int main()
{
char inp;
ClearTick();
result = BrickPiSetup();
// printf("BrickPiSetup: %d\n", result);
if(result)
return 0;
BrickPi.Address[0] = 1;
BrickPi.Address[1] = 2;
motor1=PORT_B; //Select the ports to be used by the motors
motor2=PORT_C;
BrickPi.MotorEnable[motor1] = 1; //Enable the motors
BrickPi.MotorEnable[motor2] = 1;
result = BrickPiSetupSensors(); //Set up the properties of sensors for the BrickPi
//printf("BrickPiSetupSensors: %d\n", result);
BrickPi.Timeout=3000; //Set timeout value for the time till which to run the motors after the last command is pressed
BrickPiSetTimeout(); //Set the timeout
if(!result)
{
while(1)
{
scanf("%c",&inp); //Take input from the terminal
move_bot(inp); //Move the bot
if(inp=='t') //Increase the speed
{
printf("Speed: %d\n",speed);
if(speed >234)
speed=255;
else
speed=speed+10;
move_bot(cmd); //call move_bot() to update the motor values
}
else if(inp=='g') //Decrease the speed
{
printf("Speed: %d\n",speed);
if(speed<11)
speed=0;
else
speed=speed-10;
move_bot(cmd);
}
BrickPiUpdateValues(); //Update the motor values
usleep(10000); //sleep for 10 ms
}
}
return 0;
}
int check_axe(t_terrain* button, t_terrain* terrain)
{
if (check_left(button, terrain))
{
move_left(button, terrain);
return (1);
}
else if (check_right(button, terrain))
{
move_right(button, terrain);
return (1);
}
else if (check_top(button, terrain))
{
move_top(button, terrain);
return (1);
}
else if (check_bot(button, terrain))
{
move_bot(button, terrain);
return (1);
}
return (0);
}
//Main Function
int main()
{
init_devices();
init_encoders();
lcd_set_4bit();
lcd_init();
int value=0;
forward();
velocity(130,130);
lcd_print(2,1,130,3);
lcd_print(2,5,130,3);
lcd_print(2,9,pathindex,2);
lcd_print(2,13,dirn,3);
while(1)
{
read_sensor();
follow();
if(isPlus())
{
read_sensor();
value = path[pathindex++];
// Code inserted for calculation of actual location wrt initial starting point ,
// It will consider direction also.
if (value == F)
{
// Move the bot forward, for location only , No movement on ground.
move_bot(FR);
}
else if (value == L)
{
// Move the bot left , for location only , No movement on ground.
move_bot(LT);
}
else if (value == R)
{
// Move the bot right, for location only , No movement on ground.
move_bot(RT);
}
else if (value == M)
{
// To stop the Bot and then break out
stop();
break;
}
orient(value);
/* lcd_print(2,9,pathindex,2);
lcd_print(2,13,dirn,3);
lcd_print(1,13,turnL,1);
lcd_print(1,15,turnR,1);
*/
}
if(turnL == 1)
{/*
lcd_print(1,13,turnL,1);
forward_mm(20);
stop();
velocity(180,180);
left_degrees(95);
//_delay_ms(120);
read_sensor();
// while(Left_white_line <0x40)
// {
// read_sensor();
// left();
// }
stop();
forward();
velocity(180,180);
turnL = 0;
*/
back_mm(50);
//stop();
//velocity(130,130);
stop();
left_degrees(50);
rotate_left_slowly();
forward();
velocity(130,130);
turnL = 0;
}
if(turnR == 1)
{
/*
lcd_print(1,15,turnR,1);
forward_mm(20);
stop();
velocity(180,180);
right_degrees(95);
//_delay_ms(200);
read_sensor();
// while(Right_white_line <0x30)
// {
// read_sensor();
// right();
// }
stop();
forward();
//follow();
velocity(180,180);
turnR = 0;
*/
back_mm(50);
//stop();
//velocity(130,130);
stop();
right_degrees(50);
rotate_right_slowly();
forward();
velocity(130,130);
turnR = 0;
}
}
// Three Beeps for Interval
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
//code to head-back to starting position , i.e. Origin
return_path_counter = reach_origin();
forward();
velocity(130,130);
int counter = 0;
int intermediate_value = 0;
while(counter < return_path_counter)
{
read_sensor();
follow();
if(isPlus())
{
read_sensor();
value = path_to_origin[counter];
counter++;
// Code inserted for calculation of actual location wrt initial starting point ,
// It will consider direction also.
if (intermediate_value == FR)
{
// Move the bot forward, for location only , No movement on ground.
value = F;
}
else if (value == LT)
{
// Move the bot left , for location only , No movement on ground.
value = L;
}
else if (value == RT)
{
// Move the bot right, for location only , No movement on ground.
value = R;
}
else if (value == ST)
{
value = M;
// specially inserted as break will not allow the bot to stop using "orient(value)".
orient(value);
break;
}
orient(value);
}
if(turnL == 1)
{
back_mm(50);
//stop();
//velocity(130,130);
stop();
left_degrees(50);
rotate_left_slowly();
forward();
velocity(130,130);
turnL = 0;
}
if(turnR == 1)
{
back_mm(50);
//stop();
//velocity(130,130);
stop();
right_degrees(50);
rotate_right_slowly();
forward();
velocity(130,130);
turnR = 0;
}
}
// Three beeps for Finish
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
}
void run(void)
{
data='w';
while(1)
{
while(data == 'w') //waiting for signal
{
}
while(data == '\0' )
{
stop();
_delay_ms(4000);
comintersection();
_delay_ms(100);
}
if(data=='f') // forward
{
data='\0';
}
if(data=='r') // right
{
data='\0';
turn_right();
}
if(data=='l') // left
{
data='\0';
turn_left();
}
if(data == 'h') // halt
{
data='\0';
stop();
_delay_ms(100);
continue;
}
if(data == 'o') // origin
{
data='w';
stop();
_delay_ms(100);
continue;
}
if(data == 'c') //collect item data -> i when the bot is trying to pick up an rfid
{
data='w';
arm_down();
_delay_ms(4200);
stop_arm();
_delay_ms(2000);
grab();
arm_up();
_delay_ms(4750);
stop_arm();
_delay_ms(2000);
lcd_cursor(2,1);
lcd_string("Collecting");
_delay_ms(3500);
readrfidtag();
clearrfid();
continue;
}
if(data == 'd') //drop_item
{
data='w';
go_down();
release();
go_up();
lcd_cursor(2,1);
lcd_string("Dropping");
_delay_ms(3500);
senddroppedsig();
continue;
}
while(1)
{
if(move_bot() == 1)
{
continue;
}
else
{
break;
}
}
}
}