Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

robot.cpp@48:519deb1d4dff, 2014-04-03 (annotated)

Committer:
sswatek
Date:
Thu Apr 03 06:17:32 2014 +0000
Revision:
48:519deb1d4dff
Parent:
44:4b933e7409e7
Child:
49:7d172c133dbf
Moved servos to be in robot class and added convenience functions for them

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soonerbot 1:c28fac16a109 1 #include "robot.h"
soonerbot 1:c28fac16a109 2
soonerbot 1:c28fac16a109 3 #define MIN(a,b) ((b<a)?(b):(a))
soonerbot 1:c28fac16a109 4 #define MAX(a,b) ((b>a)?(b):(a))
soonerbot 1:c28fac16a109 5
soonerbot 7:3b2cf7efe5d1 6 //this is the main place pinouts are put
soonerbot 7:3b2cf7efe5d1 7 //also sets up the control system constants
soonerbot 3:a223b0bf8256 8 robot::robot() : spi(PTD2, PTD3, PTD1), bigenc(spi,PTD0), gyro(PTE0, PTE1),
sswatek 17:e247d58d9f42 9 /* right(bigenc,0,1,PTA5), left(bigenc,2,3,PTA4), */motors(spi,PTD0), pingLeft(PTA13,PTD5),
sswatek 48:519deb1d4dff 10 pingRight(PTC7,PTA16), BTLink(PTC4,PTC3), cont(motors), wristServo(PTC9), thumbServo(PTC8),
sswatek 48:519deb1d4dff 11 stickServo(PTA5), cameraServo(PTA4) {
soonerbot 1:c28fac16a109 12
soonerbot 11:967469d7e01c 13 //bigenc.setDirections(1,-1,1,1);
soonerbot 15:b10859606504 14 //left.setReversed(1);
soonerbot 1:c28fac16a109 15 x=y=rot=0;
soonerbot 7:3b2cf7efe5d1 16
soonerbot 11:967469d7e01c 17 //set our set point in memory to match the current set point of the encoders
sswatek 35:6ef5fbc45672 18 //wait(0.5);
soonerbot 11:967469d7e01c 19 const int *referenceCounts = bigenc.getReferences();
sswatek 32:ff71f61bb9f6 20 motors.setSetPoint(referenceCounts[1],referenceCounts[0]);
sswatek 35:6ef5fbc45672 21 //DBGPRINT("__%d_%d__",referenceCounts[1],referenceCounts[0]);
soonerbot 11:967469d7e01c 22
sswatek 26:ade7c813538f 23 //storage for shape positions
sswatek 26:ade7c813538f 24 circleX=circleY=rectX=rectY=rectRot=triX=triY=triRot=0;
sswatek 27:688409727452 25 cameraMode=-1;
sswatek 27:688409727452 26 flameLocation=0;
sswatek 48:519deb1d4dff 27 grabPosition();
sswatek 48:519deb1d4dff 28 retractStick();
sswatek 48:519deb1d4dff 29 farCamera();
soonerbot 1:c28fac16a109 30 }
soonerbot 1:c28fac16a109 31
soonerbot 10:926f142f16a3 32 //driveforward, but set up so that
soonerbot 10:926f142f16a3 33 int robot::absDriveForward(double desangle, int distance){
sswatek 29:1132155bc7da 34 return smoothMove(distance, 0, 40);
soonerbot 13:c2d14bf733a5 35 }
soonerbot 13:c2d14bf733a5 36
soonerbot 13:c2d14bf733a5 37 int robot::smoothMove(int distance, int rotate, int maxSpeed){
soonerbot 13:c2d14bf733a5 38 Timer tim;
soonerbot 13:c2d14bf733a5 39 int dir=1;
soonerbot 13:c2d14bf733a5 40 // if we are traveling forward a negative distance, go backwards
soonerbot 13:c2d14bf733a5 41 if(distance < 0){
soonerbot 13:c2d14bf733a5 42 dir = -1; //is multiplied by the final output
soonerbot 13:c2d14bf733a5 43 distance = -distance;
soonerbot 13:c2d14bf733a5 44 }
soonerbot 13:c2d14bf733a5 45 if(rotate)
soonerbot 13:c2d14bf733a5 46 rotate=-1;
soonerbot 13:c2d14bf733a5 47 else
soonerbot 13:c2d14bf733a5 48 rotate=1;
soonerbot 13:c2d14bf733a5 49 int i,move;
soonerbot 13:c2d14bf733a5 50 //int maxSpeed=41;
soonerbot 13:c2d14bf733a5 51 int stepsPerInc=2;
soonerbot 13:c2d14bf733a5 52 int stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 13:c2d14bf733a5 53 int distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 13:c2d14bf733a5 54 int stopRaise,startFall;
soonerbot 13:c2d14bf733a5 55 if(distance<distToMax*2){
soonerbot 13:c2d14bf733a5 56 // can't get up to full speed before needing to slow down
soonerbot 13:c2d14bf733a5 57 //find new max speed, time to get there, and distance there
soonerbot 13:c2d14bf733a5 58 maxSpeed = ((2*stepsPerInc)+sqrt((double)(2*stepsPerInc)*((2*stepsPerInc)+8*distance)))/(4*stepsPerInc);
soonerbot 13:c2d14bf733a5 59 stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 13:c2d14bf733a5 60 distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 13:c2d14bf733a5 61 stopRaise = stepsToMax;
soonerbot 13:c2d14bf733a5 62 startFall = stopRaise+(distance-distToMax*2)/(maxSpeed)+1;
soonerbot 13:c2d14bf733a5 63 DBGPRINT("Insufficent Ramp-Up\r\n",1);
soonerbot 13:c2d14bf733a5 64 } else {
soonerbot 13:c2d14bf733a5 65 // can get up to full speed, so we will
soonerbot 13:c2d14bf733a5 66 stopRaise=stepsToMax;
