Justin Carr
Yeah
Dependencies: HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of
NavigationTest
by 
Paolina Povolotskaya
Diff: main.cpp
- Revision:
- 13:b6480275c445
- Parent:
- 12:081b8fc654af
--- a/main.cpp Thu Mar 27 22:48:00 2014 +0000
+++ b/main.cpp Tue Apr 01 20:26:15 2014 +0000
@@ -26,8 +26,8 @@
#define TOOLS (0)
#define MID (1)
#define RIGS (2)
-#define RETURN (3)
-#define FIRST_WAVE (0)
+#define MID2 (3)
+#define RETURN (4)
#define FAR (1)
@@ -49,13 +49,15 @@
//Functions
-
-float wall_follow(int side, int direction, int section);
-void wall_follow2(int side, int direction, int section, float location);
-void wall_follow3(int ¤tLocation, int &WaveOpening);
+void test();
+void wall_follow(int side, int direction, int section, float location);
+void wall_follow_to_mid(int side, int direction, int section);
+void wall_follow2(int side, int direction, int section, float location, int rig);
void leftTurn(void);
void slightleft(void);
+void slightright(void);
void rightTurn(void);
+void slightMove(int direction, float pulses);
void us_distance(void);
void tools_section(float* location, float ¤t);
void mid_section(float* location, float ¤t, int* direction);
@@ -64,7 +66,7 @@
void tools_section_return(float* location, float ¤t);
void mid_section_return(float* location, float ¤t, int* direction);
void mid_section2_return(float* location, float ¤t, int* direction);
-void rig_section_return(float* location, float ¤t, int* direction, int rig);
+void rig_section_return(float* location, float ¤t, int* direction);
void overBump(int section);
void alignWithWall(int section);
void UntilWall(int dir);
@@ -74,36 +76,122 @@
int main(void)
{
- float location[3], current=0;
+ float location[3], current=4;
int direction[3];
double distance;
pc.baud(115200);
- bt.baud(115200);
+ pc.baud(115200);
motors.begin();
- bt.printf("START\r\n");
+ pc.printf("START\r\n");
//Go to tools
+ slightMove(FORWARD,3200);
+
+ wait(2);
+ slightMove(FORWARD,3200);
+
+ while(1);
tools_section(location, current);
mid_section(location, current, direction);
- //mid_section2(location, current, direction);
- /* while(1) {
- //bt.printf("IR %f\r\n", US.getDistance());
- rangeFinderLeft.startMeas();
- wait_ms(20);
- rangeFinderLeft.getMeas(range);
- bt.printf("Range = %f\n\r", range);
+ mid_section2(location, current, direction);
+ rig_section(location, current, direction, 3);
+ // fire putting out
+ wait(2);
+ //
+ rig_section_return(location, current, direction);
+ mid_section2_return(location, current, direction);
+ mid_section_return(location, current, direction);
+ tools_section_return(location,current);
- wait_ms(200);
- }*/
+ /*while(1) {
+ pc.printf("IR %f\r\n", IR.getDistance());
+ /*rangeFinderLeft.startMeas();
+ rangeFinderRight.startMeas();
+ wait_ms(38);
+ rangeFinderLeft.getMeas(range);
+ rangeFinderRight.getMeas(range);
+ pc.printf("leftRange = %f\n\r", range);
+ pc.printf("rightRange = %f\n\r", range);
+ wait_ms(200);
+ }*/
+//wall_follow2(LEFT,FORWARD,MID,0);
//leftTurn();
//rightTurn();
}
+void test( ){
+ /*
+ float set=6, loc=0;
+ int dir=1;
+
+ pid1.reset();
+
+ leftEncoder.reset();
+ rightEncoder.reset();
+
+ while(loc < 10) {
+ loc = (abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
+
+ pid1.setInputLimits(0, set);
+ pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
+ pid1.setSetPoint(set);
+ if(side) {
+ rangeFinderLeft.startMeas();
+ wait_ms(20);
+ rangeFinderLeft.getMeas(range);
+ } else {
+ rangeFinderRight.startMeas();
+ wait_ms(20);
+ rangeFinderRight.getMeas(range);
+ pc.printf("%d\r\n",range);
+ }
+
+ if(range > 15) {
+ //pc.printf("wavegap %f\r\n",wavegap);
+ // AT WAVE OPENING!!!!
