seeing i robot - with all the file systems and complete code
Dependencies: mbed SRF05 Servo CMPS03
main.cpp@0:ee786e500a3c, 2010-12-17 (annotated)
- Committer:
- sowmy87
- Date:
- Fri Dec 17 18:27:33 2010 +0000
- Revision:
- 0:ee786e500a3c
- Child:
- 1:2bac7b6f3840
Completed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sowmy87 | 0:ee786e500a3c | 1 | #include "mbed.h" |
sowmy87 | 0:ee786e500a3c | 2 | #include "Servo.h" |
sowmy87 | 0:ee786e500a3c | 3 | #include "SRF05.h" |
sowmy87 | 0:ee786e500a3c | 4 | #include "VS1002.h" |
sowmy87 | 0:ee786e500a3c | 5 | #include "Serializer.h" |
sowmy87 | 0:ee786e500a3c | 6 | #include "CMPS03.h" |
sowmy87 | 0:ee786e500a3c | 7 | #include "math.h" |
sowmy87 | 0:ee786e500a3c | 8 | |
sowmy87 | 0:ee786e500a3c | 9 | SRF05 srf1(p22, p23); |
sowmy87 | 0:ee786e500a3c | 10 | SRF05 srf2(p24, p25); |
sowmy87 | 0:ee786e500a3c | 11 | Serial pc(USBTX, USBRX); |
sowmy87 | 0:ee786e500a3c | 12 | Servo myservo(p21); |
sowmy87 | 0:ee786e500a3c | 13 | VS1002 mp3(p5, p6, p7, p8, "sd", |
sowmy87 | 0:ee786e500a3c | 14 | p11, p12, p13, p14, p15, |
sowmy87 | 0:ee786e500a3c | 15 | p16, p17, p20); //p14 in BoB non-functional so replace with p18 |
sowmy87 | 0:ee786e500a3c | 16 | Serializer robot; |
sowmy87 | 0:ee786e500a3c | 17 | //CMPS03 compass(p9,p10, CMPS03_DEFAULT_I2C_ADDRESS); |
sowmy87 | 0:ee786e500a3c | 18 | |
sowmy87 | 0:ee786e500a3c | 19 | |
sowmy87 | 0:ee786e500a3c | 20 | float motor_turn(); |
sowmy87 | 0:ee786e500a3c | 21 | void deviate_right(float angle); |
sowmy87 | 0:ee786e500a3c | 22 | void deviate_left(float angle); |
sowmy87 | 0:ee786e500a3c | 23 | int free_space_found = 0; |
sowmy87 | 0:ee786e500a3c | 24 | int counter =1; |
sowmy87 | 0:ee786e500a3c | 25 | |
sowmy87 | 0:ee786e500a3c | 26 | int main() |
sowmy87 | 0:ee786e500a3c | 27 | { |
sowmy87 | 0:ee786e500a3c | 28 | |
sowmy87 | 0:ee786e500a3c | 29 | float angle = 0; |
sowmy87 | 0:ee786e500a3c | 30 | float distance1 = 200; |
sowmy87 | 0:ee786e500a3c | 31 | float distance2 = 0; |
sowmy87 | 0:ee786e500a3c | 32 | int obstacle = 0; |
sowmy87 | 0:ee786e500a3c | 33 | int obstacle_count = 0; |
sowmy87 | 0:ee786e500a3c | 34 | myservo.calibrate(.0009, 180); |
sowmy87 | 0:ee786e500a3c | 35 | |
sowmy87 | 0:ee786e500a3c | 36 | #ifndef FS_ONLY |
sowmy87 | 0:ee786e500a3c | 37 | mp3._RST = 1; |
sowmy87 | 0:ee786e500a3c | 38 | mp3.cs_high(); //chip disabled |
sowmy87 | 0:ee786e500a3c | 39 | mp3.sci_initialise(); |
sowmy87 | 0:ee786e500a3c | 40 | pc.printf( "\n\rInitializing SCI!"); |
sowmy87 | 0:ee786e500a3c | 41 | //initialise MBED |
