Diff: main.cpp

Revision:

8:a789ef4fde52

Parent:

7:d03e54d9eb1c

Child:

9:ef0907fda2f1

--- a/main.cpp	Wed Jun 11 14:16:30 2014 +0000
+++ b/main.cpp	Mon Dec 22 08:45:36 2014 +0000
@@ -16,193 +16,18 @@
 
 #include "main.h"   // Certain parameters can be set by changing the defines in piswarm.h
 
-#define rearSensors 90
-#define frontSensors 90
-#define wallsSensors 55
-#define cohesion 50
-#define separation  75
-
-uint8_t loop_counter = 0;
-float sensor_data[8] = {0};
-volatile uint8_t proximity_signal[4] = {0};
-float speed = 0;
-float speed_incrementor = 0;
-float delay = 0;
-
-DigitalOut irFront(p12);
-DigitalOut irBack(p13);
-Timer t;
-Timer speed_timer;
-
-
 PiSwarm piswarm;
 Serial pc (USBTX,USBRX);
 
-//This is where the program code goes.  In the simple demo, the outer LEDs are blinked.
+//This is where the program code goes.  
 int main() {
     init();
-    t.start();
-    speed_timer.start();
-    speed = 0.15;
+    
     while(1) {
-        
-        speed_incrementor = 0.08 + speed / 10;
-        delay = 0.12 - (speed / 10) * 4;
-        get_sensors_values();
-        if( speed_timer.read_ms() > 1000 ){ 
-            if( speed > 0.05 ) speed -= 0.005;
-            for( loop_counter = 0; loop_counter < 3; loop_counter++ ){
-                if( proximity_signal[loop_counter] == 1 && speed < 0.2 ) speed += 0.005; 
-            }
-            speed_timer.reset();    
-            //piswarm.cls();
-            //piswarm.printf("%0.2f %d%d%d\n\r", speed, proximity_signal[0], proximity_signal[1], proximity_signal[2]);
-        }    
-        
-        //Forward and backward condition 
-        while( ( sensor_data[0] + sensor_data[7] ) / 2 > ( separation + 15 ) )
-        {
-            attraction();
-            piswarm.forward( speed );
-            piswarm.set_oleds( 1, 0, 0, 0, 0, 0, 0, 0, 1, 1 );
-            get_sensors_values();
-            wait( delay );
-        }
-        while( ( sensor_data[0] + sensor_data[7] ) / 2 < ( separation - 15 ) && ( sensor_data[3] + sensor_data[4] ) / 2 > ( separation - 15 ) )
-        {
-            piswarm.backward( speed_incrementor );
-            piswarm.set_oleds( 0, 0, 0, 1, 1, 1, 0, 0, 0, 0 );
-            get_sensors_values();
-            wait( delay );
-        }
-        //Front-left separation
-        while( sensor_data[6] < separation || sensor_data[5] < separation )
-        {
-            t.stop();
-            t.reset();
-            piswarm.left( speed_incrementor );
-            piswarm.set_oleds( 0, 0, 0, 0, 0, 0, 1, 1, 0, 0 );
-            get_sensors_values();
-            wait( delay );
-            t.start();
-        }
-        
-        //Front-right separation
-        while( sensor_data[1] < separation || sensor_data[2] < separation)
-        {
-            t.stop();
-            t.reset();
-            piswarm.right( speed_incrementor );
-            piswarm.set_oleds( 0, 1, 1, 0, 0, 0, 0, 0, 0, 0 );
-            get_sensors_values();
-            wait( delay );
-            t.start();
-        } 
-        piswarm.stop();     
-        attraction();
+       
     }
 }
 
-void get_sensors_values()
-{
-    for(loop_counter = 0; loop_counter < 8; loop_counter++ ){
-        sensor_data[loop_counter] = 0.0;
-        sensor_data[loop_counter] = piswarm.read_reflected_ir_distance(loop_counter);
-    }
-}
-
-void attraction(void){
-    if(t.read_ms() > 2500){//limit for going without seeing any robot, otherwise check where they are
-        t.stop();
-        t.reset();
-        irFront = 0;
-        irBack = 0;
-        int maxIrValue = 0;
-        int maxIrLoc = 0;
-        unsigned short irValue = 0;
-        for(int i=0;i<8;i++){
-            piswarm.read_adc_value(i);
-        }
-        for(int i=0;i<8;i++){
-            irValue = piswarm.read_adc_value(i);
-            if(irValue > maxIrValue){
-                maxIrValue = irValue;
-                maxIrLoc = i;
-            }
-        }
-        t.start();
-        t.reset();
-        switch(maxIrLoc){
-            case 0:
-            piswarm.right(0.36);
-            while(t.read_ms() < 30){//15 degrees
-            }
-            piswarm.stop();
-            t.stop();
-            break;
-            
-            case 1:
-            piswarm.right(0.36);
-            while(t.read_ms() < 90){//45 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-
-            case 2:
-            piswarm.right(0.36);
-            while(t.read_ms() < 180){//90 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-
-            case 3:                
-            piswarm.right(0.36);
-            while(t.read_ms() < 288){//144 degrees
-            }
-            piswarm.stop();
-            t.stop();
-            break;
-
-            case 4:
-            piswarm.left(0.36);
-            while(t.read_ms() < 288){//216 degrees
-            }
-            piswarm.stop();
-            t.stop();
-            break;
-
-            case 5:
-            piswarm.left(0.36);
-            while(t.read_ms() < 180){//270 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-
-            case 6:
-            piswarm.left(0.36);
-            while(t.read_ms() < 90){//315 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-
-            case 7:
-            piswarm.left(0.36);
-            while(t.read_ms() < 30){//345 degrees
-            }
-            piswarm.stop();
-            t.stop();                
-            break;
-        }
-        t.start();
-        irFront = 1;
-        irBack = 1;
-    }
-
-}
 /***************************************************************************************************************************************
  *
  * Beyond this point, empty code blocks for optional functions is given
@@ -226,11 +51,7 @@
     // function = The function identifier.  Range 0 to 15
     // * data = Array containing extra data bytes
     // length = Length of extra data bytes held (range 0 to 57)
-     proximity_signal[0] = data[0];
-     proximity_signal[1] = data[1];
-     proximity_signal[2] = data[2];
-     piswarm.cls();
-     piswarm.printf("%0.2f %d%d%d", speed, proximity_signal[0], proximity_signal[1], proximity_signal[2]);
+    
        
     //Do something...
 }