Revision 6:141879e002b0, committed 2014-07-07

Comitter:

hee502

Date:

Mon Jul 07 14:40:13 2014 +0000

Parent:

5:66e1a4c974dd

Commit message:

Ir reading without emitting

Changed in this revision

diff -r 66e1a4c974dd -r 141879e002b0 main.cpp
--- a/main.cpp	Wed Jun 11 13:50:09 2014 +0000
+++ b/main.cpp	Mon Jul 07 14:40:13 2014 +0000
@@ -13,196 +13,28 @@
  * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2
  *
  ******************************************************************************************/
-
+ 
 #include "main.h"   // Certain parameters can be set by changing the defines in piswarm.h
-
-#define rearSensors 90
-#define frontSensors 90
-#define wallsSensors 55
-#define cohesion 50
-#define separation  75
-
-uint8_t loop_counter = 0;
-float sensor_data[8] = {0};
-volatile uint8_t proximity_signal[4] = {0};
-float speed = 0;
-float speed_incrementor = 0;
-float delay = 0;
-
-DigitalOut irFront(p12);
-DigitalOut irBack(p13);
-Timer t;
-Timer speed_timer;
-
-
+ 
+ 
 PiSwarm piswarm;
 Serial pc (USBTX,USBRX);
+DigitalOut ir(p12);//front ir sensors ir emitter enable pin(used for disabling emitting during listening)
+DigitalOut ir2(p13);//back ir sensors ir emitter enable pin
 
 //This is where the program code goes.  In the simple demo, the outer LEDs are blinked.
 int main() {
     init();
-    t.start();
-    speed_timer.start();
-    speed = 0.15;
+        
     while(1) {
-        
-        speed_incrementor = 0.08 + speed / 10;
-        delay = 0.12 - (speed / 10) * 4;
-        get_sensors_values();
-        if( speed_timer.read_ms() > 1000 ){ 
-            if( speed > 0.05 ) speed -= 0.005;
-            for( loop_counter = 0; loop_counter < 3; loop_counter++ ){
-                if( proximity_signal[loop_counter] == 1 && speed < 0.2 ) speed += 0.005; 
-            }
-            speed_timer.reset();    
-            //piswarm.cls();
-            //piswarm.printf("%0.2f %d%d%d\n\r", speed, proximity_signal[0], proximity_signal[1], proximity_signal[2]);
-        }    
-        
-        //Forward and backward condition 
-        while( ( sensor_data[0] + sensor_data[7] ) / 2 > ( separation + 15 ) )
-        {
-            attraction();
-            piswarm.forward( speed );
-            piswarm.set_oleds( 1, 0, 0, 0, 0, 0, 0, 0, 1, 1 );
-            get_sensors_values();
-            wait( delay );
-        }
-        while( ( sensor_data[0] + sensor_data[7] ) / 2 < ( separation - 15 ) && ( sensor_data[3] + sensor_data[4] ) / 2 > ( separation - 15 ) )
-        {
-            piswarm.backward( speed_incrementor );
-            piswarm.set_oleds( 0, 0, 0, 1, 1, 1, 0, 0, 0, 0 );
-            get_sensors_values();
-            wait( delay );
-        }
-        //Front-left separation
-        while( sensor_data[6] < separation || sensor_data[5] < separation )
-        {
-            t.stop();
-            t.reset();
-            piswarm.left( speed_incrementor );
-            piswarm.set_oleds( 0, 0, 0, 0, 0, 0, 1, 1, 0, 0 );
-            get_sensors_values();
-            wait( delay );
-            t.start();
-        }
-        
-        //Front-right separation
-        while( sensor_data[1] < separation || sensor_data[2] < separation)
-        {
-            t.stop();
-            t.reset();
-            piswarm.right( speed_incrementor );
-            piswarm.set_oleds( 0, 1, 1, 0, 0, 0, 0, 0, 0, 0 );
-            get_sensors_values();
-            wait( delay );
-            t.start();
-        } 
-        piswarm.stop();     
-        attraction();
-    }
-}
-
-void get_sensors_values()
-{
-    for(loop_counter = 0; loop_counter < 8; loop_counter++ ){
-        sensor_data[loop_counter] = 0.0;
-        sensor_data[loop_counter] = piswarm.read_reflected_ir_distance(loop_counter);
+        ir = 0;
+        float value = piswarm.read_adc_value(0);
+        piswarm.cls();
+        piswarm.printf("%f", value);
+        wait(0.25);
     }
 }
-
-void attraction(void){
-    if(t.read_ms() > 2500){//limit for going without seeing any robot, otherwise check where they are
-        t.stop();
-        t.reset();
-        irFront = 0;
-        irBack = 0;
-        int maxIrValue = 0;
-        int maxIrLoc = 0;
-        unsigned short irValue = 0;
-        for(int i=0;i<8;i++){
-            piswarm.read_adc_value(i);
-        }
-        for(int i=0;i<8;i++){
-            irValue = piswarm.read_adc_value(i);
-            if(irValue > maxIrValue){
-                maxIrValue = irValue;
-                maxIrLoc = i;
-            }
-        }
-        t.start();
-        t.reset();
-        switch(maxIrLoc){
-            case 0:
-            piswarm.right(0.36);
-            while(t.read_ms() < 30){//15 degrees
-            }
-            piswarm.stop();
-            t.stop();
-            break;
-            
-            case 1:
-            piswarm.right(0.36);
-            while(t.read_ms() < 90){//45 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-
-            case 2:
-            piswarm.right(0.36);
-            while(t.read_ms() < 180){//90 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-
-            case 3:                
-            piswarm.right(0.36);
-            while(t.read_ms() < 288){//144 degrees
-            }
-            piswarm.stop();
-            t.stop();
-            break;
-
-            case 4:
-            piswarm.left(0.36);
-            while(t.read_ms() < 288){//216 degrees
-            }
-            piswarm.stop();
-            t.stop();
-            break;
-
-            case 5:
-            piswarm.left(0.36);
-            while(t.read_ms() < 180){//270 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-
-            case 6:
-            piswarm.left(0.36);
-            while(t.read_ms() < 90){//315 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-
-            case 7:
-            piswarm.left(0.36);
-            while(t.read_ms() < 30){//345 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-        }
-        t.start();
-        irFront = 1;
-        irBack = 1;
-    }
-
-}
+ 
 /***************************************************************************************************************************************
  *
  * Beyond this point, empty code blocks for optional functions is given
@@ -212,10 +44,10 @@
  **************************************************************************************************************************************/
  
