root / trunk / code / behaviors / formation_control / circle / circle.c @ 1597
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include <encoders.h> |
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#include "circle.h" |
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int EDGE = 0; |
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int BEACON = 1; |
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/*
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This program is used to make robots target a center (leader) robot using the BOM,
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then drive toward it and stop at a certain distance away.
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The distance will eventually be adjustable.
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With adjustment, the leader robot will be able to turn and use its standardized
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rangefinder to reposition or space the robots evenly.
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AuTHORS: Nico, Alex, Reva, Echo, Steve
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*/
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/*
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TODO:
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Check BOM more often and before final stop
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Make BOM check more comprehensively
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Use the center bot to check distances
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Count them ("spam" method)
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Use beacon to find relative positions
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Beacon tells them how to move to be at the right distance
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*done*Wireless communication, initialization
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*/
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void forward(int speed){ // set the motors to this forward speed. |
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motor_l_set(FORWARD,speed); |
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motor_r_set(FORWARD,speed); |
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} |
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void left(int speed){ // turn left at this speed. |
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motor_l_set(FORWARD,speed); |
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motor_r_set(BACKWARD,speed); |
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} |
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void right(int speed){ |
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motor_l_set(BACKWARD,speed); |
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motor_r_set(FORWARD,speed); |
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} |
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void stop(void){ // could be set to motors_off(), or just use this as an alternative. |
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motor_l_set(BACKWARD,0);
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motor_r_set(FORWARD,0);
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} |
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void setforward(int spd1, int spd2){ |
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motor_l_set(FORWARD,spd1); |
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motor_r_set(FORWARD,spd2); |
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} |
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void backward(int speed){ |
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motor_l_set(BACKWARD, speed); |
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motor_r_set(BACKWARD, speed); |
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} |
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int get_distance(void){ // takes an averaged reading of the front rangefinder |
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int temp,distance,kk=5; // kk sets this to 5 readings. |
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distance =0;
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for (int i=0; i<kk; i++){ |
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temp = range_read_distance(IR2); |
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if (temp == -1) |
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{
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//temp=0;
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i--; |
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} |
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else
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distance+= temp; |
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delay_ms(3);
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} |
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if (kk>0) |
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return (int)(distance/kk); |
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else
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return 0; |
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} |
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void turn_to_beacon(int max){ |
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if (max>-1 && max<16){ |
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int index = (max+12)%16; |
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if (index==0) { |
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stop(); |
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} |
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else if (index<8) right(170); |
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else left(170); |
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} |
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} |
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void turn_to_beacon2(int max){ // like the previous but no stop() call' |
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if (max>-1 && max<16){ |
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int index = (max+12)%16; |
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if (index==0) { |
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} |
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else if (index<8) right(170); |
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else left(170); |
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} |
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} |
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void orient(void){ |
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int max_index = -1; |
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while (max_index!=4) { |
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/* Refresh and make sure the table is updated */
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bom_refresh(BOM_ALL); |
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max_index = bom_get_max(); |
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turn_to_beacon(max_index); |
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delay_ms(22);
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} |
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} |
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void orient2(void){ |
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int max_index = -1; |
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while (max_index!=4) { |
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/* Refresh and make sure the table is updated */
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bom_refresh(BOM_ALL); |
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max_index = bom_get_max(); |
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turn_to_beacon2(max_index); |
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delay_ms(22);
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} |
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} |
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void go_straight(void){ // drives forward a hardcoded distance. May not be useful. |
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forward(200);
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encoder_rst_dx(LEFT); |
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encoder_rst_dx(RIGHT); |
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delay_ms(100);
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int x_left = encoder_get_x(LEFT), x_right = encoder_get_x(RIGHT);
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int count = 0; |
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int d;
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while (count<25){ //count = 25 when bot6; count <12 |
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x_left = encoder_get_x(LEFT); |
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x_right = encoder_get_x(RIGHT); |
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d = x_right-x_left; |
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if (d>13 || d<-13){ |
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if(d<50 && d>-50){ |
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d = round(1.0*d/4); |
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setforward(200+d, 200-d); |
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} |
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} |
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delay_ms(32);
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count++; |
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} |
