diff options
| author | sicarius <devnull@localhost> | 2007-02-19 21:57:03 +0100 |
|---|---|---|
| committer | sicarius <devnull@localhost> | 2007-02-19 21:57:03 +0100 |
| commit | 42a38959ff5c097463c2c95d993e5934f100d223 (patch) | |
| tree | 7ad00518e3fdd85a800f5c8bf48588e7f5e1a23a | |
| parent | b3196682b1d87c40156ed1b4092a7112dd0d80df (diff) | |
| download | rc2007-soccer-42a38959ff5c097463c2c95d993e5934f100d223.tar rc2007-soccer-42a38959ff5c097463c2c95d993e5934f100d223.zip | |
Code-stuff
| -rw-r--r-- | source/Concept/Framework/RoboCode.aps | 4 | ||||
| -rw-r--r-- | source/Concept/Framework/default/Makefile | 4 | ||||
| -rw-r--r-- | source/Concept/Framework/defines.h | 6 | ||||
| -rwxr-xr-x | source/Concept/Framework/main.c | 121 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/executor/navigator.c | 264 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/executor/navigator.h | 73 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/input/distance_sensor.c | 12 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/input/mouse_sensor.h | 16 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/output/display.h | 5 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/output/engine.h | 11 | ||||
| -rwxr-xr-x | source/Concept/Framework/robot.c | 8 | ||||
| -rw-r--r-- | source/Concept/Framework/tools.h | 3 |
12 files changed, 473 insertions, 54 deletions
diff --git a/source/Concept/Framework/RoboCode.aps b/source/Concept/Framework/RoboCode.aps index 3bc029f..01a1bea 100644 --- a/source/Concept/Framework/RoboCode.aps +++ b/source/Concept/Framework/RoboCode.aps @@ -1 +1,5 @@ +<<<<<<< .mine +<AVRStudio><MANAGEMENT><ProjectName>RoboCode</ProjectName><Created>16-Feb-2007 15:16:46</Created><LastEdit>19-Feb-2007 18:25:08</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>16-Feb-2007 15:16:46</Created><Version>4</Version><Build>4, 12, 0, 462</Build><ProjectTypeName>AVR 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+======= <AVRStudio><MANAGEMENT><ProjectName>RoboCode</ProjectName><Created>16-Feb-2007 15:16:46</Created><LastEdit>18-Feb-2007 22:21:14</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>16-Feb-2007 15:16:46</Created><Version>4</Version><Build>4, 12, 0, 462</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\RoboCode.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>I:\Projects\RoboCup WM 2006 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+>>>>>>> .r199 diff --git a/source/Concept/Framework/default/Makefile b/source/Concept/Framework/default/Makefile index fc917c5..d401a7f 100644 --- a/source/Concept/Framework/default/Makefile +++ b/source/Concept/Framework/default/Makefile @@ -13,7 +13,7 @@ COMMON = -mmcu=$(MCU) ## Compile options common for all C compilation units.
