Yeah
Dependencies: HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of NavigationTest by
main.cpp@12:081b8fc654af, 2014-03-27 (annotated)
- Committer:
- jjcarr2
- Date:
- Thu Mar 27 22:48:00 2014 +0000
- Revision:
- 12:081b8fc654af
- Parent:
- 11:12ce7600f2f9
- Child:
- 13:b6480275c445
Almost!
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 | 12:081b8fc654af | 29 | #define RETURN (3) |
Fairy_Paolina | 6:f5c26372b2d0 | 30 | #define FIRST_WAVE (0) |
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 |
Fairy_Paolina | 9:f34700716f1d | 52 | |
Fairy_Paolina | 3:58726d2e11f0 | 53 | float wall_follow(int side, int direction, int section); |
Fairy_Paolina | 6:f5c26372b2d0 | 54 | void wall_follow2(int side, int direction, int section, float location); |
Fairy_Paolina | 0:ff94cc47fef7 | 55 | void wall_follow3(int ¤tLocation, int &WaveOpening); |
Fairy_Paolina | 1:801f0b9a862a | 56 | void leftTurn(void); |
Fairy_Paolina | 9:f34700716f1d | 57 | void slightleft(void); |
Fairy_Paolina | 1:801f0b9a862a | 58 | void rightTurn(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 59 | void us_distance(void); |
Fairy_Paolina | 3:58726d2e11f0 | 60 | void tools_section(float* location, float ¤t); |
Fairy_Paolina | 6:f5c26372b2d0 | 61 | void mid_section(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 62 | void mid_section2(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 63 | void rig_section(float* location, float ¤t, int* direction, int rig); |
jjcarr2 | 12:081b8fc654af | 64 | void tools_section_return(float* location, float ¤t); |
jjcarr2 | 12:081b8fc654af | 65 | void mid_section_return(float* location, float ¤t, int* direction); |
jjcarr2 | 12:081b8fc654af | 66 | void mid_section2_return(float* location, float ¤t, int* direction); |
jjcarr2 | 12:081b8fc654af | 67 | void rig_section_return(float* location, float ¤t, int* direction, int rig); |
Fairy_Paolina | 8:11ef93eebe07 | 68 | void overBump(int section); |
Fairy_Paolina | 6:f5c26372b2d0 | 69 | void alignWithWall(int section); |
jjcarr2 | 12:081b8fc654af | 70 | void UntilWall(int dir); |
jjcarr2 | 12:081b8fc654af | 71 | |
Fairy_Paolina | 9:f34700716f1d | 72 | |
Fairy_Paolina | 1:801f0b9a862a | 73 | //Variables |
Fairy_Paolina | 9:f34700716f1d | 74 | |
Fairy_Paolina | 2:3d0be48abcf2 | 75 | int main(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 76 | { |
Fairy_Paolina | 3:58726d2e11f0 | 77 | float location[3], current=0; |
Fairy_Paolina | 3:58726d2e11f0 | 78 | int direction[3]; |
Fairy_Paolina | 8:11ef93eebe07 | 79 | double distance; |
Fairy_Paolina | 9:f34700716f1d | 80 | |
Fairy_Paolina | 0:ff94cc47fef7 | 81 | pc.baud(115200); |
Fairy_Paolina | 1:801f0b9a862a | 82 | bt.baud(115200); |
Fairy_Paolina | 2:3d0be48abcf2 | 83 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 84 | |
Fairy_Paolina | 7:78745a518957 | 85 | bt.printf("START\r\n"); |
Fairy_Paolina | 3:58726d2e11f0 | 86 | //Go to tools |
Fairy_Paolina | 4:f2333e66ec2c | 87 | tools_section(location, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 88 | mid_section(location, current, direction); |
Fairy_Paolina | 9:f34700716f1d | 89 | //mid_section2(location, current, direction); |
jjcarr2 | 12:081b8fc654af | 90 | /* while(1) { |
jjcarr2 | 12:081b8fc654af | 91 | //bt.printf("IR %f\r\n", US.getDistance()); |
jjcarr2 | 12:081b8fc654af | 92 | rangeFinderLeft.startMeas(); |
jjcarr2 | 12:081b8fc654af | 93 | wait_ms(20); |
jjcarr2 | 12:081b8fc654af | 94 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 12:081b8fc654af | 95 | bt.printf("Range = %f\n\r", range); |
Fairy_Paolina | 9:f34700716f1d | 96 | |
jjcarr2 | 12:081b8fc654af | 97 | wait_ms(200); |
jjcarr2 | 12:081b8fc654af | 98 | }*/ |
Fairy_Paolina | 9:f34700716f1d | 99 | |
Fairy_Paolina | 9:f34700716f1d | 100 | |
Fairy_Paolina | 9:f34700716f1d | 101 | //leftTurn(); |
Fairy_Paolina | 9:f34700716f1d | 102 | //rightTurn(); |
Fairy_Paolina | 9:f34700716f1d | 103 | |
Fairy_Paolina | 9:f34700716f1d | 104 | |
Fairy_Paolina | 0:ff94cc47fef7 | 105 | } |
Fairy_Paolina | 9:f34700716f1d | 106 | |
Fairy_Paolina | 2:3d0be48abcf2 | 107 | void errFunction(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 108 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 109 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 110 | } |
Fairy_Paolina | 9:f34700716f1d | 111 | |
Fairy_Paolina | 0:ff94cc47fef7 | 112 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 113 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 114 | pc.printf("Ultra Sonic\n\r"); |
Fairy_Paolina | 2:3d0be48abcf2 | 115 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 116 | wait_us(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 117 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
Fairy_Paolina | 2:3d0be48abcf2 | 118 | pc.printf("Range = %f\n\r", range); |
Fairy_Paolina | 2:3d0be48abcf2 | 119 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 120 | } |
Fairy_Paolina | 9:f34700716f1d | 121 | |
Fairy_Paolina | 3:58726d2e11f0 | 122 | float wall_follow(int side, int direction, int section) |
Fairy_Paolina | 0:ff94cc47fef7 | 123 | { |
Fairy_Paolina | 8:11ef93eebe07 | 124 | float location, wavegap=0, set=5; |
