void sort_balls(void) {
start_spinner();
while (!side_button()) {
msleep(50);
camera_update(); camera_update();
if (get_object_count(kCameraChannelOrange) > 0 && get_object_confidence(kCameraChannelOrange, 0) >= 0.95 && get_object_area(kCameraChannelOrange, 0) > 500) {
stop_spinner();
set_servo_position(kServoPortSorter, kServoPositionSorterOrange);
msleep(200);
set_servo_position(kServoPortSorter, kServoPositionSorterCenter);
msleep(200);
start_spinner();
} else if (get_object_count(kCameraChannelGreen) > 0 && get_object_confidence(kCameraChannelGreen, 0) >= 0.95 && get_object_area(kCameraChannelGreen, 0) > 500) {
stop_spinner();
set_servo_position(kServoPortSorter, kServoPositionSorterGreen);
msleep(200);
set_servo_position(kServoPortSorter, kServoPositionSorterCenter);
msleep(200);
start_spinner();
}
}
alloff();
}
/**
* igt_get_stable_obj_count:
* @driver: fd to drm/i915 GEM driver
*
* This puts the driver into a stable (quiescent) state and then returns the
* current number of gem buffer objects as reported in the i915_gem_objects
* debugFS interface.
*/
int igt_get_stable_obj_count(int driver)
{
int obj_count;
gem_quiescent_gpu(driver);
obj_count = get_object_count();
/* The test relies on the system being in the same state before and
* after the test so any difference in the object count is a result of
* leaks during the test. gem_quiescent_gpu() mostly achieves this but
* on android occasionally obj_count can still change briefly.
* The loop ensures obj_count has remained stable over several checks
*/
#ifdef ANDROID
{
int loop_count = 0;
int prev_obj_count = obj_count;
while (loop_count < 4) {
usleep(200000);
gem_quiescent_gpu(driver);
obj_count = get_object_count();
if (obj_count == prev_obj_count) {
loop_count++;
} else {
igt_debug("loop_count=%d, obj_count=%d, prev_obj_count=%d\n",
loop_count, obj_count, prev_obj_count);
loop_count = 0;
prev_obj_count = obj_count;
}
}
}
#endif
return obj_count;
}
//routine to use the camera and see blob position based on standard create start routine
void calibrateCamera() {
int channel = 0;
while (a_button_clicked() == 0) {
msleep(2000);
camera_update();
printf ("=> object count %d \n", get_object_count(channel));
int i = 0;
int shelfPlaces[8] = {0,0,0,0,0,0,0,0};
while (i < get_object_count(channel)) {
printf("obj %d, ctr loc, area, shelf plcmt: %d, %d, %d\n", i, get_object_center(channel, i).x, get_object_area(channel, i),
getShelfPlacement(get_object_center(channel, i).x));
shelfPlaces[getShelfPlacement(get_object_center(channel, i).x)] += get_object_area(channel, i);
i++;
}
printf("==========================\n");
printf("=RESULTS =\n");
printf("==========================\n");
i = 1;
while (i < 8) {
printf ("shelfPlace : %d, total cube area : %d\n", i, shelfPlaces[i]);
i++;
}
printf("==========================\n");
printf("click b button for new camera capture, a to exit.\n");
while (b_button_clicked() == 0 && a_button_clicked() == 0 ) {
msleep(25);
}
}
printf("done with calibration function.\n");
}
static void test_reimport_close_race(void)
{
pthread_t *threads;
int r, i, num_threads;
int fds[2];
int obj_count;
void *status;
uint32_t handle;
int fake;
/* Allocate exit handler fds in here so that we dont screw
* up the counts */
fake = drm_open_driver(DRIVER_INTEL);
gem_quiescent_gpu(fake);
obj_count = get_object_count();
num_threads = sysconf(_SC_NPROCESSORS_ONLN);
threads = calloc(num_threads, sizeof(pthread_t));
fds[0] = drm_open_driver(DRIVER_INTEL);
handle = gem_create(fds[0], BO_SIZE);
fds[1] = prime_handle_to_fd(fds[0], handle);
for (i = 0; i < num_threads; i++) {
r = pthread_create(&threads[i], NULL,
thread_fn_reimport_vs_close,
(void *)(uintptr_t)fds);
igt_assert_eq(r, 0);
}
sleep(5);
pls_die = 1;
for (i = 0; i < num_threads; i++) {
pthread_join(threads[i], &status);
igt_assert(status == 0);
}
close(fds[0]);
close(fds[1]);
gem_quiescent_gpu(fake);
