Revision 1124
got rid of old stuff for driving from the computer
| robot_main.c | ||
|---|---|---|
| 5 | 5 |
|
| 6 | 6 |
#define POLLING_INTERVAL 50 //interval in ms to get sensor data |
| 7 | 7 |
#define MAP 1 // packet group for sending data points |
| 8 |
#define POINT_ODO 2 |
|
| 9 | 8 |
|
| 10 |
#define WL_CNTL_GROUP 4 |
|
| 11 |
|
|
| 12 |
#define CNTL_FORWARD 0 |
|
| 13 |
#define CNTL_BACK 1 |
|
| 14 |
#define CNTL_LEFT 2 |
|
| 15 |
#define CNTL_RIGHT 3 |
|
| 16 |
#define CNTL_LEFT_CURVE 4 |
|
| 17 |
#define CNTL_RIGHT_CURVE 5 |
|
| 18 |
#define CNTL_STOP 6 |
|
| 19 |
#define CNTL_VEL_UP 7 |
|
| 20 |
#define CNTL_VEL_DOWN 8 |
|
| 21 |
|
|
| 22 |
int state; |
|
| 23 |
int velocity; |
|
| 24 | 9 |
char buf[100]; |
| 25 | 10 |
|
| 26 |
void packet_receive (char type, int source, unsigned char* packet, int length); |
|
| 27 |
void set_motion (void); |
|
| 28 |
|
|
| 29 |
PacketGroupHandler packetHandler = {WL_CNTL_GROUP, NULL, NULL, &packet_receive, NULL};
|
|
| 30 |
|
|
| 31 | 11 |
int main(void) |
| 32 | 12 |
{
|
| 33 | 13 |
/* initialize components and join the token ring */ |
| ... | ... | |
| 36 | 16 |
orb_enable(); |
| 37 | 17 |
wl_init(); |
| 38 | 18 |
wl_set_channel(0xE); |
| 39 |
wl_register_packet_group(&packetHandler); |
|
| 40 | 19 |
|
| 41 |
velocity = 190; |
|
| 42 |
state = CNTL_STOP; |
|
| 43 |
|
|
| 44 | 20 |
int x, y; // use when sending odometry data |
| 45 | 21 |
double theta; |
| 46 | 22 |
|
| ... | ... | |
| 49 | 25 |
|
| 50 | 26 |
while(1) |
| 51 | 27 |
{
|
| 52 |
wl_do(); |
|
| 53 |
delay_ms(POLLING_INTERVAL); /* until it's time to grab map data */ |
|
| 54 |
x = odometry_dx(); // use when sending odometry data |
|
| 55 |
y = odometry_dy(); |
|
| 56 |
theta = odometry_angle(); |
|
| 57 |
store[0] = x; |
|
| 58 |
store[1] = y; |
|
| 59 |
*((double*)(store + 2)) = theta; |
|
| 60 |
store[4] = range_read_distance(IR1); // IR1 range |
|
| 61 |
store[5] = range_read_distance(IR2); // IR2 range |
|
| 62 |
store[6] = range_read_distance(IR3); // IR3 range |
|
| 63 |
store[7] = range_read_distance(IR4); // IR4 range |
|
| 64 |
store[8] = range_read_distance(IR5); // IR5 range |
|
| 65 |
sprintf( buf, "%d %d %f %d %d %d %d %d\n", store[0], store[1], |
|
| 66 |
*((double *)(store+2)), store[4], store[5], store[6], |
|
| 67 |
store[7], store[8] ); |
|
| 68 |
usb_puts(buf); |
|
| 28 |
wl_do(); |
|
| 69 | 29 |
|
| 70 |
send = (char*) store;
|
|
| 30 |
delay_ms(POLLING_INTERVAL); /* until it's time to grab map data */
|
|
| 71 | 31 |
|
| 72 |
wl_send_global_packet(MAP, POINT_ODO, send, 18, 0); |
|
| 32 |
x = odometry_dx(); // data gathered |
|
| 33 |
y = odometry_dy(); |
|
| 34 |
theta = odometry_angle(); |
|
| 35 |
|
|
| 36 |
store[0] = x; // position |
|
| 37 |
store[1] = y; |
|
| 38 |
*((double*)(store + 2)) = theta; // calculated angle (8 bytes) |
|
| 39 |
store[4] = range_read_distance(IR1); // IR1 range |
|
| 40 |
store[5] = range_read_distance(IR2); // IR2 range |
|
| 41 |
