Yeah
Dependencies: HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of NavigationTest by
main.cpp@13:b6480275c445, 2014-04-01 (annotated)
- Committer:
- jjcarr2
- Date:
- Tue Apr 01 20:26:15 2014 +0000
- Revision:
- 13:b6480275c445
- Parent:
- 12:081b8fc654af
slightMove instead of wall_follow;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Fairy_Paolina | 0:ff94cc47fef7 | 1 | #include "rtos.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 2 | #include "PID.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 3 | #include "PololuQik2.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 4 | #include "QEI.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 5 | #include "mbed.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 6 | #include "HCSR04.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 7 | #include "stdio.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 8 | #include "LPC17xx.h" |
Fairy_Paolina | 8:11ef93eebe07 | 9 | #include "Sharp.h" |
Fairy_Paolina | 9:f34700716f1d | 10 | |
Fairy_Paolina | 2:3d0be48abcf2 | 11 | #define PIN_TRIGGERL (p12) |
Fairy_Paolina | 2:3d0be48abcf2 | 12 | #define PIN_ECHOL (p11) |
Fairy_Paolina | 2:3d0be48abcf2 | 13 | #define PIN_TRIGGERR (p29) |
Fairy_Paolina | 2:3d0be48abcf2 | 14 | #define PIN_ECHOR (p30) |
Fairy_Paolina | 0:ff94cc47fef7 | 15 | #define PULSE_PER_REV (1192) |
Fairy_Paolina | 0:ff94cc47fef7 | 16 | #define WHEEL_CIRCUM (12.56637) |
Fairy_Paolina | 0:ff94cc47fef7 | 17 | #define DIST_PER_PULSE (0.01054225722682) |
Fairy_Paolina | 0:ff94cc47fef7 | 18 | #define MTRS_TO_INCH (39.3701) |
Fairy_Paolina | 1:801f0b9a862a | 19 | #define MAX_SPEED (0.3*127) |
Fairy_Paolina | 4:f2333e66ec2c | 20 | #define PPR (4331/4) |
Fairy_Paolina | 2:3d0be48abcf2 | 21 | #define LEFT (1) |
Fairy_Paolina | 2:3d0be48abcf2 | 22 | #define RIGHT (0) |
jjcarr2 | 12:081b8fc654af | 23 | #define STRAIGHT (2) |
Fairy_Paolina | 3:58726d2e11f0 | 24 | #define FORWARD (1) |
Fairy_Paolina | 9:f34700716f1d | 25 | #define BACKWARD (0) |
Fairy_Paolina | 3:58726d2e11f0 | 26 | #define TOOLS (0) |
Fairy_Paolina | 3:58726d2e11f0 | 27 | #define MID (1) |
Fairy_Paolina | 9:f34700716f1d | 28 | #define RIGS (2) |
jjcarr2 | 13:b6480275c445 | 29 | #define MID2 (3) |
jjcarr2 | 13:b6480275c445 | 30 | #define RETURN (4) |
Fairy_Paolina | 6:f5c26372b2d0 | 31 | #define FAR (1) |
Fairy_Paolina | 9:f34700716f1d | 32 | |
Fairy_Paolina | 9:f34700716f1d | 33 | |
Fairy_Paolina | 9:f34700716f1d | 34 | float range, range2, pid_return; |
Fairy_Paolina | 0:ff94cc47fef7 | 35 | void errFunction(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 36 | bool cRc; |
Fairy_Paolina | 9:f34700716f1d | 37 | |
Fairy_Paolina | 0:ff94cc47fef7 | 38 | //Hardware Initialization |
Fairy_Paolina | 0:ff94cc47fef7 | 39 | Serial bt(p13,p14); |
Fairy_Paolina | 0:ff94cc47fef7 | 40 | Serial pc(USBTX,USBRX); |
Fairy_Paolina | 2:3d0be48abcf2 | 41 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
Fairy_Paolina | 2:3d0be48abcf2 | 42 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
Fairy_Paolina | 2:3d0be48abcf2 | 43 | PID pid1(15.0,0.0,4.0,0.02); |
Fairy_Paolina | 0:ff94cc47fef7 | 44 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
Fairy_Paolina | 4:f2333e66ec2c | 45 | QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 4:f2333e66ec2c | 46 | QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 8:11ef93eebe07 | 47 | Sharp IR(p20); |
Fairy_Paolina | 1:801f0b9a862a | 48 | //InterruptIn encoder(p29); |
Fairy_Paolina | 9:f34700716f1d | 49 | |
Fairy_Paolina | 9:f34700716f1d | 50 | |
Fairy_Paolina | 0:ff94cc47fef7 | 51 | //Functions |
jjcarr2 | 13:b6480275c445 | 52 | void test(); |
jjcarr2 | 13:b6480275c445 | 53 | void wall_follow(int side, int direction, int section, float location); |
jjcarr2 | 13:b6480275c445 | 54 | void wall_follow_to_mid(int side, int direction, int section); |
jjcarr2 | 13:b6480275c445 | 55 | void wall_follow2(int side, int direction, int section, float location, int rig); |
Fairy_Paolina | 1:801f0b9a862a | 56 | void leftTurn(void); |
Fairy_Paolina | 9:f34700716f1d | 57 | void slightleft(void); |
jjcarr2 | 13:b6480275c445 | 58 | void slightright(void); |
Fairy_Paolina | 1:801f0b9a862a | 59 | void rightTurn(void); |
jjcarr2 | 13:b6480275c445 | 60 | void slightMove(int direction, float pulses); |
Fairy_Paolina | 0:ff94cc47fef7 | 61 | void us_distance(void); |
Fairy_Paolina | 3:58726d2e11f0 | 62 | void tools_section(float* location, float ¤t); |
Fairy_Paolina | 6:f5c26372b2d0 | 63 | void mid_section(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 64 | void mid_section2(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 65 | void rig_section(float* location, float ¤t, int* direction, int rig); |
jjcarr2 | 12:081b8fc654af | 66 | void tools_section_return(float* location, float ¤t); |
jjcarr2 | 12:081b8fc654af | 67 | void mid_section_return(float* location, float ¤t, int* direction); |
jjcarr2 | 12:081b8fc654af | 68 | void mid_section2_return(float* location, float ¤t, int* direction); |
jjcarr2 | 13:b6480275c445 | 69 | void rig_section_return(float* location, float ¤t, int* direction); |
Fairy_Paolina | 8:11ef93eebe07 | 70 | void overBump(int section); |
Fairy_Paolina | 6:f5c26372b2d0 | 71 | void alignWithWall(int section); |
jjcarr2 | 12:081b8fc654af | 72 | void UntilWall(int dir); |
jjcarr2 | 12:081b8fc654af | 73 | |
Fairy_Paolina | 9:f34700716f1d | 74 | |
Fairy_Paolina | 1:801f0b9a862a | 75 | //Variables |
Fairy_Paolina | 9:f34700716f1d | 76 | |
Fairy_Paolina | 2:3d0be48abcf2 | 77 | int main(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 78 | { |
jjcarr2 | 13:b6480275c445 | 79 | float location[3], current=4; |
Fairy_Paolina | 3:58726d2e11f0 | 80 | int direction[3]; |
Fairy_Paolina | 8:11ef93eebe07 | 81 | double distance; |
Fairy_Paolina | 9:f34700716f1d | 82 | |
Fairy_Paolina | 0:ff94cc47fef7 | 83 | pc.baud(115200); |
jjcarr2 | 13:b6480275c445 | 84 | pc.baud(115200); |
Fairy_Paolina | 2:3d0be48abcf2 | 85 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 86 | |
jjcarr2 | 13:b6480275c445 | 87 | pc.printf("START\r\n"); |
Fairy_Paolina | 3:58726d2e11f0 | 88 | //Go to tools |
jjcarr2 | 13:b6480275c445 | 89 | slightMove(FORWARD,3200); |
jjcarr2 | 13:b6480275c445 | 90 | |
jjcarr2 | 13:b6480275c445 | 91 | wait(2); |
jjcarr2 | 13:b6480275c445 | 92 | slightMove(FORWARD,3200); |
jjcarr2 | 13:b6480275c445 | 93 | |
jjcarr2 | 13:b6480275c445 | 94 | while(1); |
Fairy_Paolina | 4:f2333e66ec2c | 95 | tools_section(location, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 96 | mid_section(location, current, direction); |
jjcarr2 | 13:b6480275c445 | 97 | mid_section2(location, current, direction); |
jjcarr2 | 13:b6480275c445 | 98 | rig_section(location, current, direction, 3); |
jjcarr2 | 13:b6480275c445 | 99 | // fire putting out |
jjcarr2 | 13:b6480275c445 | 100 | wait(2); |
jjcarr2 | 13:b6480275c445 | 101 | // |
jjcarr2 | 13:b6480275c445 | 102 | rig_section_return(location, current, direction); |
jjcarr2 | 13:b6480275c445 | 103 | mid_section2_return(location, current, direction); |
jjcarr2 | 13:b6480275c445 | 104 | mid_section_return(location, current, direction); |
jjcarr2 | 13:b6480275c445 | 105 | tools_section_return(location,current); |
Fairy_Paolina | 9:f34700716f1d | 106 | |
jjcarr2 | 13:b6480275c445 | 107 | /*while(1) { |
jjcarr2 | 13:b6480275c445 | 108 | pc.printf("IR %f\r\n", IR.getDistance()); |
jjcarr2 | 13:b6480275c445 | 109 | /*rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 110 | rangeFinderRight.startMeas(); |
jjcarr2 | 13:b6480275c445 | 111 | wait_ms(38); |
jjcarr2 | 13:b6480275c445 | 112 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 113 | rangeFinderRight.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 114 | pc.printf("leftRange = %f\n\r", range); |
jjcarr2 | 13:b6480275c445 | 115 | pc.printf("rightRange = %f\n\r", range); |
