Helvijs Kiselis
/
Micromouse
Algorithmus
main.cpp@19:6cd6cc5c8b4c, 2018-05-10 (annotated)
- Committer:
- Helvis
- Date:
- Thu May 10 18:10:15 2018 +0000
- Revision:
- 19:6cd6cc5c8b4c
- Parent:
- 18:3309329d5f42
- Child:
- 20:20573f55a5fd
v.1.0 +printf auskommnetiert; -unerwartete Beschleunigung (tragetSpeed)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Helvis | 4:932eb2d29206 | 1 | /** |
Helvis | 1:2b5f79285a3e | 2 | * Micromouse PES2 |
Helvis | 1:2b5f79285a3e | 3 | * |
Helvis | 1:2b5f79285a3e | 4 | * Suchfahrtalg. + Schnellfahrtalg. |
Helvis | 1:2b5f79285a3e | 5 | * |
Helvis | 1:2b5f79285a3e | 6 | */ |
Helvis | 1:2b5f79285a3e | 7 | |
Helvis | 1:2b5f79285a3e | 8 | /* todo: |
Helvis | 1:2b5f79285a3e | 9 | |
Helvis | 4:932eb2d29206 | 10 | - Abbiegen |
Helvis | 1:2b5f79285a3e | 11 | |
Helvis | 1:2b5f79285a3e | 12 | */ |
Helvis | 0:8491169be8fc | 13 | #include <mbed.h> |
Helvis | 0:8491169be8fc | 14 | #include "EncoderCounter.h" |
Helvis | 0:8491169be8fc | 15 | #include "Controller.h" |
Helvis | 0:8491169be8fc | 16 | #include "IRSensor.h" |
Helvis | 0:8491169be8fc | 17 | #include "Motion.h" |
Helvis | 0:8491169be8fc | 18 | |
Helvis | 0:8491169be8fc | 19 | //User Button |
Helvis | 0:8491169be8fc | 20 | InterruptIn button(USER_BUTTON); |
Helvis | 0:8491169be8fc | 21 | |
Helvis | 0:8491169be8fc | 22 | //Sensors: |
Helvis | 0:8491169be8fc | 23 | |
Helvis | 19:6cd6cc5c8b4c | 24 | AnalogIn lineSensor(PC_5); |
Helvis | 0:8491169be8fc | 25 | AnalogIn distance2(PC_3); |
Helvis | 0:8491169be8fc | 26 | AnalogIn distance4(PB_1); |
Helvis | 0:8491169be8fc | 27 | AnalogIn distance1(PC_2); |
Helvis | 0:8491169be8fc | 28 | |
Helvis | 0:8491169be8fc | 29 | IRSensor irSensorL (distance2); |
Helvis | 0:8491169be8fc | 30 | IRSensor irSensorC (distance4); |
Helvis | 0:8491169be8fc | 31 | IRSensor irSensorR (distance1); |
Helvis | 16:c5b864804632 | 32 | |
Helvis | 16:c5b864804632 | 33 | Timer t1; |
Helvis | 0:8491169be8fc | 34 | |
Helvis | 0:8491169be8fc | 35 | //Motors: |
Helvis | 0:8491169be8fc | 36 | DigitalOut myled(LED1); |
Helvis | 0:8491169be8fc | 37 | |
Helvis | 0:8491169be8fc | 38 | DigitalOut enableMotorDriver(PB_2); |
Helvis | 0:8491169be8fc | 39 | |
Helvis | 0:8491169be8fc | 40 | DigitalIn motorDriverFault(PB_14); |
Helvis | 0:8491169be8fc | 41 | DigitalIn motorDriverWarning(PB_15); |
Helvis | 0:8491169be8fc | 42 | |
Helvis | 0:8491169be8fc | 43 | PwmOut pwmRight(PA_8); |
Helvis | 0:8491169be8fc | 44 | PwmOut pwmLeft(PA_10); |
Helvis | 0:8491169be8fc | 45 | |
Helvis | 0:8491169be8fc | 46 | EncoderCounter counterRight(PB_6, PB_7); |
Helvis | 0:8491169be8fc | 47 | EncoderCounter counterLeft(PA_0, PA_1); |
Helvis | 0:8491169be8fc | 48 | |
Helvis | 0:8491169be8fc | 49 | |
Helvis | 0:8491169be8fc | 50 | Controller controller(pwmLeft, pwmRight, counterLeft, counterRight); |
Helvis | 0:8491169be8fc | 51 | |
Helvis | 1:2b5f79285a3e | 52 | Motion motion(controller, counterLeft, counterRight, irSensorL, irSensorC, |
