From 63fe1f1bbff73fc342841ad5ce8367ff0c273a1a Mon Sep 17 00:00:00 2001 From: Peter Harrison Date: Sat, 5 Aug 2023 19:03:14 +0100 Subject: [PATCH 1/4] adjust ORION radius --- mazerunner-core/config-robot-orion.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mazerunner-core/config-robot-orion.h b/mazerunner-core/config-robot-orion.h index 4f4522f..1dfc705 100644 --- a/mazerunner-core/config-robot-orion.h +++ b/mazerunner-core/config-robot-orion.h @@ -171,7 +171,7 @@ const float GEAR_RATIO = 10.7917; // small amount. AFTER you have the wheel diameter and gear ratio calibrated, // have the mouse turn in place and adjust the MOUSE_RADIUS until these turns are // as accurate as you can get them -const float MOUSE_RADIUS = 38.070; // 39.50; // Adjust on test +const float MOUSE_RADIUS = 38.70; // 39.50; // Adjust on test // The robot is likely to have wheels of different diameters or motors of slightly // different characteristics and that must be compensated for if the robot is to From 1b6ba55e3c0dc457493fdcd416f00f6bcda4d398 Mon Sep 17 00:00:00 2001 From: Peter Harrison Date: Sat, 5 Aug 2023 19:03:33 +0100 Subject: [PATCH 2/4] set correct goal at startup --- mazerunner-core/mazerunner-core.ino | 1 + 1 file changed, 1 insertion(+) diff --git a/mazerunner-core/mazerunner-core.ino b/mazerunner-core/mazerunner-core.ino index 93367cd..7986da2 100644 --- a/mazerunner-core/mazerunner-core.ino +++ b/mazerunner-core/mazerunner-core.ino @@ -89,6 +89,7 @@ void setup() { /// leave the emitters off unless we are actually using the sensors /// less power, less risk sensors.disable(); + maze.set_goal(GOAL); reporter.set_printer(Serial); Serial.println(); Serial.println(F(NAME)); From c12e71064775a922e21499fccd3d69e1691b133a Mon Sep 17 00:00:00 2001 From: Peter Harrison Date: Sat, 5 Aug 2023 19:03:55 +0100 Subject: [PATCH 3/4] log goal on search --- mazerunner-core/mouse.h | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/mazerunner-core/mouse.h b/mazerunner-core/mouse.h index 042b58d..142c4c3 100644 --- a/mazerunner-core/mouse.h +++ b/mazerunner-core/mouse.h @@ -340,7 +340,14 @@ class Mouse { } motion.move(BACK_WALL_TO_CENTER, SEARCH_SPEED, SEARCH_SPEED, SEARCH_ACCELERATION); motion.set_position(HALF_CELL); - Serial.println(F("Off we go...")); + Serial.print(F("Off we go...")); + printer.print('['); + printer.print(target.x); + printer.print(','); + printer.print(target.y); + printer.print(']'); + Serial.println(); + motion.wait_until_position(SENSING_POSITION); // Each iteration of this loop starts at the sensing point while (m_location != target) { From f5cfef2f5d45d5c093f88ebbe4b58ff757d65001 Mon Sep 17 00:00:00 2001 From: Peter Harrison Date: Sat, 5 Aug 2023 19:04:09 +0100 Subject: [PATCH 4/4] update cli help --- mazerunner-core/cli.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/mazerunner-core/cli.h b/mazerunner-core/cli.h index ea87e05..e5deb73 100644 --- a/mazerunner-core/cli.h +++ b/mazerunner-core/cli.h @@ -414,8 +414,9 @@ class CommandLineInterface { * */ void help() { - Serial.println(F("W : display maze walls")); Serial.println(F("X : reset maze")); + Serial.println(F("W : display maze walls")); + Serial.println(F("C : display maze costs")); Serial.println(F("R : display maze with directions")); Serial.println(F("B : show battery voltage")); Serial.println(F("S : show sensor readings"));