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source/Mapping.cpp@128:6bde4483ce7b, 2017-05-14 (annotated)

Committer:
cittecla
Date:
Sun May 14 14:40:12 2017 +0000
Revision:
128:6bde4483ce7b
Parent:
126:d0b2057272d0
Child:
129:0f60bf9640bb
included path finding into state machine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 12:91c2e07d2b5b 1 /**
cittecla 12:91c2e07d2b5b 2 * Mapping function library
cittecla 12:91c2e07d2b5b 3 * Handels Mapping of the arena and LEGO-stones
cittecla 12:91c2e07d2b5b 4 **/
cittecla 12:91c2e07d2b5b 5
cittecla 38:3526c36e4c73 6 #include "Mapping.h"
cittecla 38:3526c36e4c73 7
cittecla 51:4a18b47fd659 8 #define list_time_value 60
cittecla 51:4a18b47fd659 9 #define list_target_value 1
cittecla 51:4a18b47fd659 10 #define list_boundry_value 255
cittecla 51:4a18b47fd659 11 #define servo_angle 50
cittecla 51:4a18b47fd659 12
cittecla 51:4a18b47fd659 13
cittecla 47:728502df3cb6 14 uint8_t obstacle_list[row][col] = { 0 };
cittecla 49:652438112348 15 uint8_t target_list[row][col] = {0};
cittecla 51:4a18b47fd659 16
cittecla 47:728502df3cb6 17 uint8_t a = list_time_value; //Substitution um Matrix übersichtlich zu halten
cittecla 49:652438112348 18 uint8_t superpos[7][7] = {{0,0,a,a,a,0,0},
cittecla 47:728502df3cb6 19 {0,a,a,a,a,a,0},
cittecla 47:728502df3cb6 20 {a,a,a,a,a,a,a},
cittecla 47:728502df3cb6 21 {a,a,a,a,a,a,a},
cittecla 47:728502df3cb6 22 {a,a,a,a,a,a,a},
cittecla 47:728502df3cb6 23 {0,a,a,a,a,a,0},
cittecla 47:728502df3cb6 24 {0,0,a,a,a,0,0}
cittecla 47:728502df3cb6 25 };
cittecla 47:728502df3cb6 26
cittecla 46:8b52c7b34d34 27 position old_pos = {0};
cittecla 49:652438112348 28 float old_heading = 0;
cittecla 46:8b52c7b34d34 29
cittecla 49:652438112348 30 //******************************************************************************
cittecla 13:57f5a7876d2f 31 void mapping()
cittecla 13:57f5a7876d2f 32 {
cittecla 60:b57577b0072f 33 printf("mapping...\r\n");
cittecla 62:c2fcf3b349e9 34
cittecla 50:2e2bf0815fd9 35 position current_pos = get_current_pos();
cittecla 50:2e2bf0815fd9 36 float current_heading = get_current_heading();
cittecla 50:2e2bf0815fd9 37 if(old_heading != current_heading || old_pos.x != current_pos.x || old_pos.y != current_pos.y) {
cittecla 47:728502df3cb6 38 //check_sensor(left);
cittecla 49:652438112348 39 float distance0 = getDistanceIR(0);
cittecla 49:652438112348 40 if(distance0 < 0.75f && distance0 > 0.1f) {
cittecla 51:4a18b47fd659 41 set_servo_position(0, servo_angle);
cittecla 49:652438112348 42 float distance = getDistanceIR(1);
cittecla 49:652438112348 43 int object = 0;
cittecla 57:1a395b6928ee 44 if(distance < 0.75f && distance > 0.1f && (distance -0.05f < distance0 || distance + 0.05f > distance0)) {
cittecla 49:652438112348 45 object = 0;
cittecla 49:652438112348 46 } else {
cittecla 49:652438112348 47 object = 1;
cittecla 49:652438112348 48 }
