James Heavey / Mbed 2 deprecated 3875_DISSERTATION

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed 3875_Individualproject

main/main.cpp@48:76cf4521d342, 2020-04-17 (annotated)

Committer:
jamesheavey
Date:
Fri Apr 17 13:20:19 2020 +0000
Revision:
48:76cf4521d342
Parent:
43:ec047ba15db1
Child:
49:89f0f54aa46b
dead end removal works, going to use it for bt instead, then can set start as unexplored

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 34:63f7c61ee4da 171 explored[total_points] = 0b0100;
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 37:2967f3f9c936 434
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 48:76cf4521d342 444 if( turn_angle == 0) { turn_select('S'); }
jamesheavey 32:598bedb22c7c 445 else if( turn_angle == 90) { turn_select('R'); }
jamesheavey 48:76cf4521d342 446 else if( turn_angle == 180) { turn_select('B'); }
jamesheavey 32:598bedb22c7c 447 else if( turn_angle == 270) { 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 35:2fd4ee9ac889 455 bool complete = false;
jamesheavey 48:76cf4521d342 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 34:63f7c61ee4da 460 if( explored[i] != type[i] ) {
jamesheavey 35:2fd4ee9ac889 461 complete = true;
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 35:2fd4ee9ac889 467 if( complete == false ) { 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 48:76cf4521d342 481 int curr_node = curr_index;
jamesheavey 48:76cf4521d342 482 bool before = false;
jamesheavey 48:76cf4521d342 483 bool after = false;
jamesheavey 48:76cf4521d342 484 int before_index;
jamesheavey 48:76cf4521d342 485 int after_index;
jamesheavey 48:76cf4521d342 486
jamesheavey 48:76cf4521d342 487 bool desired_discovered = false;
jamesheavey 48:76cf4521d342 488
jamesheavey 48:76cf4521d342 489 for(int k = 0; k <= path_length; k++) {
jamesheavey 48:76cf4521d342 490 if(looped_path[k] == point[d_node]) { desired_discovered = true; } // maybe set a variable
jamesheavey 48:76cf4521d342 491 if(desired_discovered == false && looped_path[k] == point[curr_node]) { before = true; before_index = k; }
jamesheavey 48:76cf4521d342 492 if(desired_discovered == true && looped_path[k] == point[curr_node]) { after_index = k; break; }
jamesheavey 48:76cf4521d342 493 }
jamesheavey 48:76cf4521d342 494
jamesheavey 48:76cf4521d342 495
jamesheavey 48:76cf4521d342 496 if( before_index < after_index ){
jamesheavey 48:76cf4521d342 497 before = true;
jamesheavey 48:76cf4521d342 498 after = false;
jamesheavey 48:76cf4521d342 499 }
jamesheavey 48:76cf4521d342 500 else{
jamesheavey 48:76cf4521d342 501 before = false;
jamesheavey 48:76cf4521d342 502 after = true;
jamesheavey 48:76cf4521d342 503 }
jamesheavey 48:76cf4521d342 504
jamesheavey 34:63f7c61ee4da 505 char dir_diff;
jamesheavey 48:76cf4521d342 506
jamesheavey 48:76cf4521d342 507 if(after == true) {
jamesheavey 48:76cf4521d342 508
jamesheavey 48:76cf4521d342 509 for(int j = after_index; j >= 0; j--) {
jamesheavey 48:76cf4521d342 510 curr_node = path_to_point_index(looped_path[j]);
jamesheavey 48:76cf4521d342 511
jamesheavey 48:76cf4521d342 512 int prev_node = path_to_point_index(looped_path[j-1]);
jamesheavey 48:76cf4521d342 513 if(coords_x[prev_node] != coords_x[curr_node]) {
jamesheavey 48:76cf4521d342 514 if(coords_x[prev_node] - coords_x[curr_node] > 0){
jamesheavey 48:76cf4521d342 515 dir_diff = 'E';
jamesheavey 48:76cf4521d342 516 } else {