Helvis | 1:2b5f79285a3e | 53 | irSensorR, lineSensor, enableMotorDriver); |
Helvis | 0:8491169be8fc | 54 | |
Helvis | 0:8491169be8fc | 55 | //------------------------------------------------------------------------------ |
Helvis | 0:8491169be8fc | 56 | |
Helvis | 0:8491169be8fc | 57 | volatile int start = 0; |
Helvis | 1:2b5f79285a3e | 58 | |
Helvis | 1:2b5f79285a3e | 59 | const int MOVE = 1; |
Helvis | 1:2b5f79285a3e | 60 | const int LEFT = 2; |
Helvis | 1:2b5f79285a3e | 61 | const int RIGHT = 3; |
Helvis | 1:2b5f79285a3e | 62 | const int SPEED = 4; |
Helvis | 1:2b5f79285a3e | 63 | |
Helvis | 1:2b5f79285a3e | 64 | //Sensor tresholds [mm] |
Helvis | 3:076dd7ec7eb4 | 65 | const float thresholdL = 80; |
Helvis | 3:076dd7ec7eb4 | 66 | const float thresholdR = 80; |
Helvis | 1:2b5f79285a3e | 67 | const float thresholdC = 100; |
Helvis | 0:8491169be8fc | 68 | |
Helvis | 0:8491169be8fc | 69 | //------------------------------------------------------------------------------ |
Helvis | 0:8491169be8fc | 70 | |
Helvis | 0:8491169be8fc | 71 | //User button toggle |
Helvis | 0:8491169be8fc | 72 | void press() { |
Helvis | 0:8491169be8fc | 73 | start = !start; |
Helvis | 0:8491169be8fc | 74 | } |
Helvis | 1:2b5f79285a3e | 75 | |
Helvis | 1:2b5f79285a3e | 76 | //Return to last junction |
Helvis | 12:75d0291a9785 | 77 | void reverseToJunction(int junc, int &r, int route[]) { |
Helvis | 1:2b5f79285a3e | 78 | |
Helvis | 12:75d0291a9785 | 79 | do { |
Helvis | 1:2b5f79285a3e | 80 | |
Helvis | 1:2b5f79285a3e | 81 | //invert rotation |
Helvis | 1:2b5f79285a3e | 82 | if (route[r] == LEFT) { |
Helvis | 1:2b5f79285a3e | 83 | |
Helvis | 1:2b5f79285a3e | 84 | route[r] = RIGHT; |
Helvis | 1:2b5f79285a3e | 85 | |
Helvis | 1:2b5f79285a3e | 86 | }else if (route[r] == RIGHT) { |
Helvis | 1:2b5f79285a3e | 87 | |
Helvis | 1:2b5f79285a3e | 88 | route[r] = LEFT; |
Helvis | 1:2b5f79285a3e | 89 | } |
Helvis | 1:2b5f79285a3e | 90 | |
Helvis | 18:3309329d5f42 | 91 | //motion.runTask(route,r,true); |
Helvis | 19:6cd6cc5c8b4c | 92 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 1:2b5f79285a3e | 93 | route[r] = 0; |
Helvis | 1:2b5f79285a3e | 94 | r--; |
Helvis | 12:75d0291a9785 | 95 | } while (junc < r ); |
Helvis | 1:2b5f79285a3e | 96 | } |
luethale | 9:a01f90f88920 | 97 | |
Helvis | 0:8491169be8fc | 98 | //------------------------------------------------------------------------------ |
Helvis | 0:8491169be8fc | 99 | |
Helvis | 0:8491169be8fc | 100 | int main() { |
Helvis | 1:2b5f79285a3e | 101 | //Init |
Helvis | 0:8491169be8fc | 102 | |
Helvis | 12:75d0291a9785 | 103 | int route[200] = {0}; |
Helvis | 12:75d0291a9785 | 104 | int r = 0; |
Helvis | 1:2b5f79285a3e | 105 | |
Helvis | 18:3309329d5f42 | 106 | int junction[20] = {0}; |
Helvis | 18:3309329d5f42 | 107 | int j = 0; |
Helvis | 0:8491169be8fc | 108 | |
Helvis | 1:2b5f79285a3e | 109 | short lWall; |
Helvis | 1:2b5f79285a3e | 110 | short cWall; |
