Tobias Berger / Mbed 2 deprecated Robocode

Tobis Programm forked to not destroy your golden files

Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

source/Movement.cpp@108:02bc5b4e67b7, 2017-05-05 (annotated)

Committer:
cittecla
Date:
Fri May 05 13:31:04 2017 +0000
Revision:
108:02bc5b4e67b7
Parent:
106:02d3327bf76a
Child:
109:d18a2beb9b9b
move with radius is working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 18:a82994e67297 1 /**
cittecla 18:a82994e67297 2 * Movement function library
cittecla 18:a82994e67297 3 * Handels Movement of the Robot
cittecla 18:a82994e67297 4 **/
cittecla 39:92723f7ea54f 5
cittecla 39:92723f7ea54f 6 #include "Movement.h"
cittecla 105:d489c2e8de35 7 #define OFFSET_GREIFER_TO_IRSENSOR 0.15 // Constant for distance between front IR Sensor and the postion where the Greifer is in grabbing Position
cittecla 105:d489c2e8de35 8 #define OFFSET_WHEELS 0.09 // Offset of the wheels from the center pos
cittecla 39:92723f7ea54f 9
cittecla 85:d8ea8a99fa3a 10 bool is_moving = false;
cittecla 85:d8ea8a99fa3a 11 float wanted_dist = 0;
cittecla 61:628f8a4e857c 12 bool is_turning = false;
cittecla 61:628f8a4e857c 13 float wanted_deg = 0;
cittecla 105:d489c2e8de35 14 bool direction = false;
cittecla 105:d489c2e8de35 15
cittecla 63:b27aa01c2cf6 16 Timer t;
cittecla 105:d489c2e8de35 17
cittecla 86:df8c869a5a52 18 int search_state = 0;
cittecla 77:ff87a10c4baf 19
cittecla 94:0381e8b1beda 20 float left = 0;
cittecla 94:0381e8b1beda 21 float right = 0;
cittecla 94:0381e8b1beda 22
cittecla 94:0381e8b1beda 23 bool devider = true;
cittecla 94:0381e8b1beda 24
cittecla 61:628f8a4e857c 25
cittecla 52:56399c2f13cd 26 int moving()
cittecla 52:56399c2f13cd 27 {
cittecla 52:56399c2f13cd 28
cittecla 39:92723f7ea54f 29 return 0;
cittecla 52:56399c2f13cd 30 }
cittecla 52:56399c2f13cd 31
cittecla 106:02d3327bf76a 32 /**
cittecla 106:02d3327bf76a 33 * Stops current movement immediately
cittecla 106:02d3327bf76a 34 **/
cittecla 86:df8c869a5a52 35 void stop_move()
cittecla 86:df8c869a5a52 36 {
cittecla 86:df8c869a5a52 37 set_speed(0,0);
cittecla 86:df8c869a5a52 38 wanted_dist = 0;
cittecla 86:df8c869a5a52 39 is_moving = false;
cittecla 86:df8c869a5a52 40 }
cittecla 86:df8c869a5a52 41
cittecla 106:02d3327bf76a 42 /**
cittecla 106:02d3327bf76a 43 * Stops current turn immediately
cittecla 106:02d3327bf76a 44 **/
cittecla 86:df8c869a5a52 45 void stop_turn()
cittecla 86:df8c869a5a52 46 {
cittecla 86:df8c869a5a52 47 set_speed(0,0);
cittecla 86:df8c869a5a52 48 wanted_deg = 0;
cittecla 86:df8c869a5a52 49 is_turning = false;
cittecla 86:df8c869a5a52 50 }
cittecla 86:df8c869a5a52 51
cittecla 106:02d3327bf76a 52
cittecla 106:02d3327bf76a 53 /**
cittecla 106:02d3327bf76a 54 * move for wanted distance on circle with a given radius
cittecla 106:02d3327bf76a 55 * needs to be called until return < 0
cittecla 106:02d3327bf76a 56 * if calling distance not 0: distance and radius initilisation.
