James Heavey / Mbed 2 deprecated 3875_DISSERTATION

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Dependencies:   mbed 3875_Individualproject

main/main.cpp@66:3130be689176, 2020-05-13 (annotated)

Committer:
jamesheavey
Date:
Wed May 13 13:15:03 2020 +0000
Revision:
66:3130be689176
Parent:
65:2103a02d72bc
Child:
67:f307ff6ec083
to improve dead end removal search, check every next node along to see if it is closer to the goal node

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jamesheavey 32:598bedb22c7c 1 #include "main.h"
jamesheavey 24:adb946be4ce5 2 #include <math.h>
jamesheavey 0:df5216b20861 3
jamesheavey 0:df5216b20861 4 // API
jamesheavey 0:df5216b20861 5 m3pi robot;
jamesheavey 0:df5216b20861 6
jamesheavey 0:df5216b20861 7 // LEDs
jamesheavey 0:df5216b20861 8 BusOut leds(LED4,LED3,LED2,LED1);
jamesheavey 0:df5216b20861 9
jamesheavey 0:df5216b20861 10 // Buttons
jamesheavey 0:df5216b20861 11 DigitalIn button_A(p18);
jamesheavey 0:df5216b20861 12 DigitalIn button_B(p17);
jamesheavey 0:df5216b20861 13 DigitalIn button_X(p21);
jamesheavey 0:df5216b20861 14 DigitalIn button_Y(p22);
jamesheavey 0:df5216b20861 15 DigitalIn button_enter(p24);
jamesheavey 0:df5216b20861 16 DigitalIn button_back(p23);
jamesheavey 0:df5216b20861 17
jamesheavey 0:df5216b20861 18 // Potentiometers
jamesheavey 0:df5216b20861 19 AnalogIn pot_P(p15);
jamesheavey 0:df5216b20861 20 AnalogIn pot_I(p16);
jamesheavey 0:df5216b20861 21 AnalogIn pot_D(p19);
jamesheavey 0:df5216b20861 22 AnalogIn pot_S(p20);
jamesheavey 0:df5216b20861 23
jamesheavey 17:77b8515a9568 24 // Sensors
jamesheavey 18:991658b628fc 25 DigitalInOut enc_L(p26); //connected to digital P26
jamesheavey 18:991658b628fc 26 DigitalInOut enc_R(p25); //connected to digital P25
jamesheavey 18:991658b628fc 27
jamesheavey 2:940e46e21353 28 // Main
jamesheavey 2:940e46e21353 29
jamesheavey 0:df5216b20861 30 int main()
jamesheavey 0:df5216b20861 31 {
jamesheavey 0:df5216b20861 32 init();
jamesheavey 20:5cf6a378801d 33
jamesheavey 20:5cf6a378801d 34 robot.lcd_goto_xy(0,0);
jamesheavey 22:02dda79d50b4 35 robot.lcd_print("A=SIMPLE", 10);
jamesheavey 20:5cf6a378801d 36 robot.lcd_goto_xy(0,1);
jamesheavey 22:02dda79d50b4 37 robot.lcd_print("B=LOOPED", 10);
jamesheavey 20:5cf6a378801d 38
jamesheavey 20:5cf6a378801d 39 while(button_A.read() == 1 && button_B.read() == 1) {}
jamesheavey 20:5cf6a378801d 40
jamesheavey 20:5cf6a378801d 41 if (button_B.read()) { loop_check = true; } // non-looped
jamesheavey 20:5cf6a378801d 42 if (button_A.read()) { loop_check = false; } // looped
jamesheavey 20:5cf6a378801d 43
jamesheavey 20:5cf6a378801d 44 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 45 robot.lcd_goto_xy(0,0);
jamesheavey 20:5cf6a378801d 46 robot.lcd_print(" ENTER ", 10);
jamesheavey 20:5cf6a378801d 47 robot.lcd_goto_xy(0,1);
jamesheavey 20:5cf6a378801d 48 robot.lcd_print("= start ", 10);
jamesheavey 20:5cf6a378801d 49
jamesheavey 0:df5216b20861 50 calibrate();
jamesheavey 15:6c461501d12d 51
jamesheavey 20:5cf6a378801d 52 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 53
jamesheavey 43:ec047ba15db1 54 speed = 0.3;//(pot_S*0.3)+0.2; // have it so max is 0.5 and min is 0.2 (this lowest doesnt work)
jamesheavey 0:df5216b20861 55
jamesheavey 0:df5216b20861 56 float dt = 1/50; // updating 50 times a second
jamesheavey 20:5cf6a378801d 57
jamesheavey 0:df5216b20861 58 while (1) {
jamesheavey 21:54ea75f7984f 59
jamesheavey 20:5cf6a378801d 60 if (loop_check == true) {
jamesheavey 20:5cf6a378801d 61 non_looped();
jamesheavey 20:5cf6a378801d 62 } else {
jamesheavey 20:5cf6a378801d 63 looped();
jamesheavey 18:991658b628fc 64 }
jamesheavey 0:df5216b20861 65
jamesheavey 0:df5216b20861 66 wait(dt);
jamesheavey 0:df5216b20861 67 }
jamesheavey 0:df5216b20861 68 }
jamesheavey 0:df5216b20861 69
jamesheavey 18:991658b628fc 70 void read_encoders()
jamesheavey 18:991658b628fc 71 {
jamesheavey 18:991658b628fc 72 enc_R.output(); // Set the I/O line to an output
jamesheavey 18:991658b628fc 73 enc_L.output();
jamesheavey 18:991658b628fc 74 enc_R.mode(PullUp);
jamesheavey 18:991658b628fc 75 enc_L.mode(PullUp);
jamesheavey 18:991658b628fc 76
jamesheavey 19:4c08275cb3c9 77 wait_us(10); // Must be atleast 10us for the 10 nF capacitor to charge
jamesheavey 18:991658b628fc 78 enc_R.mode(PullNone);
jamesheavey 18:991658b628fc 79 enc_L.mode(PullNone);
jamesheavey 18:991658b628fc 80 enc_R = 1; // Drive the line high
jamesheavey 18:991658b628fc 81 enc_L = 1;
jamesheavey 18:991658b628fc 82
jamesheavey 18:991658b628fc 83 t_R.start();
jamesheavey 18:991658b628fc 84 enc_R.input(); // Make the I/O line an input (high impedance)
jamesheavey 19:4c08275cb3c9 85 while (enc_R == 1 || t_R.read_us() < 1000); // replace 1000 with a hard variable (1000 = 1ms = 1kHz sampling) (might be able to drop this further
jamesheavey 19:4c08275cb3c9 86 // sampling time is required to be this high for times when there is no reflectance but we only care about high reflectance
jamesheavey 19:4c08275cb3c9 87
jamesheavey 19:4c08275cb3c9 88 // maybe i could wait a few microseconds, see if the encoder is still high, if high then no reflectance, if low, the high reflectance
jamesheavey 19:4c08275cb3c9 89 // this would increase sampling time
jamesheavey 19:4c08275cb3c9 90
jamesheavey 19:4c08275cb3c9 91 // also, the fact that the waits are in the same loop means that the loop will run at different speeds depending on whether a sensor is triggered or not
jamesheavey 19:4c08275cb3c9 92 // if both are triggered it will run fast, otherwise it will have to wait 1000+ us for each sensor
jamesheavey 19:4c08275cb3c9 93
jamesheavey 19:4c08275cb3c9 94 // this therefore needs to be done in parallel and also must not affect the time of other operations in the main loop
jamesheavey 18:991658b628fc 95 encoder[0] = t_R.read_us(); // Measure the time for the capacitor to discharge by waiting for the I/O line to go low
jamesheavey 18:991658b628fc 96 t_R.stop();
jamesheavey 18:991658b628fc 97 t_R.reset();
jamesheavey 18:991658b628fc 98
jamesheavey 18:991658b628fc 99 t_L.start();
jamesheavey 18:991658b628fc 100 enc_L.input();
jamesheavey 19:4c08275cb3c9 101 while (enc_L == 1 || t_L.read_us() < 1000);
jamesheavey 18:991658b628fc 102 encoder[1] = t_L.read_us();
jamesheavey 18:991658b628fc 103 t_L.stop();
jamesheavey 18:991658b628fc 104 t_L.reset();
jamesheavey 18:991658b628fc 105 }
jamesheavey 18:991658b628fc 106
jamesheavey 0:df5216b20861 107 void init()
jamesheavey 0:df5216b20861 108 {
jamesheavey 0:df5216b20861 109 robot.init();
jamesheavey 0:df5216b20861 110
jamesheavey 0:df5216b20861 111 button_A.mode(PullUp);
jamesheavey 0:df5216b20861 112 button_B.mode(PullUp);
jamesheavey 0:df5216b20861 113 button_X.mode(PullUp);
jamesheavey 0:df5216b20861 114 button_Y.mode(PullUp);
jamesheavey 0:df5216b20861 115 button_enter.mode(PullUp);
jamesheavey 0:df5216b20861 116 button_back.mode(PullUp);
jamesheavey 0:df5216b20861 117
jamesheavey 10:691c02b352cb 118 leds = 0b0000;
jamesheavey 0:df5216b20861 119 }
jamesheavey 0:df5216b20861 120
jamesheavey 0:df5216b20861 121 void calibrate()
jamesheavey 0:df5216b20861 122 {
jamesheavey 0:df5216b20861 123 leds = 0b1111;
jamesheavey 0:df5216b20861 124 robot.reset_calibration();
jamesheavey 0:df5216b20861 125
jamesheavey 15:6c461501d12d 126 while (button_enter.read() == 1) {} // wait for enter to be pressed
jamesheavey 15:6c461501d12d 127
jamesheavey 15:6c461501d12d 128 wait(2.0);
jamesheavey 0:df5216b20861 129
jamesheavey 15:6c461501d12d 130 robot.auto_calibrate();
jamesheavey 17:77b8515a9568 131
jamesheavey 15:6c461501d12d 132 robot.stop();
jamesheavey 15:6c461501d12d 133 wait(0.05);
jamesheavey 15:6c461501d12d 134 robot.scan();
jamesheavey 17:77b8515a9568 135
jamesheavey 17:77b8515a9568 136 leds = 0b0000;
jamesheavey 0:df5216b20861 137 }
jamesheavey 20:5cf6a378801d 138
jamesheavey 20:5cf6a378801d 139 void non_looped()
jamesheavey 20:5cf6a378801d 140 {
jamesheavey 20:5cf6a378801d 141 follow_line();
jamesheavey 20:5cf6a378801d 142
jamesheavey 20:5cf6a378801d 143 if ( junction_detect() ) {
jamesheavey 20:5cf6a378801d 144 char turn = junction_logic();
jamesheavey 20:5cf6a378801d 145 turn_select(turn);
jamesheavey 20:5cf6a378801d 146
jamesheavey 20:5cf6a378801d 147 path[path_length] = turn;
jamesheavey 20:5cf6a378801d 148 path_length ++;
jamesheavey 20:5cf6a378801d 149 }
jamesheavey 20:5cf6a378801d 150
jamesheavey 20:5cf6a378801d 151 simplify();
jamesheavey 20:5cf6a378801d 152
jamesheavey 20:5cf6a378801d 153 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 154 robot.lcd_print(path,100);
jamesheavey 20:5cf6a378801d 155
jamesheavey 20:5cf6a378801d 156 //robot.display_data();
jamesheavey 20:5cf6a378801d 157 }
jamesheavey 20:5cf6a378801d 158
jamesheavey 23:71e84953b3f3 159 void looped()
jamesheavey 20:5cf6a378801d 160 {
jamesheavey 24:adb946be4ce5 161 if( first ) { // init the start node on first loop run only
jamesheavey 23:71e84953b3f3 162 first = false;
jamesheavey 23:71e84953b3f3 163 curr_coords[0] = 0;
jamesheavey 23:71e84953b3f3 164 curr_coords[1] = 0;
jamesheavey 23:71e84953b3f3 165 dir = 'N';
jamesheavey 23:71e84953b3f3 166 total_points = 0;
jamesheavey 34:63f7c61ee4da 167 point[total_points] = total_points; // first point is 0
jamesheavey 23:71e84953b3f3 168 coords_x[total_points] = curr_coords[0];
jamesheavey 23:71e84953b3f3 169 coords_y[total_points] = curr_coords[1];
jamesheavey 34:63f7c61ee4da 170 type[total_points] = 0b0100; // start is always 1 exit type in the north direction
jamesheavey 56:1cd434b28322 171 explored[total_points] = 0b0000;
jamesheavey 26:582560881379 172 looped_path[total_points] = 0; // start node is '0'
