Mouse code for the MacroRat
Revision 24:e7063765d6f0, committed 2017-05-21
- Comitter:
- christine222
- Date:
- Sun May 21 01:04:26 2017 +0000
- Parent:
- 23:690b0ca34ee9
- Child:
- 25:f827a8b7880e
- Commit message:
- front face start
Changed in this revision
irpair.h | Show annotated file Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/irpair.h Sat May 20 09:11:08 2017 +0000 +++ b/irpair.h Sun May 21 01:04:26 2017 +0000 @@ -16,9 +16,10 @@ float getSamples( int i ); float sensorAvg; + void calibrateSensor(); private: - void calibrateSensor(); + // internal values DigitalOut ir;
--- a/main.cpp Sat May 20 09:11:08 2017 +0000 +++ b/main.cpp Sun May 21 01:04:26 2017 +0000 @@ -1,20 +1,20 @@ #include "mbed.h" - + #include "irpair.h" #include "main.h" #include "motor.h" - + #include <stdlib.h> #include "ITG3200.h" #include "stm32f4xx.h" #include "QEI.h" - + /* Constants for when HIGH_PWM_VOLTAGE = 0.2 #define IP_CONSTANT 6 #define II_CONSTANT 0 #define ID_CONSTANT 1 */ - + // Constants for when HIGH_PWM_VOLTAGE = 0.1 // #define IP_CONSTANT 8.85 // #define II_CONSTANT 0.005 @@ -22,87 +22,88 @@ #define IP_CONSTANT 13.5 #define II_CONSTANT 0.095 #define ID_CONSTANT 8.85 - + const int desiredCount180 = 2900; const int desiredCountR = 1500; const int desiredCountL = 1575; - + const int oneCellCount = 5400; -const int oneCellCountMomentum = 4800; // one cell count is actually approximately 5400, but this value is considering momentum! - +const int oneCellCountMomentum = 4400;//4800; // one cell count is actually approximately 5400, but this value is considering momentum! + float receiverOneReading = 0.0; float receiverTwoReading = 0.0; float receiverThreeReading = 0.0; float receiverFourReading = 0.0; -//IRSAvg= >: 0.143701, 0.128285 +float ir1base = 0.0; +float ir2base = 0.0; +float ir3base = 0.0; +float ir4base = 0.0; - - - - + +//IRSAvg= >: 0.143701, 0.128285 + + + + + + + //facing wall ir2 and ir3 //0.144562, 0.113971 in maze - + // normal hall ir2 and ir3 //0.013665, 0.010889 in maze - + //0.014462, 0.009138 // 0.013888, 0.010530 - - + + //no walls ir2 and ir3 //0.003265, 0.002904 in maze9 - + //0.003162, 0.003123 //0.003795, - + //0.005297, 0.007064 - - - - -float averageDivL = 23.0; //blue -float initAverageL = 10.35; - -float averageDivR = 24; //red -float initAverageR = 12.82; //4.5 - -float averageDivUpper = 0.9; - + + + float noWallR = 0.007; + float noWallL = 0.007; + void pidOnEncoders(); - - + + void turnLeft() { double speed0 = 0.11; double speed1 = -0.13; - + int counter = 0; int initial0 = encoder0.getPulses(); int initial1 = encoder1.getPulses(); - + int desiredCount0 = initial0 - desiredCountL; int desiredCount1 = initial1 + desiredCountL; - + int count0 = initial0; int count1 = initial1; - + double error0 = count0 - desiredCount0; double error1 = count1 - desiredCount1; - - + + while(1) { - + if(!(abs(error0) < 1) && !(abs(error1) < 1)) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); - + error0 = count0 - desiredCount0; error1 = count1 - desiredCount1; - + right_motor.move(speed0); left_motor.move(speed1); counter = 0; @@ -111,45 +112,45 @@ right_motor.brake(); left_motor.brake(); } - + if (counter > 60) { break; } } - + right_motor.brake(); left_motor.brake(); turnFlag = 0; // zeroing out the flags! currDir -= 1; } - + void turnRight() { double speed0 = -0.11; double speed1 = 0.13; - + int counter = 0; int initial0 = encoder0.getPulses(); int initial1 = encoder1.getPulses(); - + int desiredCount0 = initial0 + desiredCountR; int desiredCount1 = initial1 - desiredCountR; - + int count0 = initial0; int count1 = initial1; - + double error0 = count0 - desiredCount0; double error1 = count1 - desiredCount1; - + while(1) { - + if(!