Roomba
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Code
Wallfollow
Moves between the lounges along the west wall of hall while playing the Imperial March. Must be started facing north.
/* drive.c
* Designed to run on Create Command Module * * The basic architecture of this program can be re-used to easily * write a wide variety of Create control programs. All sensor values * are polled in the background (using the serial rx interrupt) and * stored in the sensors array as long as the function * delayAndUpdateSensors() is called periodically. Users can send commands * directly a byte at a time using byteTx() or they can use the * provided functions, such as baud() and drive(). */
// Includes
- include <avr/interrupt.h>
- include <avr/io.h>
- include <stdlib.h>
- include "oi.h"
// Constants
- define RESET_SONG 0
- define START_SONG 1
- define BUMP_SONG 3
- define END_SONG 4
// Global variables
volatile uint16_t timer_cnt = 0;
volatile uint8_t timer_on = 0;
volatile uint8_t sensors_flag = 0;
volatile uint8_t sensors_index = 0;
volatile uint8_t sensors_in[Sen6Size];
volatile uint8_t sensors[Sen6Size];
volatile int16_t distance = 0;
volatile int16_t angle = 0;
// Functions
void byteTx(uint8_t value);
void delayMs(uint16_t time_ms);
void delayAndUpdateSensors(unsigned int time_ms);
void initialize(void);
void powerOnRobot(void);
void baud(uint8_t baud_code);
void drive(int16_t velocity, int16_t radius);
uint16_t randomAngle(void);
void defineSongs(void);
int main (void) {
uint8_t leds_cnt = 99; uint8_t leds_state = 0; uint8_t leds_on = 1; int16_t turn_angle = 0; uint8_t turn_dir = 1; uint8_t turning = 0; uint8_t backing_up = 0; uint8_t follow_left = 0; uint8_t follow_right = 1; uint8_t turning_left = 2; uint8_t turning_right = 3; uint8_t left_correct = 4; uint8_t right_correct = 5;
// Set up Create and module initialize(); LEDBothOff; powerOnRobot(); byteTx(CmdStart); baud(Baud28800); defineSongs(); byteTx(CmdControl); byteTx(CmdFull);
// Stop just as a precaution drive(0, RadStraight);
// Play the reset song and wait while it plays byteTx(CmdPlay); byteTx(RESET_SONG); delayAndUpdateSensors(750);
for(;;)
{
delayAndUpdateSensors(10);
if(UserButtonPressed)
{
// Play start song and wait
byteTx(CmdPlay);
byteTx(START_SONG);
delayAndUpdateSensors(1000);
int state = follow_left;
// Drive around until a button or unsafe condition is detected
while(!(UserButtonPressed))
{
if (distance > 4000)
{
distance = 0;
byteTx(CmdPlay);
byteTx(START_SONG);
}
if (state == follow_left)
{
drive(500, 1000);
if (sensors[SenBumpDrop] & BumpLeft)
state = left_correct;
if (sensors[SenBumpDrop] & BumpRight)
{
byteTx(CmdPlay);
byteTx(BUMP_SONG);
state = turning_left;
}
angle = 0;
}
else if (state == follow_right)
{
drive(500, -1000);
if (sensors[SenBumpDrop] & BumpRight)
state = right_correct;
if (sensors[SenBumpDrop] & BumpLeft)
{
byteTx(CmdPlay);
byteTx(BUMP_SONG);
state = turning_right;
}
angle = 0;
}
else if (state == left_correct)
{
if (angle < -7)
state = follow_left;
drive(200, RadCW);
}
else if (state == right_correct)
{
if (angle > 7)
state = follow_right;
drive(200, RadCCW);
}
else if (state == turning_left)
{
if (angle > 180)
state = follow_right;
drive(200, RadCCW);
}
else if (state == turning_right)
{
if (angle > 180)
state = follow_left;
drive(200, RadCCW);
}
// wait a little more than one robot tick for sensors to update
delayAndUpdateSensors(20);
}
// Stop driving
drive(0, RadStraight);
// Play end song and wait
delayAndUpdateSensors(500);
byteTx(CmdPlay);
byteTx(END_SONG);
delayAndUpdateSensors(2438);
} }
}
// Serial receive interrupt to store sensor values
SIGNAL(SIG_USART_RECV)
{
uint8_t temp;
temp = UDR0;
if(sensors_flag)
{
sensors_in[sensors_index++] = temp;
if(sensors_index >= Sen6Size)
sensors_flag = 0;
}
}
// Timer 1 interrupt to time delays in ms
SIGNAL(SIG_OUTPUT_COMPARE1A)
{
if(timer_cnt) timer_cnt--; else timer_on = 0;
}