sowmy87 | 0:ee786e500a3c | 42 | mp3.sci_write(0x00,(SM_SDINEW+SM_STREAM+SM_DIFF)); |
sowmy87 | 0:ee786e500a3c | 43 | pc.printf( "\n\rWrite1!"); |
sowmy87 | 0:ee786e500a3c | 44 | |
sowmy87 | 0:ee786e500a3c | 45 | mp3.sci_write(0x03, 0x9800); |
sowmy87 | 0:ee786e500a3c | 46 | pc.printf( "\n\rWrite2!"); |
sowmy87 | 0:ee786e500a3c | 47 | |
sowmy87 | 0:ee786e500a3c | 48 | mp3.sdi_initialise(); |
sowmy87 | 0:ee786e500a3c | 49 | pc.printf("\n\rInitialing SDI!"); |
sowmy87 | 0:ee786e500a3c | 50 | |
sowmy87 | 0:ee786e500a3c | 51 | #endif |
sowmy87 | 0:ee786e500a3c | 52 | while(1) |
sowmy87 | 0:ee786e500a3c | 53 | { |
sowmy87 | 0:ee786e500a3c | 54 | pc.printf("\n\rNew code!!!"); |
sowmy87 | 0:ee786e500a3c | 55 | myservo = 0.5; |
sowmy87 | 0:ee786e500a3c | 56 | wait(1); |
sowmy87 | 0:ee786e500a3c | 57 | //distance1 = srf1.read(); |
sowmy87 | 0:ee786e500a3c | 58 | // distance2 = 200; |
sowmy87 | 0:ee786e500a3c | 59 | distance1 = 200; |
sowmy87 | 0:ee786e500a3c | 60 | distance2 = srf2.read(); |
sowmy87 | 0:ee786e500a3c | 61 | pc.printf("\n\rDistance1:%f", distance1); |
sowmy87 | 0:ee786e500a3c | 62 | pc.printf("\n\rDistance2:%f", distance2); |
sowmy87 | 0:ee786e500a3c | 63 | if(distance1 > 100 && distance2 > 120 ) |
sowmy87 | 0:ee786e500a3c | 64 | { |
sowmy87 | 0:ee786e500a3c | 65 | pc.printf("\n\r No obstacle! Go straight"); |
sowmy87 | 0:ee786e500a3c | 66 | obstacle = 0; |
sowmy87 | 0:ee786e500a3c | 67 | robot.SetSpeed(70); |
sowmy87 | 0:ee786e500a3c | 68 | |
sowmy87 | 0:ee786e500a3c | 69 | } |
sowmy87 | 0:ee786e500a3c | 70 | else |
sowmy87 | 0:ee786e500a3c | 71 | { |
sowmy87 | 0:ee786e500a3c | 72 | obstacle = 1; |
sowmy87 | 0:ee786e500a3c | 73 | obstacle_count++; |
sowmy87 | 0:ee786e500a3c | 74 | // robot.Stop(); |
sowmy87 | 0:ee786e500a3c | 75 | } |
sowmy87 | 0:ee786e500a3c | 76 | |
sowmy87 | 0:ee786e500a3c | 77 | if(obstacle_count == 1) |
sowmy87 | 0:ee786e500a3c | 78 | { |
sowmy87 | 0:ee786e500a3c | 79 | obstacle_count = 0; |
sowmy87 | 0:ee786e500a3c | 80 | robot.Stop(); |
sowmy87 | 0:ee786e500a3c | 81 | mp3.play_song(11); |
sowmy87 | 0:ee786e500a3c | 82 | angle = motor_turn(); |
sowmy87 | 0:ee786e500a3c | 83 | if( angle == -1000 ) |
sowmy87 | 0:ee786e500a3c | 84 | { |
sowmy87 | 0:ee786e500a3c | 85 | pc.printf("\n\rStuck!"); |
sowmy87 | 0:ee786e500a3c | 86 | // robot.SetSpeed(-70); |
sowmy87 | 0:ee786e500a3c | 87 | //go back |
sowmy87 | 0:ee786e500a3c | 88 | |
sowmy87 | 0:ee786e500a3c | 89 | } |
sowmy87 | 0:ee786e500a3c | 90 | else if (angle > 0) |
sowmy87 | 0:ee786e500a3c | 91 | { |
sowmy87 | 0:ee786e500a3c | 92 | pc.printf("\n\rCalling deviate_right(%f)", angle); |
