Hello,
I’ve been working on the 3pi quite a lot recently. I really like it, but my knowledge and abilities in the coding area are a bit limited.
I’m currently trying to add to the 3pi a program through which he will sort a problem similar to the henoi towers. (Why? I really can’t say currently.)
The code listed below is universal for any number of disks, but when I go up to 4 “disks” the 3pi never finishes the calculations.
Or at least, I never gave him enough time. At the end of my post you can find the code of this current program. with 3 “disks” i’d like to be able to do it with 5. meaning that only two lines need to change.
unsigned int array[10080]={0};
unsigned int target[60]={0};The AVR studio simulator alerts of "Stack Overflow"
Is there room enough in the controller to store this array? Where is it being stored (RAM or PROGMEM)? If there is not enough room, is there anyway to “upgrade” the 3pi to one of the new controllers? (I wouldn’t wanna buy and assemble a new robot, seeing as when I buy new parts they have to be shipped overseas)
Other suggestions?
Questions?
#include <pololu/3pi.h>
#include <avr/pgmspace.h>
int validate(unsigned int *p, unsigned int a, unsigned int b, unsigned int c,unsigned int x)
{
int i=0;
while(i<=x)
{
if((a==p[i])&(b==p[i+1])&(c==p[i+2]))
{
return 0;
}
i=i+4;
}
return 1;
}
int navigation(unsigned int * p,unsigned int * t)
{
unsigned int x=0;
unsigned int i=0;
unsigned int agent=0;
while((p[0+i] != t[0]) | (p[1+i] != t[1]) | (p[2+i] != t[2]))
{
clear();
print_long(i);
//if branch 1 is not empty
if(p[0+i] != 0)
{
//select the agent about to move;
agent=p[0+i]%10;
//create the state when the new agent moved to branch two.
if(validate(p,p[0+i]/10,p[1+i]*10+agent,p[2+i],x))
{
x=x+4;
p[0+x]=p[0+i]/10;
p[1+x]=p[1+i]*10+agent;
p[2+x]=p[2+i];
//don't forget to list who the father is.
p[3+x]=i;
if((p[0+x] == t[0]) & (p[1+x] == t[1]) & (p[2+x] == t[2]))
{
return(i);
}
}
//create the state when the new agent moved to branch three.
if(validate(p,p[0+i]/10,p[1+i],p[2+i]*10+agent,x))
{
x=x+4;
p[0+x]=p[0+i]/10;
p[1+x]=p[1+i];
p[2+x]=p[2+i]*10+agent;
//don't forget to list who the father is
p[3+x]=i;
if((p[0+x] == t[0]) & (p[1+x] == t[1]) & (p[2+x] == t[2]))
{
return(i);
}
}
}
if(p[1+i] !=0)
{
//select the agent about to move;
agent=p[1+i]%10;
//create the state when the new agent moved to branch one.
if(validate(p,p[0+i]*10+agent,p[1+i]/10,p[2+i],x))
{
x=x+4;
p[0+x]=p[0+i]*10+agent;
p[1+x]=p[1+i]/10;
p[2+x]=p[2+i];
//don't forget to list who the father is.
p[3+x]=i;
if((p[0+x] == t[0]) & (p[1+x] == t[1]) & (p[2+x] == t[2]))
{
return(i);
}
}
//create the state when the new agent moved to branch three.
if(validate(p,p[0+i],p[1+i]/10,p[2+i]*10+agent,x))
{
x=x+4;
p[0+x]=p[0+i];
p[1+x]=p[1+i]/10;
p[2+x]=p[2+i]*10+agent;
//don't forget to list who the father is
p[3+x]=i;
if((p[0+x] == t[0]) & (p[1+x] == t[1]) & (p[2+x] == t[2]))
{
return(i);
}
}
}
if(p[2+i] !=0)
{
//select the agent about to move;
agent=p[2+i]%10;
//create the state when the new agent moved to branch one.
if(validate(p,p[0+i]*10+agent,p[1+i],p[2+i]/10,x))
{
x=x+4;
p[0+x]=p[0+i]*10+agent;
p[1+x]=p[1+i];
p[2+x]=p[2+i]/10; //don't forget to list who the father is.
p[3+x]=i;
if((p[0+x] == t[0]) & (p[1+x] == t[1]) & (p[2+x] == t[2]))
{
return(i);
}
}
//create the state when the new agent moved to branch two.
if(validate(p,p[0+i],p[1+i]*10+agent,p[2+i]/10,x))
{
x=x+4;
p[0+x]=p[0+i];
p[1+x]=p[1+i]*10+agent;
p[2+x]=p[2+i]/10;
//don't forget to list who the father is
p[3+x]=i;
if((p[0+x] == t[0]) & (p[1+x] == t[1]) & (p[2+x] == t[2]))
{
return(i);
}
}
}
i=i+4;
}
return 0;
}
void create_path(unsigned int *p, unsigned int *t)
{
int i;
int x=0;
i=navigation(p,t);
while(i!=0)
{
t[3+x*3]=p[i];
t[3+x*3+1]=p[i+1];
t[3+x*3+2]=p[i+2];
i=p[i+3];
x=x+1;
}
t[3+x*3]=p[i];
t[3+x*3+1]=p[i+1];
t[3+x*3+2]=p[i+2];
}
int main()
{
int bat = read_battery_millivolts();
clear();
print_long(bat);
print("mV");
lcd_goto_xy(0,1);
print("Starting");
delay_ms(100);
unsigned int array[240]={0};
unsigned int target[27]={0};
unsigned int *parray;
unsigned int *ptarget;
parray=array;
ptarget=target;
array[0]=123;
array[1]=0;
array[2]=0;
target[0]=321;
target[1]=0;
target[2]=0;
create_path(parray,ptarget);
while(1)
{
int bat = read_battery_millivolts();
clear();
print_long(bat);
print("mV");
lcd_goto_xy(0,1);
delay_ms(1000);
}
return 0;
}