James Heavey / Mbed 2 deprecated 3875_DISSERTATION

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Dependencies:   mbed 3875_Individualproject

main/main.cpp@53:dbb63b181faf, 2020-04-17 (annotated)

Committer:
jamesheavey
Date:
Fri Apr 17 19:44:40 2020 +0000
Revision:
53:dbb63b181faf
Parent:
52:79f21d15ede1
Child:
54:5ff74beb043e
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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 53:dbb63b181faf 481 robot.stop();
jamesheavey 53:dbb63b181faf 482 char buf1[2], buf2[2];
jamesheavey 53:dbb63b181faf 483 sprintf(buf1,"%d",point[d_node]);
jamesheavey 53:dbb63b181faf 484 sprintf(buf2,"%d",point[curr_index]);
jamesheavey 53:dbb63b181faf 485 robot.lcd_print(buf1,2);
jamesheavey 53:dbb63b181faf 486 wait(2);
jamesheavey 53:dbb63b181faf 487 robot.lcd_clear();
jamesheavey 53:dbb63b181faf 488 robot.lcd_print(buf2,2);
jamesheavey 53:dbb63b181faf 489 wait(2);
jamesheavey 53:dbb63b181faf 490 robot.lcd_clear();
jamesheavey 53:dbb63b181faf 491
jamesheavey 53:dbb63b181faf 492 int short_length = dead_end_removal(point[d_node], point[curr_index]);
jamesheavey 53:dbb63b181faf 493 char dir_diff;
jamesheavey 53:dbb63b181faf 494
jamesheavey 53:dbb63b181faf 495 for(int j = short_length; j > 0; j--) {
jamesheavey 53:dbb63b181faf 496 int curr_node = path_to_point_index(shortest[j]);
jamesheavey 53:dbb63b181faf 497 int next_node = path_to_point_index(shortest[j-1]);
jamesheavey 53:dbb63b181faf 498 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 53:dbb63b181faf 499 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 53:dbb63b181faf 500 dir_diff = 'E';
jamesheavey 53:dbb63b181faf 501 } else {
jamesheavey 53:dbb63b181faf 502 dir_diff = 'W';
jamesheavey 53:dbb63b181faf 503 }
jamesheavey 53:dbb63b181faf 504 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 53:dbb63b181faf 505 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 53:dbb63b181faf 506 dir_diff = 'N';
jamesheavey 53:dbb63b181faf 507 } else {
jamesheavey 53:dbb63b181faf 508 dir_diff = 'S';
jamesheavey 53:dbb63b181faf 509 }
jamesheavey 53:dbb63b181faf 510 }
jamesheavey 53:dbb63b181faf 511
jamesheavey 53:dbb63b181faf 512 if( dir_diff == 'N' ) {
jamesheavey 53:dbb63b181faf 513 explored[curr_node] &= 0b1011;
jamesheavey 53:dbb63b181faf 514 }
jamesheavey 53:dbb63b181faf 515 else if( dir_diff == 'E' ) {
jamesheavey 53:dbb63b181faf 516 explored[curr_node] &= 0b1101;
jamesheavey 53:dbb63b181faf 517 }
jamesheavey 53:dbb63b181faf 518 else if( dir_diff == 'S' ) {
jamesheavey 53:dbb63b181faf 519 explored[curr_node] &= 0b1110;
jamesheavey 53:dbb63b181faf 520 }
jamesheavey 53:dbb63b181faf 521 else if( dir_diff == 'W' ) {
jamesheavey 53:dbb63b181faf 522 explored[curr_node] &= 0b0111;
jamesheavey 53:dbb63b181faf 523 }
jamesheavey 53:dbb63b181faf 524 if(point[next_node] == point[d_node]) { break; }
jamesheavey 53:dbb63b181faf 525 }
jamesheavey 53:dbb63b181faf 526
jamesheavey 53:dbb63b181faf 527 //int curr_node = curr_index;
jamesheavey 53:dbb63b181faf 528 // bool before = false;
jamesheavey 53:dbb63b181faf 529 // bool after = false;
jamesheavey 53:dbb63b181faf 530 // int before_index;
jamesheavey 53:dbb63b181faf 531 // int after_index;
jamesheavey 52:79f21d15ede1 532 //
jamesheavey 53:dbb63b181faf 533 // bool desired_discovered = false;
jamesheavey 53:dbb63b181faf 534 // for(int k = 0; k <= path_length; k++) {
jamesheavey 53:dbb63b181faf 535 // if(looped_path[k] == point[d_node]) { desired_discovered = true; } // maybe set a variable
jamesheavey 53:dbb63b181faf 536 // if(desired_discovered == false && looped_path[k] == point[curr_node]) { before = true; before_index = k; }
jamesheavey 53:dbb63b181faf 537 // if(desired_discovered == true && looped_path[k] == point[curr_node]) { after_index = k; break; }
jamesheavey 53:dbb63b181faf 538 // }
jamesheavey 53:dbb63b181faf 539 //
jamesheavey 53:dbb63b181faf 540 //
jamesheavey 53:dbb63b181faf 541 // if( before_index < after_index ){
jamesheavey 53:dbb63b181faf 542 // before = true;
