public Logger(String filename) throws FileNotFoundException, IOException {
// ps = new PrintStream(new FileOutputStream(new File(filename)));
File f = new File(filename);
fos = new FileOutputStream(f);
ps = new PrintStream(fos);
ps.println("Logging started");
ps.flush();
sw = new Stopwatch();
sw.reset();
}
/**
* This recursive method is responsible for finding the blue styrofoam block and returning it to
* the green/red zone. The search and detect process will begin when the robot has reached the
* green/red zone.
*
* @param x The x position of where the robot will start the search for the blue styrofoam block
* @param y The y position of where the robot will start search for the blue styrofoam block
*/
public void doSearchAndDetect(double x, double y) { // Searching inside the green/red zone
if (firstTry) {
odox = odometer.getX();
odoy = odometer.getY();
odotheta = odometer.getTheta();
dashboard.turnLeft(40);
try {
Thread.sleep(750);
} catch (Exception e) {
}
} else if (Math.abs(odox - odometer.getX()) > 15 && Math.abs(odoy - odometer.getY()) > 15) {
odox = odometer.getX();
odoy = odometer.getY();
odotheta = odometer.getTheta();
dashboard.turnLeft(40);
try {
Thread.sleep(750);
} catch (Exception e) {
}
}
firstTry = false;
// Initializing the heading angle when a robot detects something 35 cm away
detectionAngle = odometer.getTheta();
Point greenZone = new Point((int) x, (int) y); // Remembering green zone
dashboard.turnLeft(70); // Beginning the 360 degrees scan
boolean clawIsDown = false;
// The boolean found never becomes true so the robot will keep spinning until
// it finds something then moves to a different zone or it will complete 1 full
// revolution from its starting angle then move to a different zone.
while (!found) {
// Condition for the robot to move to a different area to search since it has
// completed one full revolution
if (Math.abs(odox - odometer.getX()) < 10
&& Math.abs(odoy - odometer.getY()) < 10
&& Math.abs(odotheta - odometer.getTheta())
< 5) { // Case where no objects in search radius
if (directionCounter
== 1) { // First time around, go to a point 15 cm south west of the green zone bottom
// left corner
directionCounter++;
navigation.travelTo(greenZone.getX() - 15, greenZone.getY() - 15, false);
} else if (directionCounter
== 2) { // Second time around, go below the middle of the green zone
directionCounter++;
navigation.travelTo(greenZone.getX() + 30, greenZone.getY() - 15, false);
} else if (directionCounter == 3) { // Third time, go north easy of of the green zone
directionCounter++;
navigation.travelTo(greenZone.getX() + 30, greenZone.getY() + 45, false);
} else if (directionCounter
== 4) { // Last time around, go to the middle of the playing field
directionCounter = 1;
navigation.travelTo(180, 180, false);
}
// After traveling to the new scan zone, perform the search and scan
doSearchAndDetect(greenZone.getX(), greenZone.getY());
} else {
// If the ultrasonic sensor senses something within 35 centimeters, go to the object
if (usLow.getFilteredDistance() <= 35
&& Math.abs(odometer.getTheta() - badHeading) > 30) { // Range to go check out object
detectionAngle = odometer.getTheta(); // Saving heading angle when the object is detected
blockAngle = odometer.getTheta();
previousDistance = usLow.getFilteredDistance();
navigation.turnTo(
detectionAngle
- 30.0); // Turning to past where object was detected so it can analyze the full
// block
Stopwatch stopwatch = new Stopwatch();
// Scanning whole object for 3 seconds to find shortest point of the object to robot
while (stopwatch.elapsed() < (3 * Math.pow(10, 3))) {
dashboard.turnRight(
70); // Turning to the right to analyze object since it overturned initially