jamesheavey 23:71e84953b3f3 173 }
jamesheavey 23:71e84953b3f3 174
jamesheavey 20:5cf6a378801d 175 // follow line until reaching a junction, determine its type and coordinates
jamesheavey 38:b5b06625d06e 176 if ( t_restart ){ // only start the timer if it isnt already started
jamesheavey 38:b5b06625d06e 177 t_coord.start();
jamesheavey 38:b5b06625d06e 178 t_restart = false;
jamesheavey 38:b5b06625d06e 179
jamesheavey 38:b5b06625d06e 180 }
jamesheavey 21:54ea75f7984f 181
jamesheavey 21:54ea75f7984f 182 follow_line();
jamesheavey 21:54ea75f7984f 183
jamesheavey 21:54ea75f7984f 184 if ( junction_detect() ) {
jamesheavey 26:582560881379 185 path_length++; // increment the path position index
jamesheavey 22:02dda79d50b4 186
jamesheavey 38:b5b06625d06e 187 float time = t_coord.read();
jamesheavey 38:b5b06625d06e 188 int dist_est = ceil(time*2); // scaled so that a longer straight will have a different time to a shorter straight
jamesheavey 38:b5b06625d06e 189 t_coord.stop();
jamesheavey 38:b5b06625d06e 190 t_coord.reset();
jamesheavey 38:b5b06625d06e 191 t_restart = true; //restart the timer next loop
jamesheavey 21:54ea75f7984f 192
jamesheavey 38:b5b06625d06e 193 if (dir == 'N'){ curr_coords[1] += dist_est; } // y coord
jamesheavey 38:b5b06625d06e 194 if (dir == 'E'){ curr_coords[0] += dist_est; } // x coord
jamesheavey 38:b5b06625d06e 195 if (dir == 'S'){ curr_coords[1] -= dist_est; }
jamesheavey 38:b5b06625d06e 196 if (dir == 'W'){ curr_coords[0] -= dist_est; }
jamesheavey 21:54ea75f7984f 197
jamesheavey 21:54ea75f7984f 198 // check that the coordinates are not already in the list, if not add the point, if it is already return the point number and increment the explored
jamesheavey 27:0a3f028f9365 199 if (coord_check()) { // coord_check returns true if curr_coords coordinates are not present in coords_x and y
jamesheavey 32:598bedb22c7c 200
jamesheavey 22:02dda79d50b4 201 total_points++;
jamesheavey 27:0a3f028f9365 202 node_logic(); // determines what junction type we are at updates the explored (path entered on) and type arrays accordingly
jamesheavey 30:d62f122e8d60 203
jamesheavey 43:ec047ba15db1 204 if(goal_node) { point[total_points] = 100; goal_node = false; } // 100 will be the indicator for the goal node that we can visit once mapping is complete
jamesheavey 43:ec047ba15db1 205 else { point[total_points] = total_points; } // numbered 0 -> total_points
jamesheavey 30:d62f122e8d60 206
jamesheavey 22:02dda79d50b4 207 coords_x[total_points] = curr_coords[0];
jamesheavey 22:02dda79d50b4 208 coords_y[total_points] = curr_coords[1];
jamesheavey 22:02dda79d50b4 209 }
jamesheavey 21:54ea75f7984f 210
jamesheavey 32:598bedb22c7c 211 update_index();
jamesheavey 32:598bedb22c7c 212
jamesheavey 22:02dda79d50b4 213 // use current coords to find which point to place in path
jamesheavey 31:1e6d0ef05996 214
jamesheavey 25:7523239a2fc1 215 looped_path[path_length] = point[curr_index]; //returns an int of which point we are at what its called
jamesheavey 23:71e84953b3f3 216 choose_turn(); //looks at the point we are at, examines the type vs explored and makes the appropriate turn also updates the explored
jamesheavey 21:54ea75f7984f 217
jamesheavey 24:adb946be4ce5 218 // check_explored(); // iterates through all existing points, if all explored match type, then mapping is complete
jamesheavey 23:71e84953b3f3 219 // if not, make a func that traverses back through the bath until reaching that node, then explore the unexplored path
jamesheavey 25:7523239a2fc1 220 // i.e. the function will take the node ID integer as an argument and go backwards through the path until reaching that node (appending each node along the way to the end of the path)
jamesheavey 21:54ea75f7984f 221
jamesheavey 23:71e84953b3f3 222
jamesheavey 26:582560881379 223
jamesheavey 26:582560881379 224 // needs a function that checks if current node has any paths left to explore, if not, then it must return via the path to a node that isnt fully explored and continue from there
jamesheavey 26:582560881379 225
jamesheavey 21:54ea75f7984f 226 }
jamesheavey 32:598bedb22c7c 227
jamesheavey 31:1e6d0ef05996 228
jamesheavey 31:1e6d0ef05996 229 // robot.lcd_clear();
jamesheavey 31:1e6d0ef05996 230 // char *b = &dir;
jamesheavey 31:1e6d0ef05996 231 // robot.lcd_print(b,1);
jamesheavey 31:1e6d0ef05996 232
jamesheavey 31:1e6d0ef05996 233
jamesheavey 20:5cf6a378801d 234 //robot.display_data();
jamesheavey 20:5cf6a378801d 235 }
jamesheavey 21:54ea75f7984f 236
jamesheavey 23:71e84953b3f3 237 bool coord_check()
jamesheavey 23:71e84953b3f3 238 {
jamesheavey 23:71e84953b3f3 239 bool result = true;
jamesheavey 23:71e84953b3f3 240 //returns true if the current coords dont match a previous point
jamesheavey 23:71e84953b3f3 241 for(int i = 0; i <= total_points; i++) {
jamesheavey 23:71e84953b3f3 242 if(curr_coords[0] == coords_x[i] && curr_coords[1] == coords_y[i]) {
jamesheavey 23:71e84953b3f3 243 result = false;
jamesheavey 23:71e84953b3f3 244 }
jamesheavey 23:71e84953b3f3 245 }
jamesheavey 23:71e84953b3f3 246
jamesheavey 23:71e84953b3f3 247 return result;
jamesheavey 23:71e84953b3f3 248 }
jamesheavey 23:71e84953b3f3 249
jamesheavey 25:7523239a2fc1 250 void update_index() // update index (pointer to current point/type/coords/explored)
jamesheavey 23:71e84953b3f3 251 {
jamesheavey 23:71e84953b3f3 252 // checks the curr_coords againts the coords array, returns the index to relate to the point array
jamesheavey 23:71e84953b3f3 253 for(int i = 0; i <= total_points; i++) {
jamesheavey 23:71e84953b3f3 254 if(curr_coords[0] == coords_x[i] && curr_coords[1] == coords_y[i]) {
jamesheavey 25:7523239a2fc1 255 curr_index = i;
jamesheavey 23:71e84953b3f3 256 }
jamesheavey 23:71e84953b3f3 257 }
jamesheavey 23:71e84953b3f3 258 }
jamesheavey 23:71e84953b3f3 259
jamesheavey 29:ecf497c3fdc0 260 int path_to_point_index( int path_point )
jamesheavey 29:ecf497c3fdc0 261 {
jamesheavey 29:ecf497c3fdc0 262 for(int i = 0; i <= total_points; i++) {
jamesheavey 29:ecf497c3fdc0 263 if(path_point == point[i]) {
jamesheavey 29:ecf497c3fdc0 264 return i;
jamesheavey 29:ecf497c3fdc0 265 }
jamesheavey 29:ecf497c3fdc0 266 }
jamesheavey 29:ecf497c3fdc0 267
jamesheavey 29:ecf497c3fdc0 268 return curr_index; // default
jamesheavey 29:ecf497c3fdc0 269 }
jamesheavey 29:ecf497c3fdc0 270
jamesheavey 21:54ea75f7984f 271 void node_logic()
jamesheavey 21:54ea75f7984f 272 {
jamesheavey 24:adb946be4ce5 273 // is done when a new node is discovered, needs to update the nodes type and the path explored upon entry
jamesheavey 25:7523239a2fc1 274
jamesheavey 25:7523239a2fc1 275 // first determine what turns are available relative to the robots current direction (left, straight etc.)
jamesheavey 25:7523239a2fc1 276 // convert these relative available turns into available absolute diections (N,E etc.)
jamesheavey 25:7523239a2fc1 277 // set _type to the appropriate value based on available directions (including entry direction = opposite of current)
jamesheavey 25:7523239a2fc1 278 // set _explored entry path as 1
jamesheavey 25:7523239a2fc1 279 // set type[total_points] = _type; & explored[total_points] = _explored;
jamesheavey 25:7523239a2fc1 280
jamesheavey 21:54ea75f7984f 281 bool north = false;
jamesheavey 21:54ea75f7984f 282 bool south = false;
jamesheavey 21:54ea75f7984f 283 bool east = false;
jamesheavey 21:54ea75f7984f 284 bool west = false;
jamesheavey 21:54ea75f7984f 285
jamesheavey 21:54ea75f7984f 286 bool left = false;
jamesheavey 21:54ea75f7984f 287 bool straight = false;
jamesheavey 21:54ea75f7984f 288 bool right = false;
jamesheavey 43:ec047ba15db1 289 bool goal = false;
jamesheavey 21:54ea75f7984f 290
jamesheavey 25:7523239a2fc1 291 int _type = 0b0000;
jamesheavey 25:7523239a2fc1 292 int _explored = 0b0000;
jamesheavey 21:54ea75f7984f 293
jamesheavey 21:54ea75f7984f 294 if (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) {
jamesheavey 21:54ea75f7984f 295 while ( (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) && (sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH) ) {
jamesheavey 21:54ea75f7984f 296 robot.forward(speed);
jamesheavey 21:54ea75f7984f 297 robot.scan();
jamesheavey 21:54ea75f7984f 298 if ( sensor[0] > SENS_THRESH ) { left = true; }
jamesheavey 21:54ea75f7984f 299 if ( sensor[4] > SENS_THRESH ) { right = true; }
jamesheavey 21:54ea75f7984f 300 }
jamesheavey 21:54ea75f7984f 301
jamesheavey 21:54ea75f7984f 302 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 21:54ea75f7984f 303 wait(0.05); // maybe change or replace w something better
jamesheavey 21:54ea75f7984f 304 robot.scan();
jamesheavey 27:0a3f028f9365 305 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 43:ec047ba15db1 306 goal = true;
jamesheavey 27:0a3f028f9365 307 }
jamesheavey 21:54ea75f7984f 308 }
jamesheavey 21:54ea75f7984f 309 robot.scan();
jamesheavey 21:54ea75f7984f 310
jamesheavey 21:54ea75f7984f 311 if ( sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH ) {
jamesheavey 21:54ea75f7984f 312 straight = true;
jamesheavey 21:54ea75f7984f 313 }
jamesheavey 21:54ea75f7984f 314 }
jamesheavey 21:54ea75f7984f 315
jamesheavey 43:ec047ba15db1 316 if(goal) {
jamesheavey 43:ec047ba15db1 317 if( dir == 'N' ) { south = true; _explored |= 0b0001; } // sets the direction opposite to entry direction as an explored path
jamesheavey 43:ec047ba15db1 318 else if ( dir == 'E' ) { west = true; _explored |= 0b1000; }
jamesheavey 43:ec047ba15db1 319 else if ( dir == 'S' ) { north = true; _explored |= 0b0100; }
jamesheavey 43:ec047ba15db1 320 else if ( dir == 'W' ) { east = true; _explored |= 0b0010; }
jamesheavey 43:ec047ba15db1 321
