For IEEE Robotics
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
main.cpp@12:284be46593ae, 2014-04-02 (annotated)
- Committer:
- tashworth
- Date:
- Wed Apr 02 00:30:30 2014 +0000
- Revision:
- 12:284be46593ae
- Parent:
- 11:8d2455e383ce
- Child:
- 13:529323807361
4-01-14
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 | 8:77a57909aa15 | 13 | /* Navigation Definitions */ |
tashworth | 8:77a57909aa15 | 14 | #define PIN_TRIGGERL (p12) |
tashworth | 8:77a57909aa15 | 15 | #define PIN_ECHOL (p11) |
tashworth | 8:77a57909aa15 | 16 | #define PIN_TRIGGERR (p29) |
tashworth | 8:77a57909aa15 | 17 | #define PIN_ECHOR (p30) |
tashworth | 8:77a57909aa15 | 18 | #define PULSE_PER_REV (1192) |
tashworth | 8:77a57909aa15 | 19 | #define WHEEL_CIRCUM (12.56637) |
tashworth | 8:77a57909aa15 | 20 | #define DIST_PER_PULSE (0.01054225722682) |
tashworth | 8:77a57909aa15 | 21 | #define MTRS_TO_INCH (39.3701) |
tashworth | 8:77a57909aa15 | 22 | #define MAX_SPEED (0.3*127) |
tashworth | 8:77a57909aa15 | 23 | #define PPR (4331/4) |
tashworth | 8:77a57909aa15 | 24 | #define LEFT (1) |
tashworth | 8:77a57909aa15 | 25 | #define RIGHT (0) |
tashworth | 12:284be46593ae | 26 | #define STRAIGHT (2) |
tashworth | 8:77a57909aa15 | 27 | #define FORWARD (1) |
tashworth | 8:77a57909aa15 | 28 | #define BACKWARD (0) |
tashworth | 8:77a57909aa15 | 29 | #define TOOLS (0) |
tashworth | 8:77a57909aa15 | 30 | #define MID (1) |
tashworth | 8:77a57909aa15 | 31 | #define RIGS (2) |
tashworth | 12:284be46593ae | 32 | #define MID2 (3) |
tashworth | 12:284be46593ae | 33 | #define RETURN (4) |
tashworth | 8:77a57909aa15 | 34 | #define FAR (1) |
tashworth | 6:75259c3306dd | 35 | |
tashworth | 6:75259c3306dd | 36 | //States |
tashworth | 6:75259c3306dd | 37 | #define START 0 |
tashworth | 6:75259c3306dd | 38 | #define OILRIG1_POS 1 |
tashworth | 6:75259c3306dd | 39 | #define OILRIG2_POS 2 |
tashworth | 12:284be46593ae | 40 | #define GOTO_TOOLS1 3 |
tashworth | 6:75259c3306dd | 41 | #define IDENTIFY_TOOLS 4 |
tashworth | 6:75259c3306dd | 42 | #define AQUIRE_TOOL1 5 |
tashworth | 6:75259c3306dd | 43 | #define AQUIRE_TOOL2 6 |
tashworth | 6:75259c3306dd | 44 | #define AQUIRE_TOOL3 7 |
tashworth | 6:75259c3306dd | 45 | #define NAVIGATE_WAVES_ROW1 8 |
tashworth | 6:75259c3306dd | 46 | #define NAVIGATE_WAVES_ROW2 9 |
tashworth | 6:75259c3306dd | 47 | #define NAVIGATE_WAVES_ROW3 10 |
tashworth | 6:75259c3306dd | 48 | #define NAVIGATE_TO_SQUARE_RIG 11 |
tashworth | 6:75259c3306dd | 49 | #define NAVIGATE_TO_TRIANGLE_RIG 12 |
tashworth | 6:75259c3306dd | 50 | #define NAVIGATE_TO_CIRCLE_RIG 13 |
tashworth | 6:75259c3306dd | 51 | #define RIG_ALIGN 14 |
tashworth | 6:75259c3306dd | 52 | #define INSERT_TOOL 15 |
tashworth | 6:75259c3306dd | 53 | #define END 16 |
tashworth | 12:284be46593ae | 54 | #define GOTO_TOOLS2 17 |
tashworth | 6:75259c3306dd | 55 | |
tashworth | 0:1b64a0cedc5d | 56 | |
tashworth | 8:77a57909aa15 | 57 | |
tashworth | 6:75259c3306dd | 58 | //Servo Static Positions |
tashworth | 6:75259c3306dd | 59 | #define STORE_POSITION 0 |
tashworth | 6:75259c3306dd | 60 | #define OIL_RIG1 1 |
tashworth | 6:75259c3306dd | 61 | #define OIL_RIG2 2 |
tashworth | 6:75259c3306dd | 62 | #define OIL_RIG3 3 |
tashworth | 6:75259c3306dd | 63 | #define DRIVE_POSITION_NOTOOL 4 |
tashworth | 6:75259c3306dd | 64 | #define TOOL_1 5 |
tashworth | 6:75259c3306dd | 65 | #define TOOL_2 6 |
tashworth | 6:75259c3306dd | 66 | #define TOOL_3 7 |
tashworth | 6:75259c3306dd | 67 | #define DRIVE_POSITION_TOOL 8 |
tashworth | 6:75259c3306dd | 68 | #define ORIENT_TOOL 9 |
tashworth | 11:8d2455e383ce | 69 | #define PU_TOOL_1 10 |
tashworth | 11:8d2455e383ce | 70 | #define PU_TOOL_2 11 |
tashworth | 11:8d2455e383ce | 71 | #define PU_TOOL_3 12 |
tashworth | 11:8d2455e383ce | 72 | #define PU_TOOL_1_STAB 13 |
tashworth | 11:8d2455e383ce | 73 | #define PU_TOOL_2_STAB 14 |
tashworth | 11:8d2455e383ce | 74 | #define PU_TOOL_3_STAB 15 |
tashworth | 2:4e082e4c255d | 75 | |
tashworth | 6:75259c3306dd | 76 | //Rig definitions |
tashworth | 6:75259c3306dd | 77 | #define SQUARE 1 |
tashworth | 6:75259c3306dd | 78 | #define TRIANGLE 2 |
tashworth | 6:75259c3306dd | 79 | #define CIRCLE 3 |
tashworth | 6:75259c3306dd | 80 | |
tashworth | 6:75259c3306dd | 81 | //*********************// |
tashworth | 6:75259c3306dd | 82 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 83 | //*********************// |
tashworth | 6:75259c3306dd | 84 | //Oil Rig distance thresholds |
tashworth | 8:77a57909aa15 | 85 | #define OILRIG1_MAX 3000 |
tashworth | 8:77a57909aa15 | 86 | #define OILRIG1_MIN 1000 |
tashworth | 9:1b29cd9ed1ba | 87 | #define OILRIG2_MAX 5000 |
tashworth | 8:77a57909aa15 | 88 | #define OILRIG2_MIN 1000 |
tashworth | 9:1b29cd9ed1ba | 89 | #define OILRIG3_MAX 5000 |
tashworth | 8:77a57909aa15 | 90 | #define OILRIG3_MIN 1000 |
tashworth | 6:75259c3306dd | 91 | |
tashworth | 6:75259c3306dd | 92 | //for servo normalization |
tashworth | 3:b7b4780a7f6e | 93 | #define MIN_SERVO_PULSE 900 |
tashworth | 3:b7b4780a7f6e | 94 | #define MAX_SERVO_PULSE 2100 |
tashworth | 3:b7b4780a7f6e | 95 | #define SERVO_MAX_ANGLE 180 |
tashworth | 3:b7b4780a7f6e | 96 | |
tashworth | 8:77a57909aa15 | 97 | |
tashworth | 8:77a57909aa15 | 98 | DigitalOut myled1(LED1); |
tashworth | 8:77a57909aa15 | 99 | DigitalOut myled2(LED2); |
tashworth | 8:77a57909aa15 | 100 | DigitalOut myled3(LED3); |
tashworth | 8:77a57909aa15 | 101 | DigitalOut myled4(LED4); |
tashworth | 8:77a57909aa15 | 102 | |
tashworth | 8:77a57909aa15 | 103 | void errFunction(void); |
tashworth | 8:77a57909aa15 | 104 | bool cRc; |
tashworth | 8:77a57909aa15 | 105 | |
tashworth | 8:77a57909aa15 | 106 | Serial pc(USBTX,USBRX); //USB Comm |
tashworth | 8:77a57909aa15 | 107 | Adafruit_PWMServoDriver pwm(p28,p27); //pwm(SDA,SCL) - Servo Control PWM |
tashworth | 8:77a57909aa15 | 108 | DigitalOut ServoOutputDisable(p8); //Servo Control Output Enable/Disable |
tashworth | 8:77a57909aa15 | 109 | extern Serial lrf; //Laser Range Finder lrf(p13,p14) |
tashworth | 8:77a57909aa15 | 110 | //Hardware Initialization |
tashworth | 8:77a57909aa15 | 111 | //Serial bt(p13,p14); |
tashworth | 8:77a57909aa15 | 112 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
tashworth | 8:77a57909aa15 | 113 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
tashworth | 8:77a57909aa15 | 114 | PID pid1(15.0,0.0,4.0,0.02); |
tashworth | 8:77a57909aa15 | 115 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
tashworth | 8:77a57909aa15 | 116 | QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); |
tashworth | 8:77a57909aa15 | 117 | QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); |
tashworth | 8:77a57909aa15 | 118 | Sharp IR(p20); |
tashworth | 8:77a57909aa15 | 119 | //InterruptIn encoder(p29); |
tashworth | 8:77a57909aa15 | 120 | |
tashworth | 8:77a57909aa15 | 121 | |
tashworth | 8:77a57909aa15 | 122 | |
tashworth | 8:77a57909aa15 | 123 | |
tashworth | 6:75259c3306dd | 124 | /*************** |
tashworth | 6:75259c3306dd | 125 | local servo functions |
tashworth | 6:75259c3306dd | 126 | ****************/ |
tashworth | 1:fe4a0b47ff25 | 127 | void servoBegin(void); |
tashworth | 0:1b64a0cedc5d | 128 | void initServoDriver(void); |
tashworth | 3:b7b4780a7f6e | 129 | void setServoPulse(uint8_t n, int angle); |
tashworth | 3:b7b4780a7f6e | 130 | void setServoPulseNo_delay(uint8_t n, int angle); |
tashworth | 0:1b64a0cedc5d | 131 | void servoPosition(int set); |
tashworth | 3:b7b4780a7f6e | 132 | void setGripper(int open); |
tashworth | 6:75259c3306dd | 133 | int fire_checker(int rig); |
tashworth | 6:75259c3306dd | 134 | |
tashworth | 8:77a57909aa15 | 135 | |
tashworth | 8:77a57909aa15 | 136 | //Navigation Functions |
tashworth | 12:284be46593ae | 137 | void wall_follow(int side, int direction, int section); |
tashworth | 12:284be46593ae | 138 | void wall_follow2(int side, int direction, int section, float location, int rig); |
tashworth | 8:77a57909aa15 | 139 | void leftTurn(void); |
tashworth | 8:77a57909aa15 | 140 | void slightleft(void); |
tashworth | 12:284be46593ae | 141 | void slightright(void); |
tashworth | 8:77a57909aa15 | 142 | void rightTurn(void); |
tashworth | 12:284be46593ae | 143 | void slightMove(int direction, float pulses); |
tashworth | 12:284be46593ae | 144 | void to_tools_section1(float* location, float ¤t); |
tashworth | 12:284be46593ae | 145 | void to_tools_section2(float* location, float ¤t); |
tashworth | 8:77a57909aa15 | 146 | void from_tools_section(float* location, float ¤t); |
tashworth | 8:77a57909aa15 | 147 | void mid_section(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 148 | void mid_section2(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 149 | void rig_section(float* location, float ¤t, int* direction, int rig); |
tashworth | 12:284be46593ae | 150 | void tools_section_return(float* location, float ¤t); |
tashworth | 12:284be46593ae | 151 | void mid_section_return(float* location, float ¤t, int* direction); |
tashworth | 12:284be46593ae | 152 | void mid_section2_return(float* location, float ¤t, int* direction); |
tashworth | 12:284be46593ae | 153 | void rig_section_return(float* location, float ¤t, int* direction); |
tashworth | 8:77a57909aa15 | 154 | void overBump(int section); |
tashworth | 8:77a57909aa15 | 155 | void alignWithWall(int section); |
tashworth | 12:284be46593ae | 156 | void UntilWall(int dir); |
tashworth | 8:77a57909aa15 | 157 | |
tashworth | 8:77a57909aa15 | 158 | |
tashworth | 6:75259c3306dd | 159 | /************ |
tashworth | 6:75259c3306dd | 160 | Main Variables |
tashworth | 6:75259c3306dd | 161 | *************/ |
tashworth | 6:75259c3306dd | 162 | int state = START; |
tashworth | 6:75259c3306dd | 163 | int fire = 0; |
tashworth | 6:75259c3306dd | 164 | int tool_needed = 0; |
tashworth | 6:75259c3306dd | 165 | int shape_detected = 0; |
tashworth | 8:77a57909aa15 | 166 | float range, range2, pid_return; |
tashworth | 8:77a57909aa15 | 167 | |
tashworth | 0:1b64a0cedc5d | 168 | |
tashworth | 0:1b64a0cedc5d | 169 | /************ |
tashworth | 0:1b64a0cedc5d | 170 | Variables for Servos |
tashworth | 0:1b64a0cedc5d | 171 | *************/ |
tashworth | 3:b7b4780a7f6e | 172 | int servoNum, servoAngle, outputDisabled, posNum, testVal; |
tashworth | 3:b7b4780a7f6e | 173 | int currentPosition[7]; |
tashworth | 0:1b64a0cedc5d | 174 | |
tashworth | 3:b7b4780a7f6e | 175 | typedef struct { |
tashworth | 6:75259c3306dd | 176 | int arm_position_name; //for organization only (STORE, OILRIG1, OILRIG2...) |
tashworth | 3:b7b4780a7f6e | 177 | int base_rotate; |
tashworth | 3:b7b4780a7f6e | 178 | int base_arm; |
tashworth | 3:b7b4780a7f6e | 179 | int big_arm; |
tashworth | 3:b7b4780a7f6e | 180 | int claw_arm; |
tashworth | 3:b7b4780a7f6e | 181 | int claw_rotate; |
tashworth | 3:b7b4780a7f6e | 182 | int claw_open; |
tashworth | 3:b7b4780a7f6e | 183 | } Coord; |
tashworth | 3:b7b4780a7f6e | 184 | |
tashworth | 6:75259c3306dd | 185 | /******************** |
tashworth | 6:75259c3306dd | 186 | Static Arm Positions |
tashworth | 6:75259c3306dd | 187 | *********************/ |
tashworth | 6:75259c3306dd | 188 | |
tashworth | 3:b7b4780a7f6e | 189 | Coord Arm_Table[] = { |
tashworth | 6:75259c3306dd | 190 | |
tashworth | 3:b7b4780a7f6e | 191 | // POSITION ODER: |
tashworth | 6:75259c3306dd | 192 | // base_rotate, base_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open |
tashworth | 3:b7b4780a7f6e | 193 | |
tashworth | 8:77a57909aa15 | 194 | //increase in number 5 rotates gripper |
tashworth | 8:77a57909aa15 | 195 | |
tashworth | 11:8d2455e383ce | 196 | {STORE_POSITION, 85, 5, 0, 165, 175, 0}, // storing position |
tashworth | 12:284be46593ae | 197 | {OIL_RIG1, 160, 20, 60, 45, 175, 0}, // point laser at oilrig1 |
