James Heavey / Mbed 2 deprecated 3875_DISSERTATION

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Dependencies:   mbed 3875_Individualproject

main/main.cpp@49:89f0f54aa46b, 2020-04-17 (annotated)

Committer:
jamesheavey
Date:
Fri Apr 17 14:45:13 2020 +0000
Revision:
49:89f0f54aa46b
Parent:
48:76cf4521d342
Child:
50:fa124ea1df9f
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 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 49:89f0f54aa46b 481 //int short_length = dead_end_removal(point[d_node], point[curr_index]);
jamesheavey 49:89f0f54aa46b 482 // char dir_diff;
jamesheavey 49:89f0f54aa46b 483 //
jamesheavey 49:89f0f54aa46b 484 // for(int j = 0; j < short_length; j++) {
jamesheavey 49:89f0f54aa46b 485 // int curr_node = path_to_point_index(shortest[j]);
jamesheavey 49:89f0f54aa46b 486 // int next_node = path_to_point_index(shortest[j+1]);
jamesheavey 49:89f0f54aa46b 487 // if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 49:89f0f54aa46b 488 // if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 49:89f0f54aa46b 489 // dir_diff = 'E';
jamesheavey 49:89f0f54aa46b 490 // } else {
jamesheavey 49:89f0f54aa46b 491 // dir_diff = 'W';
jamesheavey 49:89f0f54aa46b 492 // }
jamesheavey 49:89f0f54aa46b 493 // } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 49:89f0f54aa46b 494 // if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 49:89f0f54aa46b 495 // dir_diff = 'N';
jamesheavey 49:89f0f54aa46b 496 // } else {
jamesheavey 49:89f0f54aa46b 497 // dir_diff = 'S';
jamesheavey 49:89f0f54aa46b 498 // }
jamesheavey 49:89f0f54aa46b 499 // }
jamesheavey 49:89f0f54aa46b 500 //
jamesheavey 49:89f0f54aa46b 501 // if( dir_diff == 'N' ) {
jamesheavey 49:89f0f54aa46b 502 // explored[curr_node] &= 0b1011;
jamesheavey 49:89f0f54aa46b 503 // }
jamesheavey 49:89f0f54aa46b 504 // else if( dir_diff == 'E' ) {
jamesheavey 49:89f0f54aa46b 505 // explored[curr_node] &= 0b1101;
jamesheavey 49:89f0f54aa46b 506 // }
jamesheavey 49:89f0f54aa46b 507 // else if( dir_diff == 'S' ) {
jamesheavey 49:89f0f54aa46b 508 // explored[curr_node] &= 0b1110;
jamesheavey 49:89f0f54aa46b 509 // }
jamesheavey 49:89f0f54aa46b 510 // else if( dir_diff == 'W' ) {
jamesheavey 49:89f0f54aa46b 511 // explored[curr_node] &= 0b0111;
jamesheavey 49:89f0f54aa46b 512 // }
jamesheavey 49:89f0f54aa46b 513 // if(point[next_node] == point[d_node]) { break; }
jamesheavey 49:89f0f54aa46b 514 // }
jamesheavey 49:89f0f54aa46b 515
jamesheavey 49:89f0f54aa46b 516
jamesheavey 49:89f0f54aa46b 517
jamesheavey 48:76cf4521d342 518 int curr_node = curr_index;
jamesheavey 48:76cf4521d342 519 bool before = false;
jamesheavey 48:76cf4521d342 520 bool after = false;
jamesheavey 48:76cf4521d342 521 int before_index;
jamesheavey 48:76cf4521d342 522 int after_index;
jamesheavey 48:76cf4521d342 523
jamesheavey 48:76cf4521d342 524 bool desired_discovered = false;
jamesheavey 48:76cf4521d342 525
jamesheavey 48:76cf4521d342 526 for(int k = 0; k <= path_length; k++) {
jamesheavey 48:76cf4521d342 527 if(looped_path[k] == point[d_node]) { desired_discovered = true; } // maybe set a variable
jamesheavey 48:76cf4521d342 528 if(desired_discovered == false && looped_path[k] == point[curr_node]) { before = true; before_index = k; }
jamesheavey 48:76cf4521d342 529 if(desired_discovered == true && looped_path[k] == point[curr_node]) { after_index = k; break; }
jamesheavey 48:76cf4521d342 530 }
jamesheavey 48:76cf4521d342 531
jamesheavey 48:76cf4521d342 532
jamesheavey 48:76cf4521d342 533 if( before_index < after_index ){
jamesheavey 48:76cf4521d342 534 before = true;
jamesheavey 48:76cf4521d342 535 after = false;
jamesheavey 48:76cf4521d342 536 }
jamesheavey 48:76cf4521d342 537 else{
