Helvijs Kiselis / Mbed 2 deprecated Micromouse

Algorithmus

Dependencies:   mbed

main.cpp@14:2926932e26df, 2018-05-04 (annotated)

Committer:
luethale
Date:
Fri May 04 19:56:05 2018 +0000
Revision:
14:2926932e26df
Parent:
12:75d0291a9785
Child:
16:c5b864804632
?pis anders KABUTT

Who changed what in which revision?

UserRevisionLine numberNew 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 12:75d0291a9785 10 - Beschleunigung: Wann & Wo?
Helvis 12:75d0291a9785 11 - Zentrieren
Helvis 4:932eb2d29206 12
Helvis 4:932eb2d29206 13 Optimieren:
Helvis 1:2b5f79285a3e 14 - Beschleunigung
Helvis 7:22392ed60534 15 - Zentrieren
Helvis 1:2b5f79285a3e 16 - über längere Strecke schneller fahren
Helvis 4:932eb2d29206 17 - Abbiegen
Helvis 1:2b5f79285a3e 18
Helvis 1:2b5f79285a3e 19 */
Helvis 0:8491169be8fc 20 #include <mbed.h>
Helvis 0:8491169be8fc 21 #include "EncoderCounter.h"
Helvis 0:8491169be8fc 22 #include "Controller.h"
Helvis 0:8491169be8fc 23 #include "IRSensor.h"
Helvis 0:8491169be8fc 24 #include "Motion.h"
Helvis 0:8491169be8fc 25
Helvis 0:8491169be8fc 26 //User Button
Helvis 0:8491169be8fc 27 InterruptIn button(USER_BUTTON);
Helvis 0:8491169be8fc 28
Helvis 0:8491169be8fc 29 //Sensors:
Helvis 0:8491169be8fc 30
Helvis 0:8491169be8fc 31 AnalogIn lineSensor(PA_4);
Helvis 0:8491169be8fc 32 AnalogIn distance2(PC_3);
Helvis 0:8491169be8fc 33 AnalogIn distance4(PB_1);
Helvis 0:8491169be8fc 34 AnalogIn distance1(PC_2);
Helvis 0:8491169be8fc 35 AnalogIn distance3(PC_5);
Helvis 0:8491169be8fc 36
Helvis 0:8491169be8fc 37 IRSensor irSensorL (distance2);
Helvis 0:8491169be8fc 38 IRSensor irSensorC (distance4);
Helvis 0:8491169be8fc 39 IRSensor irSensorR (distance1);
Helvis 0:8491169be8fc 40 IRSensor irSensorB (distance3);
Helvis 0:8491169be8fc 41
Helvis 0:8491169be8fc 42 //Motors:
Helvis 0:8491169be8fc 43 DigitalOut myled(LED1);
Helvis 0:8491169be8fc 44
Helvis 0:8491169be8fc 45 DigitalOut enableMotorDriver(PB_2);
Helvis 0:8491169be8fc 46
Helvis 0:8491169be8fc 47 DigitalIn motorDriverFault(PB_14);
Helvis 0:8491169be8fc 48 DigitalIn motorDriverWarning(PB_15);
Helvis 0:8491169be8fc 49
Helvis 0:8491169be8fc 50 PwmOut pwmRight(PA_8);
Helvis 0:8491169be8fc 51 PwmOut pwmLeft(PA_10);
Helvis 0:8491169be8fc 52
Helvis 0:8491169be8fc 53 EncoderCounter counterRight(PB_6, PB_7);
Helvis 0:8491169be8fc 54 EncoderCounter counterLeft(PA_0, PA_1);
Helvis 0:8491169be8fc 55
Helvis 0:8491169be8fc 56
Helvis 0:8491169be8fc 57 Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
Helvis 0:8491169be8fc 58
Helvis 1:2b5f79285a3e 59 Motion motion(controller, counterLeft, counterRight, irSensorL, irSensorC,
