Revision 58371433
ID | 5837143311f6de5068f1724a2d1dc8377610237d |
Renaming to line follow and getting rid of old linefollowing files.
scout/libscout/src/behaviors/line_follow.cpp | ||
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/** |
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* @file line_follow.cpp |
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* @defgroup lineFollwing Line Following |
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* |
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* Takes care of following a line. Running this program is done by calling the |
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* init() function and then the line_follow(speed) command. However, direct use |
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* of this class is discouraged as its behavior is used by lineDrive.cpp, which |
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* extends this class to provide behavior functionality. |
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* |
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* @author Dan Jacobs and the Colony Project |
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* @date 11-1-2010 |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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#include "line_follow.h" |
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//! Anything lower than this value is white |
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int GREY_THRESHOLD = 300; |
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//! Anything higher than this value is black |
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int BLACK_THRESHOLD = 750; |
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using namespace std; |
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int countHi = 0; |
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int countLo = 0; |
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int maxAvg, avg; |
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static int motor_l; |
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static int motor_r; |
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int duration[2] = {0}; |
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int lastColor[2] = {0}; |
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char isReset[2] = {1}; |
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int lastReadings[2][ NUM_READINGS ] = {{0}}; |
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int lastReadingsPtr[2] = {0}; |
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int numLast[2][4] = { {0, 0, 0, NUM_READINGS}, {0, 0, 0, NUM_READINGS} }; |
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int bitColor[2] = {0}; |
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int turnDistance=0; |
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//! Counts the number of full line readings before we determine an intersection |
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int intersectionFilter=0; |
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void line_follow::follow_line() |
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{ |
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while(!linesensor->fullline()) |
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{ |
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double line_loc = linesensor->readline(); |
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//! Keeps track of where the encoder of one motor started, for use in turns. |
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int encoderStart = -1; |
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int encoderReset = 0; // 0 if encoderStart has no value set |
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cout << "line_loc: " << line_loc << endl; |
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int min(int x, int y){return x>y ? y : x;}
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int max(int x, int y){return x<y ? y : x;}
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motor_l = -MOTOR_BASE + SCALE * line_loc;
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motor_r = -MOTOR_BASE - SCALE * line_loc;
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motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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} |
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halt(); |
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} |
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void line_follow::init()
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void line_follow::turn_left()
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{ |
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int i, j, curReading; |
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int lowGrey = 1000, highGrey = 0, lowBlack = 1000, |
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highBlack = 0; |
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bool first = true; |
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do |
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{ |
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motor_l = -MOTOR_BASE; |
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motor_r = MOTOR_BASE/8; |
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analog_init(0); |
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encoders_init(); |
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lost = 0; |
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intersectionFilter=0; |
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motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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for(i=0; i<2; i++)
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{
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for(j=0; j<NUM_READINGS; j++)
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double line_loc = linesensor->readline();
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cout << "line_loc: " << line_loc << endl;
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if(first)
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{ |
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lastReadings[i][j] = BAD_READING; |
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loop_rate->sleep(); |
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loop_rate->sleep(); |
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loop_rate->sleep(); |
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first = false; |
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} |
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isReset[i] = 1; |
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} |
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// Calibrate thresholds |
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orb_set_color(YELLOW); |
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delay_ms(2000); |
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orb_set_color(BLUE); |
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for(i=0; i<100; i++) |
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{ |
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curReading = read_line(LEFT_SENSOR + 6); |
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if(curReading < lowGrey) |
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lowGrey = curReading; |
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if(curReading > highGrey) |
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highGrey = curReading; |
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delay_ms(20); |
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} |
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orb_set_color(YELLOW); |
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delay_ms(2000); |
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orb_set_color(GREEN); |
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for(i=0; i<100; i++) |
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{ |
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curReading = read_line(LEFT_SENSOR + 6); |
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if(curReading < lowBlack) |
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lowBlack = curReading; |
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if(curReading > highBlack) |
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highBlack = curReading; |
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delay_ms(20); |
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} |
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orbs_set(0,0,0,0,0,0); |
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GREY_THRESHOLD = lowGrey / 2; |
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BLACK_THRESHOLD = (highGrey + lowBlack) / 2; |
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usb_puts("Grey: "); |
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usb_puti(lowGrey); |
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usb_puts(", "); |
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usb_puti(highGrey); |
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usb_puts("\nBlack: "); |
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usb_puti(lowBlack); |
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usb_puts(", "); |
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usb_puti(highBlack); |
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usb_puts("\nThresholds: "); |
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usb_puti(GREY_THRESHOLD); |
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usb_puts(", "); |
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usb_puti(BLACK_THRESHOLD); |
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usb_puts("\n\n"); |
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delay_ms(1500); |
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while(linesensor->readline()); |
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} |
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/** |
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* Follows a line at the given speed. |
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* @param speed The speed with which to follow the line. |
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*/ |
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int line_follow::follow_line(int speed) |
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void line_follow::halt() |
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{ |
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int colors[5]; |
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int position; |
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updateLine(colors); |
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position = lineLocate(colors); |
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//not on line |
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if(position == NOLINE) |
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{ |
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if(lost++ > 20) |
