Thomas Ashworth
For IEEE Robotics
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Diff: main.cpp
- Revision:
- 22:79c5871543b5
- Parent:
- 21:0907e1f5e16c
--- a/main.cpp Tue Apr 08 16:20:40 2014 +0000
+++ b/main.cpp Fri Apr 11 21:56:18 2014 +0000
@@ -9,12 +9,12 @@
#include "stdio.h"
#include "LPC17xx.h"
#include "Sharp.h"
-
-
+
+
#define PI 3.14159
-
-
-
+
+
+
/* Navigation Definitions */
#define PIN_TRIGGERL (p12)
#define PIN_ECHOL (p11)
@@ -38,8 +38,8 @@
#define MID2 (3)
#define RETURN (4)
#define FAR (1)
-
-
+
+
//States
#define START 0
#define OILRIG1_POS 1
@@ -59,9 +59,10 @@
#define INSERT_TOOL 15
#define END 16
#define GOTO_TOOLS2 17
-
-
-
+#define RETURN_TO_START 18
+
+
+
//Servo Static Positions
#define STORE_POSITION 0
#define OIL_RIG1 1
@@ -79,13 +80,13 @@
#define PU_TOOL_1_STAB 13
#define PU_TOOL_2_STAB 14
#define PU_TOOL_3_STAB 15
-
+
//Rig definitions
#define SQUARE 1
#define TRIANGLE 2
#define CIRCLE 3
-
-
+
+
//Oil Rig distance thresholds
#define OILRIG1_MAX 1800
#define OILRIG1_MIN 1000
@@ -93,25 +94,25 @@
#define OILRIG2_MIN 1000
#define OILRIG3_MAX 1800
#define OILRIG3_MIN 1000
-
+
//for servo normalization
#define MIN_SERVO_PULSE 900
#define MAX_SERVO_PULSE 2100
#define SERVO_MAX_ANGLE 180
-
+
#define X_CENTER 80
#define Y_CENTER 60
-
-
+
+
DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
DigitalOut myled3(LED3);
DigitalOut myled4(LED4);
InterruptIn startBtn(p7);
-
+
void errFunction(void);
bool cRc;
-
+
Serial pc(USBTX,USBRX); //USB Comm
Adafruit_PWMServoDriver pwm(p28,p27); //pwm(SDA,SCL) - Servo Control PWM
extern Serial lrf; //Laser Range Finder lrf(p13,p14)
@@ -125,10 +126,10 @@
QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING);
Sharp IR(p20);
//InterruptIn encoder(p29);
-
-
-
-
+
+
+
+
/***************
local servo functions
****************/
@@ -140,8 +141,8 @@
void servoPosition(int set);
int fire_checker(int rig);
int button_start = 0;
-
-
+
+
//Navigation Functions
void wall_follow(int side, int direction, int section);
void wall_follow2(int side, int direction, int section, float location, int rig);
@@ -163,13 +164,13 @@
void overBump(int section);
void alignWithWall(int section);
void UntilWall(int dir);
-
-
+
+
float normd(int* pop, int count, int threshold);
int Xadjust(int tool);
-
+
extern "C" void mbed_reset();
-
+
/************
Main Variables
*************/
@@ -179,14 +180,14 @@
int shape_detected = 0;
float range, range2, pid_return;
int num, input;
-
-
+
+
/************
Variables for Servos
*************/
int servoNum, servoAngle, outputDisabled, posNum, testVal;
int currentPosition[7];
-
+
typedef struct {
int arm_position_name; //for organization only (STORE, OILRIG1, OILRIG2...)
int base_rotate;
@@ -196,21 +197,21 @@
int claw_rotate;
int claw_open;
} Coord;
-
+
/********************
Static Arm Positions
*********************/
-
+
Coord Arm_Table[] = {
-
+
// POSITION ODER:
// base_rotate, base_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open
-
+
//increase in number 5 rotates gripper
-
+
{STORE_POSITION, 85, 10, 0, 165, 175, 0}, // storing position
- {OIL_RIG1, 160, 20, 60, 47, 175, 0}, // point laser at oilrig1
- {OIL_RIG2, 164, 20, 60, 47, 175, 0}, // point laser at oilrig2
+ {OIL_RIG1, 164, 20, 60, 44, 175, 0}, // point laser at oilrig1
+ {OIL_RIG2, 164, 20, 60, 44, 175, 0}, // point laser at oilrig2
{OIL_RIG3, 130, 90, 90, 52, 175, 0}, // point laser at oilrig2
{DRIVE_POSITION_NOTOOL, 85, 10, 0, 165, 175, 0}, // Drive through course
{TOOL_1, 101, 50, 80, 113, 90, 0}, // Look over first tool
@@ -225,8 +226,8 @@
{PU_TOOL_2_STAB, 78, 50, 90, 108, 90, 0}, // STAB TOOL 2
{PU_TOOL_3_STAB, 53, 50, 90, 118, 90, 0}, // STAB TOOL 3
};
-
-
+
+
/* Variables for imageprocessing and distance */
int x_coord;
int y_coord;
@@ -235,13 +236,13 @@
int shape_alignX_done = 0;
int shape_alignY_done = 0;
float deltaX = 0;
-
-
+
+
/* Variables for distance sensor*/
int distLaser;
int fire_detected = 0;
int fire_not_detected = 0;
-
+
void button_int(void)
{
if(!button_start) {
@@ -253,47 +254,47 @@
}
return;
}
-
-
