0.7.0 - 'URSULA'
0.7.0 - 'URSULA' (#80) Done first short and long side Modified turn function Changed drive plan (long - long - middle - short - short - middle)
This commit is contained in:
Blboun3
parent
b8cd70e1fa
commit
482705794d
357
app.cpp
357
app.cpp
@ -9,9 +9,18 @@
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/*
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CHANGELOG:
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0.6.0 - 'HELGA' ()
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0.7.2 - 'URSULA' (#)
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0.7.0 - 'URSULA' (#80)
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Done first short and long side
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Modified turn function
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Changed drive plan (long - long - middle - short - short - middle)
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0.6.0 - 'HELGA' (#75)
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Added Doxygen comments
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Added volume to display_all_values (diagnostics screenS)
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Added volume to display_all_values (diagnostics screen)
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0.5.0 - 'HELGA' (#72)
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Added diagnostics screen (opened by pressing left after boot)
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@ -57,7 +66,7 @@ struct version
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{
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/// @brief int: version id
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int id;
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/// @brief int: major
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/// @brief int: major
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int major;
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/// @brief int: minor
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int minor;
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@ -90,12 +99,11 @@ struct MPWRSPlus
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int SPEED_MODIFIER;
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};
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/// @struct note
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/// @brief Structure for holding note (frequency and duration)
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struct note
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{
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/// @brief uint16_t: Frequency of the note
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/// @brief uint16_t: Frequency of the note
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uint16_t frequency;
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/// @brief int32_t: Duration of the note
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int32_t duration;
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@ -105,7 +113,7 @@ struct note
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/// @param leftMotor int: wanted power of left motor (default 85)
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/// @param rightMotor int: wante power or right motor (default 70)
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/// @return MPWRSPlus: motor powers and SPEED_MODIFIER
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MPWRSPlus calculate_motor_pwrs(int leftMotor = 85, int rightMotor = 70)
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MPWRSPlus calculate_motor_pwrs(int leftMotor = 85, int rightMotor = 60)
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{
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int batteryLevel = ev3_battery_voltage_mV();
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@ -144,7 +152,8 @@ void cleanAndTitle()
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/// @param TURNING_FACTOR_CORRECTION int: factor for changing final turning values due to gyro sensor placement
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/// @param CORRECTION_MULTIPLIER int: for driving straight
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/// @param shortOneCycleLimit int: how many program cycles to do when running first short side
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void displayAllValues(version currentVersion, int volume, int lMotorPWR, int rMotorPWR, int SPEED_MODIFIER, int turningThreshold, int TURNING_FACTOR_CORRECTION, int CORRECTION_MULTIPLIER, int shortOneCycleLimit)
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/// @param loneOneCycleLimit int: how many program cycles to do when running first long side
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void displayAllValues(version currentVersion, int volume, int lMotorPWR, int rMotorPWR, int SPEED_MODIFIER, int turningThreshold, int TURNING_FACTOR_CORRECTION, int CORRECTION_MULTIPLIER, int shortOneCycleLimit, int loneOneCycleLimit)
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{
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ev3cxx::display.resetScreen();
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ev3cxx::display.setFont(EV3_FONT_MEDIUM);
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@ -153,7 +162,7 @@ void displayAllValues(version currentVersion, int volume, int lMotorPWR, int rMo
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ev3cxx::BrickButton btnUp(ev3cxx::BrickButtons::UP); // Up button
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ev3cxx::BrickButton btnDown(ev3cxx::BrickButtons::DOWN); // Down button
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int pages = 2;
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int pages = 3;
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int page = 0;
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while (true)
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{
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@ -178,14 +187,15 @@ void displayAllValues(version currentVersion, int volume, int lMotorPWR, int rMo
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ev3cxx::display.format(4, "CM: % ") % CORRECTION_MULTIPLIER;
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ev3cxx::display.format(5, "TFC: % ") % TURNING_FACTOR_CORRECTION;
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ev3cxx::display.format(6, "-------_1_-------");
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ev3cxx::display.format(7, "SOCL: % ") % shortOneCycleLimit;
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ev3cxx::display.format(7, "LOCL: % ") % shortOneCycleLimit;
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break;
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case 2:
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ev3cxx::display.resetScreen();
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ev3cxx::display.format(0, "");
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ev3cxx::display.format(1, "");
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ev3cxx::display.format(2, "");
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ev3cxx::display.format(0, "-------_2_-------");
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ev3cxx::display.format(1, "LOCL: % ") % shortOneCycleLimit;
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break;
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case 3:
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ev3cxx::display.resetScreen();
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default:
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break;
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@ -241,7 +251,6 @@ std::tm parseTimestamp(const char *timestampStr)
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return tmStruct;
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}
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/// @brief Function to generate version struct of the current version
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/// Includes getting and parsing time of compilation using parseTimestamp function
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/// @param versionID int: versionID, increment with every new change
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@ -279,13 +288,12 @@ void open_door(ev3cxx::Motor hinge)
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}
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/// @brief Function to close door
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/// @param hinge ev3cxx::Motor: motor to use when opening or closing the door
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/// @param hinge ev3cxx::Motor: motor to use when opening or closing the door
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void close_door(ev3cxx::Motor hinge)
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{
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hinge.onForDegrees(25, 200);
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}
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/// @brief Function for turning
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/// !! ROBOT CAN TURN ONLY LEFT !!
