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@14:a30aa3b29a2e, 2014-03-07 (annotated)

Committer:
soonerbot
Date:
Fri Mar 07 21:49:22 2014 +0000
Revision:
14:a30aa3b29a2e
Parent:
13:c2d14bf733a5
Child:
15:b10859606504
ultrasonic development

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),
soonerbot 14:a30aa3b29a2e 9 right(bigenc,0,1,PTA5), left(bigenc,2,3,PTA4), motors(spi,PTD0), pingLeft(PTA13,PTD5) {
soonerbot 1:c28fac16a109 10
soonerbot 11:967469d7e01c 11 //bigenc.setDirections(1,-1,1,1);
soonerbot 1:c28fac16a109 12 left.setReversed(1);
soonerbot 1:c28fac16a109 13 x=y=rot=0;
soonerbot 7:3b2cf7efe5d1 14
soonerbot 11:967469d7e01c 15 //set our set point in memory to match the current set point of the encoders
soonerbot 11:967469d7e01c 16 const int *referenceCounts = bigenc.getReferences();
soonerbot 11:967469d7e01c 17 motors.setSetPoint(referenceCounts[0],referenceCounts[1]);
soonerbot 11:967469d7e01c 18
soonerbot 7:3b2cf7efe5d1 19 //control system constants
soonerbot 4:adc885f4ab75 20 pfac=0.00035;
soonerbot 4:adc885f4ab75 21 ifac=0.00000001;
soonerbot 4:adc885f4ab75 22 dfac=0.000001;
soonerbot 4:adc885f4ab75 23
soonerbot 5:74c8ce39334b 24 angfac=0.0000016;
soonerbot 1:c28fac16a109 25 }
soonerbot 1:c28fac16a109 26
soonerbot 10:926f142f16a3 27 //driveforward, but set up so that
soonerbot 10:926f142f16a3 28 int robot::absDriveForward(double desangle, int distance){
soonerbot 13:c2d14bf733a5 29 return smoothMove(distance, 1, 5);
soonerbot 13:c2d14bf733a5 30 /*Timer tim;
soonerbot 11:967469d7e01c 31 int dir=1;
soonerbot 12:925f52da3ba9 32 // if we are traveling forward a negative distance, go backwards
soonerbot 11:967469d7e01c 33 if(distance < 0){
soonerbot 12:925f52da3ba9 34 dir = -1; //is multiplied by the final output
soonerbot 11:967469d7e01c 35 distance = -distance;
soonerbot 11:967469d7e01c 36 }
soonerbot 10:926f142f16a3 37 int i,move;
soonerbot 10:926f142f16a3 38 int maxSpeed=41;
soonerbot 13:c2d14bf733a5 39 int stepsPerInc=2;
soonerbot 10:926f142f16a3 40 int stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 10:926f142f16a3 41 int distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 10:926f142f16a3 42 int stopRaise,startFall;
soonerbot 10:926f142f16a3 43 if(distance<distToMax*2){
soonerbot 12:925f52da3ba9 44 // can't get up to full speed before needing to slow down
soonerbot 12:925f52da3ba9 45 //find new max speed, time to get there, and distance there
soonerbot 10:926f142f16a3 46 maxSpeed = ((2*stepsPerInc)+sqrt((double)(2*stepsPerInc)*((2*stepsPerInc)+8*distance)))/(4*stepsPerInc);
soonerbot 10:926f142f16a3 47 stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 10:926f142f16a3 48 distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 10:926f142f16a3 49 stopRaise = stepsToMax;
soonerbot 10:926f142f16a3 50 startFall = stopRaise+(distance-distToMax*2)/(maxSpeed)+1;
soonerbot 10:926f142f16a3 51 DBGPRINT("Insufficent Ramp-Up\r\n",1);
soonerbot 10:926f142f16a3 52 } else {
soonerbot 12:925f52da3ba9 53 // can get up to full speed, so we will