-
+
+
+
int main()
{
-
-
+
+
/*****************
INITIALIZATIONS
*******************/
float location[3], current=4;
int direction[3];
double distance;
-
+
int pu, num, input;
-
-
+
+
pc.baud(115200);
//Laser Range Finder Initialization
lrf_baudCalibration();
-
+
motors.begin();
-
+
startBtn.rise(&button_int);
-
+
//Servo initialization
initServoDriver();
servoBegin(); //initiates servos to start position
//ServoOutputDisable = 0;
-
+
/********************************
MAIN WHILE LOOP FOR COMPETITION
*********************************/
-
-
+
+
while(1) {
if(button_start == 1) {
-
-
+
+
switch (state) {
-
+
/**************************************************
* STAGE 0
*
@@ -302,24 +303,25 @@
**************************************************/
case START :
myled1 = 1;
+ //state = GOTO_TOOLS1;
state = OILRIG1_POS;
break;
-
-
+
+
/**************************************************
* STAGE 1
*
* - DETERMINE OIL RIG ON FIRE
*
**************************************************/
-
+
case OILRIG1_POS: //aims arm at square oil rig
-
+
servoPosition(OIL_RIG1);
wait(3); //wait for servo to settle before laser distance
-
+
fire = fire_checker(OIL_RIG1); //determines if oil rig is on fire
-
+
//determines what tool is needed
if (fire == 1) {
pc.printf("FIRE FOUND!!!!!!!!\n\r");
@@ -330,9 +332,9 @@
state = OILRIG2_POS;
}
break;
-
+
case OILRIG2_POS:
-
+
setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm);
setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm);
setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm);
@@ -340,12 +342,12 @@
setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);
wait(3); //wait for servos to settle
-
+
to_tools_section2(location, current); // moves to second rig
-
+
servoPosition(OIL_RIG2); //position arm to point at first oilrig
wait(3);
-
+
fire = fire_checker(OIL_RIG2);
if (fire == 1) {
pc.printf("FIRE FOUND!!!!!!!!");
@@ -357,7 +359,7 @@
state = GOTO_TOOLS2;
}
break;
-
+
/**************************************************
* STAGE 2
*
@@ -372,12 +374,14 @@
setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);
wait(3); //wait for servos to settle
+
to_tools_section1(location, current);
+ //state = NAVIGATE_WAVES_ROW1;
state = IDENTIFY_TOOLS;
break;
-
+
case GOTO_TOOLS2:
-
+
setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm);
setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm);
setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm);
@@ -385,15 +389,15 @@
setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);
wait(3); //wait for servos to settle
-
+
slightMove(FORWARD,3250);
current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
state = IDENTIFY_TOOLS;
break;
-
-
-
+
+
+
/**************************************************
* STAGE 3
*
@@ -402,11 +406,11 @@
*
**************************************************/
case IDENTIFY_TOOLS:
-
+
//wait(5);
servoPosition(TOOL_2); //arm/camera looks over tool
wait(5); //wait for servos to settle
-
+
//shape_detected = shapeDetection(); //determines the shape
//clearBounds();
//printImageToFile(BINARY);
@@ -416,28 +420,30 @@
while( shape_alignY_done == 0) {
wait(1);
shape_detected = shapeDetection();
-
+
pc.printf("Y - Adjust to center tool\n\r");
-
+
if(get_com_y() < 50) {
wait(1);
slightMove(FORWARD,25);
current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
} else if(get_com_y() > 70) {
wait(1);
slightMove(BACKWARD,25);
current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
} else {
shape_alignY_done = 1;
}
}*/
-
+
// aveArea = sumArea/count;
//printImageToFile(BINARY);
//either goes to aquire the tool or look at the next shape
- if(Xadjust(TOOL_2) == tool_needed) {
+
+//****************//if(Xadjust(TOOL_2) == tool_needed) {
+ if(Xadjust(TOOL_2) == 162) {
//printImageToFile(BINARY);
state = AQUIRE_TOOL2;
break;
@@ -453,25 +459,25 @@
while( shape_alignY_done == 0) {
wait(1);
shape_detected = shapeDetection();
-
+
pc.printf("Y - Adjust to center tool\n\r");
-
+
if(get_com_y() < 50) {
wait(1);
slightMove(FORWARD,25);
current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
