#include <mrm-robot-maze.h>

Inheritance diagram for RobotMaze:

Public Member Functions
	RobotMaze (char name[]=(char *)"RCJ Maze")

void	bitmapsSet ()

void	decide ()

uint16_t	distance (Direction direction, bool firstCCW)

void	directionDisplay (Direction direction)

void	goAhead ()

void	imuFollow ()

void	loop ()

void	map ()

void	mazePrint ()

void	move ()

void	moveAhead ()

void	moveTurn ()

Direction	mToR (Direction directionAsSeenInMaze)

void	omniWheelsTest ()

void	rescueMaze ()

Direction	rToM (Direction directionAsSeenByRobot)

Tile *	tileContaining (int8_t x, int8_t y)

Direction	wallClosest ()

void	wallFollow (Direction wallDirection)

void	wallsDisplay ()

WallStatus	wallGet (int8_t x, int8_t y, Direction direction)

void	wallDisplay (WallStatus wallStatus, Direction direction)

void	wallsTest ()

int8_t	x (Direction direction)

int8_t	y (Direction direction)

Public Member Functions inherited from Robot
	Robot (char name[15]=(char )"MRMS robot", char ssid[15]=(char )"MRMS", char wiFiPassword[15]=(char *)"mrms")

void	actionAdd (ActionBase *action)

void	actionEnd ()

bool	actionPreprocessing (bool andFinish=true)

void	actionPreprocessingEnd ()

void	add (Board *aBoard)

void	blink ()

void	bluetoothTest ()

void	end ()

void	canBusSniffToggle ()

void	canIdChange ()

void	colorIlluminationOff ()

void	colorIlluminationOn ()

void	colorPatternErase ()

void	colorPatternPrint ()

void	colorPatternRecognize ()

void	colorPatternRecord ()

void	delayMs (uint16_t pauseMs)

void	delayMicros (uint16_t pauseMicros)

uint8_t	devicesScan (bool verbose)

void	devicesStart (uint8_t measuringMode=0)

void	devicesStop ()

void	errors ()

void	firmwarePrint ()

float	fpsGet ()

void	fpsPrint ()

void	i2cTest ()

void	info ()

void	irFinder3Test ()

void	irFinder3TestCalculated ()

void	lidar2mTest ()

void	lidar4mTest ()

void	lidarCalibrate ()

void	menu ()

void	menuColor ()

void	menuMainAndIdle ()

void	menuReflectance ()

void	menuSystem ()

void	messagePrint (CANBusMessage *msg, bool outbound)

void	messagesReceive ()

void	motorTest ()

void	nodeTest ()

void	noLoopWithoutThis ()

void	oscillatorTest ()

void	reflectanceArrayCalibrationPrint ()

void	run ()

uint16_t	serialReadNumber (uint16_t timeoutFirst=3000, uint16_t timeoutBetween=500, bool onlySingleDigitInput=false, uint16_t limit=0xFFFE, bool printWarnings=true)

void	servoInteractive ()

bool	setup (bool andFinish=true)

bool	sniffing ()

void	stopAll ()

bool	stressTest ()

void	thermoTest ()

bool	userBreak ()

void	verboseToggle ()

Additional Inherited Members
Public Attributes inherited from Robot
Mrm_can_bus *	mrm_can_bus

Mrm_8x8a *	mrm_8x8a

Mrm_bldc2x50 *	mrm_bldc2x50

Mrm_bldc4x2_5 *	mrm_bldc4x2_5

Mrm_col_b *	mrm_col_b

Mrm_col_can *	mrm_col_can

Mrm_fet_can *	mrm_fet_can

Mrm_imu *	mrm_imu

Mrm_ir_finder3 *	mrm_ir_finder3

Mrm_lid_can_b *	mrm_lid_can_b

Mrm_lid_can_b2 *	mrm_lid_can_b2

Mrm_mot2x50 *	mrm_mot2x50

Mrm_mot4x3_6can *	mrm_mot4x3_6can

Mrm_mot4x10 *	mrm_mot4x10

Mrm_node *	mrm_node

Mrm_ref_can *	mrm_ref_can

Mrm_servo *	mrm_servo

Mrm_switch *	mrm_switch

Mrm_therm_b_can *	mrm_therm_b_can

Mrm_us_b *	mrm_us_b

Mrm_us1 *	mrm_us1

Protected Member Functions inherited from Robot
void	actionProcess ()

