For IEEE Robotics
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
main.cpp@21:0907e1f5e16c, 2014-04-08 (annotated)
- Committer:
- tashworth
- Date:
- Tue Apr 08 16:20:40 2014 +0000
- Revision:
- 21:0907e1f5e16c
- Parent:
- 20:55dcff40c5d9
- Child:
- 22:79c5871543b5
4-8-14
Who changed what in which revision?
User | Revision | Line number | New 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 | 20:55dcff40c5d9 | 13 | |
tashworth | 20:55dcff40c5d9 | 14 | #define PI 3.14159 |
tashworth | 20:55dcff40c5d9 | 15 | |
tashworth | 20:55dcff40c5d9 | 16 | |
tashworth | 20:55dcff40c5d9 | 17 | |
tashworth | 8:77a57909aa15 | 18 | /* Navigation Definitions */ |
tashworth | 8:77a57909aa15 | 19 | #define PIN_TRIGGERL (p12) |
tashworth | 8:77a57909aa15 | 20 | #define PIN_ECHOL (p11) |
tashworth | 8:77a57909aa15 | 21 | #define PIN_TRIGGERR (p29) |
tashworth | 8:77a57909aa15 | 22 | #define PIN_ECHOR (p30) |
tashworth | 8:77a57909aa15 | 23 | #define PULSE_PER_REV (1192) |
tashworth | 8:77a57909aa15 | 24 | #define WHEEL_CIRCUM (12.56637) |
tashworth | 8:77a57909aa15 | 25 | #define DIST_PER_PULSE (0.01054225722682) |
tashworth | 8:77a57909aa15 | 26 | #define MTRS_TO_INCH (39.3701) |
tashworth | 8:77a57909aa15 | 27 | #define MAX_SPEED (0.3*127) |
tashworth | 20:55dcff40c5d9 | 28 | #define MAX_SPEED1 (0.25*127) |
tashworth | 8:77a57909aa15 | 29 | #define PPR (4331/4) |
tashworth | 8:77a57909aa15 | 30 | #define LEFT (1) |
tashworth | 8:77a57909aa15 | 31 | #define RIGHT (0) |
tashworth | 12:284be46593ae | 32 | #define STRAIGHT (2) |
tashworth | 8:77a57909aa15 | 33 | #define FORWARD (1) |
tashworth | 8:77a57909aa15 | 34 | #define BACKWARD (0) |
tashworth | 8:77a57909aa15 | 35 | #define TOOLS (0) |
tashworth | 8:77a57909aa15 | 36 | #define MID (1) |
tashworth | 8:77a57909aa15 | 37 | #define RIGS (2) |
tashworth | 12:284be46593ae | 38 | #define MID2 (3) |
tashworth | 12:284be46593ae | 39 | #define RETURN (4) |
tashworth | 8:77a57909aa15 | 40 | #define FAR (1) |
tashworth | 6:75259c3306dd | 41 | |
tashworth | 20:55dcff40c5d9 | 42 | |
tashworth | 6:75259c3306dd | 43 | //States |
tashworth | 6:75259c3306dd | 44 | #define START 0 |
tashworth | 6:75259c3306dd | 45 | #define OILRIG1_POS 1 |
tashworth | 6:75259c3306dd | 46 | #define OILRIG2_POS 2 |
tashworth | 12:284be46593ae | 47 | #define GOTO_TOOLS1 3 |
tashworth | 6:75259c3306dd | 48 | #define IDENTIFY_TOOLS 4 |
tashworth | 6:75259c3306dd | 49 | #define AQUIRE_TOOL1 5 |
tashworth | 6:75259c3306dd | 50 | #define AQUIRE_TOOL2 6 |
tashworth | 6:75259c3306dd | 51 | #define AQUIRE_TOOL3 7 |
tashworth | 6:75259c3306dd | 52 | #define NAVIGATE_WAVES_ROW1 8 |
tashworth | 6:75259c3306dd | 53 | #define NAVIGATE_WAVES_ROW2 9 |
tashworth | 6:75259c3306dd | 54 | #define NAVIGATE_WAVES_ROW3 10 |
tashworth | 6:75259c3306dd | 55 | #define NAVIGATE_TO_SQUARE_RIG 11 |
tashworth | 6:75259c3306dd | 56 | #define NAVIGATE_TO_TRIANGLE_RIG 12 |
tashworth | 6:75259c3306dd | 57 | #define NAVIGATE_TO_CIRCLE_RIG 13 |
tashworth | 6:75259c3306dd | 58 | #define RIG_ALIGN 14 |
tashworth | 6:75259c3306dd | 59 | #define INSERT_TOOL 15 |
tashworth | 6:75259c3306dd | 60 | #define END 16 |
tashworth | 12:284be46593ae | 61 | #define GOTO_TOOLS2 17 |
tashworth | 6:75259c3306dd | 62 | |
tashworth | 0:1b64a0cedc5d | 63 | |
tashworth | 8:77a57909aa15 | 64 | |
tashworth | 6:75259c3306dd | 65 | //Servo Static Positions |
tashworth | 6:75259c3306dd | 66 | #define STORE_POSITION 0 |
tashworth | 6:75259c3306dd | 67 | #define OIL_RIG1 1 |
tashworth | 6:75259c3306dd | 68 | #define OIL_RIG2 2 |
tashworth | 6:75259c3306dd | 69 | #define OIL_RIG3 3 |
tashworth | 6:75259c3306dd | 70 | #define DRIVE_POSITION_NOTOOL 4 |
tashworth | 6:75259c3306dd | 71 | #define TOOL_1 5 |
tashworth | 6:75259c3306dd | 72 | #define TOOL_2 6 |
tashworth | 6:75259c3306dd | 73 | #define TOOL_3 7 |
tashworth | 6:75259c3306dd | 74 | #define DRIVE_POSITION_TOOL 8 |
tashworth | 6:75259c3306dd | 75 | #define ORIENT_TOOL 9 |
tashworth | 11:8d2455e383ce | 76 | #define PU_TOOL_1 10 |
tashworth | 11:8d2455e383ce | 77 | #define PU_TOOL_2 11 |
tashworth | 11:8d2455e383ce | 78 | #define PU_TOOL_3 12 |
tashworth | 11:8d2455e383ce | 79 | #define PU_TOOL_1_STAB 13 |
tashworth | 11:8d2455e383ce | 80 | #define PU_TOOL_2_STAB 14 |
tashworth | 11:8d2455e383ce | 81 | #define PU_TOOL_3_STAB 15 |
tashworth | 2:4e082e4c255d | 82 | |
tashworth | 6:75259c3306dd | 83 | //Rig definitions |
tashworth | 6:75259c3306dd | 84 | #define SQUARE 1 |
tashworth | 6:75259c3306dd | 85 | #define TRIANGLE 2 |
tashworth | 6:75259c3306dd | 86 | #define CIRCLE 3 |
tashworth | 6:75259c3306dd | 87 | |
tashworth | 17:a5bb85ee205d | 88 | |
tashworth | 6:75259c3306dd | 89 | //Oil Rig distance thresholds |
tashworth | 21:0907e1f5e16c | 90 | #define OILRIG1_MAX 1800 |
tashworth | 8:77a57909aa15 | 91 | #define OILRIG1_MIN 1000 |
tashworth | 21:0907e1f5e16c | 92 | #define OILRIG2_MAX 1800 |
tashworth | 8:77a57909aa15 | 93 | #define OILRIG2_MIN 1000 |
tashworth | 21:0907e1f5e16c | 94 | #define OILRIG3_MAX 1800 |
tashworth | 8:77a57909aa15 | 95 | #define OILRIG3_MIN 1000 |
tashworth | 6:75259c3306dd | 96 | |
tashworth | 6:75259c3306dd | 97 | //for servo normalization |
tashworth | 3:b7b4780a7f6e | 98 | #define MIN_SERVO_PULSE 900 |
tashworth | 3:b7b4780a7f6e | 99 | #define MAX_SERVO_PULSE 2100 |
tashworth | 3:b7b4780a7f6e | 100 | #define SERVO_MAX_ANGLE 180 |
tashworth | 3:b7b4780a7f6e | 101 | |
tashworth | 17:a5bb85ee205d | 102 | #define X_CENTER 80 |
tashworth | 17:a5bb85ee205d | 103 | #define Y_CENTER 60 |
tashworth | 17:a5bb85ee205d | 104 | |
tashworth | 8:77a57909aa15 | 105 | |
tashworth | 8:77a57909aa15 | 106 | DigitalOut myled1(LED1); |
tashworth | 8:77a57909aa15 | 107 | DigitalOut myled2(LED2); |
tashworth | 8:77a57909aa15 | 108 | DigitalOut myled3(LED3); |
tashworth | 8:77a57909aa15 | 109 | DigitalOut myled4(LED4); |
tashworth | 16:8bb212df81b7 | 110 | InterruptIn startBtn(p7); |
tashworth | 8:77a57909aa15 | 111 | |
tashworth | 8:77a57909aa15 | 112 | void errFunction(void); |
tashworth | 8:77a57909aa15 | 113 | bool cRc; |
tashworth | 8:77a57909aa15 | 114 | |
tashworth | 8:77a57909aa15 | 115 | Serial pc(USBTX,USBRX); //USB Comm |
tashworth | 8:77a57909aa15 | 116 | Adafruit_PWMServoDriver pwm(p28,p27); //pwm(SDA,SCL) - Servo Control PWM |
tashworth | 8:77a57909aa15 | 117 | extern Serial lrf; //Laser Range Finder lrf(p13,p14) |
tashworth | 8:77a57909aa15 | 118 | //Hardware Initialization |
tashworth | 8:77a57909aa15 | 119 | //Serial bt(p13,p14); |
tashworth | 8:77a57909aa15 | 120 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
tashworth | 8:77a57909aa15 | 121 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
tashworth | 8:77a57909aa15 | 122 | PID pid1(15.0,0.0,4.0,0.02); |
tashworth | 8:77a57909aa15 | 123 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
tashworth | 8:77a57909aa15 | 124 | QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); |
tashworth | 8:77a57909aa15 | 125 | QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); |
tashworth | 8:77a57909aa15 | 126 | Sharp IR(p20); |
tashworth | 8:77a57909aa15 | 127 | //InterruptIn encoder(p29); |
tashworth | 8:77a57909aa15 | 128 | |
tashworth | 8:77a57909aa15 | 129 | |
tashworth | 8:77a57909aa15 | 130 | |
tashworth | 8:77a57909aa15 | 131 | |
tashworth | 6:75259c3306dd | 132 | /*************** |
tashworth | 6:75259c3306dd | 133 | local servo functions |
tashworth | 6:75259c3306dd | 134 | ****************/ |
tashworth | 1:fe4a0b47ff25 | 135 | void servoBegin(void); |
tashworth | 0:1b64a0cedc5d | 136 | void initServoDriver(void); |
tashworth | 3:b7b4780a7f6e | 137 | void setServoPulse(uint8_t n, int angle); |
tashworth | 17:a5bb85ee205d | 138 | void setServoPulse2(uint8_t n, float angle); //float precision |
tashworth | 3:b7b4780a7f6e | 139 | void setServoPulseNo_delay(uint8_t n, int angle); |
tashworth | 0:1b64a0cedc5d | 140 | void servoPosition(int set); |
tashworth | 6:75259c3306dd | 141 | int fire_checker(int rig); |
tashworth | 16:8bb212df81b7 | 142 | int button_start = 0; |
tashworth | 6:75259c3306dd | 143 | |
tashworth | 8:77a57909aa15 | 144 | |
tashworth | 8:77a57909aa15 | 145 | //Navigation Functions |
tashworth | 12:284be46593ae | 146 | void wall_follow(int side, int direction, int section); |
tashworth | 12:284be46593ae | 147 | void wall_follow2(int side, int direction, int section, float location, int rig); |
tashworth | 8:77a57909aa15 | 148 | void leftTurn(void); |
tashworth | 8:77a57909aa15 | 149 | void slightleft(void); |
tashworth | 12:284be46593ae | 150 | void slightright(void); |
tashworth | 8:77a57909aa15 | 151 | void rightTurn(void); |
tashworth | 12:284be46593ae | 152 | void slightMove(int direction, float pulses); |
tashworth | 12:284be46593ae | 153 | void to_tools_section1(float* location, float ¤t); |
tashworth | 12:284be46593ae | 154 | void to_tools_section2(float* location, float ¤t); |
tashworth | 8:77a57909aa15 | 155 | void from_tools_section(float* location, float ¤t); |
tashworth | 8:77a57909aa15 | 156 | void mid_section(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 157 | void mid_section2(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 158 | void rig_section(float* location, float ¤t, int* direction, int rig); |
tashworth | 12:284be46593ae | 159 | void tools_section_return(float* location, float ¤t); |
tashworth | 12:284be46593ae | 160 | void mid_section_return(float* location, float ¤t, int* direction); |
tashworth | 12:284be46593ae | 161 | void mid_section2_return(float* location, float ¤t, int* direction); |
tashworth | 12:284be46593ae | 162 | void rig_section_return(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 163 | void overBump(int section); |
tashworth | 8:77a57909aa15 | 164 | void alignWithWall(int section); |
tashworth | 12:284be46593ae | 165 | void UntilWall(int dir); |
tashworth | 8:77a57909aa15 | 166 | |
tashworth | 20:55dcff40c5d9 | 167 | |
tashworth | 20:55dcff40c5d9 | 168 | float normd(int* pop, int count, int threshold); |
tashworth | 20:55dcff40c5d9 | 169 | int Xadjust(int tool); |
tashworth | 20:55dcff40c5d9 | 170 | |
tashworth | 16:8bb212df81b7 | 171 | extern "C" void mbed_reset(); |
tashworth | 8:77a57909aa15 | 172 | |
tashworth | 6:75259c3306dd | 173 | /************ |
tashworth | 6:75259c3306dd | 174 | Main Variables |
tashworth | 6:75259c3306dd | 175 | *************/ |
tashworth | 6:75259c3306dd | 176 | int state = START; |
tashworth | 6:75259c3306dd | 177 | int fire = 0; |
tashworth | 20:55dcff40c5d9 | 178 | int tool_needed = 1; |
tashworth | 6:75259c3306dd | 179 | int shape_detected = 0; |
tashworth | 8:77a57909aa15 | 180 | float range, range2, pid_return; |
tashworth | 19:d4d967a885dc | 181 | int num, input; |
tashworth | 8:77a57909aa15 | 182 | |
tashworth | 0:1b64a0cedc5d | 183 | |
tashworth | 0:1b64a0cedc5d | 184 | /************ |
tashworth | 0:1b64a0cedc5d | 185 | Variables for Servos |
tashworth | 0:1b64a0cedc5d | 186 | *************/ |
tashworth | 3:b7b4780a7f6e | 187 | int servoNum, servoAngle, outputDisabled, posNum, testVal; |
tashworth | 3:b7b4780a7f6e | 188 | int currentPosition[7]; |
tashworth | 0:1b64a0cedc5d | 189 | |
tashworth | 3:b7b4780a7f6e | 190 | typedef struct { |
tashworth | 6:75259c3306dd | 191 | int arm_position_name; //for organization only (STORE, OILRIG1, OILRIG2...) |
tashworth | 3:b7b4780a7f6e | 192 | int base_rotate; |
tashworth | 3:b7b4780a7f6e | 193 | int base_arm; |
tashworth | 3:b7b4780a7f6e | 194 | int big_arm; |
tashworth | 3:b7b4780a7f6e | 195 | int claw_arm; |
tashworth | 3:b7b4780a7f6e | 196 | int claw_rotate; |
tashworth | 3:b7b4780a7f6e | 197 | int claw_open; |
tashworth | 3:b7b4780a7f6e | 198 | } Coord; |
tashworth | 3:b7b4780a7f6e | 199 | |
tashworth | 6:75259c3306dd | 200 | /******************** |
tashworth | 6:75259c3306dd | 201 | Static Arm Positions |
tashworth | 6:75259c3306dd | 202 | *********************/ |
tashworth | 6:75259c3306dd | 203 | |
tashworth | 3:b7b4780a7f6e | 204 | Coord Arm_Table[] = { |
tashworth | 6:75259c3306dd | 205 | |
tashworth | 3:b7b4780a7f6e | 206 | // POSITION ODER: |
tashworth | 6:75259c3306dd | 207 | // base_rotate, base_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open |
tashworth | 3:b7b4780a7f6e | 208 | |
tashworth | 8:77a57909aa15 | 209 | //increase in number 5 rotates gripper |
tashworth | 8:77a57909aa15 | 210 | |
tashworth | 17:a5bb85ee205d | 211 | {STORE_POSITION, 85, 10, 0, 165, 175, 0}, // storing position |
tashworth | 21:0907e1f5e16c | 212 | {OIL_RIG1, 160, 20, 60, 47, 175, 0}, // point laser at oilrig1 |
tashworth | 21:0907e1f5e16c | 213 | {OIL_RIG2, 164, 20, 60, 47, 175, 0}, // point laser at oilrig2 |
tashworth | 12:284be46593ae | 214 | {OIL_RIG3, 130, 90, 90, 52, 175, 0}, // point laser at oilrig2 |
tashworth | 17:a5bb85ee205d | 215 | {DRIVE_POSITION_NOTOOL, 85, 10, 0, 165, 175, 0}, // Drive through course |
tashworth | 19:d4d967a885dc | 216 | {TOOL_1, 101, 50, 80, 113, 90, 0}, // Look over first tool |
tashworth | 19:d4d967a885dc | 217 | {TOOL_2, 82, 50, 80, 113, 90, 0}, // Look over second tool |
tashworth | 19:d4d967a885dc | 218 | {TOOL_3, 62, 50, 80, 112, 90, 0}, // Look over third tool |
tashworth | 17:a5bb85ee205d | 219 | {DRIVE_POSITION_TOOL, 85, 10, 0, 165, 90, 105}, // Drive with tool loaded |
tashworth | 6:75259c3306dd | 220 | {ORIENT_TOOL, 135, 60, 75, 60, 90, 90}, // position tool to be inserted |
tashworth | 19:d4d967a885dc | 221 | {PU_TOOL_1, 99, 46, 78, 110, 170, 0}, // STATIC Pickup tool POSITION |
tashworth | 19:d4d967a885dc | 222 | {PU_TOOL_2, 76, 47, 80, 112, 170, 0}, // STATIC Pickup tool POSITION |
