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| 1 | - | #include <popx2.h> |
| 1 | + | #include <popx2.h> |
| 2 | - | |
| 2 | + | |
| 3 | - | #define STRAING_DELAY 10 |
| 3 | + | #define STRAING_DELAY 10 |
| 4 | - | #define BACKWARD_DELAY 300 |
| 4 | + | #define BACKWARD_DELAY 300 |
| 5 | - | #define WALL_DELAY 100 |
| 5 | + | #define WALL_DELAY 100 |
| 6 | - | #define SPEED 30 |
| 6 | + | #define SPEED 30 |
| 7 | - | |
| 7 | + | |
| 8 | - | int TURN_DELAY=350; |
| 8 | + | int TURN_DELAY=350; |
| 9 | - | float ANGLE = 0; |
| 9 | + | float ANGLE = 0; |
| 10 | - | |
| 10 | + | |
| 11 | - | void FF(){ |
| 11 | + | void FF(){
|
| 12 | - | /////////// Wall detect ///////////// |
| 12 | + | /////////// Wall detect ///////////// |
| 13 | - | while(in(26)){ |
| 13 | + | while(in(26)){
|
| 14 | - | if(!in(24)){ |
| 14 | + | if(!in(24)){
|
| 15 | - | tr(SPEED); |
| 15 | + | tr(SPEED); |
| 16 | - | delay(WALL_DELAY); |
| 16 | + | delay(WALL_DELAY); |
| 17 | - | } |
| 17 | + | } |
| 18 | - | else if(!in(25)){ |
| 18 | + | else if(!in(25)){
|
| 19 | - | tl(SPEED); |
| 19 | + | tl(SPEED); |
| 20 | - | delay(WALL_DELAY); |
| 20 | + | delay(WALL_DELAY); |
| 21 | - | } |
| 21 | + | } |
| 22 | - | else{ |
| 22 | + | else{
|
| 23 | - | fd2(SPEED, SPEED); |
| 23 | + | fd2(SPEED, SPEED); |
| 24 | - | } |
| 24 | + | } |
| 25 | - | } |
| 25 | + | } |
| 26 | - | //////////// Straing alignment /////////////// |
| 26 | + | //////////// Straing alignment /////////////// |
| 27 | - | while(in(24) || in(25)){ |
| 27 | + | while(in(24) || in(25)){
|
| 28 | - | if(!in(24)){ |
| 28 | + | if(!in(24)){
|
| 29 | - | tl(SPEED); |
| 29 | + | tl(SPEED); |
| 30 | - | } |
| 30 | + | } |
| 31 | - | else if(!in(25)){ |
| 31 | + | else if(!in(25)){
|
| 32 | - | tr(SPEED); |
| 32 | + | tr(SPEED); |
| 33 | - | } |
| 33 | + | } |
| 34 | - | } |
| 34 | + | } |
| 35 | - | delay(STRAING_DELAY); |
| 35 | + | delay(STRAING_DELAY); |
| 36 | - | ao(); |
| 36 | + | ao(); |
| 37 | - | delay(500); |
| 37 | + | delay(500); |
| 38 | - | ///////////////////////////////////////////// |
| 38 | + | ///////////////////////////////////////////// |
| 39 | - | |
| 39 | + | |
| 40 | - | bk(SPEED); |
| 40 | + | bk(SPEED); |
| 41 | - | delay(BACKWARD_DELAY); |
| 41 | + | delay(BACKWARD_DELAY); |
| 42 | - | ao(); |
| 42 | + | ao(); |
| 43 | } | |
| 44 | - | |
| 44 | + | |
| 45 | - | void FR(){ |
| 45 | + | void FR(){
|
| 46 | - | delay(500); |
| 46 | + | delay(500); |
| 47 | - | sr(SPEED*0.8); |
| 47 | + | sr(SPEED*0.8); |
| 48 | - | delay(TURN_DELAY); |
| 48 | + | delay(TURN_DELAY); |
