move.h

Contains compound movement functions for a dual-motor robot with a gyro sensor. Depends on base, pid and color.

Constants

Function types (fn_type)

• NS_INI - initial non-stop movement function
• NS_FIN - finalizing non-stop movement function
• NS_MID - non-stop functions between NS_INI and NS_FIN
• NS_STD - standard function, not non-stop

Directions

• FWD - forwards movement, gets replaced with 1 on compilation
• BWD - forwards movement, gets replaced with -1 on compilation

Speed constants

• FIX_SPEED - angle correction rotation speed after NS_FIN or NS_STD function
• MIN_SPEED - minimum rotation speed
• STEERING_MOD - modifies the aggressiveness of steering when following lines

Line following modifiers (lf_mod)

• LBRW - black line on the left, white line on the right
• LWRB - white line on the left, black line on the right

Functions

Dependent on base

void moveTimed(base b, int speed, double duration, pid *ctl, int direction, int fn_type);

• moves robot for duration seconds with PID control
• Parameters:
  • base b - base object
  • int speed - maximum speed
  • double duration - movement duration in seconds
  • pid *ctl - a pointer to a pid object (if PID object is named foo, use &foo as parameter)
  • int direction - FWD for forwards movement, BWD for backwards movement
  • int fn_type - see Function types

void moveColor(base b, int speed, color cs, double value, double delta, pid *ctl, int direction, int fn_type);

• moves robot until a color of a value within delta is reached
• Parameters:
  • base b - base object
  • int speed - maximum speed
  • color cs - color sensor object
  • double value - a grey scale value in % (~0% - black, ~100% - white)
  • double delta - an allowed difference between sensor reading and value in %
  • pid *ctl - a pointer to a pid object (if PID object is named foo, use &foo as parameter)
  • int direction - FWD for forwards movement, BWD for backwards movement
  • int fn_type - see Function types

void moveLine(base b, int speed, color cs_f, color cs_s, double value, double delta, int course, int lf_mod, int direction, int fn_type);

• moves robot until a color of a value within delta is reached, following a line
• Parameters:
  • base b - base object
  • int speed - maximum speed
  • color cs_f - color sensor object for line following
  • color cs_s - color sensor object for function interruption
  • double value - a grey scale value in % (~0% - black, ~100% - white)
  • double delta - an allowed difference between sensor reading and value in %
  • int course - the final orientation of the robot
  • int lf_mod - see Line following modifiers
  • int direction - FWD for forwards movement, BWD for backwards movement
  • int fn_type - see Function types

void rotate(base b, int target, int speed);

• rotates the robot around its own axis
• Parameters:
  • base b - base object
  • int target - target angle
  • int speed - maximum speed

Independent of base

int modSpeed(double target, double angle, double speed);

• returns speed for rotation function based on the difference of the target angle and (current) angle
• Parameters:
  • double target - target angle
  • double angle - current angle
  • double speed - maximum speed