} else if(get_com_y() > 70) {
wait(1);
slightMove(BACKWARD,25);
current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
} else {
shape_alignY_done = 1;
}
}*/
-
- if (Xadjust(TOOL_1) == tool_needed) {
+//****************// if (Xadjust(TOOL_1) == tool_needed) {
+ if (Xadjust(TOOL_1) == 169) {
state = AQUIRE_TOOL1;
break;
} else {
@@ -480,11 +486,11 @@
state = AQUIRE_TOOL3;
}
}
-
+
break;
-
+
case AQUIRE_TOOL1:
-
+
servoPosition(PU_TOOL_1);
setServoPulse(4, 175);
wait(5);
@@ -503,18 +509,18 @@
wait(1);
setServoPulse(1, Arm_Table[PU_TOOL_1].base_arm);
wait(2);
-
+
setServoPulse(2, Arm_Table[DRIVE_POSITION_TOOL].big_arm);
setServoPulse(3, Arm_Table[DRIVE_POSITION_TOOL].claw_arm);
setServoPulse(1, Arm_Table[DRIVE_POSITION_TOOL].base_arm);
setServoPulse(0, Arm_Table[DRIVE_POSITION_TOOL].base_rotate);
setServoPulse(4, Arm_Table[DRIVE_POSITION_TOOL].claw_rotate);
setServoPulse(5, Arm_Table[DRIVE_POSITION_TOOL].claw_open);
-
-
+
+
state = NAVIGATE_WAVES_ROW1;
break;
-
+
case AQUIRE_TOOL2:
servoPosition(PU_TOOL_2);
setServoPulse(4, 175);
@@ -535,118 +541,119 @@
setServoPulse(5, 140);
wait(2);
setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm);
-
+
wait(2);
-
+
setServoPulse(2, Arm_Table[DRIVE_POSITION_TOOL].big_arm);
setServoPulse(3, Arm_Table[DRIVE_POSITION_TOOL].claw_arm);
setServoPulse(1, Arm_Table[DRIVE_POSITION_TOOL].base_arm);
setServoPulse(0, Arm_Table[DRIVE_POSITION_TOOL].base_rotate);
setServoPulse(4, Arm_Table[DRIVE_POSITION_TOOL].claw_rotate);
setServoPulse(5, Arm_Table[DRIVE_POSITION_TOOL].claw_open);
-
-
+
+
state = NAVIGATE_WAVES_ROW1;
break;
-
+
case AQUIRE_TOOL3:
/*
while( shape_alignY_done == 0) {
wait(1);
-
+
servoPosition(PU_TOOL_3);
shape_detected = shapeDetection();
wait(2);
-
+
pc.printf("Y - Adjust to center tool\n\r");
-
+
if(get_com_y() < 50) {
wait(1);
slightMove(FORWARD,25);
current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
} else if(get_com_y() > 70) {
wait(1);
slightMove(BACKWARD,25);
current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
} else {
shape_alignY_done = 1;
}
}
-
+
*/
Xadjust(TOOL_3);
-
+
setServoPulse(4, 175);
wait(5);
- setServoPulse(0, Arm_Table[PU_TOOL_3].base_rotate );
+ setServoPulse(0, Arm_Table[PU_TOOL_3].base_rotate - 1);
wait(1);
setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm - 2);
wait(1);
setServoPulse(3, Arm_Table[PU_TOOL_2].claw_arm - 3);
wait(1);
- setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm - 6);
+ setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm - 9);
wait(.5);
- setServoPulse(5, 140);
+ setServoPulse(5, 110);
wait(.5);
setServoPulse(5, 00);
setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm - 10);
wait(1);
- setServoPulse(5, 140);
+ setServoPulse(5, 115);
wait(1);
setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm);
-
+
wait(2);
-
+
setServoPulse(2, Arm_Table[DRIVE_POSITION_TOOL].big_arm);
setServoPulse(3, Arm_Table[DRIVE_POSITION_TOOL].claw_arm);
setServoPulse(1, Arm_Table[DRIVE_POSITION_TOOL].base_arm);
setServoPulse(0, Arm_Table[DRIVE_POSITION_TOOL].base_rotate);
setServoPulse(4, Arm_Table[DRIVE_POSITION_TOOL].claw_rotate);
setServoPulse(5, Arm_Table[DRIVE_POSITION_TOOL].claw_open);
-
+
state = NAVIGATE_WAVES_ROW1;
break;
-
-
+
+
/**************************************************
* STAGE 4
*
* - Navigate through the ocean
*
**************************************************/
-
+
case NAVIGATE_WAVES_ROW1:
from_tools_section(location,current);
-
+
mid_section(location, current, direction);
-
+
state = NAVIGATE_WAVES_ROW2;
break;
-
+
case NAVIGATE_WAVES_ROW2:
mid_section2(location, current, direction);
state = NAVIGATE_WAVES_ROW3;
break;
-
+
case NAVIGATE_WAVES_ROW3:
-
+ shape_detected = 1;
if(shape_detected == 1) {
rig_section(location, current, direction, 1);
- while(1);
- state = NAVIGATE_TO_SQUARE_RIG;
+ //state = NAVIGATE_TO_SQUARE_RIG;
+ state = RETURN_TO_START;
} else if(shape_detected == 2) {
rig_section(location, current, direction, 2);
- while(1);
- state = NAVIGATE_TO_TRIANGLE_RIG;
+ //state = NAVIGATE_TO_TRIANGLE_RIG;
