File content as of revision 2:7c6b494f9005:

#include "robot.h"

#define MIN(a,b) ((b<a)?(b):(a))
#define MAX(a,b) ((b>a)?(b):(a))

robot::robot() : spi(PTD2, PTD3, PTD1), bigenc(spi,PTD0), /*gyro(p9, p10),*/
            right(bigenc,0,1,PTA5), left(bigenc,2,3,PTA4){
    
    bigenc.setDirections(1,-1,1,1);
    left.setReversed(1);
    x=y=rot=0;
    //blah
}


int robot::driveForward(double power, int distance){
    bigenc.resetAll();
    const int* constbuf = bigenc.getVals();
    int prev[4]={0,0,0,0};
    int distTraveled=0, i;
    double maxPow;
    while(distTraveled<distance){
        maxPow=MAX(double(distance-distTraveled-2000)/15000.0,0.1);
        left.setPower(MIN(power,maxPow));
        right.setPower(MIN(power,maxPow));
        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);
        for(i=0;i<4;i++)
            prev[i]=constbuf[i];
        //wait(0.05);
        constbuf = bigenc.getVals();
        //int deltaTraveled=MAX(MIN(MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1]),MIN(constbuf[2]-prev[2],constbuf[3]-prev[3])),0);
        int deltaTraveled=MAX((MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2,0);
        addforward(double(deltaTraveled)*0.0035362);
        distTraveled+=deltaTraveled;
    }
    left.brake();
    right.brake();
    return 0;
}

int robot::addforward(double dist){
    double angle=0;//double(gyro.getZ())*2*3.14159/4050000.0;
    x+=dist*cos(angle);
    y+=dist*sin(angle);
    rot=angle;
}

int robot::moveTo(double xInches, double yInches){
    double power=.2;
    turntowards(xInches,yInches);
    double distance=sqrt(pow(xInches-x,2)+pow(yInches-y,2))/0.0035362;
    double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
    double currangle=0;//double(gyro.getZ())*2*3.14159/4050000.0;
    bigenc.resetAll();
    const int* constbuf = bigenc.getVals();
    int prev[4]={0,0,0,0};
    int distTraveled=0, i;
    double maxPow;
    DBGPRINT("going %f at angle %f from current of %f\r\n",distance,angle,currangle);
    while(distTraveled<distance){
        angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
        currangle=0;//double(gyro.getZ())*2*3.14159/4050000.0;
        maxPow=MAX(double(distance-distTraveled-2000)/15000.0,0.1);
        if(currangle>angle+2.0){ //too far to the right, brake left
            left.brake();
        } else {
            left.setPower(MIN(power,maxPow));
        }
        if(currangle<angle-2){
            right.brake();
        } else {
            right.setPower(MIN(power,maxPow));
        }
        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);
        for(i=0;i<4;i++)
            prev[i]=constbuf[i];
        //wait(0.05);
        constbuf = bigenc.getVals();
        int deltaTraveled=MAX((MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2,0);
        addforward(double(deltaTraveled)*0.0035362);
        distTraveled+=deltaTraveled;
        //angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
    }
    left.brake();
    right.brake();
    return 0;
    
}

int robot::turntowards(double xInches, double yInches){
    double currangle=0;//double(gyro.getZ())*2*3.14159/4050000.0;
    double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
    double finangle=angle;
    /*if(int(currangle-angle)%360>180){ //needs to turn positive degrees
        finangle=currangle+double(int(angle-currangle)%360);
    } else {//negative degrees
        finangle=currangle-double(int(currangle-angle)%360);
    }*/
    double acc=turn(0.4,finangle);
    if(acc<-0.75 && acc>0.75){
        acc=turn(0.3,finangle);
    }
        
    
    return 1;
}
    

double robot::turn(double power, double degrees){
    bigenc.resetAll();
    const int* constbuf = bigenc.getVals();
    int prev[4]={0,0,0,0};
    int startz;
    startz=0;//gyro.getZ();
    int gyroticks=(degrees*4050000)/360;
    double maxPow;
    int nowz=startz;
    int dir=0;
    if(gyroticks>startz){
        right.setPower(-power);
        left.setPower(power);
        dir=1;
    } else {
        right.setPower(power);
        left.setPower(-power);
        dir=-1;
    }
    while((gyroticks-nowz)*dir>0){
        maxPow=MAX(double(abs(gyroticks-nowz))/4050000.0,0.25);
        if(gyroticks<nowz){
            right.setPower(-MIN(power,maxPow));
            left.setPower(MIN(power,maxPow));
        } else {
            right.setPower(MIN(power,maxPow));
            left.setPower(-MIN(power,maxPow));
        }
        DBGPRINT("_%d of %d {%f, %f, %f}\r\n",(gyroticks-nowz)*dir, gyroticks,x,y,rot*180.0/3.14159);
        for(int i=0;i<4;i++)
            prev[i]=constbuf[i];
        constbuf = bigenc.getVals();
        int deltaTraveled;
        if(gyroticks<nowz){
            deltaTraveled=(MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])-MIN(-constbuf[2]+prev[2],-constbuf[3]+prev[3]))/2;
        } else {
            deltaTraveled=(-MIN(constbuf[0]-prev[0],constbuf[1]-prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2;
        }
        addforward(double(deltaTraveled)*0.0035362);
        nowz=0;//gyro.getZ();
    }
    right.brake();
    left.brake();
    return (gyroticks-nowz)*dir;
}