jamesheavey 48:76cf4521d342 538 before = false;
jamesheavey 48:76cf4521d342 539 after = true;
jamesheavey 48:76cf4521d342 540 }
jamesheavey 48:76cf4521d342 541
jamesheavey 34:63f7c61ee4da 542 char dir_diff;
jamesheavey 48:76cf4521d342 543
jamesheavey 48:76cf4521d342 544 if(after == true) {
jamesheavey 48:76cf4521d342 545
jamesheavey 48:76cf4521d342 546 for(int j = after_index; j >= 0; j--) {
jamesheavey 48:76cf4521d342 547 curr_node = path_to_point_index(looped_path[j]);
jamesheavey 48:76cf4521d342 548
jamesheavey 48:76cf4521d342 549 int prev_node = path_to_point_index(looped_path[j-1]);
jamesheavey 48:76cf4521d342 550 if(coords_x[prev_node] != coords_x[curr_node]) {
jamesheavey 48:76cf4521d342 551 if(coords_x[prev_node] - coords_x[curr_node] > 0){
jamesheavey 48:76cf4521d342 552 dir_diff = 'E';
jamesheavey 48:76cf4521d342 553 } else {
jamesheavey 48:76cf4521d342 554 dir_diff = 'W';
jamesheavey 48:76cf4521d342 555 }
jamesheavey 48:76cf4521d342 556 } else if( coords_y[prev_node] != coords_y[curr_node] ) {
jamesheavey 48:76cf4521d342 557 if(coords_y[prev_node] - coords_y[curr_node] > 0){
jamesheavey 48:76cf4521d342 558 dir_diff = 'N';
jamesheavey 48:76cf4521d342 559 } else {
jamesheavey 48:76cf4521d342 560 dir_diff = 'S';
jamesheavey 48:76cf4521d342 561 }
jamesheavey 34:63f7c61ee4da 562 }
jamesheavey 48:76cf4521d342 563
jamesheavey 48:76cf4521d342 564 if( dir_diff == 'N' ) {
jamesheavey 48:76cf4521d342 565 explored[curr_node] &= 0b1011;
jamesheavey 48:76cf4521d342 566 }
jamesheavey 48:76cf4521d342 567 else if( dir_diff == 'E' ) {
jamesheavey 48:76cf4521d342 568 explored[curr_node] &= 0b1101;
jamesheavey 48:76cf4521d342 569 }
jamesheavey 48:76cf4521d342 570 else if( dir_diff == 'S' ) {
jamesheavey 48:76cf4521d342 571 explored[curr_node] &= 0b1110;
jamesheavey 48:76cf4521d342 572 }
jamesheavey 48:76cf4521d342 573 else if( dir_diff == 'W' ) {
jamesheavey 48:76cf4521d342 574 explored[curr_node] &= 0b0111;
jamesheavey 48:76cf4521d342 575 }
jamesheavey 48:76cf4521d342 576 if(point[prev_node] == point[d_node]) { break; }
jamesheavey 34:63f7c61ee4da 577 }
jamesheavey 48:76cf4521d342 578 }
jamesheavey 48:76cf4521d342 579
jamesheavey 48:76cf4521d342 580 else if( before == true ) {
jamesheavey 48:76cf4521d342 581 for(int j = before_index; j <= path_length; j++) {
jamesheavey 48:76cf4521d342 582 curr_node = path_to_point_index(looped_path[j]);
jamesheavey 48:76cf4521d342 583
jamesheavey 48:76cf4521d342 584 int next_node = path_to_point_index(looped_path[j+1]);
jamesheavey 48:76cf4521d342 585 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 48:76cf4521d342 586 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 48:76cf4521d342 587 dir_diff = 'E';
jamesheavey 48:76cf4521d342 588 } else {
jamesheavey 48:76cf4521d342 589 dir_diff = 'W';
jamesheavey 48:76cf4521d342 590 }
jamesheavey 48:76cf4521d342 591 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 48:76cf4521d342 592 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 48:76cf4521d342 593 dir_diff = 'N';
jamesheavey 48:76cf4521d342 594 } else {
jamesheavey 48:76cf4521d342 595 dir_diff = 'S';
jamesheavey 48:76cf4521d342 596 }
jamesheavey 48:76cf4521d342 597 }
jamesheavey 48:76cf4521d342 598
jamesheavey 48:76cf4521d342 599 if( dir_diff == 'N' ) {
jamesheavey 48:76cf4521d342 600 explored[curr_node] &= 0b1011;
jamesheavey 48:76cf4521d342 601 }
jamesheavey 48:76cf4521d342 602 else if( dir_diff == 'E' ) {
jamesheavey 48:76cf4521d342 603 explored[curr_node] &= 0b1101;
jamesheavey 48:76cf4521d342 604 }
jamesheavey 48:76cf4521d342 605 else if( dir_diff == 'S' ) {
jamesheavey 48:76cf4521d342 606 explored[curr_node] &= 0b1110;
jamesheavey 48:76cf4521d342 607 }
jamesheavey 48:76cf4521d342 608 else if( dir_diff == 'W' ) {