Fairy_Paolina | 9:f34700716f1d | 116 | |
jjcarr2 | 13:b6480275c445 | 117 | wait_ms(200); |
jjcarr2 | 13:b6480275c445 | 118 | }*/ |
Fairy_Paolina | 9:f34700716f1d | 119 | |
jjcarr2 | 13:b6480275c445 | 120 | //wall_follow2(LEFT,FORWARD,MID,0); |
Fairy_Paolina | 9:f34700716f1d | 121 | //leftTurn(); |
Fairy_Paolina | 9:f34700716f1d | 122 | //rightTurn(); |
Fairy_Paolina | 9:f34700716f1d | 123 | |
Fairy_Paolina | 9:f34700716f1d | 124 | |
Fairy_Paolina | 0:ff94cc47fef7 | 125 | } |
Fairy_Paolina | 9:f34700716f1d | 126 | |
jjcarr2 | 13:b6480275c445 | 127 | void test( ){ |
jjcarr2 | 13:b6480275c445 | 128 | /* |
jjcarr2 | 13:b6480275c445 | 129 | float set=6, loc=0; |
jjcarr2 | 13:b6480275c445 | 130 | int dir=1; |
jjcarr2 | 13:b6480275c445 | 131 | |
jjcarr2 | 13:b6480275c445 | 132 | pid1.reset(); |
jjcarr2 | 13:b6480275c445 | 133 | |
jjcarr2 | 13:b6480275c445 | 134 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 135 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 136 | |
jjcarr2 | 13:b6480275c445 | 137 | while(loc < 10) { |
jjcarr2 | 13:b6480275c445 | 138 | loc = (abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 13:b6480275c445 | 139 | |
jjcarr2 | 13:b6480275c445 | 140 | pid1.setInputLimits(0, set); |
jjcarr2 | 13:b6480275c445 | 141 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
jjcarr2 | 13:b6480275c445 | 142 | pid1.setSetPoint(set); |
jjcarr2 | 13:b6480275c445 | 143 | if(side) { |
jjcarr2 | 13:b6480275c445 | 144 | rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 145 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 146 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 147 | } else { |
jjcarr2 | 13:b6480275c445 | 148 | rangeFinderRight.startMeas(); |
jjcarr2 | 13:b6480275c445 | 149 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 150 | rangeFinderRight.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 151 | pc.printf("%d\r\n",range); |
jjcarr2 | 13:b6480275c445 | 152 | } |
jjcarr2 | 13:b6480275c445 | 153 | |
jjcarr2 | 13:b6480275c445 | 154 | if(range > 15) { |
jjcarr2 | 13:b6480275c445 | 155 | //pc.printf("wavegap %f\r\n",wavegap); |
jjcarr2 | 13:b6480275c445 | 156 | // AT WAVE OPENING!!!! |
jjcarr2 | 13:b6480275c445 | 157 | motors.setMotor1Speed(dir*0.25*127);//left |
jjcarr2 | 13:b6480275c445 | 158 | motors.setMotor0Speed(dir*0.25*127);//right |
jjcarr2 | 13:b6480275c445 | 159 | } else { |
jjcarr2 | 13:b6480275c445 | 160 | |
jjcarr2 | 13:b6480275c445 | 161 | pid1.setProcessValue(range); |
jjcarr2 | 13:b6480275c445 | 162 | pid_return = pid1.compute(); |
jjcarr2 | 13:b6480275c445 | 163 | |
jjcarr2 | 13:b6480275c445 | 164 | if(pid_return > 0) { |
jjcarr2 | 13:b6480275c445 | 165 | if(side) { |
jjcarr2 | 13:b6480275c445 | 166 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
jjcarr2 | 13:b6480275c445 | 167 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 13:b6480275c445 | 168 | } else { |
jjcarr2 | 13:b6480275c445 | 169 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
jjcarr2 | 13:b6480275c445 | 170 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 13:b6480275c445 | 171 | } |
jjcarr2 | 13:b6480275c445 | 172 | } else if(pid_return < 0) { |
jjcarr2 | 13:b6480275c445 | 173 | if(side) { |
jjcarr2 | 13:b6480275c445 | 174 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 13:b6480275c445 | 175 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
jjcarr2 | 13:b6480275c445 | 176 | } else { |
jjcarr2 | 13:b6480275c445 | 177 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 13:b6480275c445 | 178 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
jjcarr2 | 13:b6480275c445 | 179 | } |
jjcarr2 | 13:b6480275c445 | 180 | } else { |
jjcarr2 | 13:b6480275c445 | 181 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 13:b6480275c445 | 182 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 13:b6480275c445 | 183 | } |
jjcarr2 | 13:b6480275c445 | 184 | } |
jjcarr2 | 13:b6480275c445 | 185 | } |
jjcarr2 | 13:b6480275c445 | 186 | |
jjcarr2 | 13:b6480275c445 | 187 | //STOP |
jjcarr2 | 13:b6480275c445 | 188 | motors.setMotor0Speed(dir*-0.3*127); //right |
jjcarr2 | 13:b6480275c445 | 189 | motors.setMotor1Speed(dir*-0.3*127); //left |
jjcarr2 | 13:b6480275c445 | 190 | wait_ms(10); |
jjcarr2 | 13:b6480275c445 | 191 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 192 | */ |
jjcarr2 | 13:b6480275c445 | 193 | } |
jjcarr2 | 13:b6480275c445 | 194 | |
Fairy_Paolina | 2:3d0be48abcf2 | 195 | void errFunction(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 196 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 197 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 198 | } |
Fairy_Paolina | 9:f34700716f1d | 199 | |
Fairy_Paolina | 0:ff94cc47fef7 | 200 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 201 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 202 | pc.printf("Ultra Sonic\n\r"); |
Fairy_Paolina | 2:3d0be48abcf2 | 203 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 204 | wait_us(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 205 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
Fairy_Paolina | 2:3d0be48abcf2 | 206 | pc.printf("Range = %f\n\r", range); |
Fairy_Paolina | 2:3d0be48abcf2 | 207 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 208 | } |
Fairy_Paolina | 9:f34700716f1d | 209 | |
jjcarr2 | 13:b6480275c445 | 210 | void wall_follow(int side, int direction, int section, float location) |
Fairy_Paolina | 0:ff94cc47fef7 | 211 | { |
jjcarr2 | 13:b6480275c445 | 212 | float set=6, loc=0; |
jjcarr2 | 13:b6480275c445 | 213 | int dir=1; |
jjcarr2 | 13:b6480275c445 | 214 | |
jjcarr2 | 13:b6480275c445 | 215 | pid1.reset(); |
jjcarr2 | 13:b6480275c445 | 216 | |
jjcarr2 | 13:b6480275c445 | 217 | if(direction == BACKWARD) dir=-1; |
jjcarr2 | 13:b6480275c445 | 218 | if(section == TOOLS)set= 10; |
jjcarr2 | 13:b6480275c445 | 219 | |
jjcarr2 | 13:b6480275c445 | 220 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 221 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 222 | |
jjcarr2 | 13:b6480275c445 | 223 | while(loc + location< 66.5) { |
jjcarr2 | 13:b6480275c445 | 224 | loc = (abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 13:b6480275c445 | 225 | |
jjcarr2 | 13:b6480275c445 | 226 | pid1.setInputLimits(0, set); |
jjcarr2 | 13:b6480275c445 | 227 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
jjcarr2 | 13:b6480275c445 | 228 | pid1.setSetPoint(set); |
jjcarr2 | 13:b6480275c445 | 229 | if(side) { |
jjcarr2 | 13:b6480275c445 | 230 | rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 231 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 232 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 233 | } else { |
jjcarr2 | 13:b6480275c445 | 234 | rangeFinderRight.startMeas(); |
jjcarr2 | 13:b6480275c445 | 235 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 236 | rangeFinderRight.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 237 | pc.printf("%d\r\n",range); |
jjcarr2 | 13:b6480275c445 | 238 | } |
jjcarr2 | 13:b6480275c445 | 239 | |
jjcarr2 | 13:b6480275c445 | 240 | if(range > 15) { |
jjcarr2 | 13:b6480275c445 | 241 | //pc.printf("wavegap %f\r\n",wavegap); |
jjcarr2 | 13:b6480275c445 | 242 | // AT WAVE OPENING!!!! |
jjcarr2 | 13:b6480275c445 | 243 | motors.setMotor1Speed(dir*0.28*127);//left |
jjcarr2 | 13:b6480275c445 | 244 | motors.setMotor0Speed(dir*0.25*127);//right |
jjcarr2 | 13:b6480275c445 | 245 | } else { |
jjcarr2 | 13:b6480275c445 | 246 | |
jjcarr2 | 13:b6480275c445 | 247 | pid1.setProcessValue(range); |
jjcarr2 | 13:b6480275c445 | 248 | pid_return = pid1.compute(); |
jjcarr2 | 13:b6480275c445 | 249 | |
jjcarr2 | 13:b6480275c445 | 250 | if(pid_return > 0) { |
jjcarr2 | 13:b6480275c445 | 251 | if(side) { |
jjcarr2 | 13:b6480275c445 | 252 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
