https://github.com/choate-robotics/maze_car
An Autonomous Robotics Challenge
https://github.com/choate-robotics/maze_car
processing robotics simulation
Last synced: 2 months ago
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An Autonomous Robotics Challenge
- Host: GitHub
- URL: https://github.com/choate-robotics/maze_car
- Owner: Choate-Robotics
- License: mit
- Created: 2019-04-01T21:05:49.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2019-04-02T00:03:31.000Z (about 6 years ago)
- Last Synced: 2025-01-21T06:11:32.030Z (4 months ago)
- Topics: processing, robotics, simulation
- Language: Processing
- Size: 1.32 MB
- Stars: 0
- Watchers: 3
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Maze Car
The goal of this challenge is to create a drive system that
will allow the car to navigate the maze. Use the right or left hand rule
idea of maze navigation [source](http://arcbotics.com/lessons/maze-solving-home-lessons/).
### Hints about the DriveSystem
DriveSystem is basically an abstract class that needs to be subclassed to create a strategy for how the car is to move.
You will want the robot to act differently at different times. To do this you will need some kind of *flag* variable that tells the robot which thing to do. You can set this up by making a class variable ```flag```. Here is an example of where the robot goes forward until it hits a wall and then goes backward.
```
class MyDriveSystem extends DriveSystem{
int approach=0;
int svr, svl;
MyDriveSystem(Car myCar){
super(myCar);
}
void drive(){
svr=myCar.sensorValueRight;
svl=myCar.sensorValueLeft;
if (approach==0){
if (svl>100 || svr>100){
approach==1;
}
myCar.setLeftSpeed(20);
myCar.setRightSpeed(20);
}
else
{
myCar.setLeftSpeed(-20);
myCar.setRightSpeed(-20);
}
}
}
```
There is one main method, ```void drive()```. Below is a sample ```drive``` method. In this case we want to have the car move
forward and then turn to the right, and then repeat those actions.
```
void drive() {
//override me.
if (noSense==0) {
if (approach==0) {
myCar.setLeftSpeed(30);
myCar.setRightSpeed(30);
approach=1;
setNoSense(40);
}
else if (approach==1) {
myCar.setLeftSpeed(5);
myCar.setRightSpeed(-5);
setNoSense(30);
approach=0;
}
}
noSense--;
}
```
The variable ```approach``` is a class variable that allows you to indicate which settings you would like to employ.
The ```setNoSense``` method is a way to create a delay before the drive function determines another action. Basically actions are only
taken when noSense is equal to 0.
In general you should use this template for your drive
```
class MyDrive extends DriveSystem{
MyDrive(Car mCar) {
super(mCar);
}
void drive() {
//override me.
if (noSense==0) {
if (approach==0) {
// Put some stuff here for what to do first.
// setNoSense to make it so that state continues for some period of time
setNoSense(40);
}
else if (approach==1) {
// Put some stuff here for what to do at another time indicated by approach 0.
// setNoSense to make it so that state continues for some period of time
setNoSense(30);
}
}
noSense--;
}
}
```
## API for the Car object
Car has the following methods that may be useful:
```Car(int x, int y, float theta)```
This constructor method allows you to place a car on the canvas pointing in the direction of ```angle```. The directions work
with 0 as directly up and move in in a clockwise manner.
```void setLeftSpeed(int s)```
Set the speed of the left motor to an integer from 0 to 255.
```void setRightSpeed(int s)```
Set the speed of the left motor to an integer from 0 to 255.
```void LEDSense()```
Have the readings of the left and right sensors loaded into ```sensorValueRight``` and ```sensorValueLeft```.
```void show()```
Draw the car on the canvas.
```void move()```
Compute the new position of the car based on the motor settings.