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Ernest3.14
Professor
Joined: Sat May 18, 2013 1:24 pm
Posts: 272
Location: Olympia, WA
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 Re: Heuristic algorithm That's interesting. Using the code you provided, I got these errors: They are both on line 105, in `void PrintWavefrontMap()`: On my machine it seems like RobotC doesn't like it when you chain two operators (something to do with overloading behind the scenes?). Changing the aforementioned conditional to this made the code compile for me. _________________FTC Team 6424, the 'Oly Cow - Chief programmer. FRC Team 4450, Olympia Robotics Federation (ORF). and also quadrotors. Quadrotors!
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| Thu Jul 18, 2013 12:07 am |
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Ernest3.14
Professor
Joined: Sat May 18, 2013 1:24 pm
Posts: 272
Location: Olympia, WA
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Re: Heuristic algorithm The motors aren't very accurate (surprisingly accurate, really, given the size), and there's just a tiny bit of deviation, which eventually accumulates into a large error. _________________FTC Team 6424, the 'Oly Cow - Chief programmer. FRC Team 4450, Olympia Robotics Federation (ORF). and also quadrotors. Quadrotors!
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| Thu Jul 18, 2013 12:24 am |
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Azhari
Rookie
Joined: Thu Mar 14, 2013 10:32 pm
Posts: 25
Location: Malaysia
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Re: Heuristic algorithm why we got different error?
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| Thu Jul 18, 2013 12:25 am |
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Azhari
Rookie
Joined: Thu Mar 14, 2013 10:32 pm
Posts: 25
Location: Malaysia
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Re: Heuristic algorithm it the surface also affected the movement? Is the battery level also affected? any suggestion? 4/10 try only success...
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| Thu Jul 18, 2013 12:39 am |
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Azhari
Rookie
Joined: Thu Mar 14, 2013 10:32 pm
Posts: 25
Location: Malaysia
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Re: Heuristic algorithm i'm already solved it. tfriez says,  | | | | tfriez wrote: With 3.50 and the stacks/pointers change, the string manipulation got a little messed up in this program. Try this function: | | | | Code: void PrintWavefrontMap()
{
for(int y=0; y < y_size; y++)
{
string printRow = "";
string buffer = "";
for(int x=0; x < x_size; x++)
{
if(map[x][y] < 10)
{
sprintf(buffer,"%s%d ", printRow, map[x][y]);
printRow = buffer;
}
else if(map[x][y] == robot_mark)
{
sprintf(printRow,"%s%c",printRow,'R');
printRow = buffer;
}
else if(map[x][y] == goal_mark)
{
sprintf(printRow,"%s%c",printRow,'G');
printRow = buffer;
}
else if(map[x][y] == wall_mark)
{
sprintf(printRow,"%s%c",printRow,'X');
printRow = buffer;
}
else if(map[x][y] == '*')
{
sprintf(printRow,"%s%c",printRow,'*');
printRow = buffer;
}
else
{
sprintf(printRow,"%s%d",printRow, map[x][y]);
printRow = buffer;
}
}
nxtDisplayString(y, printRow);
}
}
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thanks for your help, now i can focus on using A* algorithm that i'm not sure how to coding it yet...  i will share my coding after i'm complete as contribution for other 
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| Thu Jul 18, 2013 10:39 pm |
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Azhari
Rookie
Joined: Thu Mar 14, 2013 10:32 pm
Posts: 25
Location: Malaysia
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Re: Heuristic algorithm why the display output come out different? | | | | Code:
//GLOBAL ARRAY representation of grid world using a 2-Dimensional array
//0 = open space
//1 = barrier
//2 = goal
//99 = robot
int map[x_size][y_size] =
{{0,0,0,0,0},
{0,1,99,1,0},
{0,1,1,1,0},
{0,0,0,0,0},
{0,0,0,0,0},
{0,0,0,0,0},
{0,0,0,0,0},
{0,0,2,0,0},
{0,0,0,0,0},
{0,0,0,0,0}};
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and | | | | Code:
//FUNCTION print wavefront map to NXT screen
void PrintWavefrontMap()
{
for(int y=0; y < y_size; y++)
{
string printRow = "";
string buffer = "";
for(int x=0; x < x_size; x++)
{
if(map[x][y] < 10)
{
sprintf(buffer,"%s%d ", printRow, map[x][y]);
printRow = buffer;
}
else if(map[x][y] == 99)
{
sprintf(printRow,"%s%c",printRow,'R');
printRow = buffer;
}
else if(map[x][y] == 2)
{
sprintf(printRow,"%s%c",printRow,'G');
printRow = buffer;
}
else if(map[x][y] == 1)
{
sprintf(printRow,"%s%c",printRow,'X');
printRow = buffer;
}
else if(map[x][y] == '*')
{
sprintf(printRow,"%s%c",printRow,'*');
printRow = buffer;
}
else
{
sprintf(printRow,"%s%d",printRow, map[x][y]);
printRow = buffer;
}
}
nxtDisplayString(y, printRow);
}
}
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| Thu Jul 18, 2013 10:55 pm |
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Ernest3.14
Professor
Joined: Sat May 18, 2013 1:24 pm
Posts: 272
Location: Olympia, WA
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Re: Heuristic algorithm Looks as if the output is sideways? Try switching your x and y and see what happens. _________________FTC Team 6424, the 'Oly Cow - Chief programmer. FRC Team 4450, Olympia Robotics Federation (ORF). and also quadrotors. Quadrotors!
