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authorsicarius <devnull@localhost>2007-02-22 21:59:02 +0100
committersicarius <devnull@localhost>2007-02-22 21:59:02 +0100
commitf544ab78229d3a4d54b910135ba61bb816009589 (patch)
tree6b1d9aad746299631a0b67661c2d2be62b5e7525 /source/Concept/Framework
parentdc8b1cde313f3f8a60462187bbeeea4277fd0313 (diff)
downloadrc2007-soccer-f544ab78229d3a4d54b910135ba61bb816009589.tar
rc2007-soccer-f544ab78229d3a4d54b910135ba61bb816009589.zip
The Last Day ?
Diffstat (limited to 'source/Concept/Framework')
-rw-r--r--source/Concept/Framework/RoboCode.aps2
-rw-r--r--source/Concept/Framework/atmega128io.h4
-rw-r--r--source/Concept/Framework/defines.h2
-rwxr-xr-xsource/Concept/Framework/main.c130
-rwxr-xr-xsource/Concept/Framework/modules/executor/navigator.c52
-rwxr-xr-xsource/Concept/Framework/modules/executor/navigator.h4
-rwxr-xr-xsource/Concept/Framework/modules/input/distance_sensor.c96
-rwxr-xr-xsource/Concept/Framework/modules/input/distance_sensor.h47
-rwxr-xr-xsource/Concept/Framework/modules/input/ir_sensor.h4
-rwxr-xr-xsource/Concept/Framework/modules/interpreter/ball_tracker.c15
-rwxr-xr-xsource/Concept/Framework/modules/interpreter/ball_tracker.h10
-rwxr-xr-xsource/Concept/Framework/modules/interpreter/position_tracker.c21
-rwxr-xr-xsource/Concept/Framework/modules/interpreter/position_tracker.h4
-rwxr-xr-xsource/Concept/Framework/robot.c2
14 files changed, 238 insertions, 155 deletions
diff --git a/source/Concept/Framework/RoboCode.aps b/source/Concept/Framework/RoboCode.aps
index 609c3cf..ca29afc 100644
--- a/source/Concept/Framework/RoboCode.aps
+++ b/source/Concept/Framework/RoboCode.aps
@@ -1 +1 @@
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diff --git a/source/Concept/Framework/atmega128io.h b/source/Concept/Framework/atmega128io.h
index a3384a4..7f94c6c 100644
--- a/source/Concept/Framework/atmega128io.h
+++ b/source/Concept/Framework/atmega128io.h
@@ -6,6 +6,8 @@
#include <avr/io.h>
#include <avr/interrupt.h>
+#include "defines.h"
+
/************************************************************************
Title: Interrupt UART library with receive/transmit circular buffers
Author: Peter Fleury <pfleury@gmx.ch> http://jump.to/fleury
@@ -197,7 +199,7 @@ extern void uart1_puts_p(const char *s );
uint8 slave_adr; /*!< Slave Adresse and W/R byte */
uint8 size; /*!< Anzahl der Bytes, die gesendet oder empfagen werden sollen */
uint8 *data_ptr; /*!< Pointer zum Sende und Empfangs Puffer */
- }tx_type;
+ }tx_type;
/*!
* Hier wird der eigentliche TWI-Treiber angesprochen
diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h
index 6e62143..9a7c12b 100644
--- a/source/Concept/Framework/defines.h
+++ b/source/Concept/Framework/defines.h
@@ -65,6 +65,8 @@
#define CYCLES_PER_CORRECTION 20
#define EMPTY_FLOAT 81188.1484f
+#define BALL_HELD_INTENSITY 900
+
#define WIRELESS_CODE "SPASS!"
