0.9.0 - 'KATRIN' (#90)
0.9.0 - 'KATRIN' (#90) now I have no idea what am I doing... but it does something
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Blboun3
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@ -9,7 +9,7 @@ Members:
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*Postavit a naprogramovat robota tak, aby samostatně, bez jakékoli další pomoci sebral co nejvíc barevných kostek ze soutěžní plochy (hřiště) a umístil je dovnitř žlutě vyznačeného obdélníku na hracím hřišti a současně postavil z těchto barevných kostek co nejvyšší věž. Pro snazší orientaci jsou na hřišti vyznačeny naváděcí černé čáry. O vítězství rozhoduje počet získaných bodů. Body robot získává za způsob umístění barevných kostek uvnitř žlutě vyznačeného obdélníku. Většina soutěže bude organizována jako vzájemný zápas dvou robotů na dvou samostatných hřištích*
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zdroj: https://robosoutez.fel.cvut.cz/zadani-soutezni-ulohy-vez-tower
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zdroj: [https://robosoutez.fel.cvut.cz/zadani-soutezni-ulohy-vez-tower](https://robosoutez.fel.cvut.cz/zadani-soutezni-ulohy-vez-tower)
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## > Konstrukce
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Konstrukce se zásobníkem na 8 kostek, a pásem na přepravu kostek do zásobníku. Jeden motor pohání pás a levé kolo, druhý motor pohání přední kola k nabírání kostek a pravé kolo. Servo ovládá zadní dveře.
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167
app.cpp
167
app.cpp
@ -7,6 +7,9 @@
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/*
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CHANGELOG:
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0.9.0 - 'KATRIN' (#90)
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now I have no idea what am I doing... but it does something
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0.8.1 - 'MONIKA' (#86)
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Fixed error correction when brick stuck (changed motor speeds to fix the angle)
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@ -123,7 +126,9 @@ struct allValues
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int TURNING_FACTOR_CORRECTION;
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int CORRECTION_MULTIPLIER;
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int shortOneCycleLimit;
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int loneOneCycleLimit;
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int longOneCycleLimit;
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int longTwoCycleLimit;
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double RATIO;
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};
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/// @brief Function to calculate motor powers using quadratic equation, depending on battery powerMPWRSPlus
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@ -216,13 +221,15 @@ void displayAllValues(allValues values)
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ev3cxx::display.format(3, "TT: % ") % values.turningThreshold;
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ev3cxx::display.format(4, "CM: % ") % values.CORRECTION_MULTIPLIER;
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ev3cxx::display.format(5, "TFC: % ") % values.TURNING_FACTOR_CORRECTION;
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ev3cxx::display.format(6, "-------_1_-------");
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ev3cxx::display.format(7, "LOCL: % ") % values.shortOneCycleLimit;
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ev3cxx::display.format(6, "-------_G_-------");
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ev3cxx::display.format(7, "RATIO: % ") % values.RATIO;
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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, "-------_2_-------");
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ev3cxx::display.format(1, "LOCL: % ") % values.shortOneCycleLimit;
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ev3cxx::display.format(0, "-------_1_-------");
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ev3cxx::display.format(1, "LOCL: % ") % values.longOneCycleLimit;
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ev3cxx::display.format(2, "-------_2_-------");
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ev3cxx::display.format(3, "LOCL: % ") % values.longTwoCycleLimit;
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break;
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case 3:
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ev3cxx::display.resetScreen();
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@ -339,12 +346,24 @@ version createVersion(int versionID, const char *codename, int major, int minor,
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return retVersion;
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}
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/// @brief Function to calculate faster motor speed by using ratio and slower motor speed
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/// @param slower_motor_speed int: slower motor speed
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/// @param RATIO double: ration betwenn faster and slower wheel
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/// @return int[2]: [slower motor speed, faster motor speed]
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int* calculate_ratio(int slower_motor_speed, double RATIO)
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{
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int* retVal = new int[2];
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retVal[0] = slower_motor_speed;
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retVal[1] = (int)round(slower_motor_speed * RATIO);
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return retVal;
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}
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/// @brief Function to open door
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/// @param hinge ev3cxx::Motor: motor to use when opening or closing the door
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void open_door(ev3cxx::Motor hinge)
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{
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hinge.off();
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hinge.onForDegrees(-25, 200);
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hinge.onForDegrees(-25, 180);
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}
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/// @brief Function to close door
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@ -352,9 +371,9 @@ void open_door(ev3cxx::Motor hinge)
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void close_door(ev3cxx::Motor hinge)
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{
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hinge.off();
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hinge.onForDegrees(25, 200, false, false);
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ev3_motor_set_power(HINGE_MOTOR, 25);
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tslp_tsk(1000);
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hinge.off(true);
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ev3_motor_set_power(HINGE_MOTOR, 0);