obj_count = get_object_count() - obj_count;
igt_info("leaked %i objects\n", obj_count);
close(fake);
igt_assert_eq(obj_count, 0);
}
void findBall(int color)
{
camera_update();
display_clear();
int count = 1;
int objNum = get_object_count(color);
while(objNum == 0)
{
camera_update();
objNum = get_object_count(color);
}
printf("%d time finding a ball", count);
point2 objCen = get_object_center(color, 0);
int errorX = 0, errorY = 0;
errorX = OFFSET_X - objCen.x;
errorY = OFFSET_Y - objCen.y;
while(!(a_button_clicked()))
{
if(BALL_NUM_BOX >= 2)
break;
if(errorX > -4 && errorX < 4 && errorY > -4 && errorY < 4)
break;
int turnLM = -1 * errorX * P_X + errorY * P_Y;
int turnRM = errorX * P_X + errorY * P_Y;
if(turnLM > -1 * MINS && turnLM < 0)
turnLM = -1 * MINS;
if(turnLM > 0 && turnLM < MINS)
turnLM = MINS;
if(turnRM > -1 * MINS && turnRM < 0)
turnRM = -1 * MINS;
if(turnRM > 0 && turnRM < MINS)
turnRM = MINS;
motor(LM, turnLM);
motor(RM, turnRM);
camera_update();
int objArea = get_object_area(color, 0);
while(objArea < 200)
{
ao();
camera_update();
objArea = get_object_area(color, 0);
}
count++;
display_clear();
printf("%d time finding a ball ", count);
printf("%d NUM", BALL_NUM_BOX);
objCen = get_object_center(color, 0);
errorX = OFFSET_X - objCen.x;
errorY = OFFSET_Y - objCen.y;
}
ao();
catchBalls(color);
}
void moveToBalls(){
camera_update();
camera_update();
camera_update();
camera_update();
int objNum = get_object_count(GREEN);
while(objNum == 0){
motor(LM, 83);
motor(RM, 100);
camera_update();
objNum = get_object_count(GREEN);
}
msleep(250);
}// move forward; stop when sees a target ball
int check_stopping_event(int stopping_event) {
if (stopping_event == STOP_BY_ET) {
if (analog_et(ET_SENSOR) < 300) {
return 1;
}
} else if (stopping_event == STOP_BY_TOPHAT) {
display_printf(0, 0, "%4i", analog(L_TOPHAT));
if (analog(L_TOPHAT) > 750 || analog(R_TOPHAT) > 750) {
return 1;
}
} else if (stopping_event == STOP_BY_CAMERA) {
camera_update();
if (get_object_count(0) < 1) {
display_printf(0, 0, "No Object Found");
return 0;
}
if (get_object_area(0, 0) > PINGPONG_THRESHOLD) {
display_clear();
display_printf(0, 0, "Object Seen!");
if (get_object_center(0, 0).x > 90 && get_object_center(0, 0).x < 110) {
display_printf(0, 1, "Object centered");
return 1;
}
}
} else {
printf("Stopping type is not defined!\n");
return -1;
}
return 0;
}
int find_item()
{
camera_update();
point2 mcenter = get_object_center(1,0);
set_servo_position (0 ,400);
while(get_object_count(1) == 0){
camera_update();
create_spin_CCW(25);
}
create_stop();
sleep(1);
create_spin_CW(15);
msleep(100);
while(mcenter.x < 70 || mcenter.x > 100){
camera_update();
mcenter = get_object_center(1,0);
if(mcenter.x < 70){
create_spin_CCW(15);
camera_update();
mcenter = get_object_center(1,0);
}
if(mcenter.x < 100){
create_spin_CW(15);
camera_update();
mcenter = get_object_center(1,0);
}
if(mcenter.x > 70 && mcenter.x < 100){
create_stop();
}
}
beep();
}
void cube_is_near(){
camera_update();
msleep(500);
camera_update();
enable_servos();
claw_open();
printf("cube is near");
freeze(Motor_Left);
freeze(Motor_Right);
if(get_object_count(0)!=0){
printf("gleich gefunden\n");
if(get_object_bbox(0,0).width > 20){
printf("groß genug");
funden=1;
found_something();
}
}
double s=seconds();
motor(Motor_Right,30);
while(funden==0){//nichts gefunden
camera_update();
printf("nach rechts\n");
if(get_object_count!=0){
printf("1 gefunden \n");
if(get_object_bbox(0,0).width > 20){
printf("groß genug");
found_something();
funden=1;
break;
}
}
if(seconds()>s+2){
printf("zeit rechts\n");
freeze(Motor_Right);
break;
}
}
s=seconds();
motor(Motor_Left,30);
while(funden==0){
camera_update();
printf("nach links drehen \n");
if(get_object_count!=0){
printf("1 gefunden \n");
if(get_object_bbox(0,0).width > 20){
printf("groß genug");
found_something();
funden=1;
break;
}
}
if(seconds()>s+4){
