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@35:6ef5fbc45672, 2014-03-23 (annotated)

Committer:
sswatek
Date:
Sun Mar 23 22:03:26 2014 +0000
Revision:
35:6ef5fbc45672
Parent:
34:4ad11cda1eca
Child:
37:38a4ad49343e
Fixed bug where on startup from battery, motors would be spun like crazy.

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