nav fixed
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of theRobot by
main.cpp@9:1b29cd9ed1ba, 2014-03-28 (annotated)
- Committer:
- tashworth
- Date:
- Fri Mar 28 15:32:16 2014 +0000
- Revision:
- 9:1b29cd9ed1ba
- Parent:
- 8:77a57909aa15
- Child:
- 10:1a1d52207f59
3/28/14 10:32AM
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tashworth | 0:1b64a0cedc5d | 1 | #include "mbed.h" |
tashworth | 0:1b64a0cedc5d | 2 | #include "Adafruit_PWMServoDriver.h" |
tashworth | 0:1b64a0cedc5d | 3 | #include "ShapeDetect.h" |
tashworth | 8:77a57909aa15 | 4 | #include "rtos.h" |
tashworth | 8:77a57909aa15 | 5 | #include "PID.h" |
tashworth | 8:77a57909aa15 | 6 | #include "PololuQik2.h" |
tashworth | 8:77a57909aa15 | 7 | #include "QEI.h" |
tashworth | 8:77a57909aa15 | 8 | #include "HCSR04.h" |
tashworth | 8:77a57909aa15 | 9 | #include "stdio.h" |
tashworth | 8:77a57909aa15 | 10 | #include "LPC17xx.h" |
tashworth | 8:77a57909aa15 | 11 | #include "Sharp.h" |
tashworth | 0:1b64a0cedc5d | 12 | |
tashworth | 8:77a57909aa15 | 13 | /* Navigation Definitions */ |
tashworth | 8:77a57909aa15 | 14 | #define PIN_TRIGGERL (p12) |
tashworth | 8:77a57909aa15 | 15 | #define PIN_ECHOL (p11) |
tashworth | 8:77a57909aa15 | 16 | #define PIN_TRIGGERR (p29) |
tashworth | 8:77a57909aa15 | 17 | #define PIN_ECHOR (p30) |
tashworth | 8:77a57909aa15 | 18 | #define PULSE_PER_REV (1192) |
tashworth | 8:77a57909aa15 | 19 | #define WHEEL_CIRCUM (12.56637) |
tashworth | 8:77a57909aa15 | 20 | #define DIST_PER_PULSE (0.01054225722682) |
tashworth | 8:77a57909aa15 | 21 | #define MTRS_TO_INCH (39.3701) |
tashworth | 8:77a57909aa15 | 22 | #define MAX_SPEED (0.3*127) |
tashworth | 8:77a57909aa15 | 23 | #define PPR (4331/4) |
tashworth | 8:77a57909aa15 | 24 | #define LEFT (1) |
tashworth | 8:77a57909aa15 | 25 | #define RIGHT (0) |
tashworth | 8:77a57909aa15 | 26 | #define FORWARD (1) |
tashworth | 8:77a57909aa15 | 27 | #define BACKWARD (0) |
tashworth | 8:77a57909aa15 | 28 | #define TOOLS (0) |
tashworth | 8:77a57909aa15 | 29 | #define MID (1) |
tashworth | 8:77a57909aa15 | 30 | #define RIGS (2) |
tashworth | 8:77a57909aa15 | 31 | #define FIRST_WAVE (0) |
tashworth | 8:77a57909aa15 | 32 | #define FAR (1) |
tashworth | 6:75259c3306dd | 33 | |
tashworth | 6:75259c3306dd | 34 | //States |
tashworth | 6:75259c3306dd | 35 | #define START 0 |
tashworth | 6:75259c3306dd | 36 | #define OILRIG1_POS 1 |
tashworth | 6:75259c3306dd | 37 | #define OILRIG2_POS 2 |
tashworth | 6:75259c3306dd | 38 | #define GOTO_TOOLS 3 |
tashworth | 6:75259c3306dd | 39 | #define IDENTIFY_TOOLS 4 |
tashworth | 6:75259c3306dd | 40 | #define AQUIRE_TOOL1 5 |
tashworth | 6:75259c3306dd | 41 | #define AQUIRE_TOOL2 6 |
tashworth | 6:75259c3306dd | 42 | #define AQUIRE_TOOL3 7 |
tashworth | 6:75259c3306dd | 43 | #define NAVIGATE_WAVES_ROW1 8 |
tashworth | 6:75259c3306dd | 44 | #define NAVIGATE_WAVES_ROW2 9 |
tashworth | 6:75259c3306dd | 45 | #define NAVIGATE_WAVES_ROW3 10 |
tashworth | 6:75259c3306dd | 46 | #define NAVIGATE_TO_SQUARE_RIG 11 |
tashworth | 6:75259c3306dd | 47 | #define NAVIGATE_TO_TRIANGLE_RIG 12 |
tashworth | 6:75259c3306dd | 48 | #define NAVIGATE_TO_CIRCLE_RIG 13 |
tashworth | 6:75259c3306dd | 49 | #define RIG_ALIGN 14 |
tashworth | 6:75259c3306dd | 50 | #define INSERT_TOOL 15 |
tashworth | 6:75259c3306dd | 51 | #define END 16 |
tashworth | 6:75259c3306dd | 52 | |
tashworth | 0:1b64a0cedc5d | 53 | |
tashworth | 8:77a57909aa15 | 54 | |
tashworth | 6:75259c3306dd | 55 | //Servo Static Positions |
tashworth | 6:75259c3306dd | 56 | #define STORE_POSITION 0 |
tashworth | 6:75259c3306dd | 57 | #define OIL_RIG1 1 |
tashworth | 6:75259c3306dd | 58 | #define OIL_RIG2 2 |
tashworth | 6:75259c3306dd | 59 | #define OIL_RIG3 3 |
tashworth | 6:75259c3306dd | 60 | #define DRIVE_POSITION_NOTOOL 4 |
tashworth | 6:75259c3306dd | 61 | #define TOOL_1 5 |
tashworth | 6:75259c3306dd | 62 | #define TOOL_2 6 |
tashworth | 6:75259c3306dd | 63 | #define TOOL_3 7 |
tashworth | 6:75259c3306dd | 64 | #define DRIVE_POSITION_TOOL 8 |
tashworth | 6:75259c3306dd | 65 | #define ORIENT_TOOL 9 |
tashworth | 2:4e082e4c255d | 66 | |
tashworth | 6:75259c3306dd | 67 | //Rig definitions |
tashworth | 6:75259c3306dd | 68 | #define SQUARE 1 |
tashworth | 6:75259c3306dd | 69 | #define TRIANGLE 2 |
tashworth | 6:75259c3306dd | 70 | #define CIRCLE 3 |
tashworth | 6:75259c3306dd | 71 | |
tashworth | 6:75259c3306dd | 72 | //*********************// |
tashworth | 6:75259c3306dd | 73 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 74 | //*********************// |
tashworth | 6:75259c3306dd | 75 | //Oil Rig distance thresholds |
tashworth | 8:77a57909aa15 | 76 | #define OILRIG1_MAX 3000 |
tashworth | 8:77a57909aa15 | 77 | #define OILRIG1_MIN 1000 |
tashworth | 9:1b29cd9ed1ba | 78 | #define OILRIG2_MAX 5000 |
tashworth | 8:77a57909aa15 | 79 | #define OILRIG2_MIN 1000 |
tashworth | 9:1b29cd9ed1ba | 80 | #define OILRIG3_MAX 5000 |
tashworth | 8:77a57909aa15 | 81 | #define OILRIG3_MIN 1000 |
tashworth | 6:75259c3306dd | 82 | |
tashworth | 6:75259c3306dd | 83 | //for servo normalization |
tashworth | 3:b7b4780a7f6e | 84 | #define MIN_SERVO_PULSE 900 |
tashworth | 3:b7b4780a7f6e | 85 | #define MAX_SERVO_PULSE 2100 |
tashworth | 3:b7b4780a7f6e | 86 | #define SERVO_MAX_ANGLE 180 |
tashworth | 3:b7b4780a7f6e | 87 | |
tashworth | 8:77a57909aa15 | 88 | |
tashworth | 8:77a57909aa15 | 89 | DigitalOut myled1(LED1); |
tashworth | 8:77a57909aa15 | 90 | DigitalOut myled2(LED2); |
tashworth | 8:77a57909aa15 | 91 | DigitalOut myled3(LED3); |
tashworth | 8:77a57909aa15 | 92 | DigitalOut myled4(LED4); |
tashworth | 8:77a57909aa15 | 93 | |
tashworth | 8:77a57909aa15 | 94 | void errFunction(void); |
tashworth | 8:77a57909aa15 | 95 | bool cRc; |
tashworth | 8:77a57909aa15 | 96 | |
tashworth | 8:77a57909aa15 | 97 | Serial pc(USBTX,USBRX); //USB Comm |
tashworth | 8:77a57909aa15 | 98 | Adafruit_PWMServoDriver pwm(p28,p27); //pwm(SDA,SCL) - Servo Control PWM |
tashworth | 8:77a57909aa15 | 99 | DigitalOut ServoOutputDisable(p8); //Servo Control Output Enable/Disable |
tashworth | 8:77a57909aa15 | 100 | extern Serial lrf; //Laser Range Finder lrf(p13,p14) |
tashworth | 8:77a57909aa15 | 101 | //Hardware Initialization |
tashworth | 8:77a57909aa15 | 102 | //Serial bt(p13,p14); |
tashworth | 8:77a57909aa15 | 103 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
tashworth | 8:77a57909aa15 | 104 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
tashworth | 8:77a57909aa15 | 105 | PID pid1(15.0,0.0,4.0,0.02); |
tashworth | 8:77a57909aa15 | 106 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
tashworth | 8:77a57909aa15 | 107 | QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); |
tashworth | 8:77a57909aa15 | 108 | QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); |
tashworth | 8:77a57909aa15 | 109 | Sharp IR(p20); |
tashworth | 8:77a57909aa15 | 110 | //InterruptIn encoder(p29); |
tashworth | 8:77a57909aa15 | 111 | |
tashworth | 8:77a57909aa15 | 112 | |
tashworth | 8:77a57909aa15 | 113 | |
tashworth | 8:77a57909aa15 | 114 | |
tashworth | 6:75259c3306dd | 115 | /*************** |
tashworth | 6:75259c3306dd | 116 | local servo functions |
tashworth | 6:75259c3306dd | 117 | ****************/ |
tashworth | 1:fe4a0b47ff25 | 118 | void servoBegin(void); |
tashworth | 0:1b64a0cedc5d | 119 | void initServoDriver(void); |
tashworth | 3:b7b4780a7f6e | 120 | void setServoPulse(uint8_t n, int angle); |
tashworth | 3:b7b4780a7f6e | 121 | void setServoPulseNo_delay(uint8_t n, int angle); |
tashworth | 0:1b64a0cedc5d | 122 | void servoPosition(int set); |
tashworth | 3:b7b4780a7f6e | 123 | void setGripper(int open); |
tashworth | 6:75259c3306dd | 124 | int fire_checker(int rig); |
tashworth | 6:75259c3306dd | 125 | |
tashworth | 8:77a57909aa15 | 126 | |
tashworth | 8:77a57909aa15 | 127 | //Navigation Functions |
tashworth | 8:77a57909aa15 | 128 | float wall_follow(int side, int direction, int section); |
tashworth | 8:77a57909aa15 | 129 | void wall_follow2(int side, int direction, int section, float location); |
tashworth | 8:77a57909aa15 | 130 | void wall_follow3(int ¤tLocation, int &WaveOpening); |
tashworth | 8:77a57909aa15 | 131 | void leftTurn(void); |
tashworth | 8:77a57909aa15 | 132 | void slightleft(void); |
tashworth | 8:77a57909aa15 | 133 | void rightTurn(void); |
tashworth | 8:77a57909aa15 | 134 | void us_distance(void); |
tashworth | 8:77a57909aa15 | 135 | void to_tools_section(float* location, float ¤t); |