void	actionSet ()

void	actionSet (ActionBase *newAction)

uint8_t	boardsDisplayAll ()

bool	boardDisplayAndSelect (uint8_t selectedBoardIndex, uint8_t selectedDeviceIndex, uint8_t maxInput, uint8_t lastBoardAndIndex)

bool	boardSelect (uint8_t selectedNumber, uint8_t selectedBoardIndex, uint8_t selectedDeviceIndex, uint8_t *maxInput)

void	fpsPause ()

void	fpsUpdate ()

void	fpsReset ()

void	verbosePrint ()

void	vprint (const char *fmt, va_list argp)

Protected Attributes inherited from Robot
ActionBase *	_action [ACTIONS_LIMIT]

uint8_t	_actionNextFree = 0

ActionBase *	_actionCANBusStress

ActionBase *	_actionCurrent

ActionBase *	_actionDoNothing

ActionBase *	_actionLoop

ActionBase *	_actionMenuMain

ActionBase *	_actionPrevious

ActionBase *	_actionStop

Board *	board [BOARDS_LIMIT]

uint8_t	_boardNextFree = 0

uint8_t	_devicesAtStartup = 0

bool	_devicesScanBeforeMenu = true

uint32_t	fpsMs [2] = { 0, 0 }

uint8_t	fpsNextIndex = 0

uint32_t	fpsTopGap = 0

uint8_t	menuLevel = 1

CANBusMessage *	_msg

char	_name [16]

bool	_sniff = false

char	_ssid [16]

bool	verbose = false

char	_wiFiPassword [16]

Detailed Description

Robot for RCJ Rescue Maze, a class derived from the base Robot class.

Constructor & Destructor Documentation

◆ RobotMaze()

RobotMaze::RobotMaze ( char name[] = (char*)"RCJ Maze" )

Constructor

Parameters

name	- it is also used for Bluetooth so a Bluetooth client (like a phone) will list the device using this name.

Member Function Documentation

◆ bitmapsSet()

void RobotMaze::bitmapsSet ( )

virtual

Stores custom bitmaps in mrm-led8x8a.

Store custom bitmaps in mrm-led8x8a.

Implements Robot.

◆ decide()

void RobotMaze::decide ( )

Function that decides what to do next, using Tremaux algorithm. If a not-visited direction exists, go there. If not, return to the tile robot came from.

Function that decides what to do next, using Tremaux algorithm. If a not-visited direction exists, go that route. If not, return to the tile robot came from.

◆ directionDisplay()

void RobotMaze::directionDisplay ( Direction direction )

Displays direction in human-readable format. For debugging purposes.

Parameters

-	direction in maze's system.

◆ distance()

uint16_t RobotMaze::distance	(	Direction	direction,
		bool	firstCCW
	)

inline

Distance measuring function. Sensors must have deviceId addresses exactly like here: 0 FR, 1 FL, 2 LF, 3 LB, 4 BL, 5 BR, 6 RB, 7 RF. F is front, B is back, L is left, R is right. In 2-letter designations first letter is a major direction, second minor. For example FL means Front-Left and first we choose major side (robot's front), then minor (left sensor on that side). In other words, first sensor is front-right and all the others must have increasing addresses counter-clockwise (CCW). @direction - direction in maze's system. Therefore, LEFT is always left, as seen from outside of the maze, no matter what the robot's direction is. It is normally not robot's left side. @firstCCW - first when counting ounter-clockwise (CCW) on that side, looking from inside of the robot. For example FL is first CCW and FR is not.

Returns: - distance in mm.