Fairy_Paolina | 5:70ccef3734ae | 125 | int dir=1; |
Fairy_Paolina | 9:f34700716f1d | 126 | |
Fairy_Paolina | 4:f2333e66ec2c | 127 | pid1.reset(); |
Fairy_Paolina | 9:f34700716f1d | 128 | |
Fairy_Paolina | 3:58726d2e11f0 | 129 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 5:70ccef3734ae | 130 | if(section == TOOLS)set= 10; |
Fairy_Paolina | 9:f34700716f1d | 131 | |
Fairy_Paolina | 3:58726d2e11f0 | 132 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 133 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 134 | |
Fairy_Paolina | 4:f2333e66ec2c | 135 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 9:f34700716f1d | 136 | |
Fairy_Paolina | 9:f34700716f1d | 137 | while(location< 73) { |
jjcarr2 | 12:081b8fc654af | 138 | |
jjcarr2 | 12:081b8fc654af | 139 | if(section == RETURN) { |
jjcarr2 | 12:081b8fc654af | 140 | if(location <10) break; |
jjcarr2 | 12:081b8fc654af | 141 | } |
jjcarr2 | 12:081b8fc654af | 142 | |
Fairy_Paolina | 4:f2333e66ec2c | 143 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 9:f34700716f1d | 144 | |
Fairy_Paolina | 3:58726d2e11f0 | 145 | pid1.setInputLimits(0, set); |
Fairy_Paolina | 1:801f0b9a862a | 146 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 147 | pid1.setSetPoint(set); |
Fairy_Paolina | 9:f34700716f1d | 148 | if(side) { |
Fairy_Paolina | 2:3d0be48abcf2 | 149 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 8:11ef93eebe07 | 150 | wait_ms(38); |
Fairy_Paolina | 2:3d0be48abcf2 | 151 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 152 | } else { |
Fairy_Paolina | 2:3d0be48abcf2 | 153 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 8:11ef93eebe07 | 154 | wait_ms(38); |
Fairy_Paolina | 2:3d0be48abcf2 | 155 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 156 | pc.printf("%d\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 157 | } |
Fairy_Paolina | 9:f34700716f1d | 158 | |
Fairy_Paolina | 3:58726d2e11f0 | 159 | if(range > 20) { |
Fairy_Paolina | 4:f2333e66ec2c | 160 | wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 7:78745a518957 | 161 | //bt.printf("wavegap %f\r\n",wavegap); |
Fairy_Paolina | 3:58726d2e11f0 | 162 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 9:f34700716f1d | 163 | motors.setMotor1Speed(dir*0.4*127);//left |
Fairy_Paolina | 9:f34700716f1d | 164 | motors.setMotor0Speed(dir*0.4*127);//right |
Fairy_Paolina | 9:f34700716f1d | 165 | } else { |
Fairy_Paolina | 9:f34700716f1d | 166 | |
Fairy_Paolina | 6:f5c26372b2d0 | 167 | pid1.setProcessValue(range); |
Fairy_Paolina | 6:f5c26372b2d0 | 168 | pid_return = pid1.compute(); |
Fairy_Paolina | 9:f34700716f1d | 169 | |
Fairy_Paolina | 6:f5c26372b2d0 | 170 | if(pid_return > 0) { |
Fairy_Paolina | 9:f34700716f1d | 171 | if(side) { |
Fairy_Paolina | 6:f5c26372b2d0 | 172 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 173 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 9:f34700716f1d | 174 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 175 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 176 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 177 | } |
Fairy_Paolina | 9:f34700716f1d | 178 | } else if(pid_return < 0) { |
Fairy_Paolina | 9:f34700716f1d | 179 | if(side) { |
Fairy_Paolina | 6:f5c26372b2d0 | 180 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 181 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 9:f34700716f1d | 182 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 183 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 184 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 185 | } |
Fairy_Paolina | 9:f34700716f1d | 186 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 187 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 188 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 189 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 190 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 191 | } |
Fairy_Paolina | 3:58726d2e11f0 | 192 | return wavegap; |
Fairy_Paolina | 0:ff94cc47fef7 | 193 | } |
Fairy_Paolina | 9:f34700716f1d | 194 | |
Fairy_Paolina | 0:ff94cc47fef7 | 195 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
Fairy_Paolina | 9:f34700716f1d | 196 | |
Fairy_Paolina | 6:f5c26372b2d0 | 197 | void wall_follow2(int side, int direction, int section, float location) |
Fairy_Paolina | 0:ff94cc47fef7 | 198 | { |
jjcarr2 | 12:081b8fc654af | 199 | bool SeeWaveGap = false, dir=1, limit=83; |
Fairy_Paolina | 8:11ef93eebe07 | 200 | float set=5, loc=0; |
Fairy_Paolina | 9:f34700716f1d | 201 | |
Fairy_Paolina | 4:f2333e66ec2c | 202 | pid1.reset(); |
Fairy_Paolina | 9:f34700716f1d | 203 | |
Fairy_Paolina | 3:58726d2e11f0 | 204 | if(direction == BACKWARD) dir=-1; |
jjcarr2 | 12:081b8fc654af | 205 | if(section == TOOLS) { |
jjcarr2 | 11:12ce7600f2f9 | 206 | set= 5; |
jjcarr2 | 11:12ce7600f2f9 | 207 | limit = 78; |
jjcarr2 | 11:12ce7600f2f9 | 208 | } |
jjcarr2 | 12:081b8fc654af | 209 | |
jjcarr2 | 12:081b8fc654af | 210 | |
Fairy_Paolina | 3:58726d2e11f0 | 211 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 212 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 213 | |
jjcarr2 | 11:12ce7600f2f9 | 214 | while(dir*loc + location <= limit) { |
