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@27:688409727452, 2014-03-14 (annotated)

Committer:
sswatek
Date:
Fri Mar 14 02:13:10 2014 +0000
Revision:
27:688409727452
Parent:
26:ade7c813538f
Child:
29:1132155bc7da
Function added to find rigs and breaking out into functions

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 17:e247d58d9f42 10 BTLink(PTC4,PTC3) {
soonerbot 1:c28fac16a109 11
soonerbot 11:967469d7e01c 12 //bigenc.setDirections(1,-1,1,1);
soonerbot 15:b10859606504 13 //left.setReversed(1);
soonerbot 1:c28fac16a109 14 x=y=rot=0;
soonerbot 7:3b2cf7efe5d1 15
soonerbot 11:967469d7e01c 16 //set our set point in memory to match the current set point of the encoders
soonerbot 11:967469d7e01c 17 const int *referenceCounts = bigenc.getReferences();
soonerbot 11:967469d7e01c 18 motors.setSetPoint(referenceCounts[0],referenceCounts[1]);
soonerbot 11:967469d7e01c 19
sswatek 26:ade7c813538f 20 //storage for shape positions
sswatek 26:ade7c813538f 21 circleX=circleY=rectX=rectY=rectRot=triX=triY=triRot=0;
sswatek 27:688409727452 22 cameraMode=-1;
sswatek 27:688409727452 23 flameLocation=0;
soonerbot 1:c28fac16a109 24 }
soonerbot 1:c28fac16a109 25
soonerbot 10:926f142f16a3 26 //driveforward, but set up so that
soonerbot 10:926f142f16a3 27 int robot::absDriveForward(double desangle, int distance){
soonerbot 15:b10859606504 28 return smoothMove(distance, 0, 5);
soonerbot 13:c2d14bf733a5 29 /*Timer tim;
soonerbot 11:967469d7e01c 30 int dir=1;
soonerbot 12:925f52da3ba9 31 // if we are traveling forward a negative distance, go backwards
soonerbot 11:967469d7e01c 32 if(distance < 0){
soonerbot 12:925f52da3ba9 33 dir = -1; //is multiplied by the final output
soonerbot 11:967469d7e01c 34 distance = -distance;
soonerbot 11:967469d7e01c 35 }
soonerbot 10:926f142f16a3 36 int i,move;
soonerbot 10:926f142f16a3 37 int maxSpeed=41;
soonerbot 13:c2d14bf733a5 38 int stepsPerInc=2;
soonerbot 10:926f142f16a3 39 int stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 10:926f142f16a3 40 int distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 10:926f142f16a3 41 int stopRaise,startFall;
soonerbot 10:926f142f16a3 42 if(distance<distToMax*2){
soonerbot 12:925f52da3ba9 43 // can't get up to full speed before needing to slow down
soonerbot 12:925f52da3ba9 44 //find new max speed, time to get there, and distance there
soonerbot 10:926f142f16a3 45 maxSpeed = ((2*stepsPerInc)+sqrt((double)(2*stepsPerInc)*((2*stepsPerInc)+8*distance)))/(4*stepsPerInc);
soonerbot 10:926f142f16a3 46 stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 10:926f142f16a3 47 distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 10:926f142f16a3 48 stopRaise = stepsToMax;
soonerbot 10:926f142f16a3 49 startFall = stopRaise+(distance-distToMax*2)/(maxSpeed)+1;
soonerbot 10:926f142f16a3 50 DBGPRINT("Insufficent Ramp-Up\r\n",1);
soonerbot 10:926f142f16a3 51 } else {
soonerbot 12:925f52da3ba9 52 // can get up to full speed, so we will
soonerbot 10:926f142f16a3 53 stopRaise=stepsToMax;
soonerbot 12:925f52da3ba9 54 startFall=stopRaise+(distance-distToMax*2)/maxSpeed+1;
soonerbot 10:926f142f16a3 55 DBGPRINT("Sufficent Ramp-Up\r\n",1);
soonerbot 10:926f142f16a3 56 }
soonerbot 10:926f142f16a3 57 DBGPRINT("[%d %d %d] {%d, %d}\n\r",maxSpeed,stepsToMax,distToMax,stopRaise,startFall);
soonerbot 10:926f142f16a3 58 tim.start();
soonerbot 10:926f142f16a3 59 move = 0;
soonerbot 10:926f142f16a3 60 int totalMove=0;
soonerbot 12:925f52da3ba9 61 gyro.stop();