// Transmit a byte over the serial port
void byteTx(uint8_t value)
{
while(!(UCSR0A & _BV(UDRE0))) ; UDR0 = value;
}
// Delay for the specified time in ms without updating sensor values
void delayMs(uint16_t time_ms)
{
timer_on = 1; timer_cnt = time_ms; while(timer_on) ;
}
// Delay for the specified time in ms and update sensor values
void delayAndUpdateSensors(uint16_t time_ms)
{
uint8_t temp;
timer_on = 1;
timer_cnt = time_ms;
while(timer_on)
{
if(!sensors_flag)
{
for(temp = 0; temp < Sen6Size; temp++)
sensors[temp] = sensors_in[temp];
// Update running totals of distance and angle
distance += (int)((sensors[SenDist1] << 8) | sensors[SenDist0]);
angle += (int)((sensors[SenAng1] << 8) | sensors[SenAng0]);
byteTx(CmdSensors);
byteTx(6);
sensors_index = 0;
sensors_flag = 1;
}
}
}
// Initialize the Mind Control's ATmega168 microcontroller
void initialize(void)
{
cli();
// Set I/O pins DDRB = 0x10; PORTB = 0xCF; DDRC = 0x00; PORTC = 0xFF; DDRD = 0xE6; PORTD = 0x7D;
// Set up timer 1 to generate an interrupt every 1 ms TCCR1A = 0x00; TCCR1B = (_BV(WGM12) | _BV(CS12)); OCR1A = 71; TIMSK1 = _BV(OCIE1A);
// Set up the serial port with rx interrupt UBRR0 = 19; UCSR0B = (_BV(RXCIE0) | _BV(TXEN0) | _BV(RXEN0)); UCSR0C = (_BV(UCSZ00) | _BV(UCSZ01));
// Turn on interrupts sei();
}
void powerOnRobot(void)
{
// If Create's power is off, turn it on
if(!RobotIsOn)
{
while(!RobotIsOn)
{
RobotPwrToggleLow;
delayMs(500); // Delay in this state
RobotPwrToggleHigh; // Low to high transition to toggle power
delayMs(100); // Delay in this state
RobotPwrToggleLow;
}
delayMs(3500); // Delay for startup
}
}
// Switch the baud rate on both Create and module
void baud(uint8_t baud_code)
{
if(baud_code <= 11)
{
byteTx(CmdBaud);
UCSR0A |= _BV(TXC0);
byteTx(baud_code);
// Wait until transmit is complete
while(!(UCSR0A & _BV(TXC0))) ;
cli();
// Switch the baud rate register
if(baud_code == Baud115200)
UBRR0 = Ubrr115200;
else if(baud_code == Baud57600)
UBRR0 = Ubrr57600;
else if(baud_code == Baud38400)
UBRR0 = Ubrr38400;
else if(baud_code == Baud28800)
UBRR0 = Ubrr28800;
else if(baud_code == Baud19200)
UBRR0 = Ubrr19200;
else if(baud_code == Baud14400)
UBRR0 = Ubrr14400;
else if(baud_code == Baud9600)
UBRR0 = Ubrr9600;
else if(baud_code == Baud4800)
UBRR0 = Ubrr4800;
else if(baud_code == Baud2400)
UBRR0 = Ubrr2400;
else if(baud_code == Baud1200)
UBRR0 = Ubrr1200;
else if(baud_code == Baud600)
UBRR0 = Ubrr600;
else if(baud_code == Baud300)
UBRR0 = Ubrr300;
sei();
delayMs(100); }
}
// Send Create drive commands in terms of velocity and radius
void drive(int16_t velocity, int16_t radius)
{
byteTx(CmdDrive); byteTx((uint8_t)((velocity >> 8) & 0x00FF)); byteTx((uint8_t)(velocity & 0x00FF)); byteTx((uint8_t)((radius >> 8) & 0x00FF)); byteTx((uint8_t)(radius & 0x00FF));
}
// Define songs to be played later
void defineSongs(void)
{
// Reset song byteTx(CmdSong); byteTx(RESET_SONG); byteTx(4); byteTx(60); byteTx(6); byteTx(72); byteTx(6); byteTx(84); byteTx(6); byteTx(96); byteTx(6);
// Start song byteTx(CmdSong); byteTx(START_SONG);
byteTx(18); // 18 notes byteTx(55); // G byteTx(32); byteTx(55); // G byteTx(32); byteTx(55); // G byteTx(32); byteTx(51); // D# byteTx(24); byteTx(58); // A# byteTx(12); byteTx(55); // G byteTx(32); byteTx(51); // D# byteTx(24); byteTx(58); // A# byteTx(12); byteTx(55); // G byteTx(64); byteTx(62); // D byteTx(32); byteTx(62); // D byteTx(32); byteTx(62); // D byteTx(32); byteTx(63); // D# byteTx(24); byteTx(58); // A# byteTx(12); byteTx(54); // F# byteTx(32); byteTx(51); // D# byteTx(24); byteTx(58); // A# byteTx(12); byteTx(55); // G byteTx(64);
// Bump song byteTx(CmdSong); byteTx(BUMP_SONG); byteTx(2);
byteTx(58); // A# byteTx(32); byteTx(55); // G byteTx(12);
// End song byteTx(CmdSong); byteTx(END_SONG); byteTx(5); byteTx(77); byteTx(18); byteTx(74); byteTx(12); byteTx(72); byteTx(12); byteTx(69); byteTx(12); byteTx(65); byteTx(24);
}