Fairy_Paolina | 7:78745a518957 | 215 | loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 9:f34700716f1d | 216 | |
Fairy_Paolina | 5:70ccef3734ae | 217 | pid1.setInputLimits(0.0, set); |
Fairy_Paolina | 1:801f0b9a862a | 218 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 5:70ccef3734ae | 219 | pid1.setSetPoint(set); |
Fairy_Paolina | 9:f34700716f1d | 220 | |
Fairy_Paolina | 9:f34700716f1d | 221 | if(side) { |
Fairy_Paolina | 2:3d0be48abcf2 | 222 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 8:11ef93eebe07 | 223 | wait_ms(38); |
Fairy_Paolina | 2:3d0be48abcf2 | 224 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 225 | } else { |
Fairy_Paolina | 2:3d0be48abcf2 | 226 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 8:11ef93eebe07 | 227 | wait_ms(38); |
Fairy_Paolina | 2:3d0be48abcf2 | 228 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 229 | } |
Fairy_Paolina | 9:f34700716f1d | 230 | |
jjcarr2 | 12:081b8fc654af | 231 | if(section == RIGS) { |
jjcarr2 | 12:081b8fc654af | 232 | rangeFinderRight.startMeas(); |
jjcarr2 | 12:081b8fc654af | 233 | wait_ms(38); |
jjcarr2 | 12:081b8fc654af | 234 | rangeFinderRight.getMeas(range); |
jjcarr2 | 12:081b8fc654af | 235 | if(range< 20) { |
jjcarr2 | 12:081b8fc654af | 236 | motors.stopBothMotors(); |
jjcarr2 | 12:081b8fc654af | 237 | break; |
jjcarr2 | 12:081b8fc654af | 238 | } |
jjcarr2 | 12:081b8fc654af | 239 | } |
jjcarr2 | 12:081b8fc654af | 240 | |
Fairy_Paolina | 9:f34700716f1d | 241 | |
jjcarr2 | 10:2aa70a504c18 | 242 | //bt.printf("wall follow 2 range %f\r\n",range); |
jjcarr2 | 10:2aa70a504c18 | 243 | //bt.printf("loc+location = %f\r\n", loc+location); |
jjcarr2 | 11:12ce7600f2f9 | 244 | if(range > 20 && !SeeWaveGap) { |
jjcarr2 | 12:081b8fc654af | 245 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
jjcarr2 | 12:081b8fc654af | 246 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 12:081b8fc654af | 247 | wait_ms(30); |
jjcarr2 | 12:081b8fc654af | 248 | SeeWaveGap = true; |
jjcarr2 | 12:081b8fc654af | 249 | } else if(range > 20 && SeeWaveGap) { |
jjcarr2 | 12:081b8fc654af | 250 | motors.stopBothMotors(); |
Fairy_Paolina | 2:3d0be48abcf2 | 251 | bt.printf("wavegap\r\n"); |
Fairy_Paolina | 2:3d0be48abcf2 | 252 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 2:3d0be48abcf2 | 253 | break; |
jjcarr2 | 11:12ce7600f2f9 | 254 | } else { |
Fairy_Paolina | 9:f34700716f1d | 255 | |
jjcarr2 | 12:081b8fc654af | 256 | pid1.setProcessValue(range); |
jjcarr2 | 12:081b8fc654af | 257 | pid_return = pid1.compute(); |
jjcarr2 | 12:081b8fc654af | 258 | //bt.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
Fairy_Paolina | 9:f34700716f1d | 259 | |
jjcarr2 | 12:081b8fc654af | 260 | if(pid_return > 0) { |
jjcarr2 | 12:081b8fc654af | 261 | if(side) { |
jjcarr2 | 12:081b8fc654af | 262 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
jjcarr2 | 12:081b8fc654af | 263 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 12:081b8fc654af | 264 | } else { |
jjcarr2 | 12:081b8fc654af | 265 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
jjcarr2 | 12:081b8fc654af | 266 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 12:081b8fc654af | 267 | } |
jjcarr2 | 12:081b8fc654af | 268 | } else if(pid_return < 0) { |
jjcarr2 | 12:081b8fc654af | 269 | if(side) { |
jjcarr2 | 12:081b8fc654af | 270 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 12:081b8fc654af | 271 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
jjcarr2 | 12:081b8fc654af | 272 | } else { |
jjcarr2 | 12:081b8fc654af | 273 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 12:081b8fc654af | 274 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
jjcarr2 | 12:081b8fc654af | 275 | } |
Fairy_Paolina | 9:f34700716f1d | 276 | } else { |
jjcarr2 | 12:081b8fc654af | 277 | motors.setMotor0Speed(dir*MAX_SPEED); |
jjcarr2 | 12:081b8fc654af | 278 | motors.setMotor1Speed(dir*MAX_SPEED); |
Fairy_Paolina | 2:3d0be48abcf2 | 279 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 280 | } |
jjcarr2 | 12:081b8fc654af | 281 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 282 | motors.stopBothMotors(); |
Fairy_Paolina | 0:ff94cc47fef7 | 283 | } |
Fairy_Paolina | 9:f34700716f1d | 284 | |
Fairy_Paolina | 9:f34700716f1d | 285 | |
Fairy_Paolina | 9:f34700716f1d | 286 | void alignWithWall(int section) |
Fairy_Paolina | 9:f34700716f1d | 287 | { |
Fairy_Paolina | 6:f5c26372b2d0 | 288 | float usValue = 0; |
Fairy_Paolina | 9:f34700716f1d | 289 | |
Fairy_Paolina | 9:f34700716f1d | 290 | if(section == TOOLS) { |
Fairy_Paolina | 6:f5c26372b2d0 | 291 | // turn at an angle |
Fairy_Paolina | 6:f5c26372b2d0 | 292 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 293 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 294 | motors.setMotor0Speed(-1.2*MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 295 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 296 | while(rightEncoder.getPulses()>-1000); |
Fairy_Paolina | 6:f5c26372b2d0 | 297 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 298 | |
Fairy_Paolina | 6:f5c26372b2d0 | 299 | //go backwards toward wall |