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/// @param motors ev3cxx::MotorTank: MotorTank with motors of the DriveBase to use
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@ -295,6 +303,7 @@ void close_door(ev3cxx::Motor hinge)
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/// @param TFC int: Turning Factor Correction, modifies endAngle for more accurate results (default 5)
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void turn(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90, int THRESHOLD = 2, int TFC = 5)
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{
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cleanAndTitle();
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endAngle = endAngle - TFC;
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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@ -324,6 +333,54 @@ void turn(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90,
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tslp_tsk(20);
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counter++;
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}
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if ((endAngle - THRESHOLD < ev3cxx::abs(gyro.angle())) &&
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(ev3cxx::abs(gyro.angle()) < endAngle + THRESHOLD))
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{
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turn(motors, gyro, endAngle, THRESHOLD, TFC);
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}
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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return;
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}
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/// @brief Function for turning (alternative way XD)
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/// !! ROBOT CAN TURN ONLY LEFT !!
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/// @param motors ev3cxx::MotorTank: MotorTank with motors of the DriveBase to use
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/// @param gyro ev3cxx::GyroSensor: gyro sensor to use
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/// @param endAngle int: angle to turn to (wanted angle, will be modified internally)
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/// @param THRESHOLD int: turning accuracy in degrees (default 2)
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/// @param TFC int: Turning Factor Correction, modifies endAngle for more accurate results (default 5)
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void turn_forever(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90, int THRESHOLD = 2, int TFC = 5)
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{
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cleanAndTitle();
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endAngle = endAngle - TFC;
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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// MPWRSPlus calcedPWRS = calculate_motor_pwrs(-35, 40);
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// left, right, rotations (faster), brake, blocking, wait_after
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motors.on(-10, 25);
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bool rotating = true;
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int counter = 0;
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while (rotating && counter < 25000)
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{
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int currAngle = ev3cxx::abs(gyro.angle());
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ev3cxx::display.format(3, "Angle: % ") % currAngle;
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ev3cxx::display.format(4, "Counter: % ") % counter;
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if ((ev3cxx::abs(endAngle - THRESHOLD) < currAngle))
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{
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int error = endAngle - currAngle;
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ev3cxx::display.format(5, "Error: % deg.") % error;
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motors.off(true);
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rotating = false;
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
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ev3_speaker_play_tone(NOTE_F5, 100);
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return;
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}
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tslp_tsk(20);
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counter++;
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}
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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return;
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}
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@ -333,12 +390,14 @@ void turn(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90,
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/// @param motors ev3cxx::MotorTank: MotorTank with motors of DriveBase
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/// @param idealMPWRS MPWRS: motor powers to use when nothing bad happens
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/// @param gyro ev3cxx::GyroSensor: gyro sensor to use
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/// @param bumper ev3cxx::TouchSensor: front touch, exit prematurely when pressed
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/// @param CYCLE_LIMIT int: how many cycle to run (default 90)
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/// @param CORRECTION_MULTIPLIER int: base value for modifying drive direction when of course (default 20)
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/// @param THRESHOLD int: when to start correcting drive (in degrees) (default 2)
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/// @return bool: false if stopped by the middle button
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bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, int CYCLE_LIMIT = 90, int CORRECTION_MULTIPLIER = 20, int THRESHOLD = 2)
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/// @return bool: false if stopped by the middle button
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bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, ev3cxx::TouchSensor bumper, int CYCLE_LIMIT = 90, int CORRECTION_MULTIPLIER = 20, int THRESHOLD = 2)
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{
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cleanAndTitle();
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const int LEFT_THRESHOLD = -THRESHOLD;
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const int RIGHT_THRESHOLD = THRESHOLD;
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@ -377,6 +436,13 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
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motors.off(true);
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}
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// Exit when bumper hit
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if (bumper.isPressed())
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{
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run = false;
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motors.off(true);
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}
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// Check gyro angle and change driving speed to fix the angle
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// To the left
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if (angle < LEFT_THRESHOLD)
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@ -390,6 +456,9 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
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{
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
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ev3_speaker_play_tone(NOTE_A5, 250);
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run = false;
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error = true;
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motors.off(true);
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}
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// To the right
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@ -405,6 +474,9 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
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{
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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ev3_speaker_play_tone(NOTE_A4, 250);
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run = false;
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error = true;
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motors.off(true);
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}
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}
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@ -431,10 +503,189 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
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return !error;
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}
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/// @brief Function to pick up all cubes on longer side.
