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robot.cpp
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robot.cpp
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#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <string.h>
#include <unistd.h>
#include <pthread.h>
#include <termios.h>
#include <fcntl.h>
#include <cv.h>
#include <highgui.h>
#include <cxcore.h>
#include "soccer.h"
#include "gafuso.h"
#define vykresli_img 1
bool statCam = true;
using namespace std;
//-----------------------------------------------------------
int kbhit(void);
void* camera(void *arg);
int last_index=150;
int last_distance=500;
int Sens1null=0;
int Sens2null=0;
int main(void){
InitSoccer("/dev/ttyAMA0",B115200);
// pthread_t cameraThread;
// pthread_create( &cameraThread, NULL, &camera, NULL);
CompassRaw(&Sens1null,&Sens2null);
CompassCalb();
while(1){
int Sensor1;
int Sensor2;
CompassRaw(&Sensor1,&Sensor2);
printf("Sens1:%d Sens2:%d Compass:%d kicksens:%d \n",Sensor1,Sensor2,Compass(1),KickSensor());
/* signed char index=0;
unsigned int distance=0;
float hodnota = (float)Compass(1)*1.412;
int calb=0;
if(hodnota > 5) calb = 5;
else if(hodnota > -5) calb = 0;
else calb = -5;
if(hodnota < 20 || hodnota>340){
BallSensorsCalb(&index,&distance);
if (((distance > 200) & (index%2==1))|((distance > 190) & (index%2==0))){
switch(index){
case 1: SetDirection(0,200,calb); break;
case 2: SetDirection(90,200,calb); break;
case 3: SetDirection(135,200,calb); break;
case 4: SetDirection(180,200,calb); break;
case 5: SetDirection(180,200,calb); break;
case 6: SetDirection(225,200,calb); break;
case 7: SetDirection(225,200,calb); break;
case 8: SetDirection(270,200,calb); break;
case 9: SetDirection(270,200,calb); break;
case 10: SetDirection(90,200,calb); break;
case 11: SetDirection(135,200,calb); break;
case 12: SetDirection(135,200,calb); break;
case 13: SetDirection(180,200,calb); break;
case 14: SetDirection(180,200,calb); break;
case 15: SetDirection(225,200,calb); break;
case 16: SetDirection(270,200,calb); break;
default: SetDirection(0,0,0); break;
}
}
else{
switch(index){
case 1: SetDirection(0,200,calb); break;
case 2: SetDirection(90,200,calb); break;
case 3: SetDirection(45,200,calb); break;
case 4: SetDirection(90,200,calb); break;
case 5: SetDirection(90,200,calb); break;
case 6: SetDirection(135,200,calb); break;
case 7: SetDirection(135,200,calb); break;
case 8: SetDirection(180,200,calb); break;
case 9: SetDirection(180,200,calb); break;
case 10: SetDirection(180,200,calb); break;
case 11: SetDirection(225,200,calb); break;
case 12: SetDirection(225,200,calb); break;
case 13: SetDirection(270,200,calb); break;
case 14: SetDirection(270,200,calb); break;
case 15: SetDirection(315,200,calb); break;
case 16: SetDirection(270,200,calb); break;
default: SetDirection(0,0,0); break;
}
}
}
else if(hodnota > 20 &&hodnota < 180) SetMotors(-130,-130,-130,-130);
else SetMotors(130,130,130,130);
// printf("hodnota=%f\n",hodnota);
// usleep(5000);
}
SetDirection(0,200,5);*/
/*
LEDR(false);
LEDG(true);
usleep(200000);
LEDR(true);
LEDG(false);
usleep(200000);
*/
}
return 0;
}
//-----------------------------------------
float uhol(int x1,int y1,int x2,int y2){
return (atan(((float)y1-(float)y2)/((float)x1-(float)x2))/3.14)*180;
}
void* camera(void *arg){
CvCapture* camera = cvCaptureFromCAM(0);
cvSetCaptureProperty( camera, CV_CAP_PROP_FRAME_WIDTH,320);
cvSetCaptureProperty( camera, CV_CAP_PROP_FRAME_HEIGHT, 240);
IplImage *img = cvQueryFrame(camera);
int clientsock;
if (vykresli_img == 1) clientsock = GafusoCreate(1212);
while(statCam){
img = cvQueryFrame(camera);
if(vykresli_img){
GafusoRecv(clientsock);
if(strcmp(GafusoLoad('f'), "img") == 0) GafusoSendImg(clientsock,img,50);
}
}
return NULL;
}
//-----------------------------------------
int kbhit(void)
{
struct termios oldt, newt;
int ch;
int oldf;
tcgetattr(STDIN_FILENO, &oldt);
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
ch = getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
fcntl(STDIN_FILENO, F_SETFL, oldf);
if(ch != EOF)
{
ungetc(ch, stdin);
return 1;
}
return 0;
}