+ motors.setMotor1Speed(dir*0.25*127);//left
+ motors.setMotor0Speed(dir*0.25*127);//right
+ } else {
+
+ pid1.setProcessValue(range);
+ pid_return = pid1.compute();
+
+ if(pid_return > 0) {
+ if(side) {
+ motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
+ motors.setMotor1Speed(dir*MAX_SPEED);//left
+ } else {
+ motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left
+ motors.setMotor0Speed(dir*MAX_SPEED);//right
+ }
+ } else if(pid_return < 0) {
+ if(side) {
+ motors.setMotor0Speed(dir*MAX_SPEED);//right
+ motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left
+ } else {
+ motors.setMotor1Speed(dir*MAX_SPEED);//left
+ motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right
+ }
+ } else {
+ motors.setMotor0Speed(dir*MAX_SPEED);//right
+ motors.setMotor1Speed(dir*MAX_SPEED);//left
+ }
+ }
+ }
+
+ //STOP
+ motors.setMotor0Speed(dir*-0.3*127); //right
+ motors.setMotor1Speed(dir*-0.3*127); //left
+ wait_ms(10);
+ motors.stopBothMotors(0);
+ */
+}
+
void errFunction(void)
{
//Nothing
@@ -119,9 +207,79 @@
}
}
-float wall_follow(int side, int direction, int section)
+void wall_follow(int side, int direction, int section, float location)
{
- float location, wavegap=0, set=5;
+ float set=6, loc=0;
+ int dir=1;
+
+ pid1.reset();
+
+ if(direction == BACKWARD) dir=-1;
+ if(section == TOOLS)set= 10;
+
+ leftEncoder.reset();
+ rightEncoder.reset();
+
+ while(loc + location< 66.5) {
+ loc = (abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
+
+ pid1.setInputLimits(0, set);
+ pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
+ pid1.setSetPoint(set);
+ if(side) {
+ rangeFinderLeft.startMeas();
+ wait_ms(20);
+ rangeFinderLeft.getMeas(range);
+ } else {
+ rangeFinderRight.startMeas();
+ wait_ms(20);
+ rangeFinderRight.getMeas(range);
+ pc.printf("%d\r\n",range);
+ }
+
+ if(range > 15) {
+ //pc.printf("wavegap %f\r\n",wavegap);
+ // AT WAVE OPENING!!!!
+ motors.setMotor1Speed(dir*0.28*127);//left
+ motors.setMotor0Speed(dir*0.25*127);//right
+ } else {
+
+ pid1.setProcessValue(range);
+ pid_return = pid1.compute();
+
+ if(pid_return > 0) {
+ if(side) {
+ motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
+ motors.setMotor1Speed(dir*MAX_SPEED);//left
+ } else {
+ motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left
+ motors.setMotor0Speed(dir*MAX_SPEED);//right
+ }
+ } else if(pid_return < 0) {
+ if(side) {
+ motors.setMotor0Speed(dir*MAX_SPEED);//right
+ motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left
+ } else {
+ motors.setMotor1Speed(dir*MAX_SPEED);//left
+ motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right
+ }
+ } else {
+ motors.setMotor0Speed(dir*MAX_SPEED);//right
+ motors.setMotor1Speed(dir*MAX_SPEED);//left
+ }
+ }
+ }
+
+ //STOP
+ motors.setMotor0Speed(dir*-0.3*127); //right
+ motors.setMotor1Speed(dir*-0.3*127); //left
+ wait_ms(10);
+ motors.stopBothMotors(0);
+}
+
+void wall_follow_to_mid(int side, int direction, int section)
+{
+ float location, set=6;
int dir=1;
pid1.reset();
@@ -134,12 +292,7 @@
location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
- while(location< 73) {
-
- if(section == RETURN) {
- if(location <10) break;
- }
-
+ while(location< 34) {
location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
pid1.setInputLimits(0, set);
@@ -147,21 +300,20 @@
pid1.setSetPoint(set);
if(side) {
rangeFinderLeft.startMeas();
- wait_ms(38);
+ wait_ms(20);
rangeFinderLeft.getMeas(range);
} else {
rangeFinderRight.startMeas();
- wait_ms(38);
+ wait_ms(20);
rangeFinderRight.getMeas(range);
pc.printf("%d\r\n",range);
}
- if(range > 20) {
- wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
- //bt.printf("wavegap %f\r\n",wavegap);
+ if(range > 15) {
+ //pc.printf("wavegap %f\r\n",wavegap);
// AT WAVE OPENING!!!!
