root / trunk / code / projects / colonet / utilities / dragonfly_wireless_relay / move.c @ 13
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| 1 | 13 | emarinel | //Created 4/30/06 by James Kong
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| 2 | |||
| 3 | #include "dragonfly_lib.h" |
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| 4 | //#include "pindefs_ff.h"
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| 5 | #include "move.h" |
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| 6 | |||
| 7 | void move (int velocity, int omega) { |
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| 8 | int vl = 0; |
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| 9 | int vr = 0; |
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| 10 | translateAngulartoLinear(velocity, omega, &vl , &vr ); |
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| 11 | //
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| 12 | |||
| 13 | if (vl < 0) { |
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| 14 | motor1_set(BACKWARD, -vl); |
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| 15 | } else {
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| 16 | motor1_set(FORWARD, vl); |
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| 17 | } |
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| 18 | if (vr < 0) { |
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| 19 | motor2_set(BACKWARD, -vr); |
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| 20 | } else {
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| 21 | motor2_set(FORWARD, vr); |
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| 22 | } |
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| 23 | } |
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| 24 | |||
| 25 | /*@strength, the strength of the avoid behavior from 0 to 100,
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| 26 | 255 gives full control to avoid, 0 none. defines here for now*/
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| 27 | |||
| 28 | void move_avoid(int velocity, int omega, int strength){ |
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| 29 | int pControl;
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| 30 | int vl = 0; |
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| 31 | int vr = 0; |
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| 32 | int temp;
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| 33 | |||
| 34 | temp=read_distance(IR1); |
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| 35 | d1 = (temp == -1) ? d1 : temp;
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| 36 | |||
| 37 | temp=read_distance(IR2); |
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| 38 | d2=(temp == -1) ? d2 : temp;
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| 39 | |||
| 40 | temp=read_distance(IR3); |
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| 41 | d3=(temp == -1) ? d3 : temp;
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| 42 | |||
| 43 | temp=read_distance(IR4); |
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| 44 | d4=(temp == -1) ? d4 : temp;
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| 45 | |||
| 46 | temp=read_distance(IR5); |
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| 47 | d5=(temp == -1) ? d5 : temp;
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| 48 | |||
| 49 | /* Avoid obstacles ahead
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| 50 | if(d2>170)
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| 51 | v*=-1;
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| 52 | |||
| 53 | Naturally slow down if there is something in the way.
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| 54 | if(d2>150 || d1>180 || d3>180){
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| 55 | v>>=1;
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| 56 | */
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| 57 | |||
| 58 | pControl= (((d3-d1) + (d4-d5))*strength)/100;
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| 59 | omega = (omega*(100-strength))/100 + pControl; |
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| 60 | translateAngulartoLinear(velocity, omega, &vl , &vr ); |
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| 61 | |||
| 62 | if (vl < 0) { |
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| 63 | motor1_set(BACKWARD, -vl); |
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| 64 | } else {
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| 65 | motor1_set(FORWARD, vl); |
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| 66 | } |
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| 67 | if (vr < 0) { |
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| 68 | motor2_set(BACKWARD, -vr); |
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| 69 | } else {
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| 70 | motor2_set(FORWARD, vr); |
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| 71 | } |
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| 72 | } |
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| 73 | |||
| 74 | void translateAngulartoLinear (int velocity, int omega, int* vl, int* vr) { |
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| 75 | //omega: angle measure, positive couter-clockwise from front.
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| 76 | // -180 <= omega <= 180
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| 77 | //velocity: -255 <= velocity <= 255
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| 78 | |||
| 79 | long int vltemp, vrtemp; |
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| 80 | |||
| 81 | //make sure values are in bounds
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| 82 | if (velocity < -255 || velocity >255 || omega < -255 || omega > 255) return; |
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| 83 | |||
| 84 | //compute
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| 85 | vrtemp = velocity + omega * 3;
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| 86 | vltemp = velocity - omega * 3;
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| 87 | |||
| 88 | //check to see if max linear velocities have been exceeded.
