James Heavey / Mbed 2 deprecated 3875_DISSERTATION

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Dependencies:   mbed 3875_Individualproject

main/main.cpp@62:69de8a0d2ced, 2020-04-18 (annotated)

Committer:
jamesheavey
Date:
Sat Apr 18 20:45:09 2020 +0000
Revision:
62:69de8a0d2ced
Parent:
61:b31d8c997279
Child:
63:0358f24b6181
dead end removal change save

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jamesheavey 32:598bedb22c7c 1 #include "main.h"
jamesheavey 24:adb946be4ce5 2 #include <math.h>
jamesheavey 0:df5216b20861 3
jamesheavey 0:df5216b20861 4 // API
jamesheavey 0:df5216b20861 5 m3pi robot;
jamesheavey 0:df5216b20861 6
jamesheavey 0:df5216b20861 7 // LEDs
jamesheavey 0:df5216b20861 8 BusOut leds(LED4,LED3,LED2,LED1);
jamesheavey 0:df5216b20861 9
jamesheavey 0:df5216b20861 10 // Buttons
jamesheavey 0:df5216b20861 11 DigitalIn button_A(p18);
jamesheavey 0:df5216b20861 12 DigitalIn button_B(p17);
jamesheavey 0:df5216b20861 13 DigitalIn button_X(p21);
jamesheavey 0:df5216b20861 14 DigitalIn button_Y(p22);
jamesheavey 0:df5216b20861 15 DigitalIn button_enter(p24);
jamesheavey 0:df5216b20861 16 DigitalIn button_back(p23);
jamesheavey 0:df5216b20861 17
jamesheavey 0:df5216b20861 18 // Potentiometers
jamesheavey 0:df5216b20861 19 AnalogIn pot_P(p15);
jamesheavey 0:df5216b20861 20 AnalogIn pot_I(p16);
jamesheavey 0:df5216b20861 21 AnalogIn pot_D(p19);
jamesheavey 0:df5216b20861 22 AnalogIn pot_S(p20);
jamesheavey 0:df5216b20861 23
jamesheavey 17:77b8515a9568 24 // Sensors
jamesheavey 18:991658b628fc 25 DigitalInOut enc_L(p26); //connected to digital P26
jamesheavey 18:991658b628fc 26 DigitalInOut enc_R(p25); //connected to digital P25
jamesheavey 18:991658b628fc 27
jamesheavey 2:940e46e21353 28 // Main
jamesheavey 2:940e46e21353 29
jamesheavey 0:df5216b20861 30 int main()
jamesheavey 0:df5216b20861 31 {
jamesheavey 0:df5216b20861 32 init();
jamesheavey 20:5cf6a378801d 33
jamesheavey 20:5cf6a378801d 34 robot.lcd_goto_xy(0,0);
jamesheavey 22:02dda79d50b4 35 robot.lcd_print("A=SIMPLE", 10);
jamesheavey 20:5cf6a378801d 36 robot.lcd_goto_xy(0,1);
jamesheavey 22:02dda79d50b4 37 robot.lcd_print("B=LOOPED", 10);
jamesheavey 20:5cf6a378801d 38
jamesheavey 20:5cf6a378801d 39 while(button_A.read() == 1 && button_B.read() == 1) {}
jamesheavey 20:5cf6a378801d 40
jamesheavey 20:5cf6a378801d 41 if (button_B.read()) { loop_check = true; } // non-looped
jamesheavey 20:5cf6a378801d 42 if (button_A.read()) { loop_check = false; } // looped
jamesheavey 20:5cf6a378801d 43
jamesheavey 20:5cf6a378801d 44 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 45 robot.lcd_goto_xy(0,0);
jamesheavey 20:5cf6a378801d 46 robot.lcd_print(" ENTER ", 10);
jamesheavey 20:5cf6a378801d 47 robot.lcd_goto_xy(0,1);
jamesheavey 20:5cf6a378801d 48 robot.lcd_print("= start ", 10);
jamesheavey 20:5cf6a378801d 49
jamesheavey 0:df5216b20861 50 calibrate();
jamesheavey 15:6c461501d12d 51
jamesheavey 20:5cf6a378801d 52 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 53
jamesheavey 43:ec047ba15db1 54 speed = 0.3;//(pot_S*0.3)+0.2; // have it so max is 0.5 and min is 0.2 (this lowest doesnt work)
jamesheavey 0:df5216b20861 55
jamesheavey 0:df5216b20861 56 float dt = 1/50; // updating 50 times a second
jamesheavey 20:5cf6a378801d 57
jamesheavey 0:df5216b20861 58 while (1) {
jamesheavey 21:54ea75f7984f 59
jamesheavey 20:5cf6a378801d 60 if (loop_check == true) {
jamesheavey 20:5cf6a378801d 61 non_looped();
jamesheavey 20:5cf6a378801d 62 } else {
jamesheavey 20:5cf6a378801d 63 looped();
jamesheavey 18:991658b628fc 64 }
jamesheavey 0:df5216b20861 65
jamesheavey 0:df5216b20861 66 wait(dt);
jamesheavey 0:df5216b20861 67 }
jamesheavey 0:df5216b20861 68 }
jamesheavey 0:df5216b20861 69
jamesheavey 18:991658b628fc 70 void read_encoders()
jamesheavey 18:991658b628fc 71 {
jamesheavey 18:991658b628fc 72 enc_R.output(); // Set the I/O line to an output
jamesheavey 18:991658b628fc 73 enc_L.output();
jamesheavey 18:991658b628fc 74 enc_R.mode(PullUp);
jamesheavey 18:991658b628fc 75 enc_L.mode(PullUp);
jamesheavey 18:991658b628fc 76
jamesheavey 19:4c08275cb3c9 77 wait_us(10); // Must be atleast 10us for the 10 nF capacitor to charge
jamesheavey 18:991658b628fc 78 enc_R.mode(PullNone);
jamesheavey 18:991658b628fc 79 enc_L.mode(PullNone);
jamesheavey 18:991658b628fc 80 enc_R = 1; // Drive the line high
jamesheavey 18:991658b628fc 81 enc_L = 1;
jamesheavey 18:991658b628fc 82
jamesheavey 18:991658b628fc 83 t_R.start();
jamesheavey 18:991658b628fc 84 enc_R.input(); // Make the I/O line an input (high impedance)
jamesheavey 19:4c08275cb3c9 85 while (enc_R == 1 || t_R.read_us() < 1000); // replace 1000 with a hard variable (1000 = 1ms = 1kHz sampling) (might be able to drop this further
jamesheavey 19:4c08275cb3c9 86 // sampling time is required to be this high for times when there is no reflectance but we only care about high reflectance
jamesheavey 19:4c08275cb3c9 87
jamesheavey 19:4c08275cb3c9 88 // maybe i could wait a few microseconds, see if the encoder is still high, if high then no reflectance, if low, the high reflectance
jamesheavey 19:4c08275cb3c9 89 // this would increase sampling time
jamesheavey 19:4c08275cb3c9 90
jamesheavey 19:4c08275cb3c9 91 // also, the fact that the waits are in the same loop means that the loop will run at different speeds depending on whether a sensor is triggered or not
jamesheavey 19:4c08275cb3c9 92 // if both are triggered it will run fast, otherwise it will have to wait 1000+ us for each sensor
jamesheavey 19:4c08275cb3c9 93
jamesheavey 19:4c08275cb3c9 94 // this therefore needs to be done in parallel and also must not affect the time of other operations in the main loop
jamesheavey 18:991658b628fc 95 encoder[0] = t_R.read_us(); // Measure the time for the capacitor to discharge by waiting for the I/O line to go low
jamesheavey 18:991658b628fc 96 t_R.stop();
jamesheavey 18:991658b628fc 97 t_R.reset();
jamesheavey 18:991658b628fc 98
jamesheavey 18:991658b628fc 99 t_L.start();
jamesheavey 18:991658b628fc 100 enc_L.input();
jamesheavey 19:4c08275cb3c9 101 while (enc_L == 1 || t_L.read_us() < 1000);
jamesheavey 18:991658b628fc 102 encoder[1] = t_L.read_us();
jamesheavey 18:991658b628fc 103 t_L.stop();
jamesheavey 18:991658b628fc 104 t_L.reset();
jamesheavey 18:991658b628fc 105 }
jamesheavey 18:991658b628fc 106
jamesheavey 0:df5216b20861 107 void init()
jamesheavey 0:df5216b20861 108 {
jamesheavey 0:df5216b20861 109 robot.init();
jamesheavey 0:df5216b20861 110
jamesheavey 0:df5216b20861 111 button_A.mode(PullUp);
jamesheavey 0:df5216b20861 112 button_B.mode(PullUp);
jamesheavey 0:df5216b20861 113 button_X.mode(PullUp);
jamesheavey 0:df5216b20861 114 button_Y.mode(PullUp);
jamesheavey 0:df5216b20861 115 button_enter.mode(PullUp);
jamesheavey 0:df5216b20861 116 button_back.mode(PullUp);
jamesheavey 0:df5216b20861 117
jamesheavey 10:691c02b352cb 118 leds = 0b0000;
jamesheavey 0:df5216b20861 119 }
jamesheavey 0:df5216b20861 120
jamesheavey 0:df5216b20861 121 void calibrate()
jamesheavey 0:df5216b20861 122 {
jamesheavey 0:df5216b20861 123 leds = 0b1111;
jamesheavey 0:df5216b20861 124 robot.reset_calibration();
jamesheavey 0:df5216b20861 125
jamesheavey 15:6c461501d12d 126 while (button_enter.read() == 1) {} // wait for enter to be pressed
jamesheavey 15:6c461501d12d 127
jamesheavey 15:6c461501d12d 128 wait(2.0);
jamesheavey 0:df5216b20861 129
jamesheavey 15:6c461501d12d 130 robot.auto_calibrate();
jamesheavey 17:77b8515a9568 131
jamesheavey 15:6c461501d12d 132 robot.stop();
jamesheavey 15:6c461501d12d 133 wait(0.05);
jamesheavey 15:6c461501d12d 134 robot.scan();
jamesheavey 17:77b8515a9568 135
jamesheavey 17:77b8515a9568 136 leds = 0b0000;
jamesheavey 0:df5216b20861 137 }
jamesheavey 20:5cf6a378801d 138
jamesheavey 20:5cf6a378801d 139 void non_looped()
jamesheavey 20:5cf6a378801d 140 {
jamesheavey 20:5cf6a378801d 141 follow_line();
jamesheavey 20:5cf6a378801d 142
jamesheavey 20:5cf6a378801d 143 if ( junction_detect() ) {
jamesheavey 20:5cf6a378801d 144 char turn = junction_logic();
jamesheavey 20:5cf6a378801d 145 turn_select(turn);
jamesheavey 20:5cf6a378801d 146
jamesheavey 20:5cf6a378801d 147 path[path_length] = turn;