tashworth | 12:284be46593ae | 198 | {OIL_RIG2, 163, 20, 60, 45, 175, 0}, // point laser at oilrig2 |
tashworth | 12:284be46593ae | 199 | {OIL_RIG3, 130, 90, 90, 52, 175, 0}, // point laser at oilrig2 |
tashworth | 12:284be46593ae | 200 | {DRIVE_POSITION_NOTOOL, 85, 5, 0, 165, 175, 0}, // Drive through course |
tashworth | 12:284be46593ae | 201 | {TOOL_1, 94, 50, 80, 109, 175, 0}, // Look over first tool |
tashworth | 12:284be46593ae | 202 | {TOOL_2, 77, 50, 80, 110, 175, 0}, // Look over second tool |
tashworth | 12:284be46593ae | 203 | {TOOL_3, 57, 50, 80, 109, 175, 0}, // Look over third tool |
tashworth | 8:77a57909aa15 | 204 | {DRIVE_POSITION_TOOL, 55, 70, 102, 74, 0, 0}, // Drive with tool loaded |
tashworth | 6:75259c3306dd | 205 | {ORIENT_TOOL, 135, 60, 75, 60, 90, 90}, // position tool to be inserted |
tashworth | 11:8d2455e383ce | 206 | {PU_TOOL_1, 98, 50, 82, 118, 90, 0}, // STATIC Pickup tool POSITION |
tashworth | 11:8d2455e383ce | 207 | {PU_TOOL_2, 78, 50, 82, 108, 90, 0}, // STATIC Pickup tool POSITION |
tashworth | 11:8d2455e383ce | 208 | {PU_TOOL_3, 53, 50, 82, 118, 90, 0}, // STATIC Pickup tool POSITION |
tashworth | 11:8d2455e383ce | 209 | {PU_TOOL_1_STAB, 98, 50, 90, 118, 90, 0}, // STAB TOOL 1 |
tashworth | 11:8d2455e383ce | 210 | {PU_TOOL_2_STAB, 78, 50, 90, 108, 90, 0}, // STAB TOOL 2 |
tashworth | 11:8d2455e383ce | 211 | {PU_TOOL_3_STAB, 53, 50, 90, 118, 90, 0}, // STAB TOOL 3 |
tashworth | 3:b7b4780a7f6e | 212 | }; |
tashworth | 3:b7b4780a7f6e | 213 | |
tashworth | 3:b7b4780a7f6e | 214 | |
tashworth | 3:b7b4780a7f6e | 215 | /* Variables for imageprocessing and distance */ |
tashworth | 3:b7b4780a7f6e | 216 | int x_coord; |
tashworth | 3:b7b4780a7f6e | 217 | int y_coord; |
tashworth | 3:b7b4780a7f6e | 218 | int area; |
tashworth | 3:b7b4780a7f6e | 219 | int shape; |
tashworth | 3:b7b4780a7f6e | 220 | |
tashworth | 6:75259c3306dd | 221 | /* Variables for distance sensor*/ |
tashworth | 8:77a57909aa15 | 222 | int distLaser; |
tashworth | 6:75259c3306dd | 223 | int fire_detected = 0; |
tashworth | 6:75259c3306dd | 224 | int fire_not_detected = 0; |
tashworth | 3:b7b4780a7f6e | 225 | |
tashworth | 0:1b64a0cedc5d | 226 | |
tashworth | 3:b7b4780a7f6e | 227 | int main() |
tashworth | 3:b7b4780a7f6e | 228 | { |
tashworth | 3:b7b4780a7f6e | 229 | |
tashworth | 3:b7b4780a7f6e | 230 | /***************** |
tashworth | 3:b7b4780a7f6e | 231 | INITIALIZATIONS |
tashworth | 3:b7b4780a7f6e | 232 | *******************/ |
tashworth | 12:284be46593ae | 233 | float location[3], current=4; |
tashworth | 8:77a57909aa15 | 234 | int direction[3]; |
tashworth | 8:77a57909aa15 | 235 | double distance; |
tashworth | 8:77a57909aa15 | 236 | |
tashworth | 9:1b29cd9ed1ba | 237 | |
tashworth | 3:b7b4780a7f6e | 238 | pc.baud(115200); |
tashworth | 6:75259c3306dd | 239 | //Laser Range Finder Initialization |
tashworth | 3:b7b4780a7f6e | 240 | lrf_baudCalibration(); |
tashworth | 8:77a57909aa15 | 241 | motors.begin(); |
tashworth | 3:b7b4780a7f6e | 242 | |
tashworth | 6:75259c3306dd | 243 | //Servo initialization |
tashworth | 3:b7b4780a7f6e | 244 | initServoDriver(); |
tashworth | 6:75259c3306dd | 245 | servoBegin(); //initiates servos to start position |
tashworth | 11:8d2455e383ce | 246 | //ServoOutputDisable = 0; |
tashworth | 11:8d2455e383ce | 247 | |
tashworth | 11:8d2455e383ce | 248 | |
tashworth | 11:8d2455e383ce | 249 | |
tashworth | 11:8d2455e383ce | 250 | |
tashworth | 11:8d2455e383ce | 251 | |
tashworth | 11:8d2455e383ce | 252 | |
tashworth | 6:75259c3306dd | 253 | |
tashworth | 6:75259c3306dd | 254 | /******************* |
tashworth | 6:75259c3306dd | 255 | WHILE LOOP FOR TESTING |
tashworth | 6:75259c3306dd | 256 | ********************/ |
tashworth | 12:284be46593ae | 257 | //while(1) { |
tashworth | 12:284be46593ae | 258 | /* |
tashworth | 8:77a57909aa15 | 259 | pc.scanf("%d %d", &servoNum, &servoAngle); |
tashworth | 8:77a57909aa15 | 260 | if(servoAngle > 175) { |
tashworth | 8:77a57909aa15 | 261 | servoAngle = 175; |
tashworth | 8:77a57909aa15 | 262 | } |
tashworth | 8:77a57909aa15 | 263 | if(servoNum > 5 ) { |
tashworth | 8:77a57909aa15 | 264 | servoNum = 0; |
tashworth | 8:77a57909aa15 | 265 | servoAngle = 90; |
tashworth | 8:77a57909aa15 | 266 | } |
tashworth | 8:77a57909aa15 | 267 | setServoPulse(servoNum, servoAngle); |
tashworth | 11:8d2455e383ce | 268 | distLaser = getDistance(); |
tashworth | 11:8d2455e383ce | 269 | pc.printf("Distance %d", distLaser); |
tashworth | 12:284be46593ae | 270 | */ |
tashworth | 11:8d2455e383ce | 271 | /* |
tashworth | 11:8d2455e383ce | 272 | while(pc.getc() != 'g'); |
tashworth | 11:8d2455e383ce | 273 | servoPosition(TOOL_2); |
tashworth | 11:8d2455e383ce | 274 | wait(3); |
tashworth | 11:8d2455e383ce | 275 | //shape_detected = shapeDetection(); |
tashworth | 11:8d2455e383ce | 276 | //clearBounds(); |
tashworth | 11:8d2455e383ce | 277 | ImageToArray(GREYSCALE); |
tashworth | 11:8d2455e383ce | 278 | printImageToFile(GREYSCALE); |
tashworth | 11:8d2455e383ce | 279 | while(pc.getc() != 'g'); |
tashworth | 11:8d2455e383ce | 280 | servoPosition(TOOL_3); |
tashworth | 11:8d2455e383ce | 281 | wait(3); |
tashworth | 11:8d2455e383ce | 282 | shape_detected = shapeDetection(); |
tashworth | 11:8d2455e383ce | 283 | printImageToFile(BINARY); |
tashworth | 11:8d2455e383ce | 284 | while(pc.getc() != 'g'); |
tashworth | 11:8d2455e383ce | 285 | servoPosition(TOOL_3); |
tashworth | 11:8d2455e383ce | 286 | wait(3); |
tashworth | 11:8d2455e383ce | 287 | shape_detected = shapeDetection(); |
tashworth | 11:8d2455e383ce | 288 | while(1){};*/ |
tashworth | 11:8d2455e383ce | 289 | |
tashworth | 6:75259c3306dd | 290 | |
tashworth | 8:77a57909aa15 | 291 | //shape_detected = shapeDetection(); |
tashworth | 8:77a57909aa15 | 292 | //distLaser = getDistance(); |
tashworth | 8:77a57909aa15 | 293 | //pc.printf("Distance %d", distLaser); |
tashworth | 9:1b29cd9ed1ba | 294 | //ledtoggle(); |
tashworth | 11:8d2455e383ce | 295 | /* |
tashworth | 11:8d2455e383ce | 296 | int shape_alignX_done = 0; |
tashworth | 11:8d2455e383ce | 297 | int shape_alignY_done = 0; |
tashworth | 8:77a57909aa15 | 298 | |
tashworth | 11:8d2455e383ce | 299 | |
tashworth | 11:8d2455e383ce | 300 | //pc.scanf("%d", &posNum); |
tashworth | 11:8d2455e383ce | 301 | |
tashworth | 11:8d2455e383ce | 302 | while(pc.getc() != 'g'); |
tashworth | 11:8d2455e383ce | 303 | servoPosition(TOOL_1); |
tashworth | 11:8d2455e383ce | 304 | while(pc.getc() != 'g'); |
tashworth | 11:8d2455e383ce | 305 | //shape_detected = shapeDetection(); |
tashworth | 11:8d2455e383ce | 306 | |
tashworth | 11:8d2455e383ce | 307 | ImageToArray(GREYSCALE); |
tashworth | 11:8d2455e383ce | 308 | //clearBounds(); |
tashworth | 11:8d2455e383ce | 309 | printImageToFile(GREYSCALE); |
tashworth | 11:8d2455e383ce | 310 | while(1); |
tashworth | 11:8d2455e383ce | 311 | |
tashworth | 11:8d2455e383ce | 312 | while(shape_alignY_done == 0) { |
tashworth | 11:8d2455e383ce | 313 | shape_detected = shapeDetection(); |
tashworth | 11:8d2455e383ce | 314 | pc.printf("\nY movement\n"); |
tashworth | 11:8d2455e383ce | 315 | if(get_com_y() >= 80) { |
tashworth | 11:8d2455e383ce | 316 | setServoPulse(1, Arm_Table[TOOL_1].base_arm-=2); |
tashworth | 11:8d2455e383ce | 317 | setServoPulse(2, Arm_Table[TOOL_1].big_arm-=1); |
tashworth | 11:8d2455e383ce | 318 | //setServoPulse(3, Arm_Table[TOOL_1].claw_arm+=2); |
tashworth | 11:8d2455e383ce | 319 | } else if(get_com_y() > 70 && get_com_y() < 90) { |
tashworth | 11:8d2455e383ce | 320 | setServoPulse(1, Arm_Table[TOOL_1].base_arm-=1); |
tashworth | 11:8d2455e383ce | 321 | setServoPulse(2, Arm_Table[TOOL_1].big_arm-=1); |
tashworth | 11:8d2455e383ce | 322 | //setServoPulse(3, Arm_Table[TOOL_1].claw_arm+=1); |
tashworth | 11:8d2455e383ce | 323 | } else if(get_com_y() <= 35 ) { |
tashworth | 11:8d2455e383ce | 324 | setServoPulse(1, Arm_Table[TOOL_1].base_arm+=2); |
tashworth | 11:8d2455e383ce | 325 | setServoPulse(2, Arm_Table[TOOL_1].big_arm+=1); |
tashworth | 11:8d2455e383ce | 326 | //setServoPulse(3, Arm_Table[TOOL_1].claw_arm-=2); |
tashworth | 11:8d2455e383ce | 327 | } else if(get_com_y() < 50 && get_com_y() > 20) { |
tashworth | 11:8d2455e383ce | 328 | setServoPulse(1, Arm_Table[TOOL_1].base_arm+=1); |
tashworth | 11:8d2455e383ce | 329 | setServoPulse(2, Arm_Table[TOOL_1].big_arm+=1); |
tashworth | 11:8d2455e383ce | 330 | //setServoPulse(3, Arm_Table[TOOL_1].claw_arm-=1); |
tashworth | 11:8d2455e383ce | 331 | } else { |
tashworth | 11:8d2455e383ce | 332 | shape_alignY_done = 1; |
tashworth | 11:8d2455e383ce | 333 | } |
tashworth | 11:8d2455e383ce | 334 | } |
tashworth | 11:8d2455e383ce | 335 | |
tashworth | 11:8d2455e383ce | 336 | while( shape_alignX_done == 0){ |
tashworth | 11:8d2455e383ce | 337 | shape_detected = shapeDetection(); |
tashworth | 11:8d2455e383ce | 338 | pc.printf("\nX movement\n"); |
tashworth | 11:8d2455e383ce | 339 | if(get_com_x() > 95) { |
tashworth | 11:8d2455e383ce | 340 | Arm_Table[TOOL_1].base_rotate+=1; |
tashworth | 11:8d2455e383ce | 341 | setServoPulse(0, Arm_Table[TOOL_1].base_rotate); |
tashworth | 11:8d2455e383ce | 342 | setServoPulse(0, Arm_Table[TOOL_1].base_rotate-1); |
tashworth | 11:8d2455e383ce | 343 | setServoPulse(0, Arm_Table[TOOL_1].base_rotate+1); |
tashworth | 11:8d2455e383ce | 344 | |
tashworth | 11:8d2455e383ce | 345 | |
tashworth | 11:8d2455e383ce | 346 | } else if(get_com_x() < 65) { |
tashworth | 11:8d2455e383ce | 347 | Arm_Table[TOOL_1].base_rotate-=1; |
tashworth | 11:8d2455e383ce | 348 | setServoPulse(0, Arm_Table[TOOL_1].base_rotate); |
tashworth | 11:8d2455e383ce | 349 | setServoPulse(0, Arm_Table[TOOL_1].base_rotate-1); |
tashworth | 11:8d2455e383ce | 350 | setServoPulse(0, Arm_Table[TOOL_1].base_rotate+1); |
tashworth | 11:8d2455e383ce | 351 | |
tashworth | 11:8d2455e383ce | 352 | } else { |
tashworth | 11:8d2455e383ce | 353 | shape_alignX_done = 1; |
tashworth | 11:8d2455e383ce | 354 | } |
tashworth | 11:8d2455e383ce | 355 | |
tashworth | 11:8d2455e383ce | 356 | |
tashworth | 11:8d2455e383ce | 357 | } |
tashworth | 11:8d2455e383ce | 358 | printImageToFile(BINARY);*/ |
tashworth | 9:1b29cd9ed1ba | 359 | |
tashworth | 12:284be46593ae | 360 | // } |
tashworth | 3:b7b4780a7f6e | 361 | |
tashworth | 11:8d2455e383ce | 362 | |
tashworth | 11:8d2455e383ce | 363 | |
tashworth | 11:8d2455e383ce | 364 | |
tashworth | 11:8d2455e383ce | 365 | |
tashworth | 7:8fb4204f9600 | 366 | /******************************** |
tashworth | 7:8fb4204f9600 | 367 | MAIN WHILE LOOP FOR COMPETITION |
tashworth | 7:8fb4204f9600 | 368 | *********************************/ |
tashworth | 3:b7b4780a7f6e | 369 | while(1) { |
tashworth | 10:1a1d52207f59 | 370 | |
tashworth | 6:75259c3306dd | 371 | switch (state) { |
tashworth | 8:77a57909aa15 | 372 | |
tashworth | 7:8fb4204f9600 | 373 | /************************************************** |
tashworth | 7:8fb4204f9600 | 374 | * STAGE 0 |
tashworth | 7:8fb4204f9600 | 375 | * |
tashworth | 7:8fb4204f9600 | 376 | * - START OF THE COMETITION |
tashworth | 7:8fb4204f9600 | 377 | * |
tashworth | 7:8fb4204f9600 | 378 | **************************************************/ |
tashworth | 6:75259c3306dd | 379 | case START : |
tashworth | 6:75259c3306dd | 380 | myled1 = 1; |
tashworth | 12:284be46593ae | 381 | while(pc.getc() != 'g'); |
tashworth | 6:75259c3306dd | 382 | myled1 = 0; |
tashworth | 6:75259c3306dd | 383 | state = OILRIG1_POS; |
tashworth | 3:b7b4780a7f6e | 384 | break; |
tashworth | 3:b7b4780a7f6e | 385 | |
tashworth | 6:75259c3306dd | 386 | /************************************************** |
tashworth | 6:75259c3306dd | 387 | * STAGE 1 |
tashworth | 6:75259c3306dd | 388 | * |
tashworth | 6:75259c3306dd | 389 | * - DETERMINE OIL RIG ON FIRE |
tashworth | 6:75259c3306dd | 390 | * |