tashworth | 19:d4d967a885dc | 223 | {PU_TOOL_3, 59, 44, 76, 110, 170, 0}, // STATIC Pickup tool POSITION |
tashworth | 11:8d2455e383ce | 224 | {PU_TOOL_1_STAB, 98, 50, 90, 118, 90, 0}, // STAB TOOL 1 |
tashworth | 11:8d2455e383ce | 225 | {PU_TOOL_2_STAB, 78, 50, 90, 108, 90, 0}, // STAB TOOL 2 |
tashworth | 11:8d2455e383ce | 226 | {PU_TOOL_3_STAB, 53, 50, 90, 118, 90, 0}, // STAB TOOL 3 |
tashworth | 3:b7b4780a7f6e | 227 | }; |
tashworth | 3:b7b4780a7f6e | 228 | |
tashworth | 3:b7b4780a7f6e | 229 | |
tashworth | 3:b7b4780a7f6e | 230 | /* Variables for imageprocessing and distance */ |
tashworth | 3:b7b4780a7f6e | 231 | int x_coord; |
tashworth | 3:b7b4780a7f6e | 232 | int y_coord; |
tashworth | 3:b7b4780a7f6e | 233 | int area; |
tashworth | 3:b7b4780a7f6e | 234 | int shape; |
tashworth | 13:529323807361 | 235 | int shape_alignX_done = 0; |
tashworth | 16:8bb212df81b7 | 236 | int shape_alignY_done = 0; |
tashworth | 17:a5bb85ee205d | 237 | float deltaX = 0; |
tashworth | 13:529323807361 | 238 | |
tashworth | 3:b7b4780a7f6e | 239 | |
tashworth | 6:75259c3306dd | 240 | /* Variables for distance sensor*/ |
tashworth | 8:77a57909aa15 | 241 | int distLaser; |
tashworth | 6:75259c3306dd | 242 | int fire_detected = 0; |
tashworth | 6:75259c3306dd | 243 | int fire_not_detected = 0; |
tashworth | 3:b7b4780a7f6e | 244 | |
tashworth | 16:8bb212df81b7 | 245 | void button_int(void) |
tashworth | 16:8bb212df81b7 | 246 | { |
tashworth | 16:8bb212df81b7 | 247 | if(!button_start) { |
tashworth | 16:8bb212df81b7 | 248 | button_start = 1; |
tashworth | 16:8bb212df81b7 | 249 | wait(1.0); |
tashworth | 16:8bb212df81b7 | 250 | } else { |
tashworth | 16:8bb212df81b7 | 251 | button_start = 0; |
tashworth | 16:8bb212df81b7 | 252 | mbed_reset(); |
tashworth | 16:8bb212df81b7 | 253 | } |
tashworth | 16:8bb212df81b7 | 254 | return; |
tashworth | 16:8bb212df81b7 | 255 | } |
tashworth | 16:8bb212df81b7 | 256 | |
tashworth | 0:1b64a0cedc5d | 257 | |
tashworth | 19:d4d967a885dc | 258 | |
tashworth | 3:b7b4780a7f6e | 259 | int main() |
tashworth | 3:b7b4780a7f6e | 260 | { |
tashworth | 3:b7b4780a7f6e | 261 | |
tashworth | 19:d4d967a885dc | 262 | |
tashworth | 3:b7b4780a7f6e | 263 | /***************** |
tashworth | 3:b7b4780a7f6e | 264 | INITIALIZATIONS |
tashworth | 3:b7b4780a7f6e | 265 | *******************/ |
tashworth | 12:284be46593ae | 266 | float location[3], current=4; |
tashworth | 8:77a57909aa15 | 267 | int direction[3]; |
tashworth | 8:77a57909aa15 | 268 | double distance; |
tashworth | 8:77a57909aa15 | 269 | |
tashworth | 17:a5bb85ee205d | 270 | int pu, num, input; |
tashworth | 17:a5bb85ee205d | 271 | |
tashworth | 9:1b29cd9ed1ba | 272 | |
tashworth | 3:b7b4780a7f6e | 273 | pc.baud(115200); |
tashworth | 6:75259c3306dd | 274 | //Laser Range Finder Initialization |
tashworth | 3:b7b4780a7f6e | 275 | lrf_baudCalibration(); |
tashworth | 17:a5bb85ee205d | 276 | |
tashworth | 8:77a57909aa15 | 277 | motors.begin(); |
tashworth | 17:a5bb85ee205d | 278 | |
tashworth | 16:8bb212df81b7 | 279 | startBtn.rise(&button_int); |
tashworth | 3:b7b4780a7f6e | 280 | |
tashworth | 6:75259c3306dd | 281 | //Servo initialization |
tashworth | 3:b7b4780a7f6e | 282 | initServoDriver(); |
tashworth | 6:75259c3306dd | 283 | servoBegin(); //initiates servos to start position |
tashworth | 11:8d2455e383ce | 284 | //ServoOutputDisable = 0; |
tashworth | 11:8d2455e383ce | 285 | |
tashworth | 7:8fb4204f9600 | 286 | /******************************** |
tashworth | 7:8fb4204f9600 | 287 | MAIN WHILE LOOP FOR COMPETITION |
tashworth | 7:8fb4204f9600 | 288 | *********************************/ |
tashworth | 19:d4d967a885dc | 289 | |
tashworth | 20:55dcff40c5d9 | 290 | |
tashworth | 3:b7b4780a7f6e | 291 | while(1) { |
tashworth | 16:8bb212df81b7 | 292 | if(button_start == 1) { |
tashworth | 10:1a1d52207f59 | 293 | |
tashworth | 16:8bb212df81b7 | 294 | |
tashworth | 16:8bb212df81b7 | 295 | switch (state) { |
tashworth | 8:77a57909aa15 | 296 | |
tashworth | 16:8bb212df81b7 | 297 | /************************************************** |
tashworth | 16:8bb212df81b7 | 298 | * STAGE 0 |
tashworth | 16:8bb212df81b7 | 299 | * |
tashworth | 16:8bb212df81b7 | 300 | * - START OF THE COMETITION |
tashworth | 16:8bb212df81b7 | 301 | * |
tashworth | 16:8bb212df81b7 | 302 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 303 | case START : |
tashworth | 16:8bb212df81b7 | 304 | myled1 = 1; |
tashworth | 16:8bb212df81b7 | 305 | state = OILRIG1_POS; |
tashworth | 16:8bb212df81b7 | 306 | break; |
tashworth | 3:b7b4780a7f6e | 307 | |
tashworth | 13:529323807361 | 308 | |
tashworth | 16:8bb212df81b7 | 309 | /************************************************** |
tashworth | 16:8bb212df81b7 | 310 | * STAGE 1 |
tashworth | 16:8bb212df81b7 | 311 | * |
tashworth | 16:8bb212df81b7 | 312 | * - DETERMINE OIL RIG ON FIRE |
tashworth | 16:8bb212df81b7 | 313 | * |
tashworth | 16:8bb212df81b7 | 314 | **************************************************/ |
tashworth | 10:1a1d52207f59 | 315 | |
tashworth | 16:8bb212df81b7 | 316 | case OILRIG1_POS: //aims arm at square oil rig |
tashworth | 11:8d2455e383ce | 317 | |
tashworth | 16:8bb212df81b7 | 318 | servoPosition(OIL_RIG1); |
tashworth | 16:8bb212df81b7 | 319 | wait(3); //wait for servo to settle before laser distance |
tashworth | 16:8bb212df81b7 | 320 | |
tashworth | 16:8bb212df81b7 | 321 | fire = fire_checker(OIL_RIG1); //determines if oil rig is on fire |
tashworth | 12:284be46593ae | 322 | |
tashworth | 16:8bb212df81b7 | 323 | //determines what tool is needed |
tashworth | 16:8bb212df81b7 | 324 | if (fire == 1) { |
tashworth | 16:8bb212df81b7 | 325 | pc.printf("FIRE FOUND!!!!!!!!\n\r"); |
tashworth | 16:8bb212df81b7 | 326 | tool_needed = SQUARE; |
tashworth | 16:8bb212df81b7 | 327 | state = GOTO_TOOLS1; |
tashworth | 16:8bb212df81b7 | 328 | } else { |
tashworth | 16:8bb212df81b7 | 329 | pc.printf("XXXXXX FIRE NOT FOUND XXXXXX"); |
tashworth | 16:8bb212df81b7 | 330 | state = OILRIG2_POS; |
tashworth | 16:8bb212df81b7 | 331 | } |
tashworth | 16:8bb212df81b7 | 332 | break; |
tashworth | 16:8bb212df81b7 | 333 | |
tashworth | 16:8bb212df81b7 | 334 | case OILRIG2_POS: |
tashworth | 6:75259c3306dd | 335 | |
tashworth | 16:8bb212df81b7 | 336 | setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm); |
tashworth | 16:8bb212df81b7 | 337 | setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm); |
tashworth | 16:8bb212df81b7 | 338 | setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm); |
tashworth | 16:8bb212df81b7 | 339 | setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate); |
tashworth | 16:8bb212df81b7 | 340 | setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate); |
tashworth | 16:8bb212df81b7 | 341 | setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open); |
tashworth | 16:8bb212df81b7 | 342 | wait(3); //wait for servos to settle |
tashworth | 12:284be46593ae | 343 | |
tashworth | 16:8bb212df81b7 | 344 | to_tools_section2(location, current); // moves to second rig |
tashworth | 12:284be46593ae | 345 | |
tashworth | 16:8bb212df81b7 | 346 | servoPosition(OIL_RIG2); //position arm to point at first oilrig |
tashworth | 16:8bb212df81b7 | 347 | wait(3); |
tashworth | 13:529323807361 | 348 | |
tashworth | 16:8bb212df81b7 | 349 | fire = fire_checker(OIL_RIG2); |
tashworth | 16:8bb212df81b7 | 350 | if (fire == 1) { |
tashworth | 16:8bb212df81b7 | 351 | pc.printf("FIRE FOUND!!!!!!!!"); |
tashworth | 16:8bb212df81b7 | 352 | tool_needed = TRIANGLE; |
tashworth | 16:8bb212df81b7 | 353 | state = GOTO_TOOLS2; |
tashworth | 16:8bb212df81b7 | 354 | } else { |
tashworth | 16:8bb212df81b7 | 355 | pc.printf("XXXXXX FIRE NOT FOUND XXXXXX"); |
tashworth | 16:8bb212df81b7 | 356 | tool_needed = CIRCLE; |
tashworth | 16:8bb212df81b7 | 357 | state = GOTO_TOOLS2; |
tashworth | 16:8bb212df81b7 | 358 | } |
tashworth | 16:8bb212df81b7 | 359 | break; |
tashworth | 6:75259c3306dd | 360 | |
tashworth | 16:8bb212df81b7 | 361 | /************************************************** |
tashworth | 16:8bb212df81b7 | 362 | * STAGE 2 |
tashworth | 16:8bb212df81b7 | 363 | * |
tashworth | 16:8bb212df81b7 | 364 | * - TRAVEL TO TOOLS |
tashworth | 16:8bb212df81b7 | 365 | * |
tashworth | 16:8bb212df81b7 | 366 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 367 | case GOTO_TOOLS1: |
tashworth | 16:8bb212df81b7 | 368 | setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm); |
tashworth | 16:8bb212df81b7 | 369 | setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm); |
tashworth | 16:8bb212df81b7 | 370 | setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm); |
tashworth | 16:8bb212df81b7 | 371 | setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate); |
tashworth | 16:8bb212df81b7 | 372 | setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate); |
tashworth | 16:8bb212df81b7 | 373 | setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open); |
tashworth | 16:8bb212df81b7 | 374 | wait(3); //wait for servos to settle |
tashworth | 16:8bb212df81b7 | 375 | to_tools_section1(location, current); |
tashworth | 16:8bb212df81b7 | 376 | state = IDENTIFY_TOOLS; |
tashworth | 16:8bb212df81b7 | 377 | break; |
tashworth | 12:284be46593ae | 378 | |
tashworth | 16:8bb212df81b7 | 379 | case GOTO_TOOLS2: |
tashworth | 12:284be46593ae | 380 | |
tashworth | 16:8bb212df81b7 | 381 | setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm); |
tashworth | 16:8bb212df81b7 | 382 | setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm); |
tashworth | 16:8bb212df81b7 | 383 | setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm); |
tashworth | 16:8bb212df81b7 | 384 | setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate); |
tashworth | 16:8bb212df81b7 | 385 | setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate); |
tashworth | 16:8bb212df81b7 | 386 | setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open); |
tashworth | 16:8bb212df81b7 | 387 | wait(3); //wait for servos to settle |
tashworth | 8:77a57909aa15 | 388 | |
tashworth | 21:0907e1f5e16c | 389 | slightMove(FORWARD,3250); |
tashworth | 16:8bb212df81b7 | 390 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 6:75259c3306dd | 391 | |
tashworth | 16:8bb212df81b7 | 392 | state = IDENTIFY_TOOLS; |
tashworth | 16:8bb212df81b7 | 393 | break; |
tashworth | 12:284be46593ae | 394 | |
tashworth | 13:529323807361 | 395 | |
tashworth | 13:529323807361 | 396 | |
tashworth | 16:8bb212df81b7 | 397 | /************************************************** |
tashworth | 16:8bb212df81b7 | 398 | * STAGE 3 |
tashworth | 16:8bb212df81b7 | 399 | * |
tashworth | 16:8bb212df81b7 | 400 | * - Determine order of tools |
tashworth | 16:8bb212df81b7 | 401 | * - Aquire appropriate tool |
tashworth | 16:8bb212df81b7 | 402 | * |
tashworth | 16:8bb212df81b7 | 403 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 404 | case IDENTIFY_TOOLS: |
tashworth | 3:b7b4780a7f6e | 405 | |
tashworth | 20:55dcff40c5d9 | 406 | //wait(5); |
tashworth | 16:8bb212df81b7 | 407 | servoPosition(TOOL_2); //arm/camera looks over tool |
tashworth | 16:8bb212df81b7 | 408 | wait(5); //wait for servos to settle |
tashworth | 13:529323807361 | 409 | |
tashworth | 16:8bb212df81b7 | 410 | //shape_detected = shapeDetection(); //determines the shape |
tashworth | 16:8bb212df81b7 | 411 | //clearBounds(); |
tashworth | 16:8bb212df81b7 | 412 | //printImageToFile(BINARY); |
tashworth | 16:8bb212df81b7 | 413 | shape_alignX_done = 0; |
tashworth | 16:8bb212df81b7 | 414 | shape_alignY_done = 0; |
tashworth | 17:a5bb85ee205d | 415 | /* |
tashworth | 17:a5bb85ee205d | 416 | while( shape_alignY_done == 0) { |
tashworth | 17:a5bb85ee205d | 417 | wait(1); |
tashworth | 17:a5bb85ee205d | 418 | shape_detected = shapeDetection(); |
tashworth | 17:a5bb85ee205d | 419 | |
tashworth | 17:a5bb85ee205d | 420 | pc.printf("Y - Adjust to center tool\n\r"); |
tashworth | 17:a5bb85ee205d | 421 | |
tashworth | 17:a5bb85ee205d | 422 | if(get_com_y() < 50) { |
tashworth | 17:a5bb85ee205d | 423 | wait(1); |
tashworth | 17:a5bb85ee205d | 424 | slightMove(FORWARD,25); |
tashworth | 17:a5bb85ee205d | 425 | current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 17:a5bb85ee205d | 426 | |
tashworth | 17:a5bb85ee205d | 427 | } else if(get_com_y() > 70) { |
tashworth | 17:a5bb85ee205d | 428 | wait(1); |
tashworth | 17:a5bb85ee205d | 429 | slightMove(BACKWARD,25); |
tashworth | 17:a5bb85ee205d | 430 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 17:a5bb85ee205d | 431 | |
tashworth | 17:a5bb85ee205d | 432 | } else { |
tashworth | 17:a5bb85ee205d | 433 | shape_alignY_done = 1; |
tashworth | 17:a5bb85ee205d | 434 | } |
tashworth | 17:a5bb85ee205d | 435 | }*/ |
tashworth | 17:a5bb85ee205d | 436 | |
tashworth | 20:55dcff40c5d9 | 437 | // aveArea = sumArea/count; |
tashworth | 17:a5bb85ee205d | 438 | //printImageToFile(BINARY); |
tashworth | 16:8bb212df81b7 | 439 | //either goes to aquire the tool or look at the next shape |
tashworth | 20:55dcff40c5d9 | 440 | if(Xadjust(TOOL_2) == tool_needed) { |
tashworth | 20:55dcff40c5d9 | 441 | //printImageToFile(BINARY); |
tashworth | 16:8bb212df81b7 | 442 | state = AQUIRE_TOOL2; |
tashworth | 16:8bb212df81b7 | 443 | break; |
tashworth | 13:529323807361 | 444 | } else { |
tashworth | 20:55dcff40c5d9 | 445 | //printImageToFile(BINARY); |
tashworth | 21:0907e1f5e16c | 446 | slightMove(FORWARD,70); |
tashworth | 16:8bb212df81b7 | 447 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 16:8bb212df81b7 | 448 | servoPosition(TOOL_1); |
