コード例 #1
0
ファイル: main.c プロジェクト: rosscop123/E-Puck-Coursework
int main() {
//	char bufferDebug[80];
	int selector;
//init
	e_init_port();
	e_init_uart1();
	e_init_motors();

	selector=getselector();
	
	if (selector==0) {
		run_breitenberg_follower();
	} else if (selector==1) {
		finding_light();
	} else if (selector==2) {
		avoid_light();
	} else if (selector==3) {
		run_breitenberg_shocker();
	} else if (selector==4) {
		followHand();
	}else{
	}

	
	while(1);
}
コード例 #2
0
ファイル: epuckBTseteventfilter.c プロジェクト: ardiny/aseba
int main(void)
{
	int i;
	char event;
	
	e_init_port();   //Configure port pins
	e_init_uart1();   //Initialize UART to 115200Kbaud
	
	if(RCONbits.POR)	//Reset if Power on (some problem for few robots)
	{
		RCONbits.POR=0;
		__asm__ volatile ("reset");
	}
コード例 #3
0
ファイル: main.c プロジェクト: noether/tinysp
int main() {

    e_init_port();
    e_init_uart1();
    e_led_clear();

    e_activate_agenda(e_blink_led0, 2500);
    e_activate_agenda(radio, 100);
    e_start_agendas_processing();

    while(1){
        for ( delay = 0 ; delay < 15000; delay++){
            __asm__("nop");
        }
    }

    return 0;
}
コード例 #4
0
ファイル: main.c プロジェクト: EmmanuelTheGreat/Robotiks
int main(void)
{
	 char message[50];
	
	
	 char	command[30], response[80];
	 int	c;
	 int	i, version,j;
	 int nb_bt_device,error;//max 10
	
	
	 e_init_port();   //Configure port pins
	 e_init_uart1();   //Initialize UART to 115200Kbaud
	 e_init_uart2(); //Initialize UART to 115200Kbaud
	
	 if(RCONbits.POR)	//Reset if Power on (some problem for few robots)
	 {
		RCONbits.POR=0;
		__asm__ volatile ("reset");
	 }
コード例 #5
0
ファイル: main.c プロジェクト: chaosmail/dis-tp-pso
// Main program
int main() {

	int speedl = 0;
	int speedr = 0;
	int oldSpeedl = 0;
	int oldSpeedr = 0;
   
	int counter = 0;
	int step = 0;
	int avdStep = 0;
	int state = STATE;
    	int oldState = STATE;
	int sensor[8], value, maxSensorValue;
	int i;

	int trajl[TRAJ_LEN] =   {6,9,9,6,
			      	 7,6,3,3,
			   	 6,6,6,3,
				 3,3,6,6,
				 6,3,3};
			     
	int trajr[TRAJ_LEN] =   {6,3,3,6,
			      	 7,6,9,9,
			      	 6,6,6,9,
				 9,9,6,6,
				 6,9,9};


	// Initialize system and sensors
	e_init_port();
	e_init_uart1();
	e_init_motors();
	e_init_ad_scan();

	// Reset if Power on (some problem for few robots)
	if (RCONbits.POR) {
		RCONbits.POR = 0;
		__asm__ volatile ("reset");
	}
コード例 #6
0
ファイル: epuckecho.c プロジェクト: ardiny/aseba
int main()
{
	e_init_port();
	e_init_uart1();
	
	int i;
	for (i = 0; i < 14; i++)
	{
		char c;
		while (!e_ischar_uart1());
		e_getchar_uart1(&c);
	}
	
	while (1)
	{
		char c;
		while (!e_ischar_uart1());
		e_getchar_uart1(&c);
		e_send_uart1_char(&c, 1);
		while (e_uart1_sending());
	}
	return 0;
}
コード例 #7
0
ファイル: main.c プロジェクト: SwarmEPuck/SwarmEPuck
int main()
{
    // init robot
    e_init_port();
    e_init_ad_scan();
    e_init_uart1();
    e_led_clear();	
    e_init_motors();
    e_start_agendas_processing();

    // wait for s to start
    btcomWaitForCommand('s');
    btcomSendString("==== READY - IR TESTING ====\n\n");

    e_calibrate_ir(); 

