amiro-os / devices / DiWheelDrive / userthread.cpp @ 10bf9cc0
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| 1 | 10bf9cc0 | galberding | // #include "userthread.hpp"
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| 2 | 58fe0e0b | Thomas Schöpping | #include "global.hpp" |
| 3 | 10bf9cc0 | galberding | #include <cmath> |
| 4 | 05d54823 | galberding | #include "linefollow.hpp" |
| 5 | 10bf9cc0 | galberding | // #include <cmath>
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| 6 | // #include "global.hpp"
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| 7 | 58fe0e0b | Thomas Schöpping | using namespace amiro; |
| 8 | |||
| 9 | extern Global global;
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| 10 | |||
| 11 | // a buffer for the z-value of the accelerometer
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| 12 | int16_t accel_z; |
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| 13 | 5d138bca | galberding | bool running = false; |
| 14 | 58fe0e0b | Thomas Schöpping | |
| 15 | |||
| 16 | 181f2892 | galberding | /**
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| 17 | * Set speed.
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| 18 | *
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| 19 | * @param rpmSpeed speed for left and right wheel in rounds/min
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| 20 | */
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| 21 | c9fa414d | galberding | void UserThread::setRpmSpeedFuzzy(const int (&rpmSpeed)[2]) { |
| 22 | 5d138bca | galberding | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
| 23 | 58fe0e0b | Thomas Schöpping | } |
| 24 | |||
| 25 | c9fa414d | galberding | void UserThread::setRpmSpeed(const int (&rpmSpeed)[2]) { |
| 26 | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL], rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL]); |
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| 27 | } |
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| 28 | |||
| 29 | 181f2892 | galberding | void UserThread::lightOneLed(Color color, int idx){ |
| 30 | 5d138bca | galberding | global.robot.setLightColor(idx, Color(color)); |
| 31 | } |
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| 32 | 58fe0e0b | Thomas Schöpping | |
| 33 | 181f2892 | galberding | void UserThread::lightAllLeds(Color color){
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| 34 | 5d138bca | galberding | int led = 0; |
| 35 | for(led=0; led<8; led++){ |
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| 36 | lightOneLed(color, led); |
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| 37 | } |
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| 38 | 58fe0e0b | Thomas Schöpping | } |
| 39 | |||
| 40 | 181f2892 | galberding | void UserThread::showChargingState(){
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| 41 | uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
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| 42 | Color color = Color::GREEN; |
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| 43 | if (numLeds <= 2){ |
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| 44 | color = Color::RED; |
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| 45 | }else if(numLeds <= 6){ |
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| 46 | color = Color::YELLOW; |
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| 47 | } |
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| 48 | for (int i=0; i<numLeds; i++){ |
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| 49 | lightOneLed(color, i); |
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| 50 | this->sleep(300); |
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| 51 | 9c46b728 | galberding | } |
| 52 | 181f2892 | galberding | this->sleep(1000); |
| 53 | lightAllLeds(Color::BLACK); |
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| 54 | 9c46b728 | galberding | } |
| 55 | |||
| 56 | 10bf9cc0 | galberding | void UserThread::chargeAsLED(){
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| 57 | uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
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| 58 | Color color = Color::GREEN; |
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| 59 | if (numLeds <= 2){ |
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| 60 | color = Color::RED; |
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| 61 | }else if(numLeds <= 6){ |
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| 62 | color = Color::YELLOW; |
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| 63 | } |
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| 64 | for (int i=0; i<numLeds; i++){ |
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| 65 | lightOneLed(color, i); |
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| 66 | // this->sleep(300);
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| 67 | } |
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| 68 | // this->sleep(1000);
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| 69 | // lightAllLeds(Color::BLACK);
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| 70 | } |
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| 71 | |||
| 72 | // ----------------------------------------------------------------
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| 73 | |||
| 74 | void UserThread::getProxySectorVals(uint16_t (&proxVals)[8], uint16_t (&sProx)[8]){ |
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| 75 | for (int i=0; i<8; i++){ |
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| 76 | sProx[i] = (proxVals[i] < proxVals[(i+1) % 8]) ? proxVals[i] : proxVals[(i+1) % 8]; |
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| 77 | // chprintf((BaseSequentialStream*)&global.sercanmux1, "%d: %d, ", i, sProx[i]);
