Yeah
Dependencies: HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of NavigationTest by
main.cpp@10:2aa70a504c18, 2014-03-27 (annotated)
- Committer:
- jjcarr2
- Date:
- Thu Mar 27 18:32:27 2014 +0000
- Revision:
- 10:2aa70a504c18
- Parent:
- 9:f34700716f1d
- Child:
- 11:12ce7600f2f9
asd;
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) |
Fairy_Paolina | 3:58726d2e11f0 | 23 | #define FORWARD (1) |
Fairy_Paolina | 9:f34700716f1d | 24 | #define BACKWARD (0) |
Fairy_Paolina | 3:58726d2e11f0 | 25 | #define TOOLS (0) |
Fairy_Paolina | 3:58726d2e11f0 | 26 | #define MID (1) |
Fairy_Paolina | 9:f34700716f1d | 27 | #define RIGS (2) |
Fairy_Paolina | 6:f5c26372b2d0 | 28 | #define FIRST_WAVE (0) |
Fairy_Paolina | 6:f5c26372b2d0 | 29 | #define FAR (1) |
Fairy_Paolina | 9:f34700716f1d | 30 | |
Fairy_Paolina | 9:f34700716f1d | 31 | |
Fairy_Paolina | 9:f34700716f1d | 32 | float range, range2, pid_return; |
Fairy_Paolina | 0:ff94cc47fef7 | 33 | void errFunction(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 34 | bool cRc; |
Fairy_Paolina | 9:f34700716f1d | 35 | |
Fairy_Paolina | 0:ff94cc47fef7 | 36 | //Hardware Initialization |
Fairy_Paolina | 0:ff94cc47fef7 | 37 | Serial bt(p13,p14); |
Fairy_Paolina | 0:ff94cc47fef7 | 38 | Serial pc(USBTX,USBRX); |
Fairy_Paolina | 2:3d0be48abcf2 | 39 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
Fairy_Paolina | 2:3d0be48abcf2 | 40 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
Fairy_Paolina | 2:3d0be48abcf2 | 41 | PID pid1(15.0,0.0,4.0,0.02); |
Fairy_Paolina | 0:ff94cc47fef7 | 42 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
Fairy_Paolina | 4:f2333e66ec2c | 43 | QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 4:f2333e66ec2c | 44 | QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 8:11ef93eebe07 | 45 | Sharp IR(p20); |
Fairy_Paolina | 1:801f0b9a862a | 46 | //InterruptIn encoder(p29); |
Fairy_Paolina | 9:f34700716f1d | 47 | |
Fairy_Paolina | 9:f34700716f1d | 48 | |
Fairy_Paolina | 0:ff94cc47fef7 | 49 | //Functions |
Fairy_Paolina | 9:f34700716f1d | 50 | |
Fairy_Paolina | 3:58726d2e11f0 | 51 | float wall_follow(int side, int direction, int section); |
Fairy_Paolina | 6:f5c26372b2d0 | 52 | void wall_follow2(int side, int direction, int section, float location); |
Fairy_Paolina | 0:ff94cc47fef7 | 53 | void wall_follow3(int ¤tLocation, int &WaveOpening); |
Fairy_Paolina | 1:801f0b9a862a | 54 | void leftTurn(void); |
Fairy_Paolina | 9:f34700716f1d | 55 | void slightleft(void); |
Fairy_Paolina | 1:801f0b9a862a | 56 | void rightTurn(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 57 | void us_distance(void); |
Fairy_Paolina | 3:58726d2e11f0 | 58 | void tools_section(float* location, float ¤t); |
Fairy_Paolina | 6:f5c26372b2d0 | 59 | void mid_section(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 60 | void mid_section2(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 61 | void rig_section(float* location, float ¤t, int* direction, int rig); |
Fairy_Paolina | 8:11ef93eebe07 | 62 | void overBump(int section); |
Fairy_Paolina | 6:f5c26372b2d0 | 63 | void alignWithWall(int section); |
Fairy_Paolina | 9:f34700716f1d | 64 | |
Fairy_Paolina | 1:801f0b9a862a | 65 | //Variables |
Fairy_Paolina | 9:f34700716f1d | 66 | |
Fairy_Paolina | 2:3d0be48abcf2 | 67 | int main(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 68 | { |
Fairy_Paolina | 3:58726d2e11f0 | 69 | float location[3], current=0; |
Fairy_Paolina | 3:58726d2e11f0 | 70 | int direction[3]; |
Fairy_Paolina | 8:11ef93eebe07 | 71 | double distance; |
Fairy_Paolina | 9:f34700716f1d | 72 | |
Fairy_Paolina | 0:ff94cc47fef7 | 73 | pc.baud(115200); |
Fairy_Paolina | 1:801f0b9a862a | 74 | bt.baud(115200); |
Fairy_Paolina | 2:3d0be48abcf2 | 75 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 76 | |
Fairy_Paolina | 7:78745a518957 | 77 | bt.printf("START\r\n"); |
Fairy_Paolina | 3:58726d2e11f0 | 78 | //Go to tools |
Fairy_Paolina | 4:f2333e66ec2c | 79 | tools_section(location, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 80 | mid_section(location, current, direction); |
Fairy_Paolina | 9:f34700716f1d | 81 | //mid_section2(location, current, direction); |
Fairy_Paolina | 9:f34700716f1d | 82 | /* while(1) { |
Fairy_Paolina | 9:f34700716f1d | 83 | //bt.printf("IR %f\r\n", US.getDistance()); |
