Commit 3

8 files changed, 488 insertions, 24 deletions

diff --git a/RPi_skeleton/RPi_skeleton b/RPi_skeleton/RPi_skeleton
new file mode 160000
+Subproject b0b67e7cf8715520fd40cdc51af66c17a4ba54a
diff --git a/RPi_skeleton/RPi_skeleton.xcodeproj/project.pbxproj b/RPi_skeleton/RPi_skeleton.xcodeproj/project.pbxproj
new file mode 100644
index 0000000..8e970da
--- /dev/null
+++ b/RPi_skeleton/RPi_skeleton.xcodeproj/project.pbxproj
@@ -0,0 +1,242 @@
+// !$*UTF8*$!
+{
+	archiveVersion = 1;
+	classes = {
+	};
+	objectVersion = 46;
+	objects = {
+
+/* Begin PBXBuildFile section */
+		C88771491B0CC48A003DDDD4 /* main.c in Sources */ = {isa = PBXBuildFile; fileRef = C88771481B0CC48A003DDDD4 /* main.c */; };
+/* End PBXBuildFile section */
+
+/* Begin PBXCopyFilesBuildPhase section */
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+			isa = PBXCopyFilesBuildPhase;
+			buildActionMask = 2147483647;
+			dstPath = /usr/share/man/man1/;
+			dstSubfolderSpec = 0;
+			files = (
+			);
+			runOnlyForDeploymentPostprocessing = 1;
+		};
+/* End PBXCopyFilesBuildPhase section */
+
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+/* End PBXFileReference section */
+
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+			buildActionMask = 2147483647;
+			files = (
+			);
+			runOnlyForDeploymentPostprocessing = 0;
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+/* End PBXFrameworksBuildPhase section */
+
+/* Begin PBXGroup section */
+		C887713C1B0CC48A003DDDD4 = {
+			isa = PBXGroup;
+			children = (
+				C88771471B0CC48A003DDDD4 /* RPi_skeleton */,
+				C88771461B0CC48A003DDDD4 /* Products */,
+			);
+			sourceTree = "<group>";
+		};
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+			children = (
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+			);
+			name = Products;
+			sourceTree = "<group>";
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+			isa = PBXGroup;
+			children = (
+				C88771481B0CC48A003DDDD4 /* main.c */,
+			);
+			path = RPi_skeleton;
+			sourceTree = "<group>";
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+			buildPhases = (
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+			buildRules = (
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+			dependencies = (
+			);
+			name = RPi_skeleton;
+			productName = RPi_skeleton;
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+			productType = "com.apple.product-type.tool";
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+			attributes = {
+				LastUpgradeCheck = 0640;
+				ORGANIZATIONNAME = "Peter de Kok";
+				TargetAttributes = {
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+						CreatedOnToolsVersion = 6.4;
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+			compatibilityVersion = "Xcode 3.2";
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+			knownRegions = (
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+			projectRoot = "";
+			targets = (
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+			);
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+				C88771491B0CC48A003DDDD4 /* main.c in Sources */,
+			);
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+/* End PBXSourcesBuildPhase section */
+
+/* Begin XCBuildConfiguration section */
+		C887714A1B0CC48A003DDDD4 /* Debug */ = {
+			isa = XCBuildConfiguration;
+			buildSettings = {
+				ALWAYS_SEARCH_USER_PATHS = NO;
+				CLANG_CXX_LANGUAGE_STANDARD = "gnu++0x";
+				CLANG_CXX_LIBRARY = "libc++";
+				CLANG_ENABLE_MODULES = YES;
+				CLANG_ENABLE_OBJC_ARC = YES;
+				CLANG_WARN_BOOL_CONVERSION = YES;
+				CLANG_WARN_CONSTANT_CONVERSION = YES;
