void e_init_randb ( unsigned char mode )
{
if ( mode == I2C )
{
/* Init I2C */
e_i2cp_init();
e_i2cp_enable();
}
else
{
/* Init UART2 */
e_init_uart2();
/* Clean UART buffer */
char msg;
while(e_getchar_uart2(&msg));
/* Start Agendas */
e_start_agendas_processing();
/* Locate e-randb task */
e_activate_agenda(e_randb_get_uart2, 2);
/* Tell the board we work on UART mode */
e_randb_set_uart_communication(UART);
}
/* Calculations are made on the BOARD*/
calcOnBoard = TRUE;
/* Init Global variables */
erandbFinished = FALSE;
erandbState = WAITING;
erandbCounter = 0;
}
int main() {
/*system initialization */
e_init_port();
/* Init UART1 for bluetooth */
e_init_uart1();
/* Init UART2 for e-randb */
e_init_uart2();
/* Init IR */
e_init_prox();
//init motors
e_init_motors();
/* Wait for a command comming from bluetooth IRCOMTEST on pc directory*/
btcomWaitForCommand('s');
/* Start agendas processing which will take care of UART interruptions */
e_start_agendas_processing();
/* Init E-RANDB board */
e_init_randb();
/* Range is tunable by software.
* 0 -> Full Range (1m. approx depending on light conditions )
* 255 --> No Range (0cm. approx, depending on light conditions */
e_randb_uart_set_range(0);
/* At some point we tought that the board could just take
* data en leave the calculations for the robot.
* At the moment, it is better to allow the board to do the calculations */
e_randb_uart_set_calculation(ON_BOARD);
/* Store light conditions to use them as offset for the calculation
* of the range and bearing */
e_randb_uart_store_light_conditions();
e_randb_set_uart_communication(1);
finalDataRegister data;
//tabla comunciacion
double comunicacionAngulos[2];
int comunicacionRangos[2];
//subsuncion
int CURRENT_STATE;
int subsuncion[2][2];
int debug_var = 0;
subsuncion[0][0]=SPACING;
subsuncion[1][0]=COHESION;
int i;
for (i=0;i<2;i++){
subsuncion[i][1]=0;
}
//proximity sensors reading
int prox_first_reading[8];
int prox_reading[8];
/* Angles in rad for IRs starting at 0. Left direction. */
const double prox_directions[8] = {5.9865, 5.4105, 4.7124, 3.6652, 2.6180, 1.5708, 0.8727, 0.2967};
/* Get the first reading to take ambient light */
for(i=0; i < 8; i++){
prox_first_reading[i]=e_get_prox(i);
}
/* Print on the bluetooth */
char tmp2[50];
sprintf(tmp2,"-- CHASER --\n");
btcomSendString(tmp2);
while(1) {
//comprobacion proximidad
int maxProx = 0;
/* Get readings and substract the first reading */
for(i=0; i < 8; i++){
prox_reading[i] = e_get_prox(i) - prox_first_reading[i];
if(prox_reading[i] < 0) {prox_reading[i] = 0; }
if ( prox_reading[i]>maxProx){
maxProx = prox_reading[i];
}
}
if(maxProx > PROX_THRES){
subsuncion[0][1]=1; // Collission
}
else{ // Chasing
subsuncion[0][1]=0;
}
CURRENT_STATE = 1; //by default. chasing
for(i=0;i<2;i++){
if(subsuncion[i][1]==1){
CURRENT_STATE = i;
break;
}
}
char tmp[30];
double vector_repelent[2] = {0.0,0.0};
double ang_repelent;
double ang_comunicacion = 0;
if (e_randb_get_data_uart2(&data)){
//actualizar tabla comun
if((data.bearing > -2*PI) && (data.bearing < 2*PI)){
switch(data.data)
{
case 0:
comunicacionAngulos[0]=data.bearing;
comunicacionRangos[0]=data.range;
sprintf(tmp2,"Sigue Lider. Ang: %f, Rango: %f \n", data.bearing, data.range);
btcomSendString(tmp2);
break;
case 1:
comunicacionAngulos[1]=data.bearing;
comunicacionRangos[1]=data.range;
sprintf(tmp2,"Sigue Sucker. Ang: %f, Rango: %f \n", data.bearing, data.range);
btcomSendString(tmp2);
break;
}
}
}
switch(CURRENT_STATE){
case 0: //Collission
sprintf(tmp2,"-- COLISION max= %d --\n",maxProx);
btcomSendString(tmp2);
/* Calc vector Sum */
vector_repelent[0] = 0.0;
vector_repelent[1] = 0.0;
for (i = 0 ; i < 8; i ++ )
{
vector_repelent[0] += prox_reading[i] * cos ( prox_directions[i] );
vector_repelent[1] += prox_reading[i] * sin ( prox_directions[i] );
}
/* Calc pointing angle */
ang_repelent = atan2(vector_repelent[1], vector_repelent[0]);
/* Create repelent angle */
ang_repelent -= PI;
//calculate and set velocity
setAngularVelocity(ang_repelent,1);
break; // Case 0
case 1: // Chasing
sprintf(tmp2,"-- PERSIGUIENDO--\n");
btcomSendString(tmp2);
ang_comunicacion = (comunicacionAngulos[0] + comunicacionAngulos[1])/2;
if(ang_comunicacion>0.6 || ang_comunicacion<-0.6){ // Chasing
sprintf(tmp2,"-- GIRANDO ang= %02f --\n",ang_comunicacion);
btcomSendString(tmp2);
//calculate and set velocity
setAngularVelocity(ang_comunicacion,2);
}
else { // Walk
sprintf(tmp2,"-- RECTO--\n");
btcomSendString(tmp2);
e_set_speed_left(SPEED);
e_set_speed_right(SPEED);
}
break; // Case 1
} // End switch
//if (e_randb_get_data_uart2(&data)){
// sprintf(tmp,"%d %02f %d %2f %d\n",debug_var, data.bearing, data.range);
// btcomSendString(tmp);
/* Send the data through one sensor */
//e_randb_uart_send_all_data(data);
}
return 0;
}