tashworth | 8:77a57909aa15 | 136 | void from_tools_section(float* location, float ¤t); |
tashworth | 8:77a57909aa15 | 137 | void mid_section(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 138 | void mid_section2(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 139 | void rig_section(float* location, float ¤t, int* direction, int rig); |
tashworth | 8:77a57909aa15 | 140 | void overBump(int section); |
tashworth | 8:77a57909aa15 | 141 | void alignWithWall(int section); |
tashworth | 8:77a57909aa15 | 142 | void ledtoggle(void); |
tashworth | 8:77a57909aa15 | 143 | |
tashworth | 8:77a57909aa15 | 144 | |
tashworth | 6:75259c3306dd | 145 | /************ |
tashworth | 6:75259c3306dd | 146 | Main Variables |
tashworth | 6:75259c3306dd | 147 | *************/ |
tashworth | 6:75259c3306dd | 148 | int state = START; |
tashworth | 6:75259c3306dd | 149 | int fire = 0; |
tashworth | 6:75259c3306dd | 150 | int tool_needed = 0; |
tashworth | 6:75259c3306dd | 151 | int shape_detected = 0; |
tashworth | 8:77a57909aa15 | 152 | float range, range2, pid_return; |
tashworth | 8:77a57909aa15 | 153 | |
tashworth | 0:1b64a0cedc5d | 154 | |
tashworth | 0:1b64a0cedc5d | 155 | /************ |
tashworth | 0:1b64a0cedc5d | 156 | Variables for Servos |
tashworth | 0:1b64a0cedc5d | 157 | *************/ |
tashworth | 3:b7b4780a7f6e | 158 | int servoNum, servoAngle, outputDisabled, posNum, testVal; |
tashworth | 3:b7b4780a7f6e | 159 | int currentPosition[7]; |
tashworth | 0:1b64a0cedc5d | 160 | |
tashworth | 3:b7b4780a7f6e | 161 | typedef struct { |
tashworth | 6:75259c3306dd | 162 | int arm_position_name; //for organization only (STORE, OILRIG1, OILRIG2...) |
tashworth | 3:b7b4780a7f6e | 163 | int base_rotate; |
tashworth | 3:b7b4780a7f6e | 164 | int base_arm; |
tashworth | 3:b7b4780a7f6e | 165 | int big_arm; |
tashworth | 3:b7b4780a7f6e | 166 | int claw_arm; |
tashworth | 3:b7b4780a7f6e | 167 | int claw_rotate; |
tashworth | 3:b7b4780a7f6e | 168 | int claw_open; |
tashworth | 3:b7b4780a7f6e | 169 | } Coord; |
tashworth | 3:b7b4780a7f6e | 170 | |
tashworth | 6:75259c3306dd | 171 | /******************** |
tashworth | 6:75259c3306dd | 172 | Static Arm Positions |
tashworth | 6:75259c3306dd | 173 | *********************/ |
tashworth | 6:75259c3306dd | 174 | |
tashworth | 3:b7b4780a7f6e | 175 | Coord Arm_Table[] = { |
tashworth | 6:75259c3306dd | 176 | |
tashworth | 3:b7b4780a7f6e | 177 | // POSITION ODER: |
tashworth | 6:75259c3306dd | 178 | // base_rotate, base_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open |
tashworth | 3:b7b4780a7f6e | 179 | |
tashworth | 8:77a57909aa15 | 180 | //increase in number 5 rotates gripper |
tashworth | 8:77a57909aa15 | 181 | |
tashworth | 9:1b29cd9ed1ba | 182 | {STORE_POSITION, 85, 10, 0, 175, 100, 0}, // storing position |
tashworth | 9:1b29cd9ed1ba | 183 | {OIL_RIG1, 164, 90, 90, 52, 100, 0}, // point laser at oilrig1 |
tashworth | 9:1b29cd9ed1ba | 184 | {OIL_RIG2, 145, 90, 90, 51, 100, 0}, // point laser at oilrig2 |
tashworth | 8:77a57909aa15 | 185 | {OIL_RIG3, 130, 90, 90, 50, 100, 0}, // point laser at oilrig2 |
tashworth | 9:1b29cd9ed1ba | 186 | {DRIVE_POSITION_NOTOOL, 85, 10, 0, 175, 100, 0}, // Drive through course |
tashworth | 8:77a57909aa15 | 187 | {TOOL_1, 95, 64, 97, 79, 0, 0}, // Look over first tool |
tashworth | 8:77a57909aa15 | 188 | {TOOL_2, 75, 70, 102, 74, 0, 0}, // Look over second tool |
tashworth | 8:77a57909aa15 | 189 | {TOOL_3, 55, 70, 102, 74, 0, 0}, // Look over third tool |
tashworth | 8:77a57909aa15 | 190 | {DRIVE_POSITION_TOOL, 55, 70, 102, 74, 0, 0}, // Drive with tool loaded |
tashworth | 6:75259c3306dd | 191 | {ORIENT_TOOL, 135, 60, 75, 60, 90, 90}, // position tool to be inserted |
tashworth | 3:b7b4780a7f6e | 192 | }; |
tashworth | 3:b7b4780a7f6e | 193 | |
tashworth | 3:b7b4780a7f6e | 194 | |
tashworth | 3:b7b4780a7f6e | 195 | /* Variables for imageprocessing and distance */ |
tashworth | 3:b7b4780a7f6e | 196 | int x_coord; |
tashworth | 3:b7b4780a7f6e | 197 | int y_coord; |
tashworth | 3:b7b4780a7f6e | 198 | int area; |
tashworth | 3:b7b4780a7f6e | 199 | int shape; |
tashworth | 3:b7b4780a7f6e | 200 | |
tashworth | 6:75259c3306dd | 201 | /* Variables for distance sensor*/ |
tashworth | 8:77a57909aa15 | 202 | int distLaser; |
tashworth | 6:75259c3306dd | 203 | int fire_detected = 0; |
tashworth | 6:75259c3306dd | 204 | int fire_not_detected = 0; |
tashworth | 3:b7b4780a7f6e | 205 | |
tashworth | 0:1b64a0cedc5d | 206 | |
tashworth | 3:b7b4780a7f6e | 207 | int main() |
tashworth | 3:b7b4780a7f6e | 208 | { |
tashworth | 3:b7b4780a7f6e | 209 | |
tashworth | 3:b7b4780a7f6e | 210 | /***************** |
tashworth | 3:b7b4780a7f6e | 211 | INITIALIZATIONS |
tashworth | 3:b7b4780a7f6e | 212 | *******************/ |
tashworth | 8:77a57909aa15 | 213 | float location[3], current=0; |
tashworth | 8:77a57909aa15 | 214 | int direction[3]; |
tashworth | 8:77a57909aa15 | 215 | double distance; |
tashworth | 8:77a57909aa15 | 216 | |
tashworth | 9:1b29cd9ed1ba | 217 | |
tashworth | 3:b7b4780a7f6e | 218 | pc.baud(115200); |
tashworth | 6:75259c3306dd | 219 | //Laser Range Finder Initialization |
tashworth | 3:b7b4780a7f6e | 220 | lrf_baudCalibration(); |
tashworth | 8:77a57909aa15 | 221 | motors.begin(); |
tashworth | 3:b7b4780a7f6e | 222 | |
tashworth | 6:75259c3306dd | 223 | //Servo initialization |
tashworth | 3:b7b4780a7f6e | 224 | initServoDriver(); |
tashworth | 6:75259c3306dd | 225 | servoBegin(); //initiates servos to start position |
tashworth | 6:75259c3306dd | 226 | //ServoOutputDisable = 0; |
tashworth | 6:75259c3306dd | 227 | |
tashworth | 6:75259c3306dd | 228 | /******************* |
tashworth | 6:75259c3306dd | 229 | WHILE LOOP FOR TESTING |
tashworth | 6:75259c3306dd | 230 | ********************/ |
tashworth | 9:1b29cd9ed1ba | 231 | /*while(1) { |
tashworth | 8:77a57909aa15 | 232 | pc.scanf("%d %d", &servoNum, &servoAngle); |
tashworth | 8:77a57909aa15 | 233 | if(servoAngle > 175) { |
tashworth | 8:77a57909aa15 | 234 | servoAngle = 175; |
tashworth | 8:77a57909aa15 | 235 | } |
tashworth | 8:77a57909aa15 | 236 | if(servoNum > 5 ) { |
tashworth | 8:77a57909aa15 | 237 | servoNum = 0; |
tashworth | 8:77a57909aa15 | 238 | servoAngle = 90; |
tashworth | 8:77a57909aa15 | 239 | } |
tashworth | 8:77a57909aa15 | 240 | setServoPulse(servoNum, servoAngle); |
tashworth | 6:75259c3306dd | 241 | |
tashworth | 8:77a57909aa15 | 242 | //shape_detected = shapeDetection(); |
tashworth | 8:77a57909aa15 | 243 | //distLaser = getDistance(); |
tashworth | 8:77a57909aa15 | 244 | //pc.printf("Distance %d", distLaser); |
tashworth | 9:1b29cd9ed1ba | 245 | //ledtoggle(); |
tashworth | 8:77a57909aa15 | 246 | |
tashworth | 9:1b29cd9ed1ba | 247 | pc.scanf("%d", &posNum); |
tashworth | 9:1b29cd9ed1ba | 248 | servoPosition(posNum); |
tashworth | 9:1b29cd9ed1ba | 249 | wait(5); |
tashworth | 9:1b29cd9ed1ba | 250 | //shape_detected = shapeDetection(); |
tashworth | 9:1b29cd9ed1ba | 251 | distLaser = getDistance(); |
tashworth | 9:1b29cd9ed1ba | 252 | pc.printf("Distance %d", distLaser); |
tashworth | 9:1b29cd9ed1ba | 253 | |
tashworth | 9:1b29cd9ed1ba | 254 | }*/ |
tashworth | 3:b7b4780a7f6e | 255 | |
tashworth | 7:8fb4204f9600 | 256 | /******************************** |
tashworth | 7:8fb4204f9600 | 257 | MAIN WHILE LOOP FOR COMPETITION |
tashworth | 7:8fb4204f9600 | 258 | *********************************/ |
tashworth | 3:b7b4780a7f6e | 259 | while(1) { |
tashworth | 9:1b29cd9ed1ba | 260 | |
tashworth | 6:75259c3306dd | 261 | switch (state) { |
tashworth | 8:77a57909aa15 | 262 | |
tashworth | 7:8fb4204f9600 | 263 | /************************************************** |
tashworth | 7:8fb4204f9600 | 264 | * STAGE 0 |
tashworth | 7:8fb4204f9600 | 265 | * |
tashworth | 7:8fb4204f9600 | 266 | * - START OF THE COMETITION |
tashworth | 7:8fb4204f9600 | 267 | * |
tashworth | 7:8fb4204f9600 | 268 | **************************************************/ |
tashworth | 6:75259c3306dd | 269 | case START : |
tashworth | 6:75259c3306dd | 270 | myled1 = 1; |
tashworth | 6:75259c3306dd | 271 | wait(5); |
tashworth | 6:75259c3306dd | 272 | myled1 = 0; |
tashworth | 6:75259c3306dd | 273 | state = OILRIG1_POS; |
tashworth | 3:b7b4780a7f6e | 274 | break; |
tashworth | 3:b7b4780a7f6e | 275 | |
tashworth | 3:b7b4780a7f6e | 276 | |
tashworth | 6:75259c3306dd | 277 | /************************************************** |
tashworth | 6:75259c3306dd | 278 | * STAGE 1 |
tashworth | 6:75259c3306dd | 279 | * |
tashworth | 6:75259c3306dd | 280 | * - DETERMINE OIL RIG ON FIRE |