+				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
+				CLANG_WARN_EMPTY_BODY = YES;
+				CLANG_WARN_ENUM_CONVERSION = YES;
+				CLANG_WARN_INT_CONVERSION = YES;
+				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
+				CLANG_WARN_UNREACHABLE_CODE = YES;
+				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
+				COPY_PHASE_STRIP = NO;
+				DEBUG_INFORMATION_FORMAT = dwarf;
+				ENABLE_STRICT_OBJC_MSGSEND = YES;
+				GCC_C_LANGUAGE_STANDARD = gnu99;
+				GCC_DYNAMIC_NO_PIC = NO;
+				GCC_NO_COMMON_BLOCKS = YES;
+				GCC_OPTIMIZATION_LEVEL = 0;
+				GCC_PREPROCESSOR_DEFINITIONS = (
+					"DEBUG=1",
+					"$(inherited)",
+				);
+				GCC_SYMBOLS_PRIVATE_EXTERN = NO;
+				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
+				GCC_WARN_UNDECLARED_SELECTOR = YES;
+				GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
+				GCC_WARN_UNUSED_FUNCTION = YES;
+				GCC_WARN_UNUSED_VARIABLE = YES;
+				MACOSX_DEPLOYMENT_TARGET = 10.10;
+				MTL_ENABLE_DEBUG_INFO = YES;
+				ONLY_ACTIVE_ARCH = YES;
+				SDKROOT = macosx;
+			};
+			name = Debug;
+		};
+		C887714B1B0CC48A003DDDD4 /* Release */ = {
+			isa = XCBuildConfiguration;
+			buildSettings = {
+				ALWAYS_SEARCH_USER_PATHS = NO;
+				CLANG_CXX_LANGUAGE_STANDARD = "gnu++0x";
+				CLANG_CXX_LIBRARY = "libc++";
+				CLANG_ENABLE_MODULES = YES;
+				CLANG_ENABLE_OBJC_ARC = YES;
+				CLANG_WARN_BOOL_CONVERSION = YES;
+				CLANG_WARN_CONSTANT_CONVERSION = YES;
+				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
+				CLANG_WARN_EMPTY_BODY = YES;
+				CLANG_WARN_ENUM_CONVERSION = YES;
+				CLANG_WARN_INT_CONVERSION = YES;
+				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
+				CLANG_WARN_UNREACHABLE_CODE = YES;
+				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
+				COPY_PHASE_STRIP = NO;
+				DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
+				ENABLE_NS_ASSERTIONS = NO;
+				ENABLE_STRICT_OBJC_MSGSEND = YES;
+				GCC_C_LANGUAGE_STANDARD = gnu99;
+				GCC_NO_COMMON_BLOCKS = YES;
+				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
+				GCC_WARN_UNDECLARED_SELECTOR = YES;
+				GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
+				GCC_WARN_UNUSED_FUNCTION = YES;
+				GCC_WARN_UNUSED_VARIABLE = YES;
+				MACOSX_DEPLOYMENT_TARGET = 10.10;
+				MTL_ENABLE_DEBUG_INFO = NO;
+				SDKROOT = macosx;
+			};
+			name = Release;
+		};
+		C887714D1B0CC48A003DDDD4 /* Debug */ = {
+			isa = XCBuildConfiguration;
+			buildSettings = {
+				PRODUCT_NAME = "$(TARGET_NAME)";
+			};
+			name = Debug;
+		};
+		C887714E1B0CC48A003DDDD4 /* Release */ = {
+			isa = XCBuildConfiguration;
+			buildSettings = {
+				PRODUCT_NAME = "$(TARGET_NAME)";
+			};
+			name = Release;
+		};
+/* End XCBuildConfiguration section */
+
+/* Begin XCConfigurationList section */
+		C88771401B0CC48A003DDDD4 /* Build configuration list for PBXProject "RPi_skeleton" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				C887714A1B0CC48A003DDDD4 /* Debug */,
+				C887714B1B0CC48A003DDDD4 /* Release */,
+			);
+			defaultConfigurationIsVisible = 0;
+			defaultConfigurationName = Release;
+		};
+		C887714C1B0CC48A003DDDD4 /* Build configuration list for PBXNativeTarget "RPi_skeleton" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				C887714D1B0CC48A003DDDD4 /* Debug */,
+				C887714E1B0CC48A003DDDD4 /* Release */,
+			);
+			defaultConfigurationIsVisible = 0;
+		};
+/* End XCConfigurationList section */
+	};
+	rootObject = C887713D1B0CC48A003DDDD4 /* Project object */;
+}
diff --git a/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace/contents.xcworkspacedata b/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace/contents.xcworkspacedata
