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3US Defense.c
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3US Defense.c
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#pragma config(Hubs, S1, HTMotor, HTMotor, none, none)
#pragma config(Sensor, S1, MotorControllers, sensorNone)
#pragma config(Sensor, S2, TouchSensor, sensorTouch)
#pragma config(Sensor, S3, SMUX1, sensorI2CCustom)
#pragma config(Sensor, S4, SMUX2, sensorI2CCustom)
#pragma config(Motor, motorB, Kicker, tmotorNXT, PIDControl, encoder)
#pragma config(Motor, motorC, Dribbler, tmotorNXT, PIDControl, encoder)
#pragma config(Motor, mtr_S1_C1_1, motorBR, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C1_2, motorFR, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C2_1, motorBL, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C2_2, motorFL, tmotorTetrix, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
/*
Sensor Setup:
S1: MotorControllers (TETRIX Motor Controllers)
S2: KickerTouch
S3: SMUX1 (HiTechnic Sensor Multiplexer)
1 - IRBack (HiTechnic IRSeeker V2)
2 - IRFront (HiTechnic IRSeeker V2)
3 - USBack (Lego Ultrasonic Sensor)
4 - USRight (Lego Ultrasonic Sensor)
S4: SMUX2 (MindSensors Port Splitter)
1 - Colour (HiTechnic Color Sensor V2)
2 - HaveBaller (Lego Touch Sensor)
3 - Compass (HiTechnic Compass Sensor)
*/
#include "common.h"
#include "hitechnic-sensormux.h"
#include "hitechnic-irseeker-v2.h"
#include "hitechnic-compass.h"
#include "hitechnic-colour-v2.h"
#include "lego-touch.h"
#include "lego-ultrasound.h"
const tMUXSensor IRFront = msensor_S3_1;
const tMUXSensor HaveBaller = msensor_S3_2;
const tMUXSensor USBack = msensor_S3_3;
const tMUXSensor USRight = msensor_S3_4;
const tMUXSensor Colour = msensor_S4_1;
const tMUXSensor USLeft = msensor_S4_2;
const tMUXSensor Compass = msensor_S4_3;
#define ST 0
#define F 1
#define FR 2
#define R 3
#define BR 4
#define B 5
#define BL 6
#define L 7
#define FL 8
#define CW 9
#define CC 10
#define nbound 20
#define rbound 45
#define lbound 45
#define fbound 30
#define bbound 20
#define whiteThreshold 200
#define power 30
#define turnPower 15
long currentRed = 0;
long currentGreen = 0;
long currentBlue = 0;
//long gRed = 0;
//long gGreen = 0;
//long gBlue = 0;
int _target = 0;
int length;
int rightWidth;
int leftWidth;
bool haveBall;
int frontIRValue;
int currentRelCompass;
bool isWhite;
//( motorFL, motorFR, motorBR, motorBL)
int const mov[11][4]={{ 0, 0, 0, 0}, //ST
{ -1.1, 1, 1, -1.1}, //F
{ -1.1, 0, 1, 0}, //FR
{ -1.1, -1, 1, 1.1}, //R
{ 0, -1, 0, 1.1}, //BR
{ 1.1, -1, -1, 1.1}, //B
{ 1.1, 0, -1, 0}, //BL
{ 1.1, 1, -1, -1.1}, //L
{ 0, 1, 0, -1.1}, //FL
{ -1.1, -1, -1, -1.1}, //CW
{ 1.1, 1, 1, 1.1}}; //CC
void move(int dir){
motor[motorFL]= (int)( mov[dir][0] * power);
motor[motorFR]= (int)(mov[dir][1] * power / 1.1);
motor[motorBR]= (int)(mov[dir][2] * power / 1.1);
motor[motorBL]= (int)(mov[dir][3] * power);
wait1Msec(50);
motor[motorFL]= (int)( mov[dir][0] * power);
motor[motorFR]= (int)(mov[dir][1] * power);
motor[motorBR]= (int)(mov[dir][2] * power);
motor[motorBL]= (int)(mov[dir][3] * power);
}
void move(int dir, int motorPow){
motor[motorFL]= (int)(mov[dir][0] * motorPow / 1.3);
motor[motorFR]= (int)(mov[dir][1] * motorPow);
motor[motorBR]= (int)(mov[dir][2] * motorPow);
motor[motorBL]= (int)(mov[dir][3] * motorPow / 1.3);
wait1Msec(50);
motor[motorFL]= (int)( mov[dir][0] * motorPow);
motor[motorFR]= (int)(mov[dir][1] * motorPow);
motor[motorBR]= (int)(mov[dir][2] * motorPow);
