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OBR_Robot.cpp
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OBR_Robot.cpp
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/*
OBR_Robot.cpp - Logic control class definition.
Created by Rafael Piacsek, May 24, 2017.
Private code, for OBR use only.
*/
#include "Arduino.h"
#include "OBR_Robot.h"
OBR_Robot::OBR_Robot() {
Serial.println("Robot initiated.");
}
// ##################################################################################################################################
void OBR_Robot::calibrate() {
_QA.calibrateThreshold();
_QA.calibrateOffset();
}
// ##################################################################################################################################
void OBR_Robot::run() {
firstStage();
secondStage();
}
// ##################################################################################################################################
void OBR_Robot::turn(byte direction) {
_Gyro.resetAngle();
if (direction == LEFT) {
_Gyro.resetAngle();
while(_Gyro.getAngle(LEFT) >= LEFT) {_Motor.move(-100, 100);}
_Motor.move(_targetSpeed, _targetSpeed);
}
else if (direction == RIGHT) {
_Gyro.resetAngle();
while(_Gyro.getAngle(RIGHT) <= RIGHT) {_Motor.move(100, -100); Serial.println(RIGHT);}
_Motor.move(_targetSpeed, _targetSpeed);
}
else if (direction == AROUND) {
_Gyro.resetAngle();
while(_Gyro.getAngle(AROUND) <= AROUND) {_Motor.move(100, -100);}
_Motor.move(_targetSpeed, _targetSpeed);
}
}
// ##################################################################################################################################
void OBR_Robot::firstStage() {
while (true) {
// Update QAs.
_QA.updateAll();
// Update Ultrasound' readings.
avoidObstacle(RIGHT);
// If more that 3 QAs are activated.
if (_QA.blackCount > 2) {
// Continue forward and update Reading.
Serial.println("TEST");
_Motor.move(100, 100);
delay(100);
_QA.updateAll();
// If NORMAL CROSSING.
if ((_QA.color[0] == _QA.BLACK) && (_QA.color[1] == _QA.BLACK) && (_QA.color[2] == _QA.BLACK) && (_QA.color[3] == _QA.BLACK) && (_QA.color[4] == _QA.BLACK) && (_QA.color[5] == _QA.BLACK)) {
Serial.println("NORMAL CROSSING");
_Motor.move(100, 100);
delay(100);
}
// If TURN AROUND.
else if ((_QA.color[0] == _QA.WHITE) && (_QA.color[1] == _QA.BLACK) && (_QA.color[2] == _QA.BLACK) && (_QA.color[3] == _QA.BLACK) && (_QA.color[4] == _QA.BLACK) && (_QA.color[5] == _QA.WHITE)) {
_Motor.move(100, 100);
delay(250);
_QA.updateAll();
if (_QA.blackCount == 6) {
Serial.println("TURN AROUND");
_Motor.move(100, 100);
delay(350);
turn(AROUND);
}
}
// If GREEN LEFT.
else if ((_QA.color[0] == _QA.WHITE) && (_QA.color[1] == _QA.BLACK) && (_QA.color[2] == _QA.BLACK) && (_QA.color[3] == _QA.BLACK) && (_QA.color[4] == _QA.WHITE) && (_QA.color[5] == _QA.WHITE)) {
_Motor.move(100, 100);
delay(250);
_QA.updateAll();
if ((_QA.color[0] == _QA.BLACK) && (_QA.color[1] == _QA.BLACK) && (_QA.color[2] == _QA.BLACK)) {
Serial.println("GREEN LEFT");
_Motor.move(100, 100);
delay(350);
turn(LEFT);
}
}
// If GREEN RIGHT.
else if ((_QA.color[0] == _QA.WHITE) && (_QA.color[1] == _QA.WHITE) && (_QA.color[2] == _QA.BLACK) && (_QA.color[3] == _QA.BLACK) && (_QA.color[4] == _QA.BLACK) && (_QA.color[5] == _QA.WHITE)) {
_Motor.move(100, 100);
delay(250);
_QA.updateAll();
if ((_QA.color[3] == _QA.BLACK) && (_QA.color[4] == _QA.BLACK) && (_QA.color[5] == _QA.BLACK)) {
Serial.println("GREEN RIGHT");
_Motor.move(100, 100);
delay(350);
turn(RIGHT);
}
}
// If HARD LEFT.
else if ((_QA.color[0] == _QA.BLACK) && (_QA.color[1] == _QA.BLACK) && (_QA.color[2] == _QA.BLACK) && (_QA.color[3] == _QA.BLACK) && (_QA.color[4] == _QA.WHITE) && (_QA.color[5] == _QA.WHITE)) {
_Motor.move(100, 100);
delay(250);
_QA.updateAll();
if (_QA.blackCount == 0) {
Serial.println("HARD LEFT");
_Motor.move(100, 100);
delay(200);
turn(LEFT);
}
}
// If HARD RIGHT.
