From 8e74843a4a82fa2a151a0061c1df008af305a75b Mon Sep 17 00:00:00 2001
From: Edvin <edj7467@gmail.com>
Date: Mon, 12 May 2025 15:24:07 +0200
Subject: Added some more goal logic

---
 main.py | 75 ++++++++++++++++++++++++++++++++++++++++++++---------------------
 1 file changed, 51 insertions(+), 24 deletions(-)

(limited to 'main.py')

diff --git a/main.py b/main.py
index 4d8c698..2f99e89 100755
--- a/main.py
+++ b/main.py
@@ -43,13 +43,13 @@ def adjustAngle(adiff, f, b):
             NANO.write(b"Stop\n")
     elif b == True:
         print("Going backward")
-        if adiff > 0:
+        if adiff < 0:
             adiff -= 180
             print(f"Adjusting to the right {adiff}")
             NANO.write(b"Right\n")
             sleep(abs(adiff) / 90)
             NANO.write(b"Stop\n")
-        elif adiff < 0:
+        elif adiff > 0:
             adiff += 180
             print(f"Adjusting to the left {adiff}")
             NANO.write(b"Left\n")
@@ -108,6 +108,8 @@ writeAngleToFile(desDir)
 iteration = 1
 delay = 100 # Delay status command to every 20 loops
 
+calibrationBudget = 10
+
 if bto.find("Connected") != -1:
     nanoBtMessage = "Bluetooth connected " + bto[13:].translate({ord(c): None for c in ':'}) # Address to send to nano
     NANO.write(nanoBtMessage.encode())
@@ -218,22 +220,6 @@ if bto.find("Connected") != -1:
                 sleep(0.5)
                 NANO.write(b"Stop\n")
                 
-            elif bto == "420": # Communicate with goal
-                # Start goal communication
-                NANO.write(b"Start goal\n")
-
-                # Wait for AGV to have detected something in front of it.
-                print(NANO.readline().decode("utf8-").strip())
-
-                # AGV has now started wiggling and we check the phototransistor
-                # to see if the LED has triggered the goal. 
-                GPIO.output(LED, True)
-                goal_read = False
-                while goal_read == False:
-                    goal_read = GPIO.input(PT)
-                GPIO.output(LED, False)
-                NANO.write(b"Found goal\n")
-                
             elif bto == "0": # Stop
                 NANO.write(b"Stop\n")
                 forward = False
@@ -242,15 +228,23 @@ if bto.find("Connected") != -1:
             elif bto == "10": # Stop and find current position
                 NANO.write(b"Stop\n")
 
+                xmean = 0
+                ymean = 0
                 # Change number of iterations to change wait time
                 # Readings come every 0.1 seconds, so 30 iterations
                 # means 3 second delay. 
-                for i in range(10):
+                for i in range(calibrationBudget):
                     dwm = DWMProcess.stdout.readline().strip("\n")
-                x, y = dwm.split(",")
-                x = int(x)
-                y = int(y)
+                    x, y = dwm.split(",")
+                    x = int(x)
+                    y = int(y)
+                    
+                    xmean += x
+                    ymean += y
 
+                xmean = xmean / calibrationBudget
+                ymean = ymean / calibrationBudget
+                
                 print(f"Desired direction {desDir}")
                 curDir = calcCurDir(x, y, oldX, oldY)
 
@@ -261,10 +255,43 @@ if bto.find("Connected") != -1:
                 forward = False
                 backward = False
 
-            elif bto == "98": # Turn on LED
+            elif "98" in bto:
+                curDir = calcCurDir(x, y, oldX, oldY)
+                
+                _, gx, gy, gDir = bto.split()
+
+                gDir += 180
+                if gDir > 360:
+                    gDir -= 360
+
+                # N = 90
+
+                gx += 15 * math.cos(math.radians(gDir))
+                gy += 15 * math.sin(math.radians(gDir))
+
+                gDir = calcCurDir(gx, gy, x, y)
+
+                adiff = calcAngleDiff(gDir, curDir)
+
+                # We want to go forward towards the goal
+                adjustAngle(adiff, True, False)
+                
+                # Start goal communication
+                NANO.write(b"Start goal\n")
+
+                # Wait for AGV to have detected something in front of it.
+                print(NANO.readline().decode("utf8-").strip())
+
+                # AGV has now started wiggling and we check the phototransistor
+                # to see if the LED has triggered the goal. 
                 GPIO.output(LED, True)
-                sleep(1)
+                goal_read = False
+                while goal_read == False:
+                    goal_read = GPIO.input(PT)
                 GPIO.output(LED, False)
+                NANO.write(b"Found goal\n")
+
+                # Send something to ÖS
 
         # Check LIDAR data to see if anything is in front or behind AGV
         with open("distances.txt", "r") as f:
-- 
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