void ServosWidget::enable()
{
// Enable current servo
const int port = ui->dial->label();
enable_servo(port);
publish();
// Update enable/disable button visibility
ui->enable->hide();
ui->disable->show();
}
// ============================================================================================
// for initialization of swarm dynamics function
// ============================================================================================
void init_variables()
{
int i;
if(special)
send_message(MESSAGE_COMMAND, ALL_DIRECTION, ALL, "i");
for(i=0;i<NUM_NEIGHBORS;i++)
{
agent0.neix[i] = 0.0; agent0.neiy[i] = 0.0;
agent1.neix[i] = 0.0; agent1.neiy[i] = 0.0;
connected[i] = false;
}
// for chaotic motion
agent0.px = 22.0; agent0.py = 40.0; agent0.vx = 0.186; agent0.vy = -4.8; agent0.hd = 4.75;
//for ordered motion
if(sec_counter < STGtime4)
{
agent1.px = 2.7; agent1.py = 75.6; agent1.vx = 3.8; agent1.vy = 1.3; agent1.hd = 0.0;
}
else
{
agent1.px = 22.0; agent1.py = 40.0; agent1.vx = 0.186; agent1.vy = -4.8; agent1.hd = 4.75;
}
wave_flg = false;
wave_ping = false;
column_flg = false;
rhythm_on = false;
agent2.flg = false;
agent3.tim2 = 20.0;
global_amp = 0;
enable_servo();
set_servo_position(0);
}
int main()
{
create_connect();
enable_servo(ccport);
create_full();
start_morse();
morse("Botball", 1);
/* motor(1,100);
motor(0,-100);
motor(1,0);
msleep(5000);
motor(3,100);
wait_for_morse();
motor(0,0);
motor(3,0);
*/
create_disconnect();
}
int main()
{
printf("starting connor\n");
enable_servo(1);
set_servo_position(1,100);
//disable_servo(1)
create_connect();
while (! digital(11))
{
printf("%d\n", digital(11));
create_drive_direct(-150,-150);
}
printf("starting connor\n");
set_servo_position(1,1400);
while (get_create_lbump() == 0 && get_create_rbump() == 0)
{
create_drive_direct(150, 150); // drive straight at 150mm/s
}
disable_servos();
}
// Created on Sat April 13 2013
// This is a transport move test.
int main()
{
wait_for_light(3); // start the robot after the light is turned on
shut_down_in(120); // shutdown the robot in 2 Minutes
enable_servo();
printf("Hello, World!\n");
set_servo_position(1, 0);
motor(1,100); // move the right wheel
motor(3,100); // move the left wheel
msleep(3500); // move for 3.5 seconds
ao();
set_servo_position(1, 2048); // kick bot guy out
motor(1,-100);
motor(3,-100);
disable_servo();
return 0;
}
int main()
{
int delay=10;
int i=0;
enable_servo(2);
printf("%d enabled\n",get_servo_enabled(0));
printf("%d enabled\n",get_servo_enabled(1));
printf("%d enabled\n",get_servo_enabled(2));
printf("%d enabled\n",get_servo_enabled(3));
set_servo_position(2,100);
for(i=0;i<200;i++)
{
printf("%d position %d\n",get_servo_position(2), i);
msleep(delay);
}
msleep(1500);
set_servo_position(2,1500);
printf("%d position\n",get_servo_position(2));
msleep(1500);
}
// catch balls:
void catchBalls(int color){
enable_servo(ASV);
enable_servo(SSV);
set_servo_position(ASV,700);
set_servo_position(SSV,200);
msleep(500);
camera_open();
camera_update();
while(get_object_center_column(color,0) != OFFSET_X){
while(get_object_center_column(color,0) > OFFSET_X){
motor(LM,10);
motor(RM,-10);
camera_update();
}
motor(LM,-10);
motor(RM,10);
camera_update();
}
while(get_object_center_row(color,0) != OFFSET_Y){
while(get_object_center_row(color,0) > OFFSET_Y){
motor(LM,-10);
motor(RM,-10);
camera_update();
}
motor(LM,10);
motor(RM,10);
camera_update();
}
set_servo_position(ASV,1900);
msleep(1500);
set_servo_position(ASV,1700);
msleep(500);
camera_update();
if( checkBalls(GREEN) == 0 ){
set_servo_position(SSV,180);
msleep(300);
set_servo_position(SSV,0);
}else{
set_servo_position(ASV,0);
}
}
VI void enable_servos()
{
for(int i = 0; i < 4; ++i) enable_servo(i);
}
void ServoTestWizardPage::servoOn(const quint16 &port)
{
enable_servo(port);
}
int main()
{
msleep(2500);
set_analog_pullup(ET_s , 0);
extra_buttons_show(1); // show three extra buttons
set_a_button_text("COORDS"); // set the text of various buttons
set_b_button_text("POM SIZE");
set_c_button_text("BOTGUY SIZE");
set_x_button_text("CUBE SIZE");
lego.left.port = 0; // set motor ports
lego.right.port = 2;
camera_open(LOW_RES);
camera_update();
while (a_button() == 0) // press the a button to set the coordinates