soonerbot 10:926f142f16a3 54 stopRaise=stepsToMax;
soonerbot 12:925f52da3ba9 55 startFall=stopRaise+(distance-distToMax*2)/maxSpeed+1;
soonerbot 10:926f142f16a3 56 DBGPRINT("Sufficent Ramp-Up\r\n",1);
soonerbot 10:926f142f16a3 57 }
soonerbot 10:926f142f16a3 58 DBGPRINT("[%d %d %d] {%d, %d}\n\r",maxSpeed,stepsToMax,distToMax,stopRaise,startFall);
soonerbot 10:926f142f16a3 59 tim.start();
soonerbot 10:926f142f16a3 60 move = 0;
soonerbot 10:926f142f16a3 61 int totalMove=0;
soonerbot 12:925f52da3ba9 62 gyro.stop();
soonerbot 10:926f142f16a3 63 for(i=0;i<startFall+stepsToMax;i++){
soonerbot 12:925f52da3ba9 64 //start clock for this frame
soonerbot 10:926f142f16a3 65 tim.reset();
soonerbot 10:926f142f16a3 66 if(i<=stopRaise && i%stepsPerInc==0){
soonerbot 12:925f52da3ba9 67 //increase speed every (stepsPerInc) steps up to maxSpeed
soonerbot 10:926f142f16a3 68 move++;
soonerbot 10:926f142f16a3 69 }
soonerbot 10:926f142f16a3 70 if(i==startFall-1){
soonerbot 12:925f52da3ba9 71 //calibration step before we start falling to get an exact result
soonerbot 10:926f142f16a3 72 move = distance-totalMove-distToMax;
soonerbot 10:926f142f16a3 73 }
soonerbot 10:926f142f16a3 74 if(i>=startFall && (i-startFall)%stepsPerInc==0){
soonerbot 12:925f52da3ba9 75 if(i==startFall) //reset move after calibration step
soonerbot 10:926f142f16a3 76 move=maxSpeed;
soonerbot 12:925f52da3ba9 77
soonerbot 12:925f52da3ba9 78 //decrement every stepsPerInc steps until stopped
soonerbot 10:926f142f16a3 79 move--;
soonerbot 10:926f142f16a3 80 }
soonerbot 10:926f142f16a3 81 totalMove+=move;
soonerbot 11:967469d7e01c 82 motors.moveForward(move*dir);
soonerbot 11:967469d7e01c 83 //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
soonerbot 12:925f52da3ba9 84 while(tim.read_ms()<5);
soonerbot 12:925f52da3ba9 85 gyro.gyroUpkeep();
soonerbot 12:925f52da3ba9 86 addforward(double(move*dir)*0.0035362);
soonerbot 12:925f52da3ba9 87 //waits until 10ms have passed for the 100hz timing
soonerbot 10:926f142f16a3 88 while(tim.read_ms()<10);
soonerbot 10:926f142f16a3 89 }
soonerbot 12:925f52da3ba9 90 gyro.start();
soonerbot 12:925f52da3ba9 91 return totalMove*dir;
soonerbot 13:c2d14bf733a5 92 */
soonerbot 13:c2d14bf733a5 93 }
soonerbot 13:c2d14bf733a5 94
soonerbot 13:c2d14bf733a5 95 int robot::smoothMove(int distance, int rotate, int maxSpeed){
soonerbot 13:c2d14bf733a5 96 Timer tim;
soonerbot 13:c2d14bf733a5 97 int dir=1;
soonerbot 13:c2d14bf733a5 98 // if we are traveling forward a negative distance, go backwards
soonerbot 13:c2d14bf733a5 99 if(distance < 0){
soonerbot 13:c2d14bf733a5 100 dir = -1; //is multiplied by the final output
soonerbot 13:c2d14bf733a5 101 distance = -distance;
soonerbot 13:c2d14bf733a5 102 }
soonerbot 13:c2d14bf733a5 103 if(rotate)
soonerbot 13:c2d14bf733a5 104 rotate=-1;
soonerbot 13:c2d14bf733a5 105 else
soonerbot 13:c2d14bf733a5 106 rotate=1;
soonerbot 13:c2d14bf733a5 107 int i,move;
soonerbot 13:c2d14bf733a5 108 //int maxSpeed=41;