tashworth | 16:8bb212df81b7 | 449 | wait(5); //wait for servos to settle |
tashworth | 16:8bb212df81b7 | 450 | shape_alignX_done = 0; |
tashworth | 16:8bb212df81b7 | 451 | shape_alignY_done = 0; |
tashworth | 17:a5bb85ee205d | 452 | /* |
tashworth | 16:8bb212df81b7 | 453 | while( shape_alignY_done == 0) { |
tashworth | 16:8bb212df81b7 | 454 | wait(1); |
tashworth | 16:8bb212df81b7 | 455 | shape_detected = shapeDetection(); |
tashworth | 16:8bb212df81b7 | 456 | |
tashworth | 16:8bb212df81b7 | 457 | pc.printf("Y - Adjust to center tool\n\r"); |
tashworth | 16:8bb212df81b7 | 458 | |
tashworth | 17:a5bb85ee205d | 459 | if(get_com_y() < 50) { |
tashworth | 16:8bb212df81b7 | 460 | wait(1); |
tashworth | 16:8bb212df81b7 | 461 | slightMove(FORWARD,25); |
tashworth | 16:8bb212df81b7 | 462 | current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 16:8bb212df81b7 | 463 | |
tashworth | 17:a5bb85ee205d | 464 | } else if(get_com_y() > 70) { |
tashworth | 16:8bb212df81b7 | 465 | wait(1); |
tashworth | 16:8bb212df81b7 | 466 | slightMove(BACKWARD,25); |
tashworth | 16:8bb212df81b7 | 467 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 16:8bb212df81b7 | 468 | |
tashworth | 16:8bb212df81b7 | 469 | } else { |
tashworth | 16:8bb212df81b7 | 470 | shape_alignY_done = 1; |
tashworth | 16:8bb212df81b7 | 471 | } |
tashworth | 17:a5bb85ee205d | 472 | }*/ |
tashworth | 17:a5bb85ee205d | 473 | |
tashworth | 20:55dcff40c5d9 | 474 | if (Xadjust(TOOL_1) == tool_needed) { |
tashworth | 16:8bb212df81b7 | 475 | state = AQUIRE_TOOL1; |
tashworth | 16:8bb212df81b7 | 476 | break; |
tashworth | 16:8bb212df81b7 | 477 | } else { |
tashworth | 16:8bb212df81b7 | 478 | servoPosition(TOOL_3); |
tashworth | 16:8bb212df81b7 | 479 | wait(3); //wait for servos to settle |
tashworth | 16:8bb212df81b7 | 480 | state = AQUIRE_TOOL3; |
tashworth | 16:8bb212df81b7 | 481 | } |
tashworth | 13:529323807361 | 482 | } |
tashworth | 6:75259c3306dd | 483 | |
tashworth | 16:8bb212df81b7 | 484 | break; |
tashworth | 16:8bb212df81b7 | 485 | |
tashworth | 16:8bb212df81b7 | 486 | case AQUIRE_TOOL1: |
tashworth | 0:1b64a0cedc5d | 487 | |
tashworth | 16:8bb212df81b7 | 488 | servoPosition(PU_TOOL_1); |
tashworth | 18:a0ea7ecaf4fe | 489 | setServoPulse(4, 175); |
tashworth | 16:8bb212df81b7 | 490 | wait(5); |
tashworth | 20:55dcff40c5d9 | 491 | setServoPulse(0, Arm_Table[PU_TOOL_1].base_rotate - 1); |
tashworth | 16:8bb212df81b7 | 492 | wait(1); |
tashworth | 16:8bb212df81b7 | 493 | setServoPulse(1, Arm_Table[PU_TOOL_1].base_arm - 5); |
tashworth | 16:8bb212df81b7 | 494 | wait(1); |
tashworth | 16:8bb212df81b7 | 495 | setServoPulse(1, Arm_Table[PU_TOOL_1].base_arm - 6); |
tashworth | 16:8bb212df81b7 | 496 | wait(.5); |
tashworth | 21:0907e1f5e16c | 497 | setServoPulse(5, 140); |
tashworth | 16:8bb212df81b7 | 498 | wait(.5); |
tashworth | 16:8bb212df81b7 | 499 | setServoPulse(5, 00); |
tashworth | 17:a5bb85ee205d | 500 | setServoPulse(1, Arm_Table[PU_TOOL_1].base_arm - 10); |
tashworth | 16:8bb212df81b7 | 501 | wait(1); |
tashworth | 21:0907e1f5e16c | 502 | setServoPulse(5, 140); |
tashworth | 16:8bb212df81b7 | 503 | wait(1); |
tashworth | 16:8bb212df81b7 | 504 | setServoPulse(1, Arm_Table[PU_TOOL_1].base_arm); |
tashworth | 17:a5bb85ee205d | 505 | wait(2); |
tashworth | 14:784acd735b8c | 506 | |
tashworth | 17:a5bb85ee205d | 507 | setServoPulse(2, Arm_Table[DRIVE_POSITION_TOOL].big_arm); |
tashworth | 17:a5bb85ee205d | 508 | setServoPulse(3, Arm_Table[DRIVE_POSITION_TOOL].claw_arm); |
tashworth | 17:a5bb85ee205d | 509 | setServoPulse(1, Arm_Table[DRIVE_POSITION_TOOL].base_arm); |
tashworth | 17:a5bb85ee205d | 510 | setServoPulse(0, Arm_Table[DRIVE_POSITION_TOOL].base_rotate); |
tashworth | 17:a5bb85ee205d | 511 | setServoPulse(4, Arm_Table[DRIVE_POSITION_TOOL].claw_rotate); |
tashworth | 17:a5bb85ee205d | 512 | setServoPulse(5, Arm_Table[DRIVE_POSITION_TOOL].claw_open); |
tashworth | 14:784acd735b8c | 513 | |
tashworth | 17:a5bb85ee205d | 514 | |
tashworth | 16:8bb212df81b7 | 515 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 16:8bb212df81b7 | 516 | break; |
tashworth | 14:784acd735b8c | 517 | |
tashworth | 16:8bb212df81b7 | 518 | case AQUIRE_TOOL2: |
tashworth | 16:8bb212df81b7 | 519 | servoPosition(PU_TOOL_2); |
tashworth | 17:a5bb85ee205d | 520 | setServoPulse(4, 175); |
tashworth | 16:8bb212df81b7 | 521 | wait(5); |
tashworth | 20:55dcff40c5d9 | 522 | setServoPulse(0, Arm_Table[PU_TOOL_2].base_rotate - 1); |
tashworth | 16:8bb212df81b7 | 523 | wait(1); |
tashworth | 17:a5bb85ee205d | 524 | setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm - 2); |
tashworth | 17:a5bb85ee205d | 525 | wait(1); |
tashworth | 17:a5bb85ee205d | 526 | setServoPulse(3, Arm_Table[PU_TOOL_2].claw_arm - 2); |
tashworth | 16:8bb212df81b7 | 527 | wait(1); |
tashworth | 16:8bb212df81b7 | 528 | setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm - 6); |
tashworth | 17:a5bb85ee205d | 529 | wait(2); |
tashworth | 21:0907e1f5e16c | 530 | setServoPulse(5, 140); |
tashworth | 17:a5bb85ee205d | 531 | wait(2); |
tashworth | 16:8bb212df81b7 | 532 | setServoPulse(5, 00); |
tashworth | 17:a5bb85ee205d | 533 | setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm - 10); |
tashworth | 17:a5bb85ee205d | 534 | wait(2); |
tashworth | 21:0907e1f5e16c | 535 | setServoPulse(5, 140); |
tashworth | 17:a5bb85ee205d | 536 | wait(2); |
tashworth | 16:8bb212df81b7 | 537 | setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm); |
tashworth | 17:a5bb85ee205d | 538 | |
tashworth | 17:a5bb85ee205d | 539 | wait(2); |
tashworth | 0:1b64a0cedc5d | 540 | |
tashworth | 17:a5bb85ee205d | 541 | setServoPulse(2, Arm_Table[DRIVE_POSITION_TOOL].big_arm); |
tashworth | 17:a5bb85ee205d | 542 | setServoPulse(3, Arm_Table[DRIVE_POSITION_TOOL].claw_arm); |
tashworth | 17:a5bb85ee205d | 543 | setServoPulse(1, Arm_Table[DRIVE_POSITION_TOOL].base_arm); |
tashworth | 17:a5bb85ee205d | 544 | setServoPulse(0, Arm_Table[DRIVE_POSITION_TOOL].base_rotate); |
tashworth | 17:a5bb85ee205d | 545 | setServoPulse(4, Arm_Table[DRIVE_POSITION_TOOL].claw_rotate); |
tashworth | 17:a5bb85ee205d | 546 | setServoPulse(5, Arm_Table[DRIVE_POSITION_TOOL].claw_open); |
tashworth | 17:a5bb85ee205d | 547 | |
tashworth | 17:a5bb85ee205d | 548 | |
tashworth | 16:8bb212df81b7 | 549 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 16:8bb212df81b7 | 550 | break; |
tashworth | 14:784acd735b8c | 551 | |
tashworth | 16:8bb212df81b7 | 552 | case AQUIRE_TOOL3: |
tashworth | 17:a5bb85ee205d | 553 | /* |
tashworth | 17:a5bb85ee205d | 554 | while( shape_alignY_done == 0) { |
tashworth | 17:a5bb85ee205d | 555 | wait(1); |
tashworth | 17:a5bb85ee205d | 556 | |
tashworth | 17:a5bb85ee205d | 557 | servoPosition(PU_TOOL_3); |
tashworth | 17:a5bb85ee205d | 558 | shape_detected = shapeDetection(); |
tashworth | 17:a5bb85ee205d | 559 | wait(2); |
tashworth | 17:a5bb85ee205d | 560 | |
tashworth | 17:a5bb85ee205d | 561 | pc.printf("Y - Adjust to center tool\n\r"); |
tashworth | 17:a5bb85ee205d | 562 | |
tashworth | 17:a5bb85ee205d | 563 | if(get_com_y() < 50) { |
tashworth | 17:a5bb85ee205d | 564 | wait(1); |
tashworth | 17:a5bb85ee205d | 565 | slightMove(FORWARD,25); |
tashworth | 17:a5bb85ee205d | 566 | current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 17:a5bb85ee205d | 567 | |
tashworth | 17:a5bb85ee205d | 568 | } else if(get_com_y() > 70) { |
tashworth | 17:a5bb85ee205d | 569 | wait(1); |
tashworth | 17:a5bb85ee205d | 570 | slightMove(BACKWARD,25); |
tashworth | 17:a5bb85ee205d | 571 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 17:a5bb85ee205d | 572 | |
tashworth | 17:a5bb85ee205d | 573 | } else { |
tashworth | 17:a5bb85ee205d | 574 | shape_alignY_done = 1; |
tashworth | 17:a5bb85ee205d | 575 | } |
tashworth | 17:a5bb85ee205d | 576 | } |
tashworth | 17:a5bb85ee205d | 577 | |
tashworth | 17:a5bb85ee205d | 578 | */ |
tashworth | 20:55dcff40c5d9 | 579 | Xadjust(TOOL_3); |
tashworth | 17:a5bb85ee205d | 580 | |
tashworth | 18:a0ea7ecaf4fe | 581 | setServoPulse(4, 175); |
tashworth | 16:8bb212df81b7 | 582 | wait(5); |
tashworth | 16:8bb212df81b7 | 583 | setServoPulse(0, Arm_Table[PU_TOOL_3].base_rotate ); |
tashworth | 16:8bb212df81b7 | 584 | wait(1); |
tashworth | 17:a5bb85ee205d | 585 | setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm - 2); |
tashworth | 17:a5bb85ee205d | 586 | wait(1); |
tashworth | 17:a5bb85ee205d | 587 | setServoPulse(3, Arm_Table[PU_TOOL_2].claw_arm - 3); |
tashworth | 16:8bb212df81b7 | 588 | wait(1); |
tashworth | 16:8bb212df81b7 | 589 | setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm - 6); |
tashworth | 16:8bb212df81b7 | 590 | wait(.5); |
tashworth | 21:0907e1f5e16c | 591 | setServoPulse(5, 140); |
tashworth | 16:8bb212df81b7 | 592 | wait(.5); |
tashworth | 16:8bb212df81b7 | 593 | setServoPulse(5, 00); |
tashworth | 17:a5bb85ee205d | 594 | setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm - 10); |
tashworth | 16:8bb212df81b7 | 595 | wait(1); |
tashworth | 21:0907e1f5e16c | 596 | setServoPulse(5, 140); |
tashworth | 16:8bb212df81b7 | 597 | wait(1); |
tashworth | 16:8bb212df81b7 | 598 | setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm); |
tashworth | 17:a5bb85ee205d | 599 | |
tashworth | 17:a5bb85ee205d | 600 | wait(2); |
tashworth | 14:784acd735b8c | 601 | |
tashworth | 17:a5bb85ee205d | 602 | setServoPulse(2, Arm_Table[DRIVE_POSITION_TOOL].big_arm); |
tashworth | 17:a5bb85ee205d | 603 | setServoPulse(3, Arm_Table[DRIVE_POSITION_TOOL].claw_arm); |
tashworth | 17:a5bb85ee205d | 604 | setServoPulse(1, Arm_Table[DRIVE_POSITION_TOOL].base_arm); |
tashworth | 17:a5bb85ee205d | 605 | setServoPulse(0, Arm_Table[DRIVE_POSITION_TOOL].base_rotate); |
tashworth | 17:a5bb85ee205d | 606 | setServoPulse(4, Arm_Table[DRIVE_POSITION_TOOL].claw_rotate); |
tashworth | 17:a5bb85ee205d | 607 | setServoPulse(5, Arm_Table[DRIVE_POSITION_TOOL].claw_open); |
tashworth | 17:a5bb85ee205d | 608 | |
tashworth | 16:8bb212df81b7 | 609 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 16:8bb212df81b7 | 610 | break; |
tashworth | 0:1b64a0cedc5d | 611 | |
tashworth | 0:1b64a0cedc5d | 612 | |
tashworth | 16:8bb212df81b7 | 613 | /************************************************** |
tashworth | 16:8bb212df81b7 | 614 | * STAGE 4 |
tashworth | 16:8bb212df81b7 | 615 | * |
tashworth | 16:8bb212df81b7 | 616 | * - Navigate through the ocean |
tashworth | 16:8bb212df81b7 | 617 | * |
tashworth | 16:8bb212df81b7 | 618 | **************************************************/ |
tashworth | 0:1b64a0cedc5d | 619 | |
tashworth | 16:8bb212df81b7 | 620 | case NAVIGATE_WAVES_ROW1: |
tashworth | 17:a5bb85ee205d | 621 | from_tools_section(location,current); |
tashworth | 17:a5bb85ee205d | 622 | |
tashworth | 17:a5bb85ee205d | 623 | mid_section(location, current, direction); |
tashworth | 17:a5bb85ee205d | 624 | |
tashworth | 16:8bb212df81b7 | 625 | state = NAVIGATE_WAVES_ROW2; |
tashworth | 16:8bb212df81b7 | 626 | break; |
tashworth | 16:8bb212df81b7 | 627 | |
tashworth | 16:8bb212df81b7 | 628 | case NAVIGATE_WAVES_ROW2: |
tashworth | 17:a5bb85ee205d | 629 | mid_section2(location, current, direction); |
tashworth | 16:8bb212df81b7 | 630 | state = NAVIGATE_WAVES_ROW3; |
tashworth | 16:8bb212df81b7 | 631 | break; |
tashworth | 16:8bb212df81b7 | 632 | |
tashworth | 16:8bb212df81b7 | 633 | case NAVIGATE_WAVES_ROW3: |
tashworth | 3:b7b4780a7f6e | 634 | |
tashworth | 16:8bb212df81b7 | 635 | if(shape_detected == 1) { |
tashworth | 17:a5bb85ee205d | 636 | rig_section(location, current, direction, 1); |
tashworth | 17:a5bb85ee205d | 637 | while(1); |
tashworth | 16:8bb212df81b7 | 638 | state = NAVIGATE_TO_SQUARE_RIG; |
tashworth | 16:8bb212df81b7 | 639 | } else if(shape_detected == 2) { |
tashworth | 17:a5bb85ee205d | 640 | rig_section(location, current, direction, 2); |
tashworth | 17:a5bb85ee205d | 641 | while(1); |
tashworth | 16:8bb212df81b7 | 642 | state = NAVIGATE_TO_TRIANGLE_RIG; |
tashworth | 16:8bb212df81b7 | 643 | } else { |
tashworth | 17:a5bb85ee205d | 644 | rig_section(location, current, direction, 3); |
tashworth | 17:a5bb85ee205d | 645 | while(1); |
tashworth | 16:8bb212df81b7 | 646 | state = NAVIGATE_TO_CIRCLE_RIG; |
tashworth | 16:8bb212df81b7 | 647 | } |
tashworth | 16:8bb212df81b7 | 648 | break; |
tashworth | 14:784acd735b8c | 649 | |
tashworth | 16:8bb212df81b7 | 650 | /************************************************** |
tashworth | 16:8bb212df81b7 | 651 | * STAGE 5 |
tashworth | 16:8bb212df81b7 | 652 | * |
tashworth | 16:8bb212df81b7 | 653 | * - Travel to appropriate rig |
tashworth | 16:8bb212df81b7 | 654 | * |
tashworth | 16:8bb212df81b7 | 655 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 656 | case NAVIGATE_TO_SQUARE_RIG: |
tashworth | 16:8bb212df81b7 | 657 | //NAVIGATION CODE HERE |
tashworth | 16:8bb212df81b7 | 658 | state = RIG_ALIGN; |
tashworth | 16:8bb212df81b7 | 659 | break; |
tashworth | 16:8bb212df81b7 | 660 | case NAVIGATE_TO_TRIANGLE_RIG: |
tashworth | 16:8bb212df81b7 | 661 | //NAVIGATION CODE HERE |
tashworth | 16:8bb212df81b7 | 662 | state = RIG_ALIGN; |
tashworth | 16:8bb212df81b7 | 663 | break; |
tashworth | 16:8bb212df81b7 | 664 | case NAVIGATE_TO_CIRCLE_RIG: |
tashworth | 16:8bb212df81b7 | 665 | //NAVIGATION CODE HERE |
tashworth | 16:8bb212df81b7 | 666 | state = RIG_ALIGN; |
tashworth | 16:8bb212df81b7 | 667 | break; |
tashworth | 6:75259c3306dd | 668 | |
tashworth | 16:8bb212df81b7 | 669 | /************************************************** |
tashworth | 16:8bb212df81b7 | 670 | * STAGE 6 |