cittecla 106:02d3327bf76a 57 * by Claudio Citterio
cittecla 106:02d3327bf76a 58 **/
cittecla 105:d489c2e8de35 59 float move_for_distance_with_radius(float distance, float r)
cittecla 105:d489c2e8de35 60 {
cittecla 105:d489c2e8de35 61
cittecla 105:d489c2e8de35 62 if(distance != 0) {
cittecla 105:d489c2e8de35 63
cittecla 105:d489c2e8de35 64 is_moving = true;
cittecla 105:d489c2e8de35 65 wanted_dist = fabsf(distance);
cittecla 105:d489c2e8de35 66
cittecla 105:d489c2e8de35 67 float circumference = r*2*(float)M_PI;
cittecla 105:d489c2e8de35 68 float circumference_inner = ((r-(float)OFFSET_WHEELS)*2*(float)M_PI);
cittecla 105:d489c2e8de35 69 float circumference_outer = ((r+(float)OFFSET_WHEELS)*2*(float)M_PI);
cittecla 105:d489c2e8de35 70
cittecla 105:d489c2e8de35 71 float center_speed = 50;
cittecla 108:02bc5b4e67b7 72 if(fabsf(r) < 0.2f) center_speed *= 0.5f;
cittecla 105:d489c2e8de35 73 float inner_speed = center_speed/circumference*circumference_inner;
cittecla 105:d489c2e8de35 74 float outer_speed = center_speed/circumference*circumference_outer;
cittecla 105:d489c2e8de35 75
cittecla 105:d489c2e8de35 76 //wanted_deg = 360 / (2*radius*(float)M_PI) * wanted_dist;
cittecla 105:d489c2e8de35 77 //float time = (10*wanted_dist)/(wheel_r * center_speed);
cittecla 105:d489c2e8de35 78
cittecla 105:d489c2e8de35 79
cittecla 108:02bc5b4e67b7 80 if(r != 0) {
cittecla 108:02bc5b4e67b7 81 //move with turn
cittecla 108:02bc5b4e67b7 82 if(distance > 0) { //move forward
cittecla 105:d489c2e8de35 83 direction = 1;
cittecla 105:d489c2e8de35 84 left = outer_speed;
cittecla 105:d489c2e8de35 85 right = inner_speed;
cittecla 105:d489c2e8de35 86 } else { //move backward
cittecla 105:d489c2e8de35 87 direction = 0;
cittecla 105:d489c2e8de35 88 left = -outer_speed;
cittecla 105:d489c2e8de35 89 right = -inner_speed;
cittecla 105:d489c2e8de35 90 }
cittecla 105:d489c2e8de35 91 } else {
cittecla 105:d489c2e8de35 92 //normal straight movement
cittecla 108:02bc5b4e67b7 93 printf("move straight\r\n");
cittecla 105:d489c2e8de35 94 if(distance > 0) { //move forward
cittecla 105:d489c2e8de35 95 direction = 1;
cittecla 105:d489c2e8de35 96 left = center_speed;
cittecla 105:d489c2e8de35 97 right = center_speed;
cittecla 105:d489c2e8de35 98 } else { //move backward
cittecla 105:d489c2e8de35 99 direction = 0;
cittecla 105:d489c2e8de35 100 left = -center_speed;
cittecla 105:d489c2e8de35 101 right = -center_speed;
cittecla 105:d489c2e8de35 102 }
cittecla 105:d489c2e8de35 103 }
cittecla 105:d489c2e8de35 104
cittecla 105:d489c2e8de35 105 set_speed(left, right);
cittecla 105:d489c2e8de35 106 devider = true;
cittecla 105:d489c2e8de35 107 t.reset();
cittecla 105:d489c2e8de35 108 t.start();
cittecla 105:d489c2e8de35 109 } else {
cittecla 105:d489c2e8de35 110 float speed_multiplier = 0.6f;
cittecla 105:d489c2e8de35 111 if(wanted_dist < 0.10f && devider == true) {