Helvis 1:2b5f79285a3e 60 irSensorR, lineSensor, enableMotorDriver);
Helvis 0:8491169be8fc 61
Helvis 0:8491169be8fc 62 //------------------------------------------------------------------------------
Helvis 0:8491169be8fc 63
Helvis 0:8491169be8fc 64 volatile int start = 0;
Helvis 1:2b5f79285a3e 65
Helvis 1:2b5f79285a3e 66 const int MOVE = 1;
Helvis 1:2b5f79285a3e 67 const int LEFT = 2;
Helvis 1:2b5f79285a3e 68 const int RIGHT = 3;
Helvis 1:2b5f79285a3e 69 const int SPEED = 4;
Helvis 1:2b5f79285a3e 70
Helvis 1:2b5f79285a3e 71 //Sensor tresholds [mm]
Helvis 3:076dd7ec7eb4 72 const float thresholdL = 80;
Helvis 3:076dd7ec7eb4 73 const float thresholdR = 80;
Helvis 1:2b5f79285a3e 74 const float thresholdC = 100;
Helvis 0:8491169be8fc 75
Helvis 0:8491169be8fc 76 //------------------------------------------------------------------------------
Helvis 0:8491169be8fc 77
Helvis 0:8491169be8fc 78 //User button toggle
Helvis 0:8491169be8fc 79 void press() {
Helvis 0:8491169be8fc 80 start = !start;
Helvis 0:8491169be8fc 81 }
Helvis 1:2b5f79285a3e 82
Helvis 1:2b5f79285a3e 83 //Return to last junction
Helvis 12:75d0291a9785 84 void reverseToJunction(int junc, int &r, int route[]) {
Helvis 1:2b5f79285a3e 85
Helvis 12:75d0291a9785 86 do {
Helvis 1:2b5f79285a3e 87
Helvis 1:2b5f79285a3e 88 //invert rotation
Helvis 1:2b5f79285a3e 89 if (route[r] == LEFT) {
Helvis 1:2b5f79285a3e 90
Helvis 1:2b5f79285a3e 91 route[r] = RIGHT;
Helvis 1:2b5f79285a3e 92
Helvis 1:2b5f79285a3e 93 }else if (route[r] == RIGHT) {
Helvis 1:2b5f79285a3e 94
Helvis 1:2b5f79285a3e 95 route[r] = LEFT;
Helvis 1:2b5f79285a3e 96 }
Helvis 1:2b5f79285a3e 97
Helvis 12:75d0291a9785 98 motion.runTask(route,r,true);
luethale 9:a01f90f88920 99 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 100 route[r] = 0;
Helvis 1:2b5f79285a3e 101 r--;
Helvis 12:75d0291a9785 102 } while (junc < r );
Helvis 1:2b5f79285a3e 103 }
luethale 9:a01f90f88920 104
Helvis 0:8491169be8fc 105 //------------------------------------------------------------------------------
Helvis 0:8491169be8fc 106
Helvis 0:8491169be8fc 107 int main() {
Helvis 1:2b5f79285a3e 108 //Init
Helvis 0:8491169be8fc 109
Helvis 12:75d0291a9785 110 int route[200] = {0};
Helvis 12:75d0291a9785 111 int r = 0;
Helvis 1:2b5f79285a3e 112
Helvis 11:2960fc540616 113 volatile int junction[20] = {0};
Helvis 11:2960fc540616 114 volatile int j = 0;
Helvis 0:8491169be8fc 115
Helvis 1:2b5f79285a3e 116 short lWall;
Helvis 1:2b5f79285a3e 117 short cWall;
Helvis 1:2b5f79285a3e 118 short rWall;
Helvis 0:8491169be8fc 119
Helvis 1:2b5f79285a3e 120 short Ziel = 0;
Helvis 1:2b5f79285a3e 121
