Anon Anon
/
MicroMousewithFloodFill
Updated with the Algorithm
Fork of MM_rat_Assignment4-newwest by
algorithm.h@8:22e399fe87a4, 2017-11-28 (annotated)
- Committer:
- Showboo
- Date:
- Tue Nov 28 21:45:07 2017 +0000
- Revision:
- 8:22e399fe87a4
- Child:
- 9:97941581fe81
Updated for the algorithm
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Showboo | 8:22e399fe87a4 | 1 | #ifndef ALGO_H |
Showboo | 8:22e399fe87a4 | 2 | #define ALGO_H |
Showboo | 8:22e399fe87a4 | 3 | #include <cmath> |
Showboo | 8:22e399fe87a4 | 4 | #include <stack> |
Showboo | 8:22e399fe87a4 | 5 | #include <iostream> |
Showboo | 8:22e399fe87a4 | 6 | #include <vector> |
Showboo | 8:22e399fe87a4 | 7 | #include <algorithm> |
Showboo | 8:22e399fe87a4 | 8 | #include "header.h" |
Showboo | 8:22e399fe87a4 | 9 | struct geoCoord{ |
Showboo | 8:22e399fe87a4 | 10 | geoCoord(int x_in, int y_in){x = x_in; y = y_in;} |
Showboo | 8:22e399fe87a4 | 11 | geoCoord(){x = 0; y = 0;} |
Showboo | 8:22e399fe87a4 | 12 | int x, y; |
Showboo | 8:22e399fe87a4 | 13 | double distance; |
Showboo | 8:22e399fe87a4 | 14 | }; |
Showboo | 8:22e399fe87a4 | 15 | |
Showboo | 8:22e399fe87a4 | 16 | bool compare(geoCoord* left, geoCoord* right){ |
Showboo | 8:22e399fe87a4 | 17 | return left->distance > right->distance; |
Showboo | 8:22e399fe87a4 | 18 | } |
Showboo | 8:22e399fe87a4 | 19 | |
Showboo | 8:22e399fe87a4 | 20 | int isWall(){ |
Showboo | 8:22e399fe87a4 | 21 | float ir_r[4]; //ir_readings, in the order of l, r, lf, rf |
Showboo | 8:22e399fe87a4 | 22 | FlashIRs(ir_r[0], ir_r[1], ir_r[2], ir_r[3]); |
Showboo | 8:22e399fe87a4 | 23 | int return_val = 0; |
Showboo | 8:22e399fe87a4 | 24 | if (ir_r[2] > 0.2f && ir_r[3] > 0.2f){ |
Showboo | 8:22e399fe87a4 | 25 | return_val = return_val | 1; |
Showboo | 8:22e399fe87a4 | 26 | } |
Showboo | 8:22e399fe87a4 | 27 | if(ir_r[1] > 0.3f){ |
Showboo | 8:22e399fe87a4 | 28 | return_val = return_val | 7; |
Showboo | 8:22e399fe87a4 | 29 | } |
Showboo | 8:22e399fe87a4 | 30 | if(ir_r[0] > 0.3f){ |
Showboo | 8:22e399fe87a4 | 31 | return_val = return_val | 3; |
Showboo | 8:22e399fe87a4 | 32 | } |
Showboo | 8:22e399fe87a4 | 33 | return return_val; //This implementation is wrong but I got hungry. |
Showboo | 8:22e399fe87a4 | 34 | } |
Showboo | 8:22e399fe87a4 | 35 | |
Showboo | 8:22e399fe87a4 | 36 | void goForward(int times){ |
Showboo | 8:22e399fe87a4 | 37 | float l,r,lf,rf; |
Showboo | 8:22e399fe87a4 | 38 | FlashIRs(l, r, lf, rf); |
Showboo | 8:22e399fe87a4 | 39 | if(l < 0.17f && r < 0.17f){ |
Showboo | 8:22e399fe87a4 | 40 | usePIDEncoder(); |
Showboo | 8:22e399fe87a4 | 41 | } |
Showboo | 8:22e399fe87a4 | 42 | else{ |
Showboo | 8:22e399fe87a4 | 43 | usePIDBoth(); //Goes straight and uses PID using IR and the encoders |
Showboo | 8:22e399fe87a4 | 44 | } |
Showboo | 8:22e399fe87a4 | 45 | //Should be able to detect if there aren't walls and just work on the encoders |
Showboo | 8:22e399fe87a4 | 46 | //And should also record the distance for just one cell. |
Showboo | 8:22e399fe87a4 | 47 | return; |
Showboo | 8:22e399fe87a4 | 48 | } |
Showboo | 8:22e399fe87a4 | 49 | |