printf("zeit links\n");
freeze(Motor_Left);
break;
}
}
}
int getNumVisiblePingPongBalls(void)
{
//camera_open();
camera_update();
int count = get_object_count(PING_PONG_BALL_CHANNEL_RED);
//camera_close();
return count;
}
int main()
{
printf("Hello, World!\n");
camera_open(LOW_RES);
press_A_to_continue();
printf("Number of objects on channel 1: %i\n", get_object_count(1));
printf("Object data length on channel 1: %i\n", get_object_data_length(1, 0));
return 0;
}
void moveToBalls(){
camera_update();
camera_update();
camera_update();
camera_update();
int objNum = get_object_count(GREEN);
while(objNum == 0){
motor(LM, LM_SP_STR1);
motor(RM, RM_SP_STR1);
camera_update();
objNum = get_object_count(GREEN);
}
mrp(LM, -1 * LM_SP_STR2, 120);
mrp(RM, -1 * RM_SP_STR2, 120);
bmd(LM);
bmd(RM);
ao();
//msleep(250);
}// move forward; stop when sees a target ball
int main()
{
//while the a button isn't pressed
int x, y, color=0; //sets all variables to 0
camera_open(LOW_RES);
while(side_button()==0)
{
//sets camera to lowest resolution for minimal lag
//camera takes a picture
if(get_object_count(color) > 0) // If the right color is detected, run this code
{
x = get_object_center(color,0).x;
y = get_object_center(color,0).y; //x and y variables now represent x and y coordinates of the biggest color blob
if(x>80) //if the x coordinate is on the right
{
printf("The biggest blob is on the right and the coordinates are (%d,%d)", x ,y); //prints the words
}
if(x<80) //if x is on th left
{
printf("The biggest blob is on the left and the coordinates are (%d,%d)" , x ,y); //print the words
}
else
{
printf("no object in sight");
}
camera_update();
}
}
}
int main(){
camera_open(LOW_RES);
camera_load_config("color.config");
while(!(a_button_clicked())){
display_clear();
camera_update();
int objNum = get_object_count(GREEN);
if(objNum == 0)
printf("NO SUCH OBJECT!!!!!!!!");
else if(objNum > 0){
point2 objCen = get_object_center(GREEN, 0);
int objArea = get_object_area(GREEN, 0);
printf("X:\t%d\nY:\t%d\n", objCen.x, objCen.y);
printf("Area:\t%d\n", objArea);
}
msleep(100);
}
return 0;
}
int main(){
armUp();
clawOpen();
camera_open(LOW_RES);
double start_wait=seconds();
while((seconds()-start_wait)<=25){//wait for poms or for 25 seconds
int i=0;
while(i<10){//picks latest image from the buffer
camera_update();
i++;
}
if(get_object_count(chan)>0){
break;
}else{
stop(0.1);
}
}
while((seconds()-start_wait)<=60){
int area=get_object_area(chan, 0);
if(area>=600){
int i=0;
while(i<10){
camera_update();
i++;
}
int x=get_object_center(chan, 0).x;
if(x<65){
rightF(0.1, 100, 80);
}else{
leftF(0.1, 100, 80);
}
}else{
break;
}
}
armDown();
clawClose();
armUp();
}
void main()
{
calibrate();
set_servo_position(CAM_SERVO,CAM_SERVO_POSITION_RIGHT);
camera_open(LOW_RES);
enable_servos();
set_analog_pullup(3,0);
while(!b_button()){
claw_at_linefollowing();
do {
camera_update();
linefolowing();
} while(get_object_count(green) ==0); //linefolowing bis er was sieht
if(get_object_bbox(0,0).width>BLOB_SIZE_TAKE&&get_object_bbox(0,0).height>BLOB_SIZE_TAKE){
takepom();
}
printf("kompletdurch \n");
}
disable_servos();
stop();
}
void catchBall(int color){
set_servo_position(ASV, ASV_CATCH);
set_servo_position(SSV, SSV_GUARD);
msleep(800);
// catch ball on ground
int count = 0;
for(count = 0; count < 4; count++){
motor(LM, 100);
motor(RM, 100);
msleep(100);
motor(LM, -100);
motor(RM, -100);
msleep(100);
}
// tremble ball into the claw
ao();
set_servo_position(ASV, ASV_CHECK);
msleep(600);
set_servo_position(SSV, SSV_BACK);
msleep(400);
// set ball before camera for check
if(check(color)){
// the ball is right
camera_update();
camera_update();
camera_update();
if(get_object_count(GREEN) > 0)
findBall();
// check if other balls emerge
}else
findBall();
// ball is elsewhere
}
int findValidObject(){ //find an object for the purpose of tracking. Should not move.
