void egg_box_task(robot_state &state)
{
std::cout << "entered egg box task\n";
// align to box
move(state, -1, 0);
delay(1300);
move(state, 0, -1);
delay(500);
move(state, 1, 0);
delay(500);
// eject the shells
open_claw(state);
flap_flapper(state);
unflap_flapper(state);
close_claw(state);
state.have_egg = false;
update_status_leds(state);
// realign to track
move(state, -1, 0);
delay(500);
move(state, 0, 1);
wait_for_crossing(state);
move(state, 1, 0);
delay(1000);
move(state, 1, 1);
wait_for_crossing(state);
move(state, 0, -1);
delay(100);
state.eggs_processed++;
state.map->vs[VERT_ABOVE_EGGS]->ignore_junction = false;
set_next_target(state);
std::cout << "egg box task complete\n";
}
void egg_task(robot_state &state)
{
// Align with podium
// due to length of robot, need to use the "other" end of the line
// turn west, follow this line until no line detected. Keep going a bit further.
// turn 180* until line detected again. Follow line back up to egg junction
// Go through junction, and now use edge following to slowly approach the podium
// (edge following has less slack than line following)
// Edge follow until one whisker hits the wall, then drive the opposite motor until both
// whiskers are on wall
std::cout << "entered egg task (" << state.eggs_processed << " eggs processed so far)\n";
if (state.eggs_processed >= 1 && state.eggs_processed <= 3)
{
std::cout << "Turning to west\n";
move(state, -1, -0.5);
delay(600);
move(state, 1, -1);
wait_for_crossing(state);
move(state, 1, 0);
delay(300);
move(state, 0.5, 1);
std::cout << "Turning east\n";
wait_for_crossing(state);
move(state, 0, -1);
delay(100);
std::cout << "Alignment reached.\n";
}
open_claw(state);
state.integral = 0.f;
while (!(state.bump_left || state.bump_right))
{
update_sensor_values(state);
follow_line_ignore_junctions(state);
}
std::cout << " Bumped into wall: " << (state.bump_left ? "l" : "-") << (state.bump_right ? "r" : "-") << "\n";
move(state, 0, 0);
// Close claw, back away
close_claw(state);
delay(500);
move(state, -1, 0);
while (state.line_state != LINE_JUNCTION)
update_sensor_values(state);
delay(600);
move(state, 0, 0);
state.have_egg = true;
update_status_leds(state);
// if claw can't close, egg is fake. can skip to realignment step.
if (state.claw_closed)
{
// Split claw (dropping contents into bucket)
// Use LDR to identify contents.
// set have_chick or have_white accordingly
widen_claw(state);
delay(1000);
for (int i = 0; i < 3; ++i)
{
narrow_claw(state);
delay(200);
widen_claw(state);
delay(300);
}
move(state, 0, 0);
read_ldr(state);
if (state.light_sensor > 0.2f)
state.have_white = true;
else
state.have_chick = true;
std::cout << (state.have_white ? "Egg white " : "Chick ") << "detected.\n";
update_status_leds(state);
}
std::cout << "Egg picked up, realigning to track\n";
// realign to track
// (may possibly have to set current vertex to egg_n+1 due to turning during realignment)
move(state, 1, 1);
wait_for_crossing(state);
delay(100);
std::cout << "On line, straightening...\n";
move(state, 1, 0);
while (state.line_state != LINE_STRAIGHT)
{
update_sensor_values(state);
}
/*move(state, 1, 0.5);
delay(500);
do
{
update_sensor_values(state);
} while (state.line_state < -1 || state.line_state > 1);
move(state, 0, 0);
state.integral = 0.f;*/
/*float time = state.watch.read();
