scoutos / scout / libscout / src / test_behaviors / smart_runaround.cpp @ 4c9fb6ba
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include "smart_runaround.h" |
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using namespace std; |
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// want to have a minimal working thing, use a big enough
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// static array and start in the middle
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// we assume we are facing right, that affects where we store
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// wall information
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// -1 for wall, 0 for unseen, 1 for traveled, 2 for critical
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#define WALL -1 |
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#define UNSEEN 0 |
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#define SEEN 1 |
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#define CRITICAL 2 |
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// facings on map, NOT on robot
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#define UP 0 |
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#define RIGHT 1 |
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#define DOWN 2 |
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#define LEFT 3 |
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// number of pixels on one row/column of map block
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#define BLOCK_LENGTH 13 |
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// robot control variables
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#define BASESPEED 50 |
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// robots row and column on map, starting at center
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int row = MAP_LENGTH/2+1; // add 1 because we know MAP_LENGTH is odd |
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int col = MAP_LENGTH/2+1; |
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// utility functions
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// pixels to meters
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float pix_to_m(int pixels) |
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{ |
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return pixels/200.0; |
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} |
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// millimeters to pixels
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int mm_to_idx(float meters) |
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{ |
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// 200 pixels per meter, and 1000 millimeters per meter
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float pixels = meters*0.2; |
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float idx = pixels/BLOCK_LENGTH;
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return floor(idx+0.5); |
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} |
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float *matrix_mult(float inputs[2], float matrix[2][2]) |
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{ |
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float newX = matrix[0][0]*inputs[0]+matrix[0][1]*inputs[1]; |
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float newY = matrix[1][0]*inputs[0]+matrix[1][1]*inputs[1]; |
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float output[2] = {newX, newY}; |
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return output;
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} |
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// TODO This is bad! It's defined globally across all behaviors. Please fix this. -Alex
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Duration sonar_update_time2(1.5); |
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// THIS VERSION MODIFIED BY ZANE
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void smart_runaround::run(){
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ROS_INFO("Starting to solve the maze");
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// Go up to the first line.
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//follow_line();
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// Turn the sonar on.
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sonar->set_on(); |
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sonar->set_range(0, 23); |
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// initialize map to all UNSEEN
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for(int r = 0; r < MAP_LENGTH; r++) { |
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for(int c = 0; c < MAP_LENGTH; c++) |
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map[r][c] = UNSEEN; |
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} |
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// Wait for the sonar to initialize.
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while(!look_around(25, 25, RIGHT) && ok()) |
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{ |
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spinOnce(); |
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} |
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/* Assumptions:
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* Grid has a fixed size
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* Start location unknown
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* When robot moves forward, it moves to exact center
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* of the block in front.
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*/
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int dir = RIGHT; // current direction |
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//int new_dir = RIGHT; // direction in which to turn after a scan
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bool success = false; // true when maze solved |
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while(ok())
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{ |
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look_around(row, col, dir); |
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// Try moving in each direction
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/*new_dir = choose_direc(row, col, UNSEEN);
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if(new_dir < 0)
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new_dir = choose_direc(row, col, SEEN);
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if(new_dir >= 0) {
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turn_from_to(dir, new_dir);
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dir = new_dir;
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}*/
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} |
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// Check and report final condition.
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if (success)
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ROS_INFO("YAY! I have solved the maze");
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else
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ROS_INFO("NO! The maze is unsolvable");
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} |
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/* return a direction (if any) where adjacent block
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* is labeled "info" on map. Searches clockwise
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* starting at up. Returns -1 if no direction valid.
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*/
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int smart_runaround::choose_direc(int row, int col, int info) |
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{ |
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if (map[row-1][col] == info) |
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return UP;
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else if (map[row][col+1] == info) |
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return RIGHT;
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else if (map[row+1][col] == info) |
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return DOWN;
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else if (map[row][col-1] == info) |
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return LEFT;
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return -1; |
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} |
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/* this function takes in the current direction,
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* and turns the scout to the intended direction
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*/
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void smart_runaround::turn_from_to(int current_dir, int intended_dir) { |
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switch ((4 + intended_dir - current_dir) % 4) // TODO: Try without "4 +" at start |
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{ |
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case 0: |
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turn_straight(intended_dir); |
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break;
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case 1: |
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turn_right(); |
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break;
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case 2: |
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spot_turn(); |
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break;
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case 3: |
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turn_left(); |
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break;
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} |
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} |
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/* Purpose: look front, left, and right using sonar, and update
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* map accordingly. Returns true if and only if sonar is initialized.
