Helvijs Kiselis
/
Micromouse
Algorithmus
main.cpp@2:f898adf2d817, 2018-04-19 (annotated)
- Committer:
- Helvis
- Date:
- Thu Apr 19 11:26:51 2018 +0000
- Revision:
- 2:f898adf2d817
- Parent:
- 1:2b5f79285a3e
- Child:
- 3:076dd7ec7eb4
v0.9.1: +Methoden rechts/links abbiegen
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Helvis | 1:2b5f79285a3e | 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 | 1:2b5f79285a3e | 10 | - Regler gerade Fahrt |
Helvis | 1:2b5f79285a3e | 11 | > Mitte Werte L/R |
Helvis | 1:2b5f79285a3e | 12 | - Suchfahrt testen |
Helvis | 1:2b5f79285a3e | 13 | > Tresholds bestimmen |
Helvis | 1:2b5f79285a3e | 14 | - gespeicherten Weg fahren |
Helvis | 1:2b5f79285a3e | 15 | - Problem: Links beschleunigt schneller |
Helvis | 1:2b5f79285a3e | 16 | - Ziellinie |
Helvis | 1:2b5f79285a3e | 17 | - Beschleunigung |
Helvis | 1:2b5f79285a3e | 18 | - über längere Strecke schneller fahren |
Helvis | 1:2b5f79285a3e | 19 | |
Helvis | 1:2b5f79285a3e | 20 | */ |
Helvis | 0:8491169be8fc | 21 | #include <mbed.h> |
Helvis | 0:8491169be8fc | 22 | #include "EncoderCounter.h" |
Helvis | 0:8491169be8fc | 23 | #include "Controller.h" |
Helvis | 0:8491169be8fc | 24 | #include "IRSensor.h" |
Helvis | 0:8491169be8fc | 25 | #include "Motion.h" |
Helvis | 0:8491169be8fc | 26 | |
Helvis | 0:8491169be8fc | 27 | //User Button |
Helvis | 0:8491169be8fc | 28 | InterruptIn button(USER_BUTTON); |
Helvis | 0:8491169be8fc | 29 | |
Helvis | 0:8491169be8fc | 30 | //Sensors: |
Helvis | 0:8491169be8fc | 31 | |
Helvis | 0:8491169be8fc | 32 | AnalogIn lineSensor(PA_4); |
Helvis | 0:8491169be8fc | 33 | AnalogIn distance2(PC_3); |
Helvis | 0:8491169be8fc | 34 | AnalogIn distance4(PB_1); |
Helvis | 0:8491169be8fc | 35 | AnalogIn distance1(PC_2); |
Helvis | 0:8491169be8fc | 36 | AnalogIn distance3(PC_5); |
Helvis | 0:8491169be8fc | 37 | |
Helvis | 0:8491169be8fc | 38 | IRSensor irSensorL (distance2); |
Helvis | 0:8491169be8fc | 39 | IRSensor irSensorC (distance4); |
Helvis | 0:8491169be8fc | 40 | IRSensor irSensorR (distance1); |
Helvis | 0:8491169be8fc | 41 | IRSensor irSensorB (distance3); |
Helvis | 0:8491169be8fc | 42 | |
Helvis | 0:8491169be8fc | 43 | //Motors: |
Helvis | 0:8491169be8fc | 44 | DigitalOut myled(LED1); |
Helvis | 0:8491169be8fc | 45 | |
Helvis | 0:8491169be8fc | 46 | DigitalOut enableMotorDriver(PB_2); |
Helvis | 0:8491169be8fc | 47 | |
Helvis | 0:8491169be8fc | 48 | DigitalIn motorDriverFault(PB_14); |
Helvis | 0:8491169be8fc | 49 | DigitalIn motorDriverWarning(PB_15); |
Helvis | 0:8491169be8fc | 50 | |
