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@110:510927a51be8, 2017-05-08 (annotated)

Committer:
aeschsim
Date:
Mon May 08 07:14:26 2017 +0000
Revision:
110:510927a51be8
Parent:
109:d18a2beb9b9b
Child:
111:cd7b7b551616
Add Safety move cancel in move_in_search_for_brick()  if distance is to low (see in case 11, second if statement), not tested yet,

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 109:d18a2beb9b9b 8 #define OFFSET_WHEELS 0.09 // Offset of the wheels from the max 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 109:d18a2beb9b9b 71 float max_speed = 50;
cittecla 109:d18a2beb9b9b 72 float inner_speed = max_speed/circumference*circumference_inner;
cittecla 109:d18a2beb9b9b 73 float outer_speed = max_speed/circumference*circumference_outer;
cittecla 105:d489c2e8de35 74
cittecla 109:d18a2beb9b9b 75 //reduce outer speed to max speed
cittecla 109:d18a2beb9b9b 76 float multiplier = 1.0f/inner_speed*max_speed;
cittecla 109:d18a2beb9b9b 77 inner_speed *= multiplier;
cittecla 109:d18a2beb9b9b 78 outer_speed *= multiplier;
cittecla 105:d489c2e8de35 79
cittecla 109:d18a2beb9b9b 80 if(r < 0.21f) {
cittecla 109:d18a2beb9b9b 81 outer_speed *= 0.5f;
cittecla 109:d18a2beb9b9b 82 inner_speed *= 0.5f;
cittecla 109:d18a2beb9b9b 83 }
cittecla 105:d489c2e8de35 84
cittecla 108:02bc5b4e67b7 85 if(r != 0) {
cittecla 108:02bc5b4e67b7 86 //move with turn
cittecla 108:02bc5b4e67b7 87 if(distance > 0) { //move forward
cittecla 105:d489c2e8de35 88 direction = 1;
cittecla 105:d489c2e8de35 89 left = outer_speed;
cittecla 105:d489c2e8de35 90 right = inner_speed;
cittecla 105:d489c2e8de35 91 } else { //move backward
cittecla 105:d489c2e8de35 92 direction = 0;
cittecla 105:d489c2e8de35 93 left = -outer_speed;
cittecla 105:d489c2e8de35 94 right = -inner_speed;
cittecla 105:d489c2e8de35 95 }
cittecla 105:d489c2e8de35 96 } else {
cittecla 105:d489c2e8de35 97 //normal straight movement
cittecla 108:02bc5b4e67b7 98 printf("move straight\r\n");
cittecla 105:d489c2e8de35 99 if(distance > 0) { //move forward
cittecla 105:d489c2e8de35 100 direction = 1;
cittecla 109:d18a2beb9b9b 101 left = max_speed;
cittecla 109:d18a2beb9b9b 102 right = max_speed;
cittecla 105:d489c2e8de35 103 } else { //move backward
cittecla 105:d489c2e8de35 104 direction = 0;
cittecla 109:d18a2beb9b9b 105 left = -max_speed;
cittecla 109:d18a2beb9b9b 106 right = -max_speed;
cittecla 105:d489c2e8de35 107 }
cittecla 105:d489c2e8de35 108 }
cittecla 105:d489c2e8de35 109
cittecla 105:d489c2e8de35 110 set_speed(left, right);
cittecla 105:d489c2e8de35 111 devider = true;
cittecla 105:d489c2e8de35 112 t.reset();
cittecla 105:d489c2e8de35 113 t.start();
cittecla 105:d489c2e8de35 114 } else {
cittecla 105:d489c2e8de35 115 float speed_multiplier = 0.6f;
cittecla 105:d489c2e8de35 116 if(wanted_dist < 0.10f && devider == true) {
cittecla 105:d489c2e8de35 117 //printf("devided\r\n");