sowmy87 | 0:ee786e500a3c | 93 | deviate_right(angle); |
sowmy87 | 0:ee786e500a3c | 94 | robot.SetSpeed(70); |
sowmy87 | 0:ee786e500a3c | 95 | // robot.PivetRight(angle); |
sowmy87 | 0:ee786e500a3c | 96 | } |
sowmy87 | 0:ee786e500a3c | 97 | else if(angle < 0 ) |
sowmy87 | 0:ee786e500a3c | 98 | { |
sowmy87 | 0:ee786e500a3c | 99 | pc.printf("\n\rCalling deviate_left(%f)", angle); |
sowmy87 | 0:ee786e500a3c | 100 | deviate_left(angle); |
sowmy87 | 0:ee786e500a3c | 101 | robot.SetSpeed(70); |
sowmy87 | 0:ee786e500a3c | 102 | //robot.PivetLeft(abs (angle)); |
sowmy87 | 0:ee786e500a3c | 103 | } |
sowmy87 | 0:ee786e500a3c | 104 | else if (angle == 0) |
sowmy87 | 0:ee786e500a3c | 105 | { |
sowmy87 | 0:ee786e500a3c | 106 | pc.printf("\n\rContine going straight!"); |
sowmy87 | 0:ee786e500a3c | 107 | robot.SetSpeed(70); |
sowmy87 | 0:ee786e500a3c | 108 | } |
sowmy87 | 0:ee786e500a3c | 109 | } |
sowmy87 | 0:ee786e500a3c | 110 | |
sowmy87 | 0:ee786e500a3c | 111 | } |
sowmy87 | 0:ee786e500a3c | 112 | } |
sowmy87 | 0:ee786e500a3c | 113 | |
sowmy87 | 0:ee786e500a3c | 114 | |
sowmy87 | 0:ee786e500a3c | 115 | float motor_turn() |
sowmy87 | 0:ee786e500a3c | 116 | { |
sowmy87 | 0:ee786e500a3c | 117 | free_space_found = 0; |
sowmy87 | 0:ee786e500a3c | 118 | counter = 1; |
sowmy87 | 0:ee786e500a3c | 119 | float distance1 = 0; |
sowmy87 | 0:ee786e500a3c | 120 | float distance2 = 0; |
sowmy87 | 0:ee786e500a3c | 121 | for(float i = 0.5; i <= 1; i=i+0.16) |
sowmy87 | 0:ee786e500a3c | 122 | { |
sowmy87 | 0:ee786e500a3c | 123 | myservo = i; |
sowmy87 | 0:ee786e500a3c | 124 | wait(1); |
sowmy87 | 0:ee786e500a3c | 125 | // distance1 = srf1.read(); |
sowmy87 | 0:ee786e500a3c | 126 | distance2 = srf2.read(); |
sowmy87 | 0:ee786e500a3c | 127 | pc.printf("\n\rDistance1:%f", distance1); |
sowmy87 | 0:ee786e500a3c | 128 | pc.printf("\n\rDistance2:%f", distance2); |
sowmy87 | 0:ee786e500a3c | 129 | pc.printf("\n\rAngle:%f" , (90+180*(i-0.5))); |
sowmy87 | 0:ee786e500a3c | 130 | pc.printf("\n\ri:%f", i); |
sowmy87 | 0:ee786e500a3c | 131 | |
sowmy87 | 0:ee786e500a3c | 132 | if( distance1 > 100 && distance2 > 120) |
sowmy87 | 0:ee786e500a3c | 133 | { |
sowmy87 | 0:ee786e500a3c | 134 | pc.printf("\n\rFree space found at %f degree!", (90+180*(i-0.5))); |
sowmy87 | 0:ee786e500a3c | 135 | free_space_found = 1; |
sowmy87 | 0:ee786e500a3c | 136 | mp3.play_song(counter); |
sowmy87 | 0:ee786e500a3c | 137 | return (180*(i-0.5)); |
sowmy87 | 0:ee786e500a3c | 138 | |
sowmy87 | 0:ee786e500a3c | 139 | } |
sowmy87 | 0:ee786e500a3c | 140 | counter++; |
