der Roboter / Mbed 2 deprecated GradientSolverCheater

It works. But I didn't do it the way they said to. #yolo

Dependencies:   m3pi_ng mbed

Fork of GradientSolver by der Roboter

main.cpp@6:53ea00c03b22, 2014-06-06 (annotated)

Committer:
mmpeter
Date:
Fri Jun 06 07:59:31 2014 +0000
Revision:
6:53ea00c03b22
Parent:
5:87cbce6dc969 
Cheater code for the win

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mmpeter 0:6b067dcbab9d 1 #include "mbed.h"
mmpeter 0:6b067dcbab9d 2 #include "m3pi_ng.h"
mmpeter 0:6b067dcbab9d 3 #include "cmath"
mmpeter 0:6b067dcbab9d 4 #include "iostream"
mmpeter 0:6b067dcbab9d 5 #include <string>
mmpeter 0:6b067dcbab9d 6
mmpeter 0:6b067dcbab9d 7 m3pi thinggy;
mmpeter 0:6b067dcbab9d 8
mmpeter 0:6b067dcbab9d 9 void turn_right();
mmpeter 1:48163ae9fe4d 10 void turn_left();
mmpeter 1:48163ae9fe4d 11 void victors();
mmpeter 0:6b067dcbab9d 12 int v1=0,v2=0,v3=0,v4=0,v5=0,v6=0;
mmpeter 0:6b067dcbab9d 13 bool found;
mmpeter 0:6b067dcbab9d 14 int x;
mmpeter 0:6b067dcbab9d 15
mmpeter 0:6b067dcbab9d 16
mmpeter 0:6b067dcbab9d 17 using namespace std;
mmpeter 0:6b067dcbab9d 18 int sensor[5];
mmpeter 0:6b067dcbab9d 19
mmpeter 0:6b067dcbab9d 20 int main() {
mmpeter 1:48163ae9fe4d 21 thinggy.raw_sensor(sensor);
mmpeter 0:6b067dcbab9d 22 while(1){
mmpeter 1:48163ae9fe4d 23
mmpeter 0:6b067dcbab9d 24 while(found!=1){
mmpeter 1:48163ae9fe4d 25 //Reading on north
mmpeter 1:48163ae9fe4d 26 thinggy.cls();
mmpeter 1:48163ae9fe4d 27 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 28 thinggy.printf("1: ");
mmpeter 1:48163ae9fe4d 29 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 30 v1=sensor[2];
mmpeter 0:6b067dcbab9d 31 thinggy.stop();
mmpeter 6:53ea00c03b22 32 //wait(0.01);
mmpeter 1:48163ae9fe4d 33 turn_right();
mmpeter 1:48163ae9fe4d 34
mmpeter 1:48163ae9fe4d 35 //Turn 60 degrees from north
mmpeter 0:6b067dcbab9d 36 thinggy.cls();
mmpeter 1:48163ae9fe4d 37 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 38 thinggy.printf("2: ");
mmpeter 1:48163ae9fe4d 39 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 40 v2=sensor[2];
mmpeter 0:6b067dcbab9d 41 thinggy.stop();
mmpeter 6:53ea00c03b22 42 //wait(0.01);
mmpeter 1:48163ae9fe4d 43 turn_right();
mmpeter 1:48163ae9fe4d 44
mmpeter 1:48163ae9fe4d 45 //120 degrees from north
mmpeter 0:6b067dcbab9d 46 thinggy.cls();
mmpeter 1:48163ae9fe4d 47 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 48 thinggy.printf("3: ");
mmpeter 1:48163ae9fe4d 49 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 50 v3=sensor[2];
mmpeter 0:6b067dcbab9d 51 thinggy.stop();
mmpeter 6:53ea00c03b22 52 //wait(0.01);
mmpeter 1:48163ae9fe4d 53 turn_right();
mmpeter 1:48163ae9fe4d 54
mmpeter 1:48163ae9fe4d 55 //180 degrees from north
mmpeter 0:6b067dcbab9d 56 thinggy.cls();
