For IEEE Robotics
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
main.cpp
- Committer:
- tashworth
- Date:
- 2014-04-02
- Revision:
- 14:784acd735b8c
- Parent:
- 13:529323807361
- Child:
- 16:8bb212df81b7
File content as of revision 14:784acd735b8c:
#include "mbed.h" #include "Adafruit_PWMServoDriver.h" #include "ShapeDetect.h" #include "rtos.h" #include "PID.h" #include "PololuQik2.h" #include "QEI.h" #include "HCSR04.h" #include "stdio.h" #include "LPC17xx.h" #include "Sharp.h" /* Navigation Definitions */ #define PIN_TRIGGERL (p12) #define PIN_ECHOL (p11) #define PIN_TRIGGERR (p29) #define PIN_ECHOR (p30) #define PULSE_PER_REV (1192) #define WHEEL_CIRCUM (12.56637) #define DIST_PER_PULSE (0.01054225722682) #define MTRS_TO_INCH (39.3701) #define MAX_SPEED (0.3*127) #define PPR (4331/4) #define LEFT (1) #define RIGHT (0) #define STRAIGHT (2) #define FORWARD (1) #define BACKWARD (0) #define TOOLS (0) #define MID (1) #define RIGS (2) #define MID2 (3) #define RETURN (4) #define FAR (1) //States #define START 0 #define OILRIG1_POS 1 #define OILRIG2_POS 2 #define GOTO_TOOLS1 3 #define IDENTIFY_TOOLS 4 #define AQUIRE_TOOL1 5 #define AQUIRE_TOOL2 6 #define AQUIRE_TOOL3 7 #define NAVIGATE_WAVES_ROW1 8 #define NAVIGATE_WAVES_ROW2 9 #define NAVIGATE_WAVES_ROW3 10 #define NAVIGATE_TO_SQUARE_RIG 11 #define NAVIGATE_TO_TRIANGLE_RIG 12 #define NAVIGATE_TO_CIRCLE_RIG 13 #define RIG_ALIGN 14 #define INSERT_TOOL 15 #define END 16 #define GOTO_TOOLS2 17 //Servo Static Positions #define STORE_POSITION 0 #define OIL_RIG1 1 #define OIL_RIG2 2 #define OIL_RIG3 3 #define DRIVE_POSITION_NOTOOL 4 #define TOOL_1 5 #define TOOL_2 6 #define TOOL_3 7 #define DRIVE_POSITION_TOOL 8 #define ORIENT_TOOL 9 #define PU_TOOL_1 10 #define PU_TOOL_2 11 #define PU_TOOL_3 12 #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 //*********************// //******* TODO ********// //*********************// //Oil Rig distance thresholds #define OILRIG1_MAX 3000 #define OILRIG1_MIN 1000 #define OILRIG2_MAX 5000 #define OILRIG2_MIN 1000 #define OILRIG3_MAX 5000 #define OILRIG3_MIN 1000 //for servo normalization #define MIN_SERVO_PULSE 900 #define MAX_SERVO_PULSE 2100 #define SERVO_MAX_ANGLE 180 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4); void errFunction(void); bool cRc; Serial pc(USBTX,USBRX); //USB Comm Adafruit_PWMServoDriver pwm(p28,p27); //pwm(SDA,SCL) - Servo Control PWM DigitalOut ServoOutputDisable(p8); //Servo Control Output Enable/Disable extern Serial lrf; //Laser Range Finder lrf(p13,p14) //Hardware Initialization //Serial bt(p13,p14); HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); PID pid1(15.0,0.0,4.0,0.02); PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); Sharp IR(p20); //InterruptIn encoder(p29); /*************** local servo functions ****************/ void servoBegin(void); void initServoDriver(void); void setServoPulse(uint8_t n, int angle); void setServoPulseNo_delay(uint8_t n, int angle); void servoPosition(int set); int fire_checker(int rig); //Navigation Functions void wall_follow(int side, int direction, int section); void wall_follow2(int side, int direction, int section, float location, int rig); void leftTurn(void); void slightleft(void); void slightright(void); void rightTurn(void); void slightMove(int direction, float pulses); void to_tools_section1(float* location, float ¤t); void to_tools_section2(float* location, float ¤t); void from_tools_section(float* location, float ¤t); void mid_section(float* location, float ¤t, int* direction); void mid_section2(float* location, float ¤t, int* direction); void rig_section(float* location, float ¤t, int* direction, int rig); void tools_section_return(float* location, float ¤t); void mid_section_return(float* location, float ¤t, int* direction); void mid_section2_return(float* location, float ¤t, int* direction); void rig_section_return(float* location, float ¤t, int* direction); void overBump(int section); void alignWithWall(int section); void UntilWall(int dir); /************ Main Variables *************/ int state = START; int fire = 0; int tool_needed = 0; int shape_detected = 0; float range, range2, pid_return; /************ 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; int base_arm; int big_arm; int claw_arm; 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, 5, 0, 165, 175, 0}, // storing position {OIL_RIG1, 160, 20, 60, 45, 175, 0}, // point laser at oilrig1 {OIL_RIG2, 163, 20, 60, 45, 175, 0}, // point laser at oilrig2 {OIL_RIG3, 130, 90, 90, 52, 175, 0}, // point laser at oilrig2 {DRIVE_POSITION_NOTOOL, 85, 5, 0, 165, 175, 0}, // Drive through course {TOOL_1, 94, 50, 80, 109, 175, 0}, // Look over first tool {TOOL_2, 77, 50, 80, 110, 175, 0}, // Look over second tool {TOOL_3, 57, 50, 80, 109, 175, 0}, // Look over third tool {DRIVE_POSITION_TOOL, 55, 70, 102, 74, 0, 0}, // Drive with tool loaded {ORIENT_TOOL, 135, 60, 75, 60, 90, 90}, // position tool to be inserted {PU_TOOL_1, 98, 50, 82, 118, 90, 0}, // STATIC Pickup tool POSITION {PU_TOOL_2, 78, 50, 82, 108, 90, 0}, // STATIC Pickup tool POSITION {PU_TOOL_3, 53, 50, 82, 118, 90, 0}, // STATIC Pickup tool POSITION {PU_TOOL_1_STAB, 98, 50, 90, 118, 90, 0}, // STAB TOOL 1 {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; int area; int shape; int shape_alignX_done = 0; /* Variables for distance sensor*/ int distLaser; int fire_detected = 0; int fire_not_detected = 0; int main() { /***************** INITIALIZATIONS *******************/ float location[3], current=4; int direction[3]; double distance; pc.baud(115200); //Laser Range Finder Initialization lrf_baudCalibration(); motors.begin(); //Servo initialization initServoDriver(); servoBegin(); //initiates servos to start position //ServoOutputDisable = 0; /******************* WHILE LOOP FOR TESTING ********************/ //while(1) { /* pc.scanf("%d %d", &servoNum, &servoAngle); if(servoAngle > 175) { servoAngle = 175; } if(servoNum > 5 ) { servoNum = 0; servoAngle = 90; } setServoPulse(servoNum, servoAngle); distLaser = getDistance(); pc.printf("Distance %d", distLaser); */ /* int shape_alignX_done = 0; int shape_alignY_done = 0; //pc.scanf("%d", &posNum); while(pc.getc() != 'g'); servoPosition(TOOL_1); while(pc.getc() != 'g'); //shape_detected = shapeDetection(); ImageToArray(GREYSCALE); //clearBounds(); printImageToFile(GREYSCALE); while(1); while(shape_alignY_done == 0) { shape_detected = shapeDetection(); pc.printf("\nY movement\n"); if(get_com_y() >= 80) { setServoPulse(1, Arm_Table[TOOL_1].base_arm-=2); setServoPulse(2, Arm_Table[TOOL_1].big_arm-=1); //setServoPulse(3, Arm_Table[TOOL_1].claw_arm+=2); } else if(get_com_y() > 70 && get_com_y() < 90) { setServoPulse(1, Arm_Table[TOOL_1].base_arm-=1); setServoPulse(2, Arm_Table[TOOL_1].big_arm-=1); //setServoPulse(3, Arm_Table[TOOL_1].claw_arm+=1); } else if(get_com_y() <= 35 ) { setServoPulse(1, Arm_Table[TOOL_1].base_arm+=2); setServoPulse(2, Arm_Table[TOOL_1].big_arm+=1); //setServoPulse(3, Arm_Table[TOOL_1].claw_arm-=2); } else if(get_com_y() < 50 && get_com_y() > 20) { setServoPulse(1, Arm_Table[TOOL_1].base_arm+=1); setServoPulse(2, Arm_Table[TOOL_1].big_arm+=1); //setServoPulse(3, Arm_Table[TOOL_1].claw_arm-=1); } else { shape_alignY_done = 1; } } while( shape_alignX_done == 0){ shape_detected = shapeDetection(); pc.printf("\nX movement\n"); if(get_com_x() > 95) { Arm_Table[TOOL_1].base_rotate+=1; setServoPulse(0, Arm_Table[TOOL_1].base_rotate); setServoPulse(0, Arm_Table[TOOL_1].base_rotate-1); setServoPulse(0, Arm_Table[TOOL_1].base_rotate+1); } else if(get_com_x() < 65) { Arm_Table[TOOL_1].base_rotate-=1; setServoPulse(0, Arm_Table[TOOL_1].base_rotate); setServoPulse(0, Arm_Table[TOOL_1].base_rotate-1); setServoPulse(0, Arm_Table[TOOL_1].base_rotate+1); } else { shape_alignX_done = 1; } } printImageToFile(BINARY);*/ // } /******************************** MAIN WHILE LOOP FOR COMPETITION *********************************/ while(1) { switch (state) { /************************************************** * STAGE 0 * * - START OF THE COMETITION * **************************************************/ case START : myled1 = 1; while(pc.getc() != 'g'); //waits for the letter g before starting program myled1 = 0; 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"); tool_needed = SQUARE; state = GOTO_TOOLS1; } else { pc.printf("XXXXXX FIRE NOT FOUND XXXXXX"); state = OILRIG2_POS; } break; case OILRIG2_POS: servoPosition(DRIVE_POSITION_NOTOOL); 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!!!!!!!!"); tool_needed = TRIANGLE; state = GOTO_TOOLS2; } else { pc.printf("XXXXXX FIRE NOT FOUND XXXXXX"); tool_needed = CIRCLE; state = GOTO_TOOLS2; } break; /************************************************** * STAGE 2 * * - TRAVEL TO TOOLS * **************************************************/ case GOTO_TOOLS1: servoPosition(DRIVE_POSITION_NOTOOL); wait(3); //wait for servos to settle to_tools_section1(location, current); state = IDENTIFY_TOOLS; break; case GOTO_TOOLS2: servoPosition(DRIVE_POSITION_NOTOOL); wait(3); //wait for servos to settle slightMove(FORWARD,3100); current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; state = IDENTIFY_TOOLS; break; /************************************************** * STAGE 3 * * - Determine order of tools * - Aquire appropriate tool * **************************************************/ case IDENTIFY_TOOLS: servoPosition(TOOL_2); //arm/camera looks over tool wait(5); //wait for servos to settle //shape_detected = shapeDetection(); //determines the shape //clearBounds(); //printImageToFile(BINARY); while( shape_alignX_done == 0) { shape_detected = shapeDetection(); pc.printf("X - Adjust to center tool\n\r"); if(get_com_x() > 95) { Arm_Table[TOOL_1].base_rotate+=1; } else if(get_com_x() < 65) { Arm_Table[TOOL_1].base_rotate-=1; } else { shape_alignX_done = 1; } } //either goes to aquire the tool or look at the next shape if(shape_detected == tool_needed) { state = AQUIRE_TOOL2; } else { servoPosition(TOOL_1); wait(3); //wait for servos to settle shape_alignX_done = 0; while( shape_alignX_done == 0) { shape_detected = shapeDetection(); pc.printf("X - Adjust to center tool\n\r"); if(get_com_x() > 95) { Arm_Table[TOOL_1].base_rotate+=1; } else if(get_com_x() < 65) { Arm_Table[TOOL_1].base_rotate-=1; } else { shape_alignX_done = 1; } } if (shape_detected == tool_needed) { state = AQUIRE_TOOL1; } else { servoPosition(TOOL_3); wait(3); //wait for servos to settle while( shape_alignX_done == 0) { shape_detected = shapeDetection(); pc.printf("X - Adjust to center tool\n\r"); if(get_com_x() > 95) { Arm_Table[TOOL_1].base_rotate+=1; } else if(get_com_x() < 65) { Arm_Table[TOOL_1].base_rotate-=1; } else { shape_alignX_done = 1; } } state = AQUIRE_TOOL3; } } while(1); break; case AQUIRE_TOOL1: servoPosition(PU_TOOL_1_STAB); wait(2); servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool state = NAVIGATE_WAVES_ROW1; break; case AQUIRE_TOOL2: servoPosition(PU_TOOL_2_STAB); wait(2); servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool state = NAVIGATE_WAVES_ROW1; break; case AQUIRE_TOOL3: servoPosition(PU_TOOL_3_STAB); wait(2); servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool state = NAVIGATE_WAVES_ROW1; break; /************************************************** * STAGE 4 * * - Navigate through the ocean * **************************************************/ case NAVIGATE_WAVES_ROW1: //*********************// //******* TODO ********// //*********************// // CODE TO NAVIGATE ROW1 state = NAVIGATE_WAVES_ROW2; break; case NAVIGATE_WAVES_ROW2: //*********************// //******* TODO ********// //*********************// // CODE TO NAVIGATE ROW2 state = NAVIGATE_WAVES_ROW3; break; case NAVIGATE_WAVES_ROW3: //*********************// //******* TODO ********// //*********************// // CODE TO NAVIGATE ROW3 //goes to appropriate rig if(shape_detected == 1) { state = NAVIGATE_TO_SQUARE_RIG; } else if(shape_detected == 2) { state = NAVIGATE_TO_TRIANGLE_RIG; } else { state = NAVIGATE_TO_CIRCLE_RIG; } break; /************************************************** * STAGE 5 * * - Travel to appropriate rig * **************************************************/ case NAVIGATE_TO_SQUARE_RIG: //NAVIGATION CODE HERE state = RIG_ALIGN; break; case NAVIGATE_TO_TRIANGLE_RIG: //NAVIGATION CODE HERE state = RIG_ALIGN; break; case NAVIGATE_TO_CIRCLE_RIG: //NAVIGATION CODE HERE state = RIG_ALIGN; break; /************************************************** * STAGE 6 * * - Align with appropriate rig * **************************************************/ 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 * * - Insert Tool * - Extenguish fire * - win contest * **************************************************/ case INSERT_TOOL: //*********************// //******* TODO ********// //*********************// // CODE TO INSERT TOOL break; /************************************************** * STAGE 8 * * - END COMPETITION * **************************************************/ case END: servoPosition(STORE_POSITION); myled1 = 1; wait(.2); myled2 = 1; wait(.2); myled3 = 1; wait(.2); myled4 = 1; wait(.2); break; default: break; } } } /************ Servo Functions **************/ void setServoPulse(uint8_t n, int angle) { int pulse; pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); float pulselength = 20000; // 20,000 us per second int i = currentPosition[n]; pc.printf("ServoNumber: %d Begining Pulse: %d\n\r",n,currentPosition[n]); int pulse2; if(currentPosition[n] < pulse) { for(i; i < pulse; i++) { pulse2 = 4094 * i / pulselength; pwm.setPWM(n, 0, pulse2); wait_ms(3); } } else if (currentPosition[n] > pulse) { for(i; i > pulse; i--) { pulse2 = 4094 * i / pulselength; pwm.setPWM(n, 0, pulse2); wait_ms(3); } } 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"); servoPosition(STORE_POSITION); } void setServoPulseNo_delay(uint8_t n, int angle) { int pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); float pulselength = 20000; // 20,000 us per second currentPosition[n] = pulse; //pc.printf("ServoNumber: %d Pulsewidth: %d Angle: %d \n\r",n,pulse, angle); pulse = 4094 * pulse / pulselength; pwm.setPWM(n, 0, pulse); } void servoPosition(int set) { //moves to current position setServoPulse(3, Arm_Table[set].claw_arm); setServoPulse(2, Arm_Table[set].big_arm); setServoPulse(1, Arm_Table[set].base_arm); setServoPulse(0, Arm_Table[set].base_rotate); 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(); pc.printf("L DISTANCE: %d \n\r", distLaser); if ((distLaser < OILRIG1_MAX) && (distLaser > OILRIG1_MIN)) { fire_detected++; } else { fire_not_detected++; } } break; case 2: for (int i = 0; i<10; i++) { distLaser = getDistance(); pc.printf("L DISTANCE: %d \n\r", distLaser); if ((distLaser < OILRIG2_MAX) && (distLaser > OILRIG2_MIN)) { fire_detected++; } else { fire_not_detected++; } } break; } if (fire_detected > 0) { return 1; } else { return 0; } } void errFunction(void) { //Nothing } void wall_follow(int side, int direction, int section) { float location, set=6; 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); if(side) { rangeFinderLeft.startMeas(); wait_ms(20); rangeFinderLeft.getMeas(range); } else { rangeFinderRight.startMeas(); wait_ms(20); 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 motors.setMotor1Speed(dir*MAX_SPEED);//left } else { motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left motors.setMotor0Speed(dir*MAX_SPEED);//right } } else if(pid_return < 0) { if(side) { motors.setMotor0Speed(dir*MAX_SPEED);//right motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left } else { motors.setMotor1Speed(dir*MAX_SPEED);//left motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right } } else { motors.setMotor0Speed(dir*MAX_SPEED);//right motors.setMotor1Speed(dir*MAX_SPEED);//left } } } //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=86, lowlim=5; float set=6, 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; } if(section == TOOLS) { set= 6; limit = 86; } if(section == RETURN) lowlim=15; 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_SPEED, MAX_SPEED); pid1.setSetPoint(set); if(side) { rangeFinderLeft.startMeas(); wait_ms(20); rangeFinderLeft.getMeas(range); } else { rangeFinderRight.startMeas(); wait_ms(20); rangeFinderRight.getMeas(range); } if(section == RIGS) { rangeFinderLeft.startMeas(); wait_ms(20); rangeFinderLeft.getMeas(range2); if(range2< 20) { if( abs(dir*loc + location - Rigloc) < 10) { //STOP motors.setMotor0Speed(dir*-0.25*127); //right motors.setMotor1Speed(dir*-0.25*127); //left wait_ms(5); motors.stopBothMotors(0); break; } } } //pc.printf("wall follow 2 range %f\r\n",range); //pc.printf("loc+location = %f\r\n", loc+location); if(range > 20 ) { if(section == RIGS || section == RETURN) { motors.setMotor0Speed(dir*0.25*127); //right motors.setMotor1Speed(dir*0.25*127); //left } else { if(!SeeWaveGap) { SeeWaveGap=true; } else { //STOP motors.setMotor0Speed(dir*-0.25*127); //right motors.setMotor1Speed(dir*-0.25*127); //left wait_ms(5); motors.stopBothMotors(0); pc.printf("wavegap\r\n"); // AT WAVE OPENING!!!! break; } } } else { SeeWaveGap = false; 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 motors.setMotor1Speed(dir*MAX_SPEED);//left } else { motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left motors.setMotor0Speed(dir*MAX_SPEED);//right } } else if(pid_return < 0) { if(side) { motors.setMotor0Speed(dir*MAX_SPEED);//right motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left } else { motors.setMotor1Speed(dir*MAX_SPEED);//left motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right } } else { motors.setMotor0Speed(dir*MAX_SPEED); motors.setMotor1Speed(dir*MAX_SPEED); } } } //STOP motors.setMotor0Speed(dir*-0.3*127); //right motors.setMotor1Speed(dir*-0.3*127); //left wait_ms(5); motors.stopBothMotors(0); } void alignWithWall(int section) { float usValue = 0; if(section == TOOLS) { pc.printf("tools section align\r\n"); // turn at an angle leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(-1.2*MAX_SPEED); //right 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()) < 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(0); // 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 < 4 || range > 20) return; // turn at an angle leftEncoder.reset(); rightEncoder.reset(); motors.setMotor1Speed(-1.2*MAX_SPEED); //left motors.setMotor0Speed(0.4*MAX_SPEED); //right while(abs(leftEncoder.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); motors.stopBothMotors(0); // turn left towards wall leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(-MAX_SPEED); //right motors.setMotor1Speed(MAX_SPEED); //left while(abs(rightEncoder.getPulses()) < 20 || abs(leftEncoder.getPulses()) < 20); motors.stopBothMotors(0); // turning left motors.setMotor0Speed(-0.9*MAX_SPEED); //right motors.setMotor1Speed(0.9*MAX_SPEED); //left } else { pc.printf("in mid section align\r\n"); // turn right towards wall rightTurn(); // turning left towards wall motors.setMotor0Speed(0.9*MAX_SPEED); //right motors.setMotor1Speed(-0.9*MAX_SPEED); //left } usValue = 0; while(1) { if(section == RIGS) { rangeFinderRight.startMeas(); wait_ms(20); rangeFinderRight.getMeas(range); } else { rangeFinderLeft.startMeas(); wait_ms(20); rangeFinderLeft.getMeas(range); } pc.printf("Range %f \t OldValue %f\n\r",range, usValue); if(range > usValue && usValue != 0 && range < 25) { break; } else { usValue = range; } } motors.stopBothMotors(0); } void