jamesheavey 53:dbb63b181faf 543 // after = false;
jamesheavey 53:dbb63b181faf 544 // }
jamesheavey 53:dbb63b181faf 545 // else{
jamesheavey 53:dbb63b181faf 546 // before = false;
jamesheavey 53:dbb63b181faf 547 // after = true;
jamesheavey 53:dbb63b181faf 548 // }
jamesheavey 53:dbb63b181faf 549 //
jamesheavey 53:dbb63b181faf 550 //
jamesheavey 49:89f0f54aa46b 551 // char dir_diff;
jamesheavey 49:89f0f54aa46b 552 //
jamesheavey 53:dbb63b181faf 553 // if(after == true) {
jamesheavey 53:dbb63b181faf 554 //
jamesheavey 53:dbb63b181faf 555 // for(int j = after_index; j >= 0; j--) {
jamesheavey 53:dbb63b181faf 556 // curr_node = path_to_point_index(looped_path[j]);
jamesheavey 53:dbb63b181faf 557 //
jamesheavey 53:dbb63b181faf 558 // int prev_node = path_to_point_index(looped_path[j-1]);
jamesheavey 53:dbb63b181faf 559 // if(coords_x[prev_node] != coords_x[curr_node]) {
jamesheavey 53:dbb63b181faf 560 // if(coords_x[prev_node] - coords_x[curr_node] > 0){
jamesheavey 53:dbb63b181faf 561 // dir_diff = 'E';
jamesheavey 53:dbb63b181faf 562 // } else {
jamesheavey 53:dbb63b181faf 563 // dir_diff = 'W';
jamesheavey 53:dbb63b181faf 564 // }
jamesheavey 53:dbb63b181faf 565 // } else if( coords_y[prev_node] != coords_y[curr_node] ) {
jamesheavey 53:dbb63b181faf 566 // if(coords_y[prev_node] - coords_y[curr_node] > 0){
jamesheavey 53:dbb63b181faf 567 // dir_diff = 'N';
jamesheavey 53:dbb63b181faf 568 // } else {
jamesheavey 53:dbb63b181faf 569 // dir_diff = 'S';
jamesheavey 53:dbb63b181faf 570 // }
jamesheavey 49:89f0f54aa46b 571 // }
jamesheavey 53:dbb63b181faf 572 //
jamesheavey 53:dbb63b181faf 573 // if( dir_diff == 'N' ) {
jamesheavey 53:dbb63b181faf 574 // explored[curr_node] &= 0b1011;
jamesheavey 53:dbb63b181faf 575 // }
jamesheavey 53:dbb63b181faf 576 // else if( dir_diff == 'E' ) {
jamesheavey 53:dbb63b181faf 577 // explored[curr_node] &= 0b1101;
jamesheavey 53:dbb63b181faf 578 // }
jamesheavey 53:dbb63b181faf 579 // else if( dir_diff == 'S' ) {
jamesheavey 53:dbb63b181faf 580 // explored[curr_node] &= 0b1110;
jamesheavey 53:dbb63b181faf 581 // }
jamesheavey 53:dbb63b181faf 582 // else if( dir_diff == 'W' ) {
jamesheavey 53:dbb63b181faf 583 // explored[curr_node] &= 0b0111;
jamesheavey 53:dbb63b181faf 584 // }
jamesheavey 53:dbb63b181faf 585 // if(point[prev_node] == point[d_node]) { break; }
jamesheavey 49:89f0f54aa46b 586 // }
jamesheavey 49:89f0f54aa46b 587 // }
jamesheavey 53:dbb63b181faf 588 //
jamesheavey 53:dbb63b181faf 589 // else if( before == true ) {
jamesheavey 53:dbb63b181faf 590 // for(int j = before_index; j <= path_length; j++) {
jamesheavey 53:dbb63b181faf 591 // curr_node = path_to_point_index(looped_path[j]);
jamesheavey 53:dbb63b181faf 592 //
jamesheavey 53:dbb63b181faf 593 // int next_node = path_to_point_index(looped_path[j+1]);
jamesheavey 53:dbb63b181faf 594 // if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 53:dbb63b181faf 595 // if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 53:dbb63b181faf 596 // dir_diff = 'E';
jamesheavey 53:dbb63b181faf 597 // } else {
jamesheavey 53:dbb63b181faf 598 // dir_diff = 'W';
jamesheavey 53:dbb63b181faf 599 // }
jamesheavey 53:dbb63b181faf 600 // } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 53:dbb63b181faf 601 // if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 53:dbb63b181faf 602 // dir_diff = 'N';
jamesheavey 53:dbb63b181faf 603 // } else {
jamesheavey 53:dbb63b181faf 604 // dir_diff = 'S';
jamesheavey 53:dbb63b181faf 605 // }
jamesheavey 53:dbb63b181faf 606 // }
jamesheavey 53:dbb63b181faf 607 //
jamesheavey 53:dbb63b181faf 608 // if( dir_diff == 'N' ) {
jamesheavey 53:dbb63b181faf 609 // explored[curr_node] &= 0b1011;
jamesheavey 53:dbb63b181faf 610 // }
jamesheavey 53:dbb63b181faf 611 // else if( dir_diff == 'E' ) {
jamesheavey 53:dbb63b181faf 612 // explored[curr_node] &= 0b1101;
jamesheavey 53:dbb63b181faf 613 // }
jamesheavey 53:dbb63b181faf 614 // else if( dir_diff == 'S' ) {