    // initialize ircom and start reading
    ircomStart();
    ircomEnableContinuousListening();
    ircomListen();

    // rely on selector to define the role
    int selector = getselector();

    // show selector choosen
    int i;
    long int j;
    for (i = 0; i < selector; i++)
    {
	e_led_clear();
	
	for(j = 0; j < 200000; j++)
	    asm("nop");
	
	e_set_led(i%8, 1);
	
	for(j = 0; j < 300000; j++)
	    asm("nop");

	e_led_clear();

	for(j = 0; j < 300000; j++)
	    asm("nop");
    }

    // activate obstacle avoidance
    e_activate_agenda(obstacleAvoidance, 10000);

    // acting as sender
    if (selector == 1)
    {    	
	btcomSendString("==== EMITTER ====\n\n");

	int i;
	for (i = 0; i < 10000; i++)
	{
	    // takes ~15knops for a 32window, avoid putting messages too close...
	    for(j = 0; j < 200000; j++)	asm("nop");

	    ircomSend(i % 256);	    
	    while (ircomSendDone() == 0);

	    btcomSendString(".");
	}
    }
    
    // acting as receiver
    else if (selector == 2)
    {
	btcomSendString("==== RECEIVER ====\n\n");

	int i = 0;
	while (i < 200)
	{
	    // ircomListen();
	    IrcomMessage imsg;
	    ircomPopMessage(&imsg);
	    if (imsg.error == 0)
	    {
		int val = (int) imsg.value;
	    
		/* Send Value*/		
		char tmp[128];
		sprintf(tmp, "Receive successful : %d  - distance=%f \t direction=%f \n", val, (double)imsg.distance, (double)imsg.direction);
		btcomSendString(tmp);
	    }
	    else if (imsg.error > 0)
	    {
		btcomSendString("Receive failed \n");		
	    }
	    // else imsg.error == -1 -> no message available in the queue

	    if (imsg.error != -1) i++;
	}
    }
    // no proper role defined...
    else 
    {
	int i = 0;
	long int j;
	while(1)
	{
	    e_led_clear();
	    
	    for(j = 0; j < 200000; j++)
		asm("nop");
	    
	    e_set_led(i, 1);
	    
	    for(j = 0; j < 300000; j++)
		asm("nop");
	    
	    i++;
	    i = i%8;
	}	
    }    
    
    ircomStop();
    return 0;
}
コード例 #8
0
int main(void)
{

    int cam_mode,cam_x1,cam_y1,cam_width,cam_heigth,cam_zx,cam_zy;

    if(getSelector() == 0)
        return;

    char c;
    int i;//buff_length;
    //int wait_cam;

    //defining the position of the several inputs and outputs (motors are outputs) in the respective SFR
    //the SFR are programed as structures, so accessing to an input/output implies only acessing to the field of the structure corresponding to the SFR that was
    //assigned to that input/output (see epuck_ports.h and p30f6014.h to understand the SFR assignment)
    e_init_port();

    e_init_motors();

    //important to enable uart interface
    e_init_uart1();
    e_init_ad_scan(ALL_ADC);
    e_calibrate_ir();

    //initial configuration of the camera
    cam_x1=(ARRAY_WIDTH/Z_WIDTH-WIDTH)/2;
    cam_y1=(ARRAY_HEIGHT/Z_HEIGHT-HEIGHT)/2;
    cam_width=WIDTH;
    cam_heigth=HEIGHT;
    cam_zx=Z_WIDTH;
    cam_zy=Z_HEIGHT;
    cam_mode=MODE;

    if(cam_mode==GREY_SCALE_MODE)
            cam_size=cam_width*cam_heigth;
    else
            cam_size=cam_width*cam_heigth*2;

    //not waiting for camera
    wait_cam=0;

    e_activate_agenda(updateFlag, 500);//500//1000
    e_activate_agenda(readValues, 10);

    e_start_agendas_processing();
    keepFinding = 0;

    e_set_led(4,1);

    keepFinding = 1;

    int s = getSelector();
    while(s==getSelector());

