From 867a54109c1bf25617fa46fd4c776db10d56fa8d Mon Sep 17 00:00:00 2001 From: lonkaars Date: Wed, 8 Jun 2022 14:56:00 +0200 Subject: `make format` --- robot/mode_chrg.c | 24 ++++++++-------- robot/mode_grid.c | 83 ++++++++++++++++++++++++++----------------------------- robot/mode_grid.h | 8 +----- robot/mode_maze.c | 10 +++---- robot/movement.c | 67 ++++++++++++++++++++++---------------------- shared/errcatch.h | 1 - 6 files changed, 89 insertions(+), 104 deletions(-) diff --git a/robot/mode_chrg.c b/robot/mode_chrg.c index 64497e2..5b733af 100644 --- a/robot/mode_chrg.c +++ b/robot/mode_chrg.c @@ -1,8 +1,8 @@ #include "mode_chrg.h" #include "mode_grid.h" -#include "orangutan_shim.h" -#include "movement.h" #include "modes.h" +#include "movement.h" +#include "orangutan_shim.h" int g_w2_charged_status; @@ -22,20 +22,19 @@ void w2_home() { set_motors(0, 0); play_frequency(300, 500, 7); delay_ms(600); - g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); g_w2_charged_status = 1; clear(); delay_ms(2000); } - void w2_charge_cross_walk() { if (g_w2_transition == 0) { set_motors(-30, 30); delay(50); } - while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 && - g_w2_sensors[4] < 100) { + while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && + g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) { set_motors(15, 15); delay(550); g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); @@ -44,12 +43,12 @@ void w2_charge_cross_walk() { // clear(); print("WALK"); g_w2_transition++; - if (g_w2_transition == 3) { //TODO: document g_w2_transition + if (g_w2_transition == 3) { // TODO: document g_w2_transition set_motors(40, 40); delay(600); set_motors(0, 0); - g_w2_transition = 0; + g_w2_transition = 0; w2_modes_swap(W2_M_MAZE); break; } @@ -60,7 +59,6 @@ void w2_charge_cross_walk() { } } - void w2_mode_chrg() { unsigned int last_proportional = 0; long integral = 0; @@ -99,8 +97,8 @@ void w2_mode_chrg() { if (power_difference > max) power_difference = max; if (power_difference < -max) power_difference = -max; - if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 && - g_w2_sensors[4] < 100) { + if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && + g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) { w2_charge_cross_walk(); if (g_w2_mode_history[g_w2_mode_history_index] == W2_M_MAZE) { break; @@ -119,8 +117,8 @@ void w2_mode_chrg() { w2_maze_rotation_half_left(); } - else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && g_w2_sensors[3] >= 250 && - g_w2_sensors[4] >= 500) { + else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && + g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) { clear(); w2_maze_rotation_half_left(); } else { diff --git a/robot/mode_grid.c b/robot/mode_grid.c index e864db7..16dbef3 100644 --- a/robot/mode_grid.c +++ b/robot/mode_grid.c @@ -1,7 +1,7 @@ #include "mode_grid.h" -#include "orangutan_shim.h" #include "modes.h" #include "movement.h" +#include "orangutan_shim.h" int g_w2_order_number; @@ -22,7 +22,7 @@ void w2_location_message() { print_long(g_w2_location.x); print(","); print_long(g_w2_location.y); - delay(200); + delay(200); } int g_w2_detection = 0; @@ -32,8 +32,8 @@ char g_w2_y_location = 0; void w2_crosswalk_stroll() { print("hoi"); - while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 && - g_w2_sensors[4] < 100) { + while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && + g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) { set_motors(15, 15); delay(290); g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); @@ -45,7 +45,7 @@ void w2_crosswalk_stroll() { if (g_w2_transition == 3) { set_motors(40, 40); delay(600); - g_w2_transition = 0; + g_w2_transition = 0; w2_modes_swap(W2_M_GRID); return; } @@ -66,41 +66,42 @@ void w2_grid_crossway_detection() { } void w2_grid_follow_line() { - unsigned int last_proportional=0; - long integral=0; + unsigned int last_proportional = 0; + long integral = 0; - while(1) { - g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON); + while (1) { + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); int