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exit_dev.ino
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#include <SoftwareSerial.h>
#include <AFMotor.h>
#include <LineFollower.h>
#include <GridMap.h>
#define SD_PWR_BTN 0 //Power Button
#define SD_MOTOR_R 1 //Motor Right
#define SD_MOTOR_L 2 //Motor Left
#define SD_IRSEN_R 3 //IR Right
#define SD_IRSEN_C 4 //IR Centre
#define SD_IRSEN_L 5 //IR Left
#define SD_IR_TOPS 6 //IR Top: Beacon Detector
#define SD_LINESEN 7 //Line Sensors
#define SD_ENCDR_R 8 //Encoder Right
#define SD_ENCDR_L 9 //Encoder Left
#define SD_RBT_DIR 10 //Robot's Direction
#define SD_NEW_MOV 11
/*** Pin Assignments ***/
//Transceiver:Analogue
#define PIN_BECN_N 8
#define PIN_BECN_E 9
#define PIN_BECN_S 10
#define PIN_BECN_W 11
//IR Sensors: Analogue
#define PIN_IR_CTR 12
#define PIN_IR_LFT 13
#define PIN_IR_RGT 14
#define PIN_IR_TOP 15
//Line Sensors:Digital
#define PIN_LNS_FR 51
#define PIN_LNS_FL 53
#define PIN_LNS_BR 49
#define PIN_LNS_BL 47
#define PIN_LNS_MD 45
/*** Constants ***/
#define MOVFWD 0
#define MOVRGT 1
#define MOVBWD 2
#define MOVLFT 3
#define MOVARD 4
#define IR_RGT 0
#define IR_CTR 1
#define IR_LFT 2
#define RIGHT 0
#define LEFT 1
#define OFF 0
#define ON 1
#define BLOCKED 1
#define DIR_NORTH 0
#define DIR_EAST 1
#define DIR_SOUTH 2
#define DIR_WEST 3
#define BEACON_N 0
#define BEACON_NE 1
#define BEACON_E 2
#define BEACON_SE 3
#define BEACON_S 4
#define BEACON_SW 5
#define BEACON_W 6
#define BEACON_NW 7
#define BLOCK_LIMIT 10
#define BEACON_LIMIT 19
#define MISSION_ACCOMPLISHED 99
/* Robot State */
int frontSensor = 0;
int rightSensor = 0;
int leftSensor = 0;
int deadEndDetected = 0;
//Transceiver Direction Mode//
int northCount = 0;
int southCount = 0;
int westCount = 0;
int eastCount = 0;
/* Global Variables */
int gridCounter = 0;
int returnMode = 0;
int loopFlag = 0;
int switchcase = 0;
int hugcondition = 0;
int passoverself = 0;
int stickyWall = 0;
int lastturnx = -1;
int lastturny = -1;
int beaconposx;
int beaconposy;
const int startposx = 7;
const int startposy = 7;
/* Path Memory */
int pathMem[128];
int pathMemCount = 0;
int pathMemPos = 0;
/* GUI Stuff */
unsigned char serialData[10];
byte distLft = 0xFF;
byte distRgt = 0xFF;
byte distCtr = 0xFF;
byte bDetect = 0xFF;
byte lineSen = 0xFF;
byte nextMov = 0xFF;
/* Global Custom Objects */
LineFollower rover(PIN_LNS_FR, PIN_LNS_FL, PIN_LNS_BR, PIN_LNS_BL);
GridMap mapper;
void setup()
{
Serial.begin(9600);
Serial1.begin(9600);
rover.setMotorSpeed(200, 200);
}
void loop()
{
char keypress1;
char keypress2;
int beaconDir = 0;
int homeDir = 0;
if(Serial1.available())
{
keypress1 = (char)Serial1.read();
Serial.print(keypress1);
if(keypress1=='w')
{
rover.moveForward();
pathMem[pathMemCount] = 0;
pathMemCount++;
}
if(keypress1=='k')
{
rover.pause();
pathMemPos=0;
pathMemCount=0;
}
if(keypress1=='a')
{
rover.turnLeft();
pathMem[pathMemCount] = 3;
pathMemCount++;
}
if(keypress1=='d')
{
rover.turnRight();