Helvis 12:75d0291a9785 122 //infinite loop
luethale 9:a01f90f88920 123 while(1) {
Helvis 0:8491169be8fc 124
luethale 9:a01f90f88920 125 button.fall(&press); //User button einlesen
Helvis 0:8491169be8fc 126
Helvis 12:75d0291a9785 127 /**
Helvis 12:75d0291a9785 128 *
Helvis 12:75d0291a9785 129 * Search run
Helvis 12:75d0291a9785 130 *
Helvis 12:75d0291a9785 131 */
Helvis 1:2b5f79285a3e 132
luethale 9:a01f90f88920 133 while(start == 1 && Ziel == 0) {
Helvis 0:8491169be8fc 134
luethale 9:a01f90f88920 135 /**
luethale 9:a01f90f88920 136 * Entscheidung und Bewegung
luethale 9:a01f90f88920 137 */
Helvis 1:2b5f79285a3e 138
Helvis 1:2b5f79285a3e 139
luethale 9:a01f90f88920 140 float distanceL = irSensorL.readL();
luethale 9:a01f90f88920 141 float distanceC = irSensorC.readC();
luethale 9:a01f90f88920 142 float distanceR = irSensorR.readR();
Helvis 0:8491169be8fc 143
luethale 9:a01f90f88920 144 //Wall check
luethale 9:a01f90f88920 145 if (distanceL < thresholdL) lWall = 1;
luethale 9:a01f90f88920 146 else lWall = 0;
luethale 9:a01f90f88920 147 if (distanceC < thresholdC) cWall = 1;
luethale 9:a01f90f88920 148 else cWall = 0;
luethale 9:a01f90f88920 149 if (distanceR < thresholdR) rWall = 1;
luethale 9:a01f90f88920 150 else rWall = 0;
Helvis 0:8491169be8fc 151
luethale 9:a01f90f88920 152 //Junction Check
luethale 9:a01f90f88920 153 if ((lWall + cWall + rWall) < 2) {
Helvis 11:2960fc540616 154
Helvis 11:2960fc540616 155 if (junction[j] != r) {
Helvis 11:2960fc540616 156 if (junction[j] > 0) {
Helvis 11:2960fc540616 157 j += 1;
Helvis 11:2960fc540616 158 junction[j] = r;
Helvis 11:2960fc540616 159 }else{
Helvis 11:2960fc540616 160 junction[j] = r;
Helvis 11:2960fc540616 161 }
luethale 9:a01f90f88920 162 }
Helvis 8:8131269dc46e 163
luethale 9:a01f90f88920 164 printf("Kreuzung: %d Schritt: %d\n", j, r);
luethale 9:a01f90f88920 165 }
Helvis 12:75d0291a9785 166 //No wall left
luethale 9:a01f90f88920 167 if (lWall == 0) {
Helvis 0:8491169be8fc 168
luethale 9:a01f90f88920 169 if (route[r] == LEFT) {
Helvis 1:2b5f79285a3e 170
luethale 9:a01f90f88920 171 route[r] = MOVE;
luethale 9:a01f90f88920 172 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 173 r++;
Helvis 1:2b5f79285a3e 174
luethale 9:a01f90f88920 175 motion.rotateL();
luethale 9:a01f90f88920 176 motion.scanMove();
luethale 14:2926932e26df 177 // motion.stop();
Helvis 1:2b5f79285a3e 178
luethale 9:a01f90f88920 179 }else if (route[r] == MOVE) {
Helvis 1:2b5f79285a3e 180
luethale 9:a01f90f88920 181 route[r] = RIGHT;
luethale 9:a01f90f88920 182 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 183 r++;
