Paolina Povolotskaya
ksdflsjdfljas
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of
theRobot
by 
Thomas Ashworth
Diff: main.cpp
- Revision:
- 20:b9cbaf7566e9
- Parent:
- 19:9329e9be4c66
- Child:
- 21:2936d9566213
--- a/main.cpp Thu Apr 03 23:01:50 2014 +0000
+++ b/main.cpp Fri Apr 04 18:39:38 2014 +0000
@@ -20,6 +20,7 @@
#define DIST_PER_PULSE (0.01054225722682)
#define MTRS_TO_INCH (39.3701)
#define MAX_SPEED (0.3*127)
+#define MAX_SPEED1 (0.25*127)
#define PPR (4331/4)
#define LEFT (1)
#define RIGHT (0)
@@ -257,7 +258,18 @@
int pu, num, input;
+
pc.baud(115200);
+ /*while(1){
+ rangeFinderLeft.startMeas();
+ wait_ms(20);
+ rangeFinderLeft.getMeas(range);
+ rangeFinderRight.startMeas();
+ wait_ms(20);
+ rangeFinderRight.getMeas(range2);
+ pc.printf("left %f \t right %f\r\n", range, range2);
+
+ }*/
//Laser Range Finder Initialization
lrf_baudCalibration();
@@ -299,25 +311,25 @@
**************************************************/
case OILRIG1_POS: //aims arm at square oil rig
-
+/*
servoPosition(OIL_RIG1);
wait(3); //wait for servo to settle before laser distance
fire = fire_checker(OIL_RIG1); //determines if oil rig is on fire
-
+*/ fire=1;
//determines what tool is needed
if (fire == 1) {
- pc.printf("FIRE FOUND!!!!!!!!\n\r");
+ //pc.printf("FIRE FOUND!!!!!!!!\n\r");
tool_needed = SQUARE;
state = GOTO_TOOLS1;
} else {
- pc.printf("XXXXXX FIRE NOT FOUND XXXXXX");
+ //pc.printf("XXXXXX FIRE NOT FOUND XXXXXX");
state = OILRIG2_POS;
}
break;
case OILRIG2_POS:
-
+/*
setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm);
setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm);
setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm);
@@ -325,19 +337,21 @@
setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);
wait(3); //wait for servos to settle
-
+*/
to_tools_section2(location, current); // moves to second rig
-
+ wait(2);
+/*
servoPosition(OIL_RIG2); //position arm to point at first oilrig
wait(3);
fire = fire_checker(OIL_RIG2);
+*/ fire=1;
if (fire == 1) {
- pc.printf("FIRE FOUND!!!!!!!!");
+ //pc.printf("FIRE FOUND!!!!!!!!");
tool_needed = TRIANGLE;
state = GOTO_TOOLS2;
} else {
- pc.printf("XXXXXX FIRE NOT FOUND XXXXXX");
+ //pc.printf("XXXXXX FIRE NOT FOUND XXXXXX");
tool_needed = CIRCLE;
state = GOTO_TOOLS2;
}
@@ -350,6 +364,21 @@
*
**************************************************/
case GOTO_TOOLS1:
+ /* setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm);
+ setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm);
+ setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm);
+ setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate);
+ setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
+ setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);
+ wait(3); //wait for servos to settle
+*/
+ to_tools_section1(location, current);
+ wait(2);
+ state = IDENTIFY_TOOLS;
+ break;
+
+ case GOTO_TOOLS2:
+/*
setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm);
setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm);
setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm);
@@ -357,22 +386,10 @@
setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);
wait(3); //wait for servos to settle
- to_tools_section1(location, current);
- state = IDENTIFY_TOOLS;
