Revision 1092
slowed down motion and hacked more crap
motion.c  

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#define TIME 1 /*sec*/ 
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#define ROBOT_WIDTH 131 /*mm*/ 
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#define MOTOR_CONVERSION_FACTOR 10.0 

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#define MOTOR_CONVERSION_FACTOR 1000.0


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#define FUDGE 10 /* minimum rangefinder distance until collision */ 
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...  ...  
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**/ 
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int move_robot(Robot* r) 
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{ 
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printf("Called motion\n"); 

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Pose old_pose = r>pose; 
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short speed1 = r>shared>motor1; 
...  ...  
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} 
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double radius; 
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int divide; 

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if (speed1 == speed2) { 
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/* go straight */ 
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r>pose.x += cos(theta) * speed1 / MOTOR_CONVERSION_FACTOR; 
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r>pose.y += sin(theta) * speed1 / MOTOR_CONVERSION_FACTOR; 
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for (divide = 0; divide < 5; divide++) { 

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/* Lets just call this a collision... */ 

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printf("%d: %d\n",divide,r>shared>ranges.d[divide]); 

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if (r>shared>ranges.d[divide] < FUDGE) { 

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/* Restore x,y, but allow rotation */ 

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r>pose.x = old_pose.x; 

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r>pose.y = old_pose.y; 

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/* Rotated robot, need to recalculate */ 

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update_rangefinders(r); 

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return 0; 

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} 

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} 

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return 0; 
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} 
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radius = ROBOT_WIDTH * speed1 / (speed1  speed2); 
...  ...  
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r>pose.x += newy *  sin(theta); 
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r>pose.y += newy * cos(theta); 
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int divide = (t+r>pose.theta)/(2 * M_PI);


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divide = (t+r>pose.theta)/(2 * M_PI); 

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r>pose.theta = (t+r>pose.theta)  (2 * M_PI * divide); 
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if (r>pose.theta<0) r>pose.theta += 2 * M_PI; 
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...  ...  
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update_rangefinders(r); 
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for (divide = 0; divide < 5; divide++) { 
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/* Lets just call this a collision... */ 
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printf("%d: %d\n",divide,r>shared>ranges.d[divide]); 

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if (r>shared>ranges.d[divide] < FUDGE) { 
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/* Restore x,y, but allow rotation */ 
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r>pose.x = old_pose.x; 
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