diff options
Diffstat (limited to 'source/Concept/Framework')
| -rw-r--r-- | source/Concept/Framework/RoboCode.aps | 2 | ||||
| -rw-r--r-- | source/Concept/Framework/defines.h | 3 | ||||
| -rwxr-xr-x | source/Concept/Framework/main.c | 58 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/executor/navigator.c | 44 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/input/mouse_sensor.h | 22 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/interpreter/position_tracker.c | 62 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/interpreter/position_tracker.h | 6 | ||||
| -rw-r--r-- | source/Concept/Framework/tools.h | 17 |
8 files changed, 168 insertions, 46 deletions
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diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h index 8cf2d7a..586a3d8 100644 --- a/source/Concept/Framework/defines.h +++ b/source/Concept/Framework/defines.h @@ -58,9 +58,10 @@ //Constants
#define SPEED_PER_PWM 1
#define DISTANCE_PER_VALUE 1
+#define TICKS_PER_CM 205.0f
#define PI 3.14159265358979323846f
-#define CYCLES_PER_CORRECTION 200
+#define CYCLES_PER_CORRECTION 20
#define EMPTY_FLOAT 81188.1484f
//IO Module Names
diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c index 8a7d90f..b0fc96b 100755 --- a/source/Concept/Framework/main.c +++ b/source/Concept/Framework/main.c @@ -145,27 +145,29 @@ int main() Keyboard* ourKeyboard = localRobot->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
uint32 i = 1;
Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ Position_Tracker* ourPosition_Tracker = localRobot->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+
float rotation = 0;
- Mouse_Sensor* mouse_left = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
- Mouse_Sensor* mouse_right = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+ //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
+ ourDisplay->Print(i++,1,1);
+
+ if(!(i % 200))
+ {
+ ourDisplay->Clear();
+ ourDisplay->PrintFloat(ourPosition_Tracker->GetPositionX(),1,2);
+ ourDisplay->PrintFloat(ourPosition_Tracker->GetPositionY(),1,3);
+ ourDisplay->PrintFloat(ourPosition_Tracker->GetOrientation() * 180.0f / PI,1,4);
+ }
+
- distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
+ /*distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
value = distanceSensor->GetDistance();
ourDisplay->Print(value, 1, 4);
ourDisplay->Print(";");
@@ -180,47 +182,41 @@ int main() distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_270_DEG);
value = distanceSensor->GetDistance();
ourDisplay->Print(value);
- ourDisplay->Print(";");
-
-
- msleep(500);*/
-
+ ourDisplay->Print(";"); */
+
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();
+ break;
case 1:
- ourNavigator->Drive(225, rotation, 200, rotation);
+ ourNavigator->Drive(225, rotation, 100, rotation);
break;
case 2:
- ourNavigator->Drive(180, rotation, 200, rotation);
+ ourNavigator->Drive(180, rotation, 100, rotation);
break;
case 3:
- ourNavigator->Drive(135, rotation, 200, rotation);
+ ourNavigator->Drive(135, rotation, 100, rotation);
break;
case 4:
- ourNavigator->Drive(270, rotation, 200, rotation);
+ ourNavigator->Drive(270, rotation, 100, rotation);
break;
case 5:
ourNavigator->Drive(0, rotation, 0, rotation);
break;
case 6:
- ourNavigator->Drive(90, rotation, 200, rotation);
+ ourNavigator->Drive(90, rotation, 100, rotation);
break;
case 7:
- ourNavigator->Drive(315, rotation, 200, rotation);
+ ourNavigator->Drive(315, rotation, 100, rotation);
break;
case 8:
- ourNavigator->Drive(0, rotation, 200, rotation);
+ ourNavigator->Drive(0, rotation, 100, rotation);
break;
case 9:
- ourNavigator->Drive(45, rotation, 200, rotation);
+ ourNavigator->Drive(45, rotation, 100, rotation);
break;
case 10:
rotation += 10;
@@ -230,8 +226,6 @@ int main() break;
}
- msleep(50);
-
/*
//ourDisplay->Clear();