- break;
-
- case GOTO_TOOLS2:
-
- setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm);
- setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm);
- setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm);
- setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate);
- setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
- setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);
- wait(3); //wait for servos to settle
-
+*/
slightMove(FORWARD,3100);
current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
+ wait(2);
state = IDENTIFY_TOOLS;
break;
@@ -387,9 +404,13 @@
*
**************************************************/
case IDENTIFY_TOOLS:
-
+
+ state = NAVIGATE_WAVES_ROW1;
+ break;
+
+
wait(5);
- servoPosition(TOOL_2); //arm/camera looks over tool
+ servoPosition(TOOL_2); //arm/camera looks over tool
wait(5); //wait for servos to settle
//shape_detected = shapeDetection(); //determines the shape
@@ -402,7 +423,7 @@
wait(1);
shape_detected = shapeDetection();
- pc.printf("Y - Adjust to center tool\n\r");
+ //pc.printf("Y - Adjust to center tool\n\r");
if(get_com_y() < 50) {
wait(1);
@@ -704,7 +725,9 @@
break;
case NAVIGATE_WAVES_ROW3:
-
+ shape_detected=1;
+
+
if(shape_detected == 1) {
rig_section(location, current, direction, 1);
while(1);
@@ -752,7 +775,7 @@
//*********************//
// CODE TO ALIGN ROBOT WITH RIG
- servoPosition(ORIENT_TOOL);
+ // servoPosition(ORIENT_TOOL);
wait(1); //wait for servos to settle
state = INSERT_TOOL;
break;
@@ -815,7 +838,7 @@
pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE);
float pulselength = 20000; // 20,000 us per second
int i = currentPosition[n];
- pc.printf("ServoNumber: %d Begining Pulse: %d\n\r",n,currentPosition[n]);
+ //pc.printf("ServoNumber: %d Begining Pulse: %d\n\r",n,currentPosition[n]);
int pulse2;
if(currentPosition[n] < pulse) {
for(i; i < pulse; i++) {
@@ -831,7 +854,7 @@
}
}
currentPosition[n] = i;
- pc.printf("END: pulse: %d, angle: %d\n\r", i, angle);
+ //pc.printf("END: pulse: %d, angle: %d\n\r", i, angle);
}
void initServoDriver(void)
@@ -845,7 +868,7 @@
void servoBegin(void)
{
- pc.printf("Setting Initial Servo Position\n\r");
+ //pc.printf("Setting Initial Servo Position\n\r");
setServoPulseNo_delay(3, Arm_Table[STORE_POSITION].claw_arm);
setServoPulseNo_delay(2, Arm_Table[STORE_POSITION].big_arm);
wait(2);
@@ -894,7 +917,7 @@
case 1:
for (int i = 0; i<10; i++) {
distLaser = getDistance();
- pc.printf("L DISTANCE: %d \n\r", distLaser);
+ //pc.printf("L DISTANCE: %d \n\r", distLaser);
if ((distLaser < OILRIG1_MAX)
&& (distLaser > OILRIG1_MIN)) {
fire_detected++;
@@ -906,7 +929,7 @@
case 2:
for (int i = 0; i<10; i++) {
distLaser = getDistance();
- pc.printf("L DISTANCE: %d \n\r", distLaser);
+ //pc.printf("L DISTANCE: %d \n\r", distLaser);
if ((distLaser < OILRIG2_MAX)
&& (distLaser > OILRIG2_MIN)) {
fire_detected++;
@@ -931,7 +954,7 @@
}
void wall_follow(int side, int direction, int section)
{
- float location, set=6;
+ float location, set=4;
int dir=1;
pid1.reset();
@@ -958,7 +981,7 @@
rangeFinderRight.startMeas();
wait_ms(20);
rangeFinderRight.getMeas(range);
- pc.printf("%d\r\n",range);
+ //pc.printf("%d\r\n",range);
}
if(range > 15) {
@@ -1005,8 +1028,8 @@
