commit 1574d8b44b5706242007b46cec47e0de96045ab2
parent 9365cbb259690f19e6ba337f108a9a8d658df65a
Author: thing1 <thing1@seacrossedlovers.xyz>
Date: Sun, 9 Nov 2025 22:29:56 +0000
robot time
Diffstat:
8 files changed, 270 insertions(+), 0 deletions(-)
diff --git a/CS12020/robot/action/Makefile b/CS12020/robot/action/Makefile
@@ -0,0 +1,10 @@
+all: compile upload
+
+upload: compile
+ arduino-cli upload --fqbn arduino:avr:uno . -p /dev/ttyACM0
+
+compile: action.ino
+ arduino-cli compile --fqbn arduino:avr:uno .
+
+monitor:
+ arduino-cli monitor -p /dev/ttyACM0
diff --git a/CS12020/robot/action/action.ino b/CS12020/robot/action/action.ino
@@ -0,0 +1,20 @@
+#include <Servo.h>
+#include "actions.h"
+
+void
+setup() {
+ setupRobot();
+
+ action a1 = { {isButtonAPressed, isButtonBPressed}, moveFWD, NOR};
+
+ action as[] = {a1};
+
+ while (1) {
+ for (int i = 0; i < SIZE(as); i++)
+ runAction(&as[i]);
+ }
+
+ delay(20000);
+}
+
+void loop() {}
diff --git a/CS12020/robot/action/actions.h b/CS12020/robot/action/actions.h
@@ -0,0 +1,79 @@
+#include <Servo.h>
+#include "instructions.h"
+
+#define MAXACTIONS 2
+
+enum triggerGates {
+ AND,
+ OR,
+ NOT,
+ XOR,
+
+ XNOR,
+ NAND,
+ NOR,
+};
+
+typedef struct action {
+ volatile bool (*triggers[MAXACTIONS])(void);
+ void (*action)(void);
+ int triggerGate;
+} action;
+
+bool
+isButtonAPressed() {
+ return !digitalRead(BUTTONA);
+}
+
+bool
+isButtonBPressed() {
+ return !digitalRead(BUTTONB);
+}
+
+
+void
+moveFWD(void) {
+ stepMove(FWD);
+}
+
+void
+moveBWD(void) {
+ stepMove(BWD);
+}
+
+void
+stepLFT(void) {
+ stepTurn(LFT);
+}
+
+void
+stepRGT(void) {
+ stepTurn(RGT);
+}
+
+bool
+shouldAction(action *a) {
+ switch (a->triggerGate) {
+ case AND:
+ return a->triggers[0]() && a->triggers[1]();
+ case OR:
+ return a->triggers[0]() || a->triggers[1]();
+ case XOR:
+ return a->triggers[0]() ^ a->triggers[1]();
+ case NOT:
+ return !a->triggers[0]();
+
+ case NAND:
+ return !(a->triggers[0]() && a->triggers[1]());
+ case NOR:
+ return !(a->triggers[0]() || a->triggers[1]());
+ case XNOR:
+ return !(a->triggers[0]() ^ a->triggers[1]());
+ }
+}
+
+void
+runAction(action *a) {
+ if (shouldAction(a))
+ a->action();
+}
diff --git a/CS12020/robot/action/instructions.h b/CS12020/robot/action/instructions.h
@@ -0,0 +1,60 @@
+#include <Servo.h>
+#include "util.h"
+
+enum DIRECTIONS {
+ FWD = 1,
+ BWD = -1,
+ LFT = -2,
+ RGT = 2
+};
+
+typedef struct instructions {
+ int dir, unit;
+ struct instructions *next;
+} instructions;
+
+void
+stepMove(int dir) {
+ servoA.write(SERVOA_ZERO + (40 * dir));
+ servoB.write(SERVOA_ZERO - (40 * dir));
+ delay(10);
+ servoA.write(SERVOA_ZERO);
