Helvijs Kiselis
/
Micromouse
Algorithmus
main.cpp@11:2960fc540616, 2018-04-30 (annotated)
- Committer:
- Helvis
- Date:
- Mon Apr 30 18:27:23 2018 +0000
- Revision:
- 11:2960fc540616
- Parent:
- 9:a01f90f88920
- Child:
- 12:75d0291a9785
v0.9.6: mer glaubet s funktioniert
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 | 1:2b5f79285a3e | 10 | - Regler gerade Fahrt |
Helvis | 1:2b5f79285a3e | 11 | - gespeicherten Weg fahren |
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 |
luethale | 9:a01f90f88920 | 84 | void reverseToJunction(int junc[], int j, int r, int route[]) { |
Helvis | 1:2b5f79285a3e | 85 | |
luethale | 9:a01f90f88920 | 86 | while (junc[j-1] < r ) { |
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 | 1:2b5f79285a3e | 98 | motion.runTask(route[r]); |
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 | 1:2b5f79285a3e | 102 | } |
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 | 11:2960fc540616 | 110 | volatile int route[200] = {0}; |
Helvis | 8:8131269dc46e | 111 | volatile 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 | 1:2b5f79285a3e | 122 | //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 | 1:2b5f79285a3e | 127 | /** |
Helvis | 1:2b5f79285a3e | 128 | * |
Helvis | 1:2b5f79285a3e | 129 | * Search run |
Helvis | 1:2b5f79285a3e | 130 | * |
Helvis | 1:2b5f79285a3e | 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 | 1:2b5f79285a3e | 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 | 9:a01f90f88920 | 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 | 9:a01f90f88920 | 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; |
luethale | 9:a01f90f88920 | 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 | |
luethale | 9:a01f90f88920 | 242 | motion.runTask(route[r]); |
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 | 11:2960fc540616 | 249 | |
luethale | 9:a01f90f88920 | 250 | }else{ |
Helvis | 11:2960fc540616 | 251 | |
luethale | 9:a01f90f88920 | 252 | route[r] = LEFT; |
Helvis | 8:8131269dc46e | 253 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 254 | r++; |
luethale | 9:a01f90f88920 | 255 | route[r] = MOVE; |
luethale | 9:a01f90f88920 | 256 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 257 | r++; |
Helvis | 1:2b5f79285a3e | 258 | |
Helvis | 4:932eb2d29206 | 259 | |
luethale | 9:a01f90f88920 | 260 | motion.rotateL(); |
luethale | 9:a01f90f88920 | 261 | motion.scanMove(); |
luethale | 9:a01f90f88920 | 262 | motion.stop(); |
luethale | 9:a01f90f88920 | 263 | } |
Helvis | 1:2b5f79285a3e | 264 | //No wall center |
luethale | 9:a01f90f88920 | 265 | }else if (cWall == 0) { |
luethale | 9:a01f90f88920 | 266 | |
luethale | 9:a01f90f88920 | 267 | if (route[r] == LEFT) { |
luethale | 9:a01f90f88920 | 268 | |
luethale | 9:a01f90f88920 | 269 | route[r] = RIGHT; |
luethale | 9:a01f90f88920 | 270 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 271 | r++; |
luethale | 9:a01f90f88920 | 272 | route[r] = MOVE; |
luethale | 9:a01f90f88920 | 273 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 274 | r++; |
Helvis | 0:8491169be8fc | 275 | |