Helvis | 1:2b5f79285a3e | 111 | short rWall; |
Helvis | 0:8491169be8fc | 112 | |
Helvis | 1:2b5f79285a3e | 113 | short Ziel = 0; |
Helvis | 1:2b5f79285a3e | 114 | |
Helvis | 12:75d0291a9785 | 115 | //infinite loop |
luethale | 9:a01f90f88920 | 116 | while(1) { |
Helvis | 0:8491169be8fc | 117 | |
luethale | 9:a01f90f88920 | 118 | button.fall(&press); //User button einlesen |
Helvis | 0:8491169be8fc | 119 | |
Helvis | 12:75d0291a9785 | 120 | /** |
Helvis | 12:75d0291a9785 | 121 | * |
Helvis | 12:75d0291a9785 | 122 | * Search run |
Helvis | 12:75d0291a9785 | 123 | * |
Helvis | 12:75d0291a9785 | 124 | */ |
Helvis | 1:2b5f79285a3e | 125 | |
luethale | 9:a01f90f88920 | 126 | while(start == 1 && Ziel == 0) { |
Helvis | 0:8491169be8fc | 127 | |
luethale | 9:a01f90f88920 | 128 | /** |
luethale | 9:a01f90f88920 | 129 | * Entscheidung und Bewegung |
luethale | 9:a01f90f88920 | 130 | */ |
Helvis | 1:2b5f79285a3e | 131 | |
Helvis | 1:2b5f79285a3e | 132 | |
luethale | 9:a01f90f88920 | 133 | float distanceL = irSensorL.readL(); |
luethale | 9:a01f90f88920 | 134 | float distanceC = irSensorC.readC(); |
luethale | 9:a01f90f88920 | 135 | float distanceR = irSensorR.readR(); |
Helvis | 0:8491169be8fc | 136 | |
luethale | 9:a01f90f88920 | 137 | //Wall check |
luethale | 9:a01f90f88920 | 138 | if (distanceL < thresholdL) lWall = 1; |
luethale | 9:a01f90f88920 | 139 | else lWall = 0; |
luethale | 9:a01f90f88920 | 140 | if (distanceC < thresholdC) cWall = 1; |
luethale | 9:a01f90f88920 | 141 | else cWall = 0; |
luethale | 9:a01f90f88920 | 142 | if (distanceR < thresholdR) rWall = 1; |
luethale | 9:a01f90f88920 | 143 | else rWall = 0; |
Helvis | 0:8491169be8fc | 144 | |
luethale | 9:a01f90f88920 | 145 | //Junction Check |
luethale | 9:a01f90f88920 | 146 | if ((lWall + cWall + rWall) < 2) { |
Helvis | 11:2960fc540616 | 147 | |
Helvis | 11:2960fc540616 | 148 | if (junction[j] != r) { |
Helvis | 11:2960fc540616 | 149 | if (junction[j] > 0) { |
Helvis | 11:2960fc540616 | 150 | j += 1; |
Helvis | 11:2960fc540616 | 151 | junction[j] = r; |
Helvis | 11:2960fc540616 | 152 | }else{ |
Helvis | 11:2960fc540616 | 153 | junction[j] = r; |
Helvis | 11:2960fc540616 | 154 | } |
luethale | 9:a01f90f88920 | 155 | } |
Helvis | 8:8131269dc46e | 156 | |
Helvis | 19:6cd6cc5c8b4c | 157 | //printf("Kreuzung: %d Schritt: %d\n", j, r); |
luethale | 9:a01f90f88920 | 158 | } |
Helvis | 12:75d0291a9785 | 159 | //No wall left |
luethale | 9:a01f90f88920 | 160 | if (lWall == 0) { |
Helvis | 0:8491169be8fc | 161 | |
luethale | 9:a01f90f88920 | 162 | if (route[r] == LEFT) { |
Helvis | 1:2b5f79285a3e | 163 | |
luethale | 9:a01f90f88920 | 164 | route[r] = MOVE; |
Helvis | 19:6cd6cc5c8b4c | 165 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 166 | r++; |
Helvis | 1:2b5f79285a3e | 167 | |
luethale | 9:a01f90f88920 | 168 | motion.rotateL(); |
luethale | 9:a01f90f88920 | 169 | motion.scanMove(); |
luethale | 14:2926932e26df | 170 | // motion.stop(); |
Helvis | 1:2b5f79285a3e | 171 | |
