main()
{
char radioOutput[511];
// buffer to read the radio input from user laptop
char radioInput[CINBUFSIZE];
char radioOutput2[511];
// buffer to read the radio input from instrument laptop
char radioInput2[EINBUFSIZE];
// buffer to output encoder info
char enc_data[70];
// buffer to relay data from the datalogger through to the radio
char loggerInput[EINBUFSIZE+2];
char yetiState[10];
char axis_1[20];
char axis_2[20];
char axis_3[20];
char axis_4[20];
char temp[3];
// whether the robot has gotten a ping recently or not
char ping;
// the number of waypoints the robot has
int numWayPoints;
// the current waypoint the robot is on
char curWayPoint;
// interval(sec) b/w telemtry broacastings from the robot to user and to instrument
char telemetryInterval;
// whether gps string is valid or not
int valid_gps;
// whether gps navigation is engaged or not
char engageGPSnav;
// how many bytes in the serial buffer are used
int used;
int usedE;
// int for indexing loops
int i;
// requested linear and angular velocites of robot from java
int v;
int w;
// updated linear and angular velocites
int newV;
int newW;
// difference between current and desired linear and angular velocites
int vDiff;
int wDiff;
// how many characters of a gps string have been read in so far
int charCounter;
// character read in off the serial port (look at serFgetc() to see why it is
// an int
int c;
// holds a gps string after reading it in
char gpsString[85];
// stopping interval for data collection in seconds
int resting_interval;
// int to keep track of if this is the first run of the program or not
int helpLast,helpLast2;
//Encoder Sending code
int j;
int delayvar;
int asb, bsb, csb;
long position, asb_l, bsb_l, csb_l;
float currentToGoal; //distance between current position and goal
float originToCurrent; //distance between origin to current position
float bearingToGoal; //bearing from current position to goal in degree
float bearingToCurrent; //bearing from origin to current position in degree
float INTEGRALMAX; //maximum that integral can get
float deltaloop;
int flag; //flag for restoring yeti to GPS navigation automatically
int flag2; //flag for changing last gps coordinate
// initialize hardware
brdInit();
LastGPS.lat_degrees = 72;
LastGPS.lat_minutes = 32.123;
LastGPS.lon_degrees = 17;
LastGPS.lon_minutes = 42.232;
CurrentGPS.lat_degrees = 72;
CurrentGPS.lat_minutes = 32.200;
CurrentGPS.lon_degrees = 17;
CurrentGPS.lon_minutes = 42.232;
Goal.lat_degrees = 72;
Goal.lat_minutes = 33.200;
Goal.lon_degrees = 17;
Goal.lon_minutes = 43.500;
GoalPos = getPol(getCart(&CurrentGPS,&Goal));
bearingToGoal = gps_bearing2(&CurrentGPS, &Goal);
CurCart = getCart(&LastGPS,&CurrentGPS);
CurPol = getPol(CurCart);
bearingToCurrent = gps_bearing2(&LastGPS,&CurrentGPS);
error = bearRange(CurPol.t-GoalPos.t);
error2 = bearRange((bearingToCurrent-bearingToGoal)*PI/180.0);
printf("%f, %f\n",bearingToCurrent,bearingToGoal);
printf("error:%f, error2:%f\n",error,error2);
//digOutConfig(DIGOUTCONFIG);
digOutConfig(0xff00);
//digHoutConfig(0x07); // Set Hout0 Sinking
digHTriStateConfig(0x06); // Set Hout1 & Hout2 for Tristate
//initialize Encoder Board
initEncoder();
//initialize state machine flags
controlMode = USER_CONTROL_MODE;
robotMobility = MOBILE;
classificationMode = CLASSIFICATION_OFF;
obstacleType = OBSTACLE_1;
// open 2 radio serial ports and gps serial ports
serCopen(BAUDR1);
serFopen(BAUDGPS);
serEopen(BAUDR2);
//serEopen(BAUDLOG);
//disable motor controllers
//digHout(0,0);
digHoutTriState(1,0);
// set wheel velocities to 0
anaOutConfig(1,1);
anaOutPwr(1);
anaOutVolts(0,0);
anaOutVolts(1,0);
anaOutVolts(2,0);
anaOutVolts(3,0);
anaOutStrobe();
// set serial port mode
serMode(0);
// initialize variables
ping = 1;
numWayPoints = 0;