jamesheavey 48:76cf4521d342 609 explored[curr_node] &= 0b0111;
jamesheavey 48:76cf4521d342 610 }
jamesheavey 48:76cf4521d342 611 if(point[next_node] == point[d_node]) { break; }
jamesheavey 34:63f7c61ee4da 612 }
jamesheavey 34:63f7c61ee4da 613 }
jamesheavey 34:63f7c61ee4da 614 }
jamesheavey 28:63ff8290964a 615 }
jamesheavey 28:63ff8290964a 616
jamesheavey 49:89f0f54aa46b 617 void 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 618 {
jamesheavey 48:76cf4521d342 619 // dead end removal between start and final node
jamesheavey 48:76cf4521d342 620 // add the inverse of the result to end of the looped_path
jamesheavey 48:76cf4521d342 621 // then separate into before and after, simplify both and compare
jamesheavey 48:76cf4521d342 622
jamesheavey 49:89f0f54aa46b 623 int index1, index2;
jamesheavey 49:89f0f54aa46b 624 int d_index, before_index, after_index;
jamesheavey 49:89f0f54aa46b 625 bool before = false;
jamesheavey 49:89f0f54aa46b 626
jamesheavey 49:89f0f54aa46b 627 bool desired_discovered = false;
jamesheavey 49:89f0f54aa46b 628
jamesheavey 49:89f0f54aa46b 629 for(int k = 0; k <= path_length; k++) {
jamesheavey 49:89f0f54aa46b 630 if(looped_path[k] == point[point1]) { desired_discovered = true; d_index = k; } // maybe set a variable
jamesheavey 49:89f0f54aa46b 631 if(desired_discovered == false && looped_path[k] == point[point2]) { before = true; before_index = k; }
jamesheavey 49:89f0f54aa46b 632 if(desired_discovered == true && looped_path[k] == point[point2]) { after_index = k; break; }
jamesheavey 49:89f0f54aa46b 633 }
jamesheavey 49:89f0f54aa46b 634
jamesheavey 49:89f0f54aa46b 635 if( before_index < after_index ){
jamesheavey 49:89f0f54aa46b 636 before = true;
jamesheavey 49:89f0f54aa46b 637 }
jamesheavey 49:89f0f54aa46b 638 else{
jamesheavey 49:89f0f54aa46b 639 before = false;
jamesheavey 49:89f0f54aa46b 640 }
jamesheavey 49:89f0f54aa46b 641
jamesheavey 49:89f0f54aa46b 642 if(before) {
jamesheavey 49:89f0f54aa46b 643 index1 = before_index;
jamesheavey 49:89f0f54aa46b 644 index2 = d_index;
jamesheavey 49:89f0f54aa46b 645 }else{
jamesheavey 49:89f0f54aa46b 646 index1 = d_index;
jamesheavey 49:89f0f54aa46b 647 index2 = after_index;
jamesheavey 49:89f0f54aa46b 648 }
jamesheavey 49:89f0f54aa46b 649
jamesheavey 48:76cf4521d342 650 int temp_array[100];
jamesheavey 48:76cf4521d342 651
jamesheavey 48:76cf4521d342 652 for( int x = 0; x <= path_length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 653
jamesheavey 48:76cf4521d342 654 for( int i = index1; i <= index2; i++ ) { shortest[i] = looped_path[i]; }
jamesheavey 48:76cf4521d342 655
jamesheavey 48:76cf4521d342 656 int length = index2 - index1;
jamesheavey 48:76cf4521d342 657
jamesheavey 48:76cf4521d342 658 char buffer[3];
jamesheavey 48:76cf4521d342 659 sprintf(buffer,"%d", length);
jamesheavey 48:76cf4521d342 660 robot.lcd_print(buffer,3);
jamesheavey 48:76cf4521d342 661 wait(3);
jamesheavey 48:76cf4521d342 662 robot.lcd_clear();
jamesheavey 48:76cf4521d342 663
jamesheavey 48:76cf4521d342 664 // for every node in path, check if repeated
jamesheavey 48:76cf4521d342 665 // if rpeated, move everyting before the first occurence to the final occurence
jamesheavey 48:76cf4521d342 666 // save new path and repeat
jamesheavey 48:76cf4521d342 667 // when no node is repeated, end
jamesheavey 48:76cf4521d342 668 // or end when iterated through the entire array
jamesheavey 48:76cf4521d342 669
jamesheavey 48:76cf4521d342 670 int i = 0;
jamesheavey 39:005ad4610152 671
jamesheavey 48:76cf4521d342 672 while( i <= length ) {
jamesheavey 48:76cf4521d342 673 int count = i;
jamesheavey 48:76cf4521d342 674 for( int j = 0; j <= length; j++ ) {
jamesheavey 48:76cf4521d342 675 if( shortest[i] == shortest[j] ){