- motors.setMotor1Speed(dir*0.4*127);//left
- motors.setMotor0Speed(dir*0.4*127);//right
+ motors.setMotor1Speed(dir*0.28*127);//left
+ motors.setMotor0Speed(dir*0.25*127);//right
} else {
pid1.setProcessValue(range);
@@ -189,30 +341,50 @@
}
}
}
- return wavegap;
+
+ //STOP
+ motors.setMotor0Speed(dir*-0.3*127); //right
+ motors.setMotor1Speed(dir*-0.3*127); //left
+ wait_ms(10);
+ motors.stopBothMotors(0);
}
/* MODIFIED WALL_FOLLOW FOR NAVIGATION */
-void wall_follow2(int side, int direction, int section, float location)
+void wall_follow2(int side, int direction, int section, float location, int rig)
{
- bool SeeWaveGap = false, dir=1, limit=83;
- float set=5, loc=0;
+ int dir=1, limit=80, lowlim=5;
+ float set=6, loc=0, Rigloc=0;
+ bool SeeWaveGap = false;
+
+ if(rig == 1) Rigloc= 16;
+ else if(rig == 2) Rigloc= 45;
+ else if(rig== 3) Rigloc = 70;
pid1.reset();
- if(direction == BACKWARD) dir=-1;
+ if(direction == BACKWARD) {
+ dir=-1;
+ limit = 100;
+ }
if(section == TOOLS) {
- set= 5;
- limit = 78;
+ set= 6;
+ limit = 86;
}
-
+ if(section == RETURN) lowlim=15;
leftEncoder.reset();
rightEncoder.reset();
- while(dir*loc + location <= limit) {
+ //pc.printf("before %f\r\n", location);
+
+ pc.printf("dir*loc+location %f\r\n",dir*loc + location );
+ pc.printf("limit %d \r\n", limit);
+
+ while((dir*loc + location <= limit) && (dir*loc + location >= lowlim)) {
+
loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
+ //pc.printf("loc %f \r\n", loc);
pid1.setInputLimits(0.0, set);
pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
@@ -220,42 +392,58 @@
if(side) {
rangeFinderLeft.startMeas();
- wait_ms(38);
+ wait_ms(20);
rangeFinderLeft.getMeas(range);
} else {
rangeFinderRight.startMeas();
- wait_ms(38);
+ wait_ms(20);
rangeFinderRight.getMeas(range);
}
if(section == RIGS) {
- rangeFinderRight.startMeas();
- wait_ms(38);
- rangeFinderRight.getMeas(range);
- if(range< 20) {
- motors.stopBothMotors();
- break;
+ rangeFinderLeft.startMeas();
+ wait_ms(20);
+ rangeFinderLeft.getMeas(range2);
+
+ if(range2< 20) {
+ if( abs(dir*loc + location - Rigloc) < 10) {
+ //STOP
+ motors.setMotor0Speed(dir*-0.25*127); //right
+ motors.setMotor1Speed(dir*-0.25*127); //left
+ wait_ms(5);
+ motors.stopBothMotors(0);
+ break;
+ }
}
}
- //bt.printf("wall follow 2 range %f\r\n",range);
- //bt.printf("loc+location = %f\r\n", loc+location);
- if(range > 20 && !SeeWaveGap) {
- motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
- motors.setMotor1Speed(dir*MAX_SPEED);//left
- wait_ms(30);
- SeeWaveGap = true;
- } else if(range > 20 && SeeWaveGap) {
- motors.stopBothMotors();
- bt.printf("wavegap\r\n");
- // AT WAVE OPENING!!!!
- break;
+ //pc.printf("wall follow 2 range %f\r\n",range);
+ //pc.printf("loc+location = %f\r\n", loc+location);
+ if(range > 20 ) {
+ if(section == RIGS || section == RETURN) {
+ motors.setMotor0Speed(dir*0.25*127); //right
+ motors.setMotor1Speed(dir*0.25*127); //left
+ } else {
+ if(!SeeWaveGap) {
+ SeeWaveGap=true;
+ } else {
+ //STOP
+ motors.setMotor0Speed(dir*-0.25*127); //right
+ motors.setMotor1Speed(dir*-0.25*127); //left
+ wait_ms(5);
+ motors.stopBothMotors(0);
+
+ pc.printf("wavegap\r\n");
+ // AT WAVE OPENING!!!!