void wall_follow2(int side, int direction, int section, float location, int rig)
{
- int dir=1, limit=86, lowlim=5;
- float set=6, loc=0, Rigloc=0;
+ int dir=1, limit=78, lowlim=4;
+ float set=7, loc=0, Rigloc=0;
bool SeeWaveGap = false;
if(rig == 1) Rigloc= 16;
@@ -1019,28 +1042,32 @@
dir=-1;
limit = 100;
}
+ else if(direction == FORWARD) lowlim=-20;
if(section == TOOLS) {
- set= 6;
+ set= 7;
limit = 86;
}
- else if(section == RIGS) set = 3;
- else if(section == RETURN) lowlim=15;
-
+ else if(section == RIGS) set = 7;
+ else if(section == RETURN) lowlim=4;
+ else if(section == MID2) limit =85;
+
+ if(location <4) limit=80;
+
leftEncoder.reset();
rightEncoder.reset();
//pc.printf("before %f\r\n", location);
- pc.printf("dir*loc+location %f\r\n",dir*loc + location );
- pc.printf("limit %d \r\n", limit);
+ //pc.printf("dir*loc+location %f\r\n",dir*loc + location );
+ //pc.printf("limit %d \r\n", limit);
while((dir*loc + location <= limit) && (dir*loc + location >= lowlim)) {
loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
- pc.printf("loc %f \r\n", loc);
+ //pc.printf("loc %f \r\n", loc);
pid1.setInputLimits(0.0, set);
- pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
+ pid1.setOutputLimits( -MAX_SPEED1, MAX_SPEED1);
pid1.setSetPoint(set);
if(side) {
@@ -1058,7 +1085,7 @@
wait_ms(20);
rangeFinderLeft.getMeas(range2);
- if(range2< 20) {
+ if(range2< 15) {
if( abs(dir*loc + location - Rigloc) < 10) {
//STOP
motors.stopBothMotors(127);
@@ -1070,18 +1097,19 @@
//pc.printf("wall follow 2 range %f\r\n",range);
//pc.printf("loc+location = %f\r\n", loc+location);
- if(range > 20 ) {
+ if(range > 15 ) {
if(section == RIGS || section == RETURN) {
motors.setMotor0Speed(dir*0.25*127); //right
motors.setMotor1Speed(dir*0.25*127); //left
} else {
if(!SeeWaveGap) {
+ wait_ms(40);
SeeWaveGap=true;
} else {
//STOP
motors.stopBothMotors(127);
- pc.printf("wavegap\r\n");
+ //pc.printf("wavegap\r\n");
// AT WAVE OPENING!!!!
break;
}
@@ -1125,7 +1153,7 @@
float usValue = 0;
if(section == TOOLS) {
- pc.printf("tools section align\r\n");
+ //pc.printf("tools section align\r\n");
// turn at an angle
leftEncoder.reset();
rightEncoder.reset();
@@ -1149,11 +1177,28 @@
motors.setMotor1Speed(-MAX_SPEED); //left
while(rightEncoder.getPulses() < 20 || abs(leftEncoder.getPulses()) < 20);
- motors.stopBothMotors(0);
-
+ motors.stopBothMotors(127);
+ wait_ms(300);
+ return;
+ /*
+ rangeFinderRight.startMeas();
+ wait_ms(20);
+ rangeFinderRight.getMeas(range);
+
+ if(range>15){
+ // turning left
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(-MAX_SPEED); //right
+ motors.setMotor1Speed(MAX_SPEED); //left
+ while(abs(rightEncoder.getPulses()) < 50 || abs(leftEncoder.getPulses()) < 50);
+ motors.stopBothMotors(127);
+ return;
+ }
+*/
// turning left
- motors.setMotor0Speed(0.9*MAX_SPEED); //right
- motors.setMotor1Speed(-0.9*MAX_SPEED); //left
+ //motors.setMotor0Speed(0.9*MAX_SPEED); //right
+ //motors.setMotor1Speed(-0.9*MAX_SPEED); //left
} else if(section == RIGS) {
// check distance to wall
@@ -1161,7 +1206,7 @@
wait_ms(20);
rangeFinderRight.getMeas(range);
- if(range < 3 || range > 20) return;
+ if(range < 3) return;
// turn at an angle
leftEncoder.reset();
@@ -1195,17 +1240,45 @@
motors.setMotor0Speed(-0.9*MAX_SPEED); //right