jamesheavey 20:5cf6a378801d 148 path_length ++;
jamesheavey 20:5cf6a378801d 149 }
jamesheavey 20:5cf6a378801d 150
jamesheavey 20:5cf6a378801d 151 simplify();
jamesheavey 20:5cf6a378801d 152
jamesheavey 20:5cf6a378801d 153 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 154 robot.lcd_print(path,100);
jamesheavey 20:5cf6a378801d 155
jamesheavey 20:5cf6a378801d 156 //robot.display_data();
jamesheavey 20:5cf6a378801d 157 }
jamesheavey 20:5cf6a378801d 158
jamesheavey 23:71e84953b3f3 159 void looped()
jamesheavey 20:5cf6a378801d 160 {
jamesheavey 24:adb946be4ce5 161 if( first ) { // init the start node on first loop run only
jamesheavey 23:71e84953b3f3 162 first = false;
jamesheavey 23:71e84953b3f3 163 curr_coords[0] = 0;
jamesheavey 23:71e84953b3f3 164 curr_coords[1] = 0;
jamesheavey 23:71e84953b3f3 165 dir = 'N';
jamesheavey 23:71e84953b3f3 166 total_points = 0;
jamesheavey 34:63f7c61ee4da 167 point[total_points] = total_points; // first point is 0
jamesheavey 23:71e84953b3f3 168 coords_x[total_points] = curr_coords[0];
jamesheavey 23:71e84953b3f3 169 coords_y[total_points] = curr_coords[1];
jamesheavey 34:63f7c61ee4da 170 type[total_points] = 0b0100; // start is always 1 exit type in the north direction
jamesheavey 56:1cd434b28322 171 explored[total_points] = 0b0000;
jamesheavey 26:582560881379 172 looped_path[total_points] = 0; // start node is '0'
jamesheavey 23:71e84953b3f3 173 }
jamesheavey 23:71e84953b3f3 174
jamesheavey 20:5cf6a378801d 175 // follow line until reaching a junction, determine its type and coordinates
jamesheavey 38:b5b06625d06e 176 if ( t_restart ){ // only start the timer if it isnt already started
jamesheavey 38:b5b06625d06e 177 t_coord.start();
jamesheavey 38:b5b06625d06e 178 t_restart = false;
jamesheavey 38:b5b06625d06e 179
jamesheavey 38:b5b06625d06e 180 }
jamesheavey 21:54ea75f7984f 181
jamesheavey 21:54ea75f7984f 182 follow_line();
jamesheavey 21:54ea75f7984f 183
jamesheavey 21:54ea75f7984f 184 if ( junction_detect() ) {
jamesheavey 26:582560881379 185 path_length++; // increment the path position index
jamesheavey 22:02dda79d50b4 186
jamesheavey 38:b5b06625d06e 187 float time = t_coord.read();
jamesheavey 38:b5b06625d06e 188 int dist_est = ceil(time*2); // scaled so that a longer straight will have a different time to a shorter straight
jamesheavey 38:b5b06625d06e 189 t_coord.stop();
jamesheavey 38:b5b06625d06e 190 t_coord.reset();
jamesheavey 38:b5b06625d06e 191 t_restart = true; //restart the timer next loop
jamesheavey 21:54ea75f7984f 192
jamesheavey 38:b5b06625d06e 193 if (dir == 'N'){ curr_coords[1] += dist_est; } // y coord
jamesheavey 38:b5b06625d06e 194 if (dir == 'E'){ curr_coords[0] += dist_est; } // x coord
jamesheavey 38:b5b06625d06e 195 if (dir == 'S'){ curr_coords[1] -= dist_est; }
jamesheavey 38:b5b06625d06e 196 if (dir == 'W'){ curr_coords[0] -= dist_est; }
jamesheavey 21:54ea75f7984f 197
jamesheavey 21:54ea75f7984f 198 // check that the coordinates are not already in the list, if not add the point, if it is already return the point number and increment the explored
jamesheavey 27:0a3f028f9365 199 if (coord_check()) { // coord_check returns true if curr_coords coordinates are not present in coords_x and y
jamesheavey 32:598bedb22c7c 200
jamesheavey 22:02dda79d50b4 201 total_points++;
jamesheavey 27:0a3f028f9365 202 node_logic(); // determines what junction type we are at updates the explored (path entered on) and type arrays accordingly
jamesheavey 30:d62f122e8d60 203
jamesheavey 43:ec047ba15db1 204 if(goal_node) { point[total_points] = 100; goal_node = false; } // 100 will be the indicator for the goal node that we can visit once mapping is complete
jamesheavey 43:ec047ba15db1 205 else { point[total_points] = total_points; } // numbered 0 -> total_points
jamesheavey 30:d62f122e8d60 206
jamesheavey 22:02dda79d50b4 207 coords_x[total_points] = curr_coords[0];
jamesheavey 22:02dda79d50b4 208 coords_y[total_points] = curr_coords[1];
jamesheavey 22:02dda79d50b4 209 }
jamesheavey 21:54ea75f7984f 210
jamesheavey 32:598bedb22c7c 211 update_index();
jamesheavey 32:598bedb22c7c 212
jamesheavey 22:02dda79d50b4 213 // use current coords to find which point to place in path
jamesheavey 31:1e6d0ef05996 214
jamesheavey 25:7523239a2fc1 215 looped_path[path_length] = point[curr_index]; //returns an int of which point we are at what its called
jamesheavey 23:71e84953b3f3 216 choose_turn(); //looks at the point we are at, examines the type vs explored and makes the appropriate turn also updates the explored
jamesheavey 21:54ea75f7984f 217
jamesheavey 24:adb946be4ce5 218 // check_explored(); // iterates through all existing points, if all explored match type, then mapping is complete
jamesheavey 23:71e84953b3f3 219 // if not, make a func that traverses back through the bath until reaching that node, then explore the unexplored path
jamesheavey 25:7523239a2fc1 220 // i.e. the function will take the node ID integer as an argument and go backwards through the path until reaching that node (appending each node along the way to the end of the path)
jamesheavey 21:54ea75f7984f 221
jamesheavey 23:71e84953b3f3 222
jamesheavey 26:582560881379 223
jamesheavey 26:582560881379 224 // needs a function that checks if current node has any paths left to explore, if not, then it must return via the path to a node that isnt fully explored and continue from there
jamesheavey 26:582560881379 225
jamesheavey 21:54ea75f7984f 226 }
jamesheavey 32:598bedb22c7c 227
jamesheavey 31:1e6d0ef05996 228
jamesheavey 31:1e6d0ef05996 229 // robot.lcd_clear();
jamesheavey 31:1e6d0ef05996 230 // char *b = &dir;
jamesheavey 31:1e6d0ef05996 231 // robot.lcd_print(b,1);
jamesheavey 31:1e6d0ef05996 232
jamesheavey 31:1e6d0ef05996 233
jamesheavey 20:5cf6a378801d 234 //robot.display_data();
jamesheavey 20:5cf6a378801d 235 }
jamesheavey 21:54ea75f7984f 236
jamesheavey 23:71e84953b3f3 237 bool coord_check()
jamesheavey 23:71e84953b3f3 238 {
jamesheavey 23:71e84953b3f3 239 bool result = true;
jamesheavey 23:71e84953b3f3 240 //returns true if the current coords dont match a previous point
jamesheavey 23:71e84953b3f3 241 for(int i = 0; i <= total_points; i++) {
jamesheavey 23:71e84953b3f3 242 if(curr_coords[0] == coords_x[i] && curr_coords[1] == coords_y[i]) {
jamesheavey 23:71e84953b3f3 243 result = false;
jamesheavey 23:71e84953b3f3 244 }
jamesheavey 23:71e84953b3f3 245 }
jamesheavey 23:71e84953b3f3 246
jamesheavey 23:71e84953b3f3 247 return result;
jamesheavey 23:71e84953b3f3 248 }
jamesheavey 23:71e84953b3f3 249
jamesheavey 25:7523239a2fc1 250 void update_index() // update index (pointer to current point/type/coords/explored)
jamesheavey 23:71e84953b3f3 251 {
jamesheavey 23:71e84953b3f3 252 // checks the curr_coords againts the coords array, returns the index to relate to the point array
jamesheavey 23:71e84953b3f3 253 for(int i = 0; i <= total_points; i++) {
jamesheavey 23:71e84953b3f3 254 if(curr_coords[0] == coords_x[i] && curr_coords[1] == coords_y[i]) {
jamesheavey 25:7523239a2fc1 255 curr_index = i;
jamesheavey 23:71e84953b3f3 256 }
jamesheavey 23:71e84953b3f3 257 }
jamesheavey 23:71e84953b3f3 258 }
jamesheavey 23:71e84953b3f3 259
jamesheavey 29:ecf497c3fdc0 260 int path_to_point_index( int path_point )
jamesheavey 29:ecf497c3fdc0 261 {
jamesheavey 29:ecf497c3fdc0 262 for(int i = 0; i <= total_points; i++) {
jamesheavey 29:ecf497c3fdc0 263 if(path_point == point[i]) {
jamesheavey 29:ecf497c3fdc0 264 return i;
jamesheavey 29:ecf497c3fdc0 265 }
jamesheavey 29:ecf497c3fdc0 266 }
jamesheavey 29:ecf497c3fdc0 267
jamesheavey 29:ecf497c3fdc0 268 return curr_index; // default
jamesheavey 29:ecf497c3fdc0 269 }
jamesheavey 29:ecf497c3fdc0 270
jamesheavey 21:54ea75f7984f 271 void node_logic()
jamesheavey 21:54ea75f7984f 272 {
jamesheavey 24:adb946be4ce5 273 // is done when a new node is discovered, needs to update the nodes type and the path explored upon entry
jamesheavey 25:7523239a2fc1 274
jamesheavey 25:7523239a2fc1 275 // first determine what turns are available relative to the robots current direction (left, straight etc.)
jamesheavey 25:7523239a2fc1 276 // convert these relative available turns into available absolute diections (N,E etc.)
