int umain(){
robot_id = 1;
copy_objects();
copy_objects();
field_state.curr_loc.x = (int)(game.coords[0].x * VPS_RATIO);
field_state.curr_loc.y = (int)(game.coords[0].y * VPS_RATIO);
field_state.curr_angle = (((float)game.coords[0].theta) * 180.0) / 2048;
gyro_set_degrees(field_state.curr_angle);
initialize();
/*for(int sextant = 0; sextant < 6; sextant++){
printf("TPX: %d, TPY: %d, LPX: %d, LPY: %d\n", get_territory_pivot_point_loc(sextant).x, get_territory_pivot_point_loc(sextant).y, lever_pivot_points[2*sextant], lever_pivot_points[2*sextant + 1]);
}*/
init_pid(&field_state.circle_PID, KP_CIRCLE, KI_CIRCLE, KD_CIRCLE, &get_angle_error_circle, &update_circle_velocities);
field_state.circle_PID.enabled = true;
field_state.circle_PID.goal = 0;
//printf("OX: %d, OY: %d, TX: %d, TY: %d, TWX: %d, TWY: %d, CA: %.2f, G: %.3f, LE: %d, RE: %d\n", field_state.curr_loc.x, field_state.curr_loc.y, field_state.target_loc.x, field_state.target_loc.y, field_state.target_loc_waypoint.x, field_state.target_loc_waypoint.y, field_state.curr_angle, gyro_get_degrees(), encoder_read(LEFT_ENCODER_PORT), encoder_read(RIGHT_ENCODER_PORT));
while(1){
update_field();
accelerate();
decelerate();
if(field_state.pid_enabled)
update_pid(&field_state.circle_PID);
if(get_time() > 119000){
}
//printf("Sextant: %d, OX: %d, OY: %d, TX: %d, TY: %d, TWX: %d, TWY: %d, CA: %.2f, G: %.3f, LE: %d, RE: %d\n", get_current_sextant(field_state.curr_loc), field_state.curr_loc.x, field_state.curr_loc.y, field_state.target_loc.x, field_state.target_loc.y, field_state.target_loc_waypoint.x, field_state.target_loc_waypoint.y, field_state.curr_angle, gyro_get_degrees(), encoder_read(LEFT_ENCODER_PORT), encoder_read(RIGHT_ENCODER_PORT));
}
return 0;
}
const ObjList& ObjList::operator=(const ObjList& objlist)
{
HeeksObj::operator=(objlist);
copy_objects(objlist);
return *this;
}
BeveledBoxShell::BeveledBoxShell (const BeveledBoxShell& c)
: Compound(c),
p0(c.p0),
p1(c.p1),
br(c.br) {
copy_objects(c.parts);
}
// ---------------------------------------------------------------- assignment operator
Compound& Compound::operator= (const Compound& rhs) {
if (this == &rhs)
return (*this);
GeometricObject::operator= (rhs);
copy_objects(rhs.objects);
return (*this);
}
/*------------------------------------------------------------------------- * Function: h5repack * * Purpose: locate all high-level HDF5 objects in the file * and compress/chunk them using options * * Algorithm: 2 traversals are made to the file; the 1st builds a list of * the objects, the 2nd makes a copy of them, using the options; * the reason for the 1st traversal is to check for invalid * object name requests * * Return: 0, ok, -1, fail * * Programmer: [email protected] * * Date: September, 22, 2003 * *------------------------------------------------------------------------- */ int h5repack(const char* infile, const char* outfile, pack_opt_t *options) { /* check input */ if (check_options(options) < 0) return -1; /* check for objects in input that are in the file */ if (check_objects(infile, options) < 0) return -1; /* copy the objects */ if (copy_objects(infile, outfile, options) < 0) return -1; return 0; }
BeveledBoxShell&
BeveledBoxShell::operator= (const BeveledBoxShell& rhs) {
if (this == &rhs)
return (*this);
GeometricObject::operator= (rhs);
copy_objects(rhs.parts);
this->p0 = rhs.p0;
this->p1 = rhs.p1;
this->br = rhs.br;
return (*this);
}
void update(void)
{
copy_objects();
int x_vps = game.coords[0].x;
int y_vps = game.coords[0].y;
float x_ft = ((float)(x_vps))*ftConversion;
float y_ft = ((float)(y_vps))*ftConversion;
float x = (CAMHEIGHT - BOTHEIGHT)/CAMHEIGHT * x_ft;
float y = (CAMHEIGHT - BOTHEIGHT)/CAMHEIGHT * y_ft;
currentPt.x = x;
currentPt.y = y;
//desiredPt.x = 1.5;
//desiredPt.y = 1.5;
printf("Updated\n");
}
ObjList::ObjList(const ObjList& objlist): HeeksObj(objlist), m_index_list_valid(true) {copy_objects(objlist);}
Compound::Compound (const Compound& c)
: GeometricObject(c) {
copy_objects(c.objects);
}
void update_field(){
copy_objects();
int current_x = (int)(game.coords[0].x * VPS_RATIO);
int current_y = (int)(game.coords[0].y * VPS_RATIO);
uint8_t has_encoder_moved = FALSE;
/*if(get_time() > field_state.last_encoder_update + ENCODER_UPDATE_TIME){
if(encoder_read(FREEWHEEL_ENCODER_PORT) != field_state.encoder_value){
field_state.robot_stopped = TRUE;
field_state.encoder_value = encoder_read(FREEWHEEL_ENCODER_PORT);
field_state.