tashworth | 6:75259c3306dd | 281 | * |
tashworth | 6:75259c3306dd | 282 | **************************************************/ |
tashworth | 6:75259c3306dd | 283 | case OILRIG1_POS: //aims arm at square oil rig |
tashworth | 6:75259c3306dd | 284 | servoPosition(OIL_RIG1); //position arm to point at first oilrig |
tashworth | 9:1b29cd9ed1ba | 285 | wait(5); //wait for servos to settle |
tashworth | 6:75259c3306dd | 286 | fire = fire_checker(OIL_RIG1); //determines if oil rig is on fire |
tashworth | 6:75259c3306dd | 287 | |
tashworth | 6:75259c3306dd | 288 | //determines what tool is needed |
tashworth | 6:75259c3306dd | 289 | if (fire == 1) { |
tashworth | 6:75259c3306dd | 290 | tool_needed = SQUARE; |
tashworth | 6:75259c3306dd | 291 | state = GOTO_TOOLS; |
tashworth | 6:75259c3306dd | 292 | } else { |
tashworth | 6:75259c3306dd | 293 | state = OILRIG2_POS; |
tashworth | 6:75259c3306dd | 294 | } |
tashworth | 9:1b29cd9ed1ba | 295 | |
tashworth | 6:75259c3306dd | 296 | break; |
tashworth | 6:75259c3306dd | 297 | |
tashworth | 6:75259c3306dd | 298 | case OILRIG2_POS: |
tashworth | 6:75259c3306dd | 299 | servoPosition(OIL_RIG2); //position arm to point at first oilrig |
tashworth | 6:75259c3306dd | 300 | wait(1); //wait for servos to settle |
tashworth | 6:75259c3306dd | 301 | fire = fire_checker(OIL_RIG2); |
tashworth | 6:75259c3306dd | 302 | if (fire == 1) { |
tashworth | 6:75259c3306dd | 303 | tool_needed = TRIANGLE; |
tashworth | 6:75259c3306dd | 304 | state = GOTO_TOOLS; |
tashworth | 6:75259c3306dd | 305 | } else { |
tashworth | 6:75259c3306dd | 306 | tool_needed = CIRCLE; |
tashworth | 6:75259c3306dd | 307 | state = GOTO_TOOLS; |
tashworth | 6:75259c3306dd | 308 | } |
tashworth | 9:1b29cd9ed1ba | 309 | pc.printf("tool needed: %d", tool_needed); |
tashworth | 6:75259c3306dd | 310 | break; |
tashworth | 6:75259c3306dd | 311 | |
tashworth | 6:75259c3306dd | 312 | /************************************************** |
tashworth | 6:75259c3306dd | 313 | * STAGE 2 |
tashworth | 6:75259c3306dd | 314 | * |
tashworth | 6:75259c3306dd | 315 | * - TRAVEL TO TOOLS |
tashworth | 6:75259c3306dd | 316 | * |
tashworth | 6:75259c3306dd | 317 | **************************************************/ |
tashworth | 6:75259c3306dd | 318 | case GOTO_TOOLS: |
tashworth | 6:75259c3306dd | 319 | servoPosition(DRIVE_POSITION_NOTOOL); //drive position without a tool |
tashworth | 9:1b29cd9ed1ba | 320 | wait(2); //wait for servos to settle |
tashworth | 8:77a57909aa15 | 321 | |
tashworth | 8:77a57909aa15 | 322 | to_tools_section(location, current); |
tashworth | 6:75259c3306dd | 323 | |
tashworth | 6:75259c3306dd | 324 | state = IDENTIFY_TOOLS; |
tashworth | 9:1b29cd9ed1ba | 325 | pc.printf("YES!!!!!"); |
tashworth | 9:1b29cd9ed1ba | 326 | while(1); |
tashworth | 6:75259c3306dd | 327 | break; |
tashworth | 6:75259c3306dd | 328 | /************************************************** |
tashworth | 6:75259c3306dd | 329 | * STAGE 3 |
tashworth | 6:75259c3306dd | 330 | * |
tashworth | 6:75259c3306dd | 331 | * - Determine order of tools |
tashworth | 6:75259c3306dd | 332 | * - Aquire appropriate tool |
tashworth | 6:75259c3306dd | 333 | * |
tashworth | 6:75259c3306dd | 334 | **************************************************/ |
tashworth | 6:75259c3306dd | 335 | case IDENTIFY_TOOLS: |
tashworth | 6:75259c3306dd | 336 | servoPosition(TOOL_1); //arm/camera looks over tool |
tashworth | 6:75259c3306dd | 337 | wait(1); //wait for servos to settle |
tashworth | 6:75259c3306dd | 338 | centerCamWithTool(); //centers camera over tool |
tashworth | 6:75259c3306dd | 339 | shape_detected = shapeDetection(); //determines the shape |
tashworth | 3:b7b4780a7f6e | 340 | |
tashworth | 6:75259c3306dd | 341 | //either goes to aquire the tool or look at the next shape |
tashworth | 6:75259c3306dd | 342 | if(shape_detected == tool_needed) { |
tashworth | 6:75259c3306dd | 343 | state = AQUIRE_TOOL1; |
tashworth | 6:75259c3306dd | 344 | } else { |
tashworth | 6:75259c3306dd | 345 | servoPosition(TOOL_2); |
tashworth | 6:75259c3306dd | 346 | wait(1); //wait for servos to settle |
tashworth | 6:75259c3306dd | 347 | centerCamWithTool(); |
tashworth | 6:75259c3306dd | 348 | shape_detected = shapeDetection(); |
tashworth | 6:75259c3306dd | 349 | if (shape_detected == tool_needed) { |
tashworth | 6:75259c3306dd | 350 | state = AQUIRE_TOOL2; |
tashworth | 6:75259c3306dd | 351 | } else { |
tashworth | 6:75259c3306dd | 352 | servoPosition(TOOL_3); |
tashworth | 6:75259c3306dd | 353 | wait(1); //wait for servos to settle |
tashworth | 6:75259c3306dd | 354 | centerCamWithTool(); |
tashworth | 6:75259c3306dd | 355 | state = AQUIRE_TOOL3; |
tashworth | 6:75259c3306dd | 356 | } |
tashworth | 6:75259c3306dd | 357 | } |
tashworth | 6:75259c3306dd | 358 | break; |
tashworth | 6:75259c3306dd | 359 | case AQUIRE_TOOL1: |
tashworth | 6:75259c3306dd | 360 | //*********************// |
tashworth | 6:75259c3306dd | 361 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 362 | //*********************// |
tashworth | 6:75259c3306dd | 363 | // CODE TO GRAB TOOL1 |
tashworth | 6:75259c3306dd | 364 | servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool |
tashworth | 6:75259c3306dd | 365 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 6:75259c3306dd | 366 | break; |
tashworth | 6:75259c3306dd | 367 | case AQUIRE_TOOL2: |
tashworth | 6:75259c3306dd | 368 | //*********************// |
tashworth | 6:75259c3306dd | 369 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 370 | //*********************// |
tashworth | 6:75259c3306dd | 371 | // CODE TO GRAB TOOL2 |
tashworth | 6:75259c3306dd | 372 | servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool |
tashworth | 6:75259c3306dd | 373 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 6:75259c3306dd | 374 | break; |
tashworth | 6:75259c3306dd | 375 | case AQUIRE_TOOL3: |
tashworth | 6:75259c3306dd | 376 | //*********************// |
tashworth | 6:75259c3306dd | 377 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 378 | //*********************// |
tashworth | 6:75259c3306dd | 379 | // CODE TO GRAB TOOL3 |
tashworth | 6:75259c3306dd | 380 | servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool |
tashworth | 6:75259c3306dd | 381 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 6:75259c3306dd | 382 | break; |
tashworth | 3:b7b4780a7f6e | 383 | |
tashworth | 0:1b64a0cedc5d | 384 | |
tashworth | 6:75259c3306dd | 385 | /************************************************** |
tashworth | 6:75259c3306dd | 386 | * STAGE 4 |
tashworth | 6:75259c3306dd | 387 | * |
tashworth | 6:75259c3306dd | 388 | * - Navigate through the ocean |
tashworth | 6:75259c3306dd | 389 | * |
tashworth | 6:75259c3306dd | 390 | **************************************************/ |
tashworth | 6:75259c3306dd | 391 | |
tashworth | 6:75259c3306dd | 392 | case NAVIGATE_WAVES_ROW1: |
tashworth | 6:75259c3306dd | 393 | //*********************// |
tashworth | 6:75259c3306dd | 394 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 395 | //*********************// |
tashworth | 6:75259c3306dd | 396 | // CODE TO NAVIGATE ROW1 |
tashworth | 6:75259c3306dd | 397 | state = NAVIGATE_WAVES_ROW2; |
tashworth | 6:75259c3306dd | 398 | break; |
tashworth | 6:75259c3306dd | 399 | |
tashworth | 6:75259c3306dd | 400 | case NAVIGATE_WAVES_ROW2: |
tashworth | 6:75259c3306dd | 401 | //*********************// |
tashworth | 6:75259c3306dd | 402 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 403 | //*********************// |
tashworth | 6:75259c3306dd | 404 | // CODE TO NAVIGATE ROW2 |
tashworth | 6:75259c3306dd | 405 | state = NAVIGATE_WAVES_ROW3; |
tashworth | 6:75259c3306dd | 406 | break; |
tashworth | 3:b7b4780a7f6e | 407 | |
tashworth | 6:75259c3306dd | 408 | case NAVIGATE_WAVES_ROW3: |
tashworth | 6:75259c3306dd | 409 | //*********************// |
tashworth | 6:75259c3306dd | 410 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 411 | //*********************// |
tashworth | 6:75259c3306dd | 412 | // CODE TO NAVIGATE ROW3 |
tashworth | 7:8fb4204f9600 | 413 | |
tashworth | 6:75259c3306dd | 414 | //goes to appropriate rig |
tashworth | 6:75259c3306dd | 415 | if(shape_detected == 1) { |
tashworth | 6:75259c3306dd | 416 | state = NAVIGATE_TO_SQUARE_RIG; |
tashworth | 6:75259c3306dd | 417 | } else if(shape_detected == 2) { |
tashworth | 6:75259c3306dd | 418 | state = NAVIGATE_TO_TRIANGLE_RIG; |
tashworth | 6:75259c3306dd | 419 | } else { |