jamesheavey 25:7523239a2fc1 277 // set _type to the appropriate value based on available directions (including entry direction = opposite of current)
jamesheavey 25:7523239a2fc1 278 // set _explored entry path as 1
jamesheavey 25:7523239a2fc1 279 // set type[total_points] = _type; & explored[total_points] = _explored;
jamesheavey 25:7523239a2fc1 280
jamesheavey 21:54ea75f7984f 281 bool north = false;
jamesheavey 21:54ea75f7984f 282 bool south = false;
jamesheavey 21:54ea75f7984f 283 bool east = false;
jamesheavey 21:54ea75f7984f 284 bool west = false;
jamesheavey 21:54ea75f7984f 285
jamesheavey 21:54ea75f7984f 286 bool left = false;
jamesheavey 21:54ea75f7984f 287 bool straight = false;
jamesheavey 21:54ea75f7984f 288 bool right = false;
jamesheavey 43:ec047ba15db1 289 bool goal = false;
jamesheavey 21:54ea75f7984f 290
jamesheavey 25:7523239a2fc1 291 int _type = 0b0000;
jamesheavey 25:7523239a2fc1 292 int _explored = 0b0000;
jamesheavey 21:54ea75f7984f 293
jamesheavey 21:54ea75f7984f 294 if (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) {
jamesheavey 21:54ea75f7984f 295 while ( (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) && (sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH) ) {
jamesheavey 21:54ea75f7984f 296 robot.forward(speed);
jamesheavey 21:54ea75f7984f 297 robot.scan();
jamesheavey 21:54ea75f7984f 298 if ( sensor[0] > SENS_THRESH ) { left = true; }
jamesheavey 21:54ea75f7984f 299 if ( sensor[4] > SENS_THRESH ) { right = true; }
jamesheavey 21:54ea75f7984f 300 }
jamesheavey 21:54ea75f7984f 301
jamesheavey 21:54ea75f7984f 302 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 21:54ea75f7984f 303 wait(0.05); // maybe change or replace w something better
jamesheavey 21:54ea75f7984f 304 robot.scan();
jamesheavey 27:0a3f028f9365 305 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 43:ec047ba15db1 306 goal = true;
jamesheavey 27:0a3f028f9365 307 }
jamesheavey 21:54ea75f7984f 308 }
jamesheavey 21:54ea75f7984f 309 robot.scan();
jamesheavey 21:54ea75f7984f 310
jamesheavey 21:54ea75f7984f 311 if ( sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH ) {
jamesheavey 21:54ea75f7984f 312 straight = true;
jamesheavey 21:54ea75f7984f 313 }
jamesheavey 21:54ea75f7984f 314 }
jamesheavey 21:54ea75f7984f 315
jamesheavey 43:ec047ba15db1 316 if(goal) {
jamesheavey 43:ec047ba15db1 317 if( dir == 'N' ) { south = true; _explored |= 0b0001; } // sets the direction opposite to entry direction as an explored path
jamesheavey 43:ec047ba15db1 318 else if ( dir == 'E' ) { west = true; _explored |= 0b1000; }
jamesheavey 43:ec047ba15db1 319 else if ( dir == 'S' ) { north = true; _explored |= 0b0100; }
jamesheavey 43:ec047ba15db1 320 else if ( dir == 'W' ) { east = true; _explored |= 0b0010; }
jamesheavey 43:ec047ba15db1 321
jamesheavey 43:ec047ba15db1 322 if ( west ) { _type |= 0b1000; }
jamesheavey 43:ec047ba15db1 323 if ( north ) { _type |= 0b0100; }
jamesheavey 43:ec047ba15db1 324 if ( east ) { _type |= 0b0010; }
jamesheavey 43:ec047ba15db1 325 if ( south ) { _type |= 0b0001; }
jamesheavey 43:ec047ba15db1 326
jamesheavey 43:ec047ba15db1 327 goal_node = true;
jamesheavey 43:ec047ba15db1 328 }
jamesheavey 21:54ea75f7984f 329
jamesheavey 43:ec047ba15db1 330 else {
jamesheavey 27:0a3f028f9365 331 int angle = 0;
jamesheavey 28:63ff8290964a 332 int reset_ang = 0;
jamesheavey 27:0a3f028f9365 333
jamesheavey 34:63f7c61ee4da 334 if (dir == 'E') { angle = 90; }
jamesheavey 34:63f7c61ee4da 335 else if (dir == 'S') { angle = 180; }
jamesheavey 34:63f7c61ee4da 336 else if (dir == 'W') { angle = 270; }
jamesheavey 34:63f7c61ee4da 337
jamesheavey 34:63f7c61ee4da 338 reset_ang = angle;
jamesheavey 27:0a3f028f9365 339
jamesheavey 27:0a3f028f9365 340 if (left) {
jamesheavey 27:0a3f028f9365 341 angle += 270;
jamesheavey 27:0a3f028f9365 342 angle = angle % 360;
jamesheavey 27:0a3f028f9365 343 if (angle == 0) { north = true; }
jamesheavey 27:0a3f028f9365 344 if (angle == 180) { south = true; }
jamesheavey 27:0a3f028f9365 345 if (angle == 90) { east = true; }
jamesheavey 27:0a3f028f9365 346 if (angle == 270) { west = true; }
jamesheavey 28:63ff8290964a 347 angle = reset_ang;
jamesheavey 27:0a3f028f9365 348 }
jamesheavey 27:0a3f028f9365 349
jamesheavey 27:0a3f028f9365 350 if (right) {
jamesheavey 27:0a3f028f9365 351 angle += 90;
jamesheavey 27:0a3f028f9365 352 angle = angle % 360;
jamesheavey 27:0a3f028f9365 353 if (angle == 0) { north = true; }
jamesheavey 27:0a3f028f9365 354 if (angle == 180) { south = true; }
jamesheavey 27:0a3f028f9365 355 if (angle == 90) { east = true; }
jamesheavey 27:0a3f028f9365 356 if (angle == 270) { west = true; }
jamesheavey 28:63ff8290964a 357 angle = reset_ang;
jamesheavey 27:0a3f028f9365 358 }
jamesheavey 27:0a3f028f9365 359
jamesheavey 27:0a3f028f9365 360 if (straight) {
jamesheavey 27:0a3f028f9365 361 if (angle == 0) { north = true; }
jamesheavey 27:0a3f028f9365 362 if (angle == 180) { south = true; }
jamesheavey 27:0a3f028f9365 363 if (angle == 90) { east = true; }
jamesheavey 27:0a3f028f9365 364 if (angle == 270) { west = true; }
jamesheavey 27:0a3f028f9365 365 }
jamesheavey 27:0a3f028f9365 366
jamesheavey 27:0a3f028f9365 367 if( dir == 'N' ) { south = true; _explored |= 0b0001; } // sets the direction opposite to entry direction as an explored path
jamesheavey 34:63f7c61ee4da 368 else if ( dir == 'E' ) { west = true; _explored |= 0b1000; } // this is acc done in choose turn so might not be needed here
jamesheavey 27:0a3f028f9365 369 else if ( dir == 'S' ) { north = true; _explored |= 0b0100; }
jamesheavey 27:0a3f028f9365 370 else if ( dir == 'W' ) { east = true; _explored |= 0b0010; }
jamesheavey 27:0a3f028f9365 371
jamesheavey 27:0a3f028f9365 372 if ( west ) { _type |= 0b1000; }
jamesheavey 27:0a3f028f9365 373 if ( north ) { _type |= 0b0100; }
jamesheavey 27:0a3f028f9365 374 if ( east ) { _type |= 0b0010; }
jamesheavey 27:0a3f028f9365 375 if ( south ) { _type |= 0b0001; }
jamesheavey 43:ec047ba15db1 376 }
jamesheavey 27:0a3f028f9365 377
jamesheavey 26:582560881379 378 type[total_points] = _type; // maybe update_index and use curr_index instead of total_points
jamesheavey 25:7523239a2fc1 379 explored[total_points] = _explored;
jamesheavey 21:54ea75f7984f 380
jamesheavey 21:54ea75f7984f 381 }
jamesheavey 21:54ea75f7984f 382
jamesheavey 21:54ea75f7984f 383 void choose_turn()
jamesheavey 21:54ea75f7984f 384 {
jamesheavey 25:7523239a2fc1 385 // look at cuurent coords, find what node we are at
jamesheavey 24:adb946be4ce5 386 // looks at the type vs the explored and does the turn that is equivalent to the first 1 in type that is a 0 in explored (WNES priority)
jamesheavey 25:7523239a2fc1 387 // sets the explored of the current node to 1 in whatever path is chosen
jamesheavey 25:7523239a2fc1 388 // also update dir
jamesheavey 37:2967f3f9c936 389
jamesheavey 34:63f7c61ee4da 390 if( dir == 'N' ) { explored[curr_index] |= 0b0001; } // sets the direction opposite to entry direction as an explored path
jamesheavey 34:63f7c61ee4da 391 else if ( dir == 'E' ) { explored[curr_index] |= 0b1000; }
jamesheavey 34:63f7c61ee4da 392 else if ( dir == 'S' ) { explored[curr_index] |= 0b0100; }
jamesheavey 34:63f7c61ee4da 393 else if ( dir == 'W' ) { explored[curr_index] |= 0b0010; }
jamesheavey 39:005ad4610152 394 // print_data("enter junc");
jamesheavey 25:7523239a2fc1 395 int unexp_paths = type[curr_index] & ~( explored[curr_index] ); // produces a binary of 1's in the available unexplored paths
jamesheavey 25:7523239a2fc1 396
jamesheavey 32:598bedb22c7c 397 if (unexp_paths == 0b0000) {
jamesheavey 34:63f7c61ee4da 398 back_track();
jamesheavey 36:1af069be0fdb 399 unexp_paths = type[curr_index] & ~( explored[curr_index] );
jamesheavey 30:d62f122e8d60 400 }
jamesheavey 32:598bedb22c7c 401
jamesheavey 32:598bedb22c7c 402 int curr_angle = 0;
jamesheavey 32:598bedb22c7c 403 if ( dir == 'E' ) { curr_angle = 90;}
jamesheavey 32:598bedb22c7c 404 else if ( dir == 'S' ) { curr_angle = 180;}
jamesheavey 32:598bedb22c7c 405 else if ( dir == 'W' ) { curr_angle = 270;}
jamesheavey 25:7523239a2fc1 406
jamesheavey 32:598bedb22c7c 407 int desired_angle = 0;
jamesheavey 32:598bedb22c7c 408 if ( (unexp_paths & 0b1000) == 0b1000) {
jamesheavey 32:598bedb22c7c 409 desired_angle = 270;
jamesheavey 32:598bedb22c7c 410 dir = 'W';
jamesheavey 32:598bedb22c7c 411 explored[curr_index] |= 0b1000;
jamesheavey 32:598bedb22c7c 412 }
jamesheavey 32:598bedb22c7c 413 else if ( (unexp_paths & 0b0100) == 0b0100) {
jamesheavey 32:598bedb22c7c 414 desired_angle = 0;
jamesheavey 32:598bedb22c7c 415 dir = 'N';
jamesheavey 32:598bedb22c7c 416 explored[curr_index] |= 0b0100;
jamesheavey 25:7523239a2fc1 417 }
jamesheavey 32:598bedb22c7c 418 else if ( (unexp_paths & 0b0010) == 0b0010) {
jamesheavey 32:598bedb22c7c 419 desired_angle = 90;
jamesheavey 32:598bedb22c7c 420 dir = 'E';
