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@96:1c6867536350, 2017-05-03 (annotated)

Committer:
aeschsim
Date:
Wed May 03 06:22:49 2017 +0000
Revision:
96:1c6867536350
Parent:
94:0381e8b1beda
Child:
99:78d87027c85b
added some printf's for easy debuging

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 86:df8c869a5a52 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 39:92723f7ea54f 8
cittecla 85:d8ea8a99fa3a 9 bool is_moving = false;
cittecla 85:d8ea8a99fa3a 10 float wanted_dist = 0;
cittecla 39:92723f7ea54f 11
cittecla 61:628f8a4e857c 12 bool is_turning = false;
cittecla 61:628f8a4e857c 13 bool direction = false;
cittecla 61:628f8a4e857c 14 float wanted_deg = 0;
cittecla 63:b27aa01c2cf6 15 Timer t;
cittecla 61:628f8a4e857c 16 float previous_t = 0;
cittecla 86:df8c869a5a52 17 int search_state = 0;
cittecla 77:ff87a10c4baf 18 float restdeg = 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 86:df8c869a5a52 32 void stop_move()
cittecla 86:df8c869a5a52 33 {
cittecla 86:df8c869a5a52 34 set_speed(0,0);
cittecla 86:df8c869a5a52 35 wanted_dist = 0;
cittecla 86:df8c869a5a52 36 is_moving = false;
cittecla 86:df8c869a5a52 37 }
cittecla 86:df8c869a5a52 38
cittecla 86:df8c869a5a52 39 void stop_turn()
cittecla 86:df8c869a5a52 40 {
cittecla 86:df8c869a5a52 41 set_speed(0,0);
cittecla 86:df8c869a5a52 42 wanted_deg = 0;
cittecla 86:df8c869a5a52 43 is_turning = false;
cittecla 86:df8c869a5a52 44 }
cittecla 86:df8c869a5a52 45
cittecla 85:d8ea8a99fa3a 46 float move_for_distance(float distance)
cittecla 52:56399c2f13cd 47 {
cittecla 88:b89cace9329b 48 printf("move for distance\r\n");
cittecla 85:d8ea8a99fa3a 49 if(distance != 0) {
cittecla 52:56399c2f13cd 50
cittecla 85:d8ea8a99fa3a 51 is_moving = true;
cittecla 85:d8ea8a99fa3a 52
cittecla 85:d8ea8a99fa3a 53 wanted_dist = sqrt(distance*distance);
cittecla 85:d8ea8a99fa3a 54
cittecla 85:d8ea8a99fa3a 55 if(distance > 0) { //move forward
cittecla 85:d8ea8a99fa3a 56 direction = 1;
cittecla 85:d8ea8a99fa3a 57 left = 50.0f;
cittecla 85:d8ea8a99fa3a 58 right = 50.0f;
cittecla 85:d8ea8a99fa3a 59 } else { //move backward
cittecla 85:d8ea8a99fa3a 60 direction = 0;
cittecla 85:d8ea8a99fa3a 61 left = -50.0f;
cittecla 85:d8ea8a99fa3a 62 right = -50.0f;
cittecla 85:d8ea8a99fa3a 63 }
cittecla 88:b89cace9329b 64 printf("set speed %f\r\n", left);
cittecla 85:d8ea8a99fa3a 65 set_speed(left, right);
cittecla 94:0381e8b1beda 66 devider = true;
cittecla 85:d8ea8a99fa3a 67 t.reset();
cittecla 85:d8ea8a99fa3a 68 t.start();
cittecla 85:d8ea8a99fa3a 69
cittecla 85:d8ea8a99fa3a 70 } else {
cittecla 94:0381e8b1beda 71 float speed_multiplier = 0.6f;
cittecla 94:0381e8b1beda 72 if(wanted_dist < 0.10f && devider == true) {
cittecla 94:0381e8b1beda 73 //printf("devided\r\n");
cittecla 94:0381e8b1beda 74 devider = false;
cittecla 94:0381e8b1beda 75 if(direction) { //move forward
cittecla 94:0381e8b1beda 76 left = left * speed_multiplier;
cittecla 94:0381e8b1beda 77 right = right * speed_multiplier;
cittecla 94:0381e8b1beda 78 //printf("left: %f || right: %f\r\n", left, right);
cittecla 94:0381e8b1beda 79 }