coords_received = 0;
//engageGPSnav = 0; //remove
curWayPoint = 0;
currentV = 0;
currentW = 0;
desiredV = 0;
desiredW = 0;
helpLast = 0;
helpLast2 = 0;
// intialize WMAX so that Vmin > Vmax / 4 (preventing robot from turning in circle)
MAXW = min(2000 - AUTONOMOUS_SPEED, AUTONOMOUS_SPEED);
if((AUTONOMOUS_SPEED+MAXW)/4 > AUTONOMOUS_SPEED-MAXW)
MAXW = 3*AUTONOMOUS_SPEED/5;
printf("MAXW : %d\n",MAXW);
telemetryInterval = 1; //default telemetry broadcasting interval = 1 sec
//controller coefficients
P_coeff = .30; //starting point .30
I_coeff = .002; //starting point .002
loop_gain = 714; //starting point 714
INTEGRALMAX = (float)MAXW / loop_gain / I_coeff / 2.0; //integral effort max = 1/2 speed differential
// clear any junk out of serial ports
serFrdFlush();
serCrdFlush();
serErdFlush();
sprintf(radioOutput, "Waypoints not received, %s", gpsString);
// error integration initialization
last_error = 0;
error_integral = 0;
error = 0;
error2 = 0;
last_time = TICK_TIMER;
deltat = 0;
// stopping at each waypoint as a default setting
stoppingMode = 1;
resting_interval = 0;
// initialize distance and bearing
originToCurrent = 0;
currentToGoal = 0;
bearingToGoal = 0;
bearingToCurrent =0;
loop_time = TICK_TIMER;
flag=0;
flag2=0;
valid_gps=-1;
// main while loop
while(1)
{
deltaloop = (float)(TICK_TIMER-loop_time)/1024;
loop_time = TICK_TIMER;
//Test if Serial ports have input
costate
{
used = serCrdUsed(); //bytes being used in serial buffer for radio communication port1
usedE = serErdUsed(); //bytes being used in serial buffer for radio communication port2 or data logger
}
// sending data from robot to user computer
#ifdef _send_telemetry_
costate sendTelemetry always_on
{
waitfor(DelaySec(telemetryInterval));
sprintf(radioOutput,"valid GPS: %d, ",valid_gps);
serCputs(radioOutput);
DelayMs(35);
/*sprintf(radioOutput,"current GPS: %d,%f,%d,%f,*", CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"coord GPS: %d,%f,%d,%f,*", WayPoints[0].lat_degrees, WayPoints[0].lat_minutes, WayPoints[0].lon_degrees, WayPoints[0].lon_minutes);
serCputs(radioOutput);
DelayMs(35);*/
sprintf(radioOutput,"errors: %f,%f, deltat: %f, ",error,error2,deltat);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"integral term: %f, w:%d, ",I_coeff*error_integral*loop_gain,currentW);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"dis: %f,%f,*",currentToGoal,GoalPos.r);
serCputs(radioOutput);
DelayMs(35);
/*DelayMs(35);
sprintf(radioOutput2,"loop:%f,*",deltaloop);
serCputs(radioOutput2);*/
sprintf(radioOutput,"%d,%f,%d,%f,", CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"%d,%d,%d,",currentV,currentW,controlMode);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"%d,%f,%d,%f,*", Goal.lat_degrees, Goal.lat_minutes, Goal.lon_degrees, Goal.lon_minutes);
serCputs(radioOutput);
}
costate sendTelemetry2 always_on
{
waitfor(DelaySec(telemetryInterval));
//send current moving status of robot to instrument package laptop
sprintf(radioOutput2,"%d,%f,%d,%f,", CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
serEputs(radioOutput2);
DelayMs(35);
sprintf(radioOutput2,"%d,%d,%d,*",currentV,currentW,controlMode);
serEputs(radioOutput2);
DelayMs(35);
sprintf(radioOutput2,"stopmode: %d, controlmode: %d,*",stoppingMode, controlMode);
serEputs(radioOutput2);
}
#endif
//***********************************************************************************
// serial message interpretation costate
costate serialIn always_on
{
// wait until a message comes
waitfor(used > 0);
// give the message a chance to finish sending
waitfor(DelayMs(100));
if(used > 100) waitfor(DelaySec(2)); //increase in case receiving long waypoint list
used = serCrdUsed();
serCread(radioInput,used, 2);
radioInput[used] = '\0'; //terminate string