new file mode 100644
index 0000000..9269460
--- /dev/null
+++ b/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace/contents.xcworkspacedata
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Workspace
+   version = "1.0">
+   <FileRef
+      location = "self:RPi_skeleton.xcodeproj">
+   </FileRef>
+</Workspace>
diff --git a/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace/xcshareddata/RPi_skeleton.xccheckout b/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace/xcshareddata/RPi_skeleton.xccheckout
new file mode 100644
index 0000000..531f8aa
--- /dev/null
+++ b/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace/xcshareddata/RPi_skeleton.xccheckout
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>IDESourceControlProjectFavoriteDictionaryKey</key>
+	<false/>
+	<key>IDESourceControlProjectIdentifier</key>
+	<string>51C5F246-5DBB-42DB-85DC-78C2653CA244</string>
+	<key>IDESourceControlProjectName</key>
+	<string>project</string>
+	<key>IDESourceControlProjectOriginsDictionary</key>
+	<dict>
+		<key>EC86EAF72C84463005E3A82B4C6719F0BEB98076</key>
+		<string>git.lekensteyn.nl:tue/5XIB0-Venus/code.git</string>
+	</dict>
+	<key>IDESourceControlProjectPath</key>
+	<string>RPi_skeleton/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace</string>
+	<key>IDESourceControlProjectRelativeInstallPathDictionary</key>
+	<dict>
+		<key>EC86EAF72C84463005E3A82B4C6719F0BEB98076</key>
+		<string>../../../..</string>
+	</dict>
+	<key>IDESourceControlProjectURL</key>
+	<string>git.lekensteyn.nl:tue/5XIB0-Venus/code.git</string>
+	<key>IDESourceControlProjectVersion</key>
+	<integer>111</integer>
+	<key>IDESourceControlProjectWCCIdentifier</key>
+	<string>EC86EAF72C84463005E3A82B4C6719F0BEB98076</string>
+	<key>IDESourceControlProjectWCConfigurations</key>
+	<array>
+		<dict>
+			<key>IDESourceControlRepositoryExtensionIdentifierKey</key>
+			<string>public.vcs.git</string>
+			<key>IDESourceControlWCCIdentifierKey</key>
+			<string>EC86EAF72C84463005E3A82B4C6719F0BEB98076</string>
+			<key>IDESourceControlWCCName</key>
+			<string>code</string>
+		</dict>
+	</array>
+</dict>
+</plist>
diff --git a/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace/xcuserdata/peterdekok.xcuserdatad/UserInterfaceState.xcuserstate b/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace/xcuserdata/peterdekok.xcuserdatad/UserInterfaceState.xcuserstate
new file mode 100644
index 0000000..09ca94e
--- /dev/null
+++ b/RPi_skeleton/RPi_skeleton.xcodeproj/project.xcworkspace/xcuserdata/peterdekok.xcuserdatad/UserInterfaceState.xcuserstate
diff --git a/RPi_skeleton/RPi_skeleton.xcodeproj/xcuserdata/peterdekok.xcuserdatad/xcschemes/RPi_skeleton.xcscheme b/RPi_skeleton/RPi_skeleton.xcodeproj/xcuserdata/peterdekok.xcuserdatad/xcschemes/RPi_skeleton.xcscheme
new file mode 100644
index 0000000..8faf2ed
--- /dev/null
+++ b/RPi_skeleton/RPi_skeleton.xcodeproj/xcuserdata/peterdekok.xcuserdatad/xcschemes/RPi_skeleton.xcscheme
@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Scheme
+   LastUpgradeVersion = "0640"
+   version = "1.3">
+   <BuildAction
+      parallelizeBuildables = "YES"
+      buildImplicitDependencies = "YES">
+      <BuildActionEntries>
+         <BuildActionEntry
+            buildForTesting = "YES"
+            buildForRunning = "YES"
+            buildForProfiling = "YES"
+            buildForArchiving = "YES"
+            buildForAnalyzing = "YES">
+            <BuildableReference
+               BuildableIdentifier = "primary"