Fairy_Paolina | 9:f34700716f1d | 84 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 9:f34700716f1d | 85 | wait_ms(20); |
Fairy_Paolina | 9:f34700716f1d | 86 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 87 | bt.printf("Range = %f\n\r", range); |
Fairy_Paolina | 9:f34700716f1d | 88 | |
Fairy_Paolina | 8:11ef93eebe07 | 89 | wait_ms(200); |
Fairy_Paolina | 9:f34700716f1d | 90 | }*/ |
Fairy_Paolina | 9:f34700716f1d | 91 | |
Fairy_Paolina | 9:f34700716f1d | 92 | |
Fairy_Paolina | 9:f34700716f1d | 93 | //leftTurn(); |
Fairy_Paolina | 9:f34700716f1d | 94 | //rightTurn(); |
Fairy_Paolina | 9:f34700716f1d | 95 | |
Fairy_Paolina | 9:f34700716f1d | 96 | |
Fairy_Paolina | 0:ff94cc47fef7 | 97 | } |
Fairy_Paolina | 9:f34700716f1d | 98 | |
Fairy_Paolina | 2:3d0be48abcf2 | 99 | void errFunction(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 100 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 101 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 102 | } |
Fairy_Paolina | 9:f34700716f1d | 103 | |
Fairy_Paolina | 0:ff94cc47fef7 | 104 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 105 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 106 | pc.printf("Ultra Sonic\n\r"); |
Fairy_Paolina | 2:3d0be48abcf2 | 107 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 108 | wait_us(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 109 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
Fairy_Paolina | 2:3d0be48abcf2 | 110 | pc.printf("Range = %f\n\r", range); |
Fairy_Paolina | 2:3d0be48abcf2 | 111 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 112 | } |
Fairy_Paolina | 9:f34700716f1d | 113 | |
Fairy_Paolina | 3:58726d2e11f0 | 114 | float wall_follow(int side, int direction, int section) |
Fairy_Paolina | 0:ff94cc47fef7 | 115 | { |
Fairy_Paolina | 8:11ef93eebe07 | 116 | float location, wavegap=0, set=5; |
Fairy_Paolina | 5:70ccef3734ae | 117 | int dir=1; |
Fairy_Paolina | 9:f34700716f1d | 118 | |
Fairy_Paolina | 4:f2333e66ec2c | 119 | pid1.reset(); |
Fairy_Paolina | 9:f34700716f1d | 120 | |
Fairy_Paolina | 3:58726d2e11f0 | 121 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 5:70ccef3734ae | 122 | if(section == TOOLS)set= 10; |
Fairy_Paolina | 9:f34700716f1d | 123 | |
Fairy_Paolina | 3:58726d2e11f0 | 124 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 125 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 126 | |
Fairy_Paolina | 4:f2333e66ec2c | 127 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 9:f34700716f1d | 128 | |
Fairy_Paolina | 9:f34700716f1d | 129 | while(location< 73) { |
Fairy_Paolina | 4:f2333e66ec2c | 130 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 9:f34700716f1d | 131 | |
Fairy_Paolina | 3:58726d2e11f0 | 132 | pid1.setInputLimits(0, set); |
Fairy_Paolina | 1:801f0b9a862a | 133 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 134 | pid1.setSetPoint(set); |
Fairy_Paolina | 9:f34700716f1d | 135 | if(side) { |
Fairy_Paolina | 2:3d0be48abcf2 | 136 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 8:11ef93eebe07 | 137 | wait_ms(38); |
Fairy_Paolina | 2:3d0be48abcf2 | 138 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 139 | } else { |
Fairy_Paolina | 2:3d0be48abcf2 | 140 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 8:11ef93eebe07 | 141 | wait_ms(38); |
Fairy_Paolina | 2:3d0be48abcf2 | 142 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 143 | pc.printf("%d\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 144 | } |
Fairy_Paolina | 9:f34700716f1d | 145 | |
Fairy_Paolina | 3:58726d2e11f0 | 146 | if(range > 20) { |
Fairy_Paolina | 4:f2333e66ec2c | 147 | wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 7:78745a518957 | 148 | //bt.printf("wavegap %f\r\n",wavegap); |
Fairy_Paolina | 3:58726d2e11f0 | 149 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 9:f34700716f1d | 150 | motors.setMotor1Speed(dir*0.4*127);//left |
Fairy_Paolina | 9:f34700716f1d | 151 | motors.setMotor0Speed(dir*0.4*127);//right |
Fairy_Paolina | 9:f34700716f1d | 152 | } else { |
Fairy_Paolina | 9:f34700716f1d | 153 | |
Fairy_Paolina | 6:f5c26372b2d0 | 154 | pid1.setProcessValue(range); |
Fairy_Paolina | 6:f5c26372b2d0 | 155 | pid_return = pid1.compute(); |
Fairy_Paolina | 9:f34700716f1d | 156 | |