pathMem[pathMemCount] = 1;
pathMemCount++;
}
if(keypress1=='u')
{
int i = 1;
while (i==1)
{
rover.readSensors();
keypress1 = (char)Serial1.read();
if (keypress1=='i')
break;
}
}
if(keypress1=='o')
{
int i = 1;
while (i==1)
{
printRangefinders();
keypress1 = (char)Serial1.read();
if (keypress1=='i')
break;
}
}
if(keypress1=='r')
{
returnMode = ON;
pathMemPos = pathMemCount;
}
if(keypress1=='s')
rover.moveBackward();
if(keypress1=='t')
rover.turnAround();
if(keypress1=='b')
{
int i=1;
while(i==1)
{
if (beaconDetected() == 1 && returnMode == OFF)
{
returnMode = ON;
pathMemPos = pathMemCount;
beaconposx = mapper.getCurrPosx();
beaconposy = mapper.getCurrPosy();
// Memory-based Return: back-off one step and turn 180 degrees
/*
rover.moveBackward();
rover.turnAround(); */
delay(3000);
}
if (returnMode == OFF)
{
//printBeacon();
//printRangefinders();
beaconDir = getBeaconDirection();
navigate(beaconDir);
}
else
{
homeDir = getStartPosDirection();
if (homeDir == MISSION_ACCOMPLISHED)
{
Serial.println("Got Back Home. Safe and Sound!");
Serial1.println("Got Back Home. Safe and Sound!");
break;
}
navigate(homeDir);
}
/*
else
returnHome();
*/
if ((char)Serial.read() == 'k')
break;
}
}
}
if(Serial.available())
{
keypress2 = (char)Serial.read();
// Send any characters the Serial monitor prints to the bluetooth
Serial1.print(keypress2);
if(keypress2=='w')
{
rover.moveForward();
pathMem[pathMemCount] = 0;
pathMemCount++;
}
if(keypress2=='k')
{
rover.pause();
pathMemPos=0;
pathMemCount=0;
}
if(keypress2=='a')
{
rover.turnLeft();
pathMem[pathMemCount] = 3;
pathMemCount++;
}
if(keypress2=='d')
{
rover.turnRight();
pathMem[pathMemCount] = 1;
pathMemCount++;
}
if(keypress2=='u')
{
int i = 1;
while (i==1)
{
rover.readSensors();
keypress2 = (char)Serial.read();
if (keypress2=='i')
break;
}
}
if(keypress2=='r')
{
returnMode = 1;
pathMemPos = pathMemCount;
}
if(keypress2=='o')
{
int i = 1;
while (i==1)
{
printRangefinders();
keypress2 = (char)Serial.read();
if (keypress2=='i')
break;
}
}
if(keypress2=='s')
rover.moveBackward();
if(keypress2=='t')
rover.turnAround();
if(keypress2=='b')
{
int i=1;
while(i==1)
{
//printPathMem();
if (beaconDetected() == 1 && returnMode == 0)
{
returnMode = 1;
pathMemPos = pathMemCount;
beaconposx = mapper.getCurrPosx();
beaconposy = mapper.getCurrPosy();
//Back-off one step and turn 180 degrees
/*
rover.moveBackward();
rover.turnAround();*/
delay(3000);
}
if (returnMode == 0)
{
//printBeacon();
//printRangefinders();
beaconDir = getBeaconDirection();
navigate(beaconDir);
}
else
{
homeDir = getStartPosDirection();
if (homeDir == MISSION_ACCOMPLISHED)
{
Serial.println("Got Back Home. Safe and Sound!");
Serial1.println("Got Back Home. Safe and Sound!");
break;
}
navigate(homeDir);
}
/*
else
returnHome();
*/
if ((char)Serial.read() == 'k')
break;
}
}
}
//updateGUI();
}
/* Takes in direction of beacon as a parameter
and decides where to go next. The decision
is made based on the beacon direction as well
as the nearby obstacles.