jjcarr2 | 13:b6480275c445 | 253 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 13:b6480275c445 | 254 | } else { |
jjcarr2 | 13:b6480275c445 | 255 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
jjcarr2 | 13:b6480275c445 | 256 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 13:b6480275c445 | 257 | } |
jjcarr2 | 13:b6480275c445 | 258 | } else if(pid_return < 0) { |
jjcarr2 | 13:b6480275c445 | 259 | if(side) { |
jjcarr2 | 13:b6480275c445 | 260 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 13:b6480275c445 | 261 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
jjcarr2 | 13:b6480275c445 | 262 | } else { |
jjcarr2 | 13:b6480275c445 | 263 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 13:b6480275c445 | 264 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
jjcarr2 | 13:b6480275c445 | 265 | } |
jjcarr2 | 13:b6480275c445 | 266 | } else { |
jjcarr2 | 13:b6480275c445 | 267 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 13:b6480275c445 | 268 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 13:b6480275c445 | 269 | } |
jjcarr2 | 13:b6480275c445 | 270 | } |
jjcarr2 | 13:b6480275c445 | 271 | } |
jjcarr2 | 13:b6480275c445 | 272 | |
jjcarr2 | 13:b6480275c445 | 273 | //STOP |
jjcarr2 | 13:b6480275c445 | 274 | motors.setMotor0Speed(dir*-0.3*127); //right |
jjcarr2 | 13:b6480275c445 | 275 | motors.setMotor1Speed(dir*-0.3*127); //left |
jjcarr2 | 13:b6480275c445 | 276 | wait_ms(10); |
jjcarr2 | 13:b6480275c445 | 277 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 278 | } |
jjcarr2 | 13:b6480275c445 | 279 | |
jjcarr2 | 13:b6480275c445 | 280 | void wall_follow_to_mid(int side, int direction, int section) |
jjcarr2 | 13:b6480275c445 | 281 | { |
jjcarr2 | 13:b6480275c445 | 282 | float location, set=6; |
Fairy_Paolina | 5:70ccef3734ae | 283 | int dir=1; |
Fairy_Paolina | 9:f34700716f1d | 284 | |
Fairy_Paolina | 4:f2333e66ec2c | 285 | pid1.reset(); |
Fairy_Paolina | 9:f34700716f1d | 286 | |
Fairy_Paolina | 3:58726d2e11f0 | 287 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 5:70ccef3734ae | 288 | if(section == TOOLS)set= 10; |
Fairy_Paolina | 9:f34700716f1d | 289 | |
Fairy_Paolina | 3:58726d2e11f0 | 290 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 291 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 292 | |
Fairy_Paolina | 4:f2333e66ec2c | 293 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 9:f34700716f1d | 294 | |
jjcarr2 | 13:b6480275c445 | 295 | while(location< 34) { |
Fairy_Paolina | 4:f2333e66ec2c | 296 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 9:f34700716f1d | 297 | |
Fairy_Paolina | 3:58726d2e11f0 | 298 | pid1.setInputLimits(0, set); |
Fairy_Paolina | 1:801f0b9a862a | 299 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 300 | pid1.setSetPoint(set); |
Fairy_Paolina | 9:f34700716f1d | 301 | if(side) { |
Fairy_Paolina | 2:3d0be48abcf2 | 302 | rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 303 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 304 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 305 | } else { |
Fairy_Paolina | 2:3d0be48abcf2 | 306 | rangeFinderRight.startMeas(); |
jjcarr2 | 13:b6480275c445 | 307 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 308 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 309 | pc.printf("%d\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 310 | } |
Fairy_Paolina | 9:f34700716f1d | 311 | |
jjcarr2 | 13:b6480275c445 | 312 | if(range > 15) { |
jjcarr2 | 13:b6480275c445 | 313 | //pc.printf("wavegap %f\r\n",wavegap); |
Fairy_Paolina | 3:58726d2e11f0 | 314 | // AT WAVE OPENING!!!! |
jjcarr2 | 13:b6480275c445 | 315 | motors.setMotor1Speed(dir*0.28*127);//left |
jjcarr2 | 13:b6480275c445 | 316 | motors.setMotor0Speed(dir*0.25*127);//right |
Fairy_Paolina | 9:f34700716f1d | 317 | } else { |
Fairy_Paolina | 9:f34700716f1d | 318 | |
Fairy_Paolina | 6:f5c26372b2d0 | 319 | pid1.setProcessValue(range); |
Fairy_Paolina | 6:f5c26372b2d0 | 320 | pid_return = pid1.compute(); |
Fairy_Paolina | 9:f34700716f1d | 321 | |
Fairy_Paolina | 6:f5c26372b2d0 | 322 | if(pid_return > 0) { |
Fairy_Paolina | 9:f34700716f1d | 323 | if(side) { |
Fairy_Paolina | 6:f5c26372b2d0 | 324 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 325 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 9:f34700716f1d | 326 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 327 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 328 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 329 | } |
Fairy_Paolina | 9:f34700716f1d | 330 | } else if(pid_return < 0) { |
Fairy_Paolina | 9:f34700716f1d | 331 | if(side) { |
Fairy_Paolina | 6:f5c26372b2d0 | 332 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 333 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 9:f34700716f1d | 334 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 335 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 336 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 337 | } |
Fairy_Paolina | 9:f34700716f1d | 338 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 339 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 340 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 341 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 342 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 343 | } |
jjcarr2 | 13:b6480275c445 | 344 | |
jjcarr2 | 13:b6480275c445 | 345 | //STOP |
jjcarr2 | 13:b6480275c445 | 346 | motors.setMotor0Speed(dir*-0.3*127); //right |
jjcarr2 | 13:b6480275c445 | 347 | motors.setMotor1Speed(dir*-0.3*127); //left |
jjcarr2 | 13:b6480275c445 | 348 | wait_ms(10); |
jjcarr2 | 13:b6480275c445 | 349 | motors.stopBothMotors(0); |
Fairy_Paolina | 0:ff94cc47fef7 | 350 | } |
Fairy_Paolina | 9:f34700716f1d | 351 | |
Fairy_Paolina | 0:ff94cc47fef7 | 352 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
Fairy_Paolina | 9:f34700716f1d | 353 | |
jjcarr2 | 13:b6480275c445 | 354 | void wall_follow2(int side, int direction, int section, float location, int rig) |
Fairy_Paolina | 0:ff94cc47fef7 | 355 | { |
jjcarr2 | 13:b6480275c445 | 356 | int dir=1, limit=80, lowlim=5; |
jjcarr2 | 13:b6480275c445 | 357 | float set=6, loc=0, Rigloc=0; |
jjcarr2 | 13:b6480275c445 | 358 | bool SeeWaveGap = false; |
jjcarr2 | 13:b6480275c445 | 359 | |
jjcarr2 | 13:b6480275c445 | 360 | if(rig == 1) Rigloc= 16; |
jjcarr2 | 13:b6480275c445 | 361 | else if(rig == 2) Rigloc= 45; |
jjcarr2 | 13:b6480275c445 | 362 | else if(rig== 3) Rigloc = 70; |
Fairy_Paolina | 9:f34700716f1d | 363 | |
Fairy_Paolina | 4:f2333e66ec2c | 364 | pid1.reset(); |
Fairy_Paolina | 9:f34700716f1d | 365 | |
jjcarr2 | 13:b6480275c445 | 366 | if(direction == BACKWARD) { |
jjcarr2 | 13:b6480275c445 | 367 | dir=-1; |
jjcarr2 | 13:b6480275c445 | 368 | limit = 100; |
jjcarr2 | 13:b6480275c445 | 369 | } |
jjcarr2 | 12:081b8fc654af | 370 | if(section == TOOLS) { |
jjcarr2 | 13:b6480275c445 | 371 | set= 6; |
jjcarr2 | 13:b6480275c445 | 372 | limit = 86; |
jjcarr2 | 11:12ce7600f2f9 | 373 | } |
jjcarr2 | 13:b6480275c445 | 374 | if(section == RETURN) lowlim=15; |
jjcarr2 | 12:081b8fc654af | 375 | |
Fairy_Paolina | 3:58726d2e11f0 | 376 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 377 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 378 | |
jjcarr2 | 13:b6480275c445 | 379 | //pc.printf("before %f\r\n", location); |
jjcarr2 | 13:b6480275c445 | 380 | |
jjcarr2 | 13:b6480275c445 | 381 | pc.printf("dir*loc+location %f\r\n",dir*loc + location ); |
jjcarr2 | 13:b6480275c445 | 382 | pc.printf("limit %d \r\n", limit); |
jjcarr2 | 13:b6480275c445 | 383 | |
jjcarr2 | 13:b6480275c445 | 384 | while((dir*loc + location <= limit) && (dir*loc + location >= lowlim)) { |
jjcarr2 | 13:b6480275c445 | 385 | |
Fairy_Paolina | 7:78745a518957 | 386 | loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 13:b6480275c445 | 387 | //pc.printf("loc %f \r\n", loc); |