sowmy87 | 0:ee786e500a3c | 141 | } |
sowmy87 | 0:ee786e500a3c | 142 | if( free_space_found == 0 ) |
sowmy87 | 0:ee786e500a3c | 143 | { |
sowmy87 | 0:ee786e500a3c | 144 | pc.printf("\n\rNo free space on right side!!"); |
sowmy87 | 0:ee786e500a3c | 145 | for(float i = 0.5; i >= 0 ; i=i-0.16) |
sowmy87 | 0:ee786e500a3c | 146 | { |
sowmy87 | 0:ee786e500a3c | 147 | myservo = i; |
sowmy87 | 0:ee786e500a3c | 148 | wait(1); |
sowmy87 | 0:ee786e500a3c | 149 | // distance1 = srf1.read(); |
sowmy87 | 0:ee786e500a3c | 150 | distance2 = srf2.read(); |
sowmy87 | 0:ee786e500a3c | 151 | pc.printf("\n\rDistance1:%f", distance1); |
sowmy87 | 0:ee786e500a3c | 152 | pc.printf("\n\rDistance2:%f", distance2); |
sowmy87 | 0:ee786e500a3c | 153 | pc.printf("\n\ri:%f", i); |
sowmy87 | 0:ee786e500a3c | 154 | pc.printf("\n\rAngle:%f" , (90+180*(i-0.5))); |
sowmy87 | 0:ee786e500a3c | 155 | if( distance1 > 100 && distance2 > 120 ) |
sowmy87 | 0:ee786e500a3c | 156 | { |
sowmy87 | 0:ee786e500a3c | 157 | pc.printf("\n\rFree space found at %f degree!", (90+180*(i-0.5))); |
sowmy87 | 0:ee786e500a3c | 158 | free_space_found = 1; |
sowmy87 | 0:ee786e500a3c | 159 | mp3.play_song(counter); |
sowmy87 | 0:ee786e500a3c | 160 | return (180*(i-0.5)); |
sowmy87 | 0:ee786e500a3c | 161 | |
sowmy87 | 0:ee786e500a3c | 162 | } |
sowmy87 | 0:ee786e500a3c | 163 | counter++; |
sowmy87 | 0:ee786e500a3c | 164 | } |
sowmy87 | 0:ee786e500a3c | 165 | } |
sowmy87 | 0:ee786e500a3c | 166 | |
sowmy87 | 0:ee786e500a3c | 167 | if( free_space_found == 0) |
sowmy87 | 0:ee786e500a3c | 168 | { |
sowmy87 | 0:ee786e500a3c | 169 | pc.printf("\n\rNo free space found! Go back!"); |
sowmy87 | 0:ee786e500a3c | 170 | mp3.play_song(10); |
sowmy87 | 0:ee786e500a3c | 171 | return(-1000); |
sowmy87 | 0:ee786e500a3c | 172 | } |
sowmy87 | 0:ee786e500a3c | 173 | return 0.0; |
sowmy87 | 0:ee786e500a3c | 174 | } |
sowmy87 | 0:ee786e500a3c | 175 | |
sowmy87 | 0:ee786e500a3c | 176 | |
sowmy87 | 0:ee786e500a3c | 177 | void deviate_right(float angle) |
sowmy87 | 0:ee786e500a3c | 178 | { |
sowmy87 | 0:ee786e500a3c | 179 | float distance1 = 0; |
sowmy87 | 0:ee786e500a3c | 180 | float distance2 = 0; |
sowmy87 | 0:ee786e500a3c | 181 | float distance3 = 0; |
sowmy87 | 0:ee786e500a3c | 182 | float distance4 =0; |
sowmy87 | 0:ee786e500a3c | 183 | float i = 0.5; |
sowmy87 | 0:ee786e500a3c | 184 | float deviation = 0;//Check for float with pavel |
sowmy87 | 0:ee786e500a3c | 185 | int count_deviation = 0; |
sowmy87 | 0:ee786e500a3c | 186 | pc.printf("\n\rInside deviate_right()"); |