@param: Beacon Direction
@return: none
*/
void navigate(int beaconDirection)
{
int nextMove = MOVFWD;
updateIRSensors();
int inLoop = checkForLoop();
mapper.printMap();
// If in a dead-end, get out of function:
// (let the checkForLoop() function take care of the situation)
if(deadEndDetected==1)
return;
// If stuck in a loop, get out of function:
// (let the checkForLoop() function take care of the situation)
if (inLoop == 1)
return;
updateIRSensors();
if (beaconDirection == 0)
{
if ( rangefinder(analogRead(PIN_IR_CTR)) > 10 )
nextMove = MOVFWD;
else
{
if ( rangefinder(analogRead(PIN_IR_RGT)) >= rangefinder(analogRead(PIN_IR_LFT)) )
nextMove = MOVRGT;
else
nextMove = MOVLFT;
}
}
else if (beaconDirection == 2)
{
if ( rangefinder(analogRead(PIN_IR_RGT)) > 10 )
nextMove = MOVRGT;
else
{
if ( rangefinder(analogRead(PIN_IR_CTR)) >= 10 )
nextMove = MOVFWD;
else
nextMove = MOVLFT;
}
}
else if (beaconDirection == 6)
{
if ( rangefinder(analogRead(PIN_IR_LFT)) > 10 )
nextMove = MOVLFT;
else
{
if ( rangefinder(analogRead(PIN_IR_CTR)) >= 10 )
nextMove = MOVFWD;
else
nextMove = MOVRGT;
}
}
else if (beaconDirection == 1) // North-East (1st quadrent)
{
if ( rangefinder(analogRead(PIN_IR_CTR)) >= rangefinder(analogRead(PIN_IR_RGT)) )
nextMove = MOVFWD;
else
nextMove = MOVRGT;
}
else if (beaconDirection == 7) // North-East (2nd quadrent)
{
if ( rangefinder(analogRead(PIN_IR_CTR)) >= rangefinder(analogRead(PIN_IR_LFT)) )
nextMove = MOVFWD;
else
nextMove = MOVLFT;
}
// Cases: Beacon is behind the robot
else if (beaconDirection == 5)
{
if ( rangefinder(analogRead(PIN_IR_LFT)) >= BLOCK_LIMIT )
nextMove = MOVLFT;
else
nextMove = MOVFWD;
}
else if (beaconDirection == 3)
{
if ( rangefinder(analogRead(PIN_IR_RGT)) >= BLOCK_LIMIT)
nextMove = MOVRGT;
else
nextMove = MOVFWD;
}
else if (beaconDirection == 4)
{
if ( rangefinder(analogRead(PIN_IR_LFT)) <= rangefinder(analogRead(PIN_IR_RGT)) )
nextMove = MOVRGT;
else
nextMove = MOVLFT;
}
else
{
if ( rangefinder(analogRead(PIN_IR_RGT)) >= rangefinder(analogRead(PIN_IR_LFT)) )
nextMove = MOVRGT;
else
nextMove = MOVLFT;
}
/*
Serial1.print("nextMove: ");
Serial1.println(nextMove);
Serial1.print("switchcase: ");
Serial1.println(switchcase);
Serial1.print("lastturnyx: ");
Serial1.println(lastturnx);
Serial1.print("lastturny: ");
Serial1.println(lastturny);
Serial1.print("mapper.getCurrPosx(): ");
Serial1.println(mapper.getCurrPosx());
Serial1.print("mapper.getCurrPosy(): ");
Serial1.println(mapper.getCurrPosy());
*/
if (nextMove == MOVFWD) //Forward
{
rover.moveForward();
mapper.updateMap(MOVFWD);
pathMem[pathMemCount] = 0;
nextMov = 0;
pathMemCount++;
}
else if (nextMove == MOVRGT) //Right
{
lastturnx = mapper.getCurrPosx();
lastturny = mapper.getCurrPosy();
rover.turnRight();
mapper.updateMap(MOVRGT);
deadEndDetected = 0;
pathMem[pathMemCount] = 1;
nextMov = 1;
pathMemCount++;
}
else if (nextMove == MOVBWD) //Backward
{
rover.turnAround();
mapper.updateMap(MOVBWD);
pathMem[pathMemCount] = 2;
nextMov = 2;
pathMemCount++;
}
else if (nextMove == MOVLFT) //Left
{
lastturnx = mapper.getCurrPosx();
lastturny = mapper.getCurrPosy();
rover.turnLeft();
mapper.updateMap(MOVLFT);
deadEndDetected = 0;
pathMem[pathMemCount] = 3;
nextMov = 3;
pathMemCount++;
}
}
/* returnHome function:
Takes the robot back home after detection of
the beacon using the step-by-step memory.