{
camera_update();
target.green.x = get_object_center(0 , 0).x; // sets target coordinates (x)
target.green.y = get_object_center(0 , 0).y; // sets target coordinates (y)
printf("(%d , %d)\n" , target.green.x , target.green.y);
msleep(10);
}
while (b_button() == 0)
{
camera_update();
target.green.size = get_object_area(0 , 0);
target.orange.size = get_object_area(1 , 0);
printf("Orange Size = %d" , target.orange.size);
printf(" Green Size = %d\n" , target.green.size);
}
enable_servo(arm_servo);
enable_servo(push_servo);
enable_servo(basket_servo);
set_servo_position(arm_servo , ARM_UP);
set_servo_position(push_servo , P_DOWN);
set_servo_position(basket_servo , B_UP);
printf("(%d , %d)\n" , target.green.x , target.green.y);
while(a_button() == 0)
{
printf("%d , %d , %d\n" , get_left() , get_middle() , get_right());
}
while (1) // line follow until poms are seen
{
blob_update();
t_line_follow();
if (current.orange.size > target.orange.size && current.green.size > target.green.size)
break;
}
blob_update();
get_pom(); // pick up a pom
pom_push(); // push it into the basket
while (1) // turn to next pom
{
blob_update();
mav(lego.left.port , 300);
mav(lego.right.port , -300);
msleep(10);
if (current.green.size > target.green.size)
break;
}
blob_update();
get_pom(); // pick up pom
pom_push(); // push it into the basket
avoid_cubeguy(); // avoid the cube or botguy
avoid_booster();
while (1)
{
blob_update();
t_line_follow();
if (current.orange.size > target.orange.size && current.green.size > target.green.size)
break;
}
blob_update();
pom_push();
while (1)
{
blob_update();
mav(lego.left.port , 300);
mav(lego.right.port , -300);
msleep(10);
if (current.green.size > target.green.size)
break;
}
blob_update();
get_pom();
pom_push();
avoid_cubeguy();
int start_time = seconds();
int t;
while (1)
{
t_line_follow();
if (seconds() < start_time + t)
break;
}
while (1)
{
}
}
int main()
{
//wait_for_light(1);//initialization
printf("version 1.9.5\n");
shut_down_in(115);
int servo_counter=0;
while(servo_counter<=3){
enable_servo(servo_counter);
servo_counter++;
}
// initialize routine
set_servo_position(0,2047);
armUp();
clawClose();
//get in front of transport
straight(1.8, 170);
rightC(0.28, 100);
leftC(0.28, -100);
straight(1.65, 170);
leftC(0.44, 100);
printf("completed first dead reckoning\n");
//until distance is 5 centimeter
/*
int claw_threshold = 13;
while(analog10(ETport)>claw_threshold){
back(0.1, -10);
msleep(1000);
printf("move once\n");
printf("%i\n", analog10(ETport));
}*/
back(0.25, -20);//pushes against transport
msleep(2000);
set_servo_position(0, 500);//puts claw on transport
msleep(1000);
printf("done with attaching to transport\n");
while(digital(8)==0)//goes forward with transport until it hits the wall
{
straight(0.1, 100);
msleep(10);
}
printf("at wall\n");
back(0.15, -50);//backs up from wall to deposit transport
set_servo_position(0, 2047);//raises claw
msleep(1500);
while(digital(8)==0){//goes forward until it hits wall for second time
straight(0.1, 100);
msleep(10);
}
printf("at wall 2\n");
back(0.35, -100);//goes back and turns left in order to be oriented with left inner wall
leftC(0.6, 142);
int bump_counter=0;
while(digital(8)==0){//hits side wall
straight(0.1, 100);
msleep(10);
}
bump_counter++;//has one bump
int i=0;
while(i<10){//if hits side wall, pause
stop(0.2);
i++;
}
/*
==========================
==========End of routine 1======
KIPR at the wall
==========================
*/
// Pause here to wait for Create to drop POMS
msleep(1*1000);
//
int start=seconds();// start time
printf("will get out of corner\n");
back(0.5, -100);
while(seconds()-start<=3){//separates back from right angle
stop(0.1);
}
right_angle(left);
while(seconds()-start<=5){//separates right angle from straight
stop(0.1);
}
double start_drive=seconds();
straight(0.7, 100);//go to poms
stop(0.5);
camera_open(LOW_RES);
/*while(seconds()-start<=20){
int update_counter=0;
while(update_counter<10){
camera_update();
update_counter++;
}
if(get_object_count(chan)==0){
stop(0.1);
}
int x=get_object_center(chan, 0).x;
int area=get_object_area(chan, 0);
if(area<=400){
navigate(x);
}
if(area>=800){
//if objects are clumped are clumped, area will be automatically larger.