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}
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/// @brief Function for turning
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@ -378,7 +397,7 @@ void turn(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90,
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int counter = 0;
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while (rotating && counter < 250)
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{
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int currAngle = ev3cxx::abs(gyro.angle());
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int currAngle = ev3cxx::abs(ev3_gyro_sensor_get_angle(GYRO_PORT));
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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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@ -396,8 +415,8 @@ 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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if ((endAngle - THRESHOLD < ev3cxx::abs(ev3_gyro_sensor_get_angle(GYRO_PORT))) &&
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(ev3cxx::abs(ev3_gyro_sensor_get_angle(GYRO_PORT)) < endAngle + THRESHOLD))
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{
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turn(motors, gyro, endAngle, THRESHOLD, TFC);
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}
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@ -428,7 +447,7 @@ void turn_forever(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngl
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int counter = 0;
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while (counter < 4000)
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{
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int angle = ev3cxx::abs(gyro.angle());
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int angle = ev3cxx::abs(ev3_gyro_sensor_get_angle(GYRO_PORT));
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ev3cxx::display.format(3, "angle: % ") % angle;
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if ((min < angle) && (angle < max))
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@ -443,7 +462,7 @@ void turn_forever(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngl
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motors.on(15, 5);
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while (innerRun)
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{
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int inner_angle = ev3cxx::abs(gyro.angle());
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int inner_angle = ev3cxx::abs(ev3_gyro_sensor_get_angle(GYRO_PORT));
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ev3cxx::display.format(3, "angle: % ") % inner_angle;
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if (inner_angle < (endAngle + THRESHOLD))
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{
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@ -459,7 +478,7 @@ void turn_forever(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngl
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bool innerRun = true;
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while (innerRun)
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{
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int inner_angle = ev3cxx::abs(gyro.angle());
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int inner_angle = ev3cxx::abs(ev3_gyro_sensor_get_angle(GYRO_PORT));
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ev3cxx::display.format(3, "angle: % ") % inner_angle;
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if (inner_angle > (endAngle - THRESHOLD))
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{
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@ -518,7 +537,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
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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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int angle = ev3_gyro_sensor_get_angle(GYRO_PORT);
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ev3cxx::display.format(4, "Left motor: % \nRight motor: % \nCycles: % \nAngle: % ") % lPower % rPower % cycleCounter % angle;
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@ -610,14 +629,11 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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{
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cleanAndTitle();
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const int LEFT_THRESHOLD = -(THRESHOLD * 3);
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const int RIGHT_THRESHOLD = (THRESHOLD * 3);
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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 + 10;
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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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@ -629,19 +645,21 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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while (run)
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{
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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motors.on(motor_powers.lMotorPWR, motor_powers.rMotorPWR);
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// motors.on(motor_powers.lMotorPWR + 10, motor_powers.rMotorPWR);
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ev3_motor_set_power(LEFT_MOTOR, motor_powers.lMotorPWR);
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ev3_motor_set_power(RIGHT_MOTOR, 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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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR + 5;
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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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int lPower = ev3_motor_get_power(LEFT_MOTOR);
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int rPower = ev3_motor_get_power(RIGHT_MOTOR);
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int angle = ev3_gyro_sensor_get_angle(GYRO_PORT);
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ev3cxx::display.format(4, "Left motor: % \nRight motor: % \nCycles: % \nAngle: % ") % lPower % rPower % cycleCounter % angle;
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ev3cxx::display.format(4, "Cycles: % \nAngle: % ") % cycleCounter % angle;
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if (lPower == 0 || rPower == 0)
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{
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@ -659,9 +677,9 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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lastError = cycleCounter;
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// If this is third error cycle in row
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if (errorStrike == 3)
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if (errorStrike == 5)
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{
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ev3_speaker_play_tone(NOTE_F6, 50);
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ev3_speaker_play_tone(NOTE_G5, 50);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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// Reset counters etc.