(abs(error0) < 1) && !(abs(error1) < 1)) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); - + error0 = count0 - desiredCount0; error1 = count1 - desiredCount1; - + right_motor.move(speed0); left_motor.move(speed1); counter = 0; @@ -158,46 +159,46 @@ right_motor.brake(); left_motor.brake(); } - + if (counter > 60) { break; } } - + right_motor.brake(); left_motor.brake(); turnFlag = 0; currDir += 1; } - + void turnLeft180() { double speed0 = 0.15; double speed1 = -0.15; - + int counter = 0; int initial0 = encoder0.getPulses(); int initial1 = encoder1.getPulses(); - + int desiredCount0 = initial0 - desiredCountL*2; int desiredCount1 = initial1 + desiredCountL*2; - + int count0 = initial0; int count1 = initial1; - + double error0 = count0 - desiredCount0; double error1 = count1 - desiredCount1; - - + + while(1) { if(!(abs(error0) < 1) && !(abs(error1) < 1)) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); - + error0 = count0 - desiredCount0; error1 = count1 - desiredCount1; - + right_motor.move(speed0); left_motor.move(speed1); counter = 0; @@ -206,45 +207,45 @@ right_motor.brake(); left_motor.brake(); } - + if (counter > 60) { break; } } - + right_motor.brake(); left_motor.brake(); currDir -= 2; } - + void turnRight180() { double speed0 = -0.16; double speed1 = 0.16; - + int counter = 0; int initial0 = encoder0.getPulses(); int initial1 = encoder1.getPulses(); - + int desiredCount0 = initial0 + desiredCount180; int desiredCount1 = initial1 - desiredCount180; - + int count0 = initial0; int count1 = initial1; - + double error0 = count0 - desiredCount0; double error1 = count1 - desiredCount1; - - + + while(1) { - + if(!(abs(error0) < 1) && !(abs(error1) < 1)) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); - + error0 = count0 - desiredCount0; error1 = count1 - desiredCount1; - + right_motor.move(speed0); left_motor.move(speed1); counter = 0; @@ -253,7 +254,7 @@ right_motor.brake(); left_motor.brake(); } - + if (counter > 60) { break; } @@ -262,11 +263,11 @@ left_motor.brake(); currDir += 2; } - + void moveForwardCellEncoder(double cellNum){ int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellNum; int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellNum; - + left_motor.forward(0.125); right_motor.forward(0.095); wait_ms(1); @@ -274,23 +275,23 @@ receiverTwoReading = IRP_2.getSamples(100); receiverThreeReading = IRP_3.getSamples(100); // serial.printf("Average 2: %f Average 3: %f Sensor 2: %f Sensor 3: %f\n", IRP_2.sensorAvg, IRP_3.sensorAvg, receiverTwoReading, receiverThreeReading); - if (receiverThreeReading < IRP_3.sensorAvg/averageDivR){ + if (receiverThreeReading < ir3base){ // redLed.write(1); // blueLed.write(0); turnFlag |= RIGHT_FLAG; } - else if (receiverTwoReading < IRP_2.sensorAvg/averageDivL){ + else if (receiverTwoReading < ir2base){ // redLed.write(0); // blueLed.write(1); turnFlag |= LEFT_FLAG; } pidOnEncoders(); } - + left_motor.brake(); right_motor.brake(); } - + void handleTurns(){ if (turnFlag == 0x1){ // moveForwardCellEncoder(0.3); @@ -306,9 +307,9 @@ turnRight(); } } - + void pidBrake(){ - + int count0; int count1; count0 = encoder0.getPulses(); @@ -316,18 +317,18 @@ int initial0 = count0; int initial1 = count1; double kp = 0.00011; - - - + + + int error = count0 - count1; - + int