Thomas Ashworth / theRobot

For IEEE Robotics

Dependencies:   Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos

main.cpp@13:529323807361, 2014-04-02 (annotated)

Committer:
tashworth
Date:
Wed Apr 02 03:30:48 2014 +0000
Revision:
13:529323807361
Parent:
12:284be46593ae
Child:
14:784acd735b8c
4-1-14 10:31pm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tashworth 0:1b64a0cedc5d 1 #include "mbed.h"
tashworth 0:1b64a0cedc5d 2 #include "Adafruit_PWMServoDriver.h"
tashworth 0:1b64a0cedc5d 3 #include "ShapeDetect.h"
tashworth 8:77a57909aa15 4 #include "rtos.h"
tashworth 8:77a57909aa15 5 #include "PID.h"
tashworth 8:77a57909aa15 6 #include "PololuQik2.h"
tashworth 8:77a57909aa15 7 #include "QEI.h"
tashworth 8:77a57909aa15 8 #include "HCSR04.h"
tashworth 8:77a57909aa15 9 #include "stdio.h"
tashworth 8:77a57909aa15 10 #include "LPC17xx.h"
tashworth 8:77a57909aa15 11 #include "Sharp.h"
tashworth 0:1b64a0cedc5d 12
tashworth 8:77a57909aa15 13 /* Navigation Definitions */
tashworth 8:77a57909aa15 14 #define PIN_TRIGGERL (p12)
tashworth 8:77a57909aa15 15 #define PIN_ECHOL (p11)
tashworth 8:77a57909aa15 16 #define PIN_TRIGGERR (p29)
tashworth 8:77a57909aa15 17 #define PIN_ECHOR (p30)
tashworth 8:77a57909aa15 18 #define PULSE_PER_REV (1192)
tashworth 8:77a57909aa15 19 #define WHEEL_CIRCUM (12.56637)
tashworth 8:77a57909aa15 20 #define DIST_PER_PULSE (0.01054225722682)
tashworth 8:77a57909aa15 21 #define MTRS_TO_INCH (39.3701)
tashworth 8:77a57909aa15 22 #define MAX_SPEED (0.3*127)
tashworth 8:77a57909aa15 23 #define PPR (4331/4)
tashworth 8:77a57909aa15 24 #define LEFT (1)
tashworth 8:77a57909aa15 25 #define RIGHT (0)
tashworth 12:284be46593ae 26 #define STRAIGHT (2)
tashworth 8:77a57909aa15 27 #define FORWARD (1)
tashworth 8:77a57909aa15 28 #define BACKWARD (0)
tashworth 8:77a57909aa15 29 #define TOOLS (0)
tashworth 8:77a57909aa15 30 #define MID (1)
tashworth 8:77a57909aa15 31 #define RIGS (2)
tashworth 12:284be46593ae 32 #define MID2 (3)
tashworth 12:284be46593ae 33 #define RETURN (4)
tashworth 8:77a57909aa15 34 #define FAR (1)
tashworth 6:75259c3306dd 35
tashworth 6:75259c3306dd 36 //States
tashworth 6:75259c3306dd 37 #define START 0
tashworth 6:75259c3306dd 38 #define OILRIG1_POS 1
tashworth 6:75259c3306dd 39 #define OILRIG2_POS 2
tashworth 12:284be46593ae 40 #define GOTO_TOOLS1 3
tashworth 6:75259c3306dd 41 #define IDENTIFY_TOOLS 4
tashworth 6:75259c3306dd 42 #define AQUIRE_TOOL1 5
tashworth 6:75259c3306dd 43 #define AQUIRE_TOOL2 6
tashworth 6:75259c3306dd 44 #define AQUIRE_TOOL3 7
tashworth 6:75259c3306dd 45 #define NAVIGATE_WAVES_ROW1 8
tashworth 6:75259c3306dd 46 #define NAVIGATE_WAVES_ROW2 9
tashworth 6:75259c3306dd 47 #define NAVIGATE_WAVES_ROW3 10
tashworth 6:75259c3306dd 48 #define NAVIGATE_TO_SQUARE_RIG 11
tashworth 6:75259c3306dd 49 #define NAVIGATE_TO_TRIANGLE_RIG 12
tashworth 6:75259c3306dd 50 #define NAVIGATE_TO_CIRCLE_RIG 13
tashworth 6:75259c3306dd 51 #define RIG_ALIGN 14
tashworth 6:75259c3306dd 52 #define INSERT_TOOL 15
tashworth 6:75259c3306dd 53 #define END 16
tashworth 12:284be46593ae 54 #define GOTO_TOOLS2 17
tashworth 6:75259c3306dd 55
tashworth 0:1b64a0cedc5d 56
tashworth 8:77a57909aa15 57
tashworth 6:75259c3306dd 58 //Servo Static Positions
tashworth 6:75259c3306dd 59 #define STORE_POSITION 0
tashworth 6:75259c3306dd 60 #define OIL_RIG1 1
tashworth 6:75259c3306dd 61 #define OIL_RIG2 2
tashworth 6:75259c3306dd 62 #define OIL_RIG3 3
tashworth 6:75259c3306dd 63 #define DRIVE_POSITION_NOTOOL 4
tashworth 6:75259c3306dd 64 #define TOOL_1 5
tashworth 6:75259c3306dd 65 #define TOOL_2 6
tashworth 6:75259c3306dd 66 #define TOOL_3 7
tashworth 6:75259c3306dd 67 #define DRIVE_POSITION_TOOL 8
tashworth 6:75259c3306dd 68 #define ORIENT_TOOL 9
tashworth 11:8d2455e383ce 69 #define PU_TOOL_1 10
tashworth 11:8d2455e383ce 70 #define PU_TOOL_2 11
tashworth 11:8d2455e383ce 71 #define PU_TOOL_3 12
tashworth 11:8d2455e383ce 72 #define PU_TOOL_1_STAB 13
tashworth 11:8d2455e383ce 73 #define PU_TOOL_2_STAB 14
tashworth 11:8d2455e383ce 74 #define PU_TOOL_3_STAB 15
tashworth 2:4e082e4c255d 75
tashworth 6:75259c3306dd 76 //Rig definitions
tashworth 6:75259c3306dd 77 #define SQUARE 1
tashworth 6:75259c3306dd 78 #define TRIANGLE 2
tashworth 6:75259c3306dd 79 #define CIRCLE 3
tashworth 6:75259c3306dd 80
tashworth 6:75259c3306dd 81 //*********************//
tashworth 6:75259c3306dd 82 //******* TODO ********//
tashworth 6:75259c3306dd 83 //*********************//
tashworth 6:75259c3306dd 84 //Oil Rig distance thresholds
tashworth 8:77a57909aa15 85 #define OILRIG1_MAX 3000
tashworth 8:77a57909aa15 86 #define OILRIG1_MIN 1000
tashworth 9:1b29cd9ed1ba 87 #define OILRIG2_MAX 5000
tashworth 8:77a57909aa15 88 #define OILRIG2_MIN 1000
tashworth 9:1b29cd9ed1ba 89 #define OILRIG3_MAX 5000
tashworth 8:77a57909aa15 90 #define OILRIG3_MIN 1000
tashworth 6:75259c3306dd 91
tashworth 6:75259c3306dd 92 //for servo normalization
tashworth 3:b7b4780a7f6e 93 #define MIN_SERVO_PULSE 900
tashworth 3:b7b4780a7f6e 94 #define MAX_SERVO_PULSE 2100
tashworth 3:b7b4780a7f6e 95 #define SERVO_MAX_ANGLE 180
tashworth 3:b7b4780a7f6e 96
tashworth 8:77a57909aa15 97
tashworth 8:77a57909aa15 98 DigitalOut myled1(LED1);
tashworth 8:77a57909aa15 99 DigitalOut myled2(LED2);
tashworth 8:77a57909aa15 100 DigitalOut myled3(LED3);
tashworth 8:77a57909aa15 101 DigitalOut myled4(LED4);
tashworth 8:77a57909aa15 102
tashworth 8:77a57909aa15 103 void errFunction(void);
tashworth 8:77a57909aa15 104 bool cRc;
tashworth 8:77a57909aa15 105
tashworth 8:77a57909aa15 106 Serial pc(USBTX,USBRX); //USB Comm
tashworth 8:77a57909aa15 107 Adafruit_PWMServoDriver pwm(p28,p27); //pwm(SDA,SCL) - Servo Control PWM
tashworth 8:77a57909aa15 108 DigitalOut ServoOutputDisable(p8); //Servo Control Output Enable/Disable
tashworth 8:77a57909aa15 109 extern Serial lrf; //Laser Range Finder lrf(p13,p14)
tashworth 8:77a57909aa15 110 //Hardware Initialization
tashworth 8:77a57909aa15 111 //Serial bt(p13,p14);
tashworth 8:77a57909aa15 112 HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL );
tashworth 8:77a57909aa15 113 HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR );
tashworth 8:77a57909aa15 114 PID pid1(15.0,0.0,4.0,0.02);
tashworth 8:77a57909aa15 115 PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc);
tashworth 8:77a57909aa15 116 QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING);
tashworth 8:77a57909aa15 117 QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING);
tashworth 8:77a57909aa15 118 Sharp IR(p20);
tashworth 8:77a57909aa15 119 //InterruptIn encoder(p29);
tashworth 8:77a57909aa15 120
tashworth 8:77a57909aa15 121
tashworth 8:77a57909aa15 122
tashworth 8:77a57909aa15 123
tashworth 6:75259c3306dd 124 /***************
tashworth 6:75259c3306dd 125 local servo functions
tashworth 6:75259c3306dd 126 ****************/
tashworth 1:fe4a0b47ff25 127 void servoBegin(void);
tashworth 0:1b64a0cedc5d 128 void initServoDriver(void);
tashworth 3:b7b4780a7f6e 129 void setServoPulse(uint8_t n, int angle);
tashworth 3:b7b4780a7f6e 130 void setServoPulseNo_delay(uint8_t n, int angle);
tashworth 0:1b64a0cedc5d 131 void servoPosition(int set);
tashworth 6:75259c3306dd 132 int fire_checker(int rig);
tashworth 6:75259c3306dd 133
tashworth 8:77a57909aa15 134
tashworth 8:77a57909aa15 135 //Navigation Functions
tashworth 12:284be46593ae 136 void wall_follow(int side, int direction, int section);
tashworth 12:284be46593ae 137 void wall_follow2(int side, int direction, int section, float location, int rig);
tashworth 8:77a57909aa15 138 void leftTurn(void);
tashworth 8:77a57909aa15 139 void slightleft(void);
tashworth 12:284be46593ae 140 void slightright(void);
tashworth 8:77a57909aa15 141 void rightTurn(void);
tashworth 12:284be46593ae 142 void slightMove(int direction, float pulses);
tashworth 12:284be46593ae 143 void to_tools_section1(float* location, float &current);
tashworth 12:284be46593ae 144 void to_tools_section2(float* location, float &current);
tashworth 8:77a57909aa15 145 void from_tools_section(float* location, float &current);
tashworth 8:77a57909aa15 146 void mid_section(float* location, float &current, int* direction);
tashworth 8:77a57909aa15 147 void mid_section2(float* location, float &current, int* direction);
tashworth 8:77a57909aa15 148 void rig_section(float* location, float &current, int* direction, int rig);
tashworth 12:284be46593ae 149 void tools_section_return(float* location, float &current);
tashworth 12:284be46593ae 150 void mid_section_return(float* location, float &current, int* direction);
tashworth 12:284be46593ae 151 void mid_section2_return(float* location, float &current, int* direction);
tashworth 12:284be46593ae 152 void rig_section_return(float* location, float &current, int* direction);
tashworth 8:77a57909aa15 153 void overBump(int section);
tashworth 8:77a57909aa15 154 void alignWithWall(int section);
tashworth 12:284be46593ae 155 void UntilWall(int dir);
tashworth 8:77a57909aa15 156
tashworth 8:77a57909aa15 157
tashworth 6:75259c3306dd 158 /************
tashworth 6:75259c3306dd 159 Main Variables
tashworth 6:75259c3306dd 160 *************/
tashworth 6:75259c3306dd 161 int state = START;
tashworth 6:75259c3306dd 162 int fire = 0;
tashworth 6:75259c3306dd 163 int tool_needed = 0;
tashworth 6:75259c3306dd 164 int shape_detected = 0;
tashworth 8:77a57909aa15 165 float range, range2, pid_return;
tashworth 8:77a57909aa15 166
tashworth 0:1b64a0cedc5d 167
tashworth 0:1b64a0cedc5d 168 /************
tashworth 0:1b64a0cedc5d 169 Variables for Servos
tashworth 0:1b64a0cedc5d 170 *************/
tashworth 3:b7b4780a7f6e 171 int servoNum, servoAngle, outputDisabled, posNum, testVal;
tashworth 3:b7b4780a7f6e 172 int currentPosition[7];
tashworth 0:1b64a0cedc5d 173
tashworth 3:b7b4780a7f6e 174 typedef struct {
tashworth 6:75259c3306dd 175 int arm_position_name; //for organization only (STORE, OILRIG1, OILRIG2...)