motors.setMotor1Speed(0.9*MAX_SPEED); //left
*/
- } else {// MID
- pc.printf("in mid section align\r\n");
+ }else if(section == MID2){
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(-1.2*MAX_SPEED); //right
+ motors.setMotor1Speed(0.4*MAX_SPEED); //left
+ while(rightEncoder.getPulses()>-1000);
+ motors.stopBothMotors(0);
+
+ //go backwards toward wall
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(-0.25*127); //right
+ motors.setMotor1Speed(-0.25*127); //left
+ while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150);
+
+ // turn left towards wall
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(0.4*127); //right
+ motors.setMotor1Speed(-0.4*127); //left
+ while(abs(rightEncoder.getPulses()) < 65 || abs(leftEncoder.getPulses()) < 65);
+ motors.stopBothMotors(127);
+
+ slightMove(FORWARD,100);
+ return;
+
+ }
+ else {// MID
+ //pc.printf("in mid section align\r\n");
// turn right towards wall
rightTurn();
// turning left towards wall
motors.setMotor0Speed(0.9*MAX_SPEED); //right
motors.setMotor1Speed(-0.9*MAX_SPEED); //left
+
}
usValue = 0;
- while(1) {
+/* while(1) {
if(section == 10) { // CURENTLY NOT USED (WAS RIGS)
rangeFinderRight.startMeas();
wait_ms(20);
@@ -1215,14 +1288,14 @@
wait_ms(20);
rangeFinderLeft.getMeas(range);
}
- pc.printf("Range %f \t OldValue %f\n\r",range, usValue);
+ //pc.printf("Range %f \t OldValue %f\n\r",range, usValue);
if(range > usValue && usValue != 0 && range < 25) {
break;
} else {
usValue = range;
}
}
- motors.stopBothMotors(0);
+ motors.stopBothMotors(0);*/
}
void rightTurn(void)
@@ -1232,7 +1305,7 @@
rightEncoder.reset();
motors.setMotor0Speed(-0.5*127);//right
motors.setMotor1Speed(0.5*127);//left
- while(abs(leftEncoder.getPulses())<1050 || abs(rightEncoder.getPulses())<1050);
+ while(abs(leftEncoder.getPulses())<850 || abs(rightEncoder.getPulses())<850);
motors.stopBothMotors(127);
}
@@ -1254,7 +1327,7 @@
rightEncoder.reset();
motors.setMotor0Speed(0.5*127);// right
motors.setMotor1Speed(-0.5*127);// left
- while(abs(leftEncoder.getPulses())<90 || rightEncoder.getPulses()<90);
+ while(abs(leftEncoder.getPulses())<70 || rightEncoder.getPulses()<70);
motors.stopBothMotors(127);
}
@@ -1318,7 +1391,7 @@
while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50);
motors.stopBothMotors(127);
- pc.printf("slight backwards\r\n");
+ //pc.printf("slight backwards\r\n");
wait_ms(200);
// Over bump
@@ -1326,16 +1399,11 @@
rightEncoder.reset();
motors.setMotor0Speed(0.3*127); //right
motors.setMotor1Speed(0.3*127); //left
- while((abs(leftEncoder.getPulses()) < 800 || abs(rightEncoder.getPulses()) < 800) /*&& preLeft!=0*/ && IR.getIRDistance() >15 ) {
- /*
- preLeft=leftEncoder.getPulses();
- preRight=rightEncoder.getPulses();
- wait_ms(200);
- if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;
- */
- }
+ while((abs(leftEncoder.getPulses()) < 900 || abs(rightEncoder.getPulses()) < 900) /*&& preLeft!=0*/ && IR.getIRDistance() >15 );
+
- pc.printf("forward \r\n");
+
+ //pc.printf("forward \r\n");
wait_ms(200);
motors.stopBothMotors(0);
@@ -1358,7 +1426,8 @@
}
} else if(section == MID || section == MID2) {
if(section == MID2) while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400));
- while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {
+