luethale | 9:a01f90f88920 | 276 | motion.scanMove(); |
luethale | 9:a01f90f88920 | 277 | motion.stop(); |
luethale | 9:a01f90f88920 | 278 | |
luethale | 9:a01f90f88920 | 279 | }else if (route[r] == MOVE) { |
luethale | 9:a01f90f88920 | 280 | |
luethale | 9:a01f90f88920 | 281 | junction[j] = 0; /*Änderung alex*/ |
luethale | 9:a01f90f88920 | 282 | //if (j > 0) {j--;} |
luethale | 9:a01f90f88920 | 283 | printf("Kreuzung %d Schritt %d geloscht\n", j, r); |
Helvis | 11:2960fc540616 | 284 | j -= 1; |
luethale | 9:a01f90f88920 | 285 | //reverseToJunction(junction[j], r, route); |
Helvis | 1:2b5f79285a3e | 286 | |
luethale | 9:a01f90f88920 | 287 | /*for (int i = r; i > junction[j]; i--) { |
luethale | 9:a01f90f88920 | 288 | r = i; |
luethale | 9:a01f90f88920 | 289 | //invert rotation |
luethale | 9:a01f90f88920 | 290 | if (route[r] == LEFT) { |
luethale | 9:a01f90f88920 | 291 | |
luethale | 9:a01f90f88920 | 292 | route[r] = RIGHT; |
luethale | 9:a01f90f88920 | 293 | |
luethale | 9:a01f90f88920 | 294 | }else if (route[r] == RIGHT) { |
luethale | 9:a01f90f88920 | 295 | |
luethale | 9:a01f90f88920 | 296 | route[r] = LEFT; |
luethale | 9:a01f90f88920 | 297 | } |
luethale | 9:a01f90f88920 | 298 | |
luethale | 9:a01f90f88920 | 299 | motion.runTask(route[r]); |
luethale | 9:a01f90f88920 | 300 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 11:2960fc540616 | 301 | route[r] = 0; |
Helvis | 11:2960fc540616 | 302 | |
Helvis | 11:2960fc540616 | 303 | if ( r == junction[j] + 1) { |
Helvis | 11:2960fc540616 | 304 | while (controller.getSpeedLeft() > 0.0f) { |
Helvis | 11:2960fc540616 | 305 | motion.stop(); |
Helvis | 11:2960fc540616 | 306 | } |
Helvis | 11:2960fc540616 | 307 | } |
Helvis | 11:2960fc540616 | 308 | |
luethale | 9:a01f90f88920 | 309 | } |
Helvis | 11:2960fc540616 | 310 | motion.stop(); |
luethale | 9:a01f90f88920 | 311 | printf("Loop fertig\n"); |
luethale | 9:a01f90f88920 | 312 | r--; |
luethale | 9:a01f90f88920 | 313 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 314 | */ |
luethale | 9:a01f90f88920 | 315 | |
Helvis | 11:2960fc540616 | 316 | do { |
luethale | 9:a01f90f88920 | 317 | |
luethale | 9:a01f90f88920 | 318 | //invert rotation |
luethale | 9:a01f90f88920 | 319 | if (route[r] == LEFT) { |
luethale | 9:a01f90f88920 | 320 | |
luethale | 9:a01f90f88920 | 321 | route[r] = RIGHT; |
luethale | 9:a01f90f88920 | 322 | |
luethale | 9:a01f90f88920 | 323 | }else if (route[r] == RIGHT) { |
luethale | 9:a01f90f88920 | 324 | |
luethale | 9:a01f90f88920 | 325 | route[r] = LEFT; |
luethale | 9:a01f90f88920 | 326 | } |
luethale | 9:a01f90f88920 | 327 | |
Helvis | 11:2960fc540616 | 328 | motion.runTask(route[r]); |
Helvis | 11:2960fc540616 | 329 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 11:2960fc540616 | 330 | route[r] = 0; |
Helvis | 11:2960fc540616 | 331 | r--; |
Helvis | 11:2960fc540616 | 332 | |
Helvis | 11:2960fc540616 | 333 | } while (junction[j] < r ); |
Helvis | 11:2960fc540616 | 334 | motion.stop(); |
luethale | 9:a01f90f88920 | 335 | |
luethale | 9:a01f90f88920 | 336 | }else{ |
luethale | 9:a01f90f88920 | 337 | |