Fairy_Paolina | 9:f34700716f1d | 388 | |
Fairy_Paolina | 5:70ccef3734ae | 389 | pid1.setInputLimits(0.0, set); |
Fairy_Paolina | 1:801f0b9a862a | 390 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 5:70ccef3734ae | 391 | pid1.setSetPoint(set); |
Fairy_Paolina | 9:f34700716f1d | 392 | |
Fairy_Paolina | 9:f34700716f1d | 393 | if(side) { |
Fairy_Paolina | 2:3d0be48abcf2 | 394 | rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 395 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 396 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 397 | } else { |
Fairy_Paolina | 2:3d0be48abcf2 | 398 | rangeFinderRight.startMeas(); |
jjcarr2 | 13:b6480275c445 | 399 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 400 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 401 | } |
Fairy_Paolina | 9:f34700716f1d | 402 | |
jjcarr2 | 12:081b8fc654af | 403 | if(section == RIGS) { |
jjcarr2 | 13:b6480275c445 | 404 | rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 405 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 406 | rangeFinderLeft.getMeas(range2); |
jjcarr2 | 13:b6480275c445 | 407 | |
jjcarr2 | 13:b6480275c445 | 408 | if(range2< 20) { |
jjcarr2 | 13:b6480275c445 | 409 | if( abs(dir*loc + location - Rigloc) < 10) { |
jjcarr2 | 13:b6480275c445 | 410 | //STOP |
jjcarr2 | 13:b6480275c445 | 411 | motors.setMotor0Speed(dir*-0.25*127); //right |
jjcarr2 | 13:b6480275c445 | 412 | motors.setMotor1Speed(dir*-0.25*127); //left |
jjcarr2 | 13:b6480275c445 | 413 | wait_ms(5); |
jjcarr2 | 13:b6480275c445 | 414 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 415 | break; |
jjcarr2 | 13:b6480275c445 | 416 | } |
jjcarr2 | 12:081b8fc654af | 417 | } |
jjcarr2 | 12:081b8fc654af | 418 | } |
jjcarr2 | 12:081b8fc654af | 419 | |
Fairy_Paolina | 9:f34700716f1d | 420 | |
jjcarr2 | 13:b6480275c445 | 421 | //pc.printf("wall follow 2 range %f\r\n",range); |
jjcarr2 | 13:b6480275c445 | 422 | //pc.printf("loc+location = %f\r\n", loc+location); |
jjcarr2 | 13:b6480275c445 | 423 | if(range > 20 ) { |
jjcarr2 | 13:b6480275c445 | 424 | if(section == RIGS || section == RETURN) { |
jjcarr2 | 13:b6480275c445 | 425 | motors.setMotor0Speed(dir*0.25*127); //right |
jjcarr2 | 13:b6480275c445 | 426 | motors.setMotor1Speed(dir*0.25*127); //left |
jjcarr2 | 13:b6480275c445 | 427 | } else { |
jjcarr2 | 13:b6480275c445 | 428 | if(!SeeWaveGap) { |
jjcarr2 | 13:b6480275c445 | 429 | SeeWaveGap=true; |
jjcarr2 | 13:b6480275c445 | 430 | } else { |
jjcarr2 | 13:b6480275c445 | 431 | //STOP |
jjcarr2 | 13:b6480275c445 | 432 | motors.setMotor0Speed(dir*-0.25*127); //right |
jjcarr2 | 13:b6480275c445 | 433 | motors.setMotor1Speed(dir*-0.25*127); //left |
jjcarr2 | 13:b6480275c445 | 434 | wait_ms(5); |
jjcarr2 | 13:b6480275c445 | 435 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 436 | |
jjcarr2 | 13:b6480275c445 | 437 | pc.printf("wavegap\r\n"); |
jjcarr2 | 13:b6480275c445 | 438 | // AT WAVE OPENING!!!! |
jjcarr2 | 13:b6480275c445 | 439 | break; |
jjcarr2 | 13:b6480275c445 | 440 | } |
jjcarr2 | 13:b6480275c445 | 441 | } |
jjcarr2 | 11:12ce7600f2f9 | 442 | } else { |
jjcarr2 | 13:b6480275c445 | 443 | SeeWaveGap = false; |
jjcarr2 | 12:081b8fc654af | 444 | pid1.setProcessValue(range); |
jjcarr2 | 12:081b8fc654af | 445 | pid_return = pid1.compute(); |
jjcarr2 | 13:b6480275c445 | 446 | //pc.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
Fairy_Paolina | 9:f34700716f1d | 447 | |
jjcarr2 | 12:081b8fc654af | 448 | if(pid_return > 0) { |
jjcarr2 | 12:081b8fc654af | 449 | if(side) { |
jjcarr2 | 12:081b8fc654af | 450 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
jjcarr2 | 12:081b8fc654af | 451 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 12:081b8fc654af | 452 | } else { |
jjcarr2 | 12:081b8fc654af | 453 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
jjcarr2 | 12:081b8fc654af | 454 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 12:081b8fc654af | 455 | } |
jjcarr2 | 12:081b8fc654af | 456 | } else if(pid_return < 0) { |
jjcarr2 | 12:081b8fc654af | 457 | if(side) { |
jjcarr2 | 12:081b8fc654af | 458 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 12:081b8fc654af | 459 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
jjcarr2 | 12:081b8fc654af | 460 | } else { |
jjcarr2 | 12:081b8fc654af | 461 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 12:081b8fc654af | 462 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
jjcarr2 | 12:081b8fc654af | 463 | } |
Fairy_Paolina | 9:f34700716f1d | 464 | } else { |
jjcarr2 | 12:081b8fc654af | 465 | motors.setMotor0Speed(dir*MAX_SPEED); |
jjcarr2 | 12:081b8fc654af | 466 | motors.setMotor1Speed(dir*MAX_SPEED); |
Fairy_Paolina | 2:3d0be48abcf2 | 467 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 468 | } |
jjcarr2 | 12:081b8fc654af | 469 | } |
jjcarr2 | 13:b6480275c445 | 470 | |
jjcarr2 | 13:b6480275c445 | 471 | //STOP |
jjcarr2 | 13:b6480275c445 | 472 | motors.setMotor0Speed(dir*-0.3*127); //right |
jjcarr2 | 13:b6480275c445 | 473 | motors.setMotor1Speed(dir*-0.3*127); //left |
jjcarr2 | 13:b6480275c445 | 474 | wait_ms(5); |
jjcarr2 | 13:b6480275c445 | 475 | motors.stopBothMotors(0); |
Fairy_Paolina | 0:ff94cc47fef7 | 476 | } |
Fairy_Paolina | 9:f34700716f1d | 477 | |
Fairy_Paolina | 9:f34700716f1d | 478 | |
Fairy_Paolina | 9:f34700716f1d | 479 | void alignWithWall(int section) |
Fairy_Paolina | 9:f34700716f1d | 480 | { |
Fairy_Paolina | 6:f5c26372b2d0 | 481 | float usValue = 0; |
Fairy_Paolina | 9:f34700716f1d | 482 | |
Fairy_Paolina | 9:f34700716f1d | 483 | if(section == TOOLS) { |
jjcarr2 | 13:b6480275c445 | 484 | pc.printf("tools section align\r\n"); |
Fairy_Paolina | 6:f5c26372b2d0 | 485 | // turn at an angle |
Fairy_Paolina | 6:f5c26372b2d0 | 486 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 487 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 488 | motors.setMotor0Speed(-1.2*MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 489 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 490 | while(rightEncoder.getPulses()>-1000); |
jjcarr2 | 13:b6480275c445 | 491 | motors.stopBothMotors(0); |
Fairy_Paolina | 9:f34700716f1d | 492 | |
Fairy_Paolina | 6:f5c26372b2d0 | 493 | //go backwards toward wall |
Fairy_Paolina | 6:f5c26372b2d0 | 494 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 495 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 496 | motors.setMotor0Speed(-0.25*127); //right |
jjcarr2 | 13:b6480275c445 | 497 | motors.setMotor1Speed(-0.25*127); //left |
Fairy_Paolina | 7:78745a518957 | 498 | while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300); |
jjcarr2 | 13:b6480275c445 | 499 | motors.stopBothMotors(0); |
Fairy_Paolina | 9:f34700716f1d | 500 | |
Fairy_Paolina | 9:f34700716f1d | 501 | // turn left towards wall |
Fairy_Paolina | 6:f5c26372b2d0 | 502 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 503 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 504 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 505 | motors.setMotor1Speed(-MAX_SPEED); //left |
jjcarr2 | 13:b6480275c445 | 506 | while(rightEncoder.getPulses() < 20 || abs(leftEncoder.getPulses()) < 20); |
jjcarr2 | 13:b6480275c445 | 507 | |
jjcarr2 | 13:b6480275c445 | 508 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 509 | |
jjcarr2 | 13:b6480275c445 | 510 | // turning left |
jjcarr2 | 13:b6480275c445 | 511 | motors.setMotor0Speed(0.9*MAX_SPEED); //right |
jjcarr2 | 13:b6480275c445 | 512 | motors.setMotor1Speed(-0.9*MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 513 | |
jjcarr2 | 13:b6480275c445 | 514 | } else if( section == RIGS) { |
jjcarr2 | 13:b6480275c445 | 515 | // check distance to wall |
jjcarr2 | 13:b6480275c445 | 516 | rangeFinderRight.startMeas(); |
jjcarr2 | 13:b6480275c445 | 517 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 518 | rangeFinderRight.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 519 | |