+ while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {
if(IR.getIRDistance() > 38) break;
@@ -1383,6 +1452,7 @@
if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;
}
motors.stopBothMotors(127);
+ motors.begin();
return;
}
@@ -1409,43 +1479,42 @@
void from_tools_section(float* location, float ¤t)
{
- alignWithWall(TOOLS);
- pc.printf("align\r\n");
- wait_ms(100);
+ //alignWithWall(TOOLS);
+ //current-=4;
+
+ //slightMove(FORWARD,150);
+ //current+=1;
+ //pc.printf("align\r\n");
+ //wait_ms(200);
//wall_follow2(LEFT,FORWARD,MID, current);
- //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+
rangeFinderLeft.startMeas();
wait_ms(20);
rangeFinderLeft.getMeas(range);
- if(range < 20) {
- wall_follow2(LEFT,BACKWARD,TOOLS, current,0);
- pc.printf("wall follow\r\n");
+ if(range < 15) {
+ wall_follow2(LEFT,BACKWARD,MID, current,0);
+ //pc.printf("wall follow\r\n");
location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
current= location[0];
- pc.printf("current %f \r\n",current);
+ //pc.printf("current %f \r\n",current);
// go backwards
- leftEncoder.reset();
- rightEncoder.reset();
- motors.setMotor0Speed(-MAX_SPEED); //right
- motors.setMotor1Speed(-MAX_SPEED); //left
- while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120);
- // hard stop
- motors.stopBothMotors(127);
+ slightMove(BACKWARD,200);
wait_ms(100);
leftTurn();
+ slightleft();
overBump(TOOLS);
} else {
- pc.printf("else greater than 20\r\n");
+ //pc.printf("else greater than 20\r\n");
location[0]= current;
leftTurn();
overBump(TOOLS);
}
- pc.printf("First Wavegap = %f\r\n",location[0]);
+ //pc.printf("First Wavegap = %f\r\n",location[0]);
}
void tools_section(float* location, float ¤t)
@@ -1464,9 +1533,9 @@
wait(2);
//////////////////////////////////////////////////////////////////// After tool is aquired
- alignWithWall(TOOLS);
- pc.printf("align\r\n");
- wait_ms(100);
+ //alignWithWall(TOOLS);
+ //pc.printf("align\r\n");
+ //wait_ms(100);
//wall_follow2(LEFT,FORWARD,MID, current);
//current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
@@ -1477,10 +1546,10 @@
if(range < 20) {
wall_follow2(LEFT,BACKWARD,TOOLS, current,0);
- pc.printf("wall follow\r\n");
+ //pc.printf("wall follow\r\n");
location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
current= location[0];
- pc.printf("current %f \r\n",current);
+ //pc.printf("current %f \r\n",current);
// go backwards
leftEncoder.reset();
rightEncoder.reset();
@@ -1495,32 +1564,36 @@
leftTurn();
overBump(TOOLS);
} else {
- pc.printf("else greater than 20\r\n");
+ //pc.printf("else greater than 20\r\n");
location[0]= current;
leftTurn();
overBump(TOOLS);
}
- pc.printf("First Wavegap = %f\r\n",location[0]);
+ //pc.printf("First Wavegap = %f\r\n",location[0]);
}
void mid_section(float* location, float ¤t, int* direction)
{
- motors.begin();
-
if(IR.getIRDistance() > 38) {
direction[0]= STRAIGHT;
overBump(MID);
return;
}
- pc.printf("before align with wall \r\n");
- alignWithWall(MID);
- wait_ms(100);
-
- pc.printf("mid section current = %f\r\n",current);
+ //pc.printf("before align with wall \r\n");
+ //alignWithWall(MID);
+ //current-=4;
+ //wait_ms(200);
+
+ //if(current > 20){
+ //alignWithWall(MID2);
+ //current-=4;
+ //}
+ rightTurn();