cittecla 105:d489c2e8de35 118 devider = false;
cittecla 105:d489c2e8de35 119 left = left * speed_multiplier;
cittecla 105:d489c2e8de35 120 right = right * speed_multiplier;
cittecla 105:d489c2e8de35 121 //printf("left: %f || right: %f\r\n", left, right);
cittecla 105:d489c2e8de35 122 set_speed(left, right);
cittecla 105:d489c2e8de35 123 }
cittecla 105:d489c2e8de35 124
cittecla 105:d489c2e8de35 125 float speed_left = get_speed_left();
cittecla 105:d489c2e8de35 126 float speed_right = get_speed_right();
cittecla 105:d489c2e8de35 127 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 128 t.reset();
cittecla 105:d489c2e8de35 129
cittecla 105:d489c2e8de35 130 if(wanted_dist <= 0) { //distance covered, Stop function
cittecla 105:d489c2e8de35 131 set_speed(0,0);
cittecla 105:d489c2e8de35 132 is_moving = false;
cittecla 105:d489c2e8de35 133 t.stop();
cittecla 105:d489c2e8de35 134 }
cittecla 105:d489c2e8de35 135 }
cittecla 105:d489c2e8de35 136 printf("remaining distance to cover: %f\r\n", wanted_dist);
cittecla 105:d489c2e8de35 137 return wanted_dist;
cittecla 105:d489c2e8de35 138 }
cittecla 105:d489c2e8de35 139
cittecla 106:02d3327bf76a 140 /**
cittecla 106:02d3327bf76a 141 * move for wanted distance
cittecla 106:02d3327bf76a 142 * needs to be called until return < 0
cittecla 106:02d3327bf76a 143 * if calling distance not 0: distance initilisation.
cittecla 106:02d3327bf76a 144 * by Claudio Citterio
cittecla 106:02d3327bf76a 145 **/
cittecla 85:d8ea8a99fa3a 146 float move_for_distance(float distance)
cittecla 52:56399c2f13cd 147 {
cittecla 88:b89cace9329b 148 printf("move for distance\r\n");
cittecla 85:d8ea8a99fa3a 149 if(distance != 0) {
cittecla 52:56399c2f13cd 150
cittecla 85:d8ea8a99fa3a 151 is_moving = true;
cittecla 85:d8ea8a99fa3a 152
cittecla 105:d489c2e8de35 153 wanted_dist = fabsf(distance);
cittecla 85:d8ea8a99fa3a 154
cittecla 85:d8ea8a99fa3a 155 if(distance > 0) { //move forward
cittecla 85:d8ea8a99fa3a 156 direction = 1;
cittecla 85:d8ea8a99fa3a 157 left = 50.0f;
cittecla 85:d8ea8a99fa3a 158 right = 50.0f;
cittecla 85:d8ea8a99fa3a 159 } else { //move backward
cittecla 85:d8ea8a99fa3a 160 direction = 0;
cittecla 85:d8ea8a99fa3a 161 left = -50.0f;
cittecla 85:d8ea8a99fa3a 162 right = -50.0f;
cittecla 85:d8ea8a99fa3a 163 }
cittecla 88:b89cace9329b 164 printf("set speed %f\r\n", left);
cittecla 85:d8ea8a99fa3a 165 set_speed(left, right);
cittecla 94:0381e8b1beda 166 devider = true;
cittecla 85:d8ea8a99fa3a 167 t.reset();
cittecla 85:d8ea8a99fa3a 168 t.start();
cittecla 85:d8ea8a99fa3a 169
cittecla 85:d8ea8a99fa3a 170 } else {
cittecla 94:0381e8b1beda 171 float speed_multiplier = 0.6f;
cittecla 94:0381e8b1beda 172 if(wanted_dist < 0.10f && devider == true) {
cittecla 94:0381e8b1beda 173 //printf("devided\r\n");
cittecla 94:0381e8b1beda 174 devider = false;
aeschsim 99:78d87027c85b 175 left = left * speed_multiplier;