Fairy_Paolina | 6:f5c26372b2d0 | 300 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 301 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 302 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 303 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 7:78745a518957 | 304 | while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300); |
Fairy_Paolina | 9:f34700716f1d | 305 | |
Fairy_Paolina | 6:f5c26372b2d0 | 306 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 307 | |
Fairy_Paolina | 9:f34700716f1d | 308 | // turn left towards wall |
Fairy_Paolina | 6:f5c26372b2d0 | 309 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 310 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 311 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 312 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 313 | while(rightEncoder.getPulses() < 10 || abs(leftEncoder.getPulses()) < 10); |
Fairy_Paolina | 9:f34700716f1d | 314 | |
Fairy_Paolina | 9:f34700716f1d | 315 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 316 | |
Fairy_Paolina | 7:78745a518957 | 317 | motors.setMotor0Speed(0.7*MAX_SPEED); //right |
Fairy_Paolina | 7:78745a518957 | 318 | motors.setMotor1Speed(-0.7*MAX_SPEED); //left |
Fairy_Paolina | 7:78745a518957 | 319 | } else { |
Fairy_Paolina | 8:11ef93eebe07 | 320 | rightTurn(); |
Fairy_Paolina | 7:78745a518957 | 321 | motors.setMotor0Speed(-0.7*MAX_SPEED); //right |
Fairy_Paolina | 7:78745a518957 | 322 | motors.setMotor1Speed(0.7*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 323 | } |
Fairy_Paolina | 9:f34700716f1d | 324 | |
Fairy_Paolina | 6:f5c26372b2d0 | 325 | usValue = 0; |
Fairy_Paolina | 9:f34700716f1d | 326 | while(1) { |
Fairy_Paolina | 2:3d0be48abcf2 | 327 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 6:f5c26372b2d0 | 328 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 329 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 7:78745a518957 | 330 | //bt.printf("Range %f \t OldValue %f\n\r",range, usValue); |
Fairy_Paolina | 9:f34700716f1d | 331 | if(range > usValue && usValue != 0 && range < 25) { |
Fairy_Paolina | 0:ff94cc47fef7 | 332 | break; |
Fairy_Paolina | 2:3d0be48abcf2 | 333 | } else { |
Fairy_Paolina | 9:f34700716f1d | 334 | usValue = range; |
Fairy_Paolina | 0:ff94cc47fef7 | 335 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 336 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 337 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 338 | } |
Fairy_Paolina | 9:f34700716f1d | 339 | |
Fairy_Paolina | 1:801f0b9a862a | 340 | void rightTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 341 | { |
Fairy_Paolina | 9:f34700716f1d | 342 | motors.begin(); |
Fairy_Paolina | 1:801f0b9a862a | 343 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 344 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 345 | motors.setMotor0Speed(-0.5*127);//right |
Fairy_Paolina | 9:f34700716f1d | 346 | motors.setMotor1Speed(0.5*127);//left |
Fairy_Paolina | 9:f34700716f1d | 347 | while(leftEncoder.getPulses()<900 || rightEncoder.getPulses()>-900); |
Fairy_Paolina | 1:801f0b9a862a | 348 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 349 | } |
Fairy_Paolina | 9:f34700716f1d | 350 | |
Fairy_Paolina | 1:801f0b9a862a | 351 | void leftTurn(void) |
Fairy_Paolina | 9:f34700716f1d | 352 | { |
Fairy_Paolina | 9:f34700716f1d | 353 | /* |
Fairy_Paolina | 1:801f0b9a862a | 354 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 355 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 356 | motors.setMotor0Speed(0.4*MAX_SPEED); //right |
Fairy_Paolina | 9:f34700716f1d | 357 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 358 | while(abs(leftEncoder.getPulses())<2500); |
Fairy_Paolina | 9:f34700716f1d | 359 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 360 | */ |
Fairy_Paolina | 9:f34700716f1d | 361 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 362 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 363 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 364 | motors.setMotor0Speed(0.5*127);// right |
Fairy_Paolina | 9:f34700716f1d | 365 | motors.setMotor1Speed(-0.5*127);// left |
jjcarr2 | 11:12ce7600f2f9 | 366 | while(abs(leftEncoder.getPulses())<1100 || rightEncoder.getPulses()<1100); |
Fairy_Paolina | 5:70ccef3734ae | 367 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 368 | } |
jjcarr2 | 11:12ce7600f2f9 | 369 | |
jjcarr2 | 12:081b8fc654af | 370 | void slightleft(void) |
jjcarr2 | 12:081b8fc654af | 371 | { |
jjcarr2 | 12:081b8fc654af | 372 | |
Fairy_Paolina | 9:f34700716f1d | 373 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 374 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 375 | motors.setMotor0Speed(0.5*127);// right |
Fairy_Paolina | 9:f34700716f1d | 376 | motors.setMotor1Speed(-0.5*127);// left |
jjcarr2 | 11:12ce7600f2f9 | 377 | while(abs(leftEncoder.getPulses())<100 || rightEncoder.getPulses()<100); |
Fairy_Paolina | 9:f34700716f1d | 378 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 379 | } |
Fairy_Paolina | 9:f34700716f1d | 380 | |
jjcarr2 | 12:081b8fc654af | 381 | void UntilWall(int dir) |
jjcarr2 | 12:081b8fc654af | 382 | { |
jjcarr2 | 12:081b8fc654af | 383 | |
jjcarr2 | 12:081b8fc654af | 384 | if(dir == BACKWARD) dir=-1; |
jjcarr2 | 12:081b8fc654af | 385 | |
jjcarr2 | 12:081b8fc654af | 386 | leftEncoder.reset(); |