+ servoB.write(SERVOA_ZERO);
+}
+
+void
+stepTurn(int dir) {
+ servoA.write(SERVOA_ZERO + (10 * dir));
+ servoB.write(SERVOA_ZERO - (10 * -dir));
+ delay(10);
+ servoA.write(SERVOA_ZERO);
+ servoB.write(SERVOA_ZERO);
+}
+
+void
+rotate(int x) {
+ int dir = (x < 0) ? -1 : 1;
+ x = (x < 0) ? -x : x;
+
+ int y = (int)(1.666666 * (float)x);
+
+ for (int i = 0; i < y; i++)
+ stepTurn(dir);
+}
+
+void
+runInstructions(instructions *ins) {
+ switch (ins->dir) {
+ case FWD:
+ case BWD:
+ for (int i = 0; i < ins->unit; i++)
+ stepMove(ins->dir);
+ break;
+ case LFT:
+ case RGT:
+ rotate(ins->unit * (ins->dir / 2));
+ break;
+ }
+ if (ins->next)
+ runInstructions(ins->next);
+}
diff --git a/CS12020/robot/action/util.h b/CS12020/robot/action/util.h
@@ -0,0 +1,73 @@
+#define GREEN_LED 7
+#define YELLOW_LED 12
+#define RED_LED 13
+
+#define BUTTONA 4
+#define BUTTONB 2
+
+#define SERVOA_PIN 6
+#define SERVOB_PIN 5
+
+#define SERVOA_ZERO 96
+#define SERVOB_ZERO 96
+
+#define SIZE(arr) (sizeof(arr) / sizeof(arr[0]))
+
+Servo servoA;
+Servo servoB;
+
+void
+setupRobot() {
+ Serial.begin(9600);
+ pinMode(GREEN_LED, OUTPUT);
+ pinMode(YELLOW_LED, OUTPUT);
+ pinMode(RED_LED, OUTPUT);
+ pinMode(BUTTONA, INPUT);
+ pinMode(BUTTONB, INPUT);
+ pinMode(SERVOA_PIN, OUTPUT);
+ pinMode(SERVOB_PIN, OUTPUT);
+ servoA.attach(SERVOA_PIN);
+ servoB.attach(SERVOB_PIN);
+ servoA.write(SERVOA_ZERO);
+ servoB.write(SERVOB_ZERO);
+}
+
+void
+setLEDs(int g, int y, int r) {
+ digitalWrite(GREEN_LED, g);
+ digitalWrite(YELLOW_LED, y);
+ digitalWrite(RED_LED, r);
+}
+
+void
+waitButton(int pin, int state) {
+ while (digitalRead(pin) == state) ;
+}
+
+void
+debounce(int pin) {
+ waitButton(pin, LOW);
+ delay(20);
+ waitButton(pin, HIGH);
+ delay(20);
+}
+
+void
+SEprintf(const char *fmt, ...) {
+ static char sbuf[64] = { 0 };
+ va_list ap;
+
+ va_start(ap, fmt);
+ vsnprintf(sbuf, 64, fmt, ap);
+ va_end(ap);
+
+ Serial.print(sbuf);
+}
+
+int
+readint() {
+ while (!Serial.available()) ;
+ int i = Serial.parseInt();
+ SEprintf("\n");
+ return i;
+}
diff --git a/CS18120/07.11.25.md b/CS18120/07.11.25.md
@@ -0,0 +1,17 @@
+07/11/25
+========
+
+word
+----
+
+- word exists
+- templates
+- stuff
+- headings
+
+latex
+-----
+
+- very cool
+- better
+- why use anything else
diff --git a/MP10610/06.11.25.md b/MP10610/06.11.25.md
@@ -0,0 +1,5 @@
+06/11/25
+========
+
+- see FIG1 for finding intergration by parts from the product rule
+- see FIG2 for a worked example
diff --git a/PH16210/06.11.25.md b/PH16210/06.11.25.md
@@ -0,0 +1,6 @@
+25/11/25
+========
+
+- see FIG1 for a first order example
+ - only works when the function can be written P(x) / Q(y)
+