soonerbot 13:c2d14bf733a5 67 startFall=stopRaise+(distance-distToMax*2)/maxSpeed+1;
soonerbot 13:c2d14bf733a5 68 DBGPRINT("Sufficent Ramp-Up\r\n",1);
soonerbot 13:c2d14bf733a5 69 }
soonerbot 13:c2d14bf733a5 70 DBGPRINT("[%d %d %d] {%d, %d}\n\r",maxSpeed,stepsToMax,distToMax,stopRaise,startFall);
soonerbot 13:c2d14bf733a5 71 tim.start();
soonerbot 13:c2d14bf733a5 72 move = 0;
soonerbot 13:c2d14bf733a5 73 int totalMove=0;
soonerbot 13:c2d14bf733a5 74 gyro.stop();
sswatek 29:1132155bc7da 75 int xStorage[40];
sswatek 29:1132155bc7da 76 int xMaxVal=-3000;
sswatek 29:1132155bc7da 77 int xMinVal=3000;
sswatek 29:1132155bc7da 78 long xSumVal=0;
sswatek 29:1132155bc7da 79 int zStorage[40];
sswatek 29:1132155bc7da 80 int zMaxVal=-3000;
sswatek 29:1132155bc7da 81 int zMinVal=3000;
sswatek 29:1132155bc7da 82 long zSumVal=0;
soonerbot 13:c2d14bf733a5 83 for(i=0;i<startFall+stepsToMax;i++){
soonerbot 13:c2d14bf733a5 84 //start clock for this frame
soonerbot 13:c2d14bf733a5 85 tim.reset();
soonerbot 13:c2d14bf733a5 86 if(i<=stopRaise && i%stepsPerInc==0){
soonerbot 13:c2d14bf733a5 87 //increase speed every (stepsPerInc) steps up to maxSpeed
soonerbot 13:c2d14bf733a5 88 move++;
soonerbot 13:c2d14bf733a5 89 }
soonerbot 13:c2d14bf733a5 90 if(i==startFall-1){
soonerbot 13:c2d14bf733a5 91 //calibration step before we start falling to get an exact result
soonerbot 13:c2d14bf733a5 92 move = distance-totalMove-distToMax;
soonerbot 13:c2d14bf733a5 93 }
soonerbot 13:c2d14bf733a5 94 if(i>=startFall && (i-startFall)%stepsPerInc==0){
soonerbot 13:c2d14bf733a5 95 if(i==startFall) //reset move after calibration step
soonerbot 13:c2d14bf733a5 96 move=maxSpeed;
soonerbot 13:c2d14bf733a5 97
soonerbot 13:c2d14bf733a5 98 //decrement every stepsPerInc steps until stopped
soonerbot 13:c2d14bf733a5 99 move--;
soonerbot 13:c2d14bf733a5 100 }
soonerbot 13:c2d14bf733a5 101 totalMove+=move;
soonerbot 13:c2d14bf733a5 102 //motors.moveForward(move*dir);
soonerbot 13:c2d14bf733a5 103 motors.moveWheels(move*dir,move*dir*rotate);
soonerbot 13:c2d14bf733a5 104 //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
soonerbot 13:c2d14bf733a5 105 while(tim.read_ms()<5);
soonerbot 13:c2d14bf733a5 106 gyro.gyroUpkeep();
sswatek 32:ff71f61bb9f6 107
sswatek 32:ff71f61bb9f6 108 //compass calibration code, shouldn't be needed
sswatek 29:1132155bc7da 109 if(distance==16000 && maxSpeed == 6){
sswatek 29:1132155bc7da 110 if(gyro.xmag>xMaxVal)
sswatek 29:1132155bc7da 111 xMaxVal=gyro.xmag;
sswatek 29:1132155bc7da 112 if(gyro.xmag<xMinVal)
sswatek 29:1132155bc7da 113 xMinVal=gyro.xmag;
sswatek 29:1132155bc7da 114 if(gyro.zmag>zMaxVal)
sswatek 29:1132155bc7da 115 zMaxVal=gyro.zmag;
sswatek 29:1132155bc7da 116 if(gyro.zmag<zMinVal)
sswatek 29:1132155bc7da 117 zMinVal=gyro.zmag;
sswatek 29:1132155bc7da 118 if(i%75==0){
sswatek 29:1132155bc7da 119 xSumVal+=gyro.xmag;
sswatek 29:1132155bc7da 120 zSumVal+=gyro.zmag;
sswatek 29:1132155bc7da 121 xStorage[i/75]=gyro.xmag;
sswatek 29:1132155bc7da 122 zStorage[i/75]=gyro.zmag;
sswatek 29:1132155bc7da 123 DBGPRINT("Saved Val %d \t%d \t%d \t%f\r\n",i/75,gyro.xmag,gyro.zmag,gyro.getZDegrees());
sswatek 29:1132155bc7da 124 }
sswatek 29:1132155bc7da 125 }
soonerbot 13:c2d14bf733a5 126 addforward(double(move*dir)*0.0035362);
soonerbot 13:c2d14bf733a5 127 //waits until 10ms have passed for the 100hz timing
soonerbot 13:c2d14bf733a5 128 while(tim.read_ms()<10);
soonerbot 13:c2d14bf733a5 129 }
soonerbot 13:c2d14bf733a5 130 gyro.start();
sswatek 32:ff71f61bb9f6 131
sswatek 32:ff71f61bb9f6 132 //compass calibration code, should never run
sswatek 29:1132155bc7da 133 if(distance==16000 && maxSpeed == 6){
sswatek 29:1132155bc7da 134 double xAvg = 75.0*(double)xSumVal/(startFall+stepsToMax);
sswatek 29:1132155bc7da 135 double zAvg = 75.0*(double)zSumVal/(startFall+stepsToMax);
sswatek 29:1132155bc7da 136 double xRMSSum=0;
sswatek 29:1132155bc7da 137 double zRMSSum=0;
sswatek 29:1132155bc7da 138 for(i=0;i<(startFall+stepsToMax)/75;i++){
sswatek 29:1132155bc7da 139 xRMSSum+=(xStorage[i]-xAvg)*(xStorage[i]-xAvg);
sswatek 29:1132155bc7da 140 zRMSSum+=(zStorage[i]-zAvg)*(zStorage[i]-zAvg);
sswatek 29:1132155bc7da 141 }
sswatek 29:1132155bc7da 142 double xRMS = sqrt(10.0*xRMSSum/(startFall+stepsToMax));