ourDisplay->Print(i++,1,1);
diff --git a/source/Concept/Framework/modules/executor/navigator.c b/source/Concept/Framework/modules/executor/navigator.c index a69c533..5dbf8bf 100755 --- a/source/Concept/Framework/modules/executor/navigator.c +++ b/source/Concept/Framework/modules/executor/navigator.c @@ -54,6 +54,30 @@ void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float }
CalculateEngines();
+
+ //dings,,,
+
+ /*float xDrive = cos(direction + PI / 6.0f);
+ float yDrive = sin(direction + PI / 6.0f);
+
+ float vLeft = xDrive;
+ float vBack = (-xDrive + sqrt(3) * yDrive) / 2.0f;
+ float vRight = (-xDrive - sqrt(3) * yDrive) / 2.0f;
+
+ vLeft = vLeft * this->robotSpeed + rotationSpeed;
+ vBack = vBack * this->robotSpeed + rotationSpeed;
+ vRight = vRight * this->robotSpeed + 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;*/
} //-----------------------------------------------------------------------------
@@ -154,6 +178,8 @@ void Navigator::CalculateDirection() //-----------------------------------------------------------------------------
void Navigator::CalculateEngines()
{
+ Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+
if(direction != EMPTY_FLOAT)
{
float relativeDirection = this->direction - locationeer->GetOrientation();
@@ -165,15 +191,15 @@ void Navigator::CalculateEngines() float vBack = (-xDrive + sqrt(3) * yDrive) / 2.0f;
float vRight = (-xDrive - sqrt(3) * yDrive) / 2.0f;
- float speedCorrection = 1.0f;
+ /*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));*/
+ float calcSpeed = 1.0f;//sqrt(vLeft * vLeft - vLeft * vRight + vRight * vRight +
+ // vBack * (vBack + vLeft + vRight));
if(calcSpeed != 1.0f)
{
@@ -184,14 +210,14 @@ void Navigator::CalculateEngines() if(maxOverallSpeed > maxEngineSpeed)
{
robotSpeed = maxEngineSpeed / (maxSingleSpeed * speedCorrection);
- }
+ }*/
- vLeft = vLeft * this->robotSpeed * speedCorrection;
- vBack = vBack * this->robotSpeed * speedCorrection;
- vRight = vRight * this->robotSpeed * 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));
+ /*maxSingleSpeed = max(max(fabs(vLeft), fabs(vBack)), fabs(vRight));
float minSingleSpeed = min(min(vLeft, vBack), vRight);
if(rotationSpeed)
@@ -226,7 +252,7 @@ void Navigator::CalculateEngines() vRight -= this->rotationSpeed;
}
}
- }
+ }*/
Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT);
curEngine->SetSpeed(vLeft);
diff --git a/source/Concept/Framework/modules/input/mouse_sensor.h b/source/Concept/Framework/modules/input/mouse_sensor.h index 460e387..b3d1b1a 100755 --- a/source/Concept/Framework/modules/input/mouse_sensor.h +++ b/source/Concept/Framework/modules/input/mouse_sensor.h @@ -24,6 +24,8 @@ public: this->configReset = 0;
this->configAwake = 0;
this->newImage = false;
+ this->positionX = 0;
+ this->positionY = 0;
}
Mouse_Sensor(uint32 sensorId)
@@ -47,6 +49,8 @@ public: this->registerDeltaY = 0x02;
this->configReset = 0x80;
this->configAwake = 0x01;
+ this->positionX = -3.88f * TICKS_PER_CM;
+ this->positionY = -3.88f * TICKS_PER_CM;
break;
case IO_SENSOR_MOUSE_RIGHT:
this->hardwarePort = &PORTC;
@@ -61,6 +65,8 @@ public: this->registerDeltaY = 0x02;
this->configReset = 0x80;
this->configAwake = 0x01;
+ this->positionX = -3.88f * TICKS_PER_CM;
+ this->positionY = 3.88f * TICKS_PER_CM;
break;
default:
this->hardwarePort = NULL;
@@ -101,8 +107,10 @@ protected: uint8 registerDeltaY;
uint8 configReset;
uint8 configAwake;
+ //Information
+ float positionX;
+ float positionY;
-public:
void WriteByte(uint8 newByte)
{
*hardwareDDR |= pinSDA;//Set SDA output
@@ -180,6 +188,8 @@ public: return pixel;
}
+
+public:
uint8 GetSqual()
{
return Read(registerSqual);
@@ -194,6 +204,16 @@ public: {
return (int8)(Read(registerDeltaY));
}
+
+ float GetPositionX()
+ {
+ return positionX;
+ }
+
+ float GetPositionY()
+ {
+ return positionY;
+ }
};