Fairy_Paolina | 6:f5c26372b2d0 | 157 | if(pid_return > 0) { |
Fairy_Paolina | 9:f34700716f1d | 158 | if(side) { |
Fairy_Paolina | 6:f5c26372b2d0 | 159 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 160 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 9:f34700716f1d | 161 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 162 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 163 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 164 | } |
Fairy_Paolina | 9:f34700716f1d | 165 | } else if(pid_return < 0) { |
Fairy_Paolina | 9:f34700716f1d | 166 | if(side) { |
Fairy_Paolina | 6:f5c26372b2d0 | 167 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 168 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 9:f34700716f1d | 169 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 170 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 171 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 172 | } |
Fairy_Paolina | 9:f34700716f1d | 173 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 174 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 175 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 176 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 177 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 178 | } |
Fairy_Paolina | 3:58726d2e11f0 | 179 | return wavegap; |
Fairy_Paolina | 0:ff94cc47fef7 | 180 | } |
Fairy_Paolina | 9:f34700716f1d | 181 | |
Fairy_Paolina | 0:ff94cc47fef7 | 182 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
Fairy_Paolina | 9:f34700716f1d | 183 | |
Fairy_Paolina | 6:f5c26372b2d0 | 184 | void wall_follow2(int side, int direction, int section, float location) |
Fairy_Paolina | 0:ff94cc47fef7 | 185 | { |
Fairy_Paolina | 5:70ccef3734ae | 186 | int SeeWaveGap = false, dir=1; |
Fairy_Paolina | 8:11ef93eebe07 | 187 | float set=5, loc=0; |
Fairy_Paolina | 9:f34700716f1d | 188 | |
Fairy_Paolina | 4:f2333e66ec2c | 189 | pid1.reset(); |
Fairy_Paolina | 9:f34700716f1d | 190 | |
Fairy_Paolina | 3:58726d2e11f0 | 191 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 6:f5c26372b2d0 | 192 | if(section == TOOLS)set= 5; |
Fairy_Paolina | 9:f34700716f1d | 193 | |
Fairy_Paolina | 3:58726d2e11f0 | 194 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 195 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 196 | |
jjcarr2 | 10:2aa70a504c18 | 197 | while(dir*loc + location <= 78) { |
Fairy_Paolina | 7:78745a518957 | 198 | loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 9:f34700716f1d | 199 | |
Fairy_Paolina | 5:70ccef3734ae | 200 | pid1.setInputLimits(0.0, set); |
Fairy_Paolina | 1:801f0b9a862a | 201 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 5:70ccef3734ae | 202 | pid1.setSetPoint(set); |
Fairy_Paolina | 9:f34700716f1d | 203 | |
Fairy_Paolina | 9:f34700716f1d | 204 | if(side) { |
Fairy_Paolina | 2:3d0be48abcf2 | 205 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 8:11ef93eebe07 | 206 | wait_ms(38); |
Fairy_Paolina | 2:3d0be48abcf2 | 207 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 208 | } else { |
Fairy_Paolina | 2:3d0be48abcf2 | 209 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 8:11ef93eebe07 | 210 | wait_ms(38); |
Fairy_Paolina | 2:3d0be48abcf2 | 211 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 212 | } |
Fairy_Paolina | 9:f34700716f1d | 213 | |
Fairy_Paolina | 9:f34700716f1d | 214 | |
Fairy_Paolina | 0:ff94cc47fef7 | 215 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 3:58726d2e11f0 | 216 | /* If after 20 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 217 | /* then robot is at wave opening */ |
Fairy_Paolina | 9:f34700716f1d | 218 | |
jjcarr2 | 10:2aa70a504c18 | 219 | //bt.printf("wall follow 2 range %f\r\n",range); |
jjcarr2 | 10:2aa70a504c18 | 220 | //bt.printf("loc+location = %f\r\n", loc+location); |
Fairy_Paolina | 2:3d0be48abcf2 | 221 | if(range > 20) { |
Fairy_Paolina | 2:3d0be48abcf2 | 222 | motors.stopBothMotors(); |
Fairy_Paolina | 2:3d0be48abcf2 | 223 | bt.printf("wavegap\r\n"); |
Fairy_Paolina | 2:3d0be48abcf2 | 224 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 2:3d0be48abcf2 | 225 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 226 | } |
Fairy_Paolina | 9:f34700716f1d | 227 | |
Fairy_Paolina | 0:ff94cc47fef7 | 228 | pid1.setProcessValue(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 229 | pid_return = pid1.compute(); |
