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Revision 1524

Added by Alex Zirbel over 14 years ago

Added comments to circle formation code

View differences:

circle.c
1 1 
#include <dragonfly_lib.h>
2 2 
#include <encoders.h>
3 3 

  		




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// TODO:


  		




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//	Check BOM more often and before final stop


  		




  6
  
  
    
//	Make BOM check more comprehensively


  		




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//	Use the center bot to check distances


  		




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//		Count them ("spam" method)


  		




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//		Use beacon to find relative positions


  		




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//		Beacon tells them how to move to be at the right distance


  		




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//	Wireless communication, initialization


  		




  
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/*


  		




  
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	This program is used to make robots target a center (leader) robot using the BOM,


  		




  
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	then drive toward it and stop at a certain distance away.


  		




  
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	The distance will eventually be adjustable.


  		




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void forward(int speed){


  		




  
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	With adjustment, the leader robot will be able to turn and use its standardized


  		




  
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	rangefinder to reposition or space the robots evenly.


  		




  
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	AuTHORS: Niko, Alex, Reva, Echo


  		




  
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*/


  		




  
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/* 


  		




  
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TODO:


  		




  
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	Check BOM more often and before final stop


  		




  
  20
  
    
	Make BOM check more comprehensively


  		




  
  21
  
    
	Use the center bot to check distances


  		




  
  22
  
    
		Count them ("spam" method)


  		




  
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		Use beacon to find relative positions


  		




  
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		Beacon tells them how to move to be at the right distance


  		




  
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	Wireless communication, initialization


  		




  
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*/


  		




  
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void forward(int speed){			// set the motors to this forward speed.


  		




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	motor_l_set(FORWARD,speed);


  		




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	motor_r_set(FORWARD,speed);


  		




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}


  		




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void left(int speed){


  		




  
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void left(int speed){				// turn left at this speed.


  		




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	motor_l_set(FORWARD,speed);


  		




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	motor_r_set(BACKWARD,speed);


  		




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}


  		




  ......




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	motor_l_set(BACKWARD,speed);


  		




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	motor_r_set(FORWARD,speed);


  		




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}


  		




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void stop(void){


  		




  
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void stop(void){					// could be set to motors_off(), or just use this as an alternative.


  		




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	motor_l_set(BACKWARD,0);


  		




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	motor_r_set(FORWARD,0);


  		




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}


  		




  ......




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	motor_l_set(BACKWARD, speed);


  		




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	motor_r_set(BACKWARD, speed);


  		




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}


  		




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int get_distance(void){


  		




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	int temp,distance,kk=5;


  		




  
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int get_distance(void){				// takes an averaged reading of the front rangefinder


  		




  
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	int temp,distance,kk=5;			// kk sets this to 5 readings.


  		




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	distance =0;


  		




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	for (int i=0; i<kk; i++){


  		




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		temp = range_read_distance(IR2);


  		




  ......




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	}


  		




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}


  		




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void turn_to_beacon2(int max){


  		




  
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void turn_to_beacon2(int max){				// like the previous but no stop() call


  		




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	if (max>-1 && max<16){


  		




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		int index = (max+12)%16;


  		




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		if (index==0) { 


  		




  ......




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		delay_ms(22);


  		




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	}


  		




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}


  		




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void go_straight(void){


  		




  
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void go_straight(void){						// drives forward a hardcoded distance. May not be useful.


  		




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	forward(200);


  		




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	encoder_rst_dx(LEFT);


  		




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	encoder_rst_dx(RIGHT);


  		




  ......




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	int x_left = encoder_get_x(LEFT), x_right = encoder_get_x(RIGHT);


  		




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	int count = 0;


  		




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	int d;


  		




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	while (count<25){                         //count = 25 when bot6; count <12


  		




  
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	while (count<25){						//count = 25 when bot6; count <12


  		




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		x_left = encoder_get_x(LEFT);


  		




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		x_right = encoder_get_x(RIGHT);


  		




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		d = x_right-x_left;


  		




  ......




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		count++;


  		




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	}


  		




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}


  		




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void go_straight_onefoot(void){


  		




  
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void go_straight_onefoot(void){				// essentially, another name for the above.  Should be removed.


  		




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	go_straight();


  		




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}


  		




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  ......




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	/* Initialize dragonfly board */


  		




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	dragonfly_init(ALL_ON);


  		




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	encoders_init();


  		




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	/*******CODE HERE ***** */


  		




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	int distance=1000;


  		




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	int onefoot=300, speed=200;                //one foot is 490 for bot 1; one foot is 200 for bot6


  		




  
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	int distance=1000;						// how far away to stop.


  		




  
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	int onefoot=300, speed=200;				// one foot is 490 for bot 1; one foot is 200 for bot6


  		




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	orient();


  		




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	forward(speed);


  		




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	range_init();


  		




  ......




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	stop();


  		




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	orient();


  		




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	//button1_wait ();


  		




  
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	//button1_wait ();			// code for lab1.


  		




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	//go_straight_onefoot();


  		




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	stop();


  		




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	/* ****** CODE HERE ******* */


  		












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