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@17:e247d58d9f42, 2014-03-11 (annotated)

Committer:
sswatek
Date:
Tue Mar 11 20:22:18 2014 +0000
Revision:
17:e247d58d9f42
Parent:
15:b10859606504
Child:
26:ade7c813538f
Integrated bluetooth library

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
soonerbot 7:3b2cf7efe5d1 20 //control system constants
soonerbot 4:adc885f4ab75 21 pfac=0.00035;
soonerbot 4:adc885f4ab75 22 ifac=0.00000001;
soonerbot 4:adc885f4ab75 23 dfac=0.000001;
soonerbot 4:adc885f4ab75 24
soonerbot 5:74c8ce39334b 25 angfac=0.0000016;
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){
soonerbot 15:b10859606504 30 return smoothMove(distance, 0, 5);
soonerbot 13:c2d14bf733a5 31 /*Timer tim;
soonerbot 11:967469d7e01c 32 int dir=1;
soonerbot 12:925f52da3ba9 33 // if we are traveling forward a negative distance, go backwards
soonerbot 11:967469d7e01c 34 if(distance < 0){
soonerbot 12:925f52da3ba9 35 dir = -1; //is multiplied by the final output
soonerbot 11:967469d7e01c 36 distance = -distance;
soonerbot 11:967469d7e01c 37 }
soonerbot 10:926f142f16a3 38 int i,move;
soonerbot 10:926f142f16a3 39 int maxSpeed=41;
soonerbot 13:c2d14bf733a5 40 int stepsPerInc=2;
soonerbot 10:926f142f16a3 41 int stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 10:926f142f16a3 42 int distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 10:926f142f16a3 43 int stopRaise,startFall;
soonerbot 10:926f142f16a3 44 if(distance<distToMax*2){
soonerbot 12:925f52da3ba9 45 // can't get up to full speed before needing to slow down
soonerbot 12:925f52da3ba9 46 //find new max speed, time to get there, and distance there
soonerbot 10:926f142f16a3 47 maxSpeed = ((2*stepsPerInc)+sqrt((double)(2*stepsPerInc)*((2*stepsPerInc)+8*distance)))/(4*stepsPerInc);
soonerbot 10:926f142f16a3 48 stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 10:926f142f16a3 49 distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 10:926f142f16a3 50 stopRaise = stepsToMax;
soonerbot 10:926f142f16a3 51 startFall = stopRaise+(distance-distToMax*2)/(maxSpeed)+1;
soonerbot 10:926f142f16a3 52 DBGPRINT("Insufficent Ramp-Up\r\n",1);
soonerbot 10:926f142f16a3 53 } else {
soonerbot 12:925f52da3ba9 54 // can get up to full speed, so we will
soonerbot 10:926f142f16a3 55 stopRaise=stepsToMax;
soonerbot 12:925f52da3ba9 56 startFall=stopRaise+(distance-distToMax*2)/maxSpeed+1;
soonerbot 10:926f142f16a3 57 DBGPRINT("Sufficent Ramp-Up\r\n",1);
soonerbot 10:926f142f16a3 58 }
soonerbot 10:926f142f16a3 59 DBGPRINT("[%d %d %d] {%d, %d}\n\r",maxSpeed,stepsToMax,distToMax,stopRaise,startFall);
soonerbot 10:926f142f16a3 60 tim.start();
soonerbot 10:926f142f16a3 61 move = 0;
soonerbot 10:926f142f16a3 62 int totalMove=0;
soonerbot 12:925f52da3ba9 63 gyro.stop();
soonerbot 10:926f142f16a3 64 for(i=0;i<startFall+stepsToMax;i++){
soonerbot 12:925f52da3ba9 65 //start clock for this frame
soonerbot 10:926f142f16a3 66 tim.reset();
soonerbot 10:926f142f16a3 67 if(i<=stopRaise && i%stepsPerInc==0){
soonerbot 12:925f52da3ba9 68 //increase speed every (stepsPerInc) steps up to maxSpeed