while (state.watch.read() < time + 3000.f)
{
update_sensor_values(state);
follow_edge(state, 3, false);
}*/
narrow_claw(state);
advance_current_egg_position(state);
state.map->vs[VERT_ABOVE_EGGS]->ignore_junction = true;
set_next_target(state);
std::cout << "Egg task complete\n";
}
int main()
{
struct cbcRobot robot = {0,3,150,55,1100}; //Define the robot. 0 and 3 are the motor ports,
//150 mm is the wheel distance
//55 is wheel diameter, 1100 is ticks per rotation
light_it_up(4); //Wait for the light to turn on
set_servo_position(arm_servo, top_pos); //Set the arm servo to the top position
shut_down_in(118.0); //Shut down in 118 seconds
//msleep(5000); //Wait 5 seconds
float initial_time=seconds(); //Create a variable that records the initial time
cbc_align(400); //Align with both of the top hats on the black line
ao();
cbc_align_white(300);
lower_arm(600); //Lower claw and open arm
open_claw(600);
cbc_straight(140, 800); //Straight out to get away from pvc
wait_for_cbc();
cbc_arc_left(160, 135, 100); //Get past pvc to lower arm and open claw
wait_for_cbc();
cbc_straight(180, 800); //Go straight into tribbles
wait_for_cbc();
close_claw(1000); //Close claw on tribbles
cbc_straight(280, 800);
wait_for_cbc();
raise_arm(1200); //Raise the arm
msleep(800);
cbc_arc_right(180, 34, 80); //Arc right to get into position to approach the lattice wall
wait_for_cbc();
cbc_touch(700, 5000); //Bump into lattice wall
msleep(300);
cbc_straight(-100, 600); //Back up 10 cm from wall
wait_for_cbc();
open_claw(800); //Open claw to release tribbles and turn 94 degrees right
cbc_spin(-94, 500);
wait_for_cbc();
cbc_straight(120, 700); //Go forward into the turnstile and lower arm to mid position
arm_mid(2000);
msleep(1200);
cbc_spin(20, 500); //Turn 20 degrees left to hit the turnstile out of the way
wait_for_cbc();
msleep(200);
cbc_spin(-16, 700); //Turn back 16 degrees to the right and close the claw
close_claw(800);
wait_for_cbc();
cbc_straight(-280, 800); //Go backwards to get into position to grab the tribbles
wait_for_cbc();
lower_arm(1000); //Lower the arm and open the claw
msleep(800);
open_claw(800);
msleep(1000);
cbc_spin(8,700); //Turn 8 degrees to get ready to grab the tribbles
wait_for_cbc();
cbc_arc_left(1500, 6, 100); //Go nearly straight into the tribbles
wait_for_cbc();
close_claw(200); //Go forward and grab the tribbles
cbc_straight(200, 600);
wait_for_cbc();
close_claw(600);
msleep(800);
cbc_straight(-60, 600); //Back up to clear the turnstile
raise_arm(1000);
wait_for_cbc();
cbc_spin(4,700); //Turn slightly left
wait_for_cbc();
follow_tape_left(600); //Run into the turnstile for horizonal alignment
cbc_straight(-100, 400); //Back up before crossing over to the other side
wait_for_cbc();
cbc_spin(90, 500); //Turn 90 degrees to the left
wait_for_cbc();
cbc_straight(-80, 600); //Back up and align with the black tape
wait_for_cbc();
cbc_align(400);
ao();
cbc_straight(-50, 300); //Back up and align with the black tape
wait_for_cbc();
cbc_align(400);
ao();
cbc_straight(540,800); //Go forward to the other side
wait_for_cbc();
open_claw(1000); //Open the claw to release tribbles and arc right approximately 100 degrees
mrp(robot.leftWheel,780,2340);
mrp(robot.rightWheel,400,1200);
bmd(robot.leftWheel);
bmd(robot.rightWheel);
msleep(200L);
lower_arm(1400);//Go forward and lower the arm
msleep(500L);