soonerbot 13:c2d14bf733a5 109 int stepsPerInc=2;
soonerbot 13:c2d14bf733a5 110 int stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 13:c2d14bf733a5 111 int distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 13:c2d14bf733a5 112 int stopRaise,startFall;
soonerbot 13:c2d14bf733a5 113 if(distance<distToMax*2){
soonerbot 13:c2d14bf733a5 114 // can't get up to full speed before needing to slow down
soonerbot 13:c2d14bf733a5 115 //find new max speed, time to get there, and distance there
soonerbot 13:c2d14bf733a5 116 maxSpeed = ((2*stepsPerInc)+sqrt((double)(2*stepsPerInc)*((2*stepsPerInc)+8*distance)))/(4*stepsPerInc);
soonerbot 13:c2d14bf733a5 117 stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 13:c2d14bf733a5 118 distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 13:c2d14bf733a5 119 stopRaise = stepsToMax;
soonerbot 13:c2d14bf733a5 120 startFall = stopRaise+(distance-distToMax*2)/(maxSpeed)+1;
soonerbot 13:c2d14bf733a5 121 DBGPRINT("Insufficent Ramp-Up\r\n",1);
soonerbot 13:c2d14bf733a5 122 } else {
soonerbot 13:c2d14bf733a5 123 // can get up to full speed, so we will
soonerbot 13:c2d14bf733a5 124 stopRaise=stepsToMax;
soonerbot 13:c2d14bf733a5 125 startFall=stopRaise+(distance-distToMax*2)/maxSpeed+1;
soonerbot 13:c2d14bf733a5 126 DBGPRINT("Sufficent Ramp-Up\r\n",1);
soonerbot 13:c2d14bf733a5 127 }
soonerbot 13:c2d14bf733a5 128 DBGPRINT("[%d %d %d] {%d, %d}\n\r",maxSpeed,stepsToMax,distToMax,stopRaise,startFall);
soonerbot 13:c2d14bf733a5 129 tim.start();
soonerbot 13:c2d14bf733a5 130 move = 0;
soonerbot 13:c2d14bf733a5 131 int totalMove=0;
soonerbot 13:c2d14bf733a5 132 gyro.stop();
soonerbot 13:c2d14bf733a5 133 for(i=0;i<startFall+stepsToMax;i++){
soonerbot 13:c2d14bf733a5 134 //start clock for this frame
soonerbot 13:c2d14bf733a5 135 tim.reset();
soonerbot 13:c2d14bf733a5 136 if(i<=stopRaise && i%stepsPerInc==0){
soonerbot 13:c2d14bf733a5 137 //increase speed every (stepsPerInc) steps up to maxSpeed
soonerbot 13:c2d14bf733a5 138 move++;
soonerbot 13:c2d14bf733a5 139 }
soonerbot 13:c2d14bf733a5 140 if(i==startFall-1){
soonerbot 13:c2d14bf733a5 141 //calibration step before we start falling to get an exact result
soonerbot 13:c2d14bf733a5 142 move = distance-totalMove-distToMax;
soonerbot 13:c2d14bf733a5 143 }
soonerbot 13:c2d14bf733a5 144 if(i>=startFall && (i-startFall)%stepsPerInc==0){
soonerbot 13:c2d14bf733a5 145 if(i==startFall) //reset move after calibration step
soonerbot 13:c2d14bf733a5 146 move=maxSpeed;
soonerbot 13:c2d14bf733a5 147
soonerbot 13:c2d14bf733a5 148 //decrement every stepsPerInc steps until stopped
soonerbot 13:c2d14bf733a5 149 move--;
soonerbot 13:c2d14bf733a5 150 }
soonerbot 13:c2d14bf733a5 151 totalMove+=move;
soonerbot 13:c2d14bf733a5 152 //motors.moveForward(move*dir);
soonerbot 13:c2d14bf733a5 153 motors.moveWheels(move*dir,move*dir*rotate);
soonerbot 13:c2d14bf733a5 154 //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
soonerbot 13:c2d14bf733a5 155 while(tim.read_ms()<5);