soonerbot 10:926f142f16a3 69 move++;
soonerbot 10:926f142f16a3 70 }
soonerbot 10:926f142f16a3 71 if(i==startFall-1){
soonerbot 12:925f52da3ba9 72 //calibration step before we start falling to get an exact result
soonerbot 10:926f142f16a3 73 move = distance-totalMove-distToMax;
soonerbot 10:926f142f16a3 74 }
soonerbot 10:926f142f16a3 75 if(i>=startFall && (i-startFall)%stepsPerInc==0){
soonerbot 12:925f52da3ba9 76 if(i==startFall) //reset move after calibration step
soonerbot 10:926f142f16a3 77 move=maxSpeed;
soonerbot 12:925f52da3ba9 78
soonerbot 12:925f52da3ba9 79 //decrement every stepsPerInc steps until stopped
soonerbot 10:926f142f16a3 80 move--;
soonerbot 10:926f142f16a3 81 }
soonerbot 10:926f142f16a3 82 totalMove+=move;
soonerbot 11:967469d7e01c 83 motors.moveForward(move*dir);
soonerbot 11:967469d7e01c 84 //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
soonerbot 12:925f52da3ba9 85 while(tim.read_ms()<5);
soonerbot 12:925f52da3ba9 86 gyro.gyroUpkeep();
soonerbot 12:925f52da3ba9 87 addforward(double(move*dir)*0.0035362);
soonerbot 12:925f52da3ba9 88 //waits until 10ms have passed for the 100hz timing
soonerbot 10:926f142f16a3 89 while(tim.read_ms()<10);
soonerbot 10:926f142f16a3 90 }
soonerbot 12:925f52da3ba9 91 gyro.start();
soonerbot 12:925f52da3ba9 92 return totalMove*dir;
soonerbot 13:c2d14bf733a5 93 */
soonerbot 13:c2d14bf733a5 94 }
soonerbot 13:c2d14bf733a5 95
soonerbot 13:c2d14bf733a5 96 int robot::smoothMove(int distance, int rotate, int maxSpeed){
soonerbot 13:c2d14bf733a5 97 Timer tim;
soonerbot 13:c2d14bf733a5 98 int dir=1;
soonerbot 13:c2d14bf733a5 99 // if we are traveling forward a negative distance, go backwards
soonerbot 13:c2d14bf733a5 100 if(distance < 0){
soonerbot 13:c2d14bf733a5 101 dir = -1; //is multiplied by the final output
soonerbot 13:c2d14bf733a5 102 distance = -distance;
soonerbot 13:c2d14bf733a5 103 }
soonerbot 13:c2d14bf733a5 104 if(rotate)
soonerbot 13:c2d14bf733a5 105 rotate=-1;
soonerbot 13:c2d14bf733a5 106 else
soonerbot 13:c2d14bf733a5 107 rotate=1;
soonerbot 13:c2d14bf733a5 108 int i,move;
soonerbot 13:c2d14bf733a5 109 //int maxSpeed=41;
soonerbot 13:c2d14bf733a5 110 int stepsPerInc=2;
soonerbot 13:c2d14bf733a5 111 int stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 13:c2d14bf733a5 112 int distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 13:c2d14bf733a5 113 int stopRaise,startFall;
soonerbot 13:c2d14bf733a5 114 if(distance<distToMax*2){
soonerbot 13:c2d14bf733a5 115 // can't get up to full speed before needing to slow down
soonerbot 13:c2d14bf733a5 116 //find new max speed, time to get there, and distance there
soonerbot 13:c2d14bf733a5 117 maxSpeed = ((2*stepsPerInc)+sqrt((double)(2*stepsPerInc)*((2*stepsPerInc)+8*distance)))/(4*stepsPerInc);
soonerbot 13:c2d14bf733a5 118 stepsToMax=(maxSpeed-1)*stepsPerInc;
soonerbot 13:c2d14bf733a5 119 distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
soonerbot 13:c2d14bf733a5 120 stopRaise = stepsToMax;
soonerbot 13:c2d14bf733a5 121 startFall = stopRaise+(distance-distToMax*2)/(maxSpeed)+1;