jamesheavey 48:76cf4521d342 517 dir_diff = 'W';
jamesheavey 48:76cf4521d342 518 }
jamesheavey 48:76cf4521d342 519 } else if( coords_y[prev_node] != coords_y[curr_node] ) {
jamesheavey 48:76cf4521d342 520 if(coords_y[prev_node] - coords_y[curr_node] > 0){
jamesheavey 48:76cf4521d342 521 dir_diff = 'N';
jamesheavey 48:76cf4521d342 522 } else {
jamesheavey 48:76cf4521d342 523 dir_diff = 'S';
jamesheavey 48:76cf4521d342 524 }
jamesheavey 34:63f7c61ee4da 525 }
jamesheavey 48:76cf4521d342 526
jamesheavey 48:76cf4521d342 527 if( dir_diff == 'N' ) {
jamesheavey 48:76cf4521d342 528 explored[curr_node] &= 0b1011;
jamesheavey 48:76cf4521d342 529 }
jamesheavey 48:76cf4521d342 530 else if( dir_diff == 'E' ) {
jamesheavey 48:76cf4521d342 531 explored[curr_node] &= 0b1101;
jamesheavey 48:76cf4521d342 532 }
jamesheavey 48:76cf4521d342 533 else if( dir_diff == 'S' ) {
jamesheavey 48:76cf4521d342 534 explored[curr_node] &= 0b1110;
jamesheavey 48:76cf4521d342 535 }
jamesheavey 48:76cf4521d342 536 else if( dir_diff == 'W' ) {
jamesheavey 48:76cf4521d342 537 explored[curr_node] &= 0b0111;
jamesheavey 48:76cf4521d342 538 }
jamesheavey 48:76cf4521d342 539 if(point[prev_node] == point[d_node]) { break; }
jamesheavey 34:63f7c61ee4da 540 }
jamesheavey 48:76cf4521d342 541 }
jamesheavey 48:76cf4521d342 542
jamesheavey 48:76cf4521d342 543 else if( before == true ) {
jamesheavey 48:76cf4521d342 544 for(int j = before_index; j <= path_length; j++) {
jamesheavey 48:76cf4521d342 545 curr_node = path_to_point_index(looped_path[j]);
jamesheavey 48:76cf4521d342 546
jamesheavey 48:76cf4521d342 547 int next_node = path_to_point_index(looped_path[j+1]);
jamesheavey 48:76cf4521d342 548 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 48:76cf4521d342 549 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 48:76cf4521d342 550 dir_diff = 'E';
jamesheavey 48:76cf4521d342 551 } else {
jamesheavey 48:76cf4521d342 552 dir_diff = 'W';
jamesheavey 48:76cf4521d342 553 }
jamesheavey 48:76cf4521d342 554 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 48:76cf4521d342 555 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 48:76cf4521d342 556 dir_diff = 'N';
jamesheavey 48:76cf4521d342 557 } else {
jamesheavey 48:76cf4521d342 558 dir_diff = 'S';
jamesheavey 48:76cf4521d342 559 }
jamesheavey 48:76cf4521d342 560 }
jamesheavey 48:76cf4521d342 561
jamesheavey 48:76cf4521d342 562 if( dir_diff == 'N' ) {
jamesheavey 48:76cf4521d342 563 explored[curr_node] &= 0b1011;
jamesheavey 48:76cf4521d342 564 }
jamesheavey 48:76cf4521d342 565 else if( dir_diff == 'E' ) {
jamesheavey 48:76cf4521d342 566 explored[curr_node] &= 0b1101;
jamesheavey 48:76cf4521d342 567 }
jamesheavey 48:76cf4521d342 568 else if( dir_diff == 'S' ) {
jamesheavey 48:76cf4521d342 569 explored[curr_node] &= 0b1110;
jamesheavey 48:76cf4521d342 570 }
jamesheavey 48:76cf4521d342 571 else if( dir_diff == 'W' ) {
jamesheavey 48:76cf4521d342 572 explored[curr_node] &= 0b0111;
jamesheavey 48:76cf4521d342 573 }
jamesheavey 48:76cf4521d342 574 if(point[next_node] == point[d_node]) { break; }
jamesheavey 34:63f7c61ee4da 575 }
jamesheavey 34:63f7c61ee4da 576 }
jamesheavey 34:63f7c61ee4da 577 }
jamesheavey 28:63ff8290964a 578 }
jamesheavey 28:63ff8290964a 579
jamesheavey 48:76cf4521d342 580 void dead_end_removal( int index1, int index2) // change into dead_end_removal and have it take two indexes and a path and return an array