jamesheavey 53:dbb63b181faf 615 // explored[curr_node] &= 0b1110;
jamesheavey 53:dbb63b181faf 616 // }
jamesheavey 53:dbb63b181faf 617 // else if( dir_diff == 'W' ) {
jamesheavey 53:dbb63b181faf 618 // explored[curr_node] &= 0b0111;
jamesheavey 53:dbb63b181faf 619 // }
jamesheavey 53:dbb63b181faf 620 // if(point[next_node] == point[d_node]) { break; }
jamesheavey 53:dbb63b181faf 621 // }
jamesheavey 53:dbb63b181faf 622 // }
jamesheavey 34:63f7c61ee4da 623 }
jamesheavey 28:63ff8290964a 624 }
jamesheavey 28:63ff8290964a 625
jamesheavey 51:3148875bb9e5 626 int 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 627 {
jamesheavey 48:76cf4521d342 628 // dead end removal between start and final node
jamesheavey 48:76cf4521d342 629 // add the inverse of the result to end of the looped_path
jamesheavey 48:76cf4521d342 630 // then separate into before and after, simplify both and compare
jamesheavey 51:3148875bb9e5 631 robot.stop();
jamesheavey 49:89f0f54aa46b 632 int index1, index2;
jamesheavey 49:89f0f54aa46b 633 int d_index, before_index, after_index;
jamesheavey 49:89f0f54aa46b 634 bool before = false;
jamesheavey 49:89f0f54aa46b 635
jamesheavey 49:89f0f54aa46b 636 bool desired_discovered = false;
jamesheavey 49:89f0f54aa46b 637
jamesheavey 49:89f0f54aa46b 638 for(int k = 0; k <= path_length; k++) {
jamesheavey 52:79f21d15ede1 639 if(looped_path[k] == point1) { desired_discovered = true; d_index = k; } // maybe set a variable
jamesheavey 52:79f21d15ede1 640 if(desired_discovered == false && looped_path[k] == point2) { before = true; before_index = k; }
jamesheavey 52:79f21d15ede1 641 if(desired_discovered == true && looped_path[k] == point2) { after_index = k; break; }
jamesheavey 49:89f0f54aa46b 642 }
jamesheavey 49:89f0f54aa46b 643
jamesheavey 51:3148875bb9e5 644 if(before){
jamesheavey 51:3148875bb9e5 645 if( (d_index - before_index) <= (after_index - d_index) ){
jamesheavey 51:3148875bb9e5 646 before = true;
jamesheavey 51:3148875bb9e5 647 }
jamesheavey 51:3148875bb9e5 648 else{
jamesheavey 51:3148875bb9e5 649 before = false;
jamesheavey 51:3148875bb9e5 650 }
jamesheavey 49:89f0f54aa46b 651 }
jamesheavey 49:89f0f54aa46b 652
jamesheavey 49:89f0f54aa46b 653 if(before) {
jamesheavey 49:89f0f54aa46b 654 index1 = before_index;
jamesheavey 49:89f0f54aa46b 655 index2 = d_index;
jamesheavey 49:89f0f54aa46b 656 }else{
jamesheavey 49:89f0f54aa46b 657 index1 = d_index;
jamesheavey 49:89f0f54aa46b 658 index2 = after_index;
jamesheavey 49:89f0f54aa46b 659 }
jamesheavey 49:89f0f54aa46b 660
jamesheavey 48:76cf4521d342 661 int temp_array[100];
jamesheavey 48:76cf4521d342 662
jamesheavey 48:76cf4521d342 663 for( int x = 0; x <= path_length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 664
jamesheavey 50:fa124ea1df9f 665 for( int i = index1; i <= index2; i++ ) { shortest[i-index1] = looped_path[i]; }
jamesheavey 48:76cf4521d342 666
jamesheavey 48:76cf4521d342 667 int length = index2 - index1;
jamesheavey 48:76cf4521d342 668
jamesheavey 53:dbb63b181faf 669 robot.lcd_print("l bef",10);
jamesheavey 53:dbb63b181faf 670 wait(2);
jamesheavey 53:dbb63b181faf 671 robot.lcd_clear();
jamesheavey 53:dbb63b181faf 672
jamesheavey 53:dbb63b181faf 673 char buffer[3];
jamesheavey 53:dbb63b181faf 674 sprintf(buffer,"%d", length);
jamesheavey 53:dbb63b181faf 675 robot.lcd_print(buffer,3);
jamesheavey 53:dbb63b181faf 676 wait(2);
jamesheavey 53:dbb63b181faf 677 robot.lcd_clear();
jamesheavey 48:76cf4521d342 678
jamesheavey 48:76cf4521d342 679 // for every node in path, check if repeated
jamesheavey 48:76cf4521d342 680 // if rpeated, move everyting before the first occurence to the final occurence
jamesheavey 48:76cf4521d342 681 // save new path and repeat
jamesheavey 48:76cf4521d342 682 // when no node is repeated, end
jamesheavey 48:76cf4521d342 683 // or end when iterated through the entire array
jamesheavey 48:76cf4521d342 684
jamesheavey 48:76cf4521d342 685 int i = 0;
jamesheavey 48:76cf4521d342 686 while( i <= length ) {