 // Communications
-
+ 
 // If using the communication stack (USE_COMMUNICATION_STACK = 1), functionality for handling user RF responses should be added to the following functions
 // If the communication stack is not being used, all radio data is sent to processRawRFData() instead
-
+ 
 void handleUserRFCommand(char sender, char broadcast_message, char request_response, char id, char is_command, char function, char * data, char length){
     // A 'user' RF Command has been received:  write the code here to process it
     // sender = ID of the sender, range 0 to 31
@@ -226,15 +58,10 @@
     // function = The function identifier.  Range 0 to 15
     // * data = Array containing extra data bytes
     // length = Length of extra data bytes held (range 0 to 57)
-     proximity_signal[0] = data[0];
-     proximity_signal[1] = data[1];
-     proximity_signal[2] = data[2];
-     piswarm.cls();
-     piswarm.printf("%0.2f %d%d%d", speed, proximity_signal[0], proximity_signal[1], proximity_signal[2]);
-       
+ 
     //Do something...
 }    
-
+ 
 void handleUserRFResponse(char sender, char broadcast_message, char success, char id, char is_command, char function, char * data, char length){
     // A 'user' RF Response has been received:  write the code here to process it
     // sender = ID of the sender, range 0 to 31
@@ -245,10 +72,10 @@
     // function = The function identifier.  Range 0 to 15
     // * data = Array containing extra data bytes
     // length = Length of extra data bytes held (range 0 to 57)
-
+ 
     //Do something...  
 }    
-
+ 
 void processRawRFData(char * rstring, char cCount){
     // A raw RF packet has been received: write the code here to process it
     // rstring = The received packet
@@ -256,10 +83,10 @@
     
     //Do something...
 }
-
+ 
 void switch_pressed() {
     //Switch(es) pressed {1 = Center  2 = Right  4 = Left  8 = Down  16 = Up}
     char switches = piswarm.get_switches();
   
     //Do something...
-}
+}
\ No newline at end of file