// since a message came, we know we are in radio contact
ping = 1;
serCrdFlush();
//remote control mode
// [zeros] [v byte 1] [v byte 2] [w byte 1] [w byte 2]
if(radioInput[0] == 0)
{
// recieve a remote control driving command
//engageGPSnav = 0; //remove
if (controlMode != ESCAPE_CONTROL_MODE)
{
controlMode = USER_CONTROL_MODE;
error_integral = 0;
last_time = TICK_TIMER;
v = (int)radioInput[2]<<8;
desiredV = v+radioInput[1];
w = (int)radioInput[4]<<8;
desiredW = w+radioInput[3];
#ifdef _debug_
printf("command\n");
#endif
}
}
else if (radioInput[0] == 1) //receiving gps waypoint list
{
// load in gps coordinates
// convention N = +lat_deg +lat_min, W = +long_deg +long_min
// S = -lat_deg -lat_min, E = -long_deg -long_min
if(radioInput[1] > 180){
numWayPoints = 180;
}
else if(radioInput[1] >0){
numWayPoints = (int)(radioInput[1]);
}
else{
numWayPoints = 0;
}
for(i = 0;i<numWayPoints;i++)
{
WayPoints[i].lat_degrees = CtoI(radioInput[2+i*12],radioInput[2+i*12+1]);
WayPoints[i].lat_minutes = CtoF(radioInput[2+i*12+2],radioInput[2+i*12+3],radioInput[2+i*12+4],radioInput[2+i*12+5]);
WayPoints[i].lon_degrees = CtoI(radioInput[2+i*12+6],radioInput[2+i*12+7]);
WayPoints[i].lon_minutes = CtoF(radioInput[2+i*12+8],radioInput[2+i*12+9],radioInput[2+i*12+10],radioInput[2+i*12+11]);
DelayMs(35); //print waypoint list to logfile
sprintf(radioOutput,"waypoint,%d,%d,%f,%d,%f,*",i,WayPoints[i].lat_degrees,WayPoints[i].lat_minutes,WayPoints[i].lon_degrees,WayPoints[i].lon_minutes);
serCputs(radioOutput);
}
curWayPoint = 0;
Goal = WayPoints[0];
if (numWayPoints > 0){
coords_received = 1;
}
DelayMs(35);
sprintf(radioOutput,"coords loaded,%d,*",numWayPoints);
serCputs(radioOutput);
//DelayMs(35);
//sprintf(radioOutput,"1st pos: %d,%f,%d,%f,*", Goal.lat_degrees, Goal.lat_minutes, Goal.lon_degrees, Goal.lon_minutes);
//serCputs(radioOutput);
#ifdef _debug_
printf("load coord\n");
#endif
}
else if (radioInput[0] == 3)
{
// engage GPS navigation system
if (numWayPoints>0){
controlMode = GPS_CONTROL_MODE;
error_integral = 0;
last_time = TICK_TIMER;
helpLast =0;
helpLast2 = 0;
originToCurrent = 0;
currentToGoal = 999999;
sprintf(radioOutput,"GPS mode started,*",numWayPoints);
serCputs(radioOutput);
}
#ifdef _debug_
printf("GPS\n");
#endif
}
else if (radioInput[0] == 4)
{
//set the interval for telemetry broadcasting
telemetryInterval = radioInput[1];
}
// {
// // set the current waypoint the robot is heading for
// if ((radioInput[1] <= numWayPoints) && (radioInput[1] > 0))
// curWayPoint = radioInput[1]-1;
// }
// Signal to test escape sequences and re-routing
// Emergency Stop the robot if Escape Mode is enabled
else if (radioInput[0] == 6)
{
controlMode = USER_CONTROL_MODE;
#ifdef _debug_
printf("E-stop\n");
#endif
desiredV = 0;
desiredW = 0;
sprintf(radioOutput,"User Control Mode,*");
serCputs(radioOutput);
}
// Toggle Classification mode
else if (radioInput[0] == 7)
{
if (classificationMode == CLASSIFICATION_OFF)
{
#ifdef _debug_
printf("Classification on\n");
#endif
classificationMode = CLASSIFICATION_ON;
}
else
{
#ifdef _debug_
printf("Classification off\n");
#endif
classificationMode = CLASSIFICATION_OFF;
}
}
//change controller coefficients
else if (radioInput[0] == 8)
{
P_coeff = CtoF(radioInput[1],radioInput[2],radioInput[3],radioInput[4]);
I_coeff = CtoF(radioInput[5],radioInput[6],radioInput[7],radioInput[8]);
loop_gain = CtoF(radioInput[9],radioInput[10],radioInput[11],radioInput[12]);
INTEGRALMAX = (float)MAXW / loop_gain / I_coeff / 2.0;
DelayMs(35);
sprintf(radioOutput,"Coefficients loaded,*");
serCputs(radioOutput);
}
}
//this costate controls state update for the control mode. State transitions
//can also take place within functions, but where it doesn't make sense make
//those transitions within a function it is taken care of here.