tashworth | 16:8bb212df81b7 | 671 | * |
tashworth | 16:8bb212df81b7 | 672 | * - Align with appropriate rig |
tashworth | 16:8bb212df81b7 | 673 | * |
tashworth | 16:8bb212df81b7 | 674 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 675 | case RIG_ALIGN: |
tashworth | 16:8bb212df81b7 | 676 | |
tashworth | 16:8bb212df81b7 | 677 | //*********************// |
tashworth | 16:8bb212df81b7 | 678 | //******* TODO ********// |
tashworth | 16:8bb212df81b7 | 679 | //*********************// |
tashworth | 16:8bb212df81b7 | 680 | // CODE TO ALIGN ROBOT WITH RIG |
tashworth | 13:529323807361 | 681 | |
tashworth | 16:8bb212df81b7 | 682 | servoPosition(ORIENT_TOOL); |
tashworth | 16:8bb212df81b7 | 683 | wait(1); //wait for servos to settle |
tashworth | 16:8bb212df81b7 | 684 | state = INSERT_TOOL; |
tashworth | 16:8bb212df81b7 | 685 | break; |
tashworth | 14:784acd735b8c | 686 | |
tashworth | 16:8bb212df81b7 | 687 | /************************************************** |
tashworth | 16:8bb212df81b7 | 688 | * STAGE 7 |
tashworth | 16:8bb212df81b7 | 689 | * |
tashworth | 16:8bb212df81b7 | 690 | * - Insert Tool |
tashworth | 16:8bb212df81b7 | 691 | * - Extenguish fire |
tashworth | 16:8bb212df81b7 | 692 | * - win contest |
tashworth | 16:8bb212df81b7 | 693 | * |
tashworth | 16:8bb212df81b7 | 694 | **************************************************/ |
tashworth | 0:1b64a0cedc5d | 695 | |
tashworth | 16:8bb212df81b7 | 696 | case INSERT_TOOL: |
tashworth | 16:8bb212df81b7 | 697 | //*********************// |
tashworth | 16:8bb212df81b7 | 698 | //******* TODO ********// |
tashworth | 16:8bb212df81b7 | 699 | //*********************// |
tashworth | 16:8bb212df81b7 | 700 | // CODE TO INSERT TOOL |
tashworth | 16:8bb212df81b7 | 701 | break; |
tashworth | 8:77a57909aa15 | 702 | |
tashworth | 16:8bb212df81b7 | 703 | /************************************************** |
tashworth | 16:8bb212df81b7 | 704 | * STAGE 8 |
tashworth | 16:8bb212df81b7 | 705 | * |
tashworth | 16:8bb212df81b7 | 706 | * - END COMPETITION |
tashworth | 16:8bb212df81b7 | 707 | * |
tashworth | 16:8bb212df81b7 | 708 | **************************************************/ |
tashworth | 16:8bb212df81b7 | 709 | case END: |
tashworth | 16:8bb212df81b7 | 710 | servoPosition(STORE_POSITION); |
tashworth | 16:8bb212df81b7 | 711 | myled1 = 1; |
tashworth | 16:8bb212df81b7 | 712 | wait(.2); |
tashworth | 16:8bb212df81b7 | 713 | myled2 = 1; |
tashworth | 16:8bb212df81b7 | 714 | wait(.2); |
tashworth | 16:8bb212df81b7 | 715 | myled3 = 1; |
tashworth | 16:8bb212df81b7 | 716 | wait(.2); |
tashworth | 16:8bb212df81b7 | 717 | myled4 = 1; |
tashworth | 16:8bb212df81b7 | 718 | wait(.2); |
tashworth | 16:8bb212df81b7 | 719 | break; |
tashworth | 16:8bb212df81b7 | 720 | default: |
tashworth | 13:529323807361 | 721 | |
tashworth | 16:8bb212df81b7 | 722 | break; |
tashworth | 16:8bb212df81b7 | 723 | } |
tashworth | 16:8bb212df81b7 | 724 | } // End while loop |
tashworth | 16:8bb212df81b7 | 725 | |
tashworth | 16:8bb212df81b7 | 726 | } // End if for start button |
tashworth | 14:784acd735b8c | 727 | |
tashworth | 14:784acd735b8c | 728 | |
tashworth | 16:8bb212df81b7 | 729 | } // main loop |
tashworth | 13:529323807361 | 730 | |
tashworth | 13:529323807361 | 731 | |
tashworth | 8:77a57909aa15 | 732 | |
tashworth | 14:784acd735b8c | 733 | /************ |
tashworth | 14:784acd735b8c | 734 | |
tashworth | 14:784acd735b8c | 735 | Servo Functions |
tashworth | 14:784acd735b8c | 736 | |
tashworth | 14:784acd735b8c | 737 | **************/ |
tashworth | 14:784acd735b8c | 738 | |
tashworth | 14:784acd735b8c | 739 | void setServoPulse(uint8_t n, int angle) |
tashworth | 14:784acd735b8c | 740 | { |
tashworth | 14:784acd735b8c | 741 | int pulse; |
tashworth | 14:784acd735b8c | 742 | pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 14:784acd735b8c | 743 | float pulselength = 20000; // 20,000 us per second |
tashworth | 14:784acd735b8c | 744 | int i = currentPosition[n]; |
tashworth | 20:55dcff40c5d9 | 745 | //pc.printf("ServoNumber: %d Begining Pulse: %d\n\r",n,currentPosition[n]); |
tashworth | 14:784acd735b8c | 746 | int pulse2; |
tashworth | 14:784acd735b8c | 747 | if(currentPosition[n] < pulse) { |
tashworth | 14:784acd735b8c | 748 | for(i; i < pulse; i++) { |
tashworth | 14:784acd735b8c | 749 | pulse2 = 4094 * i / pulselength; |
tashworth | 14:784acd735b8c | 750 | pwm.setPWM(n, 0, pulse2); |
tashworth | 14:784acd735b8c | 751 | wait_ms(3); |
tashworth | 14:784acd735b8c | 752 | } |
tashworth | 14:784acd735b8c | 753 | } else if (currentPosition[n] > pulse) { |
tashworth | 14:784acd735b8c | 754 | for(i; i > pulse; i--) { |
tashworth | 14:784acd735b8c | 755 | pulse2 = 4094 * i / pulselength; |
tashworth | 14:784acd735b8c | 756 | pwm.setPWM(n, 0, pulse2); |
tashworth | 14:784acd735b8c | 757 | wait_ms(3); |
tashworth | 13:529323807361 | 758 | } |
tashworth | 14:784acd735b8c | 759 | } |
tashworth | 14:784acd735b8c | 760 | currentPosition[n] = i; |
tashworth | 20:55dcff40c5d9 | 761 | //pc.printf("END: pulse: %d, angle: %d\n\r", i, angle); |
tashworth | 14:784acd735b8c | 762 | } |
tashworth | 14:784acd735b8c | 763 | |
tashworth | 14:784acd735b8c | 764 | void initServoDriver(void) |
tashworth | 14:784acd735b8c | 765 | { |
tashworth | 14:784acd735b8c | 766 | pwm.begin(); |
tashworth | 14:784acd735b8c | 767 | //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale(). |
tashworth | 14:784acd735b8c | 768 | pwm.setPrescale(140); //This value is decided for 20ms interval. |
tashworth | 14:784acd735b8c | 769 | pwm.setI2Cfreq(400000); //400kHz |
tashworth | 14:784acd735b8c | 770 | |
tashworth | 14:784acd735b8c | 771 | } |
tashworth | 14:784acd735b8c | 772 | |
tashworth | 14:784acd735b8c | 773 | void servoBegin(void) |
tashworth | 14:784acd735b8c | 774 | { |
tashworth | 14:784acd735b8c | 775 | pc.printf("Setting Initial Servo Position\n\r"); |
tashworth | 16:8bb212df81b7 | 776 | setServoPulseNo_delay(3, Arm_Table[STORE_POSITION].claw_arm); |
tashworth | 16:8bb212df81b7 | 777 | setServoPulseNo_delay(2, Arm_Table[STORE_POSITION].big_arm); |
tashworth | 16:8bb212df81b7 | 778 | wait(2); |
tashworth | 16:8bb212df81b7 | 779 | setServoPulseNo_delay(1, Arm_Table[STORE_POSITION].base_arm); |
tashworth | 16:8bb212df81b7 | 780 | setServoPulseNo_delay(0, Arm_Table[STORE_POSITION].base_rotate); |
tashworth | 16:8bb212df81b7 | 781 | setServoPulseNo_delay(4, Arm_Table[STORE_POSITION].claw_rotate); |
tashworth | 16:8bb212df81b7 | 782 | setServoPulseNo_delay(5, Arm_Table[STORE_POSITION].claw_open); |
tashworth | 14:784acd735b8c | 783 | } |
tashworth | 14:784acd735b8c | 784 | |
tashworth | 14:784acd735b8c | 785 | void setServoPulseNo_delay(uint8_t n, int angle) |
tashworth | 14:784acd735b8c | 786 | { |
tashworth | 14:784acd735b8c | 787 | int pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 14:784acd735b8c | 788 | float pulselength = 20000; // 20,000 us per second |
tashworth | 14:784acd735b8c | 789 | currentPosition[n] = pulse; |
tashworth | 14:784acd735b8c | 790 | //pc.printf("ServoNumber: %d Pulsewidth: %d Angle: %d \n\r",n,pulse, angle); |
tashworth | 14:784acd735b8c | 791 | pulse = 4094 * pulse / pulselength; |
tashworth | 14:784acd735b8c | 792 | pwm.setPWM(n, 0, pulse); |
tashworth | 14:784acd735b8c | 793 | |
tashworth | 14:784acd735b8c | 794 | } |
tashworth | 17:a5bb85ee205d | 795 | void setServoPulse2(uint8_t n, float angle) |
tashworth | 17:a5bb85ee205d | 796 | { |
tashworth | 17:a5bb85ee205d | 797 | float pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 17:a5bb85ee205d | 798 | float pulselength = 20000; // 10,000 us per second |
tashworth | 17:a5bb85ee205d | 799 | pulse = 4094 * pulse / pulselength; |
tashworth | 17:a5bb85ee205d | 800 | pwm.setPWM(n, 0, pulse); |
tashworth | 17:a5bb85ee205d | 801 | } |
tashworth | 14:784acd735b8c | 802 | |
tashworth | 14:784acd735b8c | 803 | |
tashworth | 14:784acd735b8c | 804 | |
tashworth | 14:784acd735b8c | 805 | void servoPosition(int set) |
tashworth | 14:784acd735b8c | 806 | { |
tashworth | 14:784acd735b8c | 807 | //moves to current position |
tashworth | 14:784acd735b8c | 808 | setServoPulse(3, Arm_Table[set].claw_arm); |
tashworth | 14:784acd735b8c | 809 | setServoPulse(2, Arm_Table[set].big_arm); |
tashworth | 14:784acd735b8c | 810 | setServoPulse(1, Arm_Table[set].base_arm); |
tashworth | 14:784acd735b8c | 811 | setServoPulse(0, Arm_Table[set].base_rotate); |
tashworth | 14:784acd735b8c | 812 | setServoPulse(4, Arm_Table[set].claw_rotate); |
tashworth | 14:784acd735b8c | 813 | setServoPulse(5, Arm_Table[set].claw_open); |
tashworth | 14:784acd735b8c | 814 | } |
tashworth | 8:77a57909aa15 | 815 | |
tashworth | 8:77a57909aa15 | 816 | |
tashworth | 20:55dcff40c5d9 | 817 | |
tashworth | 20:55dcff40c5d9 | 818 | |
tashworth | 20:55dcff40c5d9 | 819 | |
tashworth | 20:55dcff40c5d9 | 820 | |
tashworth | 20:55dcff40c5d9 | 821 | |
tashworth | 20:55dcff40c5d9 | 822 | |
tashworth | 14:784acd735b8c | 823 | int fire_checker(int rig) |
tashworth | 14:784acd735b8c | 824 | { |
tashworth | 14:784acd735b8c | 825 | switch (rig) { |
tashworth | 8:77a57909aa15 | 826 | |
tashworth | 14:784acd735b8c | 827 | case 1: |
tashworth | 14:784acd735b8c | 828 | for (int i = 0; i<10; i++) { |
tashworth | 14:784acd735b8c | 829 | distLaser = getDistance(); |
tashworth | 14:784acd735b8c | 830 | pc.printf("L DISTANCE: %d \n\r", distLaser); |
tashworth | 14:784acd735b8c | 831 | if ((distLaser < OILRIG1_MAX) |
tashworth | 14:784acd735b8c | 832 | && (distLaser > OILRIG1_MIN)) { |
tashworth | 14:784acd735b8c | 833 | fire_detected++; |
tashworth | 8:77a57909aa15 | 834 | } else { |
tashworth | 14:784acd735b8c | 835 | fire_not_detected++; |
tashworth | 8:77a57909aa15 | 836 | } |
tashworth | 14:784acd735b8c | 837 | } |
tashworth | 14:784acd735b8c | 838 | break; |
tashworth | 14:784acd735b8c | 839 | case 2: |
tashworth | 14:784acd735b8c | 840 | for (int i = 0; i<10; i++) { |
tashworth | 14:784acd735b8c | 841 | distLaser = getDistance(); |
tashworth | 14:784acd735b8c | 842 | pc.printf("L DISTANCE: %d \n\r", distLaser); |
tashworth | 14:784acd735b8c | 843 | if ((distLaser < OILRIG2_MAX) |
tashworth | 14:784acd735b8c | 844 | && (distLaser > OILRIG2_MIN)) { |
tashworth | 14:784acd735b8c | 845 | fire_detected++; |
tashworth | 13:529323807361 | 846 | } else { |
tashworth | 14:784acd735b8c | 847 | fire_not_detected++; |
tashworth | 13:529323807361 | 848 | } |
tashworth | 13:529323807361 | 849 | } |
tashworth | 14:784acd735b8c | 850 | break; |
tashworth | 8:77a57909aa15 | 851 | |
tashworth | 14:784acd735b8c | 852 | } |
tashworth | 14:784acd735b8c | 853 | |
tashworth | 14:784acd735b8c | 854 | if (fire_detected > 0) { |
tashworth | 14:784acd735b8c | 855 | return 1; |
tashworth | 14:784acd735b8c | 856 | } else { |
tashworth | 14:784acd735b8c | 857 | return 0; |
tashworth | 14:784acd735b8c | 858 | } |
tashworth | 14:784acd735b8c | 859 | } |
tashworth | 14:784acd735b8c | 860 | |
tashworth | 14:784acd735b8c | 861 | void errFunction(void) |
tashworth | 14:784acd735b8c | 862 | { |
tashworth | 20:55dcff40c5d9 | 863 | pc.printf("\n\nERROR: %d", motors.getError() ); |
tashworth | 20:55dcff40c5d9 | 864 | |
tashworth | 14:784acd735b8c | 865 | } |
tashworth | 20:55dcff40c5d9 | 866 | |
tashworth | 20:55dcff40c5d9 | 867 | |
tashworth | 20:55dcff40c5d9 | 868 | |
tashworth | 20:55dcff40c5d9 | 869 | |
tashworth | 14:784acd735b8c | 870 | void wall_follow(int side, int direction, int section) |
tashworth | 14:784acd735b8c | 871 | { |
tashworth | 20:55dcff40c5d9 | 872 | float location, set=4; |
tashworth | 14:784acd735b8c | 873 | int dir=1; |
tashworth | 14:784acd735b8c | 874 | |
tashworth | 14:784acd735b8c | 875 | pid1.reset(); |
tashworth | 14:784acd735b8c | 876 | |
tashworth | 14:784acd735b8c | 877 | if(direction == BACKWARD) dir=-1; |
tashworth | 14:784acd735b8c | 878 | if(section == TOOLS)set= 10; |
tashworth | 14:784acd735b8c | 879 | |
tashworth | 14:784acd735b8c | 880 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 881 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 882 | |
tashworth | 14:784acd735b8c | 883 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 14:784acd735b8c | 884 | |
tashworth | 14:784acd735b8c | 885 | while(location< 66.5) { |
tashworth | 14:784acd735b8c | 886 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 14:784acd735b8c | 887 | |
tashworth | 14:784acd735b8c | 888 | pid1.setInputLimits(0, set); |
tashworth | 14:784acd735b8c | 889 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
tashworth | 14:784acd735b8c | 890 | pid1.setSetPoint(set); |
tashworth | 14:784acd735b8c | 891 | if(side) { |
tashworth | 14:784acd735b8c | 892 | rangeFinderLeft.startMeas(); |
tashworth | 14:784acd735b8c | 893 | wait_ms(20); |
tashworth | 14:784acd735b8c | 894 | rangeFinderLeft.getMeas(range); |
tashworth | 14:784acd735b8c | 895 | } else { |
tashworth | 14:784acd735b8c | 896 | rangeFinderRight.startMeas(); |
tashworth | 14:784acd735b8c | 897 | wait_ms(20); |
tashworth | 14:784acd735b8c | 898 | rangeFinderRight.getMeas(range); |
tashworth | 20:55dcff40c5d9 | 899 | //pc.printf("%d\r\n",range); |
tashworth | 8:77a57909aa15 | 900 | } |
tashworth | 8:77a57909aa15 | 901 | |
tashworth | 14:784acd735b8c | 902 | if(range > 15) { |
tashworth | 14:784acd735b8c | 903 | //pc.printf("wavegap %f\r\n",wavegap); |
tashworth | 14:784acd735b8c | 904 | // AT WAVE OPENING!!!! |
tashworth | 14:784acd735b8c | 905 | motors.setMotor1Speed(dir*0.25*127);//left |
tashworth | 14:784acd735b8c | 906 | motors.setMotor0Speed(dir*0.25*127);//right |
