Alpha Tango
/
R5_Robotics
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Diff: main.cpp
- Revision:
- 9:a5a6d3a48145
- Parent:
- 8:a6080c27f8c5
- Child:
- 10:ed6ecbb420b8
diff -r a6080c27f8c5 -r a5a6d3a48145 main.cpp
--- a/main.cpp Sat Mar 31 21:43:07 2018 +0000
+++ b/main.cpp Sat Mar 31 23:16:56 2018 +0000
@@ -31,7 +31,7 @@
void turnLeft(float, bool);
void rot180(); //Turns the robot around
int findColor(); //Figures out what color the disk is and makes a decision on where to take the disk
-void findPath(int color, int i); //Determines where to take the token based on the color and its relative location
+void findPath(int color, int i, float scale, float); //Determines where to take the token based on the color and its relative location
// GLOBAL VARIABLES
@@ -128,9 +128,10 @@
while(true)
{
- for(int i = 0; i <=8; i++) //begin motion around Nth perimeter
+ for(int i = 0; i <=7; i++) //begin motion around Nth perimeter ::No token on one length of the track so we may want to revise this
{
leg = 0.762; //2.5 feet in meters
+ scale = 1;
if(i % 2 == 0)
{
turnRight();
@@ -143,21 +144,14 @@
}
else
{
- findPath(color, i);
+ findPath(color, i, leg);
dropToken();
//returnPrevious();
}
move(leg, FORWARD);
}
- /* grabToken();
- move(1,FORWARD);
- turnLeft();
- wait(0.5);
- turnLeft();
- wait(2);
- dropToken();
- wait(2);*/
+
}
}
@@ -326,9 +320,269 @@
//pc.printf("Clear (%d), Red (%d), Green (%d), Blue (%d)\n", clear_value, red_value, green_value, blue_value);
//wait(0.5);
}
-void findPath(int color, int i)
+void findPath(int color, int i, float scale) //This function decides where to go based on its reletive position and the color written in from the findColor function. Indexes/Positions 3 & 7 not used
+ // 3
+ //2*--------*--------*4
+ // | |
+ // | |
+ // | |
+ // | |
+ //1* *5
+ // | |
+ // | |
+ // | |
+ // | |
+ // *--------*--------*6
+ // 0 7
+
{
+ /*******************************************************************///Red
+ if( i == 0 && color == 1 )
+ {
+ //condition for return red at index 0
+
+ }
+ if( i == 1 && color == 1 )
+ {
+ //condition for return red at index 1
+
+ }
+ if( i == 2 && color == 1 )
+ {
+ //condition for return red at index 2
+
+ }
+ if( i == 4 && color == 1 )
+ {
+ //condition for return red at index 4
+
+ }
+ if( i == 5 && color == 1 )
+ {
+ //condition for return red at index 5
+
+ }
+ if( i == 6 && color == 1 )
+ {
+ //condition for return red at index 5
+
+ }
+
+ /*******************************************************************///Green
+ if( i == 0 && color == 2 )
+ {
+ //condition for return Green at index 0
+
+ }
+ if( i == 1 && color == 2 )
+ {
+ //condition for return green at index 1
+
+ }
+ if( i == 2 && color == 2 )
+ {
+ //condition for return green at index 2
+
+ }
+ if( i == 4 && color == 2 )
+ {
+ //condition for return green at index 4
+
+ }
+ if( i == 5 && color == 2 )
+ {
+ //condition for return green at index 5
+
+ }
+ if( i == 6 && color == 2 )
+ {
+ //condition for return green at index 6
+
+ }
+ /*******************************************************************///Blue
+ if( i == 0 && color == 3 )//condition for return Blue at index 0 ::
+ {
+ rot180();
+ move(0.3048*scale, FORWARD);
+ turnRight();
+ move(0.3048*scale, FORWARD);
+ break;
+
+ }
+ if( i == 1 && color == 3 ) //condition for return blue at index 1