}
else{
field_state.robot_stopped = TRUE;
}
}*/
//printf("Current X: %d, Current Y: %d\n", current_x, current_y);
float current_theta = (((float)game.coords[0].theta) * 180.0) / 2048;
field_state.curr_loc_plus_delta.x = current_x; //+ get_delta(field_state.curr_loc).x;
field_state.curr_loc_plus_delta.y = current_y; //+ get_delta(field_state.curr_loc).y;
uint8_t sextant = get_current_sextant(field_state.curr_loc_plus_delta);
uint8_t old_sextant = get_current_sextant(field_state.curr_loc);
//printf("Current Distance: %f, Waypoint Distance: %f, Target Distance: %f, Distance Increment: %f\n", pythagorean(field_state.curr_loc_plus_delta.x, field_state.curr_loc_plus_delta.y), pythagorean(field_state.target_loc_waypoint.x, field_state.target_loc_waypoint.y), pythagorean(field_state.target_loc.x, field_state.target_loc.y), field_state.distance_increment);
float dist_to_waypoint = pythagorean_loc(field_state.curr_loc_plus_delta, field_state.target_loc_waypoint);
if(sextant != old_sextant ){//|| (get_angle_error_circle() > 90 && dist_to_waypoint < CIRCLE_DECELERATE_DISTANCE_SECOND){
uint8_t target_sextant = get_current_sextant(field_state.target_loc);
/*int direction;
if((get_angle_error_circle() > 90 && dist_to_waypoint < CIRCLE_DECELERATE_DISTANCE_SECOND) && (sextant == old_sextant)){
//we're about to spiral...let's not spiral
direction = get_waypoint_direction(field_state.curr_loc_plus_delta, field_state.target_loc, gyro_get_degrees());
if(get_sextant_difference(field_state.curr_loc_plus_delta, field_state.target_loc, direction) > 1){
//we aren't at the target sextant yet, so set target waypoint to next waypoint
float distance_increment;
switch(direction){
case COUNTER_CLOCKWISE:
if(target_sextant < sextant)
target_sextant += 6;
new_distance = bound_waypoint_distance(field_state.distance_increment, field_state.target_loc_waypoint);
field_state.target_loc_waypoint = get_scaled_loc_int_param(bisecting_points[(2*sextant+4)%12], bisecting_points[(2*sextant+5)%12], new_distance);
break;
case CLOCKWISE:
if(target_sextant > sextant)
target_sextant -= 6;
new_distance = bound_waypoint_distance(field_state.distance_increment, field_state.target_loc_waypoint);
field_state.target_loc_waypoint = get_scaled_loc_int_param(bisecting_points[mod_ui(2*sextant - 2, 12)], bisecting_points[mod_ui(2*sextant - 1, 12)], new_distance);
break;
}
}
}
}*/
//We have broken the plane, get next waypoint, or target if in same sextant
int direction = get_waypoint_direction(field_state.curr_loc_plus_delta, field_state.target_loc, gyro_get_degrees());
if(sextant != target_sextant){
float distance_increment;
if(sextant == mod_ui(old_sextant + direction, 6)){
float new_distance;
switch(direction){
case COUNTER_CLOCKWISE:
if(target_sextant < sextant)
target_sextant += 6;
new_distance = bound_waypoint_distance(field_state.distance_increment, field_state.target_loc_waypoint);
field_state.target_loc_waypoint = get_scaled_loc_int_param(bisecting_points[(2*sextant+2)%12], bisecting_points[(2*sextant+3)%12], new_distance);
break;
case CLOCKWISE:
if(target_sextant > sextant)
target_sextant -= 6;
new_distance = bound_waypoint_distance(field_state.distance_increment, field_state.target_loc_waypoint);
field_state.target_loc_waypoint = get_scaled_loc_int_param(bisecting_points[(2*sextant)%12], bisecting_points[(2*sextant + 1)%12], new_distance);