sswatek 29:1132155bc7da 143 double zRMS = sqrt(10.0*zRMSSum/(startFall+stepsToMax));
sswatek 29:1132155bc7da 144 for(i=0;i<(startFall+stepsToMax)/75;i++){
sswatek 29:1132155bc7da 145 double compDir = atan2(((double)xStorage[i]-gyro.xoffs)*gyro.xamp,((double)zStorage[i]-gyro.zoffs)*gyro.zamp);
sswatek 29:1132155bc7da 146 double compDir2 = atan2(((double)xStorage[i]-xAvg)/xRMS,((double)zStorage[i]-zAvg)/zRMS);
sswatek 29:1132155bc7da 147 DBGPRINT("Saved Val %d \t%d \t%d \t%f \t%f\r\n",i,xStorage[i],zStorage[i],compDir*180.0/3.14159,compDir2*180.0/3.14159);
sswatek 29:1132155bc7da 148 }
sswatek 29:1132155bc7da 149 DBGPRINT("Calibrated to (%d,%f,%f) and (%d,%f,%f)\r\n",xMaxVal-xMinVal,xAvg,xRMS,zMaxVal-zMinVal,zAvg,zRMS);
sswatek 29:1132155bc7da 150 }
soonerbot 13:c2d14bf733a5 151 return totalMove*dir;
sswatek 27:688409727452 152 //tim.stop();//may not need
soonerbot 10:926f142f16a3 153 }
soonerbot 10:926f142f16a3 154
soonerbot 7:3b2cf7efe5d1 155 //this is the main thing that both turns and goes forward
soonerbot 8:c23cd84befa2 156 // desangle is a angle in degrees to head towards (this is relative to the direction the robot starts pointing in
soonerbot 8:c23cd84befa2 157 // distance is a distance to head in that direction in units of encoder ticks
soonerbot 15:b10859606504 158 /*int robot::driveForward(double desangle, int distance){
soonerbot 1:c28fac16a109 159 bigenc.resetAll();
soonerbot 1:c28fac16a109 160 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 161 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 162 int distTraveled=0, i;
soonerbot 6:62d498ee97cf 163 double maxPow=0.4;
soonerbot 4:adc885f4ab75 164 int loopcount=0;
soonerbot 4:adc885f4ab75 165 double minmain=0.05;
soonerbot 4:adc885f4ab75 166 double minalt=0.05;
soonerbot 4:adc885f4ab75 167
soonerbot 7:3b2cf7efe5d1 168 //find a point in front of where we're heading
soonerbot 4:adc885f4ab75 169 int targetang = desangle*4050000.0/360.0;//gyro.getZ();
soonerbot 4:adc885f4ab75 170 int startang = targetang;
soonerbot 4:adc885f4ab75 171 double angle=double(startang)*2*3.14159/4050000.0;
soonerbot 6:62d498ee97cf 172 double targx = x + double((distance==0)?10000:distance)*0.0035362*cos(angle)*1.5;
soonerbot 15:b10859606504 173 double targy = y + double((
soonerbot 15:b10859606504 174
soonerbot 15:b10859606504 175 ==0)?10000:distance)*0.0035362*sin(angle)*1.5;
soonerbot 4:adc885f4ab75 176 int invfactor = 0;
soonerbot 7:3b2cf7efe5d1 177
soonerbot 7:3b2cf7efe5d1 178 //if going backwards, point away from the point
soonerbot 6:62d498ee97cf 179 if(distance<0) {
soonerbot 4:adc885f4ab75 180 invfactor = 2025000;
soonerbot 4:adc885f4ab75 181 }
soonerbot 6:62d498ee97cf 182 double realfac=0.1;
soonerbot 4:adc885f4ab75 183
soonerbot 4:adc885f4ab75 184 int pmain=distance;
soonerbot 4:adc885f4ab75 185 int imain=0;
soonerbot 4:adc885f4ab75 186 int dmain=0;
soonerbot 4:adc885f4ab75 187
soonerbot 4:adc885f4ab75 188 int dterm=0;
soonerbot 4:adc885f4ab75 189 const int ptol = 75;
soonerbot 4:adc885f4ab75 190 const int dtol = 10;
soonerbot 15:b10859606504 191 while((pmain <= -ptol || pmain >= ptol) || (dmain <= -dtol || dmain >= dtol)|| (realfac <= -0.03 || realfac >= 0.03) //|| (fmod(rot*180.0/3.14159-desangle+3600000.0,360.0) >= 1 && fmod(rot*180.0/3.14159-desangle+3600000.0,360.0) <= 359)){
soonerbot 8:c23cd84befa2 192
soonerbot 4:adc885f4ab75 193 //DBGPRINT("=%d of %d [%f] (%d, %d) \t{%f,\t%f,/t%f}",distTraveled,distance, maxPow, constbuf[0], constbuf[1],x,y,rot*180.0/3.14159);
soonerbot 1:c28fac16a109 194 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 195 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 196 //wait(0.05);
soonerbot 1:c28fac16a109 197 constbuf = bigenc.getVals();
soonerbot 4:adc885f4ab75 198
soonerbot 14:a30aa3b29a2e 199 //control system (Proportional, Integral, Derivative) = PID controller
soonerbot 5:74c8ce39334b 200 pmain = distance - (constbuf[0]+constbuf[1])/2;
soonerbot 14:a30aa3b29a2e 201 imain += pmain;
soonerbot 5:74c8ce39334b 202 dmain = ((constbuf[0]+constbuf[1]) - (prev[0]+prev[1]))/2;
soonerbot 4:adc885f4ab75 203
soonerbot 6:62d498ee97cf 204 //DBGPRINT("%f like %f [%f] {%d,%d,%f,%f}\n\r", gyro.compZ(invfactor+atan2(targy-y,targx-x)*4050000.0/(2*3.14159))*360.0/4050000.0,angle*180/3.14159,rot,pmain,dmain,fmod(rot*180.0/3.14159-desangle+3600000.0,360.0), realfac);\