cittecla 94:0381e8b1beda 80 set_speed(left, right);
cittecla 94:0381e8b1beda 81 }
cittecla 85:d8ea8a99fa3a 82
cittecla 85:d8ea8a99fa3a 83 float speed_left = get_speed_left();
cittecla 94:0381e8b1beda 84 printf("speed left: %f\r\n", speed_left);
cittecla 89:7f9d6e641a01 85 wanted_dist -= (2*(float)wheel_r*(float)M_PI)/(2*M_PI) * t.read() * fabsf(speed_left)*0.1f;
cittecla 85:d8ea8a99fa3a 86 t.reset();
cittecla 85:d8ea8a99fa3a 87
cittecla 85:d8ea8a99fa3a 88 if(wanted_dist <= 0) { //distance covered, Stop function
cittecla 85:d8ea8a99fa3a 89 set_speed(0,0);
cittecla 85:d8ea8a99fa3a 90 is_moving = false;
cittecla 85:d8ea8a99fa3a 91 t.stop();
cittecla 85:d8ea8a99fa3a 92 }
cittecla 85:d8ea8a99fa3a 93 }
cittecla 88:b89cace9329b 94 printf("remaining distance to cover: %f\r\n", wanted_dist);
cittecla 85:d8ea8a99fa3a 95 return wanted_dist;
cittecla 52:56399c2f13cd 96 }
cittecla 52:56399c2f13cd 97
cittecla 85:d8ea8a99fa3a 98 float turn_for_deg(float deg) //if deg not 0 equals initilisation.
cittecla 52:56399c2f13cd 99 {
cittecla 52:56399c2f13cd 100
cittecla 75:dba260cb5ae4 101 if(deg != 0) {
cittecla 61:628f8a4e857c 102
cittecla 61:628f8a4e857c 103 is_turning = true;
cittecla 94:0381e8b1beda 104 wanted_deg = fabsf(deg);
cittecla 61:628f8a4e857c 105
cittecla 61:628f8a4e857c 106 if(deg < 0) { // turn left
cittecla 61:628f8a4e857c 107 direction = 1;
cittecla 94:0381e8b1beda 108 left = -30.0f;
cittecla 94:0381e8b1beda 109 right = 30.0f;
cittecla 61:628f8a4e857c 110 } else { // turn right
cittecla 61:628f8a4e857c 111 direction = 0;
cittecla 94:0381e8b1beda 112 left = 30.0f;
cittecla 94:0381e8b1beda 113 right = -30.0f;
cittecla 61:628f8a4e857c 114 }
cittecla 61:628f8a4e857c 115 set_speed(left, right);
cittecla 94:0381e8b1beda 116 devider = true;
cittecla 71:ddf4eb5c3081 117 t.reset();
cittecla 61:628f8a4e857c 118 t.start();
cittecla 61:628f8a4e857c 119
cittecla 61:628f8a4e857c 120 } else {
cittecla 94:0381e8b1beda 121 float speed_multiplier = 0.6f;
cittecla 94:0381e8b1beda 122 if(wanted_deg < 10.0f && devider == true) {
cittecla 94:0381e8b1beda 123 devider = false;
cittecla 94:0381e8b1beda 124 if(direction) { //move forward
cittecla 94:0381e8b1beda 125 left = left * speed_multiplier;
cittecla 94:0381e8b1beda 126 right = right * speed_multiplier;
cittecla 94:0381e8b1beda 127 }
cittecla 94:0381e8b1beda 128 set_speed(left, right);
cittecla 94:0381e8b1beda 129 }
cittecla 94:0381e8b1beda 130
cittecla 61:628f8a4e857c 131 float speed_left = get_speed_left();
cittecla 94:0381e8b1beda 132 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 133 t.reset();
cittecla 75:dba260cb5ae4 134 if(wanted_deg <= 0) {
cittecla 61:628f8a4e857c 135 set_speed(0,0);
cittecla 61:628f8a4e857c 136 is_turning = false;
cittecla 61:628f8a4e857c 137 t.stop();
cittecla 61:628f8a4e857c 138 }
cittecla 61:628f8a4e857c 139 }
cittecla 94:0381e8b1beda 140 printf("remaining deg %f\r\n", wanted_deg);
cittecla 75:dba260cb5ae4 141 return (wanted_deg);
cittecla 52:56399c2f13cd 142 }
cittecla 52:56399c2f13cd 143
cittecla 52:56399c2f13cd 144
cittecla 52:56399c2f13cd 145 int move_to_next_coord()
cittecla 52:56399c2f13cd 146 {