+ break;
+ }
+ }
} else {
-
+ SeeWaveGap = false;
pid1.setProcessValue(range);
pid_return = pid1.compute();
- //bt.printf("Range: %f\n PID: %f\r\n", range, pid_return);
+ //pc.printf("Range: %f\n PID: %f\r\n", range, pid_return);
if(pid_return > 0) {
if(side) {
@@ -279,7 +467,12 @@
}
}
}
- motors.stopBothMotors();
+
+ //STOP
+ motors.setMotor0Speed(dir*-0.3*127); //right
+ motors.setMotor1Speed(dir*-0.3*127); //left
+ wait_ms(5);
+ motors.stopBothMotors(0);
}
@@ -288,53 +481,100 @@
float usValue = 0;
if(section == TOOLS) {
+ pc.printf("tools section align\r\n");
// turn at an angle
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(-1.2*MAX_SPEED); //right
motors.setMotor1Speed(0.4*MAX_SPEED); //left
while(rightEncoder.getPulses()>-1000);
- motors.stopBothMotors();
+ motors.stopBothMotors(0);
//go backwards toward wall
leftEncoder.reset();
rightEncoder.reset();
- motors.setMotor0Speed(-MAX_SPEED); //right
- motors.setMotor1Speed(-MAX_SPEED); //left
+ motors.setMotor0Speed(-0.25*127); //right
+ motors.setMotor1Speed(-0.25*127); //left
while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300);
-
- motors.stopBothMotors();
+ motors.stopBothMotors(0);
// turn left towards wall
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(MAX_SPEED); //right
motors.setMotor1Speed(-MAX_SPEED); //left
- while(rightEncoder.getPulses() < 10 || abs(leftEncoder.getPulses()) < 10);
+ while(rightEncoder.getPulses() < 20 || abs(leftEncoder.getPulses()) < 20);
+
+ motors.stopBothMotors(0);
+
+ // turning left
+ motors.setMotor0Speed(0.9*MAX_SPEED); //right
+ motors.setMotor1Speed(-0.9*MAX_SPEED); //left
- motors.stopBothMotors();
+ } else if( section == RIGS) {
+ // check distance to wall
+ rangeFinderRight.startMeas();
+ wait_ms(20);
+ rangeFinderRight.getMeas(range);
+
+ if(range < 4 || range > 20) return;
+
+ // turn at an angle
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor1Speed(-1.2*MAX_SPEED); //left
+ motors.setMotor0Speed(0.4*MAX_SPEED); //right
+ while(abs(leftEncoder.getPulses())<1000);
+ motors.stopBothMotors(0);
- motors.setMotor0Speed(0.7*MAX_SPEED); //right
- motors.setMotor1Speed(-0.7*MAX_SPEED); //left
+ //go backwards toward wall
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(-0.25*127); //right
+ motors.setMotor1Speed(-0.25*127); //left
+ while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150);
+ motors.stopBothMotors(0);
+
+ // turn left towards wall
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(-MAX_SPEED); //right
+ motors.setMotor1Speed(MAX_SPEED); //left
+ while(abs(rightEncoder.getPulses()) < 20 || abs(leftEncoder.getPulses()) < 20);
+
+ motors.stopBothMotors(0);
+
+ // turning left
+ motors.setMotor0Speed(-0.9*MAX_SPEED); //right
+ motors.setMotor1Speed(0.9*MAX_SPEED); //left
} else {
+ pc.printf("in mid section align\r\n");
+ // turn right towards wall
rightTurn();
- motors.setMotor0Speed(-0.7*MAX_SPEED); //right
- motors.setMotor1Speed(0.7*MAX_SPEED); //left
+ // turning left towards wall
+ motors.setMotor0Speed(0.9*MAX_SPEED); //right
+ motors.setMotor1Speed(-0.9*MAX_SPEED); //left
}
usValue = 0;
while(1) {
- rangeFinderLeft.startMeas();
- wait_ms(20);
- rangeFinderLeft.getMeas(range);
- //bt.printf("Range %f \t OldValue %f\n\r",range, usValue);
+ if(section == RIGS) {
+ rangeFinderRight.startMeas();
+ wait_ms(20);
+ rangeFinderRight.getMeas(range);
+ } else {
+ rangeFinderLeft.startMeas();
+ wait_ms(20);
+ rangeFinderLeft.getMeas(range);
+ }
+ pc.printf("Range %f \t OldValue %f\n\r",range, usValue);
if(range > usValue && usValue != 0 && range < 25) {
break;
} else {
usValue = range;
}
}
- motors.stopBothMotors();
+ motors.stopBothMotors(0);
}
void rightTurn(void)
@@ -344,27 +584,19 @@
rightEncoder.reset();
motors.setMotor0Speed(-0.5*127);//right
motors.setMotor1Speed(0.5*127);//left
- while(leftEncoder.getPulses()<900 || rightEncoder.getPulses()>-900);
- motors.stopBothMotors();
+ while(abs(leftEncoder.getPulses())<950 || abs(rightEncoder.getPulses())<950);
+ motors.stopBothMotors(0);
}
void leftTurn(void)
{
- /*
- leftEncoder.reset();
- rightEncoder.reset();
- motors.setMotor0Speed(0.4*MAX_SPEED); //right
- motors.setMotor1Speed(-MAX_SPEED); //left
- while(abs(leftEncoder.getPulses())<2500);
