void Badguy::step()
{
if (!(isGoingRight() && shouldGoRight()) && shouldGoLeft())
{
setState("stand_l");
setVel(-1,0);
}
if (!(isGoingLeft() && shouldGoLeft()) && shouldGoRight())
{
setState("stand_r");
setVel(1,0);
}
ScriptedSprite::step();
}
void MobileEntity::jump(float force){
if(_jumpCount>0){
SoundPlayer::playSound("resources/jump.wav", 1);
_jumpCount--;
setVel(0,force,0);
}
}
GameObject GameObject::operator=(GameObject _g)
{
setTrans(_g.getTrans());
setDir(_g.getDir());
setVel(_g.getVel());
setName(_g.getName());
setDescr(_g.getDescr());
setColRad(_g.getColRad());
setModel(_g.getModel());
return *this;
}
// default constructor: creates a particle represented by a default (square).
// Notes:
// - particle rotated so that it is orthogonal to the z axis.
// - scaled
// - no shader allocated by default to avoid creating a Shader object for each particle.
Particle::Particle()
{
setMesh(Mesh::Mesh());
scale(glm::vec3(.1f, .1f, .1f));
rotate((GLfloat)M_PI_2, glm::vec3(1.0f, 0.0f, 0.0f));
// set dynamic values
setAcc(glm::vec3(0.0f, 0.0f, 0.0f));
setVel(glm::vec3(0.0f, 0.0f, 0.0f));
// physical properties
setMass(1.0f);
setCor(1.0f);
}
void PhysicsModule::update(sf::Time deltaT)
{
float t = 1;
//C
float c = t*t*.5;
setAccel(getAccel() * c);
//B
setVel(getVel() * t);
//B&C
addVel(getAccel());
//A&B&C
addPos(getVel());
setAccel(sf::Vector2f(0,0));
}
GameObject::GameObject(std::string _name, osg::Vec3f _pos, float _colRad, int _hp, std::string _model, osg::ref_ptr<osg::MatrixTransform> _scene, int _id)
{
initTransform();
setVel(0.0);
setDir(osg::Vec3f(0.0f, 0.0f, 1.0f));
setOrientation(osg::Quat(0.0f, 0.0f, 0.0f, 1.0f));
rigidBodyRadius = _colRad;
translate(_pos);
setName(_name);
setHP(_hp);
setDescr((std::string)("hej"));
_scene->addChild(getTrans());
setID(_id);
setModel(_model);
}
EnemyShip::EnemyShip(std::string _name, osg::Vec3f _pos, float _colRad, std::string _model, osg::ref_ptr<osg::MatrixTransform> _scene, int _hp, int _id)
{
initTransform();
setVel(0.0);
setDir(osg::Vec3f(0.0f, 0.0f, 1.0f)); //Not used
setOrientation(osg::Quat(0.0f, 0.0f, 1.0f, 0.0f));
setColRad(_colRad);
setHP(_hp);
translate(_pos);
setName(_name);
setDescr((std::string)("hej"));
_scene->addChild(getTrans());
setID(_id);
setModel(_model);
attackCooldown = 10;
homingMissileAttackCooldown = 40;
}
void FizSphere::init_object(std::string new_name, vec3 color, const std::vector<triangle*>& tinit, double new_mass, double rad)
{
name = new_name;
vertices = tinit;
setProperty("SYSTEM_color", fizdatum(0.0, color, VECTOR));
setRadius(rad);
setMass(new_mass);
vertex v = vertex();
triangle com = triangle(&v,&v,&v,0); //hopefully this line works correctly
com.massp = 1;
setCOMTriangle(com);
comapprox = 1;
setVel(vec3());
setAcc(vec3());
setOme(vec3());
setAlp(vec3());
}
void drawSpline(){
setVel();
setAcc();
glColor3f(1.0f, 0.0f, 0.0f);
glBegin(GL_LINES);
glVertex2f(points[0].pos.x, points[0].pos.y);
glVertex2f(points[0].velocity.x + points[0].pos.x, points[0].velocity.y + points[0].pos.y);
glEnd();
glColor3f(0.0f, 1.0f, 0.0f);
glBegin(GL_LINES);
glVertex2f(points[0].pos.x, points[0].pos.y);
glVertex2f(points[0].acceleration.x + points[0].pos.x, points[0].acceleration.y + points[0].pos.y);
glEnd();
glColor3f(1.0f, 1.0f, 1.0f);
glBegin(GL_LINE_STRIP);
for (int i = 0; i < numberOfPoints - 1; i++){
