int main(void)
{
setupADC();
setupStepperMotor();
startTimer();
USART_init();
mouse.velocity = 0;
mouse.maxVelocity = 5000;
mouse.acceleration = 2000;
mouse.deceleration = 10000;
enableDrive(1);
turnOnTimers(1,1);
for(int i = 0; i < 10; i++)
{
int right = isWallRight();
int front = isWallFront();
int left = isWallLeft();
if(!right)
{
rotateRight();
}
else if(front && !left)
{
rotateLeft();
}
else if(front)
{
moveBackwardsAndCorrect();
}
if(left && right)
mouse.IR_CORRECT = 20;
moveForwardAndStop();
mouse.IR_CORRECT = 0;
}
turnOnTimers(0, 0);
enableDrive(0);
while(1==1)
{
}
}
void FastRun()
{
enableDrive(1);
if(firstTurn == 'R')
{
mouse.x = 15;
mouse.y = 0;
floodFill(maze, 'S', mouse.x, mouse.y);
}
else
{
mouse.x = 0;
mouse.y = 0;
floodFill(maze, 'S', mouse.x, mouse.y);
}
//printMaze(&maze);
setDirection(0, 0);
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
straight(480, 0, mouse.maxVelocity, mouse.maxVelocity, mouse.acceleration, mouse.deceleration);
mouse.direction.y = -1;
mouse.direction.x = 0;
mouse.x += mouse.direction.x;
mouse.y -= mouse.direction.y;
/* FAST */
while(!(getDist(maze[mouse.x][mouse.y]) == 0))
{
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
fastMove();
}
}
//Reset and start all mouse constants and timers
void initializeMouse()
{
setupADC();
setupStepperMotor();
startTimer();
USART_init();
mouse.velocity = 0;
mouse.maxVelocity = 2500;
mouse.acceleration = 3000;
mouse.deceleration = 12000;
enableDrive(1);
turnOnTimers(1,1);
}
void solveMaze()
{
//Reset maze to 0
initializeMaze(&maze);
//We Know at the starting point, there's something behind us
setN(&maze[0][0], 1);
mouse.direction.x = 0;
mouse.direction.y = -1;
mouse.x = 0;
mouse.y = 0;
//Disable the mouse for now
enableDrive(0);
turnOnTimers(0, 0);
int areWeSearching = UserInterfaceIntro();
//Does the user want to skip the search phase and load a maze from EEPROM
if(areWeSearching)
{
/* SEARCH MAZE */
for(int i = 0; i < 10; i++)
{
turnOnLeds(7);
_delay_ms(10);
turnOnLeds(0);
_delay_ms(90);
}
//Init Mouse
enableDrive(1);
turnOnTimers(1, 1);
setDirection(0, 0);
//Update Sensors
updateSensors();
updateSensors();
updateWalls();
//Go Forward first block
mouse.IR_LONG_CHECK_LEFT = 2;
mouse.IR_LONG_CHECK_RIGHT = 2;
straight(480, 0, mouse.maxVelocity, mouse.maxVelocity, mouse.acceleration, mouse.deceleration);
mouse.x += mouse.direction.x;
mouse.y -= mouse.direction.y;
/* SEARCH */
InitialSearchRun();
//Search is Complete!
updateWalls();
/* TURN AROUND */
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
//Save Maze to EEPROM
saveCurrentMaze();
writeMemByte(MOUSE_DIRECTION, firstTurn);
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveForwardHalf();
//Current Mouse Direction
int dirx = mouse.direction.x;
int diry = mouse.direction.y;
//Reverse and go back
mouse.direction.x = -dirx;
mouse.direction.y = -diry;
//Set Position to next block
mouse.x += mouse.direction.x;
mouse.y -= mouse.direction.y;
/* RETURN SEARCH*/
ReturnSearchRun();
//Turn Around
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
//Save Maze to EEPROM
saveCurrentMaze();
writeMemByte(MOUSE_DIRECTION, firstTurn);
/* PICK UP AND PLACE MOUSE */
enableDrive(0);
waitForButtonPressed();
}
/* FAST RUN */
FastRun();
//Completed Search run, go back and search some more
turnAroundInPlace();
floodFill(maze, firstTurn, mouse.x, mouse.y);
/* RETURN */
ReturnSearchRun();
//Turn Around
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
//Save Maze to EEPROM
saveCurrentMaze();
writeMemByte(MOUSE_DIRECTION, firstTurn);
stopMouse();
while(!isButtonPushed(1));
printMaze(maze);
}
//Shut down motors from operating
void stopMouse()
{
turnOnTimers(0, 0);
enableDrive(0);
}
