WebSVN – svnkaklik – Diff – /roboti/istrobot/camerus/SW/876/objizdka_L.c


// **** Objeti cihly vlevo **** LLLL
 
#define L_TOUCH 1    // Cara vlevo
#define R_TOUCH 2    // Cata vpravo
#define B_TOUCH 3    // Both
 
int8 n;
int8 r1,r2,rr;
int8 touch;
enum okolo_cihly {pred_carou,na_care,po_care};
okolo_cihly ridic;       // V jakem jsme stavu objizdeni cihly
int8 vzdalenost;
 
   stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil)
   touch=0;    // Indikator detekce cary pri objizdeni
 
cihla:
 
   rr=RR_CIHLA;   //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit
   disp(0x99);
   set_pwm1_duty(0);    // zabrzdi levym kolem, prave vpred
   set_pwm2_duty(200);
   output_high(MOT_L);
   output_low(MOT_R);
   odocounter=get_timer1();
   while(true) // Na zacatku se vyhni cihle, zatoc co muzes
   {
      cas=CASMIN-5;       // jeste vic nez hodne do leva
 
      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
      {
         bum();
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
         brzda();
         goto cihla; // Znovu zacni cihlu objizdet
      };
 
      set_pwm1_duty(0);
      set_pwm2_duty(200);
      output_high(MOT_L);     // leve kolo reverz
      output_low(MOT_R);      // prave kolo vpred
      if(get_timer1()>(odocounter+5))  // konec zatacky?
      {
         disp(0x66);
         break;
      }
      SetServoQ(cas);
      delay_ms(18);
   };
 
   //------ Objeti cihly v konstantni vzdalenosti ------
   ridic=pred_carou;
   cas=CASAVR-CASMIN;   // rovne
   output_low(MOT_L);   // vpred
   output_low(MOT_R);
   while(true)
   {
      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
      {
         bum();
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
         set_pwm1_duty(140);  // vpred
         set_pwm2_duty(140);
         output_low(MOT_L);
         output_low(MOT_R);
      };
 
      delta_bearing=bearing-bearing_offset;
      if(IRRX || ((delta_bearing>64)&&(delta_bearing<128))) // hrozi celni srazka s cihlou v prubehu objizdeni
      {
         cas=CASMIN;
      }
      else
      {
         if((vzdalenost!=0)||!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly
         {
            if(cas>(CASMIN+20)) cas-=20;
         }
         else
         {
            if(cas<(CASMAX-20)) cas+=20;
         };
      };
      // Elektronicky diferencial
      if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace
      if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;};   // pro rizeni rychlosti motoru
      if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92
 
      if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN);     // Neco jako nasobeni
      if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN);
 
      set_pwm1_duty(r1);   // Nastav rychlost motoru
      set_pwm2_duty(r2);
 
      SetServoQ(cas);
 
      i2c_start();     // Sonar Ping
      i2c_write(SONAR_ADR);
      i2c_write(0x0);
      i2c_write(0x52);  // mereni v us
      i2c_stop();
 
      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
      {
         set_adc_channel(LMAX);
         delay_us(100);
         if(read_adc()<THR) touch|=L_TOUCH;
         set_adc_channel(RMAX);
         delay_us(100);
         if(read_adc()<THR) touch|=R_TOUCH;
      };
 
      i2c_start();     // Odraz ze sonaru
      i2c_write(SONAR_ADR);
      i2c_write(0x3);
      i2c_stop();
      i2c_start();
      i2c_write(SONAR_ADR+1);
      vzdalenost=i2c_read(0);
      i2c_stop();
 
      i2c_start();     // Cteni kompasu
      i2c_write(COMPAS_ADR);
      i2c_write(0x1);   // uhel 0-255
      i2c_stop();
      i2c_start();
      i2c_write(COMPAS_ADR+1);
      bearing=i2c_read(0);
      i2c_stop();
 
      if(touch==L_TOUCH) disp(0xC0);
      if(touch==R_TOUCH) disp(0x03);
      if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;
      if((ridic==na_care)&&(touch==0)) break;
      if(ridic==na_care) touch=0;
   };
   disp(0xC3);
 