for (float time = points[i].time; time < points[i + 1].time; time += (points[i + 1].time - points[i].time) / 100.0){
Vector foo = calculate(i, time);
glVertex2f(foo.x, foo.y);
}
}
glEnd();
}
void PhysicsAMotorJoint::changed(ConstFieldMaskArg whichField,
UInt32 origin,
BitVector details)
{
//Do not respond to changes that have a Sync origin
if(origin & ChangedOrigin::Sync)
{
return;
}
if(whichField & WorldFieldMask)
{
if(_JointID)
{
dJointDestroy(_JointID);
_JointID = dJointCreateAMotor(getWorld()->getWorldID(), 0);
}
else
{
_JointID = dJointCreateAMotor(getWorld()->getWorldID(), 0);
if(!(whichField & VelFieldMask))
{
setVel(dJointGetAMotorParam(_JointID,dParamVel));
}
if(!(whichField & FMaxFieldMask))
{
setFMax(dJointGetAMotorParam(_JointID,dParamFMax));
}
if(!(whichField & FudgeFactorFieldMask))
{
setFudgeFactor(dJointGetAMotorParam(_JointID,dParamFudgeFactor));
}
if(!(whichField & Vel2FieldMask))
{
setVel2(dJointGetAMotorParam(_JointID,dParamVel2));
}
if(!(whichField & FMax2FieldMask))
{
setFMax2(dJointGetAMotorParam(_JointID,dParamFMax2));
}
if(!(whichField & FudgeFactor2FieldMask))
{
setFudgeFactor2(dJointGetAMotorParam(_JointID,dParamFudgeFactor2));
}
if(!(whichField & Vel3FieldMask))
{
setVel3(dJointGetAMotorParam(_JointID,dParamVel3));
}
if(!(whichField & FMax3FieldMask))
{
setFMax3(dJointGetAMotorParam(_JointID,dParamFMax3));
}
if(!(whichField & FudgeFactor3FieldMask))
{
setFudgeFactor3(dJointGetAMotorParam(_JointID,dParamFudgeFactor3));
}
if(!(whichField & HiStopFieldMask))
{
setHiStop(dJointGetAMotorParam(_JointID,dParamHiStop));
}
if(!(whichField & LoStopFieldMask))
{
setLoStop(dJointGetAMotorParam(_JointID,dParamLoStop));
}
if(!(whichField & BounceFieldMask))
{
setBounce(dJointGetAMotorParam(_JointID,dParamBounce));
}
if(!(whichField & CFMFieldMask))
{
setCFM(dJointGetAMotorParam(_JointID,dParamCFM));
}
if(!(whichField & StopCFMFieldMask))
{
setStopCFM(dJointGetAMotorParam(_JointID,dParamStopCFM));
}
if(!(whichField & StopERPFieldMask))
{
setStopERP(dJointGetAMotorParam(_JointID,dParamStopERP));
}
if(!(whichField & HiStop2FieldMask))
{
setHiStop2(dJointGetAMotorParam(_JointID,dParamHiStop2));
}
if(!(whichField & LoStop2FieldMask))
{
setLoStop2(dJointGetAMotorParam(_JointID,dParamLoStop2));
}
if(!(whichField & Bounce2FieldMask))
{
setBounce2(dJointGetAMotorParam(_JointID,dParamBounce2));
}
if(!(whichField & CFM2FieldMask))
{
setCFM2(dJointGetAMotorParam(_JointID,dParamCFM2));
}
if(!(whichField & StopCFM2FieldMask))
{
setStopCFM2(dJointGetAMotorParam(_JointID,dParamStopCFM2));
}
if(!(whichField & StopERP2FieldMask))
{
setStopERP2(dJointGetAMotorParam(_JointID,dParamStopERP2));
}
if(!(whichField & HiStop3FieldMask))
{
setHiStop3(dJointGetAMotorParam(_JointID,dParamHiStop3));
}
if(!(whichField & LoStop3FieldMask))
{
setLoStop3(dJointGetAMotorParam(_JointID,dParamLoStop3));
}
if(!(whichField & Bounce3FieldMask))
{
setBounce3(dJointGetAMotorParam(_JointID,dParamBounce3));
}
if(!(whichField & CFM3FieldMask))
{
setCFM3(dJointGetAMotorParam(_JointID,dParamCFM3));
}
if(!(whichField & StopCFM3FieldMask))
{
setStopCFM3(dJointGetAMotorParam(_JointID,dParamStopCFM3));
}
if(!(whichField & StopERP3FieldMask))
{
setStopERP3(dJointGetAMotorParam(_JointID,dParamStopERP3));
}
}
}
Inherited::changed(whichField, origin, details);
if((whichField & NumAxesFieldMask) ||
(whichField & WorldFieldMask))