jamesheavey 48:76cf4521d342 687 int count = i;
jamesheavey 48:76cf4521d342 688 for( int j = 0; j <= length; j++ ) {
jamesheavey 48:76cf4521d342 689 if( shortest[i] == shortest[j] ){
jamesheavey 48:76cf4521d342 690 count = j;
jamesheavey 48:76cf4521d342 691 }
jamesheavey 39:005ad4610152 692 }
jamesheavey 48:76cf4521d342 693 if( count != i ) {
jamesheavey 48:76cf4521d342 694
jamesheavey 48:76cf4521d342 695 for( int k = 0; k <= i; k++ ) {
jamesheavey 48:76cf4521d342 696 temp_array[k] = shortest[k];
jamesheavey 48:76cf4521d342 697 }
jamesheavey 48:76cf4521d342 698 int ind = 1;
jamesheavey 48:76cf4521d342 699 for( int z = count+1; z <= path_length; z++ ) {
jamesheavey 48:76cf4521d342 700 temp_array[i+ind] = shortest[z];
jamesheavey 48:76cf4521d342 701 ind++;
jamesheavey 48:76cf4521d342 702 }
jamesheavey 48:76cf4521d342 703 // clear the array
jamesheavey 48:76cf4521d342 704 for( int x = 0; x <= length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 705
jamesheavey 48:76cf4521d342 706 length -= (count-i);
jamesheavey 48:76cf4521d342 707 i = -1;
jamesheavey 48:76cf4521d342 708
jamesheavey 48:76cf4521d342 709 for( int x = 0; x <= length; x++ ) { shortest[x] = temp_array[x]; }
jamesheavey 48:76cf4521d342 710
jamesheavey 48:76cf4521d342 711 for( int x = 0; x <= length; x++ ) { temp_array[x] = NULL; }
jamesheavey 39:005ad4610152 712 }
jamesheavey 48:76cf4521d342 713 i++;
jamesheavey 39:005ad4610152 714 }
jamesheavey 39:005ad4610152 715
jamesheavey 53:dbb63b181faf 716 robot.lcd_print("l af",10);
jamesheavey 53:dbb63b181faf 717 wait(2);
jamesheavey 53:dbb63b181faf 718 robot.lcd_clear();
jamesheavey 53:dbb63b181faf 719
jamesheavey 53:dbb63b181faf 720 char buffe[3];
jamesheavey 53:dbb63b181faf 721 sprintf(buffe,"%d", length);
jamesheavey 53:dbb63b181faf 722 robot.lcd_print(buffe,3);
jamesheavey 53:dbb63b181faf 723 wait(2);
jamesheavey 53:dbb63b181faf 724 robot.lcd_clear();
jamesheavey 53:dbb63b181faf 725
jamesheavey 53:dbb63b181faf 726 robot.lcd_print("path",10);
jamesheavey 53:dbb63b181faf 727 wait(2);
jamesheavey 53:dbb63b181faf 728 robot.lcd_clear();
jamesheavey 53:dbb63b181faf 729
jamesheavey 53:dbb63b181faf 730 leds = 0b1111;
jamesheavey 53:dbb63b181faf 731 for(int m = 0; m <= length; m++) {
jamesheavey 53:dbb63b181faf 732 leds = ~leds;
jamesheavey 53:dbb63b181faf 733 char buffer[3];
jamesheavey 53:dbb63b181faf 734 sprintf(buffer,"%d", shortest[m]);
jamesheavey 53:dbb63b181faf 735 robot.lcd_print(buffer,3);
jamesheavey 53:dbb63b181faf 736 wait(2);
jamesheavey 53:dbb63b181faf 737 robot.lcd_clear();
jamesheavey 53:dbb63b181faf 738 }
jamesheavey 51:3148875bb9e5 739 return length;
jamesheavey 48:76cf4521d342 740 // print these to check
jamesheavey 48:76cf4521d342 741 // add inverted sub path to the real path and increment the path length by real_len -1
jamesheavey 39:005ad4610152 742 }
jamesheavey 39:005ad4610152 743
jamesheavey 10:691c02b352cb 744 void follow_line()
jamesheavey 0:df5216b20861 745 {
jamesheavey 10:691c02b352cb 746 robot.scan();
jamesheavey 10:691c02b352cb 747 sensor = robot.get_sensors(); // returns the current values of all the sensors from 0-1000
jamesheavey 10:691c02b352cb 748
jamesheavey 15:6c461501d12d 749 leds = 0b0110;
jamesheavey 15:6c461501d12d 750
jamesheavey 10:691c02b352cb 751 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 752 derivative = proportional - prev_proportional;
jamesheavey 10:691c02b352cb 753 integral += proportional;
jamesheavey 10:691c02b352cb 754 prev_proportional = proportional;
jamesheavey 10:691c02b352cb 755
jamesheavey 10:691c02b352cb 756 // calculate motor correction
jamesheavey 10:691c02b352cb 757 float motor_correction = proportional*A + integral*B + derivative*C;
jamesheavey 10:691c02b352cb 758
jamesheavey 10:691c02b352cb 759 // make sure the correction is never greater than the max speed as the motor will reverse
jamesheavey 10:691c02b352cb 760 if( motor_correction > speed ) {
jamesheavey 10:691c02b352cb 761 motor_correction = speed;
jamesheavey 10:691c02b352cb 762 }
