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#use "xbccamlib.ic"
#use defines.ic
void grab_blue_balls()
// does some specialized stuff that aids in the grabbing
// of the balls and then proceeds to GRAB THEM... ohnoes!
// It basically shifts a set amount to the left to compensate
// for the offcenter claw, drops the claw, jiggles back and
// forth a bit, and grabs it. I _think_ it'll work. ~xorm
// also if it fails in grabbing the oh-so-holy balls, it will;
// back way up and hit up
{
ao();
// schloop left
motor(PORT_MOTOR,-50);
motor(STBD_MOTOR,50);
sleep(0.75);
bk(PORT_MOTOR); bk(STBD_MOTOR);
}
int check_ball_range()
// for the blue balls, checks their range. if they're in range
// for grabbing, it returns 1. May be expanded to have more
// deciding measurements, such as blob size. That's why it has
// its own function.
{
if(get_et_dist() <= DIST_TO_OBJECT_FROM_ET) return 1;
else return 0;
}
void get_blue_ball()
// tracks and moves towards the blue ball.
// when it gets to the ball (as detected by ET)
// it will halt (HAMMERZEIT) and drop the claw.
{
int x = 0; //dummy variable so for() won't complain
x=start_process(track()); // start tracking daemon
while(1)
{ // corrects path based on track_d
for(track_d==1;track_d==1;x=1) left();
for(track_d==2;track_d==2;x=1) right();
for(track_d==3;track_d==3;x=3) fwd();
if( check_ball_range() == 1) break;
// if the ball is found to be within range
// break out of the tracking function and GO GET 'ER
}
printf("ATTEMPTING TO GRAB A BLUE BALL\n");
grab_blue_balls(); // lolz.
}
int get_et_dist()
{
return (255-analog(IR_SENS));
// makes the value correspond positively to distance
// instead of the other way around. Why is it even like that? =\
}
void update_camdata()
{
init_camera();
while(1){
if(track_is_new_data_available()==1)
{
track_update();
cur_blob_pos = track_x(CHANNEL,INDEX);
printf("cur_blob_pos = %d\n", cur_blob_pos); // diag data
sleep(0.25);
}
}
}
void initialize_servo_positions()
{
set_servo_position(CLAW_SERVO,CLAW_POS_UP);
}
void killswitch()
{ // kills the bot when either 89 seconds are up
// or someone hits A and B at the same time.
/* INSERT CODE: function call to botball routines */
for(;;) {
if(check_button(1) == 1 && check_button(2) == 1)
{
disable_servos();
/* INSERT KILL FUNCTION [die()??] */
}
}
}
// #################### END IN-PROGRESS ################
// FUNCTIONS BEYOND THIS POINT ARE CONSIDERED FINISHED.
// #####################################################
void raise_claw()
{
set_servo_position(CLAW_SERVO, CLAW_POS_UP);
sleep(CLAW_ACT_SLEEP);
}
void drop_claw()
{
set_servo_position(CLAW_SERVO, CLAW_POS_DOWN);
sleep(CLAW_ACT_SLEEP);
}
void claw_grab() // actually just grabs something with the claw.
{
raise_claw(); // swings the ball claw up
act_claw(0); //opens claw
drop_claw(); // drops the claw. DUH!
act_claw(1); // closes the claw
raise_claw(); // picks up anything in the claw.
}
void act_claw(int dir)
{ // moves the claw based on the number passed to the function.
// act_claw(0); opens the claw, act_claw(1); closes it.
if(dir==1){ motor(CLAW_MOTOR, -100);
sleep(CLAW_SLEEP);
motor(CLAW_MOTOR, 0);
}
if(dir==0){ motor(CLAW_MOTOR, 100);
sleep(CLAW_SLEEP);
motor(CLAW_MOTOR, 0);
}
sleep(0.5);
}
void left()
{
printf("L");
motor(STBD_MOTOR, MF);
motor(PORT_MOTOR, (MF/2));
}
void right()
{
printf("R");
// ao();
motor(PORT_MOTOR, MF);
motor(STBD_MOTOR, (MF/2));
}
void fwd()
{
printf("F");
ao();
motor(STBD_MOTOR, FF);
motor(PORT_MOTOR, FF);
}
void bkwd()
{
printf("F");
ao();
motor(STBD_MOTOR, (-1)*FF);
motor(PORT_MOTOR, (-1)*FF);
}
void track() // checks camera and returns
// 1 for left, 2 for right, 3 for forwards
// path correction. stores value in track_d
{
int x_pos = 0;
init_camera();// bring up DA CAMERA
while(1)
{
if(track_is_new_data_available()==1)
{
track_update();
x_pos = track_x(CH,I);
if(x_pos < CAM_CENTER - DZ)track_d = 1;
if(x_pos > CAM_CENTER + DZ)track_d = 2;
if(x_pos<CAM_CENTER+DZ&&x_pos>CAM_CENTER-DZ)track_d = 3;
}
}
}
void drop_umbrella() //self explanatory
{
motor(UMBRELLA_MOTOR, 100); //Intended to snap down, to prevent umbrellas from
sleep(1.0); // turning, but if this doesn't work, gear ratios
off(UMBRELLA_MOTOR);
}
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