cittecla 105:d489c2e8de35 112 //printf("devided\r\n");
cittecla 105:d489c2e8de35 113 devider = false;
cittecla 105:d489c2e8de35 114 left = left * speed_multiplier;
cittecla 105:d489c2e8de35 115 right = right * speed_multiplier;
cittecla 105:d489c2e8de35 116 //printf("left: %f || right: %f\r\n", left, right);
cittecla 105:d489c2e8de35 117 set_speed(left, right);
cittecla 105:d489c2e8de35 118 }
cittecla 105:d489c2e8de35 119
cittecla 105:d489c2e8de35 120 float speed_left = get_speed_left();
cittecla 105:d489c2e8de35 121 float speed_right = get_speed_right();
cittecla 105:d489c2e8de35 122 wanted_dist -= (2*(float)wheel_r*(float)M_PI)/(2*M_PI) * t.read() * ((fabsf(speed_left)+fabsf(speed_right))/2) * 0.1f;
cittecla 105:d489c2e8de35 123 t.reset();
cittecla 105:d489c2e8de35 124
cittecla 105:d489c2e8de35 125 if(wanted_dist <= 0) { //distance covered, Stop function
cittecla 105:d489c2e8de35 126 set_speed(0,0);
cittecla 105:d489c2e8de35 127 is_moving = false;
cittecla 105:d489c2e8de35 128 t.stop();
cittecla 105:d489c2e8de35 129 }
cittecla 105:d489c2e8de35 130 }
cittecla 105:d489c2e8de35 131 printf("remaining distance to cover: %f\r\n", wanted_dist);
cittecla 105:d489c2e8de35 132 return wanted_dist;
cittecla 105:d489c2e8de35 133 }
cittecla 105:d489c2e8de35 134
cittecla 106:02d3327bf76a 135 /**
cittecla 106:02d3327bf76a 136 * move for wanted distance
cittecla 106:02d3327bf76a 137 * needs to be called until return < 0
cittecla 106:02d3327bf76a 138 * if calling distance not 0: distance initilisation.
cittecla 106:02d3327bf76a 139 * by Claudio Citterio
cittecla 106:02d3327bf76a 140 **/
cittecla 85:d8ea8a99fa3a 141 float move_for_distance(float distance)
cittecla 52:56399c2f13cd 142 {
cittecla 88:b89cace9329b 143 printf("move for distance\r\n");
cittecla 85:d8ea8a99fa3a 144 if(distance != 0) {
cittecla 52:56399c2f13cd 145
cittecla 85:d8ea8a99fa3a 146 is_moving = true;
cittecla 85:d8ea8a99fa3a 147
cittecla 105:d489c2e8de35 148 wanted_dist = fabsf(distance);
cittecla 85:d8ea8a99fa3a 149
cittecla 85:d8ea8a99fa3a 150 if(distance > 0) { //move forward
cittecla 85:d8ea8a99fa3a 151 direction = 1;
cittecla 85:d8ea8a99fa3a 152 left = 50.0f;
cittecla 85:d8ea8a99fa3a 153 right = 50.0f;
cittecla 85:d8ea8a99fa3a 154 } else { //move backward
cittecla 85:d8ea8a99fa3a 155 direction = 0;
cittecla 85:d8ea8a99fa3a 156 left = -50.0f;
cittecla 85:d8ea8a99fa3a 157 right = -50.0f;
cittecla 85:d8ea8a99fa3a 158 }
cittecla 88:b89cace9329b 159 printf("set speed %f\r\n", left);
cittecla 85:d8ea8a99fa3a 160 set_speed(left, right);
cittecla 94:0381e8b1beda 161 devider = true;
cittecla 85:d8ea8a99fa3a 162 t.reset();
cittecla 85:d8ea8a99fa3a 163 t.start();
cittecla 85:d8ea8a99fa3a 164
cittecla 85:d8ea8a99fa3a 165 } else {
cittecla 94:0381e8b1beda 166 float speed_multiplier = 0.6f;
cittecla 94:0381e8b1beda 167 if(wanted_dist < 0.10f && devider == true) {
cittecla 94:0381e8b1beda 168 //printf("devided\r\n");