jamesheavey 43:ec047ba15db1 322 if ( west ) { _type |= 0b1000; }
jamesheavey 43:ec047ba15db1 323 if ( north ) { _type |= 0b0100; }
jamesheavey 43:ec047ba15db1 324 if ( east ) { _type |= 0b0010; }
jamesheavey 43:ec047ba15db1 325 if ( south ) { _type |= 0b0001; }
jamesheavey 43:ec047ba15db1 326
jamesheavey 43:ec047ba15db1 327 goal_node = true;
jamesheavey 43:ec047ba15db1 328 }
jamesheavey 21:54ea75f7984f 329
jamesheavey 43:ec047ba15db1 330 else {
jamesheavey 27:0a3f028f9365 331 int angle = 0;
jamesheavey 28:63ff8290964a 332 int reset_ang = 0;
jamesheavey 27:0a3f028f9365 333
jamesheavey 34:63f7c61ee4da 334 if (dir == 'E') { angle = 90; }
jamesheavey 34:63f7c61ee4da 335 else if (dir == 'S') { angle = 180; }
jamesheavey 34:63f7c61ee4da 336 else if (dir == 'W') { angle = 270; }
jamesheavey 34:63f7c61ee4da 337
jamesheavey 34:63f7c61ee4da 338 reset_ang = angle;
jamesheavey 27:0a3f028f9365 339
jamesheavey 27:0a3f028f9365 340 if (left) {
jamesheavey 27:0a3f028f9365 341 angle += 270;
jamesheavey 27:0a3f028f9365 342 angle = angle % 360;
jamesheavey 27:0a3f028f9365 343 if (angle == 0) { north = true; }
jamesheavey 27:0a3f028f9365 344 if (angle == 180) { south = true; }
jamesheavey 27:0a3f028f9365 345 if (angle == 90) { east = true; }
jamesheavey 27:0a3f028f9365 346 if (angle == 270) { west = true; }
jamesheavey 28:63ff8290964a 347 angle = reset_ang;
jamesheavey 27:0a3f028f9365 348 }
jamesheavey 27:0a3f028f9365 349
jamesheavey 27:0a3f028f9365 350 if (right) {
jamesheavey 27:0a3f028f9365 351 angle += 90;
jamesheavey 27:0a3f028f9365 352 angle = angle % 360;
jamesheavey 27:0a3f028f9365 353 if (angle == 0) { north = true; }
jamesheavey 27:0a3f028f9365 354 if (angle == 180) { south = true; }
jamesheavey 27:0a3f028f9365 355 if (angle == 90) { east = true; }
jamesheavey 27:0a3f028f9365 356 if (angle == 270) { west = true; }
jamesheavey 28:63ff8290964a 357 angle = reset_ang;
jamesheavey 27:0a3f028f9365 358 }
jamesheavey 27:0a3f028f9365 359
jamesheavey 27:0a3f028f9365 360 if (straight) {
jamesheavey 27:0a3f028f9365 361 if (angle == 0) { north = true; }
jamesheavey 27:0a3f028f9365 362 if (angle == 180) { south = true; }
jamesheavey 27:0a3f028f9365 363 if (angle == 90) { east = true; }
jamesheavey 27:0a3f028f9365 364 if (angle == 270) { west = true; }
jamesheavey 27:0a3f028f9365 365 }
jamesheavey 27:0a3f028f9365 366
jamesheavey 27:0a3f028f9365 367 if( dir == 'N' ) { south = true; _explored |= 0b0001; } // sets the direction opposite to entry direction as an explored path
jamesheavey 34:63f7c61ee4da 368 else if ( dir == 'E' ) { west = true; _explored |= 0b1000; } // this is acc done in choose turn so might not be needed here
jamesheavey 27:0a3f028f9365 369 else if ( dir == 'S' ) { north = true; _explored |= 0b0100; }
jamesheavey 27:0a3f028f9365 370 else if ( dir == 'W' ) { east = true; _explored |= 0b0010; }
jamesheavey 27:0a3f028f9365 371
jamesheavey 27:0a3f028f9365 372 if ( west ) { _type |= 0b1000; }
jamesheavey 27:0a3f028f9365 373 if ( north ) { _type |= 0b0100; }
jamesheavey 27:0a3f028f9365 374 if ( east ) { _type |= 0b0010; }
jamesheavey 27:0a3f028f9365 375 if ( south ) { _type |= 0b0001; }
jamesheavey 43:ec047ba15db1 376 }
jamesheavey 27:0a3f028f9365 377
jamesheavey 26:582560881379 378 type[total_points] = _type; // maybe update_index and use curr_index instead of total_points
jamesheavey 25:7523239a2fc1 379 explored[total_points] = _explored;
jamesheavey 21:54ea75f7984f 380
jamesheavey 21:54ea75f7984f 381 }
jamesheavey 21:54ea75f7984f 382
jamesheavey 21:54ea75f7984f 383 void choose_turn()
jamesheavey 21:54ea75f7984f 384 {
jamesheavey 25:7523239a2fc1 385 // look at cuurent coords, find what node we are at
jamesheavey 24:adb946be4ce5 386 // looks at the type vs the explored and does the turn that is equivalent to the first 1 in type that is a 0 in explored (WNES priority)
jamesheavey 25:7523239a2fc1 387 // sets the explored of the current node to 1 in whatever path is chosen
jamesheavey 25:7523239a2fc1 388 // also update dir
jamesheavey 37:2967f3f9c936 389
jamesheavey 34:63f7c61ee4da 390 if( dir == 'N' ) { explored[curr_index] |= 0b0001; } // sets the direction opposite to entry direction as an explored path
jamesheavey 34:63f7c61ee4da 391 else if ( dir == 'E' ) { explored[curr_index] |= 0b1000; }
jamesheavey 34:63f7c61ee4da 392 else if ( dir == 'S' ) { explored[curr_index] |= 0b0100; }
jamesheavey 34:63f7c61ee4da 393 else if ( dir == 'W' ) { explored[curr_index] |= 0b0010; }
jamesheavey 39:005ad4610152 394 // print_data("enter junc");
jamesheavey 25:7523239a2fc1 395 int unexp_paths = type[curr_index] & ~( explored[curr_index] ); // produces a binary of 1's in the available unexplored paths
jamesheavey 25:7523239a2fc1 396
jamesheavey 32:598bedb22c7c 397 if (unexp_paths == 0b0000) {
jamesheavey 34:63f7c61ee4da 398 back_track();
jamesheavey 36:1af069be0fdb 399 unexp_paths = type[curr_index] & ~( explored[curr_index] );
jamesheavey 30:d62f122e8d60 400 }
jamesheavey 32:598bedb22c7c 401
jamesheavey 32:598bedb22c7c 402 int curr_angle = 0;
jamesheavey 32:598bedb22c7c 403 if ( dir == 'E' ) { curr_angle = 90;}
jamesheavey 32:598bedb22c7c 404 else if ( dir == 'S' ) { curr_angle = 180;}
jamesheavey 32:598bedb22c7c 405 else if ( dir == 'W' ) { curr_angle = 270;}
jamesheavey 25:7523239a2fc1 406
jamesheavey 32:598bedb22c7c 407 int desired_angle = 0;
jamesheavey 32:598bedb22c7c 408 if ( (unexp_paths & 0b1000) == 0b1000) {
jamesheavey 32:598bedb22c7c 409 desired_angle = 270;
jamesheavey 32:598bedb22c7c 410 dir = 'W';
jamesheavey 32:598bedb22c7c 411 explored[curr_index] |= 0b1000;
jamesheavey 32:598bedb22c7c 412 }
jamesheavey 32:598bedb22c7c 413 else if ( (unexp_paths & 0b0100) == 0b0100) {
jamesheavey 32:598bedb22c7c 414 desired_angle = 0;
jamesheavey 32:598bedb22c7c 415 dir = 'N';
jamesheavey 32:598bedb22c7c 416 explored[curr_index] |= 0b0100;
jamesheavey 25:7523239a2fc1 417 }
jamesheavey 32:598bedb22c7c 418 else if ( (unexp_paths & 0b0010) == 0b0010) {
jamesheavey 32:598bedb22c7c 419 desired_angle = 90;
jamesheavey 32:598bedb22c7c 420 dir = 'E';
jamesheavey 32:598bedb22c7c 421 explored[curr_index] |= 0b0010;
jamesheavey 32:598bedb22c7c 422 }
jamesheavey 32:598bedb22c7c 423 else if ( (unexp_paths & 0b0001) == 0b0001) {
jamesheavey 32:598bedb22c7c 424 desired_angle = 180;
jamesheavey 32:598bedb22c7c 425 dir = 'S';
jamesheavey 32:598bedb22c7c 426 explored[curr_index] |= 0b0001;
jamesheavey 32:598bedb22c7c 427 }
jamesheavey 32:598bedb22c7c 428
jamesheavey 32:598bedb22c7c 429 int turn_angle = (desired_angle - curr_angle + 360) % 360;
jamesheavey 32:598bedb22c7c 430
jamesheavey 39:005ad4610152 431 // robot.lcd_clear();
jamesheavey 39:005ad4610152 432 // robot.lcd_print("turn" , 4);
jamesheavey 39:005ad4610152 433 // wait(2);
jamesheavey 54:5ff74beb043e 434 // robot.stop();
jamesheavey 39:005ad4610152 435 // robot.lcd_clear();
jamesheavey 39:005ad4610152 436 // if( turn_angle == 0) { robot.lcd_print("S",1); }
jamesheavey 39:005ad4610152 437 // else if( turn_angle == 90) { robot.lcd_print("R",1); }
jamesheavey 39:005ad4610152 438 // else if( turn_angle == 180) { robot.lcd_print("B",1); }
jamesheavey 39:005ad4610152 439 // else if( turn_angle == 270) { robot.lcd_print("L",1); }
jamesheavey 39:005ad4610152 440 // wait(2);
jamesheavey 39:005ad4610152 441 //
jamesheavey 39:005ad4610152 442 // print_data("After Turn");
jamesheavey 37:2967f3f9c936 443
jamesheavey 57:9f9067e3f99e 444 if( turn_angle == 0) { robot.forward(speed); wait(0.1); turn_select('S'); }
jamesheavey 58:cb32aa0f4116 445 else if( turn_angle == 90) { robot.forward(speed); wait(0.03); turn_select('R'); }
jamesheavey 48:76cf4521d342 446 else if( turn_angle == 180) { turn_select('B'); }
jamesheavey 58:cb32aa0f4116 447 else if( turn_angle == 270) { robot.forward(speed); wait(0.03); turn_select('L'); }
jamesheavey 21:54ea75f7984f 448 }
jamesheavey 21:54ea75f7984f 449
jamesheavey 28:63ff8290964a 450 void back_track()
jamesheavey 28:63ff8290964a 451 {
jamesheavey 33:9fa9e09f2e8f 452 // find the closest previous node with unexplored paths and go back through the path until reaching that node, updating the path and directions appropriately, then choose turn
jamesheavey 29:ecf497c3fdc0 453 // also if no nodes have unexplored paths set complete to true
jamesheavey 29:ecf497c3fdc0 454
jamesheavey 62:69de8a0d2ced 455 bool fully_explored = true;
jamesheavey 62:69de8a0d2ced 456
jamesheavey 48:76cf4521d342 457 int d_node; // an index to the most recent (desired) node with unexplored paths
jamesheavey 29:ecf497c3fdc0 458
jamesheavey 34:63f7c61ee4da 459 for(int i = total_points; i >= 0; i--) { // start from the most recently discovered node
jamesheavey 58:cb32aa0f4116 460 if( explored[i] != type[i] ) {
jamesheavey 59:11e31ce4d675 461 fully_explored = false;
jamesheavey 48:76cf4521d342 462 d_node = i;
jamesheavey 34:63f7c61ee4da 463 break;
jamesheavey 34:63f7c61ee4da 464 }
jamesheavey 29:ecf497c3fdc0 465 }
jamesheavey 29:ecf497c3fdc0 466
jamesheavey 65:2103a02d72bc 467 if( fully_explored == true && first_g == true ) { first_g = 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 55:18ea9529afb2 481 // robot.stop();
jamesheavey 62:69de8a0d2ced 482 // robot.lcd_print("bt",2);
jamesheavey 62:69de8a0d2ced 483 // wait(1);
jamesheavey 62:69de8a0d2ced 484 // robot.lcd_clear();
jamesheavey 62:69de8a0d2ced 485 //
jamesheavey 55:18ea9529afb2 486 // char buf1[2], buf2[2];
jamesheavey 55:18ea9529afb2 487 // sprintf(buf1,"%d",point[d_node]);
jamesheavey 55:18ea9529afb2 488 // sprintf(buf2,"%d",point[curr_index]);
jamesheavey 55:18ea9529afb2 489 // robot.lcd_print(buf1,2);
jamesheavey 55:18ea9529afb2 490 // robot.lcd_goto_xy(0,1);