cbc_straight(370, 800);
wait_for_cbc();
close_claw(1000); //Go forward and close the claw
cbc_straight(300,800);
wait_for_cbc();
raise_arm(1500); //Raise the arm
msleep(800);
cbc_spin(-73,500); //Turn 73 degrees right
wait_for_cbc();
open_claw(1000); //Run into the lattice wall and open the claw to release the tribbles
cbc_touch(500, 5000);
cbc_straight(-80, 600); //Back up 8 cm from wall
wait_for_cbc();
cbc_spin(-92, 500); //Turn 92 degrees right and close the claw
close_claw(1000);
wait_for_cbc();
cbc_straight(-80, 600); //Go backwards to get into position to grab the tribbles
wait_for_cbc();
lower_arm(1500); //Lower the arm and open the claw
msleep(800);
open_claw(800);
msleep(1000);
cbc_spin(4,700); //Turn a bit in order to put the robot in an optimal tribble gathering position
wait_for_cbc();
cbc_arc_left(1500, 6, 100); //Go nearly straight into the tribbles
wait_for_cbc();
close_claw(200); //Go forward and grab tribbles
cbc_straight(180, 600);
wait_for_cbc();
close_claw(600);
msleep(800);
cbc_straight(-80, 400); //Back up to clear the turnstile
wait_for_cbc();
raise_arm(1200); //Raise the arm
msleep(500);
cbc_straight(220, 700); //Go forward into the turnstile
wait_for_cbc();
cbc_spin(80, 500); //Turn 80 degrees to the left
wait_for_cbc();
cbc_straight(-80, 600); //Back up and align with the black tape
wait_for_cbc();
cbc_align(400);
ao();
cbc_straight(-50, 300); //Back up and align with the black tape
wait_for_cbc();
cbc_align(400);
ao();
//cbc_straight(1080, 800); //Old go forward function
//wait_for_cbc();
mrp(robot.rightWheel,825,7700); //Go forward and correct the non-straightness of the motors
mrp(robot.leftWheel,800,7700);
wait_for_cbc();
cbc_touch(500, 5000); //Run into the wall
msleep(300);
cbc_straight(-125, 600); //Back up 12.5 cm from wall
wait_for_cbc();
cbc_spin(90, 500); //Turn 90 degrees to the left
wait_for_cbc();
while(analog10(et_right)<850) //While the tape is not seen by the right top hat
{
mav(robot.rightWheel,615); //Go forward
mav(robot.leftWheel,600);
msleep(25L);
}
off(robot.rightWheel); //Turn the motors off
off(robot.leftWheel);
cbc_straight(240, 700); //Go forward to get under the injection chute
wait_for_cbc();
msleep(8000); //Wait for the injection chute tribbles to be loaded up
cbc_straight(250, 700); //Go forward into the wall
wait_for_cbc();
cbc_straight(-40, 600); //Back up 4 cm from pvc
wait_for_cbc();
arm_mid(1000); //Lower the arm to the mid position and open the claw
msleep(800);
open_claw(800);
msleep(800);
cbc_straight(-40, 600); //Back up 4 cm from pvc
wait_for_cbc();
close_claw(1000); //Turn around 180 degrees and close the claw
cbc_spin(180,600);
wait_for_cbc();
cbc_straight(-80, 480); //Back up to wall
wait_for_cbc();
lower_arm(1400); //Lower the arm
msleep(800L);
mrp(dump_mot, 200, 500); //Dump the tribble into the MPA
bmd(dump_mot);
msleep(1000);
mrp(dump_mot, 200, -500); //Dump the tribble into the MPA
bmd(dump_mot);
mrp(dump_mot, 200, 500); //Dump the tribble into the MPA
bmd(dump_mot);
mrp(dump_mot, 200, -500); //Dump the tribble into the MPA
bmd(dump_mot);
float time = seconds() - initial_time; //Create a variable that represents the time taken for the robot to complete its program
cbc_display_clear(); //Clear the CBC display and then print the time the robot took to complete its program
printf("Time: %f",time);
return 0;
}