soonerbot 13:c2d14bf733a5 156 gyro.gyroUpkeep();
soonerbot 13:c2d14bf733a5 157 addforward(double(move*dir)*0.0035362);
soonerbot 13:c2d14bf733a5 158 //waits until 10ms have passed for the 100hz timing
soonerbot 13:c2d14bf733a5 159 while(tim.read_ms()<10);
soonerbot 13:c2d14bf733a5 160 }
soonerbot 13:c2d14bf733a5 161 gyro.start();
soonerbot 13:c2d14bf733a5 162 return totalMove*dir;
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 4:adc885f4ab75 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 6:62d498ee97cf 183 double targy = y + double((distance==0)?10000:distance)*0.0035362*sin(angle)*1.5;
soonerbot 4:adc885f4ab75 184 int invfactor = 0;
soonerbot 7:3b2cf7efe5d1 185
soonerbot 7:3b2cf7efe5d1 186 //if going backwards, point away from the point
soonerbot 6:62d498ee97cf 187 if(distance<0) {
soonerbot 4:adc885f4ab75 188 invfactor = 2025000;
soonerbot 4:adc885f4ab75 189 }
soonerbot 6:62d498ee97cf 190 double realfac=0.1;
soonerbot 4:adc885f4ab75 191
soonerbot 4:adc885f4ab75 192 int pmain=distance;
soonerbot 4:adc885f4ab75 193 int imain=0;
soonerbot 4:adc885f4ab75 194 int dmain=0;
soonerbot 4:adc885f4ab75 195
soonerbot 4:adc885f4ab75 196 int dterm=0;
soonerbot 4:adc885f4ab75 197 const int ptol = 75;
soonerbot 4:adc885f4ab75 198 const int dtol = 10;
soonerbot 8:c23cd84befa2 199 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 200
soonerbot 4:adc885f4ab75 201 //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 202 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 203 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 204 //wait(0.05);
soonerbot 1:c28fac16a109 205 constbuf = bigenc.getVals();
soonerbot 4:adc885f4ab75 206
soonerbot 14:a30aa3b29a2e 207 //control system (Proportional, Integral, Derivative) = PID controller
soonerbot 5:74c8ce39334b 208 pmain = distance - (constbuf[0]+constbuf[1])/2;
soonerbot 14:a30aa3b29a2e 209 imain += pmain;
soonerbot 5:74c8ce39334b 210 dmain = ((constbuf[0]+constbuf[1]) - (prev[0]+prev[1]))/2;
soonerbot 4:adc885f4ab75 211
soonerbot 6:62d498ee97cf 212 //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 213
soonerbot 7:3b2cf7efe5d1 214 //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 215 realfac = (gyro.compZ(invfactor+atan2(targy-y,targx-x)*4050000.0/(2*3.14159)))*angfac;
soonerbot 7:3b2cf7efe5d1 216 realfac = MAX(MIN(realfac,0.3),-0.3); // limits how much the motors can turn to fix the angle
soonerbot 4:adc885f4ab75 217
soonerbot 7:3b2cf7efe5d1 218 //uses PID control for the forward/back motions and adds in the angular component
soonerbot 7:3b2cf7efe5d1 219 //the forward/back motions is limited to a certain speed
soonerbot 5:74c8ce39334b 220 double leftpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)-realfac;
soonerbot 5:74c8ce39334b 221 double rightpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)+realfac;
soonerbot 7:3b2cf7efe5d1 222
soonerbot 7:3b2cf7efe5d1 223 //if we haven't settled, but also aren't moving, then speed up until it moves