tashworth | 6:75259c3306dd | 391 | **************************************************/ |
tashworth | 6:75259c3306dd | 392 | case OILRIG1_POS: //aims arm at square oil rig |
tashworth | 10:1a1d52207f59 | 393 | |
tashworth | 10:1a1d52207f59 | 394 | setServoPulse(3, Arm_Table[OIL_RIG1].claw_arm); |
tashworth | 11:8d2455e383ce | 395 | setServoPulse(2, Arm_Table[OIL_RIG1].big_arm); |
tashworth | 10:1a1d52207f59 | 396 | setServoPulse(1, Arm_Table[OIL_RIG1].base_arm); |
tashworth | 10:1a1d52207f59 | 397 | setServoPulse(0, Arm_Table[OIL_RIG1].base_rotate); |
tashworth | 10:1a1d52207f59 | 398 | setServoPulse(4, Arm_Table[OIL_RIG1].claw_rotate); |
tashworth | 10:1a1d52207f59 | 399 | setServoPulse(5, Arm_Table[OIL_RIG1].claw_open); |
tashworth | 12:284be46593ae | 400 | wait(3); |
tashworth | 12:284be46593ae | 401 | //lrf.putc('E'); // lighting calculation |
tashworth | 12:284be46593ae | 402 | //wait(15); |
tashworth | 11:8d2455e383ce | 403 | |
tashworth | 6:75259c3306dd | 404 | fire = fire_checker(OIL_RIG1); //determines if oil rig is on fire |
tashworth | 12:284be46593ae | 405 | |
tashworth | 12:284be46593ae | 406 | pc.printf("FIRE: SQUARE %d", fire); |
tashworth | 6:75259c3306dd | 407 | //determines what tool is needed |
tashworth | 6:75259c3306dd | 408 | if (fire == 1) { |
tashworth | 6:75259c3306dd | 409 | tool_needed = SQUARE; |
tashworth | 12:284be46593ae | 410 | state = GOTO_TOOLS1; |
tashworth | 6:75259c3306dd | 411 | } else { |
tashworth | 6:75259c3306dd | 412 | state = OILRIG2_POS; |
tashworth | 6:75259c3306dd | 413 | } |
tashworth | 10:1a1d52207f59 | 414 | |
tashworth | 6:75259c3306dd | 415 | break; |
tashworth | 6:75259c3306dd | 416 | |
tashworth | 6:75259c3306dd | 417 | case OILRIG2_POS: |
tashworth | 12:284be46593ae | 418 | |
tashworth | 12:284be46593ae | 419 | |
tashworth | 12:284be46593ae | 420 | setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm); |
tashworth | 12:284be46593ae | 421 | setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm); |
tashworth | 12:284be46593ae | 422 | setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm); |
tashworth | 12:284be46593ae | 423 | setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate); |
tashworth | 12:284be46593ae | 424 | setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate); |
tashworth | 12:284be46593ae | 425 | setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open); |
tashworth | 12:284be46593ae | 426 | |
tashworth | 12:284be46593ae | 427 | wait(3); //wait for servos to settle |
tashworth | 12:284be46593ae | 428 | |
tashworth | 12:284be46593ae | 429 | to_tools_section2(location, current); |
tashworth | 12:284be46593ae | 430 | |
tashworth | 6:75259c3306dd | 431 | servoPosition(OIL_RIG2); //position arm to point at first oilrig |
tashworth | 12:284be46593ae | 432 | wait(2); |
tashworth | 12:284be46593ae | 433 | //lrf.putc('E'); // lighting calculation |
tashworth | 12:284be46593ae | 434 | //wait(15); |
tashworth | 6:75259c3306dd | 435 | fire = fire_checker(OIL_RIG2); |
tashworth | 12:284be46593ae | 436 | pc.printf("FIRE: TRIANGLE %d", fire); |
tashworth | 6:75259c3306dd | 437 | if (fire == 1) { |
tashworth | 6:75259c3306dd | 438 | tool_needed = TRIANGLE; |
tashworth | 12:284be46593ae | 439 | state = GOTO_TOOLS2; |
tashworth | 6:75259c3306dd | 440 | } else { |
tashworth | 6:75259c3306dd | 441 | tool_needed = CIRCLE; |
tashworth | 12:284be46593ae | 442 | state = GOTO_TOOLS2; |
tashworth | 6:75259c3306dd | 443 | } |
tashworth | 9:1b29cd9ed1ba | 444 | pc.printf("tool needed: %d", tool_needed); |
tashworth | 6:75259c3306dd | 445 | break; |
tashworth | 6:75259c3306dd | 446 | |
tashworth | 6:75259c3306dd | 447 | /************************************************** |
tashworth | 6:75259c3306dd | 448 | * STAGE 2 |
tashworth | 6:75259c3306dd | 449 | * |
tashworth | 6:75259c3306dd | 450 | * - TRAVEL TO TOOLS |
tashworth | 6:75259c3306dd | 451 | * |
tashworth | 6:75259c3306dd | 452 | **************************************************/ |
tashworth | 12:284be46593ae | 453 | case GOTO_TOOLS1: |
tashworth | 12:284be46593ae | 454 | |
tashworth | 12:284be46593ae | 455 | setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm); |
tashworth | 12:284be46593ae | 456 | setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm); |
tashworth | 12:284be46593ae | 457 | setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm); |
tashworth | 12:284be46593ae | 458 | setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate); |
tashworth | 12:284be46593ae | 459 | setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate); |
tashworth | 12:284be46593ae | 460 | setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open); |
tashworth | 11:8d2455e383ce | 461 | |
tashworth | 12:284be46593ae | 462 | wait(5); //wait for servos to settle |
tashworth | 12:284be46593ae | 463 | to_tools_section1(location, current); |
tashworth | 12:284be46593ae | 464 | |
tashworth | 12:284be46593ae | 465 | state = IDENTIFY_TOOLS; |
tashworth | 12:284be46593ae | 466 | break; |
tashworth | 12:284be46593ae | 467 | |
tashworth | 12:284be46593ae | 468 | case GOTO_TOOLS2: |
tashworth | 12:284be46593ae | 469 | |
tashworth | 12:284be46593ae | 470 | setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm); |
tashworth | 10:1a1d52207f59 | 471 | setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm); |
tashworth | 10:1a1d52207f59 | 472 | setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm); |
tashworth | 10:1a1d52207f59 | 473 | setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate); |
tashworth | 10:1a1d52207f59 | 474 | setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate); |
tashworth | 10:1a1d52207f59 | 475 | setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open); |
tashworth | 10:1a1d52207f59 | 476 | |
tashworth | 10:1a1d52207f59 | 477 | wait(5); //wait for servos to settle |
tashworth | 8:77a57909aa15 | 478 | |
tashworth | 12:284be46593ae | 479 | slightMove(FORWARD,3100); |
tashworth | 12:284be46593ae | 480 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 6:75259c3306dd | 481 | |
tashworth | 6:75259c3306dd | 482 | state = IDENTIFY_TOOLS; |
tashworth | 6:75259c3306dd | 483 | break; |
tashworth | 12:284be46593ae | 484 | |
tashworth | 6:75259c3306dd | 485 | /************************************************** |
tashworth | 6:75259c3306dd | 486 | * STAGE 3 |
tashworth | 6:75259c3306dd | 487 | * |
tashworth | 6:75259c3306dd | 488 | * - Determine order of tools |
tashworth | 6:75259c3306dd | 489 | * - Aquire appropriate tool |
tashworth | 6:75259c3306dd | 490 | * |
tashworth | 6:75259c3306dd | 491 | **************************************************/ |
tashworth | 6:75259c3306dd | 492 | case IDENTIFY_TOOLS: |
tashworth | 12:284be46593ae | 493 | |
tashworth | 12:284be46593ae | 494 | servoPosition(TOOL_2); //arm/camera looks over tool |
tashworth | 12:284be46593ae | 495 | wait(5); //wait for servos to settle |
tashworth | 12:284be46593ae | 496 | //centerCamWithTool(); //centers camera over tool |
tashworth | 6:75259c3306dd | 497 | shape_detected = shapeDetection(); //determines the shape |
tashworth | 12:284be46593ae | 498 | clearBounds(); |
tashworth | 12:284be46593ae | 499 | //printImageToFile(BINARY); |
tashworth | 3:b7b4780a7f6e | 500 | |
tashworth | 6:75259c3306dd | 501 | //either goes to aquire the tool or look at the next shape |
tashworth | 6:75259c3306dd | 502 | if(shape_detected == tool_needed) { |
tashworth | 12:284be46593ae | 503 | state = AQUIRE_TOOL2; |
tashworth | 6:75259c3306dd | 504 | } else { |
tashworth | 12:284be46593ae | 505 | servoPosition(TOOL_1); |
tashworth | 6:75259c3306dd | 506 | wait(1); //wait for servos to settle |
tashworth | 12:284be46593ae | 507 | //centerCamWithTool(); |
tashworth | 6:75259c3306dd | 508 | shape_detected = shapeDetection(); |
tashworth | 6:75259c3306dd | 509 | if (shape_detected == tool_needed) { |
tashworth | 12:284be46593ae | 510 | state = AQUIRE_TOOL1; |
tashworth | 6:75259c3306dd | 511 | } else { |
tashworth | 6:75259c3306dd | 512 | servoPosition(TOOL_3); |
tashworth | 6:75259c3306dd | 513 | wait(1); //wait for servos to settle |
tashworth | 6:75259c3306dd | 514 | centerCamWithTool(); |
tashworth | 6:75259c3306dd | 515 | state = AQUIRE_TOOL3; |
tashworth | 6:75259c3306dd | 516 | } |
tashworth | 6:75259c3306dd | 517 | } |
tashworth | 12:284be46593ae | 518 | while(1); |
tashworth | 6:75259c3306dd | 519 | break; |
tashworth | 6:75259c3306dd | 520 | case AQUIRE_TOOL1: |
tashworth | 12:284be46593ae | 521 | |
tashworth | 12:284be46593ae | 522 | servoPosition(PU_TOOL_1_STAB); |
tashworth | 12:284be46593ae | 523 | wait(2); |
tashworth | 12:284be46593ae | 524 | |
tashworth | 6:75259c3306dd | 525 | servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool |
tashworth | 6:75259c3306dd | 526 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 6:75259c3306dd | 527 | break; |
tashworth | 6:75259c3306dd | 528 | case AQUIRE_TOOL2: |
tashworth | 12:284be46593ae | 529 | servoPosition(PU_TOOL_2_STAB); |
tashworth | 12:284be46593ae | 530 | wait(2); |
tashworth | 12:284be46593ae | 531 | |
tashworth | 6:75259c3306dd | 532 | servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool |
tashworth | 6:75259c3306dd | 533 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 6:75259c3306dd | 534 | break; |
tashworth | 12:284be46593ae | 535 | |
tashworth | 6:75259c3306dd | 536 | case AQUIRE_TOOL3: |
tashworth | 12:284be46593ae | 537 | servoPosition(PU_TOOL_3_STAB); |
tashworth | 12:284be46593ae | 538 | wait(2); |
tashworth | 12:284be46593ae | 539 | |
tashworth | 12:284be46593ae | 540 | |
tashworth | 6:75259c3306dd | 541 | servoPosition(DRIVE_POSITION_TOOL); //arm position for driving with the tool |
tashworth | 6:75259c3306dd | 542 | state = NAVIGATE_WAVES_ROW1; |
tashworth | 6:75259c3306dd | 543 | break; |
tashworth | 3:b7b4780a7f6e | 544 | |
tashworth | 0:1b64a0cedc5d | 545 | |
tashworth | 6:75259c3306dd | 546 | /************************************************** |
tashworth | 6:75259c3306dd | 547 | * STAGE 4 |
tashworth | 6:75259c3306dd | 548 | * |
tashworth | 6:75259c3306dd | 549 | * - Navigate through the ocean |
tashworth | 6:75259c3306dd | 550 | * |
tashworth | 6:75259c3306dd | 551 | **************************************************/ |
tashworth | 6:75259c3306dd | 552 | |
tashworth | 6:75259c3306dd | 553 | case NAVIGATE_WAVES_ROW1: |
tashworth | 6:75259c3306dd | 554 | //*********************// |
tashworth | 6:75259c3306dd | 555 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 556 | //*********************// |
tashworth | 6:75259c3306dd | 557 | // CODE TO NAVIGATE ROW1 |
tashworth | 6:75259c3306dd | 558 | state = NAVIGATE_WAVES_ROW2; |
tashworth | 6:75259c3306dd | 559 | break; |
tashworth | 6:75259c3306dd | 560 | |
tashworth | 6:75259c3306dd | 561 | case NAVIGATE_WAVES_ROW2: |
tashworth | 6:75259c3306dd | 562 | //*********************// |
tashworth | 6:75259c3306dd | 563 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 564 | //*********************// |
tashworth | 6:75259c3306dd | 565 | // CODE TO NAVIGATE ROW2 |
tashworth | 6:75259c3306dd | 566 | state = NAVIGATE_WAVES_ROW3; |
tashworth | 6:75259c3306dd | 567 | break; |
tashworth | 3:b7b4780a7f6e | 568 | |
tashworth | 6:75259c3306dd | 569 | case NAVIGATE_WAVES_ROW3: |
tashworth | 6:75259c3306dd | 570 | //*********************// |
tashworth | 6:75259c3306dd | 571 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 572 | //*********************// |
tashworth | 6:75259c3306dd | 573 | // CODE TO NAVIGATE ROW3 |
tashworth | 7:8fb4204f9600 | 574 | |
tashworth | 6:75259c3306dd | 575 | //goes to appropriate rig |
tashworth | 6:75259c3306dd | 576 | if(shape_detected == 1) { |
tashworth | 6:75259c3306dd | 577 | state = NAVIGATE_TO_SQUARE_RIG; |