CFLAGS = $(COMMON)
-CFLAGS += -Wall -gdwarf-2 -DF_CPU=16000000ULUL -O3 -fsigned-char
+CFLAGS += -Wall -gdwarf-2 -DF_CPU=16000000ULUL -O3 -fsigned-char
CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
## Assembly specific flags
@@ -22,7 +22,7 @@ ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2 ## Linker flags
LDFLAGS = $(COMMON)
-LDFLAGS += -lm
+LDFLAGS += -lm
## Intel Hex file production flags
diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h index 1cec0f3..6a88917 100644 --- a/source/Concept/Framework/defines.h +++ b/source/Concept/Framework/defines.h @@ -58,8 +58,14 @@ //Constants
#define SPEED_PER_PWM 1
#define DISTANCE_PER_VALUE 1
+<<<<<<< .mine #define PI 3.14159265358979323846f
#define CYCLES_PER_CORRECTION 200
+#define EMPTY_FLOAT 81188.1484f
+======= +#define PI 3.14159265358979323846f
+#define CYCLES_PER_CORRECTION 200
+>>>>>>> .r199 #define EMPTY_FLOAT 81188.1484f
diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c index 7822933..306885b 100755 --- a/source/Concept/Framework/main.c +++ b/source/Concept/Framework/main.c @@ -5,6 +5,19 @@ int main() //Init our robot
Robot* localRobot = new Robot();
+ sleep(1); // Wait for LCD-Display
+
+ //Init Displays
+ for(uint8 i = IO_DISPLAY_START; i < IO_DISPLAY_END; i++)
+ {
+ Display* newDisplay = new Display(i);
+ localRobot->AddModule(newDisplay);
+ newDisplay = NULL;
+ }
+
+ Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
+ // ourDisplay->Print("Starting..."); ourDisplay->NewLine(); // Debug output
+
//Init Engines
for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++)
{
@@ -12,6 +25,7 @@ int main() localRobot->AddModule(newEngine);
newEngine = NULL;
}
+ // ourDisplay->Print("Engines Ready"); ourDisplay->NewLine(); // Debug output
//Init Dribbler
for(uint8 i = IO_DRIBBLER_START; i < IO_DRIBBLER_END; i++)
@@ -20,6 +34,7 @@ int main() localRobot->AddModule(newDribbler);
newDribbler = NULL;
}
+ // ourDisplay->Print("Dribbler Ready"); ourDisplay->NewLine(); // Debug output
//Init Kicker
for(uint8 i = IO_KICKER_START; i < IO_KICKER_END; i++)
@@ -28,6 +43,7 @@ int main() localRobot->AddModule(newKicker);
newKicker = NULL;
}
+ // ourDisplay->Print("Kicker Ready"); ourDisplay->NewLine(); // Debug output
//Init Sensors
for(uint8 i = IO_SENSOR_START; i < IO_SENSOR_END; i++)
@@ -47,6 +63,7 @@ int main() IR_Sensor* newSensor = new IR_Sensor(i);
localRobot->AddModule(newSensor);
newSensor = NULL;
+ // ourDisplay->Print("SensorIR Ready"); ourDisplay->NewLine(); // Debug output
break;
}
case IO_SENSOR_DISTANCE_0_DEG:
@@ -57,6 +74,8 @@ int main() Distance_Sensor* newSensor = new Distance_Sensor(i);
localRobot->AddModule(newSensor);
newSensor = NULL;
+ // ourDisplay->Print("DistanceSensor Ready"); // Debug output
+
break;
}
case IO_SENSOR_MOUSE_LEFT:
@@ -65,6 +84,8 @@ int main() Mouse_Sensor* newSensor = new Mouse_Sensor(i);
localRobot->AddModule(newSensor);
newSensor = NULL;
+ // ourDisplay->Print("MouseSensor Ready"); ourDisplay->NewLine(); // Debug output
+
break;
}
//Other cases
@@ -77,6 +98,7 @@ int main() }
}
}
+ // ourDisplay->Print("Sensors Ready"); ourDisplay->NewLine(); // Debug output
//Init Leds
for(uint8 i = IO_LED_START; i < IO_LED_END; i++)
@@ -85,14 +107,7 @@ int main() localRobot->AddModule(newLed);
newLed = NULL;
}
-
- //Init Displays
- for(uint8 i = IO_DISPLAY_START; i < IO_DISPLAY_END; i++)
- {
- Display* newDisplay = new Display(i);
- localRobot->AddModule(newDisplay);
- newDisplay = NULL;
- }
+ // ourDisplay->Print("LEDs Ready"); ourDisplay->NewLine(); // Debug output
//Init Keyboards
for(uint8 i = IO_KEYBOARD_START; i < IO_KEYBOARD_END; i++)
@@ -101,6 +116,7 @@ int main() localRobot->AddModule(newKeyboard);
newKeyboard = NULL;
}
+ // ourDisplay->Print("Keyboard Ready"); ourDisplay->NewLine(); // Debug output
//Init Position Tracker