aeschsim 99:78d87027c85b 176 right = right * speed_multiplier;
aeschsim 99:78d87027c85b 177 //printf("left: %f || right: %f\r\n", left, right);
cittecla 94:0381e8b1beda 178 set_speed(left, right);
cittecla 94:0381e8b1beda 179 }
cittecla 85:d8ea8a99fa3a 180
cittecla 85:d8ea8a99fa3a 181 float speed_left = get_speed_left();
cittecla 94:0381e8b1beda 182 printf("speed left: %f\r\n", speed_left);
cittecla 89:7f9d6e641a01 183 wanted_dist -= (2*(float)wheel_r*(float)M_PI)/(2*M_PI) * t.read() * fabsf(speed_left)*0.1f;
cittecla 85:d8ea8a99fa3a 184 t.reset();
cittecla 85:d8ea8a99fa3a 185
cittecla 85:d8ea8a99fa3a 186 if(wanted_dist <= 0) { //distance covered, Stop function
cittecla 85:d8ea8a99fa3a 187 set_speed(0,0);
cittecla 85:d8ea8a99fa3a 188 is_moving = false;
cittecla 85:d8ea8a99fa3a 189 t.stop();
cittecla 85:d8ea8a99fa3a 190 }
cittecla 85:d8ea8a99fa3a 191 }
cittecla 88:b89cace9329b 192 printf("remaining distance to cover: %f\r\n", wanted_dist);
cittecla 85:d8ea8a99fa3a 193 return wanted_dist;
cittecla 52:56399c2f13cd 194 }
cittecla 52:56399c2f13cd 195
cittecla 106:02d3327bf76a 196 /**
cittecla 106:02d3327bf76a 197 * turn for wanted degree
cittecla 106:02d3327bf76a 198 * needs to be called until return < 0
cittecla 106:02d3327bf76a 199 * if deg not 0: turn initilisation.
cittecla 106:02d3327bf76a 200 * Claudio Citterio
cittecla 106:02d3327bf76a 201 **/
cittecla 108:02bc5b4e67b7 202 float turn_for_deg(float deg)
cittecla 52:56399c2f13cd 203 {
cittecla 52:56399c2f13cd 204
cittecla 75:dba260cb5ae4 205 if(deg != 0) {
cittecla 61:628f8a4e857c 206
cittecla 61:628f8a4e857c 207 is_turning = true;
cittecla 94:0381e8b1beda 208 wanted_deg = fabsf(deg);
cittecla 61:628f8a4e857c 209
cittecla 61:628f8a4e857c 210 if(deg < 0) { // turn left
cittecla 61:628f8a4e857c 211 direction = 1;
cittecla 94:0381e8b1beda 212 left = -30.0f;
cittecla 94:0381e8b1beda 213 right = 30.0f;
cittecla 61:628f8a4e857c 214 } else { // turn right
cittecla 61:628f8a4e857c 215 direction = 0;
cittecla 94:0381e8b1beda 216 left = 30.0f;
cittecla 94:0381e8b1beda 217 right = -30.0f;
cittecla 61:628f8a4e857c 218 }
cittecla 61:628f8a4e857c 219 set_speed(left, right);
cittecla 94:0381e8b1beda 220 devider = true;
cittecla 71:ddf4eb5c3081 221 t.reset();
cittecla 61:628f8a4e857c 222 t.start();
cittecla 61:628f8a4e857c 223
cittecla 61:628f8a4e857c 224 } else {
cittecla 94:0381e8b1beda 225 float speed_multiplier = 0.6f;
cittecla 94:0381e8b1beda 226 if(wanted_deg < 10.0f && devider == true) {
cittecla 94:0381e8b1beda 227 devider = false;
aeschsim 99:78d87027c85b 228 left = left * speed_multiplier;
aeschsim 99:78d87027c85b 229 right = right * speed_multiplier;
cittecla 94:0381e8b1beda 230 set_speed(left, right);
cittecla 94:0381e8b1beda 231 }
cittecla 101:6b10685aa34d 232
cittecla 61:628f8a4e857c 233 float speed_left = get_speed_left();
cittecla 94:0381e8b1beda 234 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 235 t.reset();