enum WirelessCommands
{
diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c
index 1875847..ffc4cc9 100755
--- a/source/Concept/Framework/main.c
+++ b/source/Concept/Framework/main.c
@@ -159,6 +159,8 @@ int main()
//Debug code
Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
ourDisplay->Clear();
+ ourDisplay->Print("Roboter fertig gestartet",1,1);
+ sleep(1);
IR_Sensor* ourSensor = NULL;
@@ -175,51 +177,49 @@ int main()
ourDribbler->SetSpeed(1);
ourDribbler->SetEnabled(true);
Aktuator* ourAktuator = localRobot->GetModule<Aktuator>(IO_AKTUATOR_MAIN);
-
+ Logic* ourLogic = localRobot->GetModule<Logic>(IO_LOGIC_MAIN);
+
float rotation = 0;
float speed = 200;
//Mouse_Sensor* mouse_left = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
//Mouse_Sensor* mouse_right = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+ ourDisplay->Clear();
//Run
while(true)
{
ourDisplay->Print(i++,1,1);
- msleep(100);
+ //msleep(50);
- if(!(i % 1))
+ if(!(i % 20))
{
ourDisplay->Clear();
- //ourDisplay->Print(ourPosition_Tracker->GetPositionX(),1,2);
- //ourDisplay->Print(ourPosition_Tracker->GetPositionY(),1,3);
- //ourDisplay->Print(ourPosition_Tracker->GetOrientation() * 180.0f / PI,1,4);
+
+ 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(";");
}
- if(!(i % 50))
+ if(!(i % 20))
{
- ourAktuator->Kick();
+ //ourAktuator->Kick();
}
-
-
- distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
- value = distanceSensor->GetDistance();
- ourDisplay->Print(value, 1, 2);
- 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, 1, 3);
- ourDisplay->Print(";");
- distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_270_DEG);
- value = distanceSensor->GetDistance();
- ourDisplay->Print(value);
- ourDisplay->Print(";");
uint8 someInput = ourKeyboard->GetInput();
//ourDisplay->Print("Ready to accept...", 1, 2);
@@ -260,43 +260,55 @@ int main()
ourPosition_Tracker->SetPosition(0,0,0); // Reset Position_Tracker
break;
case 12:
- ourPosition_Tracker->SetPosition(0,0,0); // Reset Position_Tracker
+ ourLogic->SetKeeper(true); // Reset Position_Tracker
break;
}
//ourDisplay->Clear();
- /*ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
- value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value, 1, 2);
- ourDisplay->Print(";");
- ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_30_DEG);
- value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
- ourDisplay->Print(";");
- ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_60_DEG);
- value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
- ourDisplay->Print(";");
- ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_100_DEG);
- value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
- ourDisplay->Print(";");
- ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_180_DEG);
- value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value, 1, 3);
- ourDisplay->Print(";");
- ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_260_DEG);
- value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
- ourDisplay->Print(";");
- ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_300_DEG);
- value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
- ourDisplay->Print(";");
- ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
- value = ourSensor->GetIRIntensity();
- ourDisplay->Print(value);
- ourDisplay->Print(";");*/
+ if(!(i % 20))
+ {
+ /*ourDisplay->Clear();
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value, 1, 2);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_30_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_60_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_100_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_180_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value, 1, 3);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_260_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_300_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ if(ourBallTracker->KnowsBallDirection())
+ {
+ ourDisplay->Print(ourBallTracker->GetBallDirection() * 180.0f / PI, 1, 4);
+ }
+ else
+ {
+ ourDisplay->Print("Not found oder so", 1, 4);
+ }*/
+ }
localRobot->Update();
diff --git a/source/Concept/Framework/modules/executor/navigator.c b/source/Concept/Framework/modules/executor/navigator.c
index 928a5ff..552c494 100755
--- a/source/Concept/Framework/modules/executor/navigator.c