cittecla 52:56399c2f13cd 49 position mapping_pos = position_calculation(distance0, servo_angle, 0.12, -0.12, current_heading, current_pos);
cittecla 49:652438112348 50 draw_to_map(mapping_pos, object);
cittecla 47:728502df3cb6 51 }
cittecla 47:728502df3cb6 52 //check_sensor(right);
cittecla 51:4a18b47fd659 53 float distance4 = getDistanceIR(4);
cittecla 49:652438112348 54 if(distance4 < 0.75f && distance4 > 0.1f) {
cittecla 51:4a18b47fd659 55 set_servo_position(1, -servo_angle);
cittecla 51:4a18b47fd659 56 float distance = getDistanceIR(5);
cittecla 49:652438112348 57 int object = 0;
cittecla 57:1a395b6928ee 58 if(distance < 0.75f && distance > 0.1f && (distance -0.05f < distance4 || distance + 0.05f > distance4)) {
cittecla 49:652438112348 59 object = 0;
cittecla 49:652438112348 60 } else {
cittecla 49:652438112348 61 object = 1;
cittecla 49:652438112348 62 }
cittecla 52:56399c2f13cd 63 position mapping_pos = position_calculation(distance4, -servo_angle, -0.12, -0.12, current_heading, current_pos);
cittecla 49:652438112348 64 draw_to_map(mapping_pos, object);
cittecla 49:652438112348 65 }
cittecla 49:652438112348 66 //check_sensor(center);
cittecla 51:4a18b47fd659 67 float distance2 = getDistanceIR(2);
cittecla 49:652438112348 68 if(distance2 < 0.75f && distance2 > 0.1f) {
cittecla 51:4a18b47fd659 69 float distance = getDistanceIR(3);
cittecla 49:652438112348 70 int object = 0;
cittecla 57:1a395b6928ee 71 if(distance < 0.75f && distance > 0.1f && (distance -0.05f < distance2 || distance + 0.05f > distance2)) {
cittecla 49:652438112348 72 object = 0;
cittecla 49:652438112348 73 } else {
cittecla 49:652438112348 74 object = 1;
cittecla 49:652438112348 75 }
cittecla 52:56399c2f13cd 76 position mapping_pos = position_calculation(distance2, 0, -0.12, -0.12, current_heading, current_pos);
cittecla 49:652438112348 77 draw_to_map(mapping_pos, object);
cittecla 47:728502df3cb6 78 }
cittecla 47:728502df3cb6 79
cittecla 50:2e2bf0815fd9 80 old_pos = current_pos;
cittecla 50:2e2bf0815fd9 81 old_heading = current_heading;
cittecla 62:c2fcf3b349e9 82 }
cittecla 47:728502df3cb6 83 }
cittecla 47:728502df3cb6 84
cittecla 49:652438112348 85 //******************************************************************************
cittecla 49:652438112348 86 void draw_to_map(position pos, int object)
cittecla 47:728502df3cb6 87 {
cittecla 47:728502df3cb6 88 uint8_t x_negative_offset = 0;
cittecla 47:728502df3cb6 89 uint8_t x_positive_offset = 0;
cittecla 47:728502df3cb6 90 uint8_t y_negative_offset = 0;
cittecla 47:728502df3cb6 91 uint8_t y_positive_offset = 0;
cittecla 47:728502df3cb6 92
cittecla 48:4078877669e4 93 if (pos.x < 5) {
cittecla 48:4078877669e4 94 x_negative_offset = 3 - pos.x;
cittecla 48:4078877669e4 95 }
cittecla 48:4078877669e4 96 if (pos.x > (col-5)) {
cittecla 48:4078877669e4 97 x_positive_offset = pos.x - (col - 4);
cittecla 47:728502df3cb6 98 }
cittecla 48:4078877669e4 99