for(uint8 i = IO_POSITION_TRACKER_START; i < IO_POSITION_TRACKER_END; i++)
@@ -109,6 +125,7 @@ int main() localRobot->AddModule(newPositionTracker);
newPositionTracker = NULL;
}
+ // ourDisplay->Print("PositionTracker Ready"); ourDisplay->NewLine(); // Debug output
//Init Ball Tracker
for(uint8 i = IO_BALL_TRACKER_START; i < IO_BALL_TRACKER_END; i++)
@@ -117,6 +134,7 @@ int main() localRobot->AddModule(newBallTracker);
newBallTracker = NULL;
}
+ // ourDisplay->Print("Balltracker Ready"); ourDisplay->NewLine(); // Debug output
//Init Navigators
for(uint8 i = IO_NAVIGATOR_START; i < IO_NAVIGATOR_END; i++)
@@ -125,63 +143,110 @@ int main() localRobot->AddModule(newNavigator);
newNavigator = NULL;
}
-
+ // ourDisplay->Print("Navigator Ready"); ourDisplay->NewLine(); // Debug output
+ // ourDisplay->Print("All Ready"); ourDisplay->NewLine(); // Debug output
+ sleep(1);
+ ourDisplay->Clear();
IR_Sensor* ourSensor = NULL;
+ Distance_Sensor* distanceSensor = NULL;
uint16 value = 0;
int8 value2 = 0;
- Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
+
Keyboard* ourKeyboard = localRobot->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
uint32 i = 1;
Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
float rotation = 0;
- ourDisplay->Print("Starting...", 1, 1);
+ Mouse_Sensor* mouse_left = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
+ Mouse_Sensor* mouse_right = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+
//Run
while(true)
{
+ /*ourDisplay->Print(i++,1,1);
+ ourDisplay->Print(mouse_left->GetXMovement(),1,2);
+ ourDisplay->Print(" ");
+ ourDisplay->Print(mouse_left->GetYMovement(),10,2);
+ ourDisplay->Print(" ");
+ ourDisplay->Print(mouse_right->GetXMovement(),1,3);
+ ourDisplay->Print(" ");
+ ourDisplay->Print(mouse_right->GetYMovement(),10,3);
+ ourDisplay->Print(" ");
+ ourDisplay->Print(" ",1,4); // clear
+
+ distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
+ value = distanceSensor->GetDistance();
+ ourDisplay->Print(value, 1, 4);
+ ourDisplay->Print(";");
+ distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_90_DEG);
+ value = distanceSensor->GetDistance();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_180_DEG);
+ value = distanceSensor->GetDistance();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_270_DEG);
+ value = distanceSensor->GetDistance();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+
+
+ msleep(500);*/
+
uint8 someInput = ourKeyboard->GetInput();
+ //ourDisplay->Clear();
+ ourDisplay->Print(i++,1,1);
+ //ourDisplay->Print("Ready to accept...", 1, 2);
+ ourDisplay->Print(someInput, 1, 3);
+ ourDisplay->PrintFloat(rotation, 1, 4);
switch(someInput)
{
+ case 0:
+ ourNavigator->Stop();
case 1:
- ourNavigator->Drive(225.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(225, rotation, 200, rotation);
break;
case 2:
- ourNavigator->Drive(180.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(180, rotation, 200, rotation);
break;
case 3:
- ourNavigator->Drive(135.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(135, rotation, 200, rotation);
break;
case 4:
- ourNavigator->Drive(270.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(270, rotation, 200, rotation);
break;
case 5:
- ourNavigator->Stop();
+ ourNavigator->Drive(0, rotation, 0, rotation);
break;
case 6:
- ourNavigator->Drive(90.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(90, rotation, 200, rotation);
break;
case 7:
- ourNavigator->Drive(315.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(315, rotation, 200, rotation);
break;
case 8:
- ourNavigator->Drive(0.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(0, rotation, 200, rotation);
break;
case 9:
- ourNavigator->Drive(45.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(45, rotation, 200, rotation);
break;
case 10:
- rotation -= 10;