luethale | 9:a01f90f88920 | 338 | route[r] = MOVE; |
luethale | 9:a01f90f88920 | 339 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 340 | r++; |
luethale | 9:a01f90f88920 | 341 | |
luethale | 9:a01f90f88920 | 342 | motion.scanMove(); |
luethale | 9:a01f90f88920 | 343 | } |
luethale | 9:a01f90f88920 | 344 | //No wall right |
luethale | 9:a01f90f88920 | 345 | }else if (rWall == 0) { |
luethale | 9:a01f90f88920 | 346 | |
Helvis | 1:2b5f79285a3e | 347 | route[r] = RIGHT; |
Helvis | 4:932eb2d29206 | 348 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 1:2b5f79285a3e | 349 | r++; |
Helvis | 7:22392ed60534 | 350 | route[r] = MOVE; |
Helvis | 4:932eb2d29206 | 351 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
Helvis | 7:22392ed60534 | 352 | r++; |
Helvis | 0:8491169be8fc | 353 | |
luethale | 9:a01f90f88920 | 354 | motion.rotateR(); |
Helvis | 1:2b5f79285a3e | 355 | motion.scanMove(); |
Helvis | 6:4868f789c223 | 356 | motion.stop(); |
luethale | 9:a01f90f88920 | 357 | |
luethale | 9:a01f90f88920 | 358 | //Dead end routine |
luethale | 9:a01f90f88920 | 359 | }else if ((lWall + cWall + rWall) == 3) { |
luethale | 9:a01f90f88920 | 360 | |
luethale | 9:a01f90f88920 | 361 | motion.rotate180(); |
luethale | 9:a01f90f88920 | 362 | printf("Sackgasse Schritt: %d\n", r); |
luethale | 9:a01f90f88920 | 363 | r--; |
luethale | 9:a01f90f88920 | 364 | //Return to last junction |
Helvis | 11:2960fc540616 | 365 | while (junction[j] <= r ) { |
luethale | 9:a01f90f88920 | 366 | //for (int i = r; i >= junction[j]; i-- |
luethale | 9:a01f90f88920 | 367 | |
Helvis | 11:2960fc540616 | 368 | if (junction[j] == r) { |
luethale | 9:a01f90f88920 | 369 | |
luethale | 9:a01f90f88920 | 370 | switch (route[r]) { |
luethale | 9:a01f90f88920 | 371 | case MOVE: |
luethale | 9:a01f90f88920 | 372 | motion.runTask(route[r]); |
luethale | 9:a01f90f88920 | 373 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 374 | r--; |
luethale | 9:a01f90f88920 | 375 | break; |
luethale | 9:a01f90f88920 | 376 | case LEFT: |
luethale | 9:a01f90f88920 | 377 | r--; |
luethale | 9:a01f90f88920 | 378 | break; |
luethale | 9:a01f90f88920 | 379 | case RIGHT: |
luethale | 9:a01f90f88920 | 380 | r--; |
luethale | 9:a01f90f88920 | 381 | break; |
luethale | 9:a01f90f88920 | 382 | } |
Helvis | 7:22392ed60534 | 383 | |
luethale | 9:a01f90f88920 | 384 | }else{ |
luethale | 9:a01f90f88920 | 385 | //invert rotation |
luethale | 9:a01f90f88920 | 386 | if (route[r] == LEFT) { |
luethale | 9:a01f90f88920 | 387 | |
luethale | 9:a01f90f88920 | 388 | route[r] = RIGHT; |
luethale | 9:a01f90f88920 | 389 | |
luethale | 9:a01f90f88920 | 390 | }else if (route[r] == RIGHT) { |
Helvis | 8:8131269dc46e | 391 | |
luethale | 9:a01f90f88920 | 392 | route[r] = LEFT; |
luethale | 9:a01f90f88920 | 393 | } |
luethale | 9:a01f90f88920 | 394 | //Run tasks in declining order |
luethale | 9:a01f90f88920 | 395 | motion.runTask(route[r]); |
luethale | 9:a01f90f88920 | 396 | printf("Schritt: %d, Befehl: %d\n", r, route[r]); |
luethale | 9:a01f90f88920 | 397 | route[r] = 0; |
luethale | 9:a01f90f88920 | 398 | r--; |