jjcarr2 | 12:081b8fc654af | 387 | rightEncoder.reset(); |
jjcarr2 | 12:081b8fc654af | 388 | motors.setMotor0Speed(dir*0.2*127); //right |
jjcarr2 | 12:081b8fc654af | 389 | motors.setMotor1Speed(dir*0.2*127); //left |
jjcarr2 | 12:081b8fc654af | 390 | |
jjcarr2 | 12:081b8fc654af | 391 | range = 30; |
jjcarr2 | 12:081b8fc654af | 392 | |
jjcarr2 | 12:081b8fc654af | 393 | while(range > 20) { |
jjcarr2 | 12:081b8fc654af | 394 | rangeFinderRight.startMeas(); |
jjcarr2 | 12:081b8fc654af | 395 | wait_ms(20); |
jjcarr2 | 12:081b8fc654af | 396 | rangeFinderRight.getMeas(range); |
jjcarr2 | 12:081b8fc654af | 397 | } |
jjcarr2 | 12:081b8fc654af | 398 | |
jjcarr2 | 12:081b8fc654af | 399 | motors.setMotor0Speed(dir*-0.2*127); //right |
jjcarr2 | 12:081b8fc654af | 400 | motors.setMotor1Speed(dir*-0.2*127); //left |
jjcarr2 | 12:081b8fc654af | 401 | wait_ms(5); |
jjcarr2 | 12:081b8fc654af | 402 | motors.stopBothMotors(); |
jjcarr2 | 12:081b8fc654af | 403 | } |
Fairy_Paolina | 9:f34700716f1d | 404 | |
Fairy_Paolina | 9:f34700716f1d | 405 | void overBump(int section) |
Fairy_Paolina | 9:f34700716f1d | 406 | { |
Fairy_Paolina | 9:f34700716f1d | 407 | int preLeft=5000, preRight=5000, out=0; |
jjcarr2 | 12:081b8fc654af | 408 | |
Fairy_Paolina | 9:f34700716f1d | 409 | motors.begin(); |
jjcarr2 | 12:081b8fc654af | 410 | |
Fairy_Paolina | 9:f34700716f1d | 411 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 412 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 413 | motors.setMotor0Speed(-0.2*127); //right |
Fairy_Paolina | 9:f34700716f1d | 414 | motors.setMotor1Speed(-0.2*127); //left |
Fairy_Paolina | 9:f34700716f1d | 415 | while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses())< 50); |
Fairy_Paolina | 9:f34700716f1d | 416 | motors.stopBothMotors(); |
jjcarr2 | 12:081b8fc654af | 417 | |
Fairy_Paolina | 3:58726d2e11f0 | 418 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 419 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 420 | motors.setMotor0Speed(0.2*127); //right |
Fairy_Paolina | 9:f34700716f1d | 421 | motors.setMotor1Speed(0.2*127); //left |
jjcarr2 | 12:081b8fc654af | 422 | while(/*(abs(leftEncoder.getPulses()) < 1000 || abs(rightEncoder.getPulses())< 1000)*/ IR.getDistance() >20 && preLeft!=0) { |
jjcarr2 | 12:081b8fc654af | 423 | preLeft=leftEncoder.getPulses(); |
jjcarr2 | 12:081b8fc654af | 424 | preRight=rightEncoder.getPulses(); |
jjcarr2 | 12:081b8fc654af | 425 | wait_ms(100); |
jjcarr2 | 12:081b8fc654af | 426 | //bt.printf(" first while left %d right %d \r\n", preLeft, preRight); |
jjcarr2 | 12:081b8fc654af | 427 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
Fairy_Paolina | 8:11ef93eebe07 | 428 | } |
jjcarr2 | 12:081b8fc654af | 429 | |
Fairy_Paolina | 8:11ef93eebe07 | 430 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 431 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 432 | wait(2); |
Fairy_Paolina | 9:f34700716f1d | 433 | /* |
Fairy_Paolina | 9:f34700716f1d | 434 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 435 | motors.setMotor0Speed(0.15*127); //right |
Fairy_Paolina | 9:f34700716f1d | 436 | motors.setMotor1Speed(0.15*127); //left |
Fairy_Paolina | 9:f34700716f1d | 437 | preLeft=preRight=5000 ; |
Fairy_Paolina | 9:f34700716f1d | 438 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 439 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 440 | */ |
Fairy_Paolina | 9:f34700716f1d | 441 | // while(/*(abs(leftEncoder.getPulses()) < 1000 || abs(rightEncoder.getPulses())< 1000)*/ IR.getDistance() >20 && preLeft!=0){ |
Fairy_Paolina | 9:f34700716f1d | 442 | /* preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 9:f34700716f1d | 443 | preRight=rightEncoder.getPulses(); |
Fairy_Paolina | 9:f34700716f1d | 444 | bt.printf("second while left %d right %d \r\n", preLeft, preRight); |
Fairy_Paolina | 9:f34700716f1d | 445 | wait_ms(200); |
Fairy_Paolina | 9:f34700716f1d | 446 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
Fairy_Paolina | 9:f34700716f1d | 447 | }*/ |
jjcarr2 | 12:081b8fc654af | 448 | |
Fairy_Paolina | 8:11ef93eebe07 | 449 | leftEncoder.reset(); |
Fairy_Paolina | 8:11ef93eebe07 | 450 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 451 | motors.setMotor0Speed(0.3*127); //right |
Fairy_Paolina | 9:f34700716f1d | 452 | motors.setMotor1Speed(0.3*127); //left |
Fairy_Paolina | 9:f34700716f1d | 453 | |
Fairy_Paolina | 9:f34700716f1d | 454 | while(!out) { |
Fairy_Paolina | 6:f5c26372b2d0 | 455 | preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 456 | preRight=rightEncoder.getPulses(); |
Fairy_Paolina | 9:f34700716f1d | 457 | |
Fairy_Paolina | 9:f34700716f1d | 458 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 9:f34700716f1d | 459 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 9:f34700716f1d | 460 | wait_ms(20); |
Fairy_Paolina | 9:f34700716f1d | 461 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 462 | rangeFinderRight.getMeas(range2); |
Fairy_Paolina | 9:f34700716f1d | 463 | if(range < 10 || range2 < 10) out=1; |
Fairy_Paolina | 9:f34700716f1d | 464 | |
Fairy_Paolina | 9:f34700716f1d | 465 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) { |