+ rotation += 10;
break;
case 12:
- rotation += 10;
+ rotation -= 10;
break;
}
- msleep(50);/*
- ourDisplay->Clear();
- ourDisplay->Print(i++);
+
+ msleep(50);
+
+ /*
+ //ourDisplay->Clear();
+ ourDisplay->Print(i++,1,1);
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value, 1, 2);
@@ -213,8 +278,10 @@ int main() ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value);
- ourDisplay->Print(";");*/
-
+ ourDisplay->Print(";");
+
+ msleep(500);
+ */
localRobot->Update();
//ourDisplay->PrintFloat(ourBallTracker->GetBallDirection(), 1, 4);
diff --git a/source/Concept/Framework/modules/executor/navigator.c b/source/Concept/Framework/modules/executor/navigator.c index ceeda60..47b1c69 100755 --- a/source/Concept/Framework/modules/executor/navigator.c +++ b/source/Concept/Framework/modules/executor/navigator.c @@ -1,3 +1,138 @@ +<<<<<<< .mine +#include "navigator.h" + +//----------------------------------------------------------------------------- +void Navigator::Stop() +{ + this->direction = 0; + this->targetAngle = 0; + //this->targetX = EMPTY_FLOAT; + //this->targetY = EMPTY_FLOAT; + this->robotSpeed = 0; + this->rotationSpeed = 0; + + /*for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++) + { + (parent->GetModule<Engine>(i))->SetSpeed(0); + (parent->GetModule<Engine>(i))->SetEnabled(true); + }*/ +} + +//----------------------------------------------------------------------------- +void Navigator::Rotate(float newTargetAngle,float newRotationSpeed) +{ + this->rotationSpeed = min(newRotationSpeed, 255.0f);; + this->direction = 0; + this->targetAngle = newTargetAngle; + //this->targetX = EMPTY_FLOAT; + //this->targetY = EMPTY_FLOAT; + this->robotSpeed = 0; + + /*for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++) + { + (parent->GetModule<Engine>(i))->SetSpeed(rotationSpeed); + (parent->GetModule<Engine>(i))->SetEnabled(true); + }*/ +} + +//----------------------------------------------------------------------------- +void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed) +{ + this->rotationSpeed = min(rotationSpeed, 255.0f); + this->direction = newDirection*PI/180; + this->targetAngle = newAngle; + this->targetX = EMPTY_FLOAT; + this->targetY = EMPTY_FLOAT; + this->robotSpeed = newSpeed; + + if(targetAngle == EMPTY_FLOAT) + { + rotationSpeed = 0; + } + else + { + rotationSpeed = fabs(rotationSpeed) * sign(PI - (targetAngle - (parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN))->GetOrientation())); + } + + CalculateEngines(); +} + +//----------------------------------------------------------------------------- +void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed) +{ + if(newX < 0 || newY < 0) return; + + Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN); + + this->rotationSpeed = min(rotationSpeed, 255.0f); + this->targetX = newX; + this->targetY = newY; + this->direction = direction2d(locationeer->GetPositionX(), locationeer->GetPositionY(), targetX, targetY);; + this->targetAngle = newAngle; + this->robotSpeed = newSpeed; + + if(targetAngle - locationeer->GetOrientation() > PI) + { + if(rotationSpeed > 0) + { + rotationSpeed = -rotationSpeed; + } + } + else + { + if(rotationSpeed < 0) + { + rotationSpeed = -rotationSpeed; + } + } + + CalculateDirection(); +} + +//----------------------------------------------------------------------------- +void Navigator::Update() +{ + Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN); + + bool targetReached = false; + bool targetAngleReached = false; + + if(HasTarget() && distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < 1.0f) + { + targetX = EMPTY_FLOAT; + targetY = EMPTY_FLOAT; + direction = EMPTY_FLOAT; + robotSpeed = 0; + + targetReached = true; + } + + if(targetAngle != EMPTY_FLOAT && fabs(targetAngle - locationeer->GetOrientation()) < 0.1f) + { + targetAngle = EMPTY_FLOAT; + rotationSpeed = 0; + + targetAngleReached = true; + } + + if(targetReached && targetAngleReached) + { + Stop(); + } + else if(targetReached || targetAngleReached) + { + CalculateDirection(); + } + + if(!(correctionCountdown--)) + { + CalculateDirection(); + } +} + +//----------------------------------------------------------------------------- +void Navigator::CalculateDirection() +======= #include "navigator.h"