cittecla 94:0381e8b1beda 169 devider = false;
aeschsim 99:78d87027c85b 170 left = left * speed_multiplier;
aeschsim 99:78d87027c85b 171 right = right * speed_multiplier;
aeschsim 99:78d87027c85b 172 //printf("left: %f || right: %f\r\n", left, right);
cittecla 94:0381e8b1beda 173 set_speed(left, right);
cittecla 94:0381e8b1beda 174 }
cittecla 85:d8ea8a99fa3a 175
cittecla 85:d8ea8a99fa3a 176 float speed_left = get_speed_left();
cittecla 94:0381e8b1beda 177 printf("speed left: %f\r\n", speed_left);
cittecla 89:7f9d6e641a01 178 wanted_dist -= (2*(float)wheel_r*(float)M_PI)/(2*M_PI) * t.read() * fabsf(speed_left)*0.1f;
cittecla 85:d8ea8a99fa3a 179 t.reset();
cittecla 85:d8ea8a99fa3a 180
cittecla 85:d8ea8a99fa3a 181 if(wanted_dist <= 0) { //distance covered, Stop function
cittecla 85:d8ea8a99fa3a 182 set_speed(0,0);
cittecla 85:d8ea8a99fa3a 183 is_moving = false;
cittecla 85:d8ea8a99fa3a 184 t.stop();
cittecla 85:d8ea8a99fa3a 185 }
cittecla 85:d8ea8a99fa3a 186 }
cittecla 88:b89cace9329b 187 printf("remaining distance to cover: %f\r\n", wanted_dist);
cittecla 85:d8ea8a99fa3a 188 return wanted_dist;
cittecla 52:56399c2f13cd 189 }
cittecla 52:56399c2f13cd 190
cittecla 106:02d3327bf76a 191 /**
cittecla 106:02d3327bf76a 192 * turn for wanted degree
cittecla 106:02d3327bf76a 193 * needs to be called until return < 0
cittecla 106:02d3327bf76a 194 * if deg not 0: turn initilisation.
cittecla 106:02d3327bf76a 195 * Claudio Citterio
cittecla 106:02d3327bf76a 196 **/
cittecla 108:02bc5b4e67b7 197 float turn_for_deg(float deg)
cittecla 52:56399c2f13cd 198 {
cittecla 52:56399c2f13cd 199
cittecla 75:dba260cb5ae4 200 if(deg != 0) {
cittecla 61:628f8a4e857c 201
cittecla 61:628f8a4e857c 202 is_turning = true;
cittecla 94:0381e8b1beda 203 wanted_deg = fabsf(deg);
cittecla 61:628f8a4e857c 204
cittecla 61:628f8a4e857c 205 if(deg < 0) { // turn left
cittecla 61:628f8a4e857c 206 direction = 1;
cittecla 94:0381e8b1beda 207 left = -30.0f;
cittecla 94:0381e8b1beda 208 right = 30.0f;
cittecla 61:628f8a4e857c 209 } else { // turn right
cittecla 61:628f8a4e857c 210 direction = 0;
cittecla 94:0381e8b1beda 211 left = 30.0f;
cittecla 94:0381e8b1beda 212 right = -30.0f;
cittecla 61:628f8a4e857c 213 }
cittecla 61:628f8a4e857c 214 set_speed(left, right);
cittecla 94:0381e8b1beda 215 devider = true;
cittecla 71:ddf4eb5c3081 216 t.reset();
cittecla 61:628f8a4e857c 217 t.start();
cittecla 61:628f8a4e857c 218
cittecla 61:628f8a4e857c 219 } else {
cittecla 94:0381e8b1beda 220 float speed_multiplier = 0.6f;
cittecla 94:0381e8b1beda 221 if(wanted_deg < 10.0f && devider == true) {
cittecla 94:0381e8b1beda 222 devider = false;
aeschsim 99:78d87027c85b 223 left = left * speed_multiplier;
aeschsim 99:78d87027c85b 224 right = right * speed_multiplier;
cittecla 94:0381e8b1beda 225 set_speed(left, right);
cittecla 94:0381e8b1beda 226 }
cittecla 101:6b10685aa34d 227