//this means that KIPR will start earlier than it should. We counter this here
//straight(0.18, 100);
straight(0.1, 100);
break;
}
}*/
stop(0.1);
printf("object seen\n");
double end_drive=seconds();//only for simulation. real end and start times would have to be taken from whole routine
//pick up POMS that are right there
pickup();
int offset=(end_drive-start_drive)*(3.0/4.0);;//half of distance from back of launch area to border of launch area
back((end_drive-start_drive)+1.5, -100);//go to the back of wall plus a little more to straighten out
printf("at back wall\n");
straight(2.0, 100);//goes halway between border and back of launch area
right_angle(left);//faces transport
int starpof=seconds();//time after right angle
while(seconds()-starpof<=2){
motor(motorL, 0);
motor(motorR, 0);
}
while(digital(8)==0){
straight(0.1, 100);
}
straight(0.1, 100);
printf("touching transport\n");
motor(motorL, 0);
motor(motorR, 0);
dropoff();//drops poms in launch area
printf("poms in transport\n");
back(0.25, -100);
int starfop=seconds();
while(seconds()-starfop<=2){
motor(motorL, 0);
motor(motorR, 0);
}
int turns=1;
while(turns<=2){
right_angle(right);
stop(0.3);
turns++;
}
/*
======================
======Part 2 of routine 2====
======================
*/
while(1){
stop(0.5);//
while(digital(8)==0){
straight(0.1, 100);
}
back(0.3, -100);
right_angle(left);
pickup();
back((end_drive-start_drive)+1.5, -100);
straight(2.2, 100);
right_angle(left);
while(digital(8)==0){
straight(0.1, 100);
}
dropoff();
back(0.5, -100);
right_angle(left);
right_angle(left);
}
/*while(1){
start=0;
while(digital(8)==0){
straight(0.1, 80);
}
back(0.5, -100);
right_angle(right);
straight(0.5, 100);
right_angle(right);
right_angle(right);
while(seconds()-start<=20){
int update_counter=0;
while(update_counter<10){
camera_update();
update_counter++;
}
if(get_object_count(chan)==0){
stop(0.1);
}
int x=get_object_center(chan, 0).x;
int area=get_object_area(chan, 0);
if(area<=400){
navigate(x);
}
if(area>=800){
//if objects are clumped are clumped, area will be automatically larger.
