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-rw-r--r--source/Concept/Framework/RoboCode.aps4
-rw-r--r--source/Concept/Framework/default/Makefile4
-rw-r--r--source/Concept/Framework/defines.h6
-rwxr-xr-xsource/Concept/Framework/main.c121
-rwxr-xr-xsource/Concept/Framework/modules/executor/navigator.c264
-rwxr-xr-xsource/Concept/Framework/modules/executor/navigator.h73
-rwxr-xr-xsource/Concept/Framework/modules/input/distance_sensor.c12
-rwxr-xr-xsource/Concept/Framework/modules/input/mouse_sensor.h16
-rwxr-xr-xsource/Concept/Framework/modules/output/display.h5
-rwxr-xr-xsource/Concept/Framework/modules/output/engine.h11
-rwxr-xr-xsource/Concept/Framework/robot.c8
-rw-r--r--source/Concept/Framework/tools.h3
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
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+=======
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07\trunk\rc2007-soccer\source\Concept\Framework\tools.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\input\distance_sensor.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\input\ir_sensor.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\input\keyboard.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\input\mouse_sensor.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\input\sensor.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\interpreter\position_tracker.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\output\display.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\output\dribbler.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\output\engine.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\output\kicker.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\output\led.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\interpreter\ball_tracker.c</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\modules\executor\navigator.c</Name></Files></ProjectFiles><Files><File00000><FileId>00000</FileId><FileName>stdafx.h</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>defines.h</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>robot.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>atmega128io.h</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>tools.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>modules\interpreter\position_tracker.h</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>modules\io_module.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>modules\output\display.h</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>modules\input\ir_sensor.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>modules\output\engine.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>modules\input\sensor.h</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>modules\input\keyboard.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>modules\io_module.c</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>robot.c</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>modules\input\ir_sensor.c</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>modules\output\dribbler.h</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>modules\output\kicker.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>modules\output\led.h</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>modules\input\distance_sensor.h</FileName><Status>1</Status></File00018><File00019><FileId>00019</FileId><FileName>modules\input\mouse_sensor.h</FileName><Status>1</Status></File00019><File00020><FileId>00020</FileId><FileName>modules\input\sensor.c</FileName><Status>1</Status></File00020><File00021><FileId>00021</FileId><FileName>main.c</FileName><Status>1</Status></File00021><File00022><FileId>00022</FileId><FileName>modules\interpreter\ball_tracker.h</FileName><Status>1</Status></File00022><File00023><FileId>00023</FileId><FileName>modules\interpreter\ball_tracker.c</FileName><Status>1</Status></File00023><File00024><FileId>00024</FileId><FileName>modules\interpreter\position_tracker.c</FileName><Status>1</Status></File00024><File00025><FileId>00025</FileId><FileName>modules\input\distance_sensor.c</FileName><Status>1</Status></File00025><File00026><FileId>00026</FileId><FileName>modules\output\engine.c</FileName><Status>1</Status></File00026><File00027><FileId>00027</FileId><FileName>modules\output\dribbler.c</FileName><Status>1</Status></File00027><File00028><FileId>00028</FileId><FileName>modules\executor\navigator.h</FileName><Status>1</Status></File00028><File00029><FileId>00029</FileId><FileName>modules\executor\navigator.c</FileName><Status>1</Status></File00029></Files><Workspace><File00000><Position>232 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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");
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-21 16:44:14 +0100