{
dJointSetAMotorNumAxes(_JointID,getNumAxes());
}
if((whichField & Axis1FieldMask) ||
(whichField & Axis1ReferenceFrameFieldMask) ||
(whichField & WorldFieldMask))
{
dJointSetAMotorAxis(_JointID,0, getAxis1ReferenceFrame(), getAxis1().x(), getAxis1().y(), getAxis1().z());
}
if((whichField & Axis2FieldMask) ||
(whichField & Axis2ReferenceFrameFieldMask) ||
(whichField & WorldFieldMask))
{
dJointSetAMotorAxis(_JointID,1, getAxis2ReferenceFrame(), getAxis2().x(), getAxis2().y(), getAxis2().z());
}
if((whichField & Axis3FieldMask) ||
(whichField & Axis3ReferenceFrameFieldMask) ||
(whichField & WorldFieldMask))
{
dJointSetAMotorAxis(_JointID,2, getAxis3ReferenceFrame(), getAxis3().x(), getAxis3().y(), getAxis3().z());
}
if((whichField & VelFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamVel, getVel());
}
if((whichField & FMaxFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFMax, getFMax());
}
if((whichField & FudgeFactorFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFudgeFactor, getFudgeFactor());
}
if((whichField & Vel2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamVel2, getVel2());
}
if((whichField & FMax2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFMax2, getFMax2());
}
if((whichField & FudgeFactor2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFudgeFactor2, getFudgeFactor2());
}
if((whichField & Vel3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamVel3, getVel3());
}
if((whichField & FMax3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFMax3, getFMax3());
}
if((whichField & FudgeFactor3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFudgeFactor3, getFudgeFactor3());
}
if((whichField & HiStopFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamHiStop, getHiStop());
}
if((whichField & LoStopFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamLoStop, getLoStop());
}
if((whichField & BounceFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamBounce, getBounce());
}
if((whichField & CFMFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamCFM, getCFM());
}
if((whichField & StopERPFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopERP, getStopERP());
}
if((whichField & StopCFMFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopCFM, getStopCFM());
}
if((whichField & HiStop2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamHiStop2, getHiStop2());
}
if((whichField & LoStop2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamLoStop2, getLoStop2());
}
if((whichField & Bounce2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamBounce2, getBounce2());
}
if((whichField & CFM2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamCFM2, getCFM2());
}
if((whichField & StopERP2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopERP2, getStopERP2());
}
if((whichField & StopCFM2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopCFM2, getStopCFM2());
}
if((whichField & HiStop3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamHiStop3, getHiStop3());
}
if((whichField & LoStop3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamLoStop3, getLoStop3());
}
if((whichField & Bounce3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamBounce3, getBounce3());
}
if((whichField & CFM3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamCFM3, getCFM3());
}