+++ b/source/Concept/Framework/modules/executor/navigator.c
@@ -86,15 +86,36 @@ void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed,
}
CalculateDirection();
+}
+
+void Navigator::RotateTo(float newAngle, float rotationSpeed) {
+ Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+
+ this->rotationSpeed = min(rotationSpeed, 255.0f);
+ this->targetAngle = newAngle * PI / 180.0f;
+
+ if(targetAngle - locationeer->GetOrientation() > PI)
+ {
+ if(rotationSpeed > 0)
+ {
+ rotationSpeed = -rotationSpeed;
+ }
+ }
+ else
+ {
+ if(rotationSpeed < 0)
+ {
+ rotationSpeed = -rotationSpeed;
+ }
+ }
+
+ CalculateDirection();
}
-
-//-----------------------------------------------------------------------------
-void Navigator::Update()
-{
+
+bool Navigator::TargetReached() {
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)
{
@@ -106,6 +127,14 @@ void Navigator::Update()
targetReached = true;
}
+ return targetReached;
+}
+
+bool Navigator::AngleReached() {
+ Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+
+ bool targetAngleReached = false;
+
if(targetAngle != EMPTY_FLOAT && fabs(targetAngle - locationeer->GetOrientation()) < 0.1f)
{
targetAngle = EMPTY_FLOAT;
@@ -113,15 +142,20 @@ void Navigator::Update()
targetAngleReached = true;
}
-
- if(targetReached && targetAngleReached)
+ return targetAngleReached;
+}
+
+//-----------------------------------------------------------------------------
+void Navigator::Update()
+{
+ if(TargetReached() && AngleReached())
{
Stop();
}
- else if(targetReached || targetAngleReached)
+ /*else if(HasTarget() && !TargetReached())
{
CalculateDirection();
- }
+ }*/
if(!(correctionCountdown--))
{
diff --git a/source/Concept/Framework/modules/executor/navigator.h b/source/Concept/Framework/modules/executor/navigator.h
index 81919f9..7f4b36d 100755
--- a/source/Concept/Framework/modules/executor/navigator.h
+++ b/source/Concept/Framework/modules/executor/navigator.h
@@ -49,6 +49,7 @@ public:
void Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed);
void DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed);
+ void RotateTo(float newAngle,float roationSpeed);
void Rotate(float rotationSpeed);
@@ -65,6 +66,9 @@ public:
{
return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT);
}
+
+ bool TargetReached();
+ bool AngleReached();
};
#endif
diff --git a/source/Concept/Framework/modules/input/distance_sensor.c b/source/Concept/Framework/modules/input/distance_sensor.c
index 1ab3755..239e63b 100755
--- a/source/Concept/Framework/modules/input/distance_sensor.c
+++ b/source/Concept/Framework/modules/input/distance_sensor.c
@@ -1,22 +1,12 @@
-#include "distance_sensor.h"
-
-/*!
- * SRF10 initialsieren
- */
-
-void Distance_Sensor::srf10_init(void){
- srf10_set_range(SRF10_MAX_RANGE);
- //srf10_set_range(6); //Mit diesem Wert muss man spielen um das Optimum zu ermitteln
-return;
-}
-
-/*!
- * Verstaerkungsfaktor setzen
- * @param gain Verstaerkungsfaktor
- */
-
-void Distance_Sensor::srf10_set_gain(unsigned char gain){
- if(gain>16) { gain=16; }
+#include "distance_sensor.h"
+
+//-----------------------------------------------------------------------------
+void Distance_Sensor::SetSignalFactor(uint8 factor)
+{
+ if(factor > 16)
+ {
+ factor = 16;
+ }
uint8 temp[2];
uint8 state;
@@ -24,30 +14,59 @@ void Distance_Sensor::srf10_set_gain(unsigned char gain){
state = SUCCESS;
- tx_frame[0].slave_adr = this->slaveAddr+W;
+ tx_frame[0].slave_adr = this->slaveAddr + W;
tx_frame[0].size = 2;
tx_frame[0].data_ptr = temp;
tx_frame[0].data_ptr[0] = 1;
- tx_frame[0].data_ptr[1] = gain;
+ tx_frame[0].data_ptr[1] = factor;
tx_frame[1].slave_adr = OWN_ADR;
state = Send_to_TWI(tx_frame);
+}
+
+//-----------------------------------------------------------------------------
+void Distance_Sensor::SetSlaveAddress(uint8 newSlaveAddress)
+{
+ uint8 temp[2];
+ uint8 state;
+ tx_type tx_frame[2];
+
+ state = SUCCESS;
+
+ tx_frame[0].slave_adr = this->slaveAddr + W;
+ tx_frame[0].size = 2;
+ tx_frame[0].data_ptr = temp;
+ tx_frame[0].data_ptr[0] = 0;
+ tx_frame[0].data_ptr[1] = 160;
+ tx_frame[1].slave_adr = OWN_ADR;
+ state = Send_to_TWI(tx_frame);
+
+ msleep(60);
+
+ tx_frame[0].data_ptr[1] = 170;
+ state = Send_to_TWI(tx_frame);
+
+ msleep(60);
+
+ tx_frame[0].data_ptr[1] = 165;
+ state = Send_to_TWI(tx_frame);
+
+ msleep(60);
+
+ tx_frame[0].data_ptr[1] = newSlaveAddress;
+ state = Send_to_TWI(tx_frame);
}
-/*!
