Jon Marsh
/
m3pi_MazeSolver
This is work in progress - maze solving with m3pi robot. Not complete
main.cpp@0:6e52eae6412a, 2011-03-03 (annotated)
- Committer:
- jonmarsh
- Date:
- Thu Mar 03 09:58:58 2011 +0000
- Revision:
- 0:6e52eae6412a
- Child:
- 1:3ac7462953df
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jonmarsh | 0:6e52eae6412a | 1 | #include "mbed.h" |
jonmarsh | 0:6e52eae6412a | 2 | #include "m3pijon.h" |
jonmarsh | 0:6e52eae6412a | 3 | |
jonmarsh | 0:6e52eae6412a | 4 | BusOut leds(LED1,LED2,LED3,LED4); |
jonmarsh | 0:6e52eae6412a | 5 | m3pi m3pi(p23,p9,p10); |
jonmarsh | 0:6e52eae6412a | 6 | |
jonmarsh | 0:6e52eae6412a | 7 | #define MAX 0.5 |
jonmarsh | 0:6e52eae6412a | 8 | #define MIN 0 |
jonmarsh | 0:6e52eae6412a | 9 | |
jonmarsh | 0:6e52eae6412a | 10 | |
jonmarsh | 0:6e52eae6412a | 11 | #define P_TERM 1 |
jonmarsh | 0:6e52eae6412a | 12 | #define I_TERM 0 |
jonmarsh | 0:6e52eae6412a | 13 | #define D_TERM 20 |
jonmarsh | 0:6e52eae6412a | 14 | |
jonmarsh | 0:6e52eae6412a | 15 | // Global variables |
jonmarsh | 0:6e52eae6412a | 16 | // The path array stores the route info. Each element shows what we did at an intersection |
jonmarsh | 0:6e52eae6412a | 17 | |
jonmarsh | 0:6e52eae6412a | 18 | // 'L' for left |
jonmarsh | 0:6e52eae6412a | 19 | // 'R' for right |
jonmarsh | 0:6e52eae6412a | 20 | // 'F' for forward |
jonmarsh | 0:6e52eae6412a | 21 | // 'B' for back |
jonmarsh | 0:6e52eae6412a | 22 | // |
jonmarsh | 0:6e52eae6412a | 23 | char path[1000] = ""; |
jonmarsh | 0:6e52eae6412a | 24 | unsigned char path_length = 0; // the length of the path so far |
jonmarsh | 0:6e52eae6412a | 25 | |
jonmarsh | 0:6e52eae6412a | 26 | |
jonmarsh | 0:6e52eae6412a | 27 | void follow_line() |
jonmarsh | 0:6e52eae6412a | 28 | { |
jonmarsh | 0:6e52eae6412a | 29 | float right; |
jonmarsh | 0:6e52eae6412a | 30 | float left; |
jonmarsh | 0:6e52eae6412a | 31 | float position_of_line = 0.0; |
jonmarsh | 0:6e52eae6412a | 32 | float prev_pos_of_line = 0.0; |
jonmarsh | 0:6e52eae6412a | 33 | float derivative,proportional; |
jonmarsh | 0:6e52eae6412a | 34 | float integral = 0; |
jonmarsh | 0:6e52eae6412a | 35 | float power; |
jonmarsh | 0:6e52eae6412a | 36 | float speed = MAX; |
jonmarsh | 0:6e52eae6412a | 37 | int foundjunction=0; |
jonmarsh | 0:6e52eae6412a | 38 | int countdown=150; //make sure we don't stop for a junction too soon after starting |
jonmarsh | 0:6e52eae6412a | 39 | |
jonmarsh | 0:6e52eae6412a | 40 | int sensors[5]; |
jonmarsh | 0:6e52eae6412a | 41 | while (foundjunction==0) { |
jonmarsh | 0:6e52eae6412a | 42 | |
jonmarsh | 0:6e52eae6412a | 43 | // Get the position of the line. |
jonmarsh | 0:6e52eae6412a | 44 | position_of_line = m3pi.line_position(); |
jonmarsh | 0:6e52eae6412a | 45 | proportional = position_of_line; |