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| Fri Jul 19, 2013 3:22 pm |
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Azhari
Rookie
Joined: Thu Mar 14, 2013 10:32 pm
Posts: 25
Location: Malaysia
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Re: Heuristic algorithm i'm already change and it become more confusing then before  don't know which path it take. 
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| Mon Jul 22, 2013 10:34 pm |
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Ernest3.14
Professor
Joined: Sat May 18, 2013 1:24 pm
Posts: 272
Location: Olympia, WA
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Re: Heuristic algorithm Sorry about the last post--my machine didn't have RobotC, so I kinda just glanced at your code  I ran your code through the debugger. It's really handy. Check your `else if` conditionals. For example: Are you sure you want to assign `printRow` to `buffer` again? Take a closer look at what is inside `buffer` when you do this. _________________FTC Team 6424, the 'Oly Cow - Chief programmer. FRC Team 4450, Olympia Robotics Federation (ORF). and also quadrotors. Quadrotors!
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| Tue Jul 23, 2013 12:36 am |
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Ernest3.14
Professor
Joined: Sat May 18, 2013 1:24 pm
Posts: 272
Location: Olympia, WA
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Re: Heuristic algorithm Another hint: you check first whether the number is less than 10. But later on, you check if it is 1 or 2. If you run this through the debugger it will be very clear; if the number is indeed a 1 or 2, then it never reaches the bottom of that logic. You'll have to check those first, and then do an `if... else...` at the end to include everything else.
_________________FTC Team 6424, the 'Oly Cow - Chief programmer. FRC Team 4450, Olympia Robotics Federation (ORF). and also quadrotors. Quadrotors!
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| Tue Jul 23, 2013 12:39 am |
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Azhari
Rookie
Joined: Thu Mar 14, 2013 10:32 pm
Posts: 25
Location: Malaysia
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Re: Heuristic algorithm maybe you should see for yourself..
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| Tue Jul 23, 2013 5:41 am |
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Ernest3.14
Professor
Joined: Sat May 18, 2013 1:24 pm
Posts: 272
Location: Olympia, WA
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Re: Heuristic algorithm Interesting. Try switching out the `for` loop in your `PrintWavefrontMap()` for this: | | | | Code: for(int x=0; x < x_size; x++)
{
if(map[x][y] == 99)
{
sprintf(buffer,"%s%c",printRow,'R');
printRow = buffer;
}
else if(map[x][y] == 2)
{
sprintf(buffer,"%s%c",printRow,'G');
printRow = buffer;
}
else if(map[x][y] == 1)
{
sprintf(buffer,"%s%c",printRow,'X');
printRow = buffer;
}
else if(map[x][y] == '*')
{
sprintf(buffer,"%s%c",printRow,'*');
printRow = buffer;
}
else
{
sprintf(buffer,"%s%d",printRow, map[x][y]);
printRow = buffer;
}
}
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_________________FTC Team 6424, the 'Oly Cow - Chief programmer. FRC Team 4450, Olympia Robotics Federation (ORF). and also quadrotors. Quadrotors!