cittecla 48:4078877669e4 100 if (pos.y < 5) {
cittecla 49:652438112348 101 y_negative_offset = 3 - pos.y;
cittecla 48:4078877669e4 102 }
cittecla 48:4078877669e4 103 if (pos.y > (row-5)) {
cittecla 48:4078877669e4 104 y_positive_offset = pos.y - (row - 4);
cittecla 47:728502df3cb6 105 }
cittecla 47:728502df3cb6 106
cittecla 48:4078877669e4 107 for (int y = 0 + y_negative_offset; y < 7 - y_positive_offset; y++) {
cittecla 48:4078877669e4 108 for (int x = 0 + x_negative_offset; x < 7 - x_positive_offset; x++) {
cittecla 49:652438112348 109 switch(object) {
cittecla 49:652438112348 110 case 0:
cittecla 49:652438112348 111 a = list_time_value;
cittecla 49:652438112348 112 obstacle_list[pos.y - 3 + y][pos.x - 3 + x] = superpos[y][x];
cittecla 49:652438112348 113 break;
cittecla 49:652438112348 114 case 1:
cittecla 49:652438112348 115 a = list_target_value;
cittecla 49:652438112348 116 target_list[pos.y - 3 + y][pos.x - 3 + x] = superpos[y][x];
cittecla 49:652438112348 117 break;
cittecla 49:652438112348 118 case 2:
cittecla 49:652438112348 119 a = list_boundry_value;
cittecla 49:652438112348 120 target_list[pos.y - 3 + y][pos.x - 3 + x] = superpos[y][x];
cittecla 49:652438112348 121 break;
cittecla 49:652438112348 122 default:
cittecla 49:652438112348 123 break;
cittecla 49:652438112348 124 }
cittecla 47:728502df3cb6 125 }
cittecla 47:728502df3cb6 126 }
cittecla 28:274e1d4ecac5 127 }
cittecla 28:274e1d4ecac5 128
cittecla 49:652438112348 129 //******************************************************************************
cittecla 49:652438112348 130 void print_map()
cittecla 49:652438112348 131 {
cittecla 52:56399c2f13cd 132 // Debug function for printing the obstacle matrix on putty.
cittecla 48:4078877669e4 133 for (int y = 0; y < col; y++) {
cittecla 48:4078877669e4 134 for (int x = 0; x < row; x++) {
cittecla 48:4078877669e4 135 printf("%d ", obstacle_list[y][x]);
cittecla 48:4078877669e4 136 }
cittecla 52:56399c2f13cd 137 printf("\r\n");
cittecla 48:4078877669e4 138 }
cittecla 52:56399c2f13cd 139 printf("\r\n");
cittecla 48:4078877669e4 140 }
cittecla 48:4078877669e4 141
cittecla 49:652438112348 142 //******************************************************************************
cittecla 50:2e2bf0815fd9 143 position position_calculation(float distance, float degree, float offsetx, float offsety, float heading, position current_pos)
cittecla 47:728502df3cb6 144 {
cittecla 50:2e2bf0815fd9 145 distance *= 100;
cittecla 50:2e2bf0815fd9 146 offsetx *= 100;
cittecla 50:2e2bf0815fd9 147 offsety *= 100;
cittecla 50:2e2bf0815fd9 148
cittecla 50:2e2bf0815fd9 149 position pos = { 0 };
cittecla 50:2e2bf0815fd9 150 float direction = 0;
cittecla 50:2e2bf0815fd9 151
cittecla 50:2e2bf0815fd9 152 float x = (offsetx + sin(degree/180*(float)M_PI)*distance)/4;
cittecla 50:2e2bf0815fd9 153 float y = (-offsety - cos(degree/180*(float)M_PI)*distance)/4;
cittecla 50:2e2bf0815fd9 154 float hyp = sqrt(x*x+y*y);