rightTurn(void) { motors.begin(); leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(-0.5*127);//right motors.setMotor1Speed(0.5*127);//left while(abs(leftEncoder.getPulses())<950 || abs(rightEncoder.getPulses())<950); motors.stopBothMotors(0); } void leftTurn(void) { motors.begin(); leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(0.5*127);// right motors.setMotor1Speed(-0.5*127);// left while(abs(leftEncoder.getPulses())<1100 || rightEncoder.getPulses()<1100); motors.stopBothMotors(0); } void slightleft(void) { leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(0.5*127);// right motors.setMotor1Speed(-0.5*127);// left while(abs(leftEncoder.getPulses())<90 || rightEncoder.getPulses()<90); motors.stopBothMotors(0); } void slightright(void) { leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(-0.4*127);// right motors.setMotor1Speed(0.4*127);// left while(abs(leftEncoder.getPulses())<90 || abs(rightEncoder.getPulses())<90); motors.stopBothMotors(0); } 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.setMotor0Speed(dir*-0.25*127); //right motors.setMotor1Speed(dir*-0.25*127); //left wait_ms(10); 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.setMotor0Speed(dir*-0.2*127); //right motors.setMotor1Speed(dir*-0.2*127); //left wait_ms(5); motors.stopBothMotors(0); } void overBump(int section) { int preLeft=5000, preRight=5000, out=0; motors.begin(); // slight backwards 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); motors.stopBothMotors(0); pc.printf("slight backwards\r\n"); wait_ms(200); leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(0.3*127); //right motors.setMotor1Speed(0.3*127); //left while((abs(leftEncoder.getPulses()) < 800 || abs(rightEncoder.getPulses()) < 800) /*&& preLeft!=0*/ && IR.getIRDistance() >15 ) { /*preLeft=leftEncoder.getPulses(); preRight=rightEncoder.getPulses(); wait_ms(200); if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;*/ } pc.printf("forward \r\n"); wait_ms(200); /* motors.stopBothMotors(0); motors.begin(); leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(0.3*127); //right motors.setMotor1Speed(0.3*127); //left while(!out) { preLeft=leftEncoder.getPulses(); preRight=rightEncoder.getPulses(); rangeFinderLeft.startMeas(); rangeFinderRight.startMeas(); wait_ms(20); rangeFinderLeft.getMeas(range); rangeFinderRight.getMeas(range2); if(range < 10 || range2 < 10) out=1; if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) { motors.setMotor0Speed(0.4*127); //right motors.setMotor1Speed(0.4*127); //left wait_ms(50); out=1; } if(abs(leftEncoder.getPulses()) >1000 || abs(leftEncoder.getPulses())>1000) out=1; } */ 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()) < 300 || abs(rightEncoder.getPulses()) < 300) && (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) while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400)); while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) { if(IR.getIRDistance() > 38) break; preLeft=leftEncoder.getPulses(); preRight=rightEncoder.getPulses(); wait_ms(200); } } else { while(abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100); 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 ) { preLeft = leftEncoder.getPulses(); preRight = rightEncoder.getPulses(); wait_ms(200); if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; } leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(0.25*127); //right motors.setMotor1Speed(0.25*127); //left while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10)); motors.stopBothMotors(0); return; } leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(-.25*127); //right motors.setMotor1Speed(-.25*127); //left while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10)); motors.stopBothMotors(0); wait_ms(20); motors.begin(); } void to_tools_section1(float* location, float ¤t) { slightMove(FORWARD,6500); current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; } void