jjcarr2 | 13:b6480275c445 | 520 | if(range < 4 || range > 20) return; |
jjcarr2 | 13:b6480275c445 | 521 | |
jjcarr2 | 13:b6480275c445 | 522 | // turn at an angle |
jjcarr2 | 13:b6480275c445 | 523 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 524 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 525 | motors.setMotor1Speed(-1.2*MAX_SPEED); //left |
jjcarr2 | 13:b6480275c445 | 526 | motors.setMotor0Speed(0.4*MAX_SPEED); //right |
jjcarr2 | 13:b6480275c445 | 527 | while(abs(leftEncoder.getPulses())<1000); |
jjcarr2 | 13:b6480275c445 | 528 | motors.stopBothMotors(0); |
Fairy_Paolina | 9:f34700716f1d | 529 | |
jjcarr2 | 13:b6480275c445 | 530 | //go backwards toward wall |
jjcarr2 | 13:b6480275c445 | 531 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 532 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 533 | motors.setMotor0Speed(-0.25*127); //right |
jjcarr2 | 13:b6480275c445 | 534 | motors.setMotor1Speed(-0.25*127); //left |
jjcarr2 | 13:b6480275c445 | 535 | while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150); |
jjcarr2 | 13:b6480275c445 | 536 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 537 | |
jjcarr2 | 13:b6480275c445 | 538 | // turn left towards wall |
jjcarr2 | 13:b6480275c445 | 539 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 540 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 541 | motors.setMotor0Speed(-MAX_SPEED); //right |
jjcarr2 | 13:b6480275c445 | 542 | motors.setMotor1Speed(MAX_SPEED); //left |
jjcarr2 | 13:b6480275c445 | 543 | while(abs(rightEncoder.getPulses()) < 20 || abs(leftEncoder.getPulses()) < 20); |
jjcarr2 | 13:b6480275c445 | 544 | |
jjcarr2 | 13:b6480275c445 | 545 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 546 | |
jjcarr2 | 13:b6480275c445 | 547 | // turning left |
jjcarr2 | 13:b6480275c445 | 548 | motors.setMotor0Speed(-0.9*MAX_SPEED); //right |
jjcarr2 | 13:b6480275c445 | 549 | motors.setMotor1Speed(0.9*MAX_SPEED); //left |
Fairy_Paolina | 7:78745a518957 | 550 | } else { |
jjcarr2 | 13:b6480275c445 | 551 | pc.printf("in mid section align\r\n"); |
jjcarr2 | 13:b6480275c445 | 552 | // turn right towards wall |
Fairy_Paolina | 8:11ef93eebe07 | 553 | rightTurn(); |
jjcarr2 | 13:b6480275c445 | 554 | // turning left towards wall |
jjcarr2 | 13:b6480275c445 | 555 | motors.setMotor0Speed(0.9*MAX_SPEED); //right |
jjcarr2 | 13:b6480275c445 | 556 | motors.setMotor1Speed(-0.9*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 557 | } |
Fairy_Paolina | 9:f34700716f1d | 558 | |
Fairy_Paolina | 6:f5c26372b2d0 | 559 | usValue = 0; |
Fairy_Paolina | 9:f34700716f1d | 560 | while(1) { |
jjcarr2 | 13:b6480275c445 | 561 | if(section == RIGS) { |
jjcarr2 | 13:b6480275c445 | 562 | rangeFinderRight.startMeas(); |
jjcarr2 | 13:b6480275c445 | 563 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 564 | rangeFinderRight.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 565 | } else { |
jjcarr2 | 13:b6480275c445 | 566 | rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 567 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 568 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 569 | } |
jjcarr2 | 13:b6480275c445 | 570 | pc.printf("Range %f \t OldValue %f\n\r",range, usValue); |
Fairy_Paolina | 9:f34700716f1d | 571 | if(range > usValue && usValue != 0 && range < 25) { |
Fairy_Paolina | 0:ff94cc47fef7 | 572 | break; |
Fairy_Paolina | 2:3d0be48abcf2 | 573 | } else { |
Fairy_Paolina | 9:f34700716f1d | 574 | usValue = range; |
Fairy_Paolina | 0:ff94cc47fef7 | 575 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 576 | } |
jjcarr2 | 13:b6480275c445 | 577 | motors.stopBothMotors(0); |
Fairy_Paolina | 5:70ccef3734ae | 578 | } |
Fairy_Paolina | 9:f34700716f1d | 579 | |
Fairy_Paolina | 1:801f0b9a862a | 580 | void rightTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 581 | { |
Fairy_Paolina | 9:f34700716f1d | 582 | motors.begin(); |
Fairy_Paolina | 1:801f0b9a862a | 583 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 584 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 585 | motors.setMotor0Speed(-0.5*127);//right |
Fairy_Paolina | 9:f34700716f1d | 586 | motors.setMotor1Speed(0.5*127);//left |
jjcarr2 | 13:b6480275c445 | 587 | while(abs(leftEncoder.getPulses())<950 || abs(rightEncoder.getPulses())<950); |
jjcarr2 | 13:b6480275c445 | 588 | motors.stopBothMotors(0); |
Fairy_Paolina | 1:801f0b9a862a | 589 | } |
Fairy_Paolina | 9:f34700716f1d | 590 | |
Fairy_Paolina | 1:801f0b9a862a | 591 | void leftTurn(void) |
Fairy_Paolina | 9:f34700716f1d | 592 | { |
Fairy_Paolina | 9:f34700716f1d | 593 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 594 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 595 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 596 | motors.setMotor0Speed(0.5*127);// right |
Fairy_Paolina | 9:f34700716f1d | 597 | motors.setMotor1Speed(-0.5*127);// left |
jjcarr2 | 11:12ce7600f2f9 | 598 | while(abs(leftEncoder.getPulses())<1100 || rightEncoder.getPulses()<1100); |
jjcarr2 | 13:b6480275c445 | 599 | motors.stopBothMotors(0); |
Fairy_Paolina | 5:70ccef3734ae | 600 | } |
jjcarr2 | 11:12ce7600f2f9 | 601 | |
jjcarr2 | 12:081b8fc654af | 602 | void slightleft(void) |
jjcarr2 | 12:081b8fc654af | 603 | { |
jjcarr2 | 12:081b8fc654af | 604 | |
Fairy_Paolina | 9:f34700716f1d | 605 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 606 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 607 | motors.setMotor0Speed(0.5*127);// right |
Fairy_Paolina | 9:f34700716f1d | 608 | motors.setMotor1Speed(-0.5*127);// left |
jjcarr2 | 13:b6480275c445 | 609 | while(abs(leftEncoder.getPulses())<90 || rightEncoder.getPulses()<90); |
jjcarr2 | 13:b6480275c445 | 610 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 611 | } |
jjcarr2 | 13:b6480275c445 | 612 | |
jjcarr2 | 13:b6480275c445 | 613 | void slightright(void) |
jjcarr2 | 13:b6480275c445 | 614 | { |
jjcarr2 | 13:b6480275c445 | 615 | |
jjcarr2 | 13:b6480275c445 | 616 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 617 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 618 | motors.setMotor0Speed(-0.4*127);// right |
jjcarr2 | 13:b6480275c445 | 619 | motors.setMotor1Speed(0.4*127);// left |
jjcarr2 | 13:b6480275c445 | 620 | while(abs(leftEncoder.getPulses())<90 || abs(rightEncoder.getPulses())<90); |
jjcarr2 | 13:b6480275c445 | 621 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 622 | } |
jjcarr2 | 13:b6480275c445 | 623 | |
jjcarr2 | 13:b6480275c445 | 624 | void slightMove(int direction, float pulses) |
jjcarr2 | 13:b6480275c445 | 625 | { |
jjcarr2 | 13:b6480275c445 | 626 | int dir=1; |
jjcarr2 | 13:b6480275c445 | 627 | |
jjcarr2 | 13:b6480275c445 | 628 | if(direction == BACKWARD) dir= -1; |
jjcarr2 | 13:b6480275c445 | 629 | |
jjcarr2 | 13:b6480275c445 | 630 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 631 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 632 | motors.setMotor0Speed(dir*0.22*127); //right |
jjcarr2 | 13:b6480275c445 | 633 | motors.setMotor1Speed(dir*0.25*127); //left |
jjcarr2 | 13:b6480275c445 | 634 | while(abs(leftEncoder.getPulses()) < pulses || abs(rightEncoder.getPulses()) < pulses); |
jjcarr2 | 13:b6480275c445 | 635 | /* |
jjcarr2 | 13:b6480275c445 | 636 | motors.setMotor0Speed(dir*-0.25*127); //right |
jjcarr2 | 13:b6480275c445 | 637 | motors.setMotor1Speed(dir*-0.25*127); //left |
jjcarr2 | 13:b6480275c445 | 638 | wait_ms(10); |
jjcarr2 | 13:b6480275c445 | 639 | */ |
jjcarr2 | 13:b6480275c445 | 640 | motors.stopBothMotors(127); |
jjcarr2 | 13:b6480275c445 | 641 | |
Fairy_Paolina | 9:f34700716f1d | 642 | } |
Fairy_Paolina | 9:f34700716f1d | 643 | |
jjcarr2 | 12:081b8fc654af | 644 | void UntilWall(int dir) |
jjcarr2 | 12:081b8fc654af | 645 | { |
jjcarr2 | 12:081b8fc654af | 646 | |