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| Tue Jul 23, 2013 2:28 pm |
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Azhari
Rookie
Joined: Thu Mar 14, 2013 10:32 pm
Posts: 25
Location: Malaysia
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Re: Heuristic algorithm | | | | Ernest3.14 wrote: Interesting. Try switching out the `for` loop in your `PrintWavefrontMap()` for this: | | | | Code: for(int x=0; x < x_size; x++)
{
if(map[x][y] == 99)
{
sprintf(buffer,"%s%c",printRow,'R');
printRow = buffer;
}
else if(map[x][y] == 2)
{
sprintf(buffer,"%s%c",printRow,'G');
printRow = buffer;
}
else if(map[x][y] == 1)
{
sprintf(buffer,"%s%c",printRow,'X');
printRow = buffer;
}
else if(map[x][y] == '*')
{
sprintf(buffer,"%s%c",printRow,'*');
printRow = buffer;
}
else
{
sprintf(buffer,"%s%d",printRow, map[x][y]);
printRow = buffer;
}
}
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THANKS! It work like magic  
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| Wed Jul 24, 2013 12:47 am |
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Azhari
Rookie
Joined: Thu Mar 14, 2013 10:32 pm
Posts: 25
Location: Malaysia
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Re: Heuristic algorithm Here the work coding | | | | Code:
#pragma config(StandardModel, "REMBOT")
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
//GLOBAL VARIABLES grid world dimensions
const int x_size = 10;
const int y_size = 5;
//GLOBAL ARRAY representation of grid world using a 2-Dimensional array
//0 = open space
//1 = barrier
//2 = goal
//99 = robot
int map[x_size][y_size] =
{{0,0,0,0,0},
{0,1,99,1,0},
{0,1,1,1,0},
{0,0,0,0,0},
{0,0,0,0,0},
{0,0,0,0,0},
{0,0,0,0,0},
{0,0,2,0,0},
{0,0,0,0,0},
{0,0,0,0,0}};
//FUNCTION move forward for a variable number of grid blocks
void moveForward(int blocks)
{
//convert number of blocks to encoder counts
//wheel circumference = 17.6 cm
//one block = 20 cm / 35.cm
int countsToTravel = (20/17.6)*(360)*blocks;
//encoder target for countsToTravel
nMotorEncoder[motorB] = 0;
nMotorEncoder[motorC] = 0;
nMotorEncoderTarget[motorB] = countsToTravel;
nMotorEncoderTarget[motorC] = countsToTravel;
motor[motorB] = 50;
motor[motorC] = 50;
while(nMotorRunState[motorB] != runStateIdle && nMotorRunState[motorC] != runStateIdle) {}
//stop for half second at end of movement
motor[motorB] = 0;
motor[motorC] = 0;
wait1Msec(500);
}
//FUNCTION left point turn 90 degrees
void turnLeft90()
{
//distance one wheel must travel for 90 degree point turn = 10.68 cm
//wheel circumference = 17.6 cm
int countsToTravel = (8.6/17.6)*(360);
//encoder target for countsToTravel
nMotorEncoder[motorB] = 0;
nMotorEncoder[motorC] = 0;
nMotorEncoderTarget[motorB] = countsToTravel;
nMotorEncoderTarget[motorC] = countsToTravel;
motor[motorB] = 50;
motor[motorC] = -50;
while(nMotorRunState[motorB] != runStateIdle && nMotorRunState[motorC] != runStateIdle) {}
//stop for half second at end of movement
motor[motorB] = 0;
motor[motorC] = 0;
wait1Msec(500);
}
//FUNCTION right point turn 90 degrees
void turnRight90()
{
//distance one wheel must travel for 90 degree point turn = 10.68 cm
//wheel circumference = 17.6 cm
int countsToTravel = (8.6/17.6)*(360);
//encoder target for countsToTravel
nMotorEncoder[motorB] = 0;
nMotorEncoder[motorC] = 0;
nMotorEncoderTarget[motorB] = countsToTravel;
nMotorEncoderTarget[motorC] = countsToTravel;
motor[motorB] = -50;
motor[motorC] = 50;
while(nMotorRunState[motorB] != runStateIdle && nMotorRunState[motorC] != runStateIdle) {}
//stop for half second at end of movement
motor[motorB] = 0;
motor[motorC] = 0;
wait1Msec(500);
}
//FUNCTION print wavefront map to NXT screen
void PrintWavefrontMap()
{
for(int y=0; y < y_size; y++)
{
string printRow = "";
string buffer = "";
for(int x=0; x < x_size; x++)
{
if(map[x][y] == 99)
{
sprintf(buffer,"%s%c",printRow,'R');
printRow = buffer;
}
else if(map[x][y] == 2)
{
sprintf(buffer,"%s%c",printRow,'G');
printRow = buffer;
}
else if(map[x][y] == 1)
{
sprintf(buffer,"%s%c",printRow,'X');
printRow = buffer;
}
else if(map[x][y] == '*')
{
sprintf(buffer,"%s%c",printRow,'*');
printRow = buffer;
}
else
{
sprintf(buffer,"%s%d",printRow, map[x][y]);
printRow = buffer;
}
}
nxtDisplayString(y, printRow);
}
}
//FUNCTION wavefront algorithm to find most efficient path to goal
void WavefrontSearch()
{
int goal_x, goal_y;
bool foundWave = true;
int currentWave = 2; //Looking for goal first
while(foundWave == true)
{
foundWave = false;
