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@3:b2d61294966e, 2014-06-05 (annotated)

Committer:
mmpeter
Date:
Thu Jun 05 14:09:13 2014 +0000
Revision:
3:b2d61294966e
Parent:
2:49565c1ff0bf
Child:
4:9dd1477111da
cheater method works

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 darkest=0;
mmpeter 0:6b067dcbab9d 13 int dark;
mmpeter 0:6b067dcbab9d 14 int previousdark;
mmpeter 0:6b067dcbab9d 15 int v1=0,v2=0,v3=0,v4=0,v5=0,v6=0;
mmpeter 0:6b067dcbab9d 16 bool found;
mmpeter 0:6b067dcbab9d 17 int x;
mmpeter 0:6b067dcbab9d 18
mmpeter 0:6b067dcbab9d 19
mmpeter 0:6b067dcbab9d 20 using namespace std;
mmpeter 0:6b067dcbab9d 21 int sensor[5];
mmpeter 0:6b067dcbab9d 22
mmpeter 0:6b067dcbab9d 23 int main() {
mmpeter 1:48163ae9fe4d 24 thinggy.raw_sensor(sensor);
mmpeter 0:6b067dcbab9d 25 while(1){
mmpeter 1:48163ae9fe4d 26
mmpeter 0:6b067dcbab9d 27 while(found!=1){
mmpeter 1:48163ae9fe4d 28 //Reading on north
mmpeter 1:48163ae9fe4d 29 thinggy.cls();
mmpeter 1:48163ae9fe4d 30 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 31 thinggy.printf("1: ");
mmpeter 1:48163ae9fe4d 32 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 33 v1=sensor[2];
mmpeter 0:6b067dcbab9d 34 thinggy.stop();
mmpeter 0:6b067dcbab9d 35 wait(0.5);
mmpeter 1:48163ae9fe4d 36 turn_right();
mmpeter 1:48163ae9fe4d 37
mmpeter 1:48163ae9fe4d 38 //Turn 60 degrees from north
mmpeter 0:6b067dcbab9d 39 thinggy.cls();
mmpeter 1:48163ae9fe4d 40 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 41 thinggy.printf("2: ");
mmpeter 1:48163ae9fe4d 42 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 43 v2=sensor[2];
mmpeter 0:6b067dcbab9d 44 thinggy.stop();
mmpeter 0:6b067dcbab9d 45 wait(0.5);
mmpeter 1:48163ae9fe4d 46 turn_right();
mmpeter 1:48163ae9fe4d 47
mmpeter 1:48163ae9fe4d 48 //120 degrees from north
mmpeter 0:6b067dcbab9d 49 thinggy.cls();
mmpeter 1:48163ae9fe4d 50 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 51 thinggy.printf("3: ");
mmpeter 1:48163ae9fe4d 52 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 53 v3=sensor[2];
mmpeter 0:6b067dcbab9d 54 thinggy.stop();
mmpeter 0:6b067dcbab9d 55 wait(0.5);
mmpeter 1:48163ae9fe4d 56 turn_right();
mmpeter 1:48163ae9fe4d 57
mmpeter 1:48163ae9fe4d 58 //180 degrees from north
mmpeter 0:6b067dcbab9d 59 thinggy.cls();
mmpeter 1:48163ae9fe4d 60 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 61 thinggy.printf("4: ");
mmpeter 1:48163ae9fe4d 62 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 63 v4=sensor[2];
mmpeter 0:6b067dcbab9d 64 thinggy.stop();
mmpeter 0:6b067dcbab9d 65 wait(0.5);
mmpeter 1:48163ae9fe4d 66 turn_right();
mmpeter 1:48163ae9fe4d 67
mmpeter 1:48163ae9fe4d 68 //240 degrees from north
mmpeter 0:6b067dcbab9d 69 thinggy.cls();