soonerbot 5:74c8ce39334b 205
soonerbot 7:3b2cf7efe5d1 206 //finds the difference between the angle to the imaginary point we're headed to and the current angle and turns it into a power level
soonerbot 5:74c8ce39334b 207 realfac = (gyro.compZ(invfactor+atan2(targy-y,targx-x)*4050000.0/(2*3.14159)))*angfac;
soonerbot 7:3b2cf7efe5d1 208 realfac = MAX(MIN(realfac,0.3),-0.3); // limits how much the motors can turn to fix the angle
soonerbot 4:adc885f4ab75 209
soonerbot 7:3b2cf7efe5d1 210 //uses PID control for the forward/back motions and adds in the angular component
soonerbot 7:3b2cf7efe5d1 211 //the forward/back motions is limited to a certain speed
soonerbot 5:74c8ce39334b 212 double leftpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)-realfac;
soonerbot 5:74c8ce39334b 213 double rightpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)+realfac;
soonerbot 7:3b2cf7efe5d1 214
soonerbot 7:3b2cf7efe5d1 215 //if we haven't settled, but also aren't moving, then speed up until it moves
soonerbot 7:3b2cf7efe5d1 216 if((pmain <= -ptol || pmain >= ptol) || (dmain <= -dtol || dmain >= dtol) || (realfac <= -0.02 || realfac >= 0.02) ){
soonerbot 4:adc885f4ab75 217 if (leftpow>0){
soonerbot 4:adc885f4ab75 218 if (leftpow<minalt){
soonerbot 4:adc885f4ab75 219 leftpow=minalt;
soonerbot 4:adc885f4ab75 220 }
soonerbot 4:adc885f4ab75 221 }else if (leftpow>-minalt){
soonerbot 4:adc885f4ab75 222 leftpow=-minalt;
soonerbot 4:adc885f4ab75 223 }
soonerbot 4:adc885f4ab75 224 if (rightpow>0){
soonerbot 4:adc885f4ab75 225 if (rightpow<minmain){
soonerbot 4:adc885f4ab75 226 rightpow=minmain;
soonerbot 4:adc885f4ab75 227 }
soonerbot 4:adc885f4ab75 228 }else if (rightpow>-minmain){
soonerbot 4:adc885f4ab75 229 rightpow=-minmain;
soonerbot 4:adc885f4ab75 230 }
soonerbot 4:adc885f4ab75 231 }
soonerbot 4:adc885f4ab75 232 left.setPower(leftpow);
soonerbot 4:adc885f4ab75 233 right.setPower(rightpow);
soonerbot 7:3b2cf7efe5d1 234
soonerbot 7:3b2cf7efe5d1 235 //how far we've moved in the last timestep
soonerbot 4:adc885f4ab75 236 int deltaTraveled=(constbuf[0]-prev[0]+constbuf[1]-prev[1])/2;
soonerbot 4:adc885f4ab75 237 //DBGPRINT("\t %d\r\n",deltaTraveled);
soonerbot 7:3b2cf7efe5d1 238 addforward(double(deltaTraveled)*0.0035362); //update our position
soonerbot 1:c28fac16a109 239 distTraveled+=deltaTraveled;
soonerbot 4:adc885f4ab75 240 loopcount++;
soonerbot 7:3b2cf7efe5d1 241
soonerbot 7:3b2cf7efe5d1 242 //increase min speed so that it will actually move
soonerbot 4:adc885f4ab75 243 if((dmain<5&&dmain>-5)&&minmain<0.2){
soonerbot 5:74c8ce39334b 244 minmain+=0.003;
soonerbot 4:adc885f4ab75 245 } else if (minmain>=0.05) {
soonerbot 5:74c8ce39334b 246 minmain-=0.003;
soonerbot 4:adc885f4ab75 247 }
soonerbot 4:adc885f4ab75 248 if((dterm<5&&dterm>-5)&&minalt<0.2){
soonerbot 5:74c8ce39334b 249 minalt+=0.003;
soonerbot 4:adc885f4ab75 250 } else if (minalt>=0.05) {
soonerbot 5:74c8ce39334b 251 minalt-=0.003;
soonerbot 4:adc885f4ab75 252 }
soonerbot 1:c28fac16a109 253 }
soonerbot 1:c28fac16a109 254 left.brake();
soonerbot 1:c28fac16a109 255 right.brake();
soonerbot 6:62d498ee97cf 256 DBGPRINT("Loops: %d\r\n",loopcount);
soonerbot 7:3b2cf7efe5d1 257
soonerbot 7:3b2cf7efe5d1 258 //catch the slowdown movement
soonerbot 6:62d498ee97cf 259 wait(0.2);
soonerbot 5:74c8ce39334b 260 for(i=0;i<4;i++)
soonerbot 5:74c8ce39334b 261 prev[i]=constbuf[i];
soonerbot 5:74c8ce39334b 262 //wait(0.05);
soonerbot 5:74c8ce39334b 263 constbuf = bigenc.getVals();
soonerbot 6:62d498ee97cf 264 addforward(double(constbuf[0]-prev[0]+constbuf[1]-prev[1])*0.0035362/2.0);
soonerbot 5:74c8ce39334b 265 DBGPRINT("loss of %d and %d\n\r",constbuf[0]-prev[0],constbuf[1]-prev[1]);
soonerbot 1:c28fac16a109 266 return 0;
soonerbot 15:b10859606504 267 }*/
soonerbot 1:c28fac16a109 268
soonerbot 7:3b2cf7efe5d1 269 //add the motion in the direction that the robot is facing
soonerbot 4:adc885f4ab75 270 void robot::addforward(double dist){
soonerbot 4:adc885f4ab75 271 double angle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 272 x+=dist*cos(angle);
soonerbot 1:c28fac16a109 273 y+=dist*sin(angle);
soonerbot 1:c28fac16a109 274 rot=angle;
soonerbot 1:c28fac16a109 275 }
soonerbot 1:c28fac16a109 276
soonerbot 7:3b2cf7efe5d1 277 //doesn't work yet
soonerbot 15:b10859606504 278 /*int robot::moveTo(double xInches, double yInches){