jamesheavey 55:18ea9529afb2 491 // robot.lcd_print(buf2,2);
jamesheavey 55:18ea9529afb2 492 //
jamesheavey 55:18ea9529afb2 493 // wait(1);
jamesheavey 55:18ea9529afb2 494 // robot.lcd_clear();
jamesheavey 62:69de8a0d2ced 495
jamesheavey 55:18ea9529afb2 496 bool check = dead_end_removal(point[d_node], point[curr_index]);
jamesheavey 53:dbb63b181faf 497 char dir_diff;
jamesheavey 53:dbb63b181faf 498
jamesheavey 55:18ea9529afb2 499 if(check) {
jamesheavey 54:5ff74beb043e 500 for(int j = 0; j <= short_length; j++) {
jamesheavey 54:5ff74beb043e 501 int curr_node = path_to_point_index(shortest[j]);
jamesheavey 54:5ff74beb043e 502 int next_node = path_to_point_index(shortest[j+1]);
jamesheavey 54:5ff74beb043e 503 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 54:5ff74beb043e 504 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 54:5ff74beb043e 505 dir_diff = 'E';
jamesheavey 54:5ff74beb043e 506 } else {
jamesheavey 54:5ff74beb043e 507 dir_diff = 'W';
jamesheavey 54:5ff74beb043e 508 }
jamesheavey 54:5ff74beb043e 509 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 54:5ff74beb043e 510 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 54:5ff74beb043e 511 dir_diff = 'N';
jamesheavey 54:5ff74beb043e 512 } else {
jamesheavey 54:5ff74beb043e 513 dir_diff = 'S';
jamesheavey 54:5ff74beb043e 514 }
jamesheavey 54:5ff74beb043e 515 }
jamesheavey 54:5ff74beb043e 516
jamesheavey 54:5ff74beb043e 517 if( dir_diff == 'N' ) {
jamesheavey 54:5ff74beb043e 518 explored[curr_node] &= 0b1011;
jamesheavey 54:5ff74beb043e 519 }
jamesheavey 54:5ff74beb043e 520 else if( dir_diff == 'E' ) {
jamesheavey 54:5ff74beb043e 521 explored[curr_node] &= 0b1101;
jamesheavey 54:5ff74beb043e 522 }
jamesheavey 54:5ff74beb043e 523 else if( dir_diff == 'S' ) {
jamesheavey 54:5ff74beb043e 524 explored[curr_node] &= 0b1110;
jamesheavey 54:5ff74beb043e 525 }
jamesheavey 54:5ff74beb043e 526 else if( dir_diff == 'W' ) {
jamesheavey 54:5ff74beb043e 527 explored[curr_node] &= 0b0111;
jamesheavey 53:dbb63b181faf 528 }
jamesheavey 54:5ff74beb043e 529 if(point[next_node] == point[d_node]) { break; }
jamesheavey 54:5ff74beb043e 530 }
jamesheavey 54:5ff74beb043e 531 }
jamesheavey 54:5ff74beb043e 532
jamesheavey 54:5ff74beb043e 533 else {
jamesheavey 54:5ff74beb043e 534
jamesheavey 54:5ff74beb043e 535 for(int j = short_length; j >= 0; j--) {
jamesheavey 54:5ff74beb043e 536 int curr_node = path_to_point_index(shortest[j]);
jamesheavey 54:5ff74beb043e 537 int next_node = path_to_point_index(shortest[j-1]);
jamesheavey 54:5ff74beb043e 538 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 54:5ff74beb043e 539 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 54:5ff74beb043e 540 dir_diff = 'E';
jamesheavey 54:5ff74beb043e 541 } else {
jamesheavey 54:5ff74beb043e 542 dir_diff = 'W';
jamesheavey 54:5ff74beb043e 543 }
jamesheavey 54:5ff74beb043e 544 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 54:5ff74beb043e 545 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 54:5ff74beb043e 546 dir_diff = 'N';
jamesheavey 54:5ff74beb043e 547 } else {
jamesheavey 54:5ff74beb043e 548 dir_diff = 'S';
jamesheavey 54:5ff74beb043e 549 }
jamesheavey 53:dbb63b181faf 550 }
jamesheavey 54:5ff74beb043e 551
jamesheavey 54:5ff74beb043e 552 if( dir_diff == 'N' ) {
jamesheavey 54:5ff74beb043e 553 explored[curr_node] &= 0b1011;
jamesheavey 54:5ff74beb043e 554 }
jamesheavey 54:5ff74beb043e 555 else if( dir_diff == 'E' ) {
jamesheavey 54:5ff74beb043e 556 explored[curr_node] &= 0b1101;
jamesheavey 54:5ff74beb043e 557 }
jamesheavey 54:5ff74beb043e 558 else if( dir_diff == 'S' ) {
jamesheavey 54:5ff74beb043e 559 explored[curr_node] &= 0b1110;
jamesheavey 54:5ff74beb043e 560 }
jamesheavey 54:5ff74beb043e 561 else if( dir_diff == 'W' ) {
jamesheavey 54:5ff74beb043e 562 explored[curr_node] &= 0b0111;
jamesheavey 54:5ff74beb043e 563 }
jamesheavey 54:5ff74beb043e 564 if(point[next_node] == point[d_node]) { break; }
jamesheavey 53:dbb63b181faf 565 }
jamesheavey 53:dbb63b181faf 566 }
jamesheavey 54:5ff74beb043e 567
jamesheavey 54:5ff74beb043e 568 // print_data("aft bt");
jamesheavey 53:dbb63b181faf 569
jamesheavey 34:63f7c61ee4da 570 }
jamesheavey 28:63ff8290964a 571 }
jamesheavey 28:63ff8290964a 572
jamesheavey 55:18ea9529afb2 573 bool dead_end_removal( int point1, int point2 ) // change into dead_end_removal and have it take two indexes and a path and return an array
jamesheavey 48:76cf4521d342 574 {
jamesheavey 48:76cf4521d342 575 // dead end removal between start and final node
jamesheavey 48:76cf4521d342 576 // add the inverse of the result to end of the looped_path
jamesheavey 48:76cf4521d342 577 // then separate into before and after, simplify both and compare
jamesheavey 51:3148875bb9e5 578 robot.stop();
jamesheavey 49:89f0f54aa46b 579 int index1, index2;
jamesheavey 49:89f0f54aa46b 580 int d_index, before_index, after_index;
jamesheavey 49:89f0f54aa46b 581 bool before = false;
jamesheavey 49:89f0f54aa46b 582
jamesheavey 49:89f0f54aa46b 583 for(int k = 0; k <= path_length; k++) {
jamesheavey 66:3130be689176 584 if(looped_path[k] == point1) { d_index = k; }
jamesheavey 49:89f0f54aa46b 585 }
jamesheavey 49:89f0f54aa46b 586
jamesheavey 66:3130be689176 587 for(int k = 0; k <= path_length; k++) {
jamesheavey 66:3130be689176 588 if (looped_path[k] == point2 && k < d_index) { before = true; before_index = k; }
jamesheavey 66:3130be689176 589 if (looped_path[k] == point2 && k > d_index) { after_index = k; }
jamesheavey 66:3130be689176 590 }
jamesheavey 66:3130be689176 591
jamesheavey 51:3148875bb9e5 592 if(before){
jamesheavey 51:3148875bb9e5 593 if( (d_index - before_index) <= (after_index - d_index) ){
jamesheavey 51:3148875bb9e5 594 before = true;
jamesheavey 51:3148875bb9e5 595 }
jamesheavey 51:3148875bb9e5 596 else{
jamesheavey 51:3148875bb9e5 597 before = false;
jamesheavey 51:3148875bb9e5 598 }
jamesheavey 49:89f0f54aa46b 599 }
jamesheavey 49:89f0f54aa46b 600
jamesheavey 49:89f0f54aa46b 601 if(before) {
jamesheavey 49:89f0f54aa46b 602 index1 = before_index;
jamesheavey 49:89f0f54aa46b 603 index2 = d_index;
jamesheavey 55:18ea9529afb2 604
jamesheavey 49:89f0f54aa46b 605 }else{
jamesheavey 49:89f0f54aa46b 606 index1 = d_index;
jamesheavey 49:89f0f54aa46b 607 index2 = after_index;
jamesheavey 49:89f0f54aa46b 608 }
jamesheavey 49:89f0f54aa46b 609
jamesheavey 48:76cf4521d342 610 int temp_array[100];
jamesheavey 48:76cf4521d342 611
jamesheavey 48:76cf4521d342 612 for( int x = 0; x <= path_length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 613
jamesheavey 50:fa124ea1df9f 614 for( int i = index1; i <= index2; i++ ) { shortest[i-index1] = looped_path[i]; }
jamesheavey 48:76cf4521d342 615
jamesheavey 55:18ea9529afb2 616 short_length = index2 - index1;
jamesheavey 48:76cf4521d342 617
jamesheavey 48:76cf4521d342 618 // for every node in path, check if repeated
jamesheavey 48:76cf4521d342 619 // if rpeated, move everyting before the first occurence to the final occurence
jamesheavey 48:76cf4521d342 620 // save new path and repeat
jamesheavey 48:76cf4521d342 621 // when no node is repeated, end
jamesheavey 48:76cf4521d342 622 // or end when iterated through the entire array
jamesheavey 48:76cf4521d342 623
jamesheavey 48:76cf4521d342 624 int i = 0;
jamesheavey 55:18ea9529afb2 625 while( i <= short_length ) {
jamesheavey 48:76cf4521d342 626 int count = i;
jamesheavey 55:18ea9529afb2 627 for( int j = 0; j <= short_length; j++ ) {
jamesheavey 48:76cf4521d342 628 if( shortest[i] == shortest[j] ){
jamesheavey 48:76cf4521d342 629 count = j;
jamesheavey 48:76cf4521d342 630 }
jamesheavey 39:005ad4610152 631 }
jamesheavey 48:76cf4521d342 632 if( count != i ) {
jamesheavey 48:76cf4521d342 633
jamesheavey 48:76cf4521d342 634 for( int k = 0; k <= i; k++ ) {
jamesheavey 48:76cf4521d342 635 temp_array[k] = shortest[k];
jamesheavey 48:76cf4521d342 636 }
jamesheavey 48:76cf4521d342 637 int ind = 1;
jamesheavey 48:76cf4521d342 638 for( int z = count+1; z <= path_length; z++ ) {
jamesheavey 48:76cf4521d342 639 temp_array[i+ind] = shortest[z];
jamesheavey 48:76cf4521d342 640 ind++;
jamesheavey 48:76cf4521d342 641 }
jamesheavey 48:76cf4521d342 642 // clear the array
jamesheavey 55:18ea9529afb2 643 for( int x = 0; x <= short_length; x++ ) { shortest[x] = NULL; }
jamesheavey 48:76cf4521d342 644
jamesheavey 55:18ea9529afb2 645 short_length -= (count-i);
jamesheavey 48:76cf4521d342 646 i = -1;
jamesheavey 48:76cf4521d342 647
jamesheavey 55:18ea9529afb2 648 for( int x = 0; x <= short_length; x++ ) { shortest[x] = temp_array[x]; }
jamesheavey 48:76cf4521d342 649
jamesheavey 55:18ea9529afb2 650 for( int x = 0; x <= short_length; x++ ) { temp_array[x] = NULL; }
jamesheavey 39:005ad4610152 651 }
jamesheavey 48:76cf4521d342 652 i++;
jamesheavey 39:005ad4610152 653 }
jamesheavey 39:005ad4610152 654
jamesheavey 63:0358f24b6181 655 //robot.lcd_print("len",10);
jamesheavey 55:18ea9529afb2 656 // wait(1);
jamesheavey 55:18ea9529afb2 657 // robot.lcd_clear();
jamesheavey 55:18ea9529afb2 658 //
jamesheavey 55:18ea9529afb2 659 // char buffe[3];
jamesheavey 55:18ea9529afb2 660 // sprintf(buffe,"%d", short_length);
jamesheavey 55:18ea9529afb2 661 // robot.lcd_print(buffe,3);
jamesheavey 55:18ea9529afb2 662 // wait(1);
jamesheavey 55:18ea9529afb2 663 // robot.lcd_clear();
jamesheavey 55:18ea9529afb2 664 //
jamesheavey 55:18ea9529afb2 665 // robot.lcd_print("path",10);
jamesheavey 55:18ea9529afb2 666 // wait(1);
jamesheavey 55:18ea9529afb2 667 // robot.lcd_clear();
jamesheavey 55:18ea9529afb2 668 //
jamesheavey 55:18ea9529afb2 669 // leds = 0b1111;
jamesheavey 55:18ea9529afb2 670 // for(int m = 0; m <= short_length; m++) {
