From 5692ca8c65f5f5617d6987b610e425a32c0d8e1d Mon Sep 17 00:00:00 2001
From: HoodieJeansJordans <abdaadir@gmail.com>
Date: Sun, 5 Jun 2022 13:15:48 +0200
Subject:  Toevoeging Maze module.

---
 robot/mode_maze.c | 141 +++++++++++++++++++++++++++++++++++++++++++++++++++++-
 robot/mode_maze.h |   4 ++
 2 files changed, 144 insertions(+), 1 deletion(-)

(limited to 'robot')

diff --git a/robot/mode_maze.c b/robot/mode_maze.c
index 6ae62be..9570706 100644
--- a/robot/mode_maze.c
+++ b/robot/mode_maze.c
@@ -1,3 +1,142 @@
 #include "mode_maze.h"
+#include "orangutan_shim.h"
+void full_rotation(){
+	set_motors(0,0);
+	delay_ms(500);
+	set_motors(60,-60);
+	delay_ms(540);
+	set_motors(0,0);
+	position = read_line(sensors,IR_EMITTERS_ON);
+	delay_ms(500);
+	
 
-void w2_mode_maze() {}
+}
+
+void half_rotation_left(){
+	set_motors(0,0);
+	set_motors(50,50);
+	delay_ms(150);
+	set_motors(-30,30);
+	delay_ms(600);
+	set_motors(0,0);
+	position = read_line(sensors,IR_EMITTERS_ON);
+	delay_ms(500);
+		
+}
+void half_rotation_right(){
+	set_motors(0,0);
+	set_motors(50,50);
+	delay_ms(150);
+	set_motors(30,-30);
+	delay_ms(600);
+	set_motors(0,0);
+	set_motors(50,50);
+	delay_ms(150);
+	position = read_line(sensors,IR_EMITTERS_ON);
+	delay_ms(500);
+}
+void crossway_detection(){
+	half_rotation_left();
+}
+void intersection_detection(){
+	half_rotation_left();
+}
+void w2_mode_maze() {
+    while(1)
+	{    
+		// Get the position of the line.  Note that we *must* provide
+		// the "sensors" argument to read_line() here, even though we
+		// are not interested in the individual sensor readings.
+		position = read_line(sensors,IR_EMITTERS_ON);
+
+		// The "proportional" term should be 0 when we are on the line.
+		int proportional = ((int)position) - 2000;
+
+		// Compute the derivative (change) and integral (sum) of the
+		// position.
+		int derivative = proportional - last_proportional;
+		integral += proportional;
+
+		// Remember the last position.
+		last_proportional = proportional;
+
+		// Compute the difference between the two motor power settings,
+		// m1 - m2.  If this is a positive number the robot will turn
+		// to the right.  If it is a negative number, the robot will
+		// turn to the left, and the magnitude of the number determines
+		// the sharpness of the turn.
+		int power_difference = proportional/20 + integral/10000 + derivative*3/2;
+
+		// Compute the actual motor settings.  We never set either motor
+		// to a negative value.
+		 
+		const int max = 60;
+		if(power_difference > max)
+			power_difference = max;
+		if(power_difference < -max)
+			power_difference = -max;
+		
+		if(sensors[0] < 100 && sensors[1] <100 && sensors[2] < 100 &&  sensors[3] < 100 && sensors[4] < 100){
+			// grid detectie
+            /*set_motors(0,0);      
+			delay_ms(450);
+			set_motors(50,50);
+			delay_ms(180);
+			if ( sensors[2] >= 100 || sensors[3] >= 100 || sensors[1] >= 100 || sensors[0] >= 100 || sensors[4] >= 100)
+			{
+				set_motors(0,0);				
+				delay_ms(15000);
+				set_motors(50,50);
+				delay_ms(180);
+				if (sensors[2] >= 100 || sensors[3] >= 100 || sensors[1] >= 100 || sensors[0] >= 100 || sensors[4] >= 100 )
+				{
+					set_motors(0,0);
+					delay_ms(1500);
+					set_motors(50,50);
+					delay_ms(180);
+					if (sensors[2] >= 100 || sensors[3] >= 100 || sensors[1] >= 100 || sensors[0] >= 100 || sensors[4] >= 100)
+					{
+						print("GRID!");	
+						set_motors(0,0);
+						delay_ms(10000);
+						
+					}					
+				}
+				
+			}
+			else if(sensors[0] < 100 && sensors[1] <100 && sensors[2] < 100 &&  sensors[3] < 100 && sensors[4] < 100){*/
+			full_rotation();
+			//}
+			
+		}
+		else if(sensors[0] >= 500 && sensors[1] >= 250  && sensors[2] >= 500  &&  sensors[3] >= 250  &&sensors[4] >= 500){
+			crossway_detection();
+		}
+		//else if(sensors[0] >= 500  && sensors[2] < 50 &&sensors[4] >= 500){ 
+			//intersection_detection();
+		//}
+		else if (sensors[0] >= 500 && sensors[1] >= 200 && sensors[4] < 100){
+			half_rotation_left();
+		}
+		//else if(sensors[4] >= 500 && sensors[3] >= 200 && sensors[0] < 100){
+			//half_rotation_right();
+		//}
+		else{ 
+			if(power_difference < 0 && (sensors[2] > 100 || sensors[3] > 100 || sensors[1] > 100) )
+				set_motors(max+power_difference, max);
+			else if( power_difference > 0 && ( sensors[2] > 100 || sensors[3] > 100 || sensors[1] > 100)  )
+				set_motors(max, max-power_difference);
+			
+		}
+		       		
+	}
+
+	// This part of the code is never reached.  A robot should
+	// never reach the end of its program, or unpredictable behavior
+	// will result as random code starts getting executed.  If you
+	// really want to stop all actions at some point, set your motors
+	// to 0,0 and run the following command to loop forever:
+	//
+	// while(1);
+}
+}
diff --git a/robot/mode_maze.h b/robot/mode_maze.h
index 9fbeb8c..b97ad5c 100644
--- a/robot/mode_maze.h
+++ b/robot/mode_maze.h
@@ -5,4 +5,8 @@
  *
  * finds route out of maze
  */
+unsigned int sensors[5]; // an array to hold sensor values
+unsigned int position;
+unsigned int last_proportional=0;
+long integral=0;
 void w2_mode_maze();
-- 
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