RakNet::Time RakNet::GetTime( void )
{
return (RakNet::Time)(GetTimeUS()/1000);
}
RakNet::TimeMS RakNet::GetTimeMS( void )
{
return (RakNet::TimeMS)(GetTimeUS()/1000);
}
SLNet::TimeMS SLNet::GetTimeMS( void )
{
return (SLNet::TimeMS)(GetTimeUS()/1000);
}
SLNet::Time SLNet::GetTime( void )
{
return (SLNet::Time)(GetTimeUS()/1000);
}
VENet::TimeMS VENet::GetTimeMS( void )
{
return (VENet::TimeMS)(GetTimeUS()/1000);
}
VENet::Time VENet::GetTime( void )
{
return (VENet::Time)(GetTimeUS()/1000);
}
// main function
int main(void){
// initialize io
initialize_pins();
// set up sensors
ADCReadContinuously(side_ir_sensor, 0.01);
ADCReadContinuously(front_ir_sensor, 0.01);
ADCReadContinuously(goal_ir_sensor, 0.01);
// turn on status led
SetPin(green_led_pin, 1);
#ifdef WAIT_FOR_BUTTON_TO_START
// wait for button press
CallOnPinRising(react_to_button, 0, PIN_F0);
while(!running){}
#else
running=1;
#endif
// main loop
while(1){
if(running){
// poll sensors
float side_value = ADCRead(side_ir_sensor);
float front_value = ADCRead(front_ir_sensor);
float goal_value = ADCRead(goal_ir_sensor);
// sanitize values
side_value = coerce(side_value, 0, 1, side_avg[avg_idx]);
front_value = coerce(front_value, 0, 1, front_avg[avg_idx]);
goal_value = coerce(goal_value, 0, 1, goal_avg[avg_idx]);
float side_dist = 0;
float front_dist = 0;
float goal_dist = 0;
if(reset_ir_flag){
// initialize averaging arrays to values
fill_array(side_avg, AVG_LEN, side_value);
fill_array(front_avg, AVG_LEN, front_value);
fill_array(goal_avg, AVG_LEN, goal_value);
reset_ir_flag = 0;
side_dist = side_value;
front_dist = front_value;
goal_dist = goal_value;
}else{
// average values
avg_idx++;
if(avg_idx>=AVG_LEN){
avg_idx=0;
}
side_avg[avg_idx] = side_value;
front_avg[avg_idx] = front_value;
goal_avg[avg_idx] = goal_value;
side_dist = average(side_avg, AVG_LEN);
front_dist = average(front_avg, AVG_LEN);
goal_dist = average(goal_avg, AVG_LEN);
}
SetMotor(right_motor, 1);
if(GetTimeUS()/1000){
left_motor_power += 0.1;
}
SetMotor(left_motor, left_motor_power);
if(side_dist > side_to_can){
SetMotor(right_motor, 0.5);
SetMotor(left_motor, 1);
}
// follow wall
if(side_value > side_max || front_value > front_max){
SetMotor(left_motor, -1);
}else{
SetMotor(left_motor, 1);
}
SetMotor(right_motor, 1);
}
}
}