soonerbot 10:926f142f16a3 62 for(i=0;i<startFall+stepsToMax;i++){
soonerbot 12:925f52da3ba9 63 //start clock for this frame
soonerbot 10:926f142f16a3 64 tim.reset();
soonerbot 10:926f142f16a3 65 if(i<=stopRaise && i%stepsPerInc==0){
soonerbot 12:925f52da3ba9 66 //increase speed every (stepsPerInc) steps up to maxSpeed
soonerbot 10:926f142f16a3 67 move++;
soonerbot 10:926f142f16a3 68 }
soonerbot 10:926f142f16a3 69 if(i==startFall-1){
soonerbot 12:925f52da3ba9 70 //calibration step before we start falling to get an exact result
soonerbot 10:926f142f16a3 71 move = distance-totalMove-distToMax;
soonerbot 10:926f142f16a3 72 }
soonerbot 10:926f142f16a3 73 if(i>=startFall && (i-startFall)%stepsPerInc==0){
soonerbot 12:925f52da3ba9 74 if(i==startFall) //reset move after calibration step
soonerbot 10:926f142f16a3 75 move=maxSpeed;
soonerbot 12:925f52da3ba9 76
soonerbot 12:925f52da3ba9 77 //decrement every stepsPerInc steps until stopped
soonerbot 10:926f142f16a3 78 move--;
soonerbot 10:926f142f16a3 79 }
soonerbot 10:926f142f16a3 80 totalMove+=move;
soonerbot 11:967469d7e01c 81 motors.moveForward(move*dir);
soonerbot 11:967469d7e01c 82 //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
soonerbot 12:925f52da3ba9 83 while(tim.read_ms()<5);
soonerbot 12:925f52da3ba9 84 gyro.gyroUpkeep();
soonerbot 12:925f52da3ba9 85 addforward(double(move*dir)*0.0035362);
soonerbot 12:925f52da3ba9 86 //waits until 10ms have passed for the 100hz timing
soonerbot 10:926f142f16a3 87 while(tim.read_ms()<10);
soonerbot 10:926f142f16a3 88 }
soonerbot 12:925f52da3ba9 89 gyro.start();
soonerbot 12:925f52da3ba9 90 return totalMove*dir;
soonerbot 13:c2d14bf733a5 91 */
soonerbot 13:c2d14bf733a5 92 }
soonerbot 13:c2d14bf733a5 93
soonerbot 13:c2d14bf733a5 94 int robot::smoothMove(int distance, int rotate, int maxSpeed){
soonerbot 13:c2d14bf733a5 95 Timer tim;
soonerbot 13:c2d14bf733a5 96 int dir=1;
soonerbot 13:c2d14bf733a5 97 // if we are traveling forward a negative distance, go backwards
soonerbot 13:c2d14bf733a5 98 if(distance < 0){
soonerbot 13:c2d14bf733a5 99 dir = -1; //is multiplied by the final output
soonerbot 13:c2d14bf733a5 100 distance = -distance;
soonerbot 13:c2d14bf733a5 101 }
soonerbot 13:c2d14bf733a5 102 if(rotate)
soonerbot 13:c2d14bf733a5 103 rotate=-1;
soonerbot 13:c2d14bf733a5 104 else
soonerbot 13:c2d14bf733a5 105 rotate=1;
soonerbot 13:c2d14bf733a5 106 int i,move;
soonerbot 13:c2d14bf733a5 107 //int maxSpeed=41;
soonerbot 13:c2d14bf733a5 108 int stepsPerInc=2;
soonerbot 13:c2d14bf733a5 109 int stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 13:c2d14bf733a5 110 int distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 13:c2d14bf733a5 111 int stopRaise,startFall;
soonerbot 13:c2d14bf733a5 112 if(distance<distToMax*2){
soonerbot 13:c2d14bf733a5 113 // can't get up to full speed before needing to slow down
soonerbot 13:c2d14bf733a5 114 //find new max speed, time to get there, and distance there
soonerbot 13:c2d14bf733a5 115 maxSpeed = ((2*stepsPerInc)+sqrt((double)(2*stepsPerInc)*((2*stepsPerInc)+8*distance)))/(4*stepsPerInc);
soonerbot 13:c2d14bf733a5 116 stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 13:c2d14bf733a5 117 distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 13:c2d14bf733a5 118 stopRaise = stepsToMax;
soonerbot 13:c2d14bf733a5 119 startFall = stopRaise+(distance-distToMax*2)/(maxSpeed)+1;
soonerbot 13:c2d14bf733a5 120 DBGPRINT("Insufficent Ramp-Up\r\n",1);
soonerbot 13:c2d14bf733a5 121 } else {