luethale | 9:a01f90f88920 | 172 | }else if (route[r] == MOVE) { |
Helvis | 1:2b5f79285a3e | 173 | |
luethale | 9:a01f90f88920 | 174 | route[r] = RIGHT; |
Helvis | 19:6cd6cc5c8b4c | 175 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 176 | r++; |
luethale | 9:a01f90f88920 | 177 | route[r] = MOVE; |
Helvis | 19:6cd6cc5c8b4c | 178 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 179 | r++; |
Helvis | 1:2b5f79285a3e | 180 | |
luethale | 9:a01f90f88920 | 181 | motion.rotateL(); |
luethale | 9:a01f90f88920 | 182 | motion.scanMove(); |
luethale | 14:2926932e26df | 183 | //motion.stop(); |
Helvis | 1:2b5f79285a3e | 184 | |
luethale | 9:a01f90f88920 | 185 | }else if (route[r] == RIGHT) { |
luethale | 9:a01f90f88920 | 186 | // Kreuzung führt zu Sackgassen -> löschen |
luethale | 9:a01f90f88920 | 187 | junction[j] = 0; /*Änderung alex*/ |
luethale | 9:a01f90f88920 | 188 | //if (j > 0) {j--;} |
Helvis | 19:6cd6cc5c8b4c | 189 | //printf("Kreuzung %d Schritt %d geloscht\n", j, r); |
Helvis | 11:2960fc540616 | 190 | j -= 1; |
Helvis | 12:75d0291a9785 | 191 | //reverseToJunction(junction[j], r, route); |
Helvis | 7:22392ed60534 | 192 | |
luethale | 9:a01f90f88920 | 193 | /*for (int i = r; i > junction[j]; i--) { |
luethale | 9:a01f90f88920 | 194 | r = i; |
luethale | 9:a01f90f88920 | 195 | //invert rotation |
luethale | 9:a01f90f88920 | 196 | if (route[r] == LEFT) { |
luethale | 9:a01f90f88920 | 197 | |
luethale | 9:a01f90f88920 | 198 | route[r] = RIGHT; |
Helvis | 8:8131269dc46e | 199 | |
luethale | 9:a01f90f88920 | 200 | }else if (route[r] == RIGHT) { |
Helvis | 8:8131269dc46e | 201 | |
luethale | 9:a01f90f88920 | 202 | route[r] = LEFT; |
luethale | 9:a01f90f88920 | 203 | } |
luethale | 9:a01f90f88920 | 204 | |
luethale | 9:a01f90f88920 | 205 | motion.runTask(route[r]); |
Helvis | 19:6cd6cc5c8b4c | 206 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 11:2960fc540616 | 207 | route[r] = 0; |
Helvis | 11:2960fc540616 | 208 | |
Helvis | 11:2960fc540616 | 209 | if ( r == junction[j] + 1) { |
Helvis | 11:2960fc540616 | 210 | while (controller.getSpeedLeft() > 0.0f) { |
Helvis | 11:2960fc540616 | 211 | motion.stop(); |
Helvis | 11:2960fc540616 | 212 | } |
Helvis | 11:2960fc540616 | 213 | } |
Helvis | 11:2960fc540616 | 214 | |
Helvis | 8:8131269dc46e | 215 | } |
Helvis | 11:2960fc540616 | 216 | motion.stop(); |
Helvis | 11:2960fc540616 | 217 | |
Helvis | 19:6cd6cc5c8b4c | 218 | //printf("Loop fertig\n"); |
luethale | 9:a01f90f88920 | 219 | r--; |
Helvis | 19:6cd6cc5c8b4c | 220 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 221 | */ |
Helvis | 8:8131269dc46e | 222 | |
Helvis | 11:2960fc540616 | 223 | do { |
Helvis | 7:22392ed60534 | 224 | |
luethale | 9:a01f90f88920 | 225 | //invert rotation |
luethale | 9:a01f90f88920 | 226 | if (route[r] == LEFT) { |
Helvis | 7:22392ed60534 | 227 | |
luethale | 9:a01f90f88920 | 228 | route[r] = RIGHT; |
luethale | 9:a01f90f88920 | 229 | |