tashworth | 6:75259c3306dd | 578 | } else if(shape_detected == 2) { |
tashworth | 6:75259c3306dd | 579 | state = NAVIGATE_TO_TRIANGLE_RIG; |
tashworth | 6:75259c3306dd | 580 | } else { |
tashworth | 6:75259c3306dd | 581 | state = NAVIGATE_TO_CIRCLE_RIG; |
tashworth | 6:75259c3306dd | 582 | } |
tashworth | 6:75259c3306dd | 583 | break; |
tashworth | 6:75259c3306dd | 584 | |
tashworth | 6:75259c3306dd | 585 | /************************************************** |
tashworth | 6:75259c3306dd | 586 | * STAGE 5 |
tashworth | 6:75259c3306dd | 587 | * |
tashworth | 6:75259c3306dd | 588 | * - Travel to appropriate rig |
tashworth | 6:75259c3306dd | 589 | * |
tashworth | 6:75259c3306dd | 590 | **************************************************/ |
tashworth | 6:75259c3306dd | 591 | case NAVIGATE_TO_SQUARE_RIG: |
tashworth | 6:75259c3306dd | 592 | //NAVIGATION CODE HERE |
tashworth | 6:75259c3306dd | 593 | state = RIG_ALIGN; |
tashworth | 6:75259c3306dd | 594 | break; |
tashworth | 6:75259c3306dd | 595 | case NAVIGATE_TO_TRIANGLE_RIG: |
tashworth | 6:75259c3306dd | 596 | //NAVIGATION CODE HERE |
tashworth | 6:75259c3306dd | 597 | state = RIG_ALIGN; |
tashworth | 6:75259c3306dd | 598 | break; |
tashworth | 6:75259c3306dd | 599 | case NAVIGATE_TO_CIRCLE_RIG: |
tashworth | 6:75259c3306dd | 600 | //NAVIGATION CODE HERE |
tashworth | 6:75259c3306dd | 601 | state = RIG_ALIGN; |
tashworth | 6:75259c3306dd | 602 | break; |
tashworth | 3:b7b4780a7f6e | 603 | |
tashworth | 6:75259c3306dd | 604 | /************************************************** |
tashworth | 6:75259c3306dd | 605 | * STAGE 6 |
tashworth | 6:75259c3306dd | 606 | * |
tashworth | 6:75259c3306dd | 607 | * - Align with appropriate rig |
tashworth | 6:75259c3306dd | 608 | * |
tashworth | 6:75259c3306dd | 609 | **************************************************/ |
tashworth | 6:75259c3306dd | 610 | case RIG_ALIGN: |
tashworth | 7:8fb4204f9600 | 611 | |
tashworth | 6:75259c3306dd | 612 | //*********************// |
tashworth | 6:75259c3306dd | 613 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 614 | //*********************// |
tashworth | 6:75259c3306dd | 615 | // CODE TO ALIGN ROBOT WITH RIG |
tashworth | 7:8fb4204f9600 | 616 | |
tashworth | 6:75259c3306dd | 617 | servoPosition(ORIENT_TOOL); |
tashworth | 6:75259c3306dd | 618 | wait(1); //wait for servos to settle |
tashworth | 6:75259c3306dd | 619 | state = INSERT_TOOL; |
tashworth | 6:75259c3306dd | 620 | break; |
tashworth | 3:b7b4780a7f6e | 621 | |
tashworth | 6:75259c3306dd | 622 | /************************************************** |
tashworth | 6:75259c3306dd | 623 | * STAGE 7 |
tashworth | 6:75259c3306dd | 624 | * |
tashworth | 6:75259c3306dd | 625 | * - Insert Tool |
tashworth | 6:75259c3306dd | 626 | * - Extenguish fire |
tashworth | 6:75259c3306dd | 627 | * - win contest |
tashworth | 6:75259c3306dd | 628 | * |
tashworth | 6:75259c3306dd | 629 | **************************************************/ |
tashworth | 7:8fb4204f9600 | 630 | |
tashworth | 6:75259c3306dd | 631 | case INSERT_TOOL: |
tashworth | 6:75259c3306dd | 632 | //*********************// |
tashworth | 6:75259c3306dd | 633 | //******* TODO ********// |
tashworth | 6:75259c3306dd | 634 | //*********************// |
tashworth | 6:75259c3306dd | 635 | // CODE TO INSERT TOOL |
tashworth | 6:75259c3306dd | 636 | break; |
tashworth | 3:b7b4780a7f6e | 637 | |
tashworth | 6:75259c3306dd | 638 | /************************************************** |
tashworth | 6:75259c3306dd | 639 | * STAGE 8 |
tashworth | 6:75259c3306dd | 640 | * |
tashworth | 6:75259c3306dd | 641 | * - END COMPETITION |
tashworth | 6:75259c3306dd | 642 | * |
tashworth | 6:75259c3306dd | 643 | **************************************************/ |
tashworth | 6:75259c3306dd | 644 | case END: |
tashworth | 6:75259c3306dd | 645 | servoPosition(STORE_POSITION); |
tashworth | 6:75259c3306dd | 646 | myled1 = 1; |
tashworth | 6:75259c3306dd | 647 | wait(.2); |
tashworth | 6:75259c3306dd | 648 | myled2 = 1; |
tashworth | 6:75259c3306dd | 649 | wait(.2); |
tashworth | 6:75259c3306dd | 650 | myled3 = 1; |
tashworth | 6:75259c3306dd | 651 | wait(.2); |
tashworth | 6:75259c3306dd | 652 | myled4 = 1; |
tashworth | 6:75259c3306dd | 653 | wait(.2); |
tashworth | 6:75259c3306dd | 654 | break; |
tashworth | 6:75259c3306dd | 655 | default: |
tashworth | 3:b7b4780a7f6e | 656 | |
tashworth | 6:75259c3306dd | 657 | break; |
tashworth | 6:75259c3306dd | 658 | } |
tashworth | 6:75259c3306dd | 659 | } |
tashworth | 6:75259c3306dd | 660 | |
tashworth | 0:1b64a0cedc5d | 661 | |
tashworth | 0:1b64a0cedc5d | 662 | } |
tashworth | 0:1b64a0cedc5d | 663 | |
tashworth | 0:1b64a0cedc5d | 664 | |
tashworth | 0:1b64a0cedc5d | 665 | |
tashworth | 0:1b64a0cedc5d | 666 | /************ |
tashworth | 0:1b64a0cedc5d | 667 | |
tashworth | 0:1b64a0cedc5d | 668 | Servo Functions |
tashworth | 0:1b64a0cedc5d | 669 | |
tashworth | 0:1b64a0cedc5d | 670 | **************/ |
tashworth | 0:1b64a0cedc5d | 671 | |
tashworth | 3:b7b4780a7f6e | 672 | void setServoPulse(uint8_t n, int angle) |
tashworth | 3:b7b4780a7f6e | 673 | { |
tashworth | 3:b7b4780a7f6e | 674 | int pulse; |
tashworth | 3:b7b4780a7f6e | 675 | pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 1:fe4a0b47ff25 | 676 | float pulselength = 20000; // 20,000 us per second |
tashworth | 1:fe4a0b47ff25 | 677 | int i = currentPosition[n]; |
tashworth | 3:b7b4780a7f6e | 678 | pc.printf("ServoNumber: %d Begining Pulse: %d\n\r",n,currentPosition[n]); |
tashworth | 3:b7b4780a7f6e | 679 | int pulse2; |
tashworth | 3:b7b4780a7f6e | 680 | if(currentPosition[n] < pulse) { |
tashworth | 3:b7b4780a7f6e | 681 | for(i; i < pulse; i++) { |
tashworth | 3:b7b4780a7f6e | 682 | pulse2 = 4094 * i / pulselength; |
tashworth | 3:b7b4780a7f6e | 683 | pwm.setPWM(n, 0, pulse2); |
tashworth | 3:b7b4780a7f6e | 684 | wait_ms(3); |
tashworth | 3:b7b4780a7f6e | 685 | } |
tashworth | 1:fe4a0b47ff25 | 686 | } else if (currentPosition[n] > pulse) { |
tashworth | 3:b7b4780a7f6e | 687 | for(i; i > pulse; i--) { |
tashworth | 3:b7b4780a7f6e | 688 | pulse2 = 4094 * i / pulselength; |
tashworth | 3:b7b4780a7f6e | 689 | pwm.setPWM(n, 0, pulse2); |
tashworth | 3:b7b4780a7f6e | 690 | wait_ms(3); |
tashworth | 3:b7b4780a7f6e | 691 | } |
tashworth | 1:fe4a0b47ff25 | 692 | } |
tashworth | 1:fe4a0b47ff25 | 693 | currentPosition[n] = i; |
tashworth | 3:b7b4780a7f6e | 694 | pc.printf("\nEND: pulse: %d, angle: %d\n\n", i, angle); |
tashworth | 0:1b64a0cedc5d | 695 | } |
tashworth | 0:1b64a0cedc5d | 696 | |
tashworth | 3:b7b4780a7f6e | 697 | void initServoDriver(void) |
tashworth | 3:b7b4780a7f6e | 698 | { |
tashworth | 0:1b64a0cedc5d | 699 | pwm.begin(); |
tashworth | 0:1b64a0cedc5d | 700 | //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale(). |
tashworth | 0:1b64a0cedc5d | 701 | pwm.setPrescale(140); //This value is decided for 20ms interval. |
tashworth | 0:1b64a0cedc5d | 702 | pwm.setI2Cfreq(400000); //400kHz |
tashworth | 3:b7b4780a7f6e | 703 | |
tashworth | 3:b7b4780a7f6e | 704 | } |
tashworth | 3:b7b4780a7f6e | 705 | |
tashworth | 3:b7b4780a7f6e | 706 | void servoBegin(void) |
tashworth | 3:b7b4780a7f6e | 707 | { |
tashworth | 3:b7b4780a7f6e | 708 | pc.printf("Setting Initial Position\n\r"); |
tashworth | 8:77a57909aa15 | 709 | setServoPulseNo_delay(2, 0); |
tashworth | 11:8d2455e383ce | 710 | setServoPulseNo_delay(3, 162); |
tashworth | 11:8d2455e383ce | 711 | setServoPulseNo_delay(1, 10); |
tashworth | 8:77a57909aa15 | 712 | setServoPulseNo_delay(0, 85); |
tashworth | 11:8d2455e383ce | 713 | setServoPulseNo_delay(4, 175); |
tashworth | 8:77a57909aa15 | 714 | setServoPulseNo_delay(5, 0); |
tashworth | 3:b7b4780a7f6e | 715 | setGripper(1); |
tashworth | 0:1b64a0cedc5d | 716 | } |
tashworth | 0:1b64a0cedc5d | 717 | |
tashworth | 3:b7b4780a7f6e | 718 | void setServoPulseNo_delay(uint8_t n, int angle) |
tashworth | 3:b7b4780a7f6e | 719 | { |
tashworth | 3:b7b4780a7f6e | 720 | int pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE - MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE); |
tashworth | 1:fe4a0b47ff25 | 721 | float pulselength = 20000; // 20,000 us per second |
tashworth | 1:fe4a0b47ff25 | 722 | currentPosition[n] = pulse; |
tashworth | 8:77a57909aa15 | 723 | //pc.printf("ServoNumber: %d Pulsewidth: %d Angle: %d \n\r",n,pulse, angle); |
tashworth | 1:fe4a0b47ff25 | 724 | pulse = 4094 * pulse / pulselength; |
tashworth | 1:fe4a0b47ff25 | 725 | pwm.setPWM(n, 0, pulse); |
tashworth | 3:b7b4780a7f6e | 726 | |
tashworth | 1:fe4a0b47ff25 | 727 | } |
tashworth | 3:b7b4780a7f6e | 728 | |
tashworth | 3:b7b4780a7f6e | 729 | void setGripper(int open) |
tashworth | 3:b7b4780a7f6e | 730 | { |
tashworth | 3:b7b4780a7f6e | 731 | if (open) { |
tashworth | 3:b7b4780a7f6e | 732 | pc.printf("Gripper Open\r"); |
tashworth | 3:b7b4780a7f6e | 733 | setServoPulseNo_delay(6, 10); |
tashworth | 3:b7b4780a7f6e | 734 | } else { |
tashworth | 3:b7b4780a7f6e | 735 | pc.printf("Gripper Closed\n\r"); |
tashworth | 3:b7b4780a7f6e | 736 | setServoPulseNo_delay(6, 170); |
tashworth | 3:b7b4780a7f6e | 737 | } |
tashworth | 3:b7b4780a7f6e | 738 | } |
tashworth | 3:b7b4780a7f6e | 739 | |
tashworth | 3:b7b4780a7f6e | 740 | void servoPosition(int set) |
tashworth | 3:b7b4780a7f6e | 741 | { |
tashworth | 3:b7b4780a7f6e | 742 | //moves to current position |
tashworth | 8:77a57909aa15 | 743 | setServoPulse(3, Arm_Table[set].claw_arm); |
tashworth | 3:b7b4780a7f6e | 744 | setServoPulse(1, Arm_Table[set].base_arm); |
tashworth | 6:75259c3306dd | 745 | setServoPulse(2, Arm_Table[set].big_arm); |
tashworth | 8:77a57909aa15 | 746 | setServoPulse(0, Arm_Table[set].base_rotate); |
tashworth | 6:75259c3306dd | 747 | setServoPulse(4, Arm_Table[set].claw_rotate); |
tashworth | 6:75259c3306dd | 748 | setServoPulse(5, Arm_Table[set].claw_open); |
tashworth | 6:75259c3306dd | 749 | } |
tashworth | 6:75259c3306dd | 750 | |
tashworth | 8:77a57909aa15 | 751 | |
tashworth | 6:75259c3306dd | 752 | int fire_checker(int rig) |
tashworth | 6:75259c3306dd | 753 | { |
tashworth | 6:75259c3306dd | 754 | switch (rig) { |
tashworth | 6:75259c3306dd | 755 | |
tashworth | 6:75259c3306dd | 756 | case 1: |
tashworth | 6:75259c3306dd | 757 | for (int i = 0; i<5; i++) { |
tashworth | 12:284be46593ae | 758 | pc.printf("1"); |
tashworth | 8:77a57909aa15 | 759 | distLaser = getDistance(); |
tashworth | 10:1a1d52207f59 | 760 | pc.printf("L DISTANCE: %d \n\r", distLaser); |
tashworth | 8:77a57909aa15 | 761 | if ((distLaser < OILRIG1_MAX) |
tashworth | 9:1b29cd9ed1ba | 762 | && (distLaser > OILRIG1_MIN)) { |
tashworth | 6:75259c3306dd | 763 | fire_detected++; |
tashworth | 6:75259c3306dd | 764 | } else { |
tashworth | 6:75259c3306dd | 765 | fire_not_detected++; |
tashworth | 6:75259c3306dd | 766 | } |
tashworth | 6:75259c3306dd | 767 | } |
tashworth | 9:1b29cd9ed1ba | 768 | break; |
tashworth | 6:75259c3306dd | 769 | case 2: |
tashworth | 6:75259c3306dd | 770 | for (int i = 0; i<5; i++) { |
tashworth | 8:77a57909aa15 | 771 | distLaser = getDistance(); |
tashworth | 10:1a1d52207f59 | 772 | pc.printf("L DISTANCE: %d \n\r", distLaser); |
tashworth | 8:77a57909aa15 | 773 | if ((distLaser < OILRIG2_MAX) |
tashworth | 9:1b29cd9ed1ba | 774 | && (distLaser > OILRIG2_MIN)) { |
tashworth | 6:75259c3306dd | 775 | fire_detected++; |
tashworth | 6:75259c3306dd | 776 | } else { |
tashworth | 6:75259c3306dd | 777 | fire_not_detected++; |
tashworth | 6:75259c3306dd | 778 | } |
tashworth | 6:75259c3306dd | 779 | } |
tashworth | 9:1b29cd9ed1ba | 780 | break; |
tashworth | 6:75259c3306dd | 781 | case 3: |
tashworth | 6:75259c3306dd | 782 | for (int i = 0; i<5; i++) { |
tashworth | 8:77a57909aa15 | 783 | distLaser = getDistance(); |
tashworth | 8:77a57909aa15 | 784 | if ((distLaser < OILRIG3_MAX) |