//-----------------------------------------------------------------------------
@@ -19,7 +154,135 @@ void Navigator::Stop() //-----------------------------------------------------------------------------
void Navigator::Rotate(float rotationSpeed)
+>>>>>>> .r199 {
+<<<<<<< .mine + Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN); + correctionCountdown = CYCLES_PER_CORRECTION; + + if(targetAngle == EMPTY_FLOAT && !HasTarget()) return; + + if(HasTarget()) + { + direction = direction2d(locationeer->GetPositionX(), locationeer->GetPositionY(), targetX, targetY); + } + + if(targetAngle != EMPTY_FLOAT) + { + rotationSpeed = fabs(rotationSpeed) * sign(PI - (targetAngle - locationeer->GetOrientation())); + } + + CalculateEngines(); +} + +//----------------------------------------------------------------------------- +void Navigator::CalculateEngines() +{ + Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN); + if(direction != EMPTY_FLOAT) + { + float relativeDirection = this->direction - locationeer->GetOrientation(); + + float xDrive = cos(relativeDirection + PI / 6.0f); + float yDrive = sin(relativeDirection + PI / 6.0f); + + float vLeft = xDrive; + float vBack = (-xDrive + sqrt(3) * yDrive) / 2.0f; + float vRight = (-xDrive - sqrt(3) * yDrive) / 2.0f; + + float speedCorrection = 1.0f; + + float maxEngineSpeed = 255.0f; + float minEngineSpeed = -255.0f; + + float maxSingleSpeed = max(max(fabs(vLeft), fabs(vBack)), fabs(vRight)); + + float calcSpeed = sqrt(vLeft * vLeft - vLeft * vRight + vRight * vRight + + vBack * (vBack + vLeft + vRight)); + + if(calcSpeed != 1.0f) + { + speedCorrection = 1.0f / calcSpeed; + } + + float maxOverallSpeed = robotSpeed * maxSingleSpeed * speedCorrection; + if(maxOverallSpeed > maxEngineSpeed) + { + robotSpeed = maxEngineSpeed / (maxSingleSpeed * speedCorrection); + } + + + vLeft = vLeft * this->robotSpeed * speedCorrection; + vBack = vBack * this->robotSpeed * speedCorrection; + vRight = vRight * this->robotSpeed * speedCorrection; + + maxSingleSpeed = max(max(fabs(vLeft), fabs(vBack)), fabs(vRight)); + float minSingleSpeed = min(min(vLeft, vBack), vRight); + + if(rotationSpeed) + { + if(this->rotationSpeed > 0) + { + if(maxEngineSpeed - maxSingleSpeed < this->rotationSpeed) + { + vLeft += maxEngineSpeed - maxSingleSpeed; + vBack += maxEngineSpeed - maxSingleSpeed; + vRight += maxEngineSpeed - maxSingleSpeed; + } + else + { + vLeft += this->rotationSpeed; + vBack += this->rotationSpeed; + vRight += this->rotationSpeed; + } + } + else + { + if((minEngineSpeed - minSingleSpeed) < this->rotationSpeed) + { + vLeft -= minEngineSpeed - minSingleSpeed; + vBack -= minEngineSpeed - minSingleSpeed; + vRight -= minEngineSpeed - minSingleSpeed; + } + else + { + vLeft -= this->rotationSpeed; + vBack -= this->rotationSpeed; + vRight -= this->rotationSpeed; + } + } + } + + Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT); + curEngine->SetSpeed(vLeft); + curEngine->SetEnabled(true); + curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_BACK); + curEngine->SetSpeed(vBack); + curEngine->SetEnabled(true); + curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT); + curEngine->SetSpeed(vRight); + curEngine->SetEnabled(true); + curEngine = NULL; + } + else if(rotationSpeed) + { + Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT); + curEngine->SetSpeed(this->rotationSpeed); + curEngine->SetEnabled(true); + curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_BACK); + curEngine->SetSpeed(this->rotationSpeed); + curEngine->SetEnabled(true); + curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT); + curEngine->SetSpeed(this->rotationSpeed); + curEngine->SetEnabled(true); + curEngine = NULL; + } + else + { + Stop(); + } +} +======= this->rotationSpeed = min(rotationSpeed, 255.0f);;
