0.4.2 - 'HELGA' (#67)
Updated run_short() to run_short_side() Added gyro Done calculations with gyro to EC driving straight TODO: problems with battery
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Blboun3
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3d971d9f55
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f3928650a5
93
app.cpp
93
app.cpp
@ -8,8 +8,11 @@
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/*
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Change notes:
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0.4.0 - 'HELGA' (#50)
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Fixed
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0.4.2 - 'HELGA' (#64)
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Updated run_short() to run_short_side()
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Added gyro
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Done calculations with gyro to EC driving straight
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TODO: problems with battery
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0.3.0 - 'INGRID' (#42)
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Some weird magic in calculations of motor speeds
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@ -97,7 +100,7 @@ void close_door(ev3cxx::Motor hinge)
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hinge.onForDegrees(25, 200);
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}
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/*
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/*
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Function to pick up all cubes on shorter side
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return true if ran till the end and false if stopped by middle button
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*/
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@ -116,6 +119,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
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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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@ -123,7 +127,6 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
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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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@ -139,58 +142,76 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
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if (btnEnter.isPressed())
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{
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run = false;
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return false;
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error = true;
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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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//ev3_speaker_play_tone(NOTE_A5, 250);
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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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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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// Check if the motor is stuck
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if(lPower == 0){
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if (lPower == 0)
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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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ev3_speaker_play_tone(NOTE_A5, 250);
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}
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// To the right
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} else if (angle > RIGHT_THRESHOLD) {
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//ev3_speaker_play_tone(NOTE_A4, 250);
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// To the right
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}
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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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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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// Check if the motor is stuck
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if(rPower == 0){
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if (rPower == 0)
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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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ev3_speaker_play_tone(NOTE_A4, 250);
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}
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}
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cycleCounter++;
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if(cycleCounter == CYCLE_LIMIT) {
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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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return 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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void main_task(intptr_t unused)
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{
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// Create version info
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// version createVersion(int versionID, const char *codename, int major, int minor, int patch, int day, int month, int year, int hour, int minute)
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const version VERSION = createVersion(62, "HELGA", 0, 4, 2, 10, 11, 2023, 14, 40);
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const version VERSION = createVersion(67, "HELGA", 0, 4, 2, 10, 11, 2023, 14, 40);
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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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// Print version information on screen
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ev3cxx::display.format(" DOBREMYSL\nVERSION: % .% .% #% \nNAME: % ") % VERSION.major % VERSION.minor % VERSION.patch % VERSION.id % VERSION.codename;
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ev3cxx::display.format(" DOBREMYSL\nVERSION: % .% .% #% \nNAME: % \nBattery: % mV") % VERSION.major % VERSION.minor % VERSION.patch % VERSION.id % VERSION.codename % ev3_battery_voltage_mV();
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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@ -214,10 +235,10 @@ void main_task(intptr_t unused)
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tslp_tsk(200);
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// Set up motor powers
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const int SPEED_MODIFIER = 30;
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const int SPEED_MODIFIER = 10;
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MPWRS idealMPWRS;
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idealMPWRS.lMotorPWR = 70 - SPEED_MODIFIER;
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idealMPWRS.rMotorPWR = 50 - SPEED_MODIFIER;
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idealMPWRS.lMotorPWR = 75 - SPEED_MODIFIER;
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idealMPWRS.rMotorPWR = 60 - SPEED_MODIFIER;
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MPWRS motor_powers;
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
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@ -226,7 +247,7 @@ 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::LARGE); // Hinge motor
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ev3cxx::MotorTank motors(ev3cxx::MotorPort::B, ev3cxx::MotorPort::C); // Tank motors
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ev3cxx::GyroSensor gyro(ev3cxx::SensorPort::S1); // gyro sensor
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ev3cxx::GyroSensor gyro(ev3cxx::SensorPort::S1); // gyro sensor
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// Set up buttons
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ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
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@ -234,19 +255,15 @@ void main_task(intptr_t unused)
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// Start program
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btnEnter.waitForClick();
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//turn_left(motors);
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// turn_left(motors);
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bool side_1 = run_short_side(motors, motor_powers, gyro);
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ev3_speaker_play_tone(NOTE_C4, 250);
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ev3_speaker_play_tone(NOTE_C4, 125);
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ev3_speaker_play_tone(NOTE_D4, 250);
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ev3_speaker_play_tone(NOTE_C4, 250);
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ev3_speaker_play_tone(NOTE_B4, 750);
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if(!side_1) {
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if (!side_1)
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{
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return;
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} else {
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ev3_speaker_play_tone(NOTE_G5, 500);
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}
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else
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{
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return;
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}
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}
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