jonmarsh | 0:6e52eae6412a | 46 | // Compute the derivative |
jonmarsh | 0:6e52eae6412a | 47 | derivative = position_of_line - prev_pos_of_line; |
jonmarsh | 0:6e52eae6412a | 48 | // Compute the integral |
jonmarsh | 0:6e52eae6412a | 49 | integral += proportional; |
jonmarsh | 0:6e52eae6412a | 50 | // Remember the last position. |
jonmarsh | 0:6e52eae6412a | 51 | prev_pos_of_line = position_of_line; |
jonmarsh | 0:6e52eae6412a | 52 | // Compute |
jonmarsh | 0:6e52eae6412a | 53 | power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ; |
jonmarsh | 0:6e52eae6412a | 54 | |
jonmarsh | 0:6e52eae6412a | 55 | // Compute new speeds |
jonmarsh | 0:6e52eae6412a | 56 | right = speed+power; |
jonmarsh | 0:6e52eae6412a | 57 | left = speed-power; |
jonmarsh | 0:6e52eae6412a | 58 | // limit checks |
jonmarsh | 0:6e52eae6412a | 59 | if (right < MIN) |
jonmarsh | 0:6e52eae6412a | 60 | right = MIN; |
jonmarsh | 0:6e52eae6412a | 61 | else if (right > MAX) |
jonmarsh | 0:6e52eae6412a | 62 | right = MAX; |
jonmarsh | 0:6e52eae6412a | 63 | |
jonmarsh | 0:6e52eae6412a | 64 | if (left < MIN) |
jonmarsh | 0:6e52eae6412a | 65 | left = MIN; |
jonmarsh | 0:6e52eae6412a | 66 | else if (left > MAX) |
jonmarsh | 0:6e52eae6412a | 67 | left = MAX; |
jonmarsh | 0:6e52eae6412a | 68 | |
jonmarsh | 0:6e52eae6412a | 69 | // set speed |
jonmarsh | 0:6e52eae6412a | 70 | m3pi.left_motor(left); |
jonmarsh | 0:6e52eae6412a | 71 | m3pi.right_motor(right); |
jonmarsh | 0:6e52eae6412a | 72 | |
jonmarsh | 0:6e52eae6412a | 73 | if (countdown>0) countdown--; else { |
jonmarsh | 0:6e52eae6412a | 74 | // Next, we are going to use the sensors to look for whether there is still a line ahead |
jonmarsh | 0:6e52eae6412a | 75 | // and try to detect dead ends and possible left or right turns. |
jonmarsh | 0:6e52eae6412a | 76 | m3pi.readsensor(sensors); |
jonmarsh | 0:6e52eae6412a | 77 | |
jonmarsh | 0:6e52eae6412a | 78 | if(sensors[1] < 100 && sensors[2] < 100 && sensors[3] < 100) |
jonmarsh | 0:6e52eae6412a | 79 | { |
jonmarsh | 0:6e52eae6412a | 80 | // There is no line visible ahead, and we didn't see any |
jonmarsh | 0:6e52eae6412a | 81 | // intersection. Must be a dead end. |
jonmarsh | 0:6e52eae6412a | 82 | foundjunction=1; |
jonmarsh | 0:6e52eae6412a | 83 | } |
jonmarsh | 0:6e52eae6412a | 84 | else if(sensors[0] > 200 || sensors[4] > 200) |
jonmarsh | 0:6e52eae6412a | 85 | { |
jonmarsh | 0:6e52eae6412a | 86 | // Found an intersection. |
jonmarsh | 0:6e52eae6412a | 87 | foundjunction=1; |
jonmarsh | 0:6e52eae6412a | 88 | } |
jonmarsh | 0:6e52eae6412a | 89 | } //else countdown |
jonmarsh | 0:6e52eae6412a | 90 | } //while |
jonmarsh | 0:6e52eae6412a | 91 | // straighten up a bit, by steering opposite direction |
