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marvin.c
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marvin.c
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//Standard-Include-Files
#include <stdio.h>
#include <regc515c.h>
#include <stub.h>
#include "marvin.h"
#include "motor.h"
#include "config.h"
#include "timer.h"
// IR-Sensor Vars
unsigned char ir_goal_detected = FALSE;
// internal Sensor Vars
unsigned char sensor_ball_detected_no = FALSE;
unsigned char sensor_ball_detected_nw = FALSE;
unsigned char sensor_ball_detected_n = FALSE;
unsigned char sensor_i_have_the_ball = FALSE;
unsigned char sensor_i_have_the_goal = FALSE;
unsigned char sensor_left_wall_is_near = FALSE;
unsigned char sensor_right_wall_is_near = FALSE;
unsigned char sensor_left_wall_detector = FALSE;
unsigned char sensor_right_wall_detector = FALSE;
unsigned char sensor_left_sharp = 0;
unsigned char sensor_right_sharp = 0;
unsigned char sensor_west_sharp = 0;
unsigned char sensor_east_sharp = 0;
unsigned char internal_sharp_difference = 0;
unsigned char internal_obstacle_timeout = 0;
unsigned char internal_initial_found_ball = FALSE;
//main states
unsigned char state_start = FALSE;
unsigned char state_searching_ball = TRUE;
unsigned char state_walking_right = FALSE;
unsigned char state_walking_left = FALSE;
unsigned char state_running_to_the_wall = FALSE;
unsigned char state_calibrating_the_wall = FALSE;
unsigned char state_obstacle_left_wait = FALSE;
unsigned char state_obstacle_right_wait = FALSE;
unsigned char state_obstacle_left_turn = FALSE;
unsigned char state_obstacle_right_turn = FALSE;
unsigned char pid_process_1, pid_process_2;
unsigned char ir_goal_frequency = 4;
void AksenMain(void) {
pid_process_1 = process_start(ir_detector, 10);
// Einstellung der Torfrequenz
if (dip_pin(0) == 1) {
ir_goal_frequency = 4;
lcd_puts("Eigen: 125 Hz");
lcd_setxy(1,0);
lcd_puts("Gegner: 100 Hz");
} else {
ir_goal_frequency = 5;
lcd_puts("Eigen: 100 Hz");
lcd_setxy(1,0);
lcd_puts("Gegner: 125 Hz");
}
while (1) {
if (dip_pin(1)) {
////////////////////////////////
//
// SENSORIK
//
////////////////////////////////
// Timer
timer_check();
if (analog(PORT_BALL_DETECTOR_TOP) < MAX_ANALOG_VALUE_DETECTOR_TOP) {
timer_reset(0, BALL_TIMEOUT, &sensor_i_have_the_ball);
}
// Anfrage das Mittleren Sensorts (Torsuche)
if (ir_goal_detected == TRUE) {
timer_reset(1, GOAL_TIMEOUT, &sensor_i_have_the_goal);
}
//Ball NO Erkennung
if ((analog(PORT_BALL_DETECTOR_NO) < MAX_ANALOG_VALUE_DETECTOR_NO)
|| (analog(PORT_BALL_DETECTOR_NO_EXT)
< MAX_ANALOG_VALUE_DETECTOR_NO_EXT)) {
timer_reset(2, BALL_NO_TIMEOUT, &sensor_ball_detected_no);
}
//Ball NW Erkennung
if ((analog(PORT_BALL_DETECTOR_NW) < MAX_ANALOG_VALUE_DETECTOR_NW)
|| (analog(PORT_BALL_DETECTOR_NW_EXT)
< MAX_ANALOG_VALUE_DETECTOR_NW_EXT)) {
timer_reset(3, BALL_NW_TIMEOUT, &sensor_ball_detected_nw);
}
//Ball N Erkennung
if (analog(PORT_BALL_DETECTOR_N) < MAX_ANALOG_VALUE_DETECTOR_N) {
timer_reset(4, BALL_N_TIMEOUT, &sensor_ball_detected_n);
}
sensor_left_sharp = analog(PORT_SHARP_L);
sensor_right_sharp = analog(PORT_SHARP_R);
sensor_east_sharp = analog(PORT_SHARP_O);
sensor_west_sharp = analog(PORT_SHARP_W);
// Sensors
sensor_left_wall_is_near = (sensor_left_sharp
> CALIBRATE_DISTANCE_FAR) ? TRUE : FALSE;
sensor_right_wall_is_near = (sensor_right_sharp
> CALIBRATE_DISTANCE_FAR) ? TRUE : FALSE;
sensor_right_wall_detector = (sensor_east_sharp
>= SHARP_O_WALL_DETECTED) ? TRUE : FALSE;
sensor_left_wall_detector = (sensor_west_sharp
>= SHARP_W_WALL_DETECTED) ? TRUE : FALSE;
internal_sharp_difference
= (sensor_right_sharp > sensor_left_sharp) ? sensor_right_sharp
- sensor_left_sharp
: sensor_left_sharp - sensor_right_sharp;
////////////////////////////////
//
// ZUSTAENDE
//
////////////////////////////////
////////////////////////////////////
// Fallback if we lost the ball
if (!sensor_i_have_the_ball && !state_start) {
change_state(state_searching_ball);
/////////////////////////////
// 0. Startzustand
} else if (state_start) {
if (internal_initial_found_ball && !sensor_i_have_the_ball) {
change_state(state_searching_ball);
}
/////////////////////////////
// 1. Suche den Ball!
