b8cd70e1fa
0.6.0 - 'HELGA' () Added Doxygen comments Added volume to display_all_values (diagnostics screenS) 0.5.0 - 'HELGA' (#72) Added diagnostics screen (opened by pressing left after boot) Added secret quiet mode Added turning_corection_factor for correcing gyro sensor measurements due to its bad placement 0.4.3 - 'HELGA' (#70) Motor problems indicator with colors: left - red, right - orange, when motor is stuck change LED color Added calculating motor powers based on battery level
545 lines
19 KiB
C++
545 lines
19 KiB
C++
#include "ev3cxx.h"
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#include "app.h"
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#include <time.h>
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#include <ctime>
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#include <math.h>
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#include <iomanip>
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#include <cstring>
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/*
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CHANGELOG:
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0.6.0 - 'HELGA' ()
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Added Doxygen comments
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Added volume to display_all_values (diagnostics screenS)
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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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Added secret quiet mode
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Added turning_corection_factor for correcing gyro sensor measurements due to its bad placement
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0.4.3 - 'HELGA' (#70)
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Motor problems indicator with colors:
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left - red, right - orange,
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when motor is stuck change LED color
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Added calculating motor powers based on battery level
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0.4.2 - 'HELGA' (#67)
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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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0.2.7 - 'ERIKA' (#36)
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Created function run_short for picking up all cubes on short sides
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0.2.5 - 'ERIKA' (#27)
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Added "boot-up melody"
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Added btnEnter.waitForClick() for program start
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Fixed display printouts
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HW change: gearbox on the left gear changed to 1:1
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0.2.0 - 'ERIKA' (#15)
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Tested functions for opening and closing doors, updated speeds
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Added idealMPWRS - base MPWRS to update back to, testing with different speeds for left and right wheels
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0.1.1 - 'ERIKA' (#2)
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Re-created structs for version, MPWRS, note
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Re-created function for opening and closing door and function for generating Version ID
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*/
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/// @struct version
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/// @brief Struct for holding all informations about current version
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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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int major;
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/// @brief int: minor
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int minor;
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/// @brief int: patch
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int patch;
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/// @brief std::tm: release date (date & time of compilation)
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std::tm relDate;
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/// @brief const char*: string codename of the current version
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const char *codename;
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};
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/// @struct MPWRS
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/// @brief Structure to hold motor powers (left and right)
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struct MPWRS
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{
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/// @brief int: left motor power
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int lMotorPWR;
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/// @brief int: right motor power
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int rMotorPWR;
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};
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/// @struct MPWRSPlus
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/// @brief Structure to hold motor powers and speed modifier (extends MPWRS)
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struct MPWRSPlus
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{
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/// @brief MPWRS: motor powers
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MPWRS motor_powers;
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/// @brief int: speed modifier
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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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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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};
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/// @brief Function to calculate motor powers using quadratic equation, depending on battery power
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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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{
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int batteryLevel = ev3_battery_voltage_mV();
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double squared = (double)0.00003 * (double)(batteryLevel * batteryLevel);
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double linear = -0.42 * (double)batteryLevel;
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double constant = 1470;
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double modifier = squared + linear + constant;
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int SPEED_MODIFIER = 30 - ((int)round(modifier));
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// ev3cxx::display.format(4, "Q: % \nL: % \nC: % \nSM: % ") % squared % linear % constant % modifier;
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MPWRS idealMPWRS;
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idealMPWRS.lMotorPWR = leftMotor + SPEED_MODIFIER;
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idealMPWRS.rMotorPWR = rightMotor + SPEED_MODIFIER;
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MPWRSPlus retVal;
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retVal.motor_powers = idealMPWRS;
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retVal.SPEED_MODIFIER = SPEED_MODIFIER;
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return retVal;
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}
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/// @brief Function to clean display and write first two line
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void cleanAndTitle()
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{