This is our basic Return Home strategy. The
advanced return home strategy uses our map
and tries to get back to the home grid after
beacon detection.
@param: None
@return: None
*/
void returnHome()
{
int nextMove = 0;
if (pathMemPos >= 2)
{
nextMove = pathMem[pathMemPos - 1];
if (nextMove == 0)
{
rover.moveForward();
mapper.updateMap(MOVFWD);
Serial.print("Return Mode: Move Forward");
}
else if (nextMove == 1)
{
rover.turnLeft();
mapper.updateMap(MOVLFT);
Serial.print("Return Mode: Turn Left");
}
else if (nextMove == 3)
{
rover.turnRight();
mapper.updateMap(MOVRGT);
Serial.print("Return Mode: Turn Right");
}
else
{
rover.pause();
Serial.print("Return Mode: Skip!");
}
pathMemPos--;
}
else
{
Serial.println("Got back home. Safe and Sound!");
Serial1.println("Got back home. Safe and Sound!");
}
}
/* hugWall() function:
Takes in which side to hug as a parameter,
and makes the robot stick to the wall on the
specified side until wall is clear.
@param: Side to Hug
@return: None
*/
void hugWall(int side)
{
int turnCounter = 0;
int forwardCounter = 0;
// Case 1: Hug the Right Wall
if ( side == RIGHT )
{
forwardCounter = 0;
while (turnCounter < 2 && forwardCounter < 6)
{
updateIRSensors();
/*
Serial1.print("switchcase: ");
Serial1.println(switchcase);
Serial1.print("lastturnx: ");
Serial1.println(lastturnx);
Serial1.print("lastturny: ");
Serial1.println(lastturny);
Serial1.print("mapper.getCurrPosx(): ");
Serial1.println(mapper.getCurrPosx());
Serial1.print("mapper.getCurrPosy(): ");
Serial1.println(mapper.getCurrPosy());
Serial1.println("Hugging Right");
*/
//Dead-End Case
if ( leftSensor == BLOCKED && rightSensor == BLOCKED && frontSensor == BLOCKED)
{
Serial1.println("Dead End!");
Serial.println("Dead End!");
deadEndDetected = 1;
rover.moveBackward();
// Remove last step from return memory
pathMemCount--;
mapper.updateDeadEnd();
mapper.updateMap(MOVBWD);
blockIRSensor(IR_CTR);
}
else if (rightSensor != BLOCKED)
{
rover.turnRight();
mapper.updateMap(MOVRGT);
deadEndDetected = 0;
forwardCounter = 0;
turnCounter++;
if (turnCounter == 2)
{
updateIRSensors();
if (frontSensor == BLOCKED && rightSensor == BLOCKED && leftSensor != BLOCKED)
{
rover.turnLeft();
mapper.updateMap(MOVLFT);
}
}
hugcondition = 0;
pathMem[pathMemCount] = 1;
pathMemCount++;
}
else if (frontSensor == BLOCKED)
{
rover.turnLeft();
mapper.updateMap(MOVLFT);
deadEndDetected = 0;
forwardCounter = 0;
pathMem[pathMemCount] = 3;
pathMemCount++;
}
else if (rightSensor == BLOCKED)
{
rover.moveForward();
forwardCounter++;
deadEndDetected = 0;
mapper.updateMap(MOVFWD);
pathMem[pathMemCount] = 0;
pathMemCount++;
}
updateIRSensors();
if (switchcase == 1) // consider same-column exit condition
{
/*
Serial.print("switchcase: ");
Serial.println(switchcase);
Serial1.print("lastturnx: ");
Serial1.println(lastturnx);
Serial.print("lastturny: ");
Serial.println(lastturny);
Serial.print("mapper.getCurrPosx(): ");
Serial.println(mapper.getCurrPosx());
Serial.print("mapper.getCurrPosy(): ");
Serial.println(mapper.getCurrPosy());
*/
if (mapper.getCurrPosx() == lastturnx)
{
if (frontSensor != BLOCKED)