motor[motorBL]= (int)(mov[dir][3] * motorPow);
}
void calibrate(){
eraseDisplay();
//while(nNxtButtonPressed != kEnterButton) {
// nxtDisplayCenteredTextLine(0, "Robonauts");
// nxtDisplayCenteredTextLine(1, "Defense");
// nxtDisplayCenteredTextLine(3, "Calibrate Green");
// nxtDisplayCenteredTextLine(6, "Press Enter");
// }
// eraseDisplay();
// HTCS2readRGB(Colour, gRed, gGreen, gBlue);
// wait10Msec(20);
//while(nNxtButtonPressed != kEnterButton) {
//nxtDisplayCenteredTextLine(0, "Robonauts");
//nxtDisplayCenteredTextLine(1, "Defense");
//nxtDisplayCenteredBigTextLine(3, "Calibrate Black");
//nxtDisplayCenteredTextLine(6, "Press Enter");
// eraseDisplay();
//}
//HTCS2readRGB(Colour, bRed, bGreen, bBlue);
//wait10Msec(20);
//while(nNxtButtonPressed != kEnterButton) {
//nxtDisplayCenteredTextLine(0, "Robonauts");
//nxtDisplayCenteredTextLine(1, "Defense");
//nxtDisplayCenteredBigTextLine(3, "Calibrate White");
//nxtDisplayCenteredTextLine(6, "Press Enter");
// eraseDisplay();
//}
//HTCS2readRGB(Colour, wRed, wGreen, wBlue);
//wait10Msec(20);
while(nNxtButtonPressed != kEnterButton) {
nxtDisplayCenteredTextLine(0, "Robonauts");
nxtDisplayCenteredTextLine(1, "Defense");
nxtDisplayCenteredTextLine(3, "Calibrate Compass");
nxtDisplayTextLine(4, "Abs: %4d", HTMCreadHeading(Compass));
nxtDisplayCenteredTextLine(6, "Press Enter");
}
eraseDisplay();
nxtDisplayTextLine(2, "Setting");
nxtDisplayTextLine(3, "target");
wait1Msec(500);
// Set the current heading as the value for the offset to be used as the
// new zero-point for the relative heading returned by
// HTMCreadRelativeHeading()
_target = HTMCsetTarget(Compass);
PlaySound(soundBlip);
while(bSoundActive){
EndTimeSlice();
}
while(nNxtButtonPressed != kEnterButton) {
nxtDisplayCenteredTextLine(0, "Robonauts");
nxtDisplayCenteredTextLine(1, "Defense");
nxtDisplayCenteredBigTextLine(3, "START ROBOT");
nxtDisplayCenteredTextLine(6, "Press Enter");
}
eraseDisplay();
}
task main(){
calibrate();
while(true){
length = USreadDist(USBack);
rightWidth = USreadDist(USRight);
leftWidth = USreadDist(USLeft);
haveBall = TSreadState(HaveBaller);
frontIRValue = HTIRS2readACDir(IRFront);
currentRelCompass = HTMCreadRelativeHeading(Compass);
HTCS2readRGB(Colour, currentRed, currentGreen, currentBlue);
isWhite = (currentRed > whiteThreshold && currentGreen > whiteThreshold && currentBlue > whiteThreshold);
nxtDisplayTextLine(1, "Com: %4d", currentRelCompass);
nxtDisplayTextLine(2, "IR: %4d", frontIRValue);
nxtDisplayTextLine(3, "Len: %4d", length);
nxtDisplayTextLine(4, "RWid: %4d", rightWidth);
nxtDisplayTextLine(5, "LWid: %4d", leftWidth);
nxtDisplayTextLine(6, "Ball: %4d", haveBall);
if(isWhite){
nxtDisplayTextLine(7, "White: Yes");
}
else{
nxtDisplayTextLine(7, "White: No");
}
if(currentRelCompass < 0 - nbound){
move(CW, turnPower);
}
else if(currentRelCompass > 0 + nbound){
move(CC, turnPower);
}
else{
if(isWhite){
if(rightWidth <= rbound){
move(L);
}
else{
move(R);
}
}
else{
if(leftWidth < 0 && leftWidth != 0){
if(length < 10){
move(F);
}
else{
move(R);
}
}
else if(rightWidth < 0){
if(length < 10){
move(F);
}
else{
move(L);
}
}
else{
if (length > fbound){
move(B);
}
else if(length < bbound){
move(ST);
}
else{
switch(frontIRValue){
case 0:
move(ST);
break;
case 1:
move(L);
break;
case 2:
move(L);
break;
case 3:
move(L);
break;
case 4:
move(L);
break;
case 5:
move(ST);
break;
case 6:
move(R);
break;
case 7:
move(R);
break;\
case 8:
move(R);
break;
case 9:
move(R);
break;
}
}
}
}
wait1Msec(50);
}
}
}