Showboo | 8:22e399fe87a4 | 50 | void MoveTo(geoCoord* current_coord, geoCoord* next, int curr_orientation){ //Note that turning automatically sets the global orientation constant |
Showboo | 8:22e399fe87a4 | 51 | int diff_x = next->x - current_coord->x; |
Showboo | 8:22e399fe87a4 | 52 | int diff_y = next->y - current_coord->y; |
Showboo | 8:22e399fe87a4 | 53 | if(diff_x == 1){ |
Showboo | 8:22e399fe87a4 | 54 | if(curr_orientation == SOUTH) |
Showboo | 8:22e399fe87a4 | 55 | turn_left(1); |
Showboo | 8:22e399fe87a4 | 56 | else if(curr_orientation == WEST){ |
Showboo | 8:22e399fe87a4 | 57 | turn_right(2); |
Showboo | 8:22e399fe87a4 | 58 | } |
Showboo | 8:22e399fe87a4 | 59 | else if(curr_orientation == NORTH){ |
Showboo | 8:22e399fe87a4 | 60 | turn_right(1); |
Showboo | 8:22e399fe87a4 | 61 | } |
Showboo | 8:22e399fe87a4 | 62 | } |
Showboo | 8:22e399fe87a4 | 63 | else if(diff_x == -1){ |
Showboo | 8:22e399fe87a4 | 64 | if(curr_orientation == SOUTH){ |
Showboo | 8:22e399fe87a4 | 65 | turn_right(1); |
Showboo | 8:22e399fe87a4 | 66 | } |
Showboo | 8:22e399fe87a4 | 67 | else if(curr_orientation == NORTH){ |
Showboo | 8:22e399fe87a4 | 68 | turn_left(1); |
Showboo | 8:22e399fe87a4 | 69 | } |
Showboo | 8:22e399fe87a4 | 70 | else if(curr_orientation == EAST){ |
Showboo | 8:22e399fe87a4 | 71 | turn_right(2); |
Showboo | 8:22e399fe87a4 | 72 | } |
Showboo | 8:22e399fe87a4 | 73 | } |
Showboo | 8:22e399fe87a4 | 74 | else if(diff_y == 1){ |
Showboo | 8:22e399fe87a4 | 75 | if(curr_orientation == SOUTH){ |
Showboo | 8:22e399fe87a4 | 76 | turn_right(2); |
Showboo | 8:22e399fe87a4 | 77 | } |
Showboo | 8:22e399fe87a4 | 78 | else if(curr_orientation == EAST){ |
Showboo | 8:22e399fe87a4 | 79 | turn_left(1); |
Showboo | 8:22e399fe87a4 | 80 | } |
Showboo | 8:22e399fe87a4 | 81 | else if(curr_orientation == WEST){ |
Showboo | 8:22e399fe87a4 | 82 | turn_right(1); |
Showboo | 8:22e399fe87a4 | 83 | } |
Showboo | 8:22e399fe87a4 | 84 | } |
Showboo | 8:22e399fe87a4 | 85 | else if(diff_y == -1){ |
Showboo | 8:22e399fe87a4 | 86 | if(curr_orientation == NORTH){ |
Showboo | 8:22e399fe87a4 | 87 | turn_right(2); |
Showboo | 8:22e399fe87a4 | 88 | } |
Showboo | 8:22e399fe87a4 | 89 | else if(curr_orientation == EAST){ |
Showboo | 8:22e399fe87a4 | 90 | turn_right(1); |
Showboo | 8:22e399fe87a4 | 91 | } |
Showboo | 8:22e399fe87a4 | 92 | else if(curr_orientation == WEST){ |
Showboo | 8:22e399fe87a4 | 93 | turn_left(1); |
Showboo | 8:22e399fe87a4 | 94 | } |
Showboo | 8:22e399fe87a4 | 95 | } |
Showboo | 8:22e399fe87a4 | 96 | else{ //We've made it to the end! |
Showboo | 8:22e399fe87a4 | 97 | wait_ms(1000000000); |
Showboo | 8:22e399fe87a4 | 98 | } |
Showboo | 8:22e399fe87a4 | 99 | goForward(1); |
Showboo | 8:22e399fe87a4 | 100 | return; |
Showboo | 8:22e399fe87a4 | 101 | } |
Showboo | 8:22e399fe87a4 | 102 | |
Showboo | 8:22e399fe87a4 | 103 | geoCoord cellarray[16][16]; |
Showboo | 8:22e399fe87a4 | 104 | geoCoord Target(8,8); //Target cell was assumed to be here. |
Showboo | 8:22e399fe87a4 | 105 | geoCoord Start(0,0); |
Showboo | 8:22e399fe87a4 | 106 | |
Showboo | 8:22e399fe87a4 | 107 | void algorithm(){ //Implementation of floodfill algorithm |