cittecla 75:dba260cb5ae4 236 if(wanted_deg <= 0) {
cittecla 61:628f8a4e857c 237 set_speed(0,0);
cittecla 61:628f8a4e857c 238 is_turning = false;
cittecla 61:628f8a4e857c 239 t.stop();
cittecla 61:628f8a4e857c 240 }
cittecla 61:628f8a4e857c 241 }
cittecla 94:0381e8b1beda 242 printf("remaining deg %f\r\n", wanted_deg);
cittecla 75:dba260cb5ae4 243 return (wanted_deg);
cittecla 52:56399c2f13cd 244 }
cittecla 52:56399c2f13cd 245
cittecla 106:02d3327bf76a 246 /** has errors
cittecla 106:02d3327bf76a 247 * moves to next coordinate from coordinate list
cittecla 106:02d3327bf76a 248 * by Claudio Citterio
cittecla 106:02d3327bf76a 249 **/
cittecla 52:56399c2f13cd 250
cittecla 52:56399c2f13cd 251 int move_to_next_coord()
cittecla 52:56399c2f13cd 252 {
cittecla 52:56399c2f13cd 253
cittecla 52:56399c2f13cd 254 float current_heading = get_current_heading();
cittecla 53:453f24775644 255 position current_pos = get_current_pos();
cittecla 52:56399c2f13cd 256 position next_pos = get_next_pos();
cittecla 61:628f8a4e857c 257
cittecla 52:56399c2f13cd 258 float needed_heading = 0;
cittecla 52:56399c2f13cd 259 float distance = 0;
cittecla 61:628f8a4e857c 260
cittecla 52:56399c2f13cd 261 // nord(-y) = 0 grad
cittecla 61:628f8a4e857c 262 if(current_pos.y > next_pos.y) {
cittecla 61:628f8a4e857c 263 if(current_pos.x > next_pos.x) needed_heading = 315;
cittecla 61:628f8a4e857c 264 distance = sqrt2;
cittecla 61:628f8a4e857c 265 if(current_pos.x == next_pos.x) needed_heading = 0;
cittecla 61:628f8a4e857c 266 distance = 1;
cittecla 61:628f8a4e857c 267 if(current_pos.x < next_pos.x) needed_heading = 45;
cittecla 61:628f8a4e857c 268 distance = sqrt2;
cittecla 61:628f8a4e857c 269 }
cittecla 61:628f8a4e857c 270 if(current_pos.y == next_pos.y) {
cittecla 61:628f8a4e857c 271 if(current_pos.x > next_pos.x) needed_heading = 270;
cittecla 61:628f8a4e857c 272 distance = 1;
cittecla 53:453f24775644 273 if(current_pos.x == next_pos.x) //error same position;
cittecla 61:628f8a4e857c 274 if(current_pos.x < next_pos.x) needed_heading = 90;
cittecla 61:628f8a4e857c 275 distance = 1;
cittecla 61:628f8a4e857c 276 }
cittecla 61:628f8a4e857c 277 if(current_pos.y < next_pos.y) {
cittecla 61:628f8a4e857c 278 if(current_pos.x > next_pos.x) needed_heading = 225;
cittecla 61:628f8a4e857c 279 distance = sqrt2;
cittecla 61:628f8a4e857c 280 if(current_pos.x == next_pos.x) needed_heading = 180;
cittecla 61:628f8a4e857c 281 distance = 1;
cittecla 61:628f8a4e857c 282 if(current_pos.x < next_pos.x) needed_heading = 135;
cittecla 61:628f8a4e857c 283 distance = sqrt2;
cittecla 61:628f8a4e857c 284 }
cittecla 52:56399c2f13cd 285
cittecla 52:56399c2f13cd 286 if(needed_heading != current_heading) {
cittecla 53:453f24775644 287 turn_for_deg((needed_heading-current_heading));
cittecla 61:628f8a4e857c 288 } else {
cittecla 85:d8ea8a99fa3a 289 move_for_distance(distance);
cittecla 39:92723f7ea54f 290 }