/*costate controlModeUpdate always_on
{
if ((controlMode == GPS_CONTROL_MODE)&&(robotMobility == IMMOBILIZED))
{
controlMode = ESCAPE_CONTROL_MODE;
printf("escape control set\n");
}
}
*/
//***********************************************************************************
// serial message interpretation costate for instrument package communication
costate serial2In always_on
{
// wait until a message comes
waitfor(usedE > 0);
// give the message a chance to finish sending
waitfor(DelayMs(100));
usedE = serErdUsed();
serEread(radioInput2,usedE, 2);
radioInput2[usedE] = '\0'; //terminate string
serErdFlush();
if(radioInput2[0] == 0)
{
// recieve a remote control driving command
//engageGPSnav = 0; //remove
if (controlMode != ESCAPE_CONTROL_MODE)
{
controlMode = USER_CONTROL_MODE;
error_integral = 0;
last_time = TICK_TIMER;
v = (int)radioInput2[2]<<8;
desiredV = v+radioInput2[1];
w = (int)radioInput2[4]<<8;
desiredW = w+radioInput2[3];
#ifdef _debug_
printf("command\n");
#endif
}
}
else if (radioInput2[0] == 1) //Set autonomous mode
{
// load in gps coordinates
// [1] [lattitude degrees int byte 1] [longitutde degrees int byte 2]...
if(radioInput2[1] > 180){
numWayPoints = 180;
}
else if(radioInput2[1] >0){
numWayPoints = (int)(radioInput2[1]);
}
else{
numWayPoints =0;
}
for(i = 0;i<numWayPoints;i++)
{
WayPoints[i].lat_degrees = CtoI(radioInput2[2+i*12],radioInput2[2+i*12+1]);
WayPoints[i].lat_minutes = CtoF(radioInput2[2+i*12+2],radioInput2[2+i*12+3],radioInput2[2+i*12+4],radioInput2[2+i*12+5]);
WayPoints[i].lon_degrees = CtoI(radioInput2[2+i*12+6],radioInput2[2+i*12+7]);
WayPoints[i].lon_minutes = CtoF(radioInput2[2+i*12+8],radioInput2[2+i*12+9],radioInput2[2+i*12+10],radioInput2[2+i*12+11]);
}
curWayPoint = 0;
Goal = WayPoints[0];
if (numWayPoints > 0)
coords_received=1;
sprintf(radioOutput2,"numway: %d,*",radioInput2[1]);
serEputs(radioOutput2);
sprintf(radioOutput2,"coords loaded,*");
serEputs(radioOutput2);
#ifdef _debug_
printf("load coord\n");
#endif
}
else if (radioInput2[0] == 3)
{
// engage GPS navigation system
if (numWayPoints>0){
controlMode = GPS_CONTROL_MODE;
error_integral = 0;
last_time = TICK_TIMER;
helpLast =0;
helpLast2 = 0;
originToCurrent = 0;
currentToGoal = 999999;
sprintf(radioOutput2,"GPS Mode,*");
serEputs(radioOutput2);
}
//engageGPSnav = 1; //remove
#ifdef _debug_
printf("GPS\n");
#endif
}
else if (radioInput2[0] == 4)
{
//set the interval for telemetry broadcasting
telemetryInterval = radioInput2[1];
}
// Signal to test escape sequences and re-routing
// Emergency Stop the robot if Escape Mode is enabled
else if (radioInput2[0] == 6)
{
controlMode = USER_CONTROL_MODE;
#ifdef _debug_
printf("E-stop\n");
#endif
desiredV = 0;
desiredW = 0;
sprintf(radioOutput2,"User Control Mode,*");
serEputs(radioOutput2);
}
else if (radioInput2[0] == 8)
{
P_coeff = CtoF(radioInput2[1],radioInput2[2],radioInput2[3],radioInput2[4]);
I_coeff = CtoF(radioInput2[5],radioInput2[6],radioInput2[7],radioInput2[8]);
loop_gain = CtoF(radioInput2[9],radioInput2[10],radioInput2[11],radioInput2[12]);
INTEGRALMAX = (float)MAXW / loop_gain / I_coeff / 2.0;
sprintf(radioOutput2,"coefficients loaded,*");
serEputs(radioOutput2);
}
// restore control mode to GPS control mode from Instrument mode
else if(radioInput2[0] == 9 && controlMode == INSTRUMENT_MODE)
{
controlMode = GPS_CONTROL_MODE;
last_time = TICK_TIMER;
desiredW = 0;
desiredV = AUTONOMOUS_SPEED;
//DelaySec(2);
}
// stop for each waypoint for X seconds
else if(radioInput2[0] == 10)
{
sprintf(radioOutput2,"command 10,*");
serEputs(radioOutput2);
stoppingMode = 1;
resting_interval = CtoI(radioInput2[1],radioInput2[2]);
}
// stop the robot for X seconds right now
else if(radioInput2[0] == 11)
{
stoppingMode = 2;
resting_interval = CtoI(radioInput2[1],radioInput2[2]);