break;
}
}
field_state.target_loc_plane = get_scaled_loc(field_state.target_loc_waypoint, OUTER_HEX_APATHEM_DIST);
}
else{
field_state.target_loc_waypoint = field_state.target_loc;
}
field_state.curr_loc = field_state.curr_loc_plus_delta;
encoder_reset(LEFT_ENCODER_PORT);
encoder_reset(RIGHT_ENCODER_PORT);
}
if((field_state.substage == TERRITORY_APPROACH_SUBSTAGE) && current_vel > 0){
if(get_time() - field_state.stored_time > TERRITORY_TIMEOUT_TIME || game.coords[0].score != field_state.score){
if(!(field_state.we_want_to_dump)){
field_state.substage = DRIVE_SUBSTAGE;
//SET MOTORS TO LEVER ARC THINGY
target_vel = 96;
current_vel = 96;
set_spinners(0);
//accelerate_time = CIRCLE_ACCELERATE_TIME;
//decelerate_distance = CIRCLE_DECELERATE_DISTANCE;
//KP_CIRCLE = 1.5;
//set_motors(55, 120);
field_state.stored_time = get_time();
field_state.drive_direction = FORWARD;
field_state.pid_enabled = TRUE;
field_state.circle_PID.enabled = true;
servo_set_pos(1, SERVO_UP);
set_new_destination(field_state.curr_loc_plus_delta, get_lever_pivot_point_loc(sextant));
}
else{
retreat_from_territory();
}
}
if(get_time() - field_state.start_time > THINK_ABOUT_DUMPING_TIME){
field_state.we_want_to_dump = TRUE;
}
}
if((field_state.substage == LEVER_APPROACH_SUBSTAGE) && current_vel > 0){
if(get_time() - field_state.stored_time > LEVER_APPROACH_TIME){
field_state.substage = LEVER_SUBSTAGE;
//SET MOTORS TO LEVER ARC THINGY
//target_vel = 64;
//current_vel = 64;
//set_spinners(0);
//accelerate_time = CIRCLE_ACCELERATE_TIME;
//decelerate_distance = CIRCLE_DECELERATE_DISTANCE;
//KP_CIRCLE = 1.5;
//set_motors(55, 120);
stop_motors();
field_state.stored_time = get_time();
field_state.target_loc_waypoint = field_state.curr_loc_plus_delta;
field_state.target_loc = field_state.curr_loc_plus_delta;
field_state.pid_enabled = TRUE;
field_state.stored_time = get_time();
int score_temp = field_state.score;
servo_set_pos(1, SERVO_DOWN);
pause(CLICKY_CLICKY_TIME + 100);
while(1){
copy_objects();
if(get_time() - field_state.start_time > THINK_ABOUT_DUMPING_TIME){
field_state.we_want_to_dump = TRUE;
}
if(game.coords[0].score != score_temp){
score_temp += 40;
field_state.balls_held += 1;
}
if(game.coords[0].score == field_state.score + 200 || field_state.stored_time + LEVER_TIMEOUT_TIME < get_time() ){
if(!field_state.we_want_to_dump){
pause(50);
field_state.substage = DRIVE_SUBSTAGE;
target_vel = TARGET_CIRCLE_VEL;
current_vel = 0;
accelerate_time = CIRCLE_ACCELERATE_TIME;
decelerate_distance = CIRCLE_DECELERATE_DISTANCE_FIRST;
KP_CIRCLE = KP_DRIVE;
field_state.stored_time = get_time();
field_state.start_drive_time = get_time();
field_state.drive_direction = BACKWARD;
field_state.circle_PID.enabled = true;
field_state.pid_enabled = true;
uint8_t temp_sextant = sextant;
if(temp_sextant == 0)
temp_sextant += 6;
set_new_destination(field_state.curr_loc_plus_delta, get_territory_pivot_point_loc(get_target_territory(field_state.curr_loc_plus_delta)));
break;
}
else{
pause(50);
get_your_ass_to_a_toilet();
break;
}
}
servo_set_pos(1, SERVO_MIDDLE);
pause(CLICKY_CLICKY_TIME);
servo_set_pos(1, SERVO_DOWN);
pause(CLICKY_CLICKY_TIME);
}
}
}
/*if(field_state.substage == TRANSITION_SUBSTAGE){
if(get_time() - field_state.stored_time > TRANSITION_TIME){
field_state.substage = LEVER_SUBSTAGE;