int channel = 1 //insert channel here
int waitTime = 10000 //time robot waits for object to move
int validTargets = 0 //number of valid targets
camera_open();
camera_update();
count = get_object_count(channel);
/*point2 obj_pos_before[count]; //check point2
point2 obj_pos_after[count];
for (i=0; i<count; i++){
obj_pos_before[i] = get_object_center(channel, i);
}
msleep(waitTime)
for (i=0; i<count; i++){
point2 obj_pos_after[i] = get_obj_center(channel, i);
if(obj_pos_before[i].x = obj_pos_after.x && obj_pos_before[i].y = obj_pos_after[i].y){
printf("Object %d is a valid target\n", i)
validTargets = validTargets + 1
}
if(validTargets = 0){
printf("No valid targets")
}
}*/
}
int main()
{
printf("version 1.9.5\n");
shut_down_in(0.010*1000);
int start=seconds();//starting time for two minutes
enable_servo(0);
set_servo_position(0,2047);
straight(1.8, 170);//gets in front of transport
rightC(0.28, 100);
leftC(0.28, -100);
straight(1.65, 170);
leftC(0.44, 100);
printf("completed first dead reckoning\n");
set_analog_pullup(ETport, 0);
//until distance is 5 centimeter
/*
int claw_threshold = 13;
while(analog10(ETport)>claw_threshold){
back(0.1, -10);
msleep(1000);
printf("move once\n");
printf("%i\n", analog10(ETport));
}*/
back(0.25, -20);//pushes against transport
msleep(2000);
set_servo_position(0, 500);//puts claw on transport
msleep(1000);
printf("done with attaching to transport\n");
while(digital(8)==0)//goes forward with transport until it hits the wall
{
straight(0.1, 100);
msleep(10);
}
printf("at wall\n");
back(0.25, -50);//backs up from wall to deposit transport
set_servo_position(0, 2047);//raises claw
msleep(1500);
while(digital(8)==0){//goes forward until it hits wall for second time
straight(0.1, 100);
msleep(10);
}
printf("at wall 2\n");
back(0.35, -100);//goes back and turns left in order to be oriented with left inner wall
leftC(0.6, 142);
int bump_counter=0;
while(digital(8)==0){//hits side wall
straight(0.1, 100);
msleep(10);
}
bump_counter++;//has one bump
int i=0;
while(i<10){//if hits side wall, pause
stop(0.2);
i++;
}
back(0.25, -100);
leftC(0.46, 100);
camera_open(LOW_RES);
armUp();
clawOpen();
double start_wait=seconds();
while((seconds()-start_wait)<=25){//wait for poms or for 25 seconds
int i=0;
while(i<10){//picks latest image from the buffer
camera_update();
i++;
}
if(get_object_count(chan)>0){//if camera sees objects, skip the 25 seconds and go onto picking up stuff
break;
}else{//if camera doesn't see any objects, keep waiting until 25 seconds is up
stop(0.1);
}
}
int x=get_object_center(chan, 0).x;//declares global unchanging variable for the x location of the largest object
while((seconds()-start)<=120){//while there is still time left
int area=get_object_area(chan, 0);//creates local changing variable. this is th area of the largest object camera sees
if(area<=600){//if the object is small enough(far enough), navigate towards object. 600 is threshold
int i=0;
while(i<10){//buffer updating
camera_update();
i++;
}
navigate_poms(x);//similar to line followig function; gets to poms.
