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authorNicolas Schodet2010-04-27 00:17:36 +0200
committerNicolas Schodet2010-04-27 00:17:36 +0200
commit3de803b964643fbc8480fd3c0133df77e324ef27 (patch)
tree92a56a0a6fde1393112ccc2cd3d4e54f3e4dcaa9 /digital/io/src/food.c
parent9eb335408b60d4e7efadbbd65268ef2b3a5bb328 (diff)
digital/io/src: use A* algorithm to nagivate between elements
Diffstat (limited to 'digital/io/src/food.c')
-rw-r--r--digital/io/src/food.c153
1 files changed, 153 insertions, 0 deletions
diff --git a/digital/io/src/food.c b/digital/io/src/food.c
new file mode 100644
index 00000000..62c79f3e
--- /dev/null
+++ b/digital/io/src/food.c
@@ -0,0 +1,153 @@
+/* food.c */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "defs.h"
+#include "food.h"
+
+#include "modules/utils/utils.h"
+
+/** Maximum distance from a line segment to food center so that the robot is
+ * able to pick a food. */
+#define FOOD_NEAR_MM (310 / 2 - 50 - 30)
+
+/** Minimum distance from a line segment to food center so that the robot do
+ * not touch the food. */
+#define FOOD_FAR_MM (450 / 2 - 10)
+
+/** Food type. */
+enum food_type_t
+{
+ FOOD_TYPE_TOMATO,
+ FOOD_TYPE_CORN,
+};
+
+/** Food information. */
+struct food_t
+{
+ /** Whether this food is still here or not. */
+ uint8_t valid;
+ /** Food position. */
+ vect_t pos;
+ /** Food type. Corn can be good or bad. */
+ enum food_type_t type;
+};
+
+/** Information gathered on food. */
+struct food_t food_table[] =
+{
+ /* {{{ */
+ /* First half. */
+ { 1, { 150, 128 + 5 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 150, 128 + 4 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 150, 128 + 3 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 150, 128 + 2 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 150, 128 + 1 * 250 }, FOOD_TYPE_CORN },
+
+ { 1, { 150 + 1 * 450, 128 + 4 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 150 + 1 * 450, 128 + 3 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 150 + 1 * 450, 128 + 2 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 150 + 1 * 450, 128 + 1 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 150 + 1 * 450, 128 + 0 * 250 }, FOOD_TYPE_CORN },
+
+ { 1, { 150 + 2 * 450, 128 + 3 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 150 + 2 * 450, 128 + 2 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 150 + 2 * 450, 128 + 1 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 150 + 2 * 450, 128 + 0 * 250 }, FOOD_TYPE_TOMATO },
+
+ /* Second half. */
+ { 1, { 3000 - 150, 128 + 5 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 3000 - 150, 128 + 4 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 3000 - 150, 128 + 3 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 3000 - 150, 128 + 2 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 3000 - 150, 128 + 1 * 250 }, FOOD_TYPE_CORN },
+
+ { 1, { 3000 - 150 - 1 * 450, 128 + 4 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 3000 - 150 - 1 * 450, 128 + 3 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 3000 - 150 - 1 * 450, 128 + 2 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 3000 - 150 - 1 * 450, 128 + 1 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 3000 - 150 - 1 * 450, 128 + 0 * 250 }, FOOD_TYPE_CORN },
+
+ { 1, { 3000 - 150 - 2 * 450, 128 + 3 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 3000 - 150 - 2 * 450, 128 + 2 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 3000 - 150 - 2 * 450, 128 + 1 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 3000 - 150 - 2 * 450, 128 + 0 * 250 }, FOOD_TYPE_TOMATO },
+
+ /* Center. */
+ { 1, { 3000 / 2, 128 + 3 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 3000 / 2, 128 + 2 * 250 }, FOOD_TYPE_CORN },
+ { 1, { 3000 / 2, 128 + 1 * 250 }, FOOD_TYPE_TOMATO },
+ { 1, { 3000 / 2, 128 + 0 * 250 }, FOOD_TYPE_CORN },
+ /* }}} */
+};
+
+uint8_t
+food_blocking (uint8_t food)
+{
+ assert (food < UTILS_COUNT (food_table) || food == 0xff);
+ return food != 0xff && food_table[food].type == FOOD_TYPE_CORN;
+}
+
+uint8_t
+food_blocking_path (vect_t a, vect_t b, int16_t ab)
+{
+ uint8_t i;
+ /* For each obstacle, try to find an intersection. */
+ for (i = 0; i < UTILS_COUNT (food_table); i++)
+ {
+ if (food_table[i].valid)
+ {
+ /* Compute square of distance to obstacle, see
+ * distance_segment_point in modules/math/geometry for the method
+ * explanation. */
+ int32_t absq = (int32_t) ab * ab;
+ vect_t vab = b; vect_sub (&vab, &a);
+ vect_t vao = food_table[i].pos; vect_sub (&vao, &a);
+ int32_t dp = vect_dot_product (&vab, &vao);
+ int32_t dsq;
+ if (dp < 0)
+ {
+ dsq = vect_dot_product (&vao, &vao);
+ }
+ else if (dp > absq)
+ {
+ vect_t vbo = food_table[i].pos; vect_sub (&vbo, &b);
+ dsq = vect_dot_product (&vbo, &vbo);
+ }
+ else
+ {
+ vect_t vabn = vab; vect_normal (&vabn);
+ dsq = vect_dot_product (&vabn, &vao) / ab;
+ dsq *= dsq;
+ }
+ /* Compare with square of authorised distance. */
+ if (dsq < (int32_t) FOOD_FAR_MM * FOOD_FAR_MM
+ && (food_table[i].type != FOOD_TYPE_TOMATO
+ || dsq > (int32_t) FOOD_NEAR_MM * FOOD_NEAR_MM))
+ return 1;
+ }
+ }
+ return 0;
+}
+