jamesheavey 48:76cf4521d342 581 {
jamesheavey 48:76cf4521d342 582 // dead end removal between start and final node
jamesheavey 48:76cf4521d342 583 // add the inverse of the result to end of the looped_path
jamesheavey 48:76cf4521d342 584 // then separate into before and after, simplify both and compare
jamesheavey 48:76cf4521d342 585
jamesheavey 48:76cf4521d342 586 int temp_array[100];
jamesheavey 48:76cf4521d342 587
jamesheavey 48:76cf4521d342 588 for( int x = 0; x <= path_length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 589
jamesheavey 48:76cf4521d342 590 for( int i = index1; i <= index2; i++ ) { shortest[i] = looped_path[i]; }
jamesheavey 48:76cf4521d342 591
jamesheavey 48:76cf4521d342 592 int length = index2 - index1;
jamesheavey 48:76cf4521d342 593
jamesheavey 48:76cf4521d342 594 char buffer[3];
jamesheavey 48:76cf4521d342 595 sprintf(buffer,"%d", length);
jamesheavey 48:76cf4521d342 596 robot.lcd_print(buffer,3);
jamesheavey 48:76cf4521d342 597 wait(3);
jamesheavey 48:76cf4521d342 598 robot.lcd_clear();
jamesheavey 48:76cf4521d342 599
jamesheavey 48:76cf4521d342 600 // for every node in path, check if repeated
jamesheavey 48:76cf4521d342 601 // if rpeated, move everyting before the first occurence to the final occurence
jamesheavey 48:76cf4521d342 602 // save new path and repeat
jamesheavey 48:76cf4521d342 603 // when no node is repeated, end
jamesheavey 48:76cf4521d342 604 // or end when iterated through the entire array
jamesheavey 48:76cf4521d342 605
jamesheavey 48:76cf4521d342 606 int i = 0;
jamesheavey 39:005ad4610152 607
jamesheavey 48:76cf4521d342 608 while( i <= length ) {
jamesheavey 48:76cf4521d342 609 int count = i;
jamesheavey 48:76cf4521d342 610 for( int j = 0; j <= length; j++ ) {
jamesheavey 48:76cf4521d342 611 if( shortest[i] == shortest[j] ){
jamesheavey 48:76cf4521d342 612 count = j;
jamesheavey 48:76cf4521d342 613 }
jamesheavey 39:005ad4610152 614 }
jamesheavey 48:76cf4521d342 615 if( count != i ) {
jamesheavey 48:76cf4521d342 616
jamesheavey 48:76cf4521d342 617 for( int k = 0; k <= i; k++ ) {
jamesheavey 48:76cf4521d342 618 temp_array[k] = shortest[k];
jamesheavey 48:76cf4521d342 619 }
jamesheavey 48:76cf4521d342 620 int ind = 1;
jamesheavey 48:76cf4521d342 621 for( int z = count+1; z <= path_length; z++ ) {
jamesheavey 48:76cf4521d342 622 temp_array[i+ind] = shortest[z];
jamesheavey 48:76cf4521d342 623 ind++;
jamesheavey 48:76cf4521d342 624 }
jamesheavey 48:76cf4521d342 625 // clear the array
jamesheavey 48:76cf4521d342 626 for( int x = 0; x <= length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 627
jamesheavey 48:76cf4521d342 628 length -= (count-i);
jamesheavey 48:76cf4521d342 629 i = -1;
jamesheavey 48:76cf4521d342 630
jamesheavey 48:76cf4521d342 631 for( int x = 0; x <= length; x++ ) { shortest[x] = temp_array[x]; }
jamesheavey 48:76cf4521d342 632
jamesheavey 48:76cf4521d342 633 for( int x = 0; x <= length; x++ ) { temp_array[x] = NULL; }
jamesheavey 39:005ad4610152 634 }
jamesheavey 48:76cf4521d342 635 i++;
jamesheavey 39:005ad4610152 636 }
jamesheavey 39:005ad4610152 637
jamesheavey 48:76cf4521d342 638 leds = 0b1111;
jamesheavey 48:76cf4521d342 639 for(int m = 0; m <= length; m++) {
jamesheavey 48:76cf4521d342 640 leds = ~leds;
jamesheavey 48:76cf4521d342 641 char buffer[3];
jamesheavey 48:76cf4521d342 642 sprintf(buffer,"%d", shortest[m]);