soonerbot 1:c28fac16a109 279 double power=.2;
soonerbot 1:c28fac16a109 280 turntowards(xInches,yInches);
soonerbot 1:c28fac16a109 281 double distance=sqrt(pow(xInches-x,2)+pow(yInches-y,2))/0.0035362;
soonerbot 1:c28fac16a109 282 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 283 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 284 bigenc.resetAll();
soonerbot 1:c28fac16a109 285 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 286 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 287 int distTraveled=0, i;
soonerbot 1:c28fac16a109 288 double maxPow;
soonerbot 1:c28fac16a109 289 DBGPRINT("going %f at angle %f from current of %f\r\n",distance,angle,currangle);
soonerbot 1:c28fac16a109 290 while(distTraveled<distance){
soonerbot 1:c28fac16a109 291 angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 292 currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 293 maxPow=MAX(double(distance-distTraveled-2000)/15000.0,0.1);
soonerbot 1:c28fac16a109 294 if(currangle>angle+2.0){ //too far to the right, brake left
soonerbot 1:c28fac16a109 295 left.brake();
soonerbot 1:c28fac16a109 296 } else {
soonerbot 1:c28fac16a109 297 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 298 }
soonerbot 1:c28fac16a109 299 if(currangle<angle-2){
soonerbot 1:c28fac16a109 300 right.brake();
soonerbot 1:c28fac16a109 301 } else {
soonerbot 14:a30aa3b29a2e 302 right.setPo
soonerbot 14:a30aa3b29a2e 303
soonerbot 14:a30aa3b29a2e 304 wer(MIN(power,maxPow));
soonerbot 1:c28fac16a109 305 }
soonerbot 1:c28fac16a109 306 DBGPRINT("=%d of %d [%f] (%d, %d, %d, %d) \t{%f,\t%f,\t%f}\r\n",distTraveled,distance, maxPow, constbuf[0], constbuf[1], constbuf[2], constbuf[3],x,y,rot*180.0/3.14159);
soonerbot 1:c28fac16a109 307 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 308 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 309 //wait(0.05);
soonerbot 1:c28fac16a109 310 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 311 int deltaTraveled=MAX((MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2,0);
soonerbot 1:c28fac16a109 312 addforward(double(deltaTraveled)*0.0035362);
soonerbot 1:c28fac16a109 313 distTraveled+=deltaTraveled;
soonerbot 1:c28fac16a109 314 //angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 315 }
soonerbot 1:c28fac16a109 316 left.brake();
soonerbot 1:c28fac16a109 317 right.brake();
soonerbot 1:c28fac16a109 318 return 0;
soonerbot 1:c28fac16a109 319
soonerbot 15:b10859606504 320 }*/
soonerbot 1:c28fac16a109 321
soonerbot 7:3b2cf7efe5d1 322 //also doesn't work
soonerbot 15:b10859606504 323 /*int robot::turntowards(double xInches, double yInches){
soonerbot 4:adc885f4ab75 324 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 325 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 326 double finangle=angle;
sswatek 27:688409727452 327 //if(int(currangle-angle)%360>180){ //needs to turn positive degrees
sswatek 27:688409727452 328 // finangle=currangle+double(int(angle-currangle)%360);
sswatek 27:688409727452 329 //} else {//negative degrees
sswatek 27:688409727452 330 // finangle=currangle-double(int(currangle-angle)%360);
sswatek 27:688409727452 331 //}
soonerbot 1:c28fac16a109 332 double acc=turn(0.4,finangle);
soonerbot 1:c28fac16a109 333 if(acc<-0.75 && acc>0.75){
soonerbot 1:c28fac16a109 334 acc=turn(0.3,finangle);
soonerbot 1:c28fac16a109 335 }
soonerbot 1:c28fac16a109 336
soonerbot 1:c28fac16a109 337
soonerbot 1:c28fac16a109 338 return 1;
soonerbot 15:b10859606504 339 }*/
soonerbot 1:c28fac16a109 340
soonerbot 7:3b2cf7efe5d1 341 //still no
soonerbot 15:b10859606504 342 /*double robot::turn(double power, double degrees){
soonerbot 1:c28fac16a109 343 bigenc.resetAll();
soonerbot 1:c28fac16a109 344 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 345 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 346 int startz;
soonerbot 4:adc885f4ab75 347 startz=gyro.getZ();
soonerbot 1:c28fac16a109 348 int gyroticks=(degrees*4050000)/360;
soonerbot 1:c28fac16a109 349 double maxPow;
soonerbot 1:c28fac16a109 350 int nowz=startz;
soonerbot 1:c28fac16a109 351 int dir=0;
soonerbot 1:c28fac16a109 352 if(gyroticks>startz){
soonerbot 1:c28fac16a109 353 right.setPower(-power);
soonerbot 1:c28fac16a109 354 left.setPower(power);
soonerbot 1:c28fac16a109 355 dir=1;