mmpeter 1:48163ae9fe4d 70 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 71 thinggy.printf("5: ");
mmpeter 1:48163ae9fe4d 72 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 73 v5=sensor[2];
mmpeter 0:6b067dcbab9d 74 thinggy.stop();
mmpeter 0:6b067dcbab9d 75 wait(0.5);
mmpeter 1:48163ae9fe4d 76 turn_right();
mmpeter 1:48163ae9fe4d 77
mmpeter 1:48163ae9fe4d 78 //300 degrees from north
mmpeter 0:6b067dcbab9d 79 thinggy.cls();
mmpeter 1:48163ae9fe4d 80 thinggy.raw_sensor(sensor);
mmpeter 1:48163ae9fe4d 81 thinggy.printf("6: ");
mmpeter 1:48163ae9fe4d 82 thinggy.printf("%i",sensor[2]);
mmpeter 0:6b067dcbab9d 83 v6=sensor[2];
mmpeter 0:6b067dcbab9d 84 thinggy.stop();
mmpeter 0:6b067dcbab9d 85 wait(0.5);
mmpeter 3:b2d61294966e 86 turn_right();
mmpeter 3:b2d61294966e 87 thinggy.stop();
mmpeter 1:48163ae9fe4d 88
mmpeter 1:48163ae9fe4d 89 //Chill the fuck out
mmpeter 0:6b067dcbab9d 90 thinggy.cls();
mmpeter 1:48163ae9fe4d 91 thinggy.printf("Relax");
mmpeter 1:48163ae9fe4d 92 wait(1);
mmpeter 1:48163ae9fe4d 93 thinggy.cls();
mmpeter 1:48163ae9fe4d 94 thinggy.printf("I got it");
mmpeter 1:48163ae9fe4d 95 thinggy.stop();
mmpeter 1:48163ae9fe4d 96 wait(1);
mmpeter 0:6b067dcbab9d 97
mmpeter 0:6b067dcbab9d 98 //Determine which direction is darkest
mmpeter 1:48163ae9fe4d 99 //If the darkest spot is found, stop, play victory sound
mmpeter 1:48163ae9fe4d 100 if(v1==2000){
mmpeter 1:48163ae9fe4d 101 thinggy.stop();
mmpeter 1:48163ae9fe4d 102 thinggy.cls();
mmpeter 1:48163ae9fe4d 103 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 104 thinggy.forward(0.2);
mmpeter 1:48163ae9fe4d 105 wait(0.1);
mmpeter 1:48163ae9fe4d 106 thinggy.stop();
mmpeter 1:48163ae9fe4d 107 wait(1);
mmpeter 1:48163ae9fe4d 108 victors();
mmpeter 1:48163ae9fe4d 109 return found=1;
mmpeter 1:48163ae9fe4d 110 }
mmpeter 1:48163ae9fe4d 111 if(v2==2000){
mmpeter 1:48163ae9fe4d 112 thinggy.stop();
mmpeter 1:48163ae9fe4d 113 thinggy.cls();
mmpeter 1:48163ae9fe4d 114 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 115 turn_right();
mmpeter 1:48163ae9fe4d 116 thinggy.forward(0.2);
mmpeter 1:48163ae9fe4d 117 wait(0.1);
mmpeter 1:48163ae9fe4d 118 thinggy.stop();
mmpeter 1:48163ae9fe4d 119 wait(1);
mmpeter 1:48163ae9fe4d 120 victors();
mmpeter 1:48163ae9fe4d 121 return found=1;
mmpeter 1:48163ae9fe4d 122 }
mmpeter 1:48163ae9fe4d 123
mmpeter 1:48163ae9fe4d 124 if(v3==2000){
mmpeter 1:48163ae9fe4d 125 thinggy.stop();
mmpeter 1:48163ae9fe4d 126 thinggy.cls();
mmpeter 1:48163ae9fe4d 127 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 128 turn_right();
mmpeter 1:48163ae9fe4d 129 turn_right();
mmpeter 1:48163ae9fe4d 130 thinggy.forward(0.2);
mmpeter 1:48163ae9fe4d 131 wait(0.1);
mmpeter 1:48163ae9fe4d 132 thinggy.stop();
mmpeter 1:48163ae9fe4d 133 wait(1);
mmpeter 1:48163ae9fe4d 134 victors();