//this means that KIPR will start earlier than it should. We counter this here
//straight(0.18, 100);
straight(0.1, 100);
break;
}
}
int servo_counter=1;
while(servo_counter<=3){
enable_servo(servo_counter);
printf("servo %d enabled\n", servo_counter);
servo_counter++;
}
pickup();
int offset=(end_drive-start_drive)*(3.0/4.0);;//half of distance from back of launch area to border of launch area
back((end_drive-start_drive)+1.5, -100);//go to the back of wall plus a little more to straighten out
printf("at back wall\n");
straight(1.8, 100);//goes halway between border and back of launch area
right_angle(left);//faces transport
int starpof=seconds();//time after right angle
while(seconds()-starpof<=2){
motor(motorL, 0);
motor(motorR, 0);
}
while(digital(8)==0){
straight(0.1, 100);
}
straight(0.1, 100);
printf("touching transport\n");
motor(motorL, 0);
motor(motorR, 0);
dropoff();//drops poms in launch area
printf("poms in transport\n");
back(0.25, -100);
int starfop=seconds();
while(seconds()-starfop<=2){
motor(motorL, 0);
motor(motorR, 0);
}
int turns=1;
while(turns<=2){
right_angle(right);
turns++;
}
repeat_runs++;
}*/
while(1){
int servo_counter=0;//enables servos
while(servo_counter<=3){
enable_servo(servo_counter);
servo_counter++;
}
armUp();//raises arm at start
stop(0.5);
while(digital(TOUCH_SENSOR)==0){//go forward until left wall is contacted
straight(0.1, 100);
}
stop(0.1);
back(0.3, -100);//back up
stop(0.1);
right_angle2(left);//face poms
stop(0.1);
back(3+1.5, -100);//back up to rocket wall to straighten out
stop(0.1);
straight(3+1.5, 100);//go to poms
stop(0.1);
pickup();//pick poms up
stop(0.1);
back(3+1.5, -100);// back up until rocket wall
stop(0.1);
straight(2.2, 100);//go forward
stop(0.1);
right_angle2(left);//turn to face transport
stop(0.1);
while(digital(TOUCH_SENSOR)==0){//go forward until transport contacted
straight(0.1, 100);
}
stop(0.1);
dropoff();//drop poms off
stop(0.1);
back(0.5, -100);//back up from transpor
stop(0.1);
right_angle2(right);//orient for next iteration
stop(0.1);
right_angle2(right);
}
return 0;
}
// ============================================================================================
// receive packet
// ============================================================================================
// this repeats code in key_press
void rx_pkt(Xgrid::Packet *pkt)
{
uint8_t port = pkt->rx_node; //pkt->rx_node
char command;
if(port >= 0 && port < NUM_NEIGHBORS) {
if(pkt->type == MESSAGE_COMMAND)
{
char* char_ptr = (char*) pkt->data;
command = *char_ptr;
connected[port] = true;
switch(command)
{
case 'Z':
reboot_on = true;
case 'D':
speedup_on = false;
communication_on = false;
disable_servo();
break;
case 'R':
speedup_on = true;
communication_on = true;
enable_servo();
break;
case 'i':
init_variables();
break;
case 'r':
sec_counter = 0;
break;
case 'I':
init_variables();
sec_counter = 0;
break;
case 'a':
wave_flg = true;
wave_port = port;
break;
case 'b':
column_flg = true;
break;
case 'c':
sync = false;
break;
case '1':
sec_counter = STGtime1;
init_variables();
break;
case '2':
sec_counter = STGtime2;
init_variables();
break;
case '3':
sec_counter = STGtime3;
init_variables();
break;
case '4':
sec_counter = STGtime4;
init_variables();
break;
case '5':
sec_counter = STGtime5;
init_variables();
break;
case '6':
sec_counter = STGtime6;
init_variables();
break;
case '7':
sec_counter = STGtime7;
init_variables();
break;
case '8':
sec_counter = STGtime8;
init_variables();
break;
case '9':
sec_counter = STGtime9;
init_variables();
break;
case '0':
sec_counter = LASTtime;
init_variables();
break;
}
}
if(pkt->type == MESSAGE_NUMDATA)
{
connected[port] = true;
point* pt_ptr = (point*) pkt->data;
agent0.neix[port] = pt_ptr->x0;
agent0.neiy[port] = pt_ptr->y0;
agent1.neix[port] = pt_ptr->x1;
agent1.neiy[port] = pt_ptr->y1;
}
//LED_PORT.OUTTGL = LED_USR_2_PIN_bm; //green LED
}
}
void main (int argc, char ** argv)
{
int loop_done = 0;
int task_A_done = 0;
int task_B_done = 0;
int angle = 0;
int dangle = 0;
int angle0 = 0;
int distance0 = 0;
int distance = 0 ;
int ddistance = 0;
// float lf_args[20];
// read inputs
// printf("Args: %d\n", argc);
// for (i = 2; i < argc; i++)
// {
// scanf("%lf%, argv[i]
// }
//get_create_total_ angle (.1);
//create_drive_direct (left speed, right speed)\
//move_to_position (motor #, motor power(-for backwards), end position)
//get_motor_done (motor#)
//clear_motor_position_counter (motor#)