tashworth | 6:75259c3306dd | 420 | state = NAVIGATE_TO_CIRCLE_RIG; |
tashworth | 6:75259c3306dd | 421 | } |
tashworth | 6:75259c3306dd | 422 | break; |
tashworth | 6:75259c3306dd | 423 | |
tashworth | 6:75259c3306dd | 424 | /************************************************** |
tashworth | 6:75259c3306dd | 425 | * STAGE 5 |
tashworth | 6:75259c3306dd | 426 | * |
tashworth | 6:75259c3306dd | 427 | * - Travel to appropriate rig |
tashworth | 6:75259c3306dd | 428 | * |
tashworth | 6:75259c3306dd | 429 | **************************************************/ |
tashworth | 6:75259c3306dd | 430 | case NAVIGATE_TO_SQUARE_RIG: |
tashworth | 6:75259c3306dd | 431 | //NAVIGATION CODE HERE |
tashworth | 6:75259c3306dd | 432 | state = RIG_ALIGN; |
tashworth | 6:75259c3306dd | 433 | break; |
tashworth | 6:75259c3306dd | 434 | case NAVIGATE_TO_TRIANGLE_RIG: |
tashworth | 6:75259c3306dd | 435 | //NAVIGATION CODE HERE |
tashworth | 6:75259c3306dd | 436 | state = RIG_ALIGN; |
tashworth | 6:75259c3306dd | 437 | break; |
tashworth | 6:75259c3306dd | 438 | case NAVIGATE_TO_CIRCLE_RIG: |
tashworth | 6:75259c3306dd | 439 | //NAVIGATION CODE HERE |
tashworth | 6:75259c3306dd | 440 | state = RIG_ALIGN; |
tashworth | 6:75259c3306dd | 441 | break; |
tashworth | 3:b7b4780a7f6e | 442 | |
tashworth | 6:75259c3306dd | 443 | /************************************************** |
tashworth | 6:75259c3306dd | 444 | * STAGE 6 |
tashworth | 6:75259c3306dd | 445 | * |
tashworth | 6:75259c3306dd | 446 | * - Align with appropriate rig |
tashworth | 6:75259c3306dd | 447 | * |
tashworth | 6:75259c3306dd | 448 | **************************************************/ |
tashworth | 6:75259c3306dd | 449 | case RIG_ALIGN: |
tashworth | 7:8fb4204f9600 | 450 | |
tashworth | 6:75259c3306dd | 451 | //*********************// |
tashworth | 6:75259c3306dd | 452 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 453 | //*********************// |
tashworth | 6:75259c3306dd | 454 | // CODE TO ALIGN ROBOT WITH RIG |
tashworth | 7:8fb4204f9600 | 455 | |
tashworth | 6:75259c3306dd | 456 | servoPosition(ORIENT_TOOL); |
tashworth | 6:75259c3306dd | 457 | wait(1); //wait for servos to settle |
tashworth | 6:75259c3306dd | 458 | state = INSERT_TOOL; |
tashworth | 6:75259c3306dd | 459 | break; |
tashworth | 3:b7b4780a7f6e | 460 | |
tashworth | 6:75259c3306dd | 461 | /************************************************** |
tashworth | 6:75259c3306dd | 462 | * STAGE 7 |
tashworth | 6:75259c3306dd | 463 | * |
tashworth | 6:75259c3306dd | 464 | * - Insert Tool |
tashworth | 6:75259c3306dd | 465 | * - Extenguish fire |
tashworth | 6:75259c3306dd | 466 | * - win contest |
tashworth | 6:75259c3306dd | 467 | * |
tashworth | 6:75259c3306dd | 468 | **************************************************/ |
tashworth | 7:8fb4204f9600 | 469 | |
tashworth | 6:75259c3306dd | 470 | case INSERT_TOOL: |
tashworth | 6:75259c3306dd | 471 | //*********************// |
tashworth | 6:75259c3306dd | 472 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 473 | //*********************// |
tashworth | 6:75259c3306dd | 474 | // CODE TO INSERT TOOL |
tashworth | 6:75259c3306dd | 475 | break; |
tashworth | 3:b7b4780a7f6e | 476 | |
tashworth | 6:75259c3306dd | 477 | /************************************************** |
tashworth | 6:75259c3306dd | 478 | * STAGE 8 |
tashworth | 6:75259c3306dd | 479 | * |
tashworth | 6:75259c3306dd | 480 | * - END COMPETITION |
tashworth | 6:75259c3306dd | 481 | * |
tashworth | 6:75259c3306dd | 482 | **************************************************/ |
tashworth | 6:75259c3306dd | 483 | case END: |
tashworth | 6:75259c3306dd | 484 | servoPosition(STORE_POSITION); |
tashworth | 6:75259c3306dd | 485 | myled1 = 1; |
tashworth | 6:75259c3306dd | 486 | wait(.2); |
tashworth | 6:75259c3306dd | 487 | myled2 = 1; |
tashworth | 6:75259c3306dd | 488 | wait(.2); |
tashworth | 6:75259c3306dd | 489 | myled3 = 1; |
tashworth | 6:75259c3306dd | 490 | wait(.2); |
tashworth | 6:75259c3306dd | 491 | myled4 = 1; |
tashworth | 6:75259c3306dd | 492 | wait(.2); |
tashworth | 6:75259c3306dd | 493 | break; |
tashworth | 6:75259c3306dd | 494 | default: |
tashworth | 3:b7b4780a7f6e | 495 | |
tashworth | 6:75259c3306dd | 496 | break; |
tashworth | 6:75259c3306dd | 497 | } |
tashworth | 6:75259c3306dd | 498 | } |
tashworth | 6:75259c3306dd | 499 | |
tashworth | 0:1b64a0cedc5d | 500 | |
tashworth | 0:1b64a0cedc5d | 501 | } |
tashworth | 0:1b64a0cedc5d | 502 | |
tashworth | 0:1b64a0cedc5d | 503 | |
tashworth | 0:1b64a0cedc5d | 504 | |
tashworth | 0:1b64a0cedc5d | 505 | /************ |
tashworth | 0:1b64a0cedc5d | 506 | |
tashworth | 0:1b64a0cedc5d | 507 | Servo Functions |
tashworth | 0:1b64a0cedc5d | 508 | |
tashworth | 0:1b64a0cedc5d | 509 | **************/ |
tashworth | 0:1b64a0cedc5d | 510 | |
tashworth | 3:b7b4780a7f6e | 511 | void setServoPulse(uint8_t n, int angle) |
tashworth | 3:b7b4780a7f6e | 512 | { |
tashworth | 3:b7b4780a7f6e | 513 | int pulse; |
tashworth | 3:b7b4780a7f6e | 514 | pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 1:fe4a0b47ff25 | 515 | float pulselength = 20000; // 20,000 us per second |
tashworth | 1:fe4a0b47ff25 | 516 | int i = currentPosition[n]; |
tashworth | 3:b7b4780a7f6e | 517 | pc.printf("ServoNumber: %d Begining Pulse: %d\n\r",n,currentPosition[n]); |
tashworth | 3:b7b4780a7f6e | 518 | int pulse2; |
tashworth | 3:b7b4780a7f6e | 519 | if(currentPosition[n] < pulse) { |
tashworth | 3:b7b4780a7f6e | 520 | for(i; i < pulse; i++) { |
tashworth | 3:b7b4780a7f6e | 521 | pulse2 = 4094 * i / pulselength; |
tashworth | 3:b7b4780a7f6e | 522 | pwm.setPWM(n, 0, pulse2); |
tashworth | 3:b7b4780a7f6e | 523 | wait_ms(3); |
tashworth | 3:b7b4780a7f6e | 524 | } |
tashworth | 1:fe4a0b47ff25 | 525 | } else if (currentPosition[n] > pulse) { |
tashworth | 3:b7b4780a7f6e | 526 | for(i; i > pulse; i--) { |
tashworth | 3:b7b4780a7f6e | 527 | pulse2 = 4094 * i / pulselength; |
tashworth | 3:b7b4780a7f6e | 528 | pwm.setPWM(n, 0, pulse2); |
tashworth | 3:b7b4780a7f6e | 529 | wait_ms(3); |
tashworth | 3:b7b4780a7f6e | 530 | } |
tashworth | 1:fe4a0b47ff25 | 531 | } |
tashworth | 1:fe4a0b47ff25 | 532 | currentPosition[n] = i; |
tashworth | 3:b7b4780a7f6e | 533 | pc.printf("\nEND: pulse: %d, angle: %d\n\n", i, angle); |
tashworth | 0:1b64a0cedc5d | 534 | } |
tashworth | 0:1b64a0cedc5d | 535 | |
tashworth | 3:b7b4780a7f6e | 536 | void initServoDriver(void) |
tashworth | 3:b7b4780a7f6e | 537 | { |
tashworth | 0:1b64a0cedc5d | 538 | pwm.begin(); |
tashworth | 0:1b64a0cedc5d | 539 | //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale(). |
tashworth | 0:1b64a0cedc5d | 540 | pwm.setPrescale(140); //This value is decided for 20ms interval. |
tashworth | 0:1b64a0cedc5d | 541 | pwm.setI2Cfreq(400000); //400kHz |
tashworth | 3:b7b4780a7f6e | 542 | |
tashworth | 3:b7b4780a7f6e | 543 | } |
tashworth | 3:b7b4780a7f6e | 544 | |
tashworth | 3:b7b4780a7f6e | 545 | void servoBegin(void) |
tashworth | 3:b7b4780a7f6e | 546 | { |
tashworth | 3:b7b4780a7f6e | 547 | pc.printf("Setting Initial Position\n\r"); |
tashworth | 8:77a57909aa15 | 548 | setServoPulseNo_delay(3, 175); |
tashworth | 8:77a57909aa15 | 549 | wait(2); |
tashworth | 8:77a57909aa15 | 550 | setServoPulseNo_delay(2, 0); |
tashworth | 8:77a57909aa15 | 551 | wait(2); |
tashworth | 8:77a57909aa15 | 552 | setServoPulseNo_delay(1, 10); |
tashworth | 8:77a57909aa15 | 553 | wait(2); |
tashworth | 8:77a57909aa15 | 554 | setServoPulseNo_delay(0, 85); |
tashworth | 8:77a57909aa15 | 555 | wait(1); |
tashworth | 8:77a57909aa15 | 556 | setServoPulseNo_delay(4, 100); |
tashworth | 8:77a57909aa15 | 557 | wait(1); |
tashworth | 8:77a57909aa15 | 558 | setServoPulseNo_delay(5, 0); |
tashworth | 3:b7b4780a7f6e | 559 | setGripper(1); |
tashworth | 0:1b64a0cedc5d | 560 | } |
tashworth | 0:1b64a0cedc5d | 561 | |
tashworth | 3:b7b4780a7f6e | 562 | void setServoPulseNo_delay(uint8_t n, int angle) |
tashworth | 3:b7b4780a7f6e | 563 | { |
tashworth | 3:b7b4780a7f6e | 564 | int pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 1:fe4a0b47ff25 | 565 | float pulselength = 20000; // 20,000 us per second |
tashworth | 1:fe4a0b47ff25 | 566 | currentPosition[n] = pulse; |
tashworth | 8:77a57909aa15 | 567 | //pc.printf("ServoNumber: %d Pulsewidth: %d Angle: %d \n\r",n,pulse, angle); |
tashworth | 1:fe4a0b47ff25 | 568 | pulse = 4094 * pulse / pulselength; |
tashworth | 1:fe4a0b47ff25 | 569 | pwm.setPWM(n, 0, pulse); |
tashworth | 3:b7b4780a7f6e | 570 | |
