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task_run.c
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#include "task_run.h"
#include "RotatingQueue.h"
#include "iviType.h"
typedef int bool;
enum {
false, true
};
#define WAIT 1000000
unsigned long long i = 0;
int asdasd = 0;
int frontIR = 0;
int leftIR = 0;
int rightIR = 0;
int outerLeftIR = 0;
int outerRightIR = 0;
bool trackLost;
int emergencyStop = 0;
int started = 0;
int deltaLR = 0;
int deltaPower = 0;
int leftPower = 130;
int rightPower = 130;
char lastTurn = 'x';
int combined = 0;
int seesBlack = 0;
int sees = 0;
int iviType = 2;
int trackLostTimer = 0;
int nextCommand = 0;
int ignoreMarkers = 0;
int blackLower;
// Dit verandert per lichtomgeving...
char hexChar[] = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'};
void PrintbyteToHex(int b) {
char hn, ln, tn;
tn = hexChar[(b >> 8) & 0x0f];
hn = hexChar[(b >> 4) & 0x0f];
ln = hexChar[b & 0x0f];
XLCDPut('x');
XLCDPut(tn);
XLCDPut(hn);
XLCDPut(ln);
}
void Task_Run(void) {
OS_Delay(200);
//TRISB = 0; // Port is output
//LeftPWM(leftPower, 0);
//RightPWM(rightPower, 0);
if(IVITYPE == 2) {
blackLower = 600;
} else {
blackLower = 800;
}
//blackLower = 900;
for (;;) {
PORTBbits.RB5 = 0;
OS_Delay(1500);
PORTBbits.RB5 = 0;
leftIR = getAD1();
frontIR = getAD2();
if(IVITYPE == 3) {
rightIR = getAD8();
outerLeftIR = getAD3();
outerRightIR = getAD0() * 4;
} else {
rightIR = getAD3();
outerLeftIR = getAD8();
outerRightIR = getAD0();
}
combined = leftIR + rightIR;
if (combined > 64 && combined < 96) {
//sees = 1;
} else {
sees = 0;
}
// >250 hex = 592 dec
XLCDL1home(); // home but no cursor
XLCDPut('l');
PrintbyteToHex(leftIR);
XLCDPut('f');
PrintbyteToHex(frontIR);
XLCDPut('r');
PrintbyteToHex(rightIR);
XLCDL2home(); // home but no cursor
XLCDPut('l');
PrintbyteToHex(outerLeftIR);
XLCDPut('f');
PrintbyteToHex(frontIR);
XLCDPut('r');
PrintbyteToHex(outerRightIR);
deltaLR = leftIR - rightIR;
if (leftIR > blackLower && rightIR > blackLower && outerLeftIR > blackLower && outerRightIR > blackLower) {
seesBlack = 1;
} else {
seesBlack = 0;
}
if (frontIR < 450 || sees == 1 || emergencyStop == 1 || isEmpty() == 1) {
LeftPWM(0, 0);
RightPWM(0, 0);
OS_Delay(10000);
} else {
// Als de middelste twee de baan zien, rijden
// 320-420
// Outer left en right > 150 hex = 336
// 80-96 bij elkaar = station
if (seesBlack) {
// TEMP
// DONE: Haal dit in godsnaam weg voor de opleverdatum :DONE
nextCommand = pop();
XLCDPut(nextCommand);
if(ignoreMarkers > 0) {
// Do nothing
} else {
LeftPWM(0, 0);
RightPWM(0, 0);
OS_Delay(10000);
// We zien een indicator!
if (nextCommand != 0) {
switch (nextCommand) {
case '1':
// Left
LeftPWM(0, 0);
RightPWM(120, 0);
OS_Delay(25000 * IVITYPE);
break;
case '2':
// Right
LeftPWM(120, 0);
RightPWM(0, 0);
OS_Delay(25000 * IVITYPE);
break;
case '3':
// Forward
LeftPWM(120, 0);
RightPWM(124, 0);
OS_Delay(10000 * IVITYPE);
break;
default:
// Default
LeftPWM(80, 0);
RightPWM(80, 0);
OS_Delay(10000);
break;
}
}
}
}
// blackLower - 400 * ivitype - 1
// Dit zit er in zodat als de ivitype 2 is er 400 vanaf wordt gehaald
if (outerLeftIR > blackLower - 200) {
// Draai links
LeftPWM(0, 0);
RightPWM(120, 0);
// Zet lastTurn naar links
XLCDPut('L');
lastTurn = 'L';
} else if (outerRightIR > blackLower) {
// Draai rechts
LeftPWM(120, 0);
RightPWM(0, 0);
// Zet lastTurn naar rechts
XLCDPut('R');
lastTurn = 'R';
} else {
// Rijd rechtdoor
LeftPWM(120, 0);
RightPWM(124, 0);
}
if (!((leftIR > 832 && leftIR < 1056) || (rightIR > 832 && rightIR < 1056))) {
// NO LINE! Search line.