if((whichField & StopERP3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopERP3, getStopERP3());
}
if((whichField & StopCFM3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopCFM3, getStopCFM3());
}
}
void MobileEntity::jump(float force){
if(_jumpCount>0){
_jumpCount--;
setVel(0,force,0);
}
}
// Create our projectile with parameters
Projectile::Projectile(int d, Vector2 p, Vector2 v)
{
setDamage(d);
setPos(p);
setVel(v);
}
void MobileEntity::placeAtEdge(const GameEntity& g)
{
///@todo implement
// collision detection for walls - so that the player can "land" on them and run into them
// perhaps abstract it to the Mobileentity level because other mobile entities will need hit detection for walls as well
CollisionBox b1=getHitBox();
CollisionBox b2=g.getHitBox();
//Tells whether or not the midpoint is at all within the mid point of the other box
vec3 d1=b1.getTranslate()-getVel()-b1.getDimensions()/3-b2.getPoint1();
vec3 d2=b1.getTranslate()-getVel()+b1.getDimensions()/3-b2.getPoint2();
vec3 midDist=b1.getTranslate()-b2.getTranslate();
bool midInX=(d1.x>0)!=(d2.x>0);
bool midInY=(d1.y>0)!=(d2.y>0);
bool midInZ=(d1.z>0)!=(d2.z>0);
if(!midInX&&!midInY&&getVel().z==0||
!midInX&&!midInZ&&getVel().y==0||
!midInZ&&!midInY&&getVel().x==0
)
return;
vec3 newPos;
//within the "x prism"
float dir=0;
float EASE_VAL=.05;
float EASE_SCALE_VAL=3.0;
if(midInY&&midInZ||!midInX){
if(midDist.x!=0)dir=midDist.x/abs(midDist.x);
else dir=0;
if(abs(d1.x)>b1.getDimensions().x/EASE_SCALE_VAL||abs(d2.x)>b1.getDimensions().x/EASE_SCALE_VAL)dir=0;
if(abs(d1.x)<abs(d2.x)){
if(getVel().x<0)
{
newPos.x=b2.getPoint1().x+b1.getDimensions().x/2;
}
}else{
if(getVel().x>0)
{
newPos.x=b2.getPoint2().x-b1.getDimensions().x/2;
}
}
if(newPos.x!=0){
setTranslateX(newPos.x);
setVelX(0);
}
translate(EASE_VAL*dir,0,0);
}
//within the "y prism"
if(midInX&&midInZ||!midInY){
if(midDist.y!=0)dir=midDist.y/abs(midDist.y);
else dir=0;
if(abs(d1.y)>b1.getDimensions().y/EASE_SCALE_VAL||abs(d2.y)>b1.getDimensions().y/EASE_SCALE_VAL)dir=0;
if(abs(d1.y)<abs(d2.y)){
if(getVel().y<0)
{
newPos.y=b2.getPoint1().y+b1.getDimensions().y/2;
_jumpCount=1;
}
}else{
if(getVel().y>0)
{
newPos.y=b2.getPoint2().y-b1.getDimensions().y/2;
}
}
if(newPos.y!=0){
setTranslateY(newPos.y);
setVelY(0);
}
setVel(getVel()*.85);
if(dot(getVel(),getVel())<.01){
setVel(0,0,0);
}
translate(0,EASE_VAL*dir,0);
}
//within the "z prism"
if(midInX&&midInY||!midInZ){
if(midDist.y!=0)dir=midDist.y/abs(midDist.y);
else dir=0;
if(abs(d1.z)>b1.getDimensions().z/EASE_SCALE_VAL||abs(d2.z)>b1.getDimensions().z/EASE_SCALE_VAL)dir=0;
if(abs(d1.z)<abs(d2.z)){
if(getVel().z<0)
{
newPos.z=b2.getPoint1().z+b1.getDimensions().z/2;
}
}else{
if(getVel().z>0)
{
newPos.z=b2.getPoint2().z-b1.getDimensions().z/2;
}
}
if(newPos.z!=0){
setTranslateZ(newPos.z);
setVelZ(0);
}
translate(0,0,EASE_VAL*dir);
}
vec3 v=getTranslate()-newPos;
}
void BoltzmannInfoWidget::refresh(int temp, int velocity) {
setTemp(temp);
setVel(velocity);
this->update();
}
inline void setVel( float x, float y) { setVel( sf::Vector2f(x, y)); };
void Projectile::Move()
{
// Reset the acceleration each time in case we don't need to move.
setAcc(Vector2(0, 0));
if (attacking)
{
if (timerSet == false)
{
currentAttackTimer = attackTimer + sfw::getTime();
timerSet = true;
}
// Check what direction brings us towards the destination.