   set_pwm1_duty(20);
   set_pwm2_duty(200);
   output_high(MOT_L);
   output_low(MOT_R);
   delay_us(40);
   odocounter=get_timer1();    // Poznamenej aktualni stav odometrie
   while (true)  // Znovu se musime dotknout cary
   {
      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
      {
         set_adc_channel(LMAX);    // Levy UV sensor
         delay_us(100);
         if(read_adc()<THR)   // Dotkli jsme se levym senzorem
         {
            disp(0xE0);
            cas=CASAVR-CASMIN; // nastavime, ze cara je rovne
            goto cara;
         };
         set_adc_channel(RMAX);    // Pravy UV sensor
         delay_us(100);
         if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet!
         {
            disp(0x07);
            cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo
            goto cara;
         };
      }
      SetServoQ(CASMIN-5);   // max. max. doleva                 L
   }
 
cara:
 
   output_low(MOT_L); // oba motory vpred
   output_low(MOT_R);

Rev 239	Rev 246
1	`// ** Objeti cihly vlevo ** LLLL`	1	`// ** Objeti cihly vlevo ** LLLL`
2		2
3	`#define L_TOUCH 1 // Cara vlevo`	3	`#define L_TOUCH 1 // Cara vlevo`
4	`#define R_TOUCH 2 // Cata vpravo`	4	`#define R_TOUCH 2 // Cata vpravo`
5	`#define B_TOUCH 3 // Both`	5	`#define B_TOUCH 3 // Both`
6		6
7	`int8 n;`	7	`int8 n;`
8	`int8 r1,r2,rr;`	8	`int8 r1,r2,rr;`
9	`int8 touch;`	9	`int8 touch;`
10	`enum okolo_cihly {pred_carou,na_care,po_care};`	10	`enum okolo_cihly {pred_carou,na_care,po_care};`
11	`okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly`	11	`okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly`
12	`int8 vzdalenost;`	12	`int8 vzdalenost;`
13		13
14	`stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil)`	14	`stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil)`
15	`touch=0; // Indikator detekce cary pri objizdeni`	15	`touch=0; // Indikator detekce cary pri objizdeni`
16		16
17	`cihla:`	17	`cihla:`
18		18
19	`rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit`	19	`rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit`
20	`disp(0x99);`	20	`disp(0x99);`
21	`set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred`	21	`set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred`
22	`set_pwm2_duty(200);`	22	`set_pwm2_duty(200);`
23	`output_high(MOT_L);`	23	`output_high(MOT_L);`
24	`output_low(MOT_R);`	24	`output_low(MOT_R);`
25	`odocounter=get_timer1();`	25	`odocounter=get_timer1();`
26	`while(true) // Na zacatku se vyhni cihle, zatoc co muzes`	26	`while(true) // Na zacatku se vyhni cihle, zatoc co muzes`
27	`{`	27	`{`
28	`cas=CASMIN-5; // jeste vic nez hodne do leva`	28	`cas=CASMIN-5; // jeste vic nez hodne do leva`
29		29
30	`if(BUMPER) // Narazili jsme do cihly, musime couvnout!`	30	`if(BUMPER) // Narazili jsme do cihly, musime couvnout!`
31	`{`	31	`{`
32	`bum();`	32	`bum();`
33	`SaveLog(log-1); // Zapis Black Boxu do EEPROM`	33	`SaveLog(log-1); // Zapis Black Boxu do EEPROM`
34	`brzda();`	34	`brzda();`
35	`goto cihla; // Znovu zacni cihlu objizdet`	35	`goto cihla; // Znovu zacni cihlu objizdet`
36	`};`	36	`};`
37		37
38	`set_pwm1_duty(0);`	38	`set_pwm1_duty(0);`
39	`set_pwm2_duty(200);`	39	`set_pwm2_duty(200);`
40	`output_high(MOT_L); // leve kolo reverz`	40	`output_high(MOT_L); // leve kolo reverz`
41	`output_low(MOT_R); // prave kolo vpred`	41	`output_low(MOT_R); // prave kolo vpred`