+ state = RETURN_TO_START;
} else {
rig_section(location, current, direction, 3);
- while(1);
- state = NAVIGATE_TO_CIRCLE_RIG;
+ //state = NAVIGATE_TO_CIRCLE_RIG;
+ state = RETURN_TO_START;
+
}
break;
-
+
/**************************************************
* STAGE 5
*
@@ -665,7 +672,7 @@
//NAVIGATION CODE HERE
state = RIG_ALIGN;
break;
-
+
/**************************************************
* STAGE 6
*
@@ -673,17 +680,17 @@
*
**************************************************/
case RIG_ALIGN:
-
+
//*********************//
//******* TODO ********//
//*********************//
// CODE TO ALIGN ROBOT WITH RIG
-
+
servoPosition(ORIENT_TOOL);
wait(1); //wait for servos to settle
state = INSERT_TOOL;
break;
-
+
/**************************************************
* STAGE 7
*
@@ -692,17 +699,36 @@
* - win contest
*
**************************************************/
-
+
case INSERT_TOOL:
//*********************//
//******* TODO ********//
//*********************//
// CODE TO INSERT TOOL
break;
-
+
/**************************************************
* STAGE 8
*
+ * - Return to start zone
+ *
+ **************************************************/
+ case RETURN_TO_START:
+ wait(3);
+ rig_section_return(location, current, direction);
+ wait(3);
+ mid_section2_return(location, current, direction);
+ wait(3);
+ mid_section_return(location, current, direction);
+ wait(3);
+ tools_section_return(location,current);
+ while(1);
+ state = END;
+ break;
+
+ /**************************************************
+ * STAGE 9
+ *
* - END COMPETITION
*
**************************************************/
@@ -718,24 +744,24 @@
wait(.2);
break;
default:
-
+
break;
}
} // End while loop
-
+
} // End if for start button
-
-
+
+
} // main loop
-
-
-
+
+
+
/************
-
+
Servo Functions
-
+
**************/
-
+
void setServoPulse(uint8_t n, int angle)
{
int pulse;
@@ -760,16 +786,16 @@
currentPosition[n] = i;
//pc.printf("END: pulse: %d, angle: %d\n\r", i, angle);
}
-
+
void initServoDriver(void)
{
pwm.begin();
//pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale().
pwm.setPrescale(140); //This value is decided for 20ms interval.
pwm.setI2Cfreq(400000); //400kHz
-
+
}
-
+
void servoBegin(void)
{
pc.printf("Setting Initial Servo Position\n\r");
@@ -781,7 +807,7 @@
setServoPulseNo_delay(4, Arm_Table[STORE_POSITION].claw_rotate);
setServoPulseNo_delay(5, Arm_Table[STORE_POSITION].claw_open);
}
-
+
void setServoPulseNo_delay(uint8_t n, int angle)
{
int pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE);
@@ -790,7 +816,7 @@
//pc.printf("ServoNumber: %d Pulsewidth: %d Angle: %d \n\r",n,pulse, angle);
pulse = 4094 * pulse / pulselength;
pwm.setPWM(n, 0, pulse);
-
+
}
void setServoPulse2(uint8_t n, float angle)
{
@@ -799,9 +825,9 @@
pulse = 4094 * pulse / pulselength;
pwm.setPWM(n, 0, pulse);
}
-
-
-
+
+
+
void servoPosition(int set)
{
//moves to current position
@@ -812,18 +838,18 @@
setServoPulse(4, Arm_Table[set].claw_rotate);
setServoPulse(5, Arm_Table[set].claw_open);
}
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
int fire_checker(int rig)
{
switch (rig) {
-
+
case 1:
for (int i = 0; i<10; i++) {
distLaser = getDistance();
@@ -848,43 +874,43 @@
}
}
break;
-
+
}
-
+
if (fire_detected > 0) {
return 1;
} else {
return 0;
}
}
-
+
void errFunction(void)
{
pc.printf("\n\nERROR: %d", motors.getError() );
-
+
}
-
-
-
-
+
+
+
+
void wall_follow(int side, int direction, int section)
{
float location, set=4;
int dir=1;
-
+
pid1.reset();
-
+
if(direction == BACKWARD) dir=-1;
if(section == TOOLS)set= 10;
-
+
leftEncoder.reset();
rightEncoder.reset();
-
+
location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
while(location< 66.5) {
location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
pid1.setInputLimits(0, set);
pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
pid1.setSetPoint(set);
@@ -898,17 +924,17 @@
rangeFinderRight.getMeas(range);
//pc.printf("%d\r\n",range);
}
-
+
if(range > 15) {
//pc.printf("wavegap %f\r\n",wavegap);
// AT WAVE OPENING!!!!