Helvis | 0:8491169be8fc | 51 | PwmOut pwmRight(PA_8); |
Helvis | 0:8491169be8fc | 52 | PwmOut pwmLeft(PA_10); |
Helvis | 0:8491169be8fc | 53 | |
Helvis | 0:8491169be8fc | 54 | EncoderCounter counterRight(PB_6, PB_7); |
Helvis | 0:8491169be8fc | 55 | EncoderCounter counterLeft(PA_0, PA_1); |
Helvis | 0:8491169be8fc | 56 | |
Helvis | 0:8491169be8fc | 57 | |
Helvis | 0:8491169be8fc | 58 | Controller controller(pwmLeft, pwmRight, counterLeft, counterRight); |
Helvis | 0:8491169be8fc | 59 | |
Helvis | 1:2b5f79285a3e | 60 | Motion motion(controller, counterLeft, counterRight, irSensorL, irSensorC, |
Helvis | 1:2b5f79285a3e | 61 | irSensorR, lineSensor, enableMotorDriver); |
Helvis | 0:8491169be8fc | 62 | |
Helvis | 0:8491169be8fc | 63 | //------------------------------------------------------------------------------ |
Helvis | 0:8491169be8fc | 64 | |
Helvis | 0:8491169be8fc | 65 | volatile int start = 0; |
Helvis | 1:2b5f79285a3e | 66 | |
Helvis | 1:2b5f79285a3e | 67 | const int MOVE = 1; |
Helvis | 1:2b5f79285a3e | 68 | const int LEFT = 2; |
Helvis | 1:2b5f79285a3e | 69 | const int RIGHT = 3; |
Helvis | 1:2b5f79285a3e | 70 | const int SPEED = 4; |
Helvis | 1:2b5f79285a3e | 71 | const int STOP = 5; |
Helvis | 1:2b5f79285a3e | 72 | |
Helvis | 1:2b5f79285a3e | 73 | //Sensor tresholds [mm] |
Helvis | 1:2b5f79285a3e | 74 | const float thresholdL = 70; |
Helvis | 1:2b5f79285a3e | 75 | const float thresholdR = 70; |
Helvis | 1:2b5f79285a3e | 76 | const float thresholdC = 100; |
Helvis | 0:8491169be8fc | 77 | |
Helvis | 0:8491169be8fc | 78 | //------------------------------------------------------------------------------ |
Helvis | 0:8491169be8fc | 79 | |
Helvis | 0:8491169be8fc | 80 | //User button toggle |
Helvis | 0:8491169be8fc | 81 | void press() { |
Helvis | 0:8491169be8fc | 82 | start = !start; |
Helvis | 0:8491169be8fc | 83 | } |
Helvis | 1:2b5f79285a3e | 84 | |
Helvis | 1:2b5f79285a3e | 85 | //Return to last junction |
Helvis | 1:2b5f79285a3e | 86 | void reverseToJunction(int& junc, int& r, int route[]) { |
Helvis | 1:2b5f79285a3e | 87 | |
Helvis | 1:2b5f79285a3e | 88 | while (junc < r ) { |
Helvis | 1:2b5f79285a3e | 89 | |
Helvis | 1:2b5f79285a3e | 90 | //invert rotation |
Helvis | 1:2b5f79285a3e | 91 | if (route[r] == LEFT) { |
Helvis | 1:2b5f79285a3e | 92 | |
Helvis | 1:2b5f79285a3e | 93 | route[r] = RIGHT; |
Helvis | 1:2b5f79285a3e | 94 | |
Helvis | 1:2b5f79285a3e | 95 | }else if (route[r] == RIGHT) { |
Helvis | 1:2b5f79285a3e | 96 | |
Helvis | 1:2b5f79285a3e | 97 | route[r] = LEFT; |
Helvis | 1:2b5f79285a3e | 98 | } |