else if ((_QA.color[0] == _QA.WHITE) && (_QA.color[1] == _QA.WHITE) && (_QA.color[2] == _QA.BLACK) && (_QA.color[3] == _QA.BLACK) &&(_QA.color[4] == _QA.BLACK) && (_QA.color[5] == _QA.BLACK)) {
_Motor.move(100, 100);
delay(250);
_QA.updateAll();
if (_QA.blackCount == 0) {
Serial.println("HARD RIGHT");
_Motor.move(100, 100);
delay(200);
turn(RIGHT);
}
}
}
// PID.
else {
Serial.print("PID - ");
int PIDCorrection = _PID.compute(_QA.position);
Serial.println(PIDCorrection);
_Motor.move(_targetSpeed-PIDCorrection, _targetSpeed+PIDCorrection);
}
}
}
// ##################################################################################################################################
void OBR_Robot::secondStage() {
// BALL RESCUE GOES HERE!!
}
// ##################################################################################################################################
void OBR_Robot::avoidObstacle(byte direction) {
// Read distance in CM.
int distance = _UltrasoundFront.ping_cm();
// If distance is between 0 and 2.
if ((distance <= 3) && (distance != 0) && (direction == RIGHT)) {
turn(RIGHT);
while (_UltrasoundLeft.ping_cm() != 0) {_Motor.move(100, 100);}
_Motor.move(100, 100);
delay(1000);
turn(LEFT);
_Motor.move(100, 100);
delay(1000);
while (_UltrasoundLeft.ping_cm() != 0) {_Motor.move(100, 100);}
_Motor.move(100, 100);
delay(1000);
turn(LEFT);
_QA.updateAll();
while (_QA.blackCount != 6) {
_QA.updateAll();
_Motor.move(100, 100);
}
_Motor.move(100, 100);
delay(500);
turn(RIGHT);
while (_UltrasoundBack.ping_cm() >= 3) {_Motor.move(-75, -75);}
_Motor.move(_targetSpeed, _targetSpeed);
}
else if ((distance <= 2) && (distance != 0) && (direction == LEFT)) {
turn(LEFT);
while (_UltrasoundRight.ping_cm() != 0) {_Motor.move(100, 100);}
_Motor.move(100, 100);
delay(1000);
turn(RIGHT);
_Motor.move(100, 100);
delay(1000);
while (_UltrasoundRight.ping_cm() != 0) {_Motor.move(100, 100);}
_Motor.move(100, 100);
delay(100);
turn(RIGHT);
_QA.updateAll();
while (_QA.blackCount != 6) {
_QA.updateAll();
_Motor.move(100, 100);
}
_Motor.move(100, 100);
delay(500);
turn(LEFT);
while (_UltrasoundBack.ping_cm() >= 3) {_Motor.move(-75, -75);}
_Motor.move(_targetSpeed, _targetSpeed);
}
}
// ##################################################################################################################################
void OBR_Robot::debug(int delayTime) {
_QA.updateAll();
// Serial.print("0: ");
Serial.print(_QA.rawValue[0]);
Serial.print(" | ");
// Serial.print("1: ");
Serial.print(_QA.rawValue[1]);
Serial.print(" | ");
// Serial.print("2: ");
Serial.print(_QA.rawValue[2]);
Serial.print(" | ");
// Serial.print("3: ");
Serial.print(_QA.rawValue[3]);
Serial.print(" | ");
// Serial.print("4: ");
Serial.print(_QA.rawValue[4]);
Serial.print(" | ");
// Serial.print("5: ");
Serial.print(_QA.rawValue[5]);
Serial.print(" | ");
Serial.print("Position: ");
Serial.print(_QA.position);
Serial.print(" | ");
Serial.println();
// // Serial.print("0: ");
// Serial.print(_QA.color[0]);
// Serial.print(" | ");
//
//// Serial.print("1: ");
// Serial.print(_QA.color[1]);
// Serial.print(" | ");
//
//// Serial.print("2: ");
// Serial.print(_QA.color[2]);
// Serial.print(" | ");
//
//// Serial.print("3: ");
// Serial.print(_QA.color[3]);
// Serial.print(" | ");
//
//// Serial.print("4: ");
// Serial.print(_QA.color[4]);
// Serial.print(" | ");
//
//// Serial.print("5: ");
// Serial.print(_QA.color[5]);
// Serial.print(" | ");
//
// Serial.print("Position: ");
// Serial.print(_QA.blackCount);
// Serial.print(" | ");
//
// Serial.println();
// Serial.println();
_QA.calibrateThreshold(100);
Serial.println();
delay(delayTime);
}