Fairy_Paolina | 9:f34700716f1d | 466 | motors.setMotor0Speed(0.4*127); //right |
Fairy_Paolina | 9:f34700716f1d | 467 | motors.setMotor1Speed(0.4*127); //left |
Fairy_Paolina | 9:f34700716f1d | 468 | } |
jjcarr2 | 12:081b8fc654af | 469 | if(abs(leftEncoder.getPulses()) >1000 || abs(leftEncoder.getPulses())>1000) out=1; |
Fairy_Paolina | 8:11ef93eebe07 | 470 | } |
Fairy_Paolina | 9:f34700716f1d | 471 | |
Fairy_Paolina | 8:11ef93eebe07 | 472 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 473 | wait(2); |
Fairy_Paolina | 9:f34700716f1d | 474 | motors.begin(); |
jjcarr2 | 12:081b8fc654af | 475 | |
Fairy_Paolina | 8:11ef93eebe07 | 476 | preLeft=preRight=5000 ; |
Fairy_Paolina | 8:11ef93eebe07 | 477 | leftEncoder.reset(); |
Fairy_Paolina | 8:11ef93eebe07 | 478 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 479 | motors.setMotor0Speed(.25*127); //right |
Fairy_Paolina | 9:f34700716f1d | 480 | motors.setMotor1Speed(.25*127); //left |
Fairy_Paolina | 9:f34700716f1d | 481 | |
Fairy_Paolina | 9:f34700716f1d | 482 | if(section == TOOLS || section == MID) { |
Fairy_Paolina | 8:11ef93eebe07 | 483 | while(IR.getDistance() > 20 ) { |
jjcarr2 | 10:2aa70a504c18 | 484 | //bt.printf("IR %f\r\n", IR.getDistance()); |
jjcarr2 | 10:2aa70a504c18 | 485 | //bt.printf("third while left %d right %d \r\n", preLeft, preRight); |
Fairy_Paolina | 9:f34700716f1d | 486 | } |
Fairy_Paolina | 9:f34700716f1d | 487 | } else while((abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses())< 200)); |
Fairy_Paolina | 8:11ef93eebe07 | 488 | |
Fairy_Paolina | 9:f34700716f1d | 489 | motors.setMotor0Speed(-.25*127); //right |
Fairy_Paolina | 9:f34700716f1d | 490 | motors.setMotor1Speed(-.25*127); //left |
Fairy_Paolina | 9:f34700716f1d | 491 | wait_ms(10); |
Fairy_Paolina | 3:58726d2e11f0 | 492 | motors.stopBothMotors(); |
Fairy_Paolina | 8:11ef93eebe07 | 493 | wait(2); |
Fairy_Paolina | 9:f34700716f1d | 494 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 495 | |
Fairy_Paolina | 3:58726d2e11f0 | 496 | } |
Fairy_Paolina | 9:f34700716f1d | 497 | |
Fairy_Paolina | 9:f34700716f1d | 498 | void tools_section(float* location, float ¤t) |
Fairy_Paolina | 9:f34700716f1d | 499 | { |
Fairy_Paolina | 9:f34700716f1d | 500 | wall_follow(LEFT,FORWARD, TOOLS); |
Fairy_Paolina | 6:f5c26372b2d0 | 501 | // current position in reference to the starting position |
Fairy_Paolina | 4:f2333e66ec2c | 502 | current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 6:f5c26372b2d0 | 503 | bt.printf("current %f \r\n",current); |
Fairy_Paolina | 9:f34700716f1d | 504 | |
jjcarr2 | 12:081b8fc654af | 505 | |
jjcarr2 | 12:081b8fc654af | 506 | motors.setMotor0Speed(-.2*127); //right |
jjcarr2 | 12:081b8fc654af | 507 | motors.setMotor1Speed(-.2*127); //left |
jjcarr2 | 12:081b8fc654af | 508 | wait_ms(5); |
Fairy_Paolina | 5:70ccef3734ae | 509 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 510 | |
jjcarr2 | 12:081b8fc654af | 511 | motors.setMotor0Speed(.2*127); //right |
jjcarr2 | 12:081b8fc654af | 512 | motors.setMotor1Speed(.2*127); //left |
jjcarr2 | 12:081b8fc654af | 513 | while(IR.getDistance()>6); |
jjcarr2 | 12:081b8fc654af | 514 | |
jjcarr2 | 12:081b8fc654af | 515 | motors.setMotor0Speed(-.2*127); //right |
jjcarr2 | 12:081b8fc654af | 516 | motors.setMotor1Speed(-.2*127); //left |
jjcarr2 | 12:081b8fc654af | 517 | wait_ms(5); |
jjcarr2 | 12:081b8fc654af | 518 | motors.stopBothMotors(); |
jjcarr2 | 12:081b8fc654af | 519 | |
jjcarr2 | 12:081b8fc654af | 520 | |
Fairy_Paolina | 6:f5c26372b2d0 | 521 | //Tool aquiring |
Fairy_Paolina | 6:f5c26372b2d0 | 522 | wait(2); |
Fairy_Paolina | 6:f5c26372b2d0 | 523 | // After tool is aquired |
Fairy_Paolina | 9:f34700716f1d | 524 | |
Fairy_Paolina | 6:f5c26372b2d0 | 525 | alignWithWall(TOOLS); |
jjcarr2 | 12:081b8fc654af | 526 | |
Fairy_Paolina | 6:f5c26372b2d0 | 527 | wait_ms(100); |
jjcarr2 | 12:081b8fc654af | 528 | |
Fairy_Paolina | 9:f34700716f1d | 529 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 9:f34700716f1d | 530 | current= 78; |
jjcarr2 | 12:081b8fc654af | 531 | |
Fairy_Paolina | 6:f5c26372b2d0 | 532 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 6:f5c26372b2d0 | 533 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 534 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 535 | |
Fairy_Paolina | 9:f34700716f1d | 536 | if(range < 20) { |
Fairy_Paolina | 6:f5c26372b2d0 | 537 | wall_follow2(LEFT,BACKWARD,TOOLS, current); |
jjcarr2 | 12:081b8fc654af | 538 | |
jjcarr2 | 11:12ce7600f2f9 | 539 | location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 11:12ce7600f2f9 | 540 | current= location[0]; |
jjcarr2 | 12:081b8fc654af | 541 | |
Fairy_Paolina | 9:f34700716f1d | 542 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 543 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 544 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 9:f34700716f1d | 545 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 546 | while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120); |
jjcarr2 | 12:081b8fc654af | 547 | |