jamesheavey 32:598bedb22c7c 421 explored[curr_index] |= 0b0010;
jamesheavey 32:598bedb22c7c 422 }
jamesheavey 32:598bedb22c7c 423 else if ( (unexp_paths & 0b0001) == 0b0001) {
jamesheavey 32:598bedb22c7c 424 desired_angle = 180;
jamesheavey 32:598bedb22c7c 425 dir = 'S';
jamesheavey 32:598bedb22c7c 426 explored[curr_index] |= 0b0001;
jamesheavey 32:598bedb22c7c 427 }
jamesheavey 32:598bedb22c7c 428
jamesheavey 32:598bedb22c7c 429 int turn_angle = (desired_angle - curr_angle + 360) % 360;
jamesheavey 32:598bedb22c7c 430
jamesheavey 39:005ad4610152 431 // robot.lcd_clear();
jamesheavey 39:005ad4610152 432 // robot.lcd_print("turn" , 4);
jamesheavey 39:005ad4610152 433 // wait(2);
jamesheavey 54:5ff74beb043e 434 // robot.stop();
jamesheavey 39:005ad4610152 435 // robot.lcd_clear();
jamesheavey 39:005ad4610152 436 // if( turn_angle == 0) { robot.lcd_print("S",1); }
jamesheavey 39:005ad4610152 437 // else if( turn_angle == 90) { robot.lcd_print("R",1); }
jamesheavey 39:005ad4610152 438 // else if( turn_angle == 180) { robot.lcd_print("B",1); }
jamesheavey 39:005ad4610152 439 // else if( turn_angle == 270) { robot.lcd_print("L",1); }
jamesheavey 39:005ad4610152 440 // wait(2);
jamesheavey 39:005ad4610152 441 //
jamesheavey 39:005ad4610152 442 // print_data("After Turn");
jamesheavey 37:2967f3f9c936 443
jamesheavey 57:9f9067e3f99e 444 if( turn_angle == 0) { robot.forward(speed); wait(0.1); turn_select('S'); }
jamesheavey 58:cb32aa0f4116 445 else if( turn_angle == 90) { robot.forward(speed); wait(0.03); turn_select('R'); }
jamesheavey 48:76cf4521d342 446 else if( turn_angle == 180) { turn_select('B'); }
jamesheavey 58:cb32aa0f4116 447 else if( turn_angle == 270) { robot.forward(speed); wait(0.03); turn_select('L'); }
jamesheavey 21:54ea75f7984f 448 }
jamesheavey 21:54ea75f7984f 449
jamesheavey 28:63ff8290964a 450 void back_track()
jamesheavey 28:63ff8290964a 451 {
jamesheavey 33:9fa9e09f2e8f 452 // find the closest previous node with unexplored paths and go back through the path until reaching that node, updating the path and directions appropriately, then choose turn
jamesheavey 29:ecf497c3fdc0 453 // also if no nodes have unexplored paths set complete to true
jamesheavey 29:ecf497c3fdc0 454
jamesheavey 62:69de8a0d2ced 455 bool fully_explored = true;
jamesheavey 62:69de8a0d2ced 456
jamesheavey 48:76cf4521d342 457 int d_node; // an index to the most recent (desired) node with unexplored paths
jamesheavey 29:ecf497c3fdc0 458
jamesheavey 34:63f7c61ee4da 459 for(int i = total_points; i >= 0; i--) { // start from the most recently discovered node
jamesheavey 58:cb32aa0f4116 460 if( explored[i] != type[i] ) {
jamesheavey 59:11e31ce4d675 461 fully_explored = false;
jamesheavey 48:76cf4521d342 462 d_node = i;
jamesheavey 34:63f7c61ee4da 463 break;
jamesheavey 34:63f7c61ee4da 464 }
jamesheavey 29:ecf497c3fdc0 465 }
jamesheavey 29:ecf497c3fdc0 466
jamesheavey 60:ea69bd1a9889 467 if( fully_explored == true ) { looped_goal(); }
jamesheavey 34:63f7c61ee4da 468
jamesheavey 34:63f7c61ee4da 469 else {
jamesheavey 34:63f7c61ee4da 470 // compare node coordinates to previous node coordinates
jamesheavey 34:63f7c61ee4da 471 // determine which direction the previous node is compared to current
jamesheavey 34:63f7c61ee4da 472 // set the current nodes direction path to 0 and the opposite direction path to 0
jamesheavey 34:63f7c61ee4da 473 // decrement the count (setting the previous as current node and the next previous as previous)
jamesheavey 34:63f7c61ee4da 474 // when previous node == point[pointer1] break
jamesheavey 34:63f7c61ee4da 475 // choose turn should then do all those turns and arrive at correct node
jamesheavey 48:76cf4521d342 476
jamesheavey 48:76cf4521d342 477 // check if the current node exists before the discovery of the desired node
jamesheavey 48:76cf4521d342 478 // if it does, check the number of nodes between before and after
jamesheavey 48:76cf4521d342 479 // which ever is shorter, set the 0 of those nodes
jamesheavey 48:76cf4521d342 480
jamesheavey 55:18ea9529afb2 481 // robot.stop();
jamesheavey 62:69de8a0d2ced 482 // robot.lcd_print("bt",2);
jamesheavey 62:69de8a0d2ced 483 // wait(1);
jamesheavey 62:69de8a0d2ced 484 // robot.lcd_clear();
jamesheavey 62:69de8a0d2ced 485 //
jamesheavey 55:18ea9529afb2 486 // char buf1[2], buf2[2];
jamesheavey 55:18ea9529afb2 487 // sprintf(buf1,"%d",point[d_node]);
jamesheavey 55:18ea9529afb2 488 // sprintf(buf2,"%d",point[curr_index]);
jamesheavey 55:18ea9529afb2 489 // robot.lcd_print(buf1,2);
jamesheavey 55:18ea9529afb2 490 // robot.lcd_goto_xy(0,1);
jamesheavey 55:18ea9529afb2 491 // robot.lcd_print(buf2,2);
jamesheavey 55:18ea9529afb2 492 //
jamesheavey 55:18ea9529afb2 493 // wait(1);
jamesheavey 55:18ea9529afb2 494 // robot.lcd_clear();
jamesheavey 62:69de8a0d2ced 495
jamesheavey 55:18ea9529afb2 496 bool check = dead_end_removal(point[d_node], point[curr_index]);
jamesheavey 53:dbb63b181faf 497 char dir_diff;
jamesheavey 53:dbb63b181faf 498
jamesheavey 55:18ea9529afb2 499 if(check) {
jamesheavey 54:5ff74beb043e 500 for(int j = 0; j <= short_length; j++) {
jamesheavey 54:5ff74beb043e 501 int curr_node = path_to_point_index(shortest[j]);
jamesheavey 54:5ff74beb043e 502 int next_node = path_to_point_index(shortest[j+1]);
jamesheavey 54:5ff74beb043e 503 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 54:5ff74beb043e 504 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 54:5ff74beb043e 505 dir_diff = 'E';
jamesheavey 54:5ff74beb043e 506 } else {
jamesheavey 54:5ff74beb043e 507 dir_diff = 'W';
jamesheavey 54:5ff74beb043e 508 }
jamesheavey 54:5ff74beb043e 509 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 54:5ff74beb043e 510 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 54:5ff74beb043e 511 dir_diff = 'N';
jamesheavey 54:5ff74beb043e 512 } else {
jamesheavey 54:5ff74beb043e 513 dir_diff = 'S';
jamesheavey 54:5ff74beb043e 514 }
jamesheavey 54:5ff74beb043e 515 }
jamesheavey 54:5ff74beb043e 516
jamesheavey 54:5ff74beb043e 517 if( dir_diff == 'N' ) {
jamesheavey 54:5ff74beb043e 518 explored[curr_node] &= 0b1011;
jamesheavey 54:5ff74beb043e 519 }
jamesheavey 54:5ff74beb043e 520 else if( dir_diff == 'E' ) {
jamesheavey 54:5ff74beb043e 521 explored[curr_node] &= 0b1101;
jamesheavey 54:5ff74beb043e 522 }
jamesheavey 54:5ff74beb043e 523 else if( dir_diff == 'S' ) {
jamesheavey 54:5ff74beb043e 524 explored[curr_node] &= 0b1110;
jamesheavey 54:5ff74beb043e 525 }
jamesheavey 54:5ff74beb043e 526 else if( dir_diff == 'W' ) {
jamesheavey 54:5ff74beb043e 527 explored[curr_node] &= 0b0111;
jamesheavey 53:dbb63b181faf 528 }
jamesheavey 54:5ff74beb043e 529 if(point[next_node] == point[d_node]) { break; }
jamesheavey 54:5ff74beb043e 530 }
jamesheavey 54:5ff74beb043e 531 }
jamesheavey 54:5ff74beb043e 532
jamesheavey 54:5ff74beb043e 533 else {
jamesheavey 54:5ff74beb043e 534
jamesheavey 54:5ff74beb043e 535 for(int j = short_length; j >= 0; j--) {
jamesheavey 54:5ff74beb043e 536 int curr_node = path_to_point_index(shortest[j]);
jamesheavey 54:5ff74beb043e 537 int next_node = path_to_point_index(shortest[j-1]);
jamesheavey 54:5ff74beb043e 538 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 54:5ff74beb043e 539 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 54:5ff74beb043e 540 dir_diff = 'E';
jamesheavey 54:5ff74beb043e 541 } else {
jamesheavey 54:5ff74beb043e 542 dir_diff = 'W';
jamesheavey 54:5ff74beb043e 543 }
jamesheavey 54:5ff74beb043e 544 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 54:5ff74beb043e 545 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 54:5ff74beb043e 546 dir_diff = 'N';
jamesheavey 54:5ff74beb043e 547 } else {
jamesheavey 54:5ff74beb043e 548 dir_diff = 'S';
jamesheavey 54:5ff74beb043e 549 }
jamesheavey 53:dbb63b181faf 550 }
jamesheavey 54:5ff74beb043e 551
jamesheavey 54:5ff74beb043e 552 if( dir_diff == 'N' ) {
jamesheavey 54:5ff74beb043e 553 explored[curr_node] &= 0b1011;
jamesheavey 54:5ff74beb043e 554 }
jamesheavey 54:5ff74beb043e 555 else if( dir_diff == 'E' ) {
jamesheavey 54:5ff74beb043e 556 explored[curr_node] &= 0b1101;
jamesheavey 54:5ff74beb043e 557 }
jamesheavey 54:5ff74beb043e 558 else if( dir_diff == 'S' ) {
jamesheavey 54:5ff74beb043e 559 explored[curr_node] &= 0b1110;
jamesheavey 54:5ff74beb043e 560 }
jamesheavey 54:5ff74beb043e 561 else if( dir_diff == 'W' ) {
jamesheavey 54:5ff74beb043e 562 explored[curr_node] &= 0b0111;
jamesheavey 54:5ff74beb043e 563 }
jamesheavey 54:5ff74beb043e 564 if(point[next_node] == point[d_node]) { break; }
jamesheavey 53:dbb63b181faf 565 }
jamesheavey 53:dbb63b181faf 566 }
jamesheavey 54:5ff74beb043e 567
jamesheavey 54:5ff74beb043e 568 // print_data("aft bt");
jamesheavey 53:dbb63b181faf 569
jamesheavey 34:63f7c61ee4da 570 }
jamesheavey 28:63ff8290964a 571 }
jamesheavey 28:63ff8290964a 572