soonerbot 7:3b2cf7efe5d1 224 if((pmain <= -ptol || pmain >= ptol) || (dmain <= -dtol || dmain >= dtol) || (realfac <= -0.02 || realfac >= 0.02) ){
soonerbot 4:adc885f4ab75 225 if (leftpow>0){
soonerbot 4:adc885f4ab75 226 if (leftpow<minalt){
soonerbot 4:adc885f4ab75 227 leftpow=minalt;
soonerbot 4:adc885f4ab75 228 }
soonerbot 4:adc885f4ab75 229 }else if (leftpow>-minalt){
soonerbot 4:adc885f4ab75 230 leftpow=-minalt;
soonerbot 4:adc885f4ab75 231 }
soonerbot 4:adc885f4ab75 232 if (rightpow>0){
soonerbot 4:adc885f4ab75 233 if (rightpow<minmain){
soonerbot 4:adc885f4ab75 234 rightpow=minmain;
soonerbot 4:adc885f4ab75 235 }
soonerbot 4:adc885f4ab75 236 }else if (rightpow>-minmain){
soonerbot 4:adc885f4ab75 237 rightpow=-minmain;
soonerbot 4:adc885f4ab75 238 }
soonerbot 4:adc885f4ab75 239 }
soonerbot 4:adc885f4ab75 240 left.setPower(leftpow);
soonerbot 4:adc885f4ab75 241 right.setPower(rightpow);
soonerbot 7:3b2cf7efe5d1 242
soonerbot 7:3b2cf7efe5d1 243 //how far we've moved in the last timestep
soonerbot 4:adc885f4ab75 244 int deltaTraveled=(constbuf[0]-prev[0]+constbuf[1]-prev[1])/2;
soonerbot 4:adc885f4ab75 245 //DBGPRINT("\t %d\r\n",deltaTraveled);
soonerbot 7:3b2cf7efe5d1 246 addforward(double(deltaTraveled)*0.0035362); //update our position
soonerbot 1:c28fac16a109 247 distTraveled+=deltaTraveled;
soonerbot 4:adc885f4ab75 248 loopcount++;
soonerbot 7:3b2cf7efe5d1 249
soonerbot 7:3b2cf7efe5d1 250 //increase min speed so that it will actually move
soonerbot 4:adc885f4ab75 251 if((dmain<5&&dmain>-5)&&minmain<0.2){
soonerbot 5:74c8ce39334b 252 minmain+=0.003;
soonerbot 4:adc885f4ab75 253 } else if (minmain>=0.05) {
soonerbot 5:74c8ce39334b 254 minmain-=0.003;
soonerbot 4:adc885f4ab75 255 }
soonerbot 4:adc885f4ab75 256 if((dterm<5&&dterm>-5)&&minalt<0.2){
soonerbot 5:74c8ce39334b 257 minalt+=0.003;
soonerbot 4:adc885f4ab75 258 } else if (minalt>=0.05) {
soonerbot 5:74c8ce39334b 259 minalt-=0.003;
soonerbot 4:adc885f4ab75 260 }
soonerbot 1:c28fac16a109 261 }
soonerbot 1:c28fac16a109 262 left.brake();
soonerbot 1:c28fac16a109 263 right.brake();
soonerbot 6:62d498ee97cf 264 DBGPRINT("Loops: %d\r\n",loopcount);
soonerbot 7:3b2cf7efe5d1 265
soonerbot 7:3b2cf7efe5d1 266 //catch the slowdown movement
soonerbot 6:62d498ee97cf 267 wait(0.2);
soonerbot 5:74c8ce39334b 268 for(i=0;i<4;i++)
soonerbot 5:74c8ce39334b 269 prev[i]=constbuf[i];
soonerbot 5:74c8ce39334b 270 //wait(0.05);
soonerbot 5:74c8ce39334b 271 constbuf = bigenc.getVals();
soonerbot 6:62d498ee97cf 272 addforward(double(constbuf[0]-prev[0]+constbuf[1]-prev[1])*0.0035362/2.0);
soonerbot 5:74c8ce39334b 273 DBGPRINT("loss of %d and %d\n\r",constbuf[0]-prev[0],constbuf[1]-prev[1]);
soonerbot 1:c28fac16a109 274 return 0;
soonerbot 1:c28fac16a109 275 }
soonerbot 1:c28fac16a109 276
soonerbot 7:3b2cf7efe5d1 277 //add the motion in the direction that the robot is facing
soonerbot 4:adc885f4ab75 278 void robot::addforward(double dist){
soonerbot 4:adc885f4ab75 279 double angle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 280 x+=dist*cos(angle);