Fairy_Paolina | 2:3d0be48abcf2 | 230 | //bt.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
Fairy_Paolina | 9:f34700716f1d | 231 | |
Fairy_Paolina | 9:f34700716f1d | 232 | if(pid_return > 0) { |
Fairy_Paolina | 9:f34700716f1d | 233 | if(side) { |
Fairy_Paolina | 3:58726d2e11f0 | 234 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 3:58726d2e11f0 | 235 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 9:f34700716f1d | 236 | } else { |
Fairy_Paolina | 3:58726d2e11f0 | 237 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 3:58726d2e11f0 | 238 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 239 | } |
Fairy_Paolina | 9:f34700716f1d | 240 | } else if(pid_return < 0) { |
Fairy_Paolina | 9:f34700716f1d | 241 | if(side) { |
Fairy_Paolina | 3:58726d2e11f0 | 242 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 243 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 9:f34700716f1d | 244 | } else { |
Fairy_Paolina | 3:58726d2e11f0 | 245 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 3:58726d2e11f0 | 246 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 247 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 248 | } else { |
Fairy_Paolina | 3:58726d2e11f0 | 249 | motors.setMotor0Speed(dir*MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 250 | motors.setMotor1Speed(dir*MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 251 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 252 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 253 | motors.stopBothMotors(); |
Fairy_Paolina | 0:ff94cc47fef7 | 254 | } |
Fairy_Paolina | 9:f34700716f1d | 255 | |
Fairy_Paolina | 9:f34700716f1d | 256 | |
Fairy_Paolina | 9:f34700716f1d | 257 | void alignWithWall(int section) |
Fairy_Paolina | 9:f34700716f1d | 258 | { |
Fairy_Paolina | 6:f5c26372b2d0 | 259 | float usValue = 0; |
Fairy_Paolina | 9:f34700716f1d | 260 | |
Fairy_Paolina | 9:f34700716f1d | 261 | if(section == TOOLS) { |
Fairy_Paolina | 6:f5c26372b2d0 | 262 | // turn at an angle |
Fairy_Paolina | 6:f5c26372b2d0 | 263 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 264 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 265 | motors.setMotor0Speed(-1.2*MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 266 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 267 | while(rightEncoder.getPulses()>-1000); |
Fairy_Paolina | 6:f5c26372b2d0 | 268 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 269 | |
Fairy_Paolina | 6:f5c26372b2d0 | 270 | //go backwards toward wall |
Fairy_Paolina | 6:f5c26372b2d0 | 271 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 272 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 273 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 274 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 7:78745a518957 | 275 | while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300); |
Fairy_Paolina | 9:f34700716f1d | 276 | |
Fairy_Paolina | 6:f5c26372b2d0 | 277 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 278 | |
Fairy_Paolina | 9:f34700716f1d | 279 | // turn left towards wall |
Fairy_Paolina | 6:f5c26372b2d0 | 280 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 281 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 282 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 283 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 284 | while(rightEncoder.getPulses() < 10 || abs(leftEncoder.getPulses()) < 10); |
Fairy_Paolina | 9:f34700716f1d | 285 | |
Fairy_Paolina | 9:f34700716f1d | 286 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 287 | |
Fairy_Paolina | 7:78745a518957 | 288 | motors.setMotor0Speed(0.7*MAX_SPEED); //right |
Fairy_Paolina | 7:78745a518957 | 289 | motors.setMotor1Speed(-0.7*MAX_SPEED); //left |
Fairy_Paolina | 7:78745a518957 | 290 | } else { |
Fairy_Paolina | 8:11ef93eebe07 | 291 | rightTurn(); |
Fairy_Paolina | 7:78745a518957 | 292 | motors.setMotor0Speed(-0.7*MAX_SPEED); //right |
Fairy_Paolina | 7:78745a518957 | 293 | motors.setMotor1Speed(0.7*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 294 | } |
Fairy_Paolina | 9:f34700716f1d | 295 | |
Fairy_Paolina | 6:f5c26372b2d0 | 296 | usValue = 0; |
Fairy_Paolina | 9:f34700716f1d | 297 | while(1) { |