tashworth | 14:784acd735b8c | 907 | } else { |
tashworth | 13:529323807361 | 908 | |
tashworth | 14:784acd735b8c | 909 | pid1.setProcessValue(range); |
tashworth | 14:784acd735b8c | 910 | pid_return = pid1.compute(); |
tashworth | 13:529323807361 | 911 | |
tashworth | 14:784acd735b8c | 912 | if(pid_return > 0) { |
tashworth | 14:784acd735b8c | 913 | if(side) { |
tashworth | 14:784acd735b8c | 914 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
tashworth | 14:784acd735b8c | 915 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 14:784acd735b8c | 916 | } else { |
tashworth | 14:784acd735b8c | 917 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
tashworth | 14:784acd735b8c | 918 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 14:784acd735b8c | 919 | } |
tashworth | 14:784acd735b8c | 920 | } else if(pid_return < 0) { |
tashworth | 14:784acd735b8c | 921 | if(side) { |
tashworth | 14:784acd735b8c | 922 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 14:784acd735b8c | 923 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
tashworth | 14:784acd735b8c | 924 | } else { |
tashworth | 14:784acd735b8c | 925 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 14:784acd735b8c | 926 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
tashworth | 14:784acd735b8c | 927 | } |
tashworth | 14:784acd735b8c | 928 | } else { |
tashworth | 14:784acd735b8c | 929 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 14:784acd735b8c | 930 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 14:784acd735b8c | 931 | } |
tashworth | 14:784acd735b8c | 932 | } |
tashworth | 14:784acd735b8c | 933 | } |
tashworth | 13:529323807361 | 934 | |
tashworth | 14:784acd735b8c | 935 | //STOP |
tashworth | 14:784acd735b8c | 936 | motors.setMotor0Speed(dir*-0.3*127); //right |
tashworth | 14:784acd735b8c | 937 | motors.setMotor1Speed(dir*-0.3*127); //left |
tashworth | 14:784acd735b8c | 938 | wait_ms(10); |
tashworth | 14:784acd735b8c | 939 | motors.stopBothMotors(0); |
tashworth | 14:784acd735b8c | 940 | } |
tashworth | 14:784acd735b8c | 941 | |
tashworth | 14:784acd735b8c | 942 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
tashworth | 13:529323807361 | 943 | |
tashworth | 14:784acd735b8c | 944 | void wall_follow2(int side, int direction, int section, float location, int rig) |
tashworth | 14:784acd735b8c | 945 | { |
tashworth | 20:55dcff40c5d9 | 946 | int dir=1, limit=80, lowlim=4; |
tashworth | 20:55dcff40c5d9 | 947 | float set=9, loc=0, Rigloc=0; |
tashworth | 14:784acd735b8c | 948 | bool SeeWaveGap = false; |
tashworth | 14:784acd735b8c | 949 | |
tashworth | 14:784acd735b8c | 950 | if(rig == 1) Rigloc= 16; |
tashworth | 14:784acd735b8c | 951 | else if(rig == 2) Rigloc= 45; |
tashworth | 14:784acd735b8c | 952 | else if(rig== 3) Rigloc = 70; |
tashworth | 8:77a57909aa15 | 953 | |
tashworth | 14:784acd735b8c | 954 | pid1.reset(); |
tashworth | 13:529323807361 | 955 | |
tashworth | 14:784acd735b8c | 956 | if(direction == BACKWARD) { |
tashworth | 14:784acd735b8c | 957 | dir=-1; |
tashworth | 14:784acd735b8c | 958 | limit = 100; |
tashworth | 20:55dcff40c5d9 | 959 | } else if(direction == FORWARD) lowlim=-20; |
tashworth | 14:784acd735b8c | 960 | if(section == TOOLS) { |
tashworth | 20:55dcff40c5d9 | 961 | set= 9; |
tashworth | 14:784acd735b8c | 962 | limit = 86; |
tashworth | 20:55dcff40c5d9 | 963 | } else if(section == RIGS) set = 9; |
tashworth | 20:55dcff40c5d9 | 964 | else if(section == RETURN) lowlim=4; |
tashworth | 20:55dcff40c5d9 | 965 | else if(section == MID2) limit =85; |
tashworth | 20:55dcff40c5d9 | 966 | |
tashworth | 20:55dcff40c5d9 | 967 | if(location <4) limit=80; |
tashworth | 13:529323807361 | 968 | |
tashworth | 14:784acd735b8c | 969 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 970 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 971 | |
tashworth | 20:55dcff40c5d9 | 972 | pc.printf("before %f\r\n", location); |
tashworth | 14:784acd735b8c | 973 | |
tashworth | 20:55dcff40c5d9 | 974 | //pc.printf("dir*loc+location %f\r\n",dir*loc + location ); |
tashworth | 20:55dcff40c5d9 | 975 | //pc.printf("limit %d \r\n", limit); |
tashworth | 14:784acd735b8c | 976 | |
tashworth | 14:784acd735b8c | 977 | while((dir*loc + location <= limit) && (dir*loc + location >= lowlim)) { |
tashworth | 14:784acd735b8c | 978 | |
tashworth | 14:784acd735b8c | 979 | loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 20:55dcff40c5d9 | 980 | //pc.printf("loc %f \r\n", loc); |
tashworth | 13:529323807361 | 981 | |
tashworth | 14:784acd735b8c | 982 | pid1.setInputLimits(0.0, set); |
tashworth | 20:55dcff40c5d9 | 983 | pid1.setOutputLimits( -MAX_SPEED1, MAX_SPEED1); |
tashworth | 14:784acd735b8c | 984 | pid1.setSetPoint(set); |
tashworth | 14:784acd735b8c | 985 | |
tashworth | 14:784acd735b8c | 986 | if(side) { |
tashworth | 14:784acd735b8c | 987 | rangeFinderLeft.startMeas(); |
tashworth | 14:784acd735b8c | 988 | wait_ms(20); |
tashworth | 14:784acd735b8c | 989 | rangeFinderLeft.getMeas(range); |
tashworth | 14:784acd735b8c | 990 | } else { |
tashworth | 14:784acd735b8c | 991 | rangeFinderRight.startMeas(); |
tashworth | 14:784acd735b8c | 992 | wait_ms(20); |
tashworth | 14:784acd735b8c | 993 | rangeFinderRight.getMeas(range); |
tashworth | 14:784acd735b8c | 994 | } |
tashworth | 13:529323807361 | 995 | |
tashworth | 14:784acd735b8c | 996 | if(section == RIGS) { |
tashworth | 14:784acd735b8c | 997 | rangeFinderLeft.startMeas(); |
tashworth | 14:784acd735b8c | 998 | wait_ms(20); |
tashworth | 14:784acd735b8c | 999 | rangeFinderLeft.getMeas(range2); |
tashworth | 14:784acd735b8c | 1000 | |
tashworth | 20:55dcff40c5d9 | 1001 | if(range2< 15) { |
tashworth | 14:784acd735b8c | 1002 | if( abs(dir*loc + location - Rigloc) < 10) { |
tashworth | 14:784acd735b8c | 1003 | //STOP |
tashworth | 17:a5bb85ee205d | 1004 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1005 | break; |
tashworth | 12:284be46593ae | 1006 | } |
tashworth | 12:284be46593ae | 1007 | } |
tashworth | 12:284be46593ae | 1008 | } |
tashworth | 12:284be46593ae | 1009 | |
tashworth | 8:77a57909aa15 | 1010 | |
tashworth | 14:784acd735b8c | 1011 | //pc.printf("wall follow 2 range %f\r\n",range); |
tashworth | 14:784acd735b8c | 1012 | //pc.printf("loc+location = %f\r\n", loc+location); |
tashworth | 20:55dcff40c5d9 | 1013 | if(range > 15 ) { |
tashworth | 14:784acd735b8c | 1014 | if(section == RIGS || section == RETURN) { |
tashworth | 14:784acd735b8c | 1015 | motors.setMotor0Speed(dir*0.25*127); //right |
tashworth | 14:784acd735b8c | 1016 | motors.setMotor1Speed(dir*0.25*127); //left |
tashworth | 14:784acd735b8c | 1017 | } else { |
tashworth | 14:784acd735b8c | 1018 | if(!SeeWaveGap) { |
tashworth | 20:55dcff40c5d9 | 1019 | wait_ms(40); |
tashworth | 14:784acd735b8c | 1020 | SeeWaveGap=true; |
tashworth | 14:784acd735b8c | 1021 | } else { |
tashworth | 14:784acd735b8c | 1022 | //STOP |
tashworth | 17:a5bb85ee205d | 1023 | motors.stopBothMotors(127); |
tashworth | 13:529323807361 | 1024 | |
tashworth | 20:55dcff40c5d9 | 1025 | //pc.printf("wavegap\r\n"); |
tashworth | 14:784acd735b8c | 1026 | // AT WAVE OPENING!!!! |
tashworth | 12:284be46593ae | 1027 | break; |
tashworth | 12:284be46593ae | 1028 | } |
tashworth | 8:77a57909aa15 | 1029 | } |
tashworth | 14:784acd735b8c | 1030 | } else { |
tashworth | 14:784acd735b8c | 1031 | SeeWaveGap = false; |
tashworth | 14:784acd735b8c | 1032 | pid1.setProcessValue(range); |
tashworth | 14:784acd735b8c | 1033 | pid_return = pid1.compute(); |
tashworth | 20:55dcff40c5d9 | 1034 | pc.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
tashworth | 13:529323807361 | 1035 | |
tashworth | 14:784acd735b8c | 1036 | if(pid_return > 0) { |
tashworth | 14:784acd735b8c | 1037 | if(side) { |
tashworth | 14:784acd735b8c | 1038 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
tashworth | 14:784acd735b8c | 1039 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 14:784acd735b8c | 1040 | } else { |
tashworth | 14:784acd735b8c | 1041 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
tashworth | 14:784acd735b8c | 1042 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 12:284be46593ae | 1043 | } |
tashworth | 14:784acd735b8c | 1044 | } else if(pid_return < 0) { |
tashworth | 14:784acd735b8c | 1045 | if(side) { |
tashworth | 14:784acd735b8c | 1046 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 14:784acd735b8c | 1047 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
tashworth | 14:784acd735b8c | 1048 | } else { |
tashworth | 14:784acd735b8c | 1049 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 14:784acd735b8c | 1050 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
tashworth | 14:784acd735b8c | 1051 | } |
tashworth | 14:784acd735b8c | 1052 | } else { |
tashworth | 14:784acd735b8c | 1053 | motors.setMotor0Speed(dir*MAX_SPEED); |
tashworth | 14:784acd735b8c | 1054 | motors.setMotor1Speed(dir*MAX_SPEED); |
tashworth | 14:784acd735b8c | 1055 | } |
tashworth | 14:784acd735b8c | 1056 | } |
tashworth | 14:784acd735b8c | 1057 | } |
tashworth | 13:529323807361 | 1058 | |
tashworth | 14:784acd735b8c | 1059 | //STOP |
tashworth | 17:a5bb85ee205d | 1060 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1061 | } |
tashworth | 0:1b64a0cedc5d | 1062 | |
tashworth | 0:1b64a0cedc5d | 1063 | |
tashworth | 14:784acd735b8c | 1064 | void alignWithWall(int section) |
tashworth | 14:784acd735b8c | 1065 | { |
tashworth | 14:784acd735b8c | 1066 | float usValue = 0; |
tashworth | 14:784acd735b8c | 1067 | |
tashworth | 14:784acd735b8c | 1068 | if(section == TOOLS) { |
tashworth | 20:55dcff40c5d9 | 1069 | //pc.printf("tools section align\r\n"); |
tashworth | 14:784acd735b8c | 1070 | // turn at an angle |
tashworth | 14:784acd735b8c | 1071 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1072 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1073 | motors.setMotor0Speed(-1.2*MAX_SPEED); //right |
tashworth | 14:784acd735b8c | 1074 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
tashworth | 14:784acd735b8c | 1075 | while(rightEncoder.getPulses()>-1000); |
tashworth | 14:784acd735b8c | 1076 | motors.stopBothMotors(0); |
tashworth | 14:784acd735b8c | 1077 | |
tashworth | 14:784acd735b8c | 1078 | //go backwards toward wall |
tashworth | 14:784acd735b8c | 1079 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1080 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1081 | motors.setMotor0Speed(-0.25*127); //right |
tashworth | 14:784acd735b8c | 1082 | motors.setMotor1Speed(-0.25*127); //left |
tashworth | 14:784acd735b8c | 1083 | while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300); |
tashworth | 14:784acd735b8c | 1084 | motors.stopBothMotors(0); |
tashworth | 14:784acd735b8c | 1085 | |
tashworth | 14:784acd735b8c | 1086 | // turn left towards wall |
tashworth | 14:784acd735b8c | 1087 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1088 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1089 | motors.setMotor0Speed(MAX_SPEED); //right |
tashworth | 14:784acd735b8c | 1090 | motors.setMotor1Speed(-MAX_SPEED); //left |
tashworth | 14:784acd735b8c | 1091 | while(rightEncoder.getPulses() < 20 || abs(leftEncoder.getPulses()) < 20); |
tashworth | 14:784acd735b8c | 1092 | |
tashworth | 20:55dcff40c5d9 | 1093 | motors.stopBothMotors(127); |
tashworth | 20:55dcff40c5d9 | 1094 | wait_ms(300); |
tashworth | 20:55dcff40c5d9 | 1095 | return; |
tashworth | 20:55dcff40c5d9 | 1096 | /* |
tashworth | 20:55dcff40c5d9 | 1097 | rangeFinderRight.startMeas(); |
tashworth | 20:55dcff40c5d9 | 1098 | wait_ms(20); |
tashworth | 20:55dcff40c5d9 | 1099 | rangeFinderRight.getMeas(range); |
tashworth | 14:784acd735b8c | 1100 | |
tashworth | 20:55dcff40c5d9 | 1101 | if(range>15){ |
tashworth | 20:55dcff40c5d9 | 1102 | // turning left |
tashworth | 20:55dcff40c5d9 | 1103 | leftEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1104 | rightEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1105 | motors.setMotor0Speed(-MAX_SPEED); //right |
tashworth | 20:55dcff40c5d9 | 1106 | motors.setMotor1Speed(MAX_SPEED); //left |
tashworth | 20:55dcff40c5d9 | 1107 | while(abs(rightEncoder.getPulses()) < 50 || abs(leftEncoder.getPulses()) < 50); |
tashworth | 20:55dcff40c5d9 | 1108 | motors.stopBothMotors(127); |
tashworth | 20:55dcff40c5d9 | 1109 | return; |
tashworth | 20:55dcff40c5d9 | 1110 | } |
tashworth | 20:55dcff40c5d9 | 1111 | */ |
tashworth | 14:784acd735b8c | 1112 | // turning left |
tashworth | 20:55dcff40c5d9 | 1113 | //motors.setMotor0Speed(0.9*MAX_SPEED); //right |
tashworth | 20:55dcff40c5d9 | 1114 | //motors.setMotor1Speed(-0.9*MAX_SPEED); //left |
tashworth | 14:784acd735b8c | 1115 | |
tashworth | 17:a5bb85ee205d | 1116 | } else if(section == RIGS) { |
tashworth | 14:784acd735b8c | 1117 | // check distance to wall |
tashworth | 14:784acd735b8c | 1118 | rangeFinderRight.startMeas(); |
tashworth | 14:784acd735b8c | 1119 | wait_ms(20); |
tashworth | 14:784acd735b8c | 1120 | rangeFinderRight.getMeas(range); |
tashworth | 14:784acd735b8c | 1121 | |
tashworth | 20:55dcff40c5d9 | 1122 | if(range < 3) return; |
tashworth | 12:284be46593ae | 1123 | |
tashworth | 14:784acd735b8c | 1124 | // turn at an angle |
tashworth | 14:784acd735b8c | 1125 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1126 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1127 | motors.setMotor1Speed(-1.2*MAX_SPEED); //left |
tashworth | 14:784acd735b8c | 1128 | motors.setMotor0Speed(0.4*MAX_SPEED); //right |