to_tools_section2(float* location, float ¤t) { slightMove(FORWARD,3200); current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; } void from_tools_section(float* location, float ¤t) { 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"); location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); current= location[0]; pc.printf("current %f \r\n",current); // go backwards leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(-MAX_SPEED); //right motors.setMotor1Speed(-MAX_SPEED); //left while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120); // hard stop leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(MAX_SPEED); //right motors.setMotor1Speed(MAX_SPEED); //left while(abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses())< 10); motors.stopBothMotors(0); wait_ms(100); leftTurn(); overBump(TOOLS); } else { pc.printf("else greater than 20\r\n"); location[0]= current; leftTurn(); overBump(TOOLS); } pc.printf("First Wavegap = %f\r\n",location[0]); } void mid_section(float* location, float ¤t, int* direction) { motors.begin(); if(IR.getIRDistance() > 38) { direction[0]= STRAIGHT; overBump(MID); return; } pc.printf("before align with wall \r\n"); alignWithWall(MID); wait_ms(100); 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 ) { direction[0]= RIGHT; location[1]= current; slightMove(FORWARD,75); //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, 50); current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); } } pc.printf("wavegap2 = %f\r\n",location[1]); leftTurn(); wait_ms(100); overBump(MID); } void mid_section2(float* location, float ¤t, int* direction) { motors.begin(); pc.printf("mid section 2\r\n"); if(IR.getIRDistance() > 38) { direction[1]= STRAIGHT; overBump(RIGS); return; } alignWithWall(MID); pc.printf("midsection 2 alignt with wall mid \r\n"); 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; slightMove(FORWARD,75); //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); } else { direction[1]= LEFT; wall_follow2(LEFT,BACKWARD,MID,current,0); location[2]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); current=location[2]; //slightMove(FORWARD,500); } leftTurn(); 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; rightTurn(); slightright(); if(current > loc) { pc.printf("RIG section %f\r\n",current); wall_follow2(RIGHT, BACKWARD, RIGS, current, rig); current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); } else { pc.printf("RIG section %f\r\n",current); wall_follow2(RIGHT, FORWARD, RIGS, current, rig); 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) { leftTurn(); 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) { leftTurn(); alignWithWall(MID); wall_follow2(LEFT, BACKWARD, MID, current,0); current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); rightTurn(); } else if(direction[0] == LEFT) { leftTurn(); wall_follow2(RIGHT, FORWARD, MID, current,0); current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); rightTurn(); } //ELSE and GO FORWARD overBump(RIGS); } void mid_section2_return(float* location, float ¤t, int* direction) { if(direction[1] == RIGHT) { leftTurn(); wall_follow2(LEFT, BACKWARD, MID, current,0); current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); rightTurn(); } else if(direction[1] == LEFT) { leftTurn(); wall_follow2(RIGHT, FORWARD, MID, current,0); current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); rightTurn(); } //ELSE and GO FORWARD overBump(MID); } void rig_section_return(float* location, float ¤t, int* direction) { alignWithWall(RIGS); if(location[2] > current) { wall_follow2(RIGHT, FORWARD, MID, current,0); current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); } else { wall_follow2(RIGHT, BACKWARD, MID, current,0); current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); } rightTurn(); overBump(MID2); }