Fairy_Paolina | 2:3d0be48abcf2 | 298 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 6:f5c26372b2d0 | 299 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 300 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 7:78745a518957 | 301 | //bt.printf("Range %f \t OldValue %f\n\r",range, usValue); |
Fairy_Paolina | 9:f34700716f1d | 302 | if(range > usValue && usValue != 0 && range < 25) { |
Fairy_Paolina | 0:ff94cc47fef7 | 303 | break; |
Fairy_Paolina | 2:3d0be48abcf2 | 304 | } else { |
Fairy_Paolina | 9:f34700716f1d | 305 | usValue = range; |
Fairy_Paolina | 0:ff94cc47fef7 | 306 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 307 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 308 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 309 | } |
Fairy_Paolina | 9:f34700716f1d | 310 | |
Fairy_Paolina | 1:801f0b9a862a | 311 | void rightTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 312 | { |
Fairy_Paolina | 9:f34700716f1d | 313 | motors.begin(); |
Fairy_Paolina | 1:801f0b9a862a | 314 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 315 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 316 | motors.setMotor0Speed(-0.5*127);//right |
Fairy_Paolina | 9:f34700716f1d | 317 | motors.setMotor1Speed(0.5*127);//left |
Fairy_Paolina | 9:f34700716f1d | 318 | while(leftEncoder.getPulses()<900 || rightEncoder.getPulses()>-900); |
Fairy_Paolina | 1:801f0b9a862a | 319 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 320 | } |
Fairy_Paolina | 9:f34700716f1d | 321 | |
Fairy_Paolina | 1:801f0b9a862a | 322 | void leftTurn(void) |
Fairy_Paolina | 9:f34700716f1d | 323 | { |
Fairy_Paolina | 9:f34700716f1d | 324 | /* |
Fairy_Paolina | 1:801f0b9a862a | 325 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 326 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 327 | motors.setMotor0Speed(0.4*MAX_SPEED); //right |
Fairy_Paolina | 9:f34700716f1d | 328 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 329 | while(abs(leftEncoder.getPulses())<2500); |
Fairy_Paolina | 9:f34700716f1d | 330 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 331 | */ |
Fairy_Paolina | 9:f34700716f1d | 332 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 333 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 334 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 335 | motors.setMotor0Speed(0.5*127);// right |
Fairy_Paolina | 9:f34700716f1d | 336 | motors.setMotor1Speed(-0.5*127);// left |
Fairy_Paolina | 8:11ef93eebe07 | 337 | while(abs(leftEncoder.getPulses())<1000 || rightEncoder.getPulses()<1000); |
Fairy_Paolina | 5:70ccef3734ae | 338 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 339 | } |
Fairy_Paolina | 9:f34700716f1d | 340 | void slightleft(void){ |
Fairy_Paolina | 9:f34700716f1d | 341 | |
Fairy_Paolina | 9:f34700716f1d | 342 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 343 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 344 | motors.setMotor0Speed(0.5*127);// right |
Fairy_Paolina | 9:f34700716f1d | 345 | motors.setMotor1Speed(-0.5*127);// left |
Fairy_Paolina | 9:f34700716f1d | 346 | while(abs(leftEncoder.getPulses())<50 || rightEncoder.getPulses()<50); |
Fairy_Paolina | 9:f34700716f1d | 347 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 348 | } |
Fairy_Paolina | 9:f34700716f1d | 349 | |
Fairy_Paolina | 9:f34700716f1d | 350 | |
Fairy_Paolina | 9:f34700716f1d | 351 | void overBump(int section) |
Fairy_Paolina | 9:f34700716f1d | 352 | { |
Fairy_Paolina | 9:f34700716f1d | 353 | int preLeft=5000, preRight=5000, out=0; |
Fairy_Paolina | 9:f34700716f1d | 354 | |
Fairy_Paolina | 9:f34700716f1d | 355 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 356 | |
Fairy_Paolina | 9:f34700716f1d | 357 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 358 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 359 | motors.setMotor0Speed(-0.2*127); //right |
Fairy_Paolina | 9:f34700716f1d | 360 | motors.setMotor1Speed(-0.2*127); //left |
Fairy_Paolina | 9:f34700716f1d | 361 | while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses())< 50); |
Fairy_Paolina | 9:f34700716f1d | 362 | motors.stopBothMotors(); |
Fairy_Paolina | 3:58726d2e11f0 | 363 | |
Fairy_Paolina | 3:58726d2e11f0 | 364 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 365 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 366 | motors.setMotor0Speed(0.2*127); //right |