tashworth | 1:fe4a0b47ff25 | 571 | } |
tashworth | 3:b7b4780a7f6e | 572 | |
tashworth | 3:b7b4780a7f6e | 573 | void setGripper(int open) |
tashworth | 3:b7b4780a7f6e | 574 | { |
tashworth | 3:b7b4780a7f6e | 575 | if (open) { |
tashworth | 3:b7b4780a7f6e | 576 | pc.printf("Gripper Open\r"); |
tashworth | 3:b7b4780a7f6e | 577 | setServoPulseNo_delay(6, 10); |
tashworth | 3:b7b4780a7f6e | 578 | } else { |
tashworth | 3:b7b4780a7f6e | 579 | pc.printf("Gripper Closed\n\r"); |
tashworth | 3:b7b4780a7f6e | 580 | setServoPulseNo_delay(6, 170); |
tashworth | 3:b7b4780a7f6e | 581 | } |
tashworth | 3:b7b4780a7f6e | 582 | } |
tashworth | 3:b7b4780a7f6e | 583 | |
tashworth | 3:b7b4780a7f6e | 584 | void servoPosition(int set) |
tashworth | 3:b7b4780a7f6e | 585 | { |
tashworth | 3:b7b4780a7f6e | 586 | //moves to current position |
tashworth | 8:77a57909aa15 | 587 | setServoPulse(3, Arm_Table[set].claw_arm); |
tashworth | 3:b7b4780a7f6e | 588 | setServoPulse(1, Arm_Table[set].base_arm); |
tashworth | 6:75259c3306dd | 589 | setServoPulse(2, Arm_Table[set].big_arm); |
tashworth | 8:77a57909aa15 | 590 | setServoPulse(0, Arm_Table[set].base_rotate); |
tashworth | 6:75259c3306dd | 591 | setServoPulse(4, Arm_Table[set].claw_rotate); |
tashworth | 6:75259c3306dd | 592 | setServoPulse(5, Arm_Table[set].claw_open); |
tashworth | 6:75259c3306dd | 593 | } |
tashworth | 6:75259c3306dd | 594 | |
tashworth | 8:77a57909aa15 | 595 | |
tashworth | 6:75259c3306dd | 596 | int fire_checker(int rig) |
tashworth | 6:75259c3306dd | 597 | { |
tashworth | 6:75259c3306dd | 598 | switch (rig) { |
tashworth | 6:75259c3306dd | 599 | |
tashworth | 6:75259c3306dd | 600 | case 1: |
tashworth | 6:75259c3306dd | 601 | for (int i = 0; i<5; i++) { |
tashworth | 8:77a57909aa15 | 602 | distLaser = getDistance(); |
tashworth | 9:1b29cd9ed1ba | 603 | pc.printf("L DISTANCE: %d", distLaser); |
tashworth | 8:77a57909aa15 | 604 | if ((distLaser < OILRIG1_MAX) |
tashworth | 9:1b29cd9ed1ba | 605 | && (distLaser > OILRIG1_MIN)) { |
tashworth | 6:75259c3306dd | 606 | fire_detected++; |
tashworth | 6:75259c3306dd | 607 | } else { |
tashworth | 6:75259c3306dd | 608 | fire_not_detected++; |
tashworth | 6:75259c3306dd | 609 | } |
tashworth | 6:75259c3306dd | 610 | } |
tashworth | 9:1b29cd9ed1ba | 611 | break; |
tashworth | 6:75259c3306dd | 612 | case 2: |
tashworth | 6:75259c3306dd | 613 | for (int i = 0; i<5; i++) { |
tashworth | 8:77a57909aa15 | 614 | distLaser = getDistance(); |
tashworth | 9:1b29cd9ed1ba | 615 | pc.printf("L DISTANCE: %d", distLaser); |
tashworth | 8:77a57909aa15 | 616 | if ((distLaser < OILRIG2_MAX) |
tashworth | 9:1b29cd9ed1ba | 617 | && (distLaser > OILRIG2_MIN)) { |
tashworth | 6:75259c3306dd | 618 | fire_detected++; |
tashworth | 6:75259c3306dd | 619 | } else { |
tashworth | 6:75259c3306dd | 620 | fire_not_detected++; |
tashworth | 6:75259c3306dd | 621 | } |
tashworth | 6:75259c3306dd | 622 | } |
tashworth | 9:1b29cd9ed1ba | 623 | break; |
tashworth | 6:75259c3306dd | 624 | case 3: |
tashworth | 6:75259c3306dd | 625 | for (int i = 0; i<5; i++) { |
tashworth | 8:77a57909aa15 | 626 | distLaser = getDistance(); |
tashworth | 8:77a57909aa15 | 627 | if ((distLaser < OILRIG3_MAX) |
tashworth | 9:1b29cd9ed1ba | 628 | && (distLaser > OILRIG3_MIN)) { |
tashworth | 6:75259c3306dd | 629 | fire_detected++; |
tashworth | 6:75259c3306dd | 630 | } else { |
tashworth | 6:75259c3306dd | 631 | fire_not_detected++; |
tashworth | 6:75259c3306dd | 632 | } |
tashworth | 6:75259c3306dd | 633 | } |
tashworth | 9:1b29cd9ed1ba | 634 | break; |
tashworth | 9:1b29cd9ed1ba | 635 | |
tashworth | 6:75259c3306dd | 636 | default: |
tashworth | 6:75259c3306dd | 637 | for (int i = 0; i<5; i++) { |
tashworth | 8:77a57909aa15 | 638 | distLaser = getDistance(); |
tashworth | 8:77a57909aa15 | 639 | if ((distLaser < OILRIG1_MAX) |
tashworth | 8:77a57909aa15 | 640 | || (distLaser > OILRIG1_MIN)) { |
tashworth | 6:75259c3306dd | 641 | fire_detected++; |
tashworth | 6:75259c3306dd | 642 | } else { |
tashworth | 6:75259c3306dd | 643 | fire_not_detected++; |
tashworth | 6:75259c3306dd | 644 | } |
tashworth | 6:75259c3306dd | 645 | } |
tashworth | 9:1b29cd9ed1ba | 646 | break; |
tashworth | 6:75259c3306dd | 647 | } |
tashworth | 6:75259c3306dd | 648 | |
tashworth | 6:75259c3306dd | 649 | if (fire_detected > fire_not_detected) { |
tashworth | 6:75259c3306dd | 650 | return 1; |
tashworth | 6:75259c3306dd | 651 | } else { |
tashworth | 6:75259c3306dd | 652 | return 0; |
tashworth | 6:75259c3306dd | 653 | } |
tashworth | 0:1b64a0cedc5d | 654 | } |
tashworth | 0:1b64a0cedc5d | 655 | |
tashworth | 8:77a57909aa15 | 656 | void errFunction(void) |
tashworth | 8:77a57909aa15 | 657 | { |
tashworth | 8:77a57909aa15 | 658 | //Nothing |
tashworth | 8:77a57909aa15 | 659 | } |
tashworth | 8:77a57909aa15 | 660 | |
tashworth | 8:77a57909aa15 | 661 | void us_distance(void) |
tashworth | 8:77a57909aa15 | 662 | { |
tashworth | 8:77a57909aa15 | 663 | pc.printf("Ultra Sonic\n\r"); |
tashworth | 8:77a57909aa15 | 664 | rangeFinderLeft.startMeas(); |
tashworth | 8:77a57909aa15 | 665 | wait_us(20); |
tashworth | 8:77a57909aa15 | 666 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
tashworth | 8:77a57909aa15 | 667 | pc.printf("Range = %f\n\r", range); |
tashworth | 8:77a57909aa15 | 668 | } |
tashworth | 8:77a57909aa15 | 669 | } |
tashworth | 8:77a57909aa15 | 670 | |
tashworth | 8:77a57909aa15 | 671 | float wall_follow(int side, int direction, int section) |
tashworth | 8:77a57909aa15 | 672 | { |
tashworth | 8:77a57909aa15 | 673 | float location, wavegap=0, set=5; |
tashworth | 8:77a57909aa15 | 674 | int dir=1; |
tashworth | 8:77a57909aa15 | 675 | |
tashworth | 8:77a57909aa15 | 676 | pid1.reset(); |
tashworth | 8:77a57909aa15 | 677 | |
tashworth | 8:77a57909aa15 | 678 | if(direction == BACKWARD) dir=-1; |
tashworth | 8:77a57909aa15 | 679 | if(section == TOOLS)set= 10; |
tashworth | 8:77a57909aa15 | 680 | |
tashworth | 8:77a57909aa15 | 681 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 682 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 683 | |
tashworth | 8:77a57909aa15 | 684 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 8:77a57909aa15 | 685 | |
tashworth | 9:1b29cd9ed1ba | 686 | while(location< 68) { |
tashworth | 8:77a57909aa15 | 687 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 8:77a57909aa15 | 688 | |
tashworth | 8:77a57909aa15 | 689 | pid1.setInputLimits(0, set); |
tashworth | 8:77a57909aa15 | 690 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
tashworth | 8:77a57909aa15 | 691 | pid1.setSetPoint(set); |
tashworth | 8:77a57909aa15 | 692 | if(side) { |
tashworth | 8:77a57909aa15 | 693 | rangeFinderLeft.startMeas(); |
tashworth | 8:77a57909aa15 | 694 | wait_ms(38); |
tashworth | 8:77a57909aa15 | 695 | rangeFinderLeft.getMeas(range); |
tashworth | 8:77a57909aa15 | 696 | } else { |
tashworth | 8:77a57909aa15 | 697 | rangeFinderRight.startMeas(); |
tashworth | 8:77a57909aa15 | 698 | wait_ms(38); |
tashworth | 8:77a57909aa15 | 699 | rangeFinderRight.getMeas(range); |
tashworth | 8:77a57909aa15 | 700 | pc.printf("%d\r\n",range); |
tashworth | 8:77a57909aa15 | 701 | } |
tashworth | 8:77a57909aa15 | 702 | |
tashworth | 8:77a57909aa15 | 703 | if(range > 20) { |
tashworth | 8:77a57909aa15 | 704 | wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 8:77a57909aa15 | 705 | //pc.printf("wavegap %f\r\n",wavegap); |
tashworth | 8:77a57909aa15 | 706 | // AT WAVE OPENING!!!! |
tashworth | 8:77a57909aa15 | 707 | motors.setMotor1Speed(dir*0.4*127);//left |
tashworth | 8:77a57909aa15 | 708 | motors.setMotor0Speed(dir*0.4*127);//right |
tashworth | 8:77a57909aa15 | 709 | } else { |
tashworth | 8:77a57909aa15 | 710 | |
tashworth | 8:77a57909aa15 | 711 | pid1.setProcessValue(range); |
tashworth | 8:77a57909aa15 | 712 | pid_return = pid1.compute(); |
tashworth | 8:77a57909aa15 | 713 | |
tashworth | 8:77a57909aa15 | 714 | if(pid_return > 0) { |
tashworth | 8:77a57909aa15 | 715 | if(side) { |
tashworth | 8:77a57909aa15 | 716 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
tashworth | 8:77a57909aa15 | 717 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 8:77a57909aa15 | 718 | } else { |
tashworth | 8:77a57909aa15 | 719 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
tashworth | 8:77a57909aa15 | 720 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 8:77a57909aa15 | 721 | } |
tashworth | 8:77a57909aa15 | 722 | } else if(pid_return < 0) { |
tashworth | 8:77a57909aa15 | 723 | if(side) { |
