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checkCostRealWorld.c
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checkCostRealWorld.c
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#pragma config(StandardModel, "EV3_REMBOT")
//#include "checkCost.c"
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
//RGB Type
typedef struct{
long red;
long green;
long blue;
int cost;
}RGB;
void printLayar(long red, long green, long blue){
writeDebugStreamLine("R : %ld",red);
writeDebugStreamLine("G : %ld",green);
writeDebugStreamLine("B : %ld",blue);
getColorRGB(colorSensor,red,green,blue);
displayTextLine(2,"R : %ld",red);
displayTextLine(3,"G : %ld",green);
displayTextLine(4,"B : %ld",blue);
}
void printJarak(int jarakSementara){
writeDebugStreamLine("Jarak : %d",jarakSementara);
displayTextLine(5,"Jarak : %d",jarakSementara);
}
bool isIntersection(long red, long green, long blue){
//hijau tanda persimpangan biasanya terdeteksi dengan nilai R mendekati 0, G mendekati 100 dan B mendekati 0
if((red<= 25) && (green>=30) && (blue<=20)){
return true;
} else {
return false;
}
}
bool isStop(long red, long green, long blue){
//hijau tanda persimpangan biasanya terdeteksi dengan nilai R mendekati 0, G mendekati 100 dan B mendekati 0
if((red>=90) && (green>=87) && (green>=37) && (blue<=35)){
return true;
} else {
return false;
}
}
int checkCost(long r, long g, long b){
int x = -1;
//HEURISTIC TABLE
RGB HTable[25];
HTable[0].red=42;HTable[0].green=59;HTable[0].blue=27.5;//
HTable[1].red=60.5;HTable[1].green=40;HTable[1].blue=25;//
HTable[4].red=45.5;HTable[4].green=41;HTable[4].blue=12.5;//
HTable[5].red=42.5;HTable[5].green=50;HTable[5].blue=48;//
HTable[6].red=67.5;HTable[6].green=81;HTable[6].blue=20;
HTable[7].red=100;HTable[7].green=50;HTable[7].blue=0;
HTable[8].red=33.5;HTable[8].green=50.5;HTable[8].blue=32.5;
HTable[9].red=47.5;HTable[9].green=23;HTable[9].blue=19;
HTable[10].red=100;HTable[10].green=93;HTable[10].blue=34.5;
HTable[11].red=54;HTable[11].green=64;HTable[11].blue=30;
HTable[13].red=100;HTable[13].green=0;HTable[13].blue=50;
HTable[14].red=54;HTable[14].green=48.5;HTable[14].blue=29;
HTable[16].red=68.5;HTable[16].green=87.5;HTable[16].blue=31;
HTable[17].red=100;HTable[17].green=35.5;HTable[17].blue=45;
HTable[18].red=55;HTable[18].green=58;HTable[18].blue=50;
HTable[20].red=50;HTable[20].green=0;HTable[20].blue=100;
HTable[23].red=0;HTable[23].green=100;HTable[23].blue=100;
HTable[24].red=82.5;HTable[24].green=54;HTable[24].blue=36.5;
for (int i=0;i<=24;i++){
if((i!=2) && (i!=3) && (i!=12) && (i!=15) && (i!=19) && (i!=21) && (i!=22)){
int range;
if(isIntersection(r,g,b)){
return 100;
}
if(isStop(r,g,b)){
return 101;
}
if(i==14){//pengecualian untuk abu2
range = 5;
} else {
range = 25;
}
if((r <= HTable[i].red + range) && (r >= HTable[i].red - range) && (g >= HTable[i].green - range) && (g <= HTable[i].green + range) && (b >= HTable[i].blue - range) && (b <= HTable[i].blue + range)){
x = i;
break;
}
}
}
return x;
}
task main()
{
long red,green,blue;
float jarakSementara = 0;
// sensor sees light:
resetTimer(timer1);
int costWarna;
while(true)
{
printLayar(red,green,blue);
getColorRGB(colorSensor,red,green,blue);
if(red < 20 && green < 20 && blue < 20)
{
// counter-steer left:
motor[leftMotor] = 25;
motor[rightMotor] = 15;
}
// sensor sees dark:
else if (red > 70 && green > 70 && blue > 70)
{
//counter right
motor[leftMotor] = 5;
motor[rightMotor] = 25;
}
//sensor sees light
else
{
//go straight
motor[leftMotor] = 20;
motor[rightMotor] = 20;
sleep(200);
costWarna = checkCost(red,green,blue);
if (costWarna == 100) //intersection green
{
motor[leftMotor] = 0;
motor[rightMotor] = 0;
sleep(1000);
displayTextLine(7,"detected intersection");
} else if (costWarna == 101) //intersection green
{
turnLeft();
turnLeft();
sleep(1000);
displayTextLine(7,"detected stop turn around");
}
displayTextLine(6,"costWarna = %d",costWarna);
}
jarakSementara = getTimer(timer1, seconds);
printJarak(jarakSementara);
}
}