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/// Returns true if ran till the end and false if stopped by middle button
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/// @param motors ev3cxx::MotorTank: MotorTank with motors of DriveBase
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/// @param idealMPWRS MPWRS: motor powers to use when nothing bad happens
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/// @param gyro ev3cxx::GyroSensor: gyro sensor to use
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/// @param bumper ev3cxx::TouchSensor: front touch, exit prematurely when pressed
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/// @param CYCLE_LIMIT int: how many cycle to run (default 180)
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/// @param CORRECTION_MULTIPLIER int: base value for modifying drive direction when of course (default 20)
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/// @return bool: false if stopped by the middle button
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bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, ev3cxx::TouchSensor bumper, int CYCLE_LIMIT = 180, int CORRECTION_MULTIPLIER = 20)
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{
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cleanAndTitle();
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gyro.resetHard();
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ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
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MPWRS motor_powers;
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// Reset both motor's powers
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
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bool run = true;
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bool error = false;
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int cycleCounter = 0;
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while (run)
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{
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motors.on(motor_powers.lMotorPWR + 20, motor_powers.rMotorPWR - 20);
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tslp_tsk(50);
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// Reset both motor's powers
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
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// Get power of both motors
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int lPower = motors.leftMotor().currentPower();
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int rPower = motors.rightMotor().currentPower();
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int angle = gyro.angle();
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ev3cxx::display.format(4, "Left motor: % \nRight motor: % \nCycles: % \nAngle: % ") % lPower % rPower % cycleCounter % angle;
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if (angle < -2)
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{
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR + 100;
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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR - 20;
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}
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if (angle > 5)
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{
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR + 40;
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}
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// Emergency break using middle button (BTN_ENTER)
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if (btnEnter.isPressed())
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{
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run = false;
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error = true;
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motors.off(true);
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}
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// Exit when front bumper is hit
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if (bumper.isPressed())
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{
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run = false;
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motors.off(true);
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}
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cycleCounter++;
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if (cycleCounter == CYCLE_LIMIT)
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{
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run = false;
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}
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}
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motors.off(true);
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ev3_speaker_play_tone(NOTE_C4, 250);
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tslp_tsk(250);
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ev3_speaker_play_tone(NOTE_C4, 125);
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tslp_tsk(125);
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ev3_speaker_play_tone(NOTE_D4, 250);
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tslp_tsk(250);
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ev3_speaker_play_tone(NOTE_C4, 250);
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tslp_tsk(250);
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ev3_speaker_play_tone(NOTE_B4, 750);