mmpeter 1:48163ae9fe4d 135 return found=1;
mmpeter 1:48163ae9fe4d 136 }
mmpeter 1:48163ae9fe4d 137
mmpeter 1:48163ae9fe4d 138 if(v4==2000){
mmpeter 1:48163ae9fe4d 139 thinggy.stop();
mmpeter 1:48163ae9fe4d 140 thinggy.cls();
mmpeter 1:48163ae9fe4d 141 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 142 turn_right();
mmpeter 1:48163ae9fe4d 143 turn_right();
mmpeter 1:48163ae9fe4d 144 turn_right();
mmpeter 1:48163ae9fe4d 145 thinggy.forward(0.2);
mmpeter 1:48163ae9fe4d 146 wait(0.1);
mmpeter 1:48163ae9fe4d 147 thinggy.stop();
mmpeter 1:48163ae9fe4d 148 wait(1);
mmpeter 1:48163ae9fe4d 149 victors();
mmpeter 1:48163ae9fe4d 150 return found=1;
mmpeter 1:48163ae9fe4d 151 }
mmpeter 1:48163ae9fe4d 152
mmpeter 1:48163ae9fe4d 153 if(v5==2000){
mmpeter 1:48163ae9fe4d 154 thinggy.stop();
mmpeter 1:48163ae9fe4d 155 thinggy.cls();
mmpeter 1:48163ae9fe4d 156 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 157 turn_left();
mmpeter 1:48163ae9fe4d 158 turn_left();
mmpeter 1:48163ae9fe4d 159 thinggy.forward(0.2);
mmpeter 1:48163ae9fe4d 160 wait(0.1);
mmpeter 1:48163ae9fe4d 161 thinggy.stop();
mmpeter 1:48163ae9fe4d 162 wait(1);
mmpeter 1:48163ae9fe4d 163 victors();
mmpeter 1:48163ae9fe4d 164 return found=1;
mmpeter 1:48163ae9fe4d 165 }
mmpeter 1:48163ae9fe4d 166
mmpeter 1:48163ae9fe4d 167 if(v6==2000){
mmpeter 1:48163ae9fe4d 168 thinggy.stop();
mmpeter 1:48163ae9fe4d 169 thinggy.cls();
mmpeter 1:48163ae9fe4d 170 thinggy.printf("Found it");
mmpeter 1:48163ae9fe4d 171 turn_left();
mmpeter 1:48163ae9fe4d 172 thinggy.forward(0.2);
mmpeter 1:48163ae9fe4d 173 wait(0.1);
mmpeter 1:48163ae9fe4d 174 thinggy.stop();
mmpeter 1:48163ae9fe4d 175 wait(1);
mmpeter 1:48163ae9fe4d 176 victors();
mmpeter 1:48163ae9fe4d 177 return found=1;
mmpeter 1:48163ae9fe4d 178 }
mmpeter 1:48163ae9fe4d 179 //Continue the search
mmpeter 0:6b067dcbab9d 180 //North is darkest
mmpeter 0:6b067dcbab9d 181 if(v1>v2 and v1>v3 and v1>v4 and v1>v5 and v1>v6){
mmpeter 0:6b067dcbab9d 182 x=1;
mmpeter 0:6b067dcbab9d 183 dark=v1;
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 dark=v2;
mmpeter 0:6b067dcbab9d 191 thinggy.cls();
mmpeter 0:6b067dcbab9d 192 thinggy.printf("It's 2");
mmpeter 0:6b067dcbab9d 193 }
mmpeter 0:6b067dcbab9d 194 //120 degrees from north is darkest
mmpeter 0:6b067dcbab9d 195 else if(v3>v1 and v3>v2 and v3>v4 and v3>v5 and v3>v6){
mmpeter 0:6b067dcbab9d 196 x=3;
mmpeter 0:6b067dcbab9d 197 dark=v3;
mmpeter 0:6b067dcbab9d 198 thinggy.cls();
mmpeter 0:6b067dcbab9d 199 thinggy.printf("It's 3");
mmpeter 0:6b067dcbab9d 200 }
mmpeter 0:6b067dcbab9d 201 //180 degrees from north is darkest
mmpeter 0:6b067dcbab9d 202 else if(v4>v1 and v4>v2 and v4>v3 and v4>v5 and v4>v6){
mmpeter 0:6b067dcbab9d 203 x=4;
mmpeter 0:6b067dcbab9d 204 dark=v4;
