Index: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_3
===================================================================
--- trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_3	(nonexistent)
+++ trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_3	(revision 1750)
@@ -0,0 +1,81 @@
+dist_l: 0
+dist_r: 0
+
+
+
+speed is: 180  speed_l  156  speed_r  134
+speed is: 181  speed_l  354  speed_r  308
+speed is: 182  speed_l  558  speed_r  488
+speed is: 183  speed_l  761  speed_r  667
+speed is: 184  speed_l  981  speed_r  854
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+speed is: 188  speed_l  1887  speed_r  1620
+speed is: 189  speed_l  2132  speed_r  1833
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+speed is: 191  speed_l  2631  speed_r  2254
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+speed is: 216  speed_l  10540  speed_r  9126
+speed is: 217  speed_l  10902  speed_r  9452
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+speed is: 229  speed_l  15601  speed_r  13791
+speed is: 230  speed_l  16001  speed_r  14193
+speed is: 231  speed_l  16410  speed_r  14592
+speed is: 232  speed_l  16820  speed_r  15001
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+speed is: 234  speed_l  17647  speed_r  15829
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+speed is: 239  speed_l  19777  speed_r  17983
+speed is: 240  speed_l  20217  speed_r  18430
+speed is: 241  speed_l  20665  speed_r  18874
+speed is: 242  speed_l  21110  speed_r  19324
+speed is: 243  speed_l  21560  speed_r  19770
+speed is: 244  speed_l  22014  speed_r  20233
+speed is: 245  speed_l  22476  speed_r  20685
+speed is: 246  speed_l  22932  speed_r  21145
+speed is: 247  speed_l  23393  speed_r  21607
+speed is: 248  speed_l  23849  speed_r  22078
+speed is: 249  speed_l  24308  speed_r  22556
+speed is: 250  speed_l  24771  speed_r  23029
+speed is: 251  speed_l  25230  speed_r  23512
+speed is: 252  speed_l  25693  speed_r  23987
+speed is: 253  speed_l  26156  speed_r  24472
+speed is: 254  speed_l  26644  speed_r  24948
+speed is: 255  speed_l  27139  speed_r  25434
\ No newline at end of file

Property changes on: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_3
___________________________________________________________________
Added: svn:executable
## -0,0 +1 ##
+*
\ No newline at end of property
Index: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_4
===================================================================
--- trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_4	(nonexistent)
+++ trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_4	(revision 1750)
@@ -0,0 +1,161 @@
+dist_l: 0
+dist_r: 1
+
+
+
+speed is: 180  speed_l  156  speed_r  145
+speed is: 181  speed_l  353  speed_r  328
+speed is: 182  speed_l  549  speed_r  518
+speed is: 183  speed_l  745  speed_r  718
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+speed is: 253  speed_l  25993  speed_r  19380
+speed is: 254  speed_l  26482  speed_r  19432
+speed is: 255  speed_l  26978  speed_r  19402dist_l: -1
+dist_r: 0
+
+
+
+speed is: 180  speed_l  133  speed_r  141
+speed is: 181  speed_l  317  speed_r  323
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+speed is: 235  speed_l  17284  speed_r  17303
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+speed is: 237  speed_l  18110  speed_r  18153
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+speed is: 241  speed_l  19823  speed_r  19905
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+speed is: 249  speed_l  23348  speed_r  23602
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+speed is: 251  speed_l  24257  speed_r  24558
+speed is: 252  speed_l  24714  speed_r  25041
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+speed is: 254  speed_l  25651  speed_r  26006
+speed is: 255  speed_l  26137  speed_r  26493
\ No newline at end of file