tashworth | 9:1b29cd9ed1ba | 785 | && (distLaser > OILRIG3_MIN)) { |
tashworth | 6:75259c3306dd | 786 | fire_detected++; |
tashworth | 6:75259c3306dd | 787 | } else { |
tashworth | 6:75259c3306dd | 788 | fire_not_detected++; |
tashworth | 6:75259c3306dd | 789 | } |
tashworth | 6:75259c3306dd | 790 | } |
tashworth | 9:1b29cd9ed1ba | 791 | break; |
tashworth | 10:1a1d52207f59 | 792 | |
tashworth | 6:75259c3306dd | 793 | default: |
tashworth | 6:75259c3306dd | 794 | for (int i = 0; i<5; i++) { |
tashworth | 8:77a57909aa15 | 795 | distLaser = getDistance(); |
tashworth | 8:77a57909aa15 | 796 | if ((distLaser < OILRIG1_MAX) |
tashworth | 10:1a1d52207f59 | 797 | && (distLaser > OILRIG1_MIN)) { |
tashworth | 6:75259c3306dd | 798 | fire_detected++; |
tashworth | 6:75259c3306dd | 799 | } else { |
tashworth | 6:75259c3306dd | 800 | fire_not_detected++; |
tashworth | 6:75259c3306dd | 801 | } |
tashworth | 6:75259c3306dd | 802 | } |
tashworth | 9:1b29cd9ed1ba | 803 | break; |
tashworth | 6:75259c3306dd | 804 | } |
tashworth | 6:75259c3306dd | 805 | |
tashworth | 6:75259c3306dd | 806 | if (fire_detected > fire_not_detected) { |
tashworth | 6:75259c3306dd | 807 | return 1; |
tashworth | 6:75259c3306dd | 808 | } else { |
tashworth | 6:75259c3306dd | 809 | return 0; |
tashworth | 6:75259c3306dd | 810 | } |
tashworth | 0:1b64a0cedc5d | 811 | } |
tashworth | 0:1b64a0cedc5d | 812 | |
tashworth | 8:77a57909aa15 | 813 | void errFunction(void) |
tashworth | 8:77a57909aa15 | 814 | { |
tashworth | 8:77a57909aa15 | 815 | //Nothing |
tashworth | 8:77a57909aa15 | 816 | } |
tashworth | 12:284be46593ae | 817 | void wall_follow(int side, int direction, int section) |
tashworth | 8:77a57909aa15 | 818 | { |
tashworth | 12:284be46593ae | 819 | float location, set=6; |
tashworth | 8:77a57909aa15 | 820 | int dir=1; |
tashworth | 8:77a57909aa15 | 821 | |
tashworth | 8:77a57909aa15 | 822 | pid1.reset(); |
tashworth | 8:77a57909aa15 | 823 | |
tashworth | 8:77a57909aa15 | 824 | if(direction == BACKWARD) dir=-1; |
tashworth | 8:77a57909aa15 | 825 | if(section == TOOLS)set= 10; |
tashworth | 8:77a57909aa15 | 826 | |
tashworth | 8:77a57909aa15 | 827 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 828 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 829 | |
tashworth | 8:77a57909aa15 | 830 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 8:77a57909aa15 | 831 | |
tashworth | 12:284be46593ae | 832 | while(location< 66.5) { |
tashworth | 8:77a57909aa15 | 833 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 8:77a57909aa15 | 834 | |
tashworth | 8:77a57909aa15 | 835 | pid1.setInputLimits(0, set); |
tashworth | 8:77a57909aa15 | 836 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
tashworth | 8:77a57909aa15 | 837 | pid1.setSetPoint(set); |
tashworth | 8:77a57909aa15 | 838 | if(side) { |
tashworth | 8:77a57909aa15 | 839 | rangeFinderLeft.startMeas(); |
tashworth | 12:284be46593ae | 840 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 841 | rangeFinderLeft.getMeas(range); |
tashworth | 8:77a57909aa15 | 842 | } else { |
tashworth | 8:77a57909aa15 | 843 | rangeFinderRight.startMeas(); |
tashworth | 12:284be46593ae | 844 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 845 | rangeFinderRight.getMeas(range); |
tashworth | 8:77a57909aa15 | 846 | pc.printf("%d\r\n",range); |
tashworth | 8:77a57909aa15 | 847 | } |
tashworth | 8:77a57909aa15 | 848 | |
tashworth | 12:284be46593ae | 849 | if(range > 15) { |
tashworth | 8:77a57909aa15 | 850 | //pc.printf("wavegap %f\r\n",wavegap); |
tashworth | 8:77a57909aa15 | 851 | // AT WAVE OPENING!!!! |
tashworth | 12:284be46593ae | 852 | motors.setMotor1Speed(dir*0.25*127);//left |
tashworth | 12:284be46593ae | 853 | motors.setMotor0Speed(dir*0.25*127);//right |
tashworth | 8:77a57909aa15 | 854 | } else { |
tashworth | 8:77a57909aa15 | 855 | |
tashworth | 8:77a57909aa15 | 856 | pid1.setProcessValue(range); |
tashworth | 8:77a57909aa15 | 857 | pid_return = pid1.compute(); |
tashworth | 8:77a57909aa15 | 858 | |
tashworth | 8:77a57909aa15 | 859 | if(pid_return > 0) { |
tashworth | 8:77a57909aa15 | 860 | if(side) { |
tashworth | 8:77a57909aa15 | 861 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
tashworth | 8:77a57909aa15 | 862 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 8:77a57909aa15 | 863 | } else { |
tashworth | 8:77a57909aa15 | 864 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
tashworth | 8:77a57909aa15 | 865 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 8:77a57909aa15 | 866 | } |
tashworth | 8:77a57909aa15 | 867 | } else if(pid_return < 0) { |
tashworth | 8:77a57909aa15 | 868 | if(side) { |
tashworth | 8:77a57909aa15 | 869 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 8:77a57909aa15 | 870 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
tashworth | 8:77a57909aa15 | 871 | } else { |
tashworth | 8:77a57909aa15 | 872 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 8:77a57909aa15 | 873 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
tashworth | 8:77a57909aa15 | 874 | } |
tashworth | 8:77a57909aa15 | 875 | } else { |
tashworth | 8:77a57909aa15 | 876 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 8:77a57909aa15 | 877 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 8:77a57909aa15 | 878 | } |
tashworth | 8:77a57909aa15 | 879 | } |
tashworth | 8:77a57909aa15 | 880 | } |
tashworth | 12:284be46593ae | 881 | |
tashworth | 12:284be46593ae | 882 | //STOP |
tashworth | 12:284be46593ae | 883 | motors.setMotor0Speed(dir*-0.3*127); //right |
tashworth | 12:284be46593ae | 884 | motors.setMotor1Speed(dir*-0.3*127); //left |
tashworth | 12:284be46593ae | 885 | wait_ms(10); |
tashworth | 12:284be46593ae | 886 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 887 | } |
tashworth | 8:77a57909aa15 | 888 | |
tashworth | 8:77a57909aa15 | 889 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
tashworth | 8:77a57909aa15 | 890 | |
tashworth | 12:284be46593ae | 891 | void wall_follow2(int side, int direction, int section, float location, int rig) |
tashworth | 8:77a57909aa15 | 892 | { |
tashworth | 12:284be46593ae | 893 | int dir=1, limit=86, lowlim=5; |
tashworth | 12:284be46593ae | 894 | float set=6, loc=0, Rigloc=0; |
tashworth | 12:284be46593ae | 895 | bool SeeWaveGap = false; |
tashworth | 12:284be46593ae | 896 | |
tashworth | 12:284be46593ae | 897 | if(rig == 1) Rigloc= 16; |
tashworth | 12:284be46593ae | 898 | else if(rig == 2) Rigloc= 45; |
tashworth | 12:284be46593ae | 899 | else if(rig== 3) Rigloc = 70; |
tashworth | 8:77a57909aa15 | 900 | |
tashworth | 8:77a57909aa15 | 901 | pid1.reset(); |
tashworth | 8:77a57909aa15 | 902 | |
tashworth | 12:284be46593ae | 903 | if(direction == BACKWARD) { |
tashworth | 12:284be46593ae | 904 | dir=-1; |
tashworth | 12:284be46593ae | 905 | limit = 100; |
tashworth | 12:284be46593ae | 906 | } |
tashworth | 12:284be46593ae | 907 | if(section == TOOLS) { |
tashworth | 12:284be46593ae | 908 | set= 6; |
tashworth | 12:284be46593ae | 909 | limit = 86; |
tashworth | 12:284be46593ae | 910 | } |
tashworth | 12:284be46593ae | 911 | if(section == RETURN) lowlim=15; |
tashworth | 8:77a57909aa15 | 912 | |
tashworth | 8:77a57909aa15 | 913 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 914 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 915 | |
tashworth | 12:284be46593ae | 916 | //pc.printf("before %f\r\n", location); |
tashworth | 12:284be46593ae | 917 | |
tashworth | 12:284be46593ae | 918 | pc.printf("dir*loc+location %f\r\n",dir*loc + location ); |
tashworth | 12:284be46593ae | 919 | pc.printf("limit %d \r\n", limit); |
tashworth | 12:284be46593ae | 920 | |
tashworth | 12:284be46593ae | 921 | while((dir*loc + location <= limit) && (dir*loc + location >= lowlim)) { |
tashworth | 12:284be46593ae | 922 | |
tashworth | 8:77a57909aa15 | 923 | loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 12:284be46593ae | 924 | pc.printf("loc %f \r\n", loc); |
tashworth | 8:77a57909aa15 | 925 | |
tashworth | 8:77a57909aa15 | 926 | pid1.setInputLimits(0.0, set); |
tashworth | 8:77a57909aa15 | 927 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
tashworth | 8:77a57909aa15 | 928 | pid1.setSetPoint(set); |
tashworth | 8:77a57909aa15 | 929 | |
tashworth | 8:77a57909aa15 | 930 | if(side) { |
tashworth | 8:77a57909aa15 | 931 | rangeFinderLeft.startMeas(); |
tashworth | 12:284be46593ae | 932 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 933 | rangeFinderLeft.getMeas(range); |
tashworth | 8:77a57909aa15 | 934 | } else { |
tashworth | 8:77a57909aa15 | 935 | rangeFinderRight.startMeas(); |
tashworth | 12:284be46593ae | 936 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 937 | rangeFinderRight.getMeas(range); |
tashworth | 8:77a57909aa15 | 938 | } |
tashworth | 8:77a57909aa15 | 939 | |
tashworth | 12:284be46593ae | 940 | if(section == RIGS) { |
tashworth | 12:284be46593ae | 941 | rangeFinderLeft.startMeas(); |
tashworth | 12:284be46593ae | 942 | wait_ms(20); |
tashworth | 12:284be46593ae | 943 | rangeFinderLeft.getMeas(range2); |
tashworth | 8:77a57909aa15 | 944 | |
tashworth | 12:284be46593ae | 945 | if(range2< 20) { |
tashworth | 12:284be46593ae | 946 | if( abs(dir*loc + location - Rigloc) < 10) { |
tashworth | 12:284be46593ae | 947 | //STOP |
tashworth | 12:284be46593ae | 948 | motors.setMotor0Speed(dir*-0.25*127); //right |
tashworth | 12:284be46593ae | 949 | motors.setMotor1Speed(dir*-0.25*127); //left |
tashworth | 12:284be46593ae | 950 | wait_ms(5); |
tashworth | 12:284be46593ae | 951 | motors.stopBothMotors(0); |
tashworth | 12:284be46593ae | 952 | break; |
tashworth | 12:284be46593ae | 953 | } |
tashworth | 12:284be46593ae | 954 | } |
tashworth | 12:284be46593ae | 955 | } |
tashworth | 12:284be46593ae | 956 | |
tashworth | 8:77a57909aa15 | 957 | |
tashworth | 8:77a57909aa15 | 958 | //pc.printf("wall follow 2 range %f\r\n",range); |
tashworth | 8:77a57909aa15 | 959 | //pc.printf("loc+location = %f\r\n", loc+location); |
tashworth | 12:284be46593ae | 960 | if(range > 20 ) { |
tashworth | 12:284be46593ae | 961 | if(section == RIGS || section == RETURN) { |
tashworth | 12:284be46593ae | 962 | motors.setMotor0Speed(dir*0.25*127); //right |
tashworth | 12:284be46593ae | 963 | motors.setMotor1Speed(dir*0.25*127); //left |
tashworth | 12:284be46593ae | 964 | } else { |
tashworth | 12:284be46593ae | 965 | if(!SeeWaveGap) { |
tashworth | 12:284be46593ae | 966 | SeeWaveGap=true; |
tashworth | 12:284be46593ae | 967 | } else { |
tashworth | 12:284be46593ae | 968 | //STOP |
tashworth | 12:284be46593ae | 969 | motors.setMotor0Speed(dir*-0.25*127); //right |
tashworth | 12:284be46593ae | 970 | motors.setMotor1Speed(dir*-0.25*127); //left |
tashworth | 12:284be46593ae | 971 | wait_ms(5); |
tashworth | 12:284be46593ae | 972 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 973 | |
tashworth | 12:284be46593ae | 974 | pc.printf("wavegap\r\n"); |
tashworth | 12:284be46593ae | 975 | // AT WAVE OPENING!!!! |
tashworth | 12:284be46593ae | 976 | break; |
tashworth | 12:284be46593ae | 977 | } |
tashworth | 8:77a57909aa15 | 978 | } |
tashworth | 8:77a57909aa15 | 979 | } else { |
tashworth | 12:284be46593ae | 980 | SeeWaveGap = false; |
tashworth | 12:284be46593ae | 981 | pid1.setProcessValue(range); |
tashworth | 12:284be46593ae | 982 | pid_return = pid1.compute(); |
tashworth | 12:284be46593ae | 983 | //pc.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
tashworth | 12:284be46593ae | 984 | |
tashworth | 12:284be46593ae | 985 | if(pid_return > 0) { |
tashworth | 12:284be46593ae | 986 | if(side) { |
tashworth | 12:284be46593ae | 987 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
tashworth | 12:284be46593ae | 988 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 12:284be46593ae | 989 | } else { |