soonerbot 13:c2d14bf733a5 122 DBGPRINT("Insufficent Ramp-Up\r\n",1);
soonerbot 13:c2d14bf733a5 123 } else {
soonerbot 13:c2d14bf733a5 124 // can get up to full speed, so we will
soonerbot 13:c2d14bf733a5 125 stopRaise=stepsToMax;
soonerbot 13:c2d14bf733a5 126 startFall=stopRaise+(distance-distToMax*2)/maxSpeed+1;
soonerbot 13:c2d14bf733a5 127 DBGPRINT("Sufficent Ramp-Up\r\n",1);
soonerbot 13:c2d14bf733a5 128 }
soonerbot 13:c2d14bf733a5 129 DBGPRINT("[%d %d %d] {%d, %d}\n\r",maxSpeed,stepsToMax,distToMax,stopRaise,startFall);
soonerbot 13:c2d14bf733a5 130 tim.start();
soonerbot 13:c2d14bf733a5 131 move = 0;
soonerbot 13:c2d14bf733a5 132 int totalMove=0;
soonerbot 13:c2d14bf733a5 133 gyro.stop();
soonerbot 13:c2d14bf733a5 134 for(i=0;i<startFall+stepsToMax;i++){
soonerbot 13:c2d14bf733a5 135 //start clock for this frame
soonerbot 13:c2d14bf733a5 136 tim.reset();
soonerbot 13:c2d14bf733a5 137 if(i<=stopRaise && i%stepsPerInc==0){
soonerbot 13:c2d14bf733a5 138 //increase speed every (stepsPerInc) steps up to maxSpeed
soonerbot 13:c2d14bf733a5 139 move++;
soonerbot 13:c2d14bf733a5 140 }
soonerbot 13:c2d14bf733a5 141 if(i==startFall-1){
soonerbot 13:c2d14bf733a5 142 //calibration step before we start falling to get an exact result
soonerbot 13:c2d14bf733a5 143 move = distance-totalMove-distToMax;
soonerbot 13:c2d14bf733a5 144 }
soonerbot 13:c2d14bf733a5 145 if(i>=startFall && (i-startFall)%stepsPerInc==0){
soonerbot 13:c2d14bf733a5 146 if(i==startFall) //reset move after calibration step
soonerbot 13:c2d14bf733a5 147 move=maxSpeed;
soonerbot 13:c2d14bf733a5 148
soonerbot 13:c2d14bf733a5 149 //decrement every stepsPerInc steps until stopped
soonerbot 13:c2d14bf733a5 150 move--;
soonerbot 13:c2d14bf733a5 151 }
soonerbot 13:c2d14bf733a5 152 totalMove+=move;
soonerbot 13:c2d14bf733a5 153 //motors.moveForward(move*dir);
soonerbot 13:c2d14bf733a5 154 motors.moveWheels(move*dir,move*dir*rotate);
soonerbot 13:c2d14bf733a5 155 //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
soonerbot 13:c2d14bf733a5 156 while(tim.read_ms()<5);
soonerbot 13:c2d14bf733a5 157 gyro.gyroUpkeep();
soonerbot 13:c2d14bf733a5 158 addforward(double(move*dir)*0.0035362);
soonerbot 13:c2d14bf733a5 159 //waits until 10ms have passed for the 100hz timing
soonerbot 13:c2d14bf733a5 160 while(tim.read_ms()<10);
soonerbot 13:c2d14bf733a5 161 }
soonerbot 13:c2d14bf733a5 162 gyro.start();
soonerbot 13:c2d14bf733a5 163 return totalMove*dir;
soonerbot 15:b10859606504 164 tim.stop();//may not need
soonerbot 10:926f142f16a3 165 }
soonerbot 10:926f142f16a3 166
soonerbot 7:3b2cf7efe5d1 167 //this is the main thing that both turns and goes forward
soonerbot 8:c23cd84befa2 168 // desangle is a angle in degrees to head towards (this is relative to the direction the robot starts pointing in
soonerbot 8:c23cd84befa2 169 // distance is a distance to head in that direction in units of encoder ticks
soonerbot 15:b10859606504 170 /*int robot::driveForward(double desangle, int distance){
soonerbot 1:c28fac16a109 171 bigenc.resetAll();