} else if (state_searching_ball) {
if (sensor_i_have_the_ball) {
change_state(state_running_to_the_wall);
}
////////////////////////////
// 2. Laufe auf die Wand zu
} else if (state_running_to_the_wall) {
// found wall to the left, walk right
if (sensor_left_wall_is_near || sensor_right_wall_is_near) {
change_state(state_calibrating_the_wall);
}
//////////////////////////////////
// 3. An der Wand ausrichten
} else if (state_calibrating_the_wall) {
if (internal_sharp_difference < MAX_WALKING_DIFFERENCE) {
if (sensor_east_sharp > sensor_west_sharp) {
change_state(state_walking_right);
} else {
change_state(state_walking_left);
}
}
//////////////////////////////////////
// 4.A Laufe nach links an der Wand entlang
} else if (state_walking_left) {
// TODO: Wait 1.5 - 2 sec and check distance to wall again
// change direction if other bot or own goal detected
if (sensor_left_wall_detector) {
change_state(state_obstacle_left_wait);
timer_reset(5, OBSTACLE_WAIT_TIMEOUT,
&internal_obstacle_timeout);
} else if (ir_goal_detected) {
change_state(state_walking_right);
}
///////////////////////////////////////
// 4.B Laufe nach rechts an der Wand entlang
} else if (state_walking_right) {
// change direction if other bot or own goal detected
if (sensor_right_wall_detector) {
change_state(state_obstacle_right_wait);
timer_reset(5, OBSTACLE_WAIT_TIMEOUT,
&internal_obstacle_timeout);
} else if (ir_goal_detected) {
change_state(state_walking_left);
}
//////////////////////////////////////////////////
// 5.A Warte darauf, dass Hindernis links verschwindet
} else if (state_obstacle_left_wait) {
if (!internal_obstacle_timeout) {
if (sensor_left_wall_detector) {
change_state(state_obstacle_left_turn);
timer_reset(5, OBSTACLE_TURN_TIMEOUT,
&internal_obstacle_timeout);
} else {
change_state(state_walking_left);
}
}
///////////////////////////////////////////////////
// 5.B Warte darauf, dass Hindernis rechts verschwindet
} else if (state_obstacle_right_wait) {
if (!internal_obstacle_timeout) {
if (sensor_right_wall_detector) {
change_state(state_obstacle_right_turn);
timer_reset(5, OBSTACLE_TURN_TIMEOUT,
&internal_obstacle_timeout);
} else {
change_state(state_walking_right);
}
}
/////////////////////////////////////
// 6.A Drehe dich um das Hindernis links
} else if (state_obstacle_left_turn) {
if((sensor_right_wall_detector && !sensor_left_wall_detector) || !internal_obstacle_timeout)
change_state(state_walking_left);
/////////////////////////////////////
// 6.B Drehe dich um das Hindernis rechts
} else if (state_obstacle_right_turn) {
if((sensor_left_wall_detector && !sensor_right_wall_detector) || !internal_obstacle_timeout)
change_state(state_walking_right);
}
////////////////////////////////
//
// AKTORIK
//
////////////////////////////////
////////////////////////
// State 0
if (state_start) {
if (sensor_i_have_the_ball) {
internal_initial_found_ball = TRUE;
if (sensor_left_sharp > sensor_right_sharp) {
trn_c(8);
} else {
trn_cc(8);
}
} else {
dir_n(10);
}
////////////////////////
// State 1
} else if (state_searching_ball) {
if (sensor_ball_detected_n) {
sensor_ball_detected_no = 0;
sensor_ball_detected_nw = 0;
dir_n(5);
} else if (sensor_left_wall_is_near) {
trn_c(5);
} else if (sensor_right_wall_is_near) {
trn_cc(5);
} else if (sensor_ball_detected_no) {
trn_c_nw(5);
} else if (sensor_ball_detected_nw) {
trn_cc_no(5);
} else {
dir_n(10);
}
////////////////////////
// State 2
} else if (state_running_to_the_wall) {
dir_n(5);
////////////////////////
// State 3
} else if (state_calibrating_the_wall) {
if(sensor_left_sharp < sensor_right_sharp) {
trn_cc_n(4);
} else {
trn_c_n(4);
}
////////////////////////
// State 4.A
} else if (state_walking_left) {
if (sensor_left_sharp < MAX_WALKING_DISTANCE) {
dir_nw(4);
} else if (sensor_left_sharp > MIN_WALKING_DISTANCE) {
dir_sw(4); //!!!
