File content as of revision 70:922cbbfebf02:

/**
 * Positioning function library
 * Handels position of the Robot on the map
**/


#include "Positioning.h"
coordinates current_coord;  // Updated
position current_pos;       // Generated from current_coord
float current_heading;
position next_pos;

bool init = false;
Timer t2;

int deg_r = 0;
int deg_l = 0;
float last_dist_r = 0;
float last_dist_l = 0;
float direction_r = 0;
float direction_l = 0;


coordinates get_current_coord()
{
    return current_coord;
}

coordinates pos_to_coord(position pos)
{
    coordinates coord = {0};
    coord.x = pos.x + 0.5f;
    coord.y = pos.y + 0.5f;
    return coord;
}

position coord_to_pos(coordinates coord)
{
    position pos = {0};
    pos.x = rint(coord.x -0.5f);    //round values
    pos.y = rint(coord.y -0.5f);
    return pos;
}

position get_current_pos()
{
    current_pos = coord_to_pos(current_coord);
    return current_pos;
}

position get_next_pos()
{
    return next_pos;
}

float get_current_heading()
{
    return current_heading;
}

void clamp_heading()
{

    while (direction_l >= 360) direction_l -= 360;
    while (direction_l < 0) direction_l += 360;

}

void positioning()
{
    printf("positioning...\r\n");
    
    
    
    clamp_heading();
}



int initial_positioning()
{
    if(init == false) {

        last_dist_r = 100;
        last_dist_l = 100;

        deg_r = -50;
        deg_l = 50;

        set_servo_position(0,deg_l);    //servo sensor left
        set_servo_position(2,-deg_r);   //servo sensor right
        current_coord.x = 0;
        current_coord.y = 0;
        t2.start();
        init = true;
    } else {

        if(t2 > 0.2f) {
            t2 = 0;

            float dist_r = getDistanceIR(4);
            float dist_l = getDistanceIR(0);

            //right
            if(dist_r < last_dist_r) {
                last_dist_r = dist_r;
                deg_r += 5;
                set_servo_position(2,-deg_r);
            } else if(direction_r == 0) {

                dist_r *= 100;
                float offsetx = 12;
                float offsety = 12;

                float x = (offsetx + sin(deg_r/180*(float)M_PI)*dist_r)/4;
                float y = (-offsety - cos(deg_r/180*(float)M_PI)*dist_r)/4;
                float hyp = sqrt(x*x+y*y);                     // y pos
                direction_r = asin(x/hyp)/(float)M_PI*180;     // winkel

                current_coord.y = hyp;

                while (direction_r >= 360) direction_r -= 360;
                while (direction_r < 0) direction_r += 360;
            }


            //left
            if(dist_l < last_dist_l) {
                last_dist_l = dist_l;
                deg_l -= 5;
                set_servo_position(0,deg_l);
            } else if(direction_l == 0) {

                dist_r *= 100;
                float offsetx = -12;
                float offsety = 12;

                float x = (offsetx + sin(deg_l/180*(float)M_PI)*dist_l)/4;
                float y = (-offsety - cos(deg_l/180*(float)M_PI)*dist_l)/4;
                float hyp = sqrt(x*x+y*y);                     // y pos
                direction_l = asin(x/hyp)/(float)M_PI*180;     // winkel

                current_coord.x = hyp;

                while (direction_l >= 360) direction_l -= 360;
                while (direction_l < 0) direction_l += 360;
            }

            if(current_coord.x != 0 && current_coord.y != 0) {
                printf("directions: %f || %f \r\n", direction_l, direction_r);
                current_heading = (360-direction_r + 270-direction_l)/2;

                clamp_heading();
                printf("heading: %f \r\n", current_heading);

                //finished
                return 11;

            }
        }
    }
    // not finished
    return 16;
}

/*
turn_straight_right();
turn_straight_left();

while(last_dist_r > sensors[r]) {
    turn_sensor_right(1); //turn sensor + 1 deg
    wait(0.1f)
    deg_r += 1;
    last_dist_r = sensors[r];
}

while(last_dist_l > sensors[l]) {
    turn_sensor_left(-1); //turn sensor - 1 deg
    wait(0.1f)
    deg_l += 1;
    last_dist_l = sensors[l];
}

int deg_l_2=0;
turn_straight_left();
last_dist_l = 0;

while(last_dist_l < sensors[l]) {
    turn_sensor_left(1); //turn sensor +1 deg (positiv = uhrzeigersinn)
    wait(0.1f);
    deg_l_2 += 1;
    last_dist_l = sensors[l];
}

turn_straight_right();
turn_straight_left();

wait(0.2f);
*/