- * Reichweite setzen, hat auch Einfluss auf die Messdauer
- * @param millimeters Reichweite in mm
- */
-
-void Distance_Sensor::srf10_set_range(unsigned int millimeters){
+//-----------------------------------------------------------------------------
+void Distance_Sensor::SetRange(unsigned int millimeters){
uint8 temp[2];
uint8 state;
tx_type tx_frame[2];
state = SUCCESS;
- millimeters= (millimeters/43);
+ millimeters = (millimeters/43);
tx_frame[0].slave_adr = this->slaveAddr+W;
tx_frame[0].size = 2;
@@ -85,14 +104,9 @@ uint8 Distance_Sensor::srf10_ping(uint8 metric_unit){
return state;
}
-
-/*!
- * Register auslesen
- * @param srf10_register welches Register soll ausgelsen werden
- * @return Inhalt des Registers
- */
-
-uint8 Distance_Sensor::srf10_read_register(uint8 srf10_register){
+
+//-----------------------------------------------------------------------------
+uint8 Distance_Sensor::ReadRegister(uint8 registerToRead){
uint8 temp;
uint8 value;
uint8 state;
@@ -104,7 +118,7 @@ uint8 Distance_Sensor::srf10_read_register(uint8 srf10_register){
tx_frame[0].slave_adr = this->slaveAddr+W;
tx_frame[0].size = 1;
tx_frame[0].data_ptr = &temp;
- tx_frame[0].data_ptr[0] = srf10_register;
+ tx_frame[0].data_ptr[0] = registerToRead;
tx_frame[1].slave_adr = this->slaveAddr+R;
tx_frame[1].size = 1;
@@ -130,10 +144,10 @@ uint16 Distance_Sensor::srf10_get_measure(){
state = SUCCESS;
state = srf10_ping(SRF10_CENTIMETERS);
- usleep(10); //Optimierungs Potential
- lob=srf10_read_register(SRF10_LOB);
- usleep(10); //Optimierungs Potential
- hib=srf10_read_register(SRF1sr0_HIB);
+ msleep(10); //Optimierungs Potential
+ lob=ReadRegister(SRF10_LOB);
+ msleep(10); //Optimierungs Potential
+ hib=ReadRegister(SRF10_HIB);
return (hib*256)+lob;
}
diff --git a/source/Concept/Framework/modules/input/distance_sensor.h b/source/Concept/Framework/modules/input/distance_sensor.h
index 9fb2c58..0bb2baf 100755
--- a/source/Concept/Framework/modules/input/distance_sensor.h
+++ b/source/Concept/Framework/modules/input/distance_sensor.h
@@ -9,9 +9,9 @@
#define SRF10_MIN_RANGE 0 /*!< Minimale Reichweite 43mm */
#define SRF10_MAX_RANGE 5977 /*!< Maximale Reichweite 5977mm */
-#define SRF10_INCHES 0X50 /*!< Messung in INCHES */
-#define SRF10_CENTIMETERS 0X51 /*!< Messung in CM */
-#define SRF10_MICROSECONDS 0X52 /*!< Messung in Millisekunden */
+#define SRF10_INCHES 0x50 /*!< Messung in INCHES */
+#define SRF10_CENTIMETERS 0x51 /*!< Messung in CM */
+#define SRF10_MICROSECONDS 0x52 /*!< Messung in Millisekunden */
#define SRF10_COMMAND 0 /*!< W=Befehls-Register R=Firmware*/
#define SRF10_LIGHT 1 /*!< W=Verstaerkungsfaktor R=Nicht benutzt */
@@ -50,55 +50,44 @@ public:
default:
this->slaveAddr = 0;
break;
- }
-
- // initialiate the sensor
- srf10_init();
+ }
+
+ //SetRange(100);
+ SetRange(2000);
+ SetSignalFactor(0x06);
}
protected:
//Hardware
- slaveAddr;
-
- /*!
- * SRF10 initialsieren
- */
-extern void srf10_init(void);
-
-/*!