soonerbot 1:c28fac16a109 172 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 173 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 174 int distTraveled=0, i;
soonerbot 6:62d498ee97cf 175 double maxPow=0.4;
soonerbot 4:adc885f4ab75 176 int loopcount=0;
soonerbot 4:adc885f4ab75 177 double minmain=0.05;
soonerbot 4:adc885f4ab75 178 double minalt=0.05;
soonerbot 4:adc885f4ab75 179
soonerbot 7:3b2cf7efe5d1 180 //find a point in front of where we're heading
soonerbot 4:adc885f4ab75 181 int targetang = desangle*4050000.0/360.0;//gyro.getZ();
soonerbot 4:adc885f4ab75 182 int startang = targetang;
soonerbot 4:adc885f4ab75 183 double angle=double(startang)*2*3.14159/4050000.0;
soonerbot 6:62d498ee97cf 184 double targx = x + double((distance==0)?10000:distance)*0.0035362*cos(angle)*1.5;
soonerbot 15:b10859606504 185 double targy = y + double((
soonerbot 15:b10859606504 186
soonerbot 15:b10859606504 187 ==0)?10000:distance)*0.0035362*sin(angle)*1.5;
soonerbot 4:adc885f4ab75 188 int invfactor = 0;
soonerbot 7:3b2cf7efe5d1 189
soonerbot 7:3b2cf7efe5d1 190 //if going backwards, point away from the point
soonerbot 6:62d498ee97cf 191 if(distance<0) {
soonerbot 4:adc885f4ab75 192 invfactor = 2025000;
soonerbot 4:adc885f4ab75 193 }
soonerbot 6:62d498ee97cf 194 double realfac=0.1;
soonerbot 4:adc885f4ab75 195
soonerbot 4:adc885f4ab75 196 int pmain=distance;
soonerbot 4:adc885f4ab75 197 int imain=0;
soonerbot 4:adc885f4ab75 198 int dmain=0;
soonerbot 4:adc885f4ab75 199
soonerbot 4:adc885f4ab75 200 int dterm=0;
soonerbot 4:adc885f4ab75 201 const int ptol = 75;
soonerbot 4:adc885f4ab75 202 const int dtol = 10;
soonerbot 15:b10859606504 203 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 204
soonerbot 4:adc885f4ab75 205 //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 206 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 207 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 208 //wait(0.05);
soonerbot 1:c28fac16a109 209 constbuf = bigenc.getVals();
soonerbot 4:adc885f4ab75 210
soonerbot 14:a30aa3b29a2e 211 //control system (Proportional, Integral, Derivative) = PID controller
soonerbot 5:74c8ce39334b 212 pmain = distance - (constbuf[0]+constbuf[1])/2;
soonerbot 14:a30aa3b29a2e 213 imain += pmain;
soonerbot 5:74c8ce39334b 214 dmain = ((constbuf[0]+constbuf[1]) - (prev[0]+prev[1]))/2;
soonerbot 4:adc885f4ab75 215
soonerbot 6:62d498ee97cf 216 //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 217
soonerbot 7:3b2cf7efe5d1 218 //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 219 realfac = (gyro.compZ(invfactor+atan2(targy-y,targx-x)*4050000.0/(2*3.14159)))*angfac;
soonerbot 7:3b2cf7efe5d1 220 realfac = MAX(MIN(realfac,0.3),-0.3); // limits how much the motors can turn to fix the angle
soonerbot 4:adc885f4ab75 221
soonerbot 7:3b2cf7efe5d1 222 //uses PID control for the forward/back motions and adds in the angular component
soonerbot 7:3b2cf7efe5d1 223 //the forward/back motions is limited to a certain speed
soonerbot 5:74c8ce39334b 224 double leftpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)-realfac;
soonerbot 5:74c8ce39334b 225 double rightpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)+realfac;