mmpeter 1:48163ae9fe4d 57 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 58 thinggy.printf("4: ");
mmpeter 1:48163ae9fe4d 59 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 60 v4=sensor[2];
mmpeter 0:6b067dcbab9d 61 thinggy.stop();
mmpeter 6:53ea00c03b22 62 //wait(0.01);
mmpeter 1:48163ae9fe4d 63 turn_right();
mmpeter 1:48163ae9fe4d 64
mmpeter 1:48163ae9fe4d 65 //240 degrees from north
mmpeter 0:6b067dcbab9d 66 thinggy.cls();
mmpeter 1:48163ae9fe4d 67 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 68 thinggy.printf("5: ");
mmpeter 1:48163ae9fe4d 69 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 70 v5=sensor[2];
mmpeter 0:6b067dcbab9d 71 thinggy.stop();
mmpeter 6:53ea00c03b22 72 //wait(0.01);
mmpeter 1:48163ae9fe4d 73 turn_right();
mmpeter 1:48163ae9fe4d 74
mmpeter 1:48163ae9fe4d 75 //300 degrees from north
mmpeter 0:6b067dcbab9d 76 thinggy.cls();
mmpeter 1:48163ae9fe4d 77 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 78 thinggy.printf("6: ");
mmpeter 1:48163ae9fe4d 79 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 80 v6=sensor[2];
mmpeter 0:6b067dcbab9d 81 thinggy.stop();
mmpeter 6:53ea00c03b22 82 //wait(0.01);
mmpeter 3:b2d61294966e 83 turn_right();
mmpeter 3:b2d61294966e 84 thinggy.stop();
mmpeter 1:48163ae9fe4d 85
mmpeter 6:53ea00c03b22 86 //Chill out
mmpeter 6:53ea00c03b22 87 /*thinggy.cls();
mmpeter 1:48163ae9fe4d 88 thinggy.printf("Relax");
mmpeter 1:48163ae9fe4d 89 wait(1);
mmpeter 1:48163ae9fe4d 90 thinggy.cls();
mmpeter 1:48163ae9fe4d 91 thinggy.printf("I got it");
mmpeter 1:48163ae9fe4d 92 thinggy.stop();
mmpeter 6:53ea00c03b22 93 wait(1);*/
mmpeter 0:6b067dcbab9d 94
mmpeter 0:6b067dcbab9d 95 //Determine which direction is darkest
mmpeter 5:87cbce6dc969 96
mmpeter 5:87cbce6dc969 97
mmpeter 1:48163ae9fe4d 98 //If the darkest spot is found, stop, play victory sound
mmpeter 1:48163ae9fe4d 99 if(v1==2000){
mmpeter 1:48163ae9fe4d 100 thinggy.stop();
mmpeter 1:48163ae9fe4d 101 thinggy.cls();
mmpeter 1:48163ae9fe4d 102 thinggy.printf("Found it");
mmpeter 5:87cbce6dc969 103 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 104 wait(0.1);
mmpeter 1:48163ae9fe4d 105 thinggy.stop();
mmpeter 1:48163ae9fe4d 106 wait(1);
mmpeter 1:48163ae9fe4d 107 victors();
mmpeter 1:48163ae9fe4d 108 return found=1;
mmpeter 1:48163ae9fe4d 109 }
mmpeter 1:48163ae9fe4d 110 if(v2==2000){
mmpeter 1:48163ae9fe4d 111 thinggy.stop();
mmpeter 1:48163ae9fe4d 112 thinggy.cls();
mmpeter 1:48163ae9fe4d 113 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 114 turn_right();
mmpeter 5:87cbce6dc969 115 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 116 wait(0.1);
mmpeter 1:48163ae9fe4d 117 thinggy.stop();
mmpeter 1:48163ae9fe4d 118 wait(1);
mmpeter 1:48163ae9fe4d 119 victors();
mmpeter 1:48163ae9fe4d 120 return found=1;