this->direction = EMPTY_FLOAT;
this->targetAngle = EMPTY_FLOAT;
@@ -257,3 +520,4 @@ void Navigator::CalculateEngines() Stop();
}
}
+>>>>>>> .r199 diff --git a/source/Concept/Framework/modules/executor/navigator.h b/source/Concept/Framework/modules/executor/navigator.h index 56e7b8f..848c9fa 100755 --- a/source/Concept/Framework/modules/executor/navigator.h +++ b/source/Concept/Framework/modules/executor/navigator.h @@ -1,3 +1,75 @@ +<<<<<<< .mine +#ifndef _NAVIGATOR_H +#define _NAVIGATOR_H + +//#include <math.h> +#include "../../stdafx.h" + +class Navigator : public IO_Module +{ +public: + Navigator() + { + this->parent = NULL; + this->moduleId = 0; + this->correctionCountdown = CYCLES_PER_CORRECTION; + this->direction = EMPTY_FLOAT; + this->targetAngle = EMPTY_FLOAT; + this->targetX = EMPTY_FLOAT; + this->targetY = EMPTY_FLOAT; + this->robotSpeed = 0; + this->rotationSpeed = 0; + } + + Navigator(uint32 navigatorId) + { + this->parent = NULL; + this->moduleId = navigatorId; + this->correctionCountdown = CYCLES_PER_CORRECTION; + this->direction = EMPTY_FLOAT; + this->targetAngle = EMPTY_FLOAT; + this->targetX = EMPTY_FLOAT; + this->targetY = EMPTY_FLOAT; + this->robotSpeed = 0; + this->rotationSpeed = 0; + } + +protected: + uint16 correctionCountdown; + float direction; + float targetAngle; + float targetX; + float targetY; + float robotSpeed; + float rotationSpeed; + +public: + void Update(); + + void Stop(); + + void Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed); + + void DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed); + + void Rotate(float rotationSpeed); + + void SetSpeed(float newSpeed) + { + this->robotSpeed = newSpeed; + } + + void CalculateDirection(); + + void CalculateEngines(); + + bool HasTarget() + { + return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT); + } +}; + +======= #ifndef _NAVIGATOR_H
#define _NAVIGATOR_H
@@ -68,4 +140,5 @@ public: }
};
+>>>>>>> .r199 #endif diff --git a/source/Concept/Framework/modules/input/distance_sensor.c b/source/Concept/Framework/modules/input/distance_sensor.c index 977784f..508eeed 100755 --- a/source/Concept/Framework/modules/input/distance_sensor.c +++ b/source/Concept/Framework/modules/input/distance_sensor.c @@ -9,24 +9,24 @@ float Distance_Sensor::GetDistance() *hardwareDDR |= pin;//Set pin output
*hardwarePort |= pin;//Activate port
usleep(10);//Wait for 10µs
- //*hardwarePort &= ~pin;//Deactivate port
+ *hardwarePort &= ~pin;//Deactivate port
*hardwareDDR &= ~pin;//Set pin input
- (parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("pre 1", 4, 1);
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("pre 1", 4, 1);
//Wait for response
- while(!(PINC & pin)){asm volatile("nop");}
+ for(int i=0;(!(PINC & pin))&&(i < 1000);i++) {asm volatile("nop");}
- (parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("pre 2", 4, 1);
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("pre 2", 4, 1);
//Calculate duration of response
- while(*hardwarePin & pin)
+ while((*hardwarePin & pin)&&(result < 300000))
{
result++;
asm volatile("nop");
}
- (parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("pre 3", 4, 1);
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("pre 3", 4, 1);
return (float(result) * DISTANCE_PER_VALUE);
}