- motors.stopBothMotors();
- */
motors.begin();
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(0.5*127);// right
motors.setMotor1Speed(-0.5*127);// left
while(abs(leftEncoder.getPulses())<1100 || rightEncoder.getPulses()<1100);
- motors.stopBothMotors();
+ motors.stopBothMotors(0);
}
void slightleft(void)
@@ -374,8 +606,39 @@
rightEncoder.reset();
motors.setMotor0Speed(0.5*127);// right
motors.setMotor1Speed(-0.5*127);// left
- while(abs(leftEncoder.getPulses())<100 || rightEncoder.getPulses()<100);
- motors.stopBothMotors();
+ while(abs(leftEncoder.getPulses())<90 || rightEncoder.getPulses()<90);
+ motors.stopBothMotors(0);
+}
+
+void slightright(void)
+{
+
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(-0.4*127);// right
+ motors.setMotor1Speed(0.4*127);// left
+ while(abs(leftEncoder.getPulses())<90 || abs(rightEncoder.getPulses())<90);
+ motors.stopBothMotors(0);
+}
+
+void slightMove(int direction, float pulses)
+{
+ int dir=1;
+
+ if(direction == BACKWARD) dir= -1;
+
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(dir*0.22*127); //right
+ motors.setMotor1Speed(dir*0.25*127); //left
+ while(abs(leftEncoder.getPulses()) < pulses || abs(rightEncoder.getPulses()) < pulses);
+/*
+ motors.setMotor0Speed(dir*-0.25*127); //right
+ motors.setMotor1Speed(dir*-0.25*127); //left
+ wait_ms(10);
+*/
+ motors.stopBothMotors(127);
+
}
void UntilWall(int dir)
@@ -399,7 +662,7 @@
motors.setMotor0Speed(dir*-0.2*127); //right
motors.setMotor1Speed(dir*-0.2*127); //left
wait_ms(5);
- motors.stopBothMotors();
+ motors.stopBothMotors(0);
}
void overBump(int section)
@@ -407,70 +670,61 @@
int preLeft=5000, preRight=5000, out=0;
motors.begin();
-
- leftEncoder.reset();
- rightEncoder.reset();
- motors.setMotor0Speed(-0.2*127); //right
- motors.setMotor1Speed(-0.2*127); //left
- while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses())< 50);
- motors.stopBothMotors();
-
+ // slight backwards
leftEncoder.reset();
rightEncoder.reset();
- motors.setMotor0Speed(0.2*127); //right
- motors.setMotor1Speed(0.2*127); //left
- while(/*(abs(leftEncoder.getPulses()) < 1000 || abs(rightEncoder.getPulses())< 1000)*/ IR.getDistance() >20 && preLeft!=0) {
- preLeft=leftEncoder.getPulses();
- preRight=rightEncoder.getPulses();
- wait_ms(100);
- //bt.printf(" first while left %d right %d \r\n", preLeft, preRight);
- if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;
- }
+ motors.setMotor0Speed(-0.25*127); //right
+ motors.setMotor1Speed(-0.25*127); //left
+ while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50);
+ motors.stopBothMotors(0);
- motors.stopBothMotors();
- motors.begin();
- wait(2);
- /*
- motors.stopBothMotors();
- motors.setMotor0Speed(0.15*127); //right
- motors.setMotor1Speed(0.15*127); //left
- preLeft=preRight=5000 ;
- leftEncoder.reset();
- rightEncoder.reset();
- */
-// while(/*(abs(leftEncoder.getPulses()) < 1000 || abs(rightEncoder.getPulses())< 1000)*/ IR.getDistance() >20 && preLeft!=0){
- /* preLeft=leftEncoder.getPulses();
- preRight=rightEncoder.getPulses();
- bt.printf("second while left %d right %d \r\n", preLeft, preRight);
- wait_ms(200);
- if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;
- }*/
+ pc.printf("slight backwards\r\n");
+ wait_ms(200);
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(0.3*127); //right
motors.setMotor1Speed(0.3*127); //left
-
- while(!out) {
- preLeft=leftEncoder.getPulses();
+ while((abs(leftEncoder.getPulses()) < 800 || abs(rightEncoder.getPulses()) < 800) /*&& preLeft!=0*/ && IR.getDistance() >15 ) {
+ /*preLeft=leftEncoder.getPulses();
preRight=rightEncoder.getPulses();
-
- rangeFinderLeft.startMeas();
- rangeFinderRight.startMeas();
- wait_ms(20);
- rangeFinderLeft.getMeas(range);
- rangeFinderRight.getMeas(range2);
- if(range < 10 || range2 < 10) out=1;
-
- if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) {
- motors.setMotor0Speed(0.4*127); //right
- motors.setMotor1Speed(0.4*127); //left
- }
- if(abs(leftEncoder.getPulses()) >1000 || abs(leftEncoder.getPulses())>1000) out=1;
+ wait_ms(200);
+ if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;*/
}
- motors.stopBothMotors();
- wait(2);
+ pc.printf("forward \r\n");