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| 78 | |||
| 79 | } |
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| 80 | // chprintf((BaseSequentialStream*)&global.sercanmux1, "\n");
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| 81 | |||
| 82 | } |
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| 83 | |||
| 84 | |||
| 85 | void UserThread::getMaxFrontSectorVal(uint16_t (&sProx)[8], int32_t &sPMax){ |
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| 86 | for (int i=2; i<5; i++){ |
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| 87 | sPMax = (sPMax < sProx[i]) ? sProx[i] : sPMax; |
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| 88 | } |
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| 89 | } |
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| 90 | |||
| 91 | void UserThread::proxSectorSpeedCorrection(int (&rpmSpeed)[2], uint16_t (&proxVals)[8]){ |
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| 92 | int i;
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| 93 | uint16_t sProx[8];
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| 94 | int32_t sPMax = 0;
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| 95 | getProxySectorVals(proxVals, sProx); |
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| 96 | getMaxFrontSectorVal(sProx, sPMax); |
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| 97 | |||
| 98 | int32_t speedL = rpmSpeed[0] - (sPMax * pCtrl.pFactor);
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| 99 | int32_t speedR = rpmSpeed[1] - (sPMax * pCtrl.pFactor);
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| 100 | |||
| 101 | |||
| 102 | |||
| 103 | if(sPMax > pCtrl.threshMid){
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| 104 | rpmSpeed[0] = 0; |
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| 105 | rpmSpeed[1] = 0; |
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| 106 | pCtrl.staticCont++; |
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| 107 | }else if((speedL > 0) || (speedR > 0)){ |
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| 108 | pCtrl.staticCont = 0;
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| 109 | rpmSpeed[0] = speedL;
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| 110 | rpmSpeed[1] = speedR;
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| 111 | }else{
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| 112 | rpmSpeed[0] = 4000000 + (rpmSpeed[0] - global.rpmForward[0] * 1000000); |
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| 113 | rpmSpeed[1] = 4000000 + (rpmSpeed[1] - global.rpmForward[0] * 1000000); |
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| 114 | } |
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| 115 | |||
| 116 | for(i=4; i<5; i++){ |
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| 117 | if ((proxVals[i] > pCtrl.threshMid) && (proxVals[i+1] > pCtrl.threshLow)){ |
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| 118 | rpmSpeed[0] = -5000000 ; |
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| 119 | rpmSpeed[1] = -5000000 ; |
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| 120 | // pCtrl.staticCont++;
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| 121 | break;
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| 122 | } |
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| 123 | } |
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| 124 | chargeAsLED(); |
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| 125 | |||
| 126 | // chprintf((BaseSequentialStream*)&global.sercanmux1, "Max: %d factor: %d, Panel: %d SpeedL: %d SpeedR: %d ActualL: %d ActualR: %d\n",sPMax, pCtrl.pFactor, sPMax * pCtrl.pFactor, speedL, speedR, rpmSpeed[0], rpmSpeed[1]);
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| 127 | |||
| 128 | |||
| 129 | } |
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| 130 | // -------------------------------------------------------------------
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| 131 | |||
| 132 | |||
| 133 | void UserThread::preventCollision( int (&rpmSpeed)[2], uint16_t (&proxVals)[8]) { |
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| 134 | |||
| 135 | if((proxVals[3] > pCtrl.threshLow) || (proxVals[4] > pCtrl.threshLow)){ |
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| 136 | rpmSpeed[0] = rpmSpeed[0] / 2; |
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| 137 | rpmSpeed[1] = rpmSpeed[1] / 2; |
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| 138 | } |
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| 139 | |||
| 140 | if((proxVals[3] > pCtrl.threshMid) || (proxVals[4] > pCtrl.threshMid)){ |
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| 141 | rpmSpeed[0] = rpmSpeed[0] / 4; |
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| 142 | rpmSpeed[1] = rpmSpeed[1] / 4; |
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| 143 | } |
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| 144 | |||
| 145 | if((proxVals[3] > pCtrl.threshHigh) || (proxVals[4] > pCtrl.threshHigh)){ |
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| 146 | rpmSpeed[0] = 0; |
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| 147 | rpmSpeed[1] = 0; |
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| 148 | utCount.ringProxCount++; |
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| 149 | }else{
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| 150 | utCount.ringProxCount = 0;
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| 151 | } |
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| 152 | |||
| 153 | } |
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| 154 | |||
| 155 | |||
| 156 | 9c46b728 | galberding | /**
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| 157 | * Blocks as long as the position changes.
