root / trunk / code / behaviors / formation_control / circle / circle.c @ 1627
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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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|
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int EDGE = 0; |
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int BEACON = 1; |
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int timeout = 0; |
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int sending = 0; |
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int stop2 = 0; |
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struct vector slave_position;
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int desired_max_bom;
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int bom_max_counter;
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|
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|
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void set_desired_max_bom(int desired_angle) |
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{
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if (desired_angle >= 348 || desired_angle < 11) desired_max_bom = 0; |
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if (desired_angle >= 11 && desired_angle < 33) desired_max_bom = 1; |
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if (desired_angle >= 33 && desired_angle < 56) desired_max_bom = 2; |
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if (desired_angle >= 56 && desired_angle < 78) desired_max_bom = 3; |
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if (desired_angle >= 78 && desired_angle < 101) desired_max_bom = 4; |
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if (desired_angle >= 101 && desired_angle < 123) desired_max_bom = 5; |
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if (desired_angle >= 123 && desired_angle < 145) desired_max_bom = 6; |
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if (desired_angle >= 145 && desired_angle < 167) desired_max_bom = 7; |
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if (desired_angle >= 167 && desired_angle < 190) desired_max_bom = 8; |
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if (desired_angle >= 190 && desired_angle < 212) desired_max_bom = 9; |
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if (desired_angle >= 212 && desired_angle < 235) desired_max_bom = 10; |
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if (desired_angle >= 235 && desired_angle < 257) desired_max_bom = 11; |
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if (desired_angle >= 257 && desired_angle < 280) desired_max_bom = 12; |
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if (desired_angle >= 280 && desired_angle < 302) desired_max_bom = 13; |
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if (desired_angle >= 302 && desired_angle < 325) desired_max_bom = 14; |
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if (desired_angle >= 325 && desired_angle < 348) desired_max_bom = 15; |
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} |
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|
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void switch_sending(void) |
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{
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if(sending)
|
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{
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sending = 0;
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bom_off(); |
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} |
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else
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{
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sending = 1;
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bom_on(); |
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} |
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} |
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|
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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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|
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The distance will eventually be adjustable.
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|
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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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|
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/*
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TODO:
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Used: Bots 1, 7
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16 Performed Badly
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12 worked ok as beacon, not well as edge
|
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|
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Fix orient code so the bot does not toggle back and forth when it tries to turn
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|
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Use the center bot to check distances
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Done--> 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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|
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/*~~~~~~~~~~~~~ NEED document
|
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*/
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void correctTurn(void) |
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{
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orb1_set_color(BLUE); // BLUE and PURPLE
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left(220);
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while(1) |
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{
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int bomNum = 0; // bomNum is the current maximum reading |
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bom_refresh(BOM_ALL); |
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bomNum = bom_get_max(); |
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usb_puti(bomNum); |
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if(bomNum == 4) // when it's turned the right way, stop |
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{
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timeout = 0;
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//motor_l_set(1, 200);
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//motor_r_set(1, 200);
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break; // exits the while() loop to stop the method |
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} |
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else // facing the wrong way |
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{
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if(bomNum == -1){ |
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|
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timeout++; |
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|
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if(timeout > 500000) // if it's been looking too long, move a little bit as it turns |
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{
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motor_r_set(FORWARD, 210);
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motor_l_set(BACKWARD, 190);
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} |
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} |
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else if((bomNum >= 12) || (bomNum < 4)) |
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{
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motor_l_set(FORWARD, 200);
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motor_r_set(BACKWARD, 200);
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timeout = 0;
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} |
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else
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{
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motor_l_set(BACKWARD, 200);
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motor_r_set(FORWARD, 200);
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timeout = 0;
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} |
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} |
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} |
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return;
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} |
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/*~~~~~~~~~~~~~~ NEED document
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|
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Actually, we should just get rid of this.