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ev3cxx::display.resetScreen();
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ev3cxx::display.format(0, " DOBREMYSL ");
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ev3cxx::display.format(1, "*****************");
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}
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/// @brief Diagnostic function to display all value on display with ability to show multiple pages
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/// @param currentVersion version: struct verion of currently defined version
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/// @param volume: int: current set volume
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/// @param lMotorPWR int: base set power for the left motor
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/// @param rMotorPWR int: base set power for the right motor
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/// @param SPEED_MODIFIER int: caluclated SPEED_MODIFIER
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/// @param turningThreshold int: turning accuracy in degrees
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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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{
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ev3cxx::display.resetScreen();
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ev3cxx::display.setFont(EV3_FONT_MEDIUM);
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ev3cxx::BrickButton btnLeft(ev3cxx::BrickButtons::RIGHT); // Right button
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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 page = 0;
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while (true)
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{
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switch (page)
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{
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case 0:
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ev3cxx::display.resetScreen();
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ev3cxx::display.format(0, " DOBREMYSL ");
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ev3cxx::display.format(1, "*****************");
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ev3cxx::display.format(2, "Ver.: % .% .% ") % currentVersion.major % currentVersion.minor % currentVersion.patch;
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ev3cxx::display.format(3, "Nr.: #% ") % currentVersion.id;
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ev3cxx::display.format(4, "Codename: % ") % currentVersion.codename;
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ev3cxx::display.format(5, "Volume: % %%") % volume;
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ev3cxx::display.format(6, "Rel.: % ") % std::asctime(¤tVersion.relDate);
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break;
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case 1:
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ev3cxx::display.resetScreen();
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ev3cxx::display.format(0, "Bat.: % mV") % ev3_battery_voltage_mV();
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ev3cxx::display.format(1, "Mod.: % ") % SPEED_MODIFIER;
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ev3cxx::display.format(2, "-------_T_-------");
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ev3cxx::display.format(3, "TT: % ") % turningThreshold;
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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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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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break;
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default:
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break;
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}
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while (true)
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{
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if (btnLeft.isPressed())
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{
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ev3cxx::display.resetScreen();
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cleanAndTitle();
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ev3cxx::display.format(2, "Press ENTR to run");
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return;
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}
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if (btnUp.isPressed())
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{
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page -= 1;
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if (page < 0)
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{
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page = 0;
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}
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break;
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}
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else if (btnDown.isPressed())
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{
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page += 1;
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if (page > pages)
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{
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page = pages;
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}
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break;
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}
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tslp_tsk(500);
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}
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tslp_tsk(200);
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}
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}
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/// @brief Function to parse timestamp to std::tm
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/// @param timestampStr const char*: string form of the timestamp
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/// @return std::tm: parsed timestamp
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std::tm parseTimestamp(const char *timestampStr)
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{
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std::tm tmStruct = {};
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std::istringstream iss(timestampStr);
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// The format of __TIMESTAMP__ is implementation-dependent
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// The example below assumes the format "Www Mmm dd hh:mm:ss yyyy"
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// Adjust the format string based on your compiler's __TIMESTAMP__ format
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iss >> std::get_time(&tmStruct, "%a %b %d %H:%M:%S %Y");
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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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/// @param codename const char*: string codename of the current version
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/// @param major int: major
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/// @param minor int: minor
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/// @param patch int: patch
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/// @return version: current version of the code, with date and time of compilation included
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version createVersion(int versionID, const char *codename, int major, int minor, int patch)
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{
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version retVersion;
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retVersion.id = versionID;
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retVersion.major = major;