+               BlueprintIdentifier = "C88771441B0CC48A003DDDD4"
+               BuildableName = "RPi_skeleton"
+               BlueprintName = "RPi_skeleton"
+               ReferencedContainer = "container:RPi_skeleton.xcodeproj">
+            </BuildableReference>
+         </BuildActionEntry>
+      </BuildActionEntries>
+   </BuildAction>
+   <TestAction
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      shouldUseLaunchSchemeArgsEnv = "YES"
+      buildConfiguration = "Debug">
+      <Testables>
+      </Testables>
+      <MacroExpansion>
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "C88771441B0CC48A003DDDD4"
+            BuildableName = "RPi_skeleton"
+            BlueprintName = "RPi_skeleton"
+            ReferencedContainer = "container:RPi_skeleton.xcodeproj">
+         </BuildableReference>
+      </MacroExpansion>
+   </TestAction>
+   <LaunchAction
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      launchStyle = "0"
+      useCustomWorkingDirectory = "NO"
+      buildConfiguration = "Debug"
+      ignoresPersistentStateOnLaunch = "NO"
+      debugDocumentVersioning = "YES"
+      allowLocationSimulation = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "C88771441B0CC48A003DDDD4"
+            BuildableName = "RPi_skeleton"
+            BlueprintName = "RPi_skeleton"
+            ReferencedContainer = "container:RPi_skeleton.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+      <AdditionalOptions>
+      </AdditionalOptions>
+   </LaunchAction>
+   <ProfileAction
+      shouldUseLaunchSchemeArgsEnv = "YES"
+      savedToolIdentifier = ""
+      useCustomWorkingDirectory = "NO"
+      buildConfiguration = "Release"
+      debugDocumentVersioning = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "C88771441B0CC48A003DDDD4"
+            BuildableName = "RPi_skeleton"
+            BlueprintName = "RPi_skeleton"
+            ReferencedContainer = "container:RPi_skeleton.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+   </ProfileAction>
+   <AnalyzeAction
+      buildConfiguration = "Debug">
+   </AnalyzeAction>
+   <ArchiveAction
+      buildConfiguration = "Release"
+      revealArchiveInOrganizer = "YES">
+   </ArchiveAction>
+</Scheme>
diff --git a/RPi_skeleton/RPi_skeleton.xcodeproj/xcuserdata/peterdekok.xcuserdatad/xcschemes/xcschememanagement.plist b/RPi_skeleton/RPi_skeleton.xcodeproj/xcuserdata/peterdekok.xcuserdatad/xcschemes/xcschememanagement.plist
new file mode 100644
index 0000000..e7675ed
--- /dev/null
+++ b/RPi_skeleton/RPi_skeleton.xcodeproj/xcuserdata/peterdekok.xcuserdatad/xcschemes/xcschememanagement.plist
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>SchemeUserState</key>
+	<dict>
+		<key>RPi_skeleton.xcscheme</key>
+		<dict>
+			<key>orderHint</key>
+			<integer>0</integer>
+		</dict>
+	</dict>
+	<key>SuppressBuildableAutocreation</key>
+	<dict>
+		<key>C88771441B0CC48A003DDDD4</key>
+		<dict>
+			<key>primary</key>
+			<true/>
+		</dict>
+	</dict>
+</dict>
+</plist>
diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino
index 04bb5d3..f4cc57b 100644
--- a/Venus_Skeleton/Venus_Skeleton.ino
+++ b/Venus_Skeleton/Venus_Skeleton.ino
@@ -1,23 +1,50 @@
 // TODO
 //
 // - limit sendData to x per second
+//
+// - insert into calibration files
+// 		const int calObstacleTurretMaxDist = 50;
+// 		const int calObstacleTurretMinDist = 10;
+// 		const int calIRLeftThreshold = 2;
+// 		const int calIRRightThreshold = 2;
+// 		#define OPERATION_MAX_CHANGE_TIME = 20000;
+// 
+// - Make sure ENUM piDataType is correct and synced
+// - Change interpretData to resemble correct ENUM data
+// 
 