luethale | 9:a01f90f88920 | 230 | }else if (route[r] == RIGHT) { |
Helvis | 7:22392ed60534 | 231 | |
luethale | 9:a01f90f88920 | 232 | route[r] = LEFT; |
luethale | 9:a01f90f88920 | 233 | } |
luethale | 9:a01f90f88920 | 234 | |
Helvis | 18:3309329d5f42 | 235 | motion.runTask(route,r,true,junction[j]); |
Helvis | 19:6cd6cc5c8b4c | 236 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); //At work!!!!! |
luethale | 9:a01f90f88920 | 237 | route[r] = 0; |
luethale | 9:a01f90f88920 | 238 | r--; |
Helvis | 11:2960fc540616 | 239 | |
Helvis | 11:2960fc540616 | 240 | } while (junction[j] < r ) ; |
Helvis | 11:2960fc540616 | 241 | motion.stop(); |
Helvis | 19:6cd6cc5c8b4c | 242 | //printf("Loop stop\n"); |
Helvis | 11:2960fc540616 | 243 | |
luethale | 9:a01f90f88920 | 244 | }else{ |
Helvis | 11:2960fc540616 | 245 | |
luethale | 9:a01f90f88920 | 246 | route[r] = LEFT; |
Helvis | 19:6cd6cc5c8b4c | 247 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 248 | r++; |
luethale | 9:a01f90f88920 | 249 | route[r] = MOVE; |
Helvis | 19:6cd6cc5c8b4c | 250 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 251 | r++; |
Helvis | 1:2b5f79285a3e | 252 | |
Helvis | 4:932eb2d29206 | 253 | |
luethale | 9:a01f90f88920 | 254 | motion.rotateL(); |
luethale | 9:a01f90f88920 | 255 | motion.scanMove(); |
luethale | 14:2926932e26df | 256 | // motion.stop(); |
luethale | 9:a01f90f88920 | 257 | } |
Helvis | 1:2b5f79285a3e | 258 | //No wall center |
luethale | 9:a01f90f88920 | 259 | }else if (cWall == 0) { |
luethale | 9:a01f90f88920 | 260 | |
luethale | 9:a01f90f88920 | 261 | if (route[r] == LEFT) { |
luethale | 9:a01f90f88920 | 262 | |
luethale | 9:a01f90f88920 | 263 | route[r] = RIGHT; |
Helvis | 19:6cd6cc5c8b4c | 264 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 265 | r++; |
luethale | 9:a01f90f88920 | 266 | route[r] = MOVE; |
Helvis | 19:6cd6cc5c8b4c | 267 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 268 | r++; |
Helvis | 0:8491169be8fc | 269 | |
luethale | 9:a01f90f88920 | 270 | motion.scanMove(); |
luethale | 14:2926932e26df | 271 | // motion.stop(); |
luethale | 9:a01f90f88920 | 272 | |
luethale | 9:a01f90f88920 | 273 | }else if (route[r] == MOVE) { |
luethale | 9:a01f90f88920 | 274 | |
luethale | 9:a01f90f88920 | 275 | junction[j] = 0; /*Änderung alex*/ |
luethale | 9:a01f90f88920 | 276 | //if (j > 0) {j--;} |
Helvis | 19:6cd6cc5c8b4c | 277 | //printf("Kreuzung %d Schritt %d geloscht\n", j, r); |
Helvis | 11:2960fc540616 | 278 | j -= 1; |
luethale | 9:a01f90f88920 | 279 | //reverseToJunction(junction[j], r, route); |
Helvis | 1:2b5f79285a3e | 280 | |
luethale | 9:a01f90f88920 | 281 | /*for (int i = r; i > junction[j]; i--) { |
luethale | 9:a01f90f88920 | 282 | r = i; |
luethale | 9:a01f90f88920 | 283 | //invert rotation |
luethale | 9:a01f90f88920 | 284 | if (route[r] == LEFT) { |
luethale | 9:a01f90f88920 | 285 | |
luethale | 9:a01f90f88920 | 286 | route[r] = RIGHT; |
luethale | 9:a01f90f88920 | 287 | |
