(0.5*127);//left |
Fairy_Paolina | 34:cd4980573159 | 1821 | while(abs(leftEncoder.getPulses())<950 || abs(rightEncoder.getPulses())<950); |
Fairy_Paolina | 34:cd4980573159 | 1822 | motors.stopBothMotors(127); |
Fairy_Paolina | 34:cd4980573159 | 1823 | wait_ms(300); |
Fairy_Paolina | 34:cd4980573159 | 1824 | |
Fairy_Paolina | 34:cd4980573159 | 1825 | leftEncoder.reset(); |
Fairy_Paolina | 34:cd4980573159 | 1826 | rightEncoder.reset(); |
Fairy_Paolina | 34:cd4980573159 | 1827 | |
Fairy_Paolina | 34:cd4980573159 | 1828 | if(current <80){ |
Fairy_Paolina | 34:cd4980573159 | 1829 | //forward until back sensor is in front of the wave |
Fairy_Paolina | 34:cd4980573159 | 1830 | while(IRRightBack.getIRDistance() >35); |
Fairy_Paolina | 34:cd4980573159 | 1831 | motors.setMotor0Speed(0.2*127);//right |
Fairy_Paolina | 34:cd4980573159 | 1832 | motors.setMotor1Speed(0.2*127);//left |
Fairy_Paolina | 34:cd4980573159 | 1833 | } |
Fairy_Paolina | 34:cd4980573159 | 1834 | else{ |
Fairy_Paolina | 34:cd4980573159 | 1835 | //motors.setMotor0Speed(-0.1*127);//right |
Fairy_Paolina | 34:cd4980573159 | 1836 | //motors.setMotor1Speed(-0.1*127);//left |
Fairy_Paolina | 34:cd4980573159 | 1837 | } |
Fairy_Paolina | 34:cd4980573159 | 1838 | |
Fairy_Paolina | 34:cd4980573159 | 1839 | /*while(abs(leftEncoder.getPulses())<800 || abs(rightEncoder.getPulses())<800); |
Fairy_Paolina | 34:cd4980573159 | 1840 | while(IRRightBack.getIRDistance() >35); |
Fairy_Paolina | 34:cd4980573159 | 1841 | */ |
Fairy_Paolina | 34:cd4980573159 | 1842 | motors.stopBothMotors(127); |
Fairy_Paolina | 34:cd4980573159 | 1843 | wait_ms(300); |
Fairy_Paolina | 34:cd4980573159 | 1844 | |
Fairy_Paolina | 34:cd4980573159 | 1845 | // Align with Gap |
Fairy_Paolina | 34:cd4980573159 | 1846 | while(IRRightFront.getIRDistance() - IRRightBack.getIRDistance() > 0.5) { |
Fairy_Paolina | 34:cd4980573159 | 1847 | pc.printf("turn right\r\n"); |
Fairy_Paolina | 34:cd4980573159 | 1848 | motors.setMotor0Speed(-0.3*127);//right |
Fairy_Paolina | 34:cd4980573159 | 1849 | motors.setMotor1Speed(0.3*127);// left |
Fairy_Paolina | 34:cd4980573159 | 1850 | } |
Fairy_Paolina | 34:cd4980573159 | 1851 | while(IRRightFront.getIRDistance() - IRRightBack.getIRDistance() < -0.5) { |
Fairy_Paolina | 34:cd4980573159 | 1852 | pc.printf("turn left\r\n"); |
Fairy_Paolina | 34:cd4980573159 | 1853 | motors.setMotor0Speed(0.3*127);// right |
Fairy_Paolina | 34:cd4980573159 | 1854 | motors.setMotor1Speed(-0.3*127);// left |
Fairy_Paolina | 34:cd4980573159 | 1855 | } |
Fairy_Paolina | 33:a41981e18a7d | 1856 | |
Fairy_Paolina | 33:a41981e18a7d | 1857 | motors.stopBothMotors(127); |
Fairy_Paolina | 33:a41981e18a7d | 1858 | wait_ms(300); |
tashworth | 22:79c5871543b5 | 1859 | } |