jamesheavey 48:76cf4521d342 676 count = j;
jamesheavey 48:76cf4521d342 677 }
jamesheavey 39:005ad4610152 678 }
jamesheavey 48:76cf4521d342 679 if( count != i ) {
jamesheavey 48:76cf4521d342 680
jamesheavey 48:76cf4521d342 681 for( int k = 0; k <= i; k++ ) {
jamesheavey 48:76cf4521d342 682 temp_array[k] = shortest[k];
jamesheavey 48:76cf4521d342 683 }
jamesheavey 48:76cf4521d342 684 int ind = 1;
jamesheavey 48:76cf4521d342 685 for( int z = count+1; z <= path_length; z++ ) {
jamesheavey 48:76cf4521d342 686 temp_array[i+ind] = shortest[z];
jamesheavey 48:76cf4521d342 687 ind++;
jamesheavey 48:76cf4521d342 688 }
jamesheavey 48:76cf4521d342 689 // clear the array
jamesheavey 48:76cf4521d342 690 for( int x = 0; x <= length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 691
jamesheavey 48:76cf4521d342 692 length -= (count-i);
jamesheavey 48:76cf4521d342 693 i = -1;
jamesheavey 48:76cf4521d342 694
jamesheavey 48:76cf4521d342 695 for( int x = 0; x <= length; x++ ) { shortest[x] = temp_array[x]; }
jamesheavey 48:76cf4521d342 696
jamesheavey 48:76cf4521d342 697 for( int x = 0; x <= length; x++ ) { temp_array[x] = NULL; }
jamesheavey 39:005ad4610152 698 }
jamesheavey 48:76cf4521d342 699 i++;
jamesheavey 39:005ad4610152 700 }
jamesheavey 39:005ad4610152 701
jamesheavey 48:76cf4521d342 702 leds = 0b1111;
jamesheavey 48:76cf4521d342 703 for(int m = 0; m <= length; m++) {
jamesheavey 48:76cf4521d342 704 leds = ~leds;
jamesheavey 48:76cf4521d342 705 char buffer[3];
jamesheavey 48:76cf4521d342 706 sprintf(buffer,"%d", shortest[m]);
jamesheavey 48:76cf4521d342 707 robot.lcd_print(buffer,3);
jamesheavey 48:76cf4521d342 708 wait(3);
jamesheavey 48:76cf4521d342 709 robot.lcd_clear();
jamesheavey 39:005ad4610152 710 }
jamesheavey 39:005ad4610152 711
jamesheavey 48:76cf4521d342 712 // print these to check
jamesheavey 48:76cf4521d342 713 // add inverted sub path to the real path and increment the path length by real_len -1
jamesheavey 39:005ad4610152 714 }
jamesheavey 39:005ad4610152 715
jamesheavey 10:691c02b352cb 716 void follow_line()
jamesheavey 0:df5216b20861 717 {
jamesheavey 10:691c02b352cb 718 robot.scan();
jamesheavey 10:691c02b352cb 719 sensor = robot.get_sensors(); // returns the current values of all the sensors from 0-1000
jamesheavey 10:691c02b352cb 720
jamesheavey 15:6c461501d12d 721 leds = 0b0110;
jamesheavey 15:6c461501d12d 722
jamesheavey 10:691c02b352cb 723 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 724 derivative = proportional - prev_proportional;
jamesheavey 10:691c02b352cb 725 integral += proportional;
jamesheavey 10:691c02b352cb 726 prev_proportional = proportional;
jamesheavey 10:691c02b352cb 727
jamesheavey 10:691c02b352cb 728 // calculate motor correction
jamesheavey 10:691c02b352cb 729 float motor_correction = proportional*A + integral*B + derivative*C;
jamesheavey 10:691c02b352cb 730
jamesheavey 10:691c02b352cb 731 // make sure the correction is never greater than the max speed as the motor will reverse
jamesheavey 10:691c02b352cb 732 if( motor_correction > speed ) {
jamesheavey 10:691c02b352cb 733 motor_correction = speed;
jamesheavey 10:691c02b352cb 734 }
jamesheavey 10:691c02b352cb 735 if( motor_correction < -speed ) {
jamesheavey 10:691c02b352cb 736 motor_correction = -speed;
jamesheavey 10:691c02b352cb 737 }
jamesheavey 0:df5216b20861 738
jamesheavey 10:691c02b352cb 739 if( proportional < 0 ) {
jamesheavey 10:691c02b352cb 740 robot.motors(speed+motor_correction,speed);
jamesheavey 10:691c02b352cb 741 } else {
jamesheavey 10:691c02b352cb 742 robot.motors(speed,speed-motor_correction);
jamesheavey 10:691c02b352cb 743 }
jamesheavey 18:991658b628fc 744
jamesheavey 19:4c08275cb3c9 745 // read_encoders();