Property changes on: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_4
___________________________________________________________________
Added: svn:executable
## -0,0 +1 ##
+*
\ No newline at end of property
Index: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_5
===================================================================
--- trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_5	(nonexistent)
+++ trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_5	(revision 1750)
@@ -0,0 +1,81 @@
+dist_l: 0
+dist_r: 1
+
+
+
+speed is: 180  speed_l  158  speed_r  163
+speed is: 181  speed_l  354  speed_r  362
+speed is: 182  speed_l  560  speed_r  565
+speed is: 183  speed_l  772  speed_r  774
+speed is: 184  speed_l  991  speed_r  984
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+speed is: 187  speed_l  1669  speed_r  1664
+speed is: 188  speed_l  1913  speed_r  1903
+speed is: 189  speed_l  2157  speed_r  2146
+speed is: 190  speed_l  2404  speed_r  2402
+speed is: 191  speed_l  2661  speed_r  2663
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+speed is: 198  speed_l  4609  speed_r  4624
+speed is: 199  speed_l  4909  speed_r  4926
+speed is: 200  speed_l  5216  speed_r  5223
+speed is: 201  speed_l  5526  speed_r  5534p
+speed is: 202  speed_l  5837  speed_r  5849
+speed is: 203  speed_l  6157  speed_r  6166
+speed is: 204  speed_l  6477  speed_r  6490
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+speed is: 224  speed_l  13986  speed_r  13904
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+speed is: 232  speed_l  17505  speed_r  17309
+speed is: 233  speed_l  17963  speed_r  17755
+speed is: 234  speed_l  18426  speed_r  18202
+speed is: 235  speed_l  18892  speed_r  18646
+speed is: 236  speed_l  19357  speed_r  19098
+speed is: 237  speed_l  19826  speed_r  19546
+speed is: 238  speed_l  20298  speed_r  20001
+speed is: 239  speed_l  20771  speed_r  20449
+speed is: 240  speed_l  21244  speed_r  20910
+speed is: 241  speed_l  21721  speed_r  21387
+speed is: 242  speed_l  22202  speed_r  21869
+speed is: 243  speed_l  22686  speed_r  22350
+speed is: 244  speed_l  23171  speed_r  22833
+speed is: 245  speed_l  23660  speed_r  23322
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+speed is: 247  speed_l  24646  speed_r  24309
+speed is: 248  speed_l  25145  speed_r  24804
+speed is: 249  speed_l  25664  speed_r  25302
+speed is: 250  speed_l  26181  speed_r  25799
+speed is: 251  speed_l  26705  speed_r  26300
+speed is: 252  speed_l  27229  speed_r  26798
+speed is: 253  speed_l  27757  speed_r  27301
+speed is: 254  speed_l  28285  speed_r  27799
+speed is: 255  speed_l  28818  speed_r  28302

Property changes on: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_5
___________________________________________________________________
Added: svn:executable
## -0,0 +1 ##
+*
\ No newline at end of property
Index: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/speed depends on batteries.
===================================================================
Index: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/speed depends on batteries.
===================================================================
--- trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/speed depends on batteries.	(nonexistent)
+++ trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/speed depends on batteries.	(revision 1750)