motors.setMotor1Speed(dir*0.25*127);//left
motors.setMotor0Speed(dir*0.25*127);//right
} else {
-
+
pid1.setProcessValue(range);
pid_return = pid1.compute();
-
+
if(pid_return > 0) {
if(side) {
motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
@@ -931,58 +957,59 @@
}
}
}
-
+
//STOP
motors.setMotor0Speed(dir*-0.3*127); //right
motors.setMotor1Speed(dir*-0.3*127); //left
wait_ms(10);
motors.stopBothMotors(0);
}
-
+
/* MODIFIED WALL_FOLLOW FOR NAVIGATION */
-
+
void wall_follow2(int side, int direction, int section, float location, int rig)
{
int dir=1, limit=80, lowlim=4;
float set=9, loc=0, Rigloc=0;
bool SeeWaveGap = false;
-
+
if(rig == 1) Rigloc= 16;
else if(rig == 2) Rigloc= 45;
else if(rig== 3) Rigloc = 70;
-
+
pid1.reset();
-
- if(direction == BACKWARD) {
- dir=-1;
- limit = 100;
- } else if(direction == FORWARD) lowlim=-20;
+
if(section == TOOLS) {
set= 9;
limit = 86;
} else if(section == RIGS) set = 9;
else if(section == RETURN) lowlim=4;
else if(section == MID2) limit =85;
-
+
+ if(direction == BACKWARD) {
+ dir=-1;
+ limit = 100;
+ } else if(direction == FORWARD) lowlim=-20;
+
if(location <4) limit=80;
-
+
leftEncoder.reset();
rightEncoder.reset();
-
+
pc.printf("before %f\r\n", location);
-
+
//pc.printf("dir*loc+location %f\r\n",dir*loc + location );
//pc.printf("limit %d \r\n", limit);
-
+
while((dir*loc + location <= limit) && (dir*loc + location >= lowlim)) {
-
+
loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
//pc.printf("loc %f \r\n", loc);
-
+
pid1.setInputLimits(0.0, set);
pid1.setOutputLimits( -MAX_SPEED1, MAX_SPEED1);
pid1.setSetPoint(set);
-
+
if(side) {
rangeFinderLeft.startMeas();
wait_ms(20);
@@ -992,12 +1019,12 @@
wait_ms(20);
rangeFinderRight.getMeas(range);
}
-
+
if(section == RIGS) {
rangeFinderLeft.startMeas();
wait_ms(20);
rangeFinderLeft.getMeas(range2);
-
+
if(range2< 15) {
if( abs(dir*loc + location - Rigloc) < 10) {
//STOP
@@ -1006,8 +1033,8 @@
}
}
}
-
-
+
+
//pc.printf("wall follow 2 range %f\r\n",range);
//pc.printf("loc+location = %f\r\n", loc+location);
if(range > 15 ) {
@@ -1016,12 +1043,12 @@
motors.setMotor1Speed(dir*0.25*127); //left
} else {
if(!SeeWaveGap) {
- wait_ms(40);
+ wait_ms(75);
SeeWaveGap=true;
} else {
//STOP
motors.stopBothMotors(127);
-
+
//pc.printf("wavegap\r\n");
// AT WAVE OPENING!!!!
break;
@@ -1032,7 +1059,7 @@
pid1.setProcessValue(range);
pid_return = pid1.compute();
pc.printf("Range: %f\n PID: %f\r\n", range, pid_return);
-
+
if(pid_return > 0) {
if(side) {
motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
@@ -1055,16 +1082,16 @@
}
}
}
-
+
//STOP
motors.stopBothMotors(127);
}
-
-
+
+
void alignWithWall(int section)
{
float usValue = 0;
-
+
if(section == TOOLS) {
//pc.printf("tools section align\r\n");
// turn at an angle
@@ -1074,7 +1101,7 @@
motors.setMotor1Speed(0.4*MAX_SPEED); //left
while(rightEncoder.getPulses()>-1000);
motors.stopBothMotors(0);
-
+
//go backwards toward wall
leftEncoder.reset();
rightEncoder.reset();
@@ -1082,14 +1109,14 @@
motors.setMotor1Speed(-0.25*127); //left
while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300);
motors.stopBothMotors(0);
-
+
// turn left towards wall
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(MAX_SPEED); //right
motors.setMotor1Speed(-MAX_SPEED); //left
while(rightEncoder.getPulses() < 20 || abs(leftEncoder.getPulses()) < 20);
-
+
motors.stopBothMotors(127);
wait_ms(300);
return;
@@ -1097,7 +1124,7 @@
rangeFinderRight.startMeas();
wait_ms(20);
rangeFinderRight.getMeas(range);
-
+
if(range>15){
// turning left
leftEncoder.reset();
@@ -1112,15 +1139,15 @@
// turning left
//motors.setMotor0Speed(0.9*MAX_SPEED); //right
//motors.setMotor1Speed(-0.9*MAX_SPEED); //left
-
+
} else if(section == RIGS) {
// check distance to wall
rangeFinderRight.startMeas();
wait_ms(20);
rangeFinderRight.getMeas(range);
-
+
if(range < 3) return;
-
+
// turn at an angle
leftEncoder.reset();
rightEncoder.reset();
@@ -1129,7 +1156,7 @@
while(abs(leftEncoder.getPulses())<500);
motors.stopBothMotors(0);
wait(2);
-
+
//go backwards toward wall
leftEncoder.reset();
rightEncoder.reset();
@@ -1138,17 +1165,17 @@
while(abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses()) < 200);
motors.stopBothMotors(0);
wait(2);
-
+
// turn right towards wall
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(-MAX_SPEED); //right
motors.setMotor1Speed(MAX_SPEED); //left
while(abs(rightEncoder.getPulses()) < 50 || abs(leftEncoder.getPulses()) < 50);
-
+
motors.stopBothMotors(127);