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| 89 | if (vrtemp > 255) { |
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| 90 | vltemp = 255 * vltemp / vrtemp;
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| 91 | vrtemp = 255;
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| 92 | } |
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| 93 | if (vltemp > 255) { |
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| 94 | vrtemp = 255 * vrtemp / vltemp;
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| 95 | vltemp = 255;
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| 96 | } |
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| 97 | if (vrtemp < -255) { |
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| 98 | vltemp = -255 * vltemp / vrtemp;
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| 99 | vrtemp = -255;
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| 100 | } |
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| 101 | if (vltemp < -255) { |
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| 102 | vrtemp = -255 * vrtemp / vltemp;
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| 103 | vltemp = -255;
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| 104 | } |
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| 105 | |||
| 106 | *vr = (int)vrtemp;
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| 107 | *vl = (int)vltemp;
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| 108 | |||
| 109 | |||
| 110 | } |
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| 111 | |||
| 112 | /*
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| 113 | Move and turn functions are overloaded so they can be called with or without the speed or time parameters.
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| 114 | If called wihtout parameters, the defaults will be used.
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| 115 | */
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| 116 | |||
| 117 | //Forward
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| 118 | void moveForward(void) { |
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| 119 | motor1_set(FWD, NRML_SPD); |
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| 120 | motor2_set(FWD, NRML_SPD); |
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| 121 | delay_ms(DELAY_F); |
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| 122 | } |
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| 123 | |||
| 124 | /*void moveForward(int speed) {
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| 125 | motor1_set(FWD, speed);
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| 126 | motor2_set(FWD, speed);
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| 127 | delay_ms(DELAY_F);
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| 128 | }
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| 129 | |||
| 130 | void moveForward(int speed, int time) {
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| 131 | motor1_set(FWD, speed);
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| 132 | motor2_set(FWD, speed);
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| 133 | delay_ms(time);
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| 134 | }
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| 135 | */
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| 136 | //Back
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| 137 | void moveBack(void) { |
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| 138 | motor1_set(BCK, HALF_SPD); |
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| 139 | motor2_set(BCK, HALF_SPD); |
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| 140 | delay_ms(DELAY_B); |
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| 141 | } |
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| 142 | /*
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| 143 | void moveBack(int speed) {
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| 144 | motor1_set(BCK, speed);
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| 145 | motor2_set(BCK, speed);
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| 146 | delay_ms(DELAY_B);
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| 147 | }
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| 148 | |||
| 149 | void moveBack(int speed, int time) {
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| 150 | motor1_set(BCK, speed);
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| 151 | motor2_set(BCK, speed);
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| 152 | delay_ms(time);
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| 153 | }
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| 154 | */
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| 155 | //Turn Left
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| 156 | void turnLeft(void) { |
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| 157 | motor1_set(FWD, NRML_TURN); |
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| 158 | motor2_set(BCK, NRML_TURN); |
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| 159 | delay_ms(DELAY_L); |
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| 160 | } |
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| 161 | /*
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| 162 | void turnLeft(int speed) {
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| 163 | motor1_set(FWD, speed);
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| 164 | motor2_set(BCK, speed);
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| 165 | delay_ms(DELAY_L);
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| 166 | }
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| 167 | |||
| 168 | void turnLeft(int speed, int time) {
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| 169 | motor1_set(FWD, speed);
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| 170 | motor2_set(BCK, speed);
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| 171 | delay_ms(time);
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| 172 | }
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| 173 | */
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| 174 | //Turn Right
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| 175 | void turnRight(void) { |
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| 176 | motor1_set(BCK, NRML_TURN); |
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| 177 | motor2_set(FWD, NRML_TURN); |
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| 178 | delay_ms(DELAY_R); |
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| 179 | } |
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| 180 | /*
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| 181 | void turnRight(int speed) {
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| 182 | motor1_set(BCK, speed);
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| 183 | motor2_set(FWD, speed);
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| 184 | delay_ms(DELAY_R);
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| 185 | }
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| 186 | |||
| 187 | void turnRight(int speed, int time) {
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| 188 | motor1_set(BCK, speed);
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| 189 | motor2_set(FWD, speed);
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| 190 | delay_ms(time);
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| 191 | }*/ |