cittecla 52:56399c2f13cd 147
cittecla 52:56399c2f13cd 148 float current_heading = get_current_heading();
cittecla 53:453f24775644 149 position current_pos = get_current_pos();
cittecla 52:56399c2f13cd 150 position next_pos = get_next_pos();
cittecla 61:628f8a4e857c 151
cittecla 52:56399c2f13cd 152 float needed_heading = 0;
cittecla 52:56399c2f13cd 153 float distance = 0;
cittecla 61:628f8a4e857c 154
cittecla 52:56399c2f13cd 155 // nord(-y) = 0 grad
cittecla 61:628f8a4e857c 156 if(current_pos.y > next_pos.y) {
cittecla 61:628f8a4e857c 157 if(current_pos.x > next_pos.x) needed_heading = 315;
cittecla 61:628f8a4e857c 158 distance = sqrt2;
cittecla 61:628f8a4e857c 159 if(current_pos.x == next_pos.x) needed_heading = 0;
cittecla 61:628f8a4e857c 160 distance = 1;
cittecla 61:628f8a4e857c 161 if(current_pos.x < next_pos.x) needed_heading = 45;
cittecla 61:628f8a4e857c 162 distance = sqrt2;
cittecla 61:628f8a4e857c 163 }
cittecla 61:628f8a4e857c 164 if(current_pos.y == next_pos.y) {
cittecla 61:628f8a4e857c 165 if(current_pos.x > next_pos.x) needed_heading = 270;
cittecla 61:628f8a4e857c 166 distance = 1;
cittecla 53:453f24775644 167 if(current_pos.x == next_pos.x) //error same position;
cittecla 61:628f8a4e857c 168 if(current_pos.x < next_pos.x) needed_heading = 90;
cittecla 61:628f8a4e857c 169 distance = 1;
cittecla 61:628f8a4e857c 170 }
cittecla 61:628f8a4e857c 171 if(current_pos.y < next_pos.y) {
cittecla 61:628f8a4e857c 172 if(current_pos.x > next_pos.x) needed_heading = 225;
cittecla 61:628f8a4e857c 173 distance = sqrt2;
cittecla 61:628f8a4e857c 174 if(current_pos.x == next_pos.x) needed_heading = 180;
cittecla 61:628f8a4e857c 175 distance = 1;
cittecla 61:628f8a4e857c 176 if(current_pos.x < next_pos.x) needed_heading = 135;
cittecla 61:628f8a4e857c 177 distance = sqrt2;
cittecla 61:628f8a4e857c 178 }
cittecla 52:56399c2f13cd 179
cittecla 52:56399c2f13cd 180 if(needed_heading != current_heading) {
cittecla 53:453f24775644 181 turn_for_deg((needed_heading-current_heading));
cittecla 61:628f8a4e857c 182 } else {
cittecla 85:d8ea8a99fa3a 183 move_for_distance(distance);
cittecla 39:92723f7ea54f 184 }
cittecla 39:92723f7ea54f 185 return 0;
cittecla 52:56399c2f13cd 186 }
cittecla 52:56399c2f13cd 187
PESGruppe1 74:d9c387b83196 188 // Tobias Berger
cittecla 52:56399c2f13cd 189 int move_in_search_for_brick()
cittecla 52:56399c2f13cd 190 {
PESGruppe1 79:50f8d58f79ab 191 float upper = getDistanceIR(2); // get distance from upper Center Sensor
PESGruppe1 79:50f8d58f79ab 192 float lower = getDistanceIR(3); // get distance from Lower Center Sensor
aeschsim 96:1c6867536350 193 printf("Current Search State: >%d<\r\n",search_state);
cittecla 86:df8c869a5a52 194 switch (search_state) {
cittecla 86:df8c869a5a52 195 case 0: //first cycle right
cittecla 86:df8c869a5a52 196 turn_for_deg(60.0f); // call function and start turning
cittecla 86:df8c869a5a52 197 search_state = 1;
cittecla 86:df8c869a5a52 198 break;
cittecla 85:d8ea8a99fa3a 199
cittecla 86:df8c869a5a52 200 case 1: // turn right 60 deg