if (dest.x > getPos().x - 20)
{
if(getVel().x < -0.5f)
setAcc(Vector2(attackSpeed * 4, getAcc().y));
else
setAcc(Vector2(attackSpeed, getAcc().y));
}
else if (dest.x < getPos().x + 20)
{
if(getVel().x > 0.5f)
setAcc(Vector2(-attackSpeed * 4, getAcc().y));
else
setAcc(Vector2(-attackSpeed, getAcc().y));
}
if (dest.y > getPos().y - 20)
{
if(getVel().y < -0.5f)
setAcc(Vector2(getAcc().x, attackSpeed * 4));
else
setAcc(Vector2(getAcc().x, attackSpeed));
}
else if (dest.y < getPos().y + 20)
{
if(getVel().y > 0.5f)
setAcc(Vector2(getAcc().x, -attackSpeed * 4));
else
setAcc(Vector2(getAcc().x, -attackSpeed));
}
if (attackTimer < sfw::getTime())
{
attacking = false;
timerSet = false;
}
else if(getPos().x > dest.x - 5 && getPos().x < dest.x + 5 &&
getPos().y > dest.y - 5 && getPos().y < dest.y + 5)
{
attacking = false;
timerSet = false;
}
}
else
{
// Check what direction brings us towards the player.
if (game()->getPlayer().getPos().x >= getPos().x)
{
if (getVel().x < -0.5f)
setAcc(Vector2(accRate * 1.5f, getAcc().y));
else
setAcc(Vector2(accRate, getAcc().y));
}
else if (game()->getPlayer().getPos().x < getPos().x)
{
if (getVel().x > 0.5f)
setAcc(Vector2(-accRate * 1.5f, getAcc().y));
else
setAcc(Vector2(-accRate, getAcc().y));
}
if (game()->getPlayer().getPos().y >= getPos().y)
{
if (getVel().y < -0.5f)
setAcc(Vector2(getAcc().x, accRate * 1.5f));
else
setAcc(Vector2(getAcc().x, accRate));
}
else if (game()->getPlayer().getPos().y < getPos().y)
{
if (getVel().y > 0.5f)
setAcc(Vector2(getAcc().x, -accRate * 1.5f));
else
setAcc(Vector2(getAcc().x, -accRate));
}
}
// Apply the acceleration to the velocity
if (getAcc().x == 0 && getAcc().y == 0)
setVel(Vector2(getVel().x / 4, getVel().y / 4));
else if (getAcc().x == 0)
setVel(Vector2(getVel().x / 4, getVel().y + (getAcc().y * sfw::getDeltaTime())));
else if (getAcc().y == 0)
setVel(Vector2(getVel().x + (getAcc().x * sfw::getDeltaTime()), getVel().y / 4));
else
setVel(Vector2(getVel().x + (getAcc().x * sfw::getDeltaTime()), getVel().y + (getAcc().y * sfw::getDeltaTime())));
applyMaxSpeed();
// Use all the information we just calculated to move accordingly
setPos(Vector2(getPos().x + getVel().x, getPos().y + getVel().y));
}
// Set our default damage, position and velocity
Projectile::Projectile()
{
setDamage(1);
switch (rand() % 10)
{
case 0:
setPos(Vector2(-10, 0));
break;
case 1:
setPos(Vector2(-20, 0));
break;
case 2:
setPos(Vector2(-10, -10));
break;
case 3:
setPos(Vector2(10, 10));
break;
case 4:
setPos(Vector2(10, -10));
break;
case 5:
setPos(Vector2(10, -20));
break;
case 6:
setPos(Vector2(20, -10));
break;
case 7:
setPos(Vector2(-10, 20));
break;
case 8:
setPos(Vector2(-20, 10));
break;
case 9:
setPos(Vector2(-10, 30));
break;
default:
setPos(Vector2(-30, 10));
break;
break;
}
setVel(Vector2(0, 0));
setDim(Vector2(16, 16));
accRate = 8;
attackSpeed = 12;
maxSpeed = 10;
attackTimer = 2;
timerSet = false;
dest = Vector2(0, 0);
attacking = false;
setSpriteName("Projectile");
if (!loaded)
{
loadTexture(getSpriteName(), "../textures/projectile.png", 1, 1);
loaded = true;
}
}
ArrowItem::ArrowItem(QGraphicsItem *parent) :
QAbstractGraphicsShapeItem(parent), _limitLength(0)
{
setVel(QPoint(0, 0));
}
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;
}*/
}
}