Helvis | 1:2b5f79285a3e | 99 | |
Helvis | 1:2b5f79285a3e | 100 | motion.runTask(route[r]); |
Helvis | 1:2b5f79285a3e | 101 | route[r] = 0; |
Helvis | 1:2b5f79285a3e | 102 | r--; |
Helvis | 1:2b5f79285a3e | 103 | } |
Helvis | 1:2b5f79285a3e | 104 | } |
Helvis | 0:8491169be8fc | 105 | |
Helvis | 0:8491169be8fc | 106 | |
Helvis | 0:8491169be8fc | 107 | //------------------------------------------------------------------------------ |
Helvis | 0:8491169be8fc | 108 | |
Helvis | 0:8491169be8fc | 109 | int main() { |
Helvis | 1:2b5f79285a3e | 110 | //Init |
Helvis | 0:8491169be8fc | 111 | |
Helvis | 1:2b5f79285a3e | 112 | int route[50] = {0}; |
Helvis | 1:2b5f79285a3e | 113 | int r = 0; |
Helvis | 1:2b5f79285a3e | 114 | |
Helvis | 1:2b5f79285a3e | 115 | int junction[5] = {0}; |
Helvis | 1:2b5f79285a3e | 116 | int j = 0; |
Helvis | 0:8491169be8fc | 117 | |
Helvis | 1:2b5f79285a3e | 118 | short lWall; |
Helvis | 1:2b5f79285a3e | 119 | short cWall; |
Helvis | 1:2b5f79285a3e | 120 | short rWall; |
Helvis | 0:8491169be8fc | 121 | |
Helvis | 1:2b5f79285a3e | 122 | short Ziel = 0; |
Helvis | 1:2b5f79285a3e | 123 | |
Helvis | 1:2b5f79285a3e | 124 | //loop |
Helvis | 0:8491169be8fc | 125 | while(1) { |
Helvis | 0:8491169be8fc | 126 | |
Helvis | 0:8491169be8fc | 127 | button.fall(&press); //User button einlesen |
Helvis | 0:8491169be8fc | 128 | |
Helvis | 1:2b5f79285a3e | 129 | /** |
Helvis | 1:2b5f79285a3e | 130 | * |
Helvis | 1:2b5f79285a3e | 131 | * Search run |
Helvis | 1:2b5f79285a3e | 132 | * |
Helvis | 1:2b5f79285a3e | 133 | */ |
Helvis | 1:2b5f79285a3e | 134 | |
Helvis | 1:2b5f79285a3e | 135 | while(start == 1 && Ziel == 0) { |
Helvis | 0:8491169be8fc | 136 | |
Helvis | 1:2b5f79285a3e | 137 | /** |
Helvis | 1:2b5f79285a3e | 138 | * Entscheidung und Bewegung |
Helvis | 1:2b5f79285a3e | 139 | */ |
Helvis | 1:2b5f79285a3e | 140 | |
Helvis | 1:2b5f79285a3e | 141 | |
Helvis | 0:8491169be8fc | 142 | float distanceL = irSensorL.readL(); |
Helvis | 0:8491169be8fc | 143 | float distanceC = irSensorC.readC(); |
Helvis | 0:8491169be8fc | 144 | float distanceR = irSensorR.readR(); |
Helvis | 0:8491169be8fc | 145 | |
Helvis | 1:2b5f79285a3e | 146 | //Wall check |
Helvis | 1:2b5f79285a3e | 147 | if (distanceL < thresholdL) lWall = 1; |
Helvis | 1:2b5f79285a3e | 148 | else lWall = 0; |
Helvis | 1:2b5f79285a3e | 149 | if (distanceC < thresholdC) cWall = 1; |
Helvis | 1:2b5f79285a3e | 150 | else cWall = 0; |
Helvis | 1:2b5f79285a3e | 151 | if (distanceR < thresholdR) rWall = 1; |
Helvis | 1:2b5f79285a3e | 152 | else rWall = 0; |