jjcarr2 | 12:081b8fc654af | 647 | if(dir == BACKWARD) dir=-1; |
jjcarr2 | 12:081b8fc654af | 648 | |
jjcarr2 | 12:081b8fc654af | 649 | leftEncoder.reset(); |
jjcarr2 | 12:081b8fc654af | 650 | rightEncoder.reset(); |
jjcarr2 | 12:081b8fc654af | 651 | motors.setMotor0Speed(dir*0.2*127); //right |
jjcarr2 | 12:081b8fc654af | 652 | motors.setMotor1Speed(dir*0.2*127); //left |
jjcarr2 | 12:081b8fc654af | 653 | |
jjcarr2 | 12:081b8fc654af | 654 | range = 30; |
jjcarr2 | 12:081b8fc654af | 655 | |
jjcarr2 | 12:081b8fc654af | 656 | while(range > 20) { |
jjcarr2 | 12:081b8fc654af | 657 | rangeFinderRight.startMeas(); |
jjcarr2 | 12:081b8fc654af | 658 | wait_ms(20); |
jjcarr2 | 12:081b8fc654af | 659 | rangeFinderRight.getMeas(range); |
jjcarr2 | 12:081b8fc654af | 660 | } |
jjcarr2 | 12:081b8fc654af | 661 | |
jjcarr2 | 12:081b8fc654af | 662 | motors.setMotor0Speed(dir*-0.2*127); //right |
jjcarr2 | 12:081b8fc654af | 663 | motors.setMotor1Speed(dir*-0.2*127); //left |
jjcarr2 | 12:081b8fc654af | 664 | wait_ms(5); |
jjcarr2 | 13:b6480275c445 | 665 | motors.stopBothMotors(0); |
jjcarr2 | 12:081b8fc654af | 666 | } |
Fairy_Paolina | 9:f34700716f1d | 667 | |
Fairy_Paolina | 9:f34700716f1d | 668 | void overBump(int section) |
Fairy_Paolina | 9:f34700716f1d | 669 | { |
Fairy_Paolina | 9:f34700716f1d | 670 | int preLeft=5000, preRight=5000, out=0; |
jjcarr2 | 12:081b8fc654af | 671 | |
Fairy_Paolina | 9:f34700716f1d | 672 | motors.begin(); |
jjcarr2 | 13:b6480275c445 | 673 | // slight backwards |
Fairy_Paolina | 3:58726d2e11f0 | 674 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 675 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 676 | motors.setMotor0Speed(-0.25*127); //right |
jjcarr2 | 13:b6480275c445 | 677 | motors.setMotor1Speed(-0.25*127); //left |
jjcarr2 | 13:b6480275c445 | 678 | while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50); |
jjcarr2 | 13:b6480275c445 | 679 | motors.stopBothMotors(0); |
jjcarr2 | 12:081b8fc654af | 680 | |
jjcarr2 | 13:b6480275c445 | 681 | pc.printf("slight backwards\r\n"); |
jjcarr2 | 13:b6480275c445 | 682 | wait_ms(200); |
jjcarr2 | 12:081b8fc654af | 683 | |
Fairy_Paolina | 8:11ef93eebe07 | 684 | leftEncoder.reset(); |
Fairy_Paolina | 8:11ef93eebe07 | 685 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 686 | motors.setMotor0Speed(0.3*127); //right |
Fairy_Paolina | 9:f34700716f1d | 687 | motors.setMotor1Speed(0.3*127); //left |
jjcarr2 | 13:b6480275c445 | 688 | while((abs(leftEncoder.getPulses()) < 800 || abs(rightEncoder.getPulses()) < 800) /*&& preLeft!=0*/ && IR.getDistance() >15 ) { |
jjcarr2 | 13:b6480275c445 | 689 | /*preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 690 | preRight=rightEncoder.getPulses(); |
jjcarr2 | 13:b6480275c445 | 691 | wait_ms(200); |
jjcarr2 | 13:b6480275c445 | 692 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;*/ |
Fairy_Paolina | 8:11ef93eebe07 | 693 | } |
Fairy_Paolina | 9:f34700716f1d | 694 | |
jjcarr2 | 13:b6480275c445 | 695 | pc.printf("forward \r\n"); |
jjcarr2 | 13:b6480275c445 | 696 | wait_ms(200); |
jjcarr2 | 13:b6480275c445 | 697 | /* |
jjcarr2 | 13:b6480275c445 | 698 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 699 | motors.begin(); |
jjcarr2 | 13:b6480275c445 | 700 | |
jjcarr2 | 13:b6480275c445 | 701 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 702 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 703 | motors.setMotor0Speed(0.3*127); //right |
jjcarr2 | 13:b6480275c445 | 704 | motors.setMotor1Speed(0.3*127); //left |
jjcarr2 | 13:b6480275c445 | 705 | |
jjcarr2 | 13:b6480275c445 | 706 | while(!out) { |
jjcarr2 | 13:b6480275c445 | 707 | preLeft=leftEncoder.getPulses(); |
jjcarr2 | 13:b6480275c445 | 708 | preRight=rightEncoder.getPulses(); |
jjcarr2 | 13:b6480275c445 | 709 | |
jjcarr2 | 13:b6480275c445 | 710 | rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 711 | rangeFinderRight.startMeas(); |
jjcarr2 | 13:b6480275c445 | 712 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 713 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 714 | rangeFinderRight.getMeas(range2); |
jjcarr2 | 13:b6480275c445 | 715 | if(range < 10 || range2 < 10) out=1; |
jjcarr2 | 13:b6480275c445 | 716 | |
jjcarr2 | 13:b6480275c445 | 717 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) { |
jjcarr2 | 13:b6480275c445 | 718 | motors.setMotor0Speed(0.4*127); //right |
jjcarr2 | 13:b6480275c445 | 719 | motors.setMotor1Speed(0.4*127); //left |
jjcarr2 | 13:b6480275c445 | 720 | wait_ms(50); |
jjcarr2 | 13:b6480275c445 | 721 | out=1; |
jjcarr2 | 13:b6480275c445 | 722 | } |
jjcarr2 | 13:b6480275c445 | 723 | if(abs(leftEncoder.getPulses()) >1000 || abs(leftEncoder.getPulses())>1000) out=1; |
jjcarr2 | 13:b6480275c445 | 724 | } |
jjcarr2 | 13:b6480275c445 | 725 | */ |
jjcarr2 | 13:b6480275c445 | 726 | |
jjcarr2 | 13:b6480275c445 | 727 | motors.stopBothMotors(0); |
Fairy_Paolina | 9:f34700716f1d | 728 | motors.begin(); |
jjcarr2 | 12:081b8fc654af | 729 | |
Fairy_Paolina | 8:11ef93eebe07 | 730 | preLeft=preRight=5000 ; |
Fairy_Paolina | 8:11ef93eebe07 | 731 | leftEncoder.reset(); |
Fairy_Paolina | 8:11ef93eebe07 | 732 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 733 | motors.setMotor0Speed(.25*127); //right |
Fairy_Paolina | 9:f34700716f1d | 734 | motors.setMotor1Speed(.25*127); //left |
Fairy_Paolina | 9:f34700716f1d | 735 | |
jjcarr2 | 13:b6480275c445 | 736 | if(section == TOOLS) { |
jjcarr2 | 13:b6480275c445 | 737 | while(IR.getDistance() > 10 && (abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) { |
jjcarr2 | 13:b6480275c445 | 738 | |
jjcarr2 | 13:b6480275c445 | 739 | if(IR.getDistance() > 38) break; |
jjcarr2 | 13:b6480275c445 | 740 | |
jjcarr2 | 13:b6480275c445 | 741 | preLeft=leftEncoder.getPulses(); |
jjcarr2 | 13:b6480275c445 | 742 | preRight=rightEncoder.getPulses(); |
jjcarr2 | 13:b6480275c445 | 743 | wait_ms(200); |
jjcarr2 | 13:b6480275c445 | 744 | } |
jjcarr2 | 13:b6480275c445 | 745 | } else if(section == MID || section == MID2) { |
jjcarr2 | 13:b6480275c445 | 746 | if(section == MID2) while(IR.getDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400)); |
jjcarr2 | 13:b6480275c445 | 747 | while(IR.getDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) { |
jjcarr2 | 13:b6480275c445 | 748 | |
jjcarr2 | 13:b6480275c445 | 749 | if(IR.getDistance() > 38) break; |
jjcarr2 | 13:b6480275c445 | 750 | |
jjcarr2 | 13:b6480275c445 | 751 | preLeft=leftEncoder.getPulses(); |
jjcarr2 | 13:b6480275c445 | 752 | preRight=rightEncoder.getPulses(); |
jjcarr2 | 13:b6480275c445 | 753 | wait_ms(200); |
Fairy_Paolina | 9:f34700716f1d | 754 | } |
jjcarr2 | 13:b6480275c445 | 755 | |
jjcarr2 | 13:b6480275c445 | 756 | } else { |
jjcarr2 | 13:b6480275c445 | 757 | while(abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100); |
jjcarr2 | 13:b6480275c445 | 758 | |
jjcarr2 | 13:b6480275c445 | 759 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 760 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 761 | |
jjcarr2 | 13:b6480275c445 | 762 | motors.setMotor0Speed(-.15*127); //right |
jjcarr2 | 13:b6480275c445 | 763 | motors.setMotor1Speed(-.15*127); //left |
jjcarr2 | 13:b6480275c445 | 764 | while((abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100) && preLeft!=0 ) { |
jjcarr2 | 13:b6480275c445 | 765 | preLeft = leftEncoder.getPulses(); |
jjcarr2 | 13:b6480275c445 | 766 | preRight = rightEncoder.getPulses(); |
jjcarr2 | 13:b6480275c445 | 767 | wait_ms(200); |
jjcarr2 | 13:b6480275c445 | 768 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
jjcarr2 | 13:b6480275c445 | 769 | } |
jjcarr2 | 13:b6480275c445 | 770 | |
jjcarr2 | 13:b6480275c445 | 771 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 772 | rightEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 773 | |
jjcarr2 | 13:b6480275c445 | 774 | motors.setMotor0Speed(0.25*127); //right |