if (usLow.getFilteredDistance() < previousDistance) {
dashboard.stop();
previousDistance = usLow.getFilteredDistance();
blockAngle = odometer.getTheta();
}
}
dashboard.stop();
navigation.turnTo(blockAngle); // Turn to block
// Remembering tacho count in case object is a wooden block
// so it will back up to exactly the same spot
originalTacho = dashboard.getRightTacho();
Stopwatch watch = new Stopwatch();
while (usLow.getFilteredDistance() >= 10) {
// If robot hasn't reached object in 8 seconds, most likely nothing there and false
// positive
if (watch.elapsed() > 9 * Math.pow(10, 3)) {
badHeading = odometer.getTheta();
newTacho = dashboard.getRightTacho();
dashboard.rotateMotor(-(newTacho - originalTacho), -(newTacho - originalTacho), 200);
dashboard.stop();
doSearchAndDetect(greenZone.getX(), greenZone.getY());
}
// Travel to the object by going forward
dashboard.goForward(200);
}
// Making a check for a wooden block by using the top ultrasonic sensor
if (usHigh.getFilteredDistance()
< 25) { // Brown Block so back up distance traveled to the block
dashboard.stop();
badHeading =
odometer
.getTheta(); // Saving the angle of the wooden block so it doesn't go back when
// it sees it again
newTacho = dashboard.getRightTacho();
dashboard.rotateMotor(-(newTacho - originalTacho), -(newTacho - originalTacho), 200);
dashboard.stop();
doSearchAndDetect(greenZone.getX(), greenZone.getY());
} else { // Go forward a bit more to get closer to the styrofoam block
for (int i = 0; i < 200; i++) {
dashboard.goForward(70);
}
}
// 2nd check for brown block to make sure when closer to object
if (usHigh.getFilteredDistance() < 25) {
dashboard.stop();
badHeading = odometer.getTheta();
newTacho = dashboard.getRightTacho();
dashboard.rotateMotor(-(newTacho - originalTacho), -(newTacho - originalTacho), 200);
dashboard.stop();
doSearchAndDetect(greenZone.getX(), greenZone.getY());
} else { // Return to dropzone then drop off and re-do scan
newTacho = dashboard.getRightTacho();
// If doing search but the block is in the green/red zone, don't pick it up again
if ((odometer.getX() > greenZone.getX() && odometer.getY() > greenZone.getY())
&& (odometer.getX() < greenZone.getX() + 30
&& odometer.getY() < greenZone.getY() + 30)) {
badHeading = odometer.getTheta();
dashboard.rotateMotor(-(newTacho - originalTacho), -(newTacho - originalTacho), 200);
dashboard.stop();
doSearchAndDetect(greenZone.getX(), greenZone.getY());
}
dashboard.stop();
// Reached a good distance from the styrofoam block so back up
// and get ready for the juggle.
Stopwatch secondWatch = new Stopwatch();
while (secondWatch.elapsed() < 3 * Math.pow(10, 3)) {
dashboard.goBackward(100);
}
dashboard.stop();
if (!clawIsDown) {
// Arms are currently up so drop them since the block is
// detected and close by
lifter.dropClaw();
clawIsDown = true;
}
// Driving forward until the block is within 7 cm
while (usLow.getFilteredDistance() >= 7) {
dashboard.goForward(100);
}
juggle(); // Juggle to reposition the block so it is easier to pick
dashboard.stop();
// Drive forward 8 cm so the block will be picked up perfectly
dashboard.goForward(8, false);
// Remember where the block was picked up so the robot
// will return here after dropping off in the designated zone
previousPickUp.setLocation(odometer.getX(), odometer.getY());
dashboard.stop();
lifter.lift(); // Picking up the block
isCarrying = true;
// Driving back to the green zone (a bit further to account) for the arms
// and at this distance, the block is dropped off in the middle of the zone
navigation.travelTo(greenZone.getX() + 45, greenZone.getY() + 45, false);
// If it is the nth*2 time, robot will stack.