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*/
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void correctApproach(void) |
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{
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int bomNum = 0; |
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bom_refresh(BOM_ALL); |
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bomNum = bom_get_max(); |
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usb_puti(bomNum); |
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if(bomNum == 4) |
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{
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motor_l_set(1, 200); |
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motor_r_set(1, 200); |
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} |
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else
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{
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if(bomNum == -1){} |
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else if((bomNum >= 12) || (bomNum < 4)) |
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{
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motor_l_set(FORWARD, 200);
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motor_r_set(BACKWARD, 200);
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} |
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else
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{
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motor_l_set(BACKWARD, 200);
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motor_r_set(FORWARD, 200);
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} |
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delay_ms(100);
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} |
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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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|
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/*
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BLINK the given number times
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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(200);
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orb_set_color(RED); |
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delay_ms(200);
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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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/* 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 */ /* Set the XBee channel to your assigned channel */ |
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wl_set_channel(24);
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|
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int sending_counter = 0; |
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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 waitingCounter=0; |
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int robotsReceived=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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|
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int distance=1000; // how far away to stop. |
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int onefoot=300, speed=250; // 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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bom_refresh(BOM_ALL); |
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/*
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*******TERMinology**************
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EDGE=0 other names: slave. Definition: robots on the edge of the circle;
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BEACON=1 other name: master. Definition: robots in the center of the circle;
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*******EXPECTED MOVES **********
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The designed movement:
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1. one center robot, several edge robots are on;
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2. center robots: button 1 is pressed;
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3. center robots: send global package telling edges that he exists;
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4. EDGE robots response with ACK.
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5. EDGE robots wait for center robots to finish counting (DONE package)
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6. *******************TODO ***************
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*/
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// decide if its is center or not.
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switch(state)
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{
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/**********
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if EDGE /slave robots
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*/
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case 0: |
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|
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/*
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0. EDGE robots are on.
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1. They are waiting for ExiST pacakage from the Center robots
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2. After they receive the package, they send ACK package to center.
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3. Wait the center robot to finish counting all EDGE robots
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*/
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while(1) |
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{
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bom_off(); |
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orb1_set_color(YELLOW);orb2_set_color(CYAN); |
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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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|
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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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|
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/*
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1. Wait for DONE package
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2. The counting process is DONE
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*/
|
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while(1) |
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{
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orb_set_color(YELLOW);orb2_set_color(PURPLE); |
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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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|
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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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|
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|
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// COLOR afer DONE ---> MAGENTA
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orb_set_color(MAGENTA); |
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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correctTurn(); // turn to face the beacon
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forward(220);
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//range_init();
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|