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| 158 | */
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| 159 | 181f2892 | galberding | void UserThread::checkForMotion(){
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| 160 | 9c46b728 | galberding | int motion = 1; |
| 161 | int led = 0; |
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| 162 | types::position oldPos = global.odometry.getPosition(); |
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| 163 | while(motion){
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| 164 | 181f2892 | galberding | this->sleep(500); |
| 165 | 9c46b728 | galberding | types::position tmp = global.odometry.getPosition(); |
| 166 | motion = abs(oldPos.x - tmp.x)+ abs(oldPos.y - tmp.y)+abs(oldPos.z - tmp.z); |
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| 167 | oldPos = tmp; |
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| 168 | global.robot.setLightColor((led + 1) % 8, Color(Color::YELLOW)); |
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| 169 | global.robot.setLightColor(led % 8, Color(Color::BLACK));
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| 170 | led++; |
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| 171 | } |
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| 172 | 10bf9cc0 | galberding | lightAllLeds(Color::BLACK); |
| 173 | 9c46b728 | galberding | } |
| 174 | |||
| 175 | fbcb25cc | galberding | bool UserThread::checkFrontalObject(){
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| 176 | 10bf9cc0 | galberding | uint32_t thresh = pCtrl.threshMid; |
| 177 | fbcb25cc | galberding | uint32_t prox; |
| 178 | for(int i=0; i<8; i++){ |
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| 179 | prox = global.robot.getProximityRingValue(i); |
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| 180 | if((i == 3) || (i == 4)){ |
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| 181 | if(prox < thresh){
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| 182 | return false; |
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| 183 | } |
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| 184 | }else{
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| 185 | if(prox > thresh){
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| 186 | return false; |
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| 187 | } |
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| 188 | } |
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| 189 | } |
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| 190 | return true; |
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| 191 | } |
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| 192 | |||
| 193 | 181f2892 | galberding | bool UserThread::checkPinVoltage(){
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| 194 | return global.ltc4412.isPluggedIn();
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| 195 | } |
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| 196 | 9c46b728 | galberding | |
| 197 | 181f2892 | galberding | bool UserThread::checkPinEnabled(){
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| 198 | return global.ltc4412.isEnabled();
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| 199 | } |
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| 200 | |||
| 201 | int UserThread::checkDockingSuccess(){
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| 202 | // setRpmSpeed(stop);
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| 203 | checkForMotion(); |
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| 204 | 9c46b728 | galberding | int success = 0; |
| 205 | 10bf9cc0 | galberding | // global.odometry.resetPosition();
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| 206 | 9c46b728 | galberding | types::position start = global.startPos = global.odometry.getPosition(); |
| 207 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(false);
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| 208 | this->sleep(1000); |
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| 209 | 181f2892 | galberding | types::position stop_ = global.endPos = global.odometry.getPosition(); |
| 210 | |||
| 211 | 9c46b728 | galberding | // Amiro moved, docking was not successful
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| 212 | 10bf9cc0 | galberding | // if ((start.x + stop_.x) || (start.y + stop_.y)){
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| 213 | if (abs(start.x - stop_.x) > 0 /* || (start.y + stop_.y) */){ |
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| 214 | 181f2892 | galberding | lightAllLeds(Color::RED); |
| 215 | // Enable Motor again if docking was not successful
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| 216 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
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| 217 | 9c46b728 | galberding | success = 0;
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| 218 | }else{
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| 219 | 181f2892 | galberding | lightAllLeds(Color::GREEN); |
| 220 | 9c46b728 | galberding | success = 1;
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| 221 | } |
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| 222 | |||
| 223 | 61544eee | galberding | // this->sleep(500);
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| 224 | 181f2892 | galberding | lightAllLeds(Color::BLACK); |