soonerbot 1:c28fac16a109 281 y+=dist*sin(angle);
soonerbot 1:c28fac16a109 282 rot=angle;
soonerbot 1:c28fac16a109 283 }
soonerbot 1:c28fac16a109 284
soonerbot 7:3b2cf7efe5d1 285 //doesn't work yet
soonerbot 1:c28fac16a109 286 int robot::moveTo(double xInches, double yInches){
soonerbot 1:c28fac16a109 287 double power=.2;
soonerbot 1:c28fac16a109 288 turntowards(xInches,yInches);
soonerbot 1:c28fac16a109 289 double distance=sqrt(pow(xInches-x,2)+pow(yInches-y,2))/0.0035362;
soonerbot 1:c28fac16a109 290 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 291 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 292 bigenc.resetAll();
soonerbot 1:c28fac16a109 293 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 294 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 295 int distTraveled=0, i;
soonerbot 1:c28fac16a109 296 double maxPow;
soonerbot 1:c28fac16a109 297 DBGPRINT("going %f at angle %f from current of %f\r\n",distance,angle,currangle);
soonerbot 1:c28fac16a109 298 while(distTraveled<distance){
soonerbot 1:c28fac16a109 299 angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 300 currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 301 maxPow=MAX(double(distance-distTraveled-2000)/15000.0,0.1);
soonerbot 1:c28fac16a109 302 if(currangle>angle+2.0){ //too far to the right, brake left
soonerbot 1:c28fac16a109 303 left.brake();
soonerbot 1:c28fac16a109 304 } else {
soonerbot 1:c28fac16a109 305 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 306 }
soonerbot 1:c28fac16a109 307 if(currangle<angle-2){
soonerbot 1:c28fac16a109 308 right.brake();
soonerbot 1:c28fac16a109 309 } else {
soonerbot 14:a30aa3b29a2e 310 right.setPo
soonerbot 14:a30aa3b29a2e 311
soonerbot 14:a30aa3b29a2e 312 wer(MIN(power,maxPow));
soonerbot 1:c28fac16a109 313 }
soonerbot 1:c28fac16a109 314 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 315 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 316 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 317 //wait(0.05);
soonerbot 1:c28fac16a109 318 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 319 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 320 addforward(double(deltaTraveled)*0.0035362);
soonerbot 1:c28fac16a109 321 distTraveled+=deltaTraveled;
soonerbot 1:c28fac16a109 322 //angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 323 }
soonerbot 1:c28fac16a109 324 left.brake();
soonerbot 1:c28fac16a109 325 right.brake();
soonerbot 1:c28fac16a109 326 return 0;
soonerbot 1:c28fac16a109 327
soonerbot 1:c28fac16a109 328 }
soonerbot 1:c28fac16a109 329
soonerbot 7:3b2cf7efe5d1 330 //also doesn't work
soonerbot 1:c28fac16a109 331 int robot::turntowards(double xInches, double yInches){
soonerbot 4:adc885f4ab75 332 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 333 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 334 double finangle=angle;
soonerbot 1:c28fac16a109 335 /*if(int(currangle-angle)%360>180){ //needs to turn positive degrees
soonerbot 1:c28fac16a109 336 finangle=currangle+double(int(angle-currangle)%360);