/* wait(2);
-
+
// turning left
motors.setMotor0Speed(-0.9*MAX_SPEED); //right
motors.setMotor1Speed(0.9*MAX_SPEED); //left
@@ -1160,14 +1187,14 @@
motors.setMotor1Speed(0.4*MAX_SPEED); //left
while(rightEncoder.getPulses()>-1000);
motors.stopBothMotors(0);
-
+
//go backwards toward wall
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(-0.25*127); //right
motors.setMotor1Speed(-0.25*127); //left
while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150);
-
+
// turn left towards wall
leftEncoder.reset();
rightEncoder.reset();
@@ -1175,10 +1202,10 @@
motors.setMotor1Speed(-0.4*127); //left
while(abs(rightEncoder.getPulses()) < 65 || abs(leftEncoder.getPulses()) < 65);
motors.stopBothMotors(127);
-
+
slightMove(FORWARD,100);
return;
-
+
} else { // MID
//pc.printf("in mid section align\r\n");
// turn right towards wall
@@ -1186,9 +1213,9 @@
// turning left towards wall
motors.setMotor0Speed(0.9*MAX_SPEED); //right
motors.setMotor1Speed(-0.9*MAX_SPEED); //left
-
+
}
-
+
usValue = 0;
/* while(1) {
if(section == 10) { // CURENTLY NOT USED (WAS RIGS)
@@ -1209,7 +1236,7 @@
}
motors.stopBothMotors(0);*/
}
-
+
void rightTurn(void)
{
motors.begin();
@@ -1220,7 +1247,7 @@
while(abs(leftEncoder.getPulses())<850 || abs(rightEncoder.getPulses())<850);
motors.stopBothMotors(127);
}
-
+
void leftTurn(void)
{
motors.begin();
@@ -1231,10 +1258,10 @@
while(abs(leftEncoder.getPulses())<1075 || rightEncoder.getPulses()<1075);
motors.stopBothMotors(127);
}
-
+
void slightleft(void)
{
-
+
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(0.5*127);// right
@@ -1242,10 +1269,10 @@
while(abs(leftEncoder.getPulses())<70 || rightEncoder.getPulses()<70);
motors.stopBothMotors(127);
}
-
+
void slightright(void)
{
-
+
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(-0.4*127);// right
@@ -1253,47 +1280,47 @@
while(abs(leftEncoder.getPulses())<200 || abs(rightEncoder.getPulses())<200);
motors.stopBothMotors(127);
}
-
+
void slightMove(int direction, float pulses)
{
int dir=1;
-
+
if(direction == BACKWARD) dir= -1;
-
+
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(dir*0.25*127); //right
motors.setMotor1Speed(dir*0.25*127); //left
while(abs(leftEncoder.getPulses()) < pulses || abs(rightEncoder.getPulses()) < pulses);
-
+
motors.stopBothMotors(127);
}
-
+
void UntilWall(int dir)
{
-
+
if(dir == BACKWARD) dir=-1;
-
+
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(dir*0.2*127); //right
motors.setMotor1Speed(dir*0.2*127); //left
-
+
range = 30;
-
+
while(range > 20) {
rangeFinderRight.startMeas();
wait_ms(20);
rangeFinderRight.getMeas(range);
}
-
+
motors.stopBothMotors(127);
}
-
+
void overBump(int section)
{
int preLeft=5000, preRight=5000, out=0;
-
+
motors.begin();
// slight backwards
leftEncoder.reset();
@@ -1301,64 +1328,65 @@
motors.setMotor0Speed(-0.25*127); //right
motors.setMotor1Speed(-0.25*127); //left
while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50);
+
motors.stopBothMotors(127);
-
+
//pc.printf("slight backwards\r\n");
wait_ms(200);
-
+
// Over bump
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(0.3*127); //right
motors.setMotor1Speed(0.3*127); //left
while((abs(leftEncoder.getPulses()) < 900 || abs(rightEncoder.getPulses()) < 900) /*&& preLeft!=0*/ && IR.getIRDistance() >15 );
-
-
-
+
+
+
//pc.printf("forward \r\n");
wait_ms(200);
-
+
motors.stopBothMotors(0);
motors.begin();
-
+
preLeft=preRight=5000 ;
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(.25*127); //right
motors.setMotor1Speed(.25*127); //left
-
+
if(section == TOOLS) {
while(IR.getIRDistance() > 10 && (abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses()) < 200) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {
-
+
if(IR.getIRDistance() > 38) break;
-
+
preLeft=leftEncoder.getPulses();
preRight=rightEncoder.getPulses();
wait_ms(200);
}
} else if(section == MID || section == MID2) {
- if(section == MID2){
- motors.setMotor0Speed(.3*127); //right
- motors.setMotor1Speed(.3*127); //left
- while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300));
- }
-
+ if(section == MID2) {
+ motors.setMotor0Speed(.3*127); //right
+ motors.setMotor1Speed(.3*127); //left
+ while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300));
+ }
+
while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {
-
+
if(IR.getIRDistance() > 38) break;
-
+
preLeft=leftEncoder.getPulses();
preRight=rightEncoder.getPulses();
wait_ms(200);
}
-
+
} else {// RIGS
while(abs(leftEncoder.getPulses()) < 220 || abs(rightEncoder.getPulses()) < 220);
