Tobias Berger / Mbed 2 deprecated Robocode

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Fork of Robocode by PES 2 - Gruppe 1

source/Mapping.cpp@46:8b52c7b34d34, 2017-04-11 (annotated)

Committer:
cittecla
Date:
Tue Apr 11 19:43:39 2017 +0000
Revision:
46:8b52c7b34d34
Parent:
41:462d379e85c4
Child:
47:728502df3cb6
new mapping, draw to map and position_calculation functions

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 46:8b52c7b34d34 7 //#include "Pathfinding.h"
cittecla 38:3526c36e4c73 8
cittecla 46:8b52c7b34d34 9 uint8_t obstacle_list_superpos[7][7] = {{0,0,2,2,2,0,0},
cittecla 46:8b52c7b34d34 10 {0,2,2,2,2,2,0},
cittecla 46:8b52c7b34d34 11 {2,2,2,2,2,2,2},
cittecla 46:8b52c7b34d34 12 {2,2,2,1,2,2,2},
cittecla 46:8b52c7b34d34 13 {2,2,2,2,2,2,2},
cittecla 46:8b52c7b34d34 14 {0,2,2,2,2,2,0},
cittecla 46:8b52c7b34d34 15 {0,0,2,2,2,0,0}};
cittecla 46:8b52c7b34d34 16
cittecla 46:8b52c7b34d34 17 position old_pos = {0};
cittecla 46:8b52c7b34d34 18 position mapping_pos_right = {0};
cittecla 46:8b52c7b34d34 19 position mapping_pos_left = {0};
cittecla 46:8b52c7b34d34 20
cittecla 46:8b52c7b34d34 21 float old_heading = {0};
cittecla 46:8b52c7b34d34 22 float distance_left = 0;
cittecla 46:8b52c7b34d34 23 float distance_right = 0;
cittecla 12:91c2e07d2b5b 24
cittecla 13:57f5a7876d2f 25 void mapping()
cittecla 13:57f5a7876d2f 26 {
cittecla 46:8b52c7b34d34 27 position new_pos = get_current_pos();
cittecla 46:8b52c7b34d34 28 float new_heading = get_current_heading();
cittecla 46:8b52c7b34d34 29 if(old_heading != new_heading || old_pos.x != new_pos.x || old_pos.y != new_pos.y){
cittecla 28:274e1d4ecac5 30 //pseudo code
cittecla 46:8b52c7b34d34 31 //check_sensor(left);
cittecla 46:8b52c7b34d34 32 distance_left = getDistanceIR(0);
cittecla 46:8b52c7b34d34 33 if(distance_left < 0.75f && distance_left > 0.1f){
cittecla 46:8b52c7b34d34 34 mapping_pos_left = position_calculation(distance_left, 50, 0.12, 0.12, new_heading);
cittecla 46:8b52c7b34d34 35 draw_to_map(mapping_pos_left);
cittecla 46:8b52c7b34d34 36 }
cittecla 41:462d379e85c4 37 //check_sensor(right);
cittecla 46:8b52c7b34d34 38 distance_right = getDistanceIR(4);
cittecla 46:8b52c7b34d34 39 if(distance_right < 0.75f && distance_right > 0.1f){
cittecla 46:8b52c7b34d34 40 mapping_pos_right = position_calculation(distance_right, -50, -0.12, 0.12, new_heading);
cittecla 46:8b52c7b34d34 41 draw_to_map(mapping_pos_right);
cittecla 46:8b52c7b34d34 42 }
cittecla 46:8b52c7b34d34 43
cittecla 46:8b52c7b34d34 44 old_pos = new_pos;
cittecla 46:8b52c7b34d34 45 old_heading = new_heading;
cittecla 46:8b52c7b34d34 46 }
cittecla 28:274e1d4ecac5 47 }
cittecla 28:274e1d4ecac5 48
cittecla 46:8b52c7b34d34 49 void draw_to_map(position pos){
cittecla 46:8b52c7b34d34 50
cittecla 46:8b52c7b34d34 51 }
cittecla 46:8b52c7b34d34 52
cittecla 46:8b52c7b34d34 53 position position_calculation(float distance,float degree,float ofsettx,float ofsetty, float heading){
cittecla 46:8b52c7b34d34 54
cittecla 46:8b52c7b34d34 55
cittecla 46:8b52c7b34d34 56 position pos = {0};
cittecla 46:8b52c7b34d34 57 return pos;
cittecla 46:8b52c7b34d34 58 }
cittecla 38:3526c36e4c73 59
cittecla 41:462d379e85c4 60 int select_target()
cittecla 41:462d379e85c4 61 {
cittecla 41:462d379e85c4 62 position myPos = get_current_pos();
cittecla 41:462d379e85c4 63 position diff = {0};