Showboo | 8:22e399fe87a4 | 108 | for(int i = 0; i < 16; i++){ |
Showboo | 8:22e399fe87a4 | 109 | for(int k = 0; k < 16; k++){ |
Showboo | 8:22e399fe87a4 | 110 | cellarray[i][k].distance = std::sqrt((double)((double)cellarray[i][k].x - (double)Start.x)*((double)cellarray[i][k].x - (double)Start.x) + ((double)cellarray[i][k].y - (double)Start.y)*((double)cellarray[i][k].y - (double)Start.y)); //Initializes the distances of the cellarray |
Showboo | 8:22e399fe87a4 | 111 | } |
Showboo | 8:22e399fe87a4 | 112 | } |
Showboo | 8:22e399fe87a4 | 113 | std::stack<geoCoord*> cells_to_traverse; |
Showboo | 8:22e399fe87a4 | 114 | cells_to_traverse.push(&Start); |
Showboo | 8:22e399fe87a4 | 115 | while(cells_to_traverse.size() > 0){ |
Showboo | 8:22e399fe87a4 | 116 | geoCoord* current = cells_to_traverse.top(); |
Showboo | 8:22e399fe87a4 | 117 | cells_to_traverse.pop(); |
Showboo | 8:22e399fe87a4 | 118 | int r_val = isWall(); |
Showboo | 8:22e399fe87a4 | 119 | for(int i = 1; i < 8; i+= 2) //1 for Forward, 3 for Left, 5 for South, 7 for Right. South probably isn't going to be a thing |
Showboo | 8:22e399fe87a4 | 120 | if(r_val&i == i){ //Potentially pushes 4 cells onto the stack |
Showboo | 8:22e399fe87a4 | 121 | if(i == 1 && current->y < 15) |
Showboo | 8:22e399fe87a4 | 122 | cells_to_traverse.push(&cellarray[current->x][current->y + 1]); |
Showboo | 8:22e399fe87a4 | 123 | else if(i == 3 && current->x > 0) |
Showboo | 8:22e399fe87a4 | 124 | cells_to_traverse.push(&cellarray[current->x - 1][current->y]); |
Showboo | 8:22e399fe87a4 | 125 | else if(i == 7 && current->x < 15) |
Showboo | 8:22e399fe87a4 | 126 | cells_to_traverse.push(&cellarray[current->x+1][current->y]); |
Showboo | 8:22e399fe87a4 | 127 | else if(i == 5 && current->y > 0) |
Showboo | 8:22e399fe87a4 | 128 | cells_to_traverse.push(&cellarray[current->x][current->y-1]); //Checks bounds for the potential cells to push. |
Showboo | 8:22e399fe87a4 | 129 | } |
Showboo | 8:22e399fe87a4 | 130 | std::vector<geoCoord*> neighboring_cells; |
Showboo | 8:22e399fe87a4 | 131 | for(int i = 0; i < cells_to_traverse.size(); i++){ |
Showboo | 8:22e399fe87a4 | 132 | neighboring_cells.push_back(cells_to_traverse.top()); //We temporarily put neighboring cells into a vector and sort them |
Showboo | 8:22e399fe87a4 | 133 | cells_to_traverse.pop(); |
Showboo | 8:22e399fe87a4 | 134 | } |
Showboo | 8:22e399fe87a4 | 135 | std::sort(neighboring_cells.begin(), neighboring_cells.end(), compare); |
Showboo | 8:22e399fe87a4 | 136 | for(int i = 0; i < neighboring_cells.size(); i++){ |
Showboo | 8:22e399fe87a4 | 137 | cells_to_traverse.push(neighboring_cells[i]); //Puts the sorted vector into reverse order back into the stack |
Showboo | 8:22e399fe87a4 | 138 | } |
Showboo | 8:22e399fe87a4 | 139 | MoveTo(current, cells_to_traverse.top(), global_orientation); //Moves to the cell that is the closest to the target cell |
Showboo | 8:22e399fe87a4 | 140 | cells_to_traverse.pop(); |
Showboo | 8:22e399fe87a4 | 141 | } |
Showboo | 8:22e399fe87a4 | 142 | } |
Showboo | 8:22e399fe87a4 | 143 | #endif |