controlMode = INSTRUMENT_MODE;
desiredV = 0;
desiredW = 0;
}
// restore stopping mode to 0 (non-stoppig mode)
else if(radioInput2[0] == 12)
{
stoppingMode = 0;
}
}
//***********************************************************************************
//if no moving signal from instrument laptop is received for designated resting interval + 2sec
//assume connection with instrument laptop is broken and go back to autonomous mode
costate monitorStop always_on
{
if(stoppingMode != 0 && controlMode == INSTRUMENT_MODE && currentV==0 && curWayPoint < numWayPoints){
waitfor(DelaySec(resting_interval+2)); //2 sec delay in addition to resting_interval
if(controlMode == INSTRUMENT_MODE){
//stoppingMode = 0; //9-13-11 retain stop at each waypoint
controlMode = GPS_CONTROL_MODE;
last_time = TICK_TIMER;
desiredW = 0;
desiredV = AUTONOMOUS_SPEED;
}
}
}
//***********************************************************************************
#ifdef _debug_
costate debugHelp always_on
{
waitfor(DelayMs(1000));
{
switch(controlMode){
case(USER_CONTROL_MODE):
printf("user control, ");
break;
case(GPS_CONTROL_MODE):
printf("gps control, ");
break;
case(ESCAPE_CONTROL_MODE):
printf("escape ctrl., ");
break;
case(ESCAPE_CONFIRM_MODE):
printf("escape confirm, ");
break;
}
switch(classificationMode){
case(CLASSIFICATION_ON):
printf("class. on, ");
break;
case(CLASSIFICATION_OFF):
printf("class. off, ");
break;
}
switch(obstacleType){
case(OBSTACLE_0):
printf("obstacle 0, ");
break;
case(OBSTACLE_1):
printf("obstacle 1, ");
break;
}
switch(robotMobility){
case(MOBILE):
printf("mobile , ");
break;
case(ALMOST_IMMOBILIZED):
printf("almost immob., ");
break;
case(IMMOBILIZED):
printf("immobilized, ");
break;
}
printf("\n");
}
}
#endif
/* **********************************************************************************
//this costate interprets the results from the mobility and obstacle detection
//classifiers
//this function is disabled in this version of yeti code because we need a serial port
//for a second radio for the communication with instrument package latop
costate loggerInterpret always_on
{
// wait for a message from datalogger port
waitfor(usedE > 0);
// give the message a chance to finish sending
waitfor(DelayMs(8));
if (classificationMode == CLASSIFICATION_ON)
{
usedE = serErdUsed();
serEread(loggerInput,usedE, 2);
loggerInput[usedE] = '\0';
serErdFlush();
switch(loggerInput[1]) {
case '0':
robotMobility = MOBILE;
break;
case '1':
robotMobility = ALMOST_IMMOBILIZED;
break;
case '2':
robotMobility = IMMOBILIZED;
break;
}
switch(loggerInput[2]) {
case '0':
obstacleType = OBSTACLE_0;
break;
case '1':
obstacleType = OBSTACLE_1;
break;
default:
obstacleType = OBSTACLE_1;
}
}
else
{
serErdFlush();
}
}
*/
//***********************************************************************************
// this costate updates the velocity of the wheels
// acc rate is such that it takes 1 sec to go from 0 to max V
// therefore can change v by at most 100 at each 50 ms time step
costate
{
waitfor(DelayMs(50));
newV = currentV;
newW = currentW;
vDiff = desiredV - currentV;
wDiff = desiredW - currentW;
if (vDiff > 0)
{
newV = currentV + min(50,vDiff); //emt - changed to 50 from 100
}
else if (vDiff < 0)
{
newV = currentV + max(-50,vDiff);
}
if (wDiff > 0)
{
newW = currentW + min(50,wDiff);
}
else if (wDiff < 0)
{
newW = currentW + max(-50,wDiff);
}
if ((newV != currentV) || (newW != currentW))
{
//disable motor controllers if velocity should be 0
if (newV == 0 && newW == 0)
digHoutTriState(1,0);
else
digHoutTriState(1,2);
setVel(newV,newW);
currentV = newV;
currentW = newW;
}
}
/* **********************************************************************************
// Send encoder data through serial to Datalogger needed for mobility detection