jamesheavey 48:76cf4521d342 643 robot.lcd_print(buffer,3);
jamesheavey 48:76cf4521d342 644 wait(3);
jamesheavey 48:76cf4521d342 645 robot.lcd_clear();
jamesheavey 39:005ad4610152 646 }
jamesheavey 39:005ad4610152 647
jamesheavey 48:76cf4521d342 648 // print these to check
jamesheavey 48:76cf4521d342 649 // add inverted sub path to the real path and increment the path length by real_len -1
jamesheavey 39:005ad4610152 650 }
jamesheavey 39:005ad4610152 651
jamesheavey 10:691c02b352cb 652 void follow_line()
jamesheavey 0:df5216b20861 653 {
jamesheavey 10:691c02b352cb 654 robot.scan();
jamesheavey 10:691c02b352cb 655 sensor = robot.get_sensors(); // returns the current values of all the sensors from 0-1000
jamesheavey 10:691c02b352cb 656
jamesheavey 15:6c461501d12d 657 leds = 0b0110;
jamesheavey 15:6c461501d12d 658
jamesheavey 10:691c02b352cb 659 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 660 derivative = proportional - prev_proportional;
jamesheavey 10:691c02b352cb 661 integral += proportional;
jamesheavey 10:691c02b352cb 662 prev_proportional = proportional;
jamesheavey 10:691c02b352cb 663
jamesheavey 10:691c02b352cb 664 // calculate motor correction
jamesheavey 10:691c02b352cb 665 float motor_correction = proportional*A + integral*B + derivative*C;
jamesheavey 10:691c02b352cb 666
jamesheavey 10:691c02b352cb 667 // make sure the correction is never greater than the max speed as the motor will reverse
jamesheavey 10:691c02b352cb 668 if( motor_correction > speed ) {
jamesheavey 10:691c02b352cb 669 motor_correction = speed;
jamesheavey 10:691c02b352cb 670 }
jamesheavey 10:691c02b352cb 671 if( motor_correction < -speed ) {
jamesheavey 10:691c02b352cb 672 motor_correction = -speed;
jamesheavey 10:691c02b352cb 673 }
jamesheavey 0:df5216b20861 674
jamesheavey 10:691c02b352cb 675 if( proportional < 0 ) {
jamesheavey 10:691c02b352cb 676 robot.motors(speed+motor_correction,speed);
jamesheavey 10:691c02b352cb 677 } else {
jamesheavey 10:691c02b352cb 678 robot.motors(speed,speed-motor_correction);
jamesheavey 10:691c02b352cb 679 }
jamesheavey 18:991658b628fc 680
jamesheavey 19:4c08275cb3c9 681 // read_encoders();
jamesheavey 19:4c08275cb3c9 682 // 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 683 // if (encoder[1] > 3100) { dist_est_2 += 1; } // might not need to actually use 2pir/3 could just add arbitrary numbers
jamesheavey 1:79219d0a33c8 684 }
jamesheavey 0:df5216b20861 685
jamesheavey 14:87052bb35211 686 bool junction_detect()
jamesheavey 6:c10b367747a0 687 {
jamesheavey 20:5cf6a378801d 688 if ( sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 689 return true;
jamesheavey 20:5cf6a378801d 690 } else if ( sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH ) {
jamesheavey 14:87052bb35211 691 return true;
jamesheavey 14:87052bb35211 692 } else {
jamesheavey 14:87052bb35211 693 return false;
jamesheavey 14:87052bb35211 694 }
jamesheavey 14:87052bb35211 695 }
jamesheavey 14:87052bb35211 696
jamesheavey 14:87052bb35211 697 char junction_logic()
jamesheavey 14:87052bb35211 698 {
jamesheavey 14:87052bb35211 699 bool straight = false;
jamesheavey 7:7fefd782532d 700 bool left = false;
jamesheavey 6:c10b367747a0 701 bool right = false;
jamesheavey 9:952586accbf9 702 bool goal = false;
jamesheavey 7:7fefd782532d 703
jamesheavey 20:5cf6a378801d 704 if (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) {