#endif diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.c b/source/Concept/Framework/modules/interpreter/position_tracker.c index 262069a..c8cd52d 100755 --- a/source/Concept/Framework/modules/interpreter/position_tracker.c +++ b/source/Concept/Framework/modules/interpreter/position_tracker.c @@ -3,5 +3,65 @@ //-----------------------------------------------------------------------------
void Position_Tracker::Update()
{
- //insert code here
+ Mouse_Sensor* mouseLeft = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
+ Mouse_Sensor* mouseRight = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+
+ int8 leftX = mouseLeft->GetXMovement();
+ int8 leftY = mouseLeft->GetYMovement();
+ float distanceLeft = sqrt(leftX * leftX + leftY * leftY);
+ float angleLeft = easyAngle(atan2(leftY, leftX) + (225.0f * PI / 180.0f));
+
+ float movementLeftX = cos(angleLeft) * distanceLeft;
+ float movementLeftY = sin(angleLeft) * distanceLeft;
+
+ if(!leftX && !leftY)
+ {
+ movementLeftX = 0;
+ movementLeftY = 0;
+ }
+
+ 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));
+
+ float movementRightX = cos(angleRight) * distanceRight;
+ float movementRightY = sin(angleRight) * distanceRight;
+
+ if(!rightX && !rightY)
+ {
+ movementRightX = 0;
+ movementRightY = 0;
+ }
+
+ float movementDifferenceX = movementRightX - movementLeftX;
+ float movementDifferenceY = (movementRightY + mouseRight->GetPositionY()) - (movementLeftY + mouseLeft->GetPositionY());
+
+ float robotMovementX = movementDifferenceX / 2.0f;
+ float robotMovementY = movementDifferenceY / 2.0f;
+ robotMovementX += movementLeftX;
+ robotMovementY += movementLeftY + mouseLeft->GetPositionY();
+ float robotDistance = sqrt(robotMovementX * robotMovementX + robotMovementY * robotMovementY);
+
+ float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f);
+
+ float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(robotMovementX);
+ float absoluteDiffY = sin(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(robotMovementY);
+
+ if(!robotMovementX && !robotMovementY)
+ {
+ absoluteDiffX = 0;
+ absoluteDiffY = 0;
+ }
+
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(" ", 5, 1);
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(absoluteDiffX, 5, 1);
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(absoluteDiffY, 12, 1);
+
+ this->positionX += absoluteDiffX;
+ this->positionY += absoluteDiffY;
+
+ this->orientation += orientationDiff;
+
+ this->orientation = easyAngle(this->orientation);
}
diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.h b/source/Concept/Framework/modules/interpreter/position_tracker.h index b31dd8f..e93ef0c 100755 --- a/source/Concept/Framework/modules/interpreter/position_tracker.h +++ b/source/Concept/Framework/modules/interpreter/position_tracker.h @@ -10,12 +10,18 @@ public: {
this->parent = NULL;
this->moduleId = 0;
+ this->positionX = 0;
+ this->positionY = 0;
+ this->orientation = 0;
}
Position_Tracker(uint32 trackerId)
{
this->parent = NULL;
this->moduleId = trackerId;
+ this->positionX = 0;
+ this->positionY = 0;
+ this->orientation = 0;
}
protected:
diff --git a/source/Concept/Framework/tools.h b/source/Concept/Framework/tools.h index 735e773..2607001 100644 --- a/source/Concept/Framework/tools.h +++ b/source/Concept/Framework/tools.h @@ -14,6 +14,21 @@ #define min(a, b) (((a) < (b)) ? (a) : (b))
#define sign(a) (((a) < 0) ? (-1) : (1))
+inline float easyAngle(float angle)
+{
+ while(angle < 0)
+ {
+ angle += 2.0f * PI;
+ }
+
+ while(angle >= 2.0f * PI)
+ {
+ angle -= 2.0f * PI;
+ }
+
+ return angle;
+}
+
inline void sleep(uint16 sec)
{
for (uint16 s = 0; s < sec; s++) {
@@ -48,7 +63,7 @@ inline float distance2d(float x1, float y1, float x2, float y2) inline float direction2d(float x1, float y1, float x2, float y2)
{
- return atan((y2 - y1) / (x2 - x1));
+ return atan2((y2 - y1), (x2 - x1));
} #endif |