42	`if(get_timer1()>(odocounter+5)) // konec zatacky?`	42	`if(get_timer1()>(odocounter+5)) // konec zatacky?`
43	`{`	43	`{`
44	`disp(0x66);`	44	`disp(0x66);`
45	`break;`	45	`break;`
46	`}`	46	`}`
47	`SetServoQ(cas);`	47	`SetServoQ(cas);`
48	`delay_ms(18);`	48	`delay_ms(18);`
49	`};`	49	`};`
50		50
51	`//------ Objeti cihly v konstantni vzdalenosti ------`	51	`//------ Objeti cihly v konstantni vzdalenosti ------`
52	`ridic=pred_carou;`	52	`ridic=pred_carou;`
53	`cas=CASAVR-CASMIN; // rovne`	53	`cas=CASAVR-CASMIN; // rovne`
54	`output_low(MOT_L); // vpred`	54	`output_low(MOT_L); // vpred`
55	`output_low(MOT_R);`	55	`output_low(MOT_R);`
56	`while(true)`	56	`while(true)`
57	`{`	57	`{`
58	`if(BUMPER) // Narazili jsme do cihly, musime couvnout!`	58	`if(BUMPER) // Narazili jsme do cihly, musime couvnout!`
59	`{`	59	`{`
60	`bum();`	60	`bum();`
61	`SaveLog(log-1); // Zapis Black Boxu do EEPROM`	61	`SaveLog(log-1); // Zapis Black Boxu do EEPROM`
62	`set_pwm1_duty(140); // vpred`	62	`set_pwm1_duty(140); // vpred`
63	`set_pwm2_duty(140);`	63	`set_pwm2_duty(140);`
64	`output_low(MOT_L);`	64	`output_low(MOT_L);`
65	`output_low(MOT_R);`	65	`output_low(MOT_R);`
66	`};`	66	`};`
67		67
-		68	`delta_bearing=bearing-bearing_offset;`
68	`if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni`	69	`if(IRRX \|\| ((delta_bearing>64)&&(delta_bearing<128))) // hrozi celni srazka s cihlou v prubehu objizdeni`
69	`{`	70	`{`
70	`cas=CASMIN;`	71	`cas=CASMIN;`
71	`}`	72	`}`
72	`else`	73	`else`
73	`{`	74	`{`
74	`if((vzdalenost!=0)\|\|!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly`	75	`if((vzdalenost!=0)\|\|!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly`
75	`{`	76	`{`
76	`if(cas>(CASMIN+20)) cas-=20;`	77	`if(cas>(CASMIN+20)) cas-=20;`
77	`}`	78	`}`
78	`else`	79	`else`
79	`{`	80	`{`
80	`if(cas<(CASMAX-20)) cas+=20;`	81	`if(cas<(CASMAX-20)) cas+=20;`
81	`};`	82	`};`
82	`};`	83	`};`
83	`// Elektronicky diferencial`	84	`// Elektronicky diferencial`
84	`if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace`	85	`if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace`
85	`if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru`	86	`if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru`
86	`if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92`	87	`if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92`
87		88
88	`if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni`	89	`if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni`
89	`if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN);`	90	`if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN);`
90		91
91	`set_pwm1_duty(r1); // Nastav rychlost motoru`	92	`set_pwm1_duty(r1); // Nastav rychlost motoru`
92	`set_pwm2_duty(r2);`	93	`set_pwm2_duty(r2);`
93		94
94	`SetServoQ(cas);`	95	`SetServoQ(cas);`
95		96
96	`i2c_start(); // Sonar Ping`	97	`i2c_start(); // Sonar Ping`
97	`i2c_write(SONAR_ADR);`	98	`i2c_write(SONAR_ADR);`
98	`i2c_write(0x0);`	99	`i2c_write(0x0);`
99	`i2c_write(0x52); // mereni v us`	100	`i2c_write(0x52); // mereni v us`
100	`i2c_stop();`	101	`i2c_stop();`
101		102
102	`for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva`	103	`for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva`
103	`{`	104	`{`
104	`set_adc_channel(LMAX);`	105	`set_adc_channel(LMAX);`
105	`delay_us(100);`	106	`delay_us(100);`
106	`if(read_adc()<THR) touch\|=L_TOUCH;`	107	`if(read_adc()<THR) touch\|=L_TOUCH;`