cittecla 86:df8c869a5a52 201 if((lower<0.75f)&&(lower>0.1f)) { // if something is in the range of 10 to 80cm at the lower Sensor
cittecla 86:df8c869a5a52 202 if(fabsf((upper-lower))>0.02f) { // and nothing is detected with the upper Sensor
cittecla 86:df8c869a5a52 203 stop_turn();
cittecla 86:df8c869a5a52 204 search_state = 4; //brick found
cittecla 86:df8c869a5a52 205 }
cittecla 86:df8c869a5a52 206 } else {
cittecla 86:df8c869a5a52 207 search_state = 1; // go to same state
cittecla 86:df8c869a5a52 208 if(turn_for_deg(0) < 0) {
cittecla 86:df8c869a5a52 209 stop_turn();
cittecla 86:df8c869a5a52 210 search_state = 2;
cittecla 86:df8c869a5a52 211 }
cittecla 86:df8c869a5a52 212 }
cittecla 86:df8c869a5a52 213 break;
cittecla 85:d8ea8a99fa3a 214
cittecla 86:df8c869a5a52 215 case 2: // first cycle left
cittecla 86:df8c869a5a52 216 turn_for_deg(-120.0f);
cittecla 86:df8c869a5a52 217 search_state = 3;
cittecla 86:df8c869a5a52 218 break;
cittecla 85:d8ea8a99fa3a 219
cittecla 86:df8c869a5a52 220 case 3: // turn left 120 deg
cittecla 86:df8c869a5a52 221 if((lower<0.75f)&&(lower>0.1f)) { // if something is in the range of 10 to 80cm at the lower Sensor
cittecla 86:df8c869a5a52 222 if(fabsf((upper-lower))>0.02f) { // and nothing is detected with the upper Sensor
cittecla 86:df8c869a5a52 223 stop_turn();
cittecla 86:df8c869a5a52 224 search_state = 4; //brick found
cittecla 86:df8c869a5a52 225 }
cittecla 86:df8c869a5a52 226 } else {
cittecla 86:df8c869a5a52 227 search_state = 3; // go to same state
cittecla 86:df8c869a5a52 228 if(turn_for_deg(0) < 0) {
cittecla 86:df8c869a5a52 229 stop_turn();
cittecla 86:df8c869a5a52 230 search_state = 10; // error
cittecla 86:df8c869a5a52 231 }
cittecla 86:df8c869a5a52 232 }
cittecla 86:df8c869a5a52 233 break;
cittecla 52:56399c2f13cd 234
cittecla 86:df8c869a5a52 235 case 4: // first cycle move
cittecla 86:df8c869a5a52 236 float distance_to_Brick = lower-(float)OFFSET_GREIFER_TO_IRSENSOR; // calculate
cittecla 86:df8c869a5a52 237 move_for_distance(distance_to_Brick);
cittecla 86:df8c869a5a52 238 search_state = 5;
cittecla 86:df8c869a5a52 239 break;
cittecla 86:df8c869a5a52 240
cittecla 86:df8c869a5a52 241 case 5: // move forward
cittecla 86:df8c869a5a52 242 if(move_for_distance(0) < 0) {
cittecla 86:df8c869a5a52 243 stop_move();
cittecla 86:df8c869a5a52 244 search_state = 6;
cittecla 86:df8c869a5a52 245 }
cittecla 86:df8c869a5a52 246 break;
cittecla 86:df8c869a5a52 247
cittecla 86:df8c869a5a52 248 case 6: // Grabbing
cittecla 94:0381e8b1beda 249 return 50; //main state machine set as Grabbing
cittecla 94:0381e8b1beda 250
cittecla 86:df8c869a5a52 251 default:
aeschsim 96:1c6867536350 252 printf("default State - move in search for brick\r\n");
cittecla 86:df8c869a5a52 253 // error
cittecla 86:df8c869a5a52 254 break;
PESGruppe1 74:d9c387b83196 255 }
cittecla 86:df8c869a5a52 256 return 47; //called until function is done
cittecla 52:56399c2f13cd 257 }
cittecla 52:56399c2f13cd 258
cittecla 39:92723f7ea54f 259
cittecla 39:92723f7ea54f 260
cittecla 39:92723f7ea54f 261
cittecla 39:92723f7ea54f 262
cittecla 39:92723f7ea54f 263
cittecla 39:92723f7ea54f 264
cittecla 39:92723f7ea54f 265