luethale 9:a01f90f88920 184 route[r] = MOVE;
luethale 9:a01f90f88920 185 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 186 r++;
Helvis 1:2b5f79285a3e 187
luethale 9:a01f90f88920 188 motion.rotateL();
luethale 9:a01f90f88920 189 motion.scanMove();
luethale 14:2926932e26df 190 //motion.stop();
Helvis 1:2b5f79285a3e 191
luethale 9:a01f90f88920 192 }else if (route[r] == RIGHT) {
luethale 9:a01f90f88920 193 // Kreuzung führt zu Sackgassen -> löschen
luethale 9:a01f90f88920 194 junction[j] = 0; /*Änderung alex*/
luethale 9:a01f90f88920 195 //if (j > 0) {j--;}
luethale 9:a01f90f88920 196 printf("Kreuzung %d Schritt %d geloscht\n", j, r);
Helvis 11:2960fc540616 197 j -= 1;
Helvis 12:75d0291a9785 198 //reverseToJunction(junction[j], r, route);
Helvis 7:22392ed60534 199
luethale 9:a01f90f88920 200 /*for (int i = r; i > junction[j]; i--) {
luethale 9:a01f90f88920 201 r = i;
luethale 9:a01f90f88920 202 //invert rotation
luethale 9:a01f90f88920 203 if (route[r] == LEFT) {
luethale 9:a01f90f88920 204
luethale 9:a01f90f88920 205 route[r] = RIGHT;
Helvis 8:8131269dc46e 206
luethale 9:a01f90f88920 207 }else if (route[r] == RIGHT) {
Helvis 8:8131269dc46e 208
luethale 9:a01f90f88920 209 route[r] = LEFT;
luethale 9:a01f90f88920 210 }
luethale 9:a01f90f88920 211
luethale 9:a01f90f88920 212 motion.runTask(route[r]);
luethale 9:a01f90f88920 213 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 11:2960fc540616 214 route[r] = 0;
Helvis 11:2960fc540616 215
Helvis 11:2960fc540616 216 if ( r == junction[j] + 1) {
Helvis 11:2960fc540616 217 while (controller.getSpeedLeft() > 0.0f) {
Helvis 11:2960fc540616 218 motion.stop();
Helvis 11:2960fc540616 219 }
Helvis 11:2960fc540616 220 }
Helvis 11:2960fc540616 221
Helvis 8:8131269dc46e 222 }
Helvis 11:2960fc540616 223 motion.stop();
Helvis 11:2960fc540616 224
luethale 9:a01f90f88920 225 printf("Loop fertig\n");
luethale 9:a01f90f88920 226 r--;
Helvis 8:8131269dc46e 227 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 228 */
Helvis 8:8131269dc46e 229
Helvis 11:2960fc540616 230 do {
Helvis 7:22392ed60534 231
luethale 9:a01f90f88920 232 //invert rotation
luethale 9:a01f90f88920 233 if (route[r] == LEFT) {
Helvis 7:22392ed60534 234
luethale 9:a01f90f88920 235 route[r] = RIGHT;
luethale 9:a01f90f88920 236
luethale 9:a01f90f88920 237 }else if (route[r] == RIGHT) {
Helvis 7:22392ed60534 238
luethale 9:a01f90f88920 239 route[r] = LEFT;
luethale 9:a01f90f88920 240 }
luethale 9:a01f90f88920 241
Helvis 12:75d0291a9785 242 motion.runTask(route,r,true);
luethale 9:a01f90f88920 243 printf("Schritt: %d, Befehl: %d\n", r, route[r]); //At work!!!!!
