Diff: src/assignment3.cpp

Revision:

1:6f18bb7a77a5

Child:

3:35deb5c21b33

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/assignment3.cpp	Thu Nov 15 17:19:20 2018 +0000
@@ -0,0 +1,118 @@
+#include "assignment3.h"
+
+#include "globals.h"
+
+/***
+ * Assignment 3, Part A
+ * 
+ * PID! First get your mouse driving straight endlessly (you
+ * will have to pick it up to stop it).
+ * Then, get your mouse to turn.
+ * 
+ * You should not be modifying any of the following
+ * functions! They are essentially test cases. If your rat does
+ * not achieve the specified behavior, then something is wrong
+ * in either your "mainController" class or your
+ * "pid_controller" class.
+ * 
+ * Part 1: "test_systick". Again, do not modify this function.
+ * Instead, modify your systick function to use the "logger"
+ * object to "log" (NOT print!) messages, which will be printed
+ * every 100ms. You'll also need to initialize your systick
+ * properly by modifying its "start()" function.
+ * 
+ * Part 2: "drive_straight". Your mouse should drive straight
+ * forever, until you pick it up and stop it.
+ ***/
+
+void test_systick() {
+    systick.start();
+
+    while (true) {
+        wait(1);
+        pc.printf("Current time (ms): %d\n", millis);
+    }
+}
+
+void drive_straight() {
+    systick.start();
+
+    wait(1);
+    mainController.driveStraight();
+}
+
+/*** Assignment 3, Part B
+ * 
+ * Even more PID! Once again, do not modify these functions, as
+ * they act as test cases. For all these test cases, the mouse
+ * should finish in its original position.
+ * 
+ * Part 2a: "do_turnsX". Your mouse will execute a series of turns.
+ * Each of these turns should be 90 or 180 degrees, and your
+ * rat should end up somewhat close to its original position.
+ * Also, there are various stages. If you can pass Stage 1 and 2,
+ * you are fine for this assignment. If you can pass Stage 3,
+ * your rat has extremely good turns.
+ * 
+ * Part 2b: "move_cells": Your rat will move three cells,
+ * first one at a time, then two at a time. Put your rat in the
+ * maze to verify the distances travelled are correct.
+ * 
+ * Part 2c: "move_path": This simply combines the previous two
+ * functions, simulating your mouse navigating a real path.
+ ***/
+
+void do_turns1() {
+    systick.start();
+
+    // STAGE 1: Turn left, then right.
+    mainController.turn(90);
+    mainController.turn(-90);
+}
+
+void do_turns2() {
+    systick.start();
+
+    // STAGE 2: Now with 180's.
+    mainController.turn(90);
+    mainController.turn(90);
+    mainController.turn(-180);
+    mainController.turn(-90);
+    mainController.turn(-90);
+    mainController.turn(180);
+}
+
+void do_turns3() {
+    systick.start();
+
+    // STAGE 3: The real (optional) test.
+    mainController.turn(90);
+    mainController.turn(90);
+    mainController.turn(180);
+
+    mainController.turn(-90);
+    mainController.turn(-90);
+    mainController.turn(-180);
+
+    mainController.turn(90);
+    mainController.turn(90);
+    mainController.turn(-90);
+    mainController.turn(-90);
+}
+
+void move_cells() {
+    systick.start();
+
+    mainController.moveCells(1);
+    mainController.moveCells(2);
+}
+
+void move_path() {
+    systick.start();
+
+    mainController.moveCells(1);
+    mainController.moveCells(1);
+    mainController.turn(180);
+    mainController.moveCells(2);
+    mainController.turn(180);
+}