XLCDL2home(); // home but no cursor
XLCDPut('N');
XLCDPut('O');
XLCDPut('L');
// Turn towards last known line position.
switch (lastTurn) {
case 'L':
LeftPWM(0, 0);
RightPWM(128, 0);
break;
case 'R':
LeftPWM(128, 0);
RightPWM(0, 0);
break;
case 'x':
LeftPWM(0, 0);
RightPWM(0, 0);
XLCDPut('!');
break;
}
}
/*
if(leftIR > 832 && leftIR < 1056 && rightIR > 832 && rightIR < 1056) {
LeftPWM(128, 0);
RightPWM(128, 0);
} else {
LeftPWM(0, 0);
RightPWM(0, 0);
}
*/
}
//Crossroads
/*
// XLCDClear();
// XLCDL1home();
// XLCDPut('W');
// XLCDPut(peek());
// for(i=0;i<WAIT;i++);
//XLCDPut(peek());
// if(false){
if(isEmpty() == 0){//if OuterIR sensors see crossroad.
//
// XLCDClear();
// XLCDL1home();
// XLCDPutRomString("NOT EMPTY");
// asdasd = pop();
// XLCDPut(asdasd);
// for(i=0;i<WAIT;i++);
switch (pop()){
// switch (asdasd){
case '1':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Turn 1");
LeftPWM(iviType*40, 0);
RightPWM(iviType*130, 0);
for(i=0;i<WAIT;i++);
break;
case '2':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Turn 2");
LeftPWM(iviType*63, 0);
RightPWM(iviType*130, 0);
for(i=0;i<WAIT;i++);
break;
case '3':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Turn 3");
LeftPWM(iviType*85, 0);
RightPWM(iviType*130, 0);
for(i=0;i<WAIT;i++);
break;
case '4':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Turn 4");
LeftPWM(iviType*108, 0);
RightPWM(iviType*130, 0);
for(i=0;i<WAIT;i++);
break;
case '5':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Turn 5");
LeftPWM(iviType*130, 0);
RightPWM(iviType*130, 0);
for(i=0;i<WAIT;i++);
break;
case '6':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Turn 6");
LeftPWM(iviType*130, 0);
RightPWM(iviType*108, 0);
for(i=0;i<WAIT;i++);
break;
case '7':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Turn 7");
LeftPWM(iviType*130, 0);
RightPWM(iviType*85, 0);
for(i=0;i<WAIT;i++);
break;
case '8':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Turn 8");
LeftPWM(iviType*130, 0);
RightPWM(iviType*63, 0);
for(i=0;i<WAIT;i++);
break;
case '9':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Turn 9");
LeftPWM(iviType*130, 0);
RightPWM(iviType*40, 0);
for(i=0;i<WAIT;i++);
break;
case '-1':
XLCDClear();
XLCDL1home();
XLCDPutRomString("Queue was empty");
for(i=0;i<WAIT;i++);
break;
default:
XLCDClear();
XLCDL1home();
XLCDPutRomString("Wrong turn detected");
for(i=0;i<WAIT;i++);
break;
}
XLCDClear();
XLCDL1home();
XLCDPutRomString("- Running BOT - ");
}
// else{
// XLCDClear();
// XLCDL1home();
// XLCDPutRomString("Queue Glitch");
// for(i=0;i<WAIT;i++);
// }
if (leftIR > rightIR - 20 && leftIR < rightIR + 20 && rightIR > leftIR - 20 && rightIR < leftIR + 20) {
// Track lost (or straight)
trackLostTimer++;
if (trackLostTimer > 20) {
XLCDPut('L');
if (lastTurn != 'x') {
if (lastTurn == 'r') {
// Turn right HARD
LeftPWM(iviType*130, 0);
RightPWM(iviType*40 + (trackLostTimer / 10), 0);
}
if (lastTurn == 'l') {
// Turn left HARD
LeftPWM(iviType*40 + (trackLostTimer / 10), 0);
RightPWM(iviType*130, 0);
}
}
}
} else {
XLCDPut('N');
if(started == 1)
{
if (leftIR > rightIR + 10) {
// Turn left
LeftPWM(iviType*60, 0);
RightPWM(iviType*100, 0);
lastTurn = 'l';
trackLostTimer = 0;
}
if (rightIR > leftIR + 10) {
// Turn right
LeftPWM(iviType*100, 0);
RightPWM(iviType*60, 0);
lastTurn = 'r';
trackLostTimer = 0;
}
}
}
// LeftPWM(iviType*130, 0);
// RightPWM(iviType*130, 0);
}
XLCDPut(lastTurn);
*/
OS_Yield();
}
}