//msleep (seconds)
//i'll probably use this often
create_connect ();
clear_motor_position_counter (0);
enable_servo (0);
set_servo_position (0 ,1300);
//set_servo_position (1800);
// ------------------------------------------------------------------------
//step:1 aim the arm to knock over the box
//raise arm
printf("-----Step 1-----\n");
move_to_position (0, -900, -1200);
while(! loop_done)
{
if (get_motor_done (0))
{
loop_done = 1;
}
msleep(100);
}
create_stop ();
loop_done = 0;
angle0 = get_create_total_angle (.05);
create_drive_direct (50,-50);
while(! loop_done)
{
printf("a0: %d, a: %d, d: %d\n", angle0, get_create_total_angle (.05), task_A_done);
if (angle0 - get_create_total_angle (.05) >= 20)
{
loop_done = 1;
create_stop ();
}
msleep(100);
}
loop_done = 0;
create_stop ();
task_A_done = 0;
task_B_done = 0;
angle0 = get_create_total_angle (.05);
create_drive_direct (-50,50);
while(! loop_done)
{
printf("a0: %d, a: %d, d: %d\n", angle0, get_create_total_angle (.05), task_A_done);
if (angle0 - get_create_total_angle (.05) <= -20)
{
loop_done = 1;
create_stop ();
}
msleep(100);
}
loop_done = 0;
create_stop ();
task_A_done = 0;
task_B_done = 0;
// ------------------------------------------------------------------------
//step:2 knock over box and turn
//lift arm
//turn 90
printf("-----Step 2-----\n");
move_to_position (0, -900, -3100);
msleep (900);
angle0 = get_create_total_angle (.05);
angle = angle0;
dangle = abs (angle0 - angle);
printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done);
create_drive_direct (-178,-648);
while(! loop_done)
{
if (dangle >= 125)
{
create_drive_direct (-120, -181);
}
if (dangle >= 155)
{
task_A_done = 1;
create_stop ();
}
if (get_motor_done (0))
{
task_B_done = 1;
}
if (task_A_done && task_B_done)
{
loop_done = 1;
}
msleep(100);
angle = get_create_total_angle (.05);
dangle = abs (angle0 - angle);
printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done);
}
loop_done = 0;
create_stop ();
task_A_done = 0;
task_B_done = 0;
// ------------------------------------------------------------------------
//step:4 aim claw to point of botguy
//turn 20
//lower arm
printf("-----Step 4-----\n");
angle0 = 0;
angle0 = get_create_total_angle (.05);
create_drive_direct (70, -70);
printf("a0: %d, a: %d\n", angle0, get_create_total_angle(0.05));
//while(angle0 - get_create_total_angle (.05) < 4)
if (0)
{
printf("a0: %d, a: %d\n", angle0, get_create_total_angle(0.05));
msleep(50);
}
move_to_position (0, 400, -900);
distance0 = get_create_distance (.05);
create_drive_direct (20, 20);
while (! loop_done)
{
if (get_create_distance (.05) - distance0 > 50)
{
loop_done = 1;
create_stop ();
}
}
set_servo_position (0 ,400);
loop_done = 0;
task_A_done = 0;
task_B_done = 0;
create_drive_straight (-20);
move_to_position (0, 600, -300);
while (! get_motor_done (0))
{
msleep (50);
}
create_drive_straight (-50);
msleep (2000);
//while (! loop_done)
if (0)
{
if (digital (10))
{
create_stop ();
loop_done = 1;
}
if (get_create_distance (.05) - distance0 < -100)
{
create_stop ();
loop_done = 1;
}
}
loop_done = 0;
// ------------------------------------------------------------------------
//step:5 grab botguy and lift him up (not complete)
printf("-----Step 5-----\n");
create_drive_direct (60, -60);
while(angle0 - get_create_total_angle (.05) < 3)
{
msleep(50);
}
create_stop ();
set_servo_position (0, 1510);
move_to_position (0, -1000, -3000);
msleep (5000);
// ------------------------------------------------------------------------
//step:6 move backwards untill the bumper hits the transport (not completed)
printf("-----Step 6-----\n");
create_drive_direct (130, 280);
distance0 = get_create_distance (.05);
while (! loop_done)
{
printf("d0: %d, d: %d, d: %d\n", distance0, get_create_distance (.05), loop_done);
if (get_create_distance (.05) - distance0 > 700)
{
loop_done = 1;
}
msleep(50);
}
loop_done = 0;
move_to_position (0, -900, -500);
create_drive_straight (-100);
msleep (1000);
set_servo_position (0, 200);
create_disconnect ();
printf("-----Step 6-B-----\n");
create_drive_direct (-400, -150);
distance0 = get_create_distance (.05);
while(! loop_done)
{
printf("d0: %d, d: %d, d: %d\n", distance0, get_create_distance (.05), loop_done);
if (get_create_distance (.05) - distance0 < -100)
{
loop_done = 1;
create_stop ();
}
msleep(50);
}
loop_done = 0;
// ------------------------------------------------------------------------
//step:7 drop botguy.