cittecla 61:628f8a4e857c 228 float speed_left = get_speed_left();
cittecla 94:0381e8b1beda 229 wanted_deg -= 360/(2*circle_r*M_PI) * ((2*(float)wheel_r*(float)M_PI)/(2*M_PI) * t.read() * fabsf(speed_left)*0.1f);
cittecla 75:dba260cb5ae4 230 t.reset();
cittecla 75:dba260cb5ae4 231 if(wanted_deg <= 0) {
cittecla 61:628f8a4e857c 232 set_speed(0,0);
cittecla 61:628f8a4e857c 233 is_turning = false;
cittecla 61:628f8a4e857c 234 t.stop();
cittecla 61:628f8a4e857c 235 }
cittecla 61:628f8a4e857c 236 }
cittecla 94:0381e8b1beda 237 printf("remaining deg %f\r\n", wanted_deg);
cittecla 75:dba260cb5ae4 238 return (wanted_deg);
cittecla 52:56399c2f13cd 239 }
cittecla 52:56399c2f13cd 240
cittecla 106:02d3327bf76a 241 /** has errors
cittecla 106:02d3327bf76a 242 * moves to next coordinate from coordinate list
cittecla 106:02d3327bf76a 243 * by Claudio Citterio
cittecla 106:02d3327bf76a 244 **/
cittecla 52:56399c2f13cd 245
cittecla 52:56399c2f13cd 246 int move_to_next_coord()
cittecla 52:56399c2f13cd 247 {
cittecla 52:56399c2f13cd 248
cittecla 52:56399c2f13cd 249 float current_heading = get_current_heading();
cittecla 53:453f24775644 250 position current_pos = get_current_pos();
cittecla 52:56399c2f13cd 251 position next_pos = get_next_pos();
cittecla 61:628f8a4e857c 252
cittecla 52:56399c2f13cd 253 float needed_heading = 0;
cittecla 52:56399c2f13cd 254 float distance = 0;
cittecla 61:628f8a4e857c 255
cittecla 52:56399c2f13cd 256 // nord(-y) = 0 grad
cittecla 61:628f8a4e857c 257 if(current_pos.y > next_pos.y) {
cittecla 61:628f8a4e857c 258 if(current_pos.x > next_pos.x) needed_heading = 315;
cittecla 61:628f8a4e857c 259 distance = sqrt2;
cittecla 61:628f8a4e857c 260 if(current_pos.x == next_pos.x) needed_heading = 0;
cittecla 61:628f8a4e857c 261 distance = 1;
cittecla 61:628f8a4e857c 262 if(current_pos.x < next_pos.x) needed_heading = 45;
cittecla 61:628f8a4e857c 263 distance = sqrt2;
cittecla 61:628f8a4e857c 264 }
cittecla 61:628f8a4e857c 265 if(current_pos.y == next_pos.y) {
cittecla 61:628f8a4e857c 266 if(current_pos.x > next_pos.x) needed_heading = 270;
cittecla 61:628f8a4e857c 267 distance = 1;
cittecla 53:453f24775644 268 if(current_pos.x == next_pos.x) //error same position;
cittecla 61:628f8a4e857c 269 if(current_pos.x < next_pos.x) needed_heading = 90;
cittecla 61:628f8a4e857c 270 distance = 1;
cittecla 61:628f8a4e857c 271 }
cittecla 61:628f8a4e857c 272 if(current_pos.y < next_pos.y) {
cittecla 61:628f8a4e857c 273 if(current_pos.x > next_pos.x) needed_heading = 225;
cittecla 61:628f8a4e857c 274 distance = sqrt2;
cittecla 61:628f8a4e857c 275 if(current_pos.x == next_pos.x) needed_heading = 180;
cittecla 61:628f8a4e857c 276 distance = 1;
cittecla 61:628f8a4e857c 277 if(current_pos.x < next_pos.x) needed_heading = 135;
cittecla 61:628f8a4e857c 278 distance = sqrt2;
cittecla 61:628f8a4e857c 279 }
cittecla 52:56399c2f13cd 280
cittecla 52:56399c2f13cd 281 if(needed_heading != current_heading) {