counter = 0; right_motor.move(0.7); left_motor.move(0.7); - + double speed0 = 0.7; double speed1 = 0.7; - + while(1) { if(abs(error) < 3){ @@ -340,22 +341,22 @@ error = count0 - count1; speed0 = -error*kp + speed0; speed1 = error*kp + speed1; - + right_motor.move(speed0); left_motor.move(speed1); - + counter = 0; } if (counter > 10){ break; } - + } return; } - + void moveForwardEncoder(){ - + int count0; int count1; count0 = encoder0.getPulses(); @@ -366,16 +367,16 @@ double kp = 0.00015; double kd = 0.00019; int prev = 0; - - - + + + double speed0 = 0.10; double speed1 = 0.12; right_motor.move(speed0); left_motor.move(speed1); - - - while((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) { + + + while( ((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) || IRP_1.getSamples(50) > IRP_1.sensorAvg*0.8 || IRP_4.getSamples(50) > IRP_4.sensorAvg*0.8){ //while( (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4 ){ //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); @@ -405,17 +406,17 @@ // } prev = x; } - + //pidOnEncoders(); //pidBrake(); right_motor.brake(); left_motor.brake(); return; } - - + + void moveForwardWallEncoder(){ - + int count0; int count1; count0 = encoder0.getPulses(); @@ -426,15 +427,19 @@ double kp = 0.00015; double kd = 0.00019; int prev = 0; - - - - double speed0 = 0.10; - double speed1 = 0.12; + + + + double speed0 = 0.07; + double speed1 = 0.07; right_motor.move(speed0); left_motor.move(speed1); - + if( IRP_1.getSamples(50) > IRP_1.sensorAvg*0.8 || IRP_4.getSamples(50) > IRP_4.sensorAvg*0.8){ + return; + } + + //while((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) { while( (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4 ){ //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); @@ -465,29 +470,29 @@ // } prev = x; } - + //pidOnEncoders(); //pidBrake(); right_motor.brake(); left_motor.brake(); return; } - + void moveForwardUntilWallIr() { double currentError = 0; double previousError = 0; double derivError = 0; double sumError = 0; - + double HIGH_PWM_VOLTAGE = 0.1; - + double rightSpeed = 0.14; double leftSpeed = 0.17; - + float ir2 = IRP_2.getSamples( SAMPLE_NUM ); float ir3 = IRP_3.getSamples( SAMPLE_NUM ); - + int count = encoder0.getPulses(); while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) { // while the front facing IR's arent covered @@ -500,7 +505,7 @@ }else{ // will move forward using encoders only // if cell ahead doesn't have a wall on either one side or both sides - + int pulseCount = (encoder0.getPulses()-count) % 5600; if (pulseCount > 5400 && pulseCount < 5800) { blueLed.write(0); @@ -508,7 +513,7 @@ blueLed.write(1); } sumError += currentError; - currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg/initAverageL) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg/initAverageR) ) ; + currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - ir2base) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - ir3base) ) ; derivError = currentError - previousError; double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down @@ -518,36 +523,36 @@ rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); } - + if (leftSpeed > 0.30) leftSpeed = 0.30; if (leftSpeed < 0) leftSpeed = 0; if (rightSpeed > 0.30) rightSpeed = 0.30; if (rightSpeed < 0) rightSpeed = 0; - + right_motor.forward(rightSpeed); left_motor.forward(leftSpeed); - + previousError = currentError; - + ir2 = IRP_2.getSamples( SAMPLE_NUM ); ir3 = IRP_3.getSamples( SAMPLE_NUM ); - + } - + //backward(); //wait_ms(40); //brake(); - + left_motor.brake(); right_motor.brake(); } } - + void printDipFlag() { if (DEBUGGING) serial.printf("Flag value is %d", dipFlags); } - + void enableButton1() { dipFlags |= BUTTON1_FLAG; @@ -588,7 +593,7 @@ dipFlags &= ~BUTTON4_FLAG; printDipFlag(); } - + void pidOnEncoders() { int count0; @@ -599,7 +604,7 @@ double kp = 0.00011; double kd = 0.00014; int prev = 0; - + int counter = 0; while(1) { @@ -633,159 +638,158 @@ break; } } - + void nCellEncoderAndIR(double cellCount){ double currentError = 0; double previousError = 0; double derivError = 0; double sumError = 0; - - double HIGH_PWM_VOLTAGE = 0.1; - double rightSpeed = 0.10; - double leftSpeed = 0.10; - - int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellCount; - int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellCount; - - left_motor.forward(0.17); - right_motor.forward(0.15); - - float receiverTwoReading = 0.0; - float receiverThreeReading = 0.0; - + + double HIGH_PWM_VOLTAGE = 0.15; + double rightSpeed = 0.095; + double leftSpeed = 0.115; + + + int initial0 = encoder0.getPulses(); + int initial1 = encoder1.getPulses(); + float ir2 = IRP_2.getSamples( SAMPLE_NUM ); float ir3 = IRP_3.getSamples( SAMPLE_NUM ); - + float ir1 = IRP_1.getSamples(50); + float ir4 = IRP_4.getSamples(50); + int state = 0; - - - - - while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1){ - receiverTwoReading = IRP_2.getSamples(100); - receiverThreeReading = IRP_3.getSamples(100); - - if ((IRP_1.getSamples(100) > IRP_1.sensorAvg*0.1) || (IRP_4.getSamples(100) > IRP_4.sensorAvg*0.1) ){ - // almost to the end - redLed.write(1); - greenLed.write(1); - blueLed.write(1); - moveForwardWallEncoder(); - break; - - }else if( (receiverThreeReading < IRP_3.sensorAvg/(averageDivR*0.8)) && (receiverTwoReading < IRP_2.sensorAvg/(averageDivL*0.8)) ){ - // both sides gone - redLed.write(1); - greenLed.write(1); - blueLed.write(1); - moveForwardEncoder(); - }else if (receiverThreeReading < IRP_3.sensorAvg/averageDivR){// right wall gone - // RED RED RED RED RED - state = 1; - redLed.write(0); - greenLed.write(1); - blueLed.write(1); - }else if (receiverTwoReading < IRP_2.sensorAvg/averageDivL){// left wall gone - // BLUE BLUE BLUE BLUE - state = 2; - redLed.write(1); - greenLed.write(1); - blueLed.write(0); - }else if ((receiverTwoReading > ((IRP_2.sensorAvg/initAverageL)*averageDivUpper)) && (receiverThreeReading > ((IRP_3.sensorAvg/initAverageR)*averageDivUpper))){ - // both walls there - state = 0; - redLed.write(1); - greenLed.write(0); - blueLed.write(1); - } - - switch(state){ - case(0):{ // both walls there - currentError = ( receiverTwoReading - IRP_2.sensorAvg/initAverageL) - ( receiverThreeReading - IRP_3.sensorAvg/initAverageR); - break; - } - case(1):{// RED RED RED RED RED - currentError = (receiverTwoReading - IRP_2.sensorAvg/initAverageL) - (0.6*IRP_2.sensorAvg/initAverageL); - break; - } - case(2):{// blue - currentError = (0.8*IRP_3.sensorAvg/initAverageL) - (receiverThreeReading - IRP_3.sensorAvg/initAverageR); - break; - } - default:{ - currentError = ( receiverTwoReading - IRP_2.sensorAvg/initAverageL) - ( receiverThreeReading - IRP_3.sensorAvg/initAverageR); - //currentError = ( receiverTwoReading - IRP_2.sensorAvg/initAverageL) - ( receiverThreeReading - IRP_3.sensorAvg/initAverageR); - break; - } - } - - - - - sumError += currentError; - derivError = currentError - previousError; - double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; - if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down - rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); - leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); - } else { // r is faster than L. speed up l, slow down r - rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); - leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); - } - if (leftSpeed > 0.30) leftSpeed = 0.30; - if (leftSpeed < 0) leftSpeed = 0; - if (rightSpeed > 0.30) rightSpeed = 0.30; - if (rightSpeed < 0) rightSpeed = 0; - - right_motor.forward(rightSpeed); - left_motor.forward(leftSpeed); - pidOnEncoders(); - - previousError = currentError; - ir2 = IRP_2.getSamples( SAMPLE_NUM ); - ir3 = IRP_3.getSamples( SAMPLE_NUM ); - + if(IRP_3.sensorAvg > noWallR){ + ir3base = IRP_3.sensorAvg; + } + if(IRP_2.sensorAvg > noWallL){ + ir2base = IRP_2.sensorAvg; } + for (int i = 0; i < cellCount; i++){ + while ( ((encoder0.getPulses()-initial0) <= oneCellCountMomentum && (encoder1.getPulses()-initial1) <= oneCellCountMomentum) && ir1 < IRP_1.sensorAvg*0.7 && ir4 < IRP_4.sensorAvg*0.7 ){ + ir2 = IRP_2.getSamples(50); + ir3 = IRP_3.getSamples(50); + ir1 = IRP_1.getSamples(50); + ir4 = IRP_4.getSamples(50); + if((ir3 < ir3base/4) && (ir2 < ir2base/4)){ + // both sides gone + redLed.write(1); + greenLed.write(1); + blueLed.write(1); + wait_ms(100); + redLed.write(1); + greenLed.write(1); + blueLed.write(0); + wait_ms(200); + redLed.write(1); + greenLed.write(1); + blueLed.write(0); + wait_ms(200); + redLed.write(1); + greenLed.write(1); + blueLed.write(0); + wait_ms(200); + redLed.write(1); + greenLed.write(1); + blueLed.write(0); + moveForwardEncoder(); + }else if (ir3 < ir3base/4){// right wall gone + // RED RED RED RED RED + currentError = (ir3 - ir2base); + redLed.write(0); + greenLed.write(1); + blueLed.write(1); + }else if (ir2 < ir2base){// left wall gone + // BLUE BLUE BLUE BLUE + currentError = (ir3base - ir2); + redLed.write(1); + greenLed.write(1); + blueLed.write(0); + }else{ + // both walls there + currentError = (ir2 - ir2base) - (ir3 - ir3base); + redLed.write(1); + greenLed.write(0); + blueLed.write(1); + } + + sumError += currentError; + derivError = currentError - previousError; + double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; + if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down + rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); + leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); + } else { // r is faster than L. speed up l, slow down r + rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); + leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); + } + if (leftSpeed > 0.30) leftSpeed = 0.30; + if (leftSpeed < 0) leftSpeed = 0; + if (rightSpeed > 0.30) rightSpeed = 0.30; + if (rightSpeed < 0) rightSpeed = 0; + + right_motor.forward(rightSpeed); + left_motor.forward(leftSpeed); + pidOnEncoders(); + + previousError = currentError; + ir2 = IRP_2.getSamples( SAMPLE_NUM ); + ir3 = IRP_3.getSamples( SAMPLE_NUM ); + + if(IRP_3.sensorAvg > noWallR){ + continue; + }else if(ir3 > noWallR){ + ir3base = ir3; + } + + if(IRP_2.sensorAvg > noWallL){ + continue; + }else if(ir2 > noWallL){ + ir2base = ir2; + } + } + } + left_motor.brake(); right_motor.brake(); return; } - + int main() { //Set highest bandwidth. //gyro.setLpBandwidth(LPFBW_42HZ); serial.baud(9600); //serial.printf("The gyro's address is %s", gyro.getWhoAmI()); - + wait (0.1); - - + + redLed.write(1); greenLed.write(0); blueLed.write(1); - + //left_motor.forward(0.1); //right_motor.forward(0.1); - + // PA_1 is A of right // PA_0 is B of right // PA_5 is A of left // PB_3 is B of left //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); - + // TODO: Setting all the registers and what not for Quadrature Encoders /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3) RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B) GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2 GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5 */ - + // set GPIO pins to alternate for the pins corresponding to A/B for eacah encoder, and 2 alternate function registers need to be selected for each type // of alternate function specified // 4 modes sets AHB1ENR @@ -799,29 +803,44 @@ // SMCR - encoder mode // CR1 reenabales // then read CNT reg of timer - - + + dipButton1.rise(&enableButton1); dipButton2.rise(&enableButton2); dipButton3.rise(&enableButton3); dipButton4.rise(&enableButton4); - + dipButton1.fall(&disableButton1); dipButton2.fall(&disableButton2); dipButton3.fall(&disableButton3); dipButton4.fall(&disableButton4); + if(dipFlags == 0x1){ + turnRight180(); + wait_ms(1000); + }else{ + turnRight(); + IRP_1.calibrateSensor(); + IRP_4.calibrateSensor(); + wait_ms(300); + turnLeft(); + wait_ms(300); + } + + + + //right_motor.forward( 0.2 ); //left_motor.forward( 0.2 ); - turnRight180(); - wait_ms(1500); + //turnRight180(); + //wait_ms(1500); while (1) { //wait_ms(1500); //turnRight(); //wait_ms(1500); //turnLeft(); - nCellEncoderAndIR(4); - wait_ms(2000); + nCellEncoderAndIR(1); + wait_ms(500); // turnRight(); // wait_ms(500); // nCellEncoderAndIR(1); @@ -843,9 +862,9 @@ // nCellEncoderAndIR(5); // break; // turnRight180(); - - - + + + // int number = rand() % 4 + 1; // switch(number){ // case(1):{//turn right @@ -857,7 +876,7 @@ // break; // } // case(3):{// keep going - + // break; // } // case(4):{// turnaround @@ -868,27 +887,27 @@ // break; // } // } - + // float irbase2 = IRP_2.sensorAvg/initAverageL/averageDivL; // float irbase3 = IRP_3.sensorAvg/initAverageR/averageDivR; - + // float ir3 = IRP_2.getSamples(100)/initAverageL; // float ir2 = IRP_3.getSamples(100)/initAverageR; - - - + + + /* counter2++; counter3++; ir2tot += IRP_2.getSamples(100); ir3tot += IRP_3.getSamples(100); - - + + ir2 = ir2tot/counter2; ir3 = ir3tot/counter3; - + serial.printf("IRS= >: %f, %f \r\n", ir2, ir3); */ //serial.printf("%f, %f \n", IRP_2.sensorAvg/initAverageL/averageDivL, IRP_3.sensorAvg/initAverageR/averageDivR); @@ -897,20 +916,20 @@ //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples(100), IRP_3.getSamples(100)); //serial.printf("IRSAvg= >: %f, %f \r\n", ir2, ir3); //serial.printf("IRSAvg= >: %f, %f \r\n", IRP_2.sensorAvg, IRP_3.sensorAvg); - - + + //////////////////////////////////////////////////////////////// - + //nCellEncoderAndIR(3); //break; - + //serial.printf("IRS= >: %f, %f, %f, %f \r\n", IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100)); - - + + //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); - - + + //break; // moveForwardCellEncoder(1); // wait(0.5); @@ -926,8 +945,8 @@ //serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses()); // double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; //serial.printf("IRS= >: %f, %f, %f, %f, %f \r\n", IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100), currentError ); - + //reading = Rec_4.read(); // serial.printf("reading: %f\n", reading); } -} +} \ No newline at end of file