Revision 661
virtual wall reported to robots
| colonet_dragonfly.c | ||
|---|---|---|
| 24 | 24 |
void (*handler)(void); |
| 25 | 25 |
} UserHandler; |
| 26 | 26 |
|
| 27 |
typedef struct {
|
|
| 28 |
int up_x; |
|
| 29 |
int up_y; |
|
| 30 |
int low_x; |
|
| 31 |
int low_y; |
|
| 32 |
} VirtualWall; |
|
| 33 |
|
|
| 27 | 34 |
/* Globals (internal) */ |
| 28 | 35 |
static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL]; |
| 29 | 36 |
|
| 30 |
static unsigned robot_x, robot_y; |
|
| 31 |
static unsigned last_x, last_y; |
|
| 37 |
static volatile unsigned robot_x, robot_y;
|
|
| 38 |
static volatile unsigned last_x, last_y;
|
|
| 32 | 39 |
static volatile int updated_robot_pos_ready; |
| 33 | 40 |
static volatile int new_movement_command_received; |
| 34 | 41 |
static volatile int robot_lost; //set to 1 if robot's position is not known by the server, else 0. |
| 42 |
static volatile VirtualWall virtual_wall; |
|
| 35 | 43 |
|
| 44 |
static int virtual_wall_available; |
|
| 45 |
|
|
| 36 | 46 |
#define ERROR_MAG_TO_MOTOR_DIFFENTIAL_CONST (1) |
| 37 | 47 |
|
| 38 | 48 |
/* Internal function prototypes */ |
| ... | ... | |
| 40 | 50 |
static void colonet_handle_receive(char type, int source, unsigned char* packet, int length); |
| 41 | 51 |
static void move_to_position_routine(unsigned x, unsigned y); |
| 42 | 52 |
static int dist_squared(int x1, int y1, int x2, int y2); |
| 53 |
static void move_routine(void); |
|
| 43 | 54 |
|
| 44 | 55 |
static PacketGroupHandler colonet_pgh; |
| 45 | 56 |
|
| ... | ... | |
| 67 | 78 |
new_movement_command_received = 0; |
| 68 | 79 |
robot_lost = 1; |
| 69 | 80 |
|
| 81 |
virtual_wall_available = 0; |
|
| 82 |
virtual_wall.up_x = 0; |
|
| 83 |
virtual_wall.up_y = 0; |
|
| 84 |
virtual_wall.low_x = 0; |
|
| 85 |
virtual_wall.low_y = 0; |
|
| 86 |
|
|
| 70 | 87 |
return 0; |
| 71 | 88 |
} |
| 72 | 89 |
|
| ... | ... | |
| 131 | 148 |
// usb_puts(buf); |
| 132 | 149 |
|
| 133 | 150 |
return 250; |
| 134 |
|
|
| 151 |
|
|
| 135 | 152 |
/* |
| 136 | 153 |
long e_mag = sqrt_100_approx(e_x*e_x + e_y*e_y); |
| 137 | 154 |
long v_mag = sqrt_100_approx(v_x*v_x + v_y*v_y); |
| ... | ... | |
| 141 | 158 |
long v_norm_y = (1000 * v_y) / v_mag; |
| 142 | 159 |
long e_dot_v = e_norm_x*v_norm_x + e_norm_y*v_norm_y; |
| 143 | 160 |
*/ |
| 144 |
|
|
| 145 | 161 |
|
| 162 |
|
|
| 146 | 163 |
} |
| 147 | 164 |
|
| 165 |
static void move_routine() {
|
|
| 166 |
do {
|
|
| 167 |
int count = 0; |
|
| 168 |
while (!updated_robot_pos_ready) {
|
|
| 169 |
wl_do(); |
|
| 170 |
if (count++ == 5000) { // in case the server missed it...