tashworth | 12:284be46593ae | 990 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
tashworth | 12:284be46593ae | 991 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 12:284be46593ae | 992 | } |
tashworth | 12:284be46593ae | 993 | } else if(pid_return < 0) { |
tashworth | 12:284be46593ae | 994 | if(side) { |
tashworth | 12:284be46593ae | 995 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
tashworth | 12:284be46593ae | 996 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
tashworth | 12:284be46593ae | 997 | } else { |
tashworth | 12:284be46593ae | 998 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
tashworth | 12:284be46593ae | 999 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
tashworth | 12:284be46593ae | 1000 | } |
tashworth | 12:284be46593ae | 1001 | } else { |
tashworth | 12:284be46593ae | 1002 | motors.setMotor0Speed(dir*MAX_SPEED); |
tashworth | 12:284be46593ae | 1003 | motors.setMotor1Speed(dir*MAX_SPEED); |
tashworth | 12:284be46593ae | 1004 | } |
tashworth | 8:77a57909aa15 | 1005 | } |
tashworth | 8:77a57909aa15 | 1006 | } |
tashworth | 12:284be46593ae | 1007 | |
tashworth | 12:284be46593ae | 1008 | //STOP |
tashworth | 12:284be46593ae | 1009 | motors.setMotor0Speed(dir*-0.3*127); //right |
tashworth | 12:284be46593ae | 1010 | motors.setMotor1Speed(dir*-0.3*127); //left |
tashworth | 12:284be46593ae | 1011 | wait_ms(5); |
tashworth | 12:284be46593ae | 1012 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1013 | } |
tashworth | 0:1b64a0cedc5d | 1014 | |
tashworth | 0:1b64a0cedc5d | 1015 | |
tashworth | 8:77a57909aa15 | 1016 | void alignWithWall(int section) |
tashworth | 8:77a57909aa15 | 1017 | { |
tashworth | 8:77a57909aa15 | 1018 | float usValue = 0; |
tashworth | 8:77a57909aa15 | 1019 | |
tashworth | 8:77a57909aa15 | 1020 | if(section == TOOLS) { |
tashworth | 12:284be46593ae | 1021 | pc.printf("tools section align\r\n"); |
tashworth | 8:77a57909aa15 | 1022 | // turn at an angle |
tashworth | 8:77a57909aa15 | 1023 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1024 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1025 | motors.setMotor0Speed(-1.2*MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 1026 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 1027 | while(rightEncoder.getPulses()>-1000); |
tashworth | 12:284be46593ae | 1028 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1029 | |
tashworth | 8:77a57909aa15 | 1030 | //go backwards toward wall |
tashworth | 8:77a57909aa15 | 1031 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1032 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1033 | motors.setMotor0Speed(-0.25*127); //right |
tashworth | 12:284be46593ae | 1034 | motors.setMotor1Speed(-0.25*127); //left |
tashworth | 8:77a57909aa15 | 1035 | while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300); |
tashworth | 12:284be46593ae | 1036 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1037 | |
tashworth | 8:77a57909aa15 | 1038 | // turn left towards wall |
tashworth | 8:77a57909aa15 | 1039 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1040 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1041 | motors.setMotor0Speed(MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 1042 | motors.setMotor1Speed(-MAX_SPEED); //left |
tashworth | 12:284be46593ae | 1043 | while(rightEncoder.getPulses() < 20 || abs(leftEncoder.getPulses()) < 20); |
tashworth | 12:284be46593ae | 1044 | |
tashworth | 12:284be46593ae | 1045 | motors.stopBothMotors(0); |
tashworth | 12:284be46593ae | 1046 | |
tashworth | 12:284be46593ae | 1047 | // turning left |
tashworth | 12:284be46593ae | 1048 | motors.setMotor0Speed(0.9*MAX_SPEED); //right |
tashworth | 12:284be46593ae | 1049 | motors.setMotor1Speed(-0.9*MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 1050 | |
tashworth | 12:284be46593ae | 1051 | } else if( section == RIGS) { |
tashworth | 12:284be46593ae | 1052 | // check distance to wall |
tashworth | 12:284be46593ae | 1053 | rangeFinderRight.startMeas(); |
tashworth | 12:284be46593ae | 1054 | wait_ms(20); |
tashworth | 12:284be46593ae | 1055 | rangeFinderRight.getMeas(range); |
tashworth | 12:284be46593ae | 1056 | |
tashworth | 12:284be46593ae | 1057 | if(range < 4 || range > 20) return; |
tashworth | 12:284be46593ae | 1058 | |
tashworth | 12:284be46593ae | 1059 | // turn at an angle |
tashworth | 12:284be46593ae | 1060 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1061 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1062 | motors.setMotor1Speed(-1.2*MAX_SPEED); //left |
tashworth | 12:284be46593ae | 1063 | motors.setMotor0Speed(0.4*MAX_SPEED); //right |
tashworth | 12:284be46593ae | 1064 | while(abs(leftEncoder.getPulses())<1000); |
tashworth | 12:284be46593ae | 1065 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1066 | |
tashworth | 12:284be46593ae | 1067 | //go backwards toward wall |
tashworth | 12:284be46593ae | 1068 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1069 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1070 | motors.setMotor0Speed(-0.25*127); //right |
tashworth | 12:284be46593ae | 1071 | motors.setMotor1Speed(-0.25*127); //left |
tashworth | 12:284be46593ae | 1072 | while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150); |
tashworth | 12:284be46593ae | 1073 | motors.stopBothMotors(0); |
tashworth | 12:284be46593ae | 1074 | |
tashworth | 12:284be46593ae | 1075 | // turn left towards wall |
tashworth | 12:284be46593ae | 1076 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1077 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1078 | motors.setMotor0Speed(-MAX_SPEED); //right |
tashworth | 12:284be46593ae | 1079 | motors.setMotor1Speed(MAX_SPEED); //left |
tashworth | 12:284be46593ae | 1080 | while(abs(rightEncoder.getPulses()) < 20 || abs(leftEncoder.getPulses()) < 20); |
tashworth | 12:284be46593ae | 1081 | |
tashworth | 12:284be46593ae | 1082 | motors.stopBothMotors(0); |
tashworth | 12:284be46593ae | 1083 | |
tashworth | 12:284be46593ae | 1084 | // turning left |
tashworth | 12:284be46593ae | 1085 | motors.setMotor0Speed(-0.9*MAX_SPEED); //right |
tashworth | 12:284be46593ae | 1086 | motors.setMotor1Speed(0.9*MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 1087 | } else { |
tashworth | 12:284be46593ae | 1088 | pc.printf("in mid section align\r\n"); |
tashworth | 12:284be46593ae | 1089 | // turn right towards wall |
tashworth | 8:77a57909aa15 | 1090 | rightTurn(); |
tashworth | 12:284be46593ae | 1091 | // turning left towards wall |
tashworth | 12:284be46593ae | 1092 | motors.setMotor0Speed(0.9*MAX_SPEED); //right |
tashworth | 12:284be46593ae | 1093 | motors.setMotor1Speed(-0.9*MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 1094 | } |
tashworth | 8:77a57909aa15 | 1095 | |
tashworth | 8:77a57909aa15 | 1096 | usValue = 0; |
tashworth | 8:77a57909aa15 | 1097 | while(1) { |
tashworth | 12:284be46593ae | 1098 | if(section == RIGS) { |
tashworth | 12:284be46593ae | 1099 | rangeFinderRight.startMeas(); |
tashworth | 12:284be46593ae | 1100 | wait_ms(20); |
tashworth | 12:284be46593ae | 1101 | rangeFinderRight.getMeas(range); |
tashworth | 12:284be46593ae | 1102 | } else { |
tashworth | 12:284be46593ae | 1103 | rangeFinderLeft.startMeas(); |
tashworth | 12:284be46593ae | 1104 | wait_ms(20); |
tashworth | 12:284be46593ae | 1105 | rangeFinderLeft.getMeas(range); |
tashworth | 12:284be46593ae | 1106 | } |
tashworth | 12:284be46593ae | 1107 | pc.printf("Range %f \t OldValue %f\n\r",range, usValue); |
tashworth | 8:77a57909aa15 | 1108 | if(range > usValue && usValue != 0 && range < 25) { |
tashworth | 8:77a57909aa15 | 1109 | break; |
tashworth | 8:77a57909aa15 | 1110 | } else { |
tashworth | 8:77a57909aa15 | 1111 | usValue = range; |
tashworth | 8:77a57909aa15 | 1112 | } |
tashworth | 8:77a57909aa15 | 1113 | } |
tashworth | 12:284be46593ae | 1114 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1115 | } |
tashworth | 8:77a57909aa15 | 1116 | |
tashworth | 8:77a57909aa15 | 1117 | void rightTurn(void) |
tashworth | 8:77a57909aa15 | 1118 | { |
tashworth | 8:77a57909aa15 | 1119 | motors.begin(); |
tashworth | 8:77a57909aa15 | 1120 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1121 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1122 | motors.setMotor0Speed(-0.5*127);//right |
tashworth | 8:77a57909aa15 | 1123 | motors.setMotor1Speed(0.5*127);//left |
tashworth | 12:284be46593ae | 1124 | while(abs(leftEncoder.getPulses())<950 || abs(rightEncoder.getPulses())<950); |
tashworth | 12:284be46593ae | 1125 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1126 | } |
tashworth | 8:77a57909aa15 | 1127 | |
tashworth | 8:77a57909aa15 | 1128 | void leftTurn(void) |
tashworth | 8:77a57909aa15 | 1129 | { |
tashworth | 8:77a57909aa15 | 1130 | motors.begin(); |
tashworth | 8:77a57909aa15 | 1131 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1132 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1133 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 8:77a57909aa15 | 1134 | motors.setMotor1Speed(-0.5*127);// left |
tashworth | 12:284be46593ae | 1135 | while(abs(leftEncoder.getPulses())<1100 || rightEncoder.getPulses()<1100); |
tashworth | 12:284be46593ae | 1136 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1137 | } |
tashworth | 12:284be46593ae | 1138 | |
tashworth | 8:77a57909aa15 | 1139 | void slightleft(void) |
tashworth | 8:77a57909aa15 | 1140 | { |
tashworth | 8:77a57909aa15 | 1141 | |
tashworth | 8:77a57909aa15 | 1142 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1143 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1144 | motors.setMotor0Speed(0.5*127);// right |
tashworth | 8:77a57909aa15 | 1145 | motors.setMotor1Speed(-0.5*127);// left |
tashworth | 12:284be46593ae | 1146 | while(abs(leftEncoder.getPulses())<90 || rightEncoder.getPulses()<90); |
tashworth | 12:284be46593ae | 1147 | motors.stopBothMotors(0); |
tashworth | 12:284be46593ae | 1148 | } |
tashworth | 12:284be46593ae | 1149 | |
tashworth | 12:284be46593ae | 1150 | void slightright(void) |
tashworth | 12:284be46593ae | 1151 | { |
tashworth | 12:284be46593ae | 1152 | |
tashworth | 12:284be46593ae | 1153 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1154 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1155 | motors.setMotor0Speed(-0.4*127);// right |
tashworth | 12:284be46593ae | 1156 | motors.setMotor1Speed(0.4*127);// left |
tashworth | 12:284be46593ae | 1157 | while(abs(leftEncoder.getPulses())<90 || abs(rightEncoder.getPulses())<90); |
tashworth | 12:284be46593ae | 1158 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1159 | } |
tashworth | 8:77a57909aa15 | 1160 | |
tashworth | 12:284be46593ae | 1161 | void slightMove(int direction, float pulses) |
tashworth | 12:284be46593ae | 1162 | { |
tashworth | 12:284be46593ae | 1163 | int dir=1; |
tashworth | 12:284be46593ae | 1164 | |
tashworth | 12:284be46593ae | 1165 | if(direction == BACKWARD) dir= -1; |
tashworth | 12:284be46593ae | 1166 | |
tashworth | 12:284be46593ae | 1167 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1168 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1169 | motors.setMotor0Speed(dir*0.25*127); //right |
tashworth | 12:284be46593ae | 1170 | motors.setMotor1Speed(dir*0.25*127); //left |
tashworth | 12:284be46593ae | 1171 | while(abs(leftEncoder.getPulses()) < pulses || abs(rightEncoder.getPulses()) < pulses); |
tashworth | 12:284be46593ae | 1172 | |
tashworth | 12:284be46593ae | 1173 | motors.setMotor0Speed(dir*-0.25*127); //right |
tashworth | 12:284be46593ae | 1174 | motors.setMotor1Speed(dir*-0.25*127); //left |
tashworth | 12:284be46593ae | 1175 | wait_ms(10); |
tashworth | 12:284be46593ae | 1176 | motors.stopBothMotors(127); |
tashworth | 12:284be46593ae | 1177 | } |