jamesheavey 55:18ea9529afb2 671 // leds = ~leds;
jamesheavey 55:18ea9529afb2 672 // char buffer[3];
jamesheavey 55:18ea9529afb2 673 // sprintf(buffer,"%d", shortest[m]);
jamesheavey 55:18ea9529afb2 674 // robot.lcd_print(buffer,3);
jamesheavey 55:18ea9529afb2 675 // wait(1);
jamesheavey 55:18ea9529afb2 676 // robot.lcd_clear();
jamesheavey 55:18ea9529afb2 677 // }
jamesheavey 53:dbb63b181faf 678
jamesheavey 55:18ea9529afb2 679 return before;
jamesheavey 48:76cf4521d342 680 // print these to check
jamesheavey 48:76cf4521d342 681 // add inverted sub path to the real path and increment the path length by real_len -1
jamesheavey 39:005ad4610152 682 }
jamesheavey 39:005ad4610152 683
jamesheavey 65:2103a02d72bc 684 void shorten( int path[], int length )
jamesheavey 65:2103a02d72bc 685 {
jamesheavey 65:2103a02d72bc 686 int temp_array[100];
jamesheavey 65:2103a02d72bc 687 int i = 0;
jamesheavey 65:2103a02d72bc 688
jamesheavey 65:2103a02d72bc 689 while( i <= length ) {
jamesheavey 65:2103a02d72bc 690 int count = i;
jamesheavey 65:2103a02d72bc 691 for( int j = 0; j <= length; j++ ) {
jamesheavey 65:2103a02d72bc 692 if( path[i] == path[j] ){
jamesheavey 65:2103a02d72bc 693 count = j;
jamesheavey 65:2103a02d72bc 694 }
jamesheavey 65:2103a02d72bc 695 }
jamesheavey 65:2103a02d72bc 696 if( count != i ) {
jamesheavey 65:2103a02d72bc 697
jamesheavey 65:2103a02d72bc 698 for( int k = 0; k <= i; k++ ) {
jamesheavey 65:2103a02d72bc 699 temp_array[k] = path[k];
jamesheavey 65:2103a02d72bc 700 }
jamesheavey 65:2103a02d72bc 701 int ind = 1;
jamesheavey 65:2103a02d72bc 702 for( int z = count+1; z <= length; z++ ) {
jamesheavey 65:2103a02d72bc 703 temp_array[i+ind] = path[z];
jamesheavey 65:2103a02d72bc 704 ind++;
jamesheavey 65:2103a02d72bc 705 }
jamesheavey 65:2103a02d72bc 706 // clear the array
jamesheavey 65:2103a02d72bc 707 for( int x = 0; x <= length; x++ ) { path[x] = NULL; }
jamesheavey 65:2103a02d72bc 708
jamesheavey 65:2103a02d72bc 709 length -= (count-i);
jamesheavey 65:2103a02d72bc 710 i = -1;
jamesheavey 65:2103a02d72bc 711
jamesheavey 65:2103a02d72bc 712 for( int x = 0; x <= length; x++ ) { path[x] = temp_array[x]; }
jamesheavey 65:2103a02d72bc 713
jamesheavey 65:2103a02d72bc 714 for( int x = 0; x <= length; x++ ) { temp_array[x] = NULL; }
jamesheavey 65:2103a02d72bc 715 }
jamesheavey 65:2103a02d72bc 716 i++;
jamesheavey 65:2103a02d72bc 717 }
jamesheavey 65:2103a02d72bc 718
jamesheavey 65:2103a02d72bc 719 temp_length = length;
jamesheavey 65:2103a02d72bc 720
jamesheavey 65:2103a02d72bc 721 for( int x = 0; x <= 100; x++ ) { temp_path[x] = NULL; }
jamesheavey 65:2103a02d72bc 722
jamesheavey 65:2103a02d72bc 723 for( int x = 0; x <= length; x++ ) { temp_path[x] = path[x]; }
jamesheavey 65:2103a02d72bc 724 }
jamesheavey 65:2103a02d72bc 725
jamesheavey 58:cb32aa0f4116 726 void looped_goal_simplification() // change into dead_end_removal and have it take two indexes and a path and return an array
jamesheavey 58:cb32aa0f4116 727 {
jamesheavey 58:cb32aa0f4116 728 for( int i = 0; i <= path_length; i++ ) {
jamesheavey 58:cb32aa0f4116 729 goal_path1[i] = looped_path[i];
jamesheavey 58:cb32aa0f4116 730 if( looped_path[i] == 100 ) { goal_length1 = i; break; }
jamesheavey 58:cb32aa0f4116 731 }
jamesheavey 58:cb32aa0f4116 732
jamesheavey 64:a58d8538132a 733 for( int i = goal_length1; i >= 0; i-- ) {
jamesheavey 64:a58d8538132a 734 goal_path3[goal_length1-i] = goal_path1[i];
jamesheavey 64:a58d8538132a 735 }
jamesheavey 64:a58d8538132a 736 int goal_length3 = goal_length1;
jamesheavey 64:a58d8538132a 737
jamesheavey 58:cb32aa0f4116 738 for( int i = path_length; i >= 0; i-- ) {
jamesheavey 58:cb32aa0f4116 739 goal_path2[path_length-i] = looped_path[i];
jamesheavey 58:cb32aa0f4116 740 if( looped_path[i] == 100 ) { goal_length2 = path_length-i; break; }
jamesheavey 58:cb32aa0f4116 741 }
jamesheavey 58:cb32aa0f4116 742
jamesheavey 64:a58d8538132a 743 for( int i = goal_length2; i >= 0; i-- ) {
jamesheavey 64:a58d8538132a 744 goal_path4[goal_length2-i] = goal_path2[i];
jamesheavey 64:a58d8538132a 745 }
jamesheavey 64:a58d8538132a 746 int goal_length4 = goal_length2;
jamesheavey 64:a58d8538132a 747
jamesheavey 58:cb32aa0f4116 748 int temp_array[100];
jamesheavey 64:a58d8538132a 749 // path 1
jamesheavey 58:cb32aa0f4116 750 int i = 0;
jamesheavey 58:cb32aa0f4116 751 while( i <= goal_length1 ) {
jamesheavey 58:cb32aa0f4116 752 int count = i;
jamesheavey 58:cb32aa0f4116 753 for( int j = 0; j <= goal_length1; j++ ) {
jamesheavey 58:cb32aa0f4116 754 if( goal_path1[i] == goal_path1[j] ){
jamesheavey 58:cb32aa0f4116 755 count = j;
jamesheavey 58:cb32aa0f4116 756 }
jamesheavey 58:cb32aa0f4116 757 }
jamesheavey 58:cb32aa0f4116 758 if( count != i ) {
jamesheavey 58:cb32aa0f4116 759
jamesheavey 58:cb32aa0f4116 760 for( int k = 0; k <= i; k++ ) {
jamesheavey 58:cb32aa0f4116 761 temp_array[k] = goal_path1[k];
jamesheavey 58:cb32aa0f4116 762 }
jamesheavey 58:cb32aa0f4116 763 int ind = 1;
jamesheavey 58:cb32aa0f4116 764 for( int z = count+1; z <= goal_length1; z++ ) {
jamesheavey 58:cb32aa0f4116 765 temp_array[i+ind] = goal_path1[z];
jamesheavey 58:cb32aa0f4116 766 ind++;
jamesheavey 58:cb32aa0f4116 767 }
jamesheavey 58:cb32aa0f4116 768 // clear the array
jamesheavey 58:cb32aa0f4116 769 for( int x = 0; x <= goal_length1; x++ ) { goal_path1[x] = NULL; }
jamesheavey 58:cb32aa0f4116 770
jamesheavey 58:cb32aa0f4116 771 goal_length1 -= (count-i);
jamesheavey 58:cb32aa0f4116 772 i = -1;
jamesheavey 58:cb32aa0f4116 773
jamesheavey 58:cb32aa0f4116 774 for( int x = 0; x <= goal_length1; x++ ) { goal_path1[x] = temp_array[x]; }
jamesheavey 58:cb32aa0f4116 775
jamesheavey 58:cb32aa0f4116 776 for( int x = 0; x <= goal_length1; x++ ) { temp_array[x] = NULL; }
jamesheavey 58:cb32aa0f4116 777 }
jamesheavey 58:cb32aa0f4116 778 i++;
jamesheavey 58:cb32aa0f4116 779 }
jamesheavey 64:a58d8538132a 780 // path 2
jamesheavey 58:cb32aa0f4116 781 i = 0;
jamesheavey 58:cb32aa0f4116 782 while( i <= goal_length2 ) {
jamesheavey 58:cb32aa0f4116 783 int count = i;
jamesheavey 58:cb32aa0f4116 784 for( int j = 0; j <= goal_length2; j++ ) {
jamesheavey 58:cb32aa0f4116 785 if( goal_path2[i] == goal_path2[j] ){
jamesheavey 58:cb32aa0f4116 786 count = j;
jamesheavey 58:cb32aa0f4116 787 }
jamesheavey 58:cb32aa0f4116 788 }
jamesheavey 58:cb32aa0f4116 789 if( count != i ) {
jamesheavey 58:cb32aa0f4116 790
jamesheavey 58:cb32aa0f4116 791 for( int k = 0; k <= i; k++ ) {
jamesheavey 58:cb32aa0f4116 792 temp_array[k] = goal_path2[k];
jamesheavey 58:cb32aa0f4116 793 }
jamesheavey 58:cb32aa0f4116 794 int ind = 1;
jamesheavey 58:cb32aa0f4116 795 for( int z = count+1; z <= goal_length2; z++ ) {
jamesheavey 58:cb32aa0f4116 796 temp_array[i+ind] = goal_path2[z];
jamesheavey 58:cb32aa0f4116 797 ind++;
jamesheavey 58:cb32aa0f4116 798 }
jamesheavey 58:cb32aa0f4116 799 // clear the array
jamesheavey 58:cb32aa0f4116 800 for( int x = 0; x <= goal_length2; x++ ) { goal_path2[x] = NULL; }
jamesheavey 58:cb32aa0f4116 801
jamesheavey 58:cb32aa0f4116 802 goal_length2 -= (count-i);
jamesheavey 58:cb32aa0f4116 803 i = -1;
jamesheavey 58:cb32aa0f4116 804
jamesheavey 58:cb32aa0f4116 805 for( int x = 0; x <= goal_length2; x++ ) { goal_path2[x] = temp_array[x]; }
jamesheavey 58:cb32aa0f4116 806
jamesheavey 58:cb32aa0f4116 807 for( int x = 0; x <= goal_length2; x++ ) { temp_array[x] = NULL; }
jamesheavey 58:cb32aa0f4116 808 }
jamesheavey 58:cb32aa0f4116 809 i++;
jamesheavey 58:cb32aa0f4116 810 }
jamesheavey 64:a58d8538132a 811 // path 3
jamesheavey 64:a58d8538132a 812 i = 0;
jamesheavey 64:a58d8538132a 813 while( i <= goal_length3 ) {
jamesheavey 64:a58d8538132a 814 int count = i;
jamesheavey 64:a58d8538132a 815 for( int j = 0; j <= goal_length3; j++ ) {
jamesheavey 64:a58d8538132a 816 if( goal_path3[i] == goal_path3[j] ){
jamesheavey 64:a58d8538132a 817 count = j;
jamesheavey 64:a58d8538132a 818 }
jamesheavey 64:a58d8538132a 819 }
jamesheavey 64:a58d8538132a 820 if( count != i ) {
jamesheavey 64:a58d8538132a 821
jamesheavey 64:a58d8538132a 822 for( int k = 0; k <= i; k++ ) {
jamesheavey 64:a58d8538132a 823 temp_array[k] = goal_path3[k];
jamesheavey 64:a58d8538132a 824 }
jamesheavey 64:a58d8538132a 825 int ind = 1;
jamesheavey 64:a58d8538132a 826 for( int z = count+1; z <= goal_length3; z++ ) {
jamesheavey 64:a58d8538132a 827 temp_array[i+ind] = goal_path3[z];
jamesheavey 64:a58d8538132a 828 ind++;
jamesheavey 64:a58d8538132a 829 }
jamesheavey 64:a58d8538132a 830 // clear the array
jamesheavey 64:a58d8538132a 831 for( int x = 0; x <= goal_length3; x++ ) { goal_path3[x] = NULL; }
jamesheavey 64:a58d8538132a 832
jamesheavey 64:a58d8538132a 833 goal_length3 -= (count-i);
jamesheavey 64:a58d8538132a 834 i = -1;
jamesheavey 64:a58d8538132a 835
jamesheavey 64:a58d8538132a 836 for( int x = 0; x <= goal_length3; x++ ) { goal_path3[x] = temp_array[x]; }
jamesheavey 64:a58d8538132a 837
jamesheavey 64:a58d8538132a 838 for( int x = 0; x <= goal_length3; x++ ) { temp_array[x] = NULL; }
jamesheavey 64:a58d8538132a 839 }
jamesheavey 64:a58d8538132a 840 i++;
jamesheavey 64:a58d8538132a 841 }
jamesheavey 64:a58d8538132a 842 i = 0;
jamesheavey 64:a58d8538132a 843 while( i <= goal_length4 ) {
jamesheavey 64:a58d8538132a 844 int count = i;
jamesheavey 64:a58d8538132a 845 for( int j = 0; j <= goal_length4; j++ ) {
jamesheavey 64:a58d8538132a 846 if( goal_path4[i] == goal_path4[j] ){
jamesheavey 64:a58d8538132a 847 count = j;
jamesheavey 64:a58d8538132a 848 }
jamesheavey 64:a58d8538132a 849 }
jamesheavey 64:a58d8538132a 850 if( count != i ) {
jamesheavey 64:a58d8538132a 851
jamesheavey 64:a58d8538132a 852 for( int k = 0; k <= i; k++ ) {
jamesheavey 64:a58d8538132a 853 temp_array[k] = goal_path4[k];