| 225 | 9c46b728 | galberding | return success;
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| 226 | } |
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| 227 | |||
| 228 | c9fa414d | galberding | int UserThread::getProxyRingSum(){
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| 229 | int prox_sum = 0; |
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| 230 | e2002d0e | galberding | for(int i=0; i<8;i++){ |
| 231 | prox_sum += global.robot.getProximityRingValue(i);; |
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| 232 | } |
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| 233 | return prox_sum;
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| 234 | } |
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| 235 | |||
| 236 | |||
| 237 | 58fe0e0b | Thomas Schöpping | UserThread::UserThread() : |
| 238 | chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>() |
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| 239 | {
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| 240 | } |
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| 241 | |||
| 242 | UserThread::~UserThread() |
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| 243 | {
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| 244 | } |
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| 245 | |||
| 246 | msg_t |
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| 247 | UserThread::main() |
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| 248 | {
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| 249 | 5d138bca | galberding | /*
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| 250 | * SETUP
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| 251 | */
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| 252 | 181f2892 | galberding | // User thread state:
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| 253 | |||
| 254 | 5d138bca | galberding | for (uint8_t led = 0; led < 8; ++led) { |
| 255 | global.robot.setLightColor(led, Color(Color::BLACK)); |
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| 256 | } |
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| 257 | running = false;
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| 258 | 10bf9cc0 | galberding | LineFollowStrategy lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 259 | 5d138bca | galberding | LineFollow lf(&global); |
| 260 | /*
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| 261 | * LOOP
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| 262 | */
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| 263 | while (!this->shouldTerminate()) |
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| 264 | {
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| 265 | 181f2892 | galberding | /*
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| 266 | * read accelerometer z-value
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| 267 | */
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| 268 | accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z); |
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| 269 | |||
| 270 | if (accel_z < -900 /*-0.9g*/) { |
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| 271 | // Start line following when AMiRo is rotated
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| 272 | 10bf9cc0 | galberding | if(currentState == states::INACTIVE){
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| 273 | fbcb25cc | galberding | newState = states::FOLLOW_LINE; |
| 274 | 181f2892 | galberding | }else{
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| 275 | fbcb25cc | galberding | newState = states::IDLE; |
| 276 | 181f2892 | galberding | } |
| 277 | lightAllLeds(Color::GREEN); |
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| 278 | this->sleep(1000); |
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| 279 | lightAllLeds(Color::BLACK); |
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| 280 | c76baf23 | Georg Alberding | |
| 281 | d607fcef | galberding | // If message was received handle it here:
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| 282 | } else if(global.msgReceived){ |
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| 283 | global.msgReceived = false;
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| 284 | 181f2892 | galberding | // running = true;
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| 285 | d607fcef | galberding | switch(global.lfStrategy){
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| 286 | 10bf9cc0 | galberding | case msg_content::MSG_START:
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| 287 | newState = states::CALIBRATION_CHECK; |
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| 288 | break;
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| 289 | case msg_content::MSG_STOP:
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| 290 | fbcb25cc | galberding | newState = states::IDLE; |
| 291 | 10bf9cc0 | galberding | break;
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| 292 | case msg_content::MSG_EDGE_RIGHT:
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| 293 | fbcb25cc | galberding | // newState = states::FOLLOW_LINE;
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| 294 | d607fcef | galberding | lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 295 | 10bf9cc0 | galberding | break;