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{ |
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orb2_set_color(GREEN); |
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motors_off(); |
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return LINELOST; |
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} |
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} |
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else if(position == FULL_LINE) |
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{ |
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if(intersectionFilter++ > 4) |
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{ |
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orb2_set_color(RED); |
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barCodePosition[0]=0; |
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barCodePosition[1]=0; |
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disableBarCode=50; |
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} |
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} |
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//on line |
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else |
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{ |
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position*=30; |
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orb2_set_color(ORB_OFF); |
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motorLeft(min(speed+position, 255)); |
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motorRight(min(speed-position, 255)); |
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lost=0; |
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intersectionFilter=0; |
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} |
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motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
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} |
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/** |
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* Turns left at a cross of two lines. Assumes that we are at lines in a cross |
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* pattern, and turns until it sets straight on the new line. |
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* @return 0 if turn finishes otherwise return 1 |
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*/ |
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int line_follow::turnLeft() |
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void line_follow::turn_right() |
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{ |
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motors->set_sides(-20, 20, MOTOR_ABSOLUTE); |
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if(!encoderReset) |
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{ |
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encoderStart = encoder_get_x(RIGHT); |
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encoderReset = 1; |
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} |
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if(encoder_get_x(RIGHT) < encoderStart) |
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{ |
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encoderStart = 0; |
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motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
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delay_ms(2000); |
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} |
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if(encoder_get_x(RIGHT) - encoderStart > 300) |
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{ |
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encoderReset = 0; |
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return 0; |
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} |
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return 1; |
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} |
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/** |
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* Turns right at a cross of two lines. Assumes that we are at lines in a cross |
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* pattern, and turns until it sets straight on the new line. |
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* @return 0 if the turn finishes otherwise return 1 |
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*/ |
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int line_follow::turnRight() |
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{ |
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/// Set motors using new motors functions |
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motors->set_sides(20, -20, MOTOR_ABSOLUTE); |
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bool first = true; |
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do |
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{ |
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motor_l = MOTOR_BASE/8; |
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motor_r = -MOTOR_BASE; |
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int colors[5]; |
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updateLine(colors); |
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int position = lineLocate(colors); |
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if(position>2 || position<-2) |
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turnDistance++; |
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motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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if(turnDistance>1)
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{
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if(position<3 && position>-3)
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double line_loc = linesensor->readline();
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cout << "line_loc: " << line_loc << endl;
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if(first)
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{ |
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turnDistance = 0; |
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return 0; |
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loop_rate->sleep(); |
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loop_rate->sleep(); |
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loop_rate->sleep(); |
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first = false; |
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} |
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} |
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return 1; |
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} |
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void line_follow::updateLine(int* values) |
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{ |
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for(int i = 0; i<5; i++) |
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values[i] = (read_line(4-i) < LINE_COLOR ? LWHITE : LBLACK); |
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} |
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int line_follow::lineLocate(int* colors) |
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{ |
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int i; |
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int wsum = 0; |
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int count=0; |
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for(i = 0; i<5; i++) |
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{ |
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count += colors[i]/2; |
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wsum += (i)*colors[i]; |
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} |
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if(count==0) |
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return NOLINE; |
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if(count==5) |
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return FULL_LINE; |
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return (wsum/count)-4; /// Subtract 4 to center the index around the center. |
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} |
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void line_follow::motorLeft(int speed) |
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{ |
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int tempspeed = 0; |
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if ((speed-=127)>=0) |
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{ |
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tempspeed = 160+speed*95/128; |
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motors->set(MOTOR_LEFT, tempspeed, MOTOR_ABSOLUTE); |
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} |
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else |
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{ |
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tempspeed = 160+speed*95/128; |
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motors->set(MOTOR_LEFT, -tempspeed, MOTOR_ABSOLUTE); |
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} |
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while(linesensor->readline()); |
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} |
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void line_follow::motorRight(int speed)
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void line_follow::run()
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{ |
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int tempspeed = 0; |
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if ((speed-=127)>=0) |
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{ |
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tempspeed = 160+speed*95/128; |
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motors->set(MOTOR_RIGHT, tempspeed, MOTOR_ABSOLUTE); |
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} |
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else |
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{ |
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tempspeed = 160+speed*95/128; |
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motors->set(MOTOR_RIGHT, -tempspeed, MOTOR_ABSOLUTE); |
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} |
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follow_line(); |
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turn_right(); |
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follow_line(); |
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turn_left(); |
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follow_line(); |
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turn_right(); |
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follow_line(); |
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} |
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