jamesheavey 55:18ea9529afb2 573 bool dead_end_removal( int point1, int point2 ) // change into dead_end_removal and have it take two indexes and a path and return an array
jamesheavey 48:76cf4521d342 574 {
jamesheavey 48:76cf4521d342 575 // dead end removal between start and final node
jamesheavey 48:76cf4521d342 576 // add the inverse of the result to end of the looped_path
jamesheavey 48:76cf4521d342 577 // then separate into before and after, simplify both and compare
jamesheavey 51:3148875bb9e5 578 robot.stop();
jamesheavey 49:89f0f54aa46b 579 int index1, index2;
jamesheavey 49:89f0f54aa46b 580 int d_index, before_index, after_index;
jamesheavey 49:89f0f54aa46b 581 bool before = false;
jamesheavey 49:89f0f54aa46b 582
jamesheavey 49:89f0f54aa46b 583 bool desired_discovered = false;
jamesheavey 49:89f0f54aa46b 584
jamesheavey 49:89f0f54aa46b 585 for(int k = 0; k <= path_length; k++) {
jamesheavey 52:79f21d15ede1 586 if(looped_path[k] == point1) { desired_discovered = true; d_index = k; } // maybe set a variable
jamesheavey 52:79f21d15ede1 587 if(desired_discovered == false && looped_path[k] == point2) { before = true; before_index = k; }
jamesheavey 52:79f21d15ede1 588 if(desired_discovered == true && looped_path[k] == point2) { after_index = k; break; }
jamesheavey 49:89f0f54aa46b 589 }
jamesheavey 49:89f0f54aa46b 590
jamesheavey 51:3148875bb9e5 591 if(before){
jamesheavey 51:3148875bb9e5 592 if( (d_index - before_index) <= (after_index - d_index) ){
jamesheavey 51:3148875bb9e5 593 before = true;
jamesheavey 51:3148875bb9e5 594 }
jamesheavey 51:3148875bb9e5 595 else{
jamesheavey 51:3148875bb9e5 596 before = false;
jamesheavey 51:3148875bb9e5 597 }
jamesheavey 49:89f0f54aa46b 598 }
jamesheavey 49:89f0f54aa46b 599
jamesheavey 49:89f0f54aa46b 600 if(before) {
jamesheavey 49:89f0f54aa46b 601 index1 = before_index;
jamesheavey 49:89f0f54aa46b 602 index2 = d_index;
jamesheavey 55:18ea9529afb2 603
jamesheavey 49:89f0f54aa46b 604 }else{
jamesheavey 49:89f0f54aa46b 605 index1 = d_index;
jamesheavey 49:89f0f54aa46b 606 index2 = after_index;
jamesheavey 49:89f0f54aa46b 607 }
jamesheavey 49:89f0f54aa46b 608
jamesheavey 48:76cf4521d342 609 int temp_array[100];
jamesheavey 48:76cf4521d342 610
jamesheavey 48:76cf4521d342 611 for( int x = 0; x <= path_length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 612
jamesheavey 50:fa124ea1df9f 613 for( int i = index1; i <= index2; i++ ) { shortest[i-index1] = looped_path[i]; }
jamesheavey 48:76cf4521d342 614
jamesheavey 55:18ea9529afb2 615 short_length = index2 - index1;
jamesheavey 48:76cf4521d342 616
jamesheavey 54:5ff74beb043e 617 // robot.lcd_print("l bef",10);
jamesheavey 54:5ff74beb043e 618 // wait(2);
jamesheavey 54:5ff74beb043e 619 // robot.lcd_clear();
jamesheavey 54:5ff74beb043e 620 //
jamesheavey 54:5ff74beb043e 621 // char buffer[3];
jamesheavey 55:18ea9529afb2 622 // sprintf(buffer,"%d", short_length);
jamesheavey 54:5ff74beb043e 623 // robot.lcd_print(buffer,3);
jamesheavey 54:5ff74beb043e 624 // wait(2);
jamesheavey 54:5ff74beb043e 625 // robot.lcd_clear();
jamesheavey 48:76cf4521d342 626
jamesheavey 48:76cf4521d342 627 // for every node in path, check if repeated
jamesheavey 48:76cf4521d342 628 // if rpeated, move everyting before the first occurence to the final occurence
jamesheavey 48:76cf4521d342 629 // save new path and repeat
jamesheavey 48:76cf4521d342 630 // when no node is repeated, end
jamesheavey 48:76cf4521d342 631 // or end when iterated through the entire array
jamesheavey 48:76cf4521d342 632
jamesheavey 48:76cf4521d342 633 int i = 0;
jamesheavey 55:18ea9529afb2 634 while( i <= short_length ) {
jamesheavey 48:76cf4521d342 635 int count = i;
jamesheavey 55:18ea9529afb2 636 for( int j = 0; j <= short_length; j++ ) {
jamesheavey 48:76cf4521d342 637 if( shortest[i] == shortest[j] ){
jamesheavey 48:76cf4521d342 638 count = j;
jamesheavey 48:76cf4521d342 639 }
jamesheavey 39:005ad4610152 640 }
jamesheavey 48:76cf4521d342 641 if( count != i ) {
jamesheavey 48:76cf4521d342 642
jamesheavey 48:76cf4521d342 643 for( int k = 0; k <= i; k++ ) {
jamesheavey 48:76cf4521d342 644 temp_array[k] = shortest[k];
jamesheavey 48:76cf4521d342 645 }
jamesheavey 48:76cf4521d342 646 int ind = 1;
jamesheavey 48:76cf4521d342 647 for( int z = count+1; z <= path_length; z++ ) {
jamesheavey 48:76cf4521d342 648 temp_array[i+ind] = shortest[z];
jamesheavey 48:76cf4521d342 649 ind++;
jamesheavey 48:76cf4521d342 650 }
jamesheavey 48:76cf4521d342 651 // clear the array
jamesheavey 55:18ea9529afb2 652 for( int x = 0; x <= short_length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 653
jamesheavey 55:18ea9529afb2 654 short_length -= (count-i);
jamesheavey 48:76cf4521d342 655 i = -1;
jamesheavey 48:76cf4521d342 656
jamesheavey 55:18ea9529afb2 657 for( int x = 0; x <= short_length; x++ ) { shortest[x] = temp_array[x]; }
jamesheavey 48:76cf4521d342 658
jamesheavey 55:18ea9529afb2 659 for( int x = 0; x <= short_length; x++ ) { temp_array[x] = NULL; }
jamesheavey 39:005ad4610152 660 }
jamesheavey 48:76cf4521d342 661 i++;
jamesheavey 39:005ad4610152 662 }
jamesheavey 39:005ad4610152 663
jamesheavey 55:18ea9529afb2 664 // robot.lcd_print("l af",10);
jamesheavey 55:18ea9529afb2 665 // wait(1);
jamesheavey 55:18ea9529afb2 666 // robot.lcd_clear();
jamesheavey 55:18ea9529afb2 667 //
jamesheavey 55:18ea9529afb2 668 // char buffe[3];
jamesheavey 55:18ea9529afb2 669 // sprintf(buffe,"%d", short_length);
jamesheavey 55:18ea9529afb2 670 // robot.lcd_print(buffe,3);
jamesheavey 55:18ea9529afb2 671 // wait(1);
jamesheavey 55:18ea9529afb2 672 // robot.lcd_clear();
jamesheavey 55:18ea9529afb2 673 //
jamesheavey 55:18ea9529afb2 674 // robot.lcd_print("path",10);
jamesheavey 55:18ea9529afb2 675 // wait(1);
jamesheavey 55:18ea9529afb2 676 // robot.lcd_clear();
jamesheavey 55:18ea9529afb2 677 //
jamesheavey 55:18ea9529afb2 678 // leds = 0b1111;
jamesheavey 55:18ea9529afb2 679 // for(int m = 0; m <= short_length; m++) {
jamesheavey 55:18ea9529afb2 680 // leds = ~leds;
jamesheavey 55:18ea9529afb2 681 // char buffer[3];
jamesheavey 55:18ea9529afb2 682 // sprintf(buffer,"%d", shortest[m]);
jamesheavey 55:18ea9529afb2 683 // robot.lcd_print(buffer,3);
jamesheavey 55:18ea9529afb2 684 // wait(1);
jamesheavey 55:18ea9529afb2 685 // robot.lcd_clear();
jamesheavey 55:18ea9529afb2 686 // }
jamesheavey 53:dbb63b181faf 687
jamesheavey 55:18ea9529afb2 688 return before;
jamesheavey 48:76cf4521d342 689 // print these to check
jamesheavey 48:76cf4521d342 690 // add inverted sub path to the real path and increment the path length by real_len -1
jamesheavey 39:005ad4610152 691 }
jamesheavey 39:005ad4610152 692
jamesheavey 58:cb32aa0f4116 693 void looped_goal_simplification() // change into dead_end_removal and have it take two indexes and a path and return an array
jamesheavey 58:cb32aa0f4116 694 {
jamesheavey 58:cb32aa0f4116 695 for( int i = 0; i <= path_length; i++ ) {
jamesheavey 58:cb32aa0f4116 696 goal_path1[i] = looped_path[i];
jamesheavey 58:cb32aa0f4116 697 if( looped_path[i] == 100 ) { goal_length1 = i; break; }
jamesheavey 58:cb32aa0f4116 698 }
jamesheavey 58:cb32aa0f4116 699
jamesheavey 58:cb32aa0f4116 700 for( int i = path_length; i >= 0; i-- ) {
jamesheavey 58:cb32aa0f4116 701 goal_path2[path_length-i] = looped_path[i];
jamesheavey 58:cb32aa0f4116 702 if( looped_path[i] == 100 ) { goal_length2 = path_length-i; break; }
jamesheavey 58:cb32aa0f4116 703 }
jamesheavey 58:cb32aa0f4116 704
jamesheavey 58:cb32aa0f4116 705 int temp_array[100];
jamesheavey 58:cb32aa0f4116 706
jamesheavey 58:cb32aa0f4116 707 int i = 0;
jamesheavey 58:cb32aa0f4116 708 while( i <= goal_length1 ) {
jamesheavey 58:cb32aa0f4116 709 int count = i;
jamesheavey 58:cb32aa0f4116 710 for( int j = 0; j <= goal_length1; j++ ) {
jamesheavey 58:cb32aa0f4116 711 if( goal_path1[i] == goal_path1[j] ){
jamesheavey 58:cb32aa0f4116 712 count = j;
jamesheavey 58:cb32aa0f4116 713 }
jamesheavey 58:cb32aa0f4116 714 }
jamesheavey 58:cb32aa0f4116 715 if( count != i ) {
jamesheavey 58:cb32aa0f4116 716
jamesheavey 58:cb32aa0f4116 717 for( int k = 0; k <= i; k++ ) {
jamesheavey 58:cb32aa0f4116 718 temp_array[k] = goal_path1[k];
jamesheavey 58:cb32aa0f4116 719 }
jamesheavey 58:cb32aa0f4116 720 int ind = 1;
jamesheavey 58:cb32aa0f4116 721 for( int z = count+1; z <= goal_length1; z++ ) {
jamesheavey 58:cb32aa0f4116 722 temp_array[i+ind] = goal_path1[z];
jamesheavey 58:cb32aa0f4116 723 ind++;
jamesheavey 58:cb32aa0f4116 724 }
jamesheavey 58:cb32aa0f4116 725 // clear the array
jamesheavey 58:cb32aa0f4116 726 for( int x = 0; x <= goal_length1; x++ ) { goal_path1[x] = NULL; }
jamesheavey 58:cb32aa0f4116 727
jamesheavey 58:cb32aa0f4116 728 goal_length1 -= (count-i);
jamesheavey 58:cb32aa0f4116 729 i = -1;
jamesheavey 58:cb32aa0f4116 730
jamesheavey 58:cb32aa0f4116 731 for( int x = 0; x <= goal_length1; x++ ) { goal_path1[x] = temp_array[x]; }