cittecla 50:2e2bf0815fd9 155 direction = asin(x/hyp)/(float)M_PI*180;
cittecla 50:2e2bf0815fd9 156 direction += heading;
cittecla 47:728502df3cb6 157
cittecla 50:2e2bf0815fd9 158 while (direction >= 360) direction -= 360;
cittecla 50:2e2bf0815fd9 159 while (direction < 0) direction += 360;
cittecla 47:728502df3cb6 160
cittecla 71:ddf4eb5c3081 161 printf("%f || %f || %f || %f\r\n", x, y, hyp, degree);
cittecla 50:2e2bf0815fd9 162
cittecla 50:2e2bf0815fd9 163 if ((0 <= direction && direction < 90) || (180 <= direction && direction < 270)) {
cittecla 50:2e2bf0815fd9 164 pos.x = current_pos.x + rint(sin(direction / 180 * (float)M_PI)*hyp);
cittecla 50:2e2bf0815fd9 165 pos.y = current_pos.y - rint(cos(direction / 180 * (float)M_PI)*hyp);
cittecla 71:ddf4eb5c3081 166 printf("%d || %d\r\n", pos.x,pos.y);
cittecla 50:2e2bf0815fd9 167 }
cittecla 50:2e2bf0815fd9 168 if ((90 <= direction && direction < 180) || (270 <= direction && direction < 360)) {
cittecla 50:2e2bf0815fd9 169 pos.x = current_pos.x + rint(sin((180-direction) / 180 * (float)M_PI)*hyp);
cittecla 50:2e2bf0815fd9 170 pos.y = current_pos.y + rint(cos((180-direction) / 180 * (float)M_PI)*hyp);
cittecla 71:ddf4eb5c3081 171 printf("%d || %d\r\n", pos.x, pos.y);
cittecla 50:2e2bf0815fd9 172 }
cittecla 50:2e2bf0815fd9 173
cittecla 46:8b52c7b34d34 174 return pos;
cittecla 46:8b52c7b34d34 175 }
cittecla 38:3526c36e4c73 176
cittecla 62:c2fcf3b349e9 177
cittecla 62:c2fcf3b349e9 178 coordinates coordinates_calculation(float distance, float degree, float offsetx, float offsety, float heading, coordinates current_coord)
cittecla 62:c2fcf3b349e9 179 {
cittecla 62:c2fcf3b349e9 180 distance *= 100;
cittecla 62:c2fcf3b349e9 181 offsetx *= 100;
cittecla 62:c2fcf3b349e9 182 offsety *= 100;
cittecla 62:c2fcf3b349e9 183
cittecla 62:c2fcf3b349e9 184 coordinates coord = { 0 };
cittecla 62:c2fcf3b349e9 185 float direction = 0;
cittecla 62:c2fcf3b349e9 186
cittecla 62:c2fcf3b349e9 187 float x = (offsetx + sin(degree/180*(float)M_PI)*distance)/4;
cittecla 62:c2fcf3b349e9 188 float y = (-offsety - cos(degree/180*(float)M_PI)*distance)/4;
cittecla 62:c2fcf3b349e9 189 float hyp = sqrt(x*x+y*y);
cittecla 62:c2fcf3b349e9 190 direction = asin(x/hyp)/(float)M_PI*180;
cittecla 62:c2fcf3b349e9 191 direction += heading;
cittecla 62:c2fcf3b349e9 192
cittecla 62:c2fcf3b349e9 193 while (direction >= 360) direction -= 360;
cittecla 62:c2fcf3b349e9 194 while (direction < 0) direction += 360;
cittecla 62:c2fcf3b349e9 195
cittecla 62:c2fcf3b349e9 196 printf("%f || %f || %f || %f\n", x, y, hyp, degree);
cittecla 62:c2fcf3b349e9 197
cittecla 62:c2fcf3b349e9 198 if ((0 <= direction && direction < 90) || (180 <= direction && direction < 270)) {
cittecla 62:c2fcf3b349e9 199 coord.x = current_coord.x + sin(direction / 180 * (float)M_PI)*hyp;
cittecla 62:c2fcf3b349e9 200 coord.y = current_coord.y - cos(direction / 180 * (float)M_PI)*hyp;