tashworth 3:b7b4780a7f6e 176 int base_rotate;
tashworth 3:b7b4780a7f6e 177 int base_arm;
tashworth 3:b7b4780a7f6e 178 int big_arm;
tashworth 3:b7b4780a7f6e 179 int claw_arm;
tashworth 3:b7b4780a7f6e 180 int claw_rotate;
tashworth 3:b7b4780a7f6e 181 int claw_open;
tashworth 3:b7b4780a7f6e 182 } Coord;
tashworth 3:b7b4780a7f6e 183
tashworth 6:75259c3306dd 184 /********************
tashworth 6:75259c3306dd 185 Static Arm Positions
tashworth 6:75259c3306dd 186 *********************/
tashworth 6:75259c3306dd 187
tashworth 3:b7b4780a7f6e 188 Coord Arm_Table[] = {
tashworth 6:75259c3306dd 189
tashworth 3:b7b4780a7f6e 190 // POSITION ODER:
tashworth 6:75259c3306dd 191 // base_rotate, base_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open
tashworth 3:b7b4780a7f6e 192
tashworth 8:77a57909aa15 193 //increase in number 5 rotates gripper
tashworth 8:77a57909aa15 194
tashworth 11:8d2455e383ce 195 {STORE_POSITION, 85, 5, 0, 165, 175, 0}, // storing position
tashworth 12:284be46593ae 196 {OIL_RIG1, 160, 20, 60, 45, 175, 0}, // point laser at oilrig1
tashworth 12:284be46593ae 197 {OIL_RIG2, 163, 20, 60, 45, 175, 0}, // point laser at oilrig2
tashworth 12:284be46593ae 198 {OIL_RIG3, 130, 90, 90, 52, 175, 0}, // point laser at oilrig2
tashworth 12:284be46593ae 199 {DRIVE_POSITION_NOTOOL, 85, 5, 0, 165, 175, 0}, // Drive through course
tashworth 12:284be46593ae 200 {TOOL_1, 94, 50, 80, 109, 175, 0}, // Look over first tool
tashworth 12:284be46593ae 201 {TOOL_2, 77, 50, 80, 110, 175, 0}, // Look over second tool
tashworth 12:284be46593ae 202 {TOOL_3, 57, 50, 80, 109, 175, 0}, // Look over third tool
tashworth 8:77a57909aa15 203 {DRIVE_POSITION_TOOL, 55, 70, 102, 74, 0, 0}, // Drive with tool loaded
tashworth 6:75259c3306dd 204 {ORIENT_TOOL, 135, 60, 75, 60, 90, 90}, // position tool to be inserted
tashworth 11:8d2455e383ce 205 {PU_TOOL_1, 98, 50, 82, 118, 90, 0}, // STATIC Pickup tool POSITION
tashworth 11:8d2455e383ce 206 {PU_TOOL_2, 78, 50, 82, 108, 90, 0}, // STATIC Pickup tool POSITION
tashworth 11:8d2455e383ce 207 {PU_TOOL_3, 53, 50, 82, 118, 90, 0}, // STATIC Pickup tool POSITION
tashworth 11:8d2455e383ce 208 {PU_TOOL_1_STAB, 98, 50, 90, 118, 90, 0}, // STAB TOOL 1
tashworth 11:8d2455e383ce 209 {PU_TOOL_2_STAB, 78, 50, 90, 108, 90, 0}, // STAB TOOL 2
tashworth 11:8d2455e383ce 210 {PU_TOOL_3_STAB, 53, 50, 90, 118, 90, 0}, // STAB TOOL 3
tashworth 3:b7b4780a7f6e 211 };
tashworth 3:b7b4780a7f6e 212
tashworth 3:b7b4780a7f6e 213
tashworth 3:b7b4780a7f6e 214 /* Variables for imageprocessing and distance */
tashworth 3:b7b4780a7f6e 215 int x_coord;
tashworth 3:b7b4780a7f6e 216 int y_coord;
tashworth 3:b7b4780a7f6e 217 int area;
tashworth 3:b7b4780a7f6e 218 int shape;
tashworth 13:529323807361 219 int shape_alignX_done = 0;
tashworth 13:529323807361 220
tashworth 3:b7b4780a7f6e 221
tashworth 6:75259c3306dd 222 /* Variables for distance sensor*/
tashworth 8:77a57909aa15 223 int distLaser;
tashworth 6:75259c3306dd 224 int fire_detected = 0;
tashworth 6:75259c3306dd 225 int fire_not_detected = 0;
tashworth 3:b7b4780a7f6e 226
tashworth 0:1b64a0cedc5d 227
tashworth 3:b7b4780a7f6e 228 int main()
tashworth 3:b7b4780a7f6e 229 {
tashworth 3:b7b4780a7f6e 230
tashworth 3:b7b4780a7f6e 231 /*****************
tashworth 3:b7b4780a7f6e 232 INITIALIZATIONS
tashworth 3:b7b4780a7f6e 233 *******************/
tashworth 12:284be46593ae 234 float location[3], current=4;
tashworth 8:77a57909aa15 235 int direction[3];
tashworth 8:77a57909aa15 236 double distance;
tashworth 8:77a57909aa15 237
tashworth 9:1b29cd9ed1ba 238
tashworth 3:b7b4780a7f6e 239 pc.baud(115200);
tashworth 6:75259c3306dd 240 //Laser Range Finder Initialization
tashworth 3:b7b4780a7f6e 241 lrf_baudCalibration();
tashworth 8:77a57909aa15 242 motors.begin();
tashworth 3:b7b4780a7f6e 243
tashworth 6:75259c3306dd 244 //Servo initialization
tashworth 3:b7b4780a7f6e 245 initServoDriver();
tashworth 6:75259c3306dd 246 servoBegin(); //initiates servos to start position
tashworth 11:8d2455e383ce 247 //ServoOutputDisable = 0;
tashworth 11:8d2455e383ce 248
tashworth 11:8d2455e383ce 249
tashworth 6:75259c3306dd 250 /*******************
tashworth 6:75259c3306dd 251 WHILE LOOP FOR TESTING
tashworth 6:75259c3306dd 252 ********************/
tashworth 12:284be46593ae 253 //while(1) {
tashworth 13:529323807361 254 /*
tashworth 13:529323807361 255 pc.scanf("%d %d", &servoNum, &servoAngle);
tashworth 13:529323807361 256 if(servoAngle > 175) {
tashworth 13:529323807361 257 servoAngle = 175;
tashworth 13:529323807361 258 }
tashworth 13:529323807361 259 if(servoNum > 5 ) {
tashworth 13:529323807361 260 servoNum = 0;
tashworth 13:529323807361 261 servoAngle = 90;
tashworth 13:529323807361 262 }
tashworth 13:529323807361 263 setServoPulse(servoNum, servoAngle);
tashworth 13:529323807361 264 distLaser = getDistance();
tashworth 13:529323807361 265 pc.printf("Distance %d", distLaser);
tashworth 13:529323807361 266 */
tashworth 11:8d2455e383ce 267
tashworth 13:529323807361 268 /*
tashworth 13:529323807361 269 int shape_alignX_done = 0;
tashworth 13:529323807361 270 int shape_alignY_done = 0;
tashworth 8:77a57909aa15 271
tashworth 11:8d2455e383ce 272
tashworth 13:529323807361 273 //pc.scanf("%d", &posNum);
tashworth 11:8d2455e383ce 274
tashworth 13:529323807361 275 while(pc.getc() != 'g');
tashworth 13:529323807361 276 servoPosition(TOOL_1);
tashworth 13:529323807361 277 while(pc.getc() != 'g');
tashworth 13:529323807361 278 //shape_detected = shapeDetection();
tashworth 11:8d2455e383ce 279
tashworth 13:529323807361 280 ImageToArray(GREYSCALE);
tashworth 13:529323807361 281 //clearBounds();
tashworth 13:529323807361 282 printImageToFile(GREYSCALE);
tashworth 13:529323807361 283 while(1);
tashworth 11:8d2455e383ce 284
tashworth 13:529323807361 285 while(shape_alignY_done == 0) {
tashworth 13:529323807361 286 shape_detected = shapeDetection();
tashworth 13:529323807361 287 pc.printf("\nY movement\n");
tashworth 13:529323807361 288 if(get_com_y() >= 80) {
tashworth 13:529323807361 289 setServoPulse(1, Arm_Table[TOOL_1].base_arm-=2);
tashworth 13:529323807361 290 setServoPulse(2, Arm_Table[TOOL_1].big_arm-=1);
tashworth 13:529323807361 291 //setServoPulse(3, Arm_Table[TOOL_1].claw_arm+=2);
tashworth 13:529323807361 292 } else if(get_com_y() > 70 && get_com_y() < 90) {
tashworth 13:529323807361 293 setServoPulse(1, Arm_Table[TOOL_1].base_arm-=1);
tashworth 13:529323807361 294 setServoPulse(2, Arm_Table[TOOL_1].big_arm-=1);
tashworth 13:529323807361 295 //setServoPulse(3, Arm_Table[TOOL_1].claw_arm+=1);
tashworth 13:529323807361 296 } else if(get_com_y() <= 35 ) {
tashworth 13:529323807361 297 setServoPulse(1, Arm_Table[TOOL_1].base_arm+=2);
tashworth 13:529323807361 298 setServoPulse(2, Arm_Table[TOOL_1].big_arm+=1);
tashworth 13:529323807361 299 //setServoPulse(3, Arm_Table[TOOL_1].claw_arm-=2);
tashworth 13:529323807361 300 } else if(get_com_y() < 50 && get_com_y() > 20) {
tashworth 13:529323807361 301 setServoPulse(1, Arm_Table[TOOL_1].base_arm+=1);
tashworth 13:529323807361 302 setServoPulse(2, Arm_Table[TOOL_1].big_arm+=1);
tashworth 13:529323807361 303 //setServoPulse(3, Arm_Table[TOOL_1].claw_arm-=1);
tashworth 13:529323807361 304 } else {
tashworth 13:529323807361 305 shape_alignY_done = 1;
tashworth 13:529323807361 306 }
tashworth 13:529323807361 307 }
tashworth 11:8d2455e383ce 308
tashworth 13:529323807361 309 while( shape_alignX_done == 0){
tashworth 13:529323807361 310 shape_detected = shapeDetection();
tashworth 13:529323807361 311 pc.printf("\nX movement\n");
tashworth 13:529323807361 312 if(get_com_x() > 95) {
tashworth 13:529323807361 313 Arm_Table[TOOL_1].base_rotate+=1;
tashworth 13:529323807361 314 setServoPulse(0, Arm_Table[TOOL_1].base_rotate);
tashworth 13:529323807361 315 setServoPulse(0, Arm_Table[TOOL_1].base_rotate-1);
tashworth 13:529323807361 316 setServoPulse(0, Arm_Table[TOOL_1].base_rotate+1);
tashworth 11:8d2455e383ce 317
tashworth 11:8d2455e383ce 318
tashworth 13:529323807361 319 } else if(get_com_x() < 65) {
tashworth 13:529323807361 320 Arm_Table[TOOL_1].base_rotate-=1;
tashworth 13:529323807361 321 setServoPulse(0, Arm_Table[TOOL_1].base_rotate);
tashworth 13:529323807361 322 setServoPulse(0, Arm_Table[TOOL_1].base_rotate-1);
tashworth 13:529323807361 323 setServoPulse(0, Arm_Table[TOOL_1].base_rotate+1);
tashworth 11:8d2455e383ce 324
tashworth 13:529323807361 325 } else {
tashworth 13:529323807361 326 shape_alignX_done = 1;
tashworth 13:529323807361 327 }
tashworth 11:8d2455e383ce 328
tashworth 11:8d2455e383ce 329
tashworth 13:529323807361 330 }
tashworth 13:529323807361 331 printImageToFile(BINARY);*/
tashworth 9:1b29cd9ed1ba 332
tashworth 13:529323807361 333 // }
tashworth 3:b7b4780a7f6e 334
tashworth 11:8d2455e383ce 335