| 49 | - | ao(); |
| 49 | + | ao(); |
| 50 | - | delay(500); |
| 50 | + | delay(500); |
| 51 | } | |
| 52 | - | |
| 52 | + | |
| 53 | - | void FL(){ |
| 53 | + | void FL(){
|
| 54 | - | delay(500); |
| 54 | + | delay(500); |
| 55 | - | sl(SPEED*0.8); |
| 55 | + | sl(SPEED*0.8); |
| 56 | - | delay(TURN_DELAY); |
| 56 | + | delay(TURN_DELAY); |
| 57 | - | ao(); |
| 57 | + | ao(); |
| 58 | - | delay(500); |
| 58 | + | delay(500); |
| 59 | } | |
| 60 | - | |
| 60 | + | |
| 61 | - | void KICK(){ |
| 61 | + | void KICK(){
|
| 62 | - | bk(SPEED); |
| 62 | + | bk(SPEED); |
| 63 | - | delay(BACKWARD_DELAY); |
| 63 | + | delay(BACKWARD_DELAY); |
| 64 | - | ao(); |
| 64 | + | ao(); |
| 65 | - | FL(); |
| 65 | + | FL(); |
| 66 | - | FL(); |
| 66 | + | FL(); |
| 67 | - | ao(); delay(500); |
| 67 | + | ao(); delay(500); |
| 68 | - | bk(SPEED); delay(BACKWARD_DELAY); |
| 68 | + | bk(SPEED); delay(BACKWARD_DELAY); |
| 69 | - | ao(); delay(500); |
| 69 | + | ao(); delay(500); |
| 70 | - | delay(500);servo(1,100); |
| 70 | + | delay(500);servo(1,100); |
| 71 | - | delay(500);servo(1,115); |
| 71 | + | delay(500);servo(1,115); |
| 72 | - | delay(500);servo(1, 90); |
| 72 | + | delay(500);servo(1, 90); |
| 73 | - | delay(1000); |
| 73 | + | delay(1000); |
| 74 | } | |
| 75 | - | |
| 75 | + | |
| 76 | - | void setup() { |
| 76 | + | void setup() {
|
| 77 | - | servo(1, 90); |
| 77 | + | servo(1, 90); |
| 78 | - | setTextSize(2); |
| 78 | + | setTextSize(2); |
| 79 | - | /////////////////////////////////// |
| 79 | + | /////////////////////////////////// |
| 80 | - | |
| 80 | + | |
| 81 | - | /* Press OK */ |
| 81 | + | /* Press OK */ |
| 82 | - | glcd(0,0,"Press OK"); |
| 82 | + | glcd(0,0,"Press OK"); |
| 83 | - | while(!sw_OK()){ |
| 83 | + | while(!sw_OK()){
|
| 84 | - | TURN_DELAY = map(knob(),0,1024,300,800); |
| 84 | + | TURN_DELAY = map(knob(),0,1024,300,800); |
| 85 | - | glcd(1,0,"T=%d",TURN_DELAY); |
| 85 | + | glcd(1,0,"T=%d",TURN_DELAY); |
| 86 | - | delay(100); |
| 86 | + | delay(100); |
| 87 | - | } |
| 87 | + | } |
| 88 | - | glcd(0,0,"Running "); |
| 88 | + | glcd(0,0,"Running "); |
| 89 | - | /////////////////////////////////// |
| 89 | + | /////////////////////////////////// |
| 90 | - | delay(500); |
| 90 | + | delay(500); |
| 91 | - | FF();FL(); |
| 91 | + | FF();FL(); |
| 92 | - | |
| 92 | + | |
| 93 | - | glcd(0,0,"Finished"); |
| 93 | + | glcd(0,0,"Finished"); |
| 94 | } | |
| 95 | - | |
| 95 | + | |
| 96 | - | void loop() { |
| 96 | + | void loop() {
|
| 97 | - | //FF();FR(); |
| 97 | + | //FF();FR(); |
| 98 | } |