jamesheavey 58:cb32aa0f4116 732
jamesheavey 58:cb32aa0f4116 733 for( int x = 0; x <= goal_length1; x++ ) { temp_array[x] = NULL; }
jamesheavey 58:cb32aa0f4116 734 }
jamesheavey 58:cb32aa0f4116 735 i++;
jamesheavey 58:cb32aa0f4116 736 }
jamesheavey 58:cb32aa0f4116 737
jamesheavey 58:cb32aa0f4116 738 i = 0;
jamesheavey 58:cb32aa0f4116 739 while( i <= goal_length2 ) {
jamesheavey 58:cb32aa0f4116 740 int count = i;
jamesheavey 58:cb32aa0f4116 741 for( int j = 0; j <= goal_length2; j++ ) {
jamesheavey 58:cb32aa0f4116 742 if( goal_path2[i] == goal_path2[j] ){
jamesheavey 58:cb32aa0f4116 743 count = j;
jamesheavey 58:cb32aa0f4116 744 }
jamesheavey 58:cb32aa0f4116 745 }
jamesheavey 58:cb32aa0f4116 746 if( count != i ) {
jamesheavey 58:cb32aa0f4116 747
jamesheavey 58:cb32aa0f4116 748 for( int k = 0; k <= i; k++ ) {
jamesheavey 58:cb32aa0f4116 749 temp_array[k] = goal_path2[k];
jamesheavey 58:cb32aa0f4116 750 }
jamesheavey 58:cb32aa0f4116 751 int ind = 1;
jamesheavey 58:cb32aa0f4116 752 for( int z = count+1; z <= goal_length2; z++ ) {
jamesheavey 58:cb32aa0f4116 753 temp_array[i+ind] = goal_path2[z];
jamesheavey 58:cb32aa0f4116 754 ind++;
jamesheavey 58:cb32aa0f4116 755 }
jamesheavey 58:cb32aa0f4116 756 // clear the array
jamesheavey 58:cb32aa0f4116 757 for( int x = 0; x <= goal_length2; x++ ) { goal_path2[x] = NULL; }
jamesheavey 58:cb32aa0f4116 758
jamesheavey 58:cb32aa0f4116 759 goal_length2 -= (count-i);
jamesheavey 58:cb32aa0f4116 760 i = -1;
jamesheavey 58:cb32aa0f4116 761
jamesheavey 58:cb32aa0f4116 762 for( int x = 0; x <= goal_length2; x++ ) { goal_path2[x] = temp_array[x]; }
jamesheavey 58:cb32aa0f4116 763
jamesheavey 58:cb32aa0f4116 764 for( int x = 0; x <= goal_length2; x++ ) { temp_array[x] = NULL; }
jamesheavey 58:cb32aa0f4116 765 }
jamesheavey 58:cb32aa0f4116 766 i++;
jamesheavey 58:cb32aa0f4116 767 }
jamesheavey 58:cb32aa0f4116 768
jamesheavey 58:cb32aa0f4116 769 if( goal_length2 < goal_length1 ) {
jamesheavey 58:cb32aa0f4116 770 for( int x = 0; x <= goal_length1; x++ ) { goal_path1[x] = NULL; }
jamesheavey 58:cb32aa0f4116 771 for( int x = 0; x <= goal_length2; x++ ) {
jamesheavey 58:cb32aa0f4116 772 goal_path1[x] = goal_path2[x];
jamesheavey 58:cb32aa0f4116 773 }
jamesheavey 58:cb32aa0f4116 774 goal_length1 = goal_length2;
jamesheavey 61:b31d8c997279 775 }
jamesheavey 58:cb32aa0f4116 776
jamesheavey 58:cb32aa0f4116 777 // print these to check
jamesheavey 58:cb32aa0f4116 778 // add inverted sub path to the real path and increment the path length by real_len -1
jamesheavey 58:cb32aa0f4116 779 }
jamesheavey 58:cb32aa0f4116 780
jamesheavey 10:691c02b352cb 781 void follow_line()
jamesheavey 0:df5216b20861 782 {
jamesheavey 10:691c02b352cb 783 robot.scan();
jamesheavey 10:691c02b352cb 784 sensor = robot.get_sensors(); // returns the current values of all the sensors from 0-1000
jamesheavey 10:691c02b352cb 785
jamesheavey 15:6c461501d12d 786 leds = 0b0110;
jamesheavey 15:6c461501d12d 787
jamesheavey 10:691c02b352cb 788 proportional = robot.read_line(); // returns a value between -1,1 (-1 = PC0 or further , -1 to -0.5 = PC1 (-0.5 is directly below PC1) , -0.5 to 0 = PC2 , 0 to 0.5 = PC3 , 0.5 to 1 and further = PC4)
jamesheavey 10:691c02b352cb 789 derivative = proportional - prev_proportional;
jamesheavey 10:691c02b352cb 790 integral += proportional;
jamesheavey 10:691c02b352cb 791 prev_proportional = proportional;
jamesheavey 10:691c02b352cb 792
jamesheavey 10:691c02b352cb 793 // calculate motor correction
jamesheavey 10:691c02b352cb 794 float motor_correction = proportional*A + integral*B + derivative*C;
jamesheavey 10:691c02b352cb 795
jamesheavey 10:691c02b352cb 796 // make sure the correction is never greater than the max speed as the motor will reverse
jamesheavey 10:691c02b352cb 797 if( motor_correction > speed ) {
jamesheavey 10:691c02b352cb 798 motor_correction = speed;
jamesheavey 10:691c02b352cb 799 }
jamesheavey 10:691c02b352cb 800 if( motor_correction < -speed ) {
jamesheavey 10:691c02b352cb 801 motor_correction = -speed;
jamesheavey 10:691c02b352cb 802 }
jamesheavey 0:df5216b20861 803
jamesheavey 10:691c02b352cb 804 if( proportional < 0 ) {
jamesheavey 10:691c02b352cb 805 robot.motors(speed+motor_correction,speed);
jamesheavey 10:691c02b352cb 806 } else {
jamesheavey 10:691c02b352cb 807 robot.motors(speed,speed-motor_correction);
jamesheavey 10:691c02b352cb 808 }
jamesheavey 18:991658b628fc 809
jamesheavey 19:4c08275cb3c9 810 // read_encoders();
jamesheavey 19:4c08275cb3c9 811 // if (encoder[0] > 3100) { dist_est_1 += 1; } // going to have to reset these dist estimates every junction (in the if (junc_detect()) statement)
jamesheavey 19:4c08275cb3c9 812 // if (encoder[1] > 3100) { dist_est_2 += 1; } // might not need to actually use 2pir/3 could just add arbitrary numbers
jamesheavey 1:79219d0a33c8 813 }
jamesheavey 0:df5216b20861 814
jamesheavey 14:87052bb35211 815 bool junction_detect()
jamesheavey 6:c10b367747a0 816 {
jamesheavey 20:5cf6a378801d 817 if ( sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 818 return true;
jamesheavey 20:5cf6a378801d 819 } else if ( sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH ) {
jamesheavey 14:87052bb35211 820 return true;
jamesheavey 14:87052bb35211 821 } else {
jamesheavey 14:87052bb35211 822 return false;
jamesheavey 14:87052bb35211 823 }
jamesheavey 14:87052bb35211 824 }
jamesheavey 14:87052bb35211 825
jamesheavey 14:87052bb35211 826 char junction_logic()
jamesheavey 14:87052bb35211 827 {
jamesheavey 14:87052bb35211 828 bool straight = false;
jamesheavey 7:7fefd782532d 829 bool left = false;
jamesheavey 6:c10b367747a0 830 bool right = false;
jamesheavey 9:952586accbf9 831 bool goal = false;
jamesheavey 7:7fefd782532d 832
jamesheavey 20:5cf6a378801d 833 if (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) {
jamesheavey 20:5cf6a378801d 834 while ( (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) && (sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH) ) {
jamesheavey 13:bd271266e161 835 robot.forward(speed);
jamesheavey 9:952586accbf9 836 robot.scan();
jamesheavey 20:5cf6a378801d 837 if ( sensor[0] > SENS_THRESH ) { left = true; }
jamesheavey 20:5cf6a378801d 838 if ( sensor[4] > SENS_THRESH ) { right = true; }
jamesheavey 13:bd271266e161 839 }
jamesheavey 7:7fefd782532d 840
jamesheavey 20:5cf6a378801d 841 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 15:6c461501d12d 842 wait(0.05); // maybe change or replace w something better
jamesheavey 9:952586accbf9 843 robot.scan();
jamesheavey 20:5cf6a378801d 844 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 13:bd271266e161 845 goal = true;
jamesheavey 12:d80399686f32 846 }
jamesheavey 13:bd271266e161 847 }
jamesheavey 14:87052bb35211 848
jamesheavey 14:87052bb35211 849 robot.scan();
jamesheavey 14:87052bb35211 850
jamesheavey 20:5cf6a378801d 851 if ( sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 852 straight = true;
jamesheavey 14:87052bb35211 853 }
jamesheavey 14:87052bb35211 854
jamesheavey 20:5cf6a378801d 855 } else if (sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH) {
jamesheavey 9:952586accbf9 856 return 'B';
jamesheavey 6:c10b367747a0 857 }
jamesheavey 7:7fefd782532d 858
jamesheavey 9:952586accbf9 859 if (goal) {
jamesheavey 9:952586accbf9 860 return 'G';
jamesheavey 9:952586accbf9 861 } else if (left) {
jamesheavey 9:952586accbf9 862 return 'L';
jamesheavey 14:87052bb35211 863 } else if (straight) {
jamesheavey 14:87052bb35211 864 return 'S';
jamesheavey 9:952586accbf9 865 } else if (right) {
jamesheavey 9:952586accbf9 866 return 'R';
jamesheavey 6:c10b367747a0 867 } else {
jamesheavey 9:952586accbf9 868 return 'S';
jamesheavey 9:952586accbf9 869 }
jamesheavey 6:c10b367747a0 870 }
jamesheavey 6:c10b367747a0 871
jamesheavey 0:df5216b20861 872
jamesheavey 14:87052bb35211 873 void turn_select( char turn )
jamesheavey 1:79219d0a33c8 874 {
jamesheavey 1:79219d0a33c8 875 switch(turn) {
jamesheavey 5:ae417756235a 876 case 'G':
jamesheavey 5:ae417756235a 877 goal();
jamesheavey 1:79219d0a33c8 878 case 'L':
jamesheavey 1:79219d0a33c8 879 left();
jamesheavey 5:ae417756235a 880 break;
jamesheavey 1:79219d0a33c8 881 case 'S':
jamesheavey 1:79219d0a33c8 882 break;
jamesheavey 1:79219d0a33c8 883 case 'R':
jamesheavey 1:79219d0a33c8 884 right();
jamesheavey 5:ae417756235a 885 break;
jamesheavey 1:79219d0a33c8 886 case 'B':
jamesheavey 1:79219d0a33c8 887 back();
jamesheavey 5:ae417756235a 888 break;
jamesheavey 1:79219d0a33c8 889 }
jamesheavey 1:79219d0a33c8 890 }
jamesheavey 1:79219d0a33c8 891
jamesheavey 0:df5216b20861 892 void left()
jamesheavey 0:df5216b20861 893 {
jamesheavey 1:79219d0a33c8 894 leds = 0b1100;
jamesheavey 3:a5e06482462e 895
jamesheavey 20:5cf6a378801d 896 while (sensor[0] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 897