Property changes on: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/speed depends on batteries.
___________________________________________________________________
Added: svn:executable
## -0,0 +1 ##
+*
\ No newline at end of property
Index: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_6
===================================================================
--- trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_6	(nonexistent)
+++ trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_6	(revision 1750)
@@ -0,0 +1,81 @@
+dist_l: 0
+dist_r: 0
+
+
+
+speed is: 180  speed_l  94  speed_r  134
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+speed is: 208  speed_l  6408  speed_r  7285
+speed is: 209  speed_l  6719  speed_r  7619
+speed is: 210  speed_l  7029  speed_r  7960
+speed is: 211  speed_l  7363  speed_r  8304
+speed is: 212  speed_l  7694  speed_r  8658
+speed is: 213  speed_l  8023  speed_r  9013
+speed is: 214  speed_l  8361  speed_r  9371
+speed is: 215  speed_l  8707  speed_r  9730
+speed is: 216  speed_l  9042  speed_r  10096
+speed is: 217  speed_l  9402  speed_r  10467
+speed is: 218  speed_l  9763  speed_r  10842
+speed is: 219  speed_l  10122  speed_r  11222
+speed is: 220  speed_l  10490  speed_r  11609
+speed is: 221  speed_l  10850  speed_r  11994
+speed is: 222  speed_l  11213  speed_r  12381
+speed is: 223  speed_l  11586  speed_r  12774
+speed is: 224  speed_l  11949  speed_r  13169
+speed is: 225  speed_l  12328  speed_r  13564
+speed is: 226  speed_l  12726  speed_r  13957
+speed is: 227  speed_l  13115  speed_r  14368
+speed is: 228  speed_l  13517  speed_r  14785
+speed is: 229  speed_l  13912  speed_r  15208
+speed is: 230  speed_l  14310  speed_r  15632
+speed is: 231  speed_l  14716  speed_r  16054
+speed is: 232  speed_l  15114  speed_r  16479
+speed is: 233  speed_l  15517  speed_r  16908
+speed is: 234  speed_l  15921  speed_r  17339
+speed is: 235  speed_l  16325  speed_r  17772
+speed is: 236  speed_l  16765  speed_r  18206
+speed is: 237  speed_l  17191  speed_r  18657
+speed is: 238  speed_l  17630  speed_r  19115
+speed is: 239  speed_l  18065  speed_r  19579
+speed is: 240  speed_l  18499  speed_r  20046
+speed is: 241  speed_l  18941  speed_r  20513
+speed is: 242  speed_l  19379  speed_r  20985
+speed is: 243  speed_l  19828  speed_r  21456
+speed is: 244  speed_l  20264  speed_r  21929
+speed is: 245  speed_l  20713  speed_r  22402
+speed is: 246  speed_l  21153  speed_r  22877
+speed is: 247  speed_l  21598  speed_r  23351
+speed is: 248  speed_l  22047  speed_r  23826
+speed is: 249  speed_l  22492  speed_r  24303
+speed is: 250  speed_l  22957  speed_r  25332
+speed is: 251  speed_l  23436  speed_r  25473
+speed is: 252  speed_l  23929  speed_r  25289
+speed is: 253  speed_l  24413  speed_r  25481
+speed is: 254  speed_l  24907  speed_r  25256
+speed is: 255  speed_l  25393  speed_r  25489
\ No newline at end of file