    /*while(1){
        sprintf(b1,"%i\n",e_get_calibrated_prox(S_FRONT_LEFT));
        e_send_uart1_char(b1,10);
        while(e_uart1_sending());
    }*/

    while(1){
        while(keepFinding) {

            if(!cameraOn) {
                startCamera();
                correctRobot();
            }
            while(!captura());
            //e_send_uart1_char(buffer,buff_length);
            //while(e_uart1_sending());
            if(cameraOn > 5)
                processaImagem();
            cameraOn++;
        }

        if(cameraOn)
            stopCamera();

        while(!flag);
        flag = 0;
        sendInputs();

        readOrder();
        readOrder();

        e_set_speed_left(speedLeft);
        e_set_speed_right(speedRight);
        e_set_led(4,0);
    }

    return 0;
}
コード例 #9
0
int main() {

  /*system initialization */
  e_init_port();
  /* Init UART1 for bluetooth */
  e_init_uart1();
  /* Init UART2 for e-randb */
  e_init_uart2();
  /* Init IR */
  e_init_prox();
  //init motors
  e_init_motors();
  
  /* Wait for a command comming from bluetooth IRCOMTEST on pc directory*/
  btcomWaitForCommand('s');
  
  /* Start agendas processing which will take care of UART interruptions */
  e_start_agendas_processing();
  /* Init E-RANDB board */
  e_init_randb();
  
  /* Range is tunable by software. 
   * 0 -> Full Range (1m. approx depending on light conditions )
   * 255 --> No Range (0cm. approx, depending on light conditions */
  e_randb_uart_set_range(0);
	
  /* At some point we tought that the board could just take
   * data en leave the calculations for the robot.
   * At the moment, it is better to allow the board to do the calculations */
  e_randb_uart_set_calculation(ON_BOARD);
  
  /* Store light conditions to use them as offset for the calculation 
   * of the range and bearing */
  e_randb_uart_store_light_conditions();
  e_randb_set_uart_communication(1);
  
  finalDataRegister data;
  
  //tabla comunciacion
  double comunicacionAngulos[2];
  int comunicacionRangos[2];
    

  //subsuncion
  int CURRENT_STATE;
  int subsuncion[2][2];
  int debug_var = 0;
  subsuncion[0][0]=SPACING;
  subsuncion[1][0]=COHESION;
  
  int i;
  for (i=0;i<2;i++){
    subsuncion[i][1]=0;
  }
  
  //proximity sensors reading
  int prox_first_reading[8];
  int prox_reading[8];

  /* Angles in rad for IRs starting at 0. Left direction. */
  const double prox_directions[8] = {5.9865, 5.4105, 4.7124, 3.6652, 2.6180, 1.5708, 0.8727, 0.2967};
	


  /* Get the first reading to take ambient light */
  for(i=0; i < 8; i++){
    prox_first_reading[i]=e_get_prox(i);
  }
  
  /* Print on the bluetooth */
  char tmp2[50];
  sprintf(tmp2,"-- CHASER --\n");
  btcomSendString(tmp2);


	
  
  while(1) {
    //comprobacion proximidad
    int maxProx = 0;
    /* Get readings and substract the first reading */
    for(i=0; i < 8; i++){
      prox_reading[i] = e_get_prox(i) - prox_first_reading[i];
      if(prox_reading[i] < 0) {prox_reading[i] = 0; }
      if ( prox_reading[i]>maxProx){
	maxProx = prox_reading[i];
      }
    }
      
    if(maxProx > PROX_THRES){
      subsuncion[0][1]=1;  // Collission
    }
    else{  // Chasing
      subsuncion[0][1]=0;
    }
      
    CURRENT_STATE = 1; //by default. chasing
    for(i=0;i<2;i++){
      if(subsuncion[i][1]==1){
	CURRENT_STATE = i;
	break;
      }
    }
    
    char tmp[30];  

    double vector_repelent[2] = {0.0,0.0};
    double ang_repelent;
    double ang_comunicacion = 0;    

	if (e_randb_get_data_uart2(&data)){
	   //actualizar tabla comun
	  if((data.bearing > -2*PI) && (data.bearing < 2*PI)){ 
	    switch(data.data)
	      {
	      case 0:
		comunicacionAngulos[0]=data.bearing;
		comunicacionRangos[0]=data.range;
		sprintf(tmp2,"Sigue Lider. Ang: %f, Rango: %f \n", data.bearing, data.range);
		btcomSendString(tmp2);
		break;

	      case 1:
		comunicacionAngulos[1]=data.bearing;
		comunicacionRangos[1]=data.range;
		sprintf(tmp2,"Sigue Sucker. Ang: %f, Rango: %f \n", data.bearing, data.range);
		btcomSendString(tmp2);	   
		break;
	      }   