// This function is disabled in this version of C code
*/
/*costate sendEncoder always_on
{
waitfor(DelayMs(45)); //send faster than 20Hz
for (j = 0; j < 4; j++)
{
EncWrite(j, TRSFRCNTR_OL, CNT);
// EncWrite(j,BP_RESET,CNT);
EncWrite(j,BP_RESETB,CNT);
asb = EncRead(j,DAT);
asb_l = asb;
bsb = EncRead(j,DAT);
bsb_l = bsb;
csb = EncRead(j,DAT);
csb_l = csb;
position = asb_l; // least significant byte
position += (bsb_l << 8);
position += (csb_l <<16);
switch(j) {
case 0:
sprintf(axis_1,"%ld",position);
break;
case 1:
sprintf(axis_2,"%ld",position);
break;
case 2:
sprintf(axis_3,"%ld",position);
break;
case 3:
sprintf(axis_4,"%ld",position);
break;
}
}
sprintf(enc_data,",%s,%s,%s,%s*",axis_1,axis_2,axis_3,axis_4);
serEputs(enc_data);
}*/
//***********************************************************************************
// stop robot if get no pings from java for 5 seconds DURING user control mode
// continue GPS mode even if communication to user has been lost
/*costate pingCheck always_on
{
if(controlMode == USER_CONTROL_MODE){
if (ping == 1)
{
waitfor(DelayMs(500));
ping = 0;
abort;
}
else
{
waitfor(DelaySec(5));
if (ping == 1)
abort;
else
{
desiredV = 0;
desiredW = 0;
}
}
}
}*/
//***********************************************************************************
// this costate will check if the GPS has sent some data or not and
// call the appropriate functions to process the data
costate GPSRead always_on
{
//printf("gps read started\n");
waitfor((serFrdUsed() > 0)); //always read GPS even during user control mode
//printf("gps string came in\n");
charCounter = 0;
// read until finding the beginning of a gps string then wait 2 seconds
while(1)
{
c = serFgetc();
if (c == -1)
{
serFrdFlush();
abort;
}
else if (c == '$')
{
waitfor(DelayMs(20)); //wait for full message to send
break;
}
}
// now that 20 ms have passed, read in the gps string (it must all
// be there by now, since so much time has passed
getgps2(gpsString);
#ifdef _debug_GPS_
//printf("gps: %u \n",strlen(test2));
printf("gps: %s ",gpsString);
//puts(gpsString);
//puts(": end gps \n");
#endif
//===================================================================================
#ifdef _debug_GPS_fine_
printf("gps 2\n");
#endif
// use Luke's library function to get gps position data from the
// gps string
valid_gps = gps_get_position(&CurrentGPS,gpsString);
//num_sat = gps_get_satellites(&Satellite,gpsString); //<-can be used only during GPGSA mode
printf("valid gps: %d, CurrentGPS: %d %f, %d %f\n", valid_gps, CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
//printf("# of sat: %d\n",num_sat);
#ifdef _debug_GPS_fine_
printf("valid gps: %d, CurrentGPS: %d %f, %d %f\n", valid_gps, CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
#endif
#ifdef _debug_GPS_fine_
printf("gps 3\n");
#endif
#ifdef _debug_GPS_fine_
printf("gps 4\n");
#endif
flag2=0;
//valid gps=0 - success, -1 - parsing error, 1 - sentence marked invalid
if(valid_gps==0 && controlMode == GPS_CONTROL_MODE){
// initialize last gps coordinate if program is just starting
if(helpLast == 0)
{
LastGPS = CurrentGPS;
helpLast = 1;
}
// find the x and y distances between the last and current GPS
// positions of the robot
CurCart = getCart(&LastGPS,&CurrentGPS);
originToCurrent = gps_ground_distance(&LastGPS, &CurrentGPS);
currentToGoal = gps_ground_distance(&CurrentGPS, &Goal);
printf("CurrentGPS: %d %f, %d %f\n",CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
printf("LastGPS: %d,%f,%d,%f\n", LastGPS.lat_degrees, LastGPS.lat_minutes, LastGPS.lon_degrees, LastGPS.lon_minutes);
printf("originTocurrent: %f, currentToGoal: %f\n",originToCurrent, currentToGoal);
if(currentToGoal>=WAYPOINT_RADIUS){
// compute bearing if there the robot traveled enough distance 2m