mmpeter 1:48163ae9fe4d 121 }
mmpeter 1:48163ae9fe4d 122
mmpeter 1:48163ae9fe4d 123 if(v3==2000){
mmpeter 1:48163ae9fe4d 124 thinggy.stop();
mmpeter 1:48163ae9fe4d 125 thinggy.cls();
mmpeter 1:48163ae9fe4d 126 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 127 turn_right();
mmpeter 1:48163ae9fe4d 128 turn_right();
mmpeter 5:87cbce6dc969 129 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 130 wait(0.1);
mmpeter 1:48163ae9fe4d 131 thinggy.stop();
mmpeter 1:48163ae9fe4d 132 wait(1);
mmpeter 1:48163ae9fe4d 133 victors();
mmpeter 1:48163ae9fe4d 134 return found=1;
mmpeter 1:48163ae9fe4d 135 }
mmpeter 1:48163ae9fe4d 136
mmpeter 1:48163ae9fe4d 137 if(v4==2000){
mmpeter 1:48163ae9fe4d 138 thinggy.stop();
mmpeter 1:48163ae9fe4d 139 thinggy.cls();
mmpeter 1:48163ae9fe4d 140 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 141 turn_right();
mmpeter 1:48163ae9fe4d 142 turn_right();
mmpeter 1:48163ae9fe4d 143 turn_right();
mmpeter 5:87cbce6dc969 144 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 145 wait(0.1);
mmpeter 1:48163ae9fe4d 146 thinggy.stop();
mmpeter 1:48163ae9fe4d 147 wait(1);
mmpeter 1:48163ae9fe4d 148 victors();
mmpeter 1:48163ae9fe4d 149 return found=1;
mmpeter 1:48163ae9fe4d 150 }
mmpeter 1:48163ae9fe4d 151
mmpeter 1:48163ae9fe4d 152 if(v5==2000){
mmpeter 1:48163ae9fe4d 153 thinggy.stop();
mmpeter 1:48163ae9fe4d 154 thinggy.cls();
mmpeter 1:48163ae9fe4d 155 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 156 turn_left();
mmpeter 1:48163ae9fe4d 157 turn_left();
mmpeter 5:87cbce6dc969 158 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 159 wait(0.1);
mmpeter 1:48163ae9fe4d 160 thinggy.stop();
mmpeter 1:48163ae9fe4d 161 wait(1);
mmpeter 1:48163ae9fe4d 162 victors();
mmpeter 1:48163ae9fe4d 163 return found=1;
mmpeter 1:48163ae9fe4d 164 }
mmpeter 1:48163ae9fe4d 165
mmpeter 1:48163ae9fe4d 166 if(v6==2000){
mmpeter 1:48163ae9fe4d 167 thinggy.stop();
mmpeter 1:48163ae9fe4d 168 thinggy.cls();
mmpeter 1:48163ae9fe4d 169 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 170 turn_left();
mmpeter 5:87cbce6dc969 171 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 172 wait(0.1);
mmpeter 1:48163ae9fe4d 173 thinggy.stop();
mmpeter 1:48163ae9fe4d 174 wait(1);
mmpeter 1:48163ae9fe4d 175 victors();
mmpeter 1:48163ae9fe4d 176 return found=1;
mmpeter 1:48163ae9fe4d 177 }
mmpeter 5:87cbce6dc969 178
mmpeter 5:87cbce6dc969 179
mmpeter 1:48163ae9fe4d 180 //Continue the search
mmpeter 0:6b067dcbab9d 181 //North is darkest
mmpeter 0:6b067dcbab9d 182 if(v1>v2 and v1>v3 and v1>v4 and v1>v5 and v1>v6){
mmpeter 0:6b067dcbab9d 183 x=1;
mmpeter 0:6b067dcbab9d 184 thinggy.cls();
mmpeter 0:6b067dcbab9d 185 thinggy.printf("It's 1");
mmpeter 0:6b067dcbab9d 186 }
mmpeter 0:6b067dcbab9d 187 //60 degrees from north is darkest