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retVersion.minor = minor;
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retVersion.patch = patch;
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retVersion.codename = codename;
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/*retVersion.relDate.tm_sec = timestamp_tm.tm_sec;
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retVersion.relDate.tm_min = timestamp_tm.tm_min;
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retVersion.relDate.tm_hour = timestamp_tm.tm_hour;
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retVersion.relDate.tm_mday = timestamp_tm.tm_mday;
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retVersion.relDate.tm_mon = timestamp_tm.tm_mon;*/
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retVersion.relDate = parseTimestamp(__TIMESTAMP__);
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retVersion.relDate.tm_year = 2023 - 1900;
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retVersion.relDate.tm_isdst = 0;
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std::mktime(&retVersion.relDate);
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return retVersion;
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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.onForDegrees(-25, 200);
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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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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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/// @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(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90, int THRESHOLD = 2, int TFC = 5)
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{
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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.onForRotations(-10, 25, 1.5, true, false, 60);
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bool rotating = true;
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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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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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/// @brief Function to pick up all cubes on shorter 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 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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{
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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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int cycleCounter = 0;
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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: % \nCycles: % \nAngle: % ") % lPower % rPower % cycleCounter % 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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// 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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// Check if the motor is stuck
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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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}
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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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// Check if the motor is stuck
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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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}
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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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void main_task(intptr_t unused)
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{
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const int CYCLE_LIMIT_1 = 90;
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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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const int CORRECTION_MULTIPLIER = 20;
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int volume = 100;
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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(73, "URSULA", 0, 6, 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();
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MPWRS idealMPWRS = calcedPWRS.motor_powers;
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const int SPEED_MODIFIER = calcedPWRS.SPEED_MODIFIER;
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MPWRS motor_powers;
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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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::TouchSensor touchS(ev3cxx::SensorPort::S4); // Touch sensor
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|
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// Set up buttons
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ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
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ev3cxx::BrickButton btnLeft(ev3cxx::BrickButtons::LEFT); // Left button (for entering diagnostics)
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ev3cxx::BrickButton btnDown(ev3cxx::BrickButtons::DOWN); // Down button (quiet mode)
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|
|
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// quiet mode activation
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if (btnDown.isPressed())
|
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{
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volume = 0;
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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tslp_tsk(200);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
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tslp_tsk(200);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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}
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|
|
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// Print version information on screen
|
|
cleanAndTitle();
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ev3cxx::display.format(2, "% .% .% #% \nNAME: % \nBattery: % mV % \nPress ENTR to run") % VERSION.major % VERSION.minor % VERSION.patch % VERSION.id % VERSION.codename % ev3_battery_voltage_mV() % SPEED_MODIFIER;
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|
|
|
// Play starting melody
|
|
ev3_speaker_set_volume(volume);
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ev3_speaker_play_tone(NOTE_C5, 400);
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tslp_tsk(500);
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ev3_speaker_play_tone(NOTE_F5, 400);
|
|
tslp_tsk(500);
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ev3_speaker_play_tone(NOTE_G5, 400);
|
|
tslp_tsk(500);
|
|
ev3_speaker_play_tone(NOTE_A5, 100);
|
|
tslp_tsk(200);
|
|
ev3_speaker_play_tone(NOTE_F5, 650);
|
|
tslp_tsk(950);
|
|
ev3_speaker_play_tone(NOTE_F4, 75);
|
|
tslp_tsk(110);
|
|
ev3_speaker_play_tone(NOTE_F4, 75);
|
|
tslp_tsk(110);
|
|
ev3_speaker_play_tone(NOTE_F4, 75);
|
|
tslp_tsk(200);
|
|
|
|
// Start program
|
|
while (true)
|
|
{
|
|
// ev3_speaker_play_tone(NOTE_FS6, 20);
|
|
// tslp_tsk(20);
|
|
if (btnLeft.isPressed())
|
|
{
|
|
displayAllValues(VERSION, idealMPWRS.lMotorPWR, idealMPWRS.rMotorPWR, SPEED_MODIFIER, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION, CORRECTION_MULTIPLIER, CYCLE_LIMIT_1);
|
|
}
|
|
if (btnEnter.isPressed() || touchS.isPressed())
|
|
{
|
|
cleanAndTitle();
|
|
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
|
|
ev3_speaker_play_tone(NOTE_F4, 100);
|
|
tslp_tsk(750);
|
|
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
|
|
ev3_speaker_play_tone(NOTE_F4, 100);
|
|
break;
|
|
}
|
|
// ev3_speaker_play_tone(NOTE_F6, 50);
|
|
tslp_tsk(50);
|
|
}
|
|
|
|
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);
|
|
if (!side_1)
|
|
{
|
|
// Something went wrong
|
|
return;
|
|
}
|
|
|
|
turn(motors, gyro, 90, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
|
}
|