/ - Diff - Colony - Robotics Club

Revision 1524

Added comments to circle formation code

     #define RADIUS 300
     /*
     	This is a PREVIOUS VERSION of circle2.  Circle2 uses Echo's more exact code, while this uses a different method which is more buggy.
     	This code has been kept for the time being, in case some of the code is useful for recylcling (the control loop, for instance) - without
     	reverting the entire repositiory.
     	This program is used to make robots target a center (leader) robot using the BOM,
     	then drive toward it and stop at a certain distance away.
     	The distance will eventually be adjustable.
     	With adjustment, the leader robot will be able to turn and use its standardized
     	rangefinder to reposition or space the robots evenly.
     	AuTHORS: Niko, Alex
     */
     extern void blink(int);
     extern void search(void);
     extern void approach(void);
-...
     void blink(int num)
+    {
     void blink(int num)						// blinks the number of times specifed, with the orbs.
     {										// useful for error checking.
     	for(int i = 0; i<num; i++)
+    	{
     		orb_set_color(ORB_OFF);
-...
+    	}
     	motors_off();
+    }
     void approach()
     void approach()					// drives to the right distance.
+    {
     	int dist = 0;
     	int temp = 0;
     	int counter = 0;
     //	int correct = 0;
     	while(dist != RADIUS)	//puts the robots in the given distance RADIUS
     	while(dist != RADIUS)		//puts the robots in the given distance RADIUS
+    	{
     		temp=0;
     		counter = 0;
     		while(counter<8)
     		while(counter<8)		// averages the first 8 legitimate (non -1) readings
+    		{
     			if(range_read_distance(IR2) == -1){}
-...
     			top = bom_get_max();
+    		}
     		if ( dist<(RADIUS+30) && dist>(RADIUS-30)) {	// the dead zone
     		if ( dist<(RADIUS+30) && dist>(RADIUS-30)) {	// defines the dead zone +- 30 from the given radius
     			orb_set_color(RED);
     			break;
+    		}
-...
     	usb_puti(range_read_distance(IR2));
     	usb_puts("\n\r");*/
+    }
     void lastDrive()
     void lastDrive()					// used for the final drive in lab1 and not useful here; control loop code may be recycled.
+    {
     	int lspeed = 190;
     	int rspeed = 190;
-...
     		usb_puti(rvel);
     		usb_puts("\n\r\n\r");
     		if (rvel<lvel)
     		if (rvel<lvel)					// adjust the speeds if the encoders have a mismatch.
+    		{
     			rspeed += 1;
     			lspeed -= 1;

     #include <dragonfly_lib.h>
     #include <encoders.h>
     // TODO:
     //	Check BOM more often and before final stop
     //	Make BOM check more comprehensively
     //	Use the center bot to check distances
     //		Count them ("spam" method)
     //		Use beacon to find relative positions
     //		Beacon tells them how to move to be at the right distance
     //	Wireless communication, initialization
     /*
     	This program is used to make robots target a center (leader) robot using the BOM,
     	then drive toward it and stop at a certain distance away.
     	The distance will eventually be adjustable.
     void forward(int speed){
     	With adjustment, the leader robot will be able to turn and use its standardized
     	rangefinder to reposition or space the robots evenly.
     	AuTHORS: Niko, Alex, Reva, Echo
     */
     /*
     TODO:
     	Check BOM more often and before final stop
     	Make BOM check more comprehensively
     	Use the center bot to check distances
     		Count them ("spam" method)
     		Use beacon to find relative positions
     		Beacon tells them how to move to be at the right distance
     	Wireless communication, initialization
     */
     void forward(int speed){			// set the motors to this forward speed.
     	motor_l_set(FORWARD,speed);
     	motor_r_set(FORWARD,speed);
+    }
     void left(int speed){
     void left(int speed){				// turn left at this speed.
     	motor_l_set(FORWARD,speed);
     	motor_r_set(BACKWARD,speed);
+    }
-...
     	motor_l_set(BACKWARD,speed);
     	motor_r_set(FORWARD,speed);
+    }
     void stop(void){
     void stop(void){					// could be set to motors_off(), or just use this as an alternative.
     	motor_l_set(BACKWARD,0);
     	motor_r_set(FORWARD,0);
+    }
-...
     	motor_l_set(BACKWARD, speed);
     	motor_r_set(BACKWARD, speed);
+    }
     int get_distance(void){
     	int temp,distance,kk=5;
     int get_distance(void){				// takes an averaged reading of the front rangefinder
     	int temp,distance,kk=5;			// kk sets this to 5 readings.
     	distance =0;
     	for (int i=0; i<kk; i++){
     		temp = range_read_distance(IR2);
-...
+    	}
+    }
     void turn_to_beacon2(int max){
     void turn_to_beacon2(int max){				// like the previous but no stop() call
     	if (max>-1 && max<16){
     		int index = (max+12)%16;
     		if (index==0) {
-...
     		delay_ms(22);
+    	}
+    }
     void go_straight(void){
     void go_straight(void){						// drives forward a hardcoded distance. May not be useful.
     	forward(200);
     	encoder_rst_dx(LEFT);
     	encoder_rst_dx(RIGHT);
-...
     	int x_left = encoder_get_x(LEFT), x_right = encoder_get_x(RIGHT);
     	int count = 0;
     	int d;
     	while (count<25){                         //count = 25 when bot6; count <12
     	while (count<25){						//count = 25 when bot6; count <12
     		x_left = encoder_get_x(LEFT);
     		x_right = encoder_get_x(RIGHT);
     		d = x_right-x_left;
-...
     		count++;
+    	}
+    }
     void go_straight_onefoot(void){
     void go_straight_onefoot(void){				// essentially, another name for the above.  Should be removed.
     	go_straight();
+    }
-...
     	/* Initialize dragonfly board */
     	dragonfly_init(ALL_ON);
     	encoders_init();
     	/*******CODE HERE ***** */
     	int distance=1000;
     	int onefoot=300, speed=200;                //one foot is 490 for bot 1; one foot is 200 for bot6
     	int distance=1000;						// how far away to stop.
     	int onefoot=300, speed=200;				// one foot is 490 for bot 1; one foot is 200 for bot6
     	orient();
     	forward(speed);
     	range_init();
-...
     	stop();
     	orient();
     	//button1_wait ();
     	//button1_wait ();			// code for lab1.
     	//go_straight_onefoot();
     	stop();
     	/* ****** CODE HERE ******* */

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Revision 1524