printf("-----Step 7-----\n");
move_to_position (0, -900, -300);
msleep (6000);
set_servo_position (0, 200);
create_disconnect ();
}
int main(int argc, char** argv) {
enable_servo(kServoPortSorter);
set_servo_position(kServoPortSorter, kServoPositionSorterCenter);
clear_motor_position_counter(kMotorPortBayLeft);
clear_motor_position_counter(kMotorPortBayRight);
create_connect();
camera_open(LOW_RES);
scanf("%s", NULL);
printf("waiting for light\n");
while (analog(0) > 200) {}
shut_down_in(700000);
motor(kMotorPortBayLeft, 10);
motor(kMotorPortBayRight, 10);
while (get_motor_position_counter(kMotorPortBayLeft) < 230 || get_motor_position_counter(kMotorPortBayRight) < 230) {
printf("pos: %i/%i\n", get_motor_position_counter(kMotorPortBayLeft), get_motor_position_counter(kMotorPortBayRight));
}
motor(kMotorPortBayLeft, 0);
motor(kMotorPortBayLeft, 0);
// wait_for_side_button();
msleep(6000);
create_drive_straight(200);
msleep(1850);
create_spin_CCW(200);
msleep(750);
create_drive_straight(-200);
msleep(1500);
create_spin_CW(200);
msleep(1750);
create_drive_straight(200);
while (!get_create_lbump() && !get_create_rbump()) {}
create_drive_straight(-150);
msleep(900);
create_spin_CCW(200);
msleep(950);
create_drive_straight(150);
while (!get_create_lbump() && !get_create_rbump()) {}
create_stop();
msleep(10000);
thread all_off = thread_create(wait_for_kill);
thread_start(all_off);
raise_bay();
create_spin_CW(100);
msleep(500);
create_drive_straight(-100);
msleep(1000);
create_stop();
thread jiggle_c = thread_create(jiggle_create);
thread_start(jiggle_c);
thread sort_b = thread_create(sort_balls);
thread_start(sort_b);
msleep(33000);
while (true) {}
/*thread_destroy(jiggle_c);
create_stop();
lower_bay();
create_drive_straight(100);
while (!get_create_lbump() && !get_create_rbump()) {}
create_stop();
msleep(10000);
raise_bay();
create_spin_CW(100);
msleep(500);
create_drive_straight(-100);
msleep(1000);
create_stop();
thread_create(jiggle_create);
thread_start(jiggle_c);
thread_create(sort_balls);
while (true) {}
camera_close();*/
return 0;
}
void main (int argc, char ** argv)
{
int loop_done = 0;
int task_A_done = 0;
int task_B_done = 0;
int angle = 0;
int dangle = 0;
int angle0 = 0;
int distance0 = 0;
int distance = 0 ;
int ddistance = 0;
// float lf_args[20];
// read inputs
// printf("Args: %d\n", argc);
// for (i = 2; i < argc; i++)
// {
// scanf("%lf%, argv[i]
// }
//get_create_total_ angle (.1);
//create_drive_direct (left speed, right speed)\
//move_to_position (motor #, motor power(-for backwards), end position)
//get_motor_done (motor#)
//clear_motor_position_counter (motor#)
//msleep (seconds)
//i'll probably use this often
//to start by light, do:
//while(analog(1) > 200)
if (0)
{
//we have seen the light
msleep(100);
if(analog(1) < 800){
shut_down_in(119);
}
}
create_connect ();
clear_motor_position_counter (0);
enable_servo (0);
set_servo_position (0 ,1300);
//set_servo_position (1800);
// ------------------------------------------------------------------------
//step:1 aim the arm to knock over the box
//raise arm
printf("-----Step 1-----\n");
move_motor (0, -900, -1200);
// swing arm to hit the box, then get back to position
spin (50, -50, 20);
spin (-50, 50, 20);
create_stop ();
// ------------------------------------------------------------------------
//step:2 knock over box and turn
//lift arm
//turn 90
printf("-----Step 2-----\n");
move_to_position (0, -900, -2600);
msleep (900);
//turn create in a circular position and raise arm so it doesn't hit anything
angle0 = get_create_total_angle (.05);
angle = angle0;
dangle = abs (angle0 - angle);
printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done);
create_drive_direct (-178,-648);
while(! loop_done)