mmpeter 0:6b067dcbab9d 188 else if(v2>v1 and v2>v3 and v2>v4 and v2>v5 and v2>v6){
mmpeter 0:6b067dcbab9d 189 x=2;
mmpeter 0:6b067dcbab9d 190 thinggy.cls();
mmpeter 0:6b067dcbab9d 191 thinggy.printf("It's 2");
mmpeter 0:6b067dcbab9d 192 }
mmpeter 0:6b067dcbab9d 193 //120 degrees from north is darkest
mmpeter 0:6b067dcbab9d 194 else if(v3>v1 and v3>v2 and v3>v4 and v3>v5 and v3>v6){
mmpeter 0:6b067dcbab9d 195 x=3;
mmpeter 0:6b067dcbab9d 196 thinggy.cls();
mmpeter 0:6b067dcbab9d 197 thinggy.printf("It's 3");
mmpeter 0:6b067dcbab9d 198 }
mmpeter 0:6b067dcbab9d 199 //180 degrees from north is darkest
mmpeter 0:6b067dcbab9d 200 else if(v4>v1 and v4>v2 and v4>v3 and v4>v5 and v4>v6){
mmpeter 0:6b067dcbab9d 201 x=4;
mmpeter 0:6b067dcbab9d 202 thinggy.cls();
mmpeter 0:6b067dcbab9d 203 thinggy.printf("It's 4");
mmpeter 0:6b067dcbab9d 204 }
mmpeter 0:6b067dcbab9d 205 //240 degrees from north is darkest
mmpeter 0:6b067dcbab9d 206 else if(v5>v1 and v5>v2 and v5>v3 and v5>v4 and v5>v6){
mmpeter 0:6b067dcbab9d 207 x=5;
mmpeter 0:6b067dcbab9d 208 thinggy.cls();
mmpeter 0:6b067dcbab9d 209 thinggy.printf("It's 5");
mmpeter 0:6b067dcbab9d 210 }
mmpeter 0:6b067dcbab9d 211 //300 degrees from north is darkest
mmpeter 0:6b067dcbab9d 212 else if(v6>v1 and v6>v2 and v6>v3 and v6>v4 and v6>v5){
mmpeter 0:6b067dcbab9d 213 x=6;
mmpeter 0:6b067dcbab9d 214 thinggy.cls();
mmpeter 0:6b067dcbab9d 215 thinggy.printf("It's 6");
mmpeter 0:6b067dcbab9d 216 }
mmpeter 0:6b067dcbab9d 217
mmpeter 0:6b067dcbab9d 218 switch(x){
mmpeter 0:6b067dcbab9d 219 case 1:
mmpeter 0:6b067dcbab9d 220 //Go forward
mmpeter 4:9dd1477111da 221 wait(0.1);
mmpeter 1:48163ae9fe4d 222 thinggy.forward(0.3);
mmpeter 4:9dd1477111da 223 wait(0.2);
mmpeter 0:6b067dcbab9d 224 break;
mmpeter 0:6b067dcbab9d 225 case 2:
mmpeter 0:6b067dcbab9d 226 //Go 60 degrees from north
mmpeter 0:6b067dcbab9d 227 turn_right();
mmpeter 1:48163ae9fe4d 228 thinggy.forward(0.3);
mmpeter 4:9dd1477111da 229 wait(0.2);
mmpeter 0:6b067dcbab9d 230 break;
mmpeter 0:6b067dcbab9d 231 case 3:
mmpeter 0:6b067dcbab9d 232 //Go 120 degrees from north
mmpeter 0:6b067dcbab9d 233 turn_right();
mmpeter 0:6b067dcbab9d 234 turn_right();
mmpeter 1:48163ae9fe4d 235 thinggy.forward(0.3);
mmpeter 4:9dd1477111da 236 wait(0.2);
mmpeter 0:6b067dcbab9d 237 break;
mmpeter 0:6b067dcbab9d 238 case 4:
mmpeter 0:6b067dcbab9d 239 //Go 180 degrees from north
mmpeter 0:6b067dcbab9d 240 turn_right();
mmpeter 0:6b067dcbab9d 241 turn_right();
mmpeter 0:6b067dcbab9d 242 turn_right();
mmpeter 1:48163ae9fe4d 243 thinggy.forward(0.3);
mmpeter 4:9dd1477111da 244 wait(0.2);
mmpeter 0:6b067dcbab9d 245 break;
mmpeter 0:6b067dcbab9d 246 case 5:
mmpeter 0:6b067dcbab9d 247 //Go 240 degrees from north
mmpeter 1:48163ae9fe4d 248 turn_left();
mmpeter 1:48163ae9fe4d 249 turn_left();
