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eight2.c
183 lines (144 loc) · 3.18 KB
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eight2.c
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//Figure of 8
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <assert.h>
#include <sys/select.h>
#include "picomms.h"
#include "robotMovement.h"
#define SPEED 60
#define TURNSPEED 15
int rightSideIR, leftSideIR, rightFrontIR, leftFrontIR;
int ultrasound;
void setAngles(){
set_ir_angle(RIGHT, 45);
set_ir_angle(LEFT, -45);
}
void getIRDist(){
ultrasound = get_us_dist();
get_side_ir_dists(&leftSideIR, &rightSideIR);
get_front_ir_dists(&leftFrontIR, &rightFrontIR);
}
void goStraight(){
getIRDist();
while (1){
if (ultrasound < 35)
//if (ultrasound < 25)
{ break; }
if (rightSideIR == 40 && rightFrontIR == 100)
{
break;}
straight(18 , SPEED);
getIRDist();
}
}
void goStraightLeft(){
getIRDist();
while (1){
if (ultrasound < 30)
//if (ultrasound < 25)
{ break; }
if (leftSideIR == 40 && leftFrontIR == 100)
{
break;}
straight(18 , SPEED);
getIRDist();
}
}
void firsteight(){
getIRDist();
goStraight();
//turnRight(90, TURNSPEED);
turnRight(100, TURNSPEED);
straight(70, SPEED);
//turnRight(45,TURNSPEED);
turnRight(55, TURNSPEED);
goStraight();
turnRight(90, TURNSPEED);
straight(30, SPEED);
//straight(50, SPEED);
//turnRight(45, TURNSPEED);
turnRight (55, TURNSPEED);
getIRDist();
while (1){
if (rightSideIR < 40)
{
break;}
straight(18, SPEED);
getIRDist();
}
goStraight();
// The second bit
straight(15, SPEED);
//straight(18, SPEED);
turnLeft(90, TURNSPEED);
getIRDist();
while (1){
if (leftSideIR < 40)
{
break;}
straight(18, SPEED);
getIRDist();
}
goStraightLeft();
if (SPEED <= 20)
{ straight(25, SPEED); }
turnLeft(90, TURNSPEED);
if (SPEED <= 20)
{ straight(80, SPEED); }
else {
//straight(40, SPEED);
straight(25, SPEED);
}
//turnLeft (45, TURNSPEED);
turnLeft(55, TURNSPEED);
/*
//for speed 40
getIRDist();
while (1){
if (leftSideIR < 40)
{ straight(15, SPEED);
break;
}
straight(10, SPEED);
getIRDist();
}
*/
straight(15, SPEED);
goStraightLeft();
turnLeft(90, TURNSPEED);
//straight(25, SPEED);
straight (60, SPEED);
//turnLeft(45, TURNSPEED);
turnLeft(55, TURNSPEED);
getIRDist();
while (1){
if (leftSideIR < 40)
{
break;
}
straight(10, SPEED);
getIRDist();
}
goStraightLeft();
//For 60 only
straight(25, SPEED);
turnRight(90, TURNSPEED);
getIRDist();
while (1){
if (rightSideIR < 40)
{ straight (25, SPEED);
break;}
straight(18, SPEED);
getIRDist();
}
}
int main(){
connect_to_robot();
initialize_robot();
setAngles();
firsteight();
}