luethale 9:a01f90f88920 244 route[r] = 0;
luethale 9:a01f90f88920 245 r--;
Helvis 11:2960fc540616 246
Helvis 11:2960fc540616 247 } while (junction[j] < r ) ;
Helvis 11:2960fc540616 248 motion.stop();
Helvis 12:75d0291a9785 249 printf("Loop stop\n");
Helvis 11:2960fc540616 250
luethale 9:a01f90f88920 251 }else{
Helvis 11:2960fc540616 252
luethale 9:a01f90f88920 253 route[r] = LEFT;
Helvis 8:8131269dc46e 254 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 255 r++;
luethale 9:a01f90f88920 256 route[r] = MOVE;
luethale 9:a01f90f88920 257 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 258 r++;
Helvis 1:2b5f79285a3e 259
Helvis 4:932eb2d29206 260
luethale 9:a01f90f88920 261 motion.rotateL();
luethale 9:a01f90f88920 262 motion.scanMove();
luethale 14:2926932e26df 263 // motion.stop();
luethale 9:a01f90f88920 264 }
Helvis 1:2b5f79285a3e 265 //No wall center
luethale 9:a01f90f88920 266 }else if (cWall == 0) {
luethale 9:a01f90f88920 267
luethale 9:a01f90f88920 268 if (route[r] == LEFT) {
luethale 9:a01f90f88920 269
luethale 9:a01f90f88920 270 route[r] = RIGHT;
luethale 9:a01f90f88920 271 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 272 r++;
luethale 9:a01f90f88920 273 route[r] = MOVE;
luethale 9:a01f90f88920 274 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 275 r++;
Helvis 0:8491169be8fc 276
luethale 9:a01f90f88920 277 motion.scanMove();
luethale 14:2926932e26df 278 // motion.stop();
luethale 9:a01f90f88920 279
luethale 9:a01f90f88920 280 }else if (route[r] == MOVE) {
luethale 9:a01f90f88920 281
luethale 9:a01f90f88920 282 junction[j] = 0; /*Änderung alex*/
luethale 9:a01f90f88920 283 //if (j > 0) {j--;}
luethale 9:a01f90f88920 284 printf("Kreuzung %d Schritt %d geloscht\n", j, r);
Helvis 11:2960fc540616 285 j -= 1;
luethale 9:a01f90f88920 286 //reverseToJunction(junction[j], r, route);
Helvis 1:2b5f79285a3e 287
luethale 9:a01f90f88920 288 /*for (int i = r; i > junction[j]; i--) {
luethale 9:a01f90f88920 289 r = i;
luethale 9:a01f90f88920 290 //invert rotation
luethale 9:a01f90f88920 291 if (route[r] == LEFT) {
luethale 9:a01f90f88920 292
luethale 9:a01f90f88920 293 route[r] = RIGHT;
luethale 9:a01f90f88920 294
luethale 9:a01f90f88920 295 }else if (route[r] == RIGHT) {
luethale 9:a01f90f88920 296
luethale 9:a01f90f88920 297 route[r] = LEFT;
luethale 9:a01f90f88920 298 }
luethale 9:a01f90f88920 299
luethale 9:a01f90f88920 300 motion.runTask(route[r]);
luethale 9:a01f90f88920 301 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 11:2960fc540616 302 route[r] = 0;
Helvis 11:2960fc540616 303
Helvis 11:2960fc540616 304 if ( r == junction[j] + 1) {
Helvis 11:2960fc540616 305 while (controller.getSpeedLeft() > 0.0f) {
Helvis 11:2960fc540616 306 motion.stop();
Helvis 11:2960fc540616 307 }
Helvis 11:2960fc540616 308 }
Helvis 11:2960fc540616 309
luethale 9:a01f90f88920 310 }
Helvis 11:2960fc540616 311 motion.stop();
luethale 9:a01f90f88920 312 printf("Loop fertig\n");
luethale 9:a01f90f88920 313 r--;
luethale 9:a01f90f88920 314 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 315 */
