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leader.ino
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leader.ino
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const float OUTER_RANGE = 95;
const float INNER_RANGE = 30;
const float CONFIRM_RANGE = 90;
float rcv[6] = {1,1,1,1,1,1};
int minval[6], maxval[6];
int mode, tail_pin = 0, head_pin = 0;
//4 modes:
// 0 -> Idle
// 1 -> Following
// 2 -> Transmittingq
// 3 -> Idle, waiting for back transmission
int right(int pin){ return (pin + 1) % 6; }
int left(int pin){ return (pin + 5) %6; }
float calib(int reading, int pin){
if(reading > maxval[pin]) maxval[pin] = reading;
if(reading < minval[pin]) minval[pin] = reading;
if(maxval[pin] - minval[pin] < 300){
Serial.print("Pin: "); Serial.print(pin); Serial.println(" uncalibrated");
return 0;
}
return (100.0 * ((float) (reading - minval[pin])/(float) (maxval[pin] - minval[pin])));
}
int Update(){
Serial.print(mode); Serial.print(": ");
Serial.print("Input - ");
for(int i = 0; i < 6; i++){
int buff = analogRead(i);
rcv[i] = calib(buff, i);
Serial.print(rcv[i]); Serial.print(" ");
//Serial.print(buff); Serial.print(" ");
}
Serial.println();
int x = 0;
for(int i = 0; i < 6; i++) if(rcv[i] < rcv[x]) x = i;
return x;
}
void changeMode(int newmode){
mode = newmode;
Serial.print("Mode changed to "); Serial.println(mode);
switch(mode){
case 0: digitalWrite(2,HIGH); digitalWrite(3,HIGH); break;
case 1: digitalWrite(2,LOW); digitalWrite(3,LOW); break;
case 2: digitalWrite(2,LOW); digitalWrite(3,HIGH); break;
case 3: digitalWrite(2,HIGH); digitalWrite(3,LOW); break;
}
digitalWrite(4, LOW); digitalWrite(5, LOW); digitalWrite(6, LOW); digitalWrite(7, LOW);
delay(1000);
}
void follow(){
if(rcv[head_pin] > OUTER_RANGE){
digitalWrite(4, LOW); digitalWrite(5, LOW); digitalWrite(6, LOW); digitalWrite(7, LOW);
return;
}
switch(head_pin){
//pins 4,5 are for the right motor and 6,7 for the left.
//sensor 0 is the forward orientation and numbering is CC.
// 0
// 6 5 1 4
// 7 4 2 5
// 3
case 0:
digitalWrite(4,HIGH); digitalWrite(5,LOW); digitalWrite(6,LOW); digitalWrite(7,HIGH);
delay(500);
break;
case 1:
digitalWrite(4,HIGH); digitalWrite(5,LOW); digitalWrite(6,HIGH); digitalWrite(7,LOW);
delay(500);
break;
case 2:
digitalWrite(4,LOW); digitalWrite(5,HIGH); digitalWrite(6,LOW); digitalWrite(7,HIGH);
delay(500);
break;
case 3:
digitalWrite(4,LOW); digitalWrite(5,HIGH); digitalWrite(6,HIGH); digitalWrite(7,LOW);
delay(500);
break;
case 4:
digitalWrite(4,HIGH); digitalWrite(5,LOW); digitalWrite(6,HIGH); digitalWrite(7,LOW);
delay(500);
break;
case 5:
digitalWrite(4,LOW); digitalWrite(5,HIGH); digitalWrite(6,LOW); digitalWrite(7,HIGH);
delay(500);
break;
}
digitalWrite(4, LOW); digitalWrite(5, LOW); digitalWrite(6, LOW); digitalWrite(7, LOW);
return;
}
bool confirm(int pin){
int count = 0;
float reading;
Serial.println("Confirmation signal");
if(mode == 0){
long unsigned int t = millis();
digitalWrite(pin + 8, HIGH);
delay(100);
for(count = 0, t = millis(); millis() - t < 100;){
if(count == 10) continue;
reading = calib(analogRead(pin), pin);
Serial.print(reading);Serial.print(" ");
if(reading > CONFIRM_RANGE) count++;
else (count > 0 ? count-- : 0);
}
Serial.println();
if(count < 10){
Serial.println("Exited at 1st");
digitalWrite(pin + 8, LOW);
return false;
}
digitalWrite(pin + 8, LOW);
delay(100);
for(count = 0, t = millis();millis() - t < 100;){
if(count == 10) continue;
reading = calib(analogRead(pin), pin);
Serial.print(reading);Serial.print(" ");
if(reading < OUTER_RANGE) count++;
else (count > 0 ? count-- : 0);
}
Serial.println();
if(count < 10){
Serial.println("exited at 2");
return false;
}
digitalWrite(pin + 8, HIGH);
delay(100);
digitalWrite(pin + 8, LOW);
return true;
}
else if(mode == 2){
long unsigned int t = millis();
digitalWrite(pin + 8, LOW);
delay(100);
for(count = 0, t = millis(); millis() - t < 100;){
if(count == 10) continue;