tashworth | 17:a5bb85ee205d | 1129 | while(abs(leftEncoder.getPulses())<500); |
tashworth | 14:784acd735b8c | 1130 | motors.stopBothMotors(0); |
tashworth | 17:a5bb85ee205d | 1131 | wait(2); |
tashworth | 14:784acd735b8c | 1132 | |
tashworth | 14:784acd735b8c | 1133 | //go backwards toward wall |
tashworth | 14:784acd735b8c | 1134 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1135 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1136 | motors.setMotor0Speed(-0.25*127); //right |
tashworth | 14:784acd735b8c | 1137 | motors.setMotor1Speed(-0.25*127); //left |
tashworth | 17:a5bb85ee205d | 1138 | while(abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses()) < 200); |
tashworth | 14:784acd735b8c | 1139 | motors.stopBothMotors(0); |
tashworth | 17:a5bb85ee205d | 1140 | wait(2); |
tashworth | 12:284be46593ae | 1141 | |
tashworth | 19:d4d967a885dc | 1142 | // turn right towards wall |
tashworth | 14:784acd735b8c | 1143 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1144 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1145 | motors.setMotor0Speed(-MAX_SPEED); //right |
tashworth | 14:784acd735b8c | 1146 | motors.setMotor1Speed(MAX_SPEED); //left |
tashworth | 19:d4d967a885dc | 1147 | while(abs(rightEncoder.getPulses()) < 50 || abs(leftEncoder.getPulses()) < 50); |
tashworth | 19:d4d967a885dc | 1148 | |
tashworth | 19:d4d967a885dc | 1149 | motors.stopBothMotors(127); |
tashworth | 19:d4d967a885dc | 1150 | /* wait(2); |
tashworth | 14:784acd735b8c | 1151 | |
tashworth | 19:d4d967a885dc | 1152 | // turning left |
tashworth | 19:d4d967a885dc | 1153 | motors.setMotor0Speed(-0.9*MAX_SPEED); //right |
tashworth | 19:d4d967a885dc | 1154 | motors.setMotor1Speed(0.9*MAX_SPEED); //left |
tashworth | 19:d4d967a885dc | 1155 | */ |
tashworth | 20:55dcff40c5d9 | 1156 | } else if(section == MID2) { |
tashworth | 20:55dcff40c5d9 | 1157 | leftEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1158 | rightEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1159 | motors.setMotor0Speed(-1.2*MAX_SPEED); //right |
tashworth | 20:55dcff40c5d9 | 1160 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
tashworth | 20:55dcff40c5d9 | 1161 | while(rightEncoder.getPulses()>-1000); |
tashworth | 20:55dcff40c5d9 | 1162 | motors.stopBothMotors(0); |
tashworth | 20:55dcff40c5d9 | 1163 | |
tashworth | 20:55dcff40c5d9 | 1164 | //go backwards toward wall |
tashworth | 20:55dcff40c5d9 | 1165 | leftEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1166 | rightEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1167 | motors.setMotor0Speed(-0.25*127); //right |
tashworth | 20:55dcff40c5d9 | 1168 | motors.setMotor1Speed(-0.25*127); //left |
tashworth | 20:55dcff40c5d9 | 1169 | while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150); |
tashworth | 20:55dcff40c5d9 | 1170 | |
tashworth | 20:55dcff40c5d9 | 1171 | // turn left towards wall |
tashworth | 20:55dcff40c5d9 | 1172 | leftEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1173 | rightEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1174 | motors.setMotor0Speed(0.4*127); //right |
tashworth | 20:55dcff40c5d9 | 1175 | motors.setMotor1Speed(-0.4*127); //left |
tashworth | 20:55dcff40c5d9 | 1176 | while(abs(rightEncoder.getPulses()) < 65 || abs(leftEncoder.getPulses()) < 65); |
tashworth | 20:55dcff40c5d9 | 1177 | motors.stopBothMotors(127); |
tashworth | 20:55dcff40c5d9 | 1178 | |
tashworth | 20:55dcff40c5d9 | 1179 | slightMove(FORWARD,100); |
tashworth | 20:55dcff40c5d9 | 1180 | return; |
tashworth | 20:55dcff40c5d9 | 1181 | |
tashworth | 20:55dcff40c5d9 | 1182 | } else { // MID |
tashworth | 20:55dcff40c5d9 | 1183 | //pc.printf("in mid section align\r\n"); |
tashworth | 14:784acd735b8c | 1184 | // turn right towards wall |
tashworth | 14:784acd735b8c | 1185 | rightTurn(); |
tashworth | 14:784acd735b8c | 1186 | // turning left towards wall |
tashworth | 14:784acd735b8c | 1187 | motors.setMotor0Speed(0.9*MAX_SPEED); //right |
tashworth | 14:784acd735b8c | 1188 | motors.setMotor1Speed(-0.9*MAX_SPEED); //left |
tashworth | 20:55dcff40c5d9 | 1189 | |
tashworth | 14:784acd735b8c | 1190 | } |
tashworth | 14:784acd735b8c | 1191 | |
tashworth | 14:784acd735b8c | 1192 | usValue = 0; |
tashworth | 20:55dcff40c5d9 | 1193 | /* while(1) { |
tashworth | 20:55dcff40c5d9 | 1194 | if(section == 10) { // CURENTLY NOT USED (WAS RIGS) |
tashworth | 20:55dcff40c5d9 | 1195 | rangeFinderRight.startMeas(); |
tashworth | 20:55dcff40c5d9 | 1196 | wait_ms(20); |
tashworth | 20:55dcff40c5d9 | 1197 | rangeFinderRight.getMeas(range); |
tashworth | 20:55dcff40c5d9 | 1198 | } else { |
tashworth | 20:55dcff40c5d9 | 1199 | rangeFinderLeft.startMeas(); |
tashworth | 20:55dcff40c5d9 | 1200 | wait_ms(20); |
tashworth | 20:55dcff40c5d9 | 1201 | rangeFinderLeft.getMeas(range); |
tashworth | 20:55dcff40c5d9 | 1202 | } |
tashworth | 20:55dcff40c5d9 | 1203 | //pc.printf("Range %f \t OldValue %f\n\r",range, usValue); |
tashworth | 20:55dcff40c5d9 | 1204 | if(range > usValue && usValue != 0 && range < 25) { |
tashworth | 20:55dcff40c5d9 | 1205 | break; |
tashworth | 20:55dcff40c5d9 | 1206 | } else { |
tashworth | 20:55dcff40c5d9 | 1207 | usValue = range; |
tashworth | 20:55dcff40c5d9 | 1208 | } |
tashworth | 14:784acd735b8c | 1209 | } |
tashworth | 20:55dcff40c5d9 | 1210 | motors.stopBothMotors(0);*/ |
tashworth | 14:784acd735b8c | 1211 | } |
tashworth | 12:284be46593ae | 1212 | |
tashworth | 14:784acd735b8c | 1213 | void rightTurn(void) |
tashworth | 14:784acd735b8c | 1214 | { |
tashworth | 14:784acd735b8c | 1215 | motors.begin(); |
tashworth | 14:784acd735b8c | 1216 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1217 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1218 | motors.setMotor0Speed(-0.5*127);//right |
tashworth | 14:784acd735b8c | 1219 | motors.setMotor1Speed(0.5*127);//left |
tashworth | 20:55dcff40c5d9 | 1220 | while(abs(leftEncoder.getPulses())<850 || abs(rightEncoder.getPulses())<850); |
tashworth | 17:a5bb85ee205d | 1221 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1222 | } |
tashworth | 14:784acd735b8c | 1223 | |
tashworth | 14:784acd735b8c | 1224 | void leftTurn(void) |
tashworth | 14:784acd735b8c | 1225 | { |
tashworth | 14:784acd735b8c | 1226 | motors.begin(); |
tashworth | 14:784acd735b8c | 1227 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1228 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1229 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 14:784acd735b8c | 1230 | motors.setMotor1Speed(-0.5*127);// left |
tashworth | 20:55dcff40c5d9 | 1231 | while(abs(leftEncoder.getPulses())<1075 || rightEncoder.getPulses()<1075); |
tashworth | 17:a5bb85ee205d | 1232 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1233 | } |
tashworth | 14:784acd735b8c | 1234 | |
tashworth | 14:784acd735b8c | 1235 | void slightleft(void) |
tashworth | 14:784acd735b8c | 1236 | { |
tashworth | 14:784acd735b8c | 1237 | |
tashworth | 14:784acd735b8c | 1238 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1239 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1240 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 14:784acd735b8c | 1241 | motors.setMotor1Speed(-0.5*127);// left |
tashworth | 20:55dcff40c5d9 | 1242 | while(abs(leftEncoder.getPulses())<70 || rightEncoder.getPulses()<70); |
tashworth | 17:a5bb85ee205d | 1243 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1244 | } |
tashworth | 14:784acd735b8c | 1245 | |
tashworth | 14:784acd735b8c | 1246 | void slightright(void) |
tashworth | 14:784acd735b8c | 1247 | { |
tashworth | 14:784acd735b8c | 1248 | |
tashworth | 14:784acd735b8c | 1249 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1250 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1251 | motors.setMotor0Speed(-0.4*127);// right |
tashworth | 14:784acd735b8c | 1252 | motors.setMotor1Speed(0.4*127);// left |
tashworth | 20:55dcff40c5d9 | 1253 | while(abs(leftEncoder.getPulses())<200 || abs(rightEncoder.getPulses())<200); |
tashworth | 17:a5bb85ee205d | 1254 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1255 | } |
tashworth | 14:784acd735b8c | 1256 | |
tashworth | 14:784acd735b8c | 1257 | void slightMove(int direction, float pulses) |
tashworth | 14:784acd735b8c | 1258 | { |
tashworth | 14:784acd735b8c | 1259 | int dir=1; |
tashworth | 14:784acd735b8c | 1260 | |
tashworth | 14:784acd735b8c | 1261 | if(direction == BACKWARD) dir= -1; |
tashworth | 14:784acd735b8c | 1262 | |
tashworth | 14:784acd735b8c | 1263 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1264 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1265 | motors.setMotor0Speed(dir*0.25*127); //right |
tashworth | 14:784acd735b8c | 1266 | motors.setMotor1Speed(dir*0.25*127); //left |
tashworth | 14:784acd735b8c | 1267 | while(abs(leftEncoder.getPulses()) < pulses || abs(rightEncoder.getPulses()) < pulses); |
tashworth | 14:784acd735b8c | 1268 | |
tashworth | 14:784acd735b8c | 1269 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1270 | } |
tashworth | 14:784acd735b8c | 1271 | |
tashworth | 14:784acd735b8c | 1272 | void UntilWall(int dir) |
tashworth | 14:784acd735b8c | 1273 | { |
tashworth | 14:784acd735b8c | 1274 | |
tashworth | 14:784acd735b8c | 1275 | if(dir == BACKWARD) dir=-1; |
tashworth | 14:784acd735b8c | 1276 | |
tashworth | 14:784acd735b8c | 1277 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1278 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1279 | motors.setMotor0Speed(dir*0.2*127); //right |
tashworth | 14:784acd735b8c | 1280 | motors.setMotor1Speed(dir*0.2*127); //left |
tashworth | 14:784acd735b8c | 1281 | |
tashworth | 14:784acd735b8c | 1282 | range = 30; |
tashworth | 14:784acd735b8c | 1283 | |
tashworth | 14:784acd735b8c | 1284 | while(range > 20) { |
tashworth | 14:784acd735b8c | 1285 | rangeFinderRight.startMeas(); |
tashworth | 14:784acd735b8c | 1286 | wait_ms(20); |
tashworth | 14:784acd735b8c | 1287 | rangeFinderRight.getMeas(range); |
tashworth | 14:784acd735b8c | 1288 | } |
tashworth | 14:784acd735b8c | 1289 | |
tashworth | 17:a5bb85ee205d | 1290 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1291 | } |
tashworth | 12:284be46593ae | 1292 | |
tashworth | 14:784acd735b8c | 1293 | void overBump(int section) |
tashworth | 14:784acd735b8c | 1294 | { |
tashworth | 14:784acd735b8c | 1295 | int preLeft=5000, preRight=5000, out=0; |
tashworth | 14:784acd735b8c | 1296 | |
tashworth | 14:784acd735b8c | 1297 | motors.begin(); |
tashworth | 14:784acd735b8c | 1298 | // slight backwards |
tashworth | 14:784acd735b8c | 1299 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1300 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1301 | motors.setMotor0Speed(-0.25*127); //right |
tashworth | 14:784acd735b8c | 1302 | motors.setMotor1Speed(-0.25*127); //left |
tashworth | 14:784acd735b8c | 1303 | while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50); |
tashworth | 17:a5bb85ee205d | 1304 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1305 | |
tashworth | 20:55dcff40c5d9 | 1306 | //pc.printf("slight backwards\r\n"); |
tashworth | 14:784acd735b8c | 1307 | wait_ms(200); |
tashworth | 14:784acd735b8c | 1308 | |
tashworth | 17:a5bb85ee205d | 1309 | // Over bump |
tashworth | 14:784acd735b8c | 1310 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1311 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1312 | motors.setMotor0Speed(0.3*127); //right |
tashworth | 14:784acd735b8c | 1313 | motors.setMotor1Speed(0.3*127); //left |
tashworth | 21:0907e1f5e16c | 1314 | while((abs(leftEncoder.getPulses()) < 900 || abs(rightEncoder.getPulses()) < 900) /*&& preLeft!=0*/ && IR.getIRDistance() >15 ); |
tashworth | 20:55dcff40c5d9 | 1315 | |
tashworth | 14:784acd735b8c | 1316 | |
tashworth | 20:55dcff40c5d9 | 1317 | |
tashworth | 20:55dcff40c5d9 | 1318 | //pc.printf("forward \r\n"); |
tashworth | 14:784acd735b8c | 1319 | wait_ms(200); |
tashworth | 14:784acd735b8c | 1320 | |
tashworth | 14:784acd735b8c | 1321 | motors.stopBothMotors(0); |
tashworth | 14:784acd735b8c | 1322 | motors.begin(); |
tashworth | 12:284be46593ae | 1323 | |
tashworth | 14:784acd735b8c | 1324 | preLeft=preRight=5000 ; |
tashworth | 14:784acd735b8c | 1325 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1326 | rightEncoder.reset(); |
tashworth | 14:784acd735b8c | 1327 | motors.setMotor0Speed(.25*127); //right |
tashworth | 14:784acd735b8c | 1328 | motors.setMotor1Speed(.25*127); //left |
tashworth | 14:784acd735b8c | 1329 | |
tashworth | 14:784acd735b8c | 1330 | if(section == TOOLS) { |
tashworth | 17:a5bb85ee205d | 1331 | while(IR.getIRDistance() > 10 && (abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses()) < 200) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) { |
tashworth | 14:784acd735b8c | 1332 | |
tashworth | 14:784acd735b8c | 1333 | if(IR.getIRDistance() > 38) break; |
tashworth | 14:784acd735b8c | 1334 | |
tashworth | 14:784acd735b8c | 1335 | preLeft=leftEncoder.getPulses(); |
tashworth | 14:784acd735b8c | 1336 | preRight=rightEncoder.getPulses(); |
tashworth | 14:784acd735b8c | 1337 | wait_ms(200); |
tashworth | 14:784acd735b8c | 1338 | } |
tashworth | 14:784acd735b8c | 1339 | } else if(section == MID || section == MID2) { |
tashworth | 21:0907e1f5e16c | 1340 | if(section == MID2){ |
tashworth | 21:0907e1f5e16c | 1341 | motors.setMotor0Speed(.3*127); //right |
tashworth | 21:0907e1f5e16c | 1342 | motors.setMotor1Speed(.3*127); //left |
tashworth | 21:0907e1f5e16c | 1343 | while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300)); |
tashworth | 21:0907e1f5e16c | 1344 | } |