cittecla 39:92723f7ea54f 291 return 0;
cittecla 52:56399c2f13cd 292 }
cittecla 52:56399c2f13cd 293
cittecla 108:02bc5b4e67b7 294 /**
cittecla 106:02d3327bf76a 295 * this function searchs a nearby brick, moves towards it and grabbs it
cittecla 106:02d3327bf76a 296 * by Tobias Berger, state machine by Claudio Citterio
cittecla 106:02d3327bf76a 297 **/
cittecla 52:56399c2f13cd 298 int move_in_search_for_brick()
cittecla 52:56399c2f13cd 299 {
cittecla 109:d18a2beb9b9b 300 float upper = getDistanceIR(2); // get distance from upper max Sensor
cittecla 109:d18a2beb9b9b 301 float lower = getDistanceIR(3); // get distance from Lower max Sensor
aeschsim 96:1c6867536350 302 printf("Current Search State: >%d<\r\n",search_state);
cittecla 86:df8c869a5a52 303 switch (search_state) {
cittecla 86:df8c869a5a52 304 case 0: //first cycle right
cittecla 86:df8c869a5a52 305 turn_for_deg(60.0f); // call function and start turning
cittecla 86:df8c869a5a52 306 search_state = 1;
cittecla 86:df8c869a5a52 307 break;
cittecla 85:d8ea8a99fa3a 308
cittecla 86:df8c869a5a52 309 case 1: // turn right 60 deg
cittecla 101:6b10685aa34d 310 if((lower<0.75f)&&(lower>0.05f)) { // if something is in the range of 10 to 80cm at the lower Sensor
cittecla 86:df8c869a5a52 311 if(fabsf((upper-lower))>0.02f) { // and nothing is detected with the upper Sensor
cittecla 86:df8c869a5a52 312 stop_turn();
cittecla 101:6b10685aa34d 313 search_state = 5; //brick found
aeschsim 99:78d87027c85b 314 printf("Brick found lower: %f upper:%f",lower,upper);
cittecla 86:df8c869a5a52 315 }
cittecla 86:df8c869a5a52 316 } else {
cittecla 86:df8c869a5a52 317 search_state = 1; // go to same state
cittecla 86:df8c869a5a52 318 if(turn_for_deg(0) < 0) {
cittecla 86:df8c869a5a52 319 stop_turn();
cittecla 86:df8c869a5a52 320 search_state = 2;
cittecla 86:df8c869a5a52 321 }
cittecla 86:df8c869a5a52 322 }
cittecla 86:df8c869a5a52 323 break;
cittecla 85:d8ea8a99fa3a 324
cittecla 86:df8c869a5a52 325 case 2: // first cycle left
cittecla 86:df8c869a5a52 326 turn_for_deg(-120.0f);
cittecla 86:df8c869a5a52 327 search_state = 3;
cittecla 86:df8c869a5a52 328 break;
cittecla 85:d8ea8a99fa3a 329
cittecla 86:df8c869a5a52 330 case 3: // turn left 120 deg
cittecla 101:6b10685aa34d 331 if((lower<0.75f)&&(lower>0.1f)) { // if something is in the range of 10 to 75cm at the lower Sensor
cittecla 86:df8c869a5a52 332 if(fabsf((upper-lower))>0.02f) { // and nothing is detected with the upper Sensor
cittecla 86:df8c869a5a52 333 stop_turn();
cittecla 104:7bc5eb2b4199 334 search_state = 10; //brick found
cittecla 101:6b10685aa34d 335 printf("Brick found lower: %f upper:%f",lower,upper);
cittecla 86:df8c869a5a52 336 }
cittecla 86:df8c869a5a52 337 } else {
cittecla 86:df8c869a5a52 338 search_state = 3; // go to same state
cittecla 86:df8c869a5a52 339 if(turn_for_deg(0) < 0) {
cittecla 86:df8c869a5a52 340 stop_turn();