sowmy87 | 0:ee786e500a3c | 187 | robot.PivetRight(angle); |
sowmy87 | 0:ee786e500a3c | 188 | wait(2); |
sowmy87 | 0:ee786e500a3c | 189 | pc.printf("\n\rPivetRight(%f)",angle); |
sowmy87 | 0:ee786e500a3c | 190 | robot.ClearCount(); |
sowmy87 | 0:ee786e500a3c | 191 | pc.printf("\n\rClear count!"); |
sowmy87 | 0:ee786e500a3c | 192 | robot.SetSpeed(70); |
sowmy87 | 0:ee786e500a3c | 193 | pc.printf("\n\rSetSpeed(70)"); |
sowmy87 | 0:ee786e500a3c | 194 | while(1) |
sowmy87 | 0:ee786e500a3c | 195 | { |
sowmy87 | 0:ee786e500a3c | 196 | pc.printf("\n\rInside while!!!"); |
sowmy87 | 0:ee786e500a3c | 197 | count_deviation = 0; |
sowmy87 | 0:ee786e500a3c | 198 | myservo = 0.5; |
sowmy87 | 0:ee786e500a3c | 199 | wait(1); |
sowmy87 | 0:ee786e500a3c | 200 | //distance1 = srf1.read(); |
sowmy87 | 0:ee786e500a3c | 201 | distance2 = srf2.read(); |
sowmy87 | 0:ee786e500a3c | 202 | i = (-1*angle/180 + 0.5); |
sowmy87 | 0:ee786e500a3c | 203 | myservo = i; |
sowmy87 | 0:ee786e500a3c | 204 | wait(1); |
sowmy87 | 0:ee786e500a3c | 205 | // distance3 = srf1.read(); |
sowmy87 | 0:ee786e500a3c | 206 | distance4 = srf2.read(); |
sowmy87 | 0:ee786e500a3c | 207 | |
sowmy87 | 0:ee786e500a3c | 208 | if(distance3 > 100 && distance4 > 120) |
sowmy87 | 0:ee786e500a3c | 209 | { |
sowmy87 | 0:ee786e500a3c | 210 | pc.printf("\n\rFree space at 2*i"); |
sowmy87 | 0:ee786e500a3c | 211 | deviation = robot.GetDistance(); |
sowmy87 | 0:ee786e500a3c | 212 | count_deviation = robot.GetCount(); |
sowmy87 | 0:ee786e500a3c | 213 | pc.printf("\n\rDeviation: %f, Count_deviation:%d", deviation, count_deviation); |
sowmy87 | 0:ee786e500a3c | 214 | robot.Stop(); |
sowmy87 | 0:ee786e500a3c | 215 | mp3.play_song(11); |
sowmy87 | 0:ee786e500a3c | 216 | pc.printf("\n\rStop!"); |
sowmy87 | 0:ee786e500a3c | 217 | robot.PivetLeft(angle); |
sowmy87 | 0:ee786e500a3c | 218 | mp3.play_song(counter+4); |
sowmy87 | 0:ee786e500a3c | 219 | wait(2); |
sowmy87 | 0:ee786e500a3c | 220 | robot.SetSpeed(70); |
sowmy87 | 0:ee786e500a3c | 221 | pc.printf("\n\rPivetleft(2*%f)", angle); |
sowmy87 | 0:ee786e500a3c | 222 | // robot.DiGo(count_deviation, 70); //assuming that there is no obstacle in return path! |
sowmy87 | 0:ee786e500a3c | 223 | // pc.printf("\n\rDiGo(%d,70)", count_deviation); |
sowmy87 | 0:ee786e500a3c | 224 | /* while(count_deviation != 0 ) |
sowmy87 | 0:ee786e500a3c | 225 | { |
sowmy87 | 0:ee786e500a3c | 226 | pc.printf("\n\rcount_deviation:%d", count_deviation); |
sowmy87 | 0:ee786e500a3c | 227 | count_deviation --; |
sowmy87 | 0:ee786e500a3c | 228 | wait(0.01); |
sowmy87 | 0:ee786e500a3c | 229 | }*/ |