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tslp_tsk(750);
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ev3_speaker_play_tone(NOTE_G4, 750);
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tslp_tsk(750);
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return !error;
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}
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/// @brief Function to drive forward till bumper button is pressed
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/// @param motors ev3cxx::MotorTank motors to use for driving
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/// @param idealMPWRS MPWRS ideal motor powers for the motors
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/// @param gyro ev3cxx::GyroSensor gyro sensor to use for error correction
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/// @param bumper ev3cxx::TouchSensor touch sensor to use a bumper for stoping when wall is hit
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/// @param CORRECTION_MULTIPLIER int for correcting errors in direction
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/// @return bool: false if stopped by the middle button
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bool unlimited_drive(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, ev3cxx::TouchSensor bumper, int CORRECTION_MULTIPLIER = 2, int THRESHOLD = 2)
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{
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cleanAndTitle();
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const int LEFT_THRESHOLD = -THRESHOLD;
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const int RIGHT_THRESHOLD = THRESHOLD;
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gyro.resetHard();
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ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
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MPWRS motor_powers;
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// Reset both motor's powers
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
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bool run = true;
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bool error = false;
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while (run)
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{
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motors.on(motor_powers.lMotorPWR, motor_powers.rMotorPWR);
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tslp_tsk(50);
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// Reset both motor's powers
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
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// Get power of both motors
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int lPower = motors.leftMotor().currentPower();
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int rPower = motors.rightMotor().currentPower();
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int angle = gyro.angle();
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ev3cxx::display.format(4, "Left motor: % \nRight motor: % \nAngle: % ") % lPower % rPower % angle;
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// Emergency break using middle button (BTN_ENTER)
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if (btnEnter.isPressed())
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{
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run = false;
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error = true;
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motors.off(true);
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}
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// Exit when bumper hit
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if (bumper.isPressed())
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{
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run = false;
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motors.off(true);
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}
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// Check gyro angle and change driving speed to fix the angle
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// To the left
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if (angle < LEFT_THRESHOLD)
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{
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// ev3_speaker_play_tone(NOTE_A5, 250);
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int correction = ev3cxx::abs(angle - LEFT_THRESHOLD);
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motor_powers.lMotorPWR = motor_powers.rMotorPWR + (correction * CORRECTION_MULTIPLIER); //(int)pow(CORRECTION_MULTIPLIER, correction);
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ev3_speaker_play_tone(correction * 1000, 30);
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}
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// To the right
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else if (angle > RIGHT_THRESHOLD)
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{
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// ev3_speaker_play_tone(NOTE_A4, 250);
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int correction = ev3cxx::abs(angle - RIGHT_THRESHOLD);
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motor_powers.rMotorPWR = motor_powers.lMotorPWR + (correction * CORRECTION_MULTIPLIER); //(int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
