root / trunk / code / projects / mapping / robot / robot_main.c @ 965
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#include <dragonfly_lib.h> |
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#include <wireless.h> |
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#include <encoders.h> |
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#include "odometry.h" |
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#define POLLING_INTERVAL 50 //interval in ms to get sensor data |
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#define MAP 1 // packet group for sending data points |
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#define POINT_ODO 2 |
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#define WL_CNTL_GROUP 4 |
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#define CNTL_FORWARD 0 |
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#define CNTL_BACK 1 |
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#define CNTL_LEFT 2 |
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#define CNTL_RIGHT 3 |
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#define CNTL_LEFT_CURVE 4 |
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#define CNTL_RIGHT_CURVE 5 |
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#define CNTL_STOP 6 |
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#define CNTL_VEL_UP 7 |
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#define CNTL_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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int main(void) |
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{ |
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/* initialize components and join the token ring */
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dragonfly_init(ALL_ON); |
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odometry_init(); |
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orb_enable(); |
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wl_init(); |
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wl_set_channel(0xE);
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wl_register_packet_group(&packetHandler); |
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velocity = 190;
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state = CNTL_STOP; |
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int x, y; // use when sending odometry data |
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double theta;
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int store[9]; |
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char *send; // for transmission |
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while(1) |
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{ |
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wl_do(); |
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delay_ms(POLLING_INTERVAL); /* until it's time to grab map data */
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x = odometry_dx(); // use when sending odometry data
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y = odometry_dy(); |
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theta = odometry_angle(); |
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store[0] = x;
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store[1] = y;
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*((double*)(store + 2)) = theta; |
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store[4] = range_read_distance(IR1); // IR1 range |
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store[5] = range_read_distance(IR2); // IR2 range |
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store[6] = range_read_distance(IR3); // IR3 range |
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store[7] = range_read_distance(IR4); // IR4 range |
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store[8] = range_read_distance(IR5); // IR5 range |
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sprintf( buf, "%d %d %f %d %d %d %d %d\n", store[0], store[1], |
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*((double *)(store+2)), store[4], store[5], store[6], |
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store[7], store[8] ); |
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usb_puts(buf); |
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send = (char*) store;
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wl_send_global_packet(MAP, POINT_ODO, send, 18, 0); |
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} |
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wl_terminate(); |
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return 0; |
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} |
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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 CNTL_FORWARD:
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state = CNTL_FORWARD; |
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break;
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case CNTL_BACK:
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state = CNTL_BACK; |
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break;
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case CNTL_LEFT:
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state = CNTL_LEFT; |
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break;
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case CNTL_RIGHT:
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state = CNTL_RIGHT; |
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break;
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case CNTL_LEFT_CURVE:
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state = CNTL_LEFT_CURVE; |
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break;
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case CNTL_RIGHT_CURVE:
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state = CNTL_RIGHT_CURVE; |
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break;
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case CNTL_STOP:
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state = CNTL_STOP; |
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break;
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case CNTL_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 CNTL_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 = CNTL_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 CNTL_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 CNTL_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 CNTL_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 CNTL_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 CNTL_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 CNTL_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 CNTL_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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