-
+
// go backwards to line up with bump
leftEncoder.reset();
rightEncoder.reset();
-
+
motors.setMotor0Speed(-.15*127); //right
motors.setMotor1Speed(-.15*127); //left
while((abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100) && preLeft!=0 ) {
@@ -1369,51 +1397,51 @@
}
motors.stopBothMotors(127);
motors.begin();
-
+
return;
}
-
+
motors.stopBothMotors(127);
wait_ms(20);
motors.begin();
-
+
}
-
-
+
+
void to_tools_section1(float* location, float ¤t)
{
- slightMove(FORWARD,6850);
+ slightMove(FORWARD,6650);
current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
}
-
+
void to_tools_section2(float* location, float ¤t)
{
slightMove(FORWARD,3250);
current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
}
-
+
void from_tools_section(float* location, float ¤t)
{
-
+
//alignWithWall(TOOLS);
//current-=4;
-
+
//slightMove(FORWARD,150);
//current+=1;
//pc.printf("align\r\n");
//wait_ms(200);
-
+
//wall_follow2(LEFT,FORWARD,MID, current);
-
+
slightMove(BACKWARD,400);
current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
-
+
rangeFinderLeft.startMeas();
wait_ms(20);
rangeFinderLeft.getMeas(range);
-
+
if(range < 15) {
wall_follow2(LEFT,BACKWARD,MID, current,0);
//pc.printf("wall follow\r\n");
@@ -1422,7 +1450,7 @@
//pc.printf("current %f \r\n",current);
// go backwards
//slightMove(BACKWARD,200);
-
+
wait_ms(100);
leftTurn();
slightleft();
@@ -1433,38 +1461,38 @@
leftTurn();
overBump(TOOLS);
}
-
+
//pc.printf("First Wavegap = %f\r\n",location[0]);
-
+
}
void tools_section(float* location, float ¤t)
{
wall_follow(LEFT,FORWARD, TOOLS);
// current position in reference to the starting position
current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
-
+
//////////////////////////////// determine tool
wait(2);
///////////////////////////////////////////////////////////////////////////////////////
// Move Forward
slightMove(FORWARD, 100);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
-
+
//////////////////////////////////////////Tool aquiring
wait(2);
//////////////////////////////////////////////////////////////////// After tool is aquired
-
+
//alignWithWall(TOOLS);
//pc.printf("align\r\n");
//wait_ms(100);
-
+
//wall_follow2(LEFT,FORWARD,MID, current);
//current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
-
+
rangeFinderLeft.startMeas();
wait_ms(20);
rangeFinderLeft.getMeas(range);
-
+
if(range < 20) {
wall_follow2(LEFT,BACKWARD,TOOLS, current,0);
//pc.printf("wall follow\r\n");
@@ -1478,9 +1506,9 @@
motors.setMotor1Speed(-MAX_SPEED); //left
while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120);
// hard stop
-
+
motors.stopBothMotors(127);
-
+
wait_ms(100);
leftTurn();
overBump(TOOLS);
@@ -1490,13 +1518,18 @@
leftTurn();
overBump(TOOLS);
}
-
+
//pc.printf("First Wavegap = %f\r\n",location[0]);
}
-
+
void mid_section(float* location, float ¤t, int* direction)
{
if(IR.getIRDistance() > 38) {
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(0.25*127); //right
+ motors.setMotor1Speed(0.25*127); //left
+ while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50);
direction[0]= STRAIGHT;
overBump(MID);
return;
@@ -1505,7 +1538,7 @@
//alignWithWall(MID);
//current-=4;
//wait_ms(200);
-
+
//if(current > 20){
//alignWithWall(MID2);
//current-=4;
@@ -1515,38 +1548,39 @@
rightEncoder.reset();
motors.setMotor0Speed(-0.4*127);// right
motors.setMotor1Speed(0.4*127);// left
- while(abs(leftEncoder.getPulses())<50 || abs(rightEncoder.getPulses())<50);
+ while(abs(leftEncoder.getPulses())<100 || abs(rightEncoder.getPulses())<100);
motors.stopBothMotors(127);
//pc.printf("mid section current = %f\r\n",current);
wall_follow2(LEFT,FORWARD,MID, current,0);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
//pc.printf("after wf2 current = %f\r\n",current);
-
+
wait_ms(500);
rangeFinderLeft.startMeas();
wait_ms(20);
rangeFinderLeft.getMeas(range);
-
+
if(range > 20 ) {
+ wait(3);
direction[0]= RIGHT;
location[1]= current;
wait_ms(300);
- slightMove(FORWARD,100);
+ slightMove(FORWARD,200);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
} else {
direction[0]= LEFT;
wall_follow2(LEFT,BACKWARD,MID,current,0);
location[1]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
current= location[1];
-
+
if(location[1] < 18) {
slightMove(FORWARD, 75);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
}
//slightMove(BACKWARD,100);
-
+
}
-
+
wait_ms(200);
//pc.printf("wavegap2 = %f\r\n",location[1]);
//left turn
@@ -1557,41 +1591,45 @@