+// **********************
+// ** Calibration file **
+// **********************
 
-
+// Include Wally of Eve, (un)comment the right one.
+#include "calibration.wally.h"
+//#include "calibration.eve.h"
 
 // *****************
 // ** DEFINITIONS **
 // *****************
 
 // Pin configuration
-#define pinSensCompass
-#define pinSensObstacleTurret
-#define pinSensIRLeft
-#define pinSensIRRight
-#define pinSensSampleTurret
-#define pinSensSampleGripper
-#define pinSensBeaconTurret
-#define pinSensLab
+#define PIN_SENS_COMPASS;
+#define PIN_SENS_OBSTACLE_TURRET = 9;
+#define PIN_SENS_IR_LEFT;
+#define PIN_SENS_IR_RIGHT;
+#define PIN_SENS_SAMPLE_TURRET;
+#define PIN_SENS_SAMPLE_GRIPPER;
+#define PIN_SENS_BEACON_TURRET;
+#define PIN_SERVO_LEFT = 12;
+#define PIN_SERVO_RIGHT = 13;
+#define PIN_SERVO_TURRET = 11;
+
+// Raspberry Pi Data type declarations
+enum piDataType {COMPASS, OBSTACLETURRET, IRLEFT, IRRIGHT, SAMPLETURRET, SAMPLEGRIPPER, BEACONTURRET, LAB, MOVETO, GRIPPER, TURRET};
+// Operation modes
+enum opMode {RANDOM, WAIT, INITIALSEQUENCE, RANDOM, MAPPING, GOTOSAMPLE, GRABSAMPLE, GOTOLABLOCATION, WAITFORLAB, FINDMAGNET, LABSEQUENCE};
+
+// Current operation mode
+opMode operationMode = 0;
+unsigned long operationChange = 0;
 
 // Location values
 int currValRobotX;
@@ -31,16 +58,6 @@ int currValServoTurret;
 // Actuator values
 int currValTurret;
 
-// Calibration values
-#define calObstacleTurretMaxDist 50
-#define calObstacleTurretMinDist 10
-#define calIRLeftThreshold 2
-#define calIRRightThreshold 2
-#define cal
-
-// RPi Data type declarations
-enum piDataType {COMPASS, OBSTACLETURRET, IRLEFT, IRRIGHT, SAMPLETURRET, SAMPLEGRIPPER, BEACONTURRET, LAB};
-
 
 // **********************
 // ** PI COMMUNICATION **
@@ -51,20 +68,31 @@ void sendData(int method, int data, int data1 = null, int data2 = null) {
   
 }
 
+// receive data from Raspberry Pi
+// sequence = ... ?????
 void readData() {
   
+	// if data received -> interpretate it
+	// change operation mode + update timer
+	operationMode = WAIT;
+	operationChange = millis();
+	// for example:
+	interpretData(MOVETO, 0);
 }
 
-void interpretData(piDataType dataType, message) {
+void interpretData(piDataType dataType, int message) {
   switch(dataType) {
-    case x:
+    case MOVETO:
+		
+    break;
+    case GRIPPER:
     
     break;
-    case y:
+    case TURRET:
     
     break;
     case default:
-    
+		// ignore ????
     break;
   }
 }
@@ -76,6 +104,7 @@ void interpretData(piDataType dataType, message) {
 
 // sensor Compass, orientation
 int sensCompass() {
+	// average for last x ????????
   int degree = 359;
   sendData(COMPASS, degree);
   return degree;
@@ -113,6 +142,7 @@ int sensIRRight() {
 int sensSampleTurret() {
   boolean sample = false;
   if(sample) {
+		// If a sample is detected, stop all servos, send data to the PI and wait for response
     stopAllServos();
     sendData(SAMPLETURRET, currValRobotX, currValRobotY, currValSensCompass, currValTurret);
   }
@@ -158,5 +188,39 @@ void setup() {
 }
 
 void loop() {
-  
+	sensCompass();
+	sensObstacleTurret();
+	sensIRLeft();
+	sensIRRight();
+	sensSampleTurret();
+	sensSampleGripper();
+	sensBeaconTurret();
+	sensLab();
+	
+	if((operationChange + OPERATION_MAX_CHANGE_TIME) > millis() && operationMode != RANDOM) {
+		operationMode = RANDOM;
+	}
+	
+}
+
+// **********************
+// ** HELPER FUNCTIONS **
+// **********************
+
+long microsecondsToInches(long microseconds)
+{
+  // According to Parallax's datasheet for the PING))), there are
+  // 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
+  // second).  This gives the distance travelled by the ping, outbound
+  // and return, so we divide by 2 to get the distance of the obstacle.
+  // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
+  return microseconds / 74 / 2;
+}
+
+long microsecondsToCentimeters(long microseconds)
+{
+  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
+  // The ping travels out and back, so to find the distance of the
+  // object we take half of the distance travelled.
+  return microseconds / 29 / 2;
 }