107	`set_adc_channel(RMAX);`	108	`set_adc_channel(RMAX);`
108	`delay_us(100);`	109	`delay_us(100);`
109	`if(read_adc()<THR) touch\|=R_TOUCH;`	110	`if(read_adc()<THR) touch\|=R_TOUCH;`
110	`};`	111	`};`
111		112
112	`i2c_start(); // Odraz ze sonaru`	113	`i2c_start(); // Odraz ze sonaru`
113	`i2c_write(SONAR_ADR);`	114	`i2c_write(SONAR_ADR);`
114	`i2c_write(0x3);`	115	`i2c_write(0x3);`
115	`i2c_stop();`	116	`i2c_stop();`
116	`i2c_start();`	117	`i2c_start();`
117	`i2c_write(SONAR_ADR+1);`	118	`i2c_write(SONAR_ADR+1);`
118	`vzdalenost=i2c_read(0);`	119	`vzdalenost=i2c_read(0);`
119	`i2c_stop();`	120	`i2c_stop();`
-		121
-		122	`i2c_start(); // Cteni kompasu`
-		123	`i2c_write(COMPAS_ADR);`
-		124	`i2c_write(0x1); // uhel 0-255`
-		125	`i2c_stop();`
-		126	`i2c_start();`
-		127	`i2c_write(COMPAS_ADR+1);`
-		128	`bearing=i2c_read(0);`
-		129	`i2c_stop();`
120		130
121	`if(touch==L_TOUCH) disp(0xC0);`	131	`if(touch==L_TOUCH) disp(0xC0);`
122	`if(touch==R_TOUCH) disp(0x03);`	132	`if(touch==R_TOUCH) disp(0x03);`
123	`if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;`	133	`if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;`
124	`if((ridic==na_care)&&(touch==0)) break;`	134	`if((ridic==na_care)&&(touch==0)) break;`
125	`if(ridic==na_care) touch=0;`	135	`if(ridic==na_care) touch=0;`
126	`};`	136	`};`
127	`disp(0xC3);`	137	`disp(0xC3);`
128		138
129	`set_pwm1_duty(20);`	139	`set_pwm1_duty(20);`
130	`set_pwm2_duty(200);`	140	`set_pwm2_duty(200);`
131	`output_high(MOT_L);`	141	`output_high(MOT_L);`
132	`output_low(MOT_R);`	142	`output_low(MOT_R);`
133	`delay_us(40);`	143	`delay_us(40);`
134	`odocounter=get_timer1(); // Poznamenej aktualni stav odometrie`	144	`odocounter=get_timer1(); // Poznamenej aktualni stav odometrie`
135	`while (true) // Znovu se musime dotknout cary`	145	`while (true) // Znovu se musime dotknout cary`
136	`{`	146	`{`
137	`for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva`	147	`for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva`
138	`{`	148	`{`
139	`set_adc_channel(LMAX); // Levy UV sensor`	149	`set_adc_channel(LMAX); // Levy UV sensor`
140	`delay_us(100);`	150	`delay_us(100);`
141	`if(read_adc()<THR) // Dotkli jsme se levym senzorem`	151	`if(read_adc()<THR) // Dotkli jsme se levym senzorem`
142	`{`	152	`{`
143	`disp(0xE0);`	153	`disp(0xE0);`
144	`cas=CASAVR-CASMIN; // nastavime, ze cara je rovne`	154	`cas=CASAVR-CASMIN; // nastavime, ze cara je rovne`
145	`goto cara;`	155	`goto cara;`
146	`};`	156	`};`
147	`set_adc_channel(RMAX); // Pravy UV sensor`	157	`set_adc_channel(RMAX); // Pravy UV sensor`
148	`delay_us(100);`	158	`delay_us(100);`
149	`if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet!`	159	`if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet!`
150	`{`	160	`{`
151	`disp(0x07);`	161	`disp(0x07);`
152	`cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo`	162	`cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo`
153	`goto cara;`	163	`goto cara;`
154	`};`	164	`};`
155	`}`	165	`}`
156	`SetServoQ(CASMIN-5); // max. max. doleva L`	166	`SetServoQ(CASMIN-5); // max. max. doleva L`
157	`}`	167	`}`
158		168
159	`cara:`	169	`cara:`
160		170
161	`output_low(MOT_L); // oba motory vpred`	171	`output_low(MOT_L); // oba motory vpred`
162	`output_low(MOT_R);`	172	`output_low(MOT_R);`

Subversion Repositories svnkaklik

(root)/roboti/istrobot/camerus/SW/876/objizdka_L.c @ 258 – Rev 239 → 246