jamesheavey 64:a58d8538132a 854 }
jamesheavey 64:a58d8538132a 855 int ind = 1;
jamesheavey 64:a58d8538132a 856 for( int z = count+1; z <= goal_length4; z++ ) {
jamesheavey 64:a58d8538132a 857 temp_array[i+ind] = goal_path4[z];
jamesheavey 64:a58d8538132a 858 ind++;
jamesheavey 64:a58d8538132a 859 }
jamesheavey 64:a58d8538132a 860 // clear the array
jamesheavey 64:a58d8538132a 861 for( int x = 0; x <= goal_length4; x++ ) { goal_path4[x] = NULL; }
jamesheavey 64:a58d8538132a 862
jamesheavey 64:a58d8538132a 863 goal_length4 -= (count-i);
jamesheavey 64:a58d8538132a 864 i = -1;
jamesheavey 64:a58d8538132a 865
jamesheavey 64:a58d8538132a 866 for( int x = 0; x <= goal_length4; x++ ) { goal_path4[x] = temp_array[x]; }
jamesheavey 64:a58d8538132a 867
jamesheavey 64:a58d8538132a 868 for( int x = 0; x <= goal_length4; x++ ) { temp_array[x] = NULL; }
jamesheavey 64:a58d8538132a 869 }
jamesheavey 64:a58d8538132a 870 i++;
jamesheavey 64:a58d8538132a 871 }
jamesheavey 58:cb32aa0f4116 872
jamesheavey 64:a58d8538132a 873 if( goal_length2 <= goal_length1 && goal_length2 <= goal_length3 && goal_length2 <= goal_length4 ) {
jamesheavey 58:cb32aa0f4116 874 for( int x = 0; x <= goal_length1; x++ ) { goal_path1[x] = NULL; }
jamesheavey 58:cb32aa0f4116 875 for( int x = 0; x <= goal_length2; x++ ) {
jamesheavey 58:cb32aa0f4116 876 goal_path1[x] = goal_path2[x];
jamesheavey 58:cb32aa0f4116 877 }
jamesheavey 58:cb32aa0f4116 878 goal_length1 = goal_length2;
jamesheavey 61:b31d8c997279 879 }
jamesheavey 64:a58d8538132a 880 else if( goal_length3 <= goal_length1 && goal_length3 <= goal_length2 && goal_length3 <= goal_length4 ) {
jamesheavey 64:a58d8538132a 881 for( int x = 0; x <= goal_length1; x++ ) { goal_path1[x] = NULL; }
jamesheavey 64:a58d8538132a 882 for( int x = goal_length3; x >= 0; x-- ) {
jamesheavey 64:a58d8538132a 883 goal_path1[goal_length3 - x] = goal_path3[x];
jamesheavey 64:a58d8538132a 884 }
jamesheavey 64:a58d8538132a 885 goal_length1 = goal_length3;
jamesheavey 64:a58d8538132a 886 }
jamesheavey 64:a58d8538132a 887 else if( goal_length4 <= goal_length1 && goal_length4 <= goal_length2 && goal_length4 <= goal_length3 ) {
jamesheavey 64:a58d8538132a 888 for( int x = 0; x <= goal_length1; x++ ) { goal_path1[x] = NULL; }
jamesheavey 64:a58d8538132a 889 for( int x = goal_length4; x >= 0; x-- ) {
jamesheavey 64:a58d8538132a 890 goal_path1[goal_length4 - x] = goal_path4[x];
jamesheavey 64:a58d8538132a 891 }
jamesheavey 64:a58d8538132a 892 goal_length1 = goal_length4;
jamesheavey 64:a58d8538132a 893 }
jamesheavey 63:0358f24b6181 894
jamesheavey 66:3130be689176 895 // robot.lcd_print("path",10);
jamesheavey 64:a58d8538132a 896 // wait(1);
jamesheavey 64:a58d8538132a 897 // robot.lcd_clear();
jamesheavey 64:a58d8538132a 898 //
jamesheavey 64:a58d8538132a 899 // leds = 0b1111;
jamesheavey 64:a58d8538132a 900 // for(int m = 0; m <= path_length; m++) {
jamesheavey 64:a58d8538132a 901 // leds = ~leds;
jamesheavey 64:a58d8538132a 902 // char buffer[3];
jamesheavey 64:a58d8538132a 903 // sprintf(buffer,"%d", looped_path[m]);
jamesheavey 64:a58d8538132a 904 // robot.lcd_print(buffer,3);
jamesheavey 64:a58d8538132a 905 // wait(1);
jamesheavey 64:a58d8538132a 906 // robot.lcd_clear();
jamesheavey 64:a58d8538132a 907 // }
jamesheavey 63:0358f24b6181 908
jamesheavey 65:2103a02d72bc 909 // robot.lcd_print("g path",10);
jamesheavey 65:2103a02d72bc 910 // wait(1);
jamesheavey 65:2103a02d72bc 911 // robot.lcd_clear();
jamesheavey 65:2103a02d72bc 912 //
jamesheavey 65:2103a02d72bc 913 // leds = 0b1111;
jamesheavey 65:2103a02d72bc 914 // for(int m = 0; m <= goal_length1; m++) {
jamesheavey 65:2103a02d72bc 915 // leds = ~leds;
jamesheavey 65:2103a02d72bc 916 // char buffer[3];
jamesheavey 65:2103a02d72bc 917 // sprintf(buffer,"%d", goal_path1[m]);
jamesheavey 65:2103a02d72bc 918 // robot.lcd_print(buffer,3);
jamesheavey 65:2103a02d72bc 919 // wait(1);
jamesheavey 65:2103a02d72bc 920 // robot.lcd_clear();
jamesheavey 65:2103a02d72bc 921 // }
jamesheavey 63:0358f24b6181 922
jamesheavey 58:cb32aa0f4116 923 // print these to check
jamesheavey 58:cb32aa0f4116 924 // add inverted sub path to the real path and increment the path length by real_len -1
jamesheavey 58:cb32aa0f4116 925 }
jamesheavey 58:cb32aa0f4116 926
jamesheavey 10:691c02b352cb 927 void follow_line()
jamesheavey 0:df5216b20861 928 {
jamesheavey 10:691c02b352cb 929 robot.scan();
jamesheavey 10:691c02b352cb 930 sensor = robot.get_sensors(); // returns the current values of all the sensors from 0-1000
jamesheavey 10:691c02b352cb 931
jamesheavey 15:6c461501d12d 932 leds = 0b0110;
jamesheavey 15:6c461501d12d 933
jamesheavey 10:691c02b352cb 934 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 935 derivative = proportional - prev_proportional;
jamesheavey 10:691c02b352cb 936 integral += proportional;
jamesheavey 10:691c02b352cb 937 prev_proportional = proportional;
jamesheavey 10:691c02b352cb 938
jamesheavey 10:691c02b352cb 939 // calculate motor correction
jamesheavey 10:691c02b352cb 940 float motor_correction = proportional*A + integral*B + derivative*C;
jamesheavey 10:691c02b352cb 941
jamesheavey 10:691c02b352cb 942 // make sure the correction is never greater than the max speed as the motor will reverse
jamesheavey 10:691c02b352cb 943 if( motor_correction > speed ) {
jamesheavey 10:691c02b352cb 944 motor_correction = speed;
jamesheavey 10:691c02b352cb 945 }
jamesheavey 10:691c02b352cb 946 if( motor_correction < -speed ) {
jamesheavey 10:691c02b352cb 947 motor_correction = -speed;
jamesheavey 10:691c02b352cb 948 }
jamesheavey 0:df5216b20861 949
jamesheavey 10:691c02b352cb 950 if( proportional < 0 ) {
jamesheavey 10:691c02b352cb 951 robot.motors(speed+motor_correction,speed);
jamesheavey 10:691c02b352cb 952 } else {
jamesheavey 10:691c02b352cb 953 robot.motors(speed,speed-motor_correction);
jamesheavey 10:691c02b352cb 954 }
jamesheavey 18:991658b628fc 955
jamesheavey 19:4c08275cb3c9 956 // read_encoders();
jamesheavey 19:4c08275cb3c9 957 // 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 958 // if (encoder[1] > 3100) { dist_est_2 += 1; } // might not need to actually use 2pir/3 could just add arbitrary numbers
jamesheavey 1:79219d0a33c8 959 }
jamesheavey 0:df5216b20861 960
jamesheavey 14:87052bb35211 961 bool junction_detect()
jamesheavey 6:c10b367747a0 962 {
jamesheavey 20:5cf6a378801d 963 if ( sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 964 return true;
jamesheavey 20:5cf6a378801d 965 } else if ( sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH ) {
jamesheavey 14:87052bb35211 966 return true;
jamesheavey 14:87052bb35211 967 } else {
jamesheavey 14:87052bb35211 968 return false;
jamesheavey 14:87052bb35211 969 }
jamesheavey 14:87052bb35211 970 }
jamesheavey 14:87052bb35211 971
jamesheavey 14:87052bb35211 972 char junction_logic()
jamesheavey 14:87052bb35211 973 {
jamesheavey 14:87052bb35211 974 bool straight = false;
jamesheavey 7:7fefd782532d 975 bool left = false;
jamesheavey 6:c10b367747a0 976 bool right = false;
jamesheavey 9:952586accbf9 977 bool goal = false;
jamesheavey 7:7fefd782532d 978
jamesheavey 20:5cf6a378801d 979 if (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) {
jamesheavey 20:5cf6a378801d 980 while ( (sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) && (sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH) ) {
jamesheavey 13:bd271266e161 981 robot.forward(speed);
jamesheavey 9:952586accbf9 982 robot.scan();
jamesheavey 20:5cf6a378801d 983 if ( sensor[0] > SENS_THRESH ) { left = true; }
jamesheavey 20:5cf6a378801d 984 if ( sensor[4] > SENS_THRESH ) { right = true; }
jamesheavey 13:bd271266e161 985 }
jamesheavey 7:7fefd782532d 986
jamesheavey 20:5cf6a378801d 987 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 15:6c461501d12d 988 wait(0.05); // maybe change or replace w something better
jamesheavey 9:952586accbf9 989 robot.scan();
jamesheavey 20:5cf6a378801d 990 if ( sensor[0] > SENS_THRESH && sensor[4] > SENS_THRESH && sensor[2] < SENS_THRESH ) {
jamesheavey 13:bd271266e161 991 goal = true;
jamesheavey 12:d80399686f32 992 }
jamesheavey 13:bd271266e161 993 }
jamesheavey 14:87052bb35211 994
jamesheavey 14:87052bb35211 995 robot.scan();
jamesheavey 14:87052bb35211 996
jamesheavey 20:5cf6a378801d 997 if ( sensor[1] > SENS_THRESH || sensor[2] > SENS_THRESH || sensor[3] > SENS_THRESH ) {
jamesheavey 14:87052bb35211 998 straight = true;
jamesheavey 14:87052bb35211 999 }
jamesheavey 14:87052bb35211 1000
jamesheavey 20:5cf6a378801d 1001 } else if (sensor[1] < SENS_THRESH && sensor[2] < SENS_THRESH && sensor[3] < SENS_THRESH) {
jamesheavey 9:952586accbf9 1002 return 'B';
jamesheavey 6:c10b367747a0 1003 }
jamesheavey 7:7fefd782532d 1004
jamesheavey 9:952586accbf9 1005 if (goal) {
jamesheavey 9:952586accbf9 1006 return 'G';
jamesheavey 9:952586accbf9 1007 } else if (left) {
jamesheavey 9:952586accbf9 1008 return 'L';
jamesheavey 14:87052bb35211 1009 } else if (straight) {
jamesheavey 14:87052bb35211 1010 return 'S';
jamesheavey 9:952586accbf9 1011 } else if (right) {
jamesheavey 9:952586accbf9 1012 return 'R';
jamesheavey 6:c10b367747a0 1013 } else {
jamesheavey 9:952586accbf9 1014 return 'S';
jamesheavey 9:952586accbf9 1015 }
jamesheavey 6:c10b367747a0 1016 }
jamesheavey 6:c10b367747a0 1017
jamesheavey 0:df5216b20861 1018
jamesheavey 14:87052bb35211 1019 void turn_select( char turn )
jamesheavey 1:79219d0a33c8 1020 {
jamesheavey 1:79219d0a33c8 1021 switch(turn) {
jamesheavey 5:ae417756235a 1022 case 'G':
jamesheavey 5:ae417756235a 1023 goal();
jamesheavey 1:79219d0a33c8 1024 case 'L':
jamesheavey 1:79219d0a33c8 1025 left();