cittecla 101:6b10685aa34d 341 search_state = 20; // error
cittecla 86:df8c869a5a52 342 }
cittecla 86:df8c869a5a52 343 }
cittecla 86:df8c869a5a52 344 break;
cittecla 52:56399c2f13cd 345
cittecla 101:6b10685aa34d 346 case 5: // turn back left
cittecla 101:6b10685aa34d 347 turn_for_deg(-10.0f);
cittecla 101:6b10685aa34d 348 search_state = 8;
cittecla 101:6b10685aa34d 349 break;
cittecla 105:d489c2e8de35 350
cittecla 101:6b10685aa34d 351 case 8: // turn back right continue
cittecla 101:6b10685aa34d 352 if((lower<0.75f)&&(lower>0.1f)) { // if something is in the range of 10 to 75cm at the lower Sensor
cittecla 101:6b10685aa34d 353 if(fabsf((upper-lower))>0.02f) { // and nothing is detected with the upper Sensor
cittecla 101:6b10685aa34d 354 stop_turn();
cittecla 101:6b10685aa34d 355 search_state = 10; //brick found
cittecla 101:6b10685aa34d 356 }
cittecla 101:6b10685aa34d 357 } else {
cittecla 104:7bc5eb2b4199 358 search_state = 8; // go to same state
cittecla 101:6b10685aa34d 359 if(turn_for_deg(0) < 0) {
cittecla 101:6b10685aa34d 360 stop_turn();
cittecla 101:6b10685aa34d 361 search_state = 20; // error
cittecla 101:6b10685aa34d 362 }
cittecla 86:df8c869a5a52 363 }
cittecla 86:df8c869a5a52 364 break;
cittecla 86:df8c869a5a52 365
cittecla 101:6b10685aa34d 366
cittecla 101:6b10685aa34d 367 case 10: // first cycle move
cittecla 101:6b10685aa34d 368 float distance_to_Brick = lower-(float)OFFSET_GREIFER_TO_IRSENSOR; // calculate
cittecla 101:6b10685aa34d 369 move_for_distance(distance_to_Brick);
cittecla 101:6b10685aa34d 370 search_state =11;
cittecla 101:6b10685aa34d 371 break;
cittecla 101:6b10685aa34d 372
cittecla 101:6b10685aa34d 373 case 11: // move forward
cittecla 101:6b10685aa34d 374 if(move_for_distance(0) < 0) {
aeschsim 110:510927a51be8 375 //Safety Function:
aeschsim 110:510927a51be8 376 if (getDistanceIR(2)<0.05f) {
aeschsim 110:510927a51be8 377 stop_move();
aeschsim 110:510927a51be8 378 search_state = 0;
aeschsim 110:510927a51be8 379 }
cittecla 101:6b10685aa34d 380 stop_move();
cittecla 101:6b10685aa34d 381 search_state = 12;
cittecla 101:6b10685aa34d 382 }
cittecla 101:6b10685aa34d 383 break;
cittecla 101:6b10685aa34d 384
cittecla 101:6b10685aa34d 385 case 12: // Grabbing
cittecla 94:0381e8b1beda 386 return 50; //main state machine set as Grabbing
cittecla 94:0381e8b1beda 387
cittecla 86:df8c869a5a52 388 default:
aeschsim 96:1c6867536350 389 printf("default State - move in search for brick\r\n");
cittecla 86:df8c869a5a52 390 // error
cittecla 86:df8c869a5a52 391 break;
PESGruppe1 74:d9c387b83196 392 }
cittecla 86:df8c869a5a52 393 return 47; //called until function is done
cittecla 52:56399c2f13cd 394 }
cittecla 52:56399c2f13cd 395
cittecla 39:92723f7ea54f 396
cittecla 39:92723f7ea54f 397
cittecla 39:92723f7ea54f 398
cittecla 39:92723f7ea54f 399
cittecla 39:92723f7ea54f 400
cittecla 39:92723f7ea54f 401
cittecla 39:92723f7ea54f 402