mmpeter 0:6b067dcbab9d 205 thinggy.cls();
mmpeter 0:6b067dcbab9d 206 thinggy.printf("It's 4");
mmpeter 0:6b067dcbab9d 207 }
mmpeter 0:6b067dcbab9d 208 //240 degrees from north is darkest
mmpeter 0:6b067dcbab9d 209 else if(v5>v1 and v5>v2 and v5>v3 and v5>v4 and v5>v6){
mmpeter 0:6b067dcbab9d 210 x=5;
mmpeter 0:6b067dcbab9d 211 dark=v5;
mmpeter 0:6b067dcbab9d 212 thinggy.cls();
mmpeter 0:6b067dcbab9d 213 thinggy.printf("It's 5");
mmpeter 0:6b067dcbab9d 214 }
mmpeter 0:6b067dcbab9d 215 //300 degrees from north is darkest
mmpeter 0:6b067dcbab9d 216 else if(v6>v1 and v6>v2 and v6>v3 and v6>v4 and v6>v5){
mmpeter 0:6b067dcbab9d 217 x=6;
mmpeter 0:6b067dcbab9d 218 dark=v6;
mmpeter 0:6b067dcbab9d 219 thinggy.cls();
mmpeter 0:6b067dcbab9d 220 thinggy.printf("It's 6");
mmpeter 0:6b067dcbab9d 221 }
mmpeter 0:6b067dcbab9d 222
mmpeter 0:6b067dcbab9d 223 switch(x){
mmpeter 0:6b067dcbab9d 224 case 1:
mmpeter 0:6b067dcbab9d 225 //Go forward
mmpeter 1:48163ae9fe4d 226 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 227 wait(0.1);
mmpeter 0:6b067dcbab9d 228 break;
mmpeter 0:6b067dcbab9d 229 case 2:
mmpeter 0:6b067dcbab9d 230 //Go 60 degrees from north
mmpeter 0:6b067dcbab9d 231 turn_right();
mmpeter 1:48163ae9fe4d 232 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 233 wait(0.1);
mmpeter 0:6b067dcbab9d 234 break;
mmpeter 0:6b067dcbab9d 235 case 3:
mmpeter 0:6b067dcbab9d 236 //Go 120 degrees from north
mmpeter 0:6b067dcbab9d 237 turn_right();
mmpeter 0:6b067dcbab9d 238 turn_right();
mmpeter 1:48163ae9fe4d 239 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 240 wait(0.1);
mmpeter 0:6b067dcbab9d 241 break;
mmpeter 0:6b067dcbab9d 242 case 4:
mmpeter 0:6b067dcbab9d 243 //Go 180 degrees from north
mmpeter 0:6b067dcbab9d 244 turn_right();
mmpeter 0:6b067dcbab9d 245 turn_right();
mmpeter 0:6b067dcbab9d 246 turn_right();
mmpeter 1:48163ae9fe4d 247 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 248 wait(0.1);
mmpeter 0:6b067dcbab9d 249 break;
mmpeter 0:6b067dcbab9d 250 case 5:
mmpeter 0:6b067dcbab9d 251 //Go 240 degrees from north
mmpeter 1:48163ae9fe4d 252 turn_left();
mmpeter 1:48163ae9fe4d 253 turn_left();
mmpeter 1:48163ae9fe4d 254 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 255 wait(0.1);
mmpeter 0:6b067dcbab9d 256 break;
mmpeter 0:6b067dcbab9d 257 case 6:
mmpeter 0:6b067dcbab9d 258 //Go 300 degrees from north
mmpeter 1:48163ae9fe4d 259 turn_left();
mmpeter 1:48163ae9fe4d 260 thinggy.forward(0.3);
mmpeter 1:48163ae9fe4d 261 wait(0.1);
mmpeter 0:6b067dcbab9d 262 break;
mmpeter 0:6b067dcbab9d 263 }
mmpeter 0:6b067dcbab9d 264
mmpeter 0:6b067dcbab9d 265 }
mmpeter 0:6b067dcbab9d 266 }
mmpeter 0:6b067dcbab9d 267 }
mmpeter 0:6b067dcbab9d 268
mmpeter 0:6b067dcbab9d 269 //EFFECTS: turns the robot right