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| 296 | case msg_content::MSG_EDGE_LEFT:
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| 297 | fbcb25cc | galberding | // newState = states::FOLLOW_LINE;
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| 298 | d607fcef | galberding | lStrategy = LineFollowStrategy::EDGE_LEFT; |
| 299 | 10bf9cc0 | galberding | break;
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| 300 | case msg_content::MSG_FUZZY:
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| 301 | fbcb25cc | galberding | // newState = states::FOLLOW_LINE;
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| 302 | d607fcef | galberding | lStrategy = LineFollowStrategy::FUZZY; |
| 303 | 10bf9cc0 | galberding | break;
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| 304 | case msg_content::MSG_DOCK:
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| 305 | fbcb25cc | galberding | newState = states::DETECT_STATION; |
| 306 | 10bf9cc0 | galberding | break;
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| 307 | case msg_content::MSG_UNDOCK:
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| 308 | fbcb25cc | galberding | newState = states::RELEASE; |
| 309 | 10bf9cc0 | galberding | break;
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| 310 | case msg_content::MSG_CHARGE:
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| 311 | fbcb25cc | galberding | newState = states::CHARGING; |
| 312 | 10bf9cc0 | galberding | break;
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| 313 | case msg_content::MSG_RESET_ODOMETRY:
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| 314 | global.odometry.resetPosition(); |
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| 315 | break;
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| 316 | case msg_content::MSG_CALIBRATE_BLACK:
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| 317 | proxCalib.calibrateBlack = true;
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| 318 | // global.odometry.resetPosition();
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| 319 | newState = states::CALIBRATION; |
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| 320 | break;
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| 321 | case msg_content::MSG_CALIBRATE_WHITE:
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| 322 | proxCalib.calibrateBlack = false;
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| 323 | newState = states::CALIBRATION; |
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| 324 | break;
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| 325 | d607fcef | galberding | default:
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| 326 | fbcb25cc | galberding | newState = states::IDLE; |
| 327 | 10bf9cc0 | galberding | break;
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| 328 | d607fcef | galberding | } |
| 329 | 5d138bca | galberding | } |
| 330 | 10bf9cc0 | galberding | // newState = currentState;
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| 331 | d607fcef | galberding | |
| 332 | 181f2892 | galberding | // Get sensor data
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| 333 | fbcb25cc | galberding | // uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
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| 334 | // uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset();
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| 335 | 019224ff | galberding | for(int i=0; i<8;i++){ |
| 336 | rProx[i] = global.robot.getProximityRingValue(i); |
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| 337 | } |
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| 338 | 181f2892 | galberding | // int FL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
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| 339 | // int FR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
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| 340 | 10bf9cc0 | galberding | switch(currentState){
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| 341 | case states::INACTIVE:
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| 342 | // Dummy state to deactivate every interaction
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| 343 | break;
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| 344 | // ---------------------------------------
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| 345 | case states::CALIBRATION_CHECK:
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| 346 | // global.robot.calibrate();
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| 347 | if(global.linePID.BThresh >= global.linePID.WThresh){
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| 348 | newState = states::CALIBRATION_ERROR; |
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| 349 | }else{
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| 350 | newState = states::FOLLOW_LINE; |
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| 351 | } |
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| 352 | break;
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| 353 | // ---------------------------------------
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| 354 | case states::CALIBRATION:
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| 355 | /* Calibrate the global thresholds for black or white.
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| 356 | This values will be used by the line follow object