tashworth 11:8d2455e383ce 336
tashworth 11:8d2455e383ce 337
tashworth 11:8d2455e383ce 338
tashworth 7:8fb4204f9600 339 /********************************
tashworth 7:8fb4204f9600 340 MAIN WHILE LOOP FOR COMPETITION
tashworth 7:8fb4204f9600 341 *********************************/
tashworth 3:b7b4780a7f6e 342 while(1) {
tashworth 10:1a1d52207f59 343
tashworth 6:75259c3306dd 344 switch (state) {
tashworth 8:77a57909aa15 345
tashworth 7:8fb4204f9600 346 /**************************************************
tashworth 7:8fb4204f9600 347 * STAGE 0
tashworth 7:8fb4204f9600 348 *
tashworth 7:8fb4204f9600 349 * - START OF THE COMETITION
tashworth 7:8fb4204f9600 350 *
tashworth 7:8fb4204f9600 351 **************************************************/
tashworth 6:75259c3306dd 352 case START :
tashworth 6:75259c3306dd 353 myled1 = 1;
tashworth 13:529323807361 354 while(pc.getc() != 'g'); //waits for the letter g before starting program
tashworth 6:75259c3306dd 355 myled1 = 0;
tashworth 6:75259c3306dd 356 state = OILRIG1_POS;
tashworth 3:b7b4780a7f6e 357 break;
tashworth 3:b7b4780a7f6e 358
tashworth 13:529323807361 359
tashworth 6:75259c3306dd 360 /**************************************************
tashworth 6:75259c3306dd 361 * STAGE 1
tashworth 6:75259c3306dd 362 *
tashworth 6:75259c3306dd 363 * - DETERMINE OIL RIG ON FIRE
tashworth 6:75259c3306dd 364 *
tashworth 6:75259c3306dd 365 **************************************************/
tashworth 6:75259c3306dd 366 case OILRIG1_POS: //aims arm at square oil rig
tashworth 10:1a1d52207f59 367
tashworth 13:529323807361 368 servoPosition(OIL_RIG1);
tashworth 13:529323807361 369 wait(3); //wait for servo to settle before laser distance
tashworth 11:8d2455e383ce 370
tashworth 6:75259c3306dd 371 fire = fire_checker(OIL_RIG1); //determines if oil rig is on fire
tashworth 12:284be46593ae 372
tashworth 6:75259c3306dd 373 //determines what tool is needed
tashworth 6:75259c3306dd 374 if (fire == 1) {
tashworth 13:529323807361 375 pc.printf("FIRE FOUND!!!!!!!!\n\r");
tashworth 6:75259c3306dd 376 tool_needed = SQUARE;
tashworth 12:284be46593ae 377 state = GOTO_TOOLS1;
tashworth 6:75259c3306dd 378 } else {
tashworth 13:529323807361 379 pc.printf("XXXXXX FIRE NOT FOUND XXXXXX");
tashworth 6:75259c3306dd 380 state = OILRIG2_POS;
tashworth 6:75259c3306dd 381 }
tashworth 6:75259c3306dd 382 break;
tashworth 6:75259c3306dd 383
tashworth 6:75259c3306dd 384 case OILRIG2_POS:
tashworth 12:284be46593ae 385
tashworth 13:529323807361 386 servoPosition(DRIVE_POSITION_NOTOOL);
tashworth 12:284be46593ae 387 wait(3); //wait for servos to settle
tashworth 12:284be46593ae 388
tashworth 13:529323807361 389 to_tools_section2(location, current); // moves to second rig
tashworth 12:284be46593ae 390
tashworth 6:75259c3306dd 391 servoPosition(OIL_RIG2); //position arm to point at first oilrig
tashworth 13:529323807361 392 wait(3);
tashworth 13:529323807361 393
tashworth 6:75259c3306dd 394 fire = fire_checker(OIL_RIG2);
tashworth 6:75259c3306dd 395 if (fire == 1) {
tashworth 13:529323807361 396 pc.printf("FIRE FOUND!!!!!!!!");
tashworth 6:75259c3306dd 397 tool_needed = TRIANGLE;
tashworth 12:284be46593ae 398 state = GOTO_TOOLS2;
tashworth 6:75259c3306dd 399 } else {
tashworth 13:529323807361 400 pc.printf("XXXXXX FIRE NOT FOUND XXXXXX");
tashworth 6:75259c3306dd 401 tool_needed = CIRCLE;
tashworth 12:284be46593ae 402 state = GOTO_TOOLS2;
tashworth 6:75259c3306dd 403 }
tashworth 6:75259c3306dd 404 break;
tashworth 6:75259c3306dd 405
tashworth 6:75259c3306dd 406 /**************************************************
tashworth 6:75259c3306dd 407 * STAGE 2
tashworth 6:75259c3306dd 408 *
tashworth 6:75259c3306dd 409 * - TRAVEL TO TOOLS
tashworth 6:75259c3306dd 410 *
tashworth 6:75259c3306dd 411 **************************************************/
tashworth 12:284be46593ae 412 case GOTO_TOOLS1:
tashworth 12:284be46593ae 413
tashworth 13:529323807361 414 servoPosition(DRIVE_POSITION_NOTOOL);
tashworth 13:529323807361 415 wait(3); //wait for servos to settle
tashworth 12:284be46593ae 416 to_tools_section1(location, current);
tashworth 12:284be46593ae 417 state = IDENTIFY_TOOLS;
tashworth 12:284be46593ae 418 break;
tashworth 12:284be46593ae 419
tashworth 12:284be46593ae 420 case GOTO_TOOLS2:
tashworth 12:284be46593ae 421
tashworth 13:529323807361 422 servoPosition(DRIVE_POSITION_NOTOOL);
tashworth 13:529323807361 423 wait(3); //wait for servos to settle
tashworth 8:77a57909aa15 424
tashworth 12:284be46593ae 425 slightMove(FORWARD,3100);
tashworth 12:284be46593ae 426 current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
tashworth 6:75259c3306dd 427
tashworth 6:75259c3306dd 428 state = IDENTIFY_TOOLS;
tashworth 6:75259c3306dd 429 break;
tashworth 12:284be46593ae 430
tashworth 13:529323807361 431
tashworth 13:529323807361 432
tashworth 6:75259c3306dd 433 /**************************************************
tashworth 6:75259c3306dd 434 * STAGE 3
tashworth 6:75259c3306dd 435 *
tashworth 6:75259c3306dd 436 * - Determine order of tools
tashworth 6:75259c3306dd 437 * - Aquire appropriate tool
tashworth 6:75259c3306dd 438 *
tashworth 6:75259c3306dd 439 **************************************************/
tashworth 6:75259c3306dd 440 case IDENTIFY_TOOLS:
tashworth 12:284be46593ae 441
tashworth 12:284be46593ae 442 servoPosition(TOOL_2); //arm/camera looks over tool
tashworth 12:284be46593ae 443 wait(5); //wait for servos to settle
tashworth 13:529323807361 444
tashworth 13:529323807361 445 //shape_detected = shapeDetection(); //determines the shape
tashworth 13:529323807361 446 //clearBounds();
tashworth 12:284be46593ae 447 //printImageToFile(BINARY);
tashworth 3:b7b4780a7f6e 448
tashworth 13:529323807361 449 while( shape_alignX_done == 0) {
tashworth 6:75259c3306dd 450 shape_detected = shapeDetection();
tashworth 13:529323807361 451 pc.printf("X - Adjust to center tool\n\r");
tashworth 13:529323807361 452 if(get_com_x() > 95) {
tashworth 13:529323807361 453 Arm_Table[TOOL_1].base_rotate+=1;
tashworth 13:529323807361 454
tashworth 13:529323807361 455 } else if(get_com_x() < 65) {
tashworth 13:529323807361 456 Arm_Table[TOOL_1].base_rotate-=1;
tashworth 13:529323807361 457
tashworth 6:75259c3306dd 458 } else {
tashworth 13:529323807361 459 shape_alignX_done = 1;
tashworth 6:75259c3306dd 460 }
tashworth 12:284be46593ae 461
tashworth 12:284be46593ae 462
tashworth 13:529323807361 463 //either goes to aquire the tool or look at the next shape
tashworth 13:529323807361 464 if(shape_detected == tool_needed) {
tashworth 13:529323807361 465 state = AQUIRE_TOOL2;
tashworth 13:529323807361 466 } else {
tashworth 13:529323807361 467 servoPosition(TOOL_1);
tashworth 13:529323807361 468 wait(3); //wait for servos to settle
tashworth 13:529323807361 469
tashworth 13:529323807361 470 shape_alignX_done = 0;
tashworth 13:529323807361 471 while( shape_alignX_done == 0) {
tashworth 13:529323807361 472
tashworth 13:529323807361 473 shape_detected = shapeDetection();
tashworth 13:529323807361 474 pc.printf("X - Adjust to center tool\n\r");
tashworth 13:529323807361 475 if(get_com_x() > 95) {
tashworth 13:529323807361 476 Arm_Table[TOOL_1].base_rotate+=1;
tashworth 13:529323807361 477
tashworth 13:529323807361 478 } else if(get_com_x() < 65) {
tashworth 13:529323807361 479 Arm_Table[TOOL_1].base_rotate-=1;
tashworth 13:529323807361 480
tashworth 13:529323807361 481 } else {
tashworth 13:529323807361 482 shape_alignX_done = 1;
tashworth 13:529323807361 483 }
tashworth 13:529323807361 484
tashworth 13:529323807361 485 if (shape_detected == tool_needed) {
tashworth 13:529323807361 486 state = AQUIRE_TOOL;
tashworth 13:529323807361 487 } else {
tashworth 13:529323807361 488 servoPosition(TOOL_3);
tashworth 13:529323807361 489 wait(3); //wait for servos to settle
tashworth 13:529323807361 490 shape_detected = shapeDetection();
tashworth 13:529323807361 491 pc.printf("X - Adjust to center tool\n\r");
tashworth 13:529323807361 492 if(get_com_x() > 95) {
tashworth 13:529323807361 493 Arm_Table[TOOL_1].base_rotate+=1;
tashworth 13:529323807361 494
tashworth 13:529323807361 495 } else if(get_com_x() < 65) {
tashworth 13:529323807361 496 Arm_Table[TOOL_1].base_rotate-=1;
tashworth 13:529323807361 497
tashworth 13:529323807361 498 } else {
tashworth 13:529323807361 499 shape_alignX_done = 1;
tashworth 13:529323807361 500 }
tashworth 13:529323807361 501
tashworth 13:529323807361 502 state = AQUIRE_TOOL3;
tashworth 13:529323807361 503 }
tashworth 13:529323807361 504 }
tashworth 13:529323807361 505
tashworth 13:529323807361 506 while(1);
tashworth 13:529323807361 507 break;
tashworth 13:529323807361 508
tashworth 13:529323807361 509 case AQUIRE_TOOL1:
tashworth 13:529323807361 510
tashworth 13:529323807361 511 servoPosition(PU_TOOL_1_STAB);