soonerbot 7:3b2cf7efe5d1 226
soonerbot 7:3b2cf7efe5d1 227 //if we haven't settled, but also aren't moving, then speed up until it moves
soonerbot 7:3b2cf7efe5d1 228 if((pmain <= -ptol || pmain >= ptol) || (dmain <= -dtol || dmain >= dtol) || (realfac <= -0.02 || realfac >= 0.02) ){
soonerbot 4:adc885f4ab75 229 if (leftpow>0){
soonerbot 4:adc885f4ab75 230 if (leftpow<minalt){
soonerbot 4:adc885f4ab75 231 leftpow=minalt;
soonerbot 4:adc885f4ab75 232 }
soonerbot 4:adc885f4ab75 233 }else if (leftpow>-minalt){
soonerbot 4:adc885f4ab75 234 leftpow=-minalt;
soonerbot 4:adc885f4ab75 235 }
soonerbot 4:adc885f4ab75 236 if (rightpow>0){
soonerbot 4:adc885f4ab75 237 if (rightpow<minmain){
soonerbot 4:adc885f4ab75 238 rightpow=minmain;
soonerbot 4:adc885f4ab75 239 }
soonerbot 4:adc885f4ab75 240 }else if (rightpow>-minmain){
soonerbot 4:adc885f4ab75 241 rightpow=-minmain;
soonerbot 4:adc885f4ab75 242 }
soonerbot 4:adc885f4ab75 243 }
soonerbot 4:adc885f4ab75 244 left.setPower(leftpow);
soonerbot 4:adc885f4ab75 245 right.setPower(rightpow);
soonerbot 7:3b2cf7efe5d1 246
soonerbot 7:3b2cf7efe5d1 247 //how far we've moved in the last timestep
soonerbot 4:adc885f4ab75 248 int deltaTraveled=(constbuf[0]-prev[0]+constbuf[1]-prev[1])/2;
soonerbot 4:adc885f4ab75 249 //DBGPRINT("\t %d\r\n",deltaTraveled);
soonerbot 7:3b2cf7efe5d1 250 addforward(double(deltaTraveled)*0.0035362); //update our position
soonerbot 1:c28fac16a109 251 distTraveled+=deltaTraveled;
soonerbot 4:adc885f4ab75 252 loopcount++;
soonerbot 7:3b2cf7efe5d1 253
soonerbot 7:3b2cf7efe5d1 254 //increase min speed so that it will actually move
soonerbot 4:adc885f4ab75 255 if((dmain<5&&dmain>-5)&&minmain<0.2){
soonerbot 5:74c8ce39334b 256 minmain+=0.003;
soonerbot 4:adc885f4ab75 257 } else if (minmain>=0.05) {
soonerbot 5:74c8ce39334b 258 minmain-=0.003;
soonerbot 4:adc885f4ab75 259 }
soonerbot 4:adc885f4ab75 260 if((dterm<5&&dterm>-5)&&minalt<0.2){
soonerbot 5:74c8ce39334b 261 minalt+=0.003;
soonerbot 4:adc885f4ab75 262 } else if (minalt>=0.05) {
soonerbot 5:74c8ce39334b 263 minalt-=0.003;
soonerbot 4:adc885f4ab75 264 }
soonerbot 1:c28fac16a109 265 }
soonerbot 1:c28fac16a109 266 left.brake();
soonerbot 1:c28fac16a109 267 right.brake();
soonerbot 6:62d498ee97cf 268 DBGPRINT("Loops: %d\r\n",loopcount);
soonerbot 7:3b2cf7efe5d1 269
soonerbot 7:3b2cf7efe5d1 270 //catch the slowdown movement
soonerbot 6:62d498ee97cf 271 wait(0.2);
soonerbot 5:74c8ce39334b 272 for(i=0;i<4;i++)
soonerbot 5:74c8ce39334b 273 prev[i]=constbuf[i];
soonerbot 5:74c8ce39334b 274 //wait(0.05);
soonerbot 5:74c8ce39334b 275 constbuf = bigenc.getVals();
soonerbot 6:62d498ee97cf 276 addforward(double(constbuf[0]-prev[0]+constbuf[1]-prev[1])*0.0035362/2.0);
soonerbot 5:74c8ce39334b 277 DBGPRINT("loss of %d and %d\n\r",constbuf[0]-prev[0],constbuf[1]-prev[1]);
soonerbot 1:c28fac16a109 278 return 0;
soonerbot 15:b10859606504 279 }*/
soonerbot 1:c28fac16a109 280
soonerbot 7:3b2cf7efe5d1 281 //add the motion in the direction that the robot is facing
soonerbot 4:adc885f4ab75 282 void robot::addforward(double dist){