soonerbot 1:c28fac16a109 356 } else {
soonerbot 1:c28fac16a109 357 right.setPower(power);
soonerbot 1:c28fac16a109 358 left.setPower(-power);
soonerbot 1:c28fac16a109 359 dir=-1;
soonerbot 1:c28fac16a109 360 }
soonerbot 1:c28fac16a109 361 while((gyroticks-nowz)*dir>0){
soonerbot 1:c28fac16a109 362 maxPow=MAX(double(abs(gyroticks-nowz))/4050000.0,0.25);
soonerbot 1:c28fac16a109 363 if(gyroticks<nowz){
soonerbot 1:c28fac16a109 364 right.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 365 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 366 } else {
soonerbot 1:c28fac16a109 367 right.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 368 left.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 369 }
soonerbot 1:c28fac16a109 370 DBGPRINT("_%d of %d {%f, %f, %f}\r\n",(gyroticks-nowz)*dir, gyroticks,x,y,rot*180.0/3.14159);
soonerbot 1:c28fac16a109 371 for(int i=0;i<4;i++)
soonerbot 1:c28fac16a109 372 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 373 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 374 int deltaTraveled;
soonerbot 1:c28fac16a109 375 if(gyroticks<nowz){
soonerbot 1:c28fac16a109 376 deltaTraveled=(MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])-MIN(-constbuf[2]+prev[2],-constbuf[3]+prev[3]))/2;
soonerbot 1:c28fac16a109 377 } else {
soonerbot 1:c28fac16a109 378 deltaTraveled=(-MIN(constbuf[0]-prev[0],constbuf[1]-prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2;
soonerbot 1:c28fac16a109 379 }
soonerbot 1:c28fac16a109 380 addforward(double(deltaTraveled)*0.0035362);
soonerbot 4:adc885f4ab75 381 nowz=gyro.getZ();
soonerbot 1:c28fac16a109 382 }
soonerbot 15:b10859606504 383 //right.brake();
soonerbot 15:b10859606504 384 //left.brake();
soonerbot 1:c28fac16a109 385 return (gyroticks-nowz)*dir;
sswatek 26:ade7c813538f 386 }*/
sswatek 26:ade7c813538f 387
sswatek 27:688409727452 388 int robot::switchCameraMode(int mode){
sswatek 27:688409727452 389 if(mode==cameraMode){
sswatek 27:688409727452 390 return 1;
sswatek 27:688409727452 391 }
sswatek 26:ade7c813538f 392 int response=0;
sswatek 26:ade7c813538f 393 int gotAck=0;
sswatek 26:ade7c813538f 394 int testdata[]={'H','e','l','l','o'};
sswatek 26:ade7c813538f 395 stepTimer.start();
sswatek 27:688409727452 396 while(1){
sswatek 27:688409727452 397 response=BTLink.sendCmd(mode,testdata,5);
sswatek 26:ade7c813538f 398 stepTimer.reset();
sswatek 26:ade7c813538f 399 while(1){
sswatek 26:ade7c813538f 400 gotAck=BTLink.getAck(response);
sswatek 26:ade7c813538f 401 if(gotAck || stepTimer.read_ms()>=500)
sswatek 26:ade7c813538f 402 break;
sswatek 26:ade7c813538f 403 }
sswatek 27:688409727452 404 DBGPRINT("Mode%d=%d, %d, %d [%d]\n\r",mode,response,BTLink.bufSize(), gotAck, stepTimer.read_ms());
sswatek 26:ade7c813538f 405 if(gotAck)
sswatek 26:ade7c813538f 406 break;
sswatek 26:ade7c813538f 407 }
sswatek 26:ade7c813538f 408 stepTimer.stop();
sswatek 27:688409727452 409 cameraMode=mode;
sswatek 27:688409727452 410 return 1;
sswatek 27:688409727452 411 }
sswatek 27:688409727452 412 int robot::shapeCheck(){
sswatek 27:688409727452 413 if(cameraMode!=1){
sswatek 27:688409727452 414 switchCameraMode(1);
sswatek 27:688409727452 415 }
sswatek 27:688409727452 416 int gotAck=0;
sswatek 27:688409727452 417 int responseData[16];
sswatek 27:688409727452 418 stepTimer.start();
sswatek 27:688409727452 419 stepTimer.reset();
sswatek 27:688409727452 420 gotAck=0;
sswatek 27:688409727452 421 while(1){
sswatek 27:688409727452 422 BTLink.procBuf(0x01);
sswatek 27:688409727452 423 gotAck=BTLink.getData(0x01, responseData);
sswatek 27:688409727452 424 if(gotAck || stepTimer.read_ms()>=1000)
sswatek 27:688409727452 425 break;
sswatek 27:688409727452 426 }
sswatek 27:688409727452 427 stepTimer.stop();
sswatek 27:688409727452 428 if(responseData[15]==1&&gotAck){
sswatek 27:688409727452 429 for(int i=0;i<16;i++)
sswatek 27:688409727452 430 DBGPRINT("%d,",responseData[i]);
sswatek 27:688409727452 431 DBGPRINT("\n\r",1);
sswatek 27:688409727452 432 circleX=circleY=rectX=rectY=rectRot=triX=triY=triRot=0;
sswatek 27:688409727452 433 rectX=(responseData[4]<<8)|responseData[3];
sswatek 27:688409727452 434 rectY=(responseData[6]<<8)|responseData[5];
sswatek 27:688409727452 435 rectRot=responseData[2];
sswatek 27:688409727452 436 circleX=(responseData[12]<<8)|responseData[11];