Helvis | 0:8491169be8fc | 153 | |
Helvis | 1:2b5f79285a3e | 154 | //Junction Check |
Helvis | 1:2b5f79285a3e | 155 | if ((lWall + cWall + rWall) < 2) { |
Helvis | 0:8491169be8fc | 156 | |
Helvis | 1:2b5f79285a3e | 157 | if (junction[j] > 0) {j++;} |
Helvis | 1:2b5f79285a3e | 158 | junction[j] = r; |
Helvis | 0:8491169be8fc | 159 | } |
Helvis | 1:2b5f79285a3e | 160 | //No wall left |
Helvis | 1:2b5f79285a3e | 161 | if (lWall == 0) { |
Helvis | 0:8491169be8fc | 162 | |
Helvis | 1:2b5f79285a3e | 163 | if (route[r] == LEFT) { |
Helvis | 1:2b5f79285a3e | 164 | |
Helvis | 1:2b5f79285a3e | 165 | route[r] = MOVE; |
Helvis | 1:2b5f79285a3e | 166 | r++; |
Helvis | 1:2b5f79285a3e | 167 | |
Helvis | 1:2b5f79285a3e | 168 | motion.rotateL(); |
Helvis | 1:2b5f79285a3e | 169 | motion.scanMove(); |
Helvis | 1:2b5f79285a3e | 170 | motion.stop(); |
Helvis | 1:2b5f79285a3e | 171 | |
Helvis | 1:2b5f79285a3e | 172 | }else if (route[r] == MOVE) { |
Helvis | 1:2b5f79285a3e | 173 | |
Helvis | 1:2b5f79285a3e | 174 | route[r] = RIGHT; |
Helvis | 1:2b5f79285a3e | 175 | r++; |
Helvis | 1:2b5f79285a3e | 176 | route[r] = MOVE; |
Helvis | 1:2b5f79285a3e | 177 | r++; |
Helvis | 1:2b5f79285a3e | 178 | |
Helvis | 1:2b5f79285a3e | 179 | motion.rotateL(); |
Helvis | 1:2b5f79285a3e | 180 | motion.scanMove(); |
Helvis | 1:2b5f79285a3e | 181 | motion.stop(); |
Helvis | 1:2b5f79285a3e | 182 | |
Helvis | 1:2b5f79285a3e | 183 | }else if (route[r] == RIGHT) { |
Helvis | 1:2b5f79285a3e | 184 | // Kreuzung führt zu Sackgassen -> löschen |
Helvis | 1:2b5f79285a3e | 185 | junction[j] = 0; |
Helvis | 1:2b5f79285a3e | 186 | if (j > 0) {j--;} |
Helvis | 1:2b5f79285a3e | 187 | reverseToJunction(junction[j], r, route); |
Helvis | 1:2b5f79285a3e | 188 | |
Helvis | 1:2b5f79285a3e | 189 | }else{ |
Helvis | 1:2b5f79285a3e | 190 | |
Helvis | 1:2b5f79285a3e | 191 | route[r] = LEFT; |
Helvis | 1:2b5f79285a3e | 192 | r++; |
Helvis | 1:2b5f79285a3e | 193 | route[r] = MOVE; |
Helvis | 1:2b5f79285a3e | 194 | r++; |
Helvis | 1:2b5f79285a3e | 195 | |
Helvis | 1:2b5f79285a3e | 196 | motion.rotateL(); |
Helvis | 1:2b5f79285a3e | 197 | motion.scanMove(); |
Helvis | 1:2b5f79285a3e | 198 | motion.stop(); |
Helvis | 1:2b5f79285a3e | 199 | } |
Helvis | 1:2b5f79285a3e | 200 | //No wall center |
Helvis | 1:2b5f79285a3e | 201 | }else if (cWall == 0) { |
Helvis | 0:8491169be8fc | 202 | |
Helvis | 1:2b5f79285a3e | 203 | if (route[r] == LEFT) { |
Helvis | 1:2b5f79285a3e | 204 | |
Helvis | 1:2b5f79285a3e | 205 | route[r] = RIGHT; |
Helvis | 1:2b5f79285a3e | 206 | r++; |