jamesheavey 19:4c08275cb3c9 746 // 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 747 // if (encoder[1] > 3100) { dist_est_2 += 1; } // might not need to actually use 2pir/3 could just add arbitrary numbers
jamesheavey 1:79219d0a33c8 748 }
jamesheavey 0:df5216b20861 749
jamesheavey 14:87052bb35211 750 bool junction_detect()
jamesheavey 6:c10b367747a0 751 {
jamesheavey 20:5cf6a378801d 752 if ( sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 753 return true;
jamesheavey 20:5cf6a378801d 754 } else if ( sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH ) {
jamesheavey 14:87052bb35211 755 return true;
jamesheavey 14:87052bb35211 756 } else {
jamesheavey 14:87052bb35211 757 return false;
jamesheavey 14:87052bb35211 758 }
jamesheavey 14:87052bb35211 759 }
jamesheavey 14:87052bb35211 760
jamesheavey 14:87052bb35211 761 char junction_logic()
jamesheavey 14:87052bb35211 762 {
jamesheavey 14:87052bb35211 763 bool straight = false;
jamesheavey 7:7fefd782532d 764 bool left = false;
jamesheavey 6:c10b367747a0 765 bool right = false;
jamesheavey 9:952586accbf9 766 bool goal = false;
jamesheavey 7:7fefd782532d 767
jamesheavey 20:5cf6a378801d 768 if (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) {
jamesheavey 20:5cf6a378801d 769 while ( (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) && (sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH) ) {
jamesheavey 13:bd271266e161 770 robot.forward(speed);
jamesheavey 9:952586accbf9 771 robot.scan();
jamesheavey 20:5cf6a378801d 772 if ( sensor[0] > SENS_THRESH ) { left = true; }
jamesheavey 20:5cf6a378801d 773 if ( sensor[4] > SENS_THRESH ) { right = true; }
jamesheavey 13:bd271266e161 774 }
jamesheavey 7:7fefd782532d 775
jamesheavey 20:5cf6a378801d 776 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 15:6c461501d12d 777 wait(0.05); // maybe change or replace w something better
jamesheavey 9:952586accbf9 778 robot.scan();
jamesheavey 20:5cf6a378801d 779 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 13:bd271266e161 780 goal = true;
jamesheavey 12:d80399686f32 781 }
jamesheavey 13:bd271266e161 782 }
jamesheavey 14:87052bb35211 783
jamesheavey 14:87052bb35211 784 robot.scan();
jamesheavey 14:87052bb35211 785
jamesheavey 20:5cf6a378801d 786 if ( sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 787 straight = true;
jamesheavey 14:87052bb35211 788 }
jamesheavey 14:87052bb35211 789
jamesheavey 20:5cf6a378801d 790 } else if (sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH) {
jamesheavey 9:952586accbf9 791 return 'B';
jamesheavey 6:c10b367747a0 792 }
jamesheavey 7:7fefd782532d 793
jamesheavey 9:952586accbf9 794 if (goal) {
jamesheavey 9:952586accbf9 795 return 'G';
jamesheavey 9:952586accbf9 796 } else if (left) {
jamesheavey 9:952586accbf9 797 return 'L';
jamesheavey 14:87052bb35211 798 } else if (straight) {
jamesheavey 14:87052bb35211 799 return 'S';
jamesheavey 9:952586accbf9 800 } else if (right) {
jamesheavey 9:952586accbf9 801 return 'R';
jamesheavey 6:c10b367747a0 802 } else {
jamesheavey 9:952586accbf9 803 return 'S';
jamesheavey 9:952586accbf9 804 }
jamesheavey 6:c10b367747a0 805 }
jamesheavey 6:c10b367747a0 806
jamesheavey 0:df5216b20861 807
jamesheavey 14:87052bb35211 808 void turn_select( char turn )
jamesheavey 1:79219d0a33c8 809 {
jamesheavey 1:79219d0a33c8 810 switch(turn) {
jamesheavey 5:ae417756235a 811 case 'G':
jamesheavey 5:ae417756235a 812 goal();
jamesheavey 1:79219d0a33c8 813 case 'L':
jamesheavey 1:79219d0a33c8 814 left();
jamesheavey 5:ae417756235a 815 break;
jamesheavey 1:79219d0a33c8 816 case 'S':
jamesheavey 1:79219d0a33c8 817 break;
jamesheavey 1:79219d0a33c8 818 case 'R':
jamesheavey 1:79219d0a33c8 819 right();
jamesheavey 5:ae417756235a 820 break;