+ wait_ms(200);
+ /*
+ motors.stopBothMotors(0);
+ motors.begin();
+
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(0.3*127); //right
+ motors.setMotor1Speed(0.3*127); //left
+
+ while(!out) {
+ preLeft=leftEncoder.getPulses();
+ preRight=rightEncoder.getPulses();
+
+ rangeFinderLeft.startMeas();
+ rangeFinderRight.startMeas();
+ wait_ms(20);
+ rangeFinderLeft.getMeas(range);
+ rangeFinderRight.getMeas(range2);
+ if(range < 10 || range2 < 10) out=1;
+
+ if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) {
+ motors.setMotor0Speed(0.4*127); //right
+ motors.setMotor1Speed(0.4*127); //left
+ wait_ms(50);
+ out=1;
+ }
+ if(abs(leftEncoder.getPulses()) >1000 || abs(leftEncoder.getPulses())>1000) out=1;
+ }
+ */
+
+ motors.stopBothMotors(0);
motors.begin();
preLeft=preRight=5000 ;
@@ -479,253 +733,309 @@
motors.setMotor0Speed(.25*127); //right
motors.setMotor1Speed(.25*127); //left
- if(section == TOOLS || section == MID) {
- while(IR.getDistance() > 20 ) {
- //bt.printf("IR %f\r\n", IR.getDistance());
- //bt.printf("third while left %d right %d \r\n", preLeft, preRight);
+ if(section == TOOLS) {
+ while(IR.getDistance() > 10 && (abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {
+
+ if(IR.getDistance() > 38) break;
+
+ preLeft=leftEncoder.getPulses();
+ preRight=rightEncoder.getPulses();
+ wait_ms(200);
+ }
+ } else if(section == MID || section == MID2) {
+ if(section == MID2) while(IR.getDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400));
+ while(IR.getDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {
+
+ if(IR.getDistance() > 38) break;
+
+ preLeft=leftEncoder.getPulses();
+ preRight=rightEncoder.getPulses();
+ wait_ms(200);
}
- } else while((abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses())< 200));
+
+ } else {
+ while(abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100);
+
+ leftEncoder.reset();
+ rightEncoder.reset();
+
+ motors.setMotor0Speed(-.15*127); //right
+ motors.setMotor1Speed(-.15*127); //left
+ while((abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100) && preLeft!=0 ) {
+ preLeft = leftEncoder.getPulses();
+ preRight = rightEncoder.getPulses();
+ wait_ms(200);
+ if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;
+ }
+
+ leftEncoder.reset();
+ rightEncoder.reset();
+
+ motors.setMotor0Speed(0.25*127); //right
+ motors.setMotor1Speed(0.25*127); //left
+ while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10));
+
+ motors.stopBothMotors(0);
+
+ return;
+ }
+
+ leftEncoder.reset();
+ rightEncoder.reset();
motors.setMotor0Speed(-.25*127); //right
motors.setMotor1Speed(-.25*127); //left
- wait_ms(10);
- motors.stopBothMotors();
- wait(2);
+ while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10));
+
+ motors.stopBothMotors(0);
+ wait_ms(20);
motors.begin();
}
void tools_section(float* location, float ¤t)
{
- wall_follow(LEFT,FORWARD, TOOLS);
- // current position in reference to the starting position
- current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
- bt.printf("current %f \r\n",current);
+ slightMove(FORWARD,3200);
+ current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
+ wait(2);
+ slightMove(FORWARD,3200);
+ current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
+ /*
+ wall_follow_to_mid(LEFT,FORWARD, TOOLS);
+ // current position in reference to the starting position
+ current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
- motors.setMotor0Speed(-.2*127); //right
- motors.setMotor1Speed(-.2*127); //left
- wait_ms(5);
- motors.stopBothMotors();
+ wait(2);
- motors.setMotor0Speed(.2*127); //right
- motors.setMotor1Speed(.2*127); //left
- while(IR.getDistance()>6);
+ wall_follow(LEFT,FORWARD, TOOLS, current);
+ // current position in reference to the starting position
+ current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
+ */
+ //////////////////////////////// determine tool
+ wait(2);
+ ///////////////////////////////////////////////////////////////////////////////////////
+ // Move Forward
+ slightMove(FORWARD, 100);
- motors.setMotor0Speed(-.2*127); //right
- motors.setMotor1Speed(-.2*127); //left
- wait_ms(5);
- motors.stopBothMotors();
-
-
- //Tool aquiring