tashworth | 8:77a57909aa15 | 724 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 8:77a57909aa15 | 725 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
tashworth | 8:77a57909aa15 | 726 | } else { |
tashworth | 8:77a57909aa15 | 727 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 8:77a57909aa15 | 728 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
tashworth | 8:77a57909aa15 | 729 | } |
tashworth | 8:77a57909aa15 | 730 | } else { |
tashworth | 8:77a57909aa15 | 731 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 8:77a57909aa15 | 732 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 8:77a57909aa15 | 733 | } |
tashworth | 8:77a57909aa15 | 734 | } |
tashworth | 8:77a57909aa15 | 735 | } |
tashworth | 8:77a57909aa15 | 736 | return wavegap; |
tashworth | 8:77a57909aa15 | 737 | } |
tashworth | 8:77a57909aa15 | 738 | |
tashworth | 8:77a57909aa15 | 739 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
tashworth | 8:77a57909aa15 | 740 | |
tashworth | 8:77a57909aa15 | 741 | void wall_follow2(int side, int direction, int section, float location) |
tashworth | 8:77a57909aa15 | 742 | { |
tashworth | 8:77a57909aa15 | 743 | int SeeWaveGap = false, dir=1; |
tashworth | 8:77a57909aa15 | 744 | float set=5, loc=0; |
tashworth | 8:77a57909aa15 | 745 | |
tashworth | 8:77a57909aa15 | 746 | pid1.reset(); |
tashworth | 8:77a57909aa15 | 747 | |
tashworth | 8:77a57909aa15 | 748 | if(direction == BACKWARD) dir=-1; |
tashworth | 8:77a57909aa15 | 749 | if(section == TOOLS)set= 5; |
tashworth | 8:77a57909aa15 | 750 | |
tashworth | 8:77a57909aa15 | 751 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 752 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 753 | |
tashworth | 8:77a57909aa15 | 754 | while(dir*loc + location <= 78) { |
tashworth | 8:77a57909aa15 | 755 | loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 8:77a57909aa15 | 756 | |
tashworth | 8:77a57909aa15 | 757 | pid1.setInputLimits(0.0, set); |
tashworth | 8:77a57909aa15 | 758 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
tashworth | 8:77a57909aa15 | 759 | pid1.setSetPoint(set); |
tashworth | 8:77a57909aa15 | 760 | |
tashworth | 8:77a57909aa15 | 761 | if(side) { |
tashworth | 8:77a57909aa15 | 762 | rangeFinderLeft.startMeas(); |
tashworth | 8:77a57909aa15 | 763 | wait_ms(38); |
tashworth | 8:77a57909aa15 | 764 | rangeFinderLeft.getMeas(range); |
tashworth | 8:77a57909aa15 | 765 | } else { |
tashworth | 8:77a57909aa15 | 766 | rangeFinderRight.startMeas(); |
tashworth | 8:77a57909aa15 | 767 | wait_ms(38); |
tashworth | 8:77a57909aa15 | 768 | rangeFinderRight.getMeas(range); |
tashworth | 8:77a57909aa15 | 769 | } |
tashworth | 8:77a57909aa15 | 770 | |
tashworth | 8:77a57909aa15 | 771 | |
tashworth | 8:77a57909aa15 | 772 | /*************CHECK FOR WAVE OPENING*****************/ |
tashworth | 8:77a57909aa15 | 773 | /* If after 20 ms the ultrasonic still sees 20+ cm */ |
tashworth | 8:77a57909aa15 | 774 | /* then robot is at wave opening */ |
tashworth | 8:77a57909aa15 | 775 | |
tashworth | 8:77a57909aa15 | 776 | //pc.printf("wall follow 2 range %f\r\n",range); |
tashworth | 8:77a57909aa15 | 777 | //pc.printf("loc+location = %f\r\n", loc+location); |
tashworth | 8:77a57909aa15 | 778 | if(range > 20) { |
tashworth | 8:77a57909aa15 | 779 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 780 | pc.printf("wavegap\r\n"); |
tashworth | 8:77a57909aa15 | 781 | // AT WAVE OPENING!!!! |
tashworth | 8:77a57909aa15 | 782 | break; |
tashworth | 8:77a57909aa15 | 783 | } |
tashworth | 8:77a57909aa15 | 784 | |
tashworth | 8:77a57909aa15 | 785 | pid1.setProcessValue(range); |
tashworth | 8:77a57909aa15 | 786 | pid_return = pid1.compute(); |
tashworth | 8:77a57909aa15 | 787 | //pc.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
tashworth | 8:77a57909aa15 | 788 | |
tashworth | 8:77a57909aa15 | 789 | if(pid_return > 0) { |
tashworth | 8:77a57909aa15 | 790 | if(side) { |
tashworth | 8:77a57909aa15 | 791 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
tashworth | 8:77a57909aa15 | 792 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 8:77a57909aa15 | 793 | } else { |
tashworth | 8:77a57909aa15 | 794 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
tashworth | 8:77a57909aa15 | 795 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 8:77a57909aa15 | 796 | } |
tashworth | 8:77a57909aa15 | 797 | } else if(pid_return < 0) { |
tashworth | 8:77a57909aa15 | 798 | if(side) { |
tashworth | 8:77a57909aa15 | 799 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 8:77a57909aa15 | 800 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
tashworth | 8:77a57909aa15 | 801 | } else { |
tashworth | 8:77a57909aa15 | 802 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 8:77a57909aa15 | 803 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
tashworth | 8:77a57909aa15 | 804 | } |
tashworth | 8:77a57909aa15 | 805 | } else { |
tashworth | 8:77a57909aa15 | 806 | motors.setMotor0Speed(dir*MAX_SPEED); |
tashworth | 8:77a57909aa15 | 807 | motors.setMotor1Speed(dir*MAX_SPEED); |
tashworth | 8:77a57909aa15 | 808 | } |
tashworth | 8:77a57909aa15 | 809 | } |
tashworth | 8:77a57909aa15 | 810 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 811 | } |
tashworth | 0:1b64a0cedc5d | 812 | |
tashworth | 0:1b64a0cedc5d | 813 | |
tashworth | 8:77a57909aa15 | 814 | void alignWithWall(int section) |
tashworth | 8:77a57909aa15 | 815 | { |
tashworth | 8:77a57909aa15 | 816 | float usValue = 0; |
tashworth | 8:77a57909aa15 | 817 | |
tashworth | 8:77a57909aa15 | 818 | if(section == TOOLS) { |
tashworth | 8:77a57909aa15 | 819 | // turn at an angle |
tashworth | 8:77a57909aa15 | 820 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 821 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 822 | motors.setMotor0Speed(-1.2*MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 823 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 824 | while(rightEncoder.getPulses()>-1000); |
tashworth | 8:77a57909aa15 | 825 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 826 | |
tashworth | 8:77a57909aa15 | 827 | //go backwards toward wall |
tashworth | 8:77a57909aa15 | 828 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 829 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 830 | motors.setMotor0Speed(-MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 831 | motors.setMotor1Speed(-MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 832 | while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300); |
tashworth | 8:77a57909aa15 | 833 | |
tashworth | 8:77a57909aa15 | 834 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 835 | |
tashworth | 8:77a57909aa15 | 836 | // turn left towards wall |
tashworth | 8:77a57909aa15 | 837 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 838 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 839 | motors.setMotor0Speed(MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 840 | motors.setMotor1Speed(-MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 841 | while(rightEncoder.getPulses() < 10 || abs(leftEncoder.getPulses()) < 10); |
tashworth | 8:77a57909aa15 | 842 | |
tashworth | 8:77a57909aa15 | 843 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 844 | |
tashworth | 8:77a57909aa15 | 845 | motors.setMotor0Speed(0.7*MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 846 | motors.setMotor1Speed(-0.7*MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 847 | } else { |
tashworth | 8:77a57909aa15 | 848 | rightTurn(); |
tashworth | 8:77a57909aa15 | 849 | motors.setMotor0Speed(-0.7*MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 850 | motors.setMotor1Speed(0.7*MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 851 | } |
tashworth | 8:77a57909aa15 | 852 | |
tashworth | 8:77a57909aa15 | 853 | usValue = 0; |
tashworth | 8:77a57909aa15 | 854 | while(1) { |
tashworth | 8:77a57909aa15 | 855 | rangeFinderLeft.startMeas(); |
tashworth | 8:77a57909aa15 | 856 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 857 | rangeFinderLeft.getMeas(range); |
tashworth | 8:77a57909aa15 | 858 | //pc.printf("Range %f \t OldValue %f\n\r",range, usValue); |
tashworth | 8:77a57909aa15 | 859 | if(range > usValue && usValue != 0 && range < 25) { |
tashworth | 8:77a57909aa15 | 860 | break; |
tashworth | 8:77a57909aa15 | 861 | } else { |
tashworth | 8:77a57909aa15 | 862 | usValue = range; |
tashworth | 8:77a57909aa15 | 863 | } |
tashworth | 8:77a57909aa15 | 864 | } |
