Revision 10:e2267771f7d4, committed 2014-06-05

Comitter:

bayagich

Date:

Thu Jun 05 08:49:03 2014 +0000

Parent:

9:accfae3aaf72

Commit message:

AKUL check if this has the correct turn left and turn right, if not replace it. ; ; Code with comments, may not have the correct turn left, turn right;

Changed in this revision

--- a/main.cpp	Wed Jun 04 11:38:06 2014 +0000
+++ b/main.cpp	Thu Jun 05 08:49:03 2014 +0000
@@ -10,57 +10,78 @@
 
 using namespace std;
 
+//EFFECTS: looks at a number of sensors to determine if the robot has reached a cross. 
+ //         If the robot has reached a cross, it returns TRUE. If not, it returns FALSE
 bool cross_detection(int sensor[5], int black_thresh, int white_thresh); 
+
+// REQUIRES: Startpoint and endpoint must be between 1 and 6, inclusive
+// EFFECTS: returns a string of directions fo either L (left), R (right), or
+//          F (forward) to tell the robot how to get from Startpoint to endpoints 
+string directions(int startpoint, int endpoint);
+
+
 void mapping(string directions, float speed, int turns);
-string directions(int startpoint, int endpoint);
+
 void turn_right();
 void turn_left();
-
-int end(); 
-int start(); 
-
  
 m3pi thinggy; 
 
-    int black_thresh = 300;
-    int white_thresh = 240;
-    float speed = 0.25;
-    float turn_speed = 0.2; 
-    float correction;
-    float k = -0.3;
-    int sensor[5];
-    int returned;  
+//black and white thresholds chose after testing
+int black_thresh = 300;
+int white_thresh = 240;
+
+//normal speed and turn speed to slow 
+float speed = 0.25;
+float turn_speed = 0.2; 
+
+//used to change the direction of the car
+float correction;
+
+//k was chosen after testing 
+float k = -0.3;
+
+int sensor[5];
+int returned;  
 
  
 int main() { 
     bool cross = 0; 
     
     wait(1.0);
- 
+    
+    //calibrate the sensors 
     thinggy.sensor_auto_calibrate();
- 
     thinggy.calibrated_sensor(sensor);
     
     //find the average of the three sensors 
     returned = (sensor[1] + sensor[2] + sensor[3])/3;
     
-    //finds the directions of the robot 
-    int startpt = 2; //start();  
-    int endpt = 1; //end(); 
+    //enter in the endpoint and startpoint here 
+    int startpt = 2; 
+    int endpt = 1; 
     string d = directions(startpt, endpt);
+    
+    //declares the number of turns so that it can be incremented after each turn
     int turns = 0; 
  
+    //performs movement
     while(1) {
-        //check if it needs to turn 
+        
+        //checks if it needs to turn 
         while(returned <= 240){
+                
                 //turns right 
                 while(sensor[0] < sensor[4] && thinggy.line_position() != 0){
                     cross = cross_detection(sensor, black_thresh, white_thresh);
+                    
+                    //checks if there is a cross
                     if(cross){
                         mapping(d, speed, turns);
                         ++turns;
                         cross = 0;  
                     }
+                    //corrects turn
                     else {
                         thinggy.left_motor(turn_speed);
                         thinggy.right_motor(-turn_speed);
@@ -72,11 +93,13 @@
                 //turns left 
                 while(sensor[4] > sensor[0] && thinggy.line_position() != 0){
                     cross = cross_detection(sensor, black_thresh, white_thresh);
+                    //checks for cross
                     if(cross){
                         mapping(d, speed, turns);
                         ++turns; 
                         cross = 0; 
                     }
+                    //corrects pathway
                     else{
                         thinggy.left_motor(-turn_speed);
                         thinggy.right_motor(turn_speed);
@@ -94,6 +117,7 @@
             float position = thinggy.line_position();
             correction = k*(position);
             cross = cross_detection(sensor, black_thresh, white_thresh);
+            //checks for cross
             if(cross){
                 mapping(d, speed, turns);
                 ++turns;
@@ -116,12 +140,14 @@
                 thinggy.left_motor(speed-correction);
                 thinggy.right_motor(speed+correction);
                 