mmpeter 0:6b067dcbab9d 270 void turn_right(){
mmpeter 0:6b067dcbab9d 271 int n=0;
mmpeter 0:6b067dcbab9d 272 wait(.08);
mmpeter 3:b2d61294966e 273 while (n<272){
mmpeter 0:6b067dcbab9d 274 thinggy.left_motor(0.2);
mmpeter 0:6b067dcbab9d 275 thinggy.right_motor(-0.2);
mmpeter 0:6b067dcbab9d 276 n++;
mmpeter 0:6b067dcbab9d 277 }
mmpeter 0:6b067dcbab9d 278 wait(0.15);
mmpeter 1:48163ae9fe4d 279 }
mmpeter 1:48163ae9fe4d 280 //EFFECTS: turns the robot left
mmpeter 1:48163ae9fe4d 281 void turn_left(){
mmpeter 1:48163ae9fe4d 282 int n=0;
mmpeter 1:48163ae9fe4d 283 wait(.08);
mmpeter 3:b2d61294966e 284 while (n<272){
mmpeter 1:48163ae9fe4d 285 thinggy.left_motor(-0.2);
mmpeter 1:48163ae9fe4d 286 thinggy.right_motor(0.2);
mmpeter 1:48163ae9fe4d 287 n++;
mmpeter 1:48163ae9fe4d 288 }
mmpeter 1:48163ae9fe4d 289 thinggy.forward(0.2);
mmpeter 1:48163ae9fe4d 290 wait(0.15);
mmpeter 1:48163ae9fe4d 291 }
mmpeter 1:48163ae9fe4d 292
mmpeter 1:48163ae9fe4d 293 //EFFECTS: Play victory tune
mmpeter 1:48163ae9fe4d 294 void victors(){
mmpeter 1:48163ae9fe4d 295 // 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 296 char hail[]={'V','1','0',
mmpeter 1:48163ae9fe4d 297 //hail to the victors valiant
mmpeter 1:48163ae9fe4d 298 'O','5',
mmpeter 1:48163ae9fe4d 299 'C','2',
mmpeter 1:48163ae9fe4d 300
mmpeter 1:48163ae9fe4d 301 'O','4',
mmpeter 1:48163ae9fe4d 302 'G','#','4',
mmpeter 1:48163ae9fe4d 303 'A','#','4',
mmpeter 1:48163ae9fe4d 304
mmpeter 1:48163ae9fe4d 305 'O','5',
mmpeter 1:48163ae9fe4d 306 'C','4',
mmpeter 1:48163ae9fe4d 307
mmpeter 1:48163ae9fe4d 308 'O','4',
mmpeter 1:48163ae9fe4d 309 'G','#','4',
mmpeter 1:48163ae9fe4d 310 'A','#','4',
mmpeter 1:48163ae9fe4d 311
mmpeter 1:48163ae9fe4d 312 'O','5',
mmpeter 1:48163ae9fe4d 313 'C','4',
mmpeter 1:48163ae9fe4d 314
mmpeter 1:48163ae9fe4d 315
mmpeter 1:48163ae9fe4d 316 //hail to the conquering heros
mmpeter 1:48163ae9fe4d 317 'C', '#','2',
mmpeter 1:48163ae9fe4d 318 'O','4',
mmpeter 1:48163ae9fe4d 319 'A','#','4',
mmpeter 1:48163ae9fe4d 320
mmpeter 1:48163ae9fe4d 321 'O','5',
mmpeter 1:48163ae9fe4d 322 'C','4',
mmpeter 1:48163ae9fe4d 323 'C','#','4',
mmpeter 1:48163ae9fe4d 324
mmpeter 1:48163ae9fe4d 325 'O','4',
mmpeter 1:48163ae9fe4d 326 'A','#','4',
mmpeter 1:48163ae9fe4d 327
mmpeter 1:48163ae9fe4d 328 'O','5',
mmpeter 1:48163ae9fe4d 329 'C','4',
mmpeter 1:48163ae9fe4d 330 'C','#','4',
mmpeter 1:48163ae9fe4d 331 };
mmpeter 2:49565c1ff0bf 332
mmpeter 1:48163ae9fe4d 333 //the number of characters in the array
mmpeter 1:48163ae9fe4d 334 int numb=strlen(hail);
mmpeter 1:48163ae9fe4d 335 thinggy.playtune(hail,numb);
mmpeter 1:48163ae9fe4d 336 thinggy.cls();
mmpeter 1:48163ae9fe4d 337 thinggy.printf("I win!");
mmpeter 1:48163ae9fe4d 338 wait(3);
mmpeter 1:48163ae9fe4d 339 }