jonmarsh | 0:6e52eae6412a | 92 | // not sure if this is needed |
jonmarsh | 0:6e52eae6412a | 93 | // m3pi.left_motor(right); |
jonmarsh | 0:6e52eae6412a | 94 | // m3pi.right_motor(left); |
jonmarsh | 0:6e52eae6412a | 95 | // wait(0.02); |
jonmarsh | 0:6e52eae6412a | 96 | |
jonmarsh | 0:6e52eae6412a | 97 | } |
jonmarsh | 0:6e52eae6412a | 98 | |
jonmarsh | 0:6e52eae6412a | 99 | // This function decides which way to turn during the learning phase of |
jonmarsh | 0:6e52eae6412a | 100 | // maze solving. It uses the variables found_left, found_straight, and |
jonmarsh | 0:6e52eae6412a | 101 | // found_right, which indicate whether there is an exit in each of the |
jonmarsh | 0:6e52eae6412a | 102 | // three directions, applying the "left hand on the wall" strategy. |
jonmarsh | 0:6e52eae6412a | 103 | |
jonmarsh | 0:6e52eae6412a | 104 | char turn(unsigned char found_left, unsigned char found_forward, unsigned char found_right) |
jonmarsh | 0:6e52eae6412a | 105 | { |
jonmarsh | 0:6e52eae6412a | 106 | // The order of the statements in this "if" is sufficient to implement a follow left-hand wall algorithm |
jonmarsh | 0:6e52eae6412a | 107 | if(found_left) |
jonmarsh | 0:6e52eae6412a | 108 | return 'L'; |
jonmarsh | 0:6e52eae6412a | 109 | else if(found_forward) |
jonmarsh | 0:6e52eae6412a | 110 | return 'F'; |
jonmarsh | 0:6e52eae6412a | 111 | else if(found_right) |
jonmarsh | 0:6e52eae6412a | 112 | return 'R'; |
jonmarsh | 0:6e52eae6412a | 113 | else |
jonmarsh | 0:6e52eae6412a | 114 | return 'B'; |
jonmarsh | 0:6e52eae6412a | 115 | } |
jonmarsh | 0:6e52eae6412a | 116 | |
jonmarsh | 0:6e52eae6412a | 117 | void doturn(unsigned char dir) |
jonmarsh | 0:6e52eae6412a | 118 | { |
jonmarsh | 0:6e52eae6412a | 119 | if (dir=='L') |
jonmarsh | 0:6e52eae6412a | 120 | {m3pi.left(0.25);wait(0.28);} |
jonmarsh | 0:6e52eae6412a | 121 | else if(dir=='R') |
jonmarsh | 0:6e52eae6412a | 122 | {m3pi.right(0.25);wait(0.28);} |
jonmarsh | 0:6e52eae6412a | 123 | else if(dir=='F') |
jonmarsh | 0:6e52eae6412a | 124 | {m3pi.forward(0.3);wait(0.15);} |
jonmarsh | 0:6e52eae6412a | 125 | else if(dir=='B') |
jonmarsh | 0:6e52eae6412a | 126 | {m3pi.right(0.25);wait(0.6);} |
jonmarsh | 0:6e52eae6412a | 127 | |
jonmarsh | 0:6e52eae6412a | 128 | m3pi.forward(0.1);wait(0.1);m3pi.forward(0); |
jonmarsh | 0:6e52eae6412a | 129 | return; |
jonmarsh | 0:6e52eae6412a | 130 | } |
jonmarsh | 0:6e52eae6412a | 131 | |
jonmarsh | 0:6e52eae6412a | 132 | // change LBL to S (etc), to bypass dead ends |
jonmarsh | 0:6e52eae6412a | 133 | void simplify() |
jonmarsh | 0:6e52eae6412a | 134 | { |
jonmarsh | 0:6e52eae6412a | 135 | // only simplify the path if the second-to-last turn was a 'B' |
jonmarsh | 0:6e52eae6412a | 136 | if(path_length < 3 || path[path_length-2] != 'B') |