jamesheavey 10:691c02b352cb 763 if( motor_correction < -speed ) {
jamesheavey 10:691c02b352cb 764 motor_correction = -speed;
jamesheavey 10:691c02b352cb 765 }
jamesheavey 0:df5216b20861 766
jamesheavey 10:691c02b352cb 767 if( proportional < 0 ) {
jamesheavey 10:691c02b352cb 768 robot.motors(speed+motor_correction,speed);
jamesheavey 10:691c02b352cb 769 } else {
jamesheavey 10:691c02b352cb 770 robot.motors(speed,speed-motor_correction);
jamesheavey 10:691c02b352cb 771 }
jamesheavey 18:991658b628fc 772
jamesheavey 19:4c08275cb3c9 773 // read_encoders();
jamesheavey 19:4c08275cb3c9 774 // 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 775 // if (encoder[1] > 3100) { dist_est_2 += 1; } // might not need to actually use 2pir/3 could just add arbitrary numbers
jamesheavey 1:79219d0a33c8 776 }
jamesheavey 0:df5216b20861 777
jamesheavey 14:87052bb35211 778 bool junction_detect()
jamesheavey 6:c10b367747a0 779 {
jamesheavey 20:5cf6a378801d 780 if ( sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 781 return true;
jamesheavey 20:5cf6a378801d 782 } else if ( sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH ) {
jamesheavey 14:87052bb35211 783 return true;
jamesheavey 14:87052bb35211 784 } else {
jamesheavey 14:87052bb35211 785 return false;
jamesheavey 14:87052bb35211 786 }
jamesheavey 14:87052bb35211 787 }
jamesheavey 14:87052bb35211 788
jamesheavey 14:87052bb35211 789 char junction_logic()
jamesheavey 14:87052bb35211 790 {
jamesheavey 14:87052bb35211 791 bool straight = false;
jamesheavey 7:7fefd782532d 792 bool left = false;
jamesheavey 6:c10b367747a0 793 bool right = false;
jamesheavey 9:952586accbf9 794 bool goal = false;
jamesheavey 7:7fefd782532d 795
jamesheavey 20:5cf6a378801d 796 if (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) {
jamesheavey 20:5cf6a378801d 797 while ( (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) && (sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH) ) {
jamesheavey 13:bd271266e161 798 robot.forward(speed);
jamesheavey 9:952586accbf9 799 robot.scan();
jamesheavey 20:5cf6a378801d 800 if ( sensor[0] > SENS_THRESH ) { left = true; }
jamesheavey 20:5cf6a378801d 801 if ( sensor[4] > SENS_THRESH ) { right = true; }
jamesheavey 13:bd271266e161 802 }
jamesheavey 7:7fefd782532d 803
jamesheavey 20:5cf6a378801d 804 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 15:6c461501d12d 805 wait(0.05); // maybe change or replace w something better
jamesheavey 9:952586accbf9 806 robot.scan();
jamesheavey 20:5cf6a378801d 807 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 13:bd271266e161 808 goal = true;
jamesheavey 12:d80399686f32 809 }
jamesheavey 13:bd271266e161 810 }
jamesheavey 14:87052bb35211 811
jamesheavey 14:87052bb35211 812 robot.scan();
jamesheavey 14:87052bb35211 813
jamesheavey 20:5cf6a378801d 814 if ( sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 815 straight = true;
jamesheavey 14:87052bb35211 816 }
jamesheavey 14:87052bb35211 817
jamesheavey 20:5cf6a378801d 818 } else if (sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH) {
jamesheavey 9:952586accbf9 819 return 'B';
jamesheavey 6:c10b367747a0 820 }
jamesheavey 7:7fefd782532d 821
jamesheavey 9:952586accbf9 822 if (goal) {
jamesheavey 9:952586accbf9 823 return 'G';
jamesheavey 9:952586accbf9 824 } else if (left) {
jamesheavey 9:952586accbf9 825 return 'L';
jamesheavey 14:87052bb35211 826 } else if (straight) {
jamesheavey 14:87052bb35211 827 return 'S';
jamesheavey 9:952586accbf9 828 } else if (right) {
jamesheavey 9:952586accbf9 829 return 'R';
jamesheavey 6:c10b367747a0 830 } else {
jamesheavey 9:952586accbf9 831 return 'S';
jamesheavey 9:952586accbf9 832 }
jamesheavey 6:c10b367747a0 833 }
jamesheavey 6:c10b367747a0 834
jamesheavey 0:df5216b20861 835
jamesheavey 14:87052bb35211 836 void turn_select( char turn )
jamesheavey 1:79219d0a33c8 837 {
jamesheavey 1:79219d0a33c8 838 switch(turn) {
jamesheavey 5:ae417756235a 839 case 'G':
jamesheavey 5:ae417756235a 840 goal();