stop_motors();
field_state.stored_time = get_time();
field_state.target_loc_waypoint = field_state.curr_loc_plus_delta;
field_state.target_loc = field_state.curr_loc_plus_delta;
field_state.pid_enabled = TRUE;
field_state.circle_PID.enabled = true;
while(1){
copy_objects();
if(game.coords[0].score == field_state.score + 200 || field_state.stored_time + LEVER_TIMEOUT_TIME < get_time() ){
field_state.substage = DRIVE_SUBSTAGE;
target_vel = 128;
current_vel = 0;
accelerate_time = CIRCLE_ACCELERATE_TIME;
decelerate_distance = CIRCLE_DECELERATE_DISTANCE_FIRST;
KP_CIRCLE = KP_DRIVE;
field_state.stored_time = get_time();
field_state.start_drive_time = get_time();
field_state.drive_direction = BACKWARD;
field_state.circle_PID.enabled = true;
uint8_t temp_sextant = sextant;
if(temp_sextant == 0)
temp_sextant += 6;
set_new_destination(field_state.curr_loc_plus_delta, get_territory_pivot_point_loc((temp_sextant - 1)%6));
break;
}
servo_set_pos(1, SERVO_DOWN);
pause(CLICKY_CLICKY_TIME);
servo_set_pos(1, SERVO_MIDDLE);
pause(CLICKY_CLICKY_TIME);
}
}
}*/
/*else if((field_state.substage == LEVER_APPROACH_SUBSTAGE) && current_vel > 0){
if(get_time() - field_state.stored_time > TERRITORY_TIMEOUT_TIME || game.coords[0].score != field_state.score){
field_state.substage = LEVER_APPROACH_SUBSTAGE;
target_vel = 64;
current_vel = 0;
set_spinners(0);
//accelerate_time = CIRCLE_ACCELERATE_TIME;
//decelerate_distance = CIRCLE_DECELERATE_DISTANCE;
//KP_CIRCLE = 1.5;
//field_state.start_drive_time = get_time();
field_state.drive_direction = FORWARD;
set_new_destination(field_state.curr_loc_plus_delta, get_lever_robot_loc((sextant)%6));
}
}*/
if(get_time() - field_state.start_time > THINK_ABOUT_DUMPING_TIME){
if(field_state.substage == DRIVE_SUBSTAGE){
if(!field_state.we_want_to_dump)
get_your_ass_to_a_toilet();
}
field_state.we_want_to_dump = TRUE;
}
int acceptable_error = get_acceptable_error(field_state.substage);
float dist_to_target = pythagorean(field_state.target_loc.x - field_state.curr_loc_plus_delta.x, field_state.target_loc.y - field_state.curr_loc_plus_delta.y);
if(field_state.target_loc.x == field_state.target_loc_waypoint.x && field_state.target_loc.y == field_state.target_loc_waypoint.y){
if(dist_to_target < acceptable_error){
gyro_set_degrees(current_theta);
encoder_reset(LEFT_ENCODER_PORT);
encoder_reset(RIGHT_ENCODER_PORT);
/*if(field_state.substage == TERRITORY_APPROACH_SUBSTAGE){
field_state.substage = TERRITORY_SUBSTAGE;
stop_motors();
set_spinners(0);
current_vel = 0;
target_vel = 0;
}
if(field_state.substage == LEVER_APPROACH_SUBSTAGE){
field_state.substage = LEVER_SUBSTAGE;
stop_motors();
current_vel = 0;
target_vel = 0;
}*/
if(field_state.substage == DRIVE_SUBSTAGE || field_state.substage == TERRITORY_RETREAT_SUBSTAGE || field_state.substage == LEVER_RETREAT_SUBSTAGE){
if(field_state.stage == FIRST_STAGE)
field_state.stage = SECOND_STAGE;
if(field_state.target_loc.x == get_territory_pivot_point_loc(sextant).x && field_state.target_loc.y == get_territory_pivot_point_loc(sextant).y){
if(field_state.substage != TERRITORY_RETREAT_SUBSTAGE){
set_new_destination(field_state.curr_loc_plus_delta, get_territory_robot_loc(sextant));
set_spinners( 229 * field_state.color);
target_vel = 64;
current_vel = 0;
field_state.start_drive_time = get_time();
accelerate_time = WALL_ACCELERATE_TIME;