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lastError = 0;
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@ -669,17 +687,29 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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// Back up a bit
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motors.off(true);
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motors.on(-80, -40);
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tslp_tsk(350);
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tslp_tsk(450);
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continue;
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}
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}
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if (angle < -2)
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// Turning left
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if (angle < -3)
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{
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motor_powers.lMotorPWR = 100;
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motor_powers.rMotorPWR = 40;
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motors.on(motor_powers.lMotorPWR, motor_powers.rMotorPWR);
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tslp_tsk(100);
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// Stop the right wheel and boost left wheel
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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ev3_speaker_play_tone(NOTE_F4, 100);
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motor_powers.lMotorPWR += 30;
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motor_powers.rMotorPWR -= 20;
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}
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// Turning right
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if (angle > 5)
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{
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// Stop the left wheel and boost right wheel
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
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ev3_speaker_play_tone(NOTE_F6, 100);
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motor_powers.lMotorPWR -= 10;
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motor_powers.rMotorPWR += 30;
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}
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// Emergency break using middle button (BTN_ENTER)
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@ -693,7 +723,7 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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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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ev3_speaker_play_tone(NOTE_F4, 100);
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ev3_speaker_play_tone(NOTE_C4, 100);
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motors.off(true);
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// Drive to the wall annd try to pickup all the bricks or get them to the container
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@ -734,7 +764,7 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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// Back up a bit
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motors.off(true);
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motors.on(-80, -40);
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tslp_tsk(350);
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tslp_tsk(450);
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continue;
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}
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}
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@ -797,7 +827,8 @@ bool unlimited_drive(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSen
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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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ev3_motor_set_power(LEFT_MOTOR, motor_powers.lMotorPWR);
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ev3_motor_set_power(RIGHT_MOTOR, motor_powers.rMotorPWR);
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tslp_tsk(50);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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@ -806,10 +837,9 @@ bool unlimited_drive(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSen
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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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int lPower = ev3_motor_get_power(LEFT_MOTOR);
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int rPower = ev3_motor_get_power(RIGHT_MOTOR);
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int angle = ev3_gyro_sensor_get_angle(GYRO_PORT);
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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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@ -847,7 +877,7 @@ bool unlimited_drive(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSen
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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}
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if (lPower == 0 || rPower == 0 || angle < -2)
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if (lPower == 0 || rPower == 0)
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{
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// If error in previous cycle
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if (lastError == (cycleCounter - 1))
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@ -909,7 +939,7 @@ void music_task(intptr_t unused)
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{
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int PLAY_SPEED = 250;
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note erika[72];
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note erika[95];
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//
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erika[0] = {NOTE_E4, 3};
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erika[1] = {NOTE_F4, 1};
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@ -998,7 +1028,34 @@ void music_task(intptr_t unused)
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erika[69] = {NOTE_F5, 2};
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erika[70] = {NOTE_E5, 5};
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//
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erika[71] = {0, 3};
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erika[71] = {NOTE_E4, 3};