jonmarsh | 0:6e52eae6412a | 137 | return; |
jonmarsh | 0:6e52eae6412a | 138 | |
jonmarsh | 0:6e52eae6412a | 139 | |
jonmarsh | 0:6e52eae6412a | 140 | int total_angle = 0; |
jonmarsh | 0:6e52eae6412a | 141 | int i; |
jonmarsh | 0:6e52eae6412a | 142 | for(i=1;i<=3;i++) |
jonmarsh | 0:6e52eae6412a | 143 | { |
jonmarsh | 0:6e52eae6412a | 144 | switch(path[path_length-i]) |
jonmarsh | 0:6e52eae6412a | 145 | { |
jonmarsh | 0:6e52eae6412a | 146 | case 'R': |
jonmarsh | 0:6e52eae6412a | 147 | total_angle += 90; |
jonmarsh | 0:6e52eae6412a | 148 | break; |
jonmarsh | 0:6e52eae6412a | 149 | case 'L': |
jonmarsh | 0:6e52eae6412a | 150 | total_angle += 270; |
jonmarsh | 0:6e52eae6412a | 151 | break; |
jonmarsh | 0:6e52eae6412a | 152 | case 'B': |
jonmarsh | 0:6e52eae6412a | 153 | total_angle += 180; |
jonmarsh | 0:6e52eae6412a | 154 | break; |
jonmarsh | 0:6e52eae6412a | 155 | } |
jonmarsh | 0:6e52eae6412a | 156 | } |
jonmarsh | 0:6e52eae6412a | 157 | |
jonmarsh | 0:6e52eae6412a | 158 | // Get the angle as a number between 0 and 360 degrees. |
jonmarsh | 0:6e52eae6412a | 159 | total_angle = total_angle % 360; |
jonmarsh | 0:6e52eae6412a | 160 | |
jonmarsh | 0:6e52eae6412a | 161 | // Replace all of those turns with a single one. |
jonmarsh | 0:6e52eae6412a | 162 | switch(total_angle) |
jonmarsh | 0:6e52eae6412a | 163 | { |
jonmarsh | 0:6e52eae6412a | 164 | case 0: |
jonmarsh | 0:6e52eae6412a | 165 | path[path_length - 3] = 'F'; |
jonmarsh | 0:6e52eae6412a | 166 | break; |
jonmarsh | 0:6e52eae6412a | 167 | case 90: |
jonmarsh | 0:6e52eae6412a | 168 | path[path_length - 3] = 'R'; |
jonmarsh | 0:6e52eae6412a | 169 | break; |
jonmarsh | 0:6e52eae6412a | 170 | case 180: |
jonmarsh | 0:6e52eae6412a | 171 | path[path_length - 3] = 'B'; |
jonmarsh | 0:6e52eae6412a | 172 | break; |
jonmarsh | 0:6e52eae6412a | 173 | case 270: |
jonmarsh | 0:6e52eae6412a | 174 | path[path_length - 3] = 'L'; |
jonmarsh | 0:6e52eae6412a | 175 | break; |
jonmarsh | 0:6e52eae6412a | 176 | } |
jonmarsh | 0:6e52eae6412a | 177 | |
jonmarsh | 0:6e52eae6412a | 178 | // The path is now two steps shorter. |
jonmarsh | 0:6e52eae6412a | 179 | path_length -= 2; |
jonmarsh | 0:6e52eae6412a | 180 | } |
jonmarsh | 0:6e52eae6412a | 181 | |
jonmarsh | 0:6e52eae6412a | 182 | // This function is called once, from main.c. |
jonmarsh | 0:6e52eae6412a | 183 | void mazesolve() |
jonmarsh | 0:6e52eae6412a | 184 | { |
jonmarsh | 0:6e52eae6412a | 185 | // These variables record whether the robot has seen a line to the |
jonmarsh | 0:6e52eae6412a | 186 | // left, straight ahead, and right, while examining the current |
jonmarsh | 0:6e52eae6412a | 187 | // intersection. |
jonmarsh | 0:6e52eae6412a | 188 | unsigned char found_left=0; |