soonerbot 13:c2d14bf733a5 122 // can get up to full speed, so we will
soonerbot 13:c2d14bf733a5 123 stopRaise=stepsToMax;
soonerbot 13:c2d14bf733a5 124 startFall=stopRaise+(distance-distToMax*2)/maxSpeed+1;
soonerbot 13:c2d14bf733a5 125 DBGPRINT("Sufficent Ramp-Up\r\n",1);
soonerbot 13:c2d14bf733a5 126 }
soonerbot 13:c2d14bf733a5 127 DBGPRINT("[%d %d %d] {%d, %d}\n\r",maxSpeed,stepsToMax,distToMax,stopRaise,startFall);
soonerbot 13:c2d14bf733a5 128 tim.start();
soonerbot 13:c2d14bf733a5 129 move = 0;
soonerbot 13:c2d14bf733a5 130 int totalMove=0;
soonerbot 13:c2d14bf733a5 131 gyro.stop();
soonerbot 13:c2d14bf733a5 132 for(i=0;i<startFall+stepsToMax;i++){
soonerbot 13:c2d14bf733a5 133 //start clock for this frame
soonerbot 13:c2d14bf733a5 134 tim.reset();
soonerbot 13:c2d14bf733a5 135 if(i<=stopRaise && i%stepsPerInc==0){
soonerbot 13:c2d14bf733a5 136 //increase speed every (stepsPerInc) steps up to maxSpeed
soonerbot 13:c2d14bf733a5 137 move++;
soonerbot 13:c2d14bf733a5 138 }
soonerbot 13:c2d14bf733a5 139 if(i==startFall-1){
soonerbot 13:c2d14bf733a5 140 //calibration step before we start falling to get an exact result
soonerbot 13:c2d14bf733a5 141 move = distance-totalMove-distToMax;
soonerbot 13:c2d14bf733a5 142 }
soonerbot 13:c2d14bf733a5 143 if(i>=startFall && (i-startFall)%stepsPerInc==0){
soonerbot 13:c2d14bf733a5 144 if(i==startFall) //reset move after calibration step
soonerbot 13:c2d14bf733a5 145 move=maxSpeed;
soonerbot 13:c2d14bf733a5 146
soonerbot 13:c2d14bf733a5 147 //decrement every stepsPerInc steps until stopped
soonerbot 13:c2d14bf733a5 148 move--;
soonerbot 13:c2d14bf733a5 149 }
soonerbot 13:c2d14bf733a5 150 totalMove+=move;
soonerbot 13:c2d14bf733a5 151 //motors.moveForward(move*dir);
soonerbot 13:c2d14bf733a5 152 motors.moveWheels(move*dir,move*dir*rotate);
soonerbot 13:c2d14bf733a5 153 //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
soonerbot 13:c2d14bf733a5 154 while(tim.read_ms()<5);
soonerbot 13:c2d14bf733a5 155 gyro.gyroUpkeep();
soonerbot 13:c2d14bf733a5 156 addforward(double(move*dir)*0.0035362);
soonerbot 13:c2d14bf733a5 157 //waits until 10ms have passed for the 100hz timing
soonerbot 13:c2d14bf733a5 158 while(tim.read_ms()<10);
soonerbot 13:c2d14bf733a5 159 }
soonerbot 13:c2d14bf733a5 160 gyro.start();
soonerbot 13:c2d14bf733a5 161 return totalMove*dir;
sswatek 27:688409727452 162 //tim.stop();//may not need
soonerbot 10:926f142f16a3 163 }
soonerbot 10:926f142f16a3 164
soonerbot 7:3b2cf7efe5d1 165 //this is the main thing that both turns and goes forward
soonerbot 8:c23cd84befa2 166 // desangle is a angle in degrees to head towards (this is relative to the direction the robot starts pointing in
soonerbot 8:c23cd84befa2 167 // distance is a distance to head in that direction in units of encoder ticks
soonerbot 15:b10859606504 168 /*int robot::driveForward(double desangle, int distance){
soonerbot 1:c28fac16a109 169 bigenc.resetAll();
soonerbot 1:c28fac16a109 170 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 171 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 172 int distTraveled=0, i;
soonerbot 6:62d498ee97cf 173 double maxPow=0.4;
soonerbot 4:adc885f4ab75 174 int loopcount=0;
soonerbot 4:adc885f4ab75 175 double minmain=0.05;
soonerbot 4:adc885f4ab75 176 double minalt=0.05;
soonerbot 4:adc885f4ab75 177
soonerbot 7:3b2cf7efe5d1 178 //find a point in front of where we're heading
soonerbot 4:adc885f4ab75 179 int targetang = desangle*4050000.0/360.0;//gyro.getZ();