}
armDown();
clawClose();
armUp();
/*
leftF(0.5, 100, 80);//turn and go forward until transport is contacted
while(digital(8)==0){
straight(0.1, 100);*/
}
/*
back(1.5, 100);
leftC(0.44, 100);
while(digital(8)==0 && digital(9)==1){
straight(0.1, 100);
msleep(10);
if(digital(9)==0){
rightF(0.1, 100, 40);
left(0.1, 100);
msleep(10);
}
}
straight(2, 200);
rightC(0.44, 100);
straight(1, 80);
rightC(0.92, 100);
while(analog10(ETport<=600)){
msleep(10);
}
msleep(10000);
straight(1, 80);
leftC(0.44, 100);
straight(2, 200);
*/
return 0;
}
void findBall(){
display_clear();
int temptLMSpeed = LM_MINS; // changeable minimum speed for left motor
int temptRMSpeed = RM_MINS; // changeable minimum speed for right morot
int lastLMSpeed, lastRMSpeed; // motor speed
int lastLMPos, lastRMPos; // motor positions
int errorX = 0, errorY = 0; // difference of current ball coordinate and target coordinate
int objArea; // area of the largest object in sight
point2 objCen; // object center coordinate
camera_update();
int objNum = get_object_count(GREEN);
while(objNum == 0){
camera_update();
objNum = get_object_count(GREEN);
}
// find a ball in sight
objCen = get_object_center(GREEN, 0);
errorX = OFFSET_X - objCen.x;
errorY = OFFSET_Y - objCen.y;
while(!(a_button_clicked())){
camera_update();
objArea = get_object_area(GREEN, 0);
while(objArea < 200){
ao();
camera_update();
objArea = get_object_area(GREEN, 0);
}
// make sure really a ball is in sight
objCen = get_object_center(GREEN, 0);
errorX = OFFSET_X - objCen.x;
errorY = OFFSET_Y - objCen.y;
// find differences between coordinates
if(errorX > -3 && errorX < 2 && errorY > -3 && errorY < 2)
break;
int turnLM = -1 * errorX * P_X + errorY * P_Y;
int turnRM = errorX * P_X + errorY * P_Y;
// turn for LM, RM
if(turnLM == lastLMSpeed && lastLMPos == get_motor_position_counter(LM))
temptLMSpeed = temptLMSpeed + 1;
if(turnLM == lastLMSpeed && lastLMPos != get_motor_position_counter(LM))
temptLMSpeed = temptLMSpeed - 1;
if(turnLM == -1 * lastLMSpeed && lastLMPos != get_motor_position_counter(LM))
temptLMSpeed = temptLMSpeed - 2;
if(turnRM == lastRMSpeed && lastRMPos == get_motor_position_counter(RM))
temptRMSpeed = temptRMSpeed + 1;
if(turnRM == lastRMSpeed && lastRMPos != get_motor_position_counter(RM))
temptRMSpeed = temptRMSpeed - 1;
if(turnRM == -1 * lastRMSpeed && lastRMPos != get_motor_position_counter(RM))
temptRMSpeed = temptRMSpeed - 2;
lastLMSpeed = turnLM;
lastLMPos = get_motor_position_counter(LM);
lastRMSpeed = turnRM;
lastRMPos = get_motor_position_counter(RM);
// check if speed is too high or low, thus make modification to minimum speed
if(turnLM > -1 * temptLMSpeed && turnLM < 0)
turnLM = -1 * temptLMSpeed;
if(turnLM > 0 && turnLM < temptLMSpeed)
turnLM = temptLMSpeed;
if(turnRM > -1 * temptRMSpeed && turnRM < 0)
turnRM = -1 * temptRMSpeed;
if(turnRM > 0 && turnRM < temptRMSpeed)
turnRM = temptRMSpeed;
// set minimum speed: avoid unmoving
motor(LM, turnLM);
motor(RM, turnRM);
// move
}
ao();
catchBall(GREEN);
// stop and catch
}
int main()
{
// INITIALIZE
int x, y, color=0, pink=1; // set up for color channel 0 (green)
int xvalue, yvalue;
int greencentered = 0;
int loop = 0;
int centerx=77; // calibrate these number and enter manually
int centery=63;
int margin=8;
int deltax = 0;
int deltay = 0;
int stepsizex;
int stepsizey;
int currpos;
int s_time;
light_start(L_SENSOR); // light start
shut_down_in(119);
camera_open(LOW_RES);
enable_servos(); // enable servos
set_servo_position(S_CATCHER,S_DOWN);
msleep(500);
set_servo_position(S_GATE,S_OPEN);
msleep(500);
// TRIBBLE PILE 1
//set_servo_position(S_GATE,S_OPEN); // open gate
msleep(5000);
set_servo_position(S_CATCHER,CATCHER_UP);
right(28,ks/2); // right
f_until_black(TOPHAT_RIGHT/*,TOPHAT_LEFT*/); // forward until right sensor sees black]
forward(2);
//printf("see black! time to close the gate\n");
set_servo_position(S_GATE,S_GAP); // close gate
//f_until_white(TOPHAT_RIGHT);
set_servo_position(CATCHERARM, CATCHER_UP);
// camera sort
s_time = curr_time();