Helvis | 1:2b5f79285a3e | 207 | route[r] = MOVE; |
Helvis | 1:2b5f79285a3e | 208 | r++; |
Helvis | 0:8491169be8fc | 209 | |
Helvis | 1:2b5f79285a3e | 210 | motion.scanMove(); |
Helvis | 1:2b5f79285a3e | 211 | motion.stop(); |
Helvis | 1:2b5f79285a3e | 212 | |
Helvis | 1:2b5f79285a3e | 213 | }else if (route[r] == MOVE) { |
Helvis | 1:2b5f79285a3e | 214 | |
Helvis | 1:2b5f79285a3e | 215 | junction[j] = 0; |
Helvis | 1:2b5f79285a3e | 216 | if (j > 0) {j--;} |
Helvis | 1:2b5f79285a3e | 217 | reverseToJunction(junction[j], r, route); |
Helvis | 1:2b5f79285a3e | 218 | |
Helvis | 1:2b5f79285a3e | 219 | }else{ |
Helvis | 1:2b5f79285a3e | 220 | |
Helvis | 1:2b5f79285a3e | 221 | route[r] = MOVE; |
Helvis | 1:2b5f79285a3e | 222 | r++; |
Helvis | 1:2b5f79285a3e | 223 | |
Helvis | 1:2b5f79285a3e | 224 | motion.scanMove(); |
Helvis | 1:2b5f79285a3e | 225 | motion.stop(); |
Helvis | 1:2b5f79285a3e | 226 | } |
Helvis | 1:2b5f79285a3e | 227 | //No wall right |
Helvis | 1:2b5f79285a3e | 228 | }else if (rWall == 0) { |
Helvis | 1:2b5f79285a3e | 229 | |
Helvis | 1:2b5f79285a3e | 230 | route[r] = RIGHT; |
Helvis | 1:2b5f79285a3e | 231 | r++; |
Helvis | 1:2b5f79285a3e | 232 | route[r] = MOVE; |
Helvis | 1:2b5f79285a3e | 233 | r++; |
Helvis | 1:2b5f79285a3e | 234 | |
Helvis | 1:2b5f79285a3e | 235 | motion.rotateR(); |
Helvis | 1:2b5f79285a3e | 236 | motion.scanMove(); |
Helvis | 1:2b5f79285a3e | 237 | motion.stop(); |
Helvis | 1:2b5f79285a3e | 238 | |
Helvis | 1:2b5f79285a3e | 239 | //Dead end routine |
Helvis | 1:2b5f79285a3e | 240 | }else if ((lWall + cWall + rWall) == 3) { |
Helvis | 1:2b5f79285a3e | 241 | |
Helvis | 1:2b5f79285a3e | 242 | motion.rotate180(); |
Helvis | 1:2b5f79285a3e | 243 | r--; |
Helvis | 1:2b5f79285a3e | 244 | //Return to last junction |
Helvis | 1:2b5f79285a3e | 245 | while (junction[j] < r ) { |
Helvis | 1:2b5f79285a3e | 246 | |
Helvis | 1:2b5f79285a3e | 247 | //invert rotation |
Helvis | 1:2b5f79285a3e | 248 | if (route[r] == LEFT) { |
Helvis | 1:2b5f79285a3e | 249 | |
Helvis | 1:2b5f79285a3e | 250 | route[r] = RIGHT; |
Helvis | 1:2b5f79285a3e | 251 | |
Helvis | 1:2b5f79285a3e | 252 | }else if (route[r] == RIGHT) { |
Helvis | 1:2b5f79285a3e | 253 | |
Helvis | 1:2b5f79285a3e | 254 | route[r] = LEFT; |
Helvis | 1:2b5f79285a3e | 255 | } |
Helvis | 1:2b5f79285a3e | 256 | //Run tasks in declining order |
Helvis | 1:2b5f79285a3e | 257 | motion.runTask(route[r]); |
Helvis | 1:2b5f79285a3e | 258 | route[r] = 0; |
Helvis | 1:2b5f79285a3e | 259 | r--; |
Helvis | 1:2b5f79285a3e | 260 | } |