soonerbot 4:adc885f4ab75 180 int startang = targetang;
soonerbot 4:adc885f4ab75 181 double angle=double(startang)*2*3.14159/4050000.0;
soonerbot 6:62d498ee97cf 182 double targx = x + double((distance==0)?10000:distance)*0.0035362*cos(angle)*1.5;
soonerbot 15:b10859606504 183 double targy = y + double((
soonerbot 15:b10859606504 184
soonerbot 15:b10859606504 185 ==0)?10000:distance)*0.0035362*sin(angle)*1.5;
soonerbot 4:adc885f4ab75 186 int invfactor = 0;
soonerbot 7:3b2cf7efe5d1 187
soonerbot 7:3b2cf7efe5d1 188 //if going backwards, point away from the point
soonerbot 6:62d498ee97cf 189 if(distance<0) {
soonerbot 4:adc885f4ab75 190 invfactor = 2025000;
soonerbot 4:adc885f4ab75 191 }
soonerbot 6:62d498ee97cf 192 double realfac=0.1;
soonerbot 4:adc885f4ab75 193
soonerbot 4:adc885f4ab75 194 int pmain=distance;
soonerbot 4:adc885f4ab75 195 int imain=0;
soonerbot 4:adc885f4ab75 196 int dmain=0;
soonerbot 4:adc885f4ab75 197
soonerbot 4:adc885f4ab75 198 int dterm=0;
soonerbot 4:adc885f4ab75 199 const int ptol = 75;
soonerbot 4:adc885f4ab75 200 const int dtol = 10;
soonerbot 15:b10859606504 201 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 202
soonerbot 4:adc885f4ab75 203 //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 204 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 205 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 206 //wait(0.05);
soonerbot 1:c28fac16a109 207 constbuf = bigenc.getVals();
soonerbot 4:adc885f4ab75 208
soonerbot 14:a30aa3b29a2e 209 //control system (Proportional, Integral, Derivative) = PID controller
soonerbot 5:74c8ce39334b 210 pmain = distance - (constbuf[0]+constbuf[1])/2;
soonerbot 14:a30aa3b29a2e 211 imain += pmain;
soonerbot 5:74c8ce39334b 212 dmain = ((constbuf[0]+constbuf[1]) - (prev[0]+prev[1]))/2;
soonerbot 4:adc885f4ab75 213
soonerbot 6:62d498ee97cf 214 //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 215
soonerbot 7:3b2cf7efe5d1 216 //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 217 realfac = (gyro.compZ(invfactor+atan2(targy-y,targx-x)*4050000.0/(2*3.14159)))*angfac;
soonerbot 7:3b2cf7efe5d1 218 realfac = MAX(MIN(realfac,0.3),-0.3); // limits how much the motors can turn to fix the angle
soonerbot 4:adc885f4ab75 219
soonerbot 7:3b2cf7efe5d1 220 //uses PID control for the forward/back motions and adds in the angular component
soonerbot 7:3b2cf7efe5d1 221 //the forward/back motions is limited to a certain speed
soonerbot 5:74c8ce39334b 222 double leftpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)-realfac;
soonerbot 5:74c8ce39334b 223 double rightpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)+realfac;
soonerbot 7:3b2cf7efe5d1 224
soonerbot 7:3b2cf7efe5d1 225 //if we haven't settled, but also aren't moving, then speed up until it moves
soonerbot 7:3b2cf7efe5d1 226 if((pmain <= -ptol || pmain >= ptol) || (dmain <= -dtol || dmain >= dtol) || (realfac <= -0.02 || realfac >= 0.02) ){
soonerbot 4:adc885f4ab75 227 if (leftpow>0){
soonerbot 4:adc885f4ab75 228 if (leftpow<minalt){
soonerbot 4:adc885f4ab75 229 leftpow=minalt;
soonerbot 4:adc885f4ab75 230 }
soonerbot 4:adc885f4ab75 231 }else if (leftpow>-minalt){
soonerbot 4:adc885f4ab75 232 leftpow=-minalt;
soonerbot 4:adc885f4ab75 233 }
soonerbot 4:adc885f4ab75 234 if (rightpow>0){
soonerbot 4:adc885f4ab75 235 if (rightpow<minmain){
soonerbot 4:adc885f4ab75 236 rightpow=minmain;
soonerbot 4:adc885f4ab75 237 }
soonerbot 4:adc885f4ab75 238 }else if (rightpow>-minmain){
soonerbot 4:adc885f4ab75 239 rightpow=-minmain;