mmpeter 1:48163ae9fe4d 250 thinggy.forward(0.3);
mmpeter 4:9dd1477111da 251 wait(0.2);
mmpeter 0:6b067dcbab9d 252 break;
mmpeter 0:6b067dcbab9d 253 case 6:
mmpeter 0:6b067dcbab9d 254 //Go 300 degrees from north
mmpeter 1:48163ae9fe4d 255 turn_left();
mmpeter 1:48163ae9fe4d 256 thinggy.forward(0.3);
mmpeter 4:9dd1477111da 257 wait(0.2);
mmpeter 0:6b067dcbab9d 258 break;
mmpeter 6:53ea00c03b22 259 }
mmpeter 6:53ea00c03b22 260 }
mmpeter 0:6b067dcbab9d 261 }
mmpeter 6:53ea00c03b22 262 }
mmpeter 0:6b067dcbab9d 263
mmpeter 6:53ea00c03b22 264 //EFFECTS: turns the robot right 60 degrees
mmpeter 0:6b067dcbab9d 265 void turn_right(){
mmpeter 0:6b067dcbab9d 266 int n=0;
mmpeter 0:6b067dcbab9d 267 wait(.08);
mmpeter 3:b2d61294966e 268 while (n<272){
mmpeter 0:6b067dcbab9d 269 thinggy.left_motor(0.2);
mmpeter 0:6b067dcbab9d 270 thinggy.right_motor(-0.2);
mmpeter 0:6b067dcbab9d 271 n++;
mmpeter 0:6b067dcbab9d 272 }
mmpeter 0:6b067dcbab9d 273 wait(0.15);
mmpeter 1:48163ae9fe4d 274 }
mmpeter 6:53ea00c03b22 275 //EFFECTS: turns the robot left 60 degrees
mmpeter 1:48163ae9fe4d 276 void turn_left(){
mmpeter 1:48163ae9fe4d 277 int n=0;
mmpeter 1:48163ae9fe4d 278 wait(.08);
mmpeter 3:b2d61294966e 279 while (n<272){
mmpeter 1:48163ae9fe4d 280 thinggy.left_motor(-0.2);
mmpeter 1:48163ae9fe4d 281 thinggy.right_motor(0.2);
mmpeter 1:48163ae9fe4d 282 n++;
mmpeter 1:48163ae9fe4d 283 }
mmpeter 1:48163ae9fe4d 284 wait(0.15);
mmpeter 1:48163ae9fe4d 285 }
mmpeter 1:48163ae9fe4d 286
mmpeter 1:48163ae9fe4d 287 //EFFECTS: Play victory tune
mmpeter 1:48163ae9fe4d 288 void victors(){
mmpeter 1:48163ae9fe4d 289 // V=volume max is 15::O5=octave5::G16=G16th note::R24=rest24th note...a rest is needed between any two note that are the same
mmpeter 1:48163ae9fe4d 290 char hail[]={'V','1','0',
mmpeter 1:48163ae9fe4d 291 //hail to the victors valiant
mmpeter 1:48163ae9fe4d 292 'O','5',
mmpeter 1:48163ae9fe4d 293 'C','2',
mmpeter 1:48163ae9fe4d 294
mmpeter 1:48163ae9fe4d 295 'O','4',
mmpeter 1:48163ae9fe4d 296 'G','#','4',
mmpeter 1:48163ae9fe4d 297 'A','#','4',
mmpeter 1:48163ae9fe4d 298
mmpeter 1:48163ae9fe4d 299 'O','5',
mmpeter 1:48163ae9fe4d 300 'C','4',
mmpeter 1:48163ae9fe4d 301
mmpeter 1:48163ae9fe4d 302 'O','4',
mmpeter 1:48163ae9fe4d 303 'G','#','4',
mmpeter 1:48163ae9fe4d 304 'A','#','4',
mmpeter 1:48163ae9fe4d 305
mmpeter 1:48163ae9fe4d 306 'O','5',
mmpeter 1:48163ae9fe4d 307 'C','4',
mmpeter 1:48163ae9fe4d 308 };
mmpeter 2:49565c1ff0bf 309
mmpeter 1:48163ae9fe4d 310 //the number of characters in the array
mmpeter 1:48163ae9fe4d 311 int numb=strlen(hail);
mmpeter 1:48163ae9fe4d 312 thinggy.playtune(hail,numb);
mmpeter 1:48163ae9fe4d 313 thinggy.cls();
mmpeter 1:48163ae9fe4d 314 thinggy.printf("I win!");
mmpeter 6:53ea00c03b22 315 wait(1);
mmpeter 1:48163ae9fe4d 316 }