+ //pc.printf("mid section current = %f\r\n",current);
wall_follow2(LEFT,FORWARD,MID, current,0);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
- pc.printf("after wf2 current = %f\r\n",current);
+ //pc.printf("after wf2 current = %f\r\n",current);
wait_ms(500);
rangeFinderLeft.startMeas();
@@ -1530,22 +1603,22 @@
if(range > 20 ) {
direction[0]= RIGHT;
location[1]= current;
- slightMove(FORWARD,75);
+ slightMove(FORWARD,100);
//current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
} else {
direction[0]= LEFT;
wall_follow2(LEFT,BACKWARD,MID,current,0);
location[1]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
current= location[1];
-
+
if(location[1] < 18) {
- slightMove(FORWARD, 50);
- current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ slightMove(FORWARD, 75);
}
+ slightMove(BACKWARD,100);
}
- pc.printf("wavegap2 = %f\r\n",location[1]);
+ //pc.printf("wavegap2 = %f\r\n",location[1]);
leftTurn();
wait_ms(100);
@@ -1556,9 +1629,7 @@
void mid_section2(float* location, float ¤t, int* direction)
{
- motors.begin();
-
- pc.printf("mid section 2\r\n");
+ //pc.printf("mid section 2\r\n");
if(IR.getIRDistance() > 38) {
direction[1]= STRAIGHT;
@@ -1566,15 +1637,19 @@
return;
}
- alignWithWall(MID);
- pc.printf("midsection 2 alignt with wall mid \r\n");
+ //alignWithWall(MID);
+ wait_ms(100);
+ rightTurn();
+ wait_ms(100);
+
+
wall_follow2(LEFT,FORWARD,MID, current,0);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
wait_ms(500);
- pc.printf("midseection 2 after wf2 %f",current);
+ //pc.printf("midseection 2 after wf2 %f",current);
rangeFinderLeft.startMeas();
wait_ms(20);
rangeFinderLeft.getMeas(range);
@@ -1589,12 +1664,20 @@
wall_follow2(LEFT,BACKWARD,MID,current,0);
location[2]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
current=location[2];
- //slightMove(FORWARD,100);
+ slightMove(BACKWARD,100);
}
- leftTurn();
+ //LEFT turn
+ motors.begin();
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(0.5*127);// right
+ motors.setMotor1Speed(-0.5*127);// left
+ while(abs(leftEncoder.getPulses())<900 || rightEncoder.getPulses()<900);
+ motors.stopBothMotors(127);
+
overBump(RIGS);
- pc.printf("overbump rigs\r\n");
+ //pc.printf("overbump rigs\r\n");
}
void rig_section(float* location, float ¤t, int* direction, int rig)
@@ -1604,30 +1687,34 @@
if(rig == 1) loc= 15;
else if(rig == 2) loc= 45;
else loc = 75;
-
+
// Slight forward for turn
slightMove(FORWARD,100);
wait_ms(100);
rightTurn();
- slightright();
- wait(5);
+ //slightright();
+
if(current > loc) {
- pc.printf("RIG section %f\r\n",current);
+ //pc.printf("RIG section %f\r\n",current);
wall_follow2(RIGHT, BACKWARD, RIGS, current, rig);
current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
} else {
- pc.printf("RIG section %f\r\n",current);
+ //pc.printf("RIG section %f\r\n",current);
wall_follow2(RIGHT, FORWARD, RIGS, current, rig);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
}
-
- alignWithWall(RIGS);
- // Go forward until Rig
+
+ alignWithWall(MID2);
+ current-=4;
wall_follow2(RIGHT, FORWARD, RIGS, current, rig);
- // line back wheel up with side of rig
- slightMove(FORWARD,300);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ slightMove(FORWARD, 75);
+
+
+
+
+
}
void tools_section_return(float* location, float ¤t)