soonerbot 4:adc885f4ab75 283 double angle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 284 x+=dist*cos(angle);
soonerbot 1:c28fac16a109 285 y+=dist*sin(angle);
soonerbot 1:c28fac16a109 286 rot=angle;
soonerbot 1:c28fac16a109 287 }
soonerbot 1:c28fac16a109 288
soonerbot 7:3b2cf7efe5d1 289 //doesn't work yet
soonerbot 15:b10859606504 290 /*int robot::moveTo(double xInches, double yInches){
soonerbot 1:c28fac16a109 291 double power=.2;
soonerbot 1:c28fac16a109 292 turntowards(xInches,yInches);
soonerbot 1:c28fac16a109 293 double distance=sqrt(pow(xInches-x,2)+pow(yInches-y,2))/0.0035362;
soonerbot 1:c28fac16a109 294 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 295 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 296 bigenc.resetAll();
soonerbot 1:c28fac16a109 297 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 298 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 299 int distTraveled=0, i;
soonerbot 1:c28fac16a109 300 double maxPow;
soonerbot 1:c28fac16a109 301 DBGPRINT("going %f at angle %f from current of %f\r\n",distance,angle,currangle);
soonerbot 1:c28fac16a109 302 while(distTraveled<distance){
soonerbot 1:c28fac16a109 303 angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 304 currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 305 maxPow=MAX(double(distance-distTraveled-2000)/15000.0,0.1);
soonerbot 1:c28fac16a109 306 if(currangle>angle+2.0){ //too far to the right, brake left
soonerbot 1:c28fac16a109 307 left.brake();
soonerbot 1:c28fac16a109 308 } else {
soonerbot 1:c28fac16a109 309 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 310 }
soonerbot 1:c28fac16a109 311 if(currangle<angle-2){
soonerbot 1:c28fac16a109 312 right.brake();
soonerbot 1:c28fac16a109 313 } else {
soonerbot 14:a30aa3b29a2e 314 right.setPo
soonerbot 14:a30aa3b29a2e 315
soonerbot 14:a30aa3b29a2e 316 wer(MIN(power,maxPow));
soonerbot 1:c28fac16a109 317 }
soonerbot 1:c28fac16a109 318 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 319 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 320 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 321 //wait(0.05);
soonerbot 1:c28fac16a109 322 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 323 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 324 addforward(double(deltaTraveled)*0.0035362);
soonerbot 1:c28fac16a109 325 distTraveled+=deltaTraveled;
soonerbot 1:c28fac16a109 326 //angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 327 }
soonerbot 1:c28fac16a109 328 left.brake();
soonerbot 1:c28fac16a109 329 right.brake();
soonerbot 1:c28fac16a109 330 return 0;
soonerbot 1:c28fac16a109 331
soonerbot 15:b10859606504 332 }*/
soonerbot 1:c28fac16a109 333
soonerbot 7:3b2cf7efe5d1 334 //also doesn't work
soonerbot 15:b10859606504 335 /*int robot::turntowards(double xInches, double yInches){
soonerbot 4:adc885f4ab75 336 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 337 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 338 double finangle=angle;
soonerbot 1:c28fac16a109 339 /*if(int(currangle-angle)%360>180){ //needs to turn positive degrees