jamesheavey 39:005ad4610152 898 robot.spin_left(TURN_SPEED);
jamesheavey 58:cb32aa0f4116 899 wait(0.25);
jamesheavey 3:a5e06482462e 900
jamesheavey 20:5cf6a378801d 901 while (sensor[1] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 902
jamesheavey 20:5cf6a378801d 903 while (sensor[1] > SENS_THRESH) { robot.scan(); }
jamesheavey 1:79219d0a33c8 904 }
jamesheavey 1:79219d0a33c8 905
jamesheavey 1:79219d0a33c8 906 void right()
jamesheavey 1:79219d0a33c8 907 {
jamesheavey 1:79219d0a33c8 908 leds = 0b0011;
jamesheavey 5:ae417756235a 909
jamesheavey 20:5cf6a378801d 910 while (sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 911
jamesheavey 20:5cf6a378801d 912 robot.spin_right(TURN_SPEED);
jamesheavey 58:cb32aa0f4116 913 wait(0.25);
jamesheavey 3:a5e06482462e 914
jamesheavey 20:5cf6a378801d 915 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 916
jamesheavey 20:5cf6a378801d 917 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 0:df5216b20861 918 }
jamesheavey 0:df5216b20861 919
jamesheavey 0:df5216b20861 920 void back()
jamesheavey 0:df5216b20861 921 {
jamesheavey 1:79219d0a33c8 922 leds = 0b1111;
jamesheavey 32:598bedb22c7c 923 // robot.reverse(speed);
jamesheavey 32:598bedb22c7c 924 // wait(0.1);
jamesheavey 20:5cf6a378801d 925 robot.spin_right(TURN_SPEED);
jamesheavey 41:2b6b73dd897c 926 if(loop_check == false) { // works better for looped
jamesheavey 53:dbb63b181faf 927 wait(0.65);
jamesheavey 41:2b6b73dd897c 928 }
jamesheavey 41:2b6b73dd897c 929 else {
jamesheavey 41:2b6b73dd897c 930 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 931
jamesheavey 41:2b6b73dd897c 932 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 933 }
jamesheavey 0:df5216b20861 934 }
jamesheavey 1:79219d0a33c8 935
jamesheavey 2:940e46e21353 936 void simplify()
jamesheavey 1:79219d0a33c8 937 {
jamesheavey 2:940e46e21353 938 // check if the last one was a 'B'
jamesheavey 2:940e46e21353 939 // if it was, iterate over the last three turns and check the total angle change
jamesheavey 2:940e46e21353 940 // replace the three turns with the new single turn
jamesheavey 1:79219d0a33c8 941
jamesheavey 10:691c02b352cb 942 if( path[path_length-2] == 'B' && path_length >= 3) {
jamesheavey 10:691c02b352cb 943 int angle_change = 0;
jamesheavey 2:940e46e21353 944
jamesheavey 10:691c02b352cb 945 for (int i = 1; i <= 3; i++) {
jamesheavey 10:691c02b352cb 946 if (path[path_length - i] == 'L') { angle_change += 270; }
jamesheavey 10:691c02b352cb 947 else if (path[path_length - i] == 'R') { angle_change += 90; }
jamesheavey 10:691c02b352cb 948 else if (path[path_length - i] == 'B') { angle_change += 180; }
jamesheavey 4:38c29dbc5953 949 }
jamesheavey 4:38c29dbc5953 950
jamesheavey 4:38c29dbc5953 951 angle_change = angle_change % 360;
jamesheavey 4:38c29dbc5953 952
jamesheavey 4:38c29dbc5953 953 if (angle_change == 0) { path[path_length - 3] = 'S'; }
jamesheavey 4:38c29dbc5953 954 else if (angle_change == 90) { path[path_length - 3] = 'R'; }
jamesheavey 4:38c29dbc5953 955 else if (angle_change == 180) { path[path_length - 3] = 'B'; }
jamesheavey 4:38c29dbc5953 956 else if (angle_change == 270) { path[path_length - 3] = 'L'; }
jamesheavey 4:38c29dbc5953 957
jamesheavey 4:38c29dbc5953 958 for (int i = 1; i <= 2; i++) { path[path_length - i] = NULL; } // clear the other turns
jamesheavey 4:38c29dbc5953 959
jamesheavey 4:38c29dbc5953 960 path_length -= 2;
jamesheavey 2:940e46e21353 961 }
jamesheavey 5:ae417756235a 962 }
jamesheavey 5:ae417756235a 963
jamesheavey 10:691c02b352cb 964 void goal()
jamesheavey 10:691c02b352cb 965 {
jamesheavey 10:691c02b352cb 966 invert_path();
jamesheavey 11:c3299aca7d8f 967
jamesheavey 11:c3299aca7d8f 968 leds = 0b0000;
jamesheavey 10:691c02b352cb 969
jamesheavey 10:691c02b352cb 970 robot.lcd_clear();
jamesheavey 16:96c7dc8a1119 971 robot.lcd_print(inv_path,100);
jamesheavey 10:691c02b352cb 972
jamesheavey 11:c3299aca7d8f 973 while(1) {
jamesheavey 15:6c461501d12d 974 int pointer = 0;
jamesheavey 15:6c461501d12d 975
jamesheavey 15:6c461501d12d 976 robot.stop();
jamesheavey 15:6c461501d12d 977
jamesheavey 15:6c461501d12d 978 leds = 0b1001;
jamesheavey 15:6c461501d12d 979 wait(0.2);
jamesheavey 15:6c461501d12d 980 leds = 0b0110;
jamesheavey 15:6c461501d12d 981 wait(0.2);
jamesheavey 15:6c461501d12d 982
jamesheavey 15:6c461501d12d 983 robot.reverse(speed);
jamesheavey 20:5cf6a378801d 984 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 16:96c7dc8a1119 985 wait(0.05);
jamesheavey 15:6c461501d12d 986
jamesheavey 20:5cf6a378801d 987 robot.spin_right(TURN_SPEED);
jamesheavey 20:5cf6a378801d 988 while(sensor[2] > SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 989 while(sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 990 while(sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 991
jamesheavey 15:6c461501d12d 992 robot.stop();
jamesheavey 15:6c461501d12d 993
jamesheavey 15:6c461501d12d 994 while(pointer <= path_length) {
jamesheavey 15:6c461501d12d 995 follow_line();
jamesheavey 15:6c461501d12d 996
jamesheavey 15:6c461501d12d 997 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 998 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 15:6c461501d12d 999 turn_select(inv_path[pointer]);
jamesheavey 15:6c461501d12d 1000 if(inv_path[pointer] == 'S') { // make this better
jamesheavey 15:6c461501d12d 1001 robot.forward(speed);
jamesheavey 15:6c461501d12d 1002 leds = 0b1010;
jamesheavey 20:5cf6a378801d 1003 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 1004 }
jamesheavey 15:6c461501d12d 1005 pointer++;
jamesheavey 15:6c461501d12d 1006 }
jamesheavey 15:6c461501d12d 1007 }
jamesheavey 15:6c461501d12d 1008
jamesheavey 15:6c461501d12d 1009 back();
jamesheavey 12:d80399686f32 1010
jamesheavey 11:c3299aca7d8f 1011 robot.stop();
jamesheavey 20:5cf6a378801d 1012 robot.lcd_goto_xy(0,0);
jamesheavey 20:5cf6a378801d 1013 robot.lcd_print(" ENTER ", 10);
jamesheavey 20:5cf6a378801d 1014 robot.lcd_goto_xy(0,1);
jamesheavey 20:5cf6a378801d 1015 robot.lcd_print("=restart", 10);
jamesheavey 20:5cf6a378801d 1016
jamesheavey 14:87052bb35211 1017 while ( button_enter.read() == 1 ) { speed = (pot_S*0.3)+0.2; } // keep looping waiting for Enter to be pressed (can change speed)
jamesheavey 11:c3299aca7d8f 1018
jamesheavey 20:5cf6a378801d 1019 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 1020 robot.lcd_print(path,100);
jamesheavey 20:5cf6a378801d 1021
jamesheavey 15:6c461501d12d 1022 pointer = 0;
jamesheavey 15:6c461501d12d 1023
jamesheavey 11:c3299aca7d8f 1024 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 1025 wait(0.2);
jamesheavey 11:c3299aca7d8f 1026 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 1027 wait(0.2);
jamesheavey 11:c3299aca7d8f 1028 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 1029 wait(0.2);
jamesheavey 11:c3299aca7d8f 1030 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 1031 wait(0.2);
jamesheavey 11:c3299aca7d8f 1032
jamesheavey 11:c3299aca7d8f 1033 while(pointer <= path_length) {
jamesheavey 11:c3299aca7d8f 1034 follow_line();
jamesheavey 11:c3299aca7d8f 1035
jamesheavey 14:87052bb35211 1036 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 1037 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 14:87052bb35211 1038 turn_select(path[pointer]);
jamesheavey 11:c3299aca7d8f 1039 if(path[pointer] == 'S') { // make this better
jamesheavey 11:c3299aca7d8f 1040 robot.forward(speed);
jamesheavey 11:c3299aca7d8f 1041 leds = 0b1010;
jamesheavey 20:5cf6a378801d 1042 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 11:c3299aca7d8f 1043 }
jamesheavey 11:c3299aca7d8f 1044 pointer++;
jamesheavey 10:691c02b352cb 1045 }
jamesheavey 10:691c02b352cb 1046 }
jamesheavey 5:ae417756235a 1047 }
jamesheavey 58:cb32aa0f4116 1048 }
jamesheavey 5:ae417756235a 1049
jamesheavey 29:ecf497c3fdc0 1050 void looped_goal()
jamesheavey 29:ecf497c3fdc0 1051 {
jamesheavey 48:76cf4521d342 1052 // return to start (adding nodes to path)
jamesheavey 48:76cf4521d342 1053 // simplify path, check path before reaching goal and path after reaching goal, use the shorter one
jamesheavey 48:76cf4521d342 1054 // loop between start and goal
jamesheavey 58:cb32aa0f4116 1055 turn_select('B');
jamesheavey 34:63f7c61ee4da 1056 robot.stop();
jamesheavey 58:cb32aa0f4116 1057
jamesheavey 58:cb32aa0f4116 1058 if( dir == 'N' ) { dir = 'S'; }
jamesheavey 58:cb32aa0f4116 1059 else if( dir == 'S' ) { dir = 'N'; }
jamesheavey 58:cb32aa0f4116 1060 else if( dir == 'E' ) { dir = 'W'; }
jamesheavey 58:cb32aa0f4116 1061 else if( dir == 'W' ) { dir = 'E'; }
jamesheavey 58:cb32aa0f4116 1062
jamesheavey 58:cb32aa0f4116 1063 looped_goal_simplification();
jamesheavey 58:cb32aa0f4116 1064
jamesheavey 60:ea69bd1a9889 1065 _switch = ~_switch;
jamesheavey 58:cb32aa0f4116 1066
jamesheavey 58:cb32aa0f4116 1067 while(1) {