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erika[72] = {NOTE_F4, 1};
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erika[73] = {NOTE_G4, 2};
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erika[74] = {NOTE_G4, 2};
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erika[75] = {NOTE_G4, 2};
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erika[76] = {NOTE_C5, 2};
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erika[77] = {NOTE_C5, 2};
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erika[78] = {NOTE_E5, 2};
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erika[79] = {NOTE_E5, 3};
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erika[80] = {NOTE_D5, 1};
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erika[81] = {NOTE_C5, 1};
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//
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erika[82] = {0, 1};
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erika[83] = {0, 2};
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erika[84] = {0, 4};
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//
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erika[85] = {NOTE_B4, 2};
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erika[86] = {NOTE_C5, 2};
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erika[87] = {NOTE_D5, 1};
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//
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erika[88] = {0, 1};
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erika[89] = {0, 2};
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erika[90] = {0, 4};
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//
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erika[91] = {NOTE_E5, 3};
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erika[92] = {NOTE_D5, 1};
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erika[93] = {NOTE_C5, 1};
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erika[94] = {0, 3};
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int i = 0;
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for (i = 0; i < 1000; i++)
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@ -1053,6 +1110,7 @@ void main_task(intptr_t unused)
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{
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const int CYCLE_LIMIT_1 = 350;
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const int CYCLE_LIMIT_2 = 350;
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const double RATIO = 1.42;
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const int THRESHOLD = 2;
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const int TURNING_THRESHOLD = 1;
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const int TURNING_FACTOR_CORRECTION = 5;
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@ -1061,14 +1119,15 @@ void main_task(intptr_t unused)
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int volume = 100;
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// Create version info
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const version VERSION = createVersion(85, "MONIKA", 0, 8, 1);
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const version VERSION = createVersion(90, "KATRIN", 0, 9, 0);
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// Set-up screen
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ev3cxx::display.resetScreen();
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ev3cxx::display.setFont(EV3_FONT_MEDIUM);
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// Set up motor powers
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MPWRSPlus calcedPWRS = calculate_motor_pwrs(71, 50);
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int* rationalized_speeds = calculate_ratio(45, RATIO);
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MPWRSPlus calcedPWRS = calculate_motor_pwrs(rationalized_speeds[1], rationalized_speeds[0]);
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MPWRS idealMPWRS = calcedPWRS.motor_powers;
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const int SPEED_MODIFIER = calcedPWRS.SPEED_MODIFIER;
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@ -1082,7 +1141,9 @@ void main_task(intptr_t unused)
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// Set up motors
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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)
|
||||
|
||||
@ -1118,14 +1179,15 @@ void main_task(intptr_t unused)
|
||||
values.turningThreshold = TURNING_THRESHOLD;
|
||||
values.TURNING_FACTOR_CORRECTION = TURNING_FACTOR_CORRECTION;
|
||||
values.CORRECTION_MULTIPLIER = CORRECTION_MULTIPLIER;
|
||||
values.shortOneCycleLimit = CYCLE_LIMIT_1;
|
||||
values.loneOneCycleLimit = CYCLE_LIMIT_2;
|
||||
values.shortOneCycleLimit = 0;
|
||||
values.longOneCycleLimit = CYCLE_LIMIT_1;
|
||||
values.longTwoCycleLimit = CYCLE_LIMIT_2;
|
||||
values.RATIO = RATIO;
|
||||
|
||||
// Start program
|
||||
start_program_exe(btnLeft, btnEnter, touchS, values);
|
||||
|
||||
act_tsk(SUB_TASK);
|
||||
// act_tsk(MUSIC_TASK);
|
||||
|
||||
ev3_speaker_play_tone(NOTE_F4, 100);
|
||||
tslp_tsk(200);
|
||||
@ -1146,8 +1208,13 @@ void main_task(intptr_t unused)
|
||||
}
|
||||
|
||||
gyro.resetHard();
|
||||
motors.onForRotations(-(motor_powers.rMotorPWR + 25), -motor_powers.lMotorPWR, 3.25);
|
||||
motors.onForRotations(-(motor_powers.rMotorPWR + 25), -(motor_powers.lMotorPWR - 25), 3.25);
|
||||
// turn 90 degress left
|
||||
turn_forever(motors, gyro, 30, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
||||
ev3_motor_set_power(LEFT_MOTOR, motor_powers.lMotorPWR);
|
||||
ev3_motor_set_power(RIGHT_MOTOR, motor_powers.rMotorPWR);
|
||||
tslp_tsk(250);
|
||||
motors.off(true);
|
||||
turn_forever(motors, gyro, 90, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
||||
// motors.onForSeconds(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR, 1000);
|
||||
|
||||
@ -1201,5 +1268,5 @@ void main_task(intptr_t unused)
|
||||
motors.onForRotations(motor_powers.lMotorPWR, motor_powers.rMotorPWR, 8.12);
|
||||
motors.off(true);
|
||||
|
||||
act_tsk(MUSIC_TASK);
|
||||
tslp_tsk(120000);
|
||||
}
|
||||
|
||||
7
app.h
7
app.h
@ -75,6 +75,13 @@ extern "C" {
|
||||
#define PRIORITY_PRD_TSK_1 TMIN_APP_TPRI
|
||||
#define PRIORITY_PRD_TSK_2 TMIN_APP_TPRI
|
||||
|
||||
#define GYRO_PORT EV3_PORT_1
|
||||
#define BUTTON_UP EV3_PORT_4
|
||||
#define BUTTON_BUMPER EV3_PORT_3
|
||||
#define LEFT_MOTOR EV3_PORT_B
|
||||
#define RIGHT_MOTOR EV3_PORT_C
|
||||
#define HINGE_MOTOR EV3_PORT_A
|
||||
|
||||
/**
|
||||
* Task periods in ms
|
||||
*/
|
||||
|
||||
Reference in New Issue
Block a user