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} |
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void go_straight_onefoot(void){ // essentially, another name for the above. Should be removed. |
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go_straight(); |
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} |
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void blink(int num) { |
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for(int i = 0; i<num; i++) |
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{
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orb_set_color(ORB_OFF); |
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delay_ms(500);
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orb_set_color(RED); |
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delay_ms(500);
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} |
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orb_set_color(ORB_OFF); |
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} |
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int main(void) |
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{
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/* Initialize dragonfly board */
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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/* Initialize the basic wireless library */
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wl_basic_init_default(); |
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/* Set the XBee channel to your assigned channel */
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wl_set_channel(24);
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int robotid = get_robotid();
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int used[16]; |
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for (int i=0; i<16; i++) used[i] = 0; |
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char send_buffer[2]; |
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int data_length;
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unsigned char *packet_data=wl_basic_do_default(&data_length); |
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int state = EDGE;
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int beacon_State=0; |
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int NUM_ROBOTS=2; |
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int robotsRecieved=0; |
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if(wheel()<100) |
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{
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state=EDGE; |
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} |
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else
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{
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state=BEACON; |
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} |
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int distance=1000; // how far away to stop. |
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int onefoot=300, speed=200; // one foot is 490 for bot 1; one foot is 200 for bot6 |
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while(1) |
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{
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switch(state)
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{
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case 0: // EDGE |
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orb_set_color(GREEN); |
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while(1) |
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{
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orb_set_color(YELLOW); |
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packet_data=wl_basic_do_default(&data_length); |
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if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_EXIST) |
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{
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send_buffer[0]=CIRCLE_ACTION_ACK;
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send_buffer[1]=robotid;
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wl_basic_send_global_packet(42,send_buffer,2); |
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break;
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} |
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} |
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while(1) // wait for the center bot to count all the robots and send a "done" packet |
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{
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orb_set_color(RED); |
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packet_data=wl_basic_do_default(&data_length); |
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wl_basic_send_global_packet(42,send_buffer,2); |
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if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE) |
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{
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break;
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} |
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} |
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orb_set_color(GREEN); |
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orient(); |
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forward(speed); |
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//range_init();
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orb_set_color(BLUE); |
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distance = get_distance(); |
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while (distance>=onefoot || distance==0) |
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{
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if(distance==0) |
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orb_set_color(WHITE); |
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distance = get_distance(); |
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orient2(); |
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forward(speed); |
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delay_ms(14);
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} |
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stop(); |
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orient(); |
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//button1_wait (); // code for lab1.
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//go_straight_onefoot();
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stop(); |
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break;
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case 1: // BEACON |
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switch(beacon_State) {
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case 0: // wait for a button to be pressed, then go to state 1 |
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bom_on(); |
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orb_set_color(PURPLE); |
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if(button1_click()) beacon_State=1; |
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break;
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case 1: // sends a global exist packet to see how many robots there are |
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send_buffer[0]=CIRCLE_ACTION_EXIST;
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send_buffer[1]=get_robotid();
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wl_basic_send_global_packet(42,send_buffer,2); |
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beacon_State=2;
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break;
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case 2: // find out how many robots there are |
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orb_set_color(ORANGE); |
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packet_data=wl_basic_do_default(&data_length); |
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if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
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{
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orb_set_color(WHITE); |
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if(used[packet_data[1]]==0){ //only add to robots seen if you haven't gotten an ACK from this robot |
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robotsRecieved++; |
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used[packet_data[1]]=1; |
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} |
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} |
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if(robotsRecieved==NUM_ROBOTS)
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beacon_State=3;
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break;
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case 3: |
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send_buffer[0]=CIRCLE_ACTION_DONE;
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wl_basic_send_global_packet(42,send_buffer,2); |
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break;
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} |
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break;
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} |
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} |
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orb_set_color(RED); |
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while(1); /* END HERE */ |
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return 0; |
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} |