jamesheavey 20:5cf6a378801d 705 while ( (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) && (sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH) ) {
jamesheavey 13:bd271266e161 706 robot.forward(speed);
jamesheavey 9:952586accbf9 707 robot.scan();
jamesheavey 20:5cf6a378801d 708 if ( sensor[0] > SENS_THRESH ) { left = true; }
jamesheavey 20:5cf6a378801d 709 if ( sensor[4] > SENS_THRESH ) { right = true; }
jamesheavey 13:bd271266e161 710 }
jamesheavey 7:7fefd782532d 711
jamesheavey 20:5cf6a378801d 712 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 15:6c461501d12d 713 wait(0.05); // maybe change or replace w something better
jamesheavey 9:952586accbf9 714 robot.scan();
jamesheavey 20:5cf6a378801d 715 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 13:bd271266e161 716 goal = true;
jamesheavey 12:d80399686f32 717 }
jamesheavey 13:bd271266e161 718 }
jamesheavey 14:87052bb35211 719
jamesheavey 14:87052bb35211 720 robot.scan();
jamesheavey 14:87052bb35211 721
jamesheavey 20:5cf6a378801d 722 if ( sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 723 straight = true;
jamesheavey 14:87052bb35211 724 }
jamesheavey 14:87052bb35211 725
jamesheavey 20:5cf6a378801d 726 } else if (sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH) {
jamesheavey 9:952586accbf9 727 return 'B';
jamesheavey 6:c10b367747a0 728 }
jamesheavey 7:7fefd782532d 729
jamesheavey 9:952586accbf9 730 if (goal) {
jamesheavey 9:952586accbf9 731 return 'G';
jamesheavey 9:952586accbf9 732 } else if (left) {
jamesheavey 9:952586accbf9 733 return 'L';
jamesheavey 14:87052bb35211 734 } else if (straight) {
jamesheavey 14:87052bb35211 735 return 'S';
jamesheavey 9:952586accbf9 736 } else if (right) {
jamesheavey 9:952586accbf9 737 return 'R';
jamesheavey 6:c10b367747a0 738 } else {
jamesheavey 9:952586accbf9 739 return 'S';
jamesheavey 9:952586accbf9 740 }
jamesheavey 6:c10b367747a0 741 }
jamesheavey 6:c10b367747a0 742
jamesheavey 0:df5216b20861 743
jamesheavey 14:87052bb35211 744 void turn_select( char turn )
jamesheavey 1:79219d0a33c8 745 {
jamesheavey 1:79219d0a33c8 746 switch(turn) {
jamesheavey 5:ae417756235a 747 case 'G':
jamesheavey 5:ae417756235a 748 goal();
jamesheavey 1:79219d0a33c8 749 case 'L':
jamesheavey 1:79219d0a33c8 750 left();
jamesheavey 5:ae417756235a 751 break;
jamesheavey 1:79219d0a33c8 752 case 'S':
jamesheavey 1:79219d0a33c8 753 break;
jamesheavey 1:79219d0a33c8 754 case 'R':
jamesheavey 1:79219d0a33c8 755 right();
jamesheavey 5:ae417756235a 756 break;
jamesheavey 1:79219d0a33c8 757 case 'B':
jamesheavey 1:79219d0a33c8 758 back();
jamesheavey 5:ae417756235a 759 break;
jamesheavey 1:79219d0a33c8 760 }
jamesheavey 1:79219d0a33c8 761 }
jamesheavey 1:79219d0a33c8 762
jamesheavey 0:df5216b20861 763 void left()
jamesheavey 0:df5216b20861 764 {
jamesheavey 1:79219d0a33c8 765 leds = 0b1100;
jamesheavey 3:a5e06482462e 766
jamesheavey 20:5cf6a378801d 767 while (sensor[0] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 768
jamesheavey 39:005ad4610152 769 robot.spin_left(TURN_SPEED);
jamesheavey 39:005ad4610152 770 wait(0.2);
jamesheavey 3:a5e06482462e 771
jamesheavey 20:5cf6a378801d 772 while (sensor[1] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 773
jamesheavey 20:5cf6a378801d 774 while (sensor[1] > SENS_THRESH) { robot.scan(); }
jamesheavey 1:79219d0a33c8 775 }
jamesheavey 1:79219d0a33c8 776
jamesheavey 1:79219d0a33c8 777 void right()