diff --git a/source/Concept/Framework/modules/input/mouse_sensor.h b/source/Concept/Framework/modules/input/mouse_sensor.h index 30f9d53..460e387 100755 --- a/source/Concept/Framework/modules/input/mouse_sensor.h +++ b/source/Concept/Framework/modules/input/mouse_sensor.h @@ -42,9 +42,9 @@ public: this->pinSCK = (1 << 6);
this->registerConfig = 0x00;
this->registerPixelData = 0x08;
- this->registerSqual = 0x4;
- this->registerDeltaX = 0x3;
- this->registerDeltaY = 0x2;
+ this->registerSqual = 0x04;
+ this->registerDeltaX = 0x03;
+ this->registerDeltaY = 0x02;
this->configReset = 0x80;
this->configAwake = 0x01;
break;
@@ -52,13 +52,13 @@ public: this->hardwarePort = &PORTC;
this->hardwareDDR = &DDRC;
this->hardwarePin = &PINC;
- this->pinSDA = (1 << 5);
- this->pinSCK = (1 << 7);
+ this->pinSDA = (1 << 7);
+ this->pinSCK = (1 << 5);
this->registerConfig = 0x00;
this->registerPixelData = 0x08;
- this->registerSqual = 0x4;
- this->registerDeltaX = 0x3;
- this->registerDeltaY = 0x2;
+ this->registerSqual = 0x04;
+ this->registerDeltaX = 0x03;
+ this->registerDeltaY = 0x02;
this->configReset = 0x80;
this->configAwake = 0x01;
break;
diff --git a/source/Concept/Framework/modules/output/display.h b/source/Concept/Framework/modules/output/display.h index e221120..bbfa292 100755 --- a/source/Concept/Framework/modules/output/display.h +++ b/source/Concept/Framework/modules/output/display.h @@ -39,7 +39,7 @@ public: this->settingIllumination = 76;
this->settingCursorPosition = 79;
msleep(100);
- uart1_init(103);//9600 BAUD at 16MHz Atmel
+ uart1_init(51);//19200 BAUD at 16MHz Atmel
msleep(100);
break;
default:
@@ -52,6 +52,8 @@ public: this->settingCursorPosition = 0;
break;
}
+
+ Clear();
}
protected:
@@ -137,6 +139,7 @@ public: void NewLine()
{
SendCommand(commandNewLine);
+ ReturnCursor();
}
bool GetCursorVisible()
diff --git a/source/Concept/Framework/modules/output/engine.h b/source/Concept/Framework/modules/output/engine.h index 27b9905..7b7a044 100755 --- a/source/Concept/Framework/modules/output/engine.h +++ b/source/Concept/Framework/modules/output/engine.h @@ -58,7 +58,7 @@ public: protected:
bool enabled;
- float curSpeed;
+ int curSpeed;
//Hardware
volatile uint8* hardwarePort;
@@ -94,16 +94,19 @@ protected: }
public:
- float GetSpeed()
+ int GetSpeed()
{
return curSpeed;
}
- void SetSpeed(float newSpeed)
+ void SetSpeed(int newSpeed)
{
curSpeed = newSpeed;
- *pwmSpeed = (abs((int16)(newSpeed / SPEED_PER_PWM)));
+ int pwm = abs(newSpeed);
+ if(pwm > 255) pwm = 255;
+
+ *pwmSpeed = pwm;
UpdateDirection();
}
diff --git a/source/Concept/Framework/robot.c b/source/Concept/Framework/robot.c index d8ea1c2..0e4e9ac 100755 --- a/source/Concept/Framework/robot.c +++ b/source/Concept/Framework/robot.c @@ -13,8 +13,8 @@ Robot::Robot() DDRB = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6) | (1 << 7);
PORTB = (1 << 1);
- //All output except PC4/PC5 (mousesensor SDA)
- DDRC = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 6) | (1 << 7);
+ //All output except PC4/PC7 (mousesensor SDA)
+ DDRC = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 5) | (1 << 6);
PORTC = 0;
//All output except PD0+1(I2C) + 2+3(RS232)
@@ -101,8 +101,8 @@ uint16 Robot::GetADCValue(uint8 channel) uint32 result = 0;
- //Activate ADC and set division factor to 8
- ADCSRA = (1 << ADEN) | (1 << ADPS1) | (1 << ADPS0);
+ //Activate ADC and set division factor to 128
+ ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);
//Set multiplexer channel
ADMUX = channel;
diff --git a/source/Concept/Framework/tools.h b/source/Concept/Framework/tools.h index ca19993..25a63f2 100644 --- a/source/Concept/Framework/tools.h +++ b/source/Concept/Framework/tools.h @@ -33,9 +33,8 @@ inline void msleep(int msec) inline void usleep(int usec)
{
- usec *= 100;
for (int s=0; s<usec; s++) {
- for (long int i=0; i<1405; i++) {
+ for (long int i=0; i<3; i++) {
asm volatile("nop");
}
}
|