sowmy87 | 0:ee786e500a3c | 230 | // wait(5); |
sowmy87 | 0:ee786e500a3c | 231 | // robot.Stop();//?? |
sowmy87 | 0:ee786e500a3c | 232 | // pc.printf("\n\rStop!"); |
sowmy87 | 0:ee786e500a3c | 233 | // robot.PivetRight(angle); |
sowmy87 | 0:ee786e500a3c | 234 | // pc.printf("\n\rPivetRight(%f)", angle); |
sowmy87 | 0:ee786e500a3c | 235 | return; |
sowmy87 | 0:ee786e500a3c | 236 | } |
sowmy87 | 0:ee786e500a3c | 237 | if( distance1 < 100 || distance2 < 120 ) //changed! |
sowmy87 | 0:ee786e500a3c | 238 | { |
sowmy87 | 0:ee786e500a3c | 239 | pc.printf("\n\rStuck!"); |
sowmy87 | 0:ee786e500a3c | 240 | robot.Stop(); |
sowmy87 | 0:ee786e500a3c | 241 | mp3.play_song(11); |
sowmy87 | 0:ee786e500a3c | 242 | //goback |
sowmy87 | 0:ee786e500a3c | 243 | } |
sowmy87 | 0:ee786e500a3c | 244 | |
sowmy87 | 0:ee786e500a3c | 245 | } |
sowmy87 | 0:ee786e500a3c | 246 | } |
sowmy87 | 0:ee786e500a3c | 247 | |
sowmy87 | 0:ee786e500a3c | 248 | |
sowmy87 | 0:ee786e500a3c | 249 | void deviate_left(float angle) |
sowmy87 | 0:ee786e500a3c | 250 | { |
sowmy87 | 0:ee786e500a3c | 251 | float distance1 = 0; |
sowmy87 | 0:ee786e500a3c | 252 | float distance2 = 0; |
sowmy87 | 0:ee786e500a3c | 253 | float distance3 = 0; |
sowmy87 | 0:ee786e500a3c | 254 | float distance4 = 0; |
sowmy87 | 0:ee786e500a3c | 255 | float i = 0.5; |
sowmy87 | 0:ee786e500a3c | 256 | float deviation = 0;//Check for float with pavel |
sowmy87 | 0:ee786e500a3c | 257 | int count_deviation = 0; |
sowmy87 | 0:ee786e500a3c | 258 | robot.PivetLeft(-angle); |
sowmy87 | 0:ee786e500a3c | 259 | wait(2); |
sowmy87 | 0:ee786e500a3c | 260 | pc.printf("\n\rInside deviate_left!!"); |
sowmy87 | 0:ee786e500a3c | 261 | pc.printf("\n\rPivetLeft(%f)", -angle); |
sowmy87 | 0:ee786e500a3c | 262 | robot.ClearCount(); |
sowmy87 | 0:ee786e500a3c | 263 | pc.printf("\n\rClearCount"); |
sowmy87 | 0:ee786e500a3c | 264 | robot.SetSpeed(70); |
sowmy87 | 0:ee786e500a3c | 265 | pc.printf("\n\rSetSpeed(70)"); |
sowmy87 | 0:ee786e500a3c | 266 | while(1) |
sowmy87 | 0:ee786e500a3c | 267 | { |
sowmy87 | 0:ee786e500a3c | 268 | count_deviation = 0; |
sowmy87 | 0:ee786e500a3c | 269 | myservo = 0.5; |
sowmy87 | 0:ee786e500a3c | 270 | wait(1); |
sowmy87 | 0:ee786e500a3c | 271 | // distance1 = srf1.read(); |
sowmy87 | 0:ee786e500a3c | 272 | distance2 = srf2.read(); |
sowmy87 | 0:ee786e500a3c | 273 | i = (-1*angle/180 + 0.5); |
sowmy87 | 0:ee786e500a3c | 274 | myservo = i; |
sowmy87 | 0:ee786e500a3c | 275 | wait(1); |
sowmy87 | 0:ee786e500a3c | 276 | // distance3 = srf1.read(); |