tashworth 13:529323807361 512 wait(2);
tashworth 13:529323807361 513
tashworth 13:529323807361 514 servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool
tashworth 13:529323807361 515 state = NAVIGATE_WAVES_ROW1;
tashworth 13:529323807361 516 break;
tashworth 13:529323807361 517
tashworth 13:529323807361 518 case AQUIRE_TOOL2:
tashworth 13:529323807361 519 servoPosition(PU_TOOL_2_STAB);
tashworth 13:529323807361 520 wait(2);
tashworth 13:529323807361 521
tashworth 13:529323807361 522 servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool
tashworth 13:529323807361 523 state = NAVIGATE_WAVES_ROW1;
tashworth 13:529323807361 524 break;
tashworth 13:529323807361 525
tashworth 13:529323807361 526 case AQUIRE_TOOL3:
tashworth 13:529323807361 527 servoPosition(PU_TOOL_3_STAB);
tashworth 13:529323807361 528 wait(2);
tashworth 13:529323807361 529
tashworth 13:529323807361 530
tashworth 13:529323807361 531 servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool
tashworth 13:529323807361 532 state = NAVIGATE_WAVES_ROW1;
tashworth 13:529323807361 533 break;
tashworth 3:b7b4780a7f6e 534
tashworth 0:1b64a0cedc5d 535
tashworth 13:529323807361 536 /**************************************************
tashworth 13:529323807361 537 * STAGE 4
tashworth 13:529323807361 538 *
tashworth 13:529323807361 539 * - Navigate through the ocean
tashworth 13:529323807361 540 *
tashworth 13:529323807361 541 **************************************************/
tashworth 6:75259c3306dd 542
tashworth 13:529323807361 543 case NAVIGATE_WAVES_ROW1:
tashworth 13:529323807361 544 //*********************//
tashworth 13:529323807361 545 //******* TODO ********//
tashworth 13:529323807361 546 //*********************//
tashworth 13:529323807361 547 // CODE TO NAVIGATE ROW1
tashworth 13:529323807361 548 state = NAVIGATE_WAVES_ROW2;
tashworth 13:529323807361 549 break;
tashworth 6:75259c3306dd 550
tashworth 13:529323807361 551 case NAVIGATE_WAVES_ROW2:
tashworth 13:529323807361 552 //*********************//
tashworth 13:529323807361 553 //******* TODO ********//
tashworth 13:529323807361 554 //*********************//
tashworth 13:529323807361 555 // CODE TO NAVIGATE ROW2
tashworth 13:529323807361 556 state = NAVIGATE_WAVES_ROW3;
tashworth 13:529323807361 557 break;
tashworth 3:b7b4780a7f6e 558
tashworth 13:529323807361 559 case NAVIGATE_WAVES_ROW3:
tashworth 13:529323807361 560 //*********************//
tashworth 13:529323807361 561 //******* TODO ********//
tashworth 13:529323807361 562 //*********************//
tashworth 13:529323807361 563 // CODE TO NAVIGATE ROW3
tashworth 7:8fb4204f9600 564
tashworth 13:529323807361 565 //goes to appropriate rig
tashworth 13:529323807361 566 if(shape_detected == 1) {
tashworth 13:529323807361 567 state = NAVIGATE_TO_SQUARE_RIG;
tashworth 13:529323807361 568 } else if(shape_detected == 2) {
tashworth 13:529323807361 569 state = NAVIGATE_TO_TRIANGLE_RIG;
tashworth 13:529323807361 570 } else {
tashworth 13:529323807361 571 state = NAVIGATE_TO_CIRCLE_RIG;
tashworth 13:529323807361 572 }
tashworth 13:529323807361 573 break;
tashworth 6:75259c3306dd 574
tashworth 13:529323807361 575 /**************************************************
tashworth 13:529323807361 576 * STAGE 5
tashworth 13:529323807361 577 *
tashworth 13:529323807361 578 * - Travel to appropriate rig
tashworth 13:529323807361 579 *
tashworth 13:529323807361 580 **************************************************/
tashworth 13:529323807361 581 case NAVIGATE_TO_SQUARE_RIG:
tashworth 13:529323807361 582 //NAVIGATION CODE HERE
tashworth 13:529323807361 583 state = RIG_ALIGN;
tashworth 13:529323807361 584 break;
tashworth 13:529323807361 585 case NAVIGATE_TO_TRIANGLE_RIG:
tashworth 13:529323807361 586 //NAVIGATION CODE HERE
tashworth 13:529323807361 587 state = RIG_ALIGN;
tashworth 13:529323807361 588 break;
tashworth 13:529323807361 589 case NAVIGATE_TO_CIRCLE_RIG:
tashworth 13:529323807361 590 //NAVIGATION CODE HERE
tashworth 13:529323807361 591 state = RIG_ALIGN;
tashworth 13:529323807361 592 break;
tashworth 3:b7b4780a7f6e 593
tashworth 13:529323807361 594 /**************************************************
tashworth 13:529323807361 595 * STAGE 6
tashworth 13:529323807361 596 *
tashworth 13:529323807361 597 * - Align with appropriate rig
tashworth 13:529323807361 598 *
tashworth 13:529323807361 599 **************************************************/
tashworth 13:529323807361 600 case RIG_ALIGN:
tashworth 7:8fb4204f9600 601
tashworth 13:529323807361 602 //*********************//
tashworth 13:529323807361 603 //******* TODO ********//
tashworth 13:529323807361 604 //*********************//
tashworth 13:529323807361 605 // CODE TO ALIGN ROBOT WITH RIG
tashworth 7:8fb4204f9600 606
tashworth 13:529323807361 607 servoPosition(ORIENT_TOOL);
tashworth 13:529323807361 608 wait(1); //wait for servos to settle
tashworth 13:529323807361 609 state = INSERT_TOOL;
tashworth 13:529323807361 610 break;
tashworth 3:b7b4780a7f6e 611
tashworth 13:529323807361 612 /**************************************************
tashworth 13:529323807361 613 * STAGE 7
tashworth 13:529323807361 614 *
tashworth 13:529323807361 615 * - Insert Tool
tashworth 13:529323807361 616 * - Extenguish fire
tashworth 13:529323807361 617 * - win contest
tashworth 13:529323807361 618 *
tashworth 13:529323807361 619 **************************************************/
tashworth 7:8fb4204f9600 620
tashworth 13:529323807361 621 case INSERT_TOOL:
tashworth 13:529323807361 622 //*********************//
tashworth 13:529323807361 623 //******* TODO ********//
tashworth 13:529323807361 624 //*********************//
tashworth 13:529323807361 625 // CODE TO INSERT TOOL
tashworth 13:529323807361 626 break;
tashworth 3:b7b4780a7f6e 627
tashworth 13:529323807361 628 /**************************************************
tashworth 13:529323807361 629 * STAGE 8
tashworth 13:529323807361 630 *
tashworth 13:529323807361 631 * - END COMPETITION
tashworth 13:529323807361 632 *
tashworth 13:529323807361 633 **************************************************/
tashworth 13:529323807361 634 case END:
tashworth 13:529323807361 635 servoPosition(STORE_POSITION);
tashworth 13:529323807361 636 myled1 = 1;
tashworth 13:529323807361 637 wait(.2);
tashworth 13:529323807361 638 myled2 = 1;
tashworth 13:529323807361 639 wait(.2);
tashworth 13:529323807361 640 myled3 = 1;
tashworth 13:529323807361 641 wait(.2);
tashworth 13:529323807361 642 myled4 = 1;
tashworth 13:529323807361 643 wait(.2);
tashworth 13:529323807361 644 break;
tashworth 13:529323807361 645 default:
tashworth 3:b7b4780a7f6e 646
tashworth 13:529323807361 647 break;
tashworth 13:529323807361 648 }
tashworth 13:529323807361 649 }
tashworth 6:75259c3306dd 650
tashworth 0:1b64a0cedc5d 651
tashworth 13:529323807361 652 }
tashworth 0:1b64a0cedc5d 653
tashworth 0:1b64a0cedc5d 654
tashworth 0:1b64a0cedc5d 655
tashworth 13:529323807361 656 /************
tashworth 0:1b64a0cedc5d 657
tashworth 13:529323807361 658 Servo Functions
tashworth 3:b7b4780a7f6e 659
tashworth 13:529323807361 660 **************/
tashworth 3:b7b4780a7f6e 661
tashworth 13:529323807361 662 void setServoPulse(uint8_t n, int angle) {
tashworth 13:529323807361 663 int pulse;
tashworth 13:529323807361 664 pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE);
tashworth 13:529323807361 665 float pulselength = 20000; // 20,000 us per second
tashworth 13:529323807361 666 int i = currentPosition[n];
tashworth 13:529323807361 667 pc.printf("ServoNumber: %d Begining Pulse: %d\n\r",n,currentPosition[n]);
tashworth 13:529323807361 668 int pulse2;
tashworth 13:529323807361 669 if(currentPosition[n] < pulse) {
tashworth 13:529323807361 670 for(i; i < pulse; i++) {
tashworth 13:529323807361 671 pulse2 = 4094 * i / pulselength;
tashworth 13:529323807361 672 pwm.setPWM(n, 0, pulse2);
tashworth 13:529323807361 673 wait_ms(3);
tashworth 6:75259c3306dd 674 }
tashworth 13:529323807361 675 } else if (currentPosition[n] > pulse) {
tashworth 13:529323807361 676 for(i; i > pulse; i--) {
tashworth 13:529323807361 677 pulse2 = 4094 * i / pulselength;
tashworth 13:529323807361 678 pwm.setPWM(n, 0, pulse2);
tashworth 13:529323807361 679 wait_ms(3);
tashworth 6:75259c3306dd 680 }
tashworth 6:75259c3306dd 681 }
tashworth 13:529323807361 682 currentPosition[n] = i;
tashworth 13:529323807361 683 pc.printf("END: pulse: %d, angle: %d\n\r", i, angle);
tashworth 13:529323807361 684 }
tashworth 6:75259c3306dd 685
tashworth 13:529323807361 686 void initServoDriver(void) {
tashworth 13:529323807361 687 pwm.begin();
tashworth 13:529323807361 688 //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale().
tashworth 13:529323807361 689 pwm.setPrescale(140); //This value is decided for 20ms interval.
