drive.c File Reference

Detailed Description

Bi-Directional

#include "cubelet.h"
 
void setup()
{
 
}
 
void loop()
{
    block_value = weighted_average();
 
    unsigned int motor_speed;
 
    if (block_value < 128){ //reverse
        set_drive_direction(BACKWARD);
        motor_speed = 2 * (127 - block_value);
    }
    else { //forward
        set_drive_direction(FORWARD);
        motor_speed = 2 * (block_value - 128);
    }
    
    set_drive(motor_speed);
}
 
 

Easer

#include "cubelet.h"
 
//Implements a BUF_SIZE value buffer to utilize a boxcar filter of 400ms window.
 
#define BUF_SIZE 8 //number of block values to remember for the boxcar filter
 
uint8_t block_values[BUF_SIZE] = {0};
uint8_t counter = 0;
 
 
void setup()
{
 
}
 
void loop()
{
    //add the current value into the buffer and update the counter
    block_values[counter] = weighted_average();
 
    counter++;
    if (counter >= BUF_SIZE) counter = 0;
 
    //computes current running average
    int current_running_average = 0;
    for (unsigned int i=0; i<BUF_SIZE; i++){
        current_running_average += block_values[i];
    }
    current_running_average /= BUF_SIZE;
 
    set_drive(current_running_average);
 
    wait(50); //updates approximately 20 times per second
}
 
 

Quiver

#include "cubelet.h"
#include <stdbool.h>
 
bool motor_forward = true;
 
void setup()
{
 
}
 
void loop()
{
    block_value = weighted_average();
 
    if (motor_forward) {
        set_drive_direction(FORWARD);
        motor_forward = false;
    }
    else {
        set_drive_direction(BACKWARD);
        motor_forward = true;
    }
 
    set_drive(block_value);
 
    wait(100+3*(255-block_value)); //wait between approximately 100 and 850 ms to switch directions again, depending on block value
}
 
 

Reverse

#include "cubelet.h"
 
void setup()
{
    set_drive_direction(BACKWARD);
}
 
void loop()
{
    block_value = weighted_average();
    set_drive(block_value);
}
 
 

Scurry

#include "cubelet.h"
#include <stdbool.h>
 
bool is_moving = false;
 
void setup()
{
 
}
 
void loop()
{
    unsigned int current_weighted_average = weighted_average();
 
    if (is_moving){
        //probability of stopping is 0% for full weighted average and almost 100% for zero weighted average
        if (rand()%255 > current_weighted_average){
            is_moving = false;
        }
    }
    else { 
        //probability of starting is 0% for zero weighted average and almost 100% for full weighted average
        if (rand()%255 < current_weighted_average){
            is_moving = true;
        }
    }
 
    if (is_moving) set_drive(255);
    else set_drive(0);
 
    wait(100);
}