jamesheavey 1:79219d0a33c8 778 {
jamesheavey 1:79219d0a33c8 779 leds = 0b0011;
jamesheavey 5:ae417756235a 780
jamesheavey 20:5cf6a378801d 781 while (sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 782
jamesheavey 20:5cf6a378801d 783 robot.spin_right(TURN_SPEED);
jamesheavey 39:005ad4610152 784 wait(0.2);
jamesheavey 3:a5e06482462e 785
jamesheavey 20:5cf6a378801d 786 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 787
jamesheavey 20:5cf6a378801d 788 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 0:df5216b20861 789 }
jamesheavey 0:df5216b20861 790
jamesheavey 0:df5216b20861 791 void back()
jamesheavey 0:df5216b20861 792 {
jamesheavey 1:79219d0a33c8 793 leds = 0b1111;
jamesheavey 32:598bedb22c7c 794 // robot.reverse(speed);
jamesheavey 32:598bedb22c7c 795 // wait(0.1);
jamesheavey 20:5cf6a378801d 796 robot.spin_right(TURN_SPEED);
jamesheavey 41:2b6b73dd897c 797 if(loop_check == false) { // works better for looped
jamesheavey 42:69bffd3679bf 798 wait(0.7);
jamesheavey 41:2b6b73dd897c 799 }
jamesheavey 41:2b6b73dd897c 800 else {
jamesheavey 41:2b6b73dd897c 801 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 802
jamesheavey 41:2b6b73dd897c 803 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 804 }
jamesheavey 0:df5216b20861 805 }
jamesheavey 1:79219d0a33c8 806
jamesheavey 2:940e46e21353 807 void simplify()
jamesheavey 1:79219d0a33c8 808 {
jamesheavey 2:940e46e21353 809 // check if the last one was a 'B'
jamesheavey 2:940e46e21353 810 // if it was, iterate over the last three turns and check the total angle change
jamesheavey 2:940e46e21353 811 // replace the three turns with the new single turn
jamesheavey 1:79219d0a33c8 812
jamesheavey 10:691c02b352cb 813 if( path[path_length-2] == 'B' && path_length >= 3) {
jamesheavey 10:691c02b352cb 814 int angle_change = 0;
jamesheavey 2:940e46e21353 815
jamesheavey 10:691c02b352cb 816 for (int i = 1; i <= 3; i++) {
jamesheavey 10:691c02b352cb 817 if (path[path_length - i] == 'L') { angle_change += 270; }
jamesheavey 10:691c02b352cb 818 else if (path[path_length - i] == 'R') { angle_change += 90; }
jamesheavey 10:691c02b352cb 819 else if (path[path_length - i] == 'B') { angle_change += 180; }
jamesheavey 4:38c29dbc5953 820 }
jamesheavey 4:38c29dbc5953 821
jamesheavey 4:38c29dbc5953 822 angle_change = angle_change % 360;
jamesheavey 4:38c29dbc5953 823
jamesheavey 4:38c29dbc5953 824 if (angle_change == 0) { path[path_length - 3] = 'S'; }
jamesheavey 4:38c29dbc5953 825 else if (angle_change == 90) { path[path_length - 3] = 'R'; }
jamesheavey 4:38c29dbc5953 826 else if (angle_change == 180) { path[path_length - 3] = 'B'; }
jamesheavey 4:38c29dbc5953 827 else if (angle_change == 270) { path[path_length - 3] = 'L'; }
jamesheavey 4:38c29dbc5953 828
jamesheavey 4:38c29dbc5953 829 for (int i = 1; i <= 2; i++) { path[path_length - i] = NULL; } // clear the other turns
jamesheavey 4:38c29dbc5953 830
jamesheavey 4:38c29dbc5953 831 path_length -= 2;
jamesheavey 2:940e46e21353 832 }
jamesheavey 5:ae417756235a 833 }
jamesheavey 5:ae417756235a 834
jamesheavey 10:691c02b352cb 835 void goal()
jamesheavey 10:691c02b352cb 836 {
jamesheavey 10:691c02b352cb 837 invert_path();
jamesheavey 11:c3299aca7d8f 838
jamesheavey 11:c3299aca7d8f 839 leds = 0b0000;
jamesheavey 10:691c02b352cb 840
jamesheavey 10:691c02b352cb 841 robot.lcd_clear();
jamesheavey 16:96c7dc8a1119 842 robot.lcd_print(inv_path,100);
