task main()
{
waitForStart();
initializeRobot();
// The amount of time the robot...
// ...moves forward at an angle.
const int forwardTimeA = 150;
// ...turns to line up perpendicular to the center rack.
const int turnTimeB = 40;
// ...drives up to the peg before lifting the lift up.
const int forwardTimeC = 155;
// ...lifts the claw to put a ring on (row 2).
const int liftTimeF = 79;
// ...moves forward, putting the ring onto the peg.
const int forwardTimeG = 65;
// ...lowers its lift to get rid of the ring.
const int liftTimeH = 55;
// ...backs up and gets ready to go to a dispenser.
const int backwardTimeI = 300;
// ...turns to face parallel to the walls.
const int turnTimeJ = 40;
// ...moves forward to align itself with a dispenser.
const int forwardTimeK = 100;
// ...turns to face the dispenser.
const int turnTimeL = 80;
// ...moves forward to be under the dispenser.
const int forwardTimeM = 50;
Move_Forward (forwardTimeA, g_AccurateMotorPower);
Turn_Left (turnTimeB, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeC, g_AccurateMotorPower);
Lift_Lift (liftTimeF, g_AccurateMotorPower);
Move_Forward (forwardTimeG, g_AccurateMotorPower);
// Lift power is negative so that the lift goes DOWN, not UP.
Lift_Lift (liftTimeH, (-1) * g_AccurateMotorPower);
Move_Backward (backwardTimeI, g_AccurateMotorPower);
// Turn power doesn't need to be negative (turns in-place).
Turn_Left (turnTimeJ, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeK, g_AccurateMotorPower);
Turn_Left (turnTimeL, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeM, g_AccurateMotorPower);
while (true)
{
PlaySoundFile("moo.rso");
while(bSoundActive == true)
{
Time_Wait(1);
}
}
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
char buffer[] = "AT";
uint8_t delay_type = 0;
/* Chip errata */
CHIP_Init();
/* initalize clocks */
CMU->CTRL |= (1 << 14); // Set HF clock divider to /2 to keep core frequency <32MHz
CMU->OSCENCMD |= 0x4; // Enable XTAL Oscillator
while(! (CMU->STATUS & 0x8) ); // Wait for XTAL osc to stabilize
CMU->CMD = 0x2; // Select HF XTAL osc as system clock source. 48MHz XTAL, but we divided the system clock by 2, therefore our HF clock should be 24MHz
/* Setup SysTick Timer for 1 msec interrupts */
if (SysTick_Config(CMU_ClockFreqGet(cmuClock_CORE) / 1000)) while (1) ;
usart_init();
motor_init();
usart_enable_rx_isr();
BSP_LedsInit();
BSP_LedSet(0);
BSP_LedSet(1);
usart_send_string(buffer);
/* Infinite loop */
while (1) {
BSP_LedToggle(1);
switch(rx_data){
case 'f':
Move_Forward();
delay_type = 1;
break;
case 'b':
Move_Backward();
delay_type = 1;
break;
case 'r':
Move_Left();
delay_type = 2;
break;
case 'l':
Move_Right();
delay_type = 2;
break;
default:
delay_type = 1;
Stop_Robot();
break;
}
rx_data = 0;
//Chooses the delay depending on the movement
if (delay_type == 1){
Delay(1000);
}else if(delay_type == 2){
Delay(200);
}
}
}
task main()
{
// The IR signal strengh in all 5 directions.
int IRdirA = 0;
int IRdirB = 0;
int IRdirC = 0;
int IRdirD = 0;
int IRdirE = 0;
waitForStart();
initializeRobot();
// The amount of time the robot...
const int forwardTimeAA = 25;
const int turnTimeA = 50;
const int forwardTimeA = 170;
const int turnTimeB = 110;
const int forwardTimeB = 100;
const int liftTimeB = 45;
const int forwardTimeCA = 110; //TODO
const int forwardTimeCB = 40; //TODO
const int turnTimeD = 152;
const int forwardTimeD = 110;
const int liftTimeD = 135;
const int forwardTimeE = 95; //TODO
const int turnTimeF = 112;
const int forwardTimeF = 80;
const int liftTimeF = 47;
const int liftTimeG = 30; //TODO
const int backwardTimeG = 100; //TODO
const int turnTimeG = 70; //TODO
const int forwardTimeG = 20; //TODO
const int liftTimeH = 50; //TODO
const int backwardTimeH = 90; //TODO
const int turnTimeH = 100; //TODO
const int forwardTimeH = 70; //TODO
const int liftTimeI = 30; //TODO
const int backwardTimeI = 130; //TODO
const int turnTimeI = 70; //TODO
const int forwardTimeI = 170; //TODO
const int forwardTimeJ = 50; //TODO
const int turnTimeK = 90; //TODO
const int liftTimeK = 30; //TODO
const int forwardTimeK = 50; //TODO
Move_Forward (forwardTimeAA, g_AccurateMotorPower);
Turn_Left (turnTimeA, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeA, g_AccurateMotorPower);
Time_Wait(50);
HTIRS2readAllDCStrength(infrared, IRdirA, IRdirB, IRdirC, IRdirD, IRdirE);
if ( (IRdirA+IRdirB+IRdirC+IRdirD+IRdirE) > g_IRthreshold )
{
Turn_Right (turnTimeB, g_AccurateMotorPower, g_AccurateMotorPower);
Lift_Up (liftTimeB, g_AccurateMotorPower);
Move_Forward (forwardTimeB, g_AccurateMotorPower);
Lift_Down (liftTimeG, g_AccurateMotorPower);
Move_Backward (backwardTimeG, g_AccurateMotorPower);
Turn_Right (turnTimeG, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeG, g_AccurateMotorPower);
}
else
{
Move_Forward (forwardTimeCA, g_AccurateMotorPower);
Time_Wait(50);
HTIRS2readAllACStrength(infrared, IRdirA, IRdirB, IRdirC, IRdirD, IRdirE);
Move_Forward (forwardTimeCB, g_AccurateMotorPower);
if ( (IRdirA+IRdirB+IRdirC+IRdirD+IRdirE) > g_IRthreshold )
{
Turn_Right (turnTimeD, g_AccurateMotorPower, g_AccurateMotorPower);
Lift_Up (liftTimeD, g_AccurateMotorPower);
Move_Forward (forwardTimeD, g_AccurateMotorPower);
Lift_Down (liftTimeH, g_AccurateMotorPower);
Move_Backward (backwardTimeH, g_AccurateMotorPower);
Turn_Right (turnTimeH, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeH, g_AccurateMotorPower);
}
else
{
Move_Forward (forwardTimeE, g_AccurateMotorPower);
Turn_Right (turnTimeF, g_AccurateMotorPower, g_AccurateMotorPower);
Lift_Up (liftTimeF, g_AccurateMotorPower);
Move_Forward (forwardTimeF, g_AccurateMotorPower);
Lift_Down (liftTimeI, g_AccurateMotorPower);
Move_Backward (backwardTimeI, g_AccurateMotorPower);
Turn_Right (turnTimeI, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeI, g_AccurateMotorPower);
}
}
Move_Forward (forwardTimeJ, g_AccurateMotorPower);
Turn_Right (turnTimeK, g_AccurateMotorPower, g_AccurateMotorPower);
Lift_Up (liftTimeK, g_AccurateMotorPower);
Move_Forward (forwardTimeK, g_AccurateMotorPower);
while (true)
{
PlaySoundFile("moo.rso");
while(bSoundActive == true)
{
Time_Wait(1);
}
}
}