jamesheavey 1:79219d0a33c8 821 case 'B':
jamesheavey 1:79219d0a33c8 822 back();
jamesheavey 5:ae417756235a 823 break;
jamesheavey 1:79219d0a33c8 824 }
jamesheavey 1:79219d0a33c8 825 }
jamesheavey 1:79219d0a33c8 826
jamesheavey 0:df5216b20861 827 void left()
jamesheavey 0:df5216b20861 828 {
jamesheavey 1:79219d0a33c8 829 leds = 0b1100;
jamesheavey 3:a5e06482462e 830
jamesheavey 20:5cf6a378801d 831 while (sensor[0] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 832
jamesheavey 39:005ad4610152 833 robot.spin_left(TURN_SPEED);
jamesheavey 39:005ad4610152 834 wait(0.2);
jamesheavey 3:a5e06482462e 835
jamesheavey 20:5cf6a378801d 836 while (sensor[1] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 837
jamesheavey 20:5cf6a378801d 838 while (sensor[1] > SENS_THRESH) { robot.scan(); }
jamesheavey 1:79219d0a33c8 839 }
jamesheavey 1:79219d0a33c8 840
jamesheavey 1:79219d0a33c8 841 void right()
jamesheavey 1:79219d0a33c8 842 {
jamesheavey 1:79219d0a33c8 843 leds = 0b0011;
jamesheavey 5:ae417756235a 844
jamesheavey 20:5cf6a378801d 845 while (sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 846
jamesheavey 20:5cf6a378801d 847 robot.spin_right(TURN_SPEED);
jamesheavey 39:005ad4610152 848 wait(0.2);
jamesheavey 3:a5e06482462e 849
jamesheavey 20:5cf6a378801d 850 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 851
jamesheavey 20:5cf6a378801d 852 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 0:df5216b20861 853 }
jamesheavey 0:df5216b20861 854
jamesheavey 0:df5216b20861 855 void back()
jamesheavey 0:df5216b20861 856 {
jamesheavey 1:79219d0a33c8 857 leds = 0b1111;
jamesheavey 32:598bedb22c7c 858 // robot.reverse(speed);
jamesheavey 32:598bedb22c7c 859 // wait(0.1);
jamesheavey 20:5cf6a378801d 860 robot.spin_right(TURN_SPEED);
jamesheavey 41:2b6b73dd897c 861 if(loop_check == false) { // works better for looped
jamesheavey 42:69bffd3679bf 862 wait(0.7);
jamesheavey 41:2b6b73dd897c 863 }
jamesheavey 41:2b6b73dd897c 864 else {
jamesheavey 41:2b6b73dd897c 865 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 866
jamesheavey 41:2b6b73dd897c 867 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 868 }
jamesheavey 0:df5216b20861 869 }
jamesheavey 1:79219d0a33c8 870
jamesheavey 2:940e46e21353 871 void simplify()
jamesheavey 1:79219d0a33c8 872 {
jamesheavey 2:940e46e21353 873 // check if the last one was a 'B'
jamesheavey 2:940e46e21353 874 // if it was, iterate over the last three turns and check the total angle change
jamesheavey 2:940e46e21353 875 // replace the three turns with the new single turn
jamesheavey 1:79219d0a33c8 876
jamesheavey 10:691c02b352cb 877 if( path[path_length-2] == 'B' && path_length >= 3) {
jamesheavey 10:691c02b352cb 878 int angle_change = 0;
jamesheavey 2:940e46e21353 879
jamesheavey 10:691c02b352cb 880 for (int i = 1; i <= 3; i++) {
jamesheavey 10:691c02b352cb 881 if (path[path_length - i] == 'L') { angle_change += 270; }
jamesheavey 10:691c02b352cb 882 else if (path[path_length - i] == 'R') { angle_change += 90; }
jamesheavey 10:691c02b352cb 883 else if (path[path_length - i] == 'B') { angle_change += 180; }
jamesheavey 4:38c29dbc5953 884 }
jamesheavey 4:38c29dbc5953 885
jamesheavey 4:38c29dbc5953 886 angle_change = angle_change % 360;
jamesheavey 4:38c29dbc5953 887
jamesheavey 4:38c29dbc5953 888 if (angle_change == 0) { path[path_length - 3] = 'S'; }
jamesheavey 4:38c29dbc5953 889 else if (angle_change == 90) { path[path_length - 3] = 'R'; }
jamesheavey 4:38c29dbc5953 890 else if (angle_change == 180) { path[path_length - 3] = 'B'; }
jamesheavey 4:38c29dbc5953 891 else if (angle_change == 270) { path[path_length - 3] = 'L'; }
jamesheavey 4:38c29dbc5953 892