- * Verstaerkungsfaktor setzen
- * @param gain Verstaerkungsfaktor
- */
-extern void srf10_set_gain(uint8 gain);
-
-/*!
- * Reichweite setzen, hat auch Einfluss auf die Messdauer
- * @param millimeters Reichweite in mm
- */
-extern void srf10_set_range(uint16 millimeters);
+ uint8 slaveAddr;
+
+ void SetSignalFactor(uint8 factor);
+
+ void SetRange(uint16 millimeters);
/*!
* Messung ausloesen
* @param metric_unit 0x50 in Zoll, 0x51 in cm, 0x52 ms
* @return Resultat der Aktion
*/
-extern uint8 srf10_ping(uint8 metric_unit);
+ uint8 srf10_ping(uint8 metric_unit);
/*!
* Register auslesen
* @param srf10_register welches Register soll ausgelsen werden
* @return Inhalt des Registers
*/
-extern uint8 srf10_read_register(uint8 SRF10_register);
+ uint8 ReadRegister(uint8 registerToRead);
/*!
* Messung starten Ergebniss aufbereiten und zurueckgeben
* @return Messergebniss
*/
-extern uint16 srf10_get_measure(void);
+ uint16 srf10_get_measure(void);
public:
- float GetDistance();
+ uint16 GetDistance();
+ void SetSlaveAddress(uint8 newSlaveAddress);
};
#endif
diff --git a/source/Concept/Framework/modules/input/ir_sensor.h b/source/Concept/Framework/modules/input/ir_sensor.h
index 74396ec..c8f692b 100755
--- a/source/Concept/Framework/modules/input/ir_sensor.h
+++ b/source/Concept/Framework/modules/input/ir_sensor.h
@@ -34,11 +34,11 @@ public:
break;
case IO_SENSOR_IR_100_DEG:
this->channel = 3;
- this->intensityCorrection = 40;
+ this->intensityCorrection = 80;
break;
case IO_SENSOR_IR_180_DEG:
this->channel = 4;
- this->intensityCorrection = 50;
+ this->intensityCorrection = 70;
break;
case IO_SENSOR_IR_260_DEG:
this->channel = 5;
diff --git a/source/Concept/Framework/modules/interpreter/ball_tracker.c b/source/Concept/Framework/modules/interpreter/ball_tracker.c
index 2d85b96..16fdfb4 100755
--- a/source/Concept/Framework/modules/interpreter/ball_tracker.c
+++ b/source/Concept/Framework/modules/interpreter/ball_tracker.c
@@ -21,6 +21,21 @@ void Ball_Tracker::Update()
{
greatestIntensity = i;
}
+
+ if(i == 0)
+ {
+ if(intensity[i] > BALL_HELD_INTENSITY) // Ball derzeit sehr nah dran
+ {
+ ballHeld = true;
+ ballHeldCounter = 100;
+ }
+ else if(ballHeldCounter > 0) // Oder vor kurzem erst sehr nah dran
+ {
+ ballHeld = true;
+ ballHeldCounter--;
+ }
+ else ballHeld = false; // ansonsten hat er den Ball nicht
+ }
}
if(intensity[greatestIntensity])
diff --git a/source/Concept/Framework/modules/interpreter/ball_tracker.h b/source/Concept/Framework/modules/interpreter/ball_tracker.h
index c62f05e..cb90ff2 100755
--- a/source/Concept/Framework/modules/interpreter/ball_tracker.h
+++ b/source/Concept/Framework/modules/interpreter/ball_tracker.h
@@ -11,6 +11,8 @@ public:
this->parent = NULL;
this->moduleId = 0;
this->direction = EMPTY_FLOAT;
+ this->ballHeldCounter = 0;
+ this->ballHeld = false;
}
Ball_Tracker(uint32 trackerId)
@@ -18,10 +20,14 @@ public:
this->parent = NULL;
this->moduleId = trackerId;
this->direction = EMPTY_FLOAT;
+ this->ballHeldCounter = 0;
+ this->ballHeld = false;
}
protected:
float direction;
+ uint8 ballHeldCounter;
+ bool ballHeld;
public:
void Update();
@@ -33,12 +39,12 @@ public:
bool KnowsBallDirection()
{
- return direction != EMPTY_FLOAT;
+ return (direction != EMPTY_FLOAT);
}
bool RobotHasBall()
{
- //fill me!