{
if (dangle >= 155)
{
task_A_done = 1;
create_stop ();
}
else if (dangle >= 125)
{
create_drive_direct (-120, -181);
}
if (get_motor_done (0))
{
task_B_done = 1;
}
if (task_A_done && task_B_done)
{
loop_done = 1;
}
msleep(100);
angle = get_create_total_angle (.05);
dangle = abs (angle0 - angle);
printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done);
}
create_stop ();
// ------------------------------------------------------------------------
//step:4 aim claw to point of botguy
//turn 20
//lower arm
printf("-----Step 4-----\n");
//--tweaking position so it gets in just the right position
move_to_position (0, 400, -900);
move (20, 20, 50);
set_servo_position (0 ,400);
create_drive_straight (-30);
move_motor (0, 600, -300);
create_drive_straight (-38);// at this point, botguy is in his palm
//can't remember function to program
msleep (3000);
loop_done = 0;
if (! loop_done)
{
create_stop ();
if (! digital (10))
{
move_motor (0, 400, -900);
spin (20, -20, 5);
move_motor (0, 600, -300);
create_stop ();
loop_done = 1;
}
else
{
loop_done = 1;
}
}
// ------------------------------------------------------------------------
//step:5 grab botguy and lift him up (not complete)
printf("-----Step 5-----\n");
move (-10, -10, 10);
msleep (1300);
//spin (60, -60, 5);
//close arm and grab botguy
set_servo_position (0, 1510);
msleep (400);
move_to_position (0, -1000, -3000);
//wait for him to finish
msleep (5000);
// ------------------------------------------------------------------------
//step:6 move backwards till it's in position
printf("-----Step 6-----\n");
//back up in an arc
move (130, 280, 780);
//move towards the center and lower drop height
move_to_position (0, -900, -500);
create_drive_straight (-20);
msleep (3000);
//drop botguy in transport
set_servo_position (0, 200);
create_stop ();
//start moving towards the pipe
move_motor (0, 500, -1200);
spin (50, -50, 70);
move (50, 50, 100);
spin (-50, 50, 70);
/*
if (! loop_done)
{
if (get_object_count(2) == 1)
{
create_stop ();
spin(-10, 10, 5);
create_stop ();
move(20, 20, 20);
create_stop ();
set_servo_position (0, 1400);
loop_done = 1;
}
}
loop_done = 0;
spin (10, 10, 5);
set_servo_position (0, 200);
*/
/*
spin (50, -50, 85);
move_motor (0, 400, -400);
move (-100, -100, 50);
loop_done = 0;
//close arm on pipe
set_servo_position (0, 1510);
//turn arm to face the pole
spin (-50, 50, 50);
//up, forward, then drop pipe
move_motor (0, 400, -2300);
move (-100, -100, 100);
set_servo_position (0, 200);
ao ();
*/
create_disconnect ();
}
int main()
{
int m1=0,m2=3,pageno=0;
double createDriveTime;
printf("Start!\n");
extra_buttons_show();
while (1)
{
while (pageno == 0)
{
set_a_button_text("Forward");
set_b_button_text("Backward");
set_c_button_text("All Off");
set_x_button_text("OpenHand");
set_y_button_text("CloseHand");
set_z_button_text("Create Page");
if (a_button_clicked())
{
printf("Moving forward...\n");
motor(m1,100);
motor(m2,100);
while (!c_button_clicked())
{
msleep(1);
}
ao();
}
if (b_button_clicked())
{
printf("Moving backward...\n");
motor(m1,-100);
motor(m2,-100);
while (!c_button_clicked())
{
msleep(1);
}
ao();
}
if (x_button_clicked())
{
enable_servo(3);
set_servo_position(3,0);
msleep(300);
disable_servo(3);
}
if (y_button_clicked())
{
enable_servo(3);
set_servo_position(3,1300);
msleep(300);
disable_servo(3);
}
if (z_button_clicked())
{
pageno=1;
create_connect();
}
}
while (pageno == 1)
{
set_a_button_text("Create Fwd");
set_b_button_text("Create Bwd");
set_c_button_text("Stop");
set_x_button_text("Turn R");
set_y_button_text("Turn L");
set_z_button_text("M S Page");
if (a_button_clicked())
{
createDriveTime = 0;
printf("Create Moving forward w/ spd 100...\n");
create_drive_straight(100);
createDriveTime = seconds();