jamesheavey 1:79219d0a33c8 841 case 'L':
jamesheavey 1:79219d0a33c8 842 left();
jamesheavey 5:ae417756235a 843 break;
jamesheavey 1:79219d0a33c8 844 case 'S':
jamesheavey 1:79219d0a33c8 845 break;
jamesheavey 1:79219d0a33c8 846 case 'R':
jamesheavey 1:79219d0a33c8 847 right();
jamesheavey 5:ae417756235a 848 break;
jamesheavey 1:79219d0a33c8 849 case 'B':
jamesheavey 1:79219d0a33c8 850 back();
jamesheavey 5:ae417756235a 851 break;
jamesheavey 1:79219d0a33c8 852 }
jamesheavey 1:79219d0a33c8 853 }
jamesheavey 1:79219d0a33c8 854
jamesheavey 0:df5216b20861 855 void left()
jamesheavey 0:df5216b20861 856 {
jamesheavey 1:79219d0a33c8 857 leds = 0b1100;
jamesheavey 3:a5e06482462e 858
jamesheavey 20:5cf6a378801d 859 while (sensor[0] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 860
jamesheavey 39:005ad4610152 861 robot.spin_left(TURN_SPEED);
jamesheavey 39:005ad4610152 862 wait(0.2);
jamesheavey 3:a5e06482462e 863
jamesheavey 20:5cf6a378801d 864 while (sensor[1] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 865
jamesheavey 20:5cf6a378801d 866 while (sensor[1] > SENS_THRESH) { robot.scan(); }
jamesheavey 1:79219d0a33c8 867 }
jamesheavey 1:79219d0a33c8 868
jamesheavey 1:79219d0a33c8 869 void right()
jamesheavey 1:79219d0a33c8 870 {
jamesheavey 1:79219d0a33c8 871 leds = 0b0011;
jamesheavey 5:ae417756235a 872
jamesheavey 20:5cf6a378801d 873 while (sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 874
jamesheavey 20:5cf6a378801d 875 robot.spin_right(TURN_SPEED);
jamesheavey 39:005ad4610152 876 wait(0.2);
jamesheavey 3:a5e06482462e 877
jamesheavey 20:5cf6a378801d 878 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 879
jamesheavey 20:5cf6a378801d 880 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 0:df5216b20861 881 }
jamesheavey 0:df5216b20861 882
jamesheavey 0:df5216b20861 883 void back()
jamesheavey 0:df5216b20861 884 {
jamesheavey 1:79219d0a33c8 885 leds = 0b1111;
jamesheavey 32:598bedb22c7c 886 // robot.reverse(speed);
jamesheavey 32:598bedb22c7c 887 // wait(0.1);
jamesheavey 20:5cf6a378801d 888 robot.spin_right(TURN_SPEED);
jamesheavey 41:2b6b73dd897c 889 if(loop_check == false) { // works better for looped
jamesheavey 53:dbb63b181faf 890 wait(0.65);
jamesheavey 41:2b6b73dd897c 891 }
jamesheavey 41:2b6b73dd897c 892 else {
jamesheavey 41:2b6b73dd897c 893 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 894
jamesheavey 41:2b6b73dd897c 895 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 896 }
jamesheavey 0:df5216b20861 897 }
jamesheavey 1:79219d0a33c8 898
jamesheavey 2:940e46e21353 899 void simplify()
jamesheavey 1:79219d0a33c8 900 {
jamesheavey 2:940e46e21353 901 // check if the last one was a 'B'
jamesheavey 2:940e46e21353 902 // if it was, iterate over the last three turns and check the total angle change
jamesheavey 2:940e46e21353 903 // replace the three turns with the new single turn
jamesheavey 1:79219d0a33c8 904
jamesheavey 10:691c02b352cb 905 if( path[path_length-2] == 'B' && path_length >= 3) {
jamesheavey 10:691c02b352cb 906 int angle_change = 0;
jamesheavey 2:940e46e21353 907
jamesheavey 10:691c02b352cb 908 for (int i = 1; i <= 3; i++) {
jamesheavey 10:691c02b352cb 909 if (path[path_length - i] == 'L') { angle_change += 270; }
jamesheavey 10:691c02b352cb 910 else if (path[path_length - i] == 'R') { angle_change += 90; }
jamesheavey 10:691c02b352cb 911 else if (path[path_length - i] == 'B') { angle_change += 180; }
jamesheavey 4:38c29dbc5953 912 }
jamesheavey 4:38c29dbc5953 913
jamesheavey 4:38c29dbc5953 914 angle_change = angle_change % 360;
jamesheavey 4:38c29dbc5953 915
jamesheavey 4:38c29dbc5953 916 if (angle_change == 0) { path[path_length - 3] = 'S'; }
jamesheavey 4:38c29dbc5953 917 else if (angle_change == 90) { path[path_length - 3] = 'R'; }
jamesheavey 4:38c29dbc5953 918 else if (angle_change == 180) { path[path_length - 3] = 'B'; }
jamesheavey 4:38c29dbc5953 919 else if (angle_change == 270) { path[path_length - 3] = 'L'; }
jamesheavey 4:38c29dbc5953 920