Fairy_Paolina | 9:f34700716f1d | 548 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 549 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 550 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 9:f34700716f1d | 551 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 552 | while(abs(leftEncoder.getPulses()) < 40 || abs(rightEncoder.getPulses())< 40); |
Fairy_Paolina | 9:f34700716f1d | 553 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 554 | |
Fairy_Paolina | 9:f34700716f1d | 555 | wait_ms(500); |
Fairy_Paolina | 6:f5c26372b2d0 | 556 | leftTurn(); |
Fairy_Paolina | 9:f34700716f1d | 557 | slightleft(); |
Fairy_Paolina | 8:11ef93eebe07 | 558 | overBump(TOOLS); |
Fairy_Paolina | 9:f34700716f1d | 559 | } else { |
Fairy_Paolina | 9:f34700716f1d | 560 | location[0]= 77; |
Fairy_Paolina | 6:f5c26372b2d0 | 561 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 562 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 563 | overBump(FIRST_WAVE); |
Fairy_Paolina | 9:f34700716f1d | 564 | } |
Fairy_Paolina | 9:f34700716f1d | 565 | |
jjcarr2 | 10:2aa70a504c18 | 566 | bt.printf("First Wavegap = %f\r\n",location[0]); |
Fairy_Paolina | 6:f5c26372b2d0 | 567 | } |
Fairy_Paolina | 9:f34700716f1d | 568 | |
Fairy_Paolina | 9:f34700716f1d | 569 | void mid_section(float* location, float ¤t, int* direction) |
Fairy_Paolina | 9:f34700716f1d | 570 | { |
Fairy_Paolina | 9:f34700716f1d | 571 | |
Fairy_Paolina | 9:f34700716f1d | 572 | motors.begin(); |
jjcarr2 | 12:081b8fc654af | 573 | |
jjcarr2 | 12:081b8fc654af | 574 | if(IR.getDistance() > 20) { |
jjcarr2 | 12:081b8fc654af | 575 | direction[0]= STRAIGHT; |
jjcarr2 | 12:081b8fc654af | 576 | return; |
jjcarr2 | 12:081b8fc654af | 577 | } |
jjcarr2 | 12:081b8fc654af | 578 | |
Fairy_Paolina | 6:f5c26372b2d0 | 579 | alignWithWall(MID); |
Fairy_Paolina | 8:11ef93eebe07 | 580 | |
Fairy_Paolina | 6:f5c26372b2d0 | 581 | bt.printf("mid section current = %f\r\n",current); |
Fairy_Paolina | 6:f5c26372b2d0 | 582 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 583 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 584 | bt.printf("after wf2 current = %f\r\n",current); |
Fairy_Paolina | 9:f34700716f1d | 585 | |
Fairy_Paolina | 9:f34700716f1d | 586 | if(current != 0) { |
Fairy_Paolina | 6:f5c26372b2d0 | 587 | direction[0]= RIGHT; |
Fairy_Paolina | 6:f5c26372b2d0 | 588 | current+= location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 589 | location[1]= current; |
Fairy_Paolina | 9:f34700716f1d | 590 | } else { |
Fairy_Paolina | 9:f34700716f1d | 591 | current=location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 592 | direction[0]= LEFT; |
Fairy_Paolina | 6:f5c26372b2d0 | 593 | wall_follow2(LEFT,BACKWARD,MID,current); |
Fairy_Paolina | 6:f5c26372b2d0 | 594 | location[1]= location[0]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 595 | } |
Fairy_Paolina | 9:f34700716f1d | 596 | |
Fairy_Paolina | 6:f5c26372b2d0 | 597 | bt.printf("wavegap2 = %f\r\n",location[1]); |
Fairy_Paolina | 9:f34700716f1d | 598 | leftTurn(); |
Fairy_Paolina | 8:11ef93eebe07 | 599 | overBump(TOOLS); |
Fairy_Paolina | 6:f5c26372b2d0 | 600 | // go forward |
Fairy_Paolina | 6:f5c26372b2d0 | 601 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 602 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 603 | motors.setMotor0Speed(0.2*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 604 | motors.setMotor1Speed(0.2*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 605 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
Fairy_Paolina | 5:70ccef3734ae | 606 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 607 | |
Fairy_Paolina | 6:f5c26372b2d0 | 608 | } |
Fairy_Paolina | 9:f34700716f1d | 609 | |
Fairy_Paolina | 9:f34700716f1d | 610 | void mid_section2(float* location, float ¤t, int* direction) |
Fairy_Paolina | 9:f34700716f1d | 611 | { |
Fairy_Paolina | 9:f34700716f1d | 612 | |
Fairy_Paolina | 9:f34700716f1d | 613 | motors.begin(); |
jjcarr2 | 12:081b8fc654af | 614 | |
jjcarr2 | 12:081b8fc654af | 615 | if(IR.getDistance() > 20) { |
jjcarr2 | 12:081b8fc654af | 616 | direction[0]= STRAIGHT; |
jjcarr2 | 12:081b8fc654af | 617 | return; |
jjcarr2 | 12:081b8fc654af | 618 | } |
jjcarr2 | 12:081b8fc654af | 619 | |
Fairy_Paolina | 6:f5c26372b2d0 | 620 | alignWithWall(MID); |
Fairy_Paolina | 6:f5c26372b2d0 | 621 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 622 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 9:f34700716f1d | 623 | |
Fairy_Paolina | 9:f34700716f1d | 624 | if(current != 0) { |
Fairy_Paolina | 6:f5c26372b2d0 | 625 | direction[1]= RIGHT; |
Fairy_Paolina | 6:f5c26372b2d0 | 626 | current+= location[1]; |
Fairy_Paolina | 6:f5c26372b2d0 | 627 | location[2]= current; |
Fairy_Paolina | 9:f34700716f1d | 628 | } else { |
Fairy_Paolina | 9:f34700716f1d | 629 | current=location[1]; |
Fairy_Paolina | 6:f5c26372b2d0 | 630 | direction[1]= LEFT; |
Fairy_Paolina | 6:f5c26372b2d0 | 631 | wall_follow2(LEFT,BACKWARD,MID,current); |
Fairy_Paolina | 6:f5c26372b2d0 | 632 | location[2]= location[1]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 633 | } |
Fairy_Paolina | 9:f34700716f1d | 634 | |
Fairy_Paolina | 9:f34700716f1d | 635 | leftTurn(); |
Fairy_Paolina | 8:11ef93eebe07 | 636 | overBump(RIGS); |
Fairy_Paolina | 9:f34700716f1d | 637 | } |
Fairy_Paolina | 9:f34700716f1d | 638 | |