sswatek 27:688409727452 437 circleY=(responseData[14]<<8)|responseData[13];
sswatek 27:688409727452 438 triX=((responseData[8]&0xF)<<8)|responseData[7];
sswatek 27:688409727452 439 triY=((responseData[10]&0xF)<<8)|responseData[9];
sswatek 27:688409727452 440 triRot=((responseData[8]&0xF0)>>4)|(responseData[10]&0xF0);
sswatek 27:688409727452 441 DBGPRINT("Rect(%d, %d, %d) Tri(%d, %d, %d) Cir(%d, %d)\n\r",rectX,rectY,rectRot,triX,triY,triRot,circleX,circleY);
sswatek 27:688409727452 442 return 1;
sswatek 27:688409727452 443 } else {
sswatek 27:688409727452 444 DBGPRINT("Did not pass hash check %d %d %d\n\r",responseData[15],gotAck,stepTimer.read_ms());
sswatek 27:688409727452 445 return 0;
sswatek 27:688409727452 446 }
sswatek 27:688409727452 447 }
sswatek 27:688409727452 448 int robot::pollForShapes(){
sswatek 27:688409727452 449 switchCameraMode(1);
sswatek 27:688409727452 450 BTLink.clearData();
sswatek 27:688409727452 451 int found=0;
sswatek 27:688409727452 452 for(int i=0;i<5;i++){
sswatek 27:688409727452 453 found=shapeCheck();
sswatek 27:688409727452 454 if(found)
sswatek 27:688409727452 455 break;
sswatek 27:688409727452 456 }
sswatek 27:688409727452 457 switchCameraMode(0);
sswatek 27:688409727452 458 return found;
sswatek 27:688409727452 459 }
sswatek 27:688409727452 460 int robot::rigCheck(){
sswatek 27:688409727452 461 if(cameraMode!=2){
sswatek 27:688409727452 462 switchCameraMode(2);
sswatek 27:688409727452 463 }
sswatek 27:688409727452 464 int gotAck=0;
sswatek 27:688409727452 465 int responseData[16];
sswatek 27:688409727452 466 stepTimer.start();
sswatek 27:688409727452 467 stepTimer.reset();
sswatek 27:688409727452 468 while(1){
sswatek 27:688409727452 469 BTLink.procBuf(0x02);
sswatek 27:688409727452 470 gotAck=BTLink.getData(0x02, responseData);
sswatek 27:688409727452 471 if(gotAck || stepTimer.read_ms()>=1000)
sswatek 27:688409727452 472 break;
sswatek 27:688409727452 473 }
sswatek 27:688409727452 474 stepTimer.stop();
sswatek 27:688409727452 475 if(responseData[3]==1 && gotAck){
sswatek 27:688409727452 476 flameLocation = responseData[2];
sswatek 27:688409727452 477 DBGPRINT("Found fire at %d in %d\n\r",flameLocation,stepTimer.read_ms());
sswatek 34:4ad11cda1eca 478 return flameLocation;
sswatek 27:688409727452 479 } else {
sswatek 27:688409727452 480 DBGPRINT("Did not pass hash check %d %d %d\n\r",responseData[3],gotAck,stepTimer.read_ms());
sswatek 34:4ad11cda1eca 481 return -1;
sswatek 27:688409727452 482 }
sswatek 27:688409727452 483 }
sswatek 27:688409727452 484 int robot::pollForRigs(){
sswatek 27:688409727452 485 switchCameraMode(2);
sswatek 27:688409727452 486 BTLink.clearData();
sswatek 27:688409727452 487 int found=0;
sswatek 27:688409727452 488 for(int i=0;i<5;i++){
sswatek 27:688409727452 489 found=rigCheck();
sswatek 34:4ad11cda1eca 490 if(found!=-1)
sswatek 27:688409727452 491 break;
sswatek 27:688409727452 492 }
sswatek 27:688409727452 493 switchCameraMode(0);
sswatek 27:688409727452 494 return found;
sswatek 44:4b933e7409e7 495 }
sswatek 44:4b933e7409e7 496 int robot::nearRigCheck(){
sswatek 44:4b933e7409e7 497 if(cameraMode!=3){
sswatek 44:4b933e7409e7 498 switchCameraMode(3);
sswatek 44:4b933e7409e7 499 }
sswatek 44:4b933e7409e7 500 int gotAck=0;
sswatek 44:4b933e7409e7 501 int responseData[16];
sswatek 44:4b933e7409e7 502 stepTimer.start();
sswatek 44:4b933e7409e7 503 stepTimer.reset();
sswatek 44:4b933e7409e7 504 while(1){
sswatek 44:4b933e7409e7 505 BTLink.procBuf(0x03);
sswatek 44:4b933e7409e7 506 gotAck=BTLink.getData(0x03, responseData);
sswatek 44:4b933e7409e7 507 if(gotAck || stepTimer.read_ms()>=1000)
sswatek 44:4b933e7409e7 508 break;
sswatek 44:4b933e7409e7 509 }
sswatek 44:4b933e7409e7 510 stepTimer.stop();
sswatek 44:4b933e7409e7 511 if(responseData[6]==1 && gotAck){
sswatek 44:4b933e7409e7 512 int leftSide = (responseData[3]<<8)|responseData[2];
sswatek 44:4b933e7409e7 513 int rightSide = (responseData[5]<<8)|responseData[4];
sswatek 44:4b933e7409e7 514 int rigPos = ((leftSide+rightSide)/2) - 400;
sswatek 44:4b933e7409e7 515 int rigWidth = rightSide-leftSide;
sswatek 44:4b933e7409e7 516 DBGPRINT("Found rig at %d and width %d\n\r",rigPos,rigWidth);
sswatek 44:4b933e7409e7 517 return rigPos;
sswatek 44:4b933e7409e7 518 } else {