sowmy87 | 0:ee786e500a3c | 277 | distance4 = srf2.read(); |
sowmy87 | 0:ee786e500a3c | 278 | if(distance3 > 100 && distance4 > 120) |
sowmy87 | 0:ee786e500a3c | 279 | { |
sowmy87 | 0:ee786e500a3c | 280 | pc.printf("\n\r Free space at 2*i!"); |
sowmy87 | 0:ee786e500a3c | 281 | deviation = robot.GetDistance(); |
sowmy87 | 0:ee786e500a3c | 282 | count_deviation = robot.GetCount(); |
sowmy87 | 0:ee786e500a3c | 283 | pc.printf("\n\rDeviation:%f, count_deviation:%d", deviation, count_deviation); |
sowmy87 | 0:ee786e500a3c | 284 | robot.Stop(); |
sowmy87 | 0:ee786e500a3c | 285 | mp3.play_song(11); |
sowmy87 | 0:ee786e500a3c | 286 | pc.printf("\n\rStop!"); |
sowmy87 | 0:ee786e500a3c | 287 | robot.PivetRight(-1*angle); |
sowmy87 | 0:ee786e500a3c | 288 | mp3.play_song(counter-4); |
sowmy87 | 0:ee786e500a3c | 289 | wait(2); |
sowmy87 | 0:ee786e500a3c | 290 | pc.printf("\n\rPivetRight(2*%f)", -angle); |
sowmy87 | 0:ee786e500a3c | 291 | robot.SetSpeed(70); |
sowmy87 | 0:ee786e500a3c | 292 | // robot.DiGo(count_deviation, 70); //assuming that there is no obstacle in return path! |
sowmy87 | 0:ee786e500a3c | 293 | // pc.printf("\n\rDigo(%d,70)", count_deviation); |
sowmy87 | 0:ee786e500a3c | 294 | /* while(count_deviation != 0 ) |
sowmy87 | 0:ee786e500a3c | 295 | { |
sowmy87 | 0:ee786e500a3c | 296 | pc.printf("\n\rcount_deviation:%d",count_deviation); |
sowmy87 | 0:ee786e500a3c | 297 | count_deviation --; |
sowmy87 | 0:ee786e500a3c | 298 | wait(0.01); |
sowmy87 | 0:ee786e500a3c | 299 | }*/ |
sowmy87 | 0:ee786e500a3c | 300 | // wait(5); |
sowmy87 | 0:ee786e500a3c | 301 | // robot.Stop();//?? |
sowmy87 | 0:ee786e500a3c | 302 | //// pc.printf("\n\rStop!"); |
sowmy87 | 0:ee786e500a3c | 303 | // robot.PivetLeft(-angle); |
sowmy87 | 0:ee786e500a3c | 304 | // wait(5); |
sowmy87 | 0:ee786e500a3c | 305 | // pc.printf("\n\rPivetLeft(%f)", -angle); |
sowmy87 | 0:ee786e500a3c | 306 | return; |
sowmy87 | 0:ee786e500a3c | 307 | } |
sowmy87 | 0:ee786e500a3c | 308 | if( distance1 < 100 || distance2 < 120 ) //changed |
sowmy87 | 0:ee786e500a3c | 309 | { |
sowmy87 | 0:ee786e500a3c | 310 | pc.printf("\n\rStuck!"); |
sowmy87 | 0:ee786e500a3c | 311 | robot.Stop(); |
sowmy87 | 0:ee786e500a3c | 312 | mp3.play_song(11); |
sowmy87 | 0:ee786e500a3c | 313 | float ang = 0; |
sowmy87 | 0:ee786e500a3c | 314 | // ang = motor_turn(); |
sowmy87 | 0:ee786e500a3c | 315 | |
sowmy87 | 0:ee786e500a3c | 316 | |
sowmy87 | 0:ee786e500a3c | 317 | //goback |
sowmy87 | 0:ee786e500a3c | 318 | } |
sowmy87 | 0:ee786e500a3c | 319 | } |
sowmy87 | 0:ee786e500a3c | 320 | |
sowmy87 | 0:ee786e500a3c | 321 | } |