tashworth | 20:55dcff40c5d9 | 1345 | |
tashworth | 20:55dcff40c5d9 | 1346 | while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) { |
tashworth | 14:784acd735b8c | 1347 | |
tashworth | 14:784acd735b8c | 1348 | if(IR.getIRDistance() > 38) break; |
tashworth | 14:784acd735b8c | 1349 | |
tashworth | 14:784acd735b8c | 1350 | preLeft=leftEncoder.getPulses(); |
tashworth | 14:784acd735b8c | 1351 | preRight=rightEncoder.getPulses(); |
tashworth | 14:784acd735b8c | 1352 | wait_ms(200); |
tashworth | 8:77a57909aa15 | 1353 | } |
tashworth | 12:284be46593ae | 1354 | |
tashworth | 17:a5bb85ee205d | 1355 | } else {// RIGS |
tashworth | 17:a5bb85ee205d | 1356 | while(abs(leftEncoder.getPulses()) < 220 || abs(rightEncoder.getPulses()) < 220); |
tashworth | 12:284be46593ae | 1357 | |
tashworth | 17:a5bb85ee205d | 1358 | // go backwards to line up with bump |
tashworth | 14:784acd735b8c | 1359 | leftEncoder.reset(); |
tashworth | 14:784acd735b8c | 1360 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1361 | |
tashworth | 14:784acd735b8c | 1362 | motors.setMotor0Speed(-.15*127); //right |
tashworth | 14:784acd735b8c | 1363 | motors.setMotor1Speed(-.15*127); //left |
tashworth | 14:784acd735b8c | 1364 | while((abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100) && preLeft!=0 ) { |
tashworth | 14:784acd735b8c | 1365 | preLeft = leftEncoder.getPulses(); |
tashworth | 14:784acd735b8c | 1366 | preRight = rightEncoder.getPulses(); |
tashworth | 14:784acd735b8c | 1367 | wait_ms(200); |
tashworth | 14:784acd735b8c | 1368 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
tashworth | 12:284be46593ae | 1369 | } |
tashworth | 17:a5bb85ee205d | 1370 | motors.stopBothMotors(127); |
tashworth | 20:55dcff40c5d9 | 1371 | motors.begin(); |
tashworth | 14:784acd735b8c | 1372 | |
tashworth | 14:784acd735b8c | 1373 | return; |
tashworth | 14:784acd735b8c | 1374 | } |
tashworth | 12:284be46593ae | 1375 | |
tashworth | 17:a5bb85ee205d | 1376 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1377 | wait_ms(20); |
tashworth | 14:784acd735b8c | 1378 | motors.begin(); |
tashworth | 14:784acd735b8c | 1379 | |
tashworth | 14:784acd735b8c | 1380 | } |
tashworth | 20:55dcff40c5d9 | 1381 | |
tashworth | 20:55dcff40c5d9 | 1382 | |
tashworth | 14:784acd735b8c | 1383 | void to_tools_section1(float* location, float ¤t) |
tashworth | 14:784acd735b8c | 1384 | { |
tashworth | 21:0907e1f5e16c | 1385 | slightMove(FORWARD,6850); |
tashworth | 14:784acd735b8c | 1386 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 14:784acd735b8c | 1387 | |
tashworth | 14:784acd735b8c | 1388 | } |
tashworth | 14:784acd735b8c | 1389 | |
tashworth | 14:784acd735b8c | 1390 | void to_tools_section2(float* location, float ¤t) |
tashworth | 14:784acd735b8c | 1391 | { |
tashworth | 20:55dcff40c5d9 | 1392 | slightMove(FORWARD,3250); |
tashworth | 14:784acd735b8c | 1393 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 14:784acd735b8c | 1394 | |
tashworth | 14:784acd735b8c | 1395 | } |
tashworth | 8:77a57909aa15 | 1396 | |
tashworth | 14:784acd735b8c | 1397 | void from_tools_section(float* location, float ¤t) |
tashworth | 14:784acd735b8c | 1398 | { |
tashworth | 14:784acd735b8c | 1399 | |
tashworth | 20:55dcff40c5d9 | 1400 | //alignWithWall(TOOLS); |
tashworth | 20:55dcff40c5d9 | 1401 | //current-=4; |
tashworth | 20:55dcff40c5d9 | 1402 | |
tashworth | 20:55dcff40c5d9 | 1403 | //slightMove(FORWARD,150); |
tashworth | 20:55dcff40c5d9 | 1404 | //current+=1; |
tashworth | 20:55dcff40c5d9 | 1405 | //pc.printf("align\r\n"); |
tashworth | 20:55dcff40c5d9 | 1406 | //wait_ms(200); |
tashworth | 8:77a57909aa15 | 1407 | |
tashworth | 14:784acd735b8c | 1408 | //wall_follow2(LEFT,FORWARD,MID, current); |
tashworth | 14:784acd735b8c | 1409 | |
tashworth | 20:55dcff40c5d9 | 1410 | slightMove(BACKWARD,400); |
tashworth | 20:55dcff40c5d9 | 1411 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 21:0907e1f5e16c | 1412 | |
tashworth | 14:784acd735b8c | 1413 | rangeFinderLeft.startMeas(); |
tashworth | 14:784acd735b8c | 1414 | wait_ms(20); |
tashworth | 14:784acd735b8c | 1415 | rangeFinderLeft.getMeas(range); |
tashworth | 8:77a57909aa15 | 1416 | |
tashworth | 20:55dcff40c5d9 | 1417 | if(range < 15) { |
tashworth | 20:55dcff40c5d9 | 1418 | wall_follow2(LEFT,BACKWARD,MID, current,0); |
tashworth | 20:55dcff40c5d9 | 1419 | //pc.printf("wall follow\r\n"); |
tashworth | 14:784acd735b8c | 1420 | location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1421 | current= location[0]; |
tashworth | 20:55dcff40c5d9 | 1422 | //pc.printf("current %f \r\n",current); |
tashworth | 14:784acd735b8c | 1423 | // go backwards |
tashworth | 20:55dcff40c5d9 | 1424 | //slightMove(BACKWARD,200); |
tashworth | 14:784acd735b8c | 1425 | |
tashworth | 14:784acd735b8c | 1426 | wait_ms(100); |
tashworth | 14:784acd735b8c | 1427 | leftTurn(); |
tashworth | 20:55dcff40c5d9 | 1428 | slightleft(); |
tashworth | 14:784acd735b8c | 1429 | overBump(TOOLS); |
tashworth | 14:784acd735b8c | 1430 | } else { |
tashworth | 20:55dcff40c5d9 | 1431 | //pc.printf("else greater than 20\r\n"); |
tashworth | 14:784acd735b8c | 1432 | location[0]= current; |
tashworth | 14:784acd735b8c | 1433 | leftTurn(); |
tashworth | 14:784acd735b8c | 1434 | overBump(TOOLS); |
tashworth | 14:784acd735b8c | 1435 | } |
tashworth | 14:784acd735b8c | 1436 | |
tashworth | 20:55dcff40c5d9 | 1437 | //pc.printf("First Wavegap = %f\r\n",location[0]); |
tashworth | 14:784acd735b8c | 1438 | |
tashworth | 14:784acd735b8c | 1439 | } |
tashworth | 17:a5bb85ee205d | 1440 | void tools_section(float* location, float ¤t) |
tashworth | 17:a5bb85ee205d | 1441 | { |
tashworth | 17:a5bb85ee205d | 1442 | wall_follow(LEFT,FORWARD, TOOLS); |
tashworth | 17:a5bb85ee205d | 1443 | // current position in reference to the starting position |
tashworth | 17:a5bb85ee205d | 1444 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 17:a5bb85ee205d | 1445 | |
tashworth | 17:a5bb85ee205d | 1446 | //////////////////////////////// determine tool |
tashworth | 17:a5bb85ee205d | 1447 | wait(2); |
tashworth | 17:a5bb85ee205d | 1448 | /////////////////////////////////////////////////////////////////////////////////////// |
tashworth | 17:a5bb85ee205d | 1449 | // Move Forward |
tashworth | 17:a5bb85ee205d | 1450 | slightMove(FORWARD, 100); |
tashworth | 20:55dcff40c5d9 | 1451 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 17:a5bb85ee205d | 1452 | |
tashworth | 17:a5bb85ee205d | 1453 | //////////////////////////////////////////Tool aquiring |
tashworth | 17:a5bb85ee205d | 1454 | wait(2); |
tashworth | 17:a5bb85ee205d | 1455 | //////////////////////////////////////////////////////////////////// After tool is aquired |
tashworth | 17:a5bb85ee205d | 1456 | |
tashworth | 20:55dcff40c5d9 | 1457 | //alignWithWall(TOOLS); |
tashworth | 20:55dcff40c5d9 | 1458 | //pc.printf("align\r\n"); |
tashworth | 20:55dcff40c5d9 | 1459 | //wait_ms(100); |
tashworth | 17:a5bb85ee205d | 1460 | |
tashworth | 17:a5bb85ee205d | 1461 | //wall_follow2(LEFT,FORWARD,MID, current); |
tashworth | 17:a5bb85ee205d | 1462 | //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 17:a5bb85ee205d | 1463 | |
tashworth | 17:a5bb85ee205d | 1464 | rangeFinderLeft.startMeas(); |
tashworth | 17:a5bb85ee205d | 1465 | wait_ms(20); |
tashworth | 17:a5bb85ee205d | 1466 | rangeFinderLeft.getMeas(range); |
tashworth | 17:a5bb85ee205d | 1467 | |
tashworth | 17:a5bb85ee205d | 1468 | if(range < 20) { |
tashworth | 17:a5bb85ee205d | 1469 | wall_follow2(LEFT,BACKWARD,TOOLS, current,0); |
tashworth | 20:55dcff40c5d9 | 1470 | //pc.printf("wall follow\r\n"); |
tashworth | 17:a5bb85ee205d | 1471 | location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 17:a5bb85ee205d | 1472 | current= location[0]; |
tashworth | 20:55dcff40c5d9 | 1473 | //pc.printf("current %f \r\n",current); |
tashworth | 17:a5bb85ee205d | 1474 | // go backwards |
tashworth | 17:a5bb85ee205d | 1475 | leftEncoder.reset(); |
tashworth | 17:a5bb85ee205d | 1476 | rightEncoder.reset(); |
tashworth | 17:a5bb85ee205d | 1477 | motors.setMotor0Speed(-MAX_SPEED); //right |
tashworth | 17:a5bb85ee205d | 1478 | motors.setMotor1Speed(-MAX_SPEED); //left |
tashworth | 17:a5bb85ee205d | 1479 | while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120); |
tashworth | 17:a5bb85ee205d | 1480 | // hard stop |
tashworth | 17:a5bb85ee205d | 1481 | |
tashworth | 17:a5bb85ee205d | 1482 | motors.stopBothMotors(127); |
tashworth | 17:a5bb85ee205d | 1483 | |
tashworth | 17:a5bb85ee205d | 1484 | wait_ms(100); |
tashworth | 17:a5bb85ee205d | 1485 | leftTurn(); |
tashworth | 17:a5bb85ee205d | 1486 | overBump(TOOLS); |
tashworth | 17:a5bb85ee205d | 1487 | } else { |
tashworth | 20:55dcff40c5d9 | 1488 | //pc.printf("else greater than 20\r\n"); |
tashworth | 17:a5bb85ee205d | 1489 | location[0]= current; |
tashworth | 17:a5bb85ee205d | 1490 | leftTurn(); |
tashworth | 17:a5bb85ee205d | 1491 | overBump(TOOLS); |
tashworth | 17:a5bb85ee205d | 1492 | } |
tashworth | 17:a5bb85ee205d | 1493 | |
tashworth | 20:55dcff40c5d9 | 1494 | //pc.printf("First Wavegap = %f\r\n",location[0]); |
tashworth | 17:a5bb85ee205d | 1495 | } |
tashworth | 12:284be46593ae | 1496 | |
tashworth | 14:784acd735b8c | 1497 | void mid_section(float* location, float ¤t, int* direction) |
tashworth | 14:784acd735b8c | 1498 | { |
tashworth | 14:784acd735b8c | 1499 | if(IR.getIRDistance() > 38) { |
tashworth | 14:784acd735b8c | 1500 | direction[0]= STRAIGHT; |
tashworth | 14:784acd735b8c | 1501 | overBump(MID); |
tashworth | 14:784acd735b8c | 1502 | return; |
tashworth | 14:784acd735b8c | 1503 | } |
tashworth | 20:55dcff40c5d9 | 1504 | //pc.printf("before align with wall \r\n"); |
tashworth | 20:55dcff40c5d9 | 1505 | //alignWithWall(MID); |
tashworth | 20:55dcff40c5d9 | 1506 | //current-=4; |
tashworth | 20:55dcff40c5d9 | 1507 | //wait_ms(200); |
tashworth | 14:784acd735b8c | 1508 | |
tashworth | 20:55dcff40c5d9 | 1509 | //if(current > 20){ |
tashworth | 20:55dcff40c5d9 | 1510 | //alignWithWall(MID2); |
tashworth | 20:55dcff40c5d9 | 1511 | //current-=4; |
tashworth | 20:55dcff40c5d9 | 1512 | //} |
tashworth | 20:55dcff40c5d9 | 1513 | rightTurn(); |
tashworth | 21:0907e1f5e16c | 1514 | leftEncoder.reset(); |
tashworth | 21:0907e1f5e16c | 1515 | rightEncoder.reset(); |
tashworth | 21:0907e1f5e16c | 1516 | motors.setMotor0Speed(-0.4*127);// right |
tashworth | 21:0907e1f5e16c | 1517 | motors.setMotor1Speed(0.4*127);// left |
tashworth | 21:0907e1f5e16c | 1518 | while(abs(leftEncoder.getPulses())<50 || abs(rightEncoder.getPulses())<50); |
tashworth | 21:0907e1f5e16c | 1519 | motors.stopBothMotors(127); |
tashworth | 20:55dcff40c5d9 | 1520 | //pc.printf("mid section current = %f\r\n",current); |
tashworth | 14:784acd735b8c | 1521 | wall_follow2(LEFT,FORWARD,MID, current,0); |
tashworth | 14:784acd735b8c | 1522 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 20:55dcff40c5d9 | 1523 | //pc.printf("after wf2 current = %f\r\n",current); |
tashworth | 8:77a57909aa15 | 1524 | |
tashworth | 14:784acd735b8c | 1525 | wait_ms(500); |
tashworth | 14:784acd735b8c | 1526 | rangeFinderLeft.startMeas(); |
tashworth | 14:784acd735b8c | 1527 | wait_ms(20); |
tashworth | 14:784acd735b8c | 1528 | rangeFinderLeft.getMeas(range); |
tashworth | 14:784acd735b8c | 1529 | |
tashworth | 14:784acd735b8c | 1530 | if(range > 20 ) { |
tashworth | 14:784acd735b8c | 1531 | direction[0]= RIGHT; |
tashworth | 14:784acd735b8c | 1532 | location[1]= current; |
tashworth | 20:55dcff40c5d9 | 1533 | wait_ms(300); |
tashworth | 20:55dcff40c5d9 | 1534 | slightMove(FORWARD,100); |
tashworth | 20:55dcff40c5d9 | 1535 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1536 | } else { |
tashworth | 14:784acd735b8c | 1537 | direction[0]= LEFT; |
tashworth | 14:784acd735b8c | 1538 | wall_follow2(LEFT,BACKWARD,MID,current,0); |
tashworth | 14:784acd735b8c | 1539 | location[1]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1540 | current= location[1]; |
tashworth | 14:784acd735b8c | 1541 | |
tashworth | 14:784acd735b8c | 1542 | if(location[1] < 18) { |
tashworth | 20:55dcff40c5d9 | 1543 | slightMove(FORWARD, 75); |
tashworth | 14:784acd735b8c | 1544 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1545 | } |
tashworth | 20:55dcff40c5d9 | 1546 | //slightMove(BACKWARD,100); |
tashworth | 12:284be46593ae | 1547 | |
tashworth | 14:784acd735b8c | 1548 | } |
tashworth | 14:784acd735b8c | 1549 | |
tashworth | 20:55dcff40c5d9 | 1550 | wait_ms(200); |
tashworth | 20:55dcff40c5d9 | 1551 | //pc.printf("wavegap2 = %f\r\n",location[1]); |
tashworth | 20:55dcff40c5d9 | 1552 | //left turn |
tashworth | 20:55dcff40c5d9 | 1553 | motors.begin(); |
tashworth | 20:55dcff40c5d9 | 1554 | leftEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1555 | rightEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1556 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 20:55dcff40c5d9 | 1557 | motors.setMotor1Speed(-0.5*127);// left |
tashworth | 20:55dcff40c5d9 | 1558 | while(abs(leftEncoder.getPulses())<1045 || rightEncoder.getPulses()<1045); |
tashworth | 20:55dcff40c5d9 | 1559 | motors.stopBothMotors(127); |
tashworth | 14:784acd735b8c | 1560 | |
tashworth | 14:784acd735b8c | 1561 | wait_ms(100); |
tashworth | 14:784acd735b8c | 1562 | |
tashworth | 14:784acd735b8c | 1563 | overBump(MID); |
tashworth | 14:784acd735b8c | 1564 | |
tashworth | 14:784acd735b8c | 1565 | } |
tashworth | 14:784acd735b8c | 1566 | |
tashworth | 14:784acd735b8c | 1567 | void mid_section2(float* location, float ¤t, int* direction) |