sswatek 44:4b933e7409e7 519 DBGPRINT("Did not pass hash check %d %d %d\n\r",responseData[3],gotAck,stepTimer.read_ms());
sswatek 44:4b933e7409e7 520 return -100000;
sswatek 44:4b933e7409e7 521 }
sswatek 44:4b933e7409e7 522 }
sswatek 44:4b933e7409e7 523 int robot::alignWithRig(){
sswatek 44:4b933e7409e7 524 const int cutoff = 6;
sswatek 44:4b933e7409e7 525 switchCameraMode(3);
sswatek 44:4b933e7409e7 526 BTLink.clearData();
sswatek 44:4b933e7409e7 527 cont.setSlowMode(5);
sswatek 44:4b933e7409e7 528 int found=1000;
sswatek 44:4b933e7409e7 529 while(!(found>-cutoff && found <cutoff && cont.stopped())){
sswatek 44:4b933e7409e7 530 //for(int i=0;i<5;i++){
sswatek 44:4b933e7409e7 531 found=nearRigCheck();
sswatek 44:4b933e7409e7 532 if(found!=-100000){
sswatek 44:4b933e7409e7 533 if(found>=cutoff){
sswatek 44:4b933e7409e7 534 //see the rig on the right, turn right
sswatek 44:4b933e7409e7 535 int moveFactor;
sswatek 44:4b933e7409e7 536 if(found>100){
sswatek 44:4b933e7409e7 537 moveFactor = 3;
sswatek 44:4b933e7409e7 538 } else {
sswatek 44:4b933e7409e7 539 moveFactor = found/40 + 1;
sswatek 44:4b933e7409e7 540 }
sswatek 44:4b933e7409e7 541 moveFactor = 1;
sswatek 44:4b933e7409e7 542 cont.rampSpeed(moveFactor,-moveFactor);
sswatek 44:4b933e7409e7 543 } else if(found<=-cutoff){
sswatek 44:4b933e7409e7 544 //see the rig on the left, turn left
sswatek 44:4b933e7409e7 545 int moveFactor;
sswatek 44:4b933e7409e7 546 if(found<-100){
sswatek 44:4b933e7409e7 547 moveFactor = 3;
sswatek 44:4b933e7409e7 548 } else {
sswatek 44:4b933e7409e7 549 moveFactor = -found/40 + 1;
sswatek 44:4b933e7409e7 550 }
sswatek 44:4b933e7409e7 551 moveFactor = 1;
sswatek 44:4b933e7409e7 552 cont.rampSpeed(-moveFactor,moveFactor);
sswatek 44:4b933e7409e7 553 } else {
sswatek 44:4b933e7409e7 554 cont.rampSpeed(0,0);
sswatek 44:4b933e7409e7 555 }
sswatek 44:4b933e7409e7 556 } else {
sswatek 44:4b933e7409e7 557 cont.rampSpeed(0,0);
sswatek 44:4b933e7409e7 558 }
sswatek 44:4b933e7409e7 559 }
sswatek 44:4b933e7409e7 560 cont.setSlowMode(1);
sswatek 44:4b933e7409e7 561 switchCameraMode(0);
sswatek 44:4b933e7409e7 562 return found;
sswatek 48:519deb1d4dff 563 }
sswatek 48:519deb1d4dff 564
sswatek 48:519deb1d4dff 565 int robot::grabPosition(){
sswatek 48:519deb1d4dff 566 wristServo.toPosition(-45);
sswatek 48:519deb1d4dff 567 thumbServo.toPosition(60);
sswatek 48:519deb1d4dff 568 return 1;
sswatek 48:519deb1d4dff 569 }
sswatek 48:519deb1d4dff 570 int robot::grab(){
sswatek 48:519deb1d4dff 571 thumbServo.toPosition(-10);
sswatek 48:519deb1d4dff 572 wait(0.5);
sswatek 48:519deb1d4dff 573 cont.start();
sswatek 48:519deb1d4dff 574 cont.resetTicks();
sswatek 48:519deb1d4dff 575 cont.rampSpeed(-20,-20);
sswatek 48:519deb1d4dff 576 //s.toPosition(0);
sswatek 48:519deb1d4dff 577 //wait(.5);
sswatek 48:519deb1d4dff 578 while(cont.avgTicks()>-900){
sswatek 48:519deb1d4dff 579 wristServo.toPosition((-45)+((35+45)*(-cont.avgTicks()))/900);
sswatek 48:519deb1d4dff 580 wait_ms(20);
sswatek 48:519deb1d4dff 581 }
sswatek 48:519deb1d4dff 582 cont.rampSpeed(0,0);
sswatek 48:519deb1d4dff 583 wristServo.toPosition(130);
sswatek 48:519deb1d4dff 584 while(!cont.stopped());
sswatek 48:519deb1d4dff 585 cont.stop();
sswatek 48:519deb1d4dff 586 return 1;
sswatek 48:519deb1d4dff 587 }
sswatek 48:519deb1d4dff 588 int robot::retractCamera(){
sswatek 48:519deb1d4dff 589 cameraServo.toPosition(160);
sswatek 48:519deb1d4dff 590 return 1;
sswatek 48:519deb1d4dff 591 }
sswatek 48:519deb1d4dff 592 int robot::farCamera(){
sswatek 48:519deb1d4dff 593 cameraServo.toPosition(90);
sswatek 48:519deb1d4dff 594 return 1;
sswatek 48:519deb1d4dff 595 }
sswatek 48:519deb1d4dff 596 int robot::nearCamera(){
sswatek 48:519deb1d4dff 597 cameraServo.toPosition(45);
sswatek 48:519deb1d4dff 598 return 1;
sswatek 48:519deb1d4dff 599 }
sswatek 48:519deb1d4dff 600 int robot::downCamera(){
sswatek 48:519deb1d4dff 601 cameraServo.toPosition(-15);
sswatek 48:519deb1d4dff 602 return 1;
sswatek 48:519deb1d4dff 603 }
sswatek 48:519deb1d4dff 604 int robot::extendStick(){
sswatek 48:519deb1d4dff 605 stickServo.toPosition(-40);
sswatek 48:519deb1d4dff 606 return 1;
sswatek 48:519deb1d4dff 607 }
sswatek 48:519deb1d4dff 608 int robot::retractStick(){
sswatek 48:519deb1d4dff 609 stickServo.toPosition(250);
sswatek 48:519deb1d4dff 610 return 1;
sswatek 26:ade7c813538f 611 }