+ {
+ rot180();
+ move((leg + 0.3048*scale, FORWARD);
+ turnRight();
+ move(0.3048*scale, FORWARD);
+ break;
+
+ }
+ if( i == 2 && color == 3 ) //condition for return blue at index 2
+ {
+ rot180();
+ move((2*leg + 0.3048*scale, FORWARD);
+ turnRight();
+ move(0.3048*scale, FORWARD);
+ break;
+
+ }
+ if( i == 4 && color == 3 ) //condition for return blue at index 4
+ {
+ move((2*leg + 0.3048*scale, FORWARD);
+ turnRight();
+ move(2*leg + 0.3048*scale, FORWARD);
+ break;
+
+ }
+ if( i == 5 && color == 3 ) //condition for return blue at index 5
+ {
+ move(leg + 0.3048*scale, FORWARD);
+ turnRight();
+ move(2*leg + 0.3048*scale, FORWARD);
+ break;
+
+ }
+ if( i == 6 && color == 3 ) //condition for return blue at index 5
+ {
+ move(2*leg + 0.3048*scale);
+ turnLeft();
+ move(0.3048*scale, FORWARD);
+ break;
+
+ }
+ else break;
+
+ /*******************************************************************///Cyan
+ if( i == 0 && color == 4 )
+ {
+ //condition for return Cyan at index 0
+
+ }
+ if( i == 1 && color == 4 )
+ {
+ //condition for return Cyan at index 1
+
+ }
+ if( i == 2 && color == 4 )
+ {
+ //condition for return Cyan at index 2
+
+ }
+ if( i == 4 && color == 4 )
+ {
+ //condition for return Cyan at index 4
+
+ }
+ if( i == 5 && color == 4 )
+ {
+ //condition for return Cyan at index 5
+
+ }
+ if( i == 6 && color == 4 )
+ {
+ //condition for return Cyan at index 6
+
+ }
+ else break;
+ /*******************************************************************///Magenta
+ if( i == 0 && color == 5 )
+ {
+ //condition for return Magenta at index 0
+
+ }
+ if( i == 1 && color == 5 )
+ {
+ //condition for return Magenta at index 1
+
+ }
+ if( i == 2 && color == 5 )
+ {
+ //condition for return Magenta at index 2
+
+ }
+ if( i == 4 && color == 5 )
+ {
+ //condition for return Magenta at index 4
+
+ }
+ if( i == 5 && color == 5 )
+ {
+ //condition for return Magenta at index 5
+
+ }
+ if( i == 6 && color == 5 )
+ {
+ //condition for return Magenta at index 6
+
+ }
+ else break;
+ /*******************************************************************///Yellow
+ if( i == 0 && color == 6 )
+ {
+ //condition for return Yellow at index 0
+
+ }
+ if( i == 1 && color == 6 )
+ {
+ //condition for return Yellow at index 1
+
+ }
+ if( i == 2 && color == 6 )
+ {
+ //condition for return Yellow at index 2
+
+ }
+ if( i == 4 && color == 6 )
+ {
+ //condition for return Yellow at index 4
+
+ }
+ if( i == 5 && color == 6 )
+ {
+ //condition for return Yellow at index 5
+
+ }
+ if( i == 6 && color == 6 )
+ {
+ //condition for return Yellow at index 6
+
+ }
+ else break;
+ /*******************************************************************///Gray
+ if( i == 0 && color == 7 )
+ {
+ //condition for return Gray at index 0
+
+ }
+ if( i == 1 && color == 7 )
+ {
+ //condition for return Gray at index 1
+
+ }
+ if( i == 2 && color == 7 )
+ {
+ //condition for return Gray at index 2
+
+ }
+ if( i == 4 && color == 7 )
+ {
+ //condition for return Gray at index 4
+
+ }
+ if( i == 5 && color == 7 )
+ {
+ //condition for return Gray at index 5
+
+ }
+ if( i == 6 && color == 7 )
+ {
+ //condition for return Gray at index 6
+
+ }
+ else break;
+ /*******************************************************************/
}
}
\ No newline at end of file