blboun3/robosoutez-2023
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Denk proof backup #too_many

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Blboun3
2023-11-14 11:14:18 +01:00
parent 37d921b914
commit 095aef2d3f
2 changed files with 93 additions and 15 deletions
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app
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108
app.cpp
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@@ -4,10 +4,17 @@
#include <functional>
#include <sstream>
#include <math.h>
#include <cfloat>
#include <limits.h>
/*
Change notes:
0.4.3 - 'HELGA' (#)
Motor problems indicator with colors:
left - red, right - orange,
when motor is stuck change LED color
0.4.2 - 'HELGA' (#67)
Updated run_short() to run_short_side()
Added gyro
@@ -60,6 +67,13 @@ struct MPWRS
int rMotorPWR;
};
// Structure to hold motor powers and speed modifier
struct MPWRSPlus
{
MPWRS motor_powers;
int SPEED_MODIFIER;
};
// Structure to hold notes
struct note
{
@@ -100,6 +114,21 @@ void close_door(ev3cxx::Motor hinge)
hinge.onForDegrees(25, 200);
}
void turn(ev3cxx::MotorTank naVodu, ev3cxx::GyroSensor naklonoMer)
{
int startAngle = naklonoMer.angle();
int endAngle = startAngle - 90;
naVodu.onForRotations(-25, 50, 1.25);
if(ev3cxx::abs(naklonoMer.angle()) > ev3cxx::abs(endAngle) + 2 || ev3cxx::abs(naklonoMer.angle()) < ev3cxx::abs(endAngle) - 2) { // !!!! NEFUNGUJEž
ev3_speaker_play_tone(NOTE_C4, 250);
tslp_tsk(250);
ev3_speaker_play_tone(NOTE_C4, 125);
tslp_tsk(125);
ev3_speaker_play_tone(NOTE_D4, 250);
tslp_tsk(250);
}
}
/*
Function to pick up all cubes on shorter side
return true if ran till the end and false if stopped by middle button
@@ -108,7 +137,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
{
const int LEFT_THRESHOLD = -2;
const int RIGHT_THRESHOLD = 2;
const int CORRECTION_MULTIPLIER = 10;
const int CORRECTION_MULTIPLIER = 20;
const int CYCLE_LIMIT = 90;
gyro.resetHard();
@@ -184,6 +213,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
run = false;
}
}
motors.off(true);
ev3_speaker_play_tone(NOTE_C4, 250);
tslp_tsk(250);
ev3_speaker_play_tone(NOTE_C4, 125);
@@ -199,19 +229,50 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
return !error;
}
MPWRSPlus calculate_motor_pwrs()
{
int batteryLevel = ev3_battery_voltage_mV();
double squared = (double)0.00003 * (double)(batteryLevel * batteryLevel);
double linear = -0.42 * (double)batteryLevel;
double constant = 1470;
double modifier = squared + linear + constant;
int SPEED_MODIFIER = 30 - ((int)round(modifier));
// ev3cxx::display.format(4, "Q: % \nL: % \nC: % \nSM: % ") % squared % linear % constant % modifier;
MPWRS idealMPWRS;
idealMPWRS.lMotorPWR = 85 + SPEED_MODIFIER;
idealMPWRS.rMotorPWR = 70 + SPEED_MODIFIER;
MPWRSPlus retVal;
retVal.motor_powers = idealMPWRS;
retVal.SPEED_MODIFIER = SPEED_MODIFIER;
return retVal;
}
void main_task(intptr_t unused)
{
// Create version info
// version createVersion(int versionID, const char *codename, int major, int minor, int patch, int day, int month, int year, int hour, int minute)
const version VERSION = createVersion(67, "HELGA", 0, 4, 2, 10, 11, 2023, 14, 40);
const version VERSION = createVersion(70, "HELGA", 0, 4, 2, 10, 11, 2023, 14, 40);
// Set-up screen
ev3cxx::display.resetScreen();
ev3cxx::display.setFont(EV3_FONT_MEDIUM);
// Set up motor powers
MPWRSPlus calcedPWRS = calculate_motor_pwrs();
MPWRS idealMPWRS = calcedPWRS.motor_powers;
const int SPEED_MODIFIER = calcedPWRS.SPEED_MODIFIER;
MPWRS motor_powers;
motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
// Print version information on screen
ev3cxx::display.format(" DOBREMYSL\nVERSION: % .% .% #% \nNAME: % \nBattery: % mV") % VERSION.major % VERSION.minor % VERSION.patch % VERSION.id % VERSION.codename % ev3_battery_voltage_mV();
ev3cxx::display.format(" DOBREMYSL\n% .% .% #% \nNAME: % \nBattery: % mV % \n % ") % VERSION.major % VERSION.minor % VERSION.patch % VERSION.id % VERSION.codename % ev3_battery_voltage_mV() % SPEED_MODIFIER;
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
@@ -234,16 +295,6 @@ void main_task(intptr_t unused)
ev3_speaker_play_tone(NOTE_F4, 75);
tslp_tsk(200);
// Set up motor powers
const int SPEED_MODIFIER = 10;
MPWRS idealMPWRS;
idealMPWRS.lMotorPWR = 75 - SPEED_MODIFIER;
idealMPWRS.rMotorPWR = 60 - SPEED_MODIFIER;
MPWRS motor_powers;
motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
// Set up motors
ev3cxx::Motor hinge(ev3cxx::MotorPort::A, ev3cxx::MotorType::LARGE); // Hinge motor
ev3cxx::MotorTank motors(ev3cxx::MotorPort::B, ev3cxx::MotorPort::C); // Tank motors
@@ -255,8 +306,35 @@ void main_task(intptr_t unused)
// Start program
btnEnter.waitForClick();
// turn_left(motors);
bool side_1 = run_short_side(motors, motor_powers, gyro);
for (int i = 0; i < 10; i++)
{
turn(motors, gyro);
ev3_speaker_play_tone(NOTE_F4, 100);
tslp_tsk(200);
ev3_speaker_play_tone(NOTE_A4, 100);
tslp_tsk(200);
ev3_speaker_play_tone(NOTE_C4, 100);
tslp_tsk(200);
ev3_speaker_play_tone(NOTE_F4, 50);
tslp_tsk(100);
ev3_speaker_play_tone(NOTE_A4, 50);
tslp_tsk(100);
ev3_speaker_play_tone(NOTE_C4, 50);
tslp_tsk(100);
ev3_speaker_play_tone(NOTE_F4, 25);
tslp_tsk(50);
ev3_speaker_play_tone(NOTE_A4, 25);
tslp_tsk(50);
ev3_speaker_play_tone(NOTE_C4, 25);
tslp_tsk(50);
ev3_speaker_play_tone(NOTE_F4, 12);
tslp_tsk(25);
ev3_speaker_play_tone(NOTE_A4, 12);
tslp_tsk(25);
ev3_speaker_play_tone(NOTE_C4, 12);
tslp_tsk(25);
}
bool side_1 = false;//run_short_side(motors, motor_powers, gyro);
if (!side_1)
{