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ev3_speaker_play_tone(correction * 1000, 30);
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}
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}
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motors.off(true);
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ev3_speaker_play_tone(NOTE_C4, 250);
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tslp_tsk(250);
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ev3_speaker_play_tone(NOTE_C4, 125);
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tslp_tsk(125);
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ev3_speaker_play_tone(NOTE_D4, 250);
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tslp_tsk(250);
|
||||
ev3_speaker_play_tone(NOTE_C4, 250);
|
||||
tslp_tsk(250);
|
||||
ev3_speaker_play_tone(NOTE_B4, 750);
|
||||
tslp_tsk(750);
|
||||
ev3_speaker_play_tone(NOTE_G4, 750);
|
||||
tslp_tsk(750);
|
||||
return !error;
|
||||
}
|
||||
|
||||
void main_task(intptr_t unused)
|
||||
{
|
||||
|
||||
const int CYCLE_LIMIT_1 = 90;
|
||||
const int CYCLE_LIMIT_1 = 80;
|
||||
const int CYCLE_LIMIT_2 = 80;
|
||||
const int THRESHOLD = 2;
|
||||
const int TURNING_THRESHOLD = 1;
|
||||
const int TURNING_FACTOR_CORRECTION = 5;
|
||||
@ -443,8 +694,7 @@ void main_task(intptr_t unused)
|
||||
int volume = 100;
|
||||
|
||||
// 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(73, "URSULA", 0, 6, 0);
|
||||
const version VERSION = createVersion(85, "URSULA", 0, 7, 2);
|
||||
|
||||
// Set-up screen
|
||||
ev3cxx::display.resetScreen();
|
||||
@ -463,10 +713,11 @@ void main_task(intptr_t unused)
|
||||
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
|
||||
|
||||
// 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
|
||||
ev3cxx::Motor hinge(ev3cxx::MotorPort::A, ev3cxx::MotorType::MEDIUM); // Hinge motor
|
||||
ev3cxx::MotorTank motors(ev3cxx::MotorPort::B, ev3cxx::MotorPort::C); // Tank motors (Left - B; Right - C)
|
||||
ev3cxx::GyroSensor gyro(ev3cxx::SensorPort::S1); // gyro sensor
|
||||
ev3cxx::TouchSensor touchS(ev3cxx::SensorPort::S4); // Touch sensor
|
||||
ev3cxx::TouchSensor frontTouch(ev3cxx::SensorPort::S3); // Touch sensor (bumper)
|
||||
|
||||
// Set up buttons
|
||||
ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
|
||||
@ -514,7 +765,7 @@ void main_task(intptr_t unused)
|
||||
// tslp_tsk(20);
|
||||
if (btnLeft.isPressed())
|
||||
{
|
||||
displayAllValues(VERSION, idealMPWRS.lMotorPWR, idealMPWRS.rMotorPWR, SPEED_MODIFIER, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION, CORRECTION_MULTIPLIER, CYCLE_LIMIT_1);
|
||||
displayAllValues(VERSION, volume, idealMPWRS.lMotorPWR, idealMPWRS.rMotorPWR, SPEED_MODIFIER, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION, CORRECTION_MULTIPLIER, CYCLE_LIMIT_1, CYCLE_LIMIT_2);
|
||||
}
|
||||
if (btnEnter.isPressed() || touchS.isPressed())
|
||||
{
|
||||
@ -533,12 +784,64 @@ void main_task(intptr_t unused)
|
||||
ev3_speaker_play_tone(NOTE_F4, 100);
|
||||
tslp_tsk(200);
|
||||
|
||||
bool side_1 = run_short_side(motors, motor_powers, gyro, CYCLE_LIMIT_1, CORRECTION_MULTIPLIER, THRESHOLD);
|
||||
// Close the door before begining the drive
|
||||
close_door(hinge);
|
||||
|
||||
// Run first long side
|
||||
bool side_1 = run_long_side(motors, motor_powers, gyro, frontTouch, CYCLE_LIMIT_1, CORRECTION_MULTIPLIER);
|
||||
// If something happened
|
||||
if (!side_1)
|
||||
{
|
||||
// Something went wrong
|
||||
return;
|
||||
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
|
||||
ev3_speaker_play_tone(NOTE_F4, 100);
|
||||
tslp_tsk(200);
|
||||
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
|
||||
ev3_speaker_play_tone(NOTE_FS4, 100);
|
||||
}
|
||||
|
||||
// turn 90 degress left
|
||||
turn_forever(motors, gyro, 90, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
||||
|
||||
// Cross to the other side
|
||||
gyro.resetHard();
|
||||
bool crossing = unlimited_drive(motors, motor_powers, gyro, frontTouch, CORRECTION_MULTIPLIER, THRESHOLD);
|
||||
|
||||
// turn 90 degress left
|
||||
turn(motors, gyro, 90, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
||||
if (!crossing)
|
||||
{
|
||||
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
|
||||
ev3_speaker_play_tone(NOTE_F4, 100);
|
||||
tslp_tsk(200);
|
||||
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
|
||||
ev3_speaker_play_tone(NOTE_FS4, 100);
|
||||
}
|
||||
|
||||
// reset gyro
|
||||
gyro.resetHard();
|
||||
// Run second long side
|
||||
bool side_2 = run_long_side(motors, motor_powers, gyro, frontTouch, CYCLE_LIMIT_2, CORRECTION_MULTIPLIER);
|
||||
// If something happened
|
||||
if (!side_2)
|
||||
{
|
||||
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
|
||||
ev3_speaker_play_tone(NOTE_F4, 100);
|
||||
tslp_tsk(200);
|
||||
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
|
||||
ev3_speaker_play_tone(NOTE_FS4, 100);
|
||||
}
|
||||
|
||||
// go to the middle
|
||||
motors.onForRotations(idealMPWRS.lMotorPWR, idealMPWRS.rMotorPWR, 4.5);
|
||||
// open door
|
||||
open_door(hinge);
|
||||
motors.onForRotations(idealMPWRS.lMotorPWR, idealMPWRS.rMotorPWR, 1);
|
||||
|
||||
/*bool side_2 = run_short_side(motors, motor_powers, gyro, frontTouch, CYCLE_LIMIT_2, CORRECTION_MULTIPLIER, THRESHOLD);
|
||||
if (!side_2)
|
||||
{
|
||||
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
|
||||
tslp_tsk(200);
|
||||
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
|
||||
}*/
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user