{
rover.moveForward();
mapper.updateMap(MOVFWD);
}
else if (frontSensor == BLOCKED && leftSensor == BLOCKED && rightSensor == BLOCKED)
{
rover.moveBackward();
mapper.updateDeadEnd();
mapper.updateMap(MOVBWD);
}
else
{
if (rangefinder(analogRead(PIN_IR_LFT)) <= rangefinder(analogRead(PIN_IR_RGT)))
{
rover.turnRight();
mapper.updateMap(MOVRGT);
}
else
{
rover.turnLeft();
mapper.updateMap(MOVLFT);
}
}
hugcondition = 1;
pathMem[pathMemCount] = 0;
pathMemCount++;
break;
}
}
if (beaconDetected() == 1 && returnMode == 0)
break;
if (getStartPosDirection() == MISSION_ACCOMPLISHED && returnMode == 1)
break;
mapper.printMap();
updateIRSensors();
}
Serial1.println("Got out of hugWall(right)");
}
// Case 2: Hug the Left Wall
else if ( side == LEFT )
{
forwardCounter = 0;
while (turnCounter < 2 && forwardCounter < 6)
{
updateIRSensors();
Serial1.println("Hugging Left");
if ( leftSensor == BLOCKED && rightSensor == BLOCKED && frontSensor == BLOCKED)
{
Serial1.println("Dead End!");
Serial.println("Dead End!");
deadEndDetected = 1;
rover.moveBackward();
// Remove last step from return memory
pathMemCount--;
mapper.updateDeadEnd();
mapper.updateMap(MOVBWD);
blockIRSensor(IR_CTR);
}
else if (leftSensor != BLOCKED)
{
rover.turnLeft();
mapper.updateMap(MOVLFT);
deadEndDetected = 0;
forwardCounter = 0;
turnCounter++;
if (turnCounter == 2)
{
updateIRSensors();
if (frontSensor == BLOCKED && leftSensor == BLOCKED && rightSensor != BLOCKED)
{
rover.turnRight();
mapper.updateMap(MOVRGT);
}
}
hugcondition = 0;
pathMem[pathMemCount] = 3;
pathMemCount++;
}
else if (frontSensor == BLOCKED)
{
rover.turnRight();
mapper.updateMap(MOVRGT);
deadEndDetected = 0;
forwardCounter = 0;
pathMem[pathMemCount] = 1;
pathMemCount++;
}
else if (leftSensor == BLOCKED)
{
rover.moveForward();
forwardCounter++;
deadEndDetected = 0;
mapper.updateMap(MOVFWD);
pathMem[pathMemCount] = 0;
pathMemCount++;
}
updateIRSensors();
if (switchcase == 1) // consider same-column exit condition
{
/*
Serial.print("switchcase: ");
Serial.println(switchcase);
Serial.print("lastturny: ");
Serial.println(lastturny);
Serial.print("mapper.getCurrPosx(): ");
Serial.println(mapper.getCurrPosx());
Serial.print("mapper.getCurrPosy(): ");
Serial.println(mapper.getCurrPosy());
*/
if (mapper.getCurrPosx() == lastturnx)
{
if (frontSensor != BLOCKED)
{
rover.moveForward();
mapper.updateMap(MOVFWD);
}
else if (frontSensor == BLOCKED && leftSensor == BLOCKED && rightSensor == BLOCKED)
{
rover.moveBackward();
mapper.updateDeadEnd();
mapper.updateMap(MOVBWD);
}
else
{
if (rangefinder(analogRead(PIN_IR_LFT)) <= rangefinder(analogRead(PIN_IR_RGT)))
{
rover.turnRight();
mapper.updateMap(MOVRGT);
}
else
{
rover.turnLeft();
mapper.updateMap(MOVLFT);
}
}
hugcondition = 1;
pathMem[pathMemCount] = 0;
pathMemCount++;
break;
}
}
if (beaconDetected() == 1 && returnMode == 0)
break;
if (getStartPosDirection() == MISSION_ACCOMPLISHED && returnMode == 1)
break;
mapper.printMap();
updateIRSensors();
}
Serial1.println("Got out of hugWall(left)");
}
loopFlag = 0;
}
int checkForLoop()
{
// int stickyWall;
// printIRSensor();