Fairy_Paolina | 9:f34700716f1d | 639 | void rig_section(float* location, float ¤t, int* direction, int rig) |
Fairy_Paolina | 9:f34700716f1d | 640 | { |
jjcarr2 | 12:081b8fc654af | 641 | float loc; |
jjcarr2 | 12:081b8fc654af | 642 | |
jjcarr2 | 12:081b8fc654af | 643 | if(rig == 1) loc= 16; |
jjcarr2 | 12:081b8fc654af | 644 | else if(rig == 2) loc= 37; |
jjcarr2 | 12:081b8fc654af | 645 | else loc = 58; |
jjcarr2 | 12:081b8fc654af | 646 | |
jjcarr2 | 12:081b8fc654af | 647 | rightTurn(); |
jjcarr2 | 12:081b8fc654af | 648 | |
jjcarr2 | 12:081b8fc654af | 649 | |
jjcarr2 | 12:081b8fc654af | 650 | if(current > loc) { |
jjcarr2 | 12:081b8fc654af | 651 | UntilWall(BACKWARD); |
jjcarr2 | 12:081b8fc654af | 652 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 653 | wall_follow2(RIGHT, BACKWARD, RIGS, current); |
jjcarr2 | 12:081b8fc654af | 654 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 655 | |
jjcarr2 | 12:081b8fc654af | 656 | if((current- loc)>10) { |
jjcarr2 | 12:081b8fc654af | 657 | wall_follow2(RIGHT, BACKWARD, RIGS, current); |
jjcarr2 | 12:081b8fc654af | 658 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 659 | } |
jjcarr2 | 12:081b8fc654af | 660 | } else { |
jjcarr2 | 12:081b8fc654af | 661 | UntilWall(FORWARD); |
jjcarr2 | 12:081b8fc654af | 662 | wall_follow2(RIGHT, FORWARD, RIGS, current); |
jjcarr2 | 12:081b8fc654af | 663 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 664 | |
jjcarr2 | 12:081b8fc654af | 665 | if((current- loc)<-10) { |
jjcarr2 | 12:081b8fc654af | 666 | wall_follow2(RIGHT, FORWARD, RIGS, current); |
jjcarr2 | 12:081b8fc654af | 667 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
jjcarr2 | 12:081b8fc654af | 668 | } |
jjcarr2 | 12:081b8fc654af | 669 | } |
Fairy_Paolina | 9:f34700716f1d | 670 | |
Fairy_Paolina | 9:f34700716f1d | 671 | |
jjcarr2 | 12:081b8fc654af | 672 | } |
jjcarr2 | 12:081b8fc654af | 673 | |
jjcarr2 | 12:081b8fc654af | 674 | void tools_section_return(float* location, float ¤t) |
jjcarr2 | 12:081b8fc654af | 675 | { |
jjcarr2 | 12:081b8fc654af | 676 | if(location[0] > 16) { |
jjcarr2 | 12:081b8fc654af | 677 | rightTurn(); |
jjcarr2 | 12:081b8fc654af | 678 | leftEncoder.reset(); |
jjcarr2 | 12:081b8fc654af | 679 | rightEncoder.reset(); |
jjcarr2 | 12:081b8fc654af | 680 | motors.setMotor0Speed(MAX_SPEED); //right |
jjcarr2 | 12:081b8fc654af | 681 | motors.setMotor1Speed(MAX_SPEED); //left |
jjcarr2 | 12:081b8fc654af | 682 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
jjcarr2 | 12:081b8fc654af | 683 | wall_follow(RIGHT, FORWARD, RETURN); |
jjcarr2 | 12:081b8fc654af | 684 | } |
jjcarr2 | 12:081b8fc654af | 685 | motors.stopBothMotors(); |
jjcarr2 | 12:081b8fc654af | 686 | |
jjcarr2 | 12:081b8fc654af | 687 | } |
jjcarr2 | 12:081b8fc654af | 688 | |
jjcarr2 | 12:081b8fc654af | 689 | void mid_section_return(float* location, float ¤t, int* direction) |
jjcarr2 | 12:081b8fc654af | 690 | { |
jjcarr2 | 12:081b8fc654af | 691 | if(direction[1] == RIGHT) { |
jjcarr2 | 12:081b8fc654af | 692 | rightTurn(); |
jjcarr2 | 12:081b8fc654af | 693 | alignWithWall(MID); |
jjcarr2 | 12:081b8fc654af | 694 | wall_follow2(LEFT, FORWARD, MID, current); |
jjcarr2 | 12:081b8fc654af | 695 | leftTurn(); |
jjcarr2 | 12:081b8fc654af | 696 | } else if(direction[1] == LEFT) { |
jjcarr2 | 12:081b8fc654af | 697 | leftTurn(); |
jjcarr2 | 12:081b8fc654af | 698 | wall_follow2(RIGHT, FORWARD, MID, current); |
jjcarr2 | 12:081b8fc654af | 699 | rightTurn(); |
jjcarr2 | 12:081b8fc654af | 700 | } else { |
jjcarr2 | 12:081b8fc654af | 701 | //GO FORWARD |
jjcarr2 | 12:081b8fc654af | 702 | } |
jjcarr2 | 12:081b8fc654af | 703 | overBump(RIGS); |
jjcarr2 | 12:081b8fc654af | 704 | } |
jjcarr2 | 12:081b8fc654af | 705 | |
jjcarr2 | 12:081b8fc654af | 706 | void mid_section2_return(float* location, float ¤t, int* direction) |
jjcarr2 | 12:081b8fc654af | 707 | { |
jjcarr2 | 12:081b8fc654af | 708 | if(direction[2] == RIGHT) { |
jjcarr2 | 12:081b8fc654af | 709 | rightTurn(); |
jjcarr2 | 12:081b8fc654af | 710 | wall_follow2(LEFT, FORWARD, MID, current); |
jjcarr2 | 12:081b8fc654af | 711 | leftTurn(); |
jjcarr2 | 12:081b8fc654af | 712 | } else if(direction[2] == LEFT) { |
jjcarr2 | 12:081b8fc654af | 713 | leftTurn(); |
jjcarr2 | 12:081b8fc654af | 714 | wall_follow2(RIGHT, FORWARD, MID, current); |
jjcarr2 | 12:081b8fc654af | 715 | rightTurn(); |
jjcarr2 | 12:081b8fc654af | 716 | } else { |
jjcarr2 | 12:081b8fc654af | 717 | //GO FORWARD |
jjcarr2 | 12:081b8fc654af | 718 | } |
jjcarr2 | 12:081b8fc654af | 719 | overBump(MID); |
jjcarr2 | 12:081b8fc654af | 720 | } |
jjcarr2 | 12:081b8fc654af | 721 | |
jjcarr2 | 12:081b8fc654af | 722 | void rig_section_return(float* location, float ¤t, int* direction, int rig) |
jjcarr2 | 12:081b8fc654af | 723 | { |
jjcarr2 | 12:081b8fc654af | 724 | if(location[2] > current) { |
jjcarr2 | 12:081b8fc654af | 725 | wall_follow2(RIGHT, FORWARD, RIGS, current); |
jjcarr2 | 12:081b8fc654af | 726 | } else { |
jjcarr2 | 12:081b8fc654af | 727 | wall_follow2(RIGHT, BACKWARD, RIGS, current); |
jjcarr2 | 12:081b8fc654af | 728 | } |
jjcarr2 | 12:081b8fc654af | 729 | rightTurn(); |
jjcarr2 | 12:081b8fc654af | 730 | overBump(MID); |
Fairy_Paolina | 8:11ef93eebe07 | 731 | } |