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*/
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bool smart_runaround::look_around(int row, int col, int dir) |
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{ |
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int* readings = sonar->get_sonar_readings();
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spinOnce(); |
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// Assumption: readings are given in millimeters - Zane
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// matrices for going from robot's frame to base frame
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float rightMat[2][2] = {{0, 1}, {-1, 0}}; |
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float downMat[2][2] = {{-1, 0}, {0, -1}}; |
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float leftMat[2][2] = {{0, 1}, {1, 0}}; |
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// Look to the left (and update map).
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float left_distance = readings[0]; // w.r.t. robot |
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if(left_distance == 0) |
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return false; |
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int left_idx = -mm_to_idx(left_distance); // w.r.t. map |
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// plot to map if indices are valid
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if (0 <= left_idx && left_idx < MAP_LENGTH) |
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map[row][col+left_idx] = SEEN; |
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// Look in the other directions (and update map).
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for (int i = 24; i < 48; i++) { |
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float distance = readings[i]; // w.r.t. robot |
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if(distance == 0) |
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return false; |
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if(distance >= 500) |
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break; // too far to be accurate |
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float theta = (M_PI/24)*i - M_PI; |
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float xDist = distance*cos(theta); // w.r.t. robot |
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float yDist = distance*sin(theta); // w.r.t. robot |
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float inputs[2] = {xDist, yDist}; |
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float *ans;
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// re-orient x and y distances based on direction
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switch(dir) {
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case UP:
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ans[0] = xDist;
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ans[1] = yDist;
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break;
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case RIGHT:
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ans = matrix_mult(inputs, rightMat); |
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break;
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case DOWN:
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ans = matrix_mult(inputs, downMat); |
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break;
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case LEFT:
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ans = matrix_mult(inputs, leftMat); |
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break;
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} |
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// indices into the map
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int pixDistX = row + mm_to_idx(ans[0]); |
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int pixDistY = col + mm_to_idx(ans[1]); |
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// plot to map if indices are valid
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if (0 <= pixDistX && pixDistX < MAP_LENGTH |
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&& 0 <= pixDistY && pixDistY < MAP_LENGTH)
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map[pixDistX][pixDistY] = SEEN; |
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} |
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return true; |
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} |
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// TODO: test this function
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// return true iff the map has been completely explored
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// and only true if it "returned" to home destination after solving
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bool smart_runaround::at_destination()
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{ |
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// check whether there is a square portion with
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// only SEEN or WALL blocks, of the size of the map.
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int start_row = -1; |
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int start_col = -1; |
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int seen_width = 0; |
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int seen_height = 0; |
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for(int r = 0; r < MAP_LENGTH; r++) { |
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for(int c = 0; c < MAP_LENGTH; c++) { |
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if(map[r][c] == UNSEEN) {
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start_row = -1;
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start_col = -1;
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seen_width = 0;
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seen_height = 0;
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} |
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else {
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start_row = r; |
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start_col = c; |
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seen_width++; |
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seen_height++; |
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} |
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if(seen_width >= 15) |
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return true; |
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} |
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} |
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return false; |
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} |
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// TODO: test these functions to make sure robot moves well
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// move forward one block in direction "dir"
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void smart_runaround::turn_straight(int dir) |
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{ |
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// TODO: try to use motor encoder values to move forward enough
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motors->set_sides(BASESPEED, BASESPEED, MOTOR_ABSOLUTE); |
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spinOnce(); |
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Duration moveTime(1.0); |
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moveTime.sleep(); |
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// update robot's position on map
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switch(dir)
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{ |
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case UP:
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row--; |
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break;
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case RIGHT:
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col++; |
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break;
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case DOWN:
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row++; |
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break;
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case LEFT:
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col--; |
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break;
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} |
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} |
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// turn clockwise (right)
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void smart_runaround::turn_right()
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{ |
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motors->set_sides(BASESPEED, -BASESPEED, MOTOR_ABSOLUTE); |
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spinOnce(); |
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Duration moveTime(3.3); |
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moveTime.sleep(); |
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} |
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// do a 180 deg turn, NOT a barrel roll
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void smart_runaround::spot_turn()
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{ |
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motors->set_sides(BASESPEED, -BASESPEED, MOTOR_ABSOLUTE); |
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spinOnce(); |
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Duration moveTime(6.6); |
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moveTime.sleep(); |
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} |
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// turn counter-clockwise (left)
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void smart_runaround::turn_left()
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{ |
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motors->set_sides(-BASESPEED, BASESPEED, MOTOR_ABSOLUTE); |
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spinOnce(); |
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Duration moveTime(3.3); |
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moveTime.sleep(); |
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} |