soonerbot 4:adc885f4ab75 240 }
soonerbot 4:adc885f4ab75 241 }
soonerbot 4:adc885f4ab75 242 left.setPower(leftpow);
soonerbot 4:adc885f4ab75 243 right.setPower(rightpow);
soonerbot 7:3b2cf7efe5d1 244
soonerbot 7:3b2cf7efe5d1 245 //how far we've moved in the last timestep
soonerbot 4:adc885f4ab75 246 int deltaTraveled=(constbuf[0]-prev[0]+constbuf[1]-prev[1])/2;
soonerbot 4:adc885f4ab75 247 //DBGPRINT("\t %d\r\n",deltaTraveled);
soonerbot 7:3b2cf7efe5d1 248 addforward(double(deltaTraveled)*0.0035362); //update our position
soonerbot 1:c28fac16a109 249 distTraveled+=deltaTraveled;
soonerbot 4:adc885f4ab75 250 loopcount++;
soonerbot 7:3b2cf7efe5d1 251
soonerbot 7:3b2cf7efe5d1 252 //increase min speed so that it will actually move
soonerbot 4:adc885f4ab75 253 if((dmain<5&&dmain>-5)&&minmain<0.2){
soonerbot 5:74c8ce39334b 254 minmain+=0.003;
soonerbot 4:adc885f4ab75 255 } else if (minmain>=0.05) {
soonerbot 5:74c8ce39334b 256 minmain-=0.003;
soonerbot 4:adc885f4ab75 257 }
soonerbot 4:adc885f4ab75 258 if((dterm<5&&dterm>-5)&&minalt<0.2){
soonerbot 5:74c8ce39334b 259 minalt+=0.003;
soonerbot 4:adc885f4ab75 260 } else if (minalt>=0.05) {
soonerbot 5:74c8ce39334b 261 minalt-=0.003;
soonerbot 4:adc885f4ab75 262 }
soonerbot 1:c28fac16a109 263 }
soonerbot 1:c28fac16a109 264 left.brake();
soonerbot 1:c28fac16a109 265 right.brake();
soonerbot 6:62d498ee97cf 266 DBGPRINT("Loops: %d\r\n",loopcount);
soonerbot 7:3b2cf7efe5d1 267
soonerbot 7:3b2cf7efe5d1 268 //catch the slowdown movement
soonerbot 6:62d498ee97cf 269 wait(0.2);
soonerbot 5:74c8ce39334b 270 for(i=0;i<4;i++)
soonerbot 5:74c8ce39334b 271 prev[i]=constbuf[i];
soonerbot 5:74c8ce39334b 272 //wait(0.05);
soonerbot 5:74c8ce39334b 273 constbuf = bigenc.getVals();
soonerbot 6:62d498ee97cf 274 addforward(double(constbuf[0]-prev[0]+constbuf[1]-prev[1])*0.0035362/2.0);
soonerbot 5:74c8ce39334b 275 DBGPRINT("loss of %d and %d\n\r",constbuf[0]-prev[0],constbuf[1]-prev[1]);
soonerbot 1:c28fac16a109 276 return 0;
soonerbot 15:b10859606504 277 }*/
soonerbot 1:c28fac16a109 278
soonerbot 7:3b2cf7efe5d1 279 //add the motion in the direction that the robot is facing
soonerbot 4:adc885f4ab75 280 void robot::addforward(double dist){
soonerbot 4:adc885f4ab75 281 double angle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 282 x+=dist*cos(angle);
soonerbot 1:c28fac16a109 283 y+=dist*sin(angle);
soonerbot 1:c28fac16a109 284 rot=angle;
soonerbot 1:c28fac16a109 285 }
soonerbot 1:c28fac16a109 286
soonerbot 7:3b2cf7efe5d1 287 //doesn't work yet
soonerbot 15:b10859606504 288 /*int robot::moveTo(double xInches, double yInches){
soonerbot 1:c28fac16a109 289 double power=.2;
soonerbot 1:c28fac16a109 290 turntowards(xInches,yInches);
soonerbot 1:c28fac16a109 291 double distance=sqrt(pow(xInches-x,2)+pow(yInches-y,2))/0.0035362;
soonerbot 1:c28fac16a109 292 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 293 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 294 bigenc.resetAll();
soonerbot 1:c28fac16a109 295 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 296 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 297 int distTraveled=0, i;
soonerbot 1:c28fac16a109 298 double maxPow;
soonerbot 1:c28fac16a109 299 DBGPRINT("going %f at angle %f from current of %f\r\n",distance,angle,currangle);
soonerbot 1:c28fac16a109 300 while(distTraveled<distance){
soonerbot 1:c28fac16a109 301 angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 302 currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 303 maxPow=MAX(double(distance-distTraveled-2000)/15000.0,0.1);