jonmarsh | 0:6e52eae6412a | 189 | unsigned char found_forward=0; |
jonmarsh | 0:6e52eae6412a | 190 | unsigned char found_right=0; |
jonmarsh | 0:6e52eae6412a | 191 | int sensors[5]; |
jonmarsh | 0:6e52eae6412a | 192 | // Loop until we have solved the maze. |
jonmarsh | 0:6e52eae6412a | 193 | while(1) |
jonmarsh | 0:6e52eae6412a | 194 | { |
jonmarsh | 0:6e52eae6412a | 195 | |
jonmarsh | 0:6e52eae6412a | 196 | // Follow the line until an intersection is detected |
jonmarsh | 0:6e52eae6412a | 197 | follow_line(); |
jonmarsh | 0:6e52eae6412a | 198 | |
jonmarsh | 0:6e52eae6412a | 199 | // Inch forward a bit. This helps us in case we entered the |
jonmarsh | 0:6e52eae6412a | 200 | // intersection at an angle. |
jonmarsh | 0:6e52eae6412a | 201 | found_left=0;found_forward=0;found_right=0; |
jonmarsh | 0:6e52eae6412a | 202 | // m3pi.forward(0.1); |
jonmarsh | 0:6e52eae6412a | 203 | // wait(0.05); |
jonmarsh | 0:6e52eae6412a | 204 | |
jonmarsh | 0:6e52eae6412a | 205 | // Now read the sensors and check the intersection type. |
jonmarsh | 0:6e52eae6412a | 206 | |
jonmarsh | 0:6e52eae6412a | 207 | |
jonmarsh | 0:6e52eae6412a | 208 | |
jonmarsh | 0:6e52eae6412a | 209 | m3pi.forward(0.0); |
jonmarsh | 0:6e52eae6412a | 210 | |
jonmarsh | 0:6e52eae6412a | 211 | // Check for a forward exit. |
jonmarsh | 0:6e52eae6412a | 212 | m3pi.readsensor(sensors); |
jonmarsh | 0:6e52eae6412a | 213 | if(sensors[1] > 200 || sensors[2] > 200 || sensors[3] > 200) |
jonmarsh | 0:6e52eae6412a | 214 | found_forward = 1; |
jonmarsh | 0:6e52eae6412a | 215 | |
jonmarsh | 0:6e52eae6412a | 216 | m3pi.readsensor(sensors); |
jonmarsh | 0:6e52eae6412a | 217 | |
jonmarsh | 0:6e52eae6412a | 218 | // Check for left and right exits. |
jonmarsh | 0:6e52eae6412a | 219 | if(sensors[0] > 200) |
jonmarsh | 0:6e52eae6412a | 220 | found_left = 1; |
jonmarsh | 0:6e52eae6412a | 221 | if(sensors[4] > 200) |
jonmarsh | 0:6e52eae6412a | 222 | found_right = 1; |
jonmarsh | 0:6e52eae6412a | 223 | |
jonmarsh | 0:6e52eae6412a | 224 | //debug code |
jonmarsh | 0:6e52eae6412a | 225 | m3pi.cls(); |
jonmarsh | 0:6e52eae6412a | 226 | if (found_left==1) |
jonmarsh | 0:6e52eae6412a | 227 | m3pi.printf("L"); |
jonmarsh | 0:6e52eae6412a | 228 | if (found_right==1) |
jonmarsh | 0:6e52eae6412a | 229 | m3pi.printf("R"); |
jonmarsh | 0:6e52eae6412a | 230 | if (found_forward==1) |
jonmarsh | 0:6e52eae6412a | 231 | m3pi.printf("F"); |
jonmarsh | 0:6e52eae6412a | 232 | wait (3); |
jonmarsh | 0:6e52eae6412a | 233 | // Check for the ending spot. |
jonmarsh | 0:6e52eae6412a | 234 | // If all five sensors are on dark black, we have |
jonmarsh | 0:6e52eae6412a | 235 | // solved the maze. |
jonmarsh | 0:6e52eae6412a | 236 | if(sensors[0]>600 && sensors[1] > 600 && sensors[2] > 600 && sensors[3] > 600 && sensors[4]>600) |