+ return ballHeld;
}
};
diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.c b/source/Concept/Framework/modules/interpreter/position_tracker.c
index a64ab60..f6d67ac 100755
--- a/source/Concept/Framework/modules/interpreter/position_tracker.c
+++ b/source/Concept/Framework/modules/interpreter/position_tracker.c
@@ -10,6 +10,10 @@ void Position_Tracker::Update()
// Generate a vector for the left mouse
int8 leftX = mouseLeft->GetXMovement();
int8 leftY = mouseLeft->GetYMovement();
+ // Generate a vector for the right mouse
+ int8 rightX = mouseRight->GetXMovement();
+ int8 rightY = mouseRight->GetYMovement();
+
float distanceLeft = sqrt(leftX * leftX + leftY * leftY);
float angleLeft = easyAngle(atan2(leftY, leftX) + (225.0f * PI / 180.0f));
@@ -23,9 +27,6 @@ void Position_Tracker::Update()
movementLeftY = 0;
}
- // Generate a vector for the right mouse
- int8 rightX = mouseRight->GetXMovement();
- int8 rightY = mouseRight->GetYMovement();
float distanceRight = sqrt(rightX * rightX + rightY * rightY);
float angleRight = easyAngle(atan2(rightY, rightX) - (45.0f * PI / 180.0f));
@@ -50,13 +51,9 @@ void Position_Tracker::Update()
float robotMovementY = movementDifferenceY / 2.0f;
robotMovementX += movementLeftX + mouseLeft->GetPositionX() + (-mouseLeft->GetPositionX() * cos(orientationDiff));
robotMovementY += movementLeftY + mouseLeft->GetPositionY() + (mouseLeft->GetPositionX() * sin(orientationDiff));
- //float robotDistance = sqrt(robotMovementX * robotMovementX + robotMovementY * robotMovementY);
-
- float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotMovementX - sin(this->orientation + (orientationDiff / 2.0f)) * robotMovementY;
- float absoluteDiffY = sin(this->orientation + (orientationDiff / 2.0f) + PI / 2.0f) * robotMovementY + cos(this->orientation + (orientationDiff / 2.0f) - PI / 2.0f) * robotMovementX;
- //float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(robotMovementX);
- //float absoluteDiffY = sin(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(robotMovementY);
+ float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotMovementX + sin(this->orientation + (orientationDiff / 2.0f)) * robotMovementY;
+ float absoluteDiffY = sin(this->orientation + (orientationDiff / 2.0f) + PI / 2.0f) * robotMovementY - cos(this->orientation + (orientationDiff / 2.0f) - PI / 2.0f) * robotMovementX;
if(!robotMovementX && !robotMovementY)
{
@@ -74,4 +71,10 @@ void Position_Tracker::Update()
this->orientation += orientationDiff;
this->orientation = easyAngle(this->orientation);
+
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(" ", 5, 1);
+ /*(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Clear();
+ (parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(this->orientation * 180.0f / PI, 5, 1);
+ (parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(this->positionX, 1, 2);
+ (parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(this->positionY, 1, 3);*/
}
diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.h b/source/Concept/Framework/modules/interpreter/position_tracker.h
index 47d0740..56b16c4 100755
--- a/source/Concept/Framework/modules/interpreter/position_tracker.h
+++ b/source/Concept/Framework/modules/interpreter/position_tracker.h
@@ -51,8 +51,8 @@ public:
// returns orientation
float GetOrientation() {
- return 0.0f; //tmp!!!!!!!!!!
- //return orientation;
+ //return 0.0f; //tmp!!!!!!!!!!
+ return orientation;
}
};
diff --git a/source/Concept/Framework/robot.c b/source/Concept/Framework/robot.c
index 9985463..a630d4a 100755
--- a/source/Concept/Framework/robot.c
+++ b/source/Concept/Framework/robot.c
@@ -92,6 +92,8 @@ void Robot::Update()
GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN)->Update();
+ GetModule<Logic>(IO_LOGIC_MAIN)->Update();
+
GetModule<Navigator>(IO_NAVIGATOR_MAIN)->Update();
//insert code here
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 01:34:25 +0100