+ //////////////////////////////////////////Tool aquiring
wait(2);
- // After tool is aquired
+ //////////////////////////////////////////////////////////////////// After tool is aquired
alignWithWall(TOOLS);
-
+ pc.printf("align\r\n");
wait_ms(100);
- wall_follow2(LEFT,FORWARD,MID, current);
- current= 78;
+ //wall_follow2(LEFT,FORWARD,MID, current);
+ //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
rangeFinderLeft.startMeas();
wait_ms(20);
rangeFinderLeft.getMeas(range);
if(range < 20) {
- wall_follow2(LEFT,BACKWARD,TOOLS, current);
-
+ wall_follow2(LEFT,BACKWARD,TOOLS, current,0);
+ pc.printf("wall follow\r\n");
location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
current= location[0];
-
+ pc.printf("current %f \r\n",current);
+ // go backwards
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(-MAX_SPEED); //right
motors.setMotor1Speed(-MAX_SPEED); //left
while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120);
-
+ // hard stop
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(MAX_SPEED); //right
motors.setMotor1Speed(MAX_SPEED); //left
- while(abs(leftEncoder.getPulses()) < 40 || abs(rightEncoder.getPulses())< 40);
- motors.stopBothMotors();
+ while(abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses())< 10);
+ motors.stopBothMotors(0);
- wait_ms(500);
+ wait_ms(100);
leftTurn();
- slightleft();
overBump(TOOLS);
} else {
- location[0]= 77;
+ pc.printf("else greater than 20\r\n");
+ location[0]= current;
leftTurn();
- wait_ms(20);
- overBump(FIRST_WAVE);
+ overBump(TOOLS);
}
- bt.printf("First Wavegap = %f\r\n",location[0]);
+ pc.printf("First Wavegap = %f\r\n",location[0]);
}
void mid_section(float* location, float ¤t, int* direction)
{
-
motors.begin();
- if(IR.getDistance() > 20) {
+ if(IR.getDistance() > 38) {
direction[0]= STRAIGHT;
+ overBump(MID);
return;
}
+ pc.printf("before align with wall \r\n");
+ alignWithWall(MID);
+ wait_ms(100);
+
+ pc.printf("mid section current = %f\r\n",current);
+ wall_follow2(LEFT,FORWARD,MID, current,0);
+ current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ pc.printf("after wf2 current = %f\r\n",current);
+
+ wait_ms(500);
+ rangeFinderLeft.startMeas();
+ wait_ms(20);
+ rangeFinderLeft.getMeas(range);
+
+ if(range > 20 ) {
+ direction[0]= RIGHT;
+ location[1]= current;
+ slightMove(FORWARD,75);
+ //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ } else {
+ direction[0]= LEFT;
+ wall_follow2(LEFT,BACKWARD,MID,current,0);
+ location[1]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ current= location[1];
+
+ if(location[1] < 18) {
+ slightMove(FORWARD, 50);
+ current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ }
+
+ }
- alignWithWall(MID);
-
- bt.printf("mid section current = %f\r\n",current);
- wall_follow2(LEFT,FORWARD,MID, current);
- current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
- bt.printf("after wf2 current = %f\r\n",current);
+ pc.printf("wavegap2 = %f\r\n",location[1]);
+ leftTurn();
- if(current != 0) {
- direction[0]= RIGHT;
- current+= location[0];
- location[1]= current;
- } else {
- current=location[0];
- direction[0]= LEFT;
- wall_follow2(LEFT,BACKWARD,MID,current);
- location[1]= location[0]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
- }
+ wait_ms(100);
- bt.printf("wavegap2 = %f\r\n",location[1]);
- leftTurn();
- overBump(TOOLS);
- // go forward
- leftEncoder.reset();
- rightEncoder.reset();
- motors.setMotor0Speed(0.2*127); //right
- motors.setMotor1Speed(0.2*127); //left
- while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300);
- motors.stopBothMotors();
+ overBump(MID);
}
void mid_section2(float* location, float ¤t, int* direction)
{
-
motors.begin();
- if(IR.getDistance() > 20) {
- direction[0]= STRAIGHT;
+ pc.printf("mid section 2\r\n");
+
+ if(IR.getDistance() > 38) {
+ direction[1]= STRAIGHT;
+ overBump(RIGS);
return;
}
alignWithWall(MID);
- wall_follow2(LEFT,FORWARD,MID, current);
- current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ pc.printf("midsection 2 alignt with wall mid \r\n");
+
+ wall_follow2(LEFT,FORWARD,MID, current,0);
+ current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+
+ wait_ms(500);
- if(current != 0) {
+ pc.printf("midseection 2 after wf2 %f",current);