motors.setMotor1Speed(-0.5*127);// left
while(abs(leftEncoder.getPulses())<1045 || rightEncoder.getPulses()<1045);
motors.stopBothMotors(127);
-
+
wait_ms(100);
-
+
overBump(MID);
-
}
-
+
void mid_section2(float* location, float ¤t, int* direction)
{
//pc.printf("mid section 2\r\n");
-
+
if(IR.getIRDistance() > 38) {
+ leftEncoder.reset();
+ rightEncoder.reset();
+ motors.setMotor0Speed(0.25*127); //right
+ motors.setMotor1Speed(0.25*127); //left
+ while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50);
direction[1]= STRAIGHT;
overBump(RIGS);
return;
}
-
+
//alignWithWall(MID);
wait_ms(100);
-
+
rightTurn();
- slightright();
+ //slightright();
wait_ms(100);
-
-
+
+
wall_follow2(LEFT,FORWARD,MID, current,0);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
-
+
wait_ms(500);
-
+
//pc.printf("midseection 2 after wf2 %f",current);
rangeFinderLeft.startMeas();
wait_ms(20);
rangeFinderLeft.getMeas(range);
-
+
if(range > 20 ) {
direction[1]= RIGHT;
location[2]= current;
@@ -1604,36 +1642,36 @@
current=location[2];
//slightMove(BACKWARD,100);
}
-
+
//LEFT turn
motors.begin();
leftEncoder.reset();
rightEncoder.reset();
motors.setMotor0Speed(0.5*127);// right
motors.setMotor1Speed(-0.5*127);// left
- while(abs(leftEncoder.getPulses())<950 || rightEncoder.getPulses()<950);
+ while(abs(leftEncoder.getPulses())<1050 || rightEncoder.getPulses()<1050);
motors.stopBothMotors(127);
-
+
overBump(RIGS);
//pc.printf("overbump rigs\r\n");
}
-
+
void rig_section(float* location, float ¤t, int* direction, int rig)
{
float loc;
-
+
if(rig == 1) loc= 15;
else if(rig == 2) loc= 45;
else loc = 75;
-
+
// Slight forward for turn
slightMove(FORWARD,150);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
wait_ms(100);
rightTurn();
//slightright();
-
-
+
+
if(current > loc) {
//pc.printf("RIG section %f\r\n",current);
wall_follow2(RIGHT, BACKWARD, RIGS, current, rig);
@@ -1643,20 +1681,15 @@
wall_follow2(RIGHT, FORWARD, RIGS, current, rig);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
}
-
+ wait(2);
alignWithWall(MID2);
current-=4;
wall_follow2(RIGHT, FORWARD, RIGS, current, rig);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
slightMove(FORWARD, 75);
current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
-
-
-
-
-
}
-
+
void tools_section_return(float* location, float ¤t)
{
if(location[0] > 16) {
@@ -1664,9 +1697,9 @@
wall_follow2(LEFT, BACKWARD, RETURN, location[0], 0);
}
motors.stopBothMotors(0);
-
+
}
-
+
void mid_section_return(float* location, float ¤t, int* direction)
{
if(direction[0] == RIGHT) {
@@ -1684,7 +1717,7 @@
//ELSE and GO FORWARD
overBump(RIGS);
}
-
+
void mid_section2_return(float* location, float ¤t, int* direction)
{
if(direction[1] == RIGHT) {
@@ -1701,7 +1734,7 @@
//ELSE and GO FORWARD
overBump(MID);
}
-
+
void rig_section_return(float* location, float ¤t, int* direction)
{
if(location[2] > current) {
@@ -1714,15 +1747,15 @@
rightTurn();
overBump(MID2);
}
-
-
-
-
+
+
+
+
int Xadjust(int tool)
{
int areaArray[10];
float C, T, S;
- for(int i = 0; i < 10; i++) {
+ for(int i = 0; i < 5; i++) {
areaArray[i] = shapeDetection();
wait(2);
if(get_com_x() > X_CENTER ) {
@@ -1735,26 +1768,26 @@
setServoPulse2(0,Arm_Table[tool].base_rotate += (deltaX/60.0) );
Arm_Table[PU_TOOL_2].base_rotate = Arm_Table[TOOL_2].base_rotate;
}
-
-
+
+
}
-
+
C = normd(areaArray, 10, CIRCLE_AREA);
// S = normd(areaArray, 10, SQUARE_AREA);
// T = normd(areaArray, 10, TRIANGLE_AREA);
-
+
if((C < SQUARE_AREA) && (C > CIRCLE_AREA)) {
+ pc.printf("\n\nCIRCLE DETECTED\n\r");
+ return CIRCLE;
+ } else if( ( C > SQUARE_AREA) ) {
pc.printf("\n\nSQUARE DETECTED\n\r");
return SQUARE;
- } else if( ( C > SQUARE_AREA) ) {
- pc.printf("\n\nCIRCLE DETECTED\n\r");
- return CIRCLE;
} else {
pc.printf("\n\nTRIANGLE DETECTED\n\r");
return TRIANGLE;
}
-
-
+
+
/*
if((C < S) && (C < T)) {
pc.printf("\n\nCIRCLE DETECTED\n\r");
@@ -1767,7 +1800,7 @@
return TRIANGLE;
}*/
}
-
+
float normd(int* pop, int count, int threshold)
{
int i = 0;
@@ -1777,19 +1810,19 @@
}
mean /= (float)count;
pc.printf("\n\nMean: %f\n\r", mean);
-
+
for(i=0; i<count; i++) {
std += pow(((float)pop[i]-mean),2);
}
std /= (float)count;
std = sqrt(std);
//pc.printf("\n\nStd: %f\n\r", std);
-
+
//pc.printf("\n\nNorm: %f\n\r", (1/(std*sqrt(2*PI)))*exp(-pow(((float)threshold-mean),2)/(2*pow(std,2))));
-
-
+
+
//return abs(mean - threshold);
return mean;
//return (1/(std*sqrt(2*PI)))*exp(-pow(((float)threshold-mean),2)/(2*pow(std,2)));
-
-}
+
+}
\ No newline at end of file