jjcarr2 | 13:b6480275c445 | 775 | motors.setMotor1Speed(0.25*127); //left |
jjcarr2 | 13:b6480275c445 | 776 | while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10)); |
jjcarr2 | 13:b6480275c445 | 777 | |
jjcarr2 | 13:b6480275c445 | 778 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 779 | |
jjcarr2 | 13:b6480275c445 | 780 | return; |
jjcarr2 | 13:b6480275c445 | 781 | } |
jjcarr2 | 13:b6480275c445 | 782 | |
jjcarr2 | 13:b6480275c445 | 783 | leftEncoder.reset(); |
jjcarr2 | 13:b6480275c445 | 784 | rightEncoder.reset(); |
Fairy_Paolina | 8:11ef93eebe07 | 785 | |
Fairy_Paolina | 9:f34700716f1d | 786 | motors.setMotor0Speed(-.25*127); //right |
Fairy_Paolina | 9:f34700716f1d | 787 | motors.setMotor1Speed(-.25*127); //left |
jjcarr2 | 13:b6480275c445 | 788 | while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10)); |
jjcarr2 | 13:b6480275c445 | 789 | |
jjcarr2 | 13:b6480275c445 | 790 | motors.stopBothMotors(0); |
jjcarr2 | 13:b6480275c445 | 791 | wait_ms(20); |
Fairy_Paolina | 9:f34700716f1d | 792 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 793 | |
Fairy_Paolina | 3:58726d2e11f0 | 794 | } |
Fairy_Paolina | 9:f34700716f1d | 795 | |
Fairy_Paolina | 9:f34700716f1d | 796 | void tools_section(float* location, float ¤t) |
Fairy_Paolina | 9:f34700716f1d | 797 | { |
jjcarr2 | 13:b6480275c445 | 798 | slightMove(FORWARD,3200); |
jjcarr2 | 13:b6480275c445 | 799 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 9:f34700716f1d | 800 | |
jjcarr2 | 13:b6480275c445 | 801 | wait(2); |
jjcarr2 | 13:b6480275c445 | 802 | slightMove(FORWARD,3200); |
jjcarr2 | 13:b6480275c445 | 803 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 13:b6480275c445 | 804 | /* |
jjcarr2 | 13:b6480275c445 | 805 | wall_follow_to_mid(LEFT,FORWARD, TOOLS); |
jjcarr2 | 13:b6480275c445 | 806 | // current position in reference to the starting position |
jjcarr2 | 13:b6480275c445 | 807 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 12:081b8fc654af | 808 | |
jjcarr2 | 13:b6480275c445 | 809 | wait(2); |
Fairy_Paolina | 9:f34700716f1d | 810 | |
jjcarr2 | 13:b6480275c445 | 811 | wall_follow(LEFT,FORWARD, TOOLS, current); |
jjcarr2 | 13:b6480275c445 | 812 | // current position in reference to the starting position |
jjcarr2 | 13:b6480275c445 | 813 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 13:b6480275c445 | 814 | */ |
jjcarr2 | 13:b6480275c445 | 815 | //////////////////////////////// determine tool |
jjcarr2 | 13:b6480275c445 | 816 | wait(2); |
jjcarr2 | 13:b6480275c445 | 817 | /////////////////////////////////////////////////////////////////////////////////////// |
jjcarr2 | 13:b6480275c445 | 818 | // Move Forward |
jjcarr2 | 13:b6480275c445 | 819 | slightMove(FORWARD, 100); |
jjcarr2 | 12:081b8fc654af | 820 | |
jjcarr2 | 13:b6480275c445 | 821 | //////////////////////////////////////////Tool aquiring |
Fairy_Paolina | 6:f5c26372b2d0 | 822 | wait(2); |
jjcarr2 | 13:b6480275c445 | 823 | //////////////////////////////////////////////////////////////////// After tool is aquired |
Fairy_Paolina | 9:f34700716f1d | 824 | |
Fairy_Paolina | 6:f5c26372b2d0 | 825 | alignWithWall(TOOLS); |
jjcarr2 | 13:b6480275c445 | 826 | pc.printf("align\r\n"); |
Fairy_Paolina | 6:f5c26372b2d0 | 827 | wait_ms(100); |
jjcarr2 | 12:081b8fc654af | 828 | |
jjcarr2 | 13:b6480275c445 | 829 | //wall_follow2(LEFT,FORWARD,MID, current); |
jjcarr2 | 13:b6480275c445 | 830 | //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 831 | |
Fairy_Paolina | 6:f5c26372b2d0 | 832 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 6:f5c26372b2d0 | 833 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 834 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 835 | |
Fairy_Paolina | 9:f34700716f1d | 836 | if(range < 20) { |
jjcarr2 | 13:b6480275c445 | 837 | wall_follow2(LEFT,BACKWARD,TOOLS, current,0); |
jjcarr2 | 13:b6480275c445 | 838 | pc.printf("wall follow\r\n"); |
jjcarr2 | 11:12ce7600f2f9 | 839 | location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 11:12ce7600f2f9 | 840 | current= location[0]; |
jjcarr2 | 13:b6480275c445 | 841 | pc.printf("current %f \r\n",current); |
jjcarr2 | 13:b6480275c445 | 842 | // go backwards |
Fairy_Paolina | 9:f34700716f1d | 843 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 844 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 845 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 9:f34700716f1d | 846 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 847 | while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120); |
jjcarr2 | 13:b6480275c445 | 848 | // hard stop |
Fairy_Paolina | 9:f34700716f1d | 849 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 850 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 851 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 9:f34700716f1d | 852 | motors.setMotor1Speed(MAX_SPEED); //left |
jjcarr2 | 13:b6480275c445 | 853 | while(abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses())< 10); |
jjcarr2 | 13:b6480275c445 | 854 | motors.stopBothMotors(0); |
Fairy_Paolina | 9:f34700716f1d | 855 | |
jjcarr2 | 13:b6480275c445 | 856 | wait_ms(100); |
Fairy_Paolina | 6:f5c26372b2d0 | 857 | leftTurn(); |
Fairy_Paolina | 8:11ef93eebe07 | 858 | overBump(TOOLS); |
Fairy_Paolina | 9:f34700716f1d | 859 | } else { |
jjcarr2 | 13:b6480275c445 | 860 | pc.printf("else greater than 20\r\n"); |
jjcarr2 | 13:b6480275c445 | 861 | location[0]= current; |
Fairy_Paolina | 6:f5c26372b2d0 | 862 | leftTurn(); |
jjcarr2 | 13:b6480275c445 | 863 | overBump(TOOLS); |
Fairy_Paolina | 9:f34700716f1d | 864 | } |
Fairy_Paolina | 9:f34700716f1d | 865 | |
jjcarr2 | 13:b6480275c445 | 866 | pc.printf("First Wavegap = %f\r\n",location[0]); |
Fairy_Paolina | 6:f5c26372b2d0 | 867 | } |
Fairy_Paolina | 9:f34700716f1d | 868 | |
Fairy_Paolina | 9:f34700716f1d | 869 | void mid_section(float* location, float ¤t, int* direction) |
Fairy_Paolina | 9:f34700716f1d | 870 | { |
Fairy_Paolina | 9:f34700716f1d | 871 | motors.begin(); |
jjcarr2 | 12:081b8fc654af | 872 | |
jjcarr2 | 13:b6480275c445 | 873 | if(IR.getDistance() > 38) { |
jjcarr2 | 12:081b8fc654af | 874 | direction[0]= STRAIGHT; |
jjcarr2 | 13:b6480275c445 | 875 | overBump(MID); |
jjcarr2 | 12:081b8fc654af | 876 | return; |
jjcarr2 | 12:081b8fc654af | 877 | } |
jjcarr2 | 13:b6480275c445 | 878 | pc.printf("before align with wall \r\n"); |
jjcarr2 | 13:b6480275c445 | 879 | alignWithWall(MID); |
jjcarr2 | 13:b6480275c445 | 880 | wait_ms(100); |
jjcarr2 | 13:b6480275c445 | 881 | |
jjcarr2 | 13:b6480275c445 | 882 | pc.printf("mid section current = %f\r\n",current); |
jjcarr2 | 13:b6480275c445 | 883 | wall_follow2(LEFT,FORWARD,MID, current,0); |
jjcarr2 | 13:b6480275c445 | 884 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 13:b6480275c445 | 885 | pc.printf("after wf2 current = %f\r\n",current); |
jjcarr2 | 13:b6480275c445 | 886 | |
jjcarr2 | 13:b6480275c445 | 887 | wait_ms(500); |
jjcarr2 | 13:b6480275c445 | 888 | rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 889 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 890 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 891 | |
jjcarr2 | 13:b6480275c445 | 892 | if(range > 20 ) { |
jjcarr2 | 13:b6480275c445 | 893 | direction[0]= RIGHT; |
jjcarr2 | 13:b6480275c445 | 894 | location[1]= current; |
jjcarr2 | 13:b6480275c445 | 895 | slightMove(FORWARD,75); |
jjcarr2 | 13:b6480275c445 | 896 | //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 13:b6480275c445 | 897 | } else { |
jjcarr2 | 13:b6480275c445 | 898 | direction[0]= LEFT; |
jjcarr2 | 13:b6480275c445 | 899 | wall_follow2(LEFT,BACKWARD,MID,current,0); |
jjcarr2 | 13:b6480275c445 | 900 | location[1]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 13:b6480275c445 | 901 | current= location[1]; |
jjcarr2 | 13:b6480275c445 | 902 | |
jjcarr2 | 13:b6480275c445 | 903 | if(location[1] < 18) { |
