Shortest Path stoppt direkt nachdem es ausgeführt wird

International Deutsch
1 
#include <EEPROM.h>
#include <SPI.h>                   // required by BnrOne.cpp
#include <BnrOneA.h>
#include <stdlib.h>
#include "Robot.h"
#include "NonLinearControl.h"
#include "IntersectionName.h"
#include "Intersection.h"
#include "Line.h"
#include "Path.h"
#include "Pitches.h"
#include "Music.h"

// Ideal Parameters: Speed 43
// Pause: 294

MoveType robotMove = MOVE_NORMAL; //! the type of Movement the robot is doing
Robot myRobot;			//! the main Robot object
int detectFinish=0;		//! flag to signal the end of the Maze

//! Print intersection in LCD
void printIntersection(IntersectionType intersectionType, MoveType robotMove)
{
	if (robotMove != MOVE_NORMAL)
	{
		myRobot._one.lcd1(intersectionStr[intersectionType]);
	}
}

//! Print path in LCD
/*!
	\param path to be printed
	\param lcd line where path is to be printed
*/	
void printPath(String path, int lcd)
{
	char printThePath[path.length()+1];
	for (unsigned int i=0 ; i < path.length() ; i++)
	{
		printThePath[i] = path[i];
	}
	printThePath[path.length()] = '\0';
	if (lcd == 1) 
	{
		myRobot._one.lcd1(printThePath);
	}
	else
	{
		 myRobot._one.lcd2(printThePath);
	}
}

//! Check if robot is at Finish line
bool isFinish (int &detectFinish)
{
	detectFinish++;
	if (detectFinish>=((110-myRobot._speed)/10))
	{
		return true;
	}
	return false;
}

// prints a count dounw in lcd2
void printCountDown()
{
	myRobot._one.lcd2("*****  3  ******");
	delay(500);
	myRobot._one.lcd2("*****  2  ******");
	delay(500);
	myRobot._one.lcd2("*****  1  ******");
	delay(500);
	myRobot._one.lcd2("***** GO! ******");
	delay(100);
}
// Print info on lcd: Exploring Maze or Direct to Goal
void printStep(bool mazeExplored)
{
	if (!mazeExplored)
		myRobot._one.lcd1(" Exploring Maze ");
	else
		myRobot._one.lcd1(" Shortest Path  ");
	printCountDown();
}

//! Setup functions call
void setup()
{
	Serial.begin(57600);
	myRobot.init();
        if ( myRobot._speed < 1 || myRobot._speed > 100)
          myRobot._speed = 40;    // set default working values
        if ( myRobot._pause < 10 || myRobot._pause > 1000)
          myRobot._pause = 300;   // set default working values
	printStep(false);
}

//! main loop function
void loop()
{
	//variables declarations
	int button=0;
	Line theLine;
	Intersection intersection;
	Intersection previousItersection;
	Path exploredPath;
	Path shortestPath;
	bool mazeExplored = false;
	
	while(true)
	{
		// read line pattern
		myRobot._nonLinearControl._error = myRobot.readLineSensors(theLine.line) - 3500; //half of maximum value
		theLine.lineADConvert();
		theLine.setSignature();
		robotMove = MOVE_NORMAL;
		
		// Check if the line signature is different from the previous or equal to N
		if ( theLine.lineSignature != theLine.previousLineSignature || 
			theLine.lineSignature =='N')
		{
			intersection.getIntersectionType(theLine.lineSignature);
			robotMove = intersection.checkIntersection ();
			if (mazeExplored)
			{
				if (robotMove == MOVE_FORWARD ||
					robotMove == MOVE_LEFT ||
					robotMove == MOVE_RIGHT||
					robotMove == MOVE_TURN_ARROUND)
				robotMove = intersection.checkIntersectionInPath (shortestPath);
			}
			theLine.previousLineSignature=theLine.lineSignature;
		}
		
		// if the line is a black bar check if it is the finish line
		if (theLine.lineSignature == 'B')
		{
			if (isFinish(detectFinish)) 
			{
				myRobot._one.stop();
				myRobot._one.lcd2("----FINISHED!---");		// send info to lcd
				finishMusic();						// play finish music
				delay(3000);						// wait 3s
				printPath(exploredPath.getPath(),1);// show explored path on lcd
				shortestPath.getShortestPath(exploredPath);
				printPath(shortestPath.getPath(),2);// show shortest path on lcd
				mazeExplored = !mazeExplored;		// toggle flag
				while (button==0) button=myRobot._one.readButton(); // wait for button press
				myRobot.Menu();						// show Menu
				printStep(mazeExplored);
				intersection.resetIntersection();	// reset intersection
				detectFinish=0;						// reset finish flag
				exploredPath.setPath("");			// reset explored path
				robotMove = MOVE_NORMAL;
				continue;
			}
		}
		else
		{
			detectFinish=0;
		}
		
		// check if any button was pressed
		button=myRobot._one.readButton();
		if (button)
		{
			myRobot._one.stop();
			myRobot.Menu();
			printStep(mazeExplored);
			intersection.resetIntersection();
			exploredPath.setPath("");
			robotMove = MOVE_NORMAL;
			continue;
		}
		else
		{
			if (myRobot._debug) // check debug mode
			{
				printIntersection(intersection._intersectionType,robotMove);
				myRobot._one.stop();
                                char* emptyString="        ";
				myRobot._one.lcd2 (theLine.lineBin,(unsigned char*)emptyString);
			}
			else
			{
				if(!myRobot.areThereObstacles()) // Check for obstacles
				{
					// detect a dead end
					if (intersection == NONE && previousItersection == DEAD_END)
					{
						robotMove = MOVE_TURN_ARROUND;
						intersection.setType(DEAD_END);
					}
					myRobot.sendToMotors(robotMove, theLine.lineSignature);
				}
			}
		}
		previousItersection = intersection;
		exploredPath.updatePath(robotMove);	
	}
}

Hallo ich bin relativ neu beim Programmieren mit Arduino und habe diesen Code von der Internetseite botnroll.com von wo ich auch mein Arduino habe, nämlich das Arduino Uno. Allerdings zeigt der Code zwar nicht direkt einen Fehler an aber Shortest path wird nicht richtig ausgeführt.

2

Dann solltest Du dort nachfragen. Vermutlich bist Du der einzige im deutschen Forum der dieses Produkt benutzt. Der Code sieht auch recht seltsam aus, z.B. ist while(true) in loop() ziemlich sinnlos.

Wenn das Programm stoppt nachdem es ausgeführt wurde, dann ist das doch okay? Für den nächsten Durchlauf sollte dann ein anderes Labyrinth benutzt werden.

3

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