if ( frontSensor == BLOCKED )
{
if ( leftSensor == BLOCKED && rightSensor == BLOCKED )
{
Serial1.println("Dead End!");
Serial.println("Dead End!");
deadEndDetected = 1;
loopFlag = OFF;
rover.moveBackward();
updateIRSensors();
// Remove last step from return memory
pathMemCount--;
mapper.updateDeadEnd();
mapper.updateMap(MOVBWD);
blockIRSensor(IR_CTR);
}
else if ( rightSensor == BLOCKED )
{
loopFlag = ON;
if ( lastturnx == -1)
{
lastturnx = mapper.getCurrPosx();
lastturny = mapper.getCurrPosy();
passoverself = ON;
}
else
{
passoverself = OFF;
}
}
else if ( leftSensor == BLOCKED )
{
loopFlag = ON;
if ( lastturnx == -1)
{
lastturnx = mapper.getCurrPosx();
lastturny = mapper.getCurrPosy();
passoverself = ON;
}
else
{
passoverself = OFF;
}
}
else if ( leftSensor != BLOCKED && rightSensor != BLOCKED && deadEndDetected == ON)
{
rover.turnRight();
mapper.updateMap(MOVRGT);
deadEndDetected = OFF;
pathMem[pathMemCount] = 1;
pathMemCount++;
}
updateIRSensors();
if (hugcondition == 1 && frontSensor == BLOCKED)
{
if (stickyWall == RIGHT)
{
if (rightSensor == BLOCKED)
{
rover.turnAround();
}
else
{
rover.turnRight();
mapper.updateMap(MOVRGT);
}
stickyWall = LEFT;
hugcondition = 0;
loopFlag = ON;
updateIRSensors();
/*
if (leftSensor != BLOCKED)
{
rover.turnLeft();
mapper.updateMap(MOVLFT);
}
*/
}
else if (stickyWall == LEFT)
{
if (leftSensor == BLOCKED)
{
rover.turnAround();
}
else
{
rover.turnLeft();
mapper.updateMap(MOVLFT);
}
stickyWall = RIGHT;
hugcondition = 0;
loopFlag = ON;
updateIRSensors();
/*
if (rightSensor != BLOCKED)
{
rover.turnRight();
mapper.updateMap(MOVRGT);
}
*/
}
}
if (loopFlag == ON && hugcondition == 0)
{
if (mapper.getCurrPosx() == lastturnx && passoverself == OFF) // if robot is already in the same column that it started don't consider the exception condition
switchcase = 0;
else
{
switchcase = 1;
passoverself = OFF;
}
/*
Serial.print("switchcase: ");
Serial.println(switchcase);
Serial.print("lastturny: ");
Serial.println(lastturny);
Serial.print("mapper.getCurrPosx(): ");
Serial.println(mapper.getCurrPosx());
Serial.print("mapper.getCurrPosy(): ");
Serial.println(mapper.getCurrPosy());
Serial1.print("switchcase: ");
Serial1.println(switchcase);
Serial1.print("lastturny: ");
Serial1.println(lastturny);
Serial1.print("mapper.getCurrPosx(): ");
Serial1.println(mapper.getCurrPosx());
Serial1.print("mapper.getCurrPosy(): ");
Serial1.println(mapper.getCurrPosy());
*/
}
}
/*
Serial1.print("switchcase: ");
Serial1.println(switchcase);
Serial1.print("hugcondition: ");
Serial1.println(hugcondition);
Serial.print("switchcase: ");
Serial.println(switchcase);
Serial.print("hugcondition: ");
Serial.println(hugcondition);
*/
// Loop Found! Let's get out of it...
if (loopFlag == ON)
{
Serial1.println("Stuck in a loop! Let's get out... (loopFlag = ON)");
hugWall(stickyWall);
return 1;
}
else
return 0;
}
/* converts analogue voltage from IR sensors
to distance in centimetres */
double rangefinder(int voltage)
{
/*
double distance = 0; // in cm
if (voltage >= 80 && voltage <= 500)
distance = 4800/(double)(voltage - 20);
else if (voltage < 80)
distance = 99;