tashworth | 8:77a57909aa15 | 865 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 866 | } |
tashworth | 8:77a57909aa15 | 867 | |
tashworth | 8:77a57909aa15 | 868 | void rightTurn(void) |
tashworth | 8:77a57909aa15 | 869 | { |
tashworth | 8:77a57909aa15 | 870 | motors.begin(); |
tashworth | 8:77a57909aa15 | 871 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 872 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 873 | motors.setMotor0Speed(-0.5*127);//right |
tashworth | 8:77a57909aa15 | 874 | motors.setMotor1Speed(0.5*127);//left |
tashworth | 8:77a57909aa15 | 875 | while(leftEncoder.getPulses()<900 || rightEncoder.getPulses()>-900); |
tashworth | 8:77a57909aa15 | 876 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 877 | } |
tashworth | 8:77a57909aa15 | 878 | |
tashworth | 8:77a57909aa15 | 879 | void leftTurn(void) |
tashworth | 8:77a57909aa15 | 880 | { |
tashworth | 8:77a57909aa15 | 881 | /* |
tashworth | 8:77a57909aa15 | 882 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 883 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 884 | motors.setMotor0Speed(0.4*MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 885 | motors.setMotor1Speed(-MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 886 | while(abs(leftEncoder.getPulses())<2500); |
tashworth | 8:77a57909aa15 | 887 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 888 | */ |
tashworth | 8:77a57909aa15 | 889 | motors.begin(); |
tashworth | 8:77a57909aa15 | 890 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 891 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 892 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 8:77a57909aa15 | 893 | motors.setMotor1Speed(-0.5*127);// left |
tashworth | 8:77a57909aa15 | 894 | while(abs(leftEncoder.getPulses())<1000 || rightEncoder.getPulses()<1000); |
tashworth | 8:77a57909aa15 | 895 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 896 | } |
tashworth | 8:77a57909aa15 | 897 | void slightleft(void) |
tashworth | 8:77a57909aa15 | 898 | { |
tashworth | 8:77a57909aa15 | 899 | |
tashworth | 8:77a57909aa15 | 900 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 901 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 902 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 8:77a57909aa15 | 903 | motors.setMotor1Speed(-0.5*127);// left |
tashworth | 8:77a57909aa15 | 904 | while(abs(leftEncoder.getPulses())<50 || rightEncoder.getPulses()<50); |
tashworth | 8:77a57909aa15 | 905 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 906 | } |
tashworth | 8:77a57909aa15 | 907 | |
tashworth | 8:77a57909aa15 | 908 | |
tashworth | 8:77a57909aa15 | 909 | void overBump(int section) |
tashworth | 8:77a57909aa15 | 910 | { |
tashworth | 8:77a57909aa15 | 911 | int preLeft=5000, preRight=5000, out=0; |
tashworth | 8:77a57909aa15 | 912 | |
tashworth | 8:77a57909aa15 | 913 | motors.begin(); |
tashworth | 8:77a57909aa15 | 914 | |
tashworth | 8:77a57909aa15 | 915 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 916 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 917 | motors.setMotor0Speed(-0.2*127); //right |
tashworth | 8:77a57909aa15 | 918 | motors.setMotor1Speed(-0.2*127); //left |
tashworth | 8:77a57909aa15 | 919 | while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses())< 50); |
tashworth | 8:77a57909aa15 | 920 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 921 | |
tashworth | 8:77a57909aa15 | 922 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 923 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 924 | motors.setMotor0Speed(0.2*127); //right |
tashworth | 8:77a57909aa15 | 925 | motors.setMotor1Speed(0.2*127); //left |
tashworth | 9:1b29cd9ed1ba | 926 | while(/*(abs(leftEncoder.getPulses()) < 1000 || abs(rightEncoder.getPulses())< 1000)*/ IR.getIRDistance() >20 && preLeft!=0) { |
tashworth | 8:77a57909aa15 | 927 | preLeft=leftEncoder.getPulses(); |
tashworth | 8:77a57909aa15 | 928 | preRight=rightEncoder.getPulses(); |
tashworth | 8:77a57909aa15 | 929 | wait_ms(100); |
tashworth | 8:77a57909aa15 | 930 | //pc.printf(" first while left %d right %d \r\n", preLeft, preRight); |
tashworth | 8:77a57909aa15 | 931 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
tashworth | 8:77a57909aa15 | 932 | } |
tashworth | 8:77a57909aa15 | 933 | |
tashworth | 8:77a57909aa15 | 934 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 935 | motors.begin(); |
tashworth | 8:77a57909aa15 | 936 | wait(2); |
tashworth | 8:77a57909aa15 | 937 | /* |
tashworth | 8:77a57909aa15 | 938 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 939 | motors.setMotor0Speed(0.15*127); //right |
tashworth | 8:77a57909aa15 | 940 | motors.setMotor1Speed(0.15*127); //left |
tashworth | 8:77a57909aa15 | 941 | preLeft=preRight=5000 ; |
tashworth | 8:77a57909aa15 | 942 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 943 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 944 | */ |
tashworth | 9:1b29cd9ed1ba | 945 | // while(/*(abs(leftEncoder.getPulses()) < 1000 || abs(rightEncoder.getPulses())< 1000)*/ IR.getIRDistance() >20 && preLeft!=0){ |
tashworth | 8:77a57909aa15 | 946 | /* preLeft=leftEncoder.getPulses(); |
tashworth | 8:77a57909aa15 | 947 | preRight=rightEncoder.getPulses(); |
tashworth | 8:77a57909aa15 | 948 | pc.printf("second while left %d right %d \r\n", preLeft, preRight); |
tashworth | 8:77a57909aa15 | 949 | wait_ms(200); |
tashworth | 8:77a57909aa15 | 950 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
tashworth | 8:77a57909aa15 | 951 | }*/ |
tashworth | 8:77a57909aa15 | 952 | |
tashworth | 8:77a57909aa15 | 953 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 954 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 955 | motors.setMotor0Speed(0.3*127); //right |
tashworth | 8:77a57909aa15 | 956 | motors.setMotor1Speed(0.3*127); //left |
tashworth | 8:77a57909aa15 | 957 | |
tashworth | 8:77a57909aa15 | 958 | while(!out) { |
tashworth | 8:77a57909aa15 | 959 | preLeft=leftEncoder.getPulses(); |
tashworth | 8:77a57909aa15 | 960 | preRight=rightEncoder.getPulses(); |
tashworth | 8:77a57909aa15 | 961 | |
tashworth | 8:77a57909aa15 | 962 | rangeFinderLeft.startMeas(); |
tashworth | 8:77a57909aa15 | 963 | rangeFinderRight.startMeas(); |
tashworth | 8:77a57909aa15 | 964 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 965 | rangeFinderLeft.getMeas(range); |
tashworth | 8:77a57909aa15 | 966 | rangeFinderRight.getMeas(range2); |
tashworth | 8:77a57909aa15 | 967 | if(range < 10 || range2 < 10) out=1; |
tashworth | 8:77a57909aa15 | 968 | |
tashworth | 8:77a57909aa15 | 969 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) { |
tashworth | 8:77a57909aa15 | 970 | motors.setMotor0Speed(0.4*127); //right |
tashworth | 8:77a57909aa15 | 971 | motors.setMotor1Speed(0.4*127); //left |
tashworth | 8:77a57909aa15 | 972 | } |
tashworth | 8:77a57909aa15 | 973 | if(abs(leftEncoder.getPulses()) <1000 || abs(leftEncoder.getPulses())<1000) out=1; |
tashworth | 8:77a57909aa15 | 974 | } |
tashworth | 8:77a57909aa15 | 975 | |
tashworth | 8:77a57909aa15 | 976 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 977 | wait(2); |
tashworth | 8:77a57909aa15 | 978 | motors.begin(); |
tashworth | 8:77a57909aa15 | 979 | |
tashworth | 8:77a57909aa15 | 980 | preLeft=preRight=5000 ; |
tashworth | 8:77a57909aa15 | 981 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 982 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 983 | motors.setMotor0Speed(.25*127); //right |
tashworth | 8:77a57909aa15 | 984 | motors.setMotor1Speed(.25*127); //left |
tashworth | 8:77a57909aa15 | 985 | |
tashworth | 8:77a57909aa15 | 986 | if(section == TOOLS || section == MID) { |
tashworth | 9:1b29cd9ed1ba | 987 | while(IR.getIRDistance() > 20 ) { |
tashworth | 9:1b29cd9ed1ba | 988 | //pc.printf("IR %f\r\n", IR.getIRDistance()); |
tashworth | 8:77a57909aa15 | 989 | //pc.printf("third while left %d right %d \r\n", preLeft, preRight); |
tashworth | 8:77a57909aa15 | 990 | } |
tashworth | 8:77a57909aa15 | 991 | } else while((abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses())< 200)); |
tashworth | 8:77a57909aa15 | 992 | |
tashworth | 8:77a57909aa15 | 993 | motors.setMotor0Speed(-.25*127); //right |
tashworth | 8:77a57909aa15 | 994 | motors.setMotor1Speed(-.25*127); //left |
tashworth | 8:77a57909aa15 | 995 | wait_ms(10); |
tashworth | 8:77a57909aa15 | 996 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 997 | wait(2); |
tashworth | 8:77a57909aa15 | 998 | motors.begin(); |
tashworth | 8:77a57909aa15 | 999 | |