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| 357 | */
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| 358 | |||
| 359 | proxCalib.buf = 0;
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| 360 | if(proxCalib.calibrateBlack){
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| 361 | chprintf((BaseSequentialStream*)&global.sercanmux1, "Black Calibration, Place AMiRo on black Surface!\n");
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| 362 | global.robot.calibrate(); |
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| 363 | } |
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| 364 | for(int i=0; i <= proxCalib.meanWindow; i++){ |
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| 365 | proxCalib.buf += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset() |
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| 366 | + global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
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| 367 | this->sleep(CAN::UPDATE_PERIOD);
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| 368 | } |
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| 369 | proxCalib.buf = proxCalib.buf / (2*proxCalib.meanWindow);
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| 370 | |||
| 371 | if(proxCalib.calibrateBlack){
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| 372 | global.linePID.BThresh = proxCalib.buf; |
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| 373 | }else {
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| 374 | global.linePID.WThresh = proxCalib.buf; |
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| 375 | } |
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| 376 | chprintf((BaseSequentialStream*)&global.sercanmux1, "Black: %d, White: %d!\n", global.linePID.BThresh, global.linePID.WThresh);
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| 377 | |||
| 378 | newState = states::IDLE; |
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| 379 | break;
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| 380 | // ---------------------------------------
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| 381 | 181f2892 | galberding | case states::IDLE:
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| 382 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
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| 383 | 181f2892 | galberding | setRpmSpeed(stop); |
| 384 | if(/* checkPinVoltage() && */ checkPinEnabled()){ |
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| 385 | global.robot.requestCharging(0);
|
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| 386 | } |
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| 387 | 10bf9cc0 | galberding | // pCtrl.pFactor = 0;
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| 388 | pCtrl.staticCont = 0;
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| 389 | fbcb25cc | galberding | utCount.whiteCount = 0;
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| 390 | 10bf9cc0 | galberding | utCount.ringProxCount = 0;
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| 391 | 27d4e1fa | galberding | utCount.errorCount = 0;
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| 392 | 10bf9cc0 | galberding | newState = states::INACTIVE; |
| 393 | break;
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| 394 | 181f2892 | galberding | // ---------------------------------------
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| 395 | case states::FOLLOW_LINE:
|
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| 396 | // Set correct forward speed to every strategy
|
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| 397 | if (global.forwardSpeed != global.rpmForward[0]){ |
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| 398 | global.forwardSpeed = global.rpmForward[0];
|
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| 399 | } |
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| 400 | |||
| 401 | if(lf.getStrategy() != lStrategy){
|
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| 402 | 9c46b728 | galberding | lf.setStrategy(lStrategy); |
| 403 | } |
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| 404 | 5d138bca | galberding | |
| 405 | 181f2892 | galberding | if(lf.followLine(rpmSpeed)){
|
| 406 | fbcb25cc | galberding | utCount.whiteCount++; |
| 407 | 10bf9cc0 | galberding | if(utCount.whiteCount >= WHITE_DETETION_TIMEOUT){
|
| 408 | setRpmSpeed(stop); |
||
| 409 | utCount.whiteCount = 0;
|
||
| 410 | newState = states::WHITE_DETECTION_ERROR; |
||
| 411 | 9c46b728 | galberding | } |
| 412 | 181f2892 | galberding | }else{
|
| 413 | fbcb25cc | galberding | utCount.whiteCount = 0;
|
| 414 | 9c46b728 | galberding | } |
| 415 | e2002d0e | galberding | |
| 416 | 10bf9cc0 | galberding | preventCollision(rpmSpeed, rProx); |
| 417 | // proxSectorSpeedCorrection(rpmSpeed, rProx);
|
||
| 418 | 61544eee | galberding | |
| 419 | 10bf9cc0 | galberding | if(utCount.ringProxCount > RING_PROX_DETECTION_TIMEOUT){
|
| 420 | utCount.ringProxCount = 0;
|
||
| 421 | newState = states::TURN; |
||
| 422 | 61544eee | galberding | } |
| 423 | |||
| 424 | c9fa414d | galberding | if (lf.getStrategy() == LineFollowStrategy::FUZZY){
|
| 425 | setRpmSpeedFuzzy(rpmSpeed); |
||
| 426 | }else{
|
||
| 427 | |||
| 428 | setRpmSpeed(rpmSpeed); |
||
| 429 | } |
||