luethale | 9:a01f90f88920 | 288 | }else if (route[r] == RIGHT) { |
luethale | 9:a01f90f88920 | 289 | |
luethale | 9:a01f90f88920 | 290 | route[r] = LEFT; |
luethale | 9:a01f90f88920 | 291 | } |
luethale | 9:a01f90f88920 | 292 | |
luethale | 9:a01f90f88920 | 293 | motion.runTask(route[r]); |
Helvis | 19:6cd6cc5c8b4c | 294 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 11:2960fc540616 | 295 | route[r] = 0; |
Helvis | 11:2960fc540616 | 296 | |
Helvis | 11:2960fc540616 | 297 | if ( r == junction[j] + 1) { |
Helvis | 11:2960fc540616 | 298 | while (controller.getSpeedLeft() > 0.0f) { |
Helvis | 11:2960fc540616 | 299 | motion.stop(); |
Helvis | 11:2960fc540616 | 300 | } |
Helvis | 11:2960fc540616 | 301 | } |
Helvis | 11:2960fc540616 | 302 | |
luethale | 9:a01f90f88920 | 303 | } |
Helvis | 11:2960fc540616 | 304 | motion.stop(); |
Helvis | 19:6cd6cc5c8b4c | 305 | //printf("Loop fertig\n"); |
luethale | 9:a01f90f88920 | 306 | r--; |
Helvis | 19:6cd6cc5c8b4c | 307 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 308 | */ |
luethale | 9:a01f90f88920 | 309 | |
Helvis | 11:2960fc540616 | 310 | do { |
luethale | 9:a01f90f88920 | 311 | |
luethale | 9:a01f90f88920 | 312 | //invert rotation |
luethale | 9:a01f90f88920 | 313 | if (route[r] == LEFT) { |
luethale | 9:a01f90f88920 | 314 | |
luethale | 9:a01f90f88920 | 315 | route[r] = RIGHT; |
luethale | 9:a01f90f88920 | 316 | |
luethale | 9:a01f90f88920 | 317 | }else if (route[r] == RIGHT) { |
luethale | 9:a01f90f88920 | 318 | |
luethale | 9:a01f90f88920 | 319 | route[r] = LEFT; |
luethale | 9:a01f90f88920 | 320 | } |
luethale | 9:a01f90f88920 | 321 | |
Helvis | 18:3309329d5f42 | 322 | motion.runTask(route,r,true,junction[j]); |
Helvis | 19:6cd6cc5c8b4c | 323 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 11:2960fc540616 | 324 | route[r] = 0; |
Helvis | 11:2960fc540616 | 325 | r--; |
Helvis | 11:2960fc540616 | 326 | |
Helvis | 11:2960fc540616 | 327 | } while (junction[j] < r ); |
Helvis | 11:2960fc540616 | 328 | motion.stop(); |
Helvis | 19:6cd6cc5c8b4c | 329 | //printf("Loop stop\n"); |
luethale | 9:a01f90f88920 | 330 | |
luethale | 9:a01f90f88920 | 331 | }else{ |
luethale | 9:a01f90f88920 | 332 | |
luethale | 9:a01f90f88920 | 333 | route[r] = MOVE; |
Helvis | 19:6cd6cc5c8b4c | 334 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 335 | r++; |
luethale | 9:a01f90f88920 | 336 | |
luethale | 9:a01f90f88920 | 337 | motion.scanMove(); |
luethale | 9:a01f90f88920 | 338 | } |
luethale | 9:a01f90f88920 | 339 | //No wall right |
luethale | 9:a01f90f88920 | 340 | }else if (rWall == 0) { |
luethale | 9:a01f90f88920 | 341 | |
Helvis | 1:2b5f79285a3e | 342 | route[r] = RIGHT; |
Helvis | 19:6cd6cc5c8b4c | 343 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 1:2b5f79285a3e | 344 | r++; |
Helvis | 7:22392ed60534 | 345 | route[r] = MOVE; |
Helvis | 19:6cd6cc5c8b4c | 346 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 7:22392ed60534 | 347 | r++; |