tashworth | 14:784acd735b8c | 1568 | { |
tashworth | 20:55dcff40c5d9 | 1569 | //pc.printf("mid section 2\r\n"); |
tashworth | 14:784acd735b8c | 1570 | |
tashworth | 14:784acd735b8c | 1571 | if(IR.getIRDistance() > 38) { |
tashworth | 14:784acd735b8c | 1572 | direction[1]= STRAIGHT; |
tashworth | 14:784acd735b8c | 1573 | overBump(RIGS); |
tashworth | 14:784acd735b8c | 1574 | return; |
tashworth | 14:784acd735b8c | 1575 | } |
tashworth | 8:77a57909aa15 | 1576 | |
tashworth | 20:55dcff40c5d9 | 1577 | //alignWithWall(MID); |
tashworth | 20:55dcff40c5d9 | 1578 | wait_ms(100); |
tashworth | 20:55dcff40c5d9 | 1579 | |
tashworth | 20:55dcff40c5d9 | 1580 | rightTurn(); |
tashworth | 20:55dcff40c5d9 | 1581 | slightright(); |
tashworth | 20:55dcff40c5d9 | 1582 | wait_ms(100); |
tashworth | 20:55dcff40c5d9 | 1583 | |
tashworth | 14:784acd735b8c | 1584 | |
tashworth | 14:784acd735b8c | 1585 | wall_follow2(LEFT,FORWARD,MID, current,0); |
tashworth | 14:784acd735b8c | 1586 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1587 | |
tashworth | 14:784acd735b8c | 1588 | wait_ms(500); |
tashworth | 8:77a57909aa15 | 1589 | |
tashworth | 20:55dcff40c5d9 | 1590 | //pc.printf("midseection 2 after wf2 %f",current); |
tashworth | 14:784acd735b8c | 1591 | rangeFinderLeft.startMeas(); |
tashworth | 14:784acd735b8c | 1592 | wait_ms(20); |
tashworth | 14:784acd735b8c | 1593 | rangeFinderLeft.getMeas(range); |
tashworth | 12:284be46593ae | 1594 | |
tashworth | 14:784acd735b8c | 1595 | if(range > 20 ) { |
tashworth | 14:784acd735b8c | 1596 | direction[1]= RIGHT; |
tashworth | 14:784acd735b8c | 1597 | location[2]= current; |
tashworth | 21:0907e1f5e16c | 1598 | slightMove(FORWARD,100); |
tashworth | 17:a5bb85ee205d | 1599 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1600 | } else { |
tashworth | 14:784acd735b8c | 1601 | direction[1]= LEFT; |
tashworth | 14:784acd735b8c | 1602 | wall_follow2(LEFT,BACKWARD,MID,current,0); |
tashworth | 14:784acd735b8c | 1603 | location[2]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1604 | current=location[2]; |
tashworth | 20:55dcff40c5d9 | 1605 | //slightMove(BACKWARD,100); |
tashworth | 14:784acd735b8c | 1606 | } |
tashworth | 8:77a57909aa15 | 1607 | |
tashworth | 20:55dcff40c5d9 | 1608 | //LEFT turn |
tashworth | 20:55dcff40c5d9 | 1609 | motors.begin(); |
tashworth | 20:55dcff40c5d9 | 1610 | leftEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1611 | rightEncoder.reset(); |
tashworth | 20:55dcff40c5d9 | 1612 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 20:55dcff40c5d9 | 1613 | motors.setMotor1Speed(-0.5*127);// left |
tashworth | 20:55dcff40c5d9 | 1614 | while(abs(leftEncoder.getPulses())<950 || rightEncoder.getPulses()<950); |
tashworth | 20:55dcff40c5d9 | 1615 | motors.stopBothMotors(127); |
tashworth | 20:55dcff40c5d9 | 1616 | |
tashworth | 14:784acd735b8c | 1617 | overBump(RIGS); |
tashworth | 20:55dcff40c5d9 | 1618 | //pc.printf("overbump rigs\r\n"); |
tashworth | 14:784acd735b8c | 1619 | } |
tashworth | 14:784acd735b8c | 1620 | |
tashworth | 14:784acd735b8c | 1621 | void rig_section(float* location, float ¤t, int* direction, int rig) |
tashworth | 14:784acd735b8c | 1622 | { |
tashworth | 14:784acd735b8c | 1623 | float loc; |
tashworth | 14:784acd735b8c | 1624 | |
tashworth | 14:784acd735b8c | 1625 | if(rig == 1) loc= 15; |
tashworth | 14:784acd735b8c | 1626 | else if(rig == 2) loc= 45; |
tashworth | 14:784acd735b8c | 1627 | else loc = 75; |
tashworth | 14:784acd735b8c | 1628 | |
tashworth | 17:a5bb85ee205d | 1629 | // Slight forward for turn |
tashworth | 20:55dcff40c5d9 | 1630 | slightMove(FORWARD,150); |
tashworth | 20:55dcff40c5d9 | 1631 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 17:a5bb85ee205d | 1632 | wait_ms(100); |
tashworth | 14:784acd735b8c | 1633 | rightTurn(); |
tashworth | 20:55dcff40c5d9 | 1634 | //slightright(); |
tashworth | 20:55dcff40c5d9 | 1635 | |
tashworth | 12:284be46593ae | 1636 | |
tashworth | 14:784acd735b8c | 1637 | if(current > loc) { |
tashworth | 20:55dcff40c5d9 | 1638 | //pc.printf("RIG section %f\r\n",current); |
tashworth | 14:784acd735b8c | 1639 | wall_follow2(RIGHT, BACKWARD, RIGS, current, rig); |
tashworth | 14:784acd735b8c | 1640 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1641 | } else { |
tashworth | 20:55dcff40c5d9 | 1642 | //pc.printf("RIG section %f\r\n",current); |
tashworth | 14:784acd735b8c | 1643 | wall_follow2(RIGHT, FORWARD, RIGS, current, rig); |
tashworth | 14:784acd735b8c | 1644 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1645 | } |
tashworth | 17:a5bb85ee205d | 1646 | |
tashworth | 20:55dcff40c5d9 | 1647 | alignWithWall(MID2); |
tashworth | 20:55dcff40c5d9 | 1648 | current-=4; |
tashworth | 19:d4d967a885dc | 1649 | wall_follow2(RIGHT, FORWARD, RIGS, current, rig); |
tashworth | 20:55dcff40c5d9 | 1650 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 20:55dcff40c5d9 | 1651 | slightMove(FORWARD, 75); |
tashworth | 19:d4d967a885dc | 1652 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 20:55dcff40c5d9 | 1653 | |
tashworth | 20:55dcff40c5d9 | 1654 | |
tashworth | 20:55dcff40c5d9 | 1655 | |
tashworth | 20:55dcff40c5d9 | 1656 | |
tashworth | 20:55dcff40c5d9 | 1657 | |
tashworth | 14:784acd735b8c | 1658 | } |
tashworth | 14:784acd735b8c | 1659 | |
tashworth | 14:784acd735b8c | 1660 | void tools_section_return(float* location, float ¤t) |
tashworth | 14:784acd735b8c | 1661 | { |
tashworth | 14:784acd735b8c | 1662 | if(location[0] > 16) { |
tashworth | 14:784acd735b8c | 1663 | leftTurn(); |
tashworth | 14:784acd735b8c | 1664 | wall_follow2(LEFT, BACKWARD, RETURN, location[0], 0); |
tashworth | 14:784acd735b8c | 1665 | } |
tashworth | 14:784acd735b8c | 1666 | motors.stopBothMotors(0); |
tashworth | 14:784acd735b8c | 1667 | |
tashworth | 14:784acd735b8c | 1668 | } |
tashworth | 8:77a57909aa15 | 1669 | |
tashworth | 14:784acd735b8c | 1670 | void mid_section_return(float* location, float ¤t, int* direction) |
tashworth | 14:784acd735b8c | 1671 | { |
tashworth | 14:784acd735b8c | 1672 | if(direction[0] == RIGHT) { |
tashworth | 14:784acd735b8c | 1673 | leftTurn(); |
tashworth | 14:784acd735b8c | 1674 | alignWithWall(MID); |
tashworth | 14:784acd735b8c | 1675 | wall_follow2(LEFT, BACKWARD, MID, current,0); |
tashworth | 14:784acd735b8c | 1676 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1677 | rightTurn(); |
tashworth | 14:784acd735b8c | 1678 | } else if(direction[0] == LEFT) { |
tashworth | 14:784acd735b8c | 1679 | leftTurn(); |
tashworth | 14:784acd735b8c | 1680 | wall_follow2(RIGHT, FORWARD, MID, current,0); |
tashworth | 14:784acd735b8c | 1681 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1682 | rightTurn(); |
tashworth | 14:784acd735b8c | 1683 | } |
tashworth | 14:784acd735b8c | 1684 | //ELSE and GO FORWARD |
tashworth | 14:784acd735b8c | 1685 | overBump(RIGS); |
tashworth | 14:784acd735b8c | 1686 | } |
tashworth | 12:284be46593ae | 1687 | |
tashworth | 14:784acd735b8c | 1688 | void mid_section2_return(float* location, float ¤t, int* direction) |
tashworth | 14:784acd735b8c | 1689 | { |
tashworth | 14:784acd735b8c | 1690 | if(direction[1] == RIGHT) { |
tashworth | 14:784acd735b8c | 1691 | leftTurn(); |
tashworth | 14:784acd735b8c | 1692 | wall_follow2(LEFT, BACKWARD, MID, current,0); |
tashworth | 14:784acd735b8c | 1693 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1694 | rightTurn(); |
tashworth | 14:784acd735b8c | 1695 | } else if(direction[1] == LEFT) { |
tashworth | 14:784acd735b8c | 1696 | leftTurn(); |
tashworth | 14:784acd735b8c | 1697 | wall_follow2(RIGHT, FORWARD, MID, current,0); |
tashworth | 14:784acd735b8c | 1698 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1699 | rightTurn(); |
tashworth | 14:784acd735b8c | 1700 | } |
tashworth | 14:784acd735b8c | 1701 | //ELSE and GO FORWARD |
tashworth | 14:784acd735b8c | 1702 | overBump(MID); |
tashworth | 14:784acd735b8c | 1703 | } |
tashworth | 14:784acd735b8c | 1704 | |
tashworth | 14:784acd735b8c | 1705 | void rig_section_return(float* location, float ¤t, int* direction) |
tashworth | 14:784acd735b8c | 1706 | { |
tashworth | 14:784acd735b8c | 1707 | if(location[2] > current) { |
tashworth | 14:784acd735b8c | 1708 | wall_follow2(RIGHT, FORWARD, MID, current,0); |
tashworth | 14:784acd735b8c | 1709 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1710 | } else { |
tashworth | 14:784acd735b8c | 1711 | wall_follow2(RIGHT, BACKWARD, MID, current,0); |
tashworth | 14:784acd735b8c | 1712 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 14:784acd735b8c | 1713 | } |
tashworth | 14:784acd735b8c | 1714 | rightTurn(); |
tashworth | 14:784acd735b8c | 1715 | overBump(MID2); |
tashworth | 20:55dcff40c5d9 | 1716 | } |
tashworth | 20:55dcff40c5d9 | 1717 | |
tashworth | 20:55dcff40c5d9 | 1718 | |
tashworth | 20:55dcff40c5d9 | 1719 | |
tashworth | 20:55dcff40c5d9 | 1720 | |
tashworth | 20:55dcff40c5d9 | 1721 | int Xadjust(int tool) |
tashworth | 20:55dcff40c5d9 | 1722 | { |
tashworth | 20:55dcff40c5d9 | 1723 | int areaArray[10]; |
tashworth | 20:55dcff40c5d9 | 1724 | float C, T, S; |
tashworth | 20:55dcff40c5d9 | 1725 | for(int i = 0; i < 10; i++) { |
tashworth | 20:55dcff40c5d9 | 1726 | areaArray[i] = shapeDetection(); |
tashworth | 20:55dcff40c5d9 | 1727 | wait(2); |
tashworth | 20:55dcff40c5d9 | 1728 | if(get_com_x() > X_CENTER ) { |
tashworth | 20:55dcff40c5d9 | 1729 | deltaX = get_com_x()-X_CENTER; |
tashworth | 20:55dcff40c5d9 | 1730 | setServoPulse2(0,Arm_Table[tool].base_rotate += (deltaX/60.0) ); |
tashworth | 20:55dcff40c5d9 | 1731 | Arm_Table[PU_TOOL_2].base_rotate = Arm_Table[TOOL_2].base_rotate; |
tashworth | 20:55dcff40c5d9 | 1732 | } |
tashworth | 20:55dcff40c5d9 | 1733 | if(get_com_x() < X_CENTER) { |
tashworth | 20:55dcff40c5d9 | 1734 | deltaX = get_com_x()-X_CENTER; |
tashworth | 20:55dcff40c5d9 | 1735 | setServoPulse2(0,Arm_Table[tool].base_rotate += (deltaX/60.0) ); |
tashworth | 20:55dcff40c5d9 | 1736 | Arm_Table[PU_TOOL_2].base_rotate = Arm_Table[TOOL_2].base_rotate; |
tashworth | 20:55dcff40c5d9 | 1737 | } |
tashworth | 20:55dcff40c5d9 | 1738 | |
tashworth | 20:55dcff40c5d9 | 1739 | |
tashworth | 20:55dcff40c5d9 | 1740 | } |
tashworth | 20:55dcff40c5d9 | 1741 | |
tashworth | 20:55dcff40c5d9 | 1742 | C = normd(areaArray, 10, CIRCLE_AREA); |
tashworth | 21:0907e1f5e16c | 1743 | // S = normd(areaArray, 10, SQUARE_AREA); |
tashworth | 21:0907e1f5e16c | 1744 | // T = normd(areaArray, 10, TRIANGLE_AREA); |
tashworth | 21:0907e1f5e16c | 1745 | |
tashworth | 20:55dcff40c5d9 | 1746 | if((C < SQUARE_AREA) && (C > CIRCLE_AREA)) { |
tashworth | 20:55dcff40c5d9 | 1747 | pc.printf("\n\nSQUARE DETECTED\n\r"); |
tashworth | 20:55dcff40c5d9 | 1748 | return SQUARE; |
tashworth | 21:0907e1f5e16c | 1749 | } else if( ( C > SQUARE_AREA) ) { |
tashworth | 21:0907e1f5e16c | 1750 | pc.printf("\n\nCIRCLE DETECTED\n\r"); |
tashworth | 21:0907e1f5e16c | 1751 | return CIRCLE; |
tashworth | 20:55dcff40c5d9 | 1752 | } else { |
tashworth | 20:55dcff40c5d9 | 1753 | pc.printf("\n\nTRIANGLE DETECTED\n\r"); |
tashworth | 20:55dcff40c5d9 | 1754 | return TRIANGLE; |
tashworth | 21:0907e1f5e16c | 1755 | } |
tashworth | 21:0907e1f5e16c | 1756 | |
tashworth | 21:0907e1f5e16c | 1757 | |
tashworth | 21:0907e1f5e16c | 1758 | /* |
tashworth | 21:0907e1f5e16c | 1759 | if((C < S) && (C < T)) { |
tashworth | 21:0907e1f5e16c | 1760 | pc.printf("\n\nCIRCLE DETECTED\n\r"); |
tashworth | 21:0907e1f5e16c | 1761 | return CIRCLE; |
tashworth | 21:0907e1f5e16c | 1762 | } else if( ( S<C ) && ( S<T ) ) { |
tashworth | 21:0907e1f5e16c | 1763 | pc.printf("\n\nSQUARE DETECTED\n\r"); |
tashworth | 21:0907e1f5e16c | 1764 | return SQUARE; |
tashworth | 21:0907e1f5e16c | 1765 | } else { |
tashworth | 21:0907e1f5e16c | 1766 | pc.printf("\n\nTRIANGLE DETECTED\n\r"); |
tashworth | 21:0907e1f5e16c | 1767 | return TRIANGLE; |
tashworth | 21:0907e1f5e16c | 1768 | }*/ |
tashworth | 20:55dcff40c5d9 | 1769 | } |
tashworth | 20:55dcff40c5d9 | 1770 | |
tashworth | 20:55dcff40c5d9 | 1771 | float normd(int* pop, int count, int threshold) |
tashworth | 20:55dcff40c5d9 | 1772 | { |
tashworth | 20:55dcff40c5d9 | 1773 | int i = 0; |
tashworth | 20:55dcff40c5d9 | 1774 | float mean=0, std=0; |
tashworth | 20:55dcff40c5d9 | 1775 | for(i=0; i<count; i++) { |
tashworth | 20:55dcff40c5d9 | 1776 | mean += pop[i]; |
tashworth | 20:55dcff40c5d9 | 1777 | } |
tashworth | 20:55dcff40c5d9 | 1778 | mean /= (float)count; |
tashworth | 20:55dcff40c5d9 | 1779 | pc.printf("\n\nMean: %f\n\r", mean); |
tashworth | 20:55dcff40c5d9 | 1780 | |
tashworth | 20:55dcff40c5d9 | 1781 | for(i=0; i<count; i++) { |
tashworth | 20:55dcff40c5d9 | 1782 | std += pow(((float)pop[i]-mean),2); |
tashworth | 20:55dcff40c5d9 | 1783 | } |
tashworth | 20:55dcff40c5d9 | 1784 | std /= (float)count; |
tashworth | 20:55dcff40c5d9 | 1785 | std = sqrt(std); |
tashworth | 20:55dcff40c5d9 | 1786 | //pc.printf("\n\nStd: %f\n\r", std); |
tashworth | 20:55dcff40c5d9 | 1787 | |
tashworth | 20:55dcff40c5d9 | 1788 | //pc.printf("\n\nNorm: %f\n\r", (1/(std*sqrt(2*PI)))*exp(-pow(((float)threshold-mean),2)/(2*pow(std,2)))); |
tashworth | 20:55dcff40c5d9 | 1789 | |
tashworth | 20:55dcff40c5d9 | 1790 | |
tashworth | 20:55dcff40c5d9 | 1791 | //return abs(mean - threshold); |
tashworth | 20:55dcff40c5d9 | 1792 | return mean; |
tashworth | 20:55dcff40c5d9 | 1793 | //return (1/(std*sqrt(2*PI)))*exp(-pow(((float)threshold-mean),2)/(2*pow(std,2))); |
tashworth | 20:55dcff40c5d9 | 1794 | |
tashworth | 20:55dcff40c5d9 | 1795 | } |