jamesheavey 5:ae417756235a 1026 break;
jamesheavey 1:79219d0a33c8 1027 case 'S':
jamesheavey 1:79219d0a33c8 1028 break;
jamesheavey 1:79219d0a33c8 1029 case 'R':
jamesheavey 1:79219d0a33c8 1030 right();
jamesheavey 5:ae417756235a 1031 break;
jamesheavey 1:79219d0a33c8 1032 case 'B':
jamesheavey 1:79219d0a33c8 1033 back();
jamesheavey 5:ae417756235a 1034 break;
jamesheavey 1:79219d0a33c8 1035 }
jamesheavey 1:79219d0a33c8 1036 }
jamesheavey 1:79219d0a33c8 1037
jamesheavey 0:df5216b20861 1038 void left()
jamesheavey 0:df5216b20861 1039 {
jamesheavey 1:79219d0a33c8 1040 leds = 0b1100;
jamesheavey 3:a5e06482462e 1041
jamesheavey 20:5cf6a378801d 1042 while (sensor[0] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 1043
jamesheavey 39:005ad4610152 1044 robot.spin_left(TURN_SPEED);
jamesheavey 58:cb32aa0f4116 1045 wait(0.25);
jamesheavey 3:a5e06482462e 1046
jamesheavey 20:5cf6a378801d 1047 while (sensor[1] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 1048
jamesheavey 20:5cf6a378801d 1049 while (sensor[1] > SENS_THRESH) { robot.scan(); }
jamesheavey 1:79219d0a33c8 1050 }
jamesheavey 1:79219d0a33c8 1051
jamesheavey 1:79219d0a33c8 1052 void right()
jamesheavey 1:79219d0a33c8 1053 {
jamesheavey 1:79219d0a33c8 1054 leds = 0b0011;
jamesheavey 5:ae417756235a 1055
jamesheavey 20:5cf6a378801d 1056 while (sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 1057
jamesheavey 20:5cf6a378801d 1058 robot.spin_right(TURN_SPEED);
jamesheavey 58:cb32aa0f4116 1059 wait(0.25);
jamesheavey 3:a5e06482462e 1060
jamesheavey 20:5cf6a378801d 1061 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 3:a5e06482462e 1062
jamesheavey 20:5cf6a378801d 1063 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 0:df5216b20861 1064 }
jamesheavey 0:df5216b20861 1065
jamesheavey 0:df5216b20861 1066 void back()
jamesheavey 0:df5216b20861 1067 {
jamesheavey 1:79219d0a33c8 1068 leds = 0b1111;
jamesheavey 32:598bedb22c7c 1069 // robot.reverse(speed);
jamesheavey 32:598bedb22c7c 1070 // wait(0.1);
jamesheavey 20:5cf6a378801d 1071 robot.spin_right(TURN_SPEED);
jamesheavey 41:2b6b73dd897c 1072 if(loop_check == false) { // works better for looped
jamesheavey 53:dbb63b181faf 1073 wait(0.65);
jamesheavey 41:2b6b73dd897c 1074 }
jamesheavey 41:2b6b73dd897c 1075 else {
jamesheavey 41:2b6b73dd897c 1076 while (sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 1077
jamesheavey 41:2b6b73dd897c 1078 while (sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 41:2b6b73dd897c 1079 }
jamesheavey 0:df5216b20861 1080 }
jamesheavey 1:79219d0a33c8 1081
jamesheavey 2:940e46e21353 1082 void simplify()
jamesheavey 1:79219d0a33c8 1083 {
jamesheavey 2:940e46e21353 1084 // check if the last one was a 'B'
jamesheavey 2:940e46e21353 1085 // if it was, iterate over the last three turns and check the total angle change
jamesheavey 2:940e46e21353 1086 // replace the three turns with the new single turn
jamesheavey 1:79219d0a33c8 1087
jamesheavey 10:691c02b352cb 1088 if( path[path_length-2] == 'B' && path_length >= 3) {
jamesheavey 10:691c02b352cb 1089 int angle_change = 0;
jamesheavey 2:940e46e21353 1090
jamesheavey 10:691c02b352cb 1091 for (int i = 1; i <= 3; i++) {
jamesheavey 10:691c02b352cb 1092 if (path[path_length - i] == 'L') { angle_change += 270; }
jamesheavey 10:691c02b352cb 1093 else if (path[path_length - i] == 'R') { angle_change += 90; }
jamesheavey 10:691c02b352cb 1094 else if (path[path_length - i] == 'B') { angle_change += 180; }
jamesheavey 4:38c29dbc5953 1095 }
jamesheavey 4:38c29dbc5953 1096
jamesheavey 4:38c29dbc5953 1097 angle_change = angle_change % 360;
jamesheavey 4:38c29dbc5953 1098
jamesheavey 4:38c29dbc5953 1099 if (angle_change == 0) { path[path_length - 3] = 'S'; }
jamesheavey 4:38c29dbc5953 1100 else if (angle_change == 90) { path[path_length - 3] = 'R'; }
jamesheavey 4:38c29dbc5953 1101 else if (angle_change == 180) { path[path_length - 3] = 'B'; }
jamesheavey 4:38c29dbc5953 1102 else if (angle_change == 270) { path[path_length - 3] = 'L'; }
jamesheavey 4:38c29dbc5953 1103
jamesheavey 4:38c29dbc5953 1104 for (int i = 1; i <= 2; i++) { path[path_length - i] = NULL; } // clear the other turns
jamesheavey 4:38c29dbc5953 1105
jamesheavey 4:38c29dbc5953 1106 path_length -= 2;
jamesheavey 2:940e46e21353 1107 }
jamesheavey 5:ae417756235a 1108 }
jamesheavey 5:ae417756235a 1109
jamesheavey 10:691c02b352cb 1110 void goal()
jamesheavey 10:691c02b352cb 1111 {
jamesheavey 10:691c02b352cb 1112 invert_path();
jamesheavey 11:c3299aca7d8f 1113
jamesheavey 11:c3299aca7d8f 1114 leds = 0b0000;
jamesheavey 10:691c02b352cb 1115
jamesheavey 10:691c02b352cb 1116 robot.lcd_clear();
jamesheavey 16:96c7dc8a1119 1117 robot.lcd_print(inv_path,100);
jamesheavey 10:691c02b352cb 1118
jamesheavey 11:c3299aca7d8f 1119 while(1) {
jamesheavey 15:6c461501d12d 1120 int pointer = 0;
jamesheavey 15:6c461501d12d 1121
jamesheavey 15:6c461501d12d 1122 robot.stop();
jamesheavey 15:6c461501d12d 1123
jamesheavey 15:6c461501d12d 1124 leds = 0b1001;
jamesheavey 15:6c461501d12d 1125 wait(0.2);
jamesheavey 15:6c461501d12d 1126 leds = 0b0110;
jamesheavey 15:6c461501d12d 1127 wait(0.2);
jamesheavey 15:6c461501d12d 1128
jamesheavey 15:6c461501d12d 1129 robot.reverse(speed);
jamesheavey 20:5cf6a378801d 1130 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 16:96c7dc8a1119 1131 wait(0.05);
jamesheavey 15:6c461501d12d 1132
jamesheavey 20:5cf6a378801d 1133 robot.spin_right(TURN_SPEED);
jamesheavey 20:5cf6a378801d 1134 while(sensor[2] > SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 1135 while(sensor[3] < SENS_THRESH) { robot.scan(); }
jamesheavey 20:5cf6a378801d 1136 while(sensor[3] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 1137
jamesheavey 15:6c461501d12d 1138 robot.stop();
jamesheavey 15:6c461501d12d 1139
jamesheavey 15:6c461501d12d 1140 while(pointer <= path_length) {
jamesheavey 15:6c461501d12d 1141 follow_line();
jamesheavey 15:6c461501d12d 1142
jamesheavey 15:6c461501d12d 1143 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 1144 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 15:6c461501d12d 1145 turn_select(inv_path[pointer]);
jamesheavey 15:6c461501d12d 1146 if(inv_path[pointer] == 'S') { // make this better
jamesheavey 15:6c461501d12d 1147 robot.forward(speed);
jamesheavey 15:6c461501d12d 1148 leds = 0b1010;
jamesheavey 20:5cf6a378801d 1149 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 15:6c461501d12d 1150 }
jamesheavey 15:6c461501d12d 1151 pointer++;
jamesheavey 15:6c461501d12d 1152 }
jamesheavey 15:6c461501d12d 1153 }
jamesheavey 15:6c461501d12d 1154
jamesheavey 15:6c461501d12d 1155 back();
jamesheavey 12:d80399686f32 1156
jamesheavey 11:c3299aca7d8f 1157 robot.stop();
jamesheavey 20:5cf6a378801d 1158 robot.lcd_goto_xy(0,0);
jamesheavey 20:5cf6a378801d 1159 robot.lcd_print(" ENTER ", 10);
jamesheavey 20:5cf6a378801d 1160 robot.lcd_goto_xy(0,1);
jamesheavey 20:5cf6a378801d 1161 robot.lcd_print("=restart", 10);
jamesheavey 20:5cf6a378801d 1162
jamesheavey 14:87052bb35211 1163 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 1164
jamesheavey 20:5cf6a378801d 1165 robot.lcd_clear();
jamesheavey 20:5cf6a378801d 1166 robot.lcd_print(path,100);
jamesheavey 20:5cf6a378801d 1167
jamesheavey 15:6c461501d12d 1168 pointer = 0;
jamesheavey 15:6c461501d12d 1169
jamesheavey 11:c3299aca7d8f 1170 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 1171 wait(0.2);
jamesheavey 11:c3299aca7d8f 1172 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 1173 wait(0.2);
jamesheavey 11:c3299aca7d8f 1174 leds = 0b1001;
jamesheavey 11:c3299aca7d8f 1175 wait(0.2);
jamesheavey 11:c3299aca7d8f 1176 leds = 0b0110;
jamesheavey 11:c3299aca7d8f 1177 wait(0.2);
jamesheavey 11:c3299aca7d8f 1178
jamesheavey 11:c3299aca7d8f 1179 while(pointer <= path_length) {
jamesheavey 11:c3299aca7d8f 1180 follow_line();
jamesheavey 11:c3299aca7d8f 1181
jamesheavey 14:87052bb35211 1182 if ( junction_detect() ) { // if junction found
jamesheavey 16:96c7dc8a1119 1183 char na = junction_logic(); // aids turing fluidity (char not necessary therefore could clean up a bit)
jamesheavey 14:87052bb35211 1184 turn_select(path[pointer]);
jamesheavey 11:c3299aca7d8f 1185 if(path[pointer] == 'S') { // make this better
jamesheavey 11:c3299aca7d8f 1186 robot.forward(speed);
jamesheavey 11:c3299aca7d8f 1187 leds = 0b1010;
jamesheavey 20:5cf6a378801d 1188 while(sensor[0] > SENS_THRESH || sensor[4] > SENS_THRESH) { robot.scan(); }
jamesheavey 11:c3299aca7d8f 1189 }
jamesheavey 11:c3299aca7d8f 1190 pointer++;
jamesheavey 10:691c02b352cb 1191 }
jamesheavey 10:691c02b352cb 1192 }
jamesheavey 5:ae417756235a 1193 }
jamesheavey 58:cb32aa0f4116 1194 }
jamesheavey 5:ae417756235a 1195
jamesheavey 29:ecf497c3fdc0 1196 void looped_goal()
jamesheavey 29:ecf497c3fdc0 1197 {
jamesheavey 48:76cf4521d342 1198 // return to start (adding nodes to path)
jamesheavey 48:76cf4521d342 1199 // simplify path, check path before reaching goal and path after reaching goal, use the shorter one
jamesheavey 48:76cf4521d342 1200 // loop between start and goal
jamesheavey 58:cb32aa0f4116 1201 turn_select('B');
jamesheavey 34:63f7c61ee4da 1202 robot.stop();
jamesheavey 58:cb32aa0f4116 1203
jamesheavey 58:cb32aa0f4116 1204 if( dir == 'N' ) { dir = 'S'; }
jamesheavey 58:cb32aa0f4116 1205 else if( dir == 'S' ) { dir = 'N'; }
jamesheavey 58:cb32aa0f4116 1206 else if( dir == 'E' ) { dir = 'W'; }
jamesheavey 58:cb32aa0f4116 1207 else if( dir == 'W' ) { dir = 'E'; }
jamesheavey 58:cb32aa0f4116 1208
jamesheavey 58:cb32aa0f4116 1209 looped_goal_simplification();
jamesheavey 58:cb32aa0f4116 1210
jamesheavey 58:cb32aa0f4116 1211 while(1) {
jamesheavey 59:11e31ce4d675 1212