Helvis | 0:8491169be8fc | 348 | |
luethale | 9:a01f90f88920 | 349 | motion.rotateR(); |
Helvis | 1:2b5f79285a3e | 350 | motion.scanMove(); |
luethale | 14:2926932e26df | 351 | // motion.stop(); |
luethale | 9:a01f90f88920 | 352 | |
luethale | 9:a01f90f88920 | 353 | //Dead end routine |
luethale | 9:a01f90f88920 | 354 | }else if ((lWall + cWall + rWall) == 3) { |
luethale | 9:a01f90f88920 | 355 | |
luethale | 9:a01f90f88920 | 356 | motion.rotate180(); |
Helvis | 19:6cd6cc5c8b4c | 357 | //printf("Sackgasse Schritt: %d\n", r); |
luethale | 9:a01f90f88920 | 358 | r--; |
Helvis | 16:c5b864804632 | 359 | t1.reset(); |
Helvis | 16:c5b864804632 | 360 | t1.start(); |
Helvis | 17:8a8758bfe3c5 | 361 | while (t1 < 0.5f) {} |
Helvis | 16:c5b864804632 | 362 | t1.stop(); |
luethale | 9:a01f90f88920 | 363 | //Return to last junction |
Helvis | 11:2960fc540616 | 364 | while (junction[j] <= r ) { |
luethale | 9:a01f90f88920 | 365 | //for (int i = r; i >= junction[j]; i-- |
Helvis | 16:c5b864804632 | 366 | |
Helvis | 11:2960fc540616 | 367 | if (junction[j] == r) { |
luethale | 9:a01f90f88920 | 368 | |
luethale | 9:a01f90f88920 | 369 | switch (route[r]) { |
luethale | 9:a01f90f88920 | 370 | case MOVE: |
Helvis | 18:3309329d5f42 | 371 | motion.runTask(route,r,true, junction[j]); |
Helvis | 19:6cd6cc5c8b4c | 372 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 373 | r--; |
luethale | 9:a01f90f88920 | 374 | break; |
luethale | 9:a01f90f88920 | 375 | case LEFT: |
luethale | 9:a01f90f88920 | 376 | r--; |
luethale | 9:a01f90f88920 | 377 | break; |
luethale | 9:a01f90f88920 | 378 | case RIGHT: |
luethale | 9:a01f90f88920 | 379 | r--; |
luethale | 9:a01f90f88920 | 380 | break; |
luethale | 9:a01f90f88920 | 381 | } |
Helvis | 17:8a8758bfe3c5 | 382 | motion.stop(); |
Helvis | 17:8a8758bfe3c5 | 383 | t1.reset(); |
Helvis | 17:8a8758bfe3c5 | 384 | t1.start(); |
Helvis | 19:6cd6cc5c8b4c | 385 | while (t1 < 0.5f) {} |
Helvis | 17:8a8758bfe3c5 | 386 | t1.stop(); |
Helvis | 7:22392ed60534 | 387 | |
luethale | 9:a01f90f88920 | 388 | }else{ |
luethale | 9:a01f90f88920 | 389 | //invert rotation |
luethale | 9:a01f90f88920 | 390 | if (route[r] == LEFT) { |
luethale | 9:a01f90f88920 | 391 | |
luethale | 9:a01f90f88920 | 392 | route[r] = RIGHT; |
luethale | 9:a01f90f88920 | 393 | |
luethale | 9:a01f90f88920 | 394 | }else if (route[r] == RIGHT) { |
Helvis | 8:8131269dc46e | 395 | |
luethale | 9:a01f90f88920 | 396 | route[r] = LEFT; |
luethale | 9:a01f90f88920 | 397 | } |
luethale | 9:a01f90f88920 | 398 | //Run tasks in declining order |
Helvis | 18:3309329d5f42 | 399 | motion.runTask(route,r,true, junction[j]); |
Helvis | 19:6cd6cc5c8b4c | 400 | //printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 401 | route[r] = 0; |
luethale | 9:a01f90f88920 | 402 | r--; |
Helvis | 8:8131269dc46e | 403 | } |
luethale | 9:a01f90f88920 | 404 | } |
luethale | 9:a01f90f88920 | 405 | r++; |
luethale | 9:a01f90f88920 | 406 | } |
