Revision 900
added remote control to robot code that sends mapping data
trunk/code/projects/mapping/robot/robot_main.c | ||
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8 | 8 |
#define POINT_RAW 1 // packet type for map data points w/ raw encoder data |
9 | 9 |
#define POINT_ODO 2 // packet type for map data points w/ odometry data |
10 | 10 |
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11 |
#define WL_CNTL_GROUP 4 |
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#define FORWARD 0 |
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#define BACK 1 |
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#define LEFT 2 |
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#define RIGHT 3 |
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#define LEFT_CURVE 4 |
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#define RIGHT_CURVE 5 |
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#define STOP 6 |
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#define VEL_UP 7 |
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#define VEL_DOWN 8 |
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int state; |
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int velocity; |
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char buf[100]; |
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void packet_receive (char type, int source, unsigned char* packet, int length); |
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void set_motion (void); |
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PacketGroupHandler packetHandler = {WL_CNTL_GROUP, NULL, NULL, &packet_receive, NULL}; |
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11 | 31 |
PacketGroupHandler love_handle = {MAP, NULL, NULL, NULL, NULL}; |
12 | 32 |
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13 | 33 |
int main(void) |
... | ... | |
18 | 38 |
wl_init(); |
19 | 39 |
wl_set_channel(0xF); |
20 | 40 |
wl_register_packet_group(&love_handle); |
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wl_register_packet_group(&packetHandler); |
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orb_enable(); |
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21 | 43 |
//data_response_init(); |
22 | 44 |
//wl_token_ring_register(); |
23 | 45 |
//wl_token_ring_join(); |
24 |
run_around_init(); |
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//run_around_init();
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25 | 47 |
//odometry_init(); |
26 | 48 |
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velocity = 160; |
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state = STOP; |
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27 | 52 |
//int x, y; // use when sending odometry data |
28 | 53 |
//float theta; |
29 | 54 |
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... | ... | |
32 | 57 |
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33 | 58 |
while(1) |
34 | 59 |
{ |
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//wl_do();
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run_around_FSM(); /* traverse the environment and avoid obstacles ... */ |
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wl_do(); |
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//run_around_FSM(); /* traverse the environment and avoid obstacles ... */
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delay_ms(POLLING_INTERVAL); /* until it's time to grab map data */ |
38 | 63 |
//x = odometry_dx(); // use when sending odometry data |
39 | 64 |
//y = odometry_dy(); |
... | ... | |
80 | 105 |
return 0; |
81 | 106 |
} |
82 | 107 |
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void packet_receive (char type, int source, unsigned char* packet, int length) { |
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sprintf(buf, "received packet: %d\n", type); |
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usb_puts(buf); |
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switch (type) { |
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case FORWARD: |
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state = FORWARD; |
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break; |
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case BACK: |
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state = BACK; |
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break; |
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case LEFT: |
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state = LEFT; |
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break; |
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case RIGHT: |
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state = RIGHT; |
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break; |
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case LEFT_CURVE: |
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state = LEFT_CURVE; |
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break; |
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case RIGHT_CURVE: |
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state = RIGHT_CURVE; |
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break; |
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case STOP: |
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state = STOP; |
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break; |
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case VEL_UP: |
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if (velocity > 250) |
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velocity = 250; |
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else |
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velocity += 5; |
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break; |
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case VEL_DOWN: |
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velocity -= 5; |
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if (velocity < 150) |
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velocity = 150; |
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break; |
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default: |
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state = STOP; |
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break; |
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} |
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set_motion(); |
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} |
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void set_motion (void) { |
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switch (state) { |
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case FORWARD: |
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orb_set_color(GREEN); |
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move(velocity, 0); |
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break; |
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case BACK: |
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orb_set_color(BLUE); |
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move(-velocity, 0); |
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break; |
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case LEFT: |
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orb_set_color(ORANGE); |
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motor1_set(0, velocity); |
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motor2_set(1, velocity); |
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break; |
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case RIGHT: |
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orb_set_color(YELLOW); |
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motor1_set(1, velocity); |
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motor2_set(0, velocity); |
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break; |
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case LEFT_CURVE: |
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orb_set_color(MAGENTA); |
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motor1_set(1, 150); |
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motor2_set(1, velocity); |
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break; |
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case RIGHT_CURVE: |
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orb_set_color(CYAN); |
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motor1_set(1, velocity); |
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motor2_set(1, 150); |
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break; |
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case STOP: |
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orb_set_color(RED); |
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move(0, 0); |
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break; |
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} |
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} |
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