tashworth 13:529323807361 690 pwm.setI2Cfreq(400000); //400kHz
tashworth 13:529323807361 691
tashworth 13:529323807361 692 }
tashworth 0:1b64a0cedc5d 693
tashworth 13:529323807361 694 void servoBegin(void) {
tashworth 13:529323807361 695 pc.printf("Setting Initial Servo Position\n\r");
tashworth 13:529323807361 696 servoPosition(STORE_POSITION);
tashworth 13:529323807361 697 }
tashworth 8:77a57909aa15 698
tashworth 13:529323807361 699 void setServoPulseNo_delay(uint8_t n, int angle) {
tashworth 13:529323807361 700 int pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE);
tashworth 13:529323807361 701 float pulselength = 20000; // 20,000 us per second
tashworth 13:529323807361 702 currentPosition[n] = pulse;
tashworth 13:529323807361 703 //pc.printf("ServoNumber: %d Pulsewidth: %d Angle: %d \n\r",n,pulse, angle);
tashworth 13:529323807361 704 pulse = 4094 * pulse / pulselength;
tashworth 13:529323807361 705 pwm.setPWM(n, 0, pulse);
tashworth 13:529323807361 706
tashworth 13:529323807361 707 }
tashworth 13:529323807361 708
tashworth 13:529323807361 709
tashworth 8:77a57909aa15 710
tashworth 13:529323807361 711 void servoPosition(int set) {
tashworth 13:529323807361 712 //moves to current position
tashworth 13:529323807361 713 setServoPulse(3, Arm_Table[set].claw_arm);
tashworth 13:529323807361 714 setServoPulse(2, Arm_Table[set].big_arm);
tashworth 13:529323807361 715 setServoPulse(1, Arm_Table[set].base_arm);
tashworth 13:529323807361 716 setServoPulse(0, Arm_Table[set].base_rotate);
tashworth 13:529323807361 717 setServoPulse(4, Arm_Table[set].claw_rotate);
tashworth 13:529323807361 718 setServoPulse(5, Arm_Table[set].claw_open);
tashworth 13:529323807361 719 }
tashworth 8:77a57909aa15 720
tashworth 8:77a57909aa15 721
tashworth 13:529323807361 722 int fire_checker(int rig) {
tashworth 13:529323807361 723 switch (rig) {
tashworth 8:77a57909aa15 724
tashworth 13:529323807361 725 case 1:
tashworth 13:529323807361 726 for (int i = 0; i<10; i++) {
tashworth 13:529323807361 727 distLaser = getDistance();
tashworth 13:529323807361 728 pc.printf("L DISTANCE: %d \n\r", distLaser);
tashworth 13:529323807361 729 if ((distLaser < OILRIG1_MAX)
tashworth 13:529323807361 730 && (distLaser > OILRIG1_MIN)) {
tashworth 13:529323807361 731 fire_detected++;
tashworth 13:529323807361 732 } else {
tashworth 13:529323807361 733 fire_not_detected++;
tashworth 13:529323807361 734 }
tashworth 13:529323807361 735 }
tashworth 13:529323807361 736 break;
tashworth 13:529323807361 737 case 2:
tashworth 13:529323807361 738 for (int i = 0; i<10; i++) {
tashworth 13:529323807361 739 distLaser = getDistance();
tashworth 13:529323807361 740 pc.printf("L DISTANCE: %d \n\r", distLaser);
tashworth 13:529323807361 741 if ((distLaser < OILRIG2_MAX)
tashworth 13:529323807361 742 && (distLaser > OILRIG2_MIN)) {
tashworth 13:529323807361 743 fire_detected++;
tashworth 13:529323807361 744 } else {
tashworth 13:529323807361 745 fire_not_detected++;
tashworth 13:529323807361 746 }
tashworth 13:529323807361 747 }
tashworth 13:529323807361 748 break;
tashworth 13:529323807361 749
tashworth 13:529323807361 750 }
tashworth 13:529323807361 751
tashworth 13:529323807361 752 if (fire_detected > 0) {
tashworth 13:529323807361 753 return 1;
tashworth 13:529323807361 754 } else {
tashworth 13:529323807361 755 return 0;
tashworth 13:529323807361 756 }
tashworth 8:77a57909aa15 757 }
tashworth 8:77a57909aa15 758
tashworth 13:529323807361 759 void errFunction(void) {
tashworth 13:529323807361 760 //Nothing
tashworth 13:529323807361 761 }
tashworth 13:529323807361 762 void wall_follow(int side, int direction, int section) {
tashworth 13:529323807361 763 float location, set=6;
tashworth 13:529323807361 764 int dir=1;
tashworth 8:77a57909aa15 765
tashworth 13:529323807361 766 pid1.reset();
tashworth 13:529323807361 767
tashworth 13:529323807361 768 if(direction == BACKWARD) dir=-1;
tashworth 13:529323807361 769 if(section == TOOLS)set= 10;
tashworth 8:77a57909aa15 770
tashworth 13:529323807361 771 leftEncoder.reset();
tashworth 13:529323807361 772 rightEncoder.reset();
tashworth 13:529323807361 773
tashworth 13:529323807361 774 location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
tashworth 13:529323807361 775
tashworth 13:529323807361 776 while(location< 66.5) {
tashworth 13:529323807361 777 location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
tashworth 13:529323807361 778
tashworth 13:529323807361 779 pid1.setInputLimits(0, set);
tashworth 13:529323807361 780 pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
tashworth 13:529323807361 781 pid1.setSetPoint(set);
tashworth 8:77a57909aa15 782 if(side) {
tashworth 13:529323807361 783 rangeFinderLeft.startMeas();
tashworth 13:529323807361 784 wait_ms(20);
tashworth 13:529323807361 785 rangeFinderLeft.getMeas(range);
tashworth 8:77a57909aa15 786 } else {
tashworth 13:529323807361 787 rangeFinderRight.startMeas();
tashworth 13:529323807361 788 wait_ms(20);
tashworth 13:529323807361 789 rangeFinderRight.getMeas(range);
tashworth 13:529323807361 790 pc.printf("%d\r\n",range);
tashworth 8:77a57909aa15 791 }
tashworth 8:77a57909aa15 792
tashworth 13:529323807361 793 if(range > 15) {
tashworth 13:529323807361 794 //pc.printf("wavegap %f\r\n",wavegap);
tashworth 13:529323807361 795 // AT WAVE OPENING!!!!
tashworth 13:529323807361 796 motors.setMotor1Speed(dir*0.25*127);//left
tashworth 13:529323807361 797 motors.setMotor0Speed(dir*0.25*127);//right
tashworth 13:529323807361 798 } else {
tashworth 8:77a57909aa15 799
tashworth 13:529323807361 800 pid1.setProcessValue(range);
tashworth 13:529323807361 801 pid_return = pid1.compute();
tashworth 8:77a57909aa15 802
tashworth 13:529323807361 803 if(pid_return > 0) {
tashworth 13:529323807361 804 if(side) {
tashworth 13:529323807361 805 motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
tashworth 13:529323807361 806 motors.setMotor1Speed(dir*MAX_SPEED);//left
tashworth 13:529323807361 807 } else {
tashworth 13:529323807361 808 motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left
tashworth 13:529323807361 809 motors.setMotor0Speed(dir*MAX_SPEED);//right
tashworth 13:529323807361 810 }
tashworth 13:529323807361 811 } else if(pid_return < 0) {
tashworth 13:529323807361 812 if(side) {
tashworth 13:529323807361 813 motors.setMotor0Speed(dir*MAX_SPEED);//right
tashworth 13:529323807361 814 motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left
tashworth 13:529323807361 815 } else {
tashworth 13:529323807361 816 motors.setMotor1Speed(dir*MAX_SPEED);//left
tashworth 13:529323807361 817 motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right
tashworth 13:529323807361 818 }
tashworth 13:529323807361 819 } else {
tashworth 13:529323807361 820 motors.setMotor0Speed(dir*MAX_SPEED);//right
tashworth 13:529323807361 821 motors.setMotor1Speed(dir*MAX_SPEED);//left
tashworth 13:529323807361 822 }
tashworth 13:529323807361 823 }
tashworth 13:529323807361 824 }
tashworth 8:77a57909aa15 825
tashworth 13:529323807361 826 //STOP
tashworth 13:529323807361 827 motors.setMotor0Speed(dir*-0.3*127); //right
tashworth 13:529323807361 828 motors.setMotor1Speed(dir*-0.3*127); //left
tashworth 13:529323807361 829 wait_ms(10);
tashworth 13:529323807361 830 motors.stopBothMotors(0);
tashworth 8:77a57909aa15 831 }
tashworth 8:77a57909aa15 832
tashworth 13:529323807361 833 /* MODIFIED WALL_FOLLOW FOR NAVIGATION */
tashworth 13:529323807361 834
tashworth 13:529323807361 835 void wall_follow2(int side, int direction, int section, float location, int rig) {
tashworth 13:529323807361 836 int dir=1, limit=86, lowlim=5;
tashworth 13:529323807361 837 float set=6, loc=0, Rigloc=0;
tashworth 13:529323807361 838 bool SeeWaveGap = false;
tashworth 13:529323807361 839
tashworth 13:529323807361 840 if(rig == 1) Rigloc= 16;
tashworth 13:529323807361 841 else if(rig == 2) Rigloc= 45;
tashworth 13:529323807361 842 else if(rig== 3) Rigloc = 70;
tashworth 13:529323807361 843
tashworth 13:529323807361 844 pid1.reset();
tashworth 13:529323807361 845
tashworth 13:529323807361 846 if(direction == BACKWARD) {
tashworth 13:529323807361 847 dir=-1;
tashworth 13:529323807361 848 limit = 100;
tashworth 13:529323807361 849 }
tashworth 13:529323807361 850 if(section == TOOLS) {
tashworth 13:529323807361 851 set= 6;
tashworth 13:529323807361 852 limit = 86;
tashworth 13:529323807361 853 }
tashworth 13:529323807361 854 if(section == RETURN) lowlim=15;
tashworth 13:529323807361 855
tashworth 13:529323807361 856 leftEncoder.reset();
tashworth 13:529323807361 857 rightEncoder.reset();
tashworth 13:529323807361 858
tashworth 13:529323807361 859 //pc.printf("before %f\r\n", location);
tashworth 13:529323807361 860
tashworth 13:529323807361 861 pc.printf("dir*loc+location %f\r\n",dir*loc + location );
tashworth 13:529323807361 862 pc.printf("limit %d \r\n", limit);
tashworth 13:529323807361 863
tashworth 13:529323807361 864 while((dir*loc + location <= limit) && (dir*loc + location >= lowlim)) {
tashworth 13:529323807361 865
tashworth 13:529323807361 866 loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
tashworth 13:529323807361 867 pc.printf("loc %f \r\n", loc);
tashworth 13:529323807361 868
tashworth 13:529323807361 869 pid1.setInputLimits(0.0, set);
tashworth 13:529323807361 870 pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
tashworth 13:529323807361 871 pid1.setSetPoint(set);
tashworth 13:529323807361 872
tashworth 13:529323807361 873 if(side) {
tashworth 13:529323807361 874 rangeFinderLeft.startMeas();
tashworth 13:529323807361 875 wait_ms(20);
tashworth 13:529323807361 876 rangeFinderLeft.getMeas(range);
tashworth 13:529323807361 877 } else {
tashworth 13:529323807361 878 rangeFinderRight.startMeas();
tashworth 13:529323807361 879 wait_ms(20);
tashworth 13:529323807361 880 rangeFinderRight.getMeas(range);
tashworth 13:529323807361 881 }
tashworth 13:529323807361 882
tashworth 13:529323807361 883 if(section == RIGS) {
tashworth 13:529323807361 884 rangeFinderLeft.startMeas();
tashworth 13:529323807361 885 wait_ms(20);
tashworth 13:529323807361 886 rangeFinderLeft.getMeas(range2);
tashworth 8:77a57909aa15 887
tashworth 13:529323807361 888 if(range2< 20) {
tashworth 13:529323807361 889 if( abs(dir*loc + location - Rigloc) < 10) {
tashworth 13:529323807361 890 //STOP
tashworth 13:529323807361 891 motors.setMotor0Speed(dir*-0.25*127); //right
tashworth 13:529323807361 892 motors.setMotor1Speed(dir*-0.25*127); //left
tashworth 13:529323807361 893 wait_ms(5);
tashworth 13:529323807361 894 motors.stopBothMotors(0);
tashworth 13:529323807361 895 break;
tashworth 13:529323807361 896 }
tashworth 13:529323807361 897 }
tashworth 13:529323807361 898 }
tashworth 13:529323807361 899
tashworth 13:529323807361 900
tashworth 13:529323807361 901 //pc.printf("wall follow 2 range %f\r\n",range);
tashworth 13:529323807361 902 //pc.printf("loc+location = %f\r\n", loc+location);
tashworth 13:529323807361 903 if(range > 20 ) {
tashworth 13:529323807361 904 if(section == RIGS || section == RETURN) {
tashworth 13:529323807361 905 motors.setMotor0Speed(dir*0.25*127); //right
tashworth 13:529323807361 906 motors.setMotor1Speed(dir*0.25*127); //left
tashworth 13:529323807361 907 } else {
tashworth 13:529323807361 908 if(!SeeWaveGap) {
tashworth 13:529323807361 909 SeeWaveGap=true;
tashworth 13:529323807361 910 } else {
tashworth 13:529323807361 911 //STOP
tashworth 13:529323807361 912 motors.setMotor0Speed(dir*-0.25*127); //right
tashworth 13:529323807361 913 motors.setMotor1Speed(dir*-0.25*127); //left
tashworth 13:529323807361 914 wait_ms(5);
tashworth 13:529323807361 915 motors.stopBothMotors(0);
tashworth 13:529323807361 916
tashworth 13:529323807361 917 pc.printf("wavegap\r\n");
tashworth 13:529323807361 918 // AT WAVE OPENING!!!!