Property changes on: trunk/code/behaviors/formation_control/encoder_censored_forward/robotics_test/encoder_get_dx_test_robot_6
___________________________________________________________________
Added: svn:executable
## -0,0 +1 ##
+*
\ No newline at end of property
Index: trunk/code/behaviors/formation_control/encoder_censored_forward/encoder_censored_forward.c
===================================================================
--- trunk/code/behaviors/formation_control/encoder_censored_forward/encoder_censored_forward.c	(nonexistent)
+++ trunk/code/behaviors/formation_control/encoder_censored_forward/encoder_censored_forward.c	(revision 1750)
@@ -0,0 +1,129 @@
+
+
+
+
+#include <dragonfly_lib.h>
+#include <wl_basic.h>
+#include <encoders.h>
+
+
+int delta = 16;
+int divisor = 7;
+int epsilon = 8;
+/*
+  speed initial motor speed.
+  distance in encoder_get_x unit.
+
+  Has trouble when the distance difference is greater than epsilon * divisor
+
+  better re initiate with encoders_init() since it might overflow. or with initial difference.
+  
+  @param speed 
+  @param distance 30000 is roughly <10 meter
+  @param time 
+      not yet implemented.
+ */
+void encoder_censored_forward(int speed, int distance, int time){
+	encoders_init();
+	
+	int dist_l = encoder_get_x(LEFT);
+	usb_puts("dist_l: ");
+	usb_puti(dist_l);
+	usb_puts("\r");
+
+	int dist_r = encoder_get_x(RIGHT);
+	usb_puts("dist_l: ");
+	usb_puti(dist_l);
+	usb_puts("\r");
+
+	motor_l_set(FORWARD, speed);
+	motor_r_set(FORWARD, speed);
+	
+	int spd_l = speed;
+	int spd_r = speed;
+	int dist_diff = 0;
+	// int dist_diff_new = 0;  // was used for ensure the new speed is helping
+	int count = 0; // count for time
+	while (dist_l<distance && dist_r<distance){
+	  delay_ms(40);
+	  count++;
+	  dist_l = encoder_get_x(LEFT);
+	  dist_r = encoder_get_x(RIGHT);
+	  dist_diff = dist_l-dist_r;
+	  if (dist_diff< -delta) {
+	    spd_l += -dist_diff/divisor;
+	    spd_l = (spd_l >speed+epsilon)? speed+epsilon : spd_l;
+	    
+	    spd_r -= -dist_diff/divisor;
+	    spd_r = (spd_r <speed-epsilon)? speed-epsilon : spd_r;
+
+	  }else if (dist_diff > delta){
+	    spd_l -= dist_diff/divisor;
+	    spd_l = (spd_l <speed-epsilon)? speed-epsilon : spd_l;
+	    
+	    spd_r += dist_diff/divisor;
+	    spd_r = (spd_r >speed+epsilon)? speed+epsilon : spd_r;
+
+	  }
+	  
+	  motor_l_set(FORWARD, spd_l);
+	  motor_r_set(FORWARD, spd_r);
+	  
+	  usb_puts( "dist_l and dist_r: ");
+	  usb_puti(dist_l);
+	  usb_puts("   ");
+	  usb_puti(dist_r);
+	  usb_puts("\r");
+	}
+
+	motor_l_set(FORWARD, 0);
+	motor_r_set(FORWARD, 0);
+	usb_puts("time :");
+	usb_puti(count *40);
+} 
+
+void test_encoder(void){
+  	encoders_init();
+	
+	int dist_l = encoder_get_x(LEFT);
+	usb_puts("dist_l: ");
+	usb_puti(dist_l);
+	usb_puts("\r");
+
+	int dist_r = encoder_get_x(RIGHT);
+	usb_puts("dist_r: ");
+	usb_puti(dist_r);
+	usb_puts("\r\r\r");
+	
+	for (int i=180;i<256; i++){
+	  motor_l_set(FORWARD, i);
+	  motor_r_set(FORWARD, i);
+	  delay_ms(200);
+	  usb_puts("\rspeed is: ");
+	  usb_puti(i);
+	  usb_puts("  speed_l  ");
+	  usb_puti(encoder_get_dx(LEFT));
+	  usb_puts("  speed_r  ");
+	  usb_puti(encoder_get_dx(RIGHT));
+	}
+	
+	
+
+}
+
+int main(void)
+{
+	/* Initialize dragonfly board */
+    	dragonfly_init(ALL_ON);
+    	/* Initialize the basic wireless library */
+    	wl_basic_init_default();
+    	/* Set the XBee channel to 24 - must be standard among robots */
+	wl_set_channel(24);
+	
+	encoder_censored_forward(225, 30000, 3000);
+	//	test_encoder();
+
+	while(1); /* END HERE, just in case something happened.  This way we can see the red orb. */
+}
+
+

Property changes on: trunk/code/behaviors/formation_control/encoder_censored_forward/encoder_censored_forward.c
___________________________________________________________________
Added: svn:executable
## -0,0 +1 ##
+*
\ No newline at end of property
Index: trunk/code/behaviors/formation_control/encoder_censored_forward/Makefile
===================================================================
--- trunk/code/behaviors/formation_control/encoder_censored_forward/Makefile	(nonexistent)
+++ trunk/code/behaviors/formation_control/encoder_censored_forward/Makefile	(revision 1750)
@@ -0,0 +1,20 @@
+# this is a local makefile
+
+# Relative path to the root directory (containing lib directory)
+ifndef COLONYROOT
+COLONYROOT := ..
+
+# Target file name (without extension).
+TARGET = main
+
+# Uncomment this to use the wireless library
+USE_WIRELESS = 1
+
+# com1 = serial port. Use lpt1 to connect to parallel port.
+AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
+#AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
+else
+COLONYROOT := ../$(COLONYROOT)
+endif
+
+include $(COLONYROOT)/Makefile

Property changes on: trunk/code/behaviors/formation_control/encoder_censored_forward/Makefile
___________________________________________________________________
Added: svn:executable
## -0,0 +1 ##
+*
\ No newline at end of property