for(int y=0; y < y_size; y++)
{
for(int x=0; x < x_size; x++)
{
if(map[x][y] == currentWave)
{
foundWave = true;
goal_x = x;
goal_y = y;
if(goal_x > 0) //This code checks the array bounds heading WEST
if(map[goal_x-1][goal_y] == 0) //This code checks the WEST direction
map[goal_x-1][goal_y] = currentWave + 1;
if(goal_x < (x_size - 1)) //This code checks the array bounds heading EAST
if(map[goal_x+1][goal_y] == 0)//This code checks the EAST direction
map[goal_x+1][goal_y] = currentWave + 1;
if(goal_y > 0)//This code checks the array bounds heading SOUTH
if(map[goal_x][goal_y-1] == 0) //This code checks the SOUTH direction
map[goal_x][goal_y-1] = currentWave + 1;
if(goal_y < (y_size - 1))//This code checks the array bounds heading NORTH
if(map[goal_x][goal_y+1] == 0) //This code checks the NORTH direction
map[goal_x][goal_y+1] = currentWave + 1;
}
}
}
currentWave++;
PrintWavefrontMap();
wait1Msec(500);
}
}
//FUNCTION follow most efficient path to goal
//and update screen map as robot moves
void NavigateToGoal()
{
//Store our Robots Current Position
int robot_x, robot_y;
//First - Find Goal and Target Locations
for(int x=0; x < x_size; x++)
{
for(int y=0; y < y_size; y++)
{
if(map[x][y] == 99)
{
robot_x = x;
robot_y = y;
}
}
}
//Found Goal and Target, start deciding our next path
int current_x = robot_x;
int current_y = robot_y;
int current_facing = 0;
int next_Direction = 0;
int current_low = 99;
while(current_low > 2)
{
current_low = 99; //Every time, reset to highest number (robot)
next_Direction = current_facing;
int Next_X = 0;
int Next_Y = 0;
//Check Array Bounds West
if(current_x > 0)
if(map[current_x-1][current_y] < current_low && map[current_x-1][current_y] != 1) //Is current space occupied?
{
current_low = map[current_x-1][current_y]; //Set next number
next_Direction = 3; //Set Next Direction as West
Next_X = current_x-1;
Next_Y = current_y;
}
//Check Array Bounds East
if(current_x < (x_size -1))
if(map[current_x+1][current_y] < current_low && map[current_x+1][current_y] != 1) //Is current space occupied?
{
current_low = map[current_x+1][current_y]; //Set next number
next_Direction = 1; //Set Next Direction as East
Next_X = current_x+1;
Next_Y = current_y;
}
//Check Array Bounds South
if(current_y > 0)
if(map[current_x][current_y-1] < current_low && map[current_x][current_y-1] != 1)
{
current_low = map[current_x][current_y-1]; //Set next number
next_Direction = 2; //Set Next Direction as South
Next_X = current_x;
Next_Y = current_y-1;
}
//Check Array Bounds North
if(current_y < (y_size - 1))
if(map[current_x][current_y+1] < current_low && map[current_x][current_y+1] != 1) //Is current space occupied?
{
current_low = map[current_x][current_y+1]; //Set next number
next_Direction = 0; //Set Next Direction as North
Next_X = current_x;
Next_Y = current_y+1;
}
//Okay - We know the number we're heading for, the direction and the coordinates.
current_x = Next_X;
current_y = Next_Y;
map[current_x][current_y] = '*';
//Track the robot's heading
while(current_facing != next_Direction)
{
if (current_facing > next_Direction)
{
turnLeft90();
current_facing--;
}
else if(current_facing < next_Direction)
{
turnRight90();
current_facing++;
}
}
moveForward(1);
PrintWavefrontMap();
wait1Msec(500);
}
}
task main()
{
WavefrontSearch(); //Build map of route with wavefront algorithm
NavigateToGoal(); //Follow most efficient path to goal
wait1Msec(5000); //Leave time to view the LCD screen
}
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| Wed Jul 24, 2013 12:54 am |
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Azhari
Rookie
Joined: Thu Mar 14, 2013 10:32 pm
Posts: 25
Location: Malaysia
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Re: Heuristic algorithm Next task is if there a sudden new an obstacle in the path how the bot should react,
The concept would be like this.
if they a new obstacle in front when the coding run.
* * * * * R # 5 6
* x x 7 6 5 4 3 4 5
* S x 6 5 4 3 G 3 4
12 x x 7 6 5 4 3 4 6
11 10 9 8 7 6 5 4 5 6
* = path that been taken
X = Obstacle
S = Starting Point
R = Robot
# = New Obstacle
the new obstacle will be updated to the map
and the calculation will be reset again.
11 10 9 8 7 6 R X 5 6
12 x x 7 6 5 * 3 4 5
13 S x 6 5 4 * * 3 4
12 x x 7 6 5 4 3 4 6
11 10 9 8 7 6 5 4 5 6
i will share the coding if i'm already success
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| Wed Jul 24, 2013 1:49 am |
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