-               //Infared: stop if obstructed           
+                //Infared: will stop if obstructed           
                 m3pi_IN[0].mode(PullUp);
                 while (m3pi_IN[0]==0){
                     thinggy.stop();
                 }
             }
+            
+            //recalibrate 
             thinggy.calibrated_sensor(sensor);
             returned = (sensor[1] + sensor[2]*2 + sensor[3])/4;   
         }//while returned > 220
@@ -133,10 +159,8 @@
 
 }
 
-//DONE 
- //REQUIRES: array of 5 ints 
- //EFFECTS: stops the robot if it comes to any interesection where a decision has to be made
- // and returns true if there is a cross
+ //EFFECTS: looks at a number of sensors to determine if the robot has reached a cross. 
+ //         If the robot has reached a cross, it returns TRUE. If not, it returns FALSE
  bool cross_detection(int sensor[5], int black_thresh, int white_thresh){
        //three directions to choose from NOT WORKING 
         if(sensor[0] > black_thresh and sensor[2] > black_thresh and sensor[4] > black_thresh){
@@ -158,18 +182,10 @@
         return 0; 
 }
 
-//take in the starting point of the robot from bluetooth 
-int start(){
- return 0;  
-}
 
-//take in the ending point of the robot from bluetooth 
-int end(){
-  return 0; 
-}
-
-//DONE
-//gives the string to use for the map 
+// REQUIRES: Startpoint and endpoint must be between 1 and 6, inclusive
+// EFFECTS: returns a string of directions fo either L (left), R (right), or
+//          F (forward) to tell the robot how to get from Startpoint to endpoints 
 string directions(int startpoint, int endpoint){
     string charmap[6][6] = {
        {"", "RLRLLR", "RLRLFF", "RLRRRLLF", "RLRRLFLRRRL", "RLRRLR"}, 
@@ -179,31 +195,35 @@
        {"RLLLRFRLL", "RLLRLFR", "RLFLR", "RLFF", "", "RLLLRL"},
        {"LRLL", "LFLR", "LRFFF", "RLRLF", "RLRRRL", ""}
     }; 
+    
     return charmap[startpoint - 1][endpoint - 1];
 }
 
-//DONE
-//takes in the string of directions and the number of turns 
-//completed and then tells it whether to do left, right, forward 
+//MODIFIES: Direction and speed 
+//EFFECTS: Looks at the turn in the string of directions and tells it whether 
+//          whether to go left, right, forward 
 void mapping(string directions, float speed, int turns){
     
-    char x = directions[turns]; //something in the string 
+    //char x is L, R, F, or NULL to perform at the specified turn 
+    char x = directions[turns]; 
     
-    //tells it which direction to go 
+    //left turn
     if(x == 'L'){
         turn_left();
         return; 
     }
+    //right turn 
     else if(x == 'R'){
         turn_right();
         return; 
     }
+    //move forward 
     else if(x == 'F'){
-        thinggy.printf("F"); 
         thinggy.forward(speed); 
         wait(.1); 
         return; 
     }
+    //if it reaches the last element in the string 
     else if (x == NULL){
         thinggy.stop(); 
         wait(300); 
@@ -211,6 +231,7 @@
     }
 }
 
+//EFFECTS: turns the robot left
 void turn_left(){
   int n=0;
   wait(.08); 
@@ -221,9 +242,9 @@
         }
     thinggy.forward(0.2);
     wait(0.15);          
-    
 }
 
+//EFFECTS: turns the robot right 
 void turn_right(){
     int n=0;
     wait(.08); 
@@ -234,5 +255,4 @@
         }
     thinggy.forward(0.2);
     wait(0.15);      
-    
 }
\ No newline at end of file