tashworth 13:529323807361 919 break;
tashworth 13:529323807361 920 }
tashworth 13:529323807361 921 }
tashworth 13:529323807361 922 } else {
tashworth 13:529323807361 923 SeeWaveGap = false;
tashworth 13:529323807361 924 pid1.setProcessValue(range);
tashworth 13:529323807361 925 pid_return = pid1.compute();
tashworth 13:529323807361 926 //pc.printf("Range: %f\n PID: %f\r\n", range, pid_return);
tashworth 13:529323807361 927
tashworth 13:529323807361 928 if(pid_return > 0) {
tashworth 13:529323807361 929 if(side) {
tashworth 13:529323807361 930 motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
tashworth 13:529323807361 931 motors.setMotor1Speed(dir*MAX_SPEED);//left
tashworth 13:529323807361 932 } else {
tashworth 13:529323807361 933 motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left
tashworth 13:529323807361 934 motors.setMotor0Speed(dir*MAX_SPEED);//right
tashworth 13:529323807361 935 }
tashworth 13:529323807361 936 } else if(pid_return < 0) {
tashworth 13:529323807361 937 if(side) {
tashworth 13:529323807361 938 motors.setMotor0Speed(dir*MAX_SPEED);//right
tashworth 13:529323807361 939 motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left
tashworth 13:529323807361 940 } else {
tashworth 13:529323807361 941 motors.setMotor1Speed(dir*MAX_SPEED);//left
tashworth 13:529323807361 942 motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right
tashworth 13:529323807361 943 }
tashworth 13:529323807361 944 } else {
tashworth 13:529323807361 945 motors.setMotor0Speed(dir*MAX_SPEED);
tashworth 13:529323807361 946 motors.setMotor1Speed(dir*MAX_SPEED);
tashworth 13:529323807361 947 }
tashworth 12:284be46593ae 948 }
tashworth 12:284be46593ae 949 }
tashworth 13:529323807361 950
tashworth 13:529323807361 951 //STOP
tashworth 13:529323807361 952 motors.setMotor0Speed(dir*-0.3*127); //right
tashworth 13:529323807361 953 motors.setMotor1Speed(dir*-0.3*127); //left
tashworth 13:529323807361 954 wait_ms(5);
tashworth 13:529323807361 955 motors.stopBothMotors(0);
tashworth 12:284be46593ae 956 }
tashworth 12:284be46593ae 957
tashworth 8:77a57909aa15 958
tashworth 13:529323807361 959 void alignWithWall(int section) {
tashworth 13:529323807361 960 float usValue = 0;
tashworth 13:529323807361 961
tashworth 13:529323807361 962 if(section == TOOLS) {
tashworth 13:529323807361 963 pc.printf("tools section align\r\n");
tashworth 13:529323807361 964 // turn at an angle
tashworth 13:529323807361 965 leftEncoder.reset();
tashworth 13:529323807361 966 rightEncoder.reset();
tashworth 13:529323807361 967 motors.setMotor0Speed(-1.2*MAX_SPEED); //right
tashworth 13:529323807361 968 motors.setMotor1Speed(0.4*MAX_SPEED); //left
tashworth 13:529323807361 969 while(rightEncoder.getPulses()>-1000);
tashworth 13:529323807361 970 motors.stopBothMotors(0);
tashworth 13:529323807361 971
tashworth 13:529323807361 972 //go backwards toward wall
tashworth 13:529323807361 973 leftEncoder.reset();
tashworth 13:529323807361 974 rightEncoder.reset();
tashworth 13:529323807361 975 motors.setMotor0Speed(-0.25*127); //right
tashworth 13:529323807361 976 motors.setMotor1Speed(-0.25*127); //left
tashworth 13:529323807361 977 while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300);
tashworth 13:529323807361 978 motors.stopBothMotors(0);
tashworth 13:529323807361 979
tashworth 13:529323807361 980 // turn left towards wall
tashworth 13:529323807361 981 leftEncoder.reset();
tashworth 13:529323807361 982 rightEncoder.reset();
tashworth 13:529323807361 983 motors.setMotor0Speed(MAX_SPEED); //right
tashworth 13:529323807361 984 motors.setMotor1Speed(-MAX_SPEED); //left
tashworth 13:529323807361 985 while(rightEncoder.getPulses() < 20 || abs(leftEncoder.getPulses()) < 20);
tashworth 13:529323807361 986
tashworth 13:529323807361 987 motors.stopBothMotors(0);
tashworth 13:529323807361 988
tashworth 13:529323807361 989 // turning left
tashworth 13:529323807361 990 motors.setMotor0Speed(0.9*MAX_SPEED); //right
tashworth 13:529323807361 991 motors.setMotor1Speed(-0.9*MAX_SPEED); //left
tashworth 13:529323807361 992
tashworth 13:529323807361 993 } else if( section == RIGS) {
tashworth 13:529323807361 994 // check distance to wall
tashworth 13:529323807361 995 rangeFinderRight.startMeas();
tashworth 13:529323807361 996 wait_ms(20);
tashworth 13:529323807361 997 rangeFinderRight.getMeas(range);
tashworth 13:529323807361 998
tashworth 13:529323807361 999 if(range < 4 || range > 20) return;
tashworth 13:529323807361 1000
tashworth 13:529323807361 1001 // turn at an angle
tashworth 13:529323807361 1002 leftEncoder.reset();
tashworth 13:529323807361 1003 rightEncoder.reset();
tashworth 13:529323807361 1004 motors.setMotor1Speed(-1.2*MAX_SPEED); //left
tashworth 13:529323807361 1005 motors.setMotor0Speed(0.4*MAX_SPEED); //right
tashworth 13:529323807361 1006 while(abs(leftEncoder.getPulses())<1000);
tashworth 13:529323807361 1007 motors.stopBothMotors(0);
tashworth 13:529323807361 1008
tashworth 13:529323807361 1009 //go backwards toward wall
tashworth 13:529323807361 1010 leftEncoder.reset();
tashworth 13:529323807361 1011 rightEncoder.reset();
tashworth 13:529323807361 1012 motors.setMotor0Speed(-0.25*127); //right
tashworth 13:529323807361 1013 motors.setMotor1Speed(-0.25*127); //left
tashworth 13:529323807361 1014 while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150);
tashworth 13:529323807361 1015 motors.stopBothMotors(0);
tashworth 13:529323807361 1016
tashworth 13:529323807361 1017 // turn left towards wall
tashworth 13:529323807361 1018 leftEncoder.reset();
tashworth 13:529323807361 1019 rightEncoder.reset();
tashworth 13:529323807361 1020 motors.setMotor0Speed(-MAX_SPEED); //right
tashworth 13:529323807361 1021 motors.setMotor1Speed(MAX_SPEED); //left
tashworth 13:529323807361 1022 while(abs(rightEncoder.getPulses()) < 20 || abs(leftEncoder.getPulses()) < 20);
tashworth 13:529323807361 1023
tashworth 13:529323807361 1024 motors.stopBothMotors(0);
tashworth 13:529323807361 1025
tashworth 13:529323807361 1026 // turning left
tashworth 13:529323807361 1027 motors.setMotor0Speed(-0.9*MAX_SPEED); //right
tashworth 13:529323807361 1028 motors.setMotor1Speed(0.9*MAX_SPEED); //left
tashworth 12:284be46593ae 1029 } else {
tashworth 13:529323807361 1030 pc.printf("in mid section align\r\n");
tashworth 13:529323807361 1031 // turn right towards wall
tashworth 13:529323807361 1032 rightTurn();
tashworth 13:529323807361 1033 // turning left towards wall
tashworth 13:529323807361 1034 motors.setMotor0Speed(0.9*MAX_SPEED); //right
tashworth 13:529323807361 1035 motors.setMotor1Speed(-0.9*MAX_SPEED); //left
tashworth 13:529323807361 1036 }
tashworth 13:529323807361 1037
tashworth 13:529323807361 1038 usValue = 0;
tashworth 13:529323807361 1039 while(1) {
tashworth 13:529323807361 1040 if(section == RIGS) {
tashworth 13:529323807361 1041 rangeFinderRight.startMeas();
tashworth 13:529323807361 1042 wait_ms(20);
tashworth 13:529323807361 1043 rangeFinderRight.getMeas(range);
tashworth 12:284be46593ae 1044 } else {
tashworth 13:529323807361 1045 rangeFinderLeft.startMeas();
tashworth 13:529323807361 1046 wait_ms(20);
tashworth 13:529323807361 1047 rangeFinderLeft.getMeas(range);
tashworth 13:529323807361 1048 }
tashworth 13:529323807361 1049 pc.printf("Range %f \t OldValue %f\n\r",range, usValue);
tashworth 13:529323807361 1050 if(range > usValue && usValue != 0 && range < 25) {
tashworth 12:284be46593ae 1051 break;
tashworth 13:529323807361 1052 } else {
tashworth 13:529323807361 1053 usValue = range;
tashworth 12:284be46593ae 1054 }
tashworth 8:77a57909aa15 1055 }
tashworth 13:529323807361 1056 motors.stopBothMotors(0);
tashworth 13:529323807361 1057 }
tashworth 13:529323807361 1058
tashworth 13:529323807361 1059 void rightTurn(void) {
tashworth 13:529323807361 1060 motors.begin();
tashworth 13:529323807361 1061 leftEncoder.reset();
tashworth 13:529323807361 1062 rightEncoder.reset();
tashworth 13:529323807361 1063 motors.setMotor0Speed(-0.5*127);//right
tashworth 13:529323807361 1064 motors.setMotor1Speed(0.5*127);//left
tashworth 13:529323807361 1065 while(abs(leftEncoder.getPulses())<950 || abs(rightEncoder.getPulses())<950);
tashworth 13:529323807361 1066 motors.stopBothMotors(0);
tashworth 13:529323807361 1067 }
tashworth 13:529323807361 1068
tashworth 13:529323807361 1069 void leftTurn(void) {
tashworth 13:529323807361 1070 motors.begin();
tashworth 13:529323807361 1071 leftEncoder.reset();
tashworth 13:529323807361 1072 rightEncoder.reset();
tashworth 13:529323807361 1073 motors.setMotor0Speed(0.5*127);// right
tashworth 13:529323807361 1074 motors.setMotor1Speed(-0.5*127);// left
tashworth 13:529323807361 1075 while(abs(leftEncoder.getPulses())<1100 || rightEncoder.getPulses()<1100);
tashworth 13:529323807361 1076 motors.stopBothMotors(0);
tashworth 13:529323807361 1077 }
tashworth 13:529323807361 1078
tashworth 13:529323807361 1079 void slightleft(void) {
tashworth 13:529323807361 1080
tashworth 13:529323807361 1081 leftEncoder.reset();
tashworth 13:529323807361 1082 rightEncoder.reset();
tashworth 13:529323807361 1083 motors.setMotor0Speed(0.5*127);// right
tashworth 13:529323807361 1084 motors.setMotor1Speed(-0.5*127);// left
tashworth 13:529323807361 1085 while(abs(leftEncoder.getPulses())<90 || rightEncoder.getPulses()<90);
tashworth 13:529323807361 1086 motors.stopBothMotors(0);
tashworth 13:529323807361 1087 }
tashworth 13:529323807361 1088
tashworth 13:529323807361 1089 void slightright(void) {
tashworth 13:529323807361 1090
tashworth 13:529323807361 1091 leftEncoder.reset();
tashworth 13:529323807361 1092 rightEncoder.reset();
tashworth 13:529323807361 1093 motors.setMotor0Speed(-0.4*127);// right
tashworth 13:529323807361 1094 motors.setMotor1Speed(0.4*127);// left
tashworth 13:529323807361 1095 while(abs(leftEncoder.getPulses())<90 || abs(rightEncoder.getPulses())<90);
tashworth 13:529323807361 1096 motors.stopBothMotors(0);
tashworth 13:529323807361 1097 }
tashworth 13:529323807361 1098
tashworth 13:529323807361 1099 void slightMove(int direction, float pulses) {
tashworth 13:529323807361 1100 int dir=1;
tashworth 13:529323807361 1101
tashworth 13:529323807361 1102 if(direction == BACKWARD) dir= -1;
tashworth 13:529323807361 1103
tashworth 13:529323807361 1104 leftEncoder.reset();
tashworth 13:529323807361 1105 rightEncoder.reset();
tashworth 13:529323807361 1106 motors.setMotor0Speed(dir*0.25*127); //right