tashworth | 8:77a57909aa15 | 1000 | } |
tashworth | 8:77a57909aa15 | 1001 | |
tashworth | 8:77a57909aa15 | 1002 | void to_tools_section(float* location, float ¤t) |
tashworth | 8:77a57909aa15 | 1003 | { |
tashworth | 8:77a57909aa15 | 1004 | wall_follow(LEFT,FORWARD, TOOLS); |
tashworth | 8:77a57909aa15 | 1005 | // current position in reference to the starting position |
tashworth | 8:77a57909aa15 | 1006 | current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 8:77a57909aa15 | 1007 | pc.printf("current %f \r\n",current); |
tashworth | 9:1b29cd9ed1ba | 1008 | |
tashworth | 8:77a57909aa15 | 1009 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 1010 | |
tashworth | 9:1b29cd9ed1ba | 1011 | wait(2); |
tashworth | 9:1b29cd9ed1ba | 1012 | |
tashworth | 9:1b29cd9ed1ba | 1013 | motors.setMotor0Speed(.2*127); //right |
tashworth | 9:1b29cd9ed1ba | 1014 | motors.setMotor1Speed(.2*127); //left |
tashworth | 9:1b29cd9ed1ba | 1015 | while(IR.getIRDistance()>16); |
tashworth | 9:1b29cd9ed1ba | 1016 | |
tashworth | 9:1b29cd9ed1ba | 1017 | motors.setMotor0Speed(-.2*127); //right |
tashworth | 9:1b29cd9ed1ba | 1018 | motors.setMotor1Speed(-.2*127); //left |
tashworth | 9:1b29cd9ed1ba | 1019 | wait_ms(5); |
tashworth | 9:1b29cd9ed1ba | 1020 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 1021 | |
tashworth | 8:77a57909aa15 | 1022 | } |
tashworth | 8:77a57909aa15 | 1023 | |
tashworth | 8:77a57909aa15 | 1024 | void from_tools_section(float* location, float ¤t) |
tashworth | 8:77a57909aa15 | 1025 | { |
tashworth | 8:77a57909aa15 | 1026 | alignWithWall(TOOLS); |
tashworth | 8:77a57909aa15 | 1027 | |
tashworth | 8:77a57909aa15 | 1028 | wait_ms(100); |
tashworth | 8:77a57909aa15 | 1029 | |
tashworth | 8:77a57909aa15 | 1030 | wall_follow2(LEFT,FORWARD,MID, current); |
tashworth | 8:77a57909aa15 | 1031 | current= 78; |
tashworth | 8:77a57909aa15 | 1032 | |
tashworth | 8:77a57909aa15 | 1033 | rangeFinderLeft.startMeas(); |
tashworth | 8:77a57909aa15 | 1034 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 1035 | rangeFinderLeft.getMeas(range); |
tashworth | 8:77a57909aa15 | 1036 | |
tashworth | 8:77a57909aa15 | 1037 | if(range < 20) { |
tashworth | 8:77a57909aa15 | 1038 | wall_follow2(LEFT,BACKWARD,TOOLS, current); |
tashworth | 8:77a57909aa15 | 1039 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1040 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1041 | motors.setMotor0Speed(-MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 1042 | motors.setMotor1Speed(-MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 1043 | while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120); |
tashworth | 8:77a57909aa15 | 1044 | |
tashworth | 8:77a57909aa15 | 1045 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1046 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1047 | motors.setMotor0Speed(MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 1048 | motors.setMotor1Speed(MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 1049 | while(abs(leftEncoder.getPulses()) < 40 || abs(rightEncoder.getPulses())< 40); |
tashworth | 8:77a57909aa15 | 1050 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 1051 | |
tashworth | 8:77a57909aa15 | 1052 | wait_ms(500); |
tashworth | 8:77a57909aa15 | 1053 | location[0]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 8:77a57909aa15 | 1054 | current= location[0]; |
tashworth | 8:77a57909aa15 | 1055 | leftTurn(); |
tashworth | 8:77a57909aa15 | 1056 | slightleft(); |
tashworth | 8:77a57909aa15 | 1057 | overBump(TOOLS); |
tashworth | 8:77a57909aa15 | 1058 | } else { |
tashworth | 8:77a57909aa15 | 1059 | location[0]= 77; |
tashworth | 8:77a57909aa15 | 1060 | leftTurn(); |
tashworth | 8:77a57909aa15 | 1061 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 1062 | overBump(FIRST_WAVE); |
tashworth | 8:77a57909aa15 | 1063 | } |
tashworth | 8:77a57909aa15 | 1064 | |
tashworth | 8:77a57909aa15 | 1065 | pc.printf("First Wavegap = %f\r\n",location[0]); |
tashworth | 8:77a57909aa15 | 1066 | } |
tashworth | 8:77a57909aa15 | 1067 | void mid_section(float* location, float ¤t, int* direction) |
tashworth | 8:77a57909aa15 | 1068 | { |
tashworth | 8:77a57909aa15 | 1069 | |
tashworth | 8:77a57909aa15 | 1070 | motors.begin(); |
tashworth | 8:77a57909aa15 | 1071 | |
tashworth | 9:1b29cd9ed1ba | 1072 | if(IR.getIRDistance() > 20) return; |
tashworth | 8:77a57909aa15 | 1073 | |
tashworth | 8:77a57909aa15 | 1074 | alignWithWall(MID); |
tashworth | 8:77a57909aa15 | 1075 | |
tashworth | 8:77a57909aa15 | 1076 | pc.printf("mid section current = %f\r\n",current); |
tashworth | 8:77a57909aa15 | 1077 | wall_follow2(LEFT,FORWARD,MID, current); |
tashworth | 8:77a57909aa15 | 1078 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 8:77a57909aa15 | 1079 | pc.printf("after wf2 current = %f\r\n",current); |
tashworth | 8:77a57909aa15 | 1080 | |
tashworth | 8:77a57909aa15 | 1081 | if(current != 0) { |
tashworth | 8:77a57909aa15 | 1082 | direction[0]= RIGHT; |
tashworth | 8:77a57909aa15 | 1083 | current+= location[0]; |
tashworth | 8:77a57909aa15 | 1084 | location[1]= current; |
tashworth | 8:77a57909aa15 | 1085 | } else { |
tashworth | 8:77a57909aa15 | 1086 | current=location[0]; |
tashworth | 8:77a57909aa15 | 1087 | direction[0]= LEFT; |
tashworth | 8:77a57909aa15 | 1088 | wall_follow2(LEFT,BACKWARD,MID,current); |
tashworth | 8:77a57909aa15 | 1089 | location[1]= location[0]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 8:77a57909aa15 | 1090 | } |
tashworth | 8:77a57909aa15 | 1091 | |
tashworth | 8:77a57909aa15 | 1092 | pc.printf("wavegap2 = %f\r\n",location[1]); |
tashworth | 8:77a57909aa15 | 1093 | leftTurn(); |
tashworth | 8:77a57909aa15 | 1094 | overBump(TOOLS); |
tashworth | 8:77a57909aa15 | 1095 | // go forward |
tashworth | 8:77a57909aa15 | 1096 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1097 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1098 | motors.setMotor0Speed(0.2*127); //right |
tashworth | 8:77a57909aa15 | 1099 | motors.setMotor1Speed(0.2*127); //left |
tashworth | 8:77a57909aa15 | 1100 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
tashworth | 8:77a57909aa15 | 1101 | motors.stopBothMotors(); |
tashworth | 8:77a57909aa15 | 1102 | |
tashworth | 8:77a57909aa15 | 1103 | } |
tashworth | 8:77a57909aa15 | 1104 | |
tashworth | 8:77a57909aa15 | 1105 | void mid_section2(float* location, float ¤t, int* direction) |
tashworth | 8:77a57909aa15 | 1106 | { |
tashworth | 8:77a57909aa15 | 1107 | |
tashworth | 8:77a57909aa15 | 1108 | motors.begin(); |
tashworth | 8:77a57909aa15 | 1109 | |
tashworth | 9:1b29cd9ed1ba | 1110 | if(IR.getIRDistance() > 20) return; |
tashworth | 8:77a57909aa15 | 1111 | |
tashworth | 8:77a57909aa15 | 1112 | alignWithWall(MID); |
tashworth | 8:77a57909aa15 | 1113 | wall_follow2(LEFT,FORWARD,MID, current); |
tashworth | 8:77a57909aa15 | 1114 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 8:77a57909aa15 | 1115 | |
tashworth | 8:77a57909aa15 | 1116 | if(current != 0) { |
tashworth | 8:77a57909aa15 | 1117 | direction[1]= RIGHT; |
tashworth | 8:77a57909aa15 | 1118 | current+= location[1]; |
tashworth | 8:77a57909aa15 | 1119 | location[2]= current; |
tashworth | 8:77a57909aa15 | 1120 | } else { |
tashworth | 8:77a57909aa15 | 1121 | current=location[1]; |
tashworth | 8:77a57909aa15 | 1122 | direction[1]= LEFT; |
tashworth | 8:77a57909aa15 | 1123 | wall_follow2(LEFT,BACKWARD,MID,current); |
tashworth | 8:77a57909aa15 | 1124 | location[2]= location[1]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 8:77a57909aa15 | 1125 | } |
tashworth | 8:77a57909aa15 | 1126 | |
tashworth | 8:77a57909aa15 | 1127 | leftTurn(); |
tashworth | 8:77a57909aa15 | 1128 | overBump(RIGS); |
tashworth | 8:77a57909aa15 | 1129 | } |
tashworth | 8:77a57909aa15 | 1130 | |
tashworth | 8:77a57909aa15 | 1131 | void rig_section(float* location, float ¤t, int* direction, int rig) |
tashworth | 8:77a57909aa15 | 1132 | { |
tashworth | 8:77a57909aa15 | 1133 | |
tashworth | 8:77a57909aa15 | 1134 | |
tashworth | 8:77a57909aa15 | 1135 | } |
tashworth | 8:77a57909aa15 | 1136 | |
tashworth | 9:1b29cd9ed1ba | 1137 | void ledtoggle(void) |
tashworth | 9:1b29cd9ed1ba | 1138 | { |
tashworth | 8:77a57909aa15 | 1139 | pwm.setPWM(9, 0, 4094); |
tashworth | 8:77a57909aa15 | 1140 | wait(2); |
tashworth | 8:77a57909aa15 | 1141 | pwm.setPWM(9, 0, 0); |
tashworth | 9:1b29cd9ed1ba | 1142 | } |
tashworth | 8:77a57909aa15 | 1143 | |
tashworth | 8:77a57909aa15 | 1144 | |
tashworth | 8:77a57909aa15 | 1145 |