jjcarr2 | 13:b6480275c445 | 904 | slightMove(FORWARD, 50); |
jjcarr2 | 13:b6480275c445 | 905 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 13:b6480275c445 | 906 | } |
jjcarr2 | 13:b6480275c445 | 907 | |
jjcarr2 | 13:b6480275c445 | 908 | } |
jjcarr2 | 12:081b8fc654af | 909 | |
jjcarr2 | 13:b6480275c445 | 910 | pc.printf("wavegap2 = %f\r\n",location[1]); |
jjcarr2 | 13:b6480275c445 | 911 | leftTurn(); |
Fairy_Paolina | 9:f34700716f1d | 912 | |
jjcarr2 | 13:b6480275c445 | 913 | wait_ms(100); |
Fairy_Paolina | 9:f34700716f1d | 914 | |
jjcarr2 | 13:b6480275c445 | 915 | overBump(MID); |
Fairy_Paolina | 9:f34700716f1d | 916 | |
Fairy_Paolina | 6:f5c26372b2d0 | 917 | } |
Fairy_Paolina | 9:f34700716f1d | 918 | |
Fairy_Paolina | 9:f34700716f1d | 919 | void mid_section2(float* location, float ¤t, int* direction) |
Fairy_Paolina | 9:f34700716f1d | 920 | { |
Fairy_Paolina | 9:f34700716f1d | 921 | motors.begin(); |
jjcarr2 | 12:081b8fc654af | 922 | |
jjcarr2 | 13:b6480275c445 | 923 | pc.printf("mid section 2\r\n"); |
jjcarr2 | 13:b6480275c445 | 924 | |
jjcarr2 | 13:b6480275c445 | 925 | if(IR.getDistance() > 38) { |
jjcarr2 | 13:b6480275c445 | 926 | direction[1]= STRAIGHT; |
jjcarr2 | 13:b6480275c445 | 927 | overBump(RIGS); |
jjcarr2 | 12:081b8fc654af | 928 | return; |
jjcarr2 | 12:081b8fc654af | 929 | } |
jjcarr2 | 12:081b8fc654af | 930 | |
Fairy_Paolina | 6:f5c26372b2d0 | 931 | alignWithWall(MID); |
jjcarr2 | 13:b6480275c445 | 932 | pc.printf("midsection 2 alignt with wall mid \r\n"); |
jjcarr2 | 13:b6480275c445 | 933 | |
jjcarr2 | 13:b6480275c445 | 934 | wall_follow2(LEFT,FORWARD,MID, current,0); |
jjcarr2 | 13:b6480275c445 | 935 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 13:b6480275c445 | 936 | |
jjcarr2 | 13:b6480275c445 | 937 | wait_ms(500); |
Fairy_Paolina | 9:f34700716f1d | 938 | |
jjcarr2 | 13:b6480275c445 | 939 | pc.printf("midseection 2 after wf2 %f",current); |
jjcarr2 | 13:b6480275c445 | 940 | rangeFinderLeft.startMeas(); |
jjcarr2 | 13:b6480275c445 | 941 | wait_ms(20); |
jjcarr2 | 13:b6480275c445 | 942 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 13:b6480275c445 | 943 | |
jjcarr2 | 13:b6480275c445 | 944 | if(range > 20 ) { |
Fairy_Paolina | 6:f5c26372b2d0 | 945 | direction[1]= RIGHT; |
Fairy_Paolina | 6:f5c26372b2d0 | 946 | location[2]= current; |
jjcarr2 | 13:b6480275c445 | 947 | slightMove(FORWARD,75); |
jjcarr2 | 13:b6480275c445 | 948 | //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 9:f34700716f1d | 949 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 950 | direction[1]= LEFT; |
jjcarr2 | 13:b6480275c445 | 951 | wall_follow2(LEFT,BACKWARD,MID,current,0); |
jjcarr2 | 13:b6480275c445 | 952 | location[2]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 13:b6480275c445 | 953 | current=location[2]; |
jjcarr2 | 13:b6480275c445 | 954 | //slightMove(FORWARD,500); |
Fairy_Paolina | 6:f5c26372b2d0 | 955 | } |
Fairy_Paolina | 9:f34700716f1d | 956 | |
Fairy_Paolina | 9:f34700716f1d | 957 | leftTurn(); |
Fairy_Paolina | 8:11ef93eebe07 | 958 | overBump(RIGS); |
jjcarr2 | 13:b6480275c445 | 959 | pc.printf("overbump rigs\r\n"); |
Fairy_Paolina | 9:f34700716f1d | 960 | } |
Fairy_Paolina | 9:f34700716f1d | 961 | |
Fairy_Paolina | 9:f34700716f1d | 962 | void rig_section(float* location, float ¤t, int* direction, int rig) |
Fairy_Paolina | 9:f34700716f1d | 963 | { |
jjcarr2 | 12:081b8fc654af | 964 | float loc; |
jjcarr2 | 12:081b8fc654af | 965 | |
jjcarr2 | 13:b6480275c445 | 966 | if(rig == 1) loc= 15; |
jjcarr2 | 13:b6480275c445 | 967 | else if(rig == 2) loc= 45; |
jjcarr2 | 13:b6480275c445 | 968 | else loc = 75; |
jjcarr2 | 12:081b8fc654af | 969 | |
jjcarr2 | 12:081b8fc654af | 970 | rightTurn(); |
jjcarr2 | 13:b6480275c445 | 971 | slightright(); |
jjcarr2 | 12:081b8fc654af | 972 | |
jjcarr2 | 12:081b8fc654af | 973 | if(current > loc) { |
jjcarr2 | 13:b6480275c445 | 974 | pc.printf("RIG section %f\r\n",current); |
jjcarr2 | 13:b6480275c445 | 975 | wall_follow2(RIGHT, BACKWARD, RIGS, current, rig); |
jjcarr2 | 12:081b8fc654af | 976 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 977 | } else { |
jjcarr2 | 13:b6480275c445 | 978 | pc.printf("RIG section %f\r\n",current); |
jjcarr2 | 13:b6480275c445 | 979 | wall_follow2(RIGHT, FORWARD, RIGS, current, rig); |
jjcarr2 | 12:081b8fc654af | 980 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 981 | } |
jjcarr2 | 12:081b8fc654af | 982 | } |
jjcarr2 | 12:081b8fc654af | 983 | |
jjcarr2 | 12:081b8fc654af | 984 | void tools_section_return(float* location, float ¤t) |
jjcarr2 | 12:081b8fc654af | 985 | { |
jjcarr2 | 12:081b8fc654af | 986 | if(location[0] > 16) { |
jjcarr2 | 13:b6480275c445 | 987 | leftTurn(); |
jjcarr2 | 13:b6480275c445 | 988 | wall_follow2(LEFT, BACKWARD, RETURN, location[0], 0); |
jjcarr2 | 12:081b8fc654af | 989 | } |
jjcarr2 | 13:b6480275c445 | 990 | motors.stopBothMotors(0); |
jjcarr2 | 12:081b8fc654af | 991 | |
jjcarr2 | 12:081b8fc654af | 992 | } |
jjcarr2 | 12:081b8fc654af | 993 | |
jjcarr2 | 12:081b8fc654af | 994 | void mid_section_return(float* location, float ¤t, int* direction) |
jjcarr2 | 12:081b8fc654af | 995 | { |
jjcarr2 | 13:b6480275c445 | 996 | if(direction[0] == RIGHT) { |
jjcarr2 | 12:081b8fc654af | 997 | leftTurn(); |
jjcarr2 | 13:b6480275c445 | 998 | alignWithWall(MID); |
jjcarr2 | 13:b6480275c445 | 999 | wall_follow2(LEFT, BACKWARD, MID, current,0); |
jjcarr2 | 13:b6480275c445 | 1000 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 1001 | rightTurn(); |
jjcarr2 | 13:b6480275c445 | 1002 | } else if(direction[0] == LEFT) { |
jjcarr2 | 13:b6480275c445 | 1003 | leftTurn(); |
jjcarr2 | 13:b6480275c445 | 1004 | wall_follow2(RIGHT, FORWARD, MID, current,0); |
jjcarr2 | 13:b6480275c445 | 1005 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 13:b6480275c445 | 1006 | rightTurn(); |
jjcarr2 | 12:081b8fc654af | 1007 | } |
jjcarr2 | 13:b6480275c445 | 1008 | //ELSE and GO FORWARD |
jjcarr2 | 12:081b8fc654af | 1009 | overBump(RIGS); |
jjcarr2 | 12:081b8fc654af | 1010 | } |
jjcarr2 | 12:081b8fc654af | 1011 | |
jjcarr2 | 12:081b8fc654af | 1012 | void mid_section2_return(float* location, float ¤t, int* direction) |
jjcarr2 | 12:081b8fc654af | 1013 | { |
jjcarr2 | 13:b6480275c445 | 1014 | if(direction[1] == RIGHT) { |
jjcarr2 | 12:081b8fc654af | 1015 | leftTurn(); |
jjcarr2 | 13:b6480275c445 | 1016 | wall_follow2(LEFT, BACKWARD, MID, current,0); |
jjcarr2 | 13:b6480275c445 | 1017 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 1018 | rightTurn(); |
jjcarr2 | 13:b6480275c445 | 1019 | } else if(direction[1] == LEFT) { |
jjcarr2 | 13:b6480275c445 | 1020 | leftTurn(); |
jjcarr2 | 13:b6480275c445 | 1021 | wall_follow2(RIGHT, FORWARD, MID, current,0); |
jjcarr2 | 13:b6480275c445 | 1022 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 13:b6480275c445 | 1023 | rightTurn(); |
jjcarr2 | 12:081b8fc654af | 1024 | } |
jjcarr2 | 13:b6480275c445 | 1025 | //ELSE and GO FORWARD |
jjcarr2 | 12:081b8fc654af | 1026 | overBump(MID); |
jjcarr2 | 12:081b8fc654af | 1027 | } |
jjcarr2 | 12:081b8fc654af | 1028 | |
jjcarr2 | 13:b6480275c445 | 1029 | void rig_section_return(float* location, float ¤t, int* direction) |
jjcarr2 | 12:081b8fc654af | 1030 | { |
jjcarr2 | 13:b6480275c445 | 1031 | alignWithWall(RIGS); |
jjcarr2 | 12:081b8fc654af | 1032 | if(location[2] > current) { |
jjcarr2 | 13:b6480275c445 | 1033 | wall_follow2(RIGHT, FORWARD, MID, current,0); |
jjcarr2 | 13:b6480275c445 | 1034 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 1035 | } else { |
jjcarr2 | 13:b6480275c445 | 1036 | wall_follow2(RIGHT, BACKWARD, MID, current,0); |
jjcarr2 | 13:b6480275c445 | 1037 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 1038 | } |
jjcarr2 | 12:081b8fc654af | 1039 | rightTurn(); |
jjcarr2 | 13:b6480275c445 | 1040 | overBump(MID2); |
Fairy_Paolina | 8:11ef93eebe07 | 1041 | } |