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|
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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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//correctApproach();
|
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distance = get_distance(); |
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delay_ms(14);
|
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} |
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|
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stop(); |
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orb_set_color(LIME); |
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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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|
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// NEW CODE FROM JOEL
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|
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while(1) |
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{
|
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packet_data = wl_basic_do_default(&data_length); |
| 384 |
|
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if(packet_data[0]=='s') stop2=1; |
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if(packet_data[0]=='a') switch_sending(); |
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|
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if(sending)
|
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{
|
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|
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} |
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|
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else // recieving |
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{
|
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|
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if(stop2)
|
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{
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motor_l_set(FORWARD,0);
|
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motor_r_set(FORWARD,0);
|
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orb1_set_color(GREEN); |
| 401 |
} |
| 402 |
|
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else
|
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{
|
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int max_bom = bom_get_max();
|
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/*usb_puts("bom_get_max : ");
|
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usb_puti(max_bom);
|
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usb_puts("/n/r");*/
|
| 409 |
|
| 410 |
|
| 411 |
if(max_bom == 8) |
| 412 |
{
|
| 413 |
orb2_set_color(BLUE); |
| 414 |
motor_r_set(FORWARD,180);
|
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motor_l_set(FORWARD,180);
|
| 416 |
|
| 417 |
} |
| 418 |
else if(max_bom == 7 || max_bom == 6 || max_bom == 5) |
| 419 |
{
|
| 420 |
motor_l_set(FORWARD,180);
|
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motor_r_set(FORWARD,0);
|
| 422 |
} |
| 423 |
else if(max_bom == -1); |
| 424 |
else
|
| 425 |
{
|
| 426 |
orb2_set_color(GREEN); |
| 427 |
motor_l_set(FORWARD,0);
|
| 428 |
motor_r_set(FORWARD,180);
|
| 429 |
} |
| 430 |
} |
| 431 |
|
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} |
| 433 |
|
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delay_ms(10);
|
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|
| 436 |
} //end while
|
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break;
|
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|
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// END for EDGE robots
|
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|
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|
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|
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|
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|
| 445 |
|
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/***************
|
| 447 |
if The CENTER/BEACON/MASTER robot
|
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*/
|
| 449 |
case 1: // BEACON /master /enter robots |
| 450 |
switch(beacon_State) {
|
| 451 |
/*
|
| 452 |
1. center robots on wait for pressing button 1
|
| 453 |
*/
|
| 454 |
case 0: |
| 455 |
bom_on(); |
| 456 |
orb_set_color(PURPLE); |
| 457 |
if(button1_click()) beacon_State=1; |
| 458 |
break;
|
| 459 |
/*
|
| 460 |
1. Send EXIST package to EDGE robots
|
| 461 |
*/
|
| 462 |
case 1: // sends a global exist packet to see how many robots there are |
| 463 |
orb_set_color(RED); |
| 464 |
send_buffer[0]=CIRCLE_ACTION_EXIST;
|
| 465 |
send_buffer[1]=get_robotid();
|
| 466 |
wl_basic_send_global_packet(42,send_buffer,2); |
| 467 |
beacon_State=2;
|
| 468 |
break;
|
| 469 |
/*
|
| 470 |
1. Count the number of the EDGE robots
|
| 471 |
*******NOTE: at most 1500 times of loop ******
|
| 472 |
*/
|
| 473 |
case 2: |
| 474 |
waitingCounter++; |
| 475 |
orb1_set_color(YELLOW); |
| 476 |
orb2_set_color(BLUE); |
| 477 |
packet_data=wl_basic_do_default(&data_length); |
| 478 |
if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 479 |
{
|
| 480 |
orb_set_color(RED); |
| 481 |
orb2_set_color(BLUE); |
| 482 |
//only add to robots seen if you haven't gotten an ACK from this robot
|
| 483 |
if(used[packet_data[1]]==0){ |
| 484 |
robotsReceived++; |
| 485 |
used[packet_data[1]]=1; |
| 486 |
} |
| 487 |
} |
| 488 |
if(waitingCounter >= 1500){ |
| 489 |
beacon_State=3;
|
| 490 |
} |
| 491 |
break;
|
| 492 |
/*
|
| 493 |
COUNTing is DONE.
|
| 494 |
Sending DONE package.
|
| 495 |
*/
|
| 496 |
case 3: |
| 497 |
blink(robotsReceived); |
| 498 |
orb_set_color(GREEN); |
| 499 |
send_buffer[0]=CIRCLE_ACTION_DONE;
|
| 500 |
wl_basic_send_global_packet(42,send_buffer,2); |
| 501 |
beacon_State=4;
|
| 502 |
break;
|
| 503 |
/*
|
| 504 |
Wait for all the robots to get to right distance/position
|
| 505 |
*/
|
| 506 |
case 4: |
| 507 |
orb1_set_color(YELLOW); |
| 508 |
orb2_set_color(WHITE); |
| 509 |
|
| 510 |
int numOk = 0; |
| 511 |
|
| 512 |
while(numOk<robotsReceived)
|
| 513 |
{
|
| 514 |
packet_data=wl_basic_do_default(&data_length); |
| 515 |
if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 516 |
{
|
| 517 |
numOk++; |
| 518 |
} |
| 519 |
} |
| 520 |
|
| 521 |
beacon_State = 5;
|
| 522 |
break; // <----------------------------------------------------------Echo wrote this "break". need to be checked. |
| 523 |
|
| 524 |
/**
|
| 525 |
NEED to be documented
|
| 526 |
*/
|
| 527 |
case 5: |
| 528 |
orb_set_color(BLUE); |
| 529 |
// clock for switching the BOMs between the master and slave
|
| 530 |
if(sending_counter++>4) |
| 531 |
{
|
| 532 |
switch_sending(); |
| 533 |
sending_counter = 0;
|
| 534 |
send_buffer[0] = 'a'; |
| 535 |
wl_basic_send_global_packet(42, send_buffer, 1); |
| 536 |
} |
| 537 |
|
| 538 |
|
| 539 |
if(sending)
|
| 540 |
{
|
| 541 |
|
| 542 |
} |
| 543 |
|
| 544 |
else // recieving |
| 545 |
{
|
| 546 |
int max_bom = bom_get_max();
|
| 547 |
usb_puts("bom_get_max : ");
|
| 548 |
usb_puti(max_bom); |
| 549 |
usb_puts("\n\r");
|
| 550 |
|
| 551 |
if(max_bom == desired_max_bom)
|
| 552 |
{
|
| 553 |
// only stops the slave if two consecutive boms
|
| 554 |
// reading give the desired bom as the max one. Filters the noise.
|
| 555 |
if(bom_max_counter)
|
| 556 |
{
|
| 557 |
send_buffer[0] = 's'; |
| 558 |
wl_basic_send_global_packet(42, send_buffer, 2); |
| 559 |
} |
| 560 |
bom_max_counter =1;
|
| 561 |
} |
| 562 |
else bom_max_counter = 0; |
| 563 |
|
| 564 |
} |
| 565 |
|
| 566 |
break;
|
| 567 |
} |
| 568 |
} |
| 569 |
} |
| 570 |
|
| 571 |
orb_set_color(RED); |
| 572 |
while(1); /* END HERE */ |
| 573 |
|
| 574 |
//return 0;
|
| 575 |
} |