File content as of revision 85:d8ea8a99fa3a:

/**
 * Movement function library
 * Handels Movement of the Robot
**/

#include "Movement.h"
#define OFFSET_GREIFER_TO_IRSENSOR 100                                          // Constant for distance between front IR Sensor and the postion where the Greifer is in grabbing Position

bool is_moving = false;
float wanted_dist = 0;

bool is_turning = false;
bool direction = false;
float wanted_deg = 0;
Timer t;
float previous_t = 0;
bool first_search_cycle = true;                                                 // flag for state first time in function "move in search for brick"
bool brick_found = false;                                                       // flag for saving whether a brick was found or not
bool movement_to_brick_finished = false;                                        // flag for saving whether movement to brick is finished or not
float restdeg = 0;


int moving()
{

    return 0;
}

float move_for_distance(float distance)
{
    if(distance != 0) {

        is_moving = true;
        float left = 0;
        float right = 0;

        wanted_dist = sqrt(distance*distance);

        if(distance > 0) {  //move forward
            direction = 1;
            left = 50.0f;
            right = 50.0f;
        } else {            //move backward
            direction = 0;
            left = -50.0f;
            right = -50.0f;
        }
        set_speed(left, right);
        t.reset();
        t.start();

    } else {

        float speed_left = get_speed_left();
        wanted_dist -= (2*(float)wheel_r*(float)M_PI) * t.read() * fabsf(speed_left);
        t.reset();

        if(wanted_dist <= 0) { //distance covered, Stop function
            set_speed(0,0);
            is_moving = false;
            t.stop();
        }
    }
    return wanted_dist;
}

int move_backward_for_distance()
{

    return 0;
}

float turn_for_deg(float deg)   //if deg not 0 equals initilisation.
{

    if(deg != 0) {

        is_turning = true;
        float left = 0;
        float right = 0;

        wanted_deg = sqrt(deg*deg);

        if(deg < 0) { // turn left
            direction = 1;
            left = -50.0f;
            right = 50.0f;
        } else { // turn right
            direction = 0;
            left = 50.0f;
            right = -50.0f;
        }
        set_speed(left, right);
        t.reset();
        t.start();

    } else {

        float speed_left = get_speed_left();
        wanted_deg -=  360.0f / (2*(float)wheel_r*(float)M_PI) * t.read() * fabsf(speed_left);
        t.reset();
        if(wanted_deg <= 0) {
            set_speed(0,0);
            is_turning = false;
            t.stop();
        }
    }
    return (wanted_deg);
}


int move_to_next_coord()
{

    float current_heading = get_current_heading();
    position current_pos = get_current_pos();
    position next_pos = get_next_pos();

    float needed_heading = 0;
    float distance = 0;

    // nord(-y) = 0 grad
    if(current_pos.y > next_pos.y) {
        if(current_pos.x > next_pos.x) needed_heading = 315;
        distance = sqrt2;
        if(current_pos.x == next_pos.x) needed_heading = 0;
        distance = 1;
        if(current_pos.x < next_pos.x) needed_heading = 45;
        distance = sqrt2;
    }
    if(current_pos.y == next_pos.y) {
        if(current_pos.x > next_pos.x) needed_heading = 270;
        distance = 1;
        if(current_pos.x == next_pos.x) //error same position;
            if(current_pos.x < next_pos.x) needed_heading = 90;
        distance = 1;
    }
    if(current_pos.y < next_pos.y) {
        if(current_pos.x > next_pos.x) needed_heading = 225;
        distance = sqrt2;
        if(current_pos.x == next_pos.x) needed_heading = 180;
        distance = 1;
        if(current_pos.x < next_pos.x) needed_heading = 135;
        distance = sqrt2;
    }

    if(needed_heading != current_heading) {
        turn_for_deg((needed_heading-current_heading));
    } else {
        move_for_distance(distance);
    }
    return 0;
}

// Tobias Berger
int move_in_search_for_brick()
{

    float distance_to_Brick;                                                    // variable how far away the brick is
    // Init State turn for 60 degrees CW
    if(first_search_cycle==true) {
        first_search_cycle=false;                                               // delet flag for initial condition
        restdeg=turn_for_deg(60);                                         // call function and start turning
    }

    // Search for Brick and evaluation
    float upper = getDistanceIR(4);                                             // get distance from upper Center Sensor            CHECK SENSORNUMBERS NOT SURE
    float lower = getDistanceIR(6);                                             // get distance from Lower Center Sensor

    if((lower<800.0f)&&(lower>100.0f)) {                                            // if something is in the range of 10 to 80cm at the lower Sensor
        if((upper>800.0f)&&(upper<100.0f)) {                                        // and nothing is detected with the upper Sensor
            brick_found = true;
        }
    } else {
        brick_found = false;

        if((restdeg>1)||(restdeg<-1)) {                                            // continue turning until restdegree nearly 0
            turn_for_deg(restdeg);
        } else {                                                                // if restdegree nearly 0 and nothing found => turn in other direction
            restdeg=-60;                                                        //                                                                                      60 DEGREES FROM YET WILL BE THE SAME AREA AS PREVIOUSLY
        }

    }

    if(brick_found==true) {
        turn_for_deg(0);                                                        // stop turning
        first_search_cycle=true;                                                 // set flag to start turning once again respectivly to get in Initialstate
        lower=getDistanceIR(6);                                                  // Measure distance to Brick for Movement
        distance_to_Brick = lower-OFFSET_GREIFER_TO_IRSENSOR;                   // calculate
        move_for_distance(distance_to_Brick);                                   //not whole distance, rest in next function // Move to Brick                                     ATTENTION FUNCTION NOT IMPLEMENTED YET
        arm_position_grabbing();                                                // Call Aeschlimans function                         MOVE A LITTLE AFTER GREIFER ON FLOOR IN AESCHLIMANS FUNCTION?
        //movement_to_brick_finished=true;
    }



    return 0;
}