cittecla 53:453f24775644 282 turn_for_deg((needed_heading-current_heading));
cittecla 61:628f8a4e857c 283 } else {
cittecla 85:d8ea8a99fa3a 284 move_for_distance(distance);
cittecla 39:92723f7ea54f 285 }
cittecla 39:92723f7ea54f 286 return 0;
cittecla 52:56399c2f13cd 287 }
cittecla 52:56399c2f13cd 288
cittecla 108:02bc5b4e67b7 289 /**
cittecla 106:02d3327bf76a 290 * this function searchs a nearby brick, moves towards it and grabbs it
cittecla 106:02d3327bf76a 291 * by Tobias Berger, state machine by Claudio Citterio
cittecla 106:02d3327bf76a 292 **/
cittecla 52:56399c2f13cd 293 int move_in_search_for_brick()
cittecla 52:56399c2f13cd 294 {
PESGruppe1 79:50f8d58f79ab 295 float upper = getDistanceIR(2); // get distance from upper Center Sensor
PESGruppe1 79:50f8d58f79ab 296 float lower = getDistanceIR(3); // get distance from Lower Center Sensor
aeschsim 96:1c6867536350 297 printf("Current Search State: >%d<\r\n",search_state);
cittecla 86:df8c869a5a52 298 switch (search_state) {
cittecla 86:df8c869a5a52 299 case 0: //first cycle right
cittecla 86:df8c869a5a52 300 turn_for_deg(60.0f); // call function and start turning
cittecla 86:df8c869a5a52 301 search_state = 1;
cittecla 86:df8c869a5a52 302 break;
cittecla 85:d8ea8a99fa3a 303
cittecla 86:df8c869a5a52 304 case 1: // turn right 60 deg
cittecla 101:6b10685aa34d 305 if((lower<0.75f)&&(lower>0.05f)) { // if something is in the range of 10 to 80cm at the lower Sensor
cittecla 86:df8c869a5a52 306 if(fabsf((upper-lower))>0.02f) { // and nothing is detected with the upper Sensor
cittecla 86:df8c869a5a52 307 stop_turn();
cittecla 101:6b10685aa34d 308 search_state = 5; //brick found
aeschsim 99:78d87027c85b 309 printf("Brick found lower: %f upper:%f",lower,upper);
cittecla 86:df8c869a5a52 310 }
cittecla 86:df8c869a5a52 311 } else {
cittecla 86:df8c869a5a52 312 search_state = 1; // go to same state
cittecla 86:df8c869a5a52 313 if(turn_for_deg(0) < 0) {
cittecla 86:df8c869a5a52 314 stop_turn();
cittecla 86:df8c869a5a52 315 search_state = 2;
cittecla 86:df8c869a5a52 316 }
cittecla 86:df8c869a5a52 317 }
cittecla 86:df8c869a5a52 318 break;
cittecla 85:d8ea8a99fa3a 319
cittecla 86:df8c869a5a52 320 case 2: // first cycle left
cittecla 86:df8c869a5a52 321 turn_for_deg(-120.0f);
cittecla 86:df8c869a5a52 322 search_state = 3;
cittecla 86:df8c869a5a52 323 break;
cittecla 85:d8ea8a99fa3a 324
cittecla 86:df8c869a5a52 325 case 3: // turn left 120 deg
cittecla 101:6b10685aa34d 326 if((lower<0.75f)&&(lower>0.1f)) { // if something is in the range of 10 to 75cm at the lower Sensor
cittecla 86:df8c869a5a52 327 if(fabsf((upper-lower))>0.02f) { // and nothing is detected with the upper Sensor
cittecla 86:df8c869a5a52 328 stop_turn();
cittecla 104:7bc5eb2b4199 329 search_state = 10; //brick found
cittecla 101:6b10685aa34d 330 printf("Brick found lower: %f upper:%f",lower,upper);