proportional = ((int)g_w2_position) - 2000; - int derivative = proportional - last_proportional; + int derivative = proportional - last_proportional; integral += proportional; - last_proportional = proportional; - int power_difference = proportional/20 + integral/10000 + derivative*3/2; + last_proportional = proportional; + int power_difference = proportional / 20 + integral / 10000 + derivative * 3 / 2; const int max = 60; - if(power_difference > max) - power_difference = max; - if(power_difference < -max) - power_difference = -max; - - if(g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && g_w2_sensors[3] >= 250 &&g_w2_sensors[4] >= 500){ + if (power_difference > max) power_difference = max; + if (power_difference < -max) power_difference = -max; + + if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && + g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) { break; - } - else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100){ + } else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100) { break; - } - else if(g_w2_sensors[4] >= 500 && g_w2_sensors[3] >= 200 && g_w2_sensors[0] < 100){ //for the south and west borders of the grid + } else if (g_w2_sensors[4] >= 500 && g_w2_sensors[3] >= 200 && + g_w2_sensors[0] < 100) { // for the south and west borders of the grid break; - } - else if(g_w2_sensors[4] >= 500 && g_w2_sensors[3] >= 200 && g_w2_sensors[2] <100 && g_w2_sensors[0] < 100){ //sharp right corners + } else if (g_w2_sensors[4] >= 500 && g_w2_sensors[3] >= 200 && g_w2_sensors[2] < 100 && + g_w2_sensors[0] < 100) { // sharp right corners break; } - else{ - if(power_difference < 0 && (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100) ){ - set_motors(max+power_difference, max);} - else if( power_difference > 0 && ( g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)){ - set_motors(max, max-power_difference);} + else { + if (power_difference < 0 && + (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)) { + set_motors(max + power_difference, max); + } else if (power_difference > 0 && + (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)) { + set_motors(max, max - power_difference); + } } } } @@ -108,7 +109,7 @@ void w2_grid_follow_line() { void w2_begin_location() { g_w2_location.x = 4; g_w2_location.y = 0; - g_w2_direction = W2_ORT_WEST; + g_w2_direction = W2_ORT_WEST; } void w2_end_destination() { @@ -325,21 +326,15 @@ void w2_mode_maze() { if (power_difference > max) power_difference = max; if (power_difference < -max) power_difference = -max; - if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 && - g_w2_sensors[4] < 100) { - } else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && - g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) { - w2_crossway_detection(); - } else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100) { - w2_half_rotation_left(); - } else { - if (power_difference < 0 && (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)) - set_motors(max + power_difference, max); - else if (power_difference > 0 && - (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)) - set_motors(max, max - power_difference); + if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && +g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) { } else if (g_w2_sensors[0] >= 500 && +g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= +500) { w2_crossway_detection(); } else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && +g_w2_sensors[4] < 100) { w2_half_rotation_left(); } else { if (power_difference < 0 && +(g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)) set_motors(max + +power_difference, max); else if (power_difference > 0 && (g_w2_sensors[2] > 100 || g_w2_sensors[3] > +100 || g_w2_sensors[1] > 100)) set_motors(max, max - power_difference); } } } */ - diff --git a/robot/mode_grid.h b/robot/mode_grid.h index 3ba3db0..2df0d33 100644 --- a/robot/mode_grid.h +++ b/robot/mode_grid.h @@ -13,12 +13,7 @@ extern int g_w2_transition; void w2_crosswalk_stroll(); -typedef enum { - W2_ORT_NORTH, - W2_ORT_EAST, - W2_ORT_SOUTH, - W2_ORT_WEST -} w2_e_orientation; +typedef enum { W2_ORT_NORTH, W2_ORT_EAST, W2_ORT_SOUTH, W2_ORT_WEST } w2_e_orientation; // enum w2_e_section { mazeMode, gridMode, chargeMode } g_w2_parcour_mode; @@ -28,4 +23,3 @@ typedef struct { } w2_s_grid_coordinate; extern w2_s_grid_coordinate g_w2_order[4]; - diff --git a/robot/mode_maze.c b/robot/mode_maze.c index da3fa2a..eb75e3c 100644 --- a/robot/mode_maze.c +++ b/robot/mode_maze.c @@ -1,19 +1,19 @@ #include "mode_maze.h" -#include "orangutan_shim.h" -#include "movement.h" #include "mode_grid.h" +#include "movement.h" +#include "orangutan_shim.h" unsigned int g_w2_last_proportional = 0; long g_w2_integral = 0; void w2_mode_maze() { // PID controller - g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); int proportional = ((int)g_w2_position) - 2000; - int derivative = proportional - g_w2_last_proportional; + int derivative = proportional - g_w2_last_proportional; g_w2_integral += proportional; g_w2_last_proportional = proportional; - int power_difference = proportional / 20 + g_w2_integral / 10000 + derivative * 3 / 2; + int power_difference = proportional / 20 + g_w2_integral / 10000 + derivative * 3 / 2; const int max = 60; if (power_difference > max) power_difference = max; diff --git a/robot/movement.c b/robot/movement.c index 82829c1..61a944b 100644 --- a/robot/movement.c +++ b/robot/movement.c @@ -1,60 +1,59 @@ -#include "orangutan_shim.h" #include "movement.h" +#include "orangutan_shim.h" -unsigned int g_w2_sensors[5] = {0}; -unsigned int g_w2_position = 0; +unsigned int g_w2_sensors[5] = {0}; +unsigned int g_w2_position = 0; -void w2_maze_rotation_full(){ - set_motors(0,0); +void w2_maze_rotation_full() { + set_motors(0, 0); delay_ms(500); - set_motors(60,-60); + set_motors(60, -60); delay_ms(540); - set_motors(0,0); - g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON); + set_motors(0, 0); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); delay_ms(500); } -void w2_maze_rotation_half_left(){ - set_motors(0,0); - set_motors(50,50); +void w2_maze_rotation_half_left() { + set_motors(0, 0); + set_motors(50, 50); delay_ms(150); - set_motors(-30,30); + set_motors(-30, 30); delay_ms(600); - set_motors(0,0); - g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON); + set_motors(0, 0); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); delay_ms(500); - } -void w2_maze_rotation_half_right(){ - set_motors(0,0); - set_motors(50,50); +void w2_maze_rotation_half_right() { + set_motors(0, 0); + set_motors(50, 50); delay_ms(150); - set_motors(30,-30); + set_motors(30, -30); delay_ms(600); - set_motors(0,0); - set_motors(50,50); + set_motors(0, 0); + set_motors(50, 50); delay_ms(150); - g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); delay_ms(500); } -void w2_grid_rotation_full(){ - set_motors(60,-60); +void w2_grid_rotation_full() { + set_motors(60, -60); delay_ms(540); - set_motors(10,10); - g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON); + set_motors(10, 10); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); } -void w2_grid_rotation_half_left(){ - set_motors(-30,30); +void w2_grid_rotation_half_left() { + set_motors(-30, 30); delay_ms(600); - set_motors(10,10); - g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON); + set_motors(10, 10); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); } -void w2_grid_rotation_half_right(){ - set_motors(30,-30); +void w2_grid_rotation_half_right() { + set_motors(30, -30); delay_ms(600); - set_motors(10,10); - g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON); + set_motors(10, 10); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); } diff --git a/shared/errcatch.h b/shared/errcatch.h index 07835c4..a56bc00 100644 --- a/shared/errcatch.h +++ b/shared/errcatch.h @@ -97,4 +97,3 @@ void w2_errcatch_throw_msg(w2_e_errorcode code, uint16_t length, const char *mes * TODO: doesn't handle null pointers from malloc */ w2_s_error *w2_alloc_error(w2_e_errorcode code, uint16_t length, const char *message); 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