jamesheavey 65:2103a02d72bc 1213 if( _switch == false ) {
jamesheavey 65:2103a02d72bc 1214 robot.lcd_clear();
jamesheavey 65:2103a02d72bc 1215 robot.lcd_goto_xy(0,0);
jamesheavey 65:2103a02d72bc 1216 robot.lcd_print(" ENTER ", 10);
jamesheavey 65:2103a02d72bc 1217 robot.lcd_goto_xy(0,1);
jamesheavey 65:2103a02d72bc 1218 robot.lcd_print("=restart", 10);
jamesheavey 59:11e31ce4d675 1219 while( button_enter.read() == 1 ) {
jamesheavey 59:11e31ce4d675 1220 leds = 0b1001;
jamesheavey 59:11e31ce4d675 1221 wait(0.2);
jamesheavey 59:11e31ce4d675 1222 leds = 0b0110;
jamesheavey 59:11e31ce4d675 1223 wait(0.2);
jamesheavey 59:11e31ce4d675 1224 }
jamesheavey 65:2103a02d72bc 1225 } else {
jamesheavey 65:2103a02d72bc 1226 leds = 0b1001;
jamesheavey 65:2103a02d72bc 1227 wait(0.2);
jamesheavey 65:2103a02d72bc 1228 leds = 0b0110;
jamesheavey 65:2103a02d72bc 1229 wait(0.2);
jamesheavey 58:cb32aa0f4116 1230 }
jamesheavey 65:2103a02d72bc 1231
jamesheavey 58:cb32aa0f4116 1232 wait(2);
jamesheavey 58:cb32aa0f4116 1233
jamesheavey 58:cb32aa0f4116 1234 t_restart = true;
jamesheavey 58:cb32aa0f4116 1235
jamesheavey 58:cb32aa0f4116 1236 goal_path_explored(_switch);
jamesheavey 58:cb32aa0f4116 1237
jamesheavey 58:cb32aa0f4116 1238 while(1) {
jamesheavey 58:cb32aa0f4116 1239
jamesheavey 58:cb32aa0f4116 1240 if ( t_restart ){ // only start the timer if it isnt already started
jamesheavey 58:cb32aa0f4116 1241 t_coord.start();
jamesheavey 58:cb32aa0f4116 1242 t_restart = false;
jamesheavey 58:cb32aa0f4116 1243 }
jamesheavey 58:cb32aa0f4116 1244
jamesheavey 58:cb32aa0f4116 1245 follow_line();
jamesheavey 58:cb32aa0f4116 1246
jamesheavey 58:cb32aa0f4116 1247 if( junction_detect() ) {
jamesheavey 58:cb32aa0f4116 1248 float time = t_coord.read();
jamesheavey 58:cb32aa0f4116 1249 int dist_est = ceil(time*2); // scaled so that a longer straight will have a different time to a shorter straight
jamesheavey 58:cb32aa0f4116 1250 t_coord.stop();
jamesheavey 58:cb32aa0f4116 1251 t_coord.reset();
jamesheavey 58:cb32aa0f4116 1252 t_restart = true; //restart the timer next loop
jamesheavey 58:cb32aa0f4116 1253
jamesheavey 58:cb32aa0f4116 1254 if (dir == 'N'){ curr_coords[1] += dist_est; } // y coord
jamesheavey 58:cb32aa0f4116 1255 if (dir == 'E'){ curr_coords[0] += dist_est; } // x coord
jamesheavey 58:cb32aa0f4116 1256 if (dir == 'S'){ curr_coords[1] -= dist_est; }
jamesheavey 58:cb32aa0f4116 1257 if (dir == 'W'){ curr_coords[0] -= dist_est; }
jamesheavey 58:cb32aa0f4116 1258
jamesheavey 58:cb32aa0f4116 1259 update_index();
jamesheavey 65:2103a02d72bc 1260
jamesheavey 65:2103a02d72bc 1261 if(point[curr_index] == 100 && _switch == false) { _switch = true; break;}
jamesheavey 65:2103a02d72bc 1262 if(point[curr_index] == 0 && _switch == true) { _switch = false; break;}
jamesheavey 65:2103a02d72bc 1263
jamesheavey 58:cb32aa0f4116 1264 choose_turn(); //looks at the point we are at, examines the type vs explored and makes the appropriate turn also updates the explored
jamesheavey 58:cb32aa0f4116 1265
jamesheavey 58:cb32aa0f4116 1266 }
jamesheavey 58:cb32aa0f4116 1267 }
jamesheavey 58:cb32aa0f4116 1268
jamesheavey 65:2103a02d72bc 1269 turn_select('B');
jamesheavey 64:a58d8538132a 1270 robot.stop();
jamesheavey 65:2103a02d72bc 1271
jamesheavey 65:2103a02d72bc 1272 if( dir == 'N' ) { dir = 'S'; }
jamesheavey 65:2103a02d72bc 1273 else if( dir == 'S' ) { dir = 'N'; }
jamesheavey 65:2103a02d72bc 1274 else if( dir == 'E' ) { dir = 'W'; }
jamesheavey 65:2103a02d72bc 1275 else if( dir == 'W' ) { dir = 'E'; }
jamesheavey 64:a58d8538132a 1276
jamesheavey 58:cb32aa0f4116 1277 }
jamesheavey 58:cb32aa0f4116 1278 }
jamesheavey 58:cb32aa0f4116 1279
jamesheavey 58:cb32aa0f4116 1280 void goal_path_explored( bool inverse )
jamesheavey 58:cb32aa0f4116 1281 {
jamesheavey 58:cb32aa0f4116 1282 char dir_diff;
jamesheavey 58:cb32aa0f4116 1283
jamesheavey 65:2103a02d72bc 1284 if ( inverse ) {
jamesheavey 58:cb32aa0f4116 1285 for(int j = goal_length1; j >= 0; j--) {
jamesheavey 58:cb32aa0f4116 1286 int curr_node = path_to_point_index(goal_path1[j]);
jamesheavey 60:ea69bd1a9889 1287 int next_node = path_to_point_index(goal_path1[j-1]);
jamesheavey 58:cb32aa0f4116 1288 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 58:cb32aa0f4116 1289 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 58:cb32aa0f4116 1290 dir_diff = 'E';
jamesheavey 58:cb32aa0f4116 1291 } else {
jamesheavey 58:cb32aa0f4116 1292 dir_diff = 'W';
jamesheavey 58:cb32aa0f4116 1293 }
jamesheavey 58:cb32aa0f4116 1294 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 58:cb32aa0f4116 1295 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 58:cb32aa0f4116 1296 dir_diff = 'N';
jamesheavey 58:cb32aa0f4116 1297 } else {
jamesheavey 58:cb32aa0f4116 1298 dir_diff = 'S';
jamesheavey 58:cb32aa0f4116 1299 }
jamesheavey 58:cb32aa0f4116 1300 }
jamesheavey 58:cb32aa0f4116 1301
jamesheavey 58:cb32aa0f4116 1302 if( dir_diff == 'N' ) {
jamesheavey 58:cb32aa0f4116 1303 explored[curr_node] &= 0b1011;
jamesheavey 58:cb32aa0f4116 1304 }
jamesheavey 58:cb32aa0f4116 1305 else if( dir_diff == 'E' ) {
jamesheavey 58:cb32aa0f4116 1306 explored[curr_node] &= 0b1101;
jamesheavey 58:cb32aa0f4116 1307 }
jamesheavey 58:cb32aa0f4116 1308 else if( dir_diff == 'S' ) {
jamesheavey 58:cb32aa0f4116 1309 explored[curr_node] &= 0b1110;
jamesheavey 58:cb32aa0f4116 1310 }
jamesheavey 58:cb32aa0f4116 1311 else if( dir_diff == 'W' ) {
jamesheavey 58:cb32aa0f4116 1312 explored[curr_node] &= 0b0111;
jamesheavey 58:cb32aa0f4116 1313 }
jamesheavey 58:cb32aa0f4116 1314 }
jamesheavey 58:cb32aa0f4116 1315 }
jamesheavey 58:cb32aa0f4116 1316
jamesheavey 58:cb32aa0f4116 1317 else{
jamesheavey 58:cb32aa0f4116 1318
jamesheavey 58:cb32aa0f4116 1319 for(int j = 0; j <= goal_length1; j++) {
jamesheavey 58:cb32aa0f4116 1320 int curr_node = path_to_point_index(goal_path1[j]);
jamesheavey 60:ea69bd1a9889 1321 int next_node = path_to_point_index(goal_path1[j+1]);
jamesheavey 58:cb32aa0f4116 1322 if(coords_x[next_node] != coords_x[curr_node]) {
jamesheavey 58:cb32aa0f4116 1323 if(coords_x[next_node] - coords_x[curr_node] > 0){
jamesheavey 58:cb32aa0f4116 1324 dir_diff = 'E';
jamesheavey 58:cb32aa0f4116 1325 } else {
jamesheavey 58:cb32aa0f4116 1326 dir_diff = 'W';
jamesheavey 58:cb32aa0f4116 1327 }
jamesheavey 58:cb32aa0f4116 1328 } else if( coords_y[next_node] != coords_y[curr_node] ) {
jamesheavey 58:cb32aa0f4116 1329 if(coords_y[next_node] - coords_y[curr_node] > 0){
jamesheavey 58:cb32aa0f4116 1330 dir_diff = 'N';
jamesheavey 58:cb32aa0f4116 1331 } else {
jamesheavey 58:cb32aa0f4116 1332 dir_diff = 'S';
jamesheavey 58:cb32aa0f4116 1333 }
jamesheavey 58:cb32aa0f4116 1334 }
jamesheavey 58:cb32aa0f4116 1335
jamesheavey 58:cb32aa0f4116 1336 if( dir_diff == 'N' ) {
jamesheavey 58:cb32aa0f4116 1337 explored[curr_node] &= 0b1011;
jamesheavey 58:cb32aa0f4116 1338 }
jamesheavey 58:cb32aa0f4116 1339 else if( dir_diff == 'E' ) {
jamesheavey 58:cb32aa0f4116 1340 explored[curr_node] &= 0b1101;
jamesheavey 58:cb32aa0f4116 1341 }
jamesheavey 58:cb32aa0f4116 1342 else if( dir_diff == 'S' ) {
jamesheavey 58:cb32aa0f4116 1343 explored[curr_node] &= 0b1110;
jamesheavey 58:cb32aa0f4116 1344 }
jamesheavey 58:cb32aa0f4116 1345 else if( dir_diff == 'W' ) {
jamesheavey 58:cb32aa0f4116 1346 explored[curr_node] &= 0b0111;
jamesheavey 58:cb32aa0f4116 1347 }
jamesheavey 58:cb32aa0f4116 1348 }
jamesheavey 29:ecf497c3fdc0 1349 }
jamesheavey 29:ecf497c3fdc0 1350 }
jamesheavey 29:ecf497c3fdc0 1351
jamesheavey 10:691c02b352cb 1352 void invert_path()
jamesheavey 5:ae417756235a 1353 {
jamesheavey 10:691c02b352cb 1354 // only call once then can use infinitely
jamesheavey 16:96c7dc8a1119 1355 for( int i = 0; i < path_length; i++ ){
jamesheavey 16:96c7dc8a1119 1356 if ( path[path_length-1-i] == 'L' ) { inv_path[i] = 'R'; }
jamesheavey 16:96c7dc8a1119 1357 else if ( path[path_length-1-i] == 'R' ) { inv_path[i] = 'L'; }
jamesheavey 16:96c7dc8a1119 1358 else { inv_path[i] = path[path_length-1-i]; }
jamesheavey 10:691c02b352cb 1359 }
jamesheavey 28:63ff8290964a 1360 }
jamesheavey 37:2967f3f9c936 1361
jamesheavey 37:2967f3f9c936 1362 void print_data(char *word)
jamesheavey 37:2967f3f9c936 1363 {
jamesheavey 37:2967f3f9c936 1364 robot.lcd_clear();
jamesheavey 37:2967f3f9c936 1365 robot.lcd_print(word,10);
jamesheavey 37:2967f3f9c936 1366 robot.stop();
jamesheavey 37:2967f3f9c936 1367 wait(2);
jamesheavey 37:2967f3f9c936 1368
jamesheavey 37:2967f3f9c936 1369 char buffer1[2];
jamesheavey 37:2967f3f9c936 1370 char buffer2[2];
jamesheavey 37:2967f3f9c936 1371 char buffer3[2];
jamesheavey 37:2967f3f9c936 1372 robot.lcd_clear();
jamesheavey 54:5ff74beb043e 1373 sprintf(buffer1,"%x",type[curr_index]);
jamesheavey 54:5ff74beb043e 1374 sprintf(buffer2,"%x",explored[curr_index]);
jamesheavey 37:2967f3f9c936 1375
jamesheavey 54:5ff74beb043e 1376 // sprintf(buffer1,"%d",curr_coords[0]);
jamesheavey 54:5ff74beb043e 1377 // sprintf(buffer2,"%d",curr_coords[1]);
jamesheavey 37:2967f3f9c936 1378 sprintf(buffer3,"%d",curr_index);
jamesheavey 37:2967f3f9c936 1379 robot.lcd_print(buffer1,2);
jamesheavey 37:2967f3f9c936 1380 robot.lcd_goto_xy(0,1);
jamesheavey 37:2967f3f9c936 1381 robot.lcd_print(buffer2,2);
jamesheavey 37:2967f3f9c936 1382 robot.lcd_goto_xy(5,0);
jamesheavey 37:2967f3f9c936 1383 char *b = &dir;
jamesheavey 37:2967f3f9c936 1384 robot.lcd_print(b,2);
jamesheavey 37:2967f3f9c936 1385 robot.lcd_goto_xy(5,1);
jamesheavey 37:2967f3f9c936 1386 robot.lcd_print(buffer3,2);
jamesheavey 37:2967f3f9c936 1387
jamesheavey 37:2967f3f9c936 1388 robot.stop();
jamesheavey 37:2967f3f9c936 1389 wait(2);
jamesheavey 37:2967f3f9c936 1390 }