soonerbot 1:c28fac16a109 304 if(currangle>angle+2.0){ //too far to the right, brake left
soonerbot 1:c28fac16a109 305 left.brake();
soonerbot 1:c28fac16a109 306 } else {
soonerbot 1:c28fac16a109 307 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 308 }
soonerbot 1:c28fac16a109 309 if(currangle<angle-2){
soonerbot 1:c28fac16a109 310 right.brake();
soonerbot 1:c28fac16a109 311 } else {
soonerbot 14:a30aa3b29a2e 312 right.setPo
soonerbot 14:a30aa3b29a2e 313
soonerbot 14:a30aa3b29a2e 314 wer(MIN(power,maxPow));
soonerbot 1:c28fac16a109 315 }
soonerbot 1:c28fac16a109 316 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 317 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 318 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 319 //wait(0.05);
soonerbot 1:c28fac16a109 320 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 321 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 322 addforward(double(deltaTraveled)*0.0035362);
soonerbot 1:c28fac16a109 323 distTraveled+=deltaTraveled;
soonerbot 1:c28fac16a109 324 //angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 325 }
soonerbot 1:c28fac16a109 326 left.brake();
soonerbot 1:c28fac16a109 327 right.brake();
soonerbot 1:c28fac16a109 328 return 0;
soonerbot 1:c28fac16a109 329
soonerbot 15:b10859606504 330 }*/
soonerbot 1:c28fac16a109 331
soonerbot 7:3b2cf7efe5d1 332 //also doesn't work
soonerbot 15:b10859606504 333 /*int robot::turntowards(double xInches, double yInches){
soonerbot 4:adc885f4ab75 334 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 335 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 336 double finangle=angle;
sswatek 27:688409727452 337 //if(int(currangle-angle)%360>180){ //needs to turn positive degrees
sswatek 27:688409727452 338 // finangle=currangle+double(int(angle-currangle)%360);
sswatek 27:688409727452 339 //} else {//negative degrees
sswatek 27:688409727452 340 // finangle=currangle-double(int(currangle-angle)%360);
sswatek 27:688409727452 341 //}
soonerbot 1:c28fac16a109 342 double acc=turn(0.4,finangle);
soonerbot 1:c28fac16a109 343 if(acc<-0.75 && acc>0.75){
soonerbot 1:c28fac16a109 344 acc=turn(0.3,finangle);
soonerbot 1:c28fac16a109 345 }
soonerbot 1:c28fac16a109 346
soonerbot 1:c28fac16a109 347
soonerbot 1:c28fac16a109 348 return 1;
soonerbot 15:b10859606504 349 }*/
soonerbot 1:c28fac16a109 350
soonerbot 7:3b2cf7efe5d1 351 //still no
soonerbot 15:b10859606504 352 /*double robot::turn(double power, double degrees){
soonerbot 1:c28fac16a109 353 bigenc.resetAll();
soonerbot 1:c28fac16a109 354 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 355 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 356 int startz;
soonerbot 4:adc885f4ab75 357 startz=gyro.getZ();
soonerbot 1:c28fac16a109 358 int gyroticks=(degrees*4050000)/360;
soonerbot 1:c28fac16a109 359 double maxPow;
soonerbot 1:c28fac16a109 360 int nowz=startz;
soonerbot 1:c28fac16a109 361 int dir=0;
soonerbot 1:c28fac16a109 362 if(gyroticks>startz){
soonerbot 1:c28fac16a109 363 right.setPower(-power);
soonerbot 1:c28fac16a109 364 left.setPower(power);
soonerbot 1:c28fac16a109 365 dir=1;
soonerbot 1:c28fac16a109 366 } else {
soonerbot 1:c28fac16a109 367 right.setPower(power);
soonerbot 1:c28fac16a109 368 left.setPower(-power);
soonerbot 1:c28fac16a109 369 dir=-1;
soonerbot 1:c28fac16a109 370 }
soonerbot 1:c28fac16a109 371 while((gyroticks-nowz)*dir>0){