tashworth 13:529323807361 1107 motors.setMotor1Speed(dir*0.25*127); //left
tashworth 13:529323807361 1108 while(abs(leftEncoder.getPulses()) < pulses || abs(rightEncoder.getPulses()) < pulses);
tashworth 13:529323807361 1109
tashworth 13:529323807361 1110 motors.setMotor0Speed(dir*-0.25*127); //right
tashworth 13:529323807361 1111 motors.setMotor1Speed(dir*-0.25*127); //left
tashworth 13:529323807361 1112 wait_ms(10);
tashworth 13:529323807361 1113 motors.stopBothMotors(127);
tashworth 13:529323807361 1114 }
tashworth 13:529323807361 1115
tashworth 13:529323807361 1116 void UntilWall(int dir) {
tashworth 13:529323807361 1117
tashworth 13:529323807361 1118 if(dir == BACKWARD) dir=-1;
tashworth 13:529323807361 1119
tashworth 13:529323807361 1120 leftEncoder.reset();
tashworth 13:529323807361 1121 rightEncoder.reset();
tashworth 13:529323807361 1122 motors.setMotor0Speed(dir*0.2*127); //right
tashworth 13:529323807361 1123 motors.setMotor1Speed(dir*0.2*127); //left
tashworth 13:529323807361 1124
tashworth 13:529323807361 1125 range = 30;
tashworth 13:529323807361 1126
tashworth 13:529323807361 1127 while(range > 20) {
tashworth 13:529323807361 1128 rangeFinderRight.startMeas();
tashworth 13:529323807361 1129 wait_ms(20);
tashworth 13:529323807361 1130 rangeFinderRight.getMeas(range);
tashworth 13:529323807361 1131 }
tashworth 12:284be46593ae 1132
tashworth 13:529323807361 1133 motors.setMotor0Speed(dir*-0.2*127); //right
tashworth 13:529323807361 1134 motors.setMotor1Speed(dir*-0.2*127); //left
tashworth 13:529323807361 1135 wait_ms(5);
tashworth 13:529323807361 1136 motors.stopBothMotors(0);
tashworth 13:529323807361 1137 }
tashworth 13:529323807361 1138
tashworth 13:529323807361 1139 void overBump(int section) {
tashworth 13:529323807361 1140 int preLeft=5000, preRight=5000, out=0;
tashworth 13:529323807361 1141
tashworth 13:529323807361 1142 motors.begin();
tashworth 13:529323807361 1143 // slight backwards
tashworth 13:529323807361 1144 leftEncoder.reset();
tashworth 13:529323807361 1145 rightEncoder.reset();
tashworth 13:529323807361 1146 motors.setMotor0Speed(-0.25*127); //right
tashworth 13:529323807361 1147 motors.setMotor1Speed(-0.25*127); //left
tashworth 13:529323807361 1148 while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50);
tashworth 13:529323807361 1149 motors.stopBothMotors(0);
tashworth 13:529323807361 1150
tashworth 13:529323807361 1151 pc.printf("slight backwards\r\n");
tashworth 13:529323807361 1152 wait_ms(200);
tashworth 13:529323807361 1153
tashworth 13:529323807361 1154 leftEncoder.reset();
tashworth 13:529323807361 1155 rightEncoder.reset();
tashworth 13:529323807361 1156 motors.setMotor0Speed(0.3*127); //right
tashworth 13:529323807361 1157 motors.setMotor1Speed(0.3*127); //left
tashworth 13:529323807361 1158 while((abs(leftEncoder.getPulses()) < 800 || abs(rightEncoder.getPulses()) < 800) /*&& preLeft!=0*/ && IR.getIRDistance() >15 ) {
tashworth 13:529323807361 1159 /*preLeft=leftEncoder.getPulses();
tashworth 13:529323807361 1160 preRight=rightEncoder.getPulses();
tashworth 13:529323807361 1161 wait_ms(200);
tashworth 13:529323807361 1162 if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;*/
tashworth 13:529323807361 1163 }
tashworth 13:529323807361 1164
tashworth 13:529323807361 1165 pc.printf("forward \r\n");
tashworth 13:529323807361 1166 wait_ms(200);
tashworth 13:529323807361 1167 /*
tashworth 13:529323807361 1168 motors.stopBothMotors(0);
tashworth 13:529323807361 1169 motors.begin();
tashworth 13:529323807361 1170
tashworth 13:529323807361 1171 leftEncoder.reset();
tashworth 13:529323807361 1172 rightEncoder.reset();
tashworth 13:529323807361 1173 motors.setMotor0Speed(0.3*127); //right
tashworth 13:529323807361 1174 motors.setMotor1Speed(0.3*127); //left
tashworth 13:529323807361 1175
tashworth 13:529323807361 1176 while(!out) {
tashworth 13:529323807361 1177 preLeft=leftEncoder.getPulses();
tashworth 13:529323807361 1178 preRight=rightEncoder.getPulses();
tashworth 13:529323807361 1179
tashworth 13:529323807361 1180 rangeFinderLeft.startMeas();
tashworth 13:529323807361 1181 rangeFinderRight.startMeas();
tashworth 13:529323807361 1182 wait_ms(20);
tashworth 13:529323807361 1183 rangeFinderLeft.getMeas(range);
tashworth 13:529323807361 1184 rangeFinderRight.getMeas(range2);
tashworth 13:529323807361 1185 if(range < 10 || range2 < 10) out=1;
tashworth 13:529323807361 1186
tashworth 13:529323807361 1187 if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) {
tashworth 13:529323807361 1188 motors.setMotor0Speed(0.4*127); //right
tashworth 13:529323807361 1189 motors.setMotor1Speed(0.4*127); //left
tashworth 13:529323807361 1190 wait_ms(50);
tashworth 13:529323807361 1191 out=1;
tashworth 13:529323807361 1192 }
tashworth 13:529323807361 1193 if(abs(leftEncoder.getPulses()) >1000 || abs(leftEncoder.getPulses())>1000) out=1;
tashworth 13:529323807361 1194 }
tashworth 13:529323807361 1195 */
tashworth 13:529323807361 1196
tashworth 13:529323807361 1197 motors.stopBothMotors(0);
tashworth 13:529323807361 1198 motors.begin();
tashworth 13:529323807361 1199
tashworth 13:529323807361 1200 preLeft=preRight=5000 ;
tashworth 13:529323807361 1201 leftEncoder.reset();
tashworth 13:529323807361 1202 rightEncoder.reset();
tashworth 13:529323807361 1203 motors.setMotor0Speed(.25*127); //right
tashworth 13:529323807361 1204 motors.setMotor1Speed(.25*127); //left
tashworth 13:529323807361 1205
tashworth 13:529323807361 1206 if(section == TOOLS) {
tashworth 13:529323807361 1207 while(IR.getIRDistance() > 10 && (abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {
tashworth 13:529323807361 1208
tashworth 13:529323807361 1209 if(IR.getIRDistance() > 38) break;
tashworth 13:529323807361 1210
tashworth 13:529323807361 1211 preLeft=leftEncoder.getPulses();
tashworth 13:529323807361 1212 preRight=rightEncoder.getPulses();
tashworth 13:529323807361 1213 wait_ms(200);
tashworth 12:284be46593ae 1214 }
tashworth 13:529323807361 1215 } else if(section == MID || section == MID2) {
tashworth 13:529323807361 1216 if(section == MID2) while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400));
tashworth 13:529323807361 1217 while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {
tashworth 13:529323807361 1218
tashworth 13:529323807361 1219 if(IR.getIRDistance() > 38) break;
tashworth 13:529323807361 1220
tashworth 13:529323807361 1221 preLeft=leftEncoder.getPulses();
tashworth 13:529323807361 1222 preRight=rightEncoder.getPulses();
tashworth 13:529323807361 1223 wait_ms(200);
tashworth 12:284be46593ae 1224 }
tashworth 13:529323807361 1225
tashworth 12:284be46593ae 1226 } else {
tashworth 13:529323807361 1227 while(abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100);
tashworth 13:529323807361 1228
tashworth 13:529323807361 1229 leftEncoder.reset();
tashworth 13:529323807361 1230 rightEncoder.reset();
tashworth 13:529323807361 1231
tashworth 13:529323807361 1232 motors.setMotor0Speed(-.15*127); //right
tashworth 13:529323807361 1233 motors.setMotor1Speed(-.15*127); //left
tashworth 13:529323807361 1234 while((abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100) && preLeft!=0 ) {
tashworth 13:529323807361 1235 preLeft = leftEncoder.getPulses();
tashworth 13:529323807361 1236 preRight = rightEncoder.getPulses();
tashworth 13:529323807361 1237 wait_ms(200);
tashworth 13:529323807361 1238 if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;
tashworth 13:529323807361 1239 }
tashworth 13:529323807361 1240
tashworth 13:529323807361 1241 leftEncoder.reset();
tashworth 13:529323807361 1242 rightEncoder.reset();
tashworth 13:529323807361 1243
tashworth 13:529323807361 1244 motors.setMotor0Speed(0.25*127); //right
tashworth 13:529323807361 1245 motors.setMotor1Speed(0.25*127); //left
tashworth 13:529323807361 1246 while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10));
tashworth 13:529323807361 1247
tashworth 13:529323807361 1248 motors.stopBothMotors(0);
tashworth 13:529323807361 1249
tashworth 13:529323807361 1250 return;
tashworth 12:284be46593ae 1251 }
tashworth 12:284be46593ae 1252
tashworth 13:529323807361 1253 leftEncoder.reset();
tashworth 13:529323807361 1254 rightEncoder.reset();
tashworth 13:529323807361 1255
tashworth 13:529323807361 1256 motors.setMotor0Speed(-.25*127); //right
tashworth 13:529323807361 1257 motors.setMotor1Speed(-.25*127); //left
tashworth 13:529323807361 1258 while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10));
tashworth 13:529323807361 1259
tashworth 13:529323807361 1260 motors.stopBothMotors(0);
tashworth 13:529323807361 1261 wait_ms(20);
tashworth 13:529323807361 1262 motors.begin();
tashworth 13:529323807361 1263
tashworth 13:529323807361 1264 }
tashworth 13:529323807361 1265
tashworth 13:529323807361 1266 void to_tools_section1(float* location, float &current) {
tashworth 13:529323807361 1267 slightMove(FORWARD,6500);
tashworth 13:529323807361 1268 current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
tashworth 13:529323807361 1269
tashworth 13:529323807361 1270 }
tashworth 13:529323807361 1271
tashworth 13:529323807361 1272 void to_tools_section2(float* location, float &current) {
tashworth 13:529323807361 1273 slightMove(FORWARD,3200);
tashworth 13:529323807361 1274 current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
tashworth 13:529323807361 1275
tashworth 13:529323807361 1276 }
tashworth 13:529323807361 1277
tashworth 13:529323807361 1278 void from_tools_section(float* location, float &current) {
tashworth 0:1b64a0cedc5d 1279
tashworth 0:1b64a0cedc5d 1280
tashworth 13:529323807361 1281 alignWithWall(TOOLS);
tashworth 13:529323807361 1282 pc.printf("align\r\n");
tashworth 13:529323807361 1283 wait_ms(100);
tashworth 12:284be46593ae 1284
tashworth 13:529323807361 1285 //wall_follow2(LEFT,FORWARD,MID, current);
tashworth 13:529323807361 1286 //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 12:284be46593ae 1287
tashworth 12:284be46593ae 1288 rangeFinderLeft.startMeas();
tashworth 12:284be46593ae 1289 wait_ms(20);
tashworth 12:284be46593ae 1290 rangeFinderLeft.getMeas(range);
tashworth 12:284be46593ae 1291
tashworth 13:529323807361 1292 if(range < 20) {
tashworth 13:529323807361 1293 wall_follow2(LEFT,BACKWARD,TOOLS, current,0);
tashworth 13:529323807361 1294 pc.printf("wall follow\r\n");
tashworth 13:529323807361 1295 location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1296 current= location[0];