luethale 9:a01f90f88920 316
Helvis 11:2960fc540616 317 do {
luethale 9:a01f90f88920 318
luethale 9:a01f90f88920 319 //invert rotation
luethale 9:a01f90f88920 320 if (route[r] == LEFT) {
luethale 9:a01f90f88920 321
luethale 9:a01f90f88920 322 route[r] = RIGHT;
luethale 9:a01f90f88920 323
luethale 9:a01f90f88920 324 }else if (route[r] == RIGHT) {
luethale 9:a01f90f88920 325
luethale 9:a01f90f88920 326 route[r] = LEFT;
luethale 9:a01f90f88920 327 }
luethale 9:a01f90f88920 328
Helvis 12:75d0291a9785 329 motion.runTask(route,r,true);
Helvis 11:2960fc540616 330 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 11:2960fc540616 331 route[r] = 0;
Helvis 11:2960fc540616 332 r--;
Helvis 11:2960fc540616 333
Helvis 11:2960fc540616 334 } while (junction[j] < r );
Helvis 11:2960fc540616 335 motion.stop();
Helvis 12:75d0291a9785 336 printf("Loop stop\n");
luethale 9:a01f90f88920 337
luethale 9:a01f90f88920 338 }else{
luethale 9:a01f90f88920 339
luethale 9:a01f90f88920 340 route[r] = MOVE;
luethale 9:a01f90f88920 341 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 342 r++;
luethale 9:a01f90f88920 343
luethale 9:a01f90f88920 344 motion.scanMove();
luethale 9:a01f90f88920 345 }
luethale 9:a01f90f88920 346 //No wall right
luethale 9:a01f90f88920 347 }else if (rWall == 0) {
luethale 9:a01f90f88920 348
Helvis 1:2b5f79285a3e 349 route[r] = RIGHT;
Helvis 4:932eb2d29206 350 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 351 r++;
Helvis 7:22392ed60534 352 route[r] = MOVE;
Helvis 4:932eb2d29206 353 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 7:22392ed60534 354 r++;
Helvis 0:8491169be8fc 355
luethale 9:a01f90f88920 356 motion.rotateR();
Helvis 1:2b5f79285a3e 357 motion.scanMove();
luethale 14:2926932e26df 358 // motion.stop();
luethale 9:a01f90f88920 359
luethale 9:a01f90f88920 360 //Dead end routine
luethale 9:a01f90f88920 361 }else if ((lWall + cWall + rWall) == 3) {
luethale 9:a01f90f88920 362
luethale 9:a01f90f88920 363 motion.rotate180();
luethale 9:a01f90f88920 364 printf("Sackgasse Schritt: %d\n", r);
luethale 9:a01f90f88920 365 r--;
luethale 9:a01f90f88920 366 //Return to last junction
Helvis 11:2960fc540616 367 while (junction[j] <= r ) {
luethale 9:a01f90f88920 368 //for (int i = r; i >= junction[j]; i--
luethale 9:a01f90f88920 369
Helvis 11:2960fc540616 370 if (junction[j] == r) {
luethale 9:a01f90f88920 371
luethale 9:a01f90f88920 372 switch (route[r]) {
luethale 9:a01f90f88920 373 case MOVE:
Helvis 12:75d0291a9785 374 motion.runTask(route,r,true);
luethale 9:a01f90f88920 375 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 376 r--;
luethale 9:a01f90f88920 377 break;
luethale 9:a01f90f88920 378 case LEFT:
luethale 9:a01f90f88920 379 r--;
luethale 9:a01f90f88920 380 break;
luethale 9:a01f90f88920 381 case RIGHT:
luethale 9:a01f90f88920 382 r--;
luethale 9:a01f90f88920 383 break;
luethale 9:a01f90f88920 384 }
Helvis 7:22392ed60534 385
luethale 9:a01f90f88920 386 }else{
luethale 9:a01f90f88920 387 //invert rotation
luethale 9:a01f90f88920 388 if (route[r] == LEFT) {
luethale 9:a01f90f88920 389
