Yeah
Dependencies: HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of NavigationTest by
Diff: main.cpp
- Revision:
- 13:b6480275c445
- Parent:
- 12:081b8fc654af
diff -r 081b8fc654af -r b6480275c445 main.cpp --- 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