jamesheavey 4:38c29dbc5953 893 for (int i = 1; i <= 2; i++) { path[path_length - i] = NULL; } // clear the other turns
jamesheavey 4:38c29dbc5953 894
jamesheavey 4:38c29dbc5953 895 path_length -= 2;
jamesheavey 2:940e46e21353 896 }
jamesheavey 5:ae417756235a 897 }
jamesheavey 5:ae417756235a 898
jamesheavey 10:691c02b352cb 899 void goal()
jamesheavey 10:691c02b352cb 900 {
jamesheavey 10:691c02b352cb 901 invert_path();
jamesheavey 11:c3299aca7d8f 902
jamesheavey 11:c3299aca7d8f 903 leds = 0b0000;
jamesheavey 10:691c02b352cb 904
jamesheavey 10:691c02b352cb 905 robot.lcd_clear();
jamesheavey 16:96c7dc8a1119 906 robot.lcd_print(inv_path,100);
jamesheavey 10:691c02b352cb 907
jamesheavey 11:c3299aca7d8f 908 while(1) {
jamesheavey 15:6c461501d12d 909 int pointer = 0;
jamesheavey 15:6c461501d12d 910
jamesheavey 15:6c461501d12d 911 robot.stop();
jamesheavey 15:6c461501d12d 912
jamesheavey 15:6c461501d12d 913 leds = 0b1001;
jamesheavey 15:6c461501d12d 914 wait(0.2);
jamesheavey 15:6c461501d12d 915 leds = 0b0110;
jamesheavey 15:6c461501d12d 916 wait(0.2);
jamesheavey 15:6c461501d12d 917
jamesheavey 15:6c461501d12d 918 robot.reverse(speed);
jamesheavey 20:5cf6a378801d 919 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 16:96c7dc8a1119 920 wait(0.05);
jamesheavey 15:6c461501d12d 921
jamesheavey 20:5cf6a378801d 922 robot.spin_right(TURN_SPEED);
jamesheavey 20:5cf6a378801d 923 while(sensor[2] > SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 924 while(sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 925 while(sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 926
jamesheavey 15:6c461501d12d 927 robot.stop();
jamesheavey 15:6c461501d12d 928
jamesheavey 15:6c461501d12d 929 while(pointer <= path_length) {
jamesheavey 15:6c461501d12d 930 follow_line();
jamesheavey 15:6c461501d12d 931
jamesheavey 15:6c461501d12d 932 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 933 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 15:6c461501d12d 934 turn_select(inv_path[pointer]);
jamesheavey 15:6c461501d12d 935 if(inv_path[pointer] == 'S') { // make this better
jamesheavey 15:6c461501d12d 936 robot.forward(speed);
jamesheavey 15:6c461501d12d 937 leds = 0b1010;
jamesheavey 20:5cf6a378801d 938 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 939 }
jamesheavey 15:6c461501d12d 940 pointer++;
jamesheavey 15:6c461501d12d 941 }
jamesheavey 15:6c461501d12d 942 }
jamesheavey 15:6c461501d12d 943
jamesheavey 15:6c461501d12d 944 back();
jamesheavey 12:d80399686f32 945
jamesheavey 11:c3299aca7d8f 946 robot.stop();
jamesheavey 20:5cf6a378801d 947 robot.lcd_goto_xy(0,0);
jamesheavey 20:5cf6a378801d 948 robot.lcd_print(" ENTER ", 10);
jamesheavey 20:5cf6a378801d 949 robot.lcd_goto_xy(0,1);
jamesheavey 20:5cf6a378801d 950 robot.lcd_print("=restart", 10);
jamesheavey 20:5cf6a378801d 951
jamesheavey 14:87052bb35211 952 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 953
jamesheavey 20:5cf6a378801d 954 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 955 robot.lcd_print(path,100);
jamesheavey 20:5cf6a378801d 956
jamesheavey 15:6c461501d12d 957 pointer = 0;
jamesheavey 15:6c461501d12d 958
jamesheavey 11:c3299aca7d8f 959 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 960 wait(0.2);
jamesheavey 11:c3299aca7d8f 961 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 962 wait(0.2);
jamesheavey 11:c3299aca7d8f 963 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 964 wait(0.2);
jamesheavey 11:c3299aca7d8f 965 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 966 wait(0.2);
jamesheavey 11:c3299aca7d8f 967
jamesheavey 11:c3299aca7d8f 968 while(pointer <= path_length) {
jamesheavey 11:c3299aca7d8f 969 follow_line();
jamesheavey 11:c3299aca7d8f 970