cittecla 62:c2fcf3b349e9 201 printf("%f || %f\n", coord.x,coord.y);
cittecla 62:c2fcf3b349e9 202 }
cittecla 62:c2fcf3b349e9 203 if ((90 <= direction && direction < 180) || (270 <= direction && direction < 360)) {
cittecla 62:c2fcf3b349e9 204 coord.x = current_coord.x + sin((180-direction) / 180 * (float)M_PI)*hyp;
cittecla 62:c2fcf3b349e9 205 coord.y = current_coord.y + cos((180-direction) / 180 * (float)M_PI)*hyp;
cittecla 62:c2fcf3b349e9 206 printf("%f || %f\n", coord.x, coord.y);
cittecla 62:c2fcf3b349e9 207 }
cittecla 62:c2fcf3b349e9 208
cittecla 62:c2fcf3b349e9 209 return coord;
cittecla 62:c2fcf3b349e9 210 }
cittecla 49:652438112348 211 //******************************************************************************
cittecla 41:462d379e85c4 212 int select_target()
cittecla 41:462d379e85c4 213 {
cittecla 41:462d379e85c4 214 position myPos = get_current_pos();
cittecla 41:462d379e85c4 215 position diff = {0};
cittecla 41:462d379e85c4 216 target.x = 0;
cittecla 41:462d379e85c4 217 int closest_dist = 10000;
cittecla 41:462d379e85c4 218 int current_dist = 0;
cittecla 41:462d379e85c4 219
cittecla 41:462d379e85c4 220 for(int i = 0; i < row; i++) {
cittecla 41:462d379e85c4 221 for(int j = 0; j < col; j++) {
cittecla 41:462d379e85c4 222 if(obstacle_list[i][j] == 2) {
cittecla 41:462d379e85c4 223 diff.x = abs(myPos.x - j);
cittecla 41:462d379e85c4 224 diff.y = abs(myPos.y - i);
cittecla 41:462d379e85c4 225 current_dist = diff.x * diff.y;
cittecla 41:462d379e85c4 226 if(current_dist < closest_dist) {
cittecla 41:462d379e85c4 227 closest_dist = current_dist;
cittecla 41:462d379e85c4 228 target.x = j;
cittecla 41:462d379e85c4 229 target.y = i;
cittecla 41:462d379e85c4 230 }
cittecla 41:462d379e85c4 231 }
cittecla 41:462d379e85c4 232 }
cittecla 41:462d379e85c4 233 }
cittecla 41:462d379e85c4 234 if(target.x == 0) {
cittecla 128:6bde4483ce7b 235 return 48; // No Target found
cittecla 41:462d379e85c4 236 } else {
cittecla 128:6bde4483ce7b 237 start = get_current_pos();
cittecla 128:6bde4483ce7b 238 printf("start: %d || %d\r\n", start.x, start.y);
cittecla 128:6bde4483ce7b 239 printf("Target: &d || %d\r\n", target.x, target.y);
cittecla 128:6bde4483ce7b 240
cittecla 41:462d379e85c4 241 return 36; // Target found
cittecla 41:462d379e85c4 242 }
cittecla 41:462d379e85c4 243 }
cittecla 41:462d379e85c4 244
cittecla 86:df8c869a5a52 245 int generate_fake_target(){
cittecla 126:d0b2057272d0 246 obstacle_list[50][50] = 2;
cittecla 126:d0b2057272d0 247 return 35;
cittecla 86:df8c869a5a52 248 }
cittecla 86:df8c869a5a52 249
cittecla 49:652438112348 250 //******************************************************************************
cittecla 41:462d379e85c4 251 int switch_target_red()
cittecla 41:462d379e85c4 252 {
cittecla 41:462d379e85c4 253 obstacle_list[target.y][target.x] = 0;
cittecla 47:728502df3cb6 254 return 0;
cittecla 49:652438112348 255 }