Helvis | 0:8491169be8fc | 261 | } |
Helvis | 1:2b5f79285a3e | 262 | |
Helvis | 1:2b5f79285a3e | 263 | if (motion.finish() == 1) { |
Helvis | 2:f898adf2d817 | 264 | |
Helvis | 2:f898adf2d817 | 265 | /*while(r > 0) { |
Helvis | 2:f898adf2d817 | 266 | //Zum Start zurückfahren |
Helvis | 2:f898adf2d817 | 267 | if (route[r] == LEFT) { |
Helvis | 2:f898adf2d817 | 268 | |
Helvis | 2:f898adf2d817 | 269 | route[r] = RIGHT; |
Helvis | 2:f898adf2d817 | 270 | |
Helvis | 2:f898adf2d817 | 271 | }else if (route[r] == RIGHT) { |
Helvis | 2:f898adf2d817 | 272 | |
Helvis | 2:f898adf2d817 | 273 | route[r] = LEFT; |
Helvis | 2:f898adf2d817 | 274 | } |
Helvis | 2:f898adf2d817 | 275 | |
Helvis | 2:f898adf2d817 | 276 | motion.runTask(route[r]); |
Helvis | 2:f898adf2d817 | 277 | route[r] = 0; |
Helvis | 2:f898adf2d817 | 278 | r--; |
Helvis | 2:f898adf2d817 | 279 | }*/ |
Helvis | 2:f898adf2d817 | 280 | |
Helvis | 1:2b5f79285a3e | 281 | Ziel = 1; |
Helvis | 1:2b5f79285a3e | 282 | r = 0; |
Helvis | 1:2b5f79285a3e | 283 | start = 0; |
Helvis | 1:2b5f79285a3e | 284 | }else{ |
Helvis | 1:2b5f79285a3e | 285 | Ziel = 0; |
Helvis | 0:8491169be8fc | 286 | } |
Helvis | 0:8491169be8fc | 287 | |
Helvis | 0:8491169be8fc | 288 | |
Helvis | 1:2b5f79285a3e | 289 | } |
Helvis | 0:8491169be8fc | 290 | |
Helvis | 1:2b5f79285a3e | 291 | /** |
Helvis | 1:2b5f79285a3e | 292 | * |
Helvis | 1:2b5f79285a3e | 293 | * Speed run |
Helvis | 1:2b5f79285a3e | 294 | * |
Helvis | 1:2b5f79285a3e | 295 | */ |
Helvis | 1:2b5f79285a3e | 296 | |
Helvis | 1:2b5f79285a3e | 297 | while ( start == 1 && Ziel == 1 ) { |
Helvis | 0:8491169be8fc | 298 | |
Helvis | 2:f898adf2d817 | 299 | /*if (route[r] == route[r+1] && route[r] == route[r+2]) { |
Helvis | 1:2b5f79285a3e | 300 | //Auf längere Strecke schneller fahren |
Helvis | 1:2b5f79285a3e | 301 | route[r+1] = SPEED; |
Helvis | 2:f898adf2d817 | 302 | }*/ |
Helvis | 1:2b5f79285a3e | 303 | motion.runTask(route[r]); |
Helvis | 1:2b5f79285a3e | 304 | r++; |
Helvis | 0:8491169be8fc | 305 | |
Helvis | 1:2b5f79285a3e | 306 | if (route[r] == 0) { |
Helvis | 1:2b5f79285a3e | 307 | //Weg fertig |
Helvis | 1:2b5f79285a3e | 308 | start = 0; |
Helvis | 1:2b5f79285a3e | 309 | } |
Helvis | 0:8491169be8fc | 310 | } |
Helvis | 0:8491169be8fc | 311 | |
Helvis | 1:2b5f79285a3e | 312 | |
Helvis | 1:2b5f79285a3e | 313 | |
Helvis | 1:2b5f79285a3e | 314 | |
Helvis | 0:8491169be8fc | 315 | } |
Helvis | 0:8491169be8fc | 316 | } |
Helvis | 0:8491169be8fc | 317 | |
Helvis | 0:8491169be8fc | 318 | |
Helvis | 0:8491169be8fc | 319 | |
Helvis | 0:8491169be8fc | 320 |