jamesheavey 59:11e31ce4d675 1068
jamesheavey 58:cb32aa0f4116 1069 robot.lcd_clear();
jamesheavey 58:cb32aa0f4116 1070 robot.lcd_goto_xy(0,0);
jamesheavey 58:cb32aa0f4116 1071 robot.lcd_print(" ENTER ", 10);
jamesheavey 58:cb32aa0f4116 1072 robot.lcd_goto_xy(0,1);
jamesheavey 58:cb32aa0f4116 1073 robot.lcd_print("=restart", 10);
jamesheavey 58:cb32aa0f4116 1074
jamesheavey 59:11e31ce4d675 1075 if( _switch ) {
jamesheavey 59:11e31ce4d675 1076 while( button_enter.read() == 1 ) {
jamesheavey 59:11e31ce4d675 1077 leds = 0b1001;
jamesheavey 59:11e31ce4d675 1078 wait(0.2);
jamesheavey 59:11e31ce4d675 1079 leds = 0b0110;
jamesheavey 59:11e31ce4d675 1080 wait(0.2);
jamesheavey 59:11e31ce4d675 1081 }
jamesheavey 58:cb32aa0f4116 1082 }
jamesheavey 58:cb32aa0f4116 1083
jamesheavey 58:cb32aa0f4116 1084 wait(2);
jamesheavey 58:cb32aa0f4116 1085
jamesheavey 58:cb32aa0f4116 1086 t_restart = true;
jamesheavey 58:cb32aa0f4116 1087
jamesheavey 58:cb32aa0f4116 1088 goal_path_explored(_switch);
jamesheavey 58:cb32aa0f4116 1089
jamesheavey 58:cb32aa0f4116 1090 while(1) {
jamesheavey 58:cb32aa0f4116 1091
jamesheavey 58:cb32aa0f4116 1092 if ( t_restart ){ // only start the timer if it isnt already started
jamesheavey 58:cb32aa0f4116 1093 t_coord.start();
jamesheavey 58:cb32aa0f4116 1094 t_restart = false;
jamesheavey 58:cb32aa0f4116 1095
jamesheavey 58:cb32aa0f4116 1096 }
jamesheavey 58:cb32aa0f4116 1097
jamesheavey 58:cb32aa0f4116 1098 follow_line();
jamesheavey 58:cb32aa0f4116 1099
jamesheavey 58:cb32aa0f4116 1100 if( junction_detect() ) {
jamesheavey 58:cb32aa0f4116 1101 float time = t_coord.read();
jamesheavey 58:cb32aa0f4116 1102 int dist_est = ceil(time*2); // scaled so that a longer straight will have a different time to a shorter straight
jamesheavey 58:cb32aa0f4116 1103 t_coord.stop();
jamesheavey 58:cb32aa0f4116 1104 t_coord.reset();
jamesheavey 58:cb32aa0f4116 1105 t_restart = true; //restart the timer next loop
jamesheavey 58:cb32aa0f4116 1106
jamesheavey 58:cb32aa0f4116 1107 if (dir == 'N'){ curr_coords[1] += dist_est; } // y coord
jamesheavey 58:cb32aa0f4116 1108 if (dir == 'E'){ curr_coords[0] += dist_est; } // x coord
jamesheavey 58:cb32aa0f4116 1109 if (dir == 'S'){ curr_coords[1] -= dist_est; }
jamesheavey 58:cb32aa0f4116 1110 if (dir == 'W'){ curr_coords[0] -= dist_est; }
jamesheavey 58:cb32aa0f4116 1111
jamesheavey 58:cb32aa0f4116 1112 update_index();
jamesheavey 59:11e31ce4d675 1113
jamesheavey 58:cb32aa0f4116 1114 choose_turn(); //looks at the point we are at, examines the type vs explored and makes the appropriate turn also updates the explored
jamesheavey 58:cb32aa0f4116 1115
jamesheavey 58:cb32aa0f4116 1116 }
jamesheavey 58:cb32aa0f4116 1117 }
jamesheavey 58:cb32aa0f4116 1118
jamesheavey 60:ea69bd1a9889 1119 //_switch = ~ _switch;
jamesheavey 58:cb32aa0f4116 1120 }
jamesheavey 58:cb32aa0f4116 1121 }
jamesheavey 58:cb32aa0f4116 1122
jamesheavey 58:cb32aa0f4116 1123 void goal_path_explored( bool inverse )
jamesheavey 58:cb32aa0f4116 1124 {
jamesheavey 58:cb32aa0f4116 1125 char dir_diff;
jamesheavey 58:cb32aa0f4116 1126
jamesheavey 58:cb32aa0f4116 1127 if ( inverse == false ) {
jamesheavey 58:cb32aa0f4116 1128 for(int j = goal_length1; j >= 0; j--) {
jamesheavey 58:cb32aa0f4116 1129 int curr_node = path_to_point_index(goal_path1[j]);
jamesheavey 60:ea69bd1a9889 1130 int next_node = path_to_point_index(goal_path1[j-1]);
jamesheavey 58:cb32aa0f4116 1131 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 58:cb32aa0f4116 1132 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 58:cb32aa0f4116 1133 dir_diff = 'E';
jamesheavey 58:cb32aa0f4116 1134 } else {
jamesheavey 58:cb32aa0f4116 1135 dir_diff = 'W';
jamesheavey 58:cb32aa0f4116 1136 }
jamesheavey 58:cb32aa0f4116 1137 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 58:cb32aa0f4116 1138 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 58:cb32aa0f4116 1139 dir_diff = 'N';
jamesheavey 58:cb32aa0f4116 1140 } else {
jamesheavey 58:cb32aa0f4116 1141 dir_diff = 'S';
jamesheavey 58:cb32aa0f4116 1142 }
jamesheavey 58:cb32aa0f4116 1143 }
jamesheavey 58:cb32aa0f4116 1144
jamesheavey 58:cb32aa0f4116 1145 if( dir_diff == 'N' ) {
jamesheavey 58:cb32aa0f4116 1146 explored[curr_node] &= 0b1011;
jamesheavey 58:cb32aa0f4116 1147 }
jamesheavey 58:cb32aa0f4116 1148 else if( dir_diff == 'E' ) {
jamesheavey 58:cb32aa0f4116 1149 explored[curr_node] &= 0b1101;
jamesheavey 58:cb32aa0f4116 1150 }
jamesheavey 58:cb32aa0f4116 1151 else if( dir_diff == 'S' ) {
jamesheavey 58:cb32aa0f4116 1152 explored[curr_node] &= 0b1110;
jamesheavey 58:cb32aa0f4116 1153 }
jamesheavey 58:cb32aa0f4116 1154 else if( dir_diff == 'W' ) {
jamesheavey 58:cb32aa0f4116 1155 explored[curr_node] &= 0b0111;
jamesheavey 58:cb32aa0f4116 1156 }
jamesheavey 58:cb32aa0f4116 1157 }
jamesheavey 58:cb32aa0f4116 1158 }
jamesheavey 58:cb32aa0f4116 1159
jamesheavey 58:cb32aa0f4116 1160 else{
jamesheavey 58:cb32aa0f4116 1161
jamesheavey 58:cb32aa0f4116 1162 for(int j = 0; j <= goal_length1; j++) {
jamesheavey 58:cb32aa0f4116 1163 int curr_node = path_to_point_index(goal_path1[j]);
jamesheavey 60:ea69bd1a9889 1164 int next_node = path_to_point_index(goal_path1[j+1]);
jamesheavey 58:cb32aa0f4116 1165 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 58:cb32aa0f4116 1166 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 58:cb32aa0f4116 1167 dir_diff = 'E';
jamesheavey 58:cb32aa0f4116 1168 } else {
jamesheavey 58:cb32aa0f4116 1169 dir_diff = 'W';
jamesheavey 58:cb32aa0f4116 1170 }
jamesheavey 58:cb32aa0f4116 1171 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 58:cb32aa0f4116 1172 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 58:cb32aa0f4116 1173 dir_diff = 'N';
jamesheavey 58:cb32aa0f4116 1174 } else {
jamesheavey 58:cb32aa0f4116 1175 dir_diff = 'S';
jamesheavey 58:cb32aa0f4116 1176 }
jamesheavey 58:cb32aa0f4116 1177 }
jamesheavey 58:cb32aa0f4116 1178
jamesheavey 58:cb32aa0f4116 1179 if( dir_diff == 'N' ) {
jamesheavey 58:cb32aa0f4116 1180 explored[curr_node] &= 0b1011;
jamesheavey 58:cb32aa0f4116 1181 }
jamesheavey 58:cb32aa0f4116 1182 else if( dir_diff == 'E' ) {
jamesheavey 58:cb32aa0f4116 1183 explored[curr_node] &= 0b1101;
jamesheavey 58:cb32aa0f4116 1184 }
jamesheavey 58:cb32aa0f4116 1185 else if( dir_diff == 'S' ) {
jamesheavey 58:cb32aa0f4116 1186 explored[curr_node] &= 0b1110;
jamesheavey 58:cb32aa0f4116 1187 }
jamesheavey 58:cb32aa0f4116 1188 else if( dir_diff == 'W' ) {
jamesheavey 58:cb32aa0f4116 1189 explored[curr_node] &= 0b0111;
jamesheavey 58:cb32aa0f4116 1190 }
jamesheavey 58:cb32aa0f4116 1191 }
jamesheavey 29:ecf497c3fdc0 1192 }
jamesheavey 29:ecf497c3fdc0 1193 }
jamesheavey 29:ecf497c3fdc0 1194
jamesheavey 10:691c02b352cb 1195 void invert_path()
jamesheavey 5:ae417756235a 1196 {
jamesheavey 10:691c02b352cb 1197 // only call once then can use infinitely
jamesheavey 16:96c7dc8a1119 1198 for( int i = 0; i < path_length; i++ ){
jamesheavey 16:96c7dc8a1119 1199 if ( path[path_length-1-i] == 'L' ) { inv_path[i] = 'R'; }
jamesheavey 16:96c7dc8a1119 1200 else if ( path[path_length-1-i] == 'R' ) { inv_path[i] = 'L'; }
jamesheavey 16:96c7dc8a1119 1201 else { inv_path[i] = path[path_length-1-i]; }
jamesheavey 10:691c02b352cb 1202 }
jamesheavey 28:63ff8290964a 1203 }
jamesheavey 37:2967f3f9c936 1204
jamesheavey 37:2967f3f9c936 1205 void print_data(char *word)
jamesheavey 37:2967f3f9c936 1206 {
jamesheavey 37:2967f3f9c936 1207 robot.lcd_clear();
jamesheavey 37:2967f3f9c936 1208 robot.lcd_print(word,10);
jamesheavey 37:2967f3f9c936 1209 robot.stop();
jamesheavey 37:2967f3f9c936 1210 wait(2);
jamesheavey 37:2967f3f9c936 1211
jamesheavey 37:2967f3f9c936 1212 char buffer1[2];
jamesheavey 37:2967f3f9c936 1213 char buffer2[2];
jamesheavey 37:2967f3f9c936 1214 char buffer3[2];
jamesheavey 37:2967f3f9c936 1215 robot.lcd_clear();
jamesheavey 54:5ff74beb043e 1216 sprintf(buffer1,"%x",type[curr_index]);
jamesheavey 54:5ff74beb043e 1217 sprintf(buffer2,"%x",explored[curr_index]);
jamesheavey 37:2967f3f9c936 1218
jamesheavey 54:5ff74beb043e 1219 // sprintf(buffer1,"%d",curr_coords[0]);
jamesheavey 54:5ff74beb043e 1220 // sprintf(buffer2,"%d",curr_coords[1]);
jamesheavey 37:2967f3f9c936 1221 sprintf(buffer3,"%d",curr_index);
jamesheavey 37:2967f3f9c936 1222 robot.lcd_print(buffer1,2);
jamesheavey 37:2967f3f9c936 1223 robot.lcd_goto_xy(0,1);
jamesheavey 37:2967f3f9c936 1224 robot.lcd_print(buffer2,2);
jamesheavey 37:2967f3f9c936 1225 robot.lcd_goto_xy(5,0);
jamesheavey 37:2967f3f9c936 1226 char *b = &dir;
jamesheavey 37:2967f3f9c936 1227 robot.lcd_print(b,2);
jamesheavey 37:2967f3f9c936 1228 robot.lcd_goto_xy(5,1);
jamesheavey 37:2967f3f9c936 1229 robot.lcd_print(buffer3,2);
jamesheavey 37:2967f3f9c936 1230
jamesheavey 37:2967f3f9c936 1231 robot.stop();
jamesheavey 37:2967f3f9c936 1232 wait(2);
jamesheavey 37:2967f3f9c936 1233 }