luethale 9:a01f90f88920 390 route[r] = RIGHT;
luethale 9:a01f90f88920 391
luethale 9:a01f90f88920 392 }else if (route[r] == RIGHT) {
Helvis 8:8131269dc46e 393
luethale 9:a01f90f88920 394 route[r] = LEFT;
luethale 9:a01f90f88920 395 }
luethale 9:a01f90f88920 396 //Run tasks in declining order
Helvis 12:75d0291a9785 397 motion.runTask(route,r,true);
luethale 9:a01f90f88920 398 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
luethale 9:a01f90f88920 399 route[r] = 0;
luethale 9:a01f90f88920 400 r--;
Helvis 8:8131269dc46e 401 }
luethale 9:a01f90f88920 402 }
luethale 9:a01f90f88920 403 r++;
luethale 9:a01f90f88920 404 }
luethale 9:a01f90f88920 405
luethale 9:a01f90f88920 406 if (motion.finish() == 1) {
luethale 9:a01f90f88920 407
luethale 9:a01f90f88920 408 /*while(r > 0) {
luethale 9:a01f90f88920 409 //Zum Start zurückfahren
luethale 9:a01f90f88920 410 if (route[r] == LEFT) {
Helvis 8:8131269dc46e 411
luethale 9:a01f90f88920 412 route[r] = RIGHT;
Helvis 7:22392ed60534 413
Helvis 7:22392ed60534 414 }else if (route[r] == RIGHT) {
luethale 9:a01f90f88920 415
Helvis 7:22392ed60534 416 route[r] = LEFT;
Helvis 7:22392ed60534 417 }
luethale 9:a01f90f88920 418
Helvis 7:22392ed60534 419 motion.runTask(route[r]);
luethale 9:a01f90f88920 420 r--;
luethale 9:a01f90f88920 421 }
Helvis 8:8131269dc46e 422
luethale 9:a01f90f88920 423 motion.runTask(route[r])
Helvis 7:22392ed60534 424 */
Helvis 2:f898adf2d817 425
luethale 9:a01f90f88920 426 Ziel = 1;
luethale 9:a01f90f88920 427 r = 0;
luethale 9:a01f90f88920 428 start = 0;
luethale 9:a01f90f88920 429 controller.counterReset();
luethale 9:a01f90f88920 430 }else{
luethale 9:a01f90f88920 431 Ziel = 0;
luethale 9:a01f90f88920 432 }
Helvis 0:8491169be8fc 433
Helvis 0:8491169be8fc 434
luethale 9:a01f90f88920 435 }
Helvis 0:8491169be8fc 436
Helvis 1:2b5f79285a3e 437 /**
Helvis 1:2b5f79285a3e 438 *
Helvis 1:2b5f79285a3e 439 * Speed run
Helvis 1:2b5f79285a3e 440 *
Helvis 1:2b5f79285a3e 441 */
Helvis 1:2b5f79285a3e 442
luethale 9:a01f90f88920 443 while ( start == 1 && Ziel == 1 ) {
Helvis 0:8491169be8fc 444
luethale 9:a01f90f88920 445 /*if (route[r] == route[r+1] && route[r] == route[r+2]) {
luethale 9:a01f90f88920 446 //Auf längere Strecke schneller fahren
luethale 9:a01f90f88920 447 route[r+1] = SPEED;
luethale 9:a01f90f88920 448 }*/
Helvis 7:22392ed60534 449
luethale 9:a01f90f88920 450 float distanceL = irSensorL.readL();
luethale 9:a01f90f88920 451 float distanceC = irSensorC.readC();
luethale 9:a01f90f88920 452 float distanceR = irSensorR.readR();
Helvis 7:22392ed60534 453
Helvis 12:75d0291a9785 454 motion.runTask(route,r,false);
luethale 9:a01f90f88920 455 r++;
Helvis 0:8491169be8fc 456
luethale 9:a01f90f88920 457 if (route[r] == 0) {
luethale 9:a01f90f88920 458 //Weg fertig
luethale 9:a01f90f88920 459 motion.stop();
luethale 9:a01f90f88920 460 start = 0;
luethale 9:a01f90f88920 461 }
luethale 9:a01f90f88920 462 }
Helvis 0:8491169be8fc 463
Helvis 1:2b5f79285a3e 464
Helvis 1:2b5f79285a3e 465
Helvis 1:2b5f79285a3e 466
luethale 9:a01f90f88920 467 }
luethale 9:a01f90f88920 468 }