Fairy_Paolina | 9:f34700716f1d | 367 | motors.setMotor1Speed(0.2*127); //left |
Fairy_Paolina | 8:11ef93eebe07 | 368 | while(/*(abs(leftEncoder.getPulses()) < 1000 || abs(rightEncoder.getPulses())< 1000)*/ IR.getDistance() >20 && preLeft!=0){ |
Fairy_Paolina | 9:f34700716f1d | 369 | preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 9:f34700716f1d | 370 | preRight=rightEncoder.getPulses(); |
Fairy_Paolina | 9:f34700716f1d | 371 | wait_ms(100); |
jjcarr2 | 10:2aa70a504c18 | 372 | //bt.printf(" first while left %d right %d \r\n", preLeft, preRight); |
Fairy_Paolina | 9:f34700716f1d | 373 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
Fairy_Paolina | 8:11ef93eebe07 | 374 | } |
Fairy_Paolina | 8:11ef93eebe07 | 375 | |
Fairy_Paolina | 8:11ef93eebe07 | 376 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 377 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 378 | wait(2); |
Fairy_Paolina | 9:f34700716f1d | 379 | /* |
Fairy_Paolina | 9:f34700716f1d | 380 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 381 | motors.setMotor0Speed(0.15*127); //right |
Fairy_Paolina | 9:f34700716f1d | 382 | motors.setMotor1Speed(0.15*127); //left |
Fairy_Paolina | 9:f34700716f1d | 383 | preLeft=preRight=5000 ; |
Fairy_Paolina | 9:f34700716f1d | 384 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 385 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 386 | */ |
Fairy_Paolina | 9:f34700716f1d | 387 | // while(/*(abs(leftEncoder.getPulses()) < 1000 || abs(rightEncoder.getPulses())< 1000)*/ IR.getDistance() >20 && preLeft!=0){ |
Fairy_Paolina | 9:f34700716f1d | 388 | /* preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 9:f34700716f1d | 389 | preRight=rightEncoder.getPulses(); |
Fairy_Paolina | 9:f34700716f1d | 390 | bt.printf("second while left %d right %d \r\n", preLeft, preRight); |
Fairy_Paolina | 9:f34700716f1d | 391 | wait_ms(200); |
Fairy_Paolina | 9:f34700716f1d | 392 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
Fairy_Paolina | 9:f34700716f1d | 393 | }*/ |
Fairy_Paolina | 9:f34700716f1d | 394 | |
Fairy_Paolina | 8:11ef93eebe07 | 395 | leftEncoder.reset(); |
Fairy_Paolina | 8:11ef93eebe07 | 396 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 397 | motors.setMotor0Speed(0.3*127); //right |
Fairy_Paolina | 9:f34700716f1d | 398 | motors.setMotor1Speed(0.3*127); //left |
Fairy_Paolina | 9:f34700716f1d | 399 | |
Fairy_Paolina | 9:f34700716f1d | 400 | while(!out) { |
Fairy_Paolina | 6:f5c26372b2d0 | 401 | preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 402 | preRight=rightEncoder.getPulses(); |
Fairy_Paolina | 9:f34700716f1d | 403 | |
Fairy_Paolina | 9:f34700716f1d | 404 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 9:f34700716f1d | 405 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 9:f34700716f1d | 406 | wait_ms(20); |
Fairy_Paolina | 9:f34700716f1d | 407 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 408 | rangeFinderRight.getMeas(range2); |
Fairy_Paolina | 9:f34700716f1d | 409 | if(range < 10 || range2 < 10) out=1; |
Fairy_Paolina | 9:f34700716f1d | 410 | |
Fairy_Paolina | 9:f34700716f1d | 411 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) { |
Fairy_Paolina | 9:f34700716f1d | 412 | motors.setMotor0Speed(0.4*127); //right |
Fairy_Paolina | 9:f34700716f1d | 413 | motors.setMotor1Speed(0.4*127); //left |
Fairy_Paolina | 9:f34700716f1d | 414 | } |
Fairy_Paolina | 9:f34700716f1d | 415 | if(abs(leftEncoder.getPulses()) <1000 || abs(leftEncoder.getPulses())<1000) out=1; |
Fairy_Paolina | 8:11ef93eebe07 | 416 | } |
Fairy_Paolina | 9:f34700716f1d | 417 | |
Fairy_Paolina | 8:11ef93eebe07 | 418 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 419 | wait(2); |
Fairy_Paolina | 9:f34700716f1d | 420 | motors.begin(); |
Fairy_Paolina | 4:f2333e66ec2c | 421 | |
Fairy_Paolina | 8:11ef93eebe07 | 422 | preLeft=preRight=5000 ; |
Fairy_Paolina | 8:11ef93eebe07 | 423 | leftEncoder.reset(); |
Fairy_Paolina | 8:11ef93eebe07 | 424 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 425 | motors.setMotor0Speed(.25*127); //right |
Fairy_Paolina | 9:f34700716f1d | 426 | motors.setMotor1Speed(.25*127); //left |
Fairy_Paolina | 9:f34700716f1d | 427 | |
Fairy_Paolina | 9:f34700716f1d | 428 | if(section == TOOLS || section == MID) { |