if(originToCurrent >= 0.002 || helpLast2 == 0){
if(helpLast2 == 0)
helpLast2 = 1;
// set the flag so that v,w are updated in the second if statement
flag2=1;
// compute the bearing and distance from current pos to the next waypoint
GoalPos = getPol(getCart(&CurrentGPS,&Goal));
bearingToGoal = gps_bearing2(&CurrentGPS, &Goal);
// compute bearing from origin to current
// if the robot is not stationary, calculate robot bearing
// this is necessary because atan2 breaks if it is given 0/0
if(!(CurCart.x == 0 && CurCart.y == 0))
{
CurPol = getPol(CurCart);
}
else
{
CurPol.t = GoalPos.t;
}
if(originToCurrent!=0)
{
bearingToCurrent = gps_bearing2(&LastGPS,&CurrentGPS);
}
else
{
bearingToCurrent = bearingToGoal;
}
LastGPS = CurrentGPS;
/*sprintf(radioOutput,"bearing calculation: %f, %f\n", bearRange(CurPol.t-GoalPos.t),bearRange((bearingToCurrent-bearingToGoal)*PI/180.0));
serCputs(radioOutput);
printf("bearing calculation: %f, %f\n", bearRange(CurPol.t-GoalPos.t),bearRange((bearingToCurrent-bearingToGoal)*PI/180.0));*/
}
}
}
// if within 10m of the next way point, switch to the next waypoint
// in the array, or stop of there are no more waypoints
if (controlMode == GPS_CONTROL_MODE && currentToGoal >= WAYPOINT_RADIUS)
{
if (valid_gps == 0 && flag2==1) //0 = good GPS, -1 = bad GPS
{
// compute bearing error
error = bearRange(CurPol.t-GoalPos.t);
// bearing error using double precision calculation
error2 = bearRange((bearingToCurrent-bearingToGoal)*PI/180.0);
//only add up integral term when the robot is currently moving at full speed
//& the robot has actually moved 1m from the last positoin
if(currentV == AUTONOMOUS_SPEED)
{
deltat = (float)(TICK_TIMER-last_time) / (1024);
//TICK_TIMER is shared unsigned long that counts every 1/1024 sec
if(deltat<0)
{
deltat=(float)(TICK_TIMER-last_time+1024)/1024;
}
if(deltat<0) //invalid deltat -> set deltat=0
{
deltat=0;
}
error_integral = error_integral + (error2 + last_error)/2*deltat;
error_integral = bound(error_integral,INTEGRALMAX);
}
desiredW = (int)(bound(((-P_coeff*error2) - I_coeff*error_integral)*loop_gain, MAXW));
desiredV = AUTONOMOUS_SPEED;
last_error = error2;
last_time = TICK_TIMER; //(1024 times per second)
}
/*else if(valid_gps!=0)
{
// without valid GPS, go straight but slower (half of autonomous speed)
// still under autonomous mode
desiredW = 0;
desiredV = AUTONOMOUS_SPEED_SLOW;
abort;
}*/
}
}
//***********************************************************************************
// change the current waypoint to the nextway point when the robot reaches
// near the current waypoint
costate WaypointCheck always_on
{
//default distance = .005 (5 meters)
if (currentToGoal < WAYPOINT_RADIUS && controlMode == GPS_CONTROL_MODE && valid_gps==0)
{
// go straight for 2sec (travel about 4m straight)
desiredW = 0;
desiredV = AUTONOMOUS_SPEED;
waitfor(DelaySec(2));
// stop at each waypoint when stoppingMode = 1
if(stoppingMode == 1){
controlMode = INSTRUMENT_MODE;
desiredV = 0;
desiredW = 0;
}
curWayPoint++;
// if at the last way point, stop
if(curWayPoint >= numWayPoints)
{
controlMode = USER_CONTROL_MODE;
desiredV = 0;
desiredW = 0;
curWayPoint = 0;
Goal = WayPoints[0];
abort;
}
else{
Goal = WayPoints[curWayPoint];
currentToGoal = gps_ground_distance(&CurrentGPS, &Goal);
error_integral = 0; //reset error integral for PI control
last_time = TICK_TIMER; //(1024 times per second)
}
}
}
//***********************************************************************************
// Change to user control mode when there is no good GPS connection
/*costate GPSPingCheck always_on
{
waitfor(valid_gps != 0);
waitfor(DelaySec(10) || (valid_gps == 0));
if (valid_gps != 0)
{
controlMode = USER_CONTROL_MODE;
desiredV = 0;
desiredW = 0;
flag=1;
}
if(valid_gps == 0 && flag==1){