Helvis | 8:8131269dc46e | 399 | } |
luethale | 9:a01f90f88920 | 400 | } |
luethale | 9:a01f90f88920 | 401 | r++; |
luethale | 9:a01f90f88920 | 402 | } |
luethale | 9:a01f90f88920 | 403 | |
luethale | 9:a01f90f88920 | 404 | if (motion.finish() == 1) { |
luethale | 9:a01f90f88920 | 405 | |
luethale | 9:a01f90f88920 | 406 | /*while(r > 0) { |
luethale | 9:a01f90f88920 | 407 | //Zum Start zurückfahren |
luethale | 9:a01f90f88920 | 408 | if (route[r] == LEFT) { |
Helvis | 8:8131269dc46e | 409 | |
luethale | 9:a01f90f88920 | 410 | route[r] = RIGHT; |
Helvis | 7:22392ed60534 | 411 | |
Helvis | 7:22392ed60534 | 412 | }else if (route[r] == RIGHT) { |
luethale | 9:a01f90f88920 | 413 | |
Helvis | 7:22392ed60534 | 414 | route[r] = LEFT; |
Helvis | 7:22392ed60534 | 415 | } |
luethale | 9:a01f90f88920 | 416 | |
Helvis | 7:22392ed60534 | 417 | motion.runTask(route[r]); |
luethale | 9:a01f90f88920 | 418 | r--; |
luethale | 9:a01f90f88920 | 419 | } |
Helvis | 8:8131269dc46e | 420 | |
luethale | 9:a01f90f88920 | 421 | motion.runTask(route[r]) |
Helvis | 7:22392ed60534 | 422 | */ |
Helvis | 2:f898adf2d817 | 423 | |
luethale | 9:a01f90f88920 | 424 | Ziel = 1; |
luethale | 9:a01f90f88920 | 425 | r = 0; |
luethale | 9:a01f90f88920 | 426 | start = 0; |
luethale | 9:a01f90f88920 | 427 | controller.counterReset(); |
luethale | 9:a01f90f88920 | 428 | }else{ |
luethale | 9:a01f90f88920 | 429 | Ziel = 0; |
luethale | 9:a01f90f88920 | 430 | } |
Helvis | 0:8491169be8fc | 431 | |
Helvis | 0:8491169be8fc | 432 | |
luethale | 9:a01f90f88920 | 433 | } |
Helvis | 0:8491169be8fc | 434 | |
Helvis | 1:2b5f79285a3e | 435 | /** |
Helvis | 1:2b5f79285a3e | 436 | * |
Helvis | 1:2b5f79285a3e | 437 | * Speed run |
Helvis | 1:2b5f79285a3e | 438 | * |
Helvis | 1:2b5f79285a3e | 439 | */ |
Helvis | 1:2b5f79285a3e | 440 | |
luethale | 9:a01f90f88920 | 441 | while ( start == 1 && Ziel == 1 ) { |
Helvis | 0:8491169be8fc | 442 | |
luethale | 9:a01f90f88920 | 443 | /*if (route[r] == route[r+1] && route[r] == route[r+2]) { |
luethale | 9:a01f90f88920 | 444 | //Auf längere Strecke schneller fahren |
luethale | 9:a01f90f88920 | 445 | route[r+1] = SPEED; |
luethale | 9:a01f90f88920 | 446 | }*/ |
Helvis | 7:22392ed60534 | 447 | |
luethale | 9:a01f90f88920 | 448 | float distanceL = irSensorL.readL(); |
luethale | 9:a01f90f88920 | 449 | float distanceC = irSensorC.readC(); |
luethale | 9:a01f90f88920 | 450 | float distanceR = irSensorR.readR(); |
Helvis | 7:22392ed60534 | 451 | |
luethale | 9:a01f90f88920 | 452 | motion.runTask(route[r]); |
luethale | 9:a01f90f88920 | 453 | r++; |
Helvis | 0:8491169be8fc | 454 | |
luethale | 9:a01f90f88920 | 455 | if (route[r] == 0) { |
luethale | 9:a01f90f88920 | 456 | //Weg fertig |
luethale | 9:a01f90f88920 | 457 | motion.stop(); |
luethale | 9:a01f90f88920 | 458 | start = 0; |
luethale | 9:a01f90f88920 | 459 | } |
luethale | 9:a01f90f88920 | 460 | } |
Helvis | 0:8491169be8fc | 461 | |
Helvis | 1:2b5f79285a3e | 462 | |
Helvis | 1:2b5f79285a3e | 463 | |
Helvis | 1:2b5f79285a3e | 464 | |
luethale | 9:a01f90f88920 | 465 | } |
luethale | 9:a01f90f88920 | 466 | } |