soonerbot 1:c28fac16a109 337 } else {//negative degrees
soonerbot 1:c28fac16a109 338 finangle=currangle-double(int(currangle-angle)%360);
soonerbot 1:c28fac16a109 339 }*/
soonerbot 1:c28fac16a109 340 double acc=turn(0.4,finangle);
soonerbot 1:c28fac16a109 341 if(acc<-0.75 && acc>0.75){
soonerbot 1:c28fac16a109 342 acc=turn(0.3,finangle);
soonerbot 1:c28fac16a109 343 }
soonerbot 1:c28fac16a109 344
soonerbot 1:c28fac16a109 345
soonerbot 1:c28fac16a109 346 return 1;
soonerbot 1:c28fac16a109 347 }
soonerbot 1:c28fac16a109 348
soonerbot 7:3b2cf7efe5d1 349 //still no
soonerbot 1:c28fac16a109 350 double robot::turn(double power, double degrees){
soonerbot 1:c28fac16a109 351 bigenc.resetAll();
soonerbot 1:c28fac16a109 352 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 353 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 354 int startz;
soonerbot 4:adc885f4ab75 355 startz=gyro.getZ();
soonerbot 1:c28fac16a109 356 int gyroticks=(degrees*4050000)/360;
soonerbot 1:c28fac16a109 357 double maxPow;
soonerbot 1:c28fac16a109 358 int nowz=startz;
soonerbot 1:c28fac16a109 359 int dir=0;
soonerbot 1:c28fac16a109 360 if(gyroticks>startz){
soonerbot 1:c28fac16a109 361 right.setPower(-power);
soonerbot 1:c28fac16a109 362 left.setPower(power);
soonerbot 1:c28fac16a109 363 dir=1;
soonerbot 1:c28fac16a109 364 } else {
soonerbot 1:c28fac16a109 365 right.setPower(power);
soonerbot 1:c28fac16a109 366 left.setPower(-power);
soonerbot 1:c28fac16a109 367 dir=-1;
soonerbot 1:c28fac16a109 368 }
soonerbot 1:c28fac16a109 369 while((gyroticks-nowz)*dir>0){
soonerbot 1:c28fac16a109 370 maxPow=MAX(double(abs(gyroticks-nowz))/4050000.0,0.25);
soonerbot 1:c28fac16a109 371 if(gyroticks<nowz){
soonerbot 1:c28fac16a109 372 right.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 373 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 374 } else {
soonerbot 1:c28fac16a109 375 right.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 376 left.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 377 }
soonerbot 1:c28fac16a109 378 DBGPRINT("_%d of %d {%f, %f, %f}\r\n",(gyroticks-nowz)*dir, gyroticks,x,y,rot*180.0/3.14159);
soonerbot 1:c28fac16a109 379 for(int i=0;i<4;i++)
soonerbot 1:c28fac16a109 380 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 381 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 382 int deltaTraveled;
soonerbot 1:c28fac16a109 383 if(gyroticks<nowz){
soonerbot 1:c28fac16a109 384 deltaTraveled=(MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])-MIN(-constbuf[2]+prev[2],-constbuf[3]+prev[3]))/2;
soonerbot 1:c28fac16a109 385 } else {
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 }
soonerbot 1:c28fac16a109 388 addforward(double(deltaTraveled)*0.0035362);
soonerbot 4:adc885f4ab75 389 nowz=gyro.getZ();
soonerbot 1:c28fac16a109 390 }
soonerbot 1:c28fac16a109 391 right.brake();
soonerbot 1:c28fac16a109 392 left.brake();
soonerbot 1:c28fac16a109 393 return (gyroticks-nowz)*dir;
soonerbot 1:c28fac16a109 394 }