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@29:1132155bc7da, 2014-03-21 (annotated)

Committer:
sswatek
Date:
Fri Mar 21 03:16:15 2014 +0000
Revision:
29:1132155bc7da
Parent:
27:688409727452
Child:
32:ff71f61bb9f6
Calibration system for compass, not reliable enough for daily use

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