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| 1 | +#include <chrono> |
| 2 | +#include <iostream> |
| 3 | +#include <array> |
| 4 | +#include <fstream> |
| 5 | +#include <linux/input.h> |
| 6 | +#include <thread> |
| 7 | +#include <unistd.h> |
| 8 | +#include "../position.h" |
| 9 | +#include "../motor.h" |
| 10 | +#include "../sensor.h" |
| 11 | +#include "../diferential_drive.h" |
| 12 | +#include "../robot.h" |
| 13 | + |
| 14 | +int main (){ |
| 15 | + std::ifstream button_input("/dev/input/event1", std::ios::binary); |
| 16 | + if(!button_input.is_open()){ |
| 17 | + std::cout << "button input file could not be opened" << std::endl; |
| 18 | + std::cerr << "button input file could not be opened" << std::endl; |
| 19 | + return 1; |
| 20 | + } |
| 21 | + input_event button_event; |
| 22 | + |
| 23 | + std::array<Motor, 4> motors = Motor::find_motors(); |
| 24 | + std::array<Sensor, 4> sensors = Sensor::find_sensors(); |
| 25 | + |
| 26 | + // check if motors are connected |
| 27 | + if(!motors.at(0).is_connected()){ |
| 28 | + std::cout << "motor A not connected, continue: NO <-> YES" << std::endl; |
| 29 | + std::cerr << "motor A not connected" << std::endl; |
| 30 | + while(true) if (button_input.read(reinterpret_cast<char*>(&button_event), sizeof(button_event))){ // reaad input |
| 31 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_RIGHT) break; |
| 32 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_LEFT) return 1; |
| 33 | + } |
| 34 | + } |
| 35 | + if(!motors.at(1).is_connected()){ |
| 36 | + std::cout << "motor B not connected, continue: NO <-> YES" << std::endl; |
| 37 | + std::cerr << "motor B not connected" << std::endl; |
| 38 | + while(true) if (button_input.read(reinterpret_cast<char*>(&button_event), sizeof(button_event))){ // reaad input |
| 39 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_RIGHT) break; |
| 40 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_LEFT) return 1; |
| 41 | + } |
| 42 | + } |
| 43 | + if(!motors.at(2).is_connected()){ |
| 44 | + std::cout << "motor C not connected, continue: NO <-> YES" << std::endl; |
| 45 | + std::cerr << "motor C not connected" << std::endl; |
| 46 | + while(true) if (button_input.read(reinterpret_cast<char*>(&button_event), sizeof(button_event))){ // reaad input |
| 47 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_RIGHT) break; |
| 48 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_LEFT) return 1; |
| 49 | + } |
| 50 | + } |
| 51 | + if(!motors.at(3).is_connected()){ |
| 52 | + std::cout << "motor D not connected, continue: NO <-> YES" << std::endl; |
| 53 | + std::cerr << "motor D not connected" << std::endl; |
| 54 | + while(true) if (button_input.read(reinterpret_cast<char*>(&button_event), sizeof(button_event))){ // reaad input |
| 55 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_RIGHT) break; |
| 56 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_LEFT) return 1; |
| 57 | + } |
| 58 | + } |
| 59 | + |
| 60 | + // check if sensors are connected |
| 61 | + if(!sensors.at(0).is_connected()){ |
| 62 | + std::cout << "sensor 1 \"gyro\" not connected, continue: NO <-> YES" << std::endl; |
| 63 | + std::cerr << "sensor 1 \"gyro\" not connected" << std::endl; |
| 64 | + while(true) if (button_input.read(reinterpret_cast<char*>(&button_event), sizeof(button_event))){ // reaad input |
| 65 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_RIGHT) break; |
| 66 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_LEFT) return 1; |
| 67 | + } |
| 68 | + } |
| 69 | + |
| 70 | + if(!sensors.at(1).is_connected()){ |
| 71 | + std::cout << "sensor 2 \"color left\" not connected, continue: NO <-> YES" << std::endl; |
| 72 | + std::cerr << "sensor 2 \"color left\" not connected" << std::endl; |
| 73 | + while(true) if (button_input.read(reinterpret_cast<char*>(&button_event), sizeof(button_event))){ // reaad input |
| 74 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_RIGHT) break; |
| 75 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_LEFT) return 1; |
| 76 | + } |
| 77 | + } |
| 78 | + |
| 79 | + if(!sensors.at(2).is_connected()){ |
| 80 | + std::cout << "sensor 3 \"color right\" not connected, continue: NO <-> YES" << std::endl; |
| 81 | + std::cerr << "sensor 3 \"color right\" not connected" << std::endl; |
| 82 | + while(true) if (button_input.read(reinterpret_cast<char*>(&button_event), sizeof(button_event))){ // reaad input |
| 83 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_RIGHT) break; |
| 84 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_LEFT) return 1; |
| 85 | + } |
| 86 | + } |
| 87 | + |
| 88 | + // fun experiment |
| 89 | + int run; |
| 90 | + std::fstream("runs.txt", std::ios::in) >> run; |
| 91 | + run++; |
| 92 | + std::fstream("runs.txt", std::ios::out | std::ios::trunc) << run; |
| 93 | + |
| 94 | + std::fstream configuration_file("robot_1.conf"); |
| 95 | + float base_width, wheel_diameter, starting_position_x, starting_position_y, starting_position_angle; |
| 96 | + bool left_motor_inverted, right_motor_inverted; |
| 97 | + configuration_file >> base_width >> wheel_diameter >> starting_position_x >> starting_position_y >> starting_position_angle >> left_motor_inverted >> right_motor_inverted; |
| 98 | + Robot robot(motors.at(0), motors.at(3), motors.at(1), motors.at(2), sensors.at(0), sensors.at(1), sensors.at(2), base_width, wheel_diameter, left_motor_inverted, right_motor_inverted, Position(starting_position_x, starting_position_y, starting_position_angle)); |
| 99 | + configuration_file.close(); |
| 100 | + |
| 101 | + // Move motors to mechanical limit (max angle) for consistent alignment |
| 102 | + motors.at(0).run_direct(30, true); |
| 103 | + motors.at(3).run_direct(30, true); |
| 104 | + |
| 105 | + // wait for midle button |
| 106 | + while(true) if (button_input.read(reinterpret_cast<char*>(&button_event), sizeof(button_event))){ |
| 107 | + if (button_event.type == EV_KEY && button_event.value == 1 && button_event.code == KEY_ENTER) break; |
| 108 | + std::this_thread::sleep_for(std::chrono::milliseconds(5)); |
| 109 | + } |
| 110 | + |
| 111 | + motors.at(0).run_direct(0, false); |
| 112 | + motors.at(0).stop("brake"); |
| 113 | + motors.at(0).set_position(0); |
| 114 | + motors.at(3).run_direct(0, false); |
| 115 | + motors.at(3).stop("brake"); |
| 116 | + motors.at(3).set_position(0); |
| 117 | + |
| 118 | + // wait for finger to be far away from robot |
| 119 | + std::this_thread::sleep_for(std::chrono::milliseconds(300)); |
| 120 | + |
| 121 | + robot.follow_program("program_1.prgm"); |
| 122 | + |
| 123 | + return 0; |
| 124 | +} |
| 125 | + |
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