soonerbot 1:c28fac16a109 340 finangle=currangle+double(int(angle-currangle)%360);
soonerbot 1:c28fac16a109 341 } else {//negative degrees
soonerbot 1:c28fac16a109 342 finangle=currangle-double(int(currangle-angle)%360);
soonerbot 15:b10859606504 343 }
soonerbot 1:c28fac16a109 344 double acc=turn(0.4,finangle);
soonerbot 1:c28fac16a109 345 if(acc<-0.75 && acc>0.75){
soonerbot 1:c28fac16a109 346 acc=turn(0.3,finangle);
soonerbot 1:c28fac16a109 347 }
soonerbot 1:c28fac16a109 348
soonerbot 1:c28fac16a109 349
soonerbot 1:c28fac16a109 350 return 1;
soonerbot 15:b10859606504 351 }*/
soonerbot 1:c28fac16a109 352
soonerbot 7:3b2cf7efe5d1 353 //still no
soonerbot 15:b10859606504 354 /*double robot::turn(double power, double degrees){
soonerbot 1:c28fac16a109 355 bigenc.resetAll();
soonerbot 1:c28fac16a109 356 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 357 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 358 int startz;
soonerbot 4:adc885f4ab75 359 startz=gyro.getZ();
soonerbot 1:c28fac16a109 360 int gyroticks=(degrees*4050000)/360;
soonerbot 1:c28fac16a109 361 double maxPow;
soonerbot 1:c28fac16a109 362 int nowz=startz;
soonerbot 1:c28fac16a109 363 int dir=0;
soonerbot 1:c28fac16a109 364 if(gyroticks>startz){
soonerbot 1:c28fac16a109 365 right.setPower(-power);
soonerbot 1:c28fac16a109 366 left.setPower(power);
soonerbot 1:c28fac16a109 367 dir=1;
soonerbot 1:c28fac16a109 368 } else {
soonerbot 1:c28fac16a109 369 right.setPower(power);
soonerbot 1:c28fac16a109 370 left.setPower(-power);
soonerbot 1:c28fac16a109 371 dir=-1;
soonerbot 1:c28fac16a109 372 }
soonerbot 1:c28fac16a109 373 while((gyroticks-nowz)*dir>0){
soonerbot 1:c28fac16a109 374 maxPow=MAX(double(abs(gyroticks-nowz))/4050000.0,0.25);
soonerbot 1:c28fac16a109 375 if(gyroticks<nowz){
soonerbot 1:c28fac16a109 376 right.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 377 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 378 } else {
soonerbot 1:c28fac16a109 379 right.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 380 left.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 381 }
soonerbot 1:c28fac16a109 382 DBGPRINT("_%d of %d {%f, %f, %f}\r\n",(gyroticks-nowz)*dir, gyroticks,x,y,rot*180.0/3.14159);
soonerbot 1:c28fac16a109 383 for(int i=0;i<4;i++)
soonerbot 1:c28fac16a109 384 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 385 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 386 int deltaTraveled;
soonerbot 1:c28fac16a109 387 if(gyroticks<nowz){
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 } else {
soonerbot 1:c28fac16a109 390 deltaTraveled=(-MIN(constbuf[0]-prev[0],constbuf[1]-prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2;
soonerbot 1:c28fac16a109 391 }
soonerbot 1:c28fac16a109 392 addforward(double(deltaTraveled)*0.0035362);
soonerbot 4:adc885f4ab75 393 nowz=gyro.getZ();
soonerbot 1:c28fac16a109 394 }
soonerbot 15:b10859606504 395 //right.brake();
soonerbot 15:b10859606504 396 //left.brake();
soonerbot 1:c28fac16a109 397 return (gyroticks-nowz)*dir;
soonerbot 15:b10859606504 398 }*/