|
|
| 171 |
request_abs_position(); |
|
| 172 |
count = 0; |
|
| 173 |
} |
|
| 174 |
} |
|
| 175 |
|
|
| 176 |
wl_do(); |
|
| 177 |
|
|
| 178 |
if (robot_lost) {
|
|
| 179 |
motors_off(); |
|
| 180 |
} |
|
| 181 |
|
|
| 182 |
updated_robot_pos_ready = 0; |
|
| 183 |
request_abs_position(); |
|
| 184 |
} while (!new_movement_command_received); |
|
| 185 |
} |
|
| 186 |
|
|
| 148 | 187 |
static void move_to_position_routine(unsigned target_x, unsigned target_y) {
|
| 149 | 188 |
new_movement_command_received = 0; |
| 150 | 189 |
|
| ... | ... | |
| 194 | 233 |
|
| 195 | 234 |
//sprintf(buf, "v: (x:%d,y:%d)\n", v_x, v_y); |
| 196 | 235 |
//usb_puts(buf); |
| 197 |
|
|
| 236 |
|
|
| 198 | 237 |
if (abs(v_x) < 2 && abs(v_x) < 2) {
|
| 199 | 238 |
// if we didn't move since the last check, just go forward. |
| 200 | 239 |
motor1_set(1, 180); |
| ... | ... | |
| 299 | 338 |
break; |
| 300 | 339 |
|
| 301 | 340 |
//Analog |
| 302 |
case CALL_ANALOG8: |
|
| 303 |
break; |
|
| 304 |
case CALL_ANALOG10: |
|
| 305 |
break; |
|
| 306 | 341 |
case WHEEL: |
| 307 | 342 |
break; |
| 308 | 343 |
|
| ... | ... | |
| 350 | 385 |
motors_off(); |
| 351 | 386 |
break; |
| 352 | 387 |
|
| 388 |
case SERVER_REPORT_VIRTUAL_WALL_UPPER: |
|
| 389 |
virtual_wall.up_x = int_args[0]; |
|
| 390 |
virtual_wall.up_y = int_args[1]; |
|
| 391 |
break; |
|
| 392 |
|
|
| 393 |
case SERVER_REPORT_VIRTUAL_WALL_LOWER: |
|
| 394 |
virtual_wall.low_x = int_args[0]; |
|
| 395 |
virtual_wall.low_y = int_args[1]; |
|
| 396 |
break; |
|
| 397 |
|
|
| 353 | 398 |
case SERVER_REPORT_POSITION_TO_ROBOT: |
| 354 | 399 |
robot_lost = 0; |
| 355 | 400 |
|
| ... | ... | |
| 360 | 405 |
|
| 361 | 406 |
updated_robot_pos_ready = 1; |
| 362 | 407 |
|
| 408 |
if (robot_x < virtual_wall.up_x || robot_x > virtual_wall.low_x || robot_y < virtual_wall.up_x |
|
| 409 |
|| robot_y > virtual_wall.up_y) {
|
|
| 410 |
robot_lost = 1; |
|
| 411 |
motors_off(); |
|
| 412 |
} |
|
| 413 |
|
|
| 363 | 414 |
// sprintf(buf, "pos is: (x:%d, y:%d)\n", robot_x, robot_y); |
| 364 | 415 |
//usb_puts(buf); |
| 365 | 416 |
break; |
| ... | ... | |
| 412 | 463 |
usb_puts("calling motors_init\n");
|
| 413 | 464 |
motors_init(); |
| 414 | 465 |
break; |
| 466 |
|
|
| 415 | 467 |
case MOTOR1_SET: |
| 416 | 468 |
new_movement_command_received = 1; |
| 417 | 469 |
|
| ... | ... | |
| 419 | 471 |
usb_puts(buf); |
| 420 | 472 |
motor1_set(args[0], args[1]); |
| 421 | 473 |
break; |
| 474 |
|
|
| 422 | 475 |
case MOTOR2_SET: |
| 423 | 476 |
new_movement_command_received = 1; |
| 424 | 477 |
|
| ... | ... | |
| 426 | 479 |
usb_puts(buf); |
| 427 | 480 |
motor2_set(args[0], args[1]); |
| 428 | 481 |
break; |
| 482 |
|
|
| 429 | 483 |
case MOTORS_OFF: |
| 430 | 484 |
new_movement_command_received = 1; |
| 431 | 485 |
|
| 432 | 486 |
usb_puts("calling motors_off\n");
|
| 433 | 487 |
motors_off(); |
| 434 | 488 |
break; |
| 489 |
|
|
| 435 | 490 |
case MOVE: |
| 436 | 491 |
new_movement_command_received = 1; |
| 437 |
/* format for move: left direction, left velocity, right direction, right velocity */
|
|
| 492 |
/* format for move: left direction, left velocity, right direction, right velocity */ |
|
| 438 | 493 |
sprintf(buf, "calling move\n"); |
| 439 | 494 |
usb_puts(buf); |
| 440 |
motor1_set(args[0], args[1]); |
|
| 441 |
motor2_set(args[2], args[3]); |
|
| 495 |
motor1_set(args[0], args[1]); |
|
| 496 |
motor2_set(args[2], args[3]); |
|
| 497 |
|
|
| 498 |
/* Loop and update position for virtual wall. */ |
|
| 499 |
move_routine(); |
|
| 442 | 500 |
break; |
| 501 |
|
|
| 443 | 502 |
case PRINTF: |
| 444 | 503 |
usb_puts((char*)pkt->data); |
| 445 | 504 |
break; |
Also available in: Unified diff