root / trunk / code / behaviors / formation_control / push_pull / push_pull.c @ 1530
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#include <stdint.h> |
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include <stdlib.h> |
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/* Struct for storing vector components */
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typedef struct { |
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int x;
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int y;
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} Vector; |
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/* Function Prototypes */
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static int get_bom_vector(Vector*); |
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/*******************************
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* BOM Vector Component Tables *
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*******************************/
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/*
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* The x component of each BOM detector (indexed from 0 to 15)
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* was calculated using the following formula:
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*
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* x_comp[i] = round(25 * cos ( 2 * pi / 16 * i) )
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*
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* If the BOM detectors were superimposed onto a 2 dimensional Cartesian space,
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* this effectively calculates the x component of the emitter vector where
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* emitter 0 corresponds to an angle of 0 radians, 4 -> pi/2, 8 -> pi, ect.
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*/
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static const signed int x_comp[16] = { |
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25,
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23,
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17,
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9,
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0,
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-9,
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-17,
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-23,
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-25,
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-23,
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-17,
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-9,
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0,
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9,
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17,
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23
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}; |
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/*
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* The y component of each BOM detector (indexed from 0 to 15)
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* was calculated using the following formula:
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*
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* y_comp[i] = round(25 * sin ( 2 * pi / 16 * i) )
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*
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* If the BOM detectors were superimposed onto a 2 dimensional Cartesian space,
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* this effectively calculates the y component of the emitter vector where
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* emitter 0 corresponds to an angle of 0 radians, 4 -> pi/2, 8 -> pi, ect.
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*/
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static signed int y_comp[16] = { |
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0,
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9,
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17,
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23,
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25,
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23,
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17,
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9,
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0,
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-9,
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-17,
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-23,
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-25,
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-23,
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-17,
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-9
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}; |
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int main (void) { |
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/* Store current BOM readings and use them as a weighting factor */
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uint8_t intensity[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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/* Arrays for storing the weighted x ("Rightness") and y ("Forwardness")
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* components. Calculated by multiplying the intensity by the x and y
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* component respectively (x and y components are stored in the tables
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* above). */
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int weighted_x_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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int weighted_y_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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/* Accumulators to sum up the net x ("Rightness") and y ("Forwardness")
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* components for the entire robot. */
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long net_x_comp = 0; |
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long net_y_comp = 0; |
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/* Variables used to normalize the net component values */
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int total_intensity = 0; |
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int normalized_net_x_comp = 0; |
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int normalized_net_y_comp = 0; |
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int i = 0; |
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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orbs_set_color(BLUE, GREEN); |
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delay_ms(1000);
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orbs_set_color(GREEN, BLUE); |
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delay_ms(1000);
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orbs_set_color(RED, RED); |
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while (1) { |
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/* Make sure to clear our accumulators */
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net_x_comp = 0;
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net_y_comp = 0;
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total_intensity = 0;
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bom_print_usb(NULL);
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bom_refresh(BOM_ALL); |
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for (i = 0; i < 16; i++) { |
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/* BOM intensity is actually measured as more intense = closer to 0 */
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intensity[i] = 255 - bom_get(i);
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weighted_x_comp[i] = intensity[i] * x_comp[i]; |
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weighted_y_comp[i] = intensity[i] * y_comp[i]; |
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net_x_comp += weighted_x_comp[i]; |
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net_y_comp += weighted_y_comp[i]; |
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total_intensity += intensity[i]; |
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} |
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if (total_intensity > 0) { |
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normalized_net_x_comp = net_x_comp / total_intensity; |
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normalized_net_y_comp = net_y_comp / total_intensity; |
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} |
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usb_puts("x: ");
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usb_puti(normalized_net_x_comp); |
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usb_puts("\ty: ");
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usb_puti(normalized_net_y_comp); |
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usb_puts("\n");
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delay_ms(50);
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} |
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while(1); |
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} |
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static int get_bom_vector(Vector* bom_vector) { |
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return 0; |
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} |