controlMode = GPS_CONTROL_MODE;
flag=0;
}
}*/
//***********************************************************************************
//Escape mode disabled in this version because datalogger is not being used
/*costate escapeSequence always_on
{
waitfor(controlMode == ESCAPE_CONTROL_MODE);
desiredV = 0;
desiredW = 0;
setVel(0,0);
//printf("waiting for escape confirm... \n");
//waitfor(controlMode == ESCAPE_CONFIRM_MODE);
printf("escape sequence initiated \n");
switch(obstacleType){
case OBSTACLE_0:
desiredV = 0;
desiredW = 0;
waitfor(DelayMs(500));
desiredV = -300;
desiredW = 0;
waitfor(DelayMs(4000));
desiredV = 0;
desiredW = -600;
waitfor(DelayMs(2000));
desiredV = 800;
desiredW = 0;
waitfor(DelayMs(4000));
break;
case OBSTACLE_1:
desiredV = 0;
desiredW = 0;
waitfor(DelayMs(500));
desiredV = -400;
desiredW = 0;
waitfor(DelayMs(4000));
desiredV = 1500;
desiredW = 0;
waitfor(DelayMs(3500));
desiredV = -400;
desiredW = 0;
waitfor(DelayMs(4000));
desiredV = 1500;
desiredW = 0;
waitfor(DelayMs(3500));
break;
}
//relinquish control to User
desiredV = 0;
desiredW = 0;
controlMode = USER_CONTROL_MODE;
robotMobility = MOBILE;
classificationMode = CLASSIFICATION_OFF;
}*/
}
}
void main()
{
auto int c, num_bytes, done;
auto char *ptr;
auto int parallel_counter, loop_counter;
auto char buffer[256];
auto char s[256];
brdInit(); //required for BL2100 series boards
c = 0; //initialize variables
parallel_counter = 0;
loop_counter = 0;
done = FALSE;
sprintf(s, "Character counter = %d", 0); //initialize for proper STDIO effects
DispStr(2, 2, s);
// display exit message
DispStr(2, 5, "Press the ESC key in Hyperterminal to exit the program");
serCopen(BAUD_RATE); //set baud rates for the serial ports to be used
serBopen(BAUD_RATE);
serCwrFlush(); //clear Rx and Tx data buffers
serCrdFlush();
serBwrFlush();
serBrdFlush();
serMode(0); //required for BL2100 series bds...must be done after serXopen function(s)
while (!done) {
loophead(); //required for single-user cofunctions
costate //single-user serial cofunctions
{
// Wait for char from hyperterminal
wfd c = cof_serBgetc(); // yields until successfully getting a character
//do clean exit from costatement
if(c == ESC)
{
//flag used to exit out of this WHILE loop and other costatements
done = TRUE;
//abort this costatement
abort;
}
// send character to serial port C
wfd cof_serBputc(c); // yields until c successfully put
// wait for char from serial port C
wfd c = cof_serCgetc(); // yields until successfully getting a character
//send character back to hyperterminal
wfd cof_serCputc(c); // yields until c successfully put
waitfor(serCwrUsed() == 0);
//demonstrates that the above cofunctions only yields to other costates
//and not to the code within the same costatement section.
sprintf(s, "Character counter = %d", ++loop_counter);
DispStr(2, 2, s);
}
costate
{
// Abort this costatement if the done flag has been set
if(done)
{
abort; //do clean exit of costatement
}
//execute code while waiting for characters from hyperterminal
sprintf(s, "Parallel code execution counter = %d\r", parallel_counter++);
DispStr(2, 3, s);
}
}
// send program exit message
serBputs("\n\n\rProgram Done...exiting");
// wait for memory data buffer, serial holding register, and shift
// register all to become empty
while (serBwrFree() != BOUTBUFSIZE);
while((RdPortI(SBSR)&0x08) || (RdPortI(SBSR)&0x04));
// read data and send to hyperterminal
num_bytes = serCread(buffer, sizeof(buffer), 5);
buffer[num_bytes] = '\0';
serCwrite(buffer, strlen(buffer));
// wait for memory data buffer, serial holding register, and shift
// register all to become empty
while (serCwrFree() != COUTBUFSIZE);
while((RdPortI(SCSR)&0x08) || (RdPortI(SCSR)&0x04));
//close the serial ports
serCclose();
serBclose();
}