tashworth 13:529323807361 1297 pc.printf("current %f \r\n",current);
tashworth 13:529323807361 1298 // go backwards
tashworth 13:529323807361 1299 leftEncoder.reset();
tashworth 13:529323807361 1300 rightEncoder.reset();
tashworth 13:529323807361 1301 motors.setMotor0Speed(-MAX_SPEED); //right
tashworth 13:529323807361 1302 motors.setMotor1Speed(-MAX_SPEED); //left
tashworth 13:529323807361 1303 while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120);
tashworth 13:529323807361 1304 // hard stop
tashworth 13:529323807361 1305 leftEncoder.reset();
tashworth 13:529323807361 1306 rightEncoder.reset();
tashworth 13:529323807361 1307 motors.setMotor0Speed(MAX_SPEED); //right
tashworth 13:529323807361 1308 motors.setMotor1Speed(MAX_SPEED); //left
tashworth 13:529323807361 1309 while(abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses())< 10);
tashworth 13:529323807361 1310 motors.stopBothMotors(0);
tashworth 12:284be46593ae 1311
tashworth 13:529323807361 1312 wait_ms(100);
tashworth 13:529323807361 1313 leftTurn();
tashworth 13:529323807361 1314 overBump(TOOLS);
tashworth 13:529323807361 1315 } else {
tashworth 13:529323807361 1316 pc.printf("else greater than 20\r\n");
tashworth 13:529323807361 1317 location[0]= current;
tashworth 13:529323807361 1318 leftTurn();
tashworth 13:529323807361 1319 overBump(TOOLS);
tashworth 13:529323807361 1320 }
tashworth 8:77a57909aa15 1321
tashworth 13:529323807361 1322 pc.printf("First Wavegap = %f\r\n",location[0]);
tashworth 12:284be46593ae 1323
tashworth 8:77a57909aa15 1324 }
tashworth 12:284be46593ae 1325
tashworth 13:529323807361 1326 void mid_section(float* location, float &current, int* direction) {
tashworth 13:529323807361 1327 motors.begin();
tashworth 12:284be46593ae 1328
tashworth 13:529323807361 1329 if(IR.getIRDistance() > 38) {
tashworth 13:529323807361 1330 direction[0]= STRAIGHT;
tashworth 13:529323807361 1331 overBump(MID);
tashworth 13:529323807361 1332 return;
tashworth 13:529323807361 1333 }
tashworth 13:529323807361 1334 pc.printf("before align with wall \r\n");
tashworth 13:529323807361 1335 alignWithWall(MID);
tashworth 13:529323807361 1336 wait_ms(100);
tashworth 13:529323807361 1337
tashworth 13:529323807361 1338 pc.printf("mid section current = %f\r\n",current);
tashworth 13:529323807361 1339 wall_follow2(LEFT,FORWARD,MID, current,0);
tashworth 13:529323807361 1340 current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1341 pc.printf("after wf2 current = %f\r\n",current);
tashworth 13:529323807361 1342
tashworth 13:529323807361 1343 wait_ms(500);
tashworth 13:529323807361 1344 rangeFinderLeft.startMeas();
tashworth 13:529323807361 1345 wait_ms(20);
tashworth 13:529323807361 1346 rangeFinderLeft.getMeas(range);
tashworth 12:284be46593ae 1347
tashworth 13:529323807361 1348 if(range > 20 ) {
tashworth 13:529323807361 1349 direction[0]= RIGHT;
tashworth 13:529323807361 1350 location[1]= current;
tashworth 13:529323807361 1351 slightMove(FORWARD,75);
tashworth 13:529323807361 1352 //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1353 } else {
tashworth 13:529323807361 1354 direction[0]= LEFT;
tashworth 13:529323807361 1355 wall_follow2(LEFT,BACKWARD,MID,current,0);
tashworth 13:529323807361 1356 location[1]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1357 current= location[1];
tashworth 13:529323807361 1358
tashworth 13:529323807361 1359 if(location[1] < 18) {
tashworth 13:529323807361 1360 slightMove(FORWARD, 50);
tashworth 13:529323807361 1361 current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1362 }
tashworth 13:529323807361 1363
tashworth 13:529323807361 1364 }
tashworth 13:529323807361 1365
tashworth 13:529323807361 1366 pc.printf("wavegap2 = %f\r\n",location[1]);
tashworth 13:529323807361 1367 leftTurn();
tashworth 13:529323807361 1368
tashworth 13:529323807361 1369 wait_ms(100);
tashworth 13:529323807361 1370
tashworth 13:529323807361 1371 overBump(MID);
tashworth 13:529323807361 1372
tashworth 12:284be46593ae 1373 }
tashworth 12:284be46593ae 1374
tashworth 13:529323807361 1375 void mid_section2(float* location, float &current, int* direction) {
tashworth 13:529323807361 1376 motors.begin();
tashworth 12:284be46593ae 1377
tashworth 13:529323807361 1378 pc.printf("mid section 2\r\n");
tashworth 8:77a57909aa15 1379
tashworth 13:529323807361 1380 if(IR.getIRDistance() > 38) {
tashworth 13:529323807361 1381 direction[1]= STRAIGHT;
tashworth 13:529323807361 1382 overBump(RIGS);
tashworth 13:529323807361 1383 return;
tashworth 13:529323807361 1384 }
tashworth 8:77a57909aa15 1385
tashworth 13:529323807361 1386 alignWithWall(MID);
tashworth 13:529323807361 1387 pc.printf("midsection 2 alignt with wall mid \r\n");
tashworth 12:284be46593ae 1388
tashworth 13:529323807361 1389 wall_follow2(LEFT,FORWARD,MID, current,0);
tashworth 13:529323807361 1390 current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 8:77a57909aa15 1391
tashworth 13:529323807361 1392 wait_ms(500);
tashworth 8:77a57909aa15 1393
tashworth 13:529323807361 1394 pc.printf("midseection 2 after wf2 %f",current);
tashworth 13:529323807361 1395 rangeFinderLeft.startMeas();
tashworth 13:529323807361 1396 wait_ms(20);
tashworth 13:529323807361 1397 rangeFinderLeft.getMeas(range);
tashworth 12:284be46593ae 1398
tashworth 13:529323807361 1399 if(range > 20 ) {
tashworth 13:529323807361 1400 direction[1]= RIGHT;
tashworth 13:529323807361 1401 location[2]= current;
tashworth 13:529323807361 1402 slightMove(FORWARD,75);
tashworth 13:529323807361 1403 //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1404 } else {
tashworth 13:529323807361 1405 direction[1]= LEFT;
tashworth 13:529323807361 1406 wall_follow2(LEFT,BACKWARD,MID,current,0);
tashworth 13:529323807361 1407 location[2]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1408 current=location[2];
tashworth 13:529323807361 1409 //slightMove(FORWARD,500);
tashworth 13:529323807361 1410 }
tashworth 8:77a57909aa15 1411
tashworth 13:529323807361 1412 leftTurn();
tashworth 13:529323807361 1413 overBump(RIGS);
tashworth 13:529323807361 1414 pc.printf("overbump rigs\r\n");
tashworth 12:284be46593ae 1415 }
tashworth 12:284be46593ae 1416
tashworth 13:529323807361 1417 void rig_section(float* location, float &current, int* direction, int rig) {
tashworth 13:529323807361 1418 float loc;
tashworth 8:77a57909aa15 1419
tashworth 13:529323807361 1420 if(rig == 1) loc= 15;
tashworth 13:529323807361 1421 else if(rig == 2) loc= 45;
tashworth 13:529323807361 1422 else loc = 75;
tashworth 8:77a57909aa15 1423
tashworth 13:529323807361 1424 rightTurn();
tashworth 13:529323807361 1425 slightright();
tashworth 8:77a57909aa15 1426
tashworth 13:529323807361 1427 if(current > loc) {
tashworth 13:529323807361 1428 pc.printf("RIG section %f\r\n",current);
tashworth 13:529323807361 1429 wall_follow2(RIGHT, BACKWARD, RIGS, current, rig);
tashworth 13:529323807361 1430 current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1431 } else {
tashworth 13:529323807361 1432 pc.printf("RIG section %f\r\n",current);
tashworth 13:529323807361 1433 wall_follow2(RIGHT, FORWARD, RIGS, current, rig);
tashworth 13:529323807361 1434 current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1435 }
tashworth 13:529323807361 1436 }
tashworth 12:284be46593ae 1437
tashworth 13:529323807361 1438 void tools_section_return(float* location, float &current) {
tashworth 13:529323807361 1439 if(location[0] > 16) {
tashworth 13:529323807361 1440 leftTurn();
tashworth 13:529323807361 1441 wall_follow2(LEFT, BACKWARD, RETURN, location[0], 0);
tashworth 13:529323807361 1442 }
tashworth 13:529323807361 1443 motors.stopBothMotors(0);
tashworth 8:77a57909aa15 1444
tashworth 13:529323807361 1445 }
tashworth 12:284be46593ae 1446
tashworth 13:529323807361 1447 void mid_section_return(float* location, float &current, int* direction) {
tashworth 13:529323807361 1448 if(direction[0] == RIGHT) {
tashworth 13:529323807361 1449 leftTurn();
tashworth 13:529323807361 1450 alignWithWall(MID);
tashworth 13:529323807361 1451 wall_follow2(LEFT, BACKWARD, MID, current,0);
tashworth 13:529323807361 1452 current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1453 rightTurn();
tashworth 13:529323807361 1454 } else if(direction[0] == LEFT) {
tashworth 13:529323807361 1455 leftTurn();
tashworth 13:529323807361 1456 wall_follow2(RIGHT, FORWARD, MID, current,0);
tashworth 13:529323807361 1457 current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1458 rightTurn();
tashworth 13:529323807361 1459 }
tashworth 13:529323807361 1460 //ELSE and GO FORWARD
tashworth 13:529323807361 1461 overBump(RIGS);
tashworth 13:529323807361 1462 }
tashworth 8:77a57909aa15 1463
tashworth 13:529323807361 1464 void mid_section2_return(float* location, float &current, int* direction) {
tashworth 13:529323807361 1465 if(direction[1] == RIGHT) {
tashworth 13:529323807361 1466 leftTurn();
tashworth 13:529323807361 1467 wall_follow2(LEFT, BACKWARD, MID, current,0);
tashworth 13:529323807361 1468 current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1469 rightTurn();
tashworth 13:529323807361 1470 } else if(direction[1] == LEFT) {
tashworth 13:529323807361 1471 leftTurn();
tashworth 13:529323807361 1472 wall_follow2(RIGHT, FORWARD, MID, current,0);
tashworth 13:529323807361 1473 current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1474 rightTurn();
tashworth 13:529323807361 1475 }
tashworth 13:529323807361 1476 //ELSE and GO FORWARD
tashworth 13:529323807361 1477 overBump(MID);
tashworth 13:529323807361 1478 }
tashworth 12:284be46593ae 1479
tashworth 13:529323807361 1480 void rig_section_return(float* location, float &current, int* direction) {
tashworth 13:529323807361 1481 alignWithWall(RIGS);
tashworth 13:529323807361 1482 if(location[2] > current) {
tashworth 13:529323807361 1483 wall_follow2(RIGHT, FORWARD, MID, current,0);
tashworth 13:529323807361 1484 current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1485 } else {
tashworth 13:529323807361 1486 wall_follow2(RIGHT, BACKWARD, MID, current,0);
tashworth 13:529323807361 1487 current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
tashworth 13:529323807361 1488 }
tashworth 13:529323807361 1489 rightTurn();
tashworth 13:529323807361 1490 overBump(MID2);
tashworth 13:529323807361 1491 }
tashworth 8:77a57909aa15 1492
tashworth 8:77a57909aa15 1493
tashworth 8:77a57909aa15 1494
tashworth 12:284be46593ae 1495
tashworth 12:284be46593ae 1496