tashworth | 12:284be46593ae | 1178 | |
tashworth | 12:284be46593ae | 1179 | void UntilWall(int dir) |
tashworth | 12:284be46593ae | 1180 | { |
tashworth | 12:284be46593ae | 1181 | |
tashworth | 12:284be46593ae | 1182 | if(dir == BACKWARD) dir=-1; |
tashworth | 12:284be46593ae | 1183 | |
tashworth | 12:284be46593ae | 1184 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1185 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1186 | motors.setMotor0Speed(dir*0.2*127); //right |
tashworth | 12:284be46593ae | 1187 | motors.setMotor1Speed(dir*0.2*127); //left |
tashworth | 12:284be46593ae | 1188 | |
tashworth | 12:284be46593ae | 1189 | range = 30; |
tashworth | 12:284be46593ae | 1190 | |
tashworth | 12:284be46593ae | 1191 | while(range > 20) { |
tashworth | 12:284be46593ae | 1192 | rangeFinderRight.startMeas(); |
tashworth | 12:284be46593ae | 1193 | wait_ms(20); |
tashworth | 12:284be46593ae | 1194 | rangeFinderRight.getMeas(range); |
tashworth | 12:284be46593ae | 1195 | } |
tashworth | 12:284be46593ae | 1196 | |
tashworth | 12:284be46593ae | 1197 | motors.setMotor0Speed(dir*-0.2*127); //right |
tashworth | 12:284be46593ae | 1198 | motors.setMotor1Speed(dir*-0.2*127); //left |
tashworth | 12:284be46593ae | 1199 | wait_ms(5); |
tashworth | 12:284be46593ae | 1200 | motors.stopBothMotors(0); |
tashworth | 12:284be46593ae | 1201 | } |
tashworth | 8:77a57909aa15 | 1202 | |
tashworth | 8:77a57909aa15 | 1203 | void overBump(int section) |
tashworth | 8:77a57909aa15 | 1204 | { |
tashworth | 8:77a57909aa15 | 1205 | int preLeft=5000, preRight=5000, out=0; |
tashworth | 8:77a57909aa15 | 1206 | |
tashworth | 8:77a57909aa15 | 1207 | motors.begin(); |
tashworth | 12:284be46593ae | 1208 | // slight backwards |
tashworth | 8:77a57909aa15 | 1209 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1210 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1211 | motors.setMotor0Speed(-0.25*127); //right |
tashworth | 12:284be46593ae | 1212 | motors.setMotor1Speed(-0.25*127); //left |
tashworth | 12:284be46593ae | 1213 | while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50); |
tashworth | 12:284be46593ae | 1214 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1215 | |
tashworth | 12:284be46593ae | 1216 | pc.printf("slight backwards\r\n"); |
tashworth | 12:284be46593ae | 1217 | wait_ms(200); |
tashworth | 8:77a57909aa15 | 1218 | |
tashworth | 8:77a57909aa15 | 1219 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1220 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1221 | motors.setMotor0Speed(0.3*127); //right |
tashworth | 8:77a57909aa15 | 1222 | motors.setMotor1Speed(0.3*127); //left |
tashworth | 12:284be46593ae | 1223 | while((abs(leftEncoder.getPulses()) < 800 || abs(rightEncoder.getPulses()) < 800) /*&& preLeft!=0*/ && IR.getIRDistance() >15 ) { |
tashworth | 12:284be46593ae | 1224 | /*preLeft=leftEncoder.getPulses(); |
tashworth | 8:77a57909aa15 | 1225 | preRight=rightEncoder.getPulses(); |
tashworth | 12:284be46593ae | 1226 | wait_ms(200); |
tashworth | 12:284be46593ae | 1227 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;*/ |
tashworth | 8:77a57909aa15 | 1228 | } |
tashworth | 8:77a57909aa15 | 1229 | |
tashworth | 12:284be46593ae | 1230 | pc.printf("forward \r\n"); |
tashworth | 12:284be46593ae | 1231 | wait_ms(200); |
tashworth | 12:284be46593ae | 1232 | /* |
tashworth | 12:284be46593ae | 1233 | motors.stopBothMotors(0); |
tashworth | 12:284be46593ae | 1234 | motors.begin(); |
tashworth | 12:284be46593ae | 1235 | |
tashworth | 12:284be46593ae | 1236 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1237 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1238 | motors.setMotor0Speed(0.3*127); //right |
tashworth | 12:284be46593ae | 1239 | motors.setMotor1Speed(0.3*127); //left |
tashworth | 12:284be46593ae | 1240 | |
tashworth | 12:284be46593ae | 1241 | while(!out) { |
tashworth | 12:284be46593ae | 1242 | preLeft=leftEncoder.getPulses(); |
tashworth | 12:284be46593ae | 1243 | preRight=rightEncoder.getPulses(); |
tashworth | 12:284be46593ae | 1244 | |
tashworth | 12:284be46593ae | 1245 | rangeFinderLeft.startMeas(); |
tashworth | 12:284be46593ae | 1246 | rangeFinderRight.startMeas(); |
tashworth | 12:284be46593ae | 1247 | wait_ms(20); |
tashworth | 12:284be46593ae | 1248 | rangeFinderLeft.getMeas(range); |
tashworth | 12:284be46593ae | 1249 | rangeFinderRight.getMeas(range2); |
tashworth | 12:284be46593ae | 1250 | if(range < 10 || range2 < 10) out=1; |
tashworth | 12:284be46593ae | 1251 | |
tashworth | 12:284be46593ae | 1252 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) { |
tashworth | 12:284be46593ae | 1253 | motors.setMotor0Speed(0.4*127); //right |
tashworth | 12:284be46593ae | 1254 | motors.setMotor1Speed(0.4*127); //left |
tashworth | 12:284be46593ae | 1255 | wait_ms(50); |
tashworth | 12:284be46593ae | 1256 | out=1; |
tashworth | 12:284be46593ae | 1257 | } |
tashworth | 12:284be46593ae | 1258 | if(abs(leftEncoder.getPulses()) >1000 || abs(leftEncoder.getPulses())>1000) out=1; |
tashworth | 12:284be46593ae | 1259 | } |
tashworth | 12:284be46593ae | 1260 | */ |
tashworth | 12:284be46593ae | 1261 | |
tashworth | 12:284be46593ae | 1262 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1263 | motors.begin(); |
tashworth | 8:77a57909aa15 | 1264 | |
tashworth | 8:77a57909aa15 | 1265 | preLeft=preRight=5000 ; |
tashworth | 8:77a57909aa15 | 1266 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1267 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1268 | motors.setMotor0Speed(.25*127); //right |
tashworth | 8:77a57909aa15 | 1269 | motors.setMotor1Speed(.25*127); //left |
tashworth | 8:77a57909aa15 | 1270 | |
tashworth | 12:284be46593ae | 1271 | if(section == TOOLS) { |
tashworth | 12:284be46593ae | 1272 | while(IR.getIRDistance() > 10 && (abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) { |
tashworth | 12:284be46593ae | 1273 | |
tashworth | 12:284be46593ae | 1274 | if(IR.getIRDistance() > 38) break; |
tashworth | 12:284be46593ae | 1275 | |
tashworth | 12:284be46593ae | 1276 | preLeft=leftEncoder.getPulses(); |
tashworth | 12:284be46593ae | 1277 | preRight=rightEncoder.getPulses(); |
tashworth | 12:284be46593ae | 1278 | wait_ms(200); |
tashworth | 12:284be46593ae | 1279 | } |
tashworth | 12:284be46593ae | 1280 | } else if(section == MID || section == MID2) { |
tashworth | 12:284be46593ae | 1281 | if(section == MID2) while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400)); |
tashworth | 12:284be46593ae | 1282 | while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) { |
tashworth | 12:284be46593ae | 1283 | |
tashworth | 12:284be46593ae | 1284 | if(IR.getIRDistance() > 38) break; |
tashworth | 12:284be46593ae | 1285 | |
tashworth | 12:284be46593ae | 1286 | preLeft=leftEncoder.getPulses(); |
tashworth | 12:284be46593ae | 1287 | preRight=rightEncoder.getPulses(); |
tashworth | 12:284be46593ae | 1288 | wait_ms(200); |
tashworth | 8:77a57909aa15 | 1289 | } |
tashworth | 12:284be46593ae | 1290 | |
tashworth | 12:284be46593ae | 1291 | } else { |
tashworth | 12:284be46593ae | 1292 | while(abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100); |
tashworth | 12:284be46593ae | 1293 | |
tashworth | 12:284be46593ae | 1294 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1295 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1296 | |
tashworth | 12:284be46593ae | 1297 | motors.setMotor0Speed(-.15*127); //right |
tashworth | 12:284be46593ae | 1298 | motors.setMotor1Speed(-.15*127); //left |
tashworth | 12:284be46593ae | 1299 | while((abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100) && preLeft!=0 ) { |
tashworth | 12:284be46593ae | 1300 | preLeft = leftEncoder.getPulses(); |
tashworth | 12:284be46593ae | 1301 | preRight = rightEncoder.getPulses(); |
tashworth | 12:284be46593ae | 1302 | wait_ms(200); |
tashworth | 12:284be46593ae | 1303 | if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
tashworth | 12:284be46593ae | 1304 | } |
tashworth | 12:284be46593ae | 1305 | |
tashworth | 12:284be46593ae | 1306 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1307 | rightEncoder.reset(); |
tashworth | 12:284be46593ae | 1308 | |
tashworth | 12:284be46593ae | 1309 | motors.setMotor0Speed(0.25*127); //right |
tashworth | 12:284be46593ae | 1310 | motors.setMotor1Speed(0.25*127); //left |
tashworth | 12:284be46593ae | 1311 | while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10)); |
tashworth | 12:284be46593ae | 1312 | |
tashworth | 12:284be46593ae | 1313 | motors.stopBothMotors(0); |
tashworth | 12:284be46593ae | 1314 | |
tashworth | 12:284be46593ae | 1315 | return; |
tashworth | 12:284be46593ae | 1316 | } |
tashworth | 12:284be46593ae | 1317 | |
tashworth | 12:284be46593ae | 1318 | leftEncoder.reset(); |
tashworth | 12:284be46593ae | 1319 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1320 | |
tashworth | 8:77a57909aa15 | 1321 | motors.setMotor0Speed(-.25*127); //right |
tashworth | 8:77a57909aa15 | 1322 | motors.setMotor1Speed(-.25*127); //left |
tashworth | 12:284be46593ae | 1323 | while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10)); |
tashworth | 12:284be46593ae | 1324 | |
tashworth | 12:284be46593ae | 1325 | motors.stopBothMotors(0); |
tashworth | 12:284be46593ae | 1326 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 1327 | motors.begin(); |
tashworth | 8:77a57909aa15 | 1328 | |
tashworth | 8:77a57909aa15 | 1329 | } |
tashworth | 8:77a57909aa15 | 1330 | |
tashworth | 12:284be46593ae | 1331 | void to_tools_section2(float* location, float ¤t) |
tashworth | 8:77a57909aa15 | 1332 | { |
tashworth | 12:284be46593ae | 1333 | slightMove(FORWARD,3200); |
tashworth | 12:284be46593ae | 1334 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 10:1a1d52207f59 | 1335 | |
tashworth | 12:284be46593ae | 1336 | } |
tashworth | 12:284be46593ae | 1337 | void to_tools_section1(float* location, float ¤t) |
tashworth | 12:284be46593ae | 1338 | { |
tashworth | 12:284be46593ae | 1339 | slightMove(FORWARD,6450); |
tashworth | 12:284be46593ae | 1340 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
tashworth | 8:77a57909aa15 | 1341 | |
tashworth | 8:77a57909aa15 | 1342 | } |
tashworth | 8:77a57909aa15 | 1343 | |
tashworth | 8:77a57909aa15 | 1344 | void from_tools_section(float* location, float ¤t) |
tashworth | 8:77a57909aa15 | 1345 | { |
tashworth | 12:284be46593ae | 1346 | |
tashworth | 12:284be46593ae | 1347 | |
tashworth | 8:77a57909aa15 | 1348 | alignWithWall(TOOLS); |
tashworth | 12:284be46593ae | 1349 | pc.printf("align\r\n"); |
tashworth | 8:77a57909aa15 | 1350 | wait_ms(100); |
tashworth | 8:77a57909aa15 | 1351 | |
tashworth | 12:284be46593ae | 1352 | //wall_follow2(LEFT,FORWARD,MID, current); |
tashworth | 12:284be46593ae | 1353 | //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 8:77a57909aa15 | 1354 | |
tashworth | 8:77a57909aa15 | 1355 | rangeFinderLeft.startMeas(); |
tashworth | 8:77a57909aa15 | 1356 | wait_ms(20); |
tashworth | 8:77a57909aa15 | 1357 | rangeFinderLeft.getMeas(range); |
tashworth | 8:77a57909aa15 | 1358 | |
tashworth | 8:77a57909aa15 | 1359 | if(range < 20) { |
tashworth | 12:284be46593ae | 1360 | wall_follow2(LEFT,BACKWARD,TOOLS, current,0); |
tashworth | 12:284be46593ae | 1361 | pc.printf("wall follow\r\n"); |
tashworth | 12:284be46593ae | 1362 | location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1363 | current= location[0]; |
tashworth | 12:284be46593ae | 1364 | pc.printf("current %f \r\n",current); |
tashworth | 12:284be46593ae | 1365 | // go backwards |
tashworth | 8:77a57909aa15 | 1366 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1367 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1368 | motors.setMotor0Speed(-MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 1369 | motors.setMotor1Speed(-MAX_SPEED); //left |