+ rangeFinderLeft.startMeas();
+ wait_ms(20);
+ rangeFinderLeft.getMeas(range);
+
+ if(range > 20 ) {
direction[1]= RIGHT;
- current+= location[1];
location[2]= current;
+ slightMove(FORWARD,75);
+ //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
} else {
- current=location[1];
direction[1]= LEFT;
- wall_follow2(LEFT,BACKWARD,MID,current);
- location[2]= location[1]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ wall_follow2(LEFT,BACKWARD,MID,current,0);
+ location[2]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ current=location[2];
+ //slightMove(FORWARD,500);
}
leftTurn();
overBump(RIGS);
+ pc.printf("overbump rigs\r\n");
}
void rig_section(float* location, float ¤t, int* direction, int rig)
{
float loc;
- if(rig == 1) loc= 16;
- else if(rig == 2) loc= 37;
- else loc = 58;
+ if(rig == 1) loc= 15;
+ else if(rig == 2) loc= 45;
+ else loc = 75;
rightTurn();
-
+ slightright();
if(current > loc) {
- UntilWall(BACKWARD);
- current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
- wall_follow2(RIGHT, BACKWARD, RIGS, current);
+ pc.printf("RIG section %f\r\n",current);
+ wall_follow2(RIGHT, BACKWARD, RIGS, current, rig);
current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
-
- if((current- loc)>10) {
- wall_follow2(RIGHT, BACKWARD, RIGS, current);
- current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
- }
} else {
- UntilWall(FORWARD);
- wall_follow2(RIGHT, FORWARD, RIGS, current);
+ pc.printf("RIG section %f\r\n",current);
+ wall_follow2(RIGHT, FORWARD, RIGS, current, rig);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
-
- if((current- loc)<-10) {
- wall_follow2(RIGHT, FORWARD, RIGS, current);
- current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
- }
}
-
-
}
void tools_section_return(float* location, float ¤t)
{
if(location[0] > 16) {
- rightTurn();
- leftEncoder.reset();
- rightEncoder.reset();
- motors.setMotor0Speed(MAX_SPEED); //right
- motors.setMotor1Speed(MAX_SPEED); //left
- while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300);
- wall_follow(RIGHT, FORWARD, RETURN);
+ leftTurn();
+ wall_follow2(LEFT, BACKWARD, RETURN, location[0], 0);
}
- motors.stopBothMotors();
+ motors.stopBothMotors(0);
}
void mid_section_return(float* location, float ¤t, int* direction)
{
- if(direction[1] == RIGHT) {
- rightTurn();
- alignWithWall(MID);
- wall_follow2(LEFT, FORWARD, MID, current);
+ if(direction[0] == RIGHT) {
leftTurn();
- } else if(direction[1] == LEFT) {
- leftTurn();
- wall_follow2(RIGHT, FORWARD, MID, current);
+ alignWithWall(MID);
+ wall_follow2(LEFT, BACKWARD, MID, current,0);
+ current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
rightTurn();
- } else {
- //GO FORWARD
+ } else if(direction[0] == LEFT) {
+ leftTurn();
+ wall_follow2(RIGHT, FORWARD, MID, current,0);
+ current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ rightTurn();
}
+ //ELSE and GO FORWARD
overBump(RIGS);
}
void mid_section2_return(float* location, float ¤t, int* direction)
{
- if(direction[2] == RIGHT) {
- rightTurn();
- wall_follow2(LEFT, FORWARD, MID, current);
- leftTurn();
- } else if(direction[2] == LEFT) {
+ if(direction[1] == RIGHT) {
leftTurn();
- wall_follow2(RIGHT, FORWARD, MID, current);
+ wall_follow2(LEFT, BACKWARD, MID, current,0);
+ current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
rightTurn();
- } else {
- //GO FORWARD
+ } else if(direction[1] == LEFT) {
+ leftTurn();
+ wall_follow2(RIGHT, FORWARD, MID, current,0);
+ current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
+ rightTurn();
}
+ //ELSE and GO FORWARD
overBump(MID);
}
-void rig_section_return(float* location, float ¤t, int* direction, int rig)
+void rig_section_return(float* location, float ¤t, int* direction)
{
+ alignWithWall(RIGS);
if(location[2] > current) {
- wall_follow2(RIGHT, FORWARD, RIGS, current);
+ wall_follow2(RIGHT, FORWARD, MID, current,0);
+ current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
} else {
- wall_follow2(RIGHT, BACKWARD, RIGS, current);
+ wall_follow2(RIGHT, BACKWARD, MID, current,0);
+ current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
}
rightTurn();
- overBump(MID);
+ overBump(MID2);
}
\ No newline at end of file