while((curr_time()-s_time) < 14)
{
while (greencentered == 0)
{
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
loop = loop + 1;
printf("Update camera, loop %d\n", loop);
//msleep(10);
if (get_object_count(color) > 0)
{
xvalue = get_object_center(color,0).x;
yvalue = get_object_center(color,0).y;
deltax = abs(xvalue-centerx);
deltay = abs(yvalue-centery);
stepsizex = (deltax>10) ? 50: 20;
stepsizey = (deltay>10) ? 50: 20;
printf("x is %d, y is %d\n", xvalue, yvalue);
greencentered = ((xvalue >= centerx-margin) & (xvalue <= centerx+margin)) && ((yvalue >= centery-margin) & (yvalue <= centery+margin));
if(greencentered == 1)//get x, y for the biggest blob the channel sees
{
printf("Biggest blob at (%d,%d)\n",xvalue,yvalue);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_MIDWAY);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_DOWN);
//slow_servo(CATCHERARM,20,40,CATCHER_UP,CATCHER_DOWN);
msleep(300);
currpos=get_servo_position(CATCHERARM);
printf("%d\n",currpos);
/*if(CATCHER_MIDWAY>=currpos>CATCHER_DOWN)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos-INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}
if(currpos<CATCHER_MIDWAY)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos+INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}*/
set_servo_position(CATCHERARM,CATCHER_UP);
msleep(500);
}
else
{
if(xvalue <= centerx+margin) //moves right if senses value greater than 80
{
motor(MOT_RIGHT,70);
motor(MOT_LEFT,-70);
msleep(stepsizex);
motor(MOT_RIGHT,0);
motor(MOT_LEFT,0);
//msleep(10);
printf("blob is too right\n");
}
if(xvalue >= centerx-margin) // moves left if senses value less than 70
{
motor(MOT_LEFT,70);
motor(MOT_RIGHT,-70);
msleep(stepsizex);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too left\n");
}
if ((xvalue > 67 /*centerx-margin*/) && (xvalue < 87 /*centerx+margin*/))
{
if(yvalue > centery+margin) //moves forward if senses value greater than 43
{
motor(MOT_LEFT,-50);
motor(MOT_RIGHT,-50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too close\n");
}
if(yvalue < centery-margin) // moves backwar if senses value less than 38
{
motor(MOT_LEFT,50);
motor(MOT_RIGHT,50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too far\n");
}
}
}
}
}
}
set_servo_position(S_GATE,S_CLOSE);
while (analog10(2)<BLACK_SEN_THRESH)
{
motor(MOT_LEFT,-100);
}
// SCORE PILE 1
left(5,0);
//backward(50);
touch_back(TOUCH_SEN);
forward(10);
backward(10);
forward(20);
right(55,0);
forward(35);
backward(4);
right(45,0);
while (analog10(3)<BLACK_SEN_THRESH)
{
motor(MOT_LEFT, 100);
motor(MOT_RIGHT, 100);
}
msleep(10);
backward(24);
left(42,0);
backward(10);
left(50,0);
//backward(35);
touch_back(TOUCH_SEN);
forward(120.00);
// TRIBBLE PILE 2
set_servo_position(S_GATE,S_OPEN);
forward(40.00);
set_servo_position(S_GATE,S_GAP);
// camera sort
s_time = curr_time();
while((curr_time()-s_time) < 14) //timer
{
while (greencentered == 0)
{
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
loop = loop + 1;
printf("Update camera, loop %d\n", loop);
//msleep(10);
if (get_object_count(color) > 0)
{
xvalue = get_object_center(color,0).x;
yvalue = get_object_center(color,0).y;
deltax = abs(xvalue-centerx);
deltay = abs(yvalue-centery);
stepsizex = (deltax>10) ? 50: 20;
stepsizey = (deltay>10) ? 50: 20;
printf("x is %d, y is %d\n", xvalue, yvalue);
greencentered = ((xvalue >= centerx-margin) & (xvalue <= centerx+margin)) && ((yvalue >= centery-margin) & (yvalue <= centery+margin));
if(greencentered == 1)//get x, y for the biggest blob the channel sees
{
printf("Biggest blob at (%d,%d)\n",xvalue,yvalue);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_MIDWAY);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_DOWN);
//slow_servo(CATCHERARM,20,40,CATCHER_UP,CATCHER_DOWN);
msleep(300);
currpos=get_servo_position(CATCHERARM);
printf("%d\n",currpos);
/*if(CATCHER_MIDWAY>=currpos>CATCHER_DOWN)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos-INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}