	  }
	}

	switch(CURRENT_STATE){
	case 0: //Collission
	  
	  sprintf(tmp2,"-- COLISION max= %d --\n",maxProx);
	  btcomSendString(tmp2);
	  

	  /* Calc vector Sum */
	  vector_repelent[0] = 0.0;
	  vector_repelent[1] = 0.0;   
	  for (i = 0 ; i < 8; i ++ )
	    {
	      vector_repelent[0] += prox_reading[i] * cos ( prox_directions[i] );
	      vector_repelent[1] += prox_reading[i] * sin ( prox_directions[i] );
	    }
	  
	  /* Calc pointing angle */
	  ang_repelent = atan2(vector_repelent[1], vector_repelent[0]);
	  /* Create repelent angle */
	  ang_repelent -= PI;
	  
	  //calculate and set velocity
	  setAngularVelocity(ang_repelent,1);
	  
	  break; // Case 0
	  
	case 1:	// Chasing 
	  sprintf(tmp2,"-- PERSIGUIENDO--\n");
	  btcomSendString(tmp2);
	  
	  ang_comunicacion =  (comunicacionAngulos[0] + comunicacionAngulos[1])/2;
	  if(ang_comunicacion>0.6 || ang_comunicacion<-0.6){ // Chasing
	    
	    sprintf(tmp2,"-- GIRANDO ang= %02f --\n",ang_comunicacion);
	    btcomSendString(tmp2);
	    
	    //calculate and set velocity
	    setAngularVelocity(ang_comunicacion,2);
	  }
	  else { // Walk 
	    sprintf(tmp2,"-- RECTO--\n");
	    btcomSendString(tmp2);
	    
	    e_set_speed_left(SPEED);
	    e_set_speed_right(SPEED);
	  }		
	  break; // Case 1
	} // End switch

   
    //if (e_randb_get_data_uart2(&data)){
   // sprintf(tmp,"%d %02f %d %2f %d\n",debug_var, data.bearing, data.range);
   // btcomSendString(tmp);
    /* Send the data through one sensor */
    
    //e_randb_uart_send_all_data(data);
  }
    
  return 0;
}
コード例 #10
0
ファイル: main.c プロジェクト: SwarmEPuck/SwarmEPuck
int main()
{
    // init robot
    e_init_port();
    e_init_ad_scan();
    e_init_uart1();
    e_led_clear();
    e_init_motors();
    e_start_agendas_processing();

    // initialise buffer
    int k;
    for (k = 0; k < NB_NEIGHBOURS; k++)
        neighbours[k].id = -1;


    // wait for s to start
    /*     btcomWaitForCommand('s'); */

    btcomSendString("-OK-\n");

    e_calibrate_ir();

    // initialize ircom, then rng and start listening
    ircomStart();
    //ircomEnableContinuousListening();
    //ircomEnableProximity();

    initRandomNumberGenerator();
    // after rng init we can disable prox sensors
    //ircomDisableProximity();
    ircomEnableContinuousListening();
    ircomListen();


    id = getselector();

    ircomResetTime();
    lastClock = ircomGetTime();

    // activate movement
    //e_activate_agenda(move, 2500);

    organiseInit();

    // advertise current direction
    e_led_clear();
    e_set_led(0,1);
    e_set_led(4,1);

    while(1)
    {
        int messageReceived = 0;
        while(((ircomGetTime() - lastClock < COM_CYCLE_SPEED) || (ircomIsReceiving() == 1)))
        {
            IrcomMessage msg;
            ircomPopMessage(&msg);

            if (msg.error == 0)
            {
                processNewMessage(&msg);
                messageReceived = 1;
                SetRobotSeen(msg);
            }
        }
        e_set_body_led(messageReceived);


        SendData();
        //sendId();
        //sendAngleToNeighbours();
        lastClock = ircomGetTime();

        e_set_body_led(0);
    }

    ircomStop();
    return 0;
}