luethale | 9:a01f90f88920 | 407 | |
luethale | 9:a01f90f88920 | 408 | if (motion.finish() == 1) { |
luethale | 9:a01f90f88920 | 409 | |
luethale | 9:a01f90f88920 | 410 | /*while(r > 0) { |
luethale | 9:a01f90f88920 | 411 | //Zum Start zurückfahren |
luethale | 9:a01f90f88920 | 412 | if (route[r] == LEFT) { |
Helvis | 8:8131269dc46e | 413 | |
luethale | 9:a01f90f88920 | 414 | route[r] = RIGHT; |
Helvis | 7:22392ed60534 | 415 | |
Helvis | 7:22392ed60534 | 416 | }else if (route[r] == RIGHT) { |
luethale | 9:a01f90f88920 | 417 | |
Helvis | 7:22392ed60534 | 418 | route[r] = LEFT; |
Helvis | 7:22392ed60534 | 419 | } |
luethale | 9:a01f90f88920 | 420 | |
Helvis | 7:22392ed60534 | 421 | motion.runTask(route[r]); |
luethale | 9:a01f90f88920 | 422 | r--; |
luethale | 9:a01f90f88920 | 423 | } |
Helvis | 8:8131269dc46e | 424 | |
luethale | 9:a01f90f88920 | 425 | motion.runTask(route[r]) |
Helvis | 7:22392ed60534 | 426 | */ |
Helvis | 2:f898adf2d817 | 427 | |
luethale | 9:a01f90f88920 | 428 | Ziel = 1; |
luethale | 9:a01f90f88920 | 429 | r = 0; |
luethale | 9:a01f90f88920 | 430 | start = 0; |
luethale | 9:a01f90f88920 | 431 | controller.counterReset(); |
luethale | 9:a01f90f88920 | 432 | }else{ |
luethale | 9:a01f90f88920 | 433 | Ziel = 0; |
luethale | 9:a01f90f88920 | 434 | } |
Helvis | 0:8491169be8fc | 435 | |
Helvis | 0:8491169be8fc | 436 | |
luethale | 9:a01f90f88920 | 437 | } |
Helvis | 0:8491169be8fc | 438 | |
Helvis | 1:2b5f79285a3e | 439 | /** |
Helvis | 1:2b5f79285a3e | 440 | * |
Helvis | 1:2b5f79285a3e | 441 | * Speed run |
Helvis | 1:2b5f79285a3e | 442 | * |
Helvis | 1:2b5f79285a3e | 443 | */ |
Helvis | 1:2b5f79285a3e | 444 | |
luethale | 9:a01f90f88920 | 445 | while ( start == 1 && Ziel == 1 ) { |
Helvis | 0:8491169be8fc | 446 | |
luethale | 9:a01f90f88920 | 447 | /*if (route[r] == route[r+1] && route[r] == route[r+2]) { |
luethale | 9:a01f90f88920 | 448 | //Auf längere Strecke schneller fahren |
luethale | 9:a01f90f88920 | 449 | route[r+1] = SPEED; |
luethale | 9:a01f90f88920 | 450 | }*/ |
Helvis | 7:22392ed60534 | 451 | |
luethale | 9:a01f90f88920 | 452 | float distanceL = irSensorL.readL(); |
luethale | 9:a01f90f88920 | 453 | float distanceC = irSensorC.readC(); |
luethale | 9:a01f90f88920 | 454 | float distanceR = irSensorR.readR(); |
Helvis | 7:22392ed60534 | 455 | |
Helvis | 18:3309329d5f42 | 456 | motion.runTask(route,r,false,junction[j]); |
luethale | 9:a01f90f88920 | 457 | r++; |
Helvis | 0:8491169be8fc | 458 | |
luethale | 9:a01f90f88920 | 459 | if (route[r] == 0) { |
luethale | 9:a01f90f88920 | 460 | //Weg fertig |
luethale | 9:a01f90f88920 | 461 | motion.stop(); |
luethale | 9:a01f90f88920 | 462 | start = 0; |
luethale | 9:a01f90f88920 | 463 | } |
luethale | 9:a01f90f88920 | 464 | } |
Helvis | 0:8491169be8fc | 465 | |
Helvis | 1:2b5f79285a3e | 466 | |
Helvis | 1:2b5f79285a3e | 467 | |
Helvis | 1:2b5f79285a3e | 468 | |
luethale | 9:a01f90f88920 | 469 | } |
luethale | 9:a01f90f88920 | 470 | } |