◆ goAhead()

void RobotMaze::goAhead ( )

inlinevirtual

Orders the robot to go ahead. Overriden virtual function. Not used here.

Implements Robot.

◆ imuFollow()

void RobotMaze::imuFollow ( )

Drives the robot ahead, maintaing a given compass bearing.

◆ loop()

void RobotMaze::loop ( )

virtual

Custom test

Custom test. The function will be called many times during the test, till You issue "x" menu-command.

Implements Robot.

◆ map()

void RobotMaze::map ( )

Maps walls detected and other external readings in variables.

◆ mazePrint()

void RobotMaze::mazePrint ( )

Displays the whole maze.

◆ move()

void RobotMaze::move ( )

Moves robot, either forward (moveAhead()) or by turning it (moveTurn()).

◆ moveAhead()

void RobotMaze::moveAhead ( )

Drives the robot straight ahead.

◆ moveTurn()

void RobotMaze::moveTurn ( )

Turns the robot till the target bearing achieved.

◆ omniWheelsTest()

void RobotMaze::omniWheelsTest ( )

Test for Mecanum wheels. Used only when the robot is rigged with mecanum wheels.

Test for Mecanum wheels. Used only when the robot is rigged with mecanum wheels. Not considered here.

◆ rescueMaze()

void RobotMaze::rescueMaze ( )

Starts RCJ Rescue Maze run.

◆ tileContaining()

Tile * RobotMaze::tileContaining	(	int8_t	x,
		int8_t	y
	)

Traverses all the chain till a tile with (x,y) is found.

Parameters

x	- x coordinate.
y	- y coordinata.

Returns: - a tile with given coordinates and NULL if none exists.

◆ wallClosest()

Direction RobotMaze::wallClosest ( )

Finds the closest of the 4 walls around the tile.

Returns: - direction from maze's perspective.

◆ wallDisplay()

void RobotMaze::wallDisplay	(	WallStatus	wallStatus,
		Direction	direction
	)

Display one wall.

Parameters

wallStatus	- wall's status.
direction	- direction.

◆ wallFollow()

void RobotMaze::wallFollow ( Direction wallDirection )

Goes ahead by following a wall. @wallDirection - direction in maze's perspective.

◆ wallGet()

WallStatus RobotMaze::wallGet	(	int8_t	x,
		int8_t	y,
		Direction	direction
	)

Checks if wall exists in tile (x,y) and direction direction.

Parameters

x	- tile's x coordinate.
y	- tile's y coordinate.
direction	- wall's direction.

Returns: - type of wall.

◆ wallsDisplay()

void RobotMaze::wallsDisplay ( )

Uses 8x8 LED to display walls detected.

Use 8x8 LED to display walls detected.

◆ wallsTest()

void RobotMaze::wallsTest ( )

Test, checking and displaying all walls.

Test, checking and displaying walls.

◆ x()

int8_t RobotMaze::x ( Direction direction )

x coordinate of the tile next to the current one, in a given direction.

Parameters

direction.

Returns: x coordinate.

◆ y()

int8_t RobotMaze::y ( Direction direction )

y coordinate of the tile next to the current one, in a given direction.

Parameters

direction.

Returns: y coordinate.

The documentation for this class was generated from the following files:

C:/Users/priba/Documents/PlatformIO/Projects/MRMS/src/mrm-robot-maze.h
C:/Users/priba/Documents/PlatformIO/Projects/MRMS/src/mrm-robot-maze.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RobotMaze()

Member Function Documentation

◆ bitmapsSet()

◆ decide()

◆ directionDisplay()

◆ distance()

◆ goAhead()

◆ imuFollow()

◆ loop()

◆ map()

◆ mazePrint()

◆ move()

◆ moveAhead()

◆ moveTurn()

◆ omniWheelsTest()

◆ rescueMaze()

◆ tileContaining()

◆ wallClosest()

◆ wallDisplay()

◆ wallFollow()

◆ wallGet()

◆ wallsDisplay()

◆ wallsTest()

◆ x()

◆ y()