if(currpos<CATCHER_MIDWAY)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos+INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}*/
set_servo_position(CATCHERARM,CATCHER_UP);
msleep(500);
}
else
{
if(xvalue <= centerx+margin) //moves right if senses value greater than 80
{
motor(MOT_RIGHT,70);
motor(MOT_LEFT,-70);
msleep(stepsizex);
motor(MOT_RIGHT,0);
motor(MOT_LEFT,0);
//msleep(10);
printf("blob is too right\n");
}
if(xvalue >= centerx-margin) // moves left if senses value less than 70
{
motor(MOT_LEFT,70);
motor(MOT_RIGHT,-70);
msleep(stepsizex);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too left\n");
}
if ((xvalue > 67 /*centerx-margin*/) && (xvalue < 87 /*centerx+margin*/))
{
if(yvalue > centery+margin) //moves forward if senses value greater than 43
{
motor(MOT_LEFT,-50);
motor(MOT_RIGHT,-50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too close\n");
}
if(yvalue < centery-margin) // moves backwar if senses value less than 38
{
motor(MOT_LEFT,50);
motor(MOT_RIGHT,50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too far\n");
}
}
}
}
}
}
set_servo_position(S_GATE,S_CLOSE);
// SCORE PILE 2
right(55,0);
forward(28);
backward(12);
right(55,0);
touch_back(TOUCH_SEN);
forward(200);
right(50,0);
touch_back(TOUCH_SEN);
forward(15);
left(50,0);
while (analog10(3)<BLACK_SEN_THRESH)
{
motor(MOT_LEFT, 100);
motor(MOT_RIGHT, 100);
}
backward(4);
right(50,0);
msleep(10);
forward(24);
right(42,0);
touch_back(TOUCH_SEN);
backward(4);
// END
ao();
disable_servos();
printf("done!");
}
void takepom(){
printf("takepom \n");
set_servo_position(CLAW1, CLAW1_FRONT);
set_servo_position(CLAW2, CLAW2_FRONT);
set_servo_position(CAM_SERVO,CAM_SERVO_POSITION_FRONT);
stop();
msleep(1000);
turn_right();
msleep(500);
int findit=1;
int left_or_right=1; //ob nach linksoder rechts drehen l=0, r=1
int getit=0; //wenn er das pom hat
int foundNothingToLong=0;
double sec=seconds();
while(!getit){
if((sec+10)<seconds()){ //wenn er 10 sec nichts findet
if(foundNothingToLong=2){
forward();
while((analog10(ET)<310&&( analog10(LEFT_SENSOR)<left_blk-150||analog10(RIGHT_SENSOR)<right_blk-150))){
msleep(5);
}
if(analog10(ET)<310){
turn_left();
msleep(600);
forward();
while( analog10(LEFT_SENSOR)<left_blk-150||analog10(RIGHT_SENSOR)<right_blk-150){}
}
}
else{
foundNothingToLong++;
back();
msleep(400); //etwas rückwerts
sec=seconds();
if(!get_object_count(green)>0){ //wenn ers nicht hat
forward();
msleep(400);
findit=0; //nicht gefunden
turn_left();
while(analog10(LEFT_SENSOR)<left_blk-150){}
turn_left();
while(analog10(MIDDLE_SENSOR)<mid_blk-150){}
break;
}
}
}
if(left_or_right){
turn_right_speed(slow_speed);
while(analog10(RIGHT_SENSOR)<right_blk-150&&!get_object_count(green)>0){ //solange Kammera und Sensor nichts sehen rechts drehen
camera_update();
}
stop(); //wenn etwas gefunden stehen bleiben
msleep(200);
if(analog10(RIGHT_SENSOR)>right_blk-150){ //schauen ob Kamera oder Sensor
left_or_right=0; //bei sensor drehrichtung ändern
}
else{
camera_update();
if(get_object_bbox(0,0).width>5&&get_object_bbox(0,0).height>5&&analog10(RIGHT_SENSOR)<right_blk-150){ //wenn Kammera : Wa blob ein zu kleiner Blob(was falsches gesehen), wenn blob groß stehen bleiben und feinjustireung(foundit) machen
getit=foundit();
}
}
}
else{
turn_left_speed(slow_speed);
while(analog10(LEFT_SENSOR)<left_blk-150&&!get_object_count(green) >0){
camera_update();
}
stop();
msleep(200);
if(analog10(LEFT_SENSOR)>left_blk-150){
left_or_right=1;
}
else{
camera_update();
if(get_object_bbox(0,0).width>5&&get_object_bbox(0,0).height>5){
getit=foundit();
}
}
}
}
if(findit){
put_poms_out(); // poms nach drausen schieben
}
}
int foundit(){
printf("foundit \n");
int x;
camera_update();
if(get_object_count(green)>0){
while(get_object_center(green,0).y < 100){ //solange bis blob nahe genug
camera_update();
if(get_object_count(green)>0){ //schaut ob Blob noch in der Kamera
camera_update();
x = get_object_center(green,0).x;
if (x > 120) { //wenn Blob rechts--> rechts drehen ....