jamesheavey 10:691c02b352cb 843
jamesheavey 11:c3299aca7d8f 844 while(1) {
jamesheavey 15:6c461501d12d 845 int pointer = 0;
jamesheavey 15:6c461501d12d 846
jamesheavey 15:6c461501d12d 847 robot.stop();
jamesheavey 15:6c461501d12d 848
jamesheavey 15:6c461501d12d 849 leds = 0b1001;
jamesheavey 15:6c461501d12d 850 wait(0.2);
jamesheavey 15:6c461501d12d 851 leds = 0b0110;
jamesheavey 15:6c461501d12d 852 wait(0.2);
jamesheavey 15:6c461501d12d 853
jamesheavey 15:6c461501d12d 854 robot.reverse(speed);
jamesheavey 20:5cf6a378801d 855 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 16:96c7dc8a1119 856 wait(0.05);
jamesheavey 15:6c461501d12d 857
jamesheavey 20:5cf6a378801d 858 robot.spin_right(TURN_SPEED);
jamesheavey 20:5cf6a378801d 859 while(sensor[2] > SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 860 while(sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 861 while(sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 862
jamesheavey 15:6c461501d12d 863 robot.stop();
jamesheavey 15:6c461501d12d 864
jamesheavey 15:6c461501d12d 865 while(pointer <= path_length) {
jamesheavey 15:6c461501d12d 866 follow_line();
jamesheavey 15:6c461501d12d 867
jamesheavey 15:6c461501d12d 868 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 869 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 15:6c461501d12d 870 turn_select(inv_path[pointer]);
jamesheavey 15:6c461501d12d 871 if(inv_path[pointer] == 'S') { // make this better
jamesheavey 15:6c461501d12d 872 robot.forward(speed);
jamesheavey 15:6c461501d12d 873 leds = 0b1010;
jamesheavey 20:5cf6a378801d 874 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 875 }
jamesheavey 15:6c461501d12d 876 pointer++;
jamesheavey 15:6c461501d12d 877 }
jamesheavey 15:6c461501d12d 878 }
jamesheavey 15:6c461501d12d 879
jamesheavey 15:6c461501d12d 880 back();
jamesheavey 12:d80399686f32 881
jamesheavey 11:c3299aca7d8f 882 robot.stop();
jamesheavey 20:5cf6a378801d 883 robot.lcd_goto_xy(0,0);
jamesheavey 20:5cf6a378801d 884 robot.lcd_print(" ENTER ", 10);
jamesheavey 20:5cf6a378801d 885 robot.lcd_goto_xy(0,1);
jamesheavey 20:5cf6a378801d 886 robot.lcd_print("=restart", 10);
jamesheavey 20:5cf6a378801d 887
jamesheavey 14:87052bb35211 888 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 889
jamesheavey 20:5cf6a378801d 890 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 891 robot.lcd_print(path,100);
jamesheavey 20:5cf6a378801d 892
jamesheavey 15:6c461501d12d 893 pointer = 0;
jamesheavey 15:6c461501d12d 894
jamesheavey 11:c3299aca7d8f 895 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 896 wait(0.2);
jamesheavey 11:c3299aca7d8f 897 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 898 wait(0.2);
jamesheavey 11:c3299aca7d8f 899 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 900 wait(0.2);
jamesheavey 11:c3299aca7d8f 901 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 902 wait(0.2);
jamesheavey 11:c3299aca7d8f 903
jamesheavey 11:c3299aca7d8f 904 while(pointer <= path_length) {
jamesheavey 11:c3299aca7d8f 905 follow_line();
jamesheavey 11:c3299aca7d8f 906
jamesheavey 14:87052bb35211 907 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 908 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 14:87052bb35211 909 turn_select(path[pointer]);
jamesheavey 11:c3299aca7d8f 910 if(path[pointer] == 'S') { // make this better
jamesheavey 11:c3299aca7d8f 911 robot.forward(speed);
