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 2023-11-16 09:07:53 +01:00
parent b8cd70e1fa
commit 482705794d
2 changed files with 330 additions and 27 deletions

BIN
app

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