tashworth | 8:77a57909aa15 | 1370 | while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120); |
tashworth | 12:284be46593ae | 1371 | // hard stop |
tashworth | 8:77a57909aa15 | 1372 | leftEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1373 | rightEncoder.reset(); |
tashworth | 8:77a57909aa15 | 1374 | motors.setMotor0Speed(MAX_SPEED); //right |
tashworth | 8:77a57909aa15 | 1375 | motors.setMotor1Speed(MAX_SPEED); //left |
tashworth | 12:284be46593ae | 1376 | while(abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses())< 10); |
tashworth | 12:284be46593ae | 1377 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1378 | |
tashworth | 12:284be46593ae | 1379 | wait_ms(100); |
tashworth | 8:77a57909aa15 | 1380 | leftTurn(); |
tashworth | 8:77a57909aa15 | 1381 | overBump(TOOLS); |
tashworth | 8:77a57909aa15 | 1382 | } else { |
tashworth | 12:284be46593ae | 1383 | pc.printf("else greater than 20\r\n"); |
tashworth | 12:284be46593ae | 1384 | location[0]= current; |
tashworth | 8:77a57909aa15 | 1385 | leftTurn(); |
tashworth | 12:284be46593ae | 1386 | overBump(TOOLS); |
tashworth | 8:77a57909aa15 | 1387 | } |
tashworth | 8:77a57909aa15 | 1388 | |
tashworth | 8:77a57909aa15 | 1389 | pc.printf("First Wavegap = %f\r\n",location[0]); |
tashworth | 12:284be46593ae | 1390 | |
tashworth | 8:77a57909aa15 | 1391 | } |
tashworth | 12:284be46593ae | 1392 | |
tashworth | 8:77a57909aa15 | 1393 | void mid_section(float* location, float ¤t, int* direction) |
tashworth | 8:77a57909aa15 | 1394 | { |
tashworth | 8:77a57909aa15 | 1395 | motors.begin(); |
tashworth | 8:77a57909aa15 | 1396 | |
tashworth | 12:284be46593ae | 1397 | if(IR.getIRDistance() > 38) { |
tashworth | 12:284be46593ae | 1398 | direction[0]= STRAIGHT; |
tashworth | 12:284be46593ae | 1399 | overBump(MID); |
tashworth | 12:284be46593ae | 1400 | return; |
tashworth | 12:284be46593ae | 1401 | } |
tashworth | 12:284be46593ae | 1402 | pc.printf("before align with wall \r\n"); |
tashworth | 8:77a57909aa15 | 1403 | alignWithWall(MID); |
tashworth | 12:284be46593ae | 1404 | wait_ms(100); |
tashworth | 8:77a57909aa15 | 1405 | |
tashworth | 8:77a57909aa15 | 1406 | pc.printf("mid section current = %f\r\n",current); |
tashworth | 12:284be46593ae | 1407 | wall_follow2(LEFT,FORWARD,MID, current,0); |
tashworth | 12:284be46593ae | 1408 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 8:77a57909aa15 | 1409 | pc.printf("after wf2 current = %f\r\n",current); |
tashworth | 8:77a57909aa15 | 1410 | |
tashworth | 12:284be46593ae | 1411 | wait_ms(500); |
tashworth | 12:284be46593ae | 1412 | rangeFinderLeft.startMeas(); |
tashworth | 12:284be46593ae | 1413 | wait_ms(20); |
tashworth | 12:284be46593ae | 1414 | rangeFinderLeft.getMeas(range); |
tashworth | 12:284be46593ae | 1415 | |
tashworth | 12:284be46593ae | 1416 | if(range > 20 ) { |
tashworth | 8:77a57909aa15 | 1417 | direction[0]= RIGHT; |
tashworth | 8:77a57909aa15 | 1418 | location[1]= current; |
tashworth | 12:284be46593ae | 1419 | slightMove(FORWARD,75); |
tashworth | 12:284be46593ae | 1420 | //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 8:77a57909aa15 | 1421 | } else { |
tashworth | 8:77a57909aa15 | 1422 | direction[0]= LEFT; |
tashworth | 12:284be46593ae | 1423 | wall_follow2(LEFT,BACKWARD,MID,current,0); |
tashworth | 12:284be46593ae | 1424 | location[1]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1425 | current= location[1]; |
tashworth | 12:284be46593ae | 1426 | |
tashworth | 12:284be46593ae | 1427 | if(location[1] < 18) { |
tashworth | 12:284be46593ae | 1428 | slightMove(FORWARD, 50); |
tashworth | 12:284be46593ae | 1429 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1430 | } |
tashworth | 12:284be46593ae | 1431 | |
tashworth | 8:77a57909aa15 | 1432 | } |
tashworth | 8:77a57909aa15 | 1433 | |
tashworth | 8:77a57909aa15 | 1434 | pc.printf("wavegap2 = %f\r\n",location[1]); |
tashworth | 8:77a57909aa15 | 1435 | leftTurn(); |
tashworth | 12:284be46593ae | 1436 | |
tashworth | 12:284be46593ae | 1437 | wait_ms(100); |
tashworth | 12:284be46593ae | 1438 | |
tashworth | 12:284be46593ae | 1439 | overBump(MID); |
tashworth | 8:77a57909aa15 | 1440 | |
tashworth | 8:77a57909aa15 | 1441 | } |
tashworth | 8:77a57909aa15 | 1442 | |
tashworth | 8:77a57909aa15 | 1443 | void mid_section2(float* location, float ¤t, int* direction) |
tashworth | 8:77a57909aa15 | 1444 | { |
tashworth | 8:77a57909aa15 | 1445 | motors.begin(); |
tashworth | 8:77a57909aa15 | 1446 | |
tashworth | 12:284be46593ae | 1447 | pc.printf("mid section 2\r\n"); |
tashworth | 12:284be46593ae | 1448 | |
tashworth | 12:284be46593ae | 1449 | if(IR.getIRDistance() > 38) { |
tashworth | 12:284be46593ae | 1450 | direction[1]= STRAIGHT; |
tashworth | 12:284be46593ae | 1451 | overBump(RIGS); |
tashworth | 12:284be46593ae | 1452 | return; |
tashworth | 12:284be46593ae | 1453 | } |
tashworth | 8:77a57909aa15 | 1454 | |
tashworth | 8:77a57909aa15 | 1455 | alignWithWall(MID); |
tashworth | 12:284be46593ae | 1456 | pc.printf("midsection 2 alignt with wall mid \r\n"); |
tashworth | 12:284be46593ae | 1457 | |
tashworth | 12:284be46593ae | 1458 | wall_follow2(LEFT,FORWARD,MID, current,0); |
tashworth | 12:284be46593ae | 1459 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1460 | |
tashworth | 12:284be46593ae | 1461 | wait_ms(500); |
tashworth | 8:77a57909aa15 | 1462 | |
tashworth | 12:284be46593ae | 1463 | pc.printf("midseection 2 after wf2 %f",current); |
tashworth | 12:284be46593ae | 1464 | rangeFinderLeft.startMeas(); |
tashworth | 12:284be46593ae | 1465 | wait_ms(20); |
tashworth | 12:284be46593ae | 1466 | rangeFinderLeft.getMeas(range); |
tashworth | 12:284be46593ae | 1467 | |
tashworth | 12:284be46593ae | 1468 | if(range > 20 ) { |
tashworth | 8:77a57909aa15 | 1469 | direction[1]= RIGHT; |
tashworth | 8:77a57909aa15 | 1470 | location[2]= current; |
tashworth | 12:284be46593ae | 1471 | slightMove(FORWARD,75); |
tashworth | 12:284be46593ae | 1472 | //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 8:77a57909aa15 | 1473 | } else { |
tashworth | 8:77a57909aa15 | 1474 | direction[1]= LEFT; |
tashworth | 12:284be46593ae | 1475 | wall_follow2(LEFT,BACKWARD,MID,current,0); |
tashworth | 12:284be46593ae | 1476 | location[2]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1477 | current=location[2]; |
tashworth | 12:284be46593ae | 1478 | //slightMove(FORWARD,500); |
tashworth | 8:77a57909aa15 | 1479 | } |
tashworth | 8:77a57909aa15 | 1480 | |
tashworth | 8:77a57909aa15 | 1481 | leftTurn(); |
tashworth | 8:77a57909aa15 | 1482 | overBump(RIGS); |
tashworth | 12:284be46593ae | 1483 | pc.printf("overbump rigs\r\n"); |
tashworth | 8:77a57909aa15 | 1484 | } |
tashworth | 8:77a57909aa15 | 1485 | |
tashworth | 8:77a57909aa15 | 1486 | void rig_section(float* location, float ¤t, int* direction, int rig) |
tashworth | 8:77a57909aa15 | 1487 | { |
tashworth | 12:284be46593ae | 1488 | float loc; |
tashworth | 8:77a57909aa15 | 1489 | |
tashworth | 12:284be46593ae | 1490 | if(rig == 1) loc= 15; |
tashworth | 12:284be46593ae | 1491 | else if(rig == 2) loc= 45; |
tashworth | 12:284be46593ae | 1492 | else loc = 75; |
tashworth | 12:284be46593ae | 1493 | |
tashworth | 12:284be46593ae | 1494 | rightTurn(); |
tashworth | 12:284be46593ae | 1495 | slightright(); |
tashworth | 12:284be46593ae | 1496 | |
tashworth | 12:284be46593ae | 1497 | if(current > loc) { |
tashworth | 12:284be46593ae | 1498 | pc.printf("RIG section %f\r\n",current); |
tashworth | 12:284be46593ae | 1499 | wall_follow2(RIGHT, BACKWARD, RIGS, current, rig); |
tashworth | 12:284be46593ae | 1500 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1501 | } else { |
tashworth | 12:284be46593ae | 1502 | pc.printf("RIG section %f\r\n",current); |
tashworth | 12:284be46593ae | 1503 | wall_follow2(RIGHT, FORWARD, RIGS, current, rig); |
tashworth | 12:284be46593ae | 1504 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1505 | } |
tashworth | 12:284be46593ae | 1506 | } |
tashworth | 12:284be46593ae | 1507 | |
tashworth | 12:284be46593ae | 1508 | void tools_section_return(float* location, float ¤t) |
tashworth | 12:284be46593ae | 1509 | { |
tashworth | 12:284be46593ae | 1510 | if(location[0] > 16) { |
tashworth | 12:284be46593ae | 1511 | leftTurn(); |
tashworth | 12:284be46593ae | 1512 | wall_follow2(LEFT, BACKWARD, RETURN, location[0], 0); |
tashworth | 12:284be46593ae | 1513 | } |
tashworth | 12:284be46593ae | 1514 | motors.stopBothMotors(0); |
tashworth | 8:77a57909aa15 | 1515 | |
tashworth | 8:77a57909aa15 | 1516 | } |
tashworth | 8:77a57909aa15 | 1517 | |
tashworth | 12:284be46593ae | 1518 | void mid_section_return(float* location, float ¤t, int* direction) |
tashworth | 12:284be46593ae | 1519 | { |
tashworth | 12:284be46593ae | 1520 | if(direction[0] == RIGHT) { |
tashworth | 12:284be46593ae | 1521 | leftTurn(); |
tashworth | 12:284be46593ae | 1522 | alignWithWall(MID); |
tashworth | 12:284be46593ae | 1523 | wall_follow2(LEFT, BACKWARD, MID, current,0); |
tashworth | 12:284be46593ae | 1524 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1525 | rightTurn(); |
tashworth | 12:284be46593ae | 1526 | } else if(direction[0] == LEFT) { |
tashworth | 12:284be46593ae | 1527 | leftTurn(); |
tashworth | 12:284be46593ae | 1528 | wall_follow2(RIGHT, FORWARD, MID, current,0); |
tashworth | 12:284be46593ae | 1529 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1530 | rightTurn(); |
tashworth | 12:284be46593ae | 1531 | } |
tashworth | 12:284be46593ae | 1532 | //ELSE and GO FORWARD |
tashworth | 12:284be46593ae | 1533 | overBump(RIGS); |
tashworth | 12:284be46593ae | 1534 | } |
tashworth | 12:284be46593ae | 1535 | |
tashworth | 12:284be46593ae | 1536 | void mid_section2_return(float* location, float ¤t, int* direction) |
tashworth | 9:1b29cd9ed1ba | 1537 | { |
tashworth | 12:284be46593ae | 1538 | if(direction[1] == RIGHT) { |
tashworth | 12:284be46593ae | 1539 | leftTurn(); |
tashworth | 12:284be46593ae | 1540 | wall_follow2(LEFT, BACKWARD, MID, current,0); |
tashworth | 12:284be46593ae | 1541 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1542 | rightTurn(); |
tashworth | 12:284be46593ae | 1543 | } else if(direction[1] == LEFT) { |
tashworth | 12:284be46593ae | 1544 | leftTurn(); |
tashworth | 12:284be46593ae | 1545 | wall_follow2(RIGHT, FORWARD, MID, current,0); |
tashworth | 12:284be46593ae | 1546 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1547 | rightTurn(); |
tashworth | 12:284be46593ae | 1548 | } |
tashworth | 12:284be46593ae | 1549 | //ELSE and GO FORWARD |
tashworth | 12:284be46593ae | 1550 | overBump(MID); |
tashworth | 12:284be46593ae | 1551 | } |
tashworth | 12:284be46593ae | 1552 | |
tashworth | 12:284be46593ae | 1553 | void rig_section_return(float* location, float ¤t, int* direction) |
tashworth | 12:284be46593ae | 1554 | { |
tashworth | 12:284be46593ae | 1555 | alignWithWall(RIGS); |
tashworth | 12:284be46593ae | 1556 | if(location[2] > current) { |
tashworth | 12:284be46593ae | 1557 | wall_follow2(RIGHT, FORWARD, MID, current,0); |
tashworth | 12:284be46593ae | 1558 | current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1559 | } else { |
tashworth | 12:284be46593ae | 1560 | wall_follow2(RIGHT, BACKWARD, MID, current,0); |
tashworth | 12:284be46593ae | 1561 | current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
tashworth | 12:284be46593ae | 1562 | } |
tashworth | 12:284be46593ae | 1563 | rightTurn(); |
tashworth | 12:284be46593ae | 1564 | overBump(MID2); |
tashworth | 9:1b29cd9ed1ba | 1565 | } |
tashworth | 8:77a57909aa15 | 1566 | |
tashworth | 8:77a57909aa15 | 1567 | |
tashworth | 8:77a57909aa15 | 1568 | |
tashworth | 12:284be46593ae | 1569 | |
tashworth | 12:284be46593ae | 1570 |