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
printf("Time: %f seconds\n",seconds() - createDriveTime );
}
if (b_button_clicked())
{
createDriveTime = 0;
printf("Create Moving backward w/ spd 100...\n");
create_drive_straight(-100);
createDriveTime = seconds();
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
printf("Time: %f seconds\n",seconds() - createDriveTime );
}
if (x_button_clicked())
{
create_drive(-50,0);
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
}
if (y_button_clicked())
{
create_drive(50,0);
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
}
if (z_button_clicked())
{
pageno=0;
create_disconnect();
}
}
}
return 0;
}
int main()
{
printf("version 1.9.5\n");
shut_down_in(0.010*1000);
int start=seconds();//starting time for two minutes
enable_servo(0);
set_servo_position(0,2047);
straight(1.8, 170);//gets in front of transport
rightC(0.28, 100);
leftC(0.28, -100);
straight(1.65, 170);
leftC(0.44, 100);
printf("completed first dead reckoning\n");
set_analog_pullup(ETport, 0);
//until distance is 5 centimeter
/*
int claw_threshold = 13;
while(analog10(ETport)>claw_threshold){
back(0.1, -10);
msleep(1000);
printf("move once\n");
printf("%i\n", analog10(ETport));
}*/
back(0.25, -20);//pushes against transport
msleep(2000);
set_servo_position(0, 500);//puts claw on transport
msleep(1000);
printf("done with attaching to transport\n");
while(digital(8)==0)//goes forward with transport until it hits the wall
{
straight(0.1, 100);
msleep(10);
}
printf("at wall\n");
back(0.25, -50);//backs up from wall to deposit transport
set_servo_position(0, 2047);//raises claw
msleep(1500);
while(digital(8)==0){//goes forward until it hits wall for second time
straight(0.1, 100);
msleep(10);
}
printf("at wall 2\n");
back(0.35, -100);//goes back and turns left in order to be oriented with left inner wall
leftC(0.6, 142);
int bump_counter=0;
while(digital(8)==0){//hits side wall
straight(0.1, 100);
msleep(10);
}
bump_counter++;//has one bump
int i=0;
while(i<10){//if hits side wall, pause
stop(0.2);
i++;
}
back(0.25, -100);
leftC(0.46, 100);
camera_open(LOW_RES);
armUp();
clawOpen();
double start_wait=seconds();
while((seconds()-start_wait)<=25){//wait for poms or for 25 seconds
int i=0;
while(i<10){//picks latest image from the buffer
camera_update();
i++;
}
if(get_object_count(chan)>0){//if camera sees objects, skip the 25 seconds and go onto picking up stuff
break;
}else{//if camera doesn't see any objects, keep waiting until 25 seconds is up
stop(0.1);
}
}
int x=get_object_center(chan, 0).x;//declares global unchanging variable for the x location of the largest object
while((seconds()-start)<=120){//while there is still time left
int area=get_object_area(chan, 0);//creates local changing variable. this is th area of the largest object camera sees
if(area<=600){//if the object is small enough(far enough), navigate towards object. 600 is threshold
int i=0;
while(i<10){//buffer updating
camera_update();
i++;
}
navigate_poms(x);//similar to line followig function; gets to poms.
}
armDown();
clawClose();
armUp();
/*
leftF(0.5, 100, 80);//turn and go forward until transport is contacted
while(digital(8)==0){
straight(0.1, 100);*/
}
/*
back(1.5, 100);
leftC(0.44, 100);
while(digital(8)==0 && digital(9)==1){
straight(0.1, 100);
msleep(10);
if(digital(9)==0){
rightF(0.1, 100, 40);
left(0.1, 100);
msleep(10);
}
}
straight(2, 200);
rightC(0.44, 100);
straight(1, 80);
rightC(0.92, 100);
while(analog10(ETport<=600)){
msleep(10);
}
msleep(10000);
straight(1, 80);
leftC(0.44, 100);
straight(2, 200);
*/
return 0;
}
void claw_init(){
set_servo_position(SERV_WRIST,300);
set_servo_position(SERV_CLAW,805);
enable_servo(SERV_WRIST);
enable_servo(SERV_CLAW);
}