jamesheavey 4:38c29dbc5953 921 for (int i = 1; i <= 2; i++) { path[path_length - i] = NULL; } // clear the other turns
jamesheavey 4:38c29dbc5953 922
jamesheavey 4:38c29dbc5953 923 path_length -= 2;
jamesheavey 2:940e46e21353 924 }
jamesheavey 5:ae417756235a 925 }
jamesheavey 5:ae417756235a 926
jamesheavey 10:691c02b352cb 927 void goal()
jamesheavey 10:691c02b352cb 928 {
jamesheavey 10:691c02b352cb 929 invert_path();
jamesheavey 11:c3299aca7d8f 930
jamesheavey 11:c3299aca7d8f 931 leds = 0b0000;
jamesheavey 10:691c02b352cb 932
jamesheavey 10:691c02b352cb 933 robot.lcd_clear();
jamesheavey 16:96c7dc8a1119 934 robot.lcd_print(inv_path,100);
jamesheavey 10:691c02b352cb 935
jamesheavey 11:c3299aca7d8f 936 while(1) {
jamesheavey 15:6c461501d12d 937 int pointer = 0;
jamesheavey 15:6c461501d12d 938
jamesheavey 15:6c461501d12d 939 robot.stop();
jamesheavey 15:6c461501d12d 940
jamesheavey 15:6c461501d12d 941 leds = 0b1001;
jamesheavey 15:6c461501d12d 942 wait(0.2);
jamesheavey 15:6c461501d12d 943 leds = 0b0110;
jamesheavey 15:6c461501d12d 944 wait(0.2);
jamesheavey 15:6c461501d12d 945
jamesheavey 15:6c461501d12d 946 robot.reverse(speed);
jamesheavey 20:5cf6a378801d 947 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 16:96c7dc8a1119 948 wait(0.05);
jamesheavey 15:6c461501d12d 949
jamesheavey 20:5cf6a378801d 950 robot.spin_right(TURN_SPEED);
jamesheavey 20:5cf6a378801d 951 while(sensor[2] > SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 952 while(sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 953 while(sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 954
jamesheavey 15:6c461501d12d 955 robot.stop();
jamesheavey 15:6c461501d12d 956
jamesheavey 15:6c461501d12d 957 while(pointer <= path_length) {
jamesheavey 15:6c461501d12d 958 follow_line();
jamesheavey 15:6c461501d12d 959
jamesheavey 15:6c461501d12d 960 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 961 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 15:6c461501d12d 962 turn_select(inv_path[pointer]);
jamesheavey 15:6c461501d12d 963 if(inv_path[pointer] == 'S') { // make this better
jamesheavey 15:6c461501d12d 964 robot.forward(speed);
jamesheavey 15:6c461501d12d 965 leds = 0b1010;
jamesheavey 20:5cf6a378801d 966 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 967 }
jamesheavey 15:6c461501d12d 968 pointer++;
jamesheavey 15:6c461501d12d 969 }
jamesheavey 15:6c461501d12d 970 }
jamesheavey 15:6c461501d12d 971
jamesheavey 15:6c461501d12d 972 back();
jamesheavey 12:d80399686f32 973
jamesheavey 11:c3299aca7d8f 974 robot.stop();
jamesheavey 20:5cf6a378801d 975 robot.lcd_goto_xy(0,0);
jamesheavey 20:5cf6a378801d 976 robot.lcd_print(" ENTER ", 10);
jamesheavey 20:5cf6a378801d 977 robot.lcd_goto_xy(0,1);
jamesheavey 20:5cf6a378801d 978 robot.lcd_print("=restart", 10);
jamesheavey 20:5cf6a378801d 979
jamesheavey 14:87052bb35211 980 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 981
jamesheavey 20:5cf6a378801d 982 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 983 robot.lcd_print(path,100);
jamesheavey 20:5cf6a378801d 984
jamesheavey 15:6c461501d12d 985 pointer = 0;
jamesheavey 15:6c461501d12d 986
jamesheavey 11:c3299aca7d8f 987 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 988 wait(0.2);
jamesheavey 11:c3299aca7d8f 989 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 990 wait(0.2);
jamesheavey 11:c3299aca7d8f 991 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 992 wait(0.2);
jamesheavey 11:c3299aca7d8f 993 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 994 wait(0.2);
jamesheavey 11:c3299aca7d8f 995
jamesheavey 11:c3299aca7d8f 996 while(pointer <= path_length) {
jamesheavey 11:c3299aca7d8f 997 follow_line();
jamesheavey 11:c3299aca7d8f 998
jamesheavey 14:87052bb35211 999 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 1000 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 14:87052bb35211 1001 turn_select(path[pointer]);
jamesheavey 11:c3299aca7d8f 1002 if(path[pointer] == 'S') { // make this better