decelerate_distance = (int)(WALL_DECELERATE_DISTANCE);
field_state.substage = TERRITORY_APPROACH_SUBSTAGE;
KP_CIRCLE = KP_APPROACH;
field_state.drive_direction = BACKWARD;
}
else{
field_state.substage = PIVOT_SUBSTAGE;
uint8_t dump_sextant = pick_dump_sextant();
Location dump_loc = get_dump_location_robot(dump_sextant);
set_new_destination(field_state.curr_loc_plus_delta, dump_loc);
current_vel = 0;
}
}
else if(field_state.target_loc.x == get_lever_pivot_point_loc(sextant).x && field_state.target_loc.y == get_lever_pivot_point_loc(sextant).y){
if(field_state.substage != LEVER_RETREAT_SUBSTAGE){
target_vel = 64;
current_vel = 0;
set_new_destination(field_state.curr_loc_plus_delta, get_lever_robot_loc(sextant));
decelerate_distance = (int)(WALL_DECELERATE_DISTANCE);
field_state.start_drive_time = get_time();
accelerate_time = WALL_ACCELERATE_TIME;
KP_CIRCLE = KP_APPROACH;
field_state.drive_direction = FORWARD;
field_state.substage = LEVER_APPROACH_SUBSTAGE;
}
else{
field_state.substage = PIVOT_SUBSTAGE;
//WE WILL PROBABLY NEVER USE LEVER_RETREAT_SUBSTAGE...
}
}
else if(field_state.target_loc.x == get_dump_location_robot(sextant).x && field_state.target_loc.y == get_dump_location_robot(sextant).y){
field_state.substage = DUMPING_SUBSTAGE;
set_new_destination(field_state.curr_loc_plus_delta, get_dump_location(sextant));
current_vel = 0;
target_vel = 64;
field_state.start_dump_time = get_time();
decelerate_distance = 0;
KP_CIRCLE = KP_APPROACH;
field_state.drive_direction = BACKWARD;
}
}
}
}
run_pivot_subroutine();
if(field_state.substage == DUMPING_SUBSTAGE){
if(get_time() - field_state.start_dump_time > 4000)
servo_set_pos(0, 150);
if(get_time() - field_state.start_dump_time > 4000 + time_during_dump){
servo_set_pos(0, 300);
}
}
if(current_x != field_state.curr_loc.x || current_y != field_state.curr_loc.y || current_theta != field_state.curr_angle){
field_state.update_time = get_time();
field_state.curr_loc.x = current_x;
field_state.curr_loc.y = current_y;
field_state.curr_angle = current_theta;
//printf("Lag: %lu, CX: %d, CY: %d, OX: %d, OY: %d, TX: %d, TY: %d, TWX: %d, TWY: %d, CA: %.2f, G: %.3f, LE: %d, RE: %d\n", get_time() - field_state.stored_time, current_x, current_y, field_state.curr_loc.x, field_state.curr_loc.y, field_state.target_loc.x, field_state.target_loc.y, field_state.target_loc_waypoint.x, field_state.target_loc_waypoint.y, field_state.curr_angle, gyro_get_degrees(), encoder_read(LEFT_ENCODER_PORT), encoder_read(RIGHT_ENCODER_PORT));
//field_state.stored_time = get_time();
encoder_reset(LEFT_ENCODER_PORT);
encoder_reset(RIGHT_ENCODER_PORT);
if(field_state.substage == DRIVE_SUBSTAGE)
gyro_set_degrees(current_theta);
}
field_state.curr_time = get_time();
//***TIMEOUTS***
/*if(field_state.curr_time - field_state.update_time >= DRIVE_TIMEOUT_TIME && !is_decelerating() && field_state.substage == DRIVE_SUBSTAGE && dist_to_target < acceptable_error){
//We hit a wall...or another robot, but we haven't coded robot-ramming timeouts yet...
float distance = pythagorean(field_state.curr_loc_plus_delta.x, field_state.curr_loc_plus_delta.y);
if(fabs(distance - get_min_distance_loc_param(field_state.curr_loc)) < fabs(distance - get_max_distance_loc_param(field_state.curr_loc))){
//We hit the inner hex
}
}*/
field_state.score = game.coords[0].score;
}