Fairy_Paolina | 8:11ef93eebe07 | 429 | while(IR.getDistance() > 20 ) { |
jjcarr2 | 10:2aa70a504c18 | 430 | //bt.printf("IR %f\r\n", IR.getDistance()); |
jjcarr2 | 10:2aa70a504c18 | 431 | //bt.printf("third while left %d right %d \r\n", preLeft, preRight); |
Fairy_Paolina | 9:f34700716f1d | 432 | } |
Fairy_Paolina | 9:f34700716f1d | 433 | } else while((abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses())< 200)); |
Fairy_Paolina | 8:11ef93eebe07 | 434 | |
Fairy_Paolina | 9:f34700716f1d | 435 | motors.setMotor0Speed(-.25*127); //right |
Fairy_Paolina | 9:f34700716f1d | 436 | motors.setMotor1Speed(-.25*127); //left |
Fairy_Paolina | 9:f34700716f1d | 437 | wait_ms(10); |
Fairy_Paolina | 3:58726d2e11f0 | 438 | motors.stopBothMotors(); |
Fairy_Paolina | 8:11ef93eebe07 | 439 | wait(2); |
Fairy_Paolina | 9:f34700716f1d | 440 | motors.begin(); |
Fairy_Paolina | 9:f34700716f1d | 441 | |
Fairy_Paolina | 3:58726d2e11f0 | 442 | } |
Fairy_Paolina | 9:f34700716f1d | 443 | |
Fairy_Paolina | 9:f34700716f1d | 444 | void tools_section(float* location, float ¤t) |
Fairy_Paolina | 9:f34700716f1d | 445 | { |
Fairy_Paolina | 9:f34700716f1d | 446 | wall_follow(LEFT,FORWARD, TOOLS); |
Fairy_Paolina | 6:f5c26372b2d0 | 447 | // current position in reference to the starting position |
Fairy_Paolina | 4:f2333e66ec2c | 448 | current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 6:f5c26372b2d0 | 449 | bt.printf("current %f \r\n",current); |
Fairy_Paolina | 9:f34700716f1d | 450 | |
Fairy_Paolina | 5:70ccef3734ae | 451 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 452 | |
Fairy_Paolina | 6:f5c26372b2d0 | 453 | //Tool aquiring |
Fairy_Paolina | 6:f5c26372b2d0 | 454 | wait(2); |
jjcarr2 | 10:2aa70a504c18 | 455 | while(1){ } |
Fairy_Paolina | 6:f5c26372b2d0 | 456 | // After tool is aquired |
Fairy_Paolina | 9:f34700716f1d | 457 | |
Fairy_Paolina | 6:f5c26372b2d0 | 458 | alignWithWall(TOOLS); |
Fairy_Paolina | 9:f34700716f1d | 459 | |
Fairy_Paolina | 6:f5c26372b2d0 | 460 | wait_ms(100); |
Fairy_Paolina | 6:f5c26372b2d0 | 461 | |
Fairy_Paolina | 9:f34700716f1d | 462 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 9:f34700716f1d | 463 | current= 78; |
Fairy_Paolina | 9:f34700716f1d | 464 | |
Fairy_Paolina | 6:f5c26372b2d0 | 465 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 6:f5c26372b2d0 | 466 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 467 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 9:f34700716f1d | 468 | |
Fairy_Paolina | 9:f34700716f1d | 469 | if(range < 20) { |
Fairy_Paolina | 6:f5c26372b2d0 | 470 | wall_follow2(LEFT,BACKWARD,TOOLS, current); |
Fairy_Paolina | 9:f34700716f1d | 471 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 472 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 473 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 9:f34700716f1d | 474 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 475 | while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120); |
Fairy_Paolina | 9:f34700716f1d | 476 | |
Fairy_Paolina | 9:f34700716f1d | 477 | leftEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 478 | rightEncoder.reset(); |
Fairy_Paolina | 9:f34700716f1d | 479 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 9:f34700716f1d | 480 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 9:f34700716f1d | 481 | while(abs(leftEncoder.getPulses()) < 40 || abs(rightEncoder.getPulses())< 40); |
Fairy_Paolina | 9:f34700716f1d | 482 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 483 | |
Fairy_Paolina | 9:f34700716f1d | 484 | wait_ms(500); |
Fairy_Paolina | 6:f5c26372b2d0 | 485 | location[0]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 486 | current= location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 487 | leftTurn(); |
Fairy_Paolina | 9:f34700716f1d | 488 | slightleft(); |
Fairy_Paolina | 8:11ef93eebe07 | 489 | overBump(TOOLS); |
Fairy_Paolina | 9:f34700716f1d | 490 | } else { |
Fairy_Paolina | 9:f34700716f1d | 491 | location[0]= 77; |
Fairy_Paolina | 6:f5c26372b2d0 | 492 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 493 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 494 | overBump(FIRST_WAVE); |
Fairy_Paolina | 9:f34700716f1d | 495 | } |
Fairy_Paolina | 9:f34700716f1d | 496 | |