cittecla 86:df8c869a5a52 331 }
cittecla 86:df8c869a5a52 332 } else {
cittecla 86:df8c869a5a52 333 search_state = 3; // go to same state
cittecla 86:df8c869a5a52 334 if(turn_for_deg(0) < 0) {
cittecla 86:df8c869a5a52 335 stop_turn();
cittecla 101:6b10685aa34d 336 search_state = 20; // error
cittecla 86:df8c869a5a52 337 }
cittecla 86:df8c869a5a52 338 }
cittecla 86:df8c869a5a52 339 break;
cittecla 52:56399c2f13cd 340
cittecla 101:6b10685aa34d 341 case 5: // turn back left
cittecla 101:6b10685aa34d 342 turn_for_deg(-10.0f);
cittecla 101:6b10685aa34d 343 search_state = 8;
cittecla 101:6b10685aa34d 344 break;
cittecla 105:d489c2e8de35 345
cittecla 101:6b10685aa34d 346 case 8: // turn back right continue
cittecla 101:6b10685aa34d 347 if((lower<0.75f)&&(lower>0.1f)) { // if something is in the range of 10 to 75cm at the lower Sensor
cittecla 101:6b10685aa34d 348 if(fabsf((upper-lower))>0.02f) { // and nothing is detected with the upper Sensor
cittecla 101:6b10685aa34d 349 stop_turn();
cittecla 101:6b10685aa34d 350 search_state = 10; //brick found
cittecla 101:6b10685aa34d 351 }
cittecla 101:6b10685aa34d 352 } else {
cittecla 104:7bc5eb2b4199 353 search_state = 8; // go to same state
cittecla 101:6b10685aa34d 354 if(turn_for_deg(0) < 0) {
cittecla 101:6b10685aa34d 355 stop_turn();
cittecla 101:6b10685aa34d 356 search_state = 20; // error
cittecla 101:6b10685aa34d 357 }
cittecla 86:df8c869a5a52 358 }
cittecla 86:df8c869a5a52 359 break;
cittecla 86:df8c869a5a52 360
cittecla 101:6b10685aa34d 361
cittecla 101:6b10685aa34d 362 case 10: // first cycle move
cittecla 101:6b10685aa34d 363 float distance_to_Brick = lower-(float)OFFSET_GREIFER_TO_IRSENSOR; // calculate
cittecla 101:6b10685aa34d 364 move_for_distance(distance_to_Brick);
cittecla 101:6b10685aa34d 365 search_state =11;
cittecla 101:6b10685aa34d 366 break;
cittecla 101:6b10685aa34d 367
cittecla 101:6b10685aa34d 368 case 11: // move forward
cittecla 101:6b10685aa34d 369 if(move_for_distance(0) < 0) {
cittecla 101:6b10685aa34d 370 stop_move();
cittecla 101:6b10685aa34d 371 search_state = 12;
cittecla 101:6b10685aa34d 372 }
cittecla 101:6b10685aa34d 373 break;
cittecla 101:6b10685aa34d 374
cittecla 101:6b10685aa34d 375 case 12: // Grabbing
cittecla 94:0381e8b1beda 376 return 50; //main state machine set as Grabbing
cittecla 94:0381e8b1beda 377
cittecla 86:df8c869a5a52 378 default:
aeschsim 96:1c6867536350 379 printf("default State - move in search for brick\r\n");
cittecla 86:df8c869a5a52 380 // error
cittecla 86:df8c869a5a52 381 break;
PESGruppe1 74:d9c387b83196 382 }
cittecla 86:df8c869a5a52 383 return 47; //called until function is done
cittecla 52:56399c2f13cd 384 }
cittecla 52:56399c2f13cd 385
cittecla 39:92723f7ea54f 386
cittecla 39:92723f7ea54f 387
cittecla 39:92723f7ea54f 388
cittecla 39:92723f7ea54f 389
cittecla 39:92723f7ea54f 390
cittecla 39:92723f7ea54f 391
cittecla 39:92723f7ea54f 392