jonmarsh | 0:6e52eae6412a | 237 | break; |
jonmarsh | 0:6e52eae6412a | 238 | |
jonmarsh | 0:6e52eae6412a | 239 | // Drive straight a bit more - this is enough to line up our |
jonmarsh | 0:6e52eae6412a | 240 | // wheels with the intersection. |
jonmarsh | 0:6e52eae6412a | 241 | m3pi.forward(0.15); |
jonmarsh | 0:6e52eae6412a | 242 | wait(0.02); |
jonmarsh | 0:6e52eae6412a | 243 | |
jonmarsh | 0:6e52eae6412a | 244 | unsigned char dir = turn(found_left, found_forward, found_right); |
jonmarsh | 0:6e52eae6412a | 245 | |
jonmarsh | 0:6e52eae6412a | 246 | // Make the turn indicated by the path. |
jonmarsh | 0:6e52eae6412a | 247 | doturn(dir); |
jonmarsh | 0:6e52eae6412a | 248 | |
jonmarsh | 0:6e52eae6412a | 249 | // Store the intersection in the path variable. |
jonmarsh | 0:6e52eae6412a | 250 | path[path_length] = dir; |
jonmarsh | 0:6e52eae6412a | 251 | path_length ++; |
jonmarsh | 0:6e52eae6412a | 252 | |
jonmarsh | 0:6e52eae6412a | 253 | // Need to insert check to make sure that the path_length does not |
jonmarsh | 0:6e52eae6412a | 254 | // exceed the bounds of the array. |
jonmarsh | 0:6e52eae6412a | 255 | |
jonmarsh | 0:6e52eae6412a | 256 | // Simplify the learned path. |
jonmarsh | 0:6e52eae6412a | 257 | simplify(); |
jonmarsh | 0:6e52eae6412a | 258 | |
jonmarsh | 0:6e52eae6412a | 259 | } |
jonmarsh | 0:6e52eae6412a | 260 | |
jonmarsh | 0:6e52eae6412a | 261 | // Solved the maze! |
jonmarsh | 0:6e52eae6412a | 262 | |
jonmarsh | 0:6e52eae6412a | 263 | // Now enter an infinite loop - we can re-run the maze as many |
jonmarsh | 0:6e52eae6412a | 264 | // times as we want to. |
jonmarsh | 0:6e52eae6412a | 265 | while(1) |
jonmarsh | 0:6e52eae6412a | 266 | { |
jonmarsh | 0:6e52eae6412a | 267 | |
jonmarsh | 0:6e52eae6412a | 268 | m3pi.forward(0.0); |
jonmarsh | 0:6e52eae6412a | 269 | m3pi.printf("Finished"); |
jonmarsh | 0:6e52eae6412a | 270 | |
jonmarsh | 0:6e52eae6412a | 271 | // wait 15s to give time to turn off, or put the robot back to the start |
jonmarsh | 0:6e52eae6412a | 272 | wait(15); |
jonmarsh | 0:6e52eae6412a | 273 | // ideally we would use a button press here |
jonmarsh | 0:6e52eae6412a | 274 | // but I don't think it can easily be read |
jonmarsh | 0:6e52eae6412a | 275 | |
jonmarsh | 0:6e52eae6412a | 276 | // Re-run the maze. It's not necessary to identify the |
jonmarsh | 0:6e52eae6412a | 277 | // intersections, so this loop is really simple. |
jonmarsh | 0:6e52eae6412a | 278 | int i; |
jonmarsh | 0:6e52eae6412a | 279 | for(i=0;i<path_length;i++) |
jonmarsh | 0:6e52eae6412a | 280 | { |
jonmarsh | 0:6e52eae6412a | 281 | |
jonmarsh | 0:6e52eae6412a | 282 | follow_line(); |
jonmarsh | 0:6e52eae6412a | 283 | |
jonmarsh | 0:6e52eae6412a | 284 | // Drive straight while slowing down |