} else {
dir_w(6);
}
////////////////////////
// State 4.B
} else if (state_walking_right) {
if (sensor_left_sharp < MAX_WALKING_DISTANCE) {
dir_no(4); //!!!
} else if (sensor_left_sharp > MIN_WALKING_DISTANCE) {
dir_so(4);
} else {
dir_o(6);
}
////////////////////////
// State 5.A & State 5.B
} else if (state_obstacle_left_wait || state_obstacle_right_wait) {
dir_stop();
////////////////////////
// State 6.A
} else if (state_obstacle_left_turn) {
trn_cc(3);
////////////////////////
// State 6.B
} else if (state_obstacle_right_turn) {
trn_c(3);
}
// TODO: why is this here?
sleep(8);
}
////////////////////////////
//
// DEBUG
//
////////////////////////////
if (!dip_pin(2) && !dip_pin(3)) {
lcd_cls();
lcd_puts("W:");
lcd_ubyte(analog(PORT_BALL_DETECTOR_NW));
lcd_puts("C:");
lcd_ubyte(analog(PORT_BALL_DETECTOR_N));
lcd_puts("O:");
lcd_ubyte(analog(PORT_BALL_DETECTOR_NO));
lcd_setxy(1, 0);
lcd_puts("L:");
lcd_ubyte(analog(PORT_SHARP_L));
lcd_puts("R:");
lcd_ubyte(analog(PORT_SHARP_R));
lcd_puts("T:");
lcd_ubyte(analog(PORT_BALL_DETECTOR_TOP));
sleep(100);
} else if (!dip_pin(2) && dip_pin(3)) {
lcd_cls();
lcd_puts("G:");
lcd_ubyte(ir_goal_detected);
lcd_puts(" ");
lcd_ubyte(analog(PORT_SHARP_O));
lcd_puts(" ");
lcd_ubyte(analog(PORT_SHARP_W));
lcd_setxy(1, 0);
lcd_puts("B:");
lcd_ubyte(sensor_i_have_the_ball);
lcd_puts("G:");
lcd_ubyte(sensor_i_have_the_goal);
lcd_puts(" ");
lcd_ubyte(analog(PORT_BALL_DETECTOR_NW_EXT));
lcd_puts(" ");
lcd_ubyte(analog(PORT_BALL_DETECTOR_NO_EXT));
sleep(100);
}
}
}
void ir_detector() {
#define IR_PROC_WAIT (10 * 2 * ir_goal_frequency)
#define IR_PROC_PERIODS_FOR_OK 3
#define IR_PROC_MAX_ERROR_PER_PERIOD 3
unsigned long finishtime;
unsigned char led_received_l;
unsigned char led_received_c;
unsigned char led_received_r;
mod_ir0_maxfehler(IR_PROC_MAX_ERROR_PER_PERIOD);
mod_ir1_maxfehler(IR_PROC_MAX_ERROR_PER_PERIOD);
mod_ir2_maxfehler(IR_PROC_MAX_ERROR_PER_PERIOD);
do {
mod_ir0_takt(ir_goal_frequency);
mod_ir1_takt(ir_goal_frequency);
mod_ir2_takt(ir_goal_frequency);
ir_goal_detected = FALSE;
finishtime = akt_time() IR_PROC_WAIT;
process_hog();
while (akt_time() < finishtime) {
led_received_c = mod_ir0_status();
led_received_l = mod_ir1_status();
led_received_r = mod_ir2_status();
if (led_received_c >= IR_PROC_PERIODS_FOR_OK) {
ir_goal_detected = TRUE;
break;
} else if (led_received_l >= IR_PROC_PERIODS_FOR_OK) {
ir_goal_detected = TRUE;
break;
} else if (led_received_r >= IR_PROC_PERIODS_FOR_OK) {
ir_goal_detected = TRUE;
break;
}
}
mod_ir0_takt(0);
mod_ir1_takt(0);
mod_ir2_takt(0);
(mod_ir0_status()) = 0;
(mod_ir1_status()) = 0;
(mod_ir2_status()) = 0;
sleep(20);
} while (1);
}
void reset_states() {
state_start = FALSE;
state_searching_ball = FALSE;
state_running_to_the_wall = FALSE;
state_walking_right = FALSE;
state_walking_left = FALSE;
state_obstacle_left_turn = FALSE;
state_obstacle_right_turn = FALSE;
state_obstacle_left_wait = FALSE;
state_obstacle_right_wait = FALSE;
state_calibrating_the_wall = FALSE;
}