jamesheavey 11:c3299aca7d8f 912 leds = 0b1010;
jamesheavey 20:5cf6a378801d 913 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 11:c3299aca7d8f 914 }
jamesheavey 11:c3299aca7d8f 915 pointer++;
jamesheavey 10:691c02b352cb 916 }
jamesheavey 10:691c02b352cb 917 }
jamesheavey 5:ae417756235a 918 }
jamesheavey 5:ae417756235a 919 }
jamesheavey 5:ae417756235a 920
jamesheavey 29:ecf497c3fdc0 921 void looped_goal()
jamesheavey 29:ecf497c3fdc0 922 {
jamesheavey 48:76cf4521d342 923 // return to start (adding nodes to path)
jamesheavey 48:76cf4521d342 924 // simplify path, check path before reaching goal and path after reaching goal, use the shorter one
jamesheavey 48:76cf4521d342 925 // loop between start and goal
jamesheavey 34:63f7c61ee4da 926 robot.stop();
jamesheavey 48:76cf4521d342 927 dead_end_removal( 0, path_length );
jamesheavey 48:76cf4521d342 928 // simplify_looped();
jamesheavey 34:63f7c61ee4da 929
jamesheavey 48:76cf4521d342 930 while( button_enter.read() == 1 ) {
jamesheavey 29:ecf497c3fdc0 931 leds = 0b1001;
jamesheavey 29:ecf497c3fdc0 932 wait(0.2);
jamesheavey 29:ecf497c3fdc0 933 leds = 0b0110;
jamesheavey 29:ecf497c3fdc0 934 wait(0.2);
jamesheavey 29:ecf497c3fdc0 935 }
jamesheavey 29:ecf497c3fdc0 936 }
jamesheavey 29:ecf497c3fdc0 937
jamesheavey 10:691c02b352cb 938 void invert_path()
jamesheavey 5:ae417756235a 939 {
jamesheavey 10:691c02b352cb 940 // only call once then can use infinitely
jamesheavey 16:96c7dc8a1119 941 for( int i = 0; i < path_length; i++ ){
jamesheavey 16:96c7dc8a1119 942 if ( path[path_length-1-i] == 'L' ) { inv_path[i] = 'R'; }
jamesheavey 16:96c7dc8a1119 943 else if ( path[path_length-1-i] == 'R' ) { inv_path[i] = 'L'; }
jamesheavey 16:96c7dc8a1119 944 else { inv_path[i] = path[path_length-1-i]; }
jamesheavey 10:691c02b352cb 945 }
jamesheavey 28:63ff8290964a 946 }
jamesheavey 37:2967f3f9c936 947
jamesheavey 37:2967f3f9c936 948 void print_data(char *word)
jamesheavey 37:2967f3f9c936 949 {
jamesheavey 37:2967f3f9c936 950 robot.lcd_clear();
jamesheavey 37:2967f3f9c936 951 robot.lcd_print(word,10);
jamesheavey 37:2967f3f9c936 952 robot.stop();
jamesheavey 37:2967f3f9c936 953 wait(2);
jamesheavey 37:2967f3f9c936 954
jamesheavey 37:2967f3f9c936 955 char buffer1[2];
jamesheavey 37:2967f3f9c936 956 char buffer2[2];
jamesheavey 37:2967f3f9c936 957 char buffer3[2];
jamesheavey 37:2967f3f9c936 958 robot.lcd_clear();
jamesheavey 38:b5b06625d06e 959 // sprintf(buffer1,"%x",type[curr_index]);
jamesheavey 38:b5b06625d06e 960 // sprintf(buffer2,"%x",explored[curr_index]);
jamesheavey 37:2967f3f9c936 961
jamesheavey 38:b5b06625d06e 962 sprintf(buffer1,"%d",curr_coords[0]);
jamesheavey 38:b5b06625d06e 963 sprintf(buffer2,"%d",curr_coords[1]);
jamesheavey 37:2967f3f9c936 964 sprintf(buffer3,"%d",curr_index);
jamesheavey 37:2967f3f9c936 965 robot.lcd_print(buffer1,2);
jamesheavey 37:2967f3f9c936 966 robot.lcd_goto_xy(0,1);
jamesheavey 37:2967f3f9c936 967 robot.lcd_print(buffer2,2);
jamesheavey 37:2967f3f9c936 968 robot.lcd_goto_xy(5,0);
jamesheavey 37:2967f3f9c936 969 char *b = &dir;
jamesheavey 37:2967f3f9c936 970 robot.lcd_print(b,2);
jamesheavey 37:2967f3f9c936 971 robot.lcd_goto_xy(5,1);
jamesheavey 37:2967f3f9c936 972 robot.lcd_print(buffer3,2);
jamesheavey 37:2967f3f9c936 973
jamesheavey 37:2967f3f9c936 974 robot.stop();
jamesheavey 37:2967f3f9c936 975 wait(2);
jamesheavey 37:2967f3f9c936 976 }