jonmarsh | 0:6e52eae6412a | 285 | //m3pi.forward(0.5); |
jonmarsh | 0:6e52eae6412a | 286 | //wait(0.05); |
jonmarsh | 0:6e52eae6412a | 287 | m3pi.forward(0.3); |
jonmarsh | 0:6e52eae6412a | 288 | wait(0.1); |
jonmarsh | 0:6e52eae6412a | 289 | |
jonmarsh | 0:6e52eae6412a | 290 | // Make a turn according to the instruction stored in |
jonmarsh | 0:6e52eae6412a | 291 | // path[i]. |
jonmarsh | 0:6e52eae6412a | 292 | doturn(path[i]); |
jonmarsh | 0:6e52eae6412a | 293 | } |
jonmarsh | 0:6e52eae6412a | 294 | |
jonmarsh | 0:6e52eae6412a | 295 | // Follow the last segment up to the finish. |
jonmarsh | 0:6e52eae6412a | 296 | follow_line(); |
jonmarsh | 0:6e52eae6412a | 297 | |
jonmarsh | 0:6e52eae6412a | 298 | // Now we should be at the finish! Restart the loop. |
jonmarsh | 0:6e52eae6412a | 299 | } |
jonmarsh | 0:6e52eae6412a | 300 | } |
jonmarsh | 0:6e52eae6412a | 301 | |
jonmarsh | 0:6e52eae6412a | 302 | void checksensors() |
jonmarsh | 0:6e52eae6412a | 303 | { |
jonmarsh | 0:6e52eae6412a | 304 | int sensors[5]; |
jonmarsh | 0:6e52eae6412a | 305 | while (1) { |
jonmarsh | 0:6e52eae6412a | 306 | m3pi.readsensor(sensors); |
jonmarsh | 0:6e52eae6412a | 307 | m3pi.cls(); |
jonmarsh | 0:6e52eae6412a | 308 | if (sensors[0]>200) |
jonmarsh | 0:6e52eae6412a | 309 | m3pi.printf("D"); |
jonmarsh | 0:6e52eae6412a | 310 | else m3pi.printf("L"); |
jonmarsh | 0:6e52eae6412a | 311 | if (sensors[1]>200) |
jonmarsh | 0:6e52eae6412a | 312 | m3pi.printf("D"); |
jonmarsh | 0:6e52eae6412a | 313 | else m3pi.printf("L"); |
jonmarsh | 0:6e52eae6412a | 314 | if (sensors[2]>200) |
jonmarsh | 0:6e52eae6412a | 315 | m3pi.printf("D"); |
jonmarsh | 0:6e52eae6412a | 316 | else m3pi.printf("L"); |
jonmarsh | 0:6e52eae6412a | 317 | if (sensors[3]>200) |
jonmarsh | 0:6e52eae6412a | 318 | m3pi.printf("D"); |
jonmarsh | 0:6e52eae6412a | 319 | else m3pi.printf("L"); |
jonmarsh | 0:6e52eae6412a | 320 | if (sensors[4]>200) |
jonmarsh | 0:6e52eae6412a | 321 | m3pi.printf("D"); |
jonmarsh | 0:6e52eae6412a | 322 | else m3pi.printf("L"); |
jonmarsh | 0:6e52eae6412a | 323 | } |
jonmarsh | 0:6e52eae6412a | 324 | } |
jonmarsh | 0:6e52eae6412a | 325 | int main() { |
jonmarsh | 0:6e52eae6412a | 326 | // int sensors[5]; |
jonmarsh | 0:6e52eae6412a | 327 | m3pi.locate(0,1); |
jonmarsh | 0:6e52eae6412a | 328 | m3pi.sensor_auto_calibrate(); |
jonmarsh | 0:6e52eae6412a | 329 | m3pi.printf("MazeSolve"); |
jonmarsh | 0:6e52eae6412a | 330 | |
jonmarsh | 0:6e52eae6412a | 331 | wait(2.0); |
jonmarsh | 0:6e52eae6412a | 332 | |
jonmarsh | 0:6e52eae6412a | 333 | mazesolve(); |
jonmarsh | 0:6e52eae6412a | 334 | |
jonmarsh | 0:6e52eae6412a | 335 | m3pi.forward(0.0); |
jonmarsh | 0:6e52eae6412a | 336 | |
jonmarsh | 0:6e52eae6412a | 337 | } |