store[6] = range_read_distance(IR3); // IR3 range |
|
| 42 |
store[7] = range_read_distance(IR4); // IR4 range |
|
| 43 |
store[8] = range_read_distance(IR5); // IR5 range |
|
| 44 |
sprintf(buf, "%d %d %f %d %d %d %d %d\n", store[0], store[1], |
|
| 45 |
*((double *)(store+2)), store[4], store[5], store[6], |
|
| 46 |
store[7], store[8]); |
|
| 47 |
usb_puts(buf); // send data to USB for debugging |
|
| 48 |
|
|
| 49 |
send = (char*) store; // convert to char for wireless |
|
| 50 |
|
|
| 51 |
wl_send_global_packet(MAP, MAP, send, 18, 0); |
|
| 73 | 52 |
} |
| 74 | 53 |
|
| 75 | 54 |
wl_terminate(); |
| 76 | 55 |
return 0; |
| 77 | 56 |
} |
| 78 | 57 |
|
| 79 |
void packet_receive (char type, int source, unsigned char* packet, int length) {
|
|
| 80 |
sprintf(buf, "received packet: %d\n", type); |
|
| 81 |
usb_puts(buf); |
|
| 82 |
switch (type) {
|
|
| 83 |
case CNTL_FORWARD: |
|
| 84 |
state = CNTL_FORWARD; |
|
| 85 |
break; |
|
| 86 |
case CNTL_BACK: |
|
| 87 |
state = CNTL_BACK; |
|
| 88 |
break; |
|
| 89 |
case CNTL_LEFT: |
|
| 90 |
state = CNTL_LEFT; |
|
| 91 |
break; |
|
| 92 |
case CNTL_RIGHT: |
|
| 93 |
state = CNTL_RIGHT; |
|
| 94 |
break; |
|
| 95 |
case CNTL_LEFT_CURVE: |
|
| 96 |
state = CNTL_LEFT_CURVE; |
|
| 97 |
break; |
|
| 98 |
case CNTL_RIGHT_CURVE: |
|
| 99 |
state = CNTL_RIGHT_CURVE; |
|
| 100 |
break; |
|
| 101 |
case CNTL_STOP: |
|
| 102 |
state = CNTL_STOP; |
|
| 103 |
break; |
|
| 104 |
case CNTL_VEL_UP: |
|
| 105 |
if (velocity > 250) |
|
| 106 |
velocity = 250; |
|
| 107 |
else |
|
| 108 |
velocity += 5; |
|
| 109 |
break; |
|
| 110 |
case CNTL_VEL_DOWN: |
|
| 111 |
velocity -= 5; |
|
| 112 |
if (velocity < 150) |
|
| 113 |
velocity = 150; |
|
| 114 |
break; |
|
| 115 |
default: |
|
| 116 |
state = CNTL_STOP; |
|
| 117 |
break; |
|
| 118 |
} |
|
| 119 |
set_motion(); |
|
| 120 |
} |
|
| 121 |
|
|
| 122 |
void set_motion (void) {
|
|
| 123 |
switch (state) {
|
|
| 124 |
case CNTL_FORWARD: |
|
| 125 |
orb_set_color(GREEN); |
|
| 126 |
move(velocity, 0); |
|
| 127 |
break; |
|
| 128 |
case CNTL_BACK: |
|
| 129 |
orb_set_color(BLUE); |
|
| 130 |
move(-velocity, 0); |
|
| 131 |
break; |
|
| 132 |
case CNTL_LEFT: |
|
| 133 |
orb_set_color(ORANGE); |
|
| 134 |
motor1_set(0, velocity); |
|
| 135 |
motor2_set(1, velocity); |
|
| 136 |
break; |
|
| 137 |
case CNTL_RIGHT: |
|
| 138 |
orb_set_color(YELLOW); |
|
| 139 |
motor1_set(1, velocity); |
|
| 140 |
motor2_set(0, velocity); |
|
| 141 |
break; |
|
| 142 |
case CNTL_LEFT_CURVE: |
|
| 143 |
orb_set_color(MAGENTA); |
|
| 144 |
motor1_set(1, 150); |
|
| 145 |
motor2_set(1, velocity); |
|
| 146 |
break; |
|
| 147 |
case CNTL_RIGHT_CURVE: |
|
| 148 |
orb_set_color(CYAN); |
|
| 149 |
motor1_set(1, velocity); |
|
| 150 |
motor2_set(1, 150); |
|
| 151 |
break; |
|
| 152 |
case CNTL_STOP: |
|
| 153 |
orb_set_color(RED); |
|
| 154 |
move(0, 0); |
|
| 155 |
break; |
|
| 156 |
} |
|
| 157 |
} |
|
| 158 |
|
|
Also available in: Unified diff