if (!firstIteration) {
lifter.stackLift();
}
navigation.turnTo(180); // Turning so the block will end up in the middle of the zone
dashboard.goForward(
2,
false); // Going forward 2 cm so even closer to block (used for stacking purposes)
lifter.dropBlock();
Stopwatch secondStop = new Stopwatch();
// After dropping it off, back up then lift arms
while (secondStop.elapsed() < 3.5 * Math.pow(10, 3)) {
dashboard.goBackward(100);
}
dashboard.stop();
lifter.postLift();
firstIteration = !firstIteration; // Only making stacks of 2 so reverse boolean
navigation.travelTo(
greenZone.getX() - 15,
greenZone.getY(),
false); // Travel to side of green zone so blocks are not touched when navigating
// out of the zone
navigation.travelTo(
previousPickUp.getX(),
previousPickUp.getY(),
false); // Return to previous position of where styrofoam block was found
doSearchAndDetect(
greenZone.getX(), greenZone.getY()); // Do search and detect at the new position
}
}
}
}
}
private void run3starProgram(int runLength) throws InterruptedException, IOException {
Stopwatch foodTimer = new Stopwatch();
foodTimer.reset();
// press10();//eat food
for (int i = 0; i < runLength; i++) {
goodcounter = 0;
goodseen2 = false;
if (foodTimer.elapsed() >= 1620000) { // 27 minutes
foodTimer.reset();
// press10();//eat food
}
LCD.clear();
LCD.drawString("Battery: " + Battery.getVoltage(), 0, 0);
LCD.drawString("BatteryR: " + Motors.getInstance().getRemoteBattery(), 0, 1);
LCD.drawString("REMAIN: " + (runLength - i - 1), 0, 2);
// start craft from craft menu
Motors.getInstance().pressC();
Thread.sleep(1000);
Motors.getInstance().pressC();
Thread.sleep(2000);
// stage 1
stage = 1;
Motors.getInstance().pressA(); // comfort zone
Thread.sleep(BUFF_TIME);
handleGood();
Motors.getInstance().pressRemoteC(); // inner quiet
Thread.sleep(BUFF_TIME);
handleGood();
Motors.getInstance().pressRemoteB(); // CarefulSynth2
Thread.sleep(BUFF_TIME);
handleGood();
Motors.getInstance().pressRemoteB(); // CarefulSynth2
Thread.sleep(BUFF_TIME);
handleGood();
Motors.getInstance().pressRemoteA(); // go to next stage
Thread.sleep(250);
// stage 2
stage = 2;
Motors.getInstance().pressA(); // steady hand 2
Thread.sleep(BUFF_TIME);
goodseen = false;
for (int j = 0; j < 4; j++) {
handleGood2();
if (goodcounter > 0) {
goodcounter--;
Motors.getInstance().pressRemoteC(); // basic touch
} else {
Motors.getInstance().pressRemoteB(); // hasty touch
}
Thread.sleep(TOUCH_TIME);
}
Motors.getInstance().pressRemoteA(); // go to next stage
Thread.sleep(250);
// stage 3
stage = 3;
handleGood();
Motors.getInstance().pressA(); // comfort zone
Thread.sleep(BUFF_TIME);
handleGood();
Motors.getInstance().pressRemoteC(); // master's mend 2
Thread.sleep(BUFF_TIME);
handleGood();
Motors.getInstance().pressRemoteA(); // go to next stage
Thread.sleep(250);
// stage 4
stage = 4;
Motors.getInstance().pressA(); // steady hand 2
Thread.sleep(BUFF_TIME);
goodseen = false;
for (int j = 0; j < 4; j++) {
handleGood2();
if (goodcounter > 0) {
goodcounter--;
Motors.getInstance().pressRemoteC(); // basic touch
} else {
Motors.getInstance().pressRemoteB(); // hasty touch
}
Thread.sleep(TOUCH_TIME);
}
Motors.getInstance().pressA(); // steady hand 2
Thread.sleep(BUFF_TIME);
Motors.getInstance().pressRemoteA(); // go to next stage
Thread.sleep(250);
// stage 5
stage = 4;
boolean byresUsed = false;
Motors.getInstance().pressA(); // Great Strides
Thread.sleep(BUFF_TIME);
Motors.getInstance().pressRemoteB(); // Innovation
Thread.sleep(BUFF_TIME);
if (!byresUsed) byresUsed = useByreGots(false);
Motors.getInstance().pressRemoteC(); // Ingenuity 2
Thread.sleep(BUFF_TIME);
if (!byresUsed) byresUsed = useByreGots(true);
Motors.getInstance().pressRemoteA(); // Finish
Thread.sleep(TOUCH_TIME * 3 + 4000);
}
Motors.getInstance().shutdown();
}
public void log(String s) {
ps.println(sw.elapsed() + ": " + s);
ps.flush();
}