soonerbot 1:c28fac16a109 372 maxPow=MAX(double(abs(gyroticks-nowz))/4050000.0,0.25);
soonerbot 1:c28fac16a109 373 if(gyroticks<nowz){
soonerbot 1:c28fac16a109 374 right.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 375 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 376 } else {
soonerbot 1:c28fac16a109 377 right.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 378 left.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 379 }
soonerbot 1:c28fac16a109 380 DBGPRINT("_%d of %d {%f, %f, %f}\r\n",(gyroticks-nowz)*dir, gyroticks,x,y,rot*180.0/3.14159);
soonerbot 1:c28fac16a109 381 for(int i=0;i<4;i++)
soonerbot 1:c28fac16a109 382 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 383 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 384 int deltaTraveled;
soonerbot 1:c28fac16a109 385 if(gyroticks<nowz){
soonerbot 1:c28fac16a109 386 deltaTraveled=(MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])-MIN(-constbuf[2]+prev[2],-constbuf[3]+prev[3]))/2;
soonerbot 1:c28fac16a109 387 } else {
soonerbot 1:c28fac16a109 388 deltaTraveled=(-MIN(constbuf[0]-prev[0],constbuf[1]-prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2;
soonerbot 1:c28fac16a109 389 }
soonerbot 1:c28fac16a109 390 addforward(double(deltaTraveled)*0.0035362);
soonerbot 4:adc885f4ab75 391 nowz=gyro.getZ();
soonerbot 1:c28fac16a109 392 }
soonerbot 15:b10859606504 393 //right.brake();
soonerbot 15:b10859606504 394 //left.brake();
soonerbot 1:c28fac16a109 395 return (gyroticks-nowz)*dir;
sswatek 26:ade7c813538f 396 }*/
sswatek 26:ade7c813538f 397
sswatek 27:688409727452 398 int robot::switchCameraMode(int mode){
sswatek 27:688409727452 399 if(mode==cameraMode){
sswatek 27:688409727452 400 return 1;
sswatek 27:688409727452 401 }
sswatek 26:ade7c813538f 402 int response=0;
sswatek 26:ade7c813538f 403 int gotAck=0;
sswatek 26:ade7c813538f 404 int testdata[]={'H','e','l','l','o'};
sswatek 26:ade7c813538f 405 stepTimer.start();
sswatek 27:688409727452 406 while(1){
sswatek 27:688409727452 407 response=BTLink.sendCmd(mode,testdata,5);
sswatek 26:ade7c813538f 408 stepTimer.reset();
sswatek 26:ade7c813538f 409 while(1){
sswatek 26:ade7c813538f 410 gotAck=BTLink.getAck(response);
sswatek 26:ade7c813538f 411 if(gotAck || stepTimer.read_ms()>=500)
sswatek 26:ade7c813538f 412 break;
sswatek 26:ade7c813538f 413 }
sswatek 27:688409727452 414 DBGPRINT("Mode%d=%d, %d, %d [%d]\n\r",mode,response,BTLink.bufSize(), gotAck, stepTimer.read_ms());
sswatek 26:ade7c813538f 415 if(gotAck)
sswatek 26:ade7c813538f 416 break;
sswatek 26:ade7c813538f 417 }
sswatek 26:ade7c813538f 418 stepTimer.stop();
sswatek 27:688409727452 419 cameraMode=mode;
sswatek 27:688409727452 420 return 1;
sswatek 27:688409727452 421 }
sswatek 27:688409727452 422 int robot::shapeCheck(){
sswatek 27:688409727452 423 if(cameraMode!=1){
sswatek 27:688409727452 424 switchCameraMode(1);
sswatek 27:688409727452 425 }
sswatek 27:688409727452 426 int gotAck=0;
sswatek 27:688409727452 427 int responseData[16];
sswatek 27:688409727452 428 stepTimer.start();
sswatek 27:688409727452 429 stepTimer.reset();
sswatek 27:688409727452 430 gotAck=0;
sswatek 27:688409727452 431 while(1){
sswatek 27:688409727452 432 BTLink.procBuf(0x01);
sswatek 27:688409727452 433 gotAck=BTLink.getData(0x01, responseData);
sswatek 27:688409727452 434 if(gotAck || stepTimer.read_ms()>=1000)
sswatek 27:688409727452 435 break;
sswatek 27:688409727452 436 }
sswatek 27:688409727452 437 stepTimer.stop();