reading = calib(analogRead(pin), pin);
Serial.print(reading);Serial.print(" ");
if(reading > CONFIRM_RANGE) count++;
else (count > 0 ? count-- : 0);
}
Serial.println();
if(count < 10){
Serial.println("Exited at 1st");
return false;
}
digitalWrite(pin + 8, HIGH);
delay(100);
for(t = millis(); millis() - t < 100;){
if(count == 10) continue;
reading = calib(analogRead(pin), pin);
Serial.print(reading);Serial.print(" ");
if(reading < OUTER_RANGE) count++;
else (count > 0 ? count-- : 0);
}
Serial.println();
if(count < 10){
Serial.println("Exited at 2nd");
return false;
}
else return true;
}
}
bool isComm(int pin){
int count = 0, negcount = 0;
Serial.print(mode); Serial.print(": "); Serial.print("Checking for comm link on "); Serial.print(pin); Serial.print("- ");
if(mode == 2){
digitalWrite(pin + 8, HIGH);
delay(100);
float reading;
for(long unsigned int t = millis(); millis() - t < 100;){
reading = calib(analogRead(pin), pin);
Serial.print(reading);Serial.print(" ");
if(reading < OUTER_RANGE){
if(count < 10) count++;
else if(confirm(pin)){
digitalWrite(pin + 8, LOW);
Serial.println("PASS");
return true;
}
else break;
}
else{
if(count > 1) count--;
else count = 0;
}
}
digitalWrite(pin + 8, LOW);
Serial.println("FAIL");
return false;
}
else if(mode == 0){
float reading;
for(long unsigned int t = millis(); millis() - t < 250;){
reading = calib(analogRead(pin), pin);
Serial.print(reading);Serial.print(" ");
if(reading < OUTER_RANGE){
if(count < 10) count++;
else if(confirm(pin)){
digitalWrite(pin, LOW);
Serial.println("PASS");
return true;
}
else break;
}
else{
if(count > 1) count--;
else count = 0;
}
}
Serial.println("FAIL");
return false;
}
}
void setup(){
DDRB = B111111;
PORTB= B000000;
pinMode(2, OUTPUT); digitalWrite(2, LOW);
pinMode(3, OUTPUT); digitalWrite(3, LOW);
Serial.begin(115200);
maxval[0] = maxval[1] = maxval[2] = maxval[3] = maxval[4] = maxval[5] = 0;
minval[0] = minval[1] = minval[2] = minval[3] = minval[4] = minval[5] = 1000;
pinMode(4, OUTPUT); digitalWrite(4, LOW);
pinMode(5, OUTPUT); digitalWrite(5, LOW);
pinMode(6, OUTPUT); digitalWrite(6, LOW);
pinMode(7, OUTPUT); digitalWrite(7, LOW);
maxval[0] = maxval[1] = maxval[2] = maxval[3] = maxval[4] = maxval[5] = 900;
minval[0] = minval[1] = minval[2] = minval[3] = minval[4] = minval[5] = 10;
while(rcv[0] + rcv[1] + rcv[2] + rcv[3] + rcv[4] + rcv[5] < 95 * 6)
Update();
changeMode(2);
Serial.println("Initialised");
}
void loop(){
int i = 0;
if(mode == 0){
randomSeed(analogRead(6));
head_pin = random(5);
rcv[head_pin] = random(OUTER_RANGE);
follow();
if(head_pin == 1) tail_pin = left(tail_pin);
else if(head_pin == 2) tail_pin = right(tail_pin);
else if(head_pin == 4) tail_pin = left(tail_pin);
else if(head_pin == 5) tail_pin = right(tail_pin);
changeMode(2);
}
else if(mode == 2){
Serial.print("Minimum: "), Serial.println(head_pin);
for(i = tail_pin; ; i= right(i)){
Serial.print("Check starting on "); Serial.println(i);
if(isComm(i)){
tail_pin = i;
rcv[tail_pin] = calib(analogRead(tail_pin),tail_pin);
digitalWrite(tail_pin + 8, HIGH);
for(int negcount = 0; negcount < 100000; negcount++){
Serial.print(tail_pin);Serial.print(" ");
if(rcv[tail_pin] > INNER_RANGE) Update();
else if(isComm(tail_pin)) break;
if(negcount == 10000){
digitalWrite(tail_pin + 8, LOW);
changeMode(0);
return;
}
}
digitalWrite(tail_pin + 8, LOW);
changeMode(3);
return;
}
}
}
else if(mode == 3){ //the first bot will presumably have a different code for this part becuase it has no bot in front of it.
float Read; //Alt : you can set the value of minm_led to negative to identify the first bot
for(int negcount = 0; negcount < 100000; negcount++){ //is CLOSE ENOUGH too strong a check? due to hardware imprefections, the value may change to outside CLOSE ENOUGH
Read = calib(analogRead(tail_pin), tail_pin);
if(Read < INNER_RANGE){
changeMode(0);
return;
}
}
changeMode(0);
}
else Serial.print("Error");
}