jamesheavey 14:87052bb35211 971 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 972 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 14:87052bb35211 973 turn_select(path[pointer]);
jamesheavey 11:c3299aca7d8f 974 if(path[pointer] == 'S') { // make this better
jamesheavey 11:c3299aca7d8f 975 robot.forward(speed);
jamesheavey 11:c3299aca7d8f 976 leds = 0b1010;
jamesheavey 20:5cf6a378801d 977 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 11:c3299aca7d8f 978 }
jamesheavey 11:c3299aca7d8f 979 pointer++;
jamesheavey 10:691c02b352cb 980 }
jamesheavey 10:691c02b352cb 981 }
jamesheavey 5:ae417756235a 982 }
jamesheavey 5:ae417756235a 983 }
jamesheavey 5:ae417756235a 984
jamesheavey 29:ecf497c3fdc0 985 void looped_goal()
jamesheavey 29:ecf497c3fdc0 986 {
jamesheavey 48:76cf4521d342 987 // return to start (adding nodes to path)
jamesheavey 48:76cf4521d342 988 // simplify path, check path before reaching goal and path after reaching goal, use the shorter one
jamesheavey 48:76cf4521d342 989 // loop between start and goal
jamesheavey 34:63f7c61ee4da 990 robot.stop();
jamesheavey 49:89f0f54aa46b 991 dead_end_removal( point[0], point[total_points] );
jamesheavey 48:76cf4521d342 992 // simplify_looped();
jamesheavey 34:63f7c61ee4da 993
jamesheavey 48:76cf4521d342 994 while( button_enter.read() == 1 ) {
jamesheavey 29:ecf497c3fdc0 995 leds = 0b1001;
jamesheavey 29:ecf497c3fdc0 996 wait(0.2);
jamesheavey 29:ecf497c3fdc0 997 leds = 0b0110;
jamesheavey 29:ecf497c3fdc0 998 wait(0.2);
jamesheavey 29:ecf497c3fdc0 999 }
jamesheavey 29:ecf497c3fdc0 1000 }
jamesheavey 29:ecf497c3fdc0 1001
jamesheavey 10:691c02b352cb 1002 void invert_path()
jamesheavey 5:ae417756235a 1003 {
jamesheavey 10:691c02b352cb 1004 // only call once then can use infinitely
jamesheavey 16:96c7dc8a1119 1005 for( int i = 0; i < path_length; i++ ){
jamesheavey 16:96c7dc8a1119 1006 if ( path[path_length-1-i] == 'L' ) { inv_path[i] = 'R'; }
jamesheavey 16:96c7dc8a1119 1007 else if ( path[path_length-1-i] == 'R' ) { inv_path[i] = 'L'; }
jamesheavey 16:96c7dc8a1119 1008 else { inv_path[i] = path[path_length-1-i]; }
jamesheavey 10:691c02b352cb 1009 }
jamesheavey 28:63ff8290964a 1010 }
jamesheavey 37:2967f3f9c936 1011
jamesheavey 37:2967f3f9c936 1012 void print_data(char *word)
jamesheavey 37:2967f3f9c936 1013 {
jamesheavey 37:2967f3f9c936 1014 robot.lcd_clear();
jamesheavey 37:2967f3f9c936 1015 robot.lcd_print(word,10);
jamesheavey 37:2967f3f9c936 1016 robot.stop();
jamesheavey 37:2967f3f9c936 1017 wait(2);
jamesheavey 37:2967f3f9c936 1018
jamesheavey 37:2967f3f9c936 1019 char buffer1[2];
jamesheavey 37:2967f3f9c936 1020 char buffer2[2];
jamesheavey 37:2967f3f9c936 1021 char buffer3[2];
jamesheavey 37:2967f3f9c936 1022 robot.lcd_clear();
jamesheavey 38:b5b06625d06e 1023 // sprintf(buffer1,"%x",type[curr_index]);
jamesheavey 38:b5b06625d06e 1024 // sprintf(buffer2,"%x",explored[curr_index]);
jamesheavey 37:2967f3f9c936 1025
jamesheavey 38:b5b06625d06e 1026 sprintf(buffer1,"%d",curr_coords[0]);
jamesheavey 38:b5b06625d06e 1027 sprintf(buffer2,"%d",curr_coords[1]);
jamesheavey 37:2967f3f9c936 1028 sprintf(buffer3,"%d",curr_index);
jamesheavey 37:2967f3f9c936 1029 robot.lcd_print(buffer1,2);
jamesheavey 37:2967f3f9c936 1030 robot.lcd_goto_xy(0,1);
jamesheavey 37:2967f3f9c936 1031 robot.lcd_print(buffer2,2);
jamesheavey 37:2967f3f9c936 1032 robot.lcd_goto_xy(5,0);
jamesheavey 37:2967f3f9c936 1033 char *b = &dir;
jamesheavey 37:2967f3f9c936 1034 robot.lcd_print(b,2);
jamesheavey 37:2967f3f9c936 1035 robot.lcd_goto_xy(5,1);
jamesheavey 37:2967f3f9c936 1036 robot.lcd_print(buffer3,2);
jamesheavey 37:2967f3f9c936 1037
jamesheavey 37:2967f3f9c936 1038 robot.stop();
jamesheavey 37:2967f3f9c936 1039 wait(2);
jamesheavey 37:2967f3f9c936 1040 }