jamesheavey 11:c3299aca7d8f 1003 robot.forward(speed);
jamesheavey 11:c3299aca7d8f 1004 leds = 0b1010;
jamesheavey 20:5cf6a378801d 1005 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 11:c3299aca7d8f 1006 }
jamesheavey 11:c3299aca7d8f 1007 pointer++;
jamesheavey 10:691c02b352cb 1008 }
jamesheavey 10:691c02b352cb 1009 }
jamesheavey 5:ae417756235a 1010 }
jamesheavey 5:ae417756235a 1011 }
jamesheavey 5:ae417756235a 1012
jamesheavey 29:ecf497c3fdc0 1013 void looped_goal()
jamesheavey 29:ecf497c3fdc0 1014 {
jamesheavey 48:76cf4521d342 1015 // return to start (adding nodes to path)
jamesheavey 48:76cf4521d342 1016 // simplify path, check path before reaching goal and path after reaching goal, use the shorter one
jamesheavey 48:76cf4521d342 1017 // loop between start and goal
jamesheavey 34:63f7c61ee4da 1018 robot.stop();
jamesheavey 51:3148875bb9e5 1019 int na = dead_end_removal( point[0], point[total_points] );
jamesheavey 50:fa124ea1df9f 1020 leds = 0b1001;
jamesheavey 50:fa124ea1df9f 1021 wait(0.2);
jamesheavey 50:fa124ea1df9f 1022 leds = 0b0110;
jamesheavey 50:fa124ea1df9f 1023 wait(0.2);
jamesheavey 52:79f21d15ede1 1024 na = dead_end_removal( point[2], point[1] );
jamesheavey 50:fa124ea1df9f 1025 leds = 0b1001;
jamesheavey 50:fa124ea1df9f 1026 wait(0.2);
jamesheavey 50:fa124ea1df9f 1027 leds = 0b0110;
jamesheavey 50:fa124ea1df9f 1028 wait(0.2);
jamesheavey 52:79f21d15ede1 1029 na = dead_end_removal( point[4], 100 );
jamesheavey 48:76cf4521d342 1030 while( button_enter.read() == 1 ) {
jamesheavey 29:ecf497c3fdc0 1031 leds = 0b1001;
jamesheavey 29:ecf497c3fdc0 1032 wait(0.2);
jamesheavey 29:ecf497c3fdc0 1033 leds = 0b0110;
jamesheavey 29:ecf497c3fdc0 1034 wait(0.2);
jamesheavey 29:ecf497c3fdc0 1035 }
jamesheavey 29:ecf497c3fdc0 1036 }
jamesheavey 29:ecf497c3fdc0 1037
jamesheavey 10:691c02b352cb 1038 void invert_path()
jamesheavey 5:ae417756235a 1039 {
jamesheavey 10:691c02b352cb 1040 // only call once then can use infinitely
jamesheavey 16:96c7dc8a1119 1041 for( int i = 0; i < path_length; i++ ){
jamesheavey 16:96c7dc8a1119 1042 if ( path[path_length-1-i] == 'L' ) { inv_path[i] = 'R'; }
jamesheavey 16:96c7dc8a1119 1043 else if ( path[path_length-1-i] == 'R' ) { inv_path[i] = 'L'; }
jamesheavey 16:96c7dc8a1119 1044 else { inv_path[i] = path[path_length-1-i]; }
jamesheavey 10:691c02b352cb 1045 }
jamesheavey 28:63ff8290964a 1046 }
jamesheavey 37:2967f3f9c936 1047
jamesheavey 37:2967f3f9c936 1048 void print_data(char *word)
jamesheavey 37:2967f3f9c936 1049 {
jamesheavey 37:2967f3f9c936 1050 robot.lcd_clear();
jamesheavey 37:2967f3f9c936 1051 robot.lcd_print(word,10);
jamesheavey 37:2967f3f9c936 1052 robot.stop();
jamesheavey 37:2967f3f9c936 1053 wait(2);
jamesheavey 37:2967f3f9c936 1054
jamesheavey 37:2967f3f9c936 1055 char buffer1[2];
jamesheavey 37:2967f3f9c936 1056 char buffer2[2];
jamesheavey 37:2967f3f9c936 1057 char buffer3[2];
jamesheavey 37:2967f3f9c936 1058 robot.lcd_clear();
jamesheavey 38:b5b06625d06e 1059 // sprintf(buffer1,"%x",type[curr_index]);
jamesheavey 38:b5b06625d06e 1060 // sprintf(buffer2,"%x",explored[curr_index]);
jamesheavey 37:2967f3f9c936 1061
jamesheavey 38:b5b06625d06e 1062 sprintf(buffer1,"%d",curr_coords[0]);
jamesheavey 38:b5b06625d06e 1063 sprintf(buffer2,"%d",curr_coords[1]);
jamesheavey 37:2967f3f9c936 1064 sprintf(buffer3,"%d",curr_index);
jamesheavey 37:2967f3f9c936 1065 robot.lcd_print(buffer1,2);
jamesheavey 37:2967f3f9c936 1066 robot.lcd_goto_xy(0,1);
jamesheavey 37:2967f3f9c936 1067 robot.lcd_print(buffer2,2);
jamesheavey 37:2967f3f9c936 1068 robot.lcd_goto_xy(5,0);
jamesheavey 37:2967f3f9c936 1069 char *b = &dir;
jamesheavey 37:2967f3f9c936 1070 robot.lcd_print(b,2);
jamesheavey 37:2967f3f9c936 1071 robot.lcd_goto_xy(5,1);
jamesheavey 37:2967f3f9c936 1072 robot.lcd_print(buffer3,2);
jamesheavey 37:2967f3f9c936 1073
jamesheavey 37:2967f3f9c936 1074 robot.stop();
jamesheavey 37:2967f3f9c936 1075 wait(2);
jamesheavey 37:2967f3f9c936 1076 }