turn_right_speed(50); //je näher er dem pom kommt umso langsamer dreht er sich
} else if (x < 40) {
turn_left_speed(50); //je näher er dem pom kommt umso langsamer dreht er sich
} else if ((x > 40)||(x < 120)) {
forward();
if(analog10(LEFT_SENSOR)>left_blk-150||analog10(RIGHT_SENSOR)>right_blk-150){
foundOutArea=1;
printf("drausen\n");
}
}
}
else{ //wenn blob nicht mehr in Kamera wieder in grobjustierung(takepom) gehen
return 0;
}
}
printf("target aquired! \n");
set_servo_position(CLAW1, CLAW1_FRONT);
set_servo_position(CLAW2, CLAW2_FRONT);
forward(); //etwas vor fahren um Blob sicher zu erwischen
int time=200;
while((analog10(ET)<310&&!digital(15)&&!digital(14))&&time>=0 ){
msleep(5);
time--;
}
printf("%i",digital(15));
printf("\nLast time ");
printf("%i",time);
stop();
msleep(100);
if(time>=0){ //fals er angefahren ist
back();
msleep(150);
motor(RIGHT_MOTOR,TURN_SPEED);
motor(LEFT_MOTOR,0);
msleep(1500);
claw_close();
}
claw_close();
if(foundOutArea){ //wenn ers auserhalb des Schwarzen bereichs gefunden hat
printf("zurück fahren\n");
back();
while(analog10(LEFT_SENSOR)>left_blk-150||analog10(RIGHT_SENSOR)>right_blk-150){}
msleep(700);
}
back();
msleep(800);
if(analog10(LEFT_SENSOR)>left_blk-150||analog10(RIGHT_SENSOR)>right_blk-150){ //wenn er so weit zurück sein sollte das er auf schwarz is
forward();
while(analog10(LEFT_SENSOR)<left_blk-150&&analog10(RIGHT_SENSOR)<right_blk-150){} //wieder forwärts bis er weis is damits funktioniert
}
camera_update();
return 1;
}
return 0;
}
int main(int argc, char *argv[])
{
int blob_count = 0, i = 0;
int main_channel = 2; /* red - botguy */
double time_of_snapshot = 0.0;
double start = 0.0;
printf("args: %d\n", argc);
if (argc > 1)
{
if (argv[1][0] == '0') main_channel = 0;
else if (argv[1][0] == '1') main_channel = 1;
else if (argv[1][0] == '2') main_channel = 2;
else if (argv[1][0] == '3') main_channel = 3;
}
for (i = 0; i < argc; i++) {
printf("arg[%d] = %s\n", i, argv[i]);
}
printf("\n");
int area[NUM_TRACKING];
point2 center[NUM_TRACKING];
rectangle blob[NUM_TRACKING];
//int area1 = 0, areaX = 0;
//point2 center;
init_grid();
//wait_for_light(0);
camera_open();
printf("Num channels: %d", get_channel_count());
camera_update();
time_of_snapshot = seconds();
msleep(300);
start = seconds();
do {
// Initialize
memset(center, 0, sizeof(center));
memset(area, 0, sizeof(area));
clear_grid();
// Begin
// Do not do anything with the camera until enough time has passed
if (seconds() - time_of_snapshot >= 0.1) {
camera_update();
time_of_snapshot = seconds();
blob_count = get_object_count(main_channel);
//sprintf(msg, "#:%2d", blob_count); diag();
printf("#:%-2d ", blob_count);
if (blob_count > count_of(area)) {
blob_count = count_of(area);
}
if (blob_count > 0) {
for (i = 0; i < blob_count; ++i) {
area[i] = get_object_area(main_channel, i);
center[i] = get_object_center(main_channel, i);
blob[i] = get_object_bbox(main_channel, i);
plot(&blob[i], i + '0');
}
for (i = 0; i < blob_count; ++i) {
printf(" %3d", blob[i].width * blob[i].height);
}
for (; i < count_of(blob); ++i) {
printf(" ");
}
printf(" ");
for (i = 0; i < blob_count; ++i) {
printf(" %2dx%2d", blob[i].width, blob[i].height);
}
//show_xy(center[0].x, center[0].y);
}
//printf(" |%3d %4d <-> %4d %3d| %s\n", delta_left, left, right, delta_right, message);
printf("%s\n", message);
message[0] = 0;
diag();
show_grid();
}
//printf("The time is: %f %f\n", seconds(), seconds() - start);
} while (seconds() - start <= 4.0);
camera_close();
return 0;
}