cittecla 41:462d379e85c4 64 target.x = 0;
cittecla 41:462d379e85c4 65 int closest_dist = 10000;
cittecla 41:462d379e85c4 66 int current_dist = 0;
cittecla 41:462d379e85c4 67
cittecla 41:462d379e85c4 68 for(int i = 0; i < row; i++) {
cittecla 41:462d379e85c4 69 for(int j = 0; j < col; j++) {
cittecla 41:462d379e85c4 70 if(obstacle_list[i][j] == 2) {
cittecla 41:462d379e85c4 71 diff.x = abs(myPos.x - j);
cittecla 41:462d379e85c4 72 diff.y = abs(myPos.y - i);
cittecla 41:462d379e85c4 73 current_dist = diff.x * diff.y;
cittecla 41:462d379e85c4 74 if(current_dist < closest_dist) {
cittecla 41:462d379e85c4 75 closest_dist = current_dist;
cittecla 41:462d379e85c4 76 target.x = j;
cittecla 41:462d379e85c4 77 target.y = i;
cittecla 41:462d379e85c4 78 }
cittecla 41:462d379e85c4 79 }
cittecla 41:462d379e85c4 80 }
cittecla 41:462d379e85c4 81 }
cittecla 41:462d379e85c4 82 if(target.x == 0) {
cittecla 41:462d379e85c4 83 return 47; // No Target found
cittecla 41:462d379e85c4 84 } else {
cittecla 41:462d379e85c4 85 return 36; // Target found
cittecla 41:462d379e85c4 86 }
cittecla 41:462d379e85c4 87 }
cittecla 41:462d379e85c4 88
cittecla 41:462d379e85c4 89 int remove_target()
cittecla 41:462d379e85c4 90 {
cittecla 41:462d379e85c4 91 obstacle_list[target.y][target.x] = 0;
cittecla 40:a46667b62671 92 return 0;
cittecla 40:a46667b62671 93 }
cittecla 40:a46667b62671 94
cittecla 41:462d379e85c4 95 int switch_target_red()
cittecla 41:462d379e85c4 96 {
cittecla 41:462d379e85c4 97 obstacle_list[target.y][target.x] = 0;
cittecla 41:462d379e85c4 98 return 0;
cittecla 40:a46667b62671 99 }
cittecla 40:a46667b62671 100
cittecla 40:a46667b62671 101
cittecla 40:a46667b62671 102
cittecla 40:a46667b62671 103
cittecla 40:a46667b62671 104
cittecla 38:3526c36e4c73 105 /*
cittecla 28:274e1d4ecac5 106 void chack_sensor(sensor)
cittecla 28:274e1d4ecac5 107 {
cittecla 28:274e1d4ecac5 108 get_distance();
cittecla 28:274e1d4ecac5 109 if(sensor < 80cm || sensor > 10cm) {
cittecla 28:274e1d4ecac5 110 calculate_position(sensor, distance);
cittecla 28:274e1d4ecac5 111 check_map(position.this, obstacle);
cittecla 28:274e1d4ecac5 112 if(map.no-entry){
cittecla 28:274e1d4ecac5 113 check_if_obstacle(distance);
cittecla 28:274e1d4ecac5 114 update_map();
cittecla 28:274e1d4ecac5 115 }
cittecla 28:274e1d4ecac5 116 }
cittecla 14:9e2ce5880fb0 117 }
cittecla 28:274e1d4ecac5 118
cittecla 28:274e1d4ecac5 119 void get_distance(sensor)
cittecla 28:274e1d4ecac5 120 {
cittecla 28:274e1d4ecac5 121 sensor.value;
cittecla 28:274e1d4ecac5 122 return value;
cittecla 28:274e1d4ecac5 123 }
cittecla 28:274e1d4ecac5 124
cittecla 28:274e1d4ecac5 125 void calcualte_position(sensor, distance)
cittecla 28:274e1d4ecac5 126 {
cittecla 28:274e1d4ecac5 127 do math;
cittecla 28:274e1d4ecac5 128 return position;
cittecla 28:274e1d4ecac5 129 }
cittecla 28:274e1d4ecac5 130
cittecla 28:274e1d4ecac5 131 void check_if_obstacle(distance)
cittecla 28:274e1d4ecac5 132 {
cittecla 28:274e1d4ecac5 133 move_scanner();
cittecla 28:274e1d4ecac5 134 distance2 = get_distance(sensor);
cittecla 28:274e1d4ecac5 135 reset_scanner();
cittecla 28:274e1d4ecac5 136 if(distance -5cm < distance2 && distance +5cm > distance2) {
cittecla 28:274e1d4ecac5 137 return 1;
cittecla 28:274e1d4ecac5 138 } else {
cittecla 28:274e1d4ecac5 139 return 0;
cittecla 28:274e1d4ecac5 140 }
cittecla 29:e7d0208bf2af 141 }*/