sswatek 27:688409727452 438 if(responseData[15]==1&&gotAck){
sswatek 27:688409727452 439 for(int i=0;i<16;i++)
sswatek 27:688409727452 440 DBGPRINT("%d,",responseData[i]);
sswatek 27:688409727452 441 DBGPRINT("\n\r",1);
sswatek 27:688409727452 442 circleX=circleY=rectX=rectY=rectRot=triX=triY=triRot=0;
sswatek 27:688409727452 443 rectX=(responseData[4]<<8)|responseData[3];
sswatek 27:688409727452 444 rectY=(responseData[6]<<8)|responseData[5];
sswatek 27:688409727452 445 rectRot=responseData[2];
sswatek 27:688409727452 446 circleX=(responseData[12]<<8)|responseData[11];
sswatek 27:688409727452 447 circleY=(responseData[14]<<8)|responseData[13];
sswatek 27:688409727452 448 triX=((responseData[8]&0xF)<<8)|responseData[7];
sswatek 27:688409727452 449 triY=((responseData[10]&0xF)<<8)|responseData[9];
sswatek 27:688409727452 450 triRot=((responseData[8]&0xF0)>>4)|(responseData[10]&0xF0);
sswatek 27:688409727452 451 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 452 return 1;
sswatek 27:688409727452 453 } else {
sswatek 27:688409727452 454 DBGPRINT("Did not pass hash check %d %d %d\n\r",responseData[15],gotAck,stepTimer.read_ms());
sswatek 27:688409727452 455 return 0;
sswatek 27:688409727452 456 }
sswatek 27:688409727452 457 }
sswatek 27:688409727452 458 int robot::pollForShapes(){
sswatek 27:688409727452 459 switchCameraMode(1);
sswatek 27:688409727452 460 BTLink.clearData();
sswatek 27:688409727452 461 int found=0;
sswatek 27:688409727452 462 for(int i=0;i<5;i++){
sswatek 27:688409727452 463 found=shapeCheck();
sswatek 27:688409727452 464 if(found)
sswatek 27:688409727452 465 break;
sswatek 27:688409727452 466 }
sswatek 27:688409727452 467 switchCameraMode(0);
sswatek 27:688409727452 468 return found;
sswatek 27:688409727452 469 }
sswatek 27:688409727452 470 int robot::rigCheck(){
sswatek 27:688409727452 471 if(cameraMode!=2){
sswatek 27:688409727452 472 switchCameraMode(2);
sswatek 27:688409727452 473 }
sswatek 27:688409727452 474 int gotAck=0;
sswatek 27:688409727452 475 int responseData[16];
sswatek 27:688409727452 476 stepTimer.start();
sswatek 27:688409727452 477 stepTimer.reset();
sswatek 27:688409727452 478 while(1){
sswatek 27:688409727452 479 BTLink.procBuf(0x02);
sswatek 27:688409727452 480 gotAck=BTLink.getData(0x02, responseData);
sswatek 27:688409727452 481 if(gotAck || stepTimer.read_ms()>=1000)
sswatek 27:688409727452 482 break;
sswatek 27:688409727452 483 }
sswatek 27:688409727452 484 stepTimer.stop();
sswatek 27:688409727452 485 if(responseData[3]==1 && gotAck){
sswatek 27:688409727452 486 flameLocation = responseData[2];
sswatek 27:688409727452 487 DBGPRINT("Found fire at %d in %d\n\r",flameLocation,stepTimer.read_ms());
sswatek 27:688409727452 488 return 1;
sswatek 27:688409727452 489 } else {
sswatek 27:688409727452 490 DBGPRINT("Did not pass hash check %d %d %d\n\r",responseData[3],gotAck,stepTimer.read_ms());
sswatek 27:688409727452 491 return 0;
sswatek 27:688409727452 492 }
sswatek 27:688409727452 493 }
sswatek 27:688409727452 494 int robot::pollForRigs(){
sswatek 27:688409727452 495 switchCameraMode(2);
sswatek 27:688409727452 496 BTLink.clearData();
sswatek 27:688409727452 497 int found=0;
sswatek 27:688409727452 498 for(int i=0;i<5;i++){
sswatek 27:688409727452 499 found=rigCheck();
sswatek 27:688409727452 500 if(found)
sswatek 27:688409727452 501 break;
sswatek 27:688409727452 502 }
sswatek 27:688409727452 503 switchCameraMode(0);
sswatek 27:688409727452 504 return found;
sswatek 26:ade7c813538f 505 }