jjcarr2 | 10:2aa70a504c18 | 497 | bt.printf("First Wavegap = %f\r\n",location[0]); |
Fairy_Paolina | 6:f5c26372b2d0 | 498 | } |
Fairy_Paolina | 9:f34700716f1d | 499 | |
Fairy_Paolina | 9:f34700716f1d | 500 | void mid_section(float* location, float ¤t, int* direction) |
Fairy_Paolina | 9:f34700716f1d | 501 | { |
Fairy_Paolina | 9:f34700716f1d | 502 | |
Fairy_Paolina | 9:f34700716f1d | 503 | motors.begin(); |
Fairy_Paolina | 6:f5c26372b2d0 | 504 | |
Fairy_Paolina | 9:f34700716f1d | 505 | if(IR.getDistance() > 20) return; |
Fairy_Paolina | 9:f34700716f1d | 506 | |
Fairy_Paolina | 6:f5c26372b2d0 | 507 | alignWithWall(MID); |
Fairy_Paolina | 8:11ef93eebe07 | 508 | |
Fairy_Paolina | 6:f5c26372b2d0 | 509 | bt.printf("mid section current = %f\r\n",current); |
Fairy_Paolina | 6:f5c26372b2d0 | 510 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 511 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 512 | bt.printf("after wf2 current = %f\r\n",current); |
Fairy_Paolina | 9:f34700716f1d | 513 | |
Fairy_Paolina | 9:f34700716f1d | 514 | if(current != 0) { |
Fairy_Paolina | 6:f5c26372b2d0 | 515 | direction[0]= RIGHT; |
Fairy_Paolina | 6:f5c26372b2d0 | 516 | current+= location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 517 | location[1]= current; |
Fairy_Paolina | 9:f34700716f1d | 518 | } else { |
Fairy_Paolina | 9:f34700716f1d | 519 | current=location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 520 | direction[0]= LEFT; |
Fairy_Paolina | 6:f5c26372b2d0 | 521 | wall_follow2(LEFT,BACKWARD,MID,current); |
Fairy_Paolina | 6:f5c26372b2d0 | 522 | location[1]= location[0]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 523 | } |
Fairy_Paolina | 9:f34700716f1d | 524 | |
Fairy_Paolina | 6:f5c26372b2d0 | 525 | bt.printf("wavegap2 = %f\r\n",location[1]); |
Fairy_Paolina | 9:f34700716f1d | 526 | leftTurn(); |
Fairy_Paolina | 8:11ef93eebe07 | 527 | overBump(TOOLS); |
Fairy_Paolina | 6:f5c26372b2d0 | 528 | // go forward |
Fairy_Paolina | 6:f5c26372b2d0 | 529 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 530 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 531 | motors.setMotor0Speed(0.2*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 532 | motors.setMotor1Speed(0.2*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 533 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
Fairy_Paolina | 5:70ccef3734ae | 534 | motors.stopBothMotors(); |
Fairy_Paolina | 9:f34700716f1d | 535 | |
Fairy_Paolina | 6:f5c26372b2d0 | 536 | } |
Fairy_Paolina | 9:f34700716f1d | 537 | |
Fairy_Paolina | 9:f34700716f1d | 538 | void mid_section2(float* location, float ¤t, int* direction) |
Fairy_Paolina | 9:f34700716f1d | 539 | { |
Fairy_Paolina | 9:f34700716f1d | 540 | |
Fairy_Paolina | 9:f34700716f1d | 541 | motors.begin(); |
Fairy_Paolina | 6:f5c26372b2d0 | 542 | |
Fairy_Paolina | 9:f34700716f1d | 543 | if(IR.getDistance() > 20) return; |
Fairy_Paolina | 6:f5c26372b2d0 | 544 | |
Fairy_Paolina | 6:f5c26372b2d0 | 545 | alignWithWall(MID); |
Fairy_Paolina | 6:f5c26372b2d0 | 546 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 547 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 9:f34700716f1d | 548 | |
Fairy_Paolina | 9:f34700716f1d | 549 | if(current != 0) { |
Fairy_Paolina | 6:f5c26372b2d0 | 550 | direction[1]= RIGHT; |
Fairy_Paolina | 6:f5c26372b2d0 | 551 | current+= location[1]; |
Fairy_Paolina | 6:f5c26372b2d0 | 552 | location[2]= current; |
Fairy_Paolina | 9:f34700716f1d | 553 | } else { |
Fairy_Paolina | 9:f34700716f1d | 554 | current=location[1]; |
Fairy_Paolina | 6:f5c26372b2d0 | 555 | direction[1]= LEFT; |
Fairy_Paolina | 6:f5c26372b2d0 | 556 | wall_follow2(LEFT,BACKWARD,MID,current); |
Fairy_Paolina | 6:f5c26372b2d0 | 557 | location[2]= location[1]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 558 | } |
Fairy_Paolina | 9:f34700716f1d | 559 | |
Fairy_Paolina | 9:f34700716f1d | 560 | leftTurn(); |
Fairy_Paolina | 8:11ef93eebe07 | 561 | overBump(RIGS); |
Fairy_Paolina | 9:f34700716f1d | 562 | } |
Fairy_Paolina | 9:f34700716f1d | 563 | |
Fairy_Paolina | 9:f34700716f1d | 564 | void rig_section(float* location, float ¤t, int* direction, int rig) |
Fairy_Paolina | 9:f34700716f1d | 565 | { |
Fairy_Paolina | 9:f34700716f1d | 566 | |
Fairy_Paolina | 9:f34700716f1d | 567 | |
Fairy_Paolina | 8:11ef93eebe07 | 568 | } |