| 430 | 181f2892 | galberding | |
| 431 | 10bf9cc0 | galberding | break;
|
| 432 | 181f2892 | galberding | // ---------------------------------------
|
| 433 | fbcb25cc | galberding | case states::TURN:
|
| 434 | checkForMotion(); |
||
| 435 | // Check if only front sensors are active
|
||
| 436 | if(checkFrontalObject()){
|
||
| 437 | 10bf9cc0 | galberding | global.distcontrol.setTargetPosition(0, 2792526, ROTATION_DURATION); |
| 438 | fbcb25cc | galberding | // BaseThread::sleep(8000);
|
| 439 | checkForMotion(); |
||
| 440 | newState = states::FOLLOW_LINE; |
||
| 441 | 10bf9cc0 | galberding | // lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT);
|
| 442 | fbcb25cc | galberding | }else{
|
| 443 | 10bf9cc0 | galberding | newState = states::PROXY_DETECTION_ERROR; |
| 444 | fbcb25cc | galberding | } |
| 445 | 10bf9cc0 | galberding | break;
|
| 446 | fbcb25cc | galberding | // ---------------------------------------
|
| 447 | 181f2892 | galberding | case states::DETECT_STATION:
|
| 448 | 61544eee | galberding | if (global.forwardSpeed != DETECTION_SPEED){
|
| 449 | global.forwardSpeed = DETECTION_SPEED; |
||
| 450 | } |
||
| 451 | 181f2892 | galberding | if(lf.getStrategy() != LineFollowStrategy::EDGE_RIGHT){
|
| 452 | lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
||
| 453 | } |
||
| 454 | |||
| 455 | lf.followLine(rpmSpeed); |
||
| 456 | setRpmSpeed(rpmSpeed); |
||
| 457 | // // Detect marker before docking station
|
||
| 458 | 019224ff | galberding | // if ((WL+WR) < PROXY_WHEEL_THRESH){
|
| 459 | // Use proxy ring
|
||
| 460 | if ((rProx[3]+rProx[4]) > RING_PROX_FRONT_THRESH){ |
||
| 461 | |||
| 462 | d607fcef | galberding | setRpmSpeed(stop); |
| 463 | 181f2892 | galberding | checkForMotion(); |
| 464 | // 180° Rotation
|
||
| 465 | global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
|
||
| 466 | // BaseThread::sleep(8000);
|
||
| 467 | checkForMotion(); |
||
| 468 | newState = states::CORRECT_POSITIONING; |
||
| 469 | 9c46b728 | galberding | } |
| 470 | 10bf9cc0 | galberding | break;
|
| 471 | 181f2892 | galberding | // ---------------------------------------
|
| 472 | case states::CORRECT_POSITIONING:
|
||
| 473 | 019224ff | galberding | if (global.forwardSpeed != CHARGING_SPEED){
|
| 474 | global.forwardSpeed = CHARGING_SPEED; |
||
| 475 | } |
||
| 476 | 181f2892 | galberding | if(lf.getStrategy() != LineFollowStrategy::EDGE_LEFT){
|
| 477 | lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
||
| 478 | 9c46b728 | galberding | } |
| 479 | 181f2892 | galberding | lf.followLine(rpmSpeed); |
| 480 | setRpmSpeed(rpmSpeed); |
||
| 481 | 9c46b728 | galberding | |
| 482 | 10bf9cc0 | galberding | utCount.stateTime++; |
| 483 | if (utCount.stateTime >= DOCKING_CORRECTION_TIMEOUT){
|
||
| 484 | utCount.stateTime = 0;
|
||
| 485 | 181f2892 | galberding | newState = states::REVERSE; |
| 486 | setRpmSpeed(stop); |
||
| 487 | checkForMotion(); |
||
| 488 | } |
||
| 489 | 10bf9cc0 | galberding | break;
|
| 490 | 181f2892 | galberding | // ---------------------------------------
|
| 491 | case states::REVERSE:
|
||
| 492 | if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
||
| 493 | lf.setStrategy(LineFollowStrategy::REVERSE); |
||
| 494 | } |
||
| 495 | lf.followLine(rpmSpeed); |
||
| 496 | setRpmSpeed(rpmSpeed); |
||
| 497 | 10bf9cc0 | galberding | utCount.stateTime++; |
| 498 | 58fe0e0b | Thomas Schöpping | |
| 499 | 019224ff | galberding | if((rProx[0] >= PROX_MAX_VAL) || (rProx[7] >= PROX_MAX_VAL)){ |
| 500 | 61544eee | galberding | // setRpmSpeed(stop);
|
| 501 | // checkForMotion();
|
||
| 502 | 10bf9cc0 | galberding | utCount.stateTime = 0;
|
| 503 | 27d4e1fa | galberding | newState = states::PUSH_BACK; |
| 504 | 10bf9cc0 | galberding | }else if (utCount.stateTime >= REVERSE_DOCKING_TIMEOUT){ |
| 505 | setRpmSpeed(stop); |
||
| 506 | utCount.stateTime = 0;
|
||
| 507 | utCount.errorCount++; |
||
| 508 | if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
||
| 509 | newState = states::DOCKING_ERROR; |
||
| 510 | }else{
|
||
| 511 | newState = states::CORRECT_POSITIONING; |
||
| 512 | } |
||
| 513 | 27d4e1fa | galberding | } |
| 514 | 10bf9cc0 | galberding | |
| 515 | break;
|
||
| 516 | 27d4e1fa | galberding | // ---------------------------------------
|
| 517 | case states::PUSH_BACK:
|
||
| 518 | if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
||
| 519 | lf.setStrategy(LineFollowStrategy::REVERSE); |
||
| 520 | } |
||
| 521 | lf.followLine(rpmSpeed); |
||
| 522 | setRpmSpeed(rpmSpeed); |
||
| 523 | |||
| 524 | 10bf9cc0 | galberding | utCount.stateTime++; |
| 525 | if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
||
| 526 | utCount.stateTime = 0;
|
||
| 527 | 181f2892 | galberding | newState = states::CHECK_POSITIONING; |
| 528 | } |
||
| 529 | 10bf9cc0 | galberding | break;
|
| 530 | 181f2892 | galberding | // ---------------------------------------
|
| 531 | case states::CHECK_POSITIONING:
|
||
| 532 | 61544eee | galberding | setRpmSpeed(stop); |
| 533 | checkForMotion(); |
||
| 534 | 27d4e1fa | galberding | if(checkDockingSuccess()){
|
| 535 | newState = states::CHECK_VOLTAGE; |
||
| 536 | }else{
|
||
| 537 | utCount.errorCount++; |
||
| 538 | newState = states::CORRECT_POSITIONING; |
||
| 539 | 10bf9cc0 | galberding | if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 540 | newState = states::DOCKING_ERROR; |
||
| 541 | 27d4e1fa | galberding | } |
| 542 | } |
||
| 543 | 10bf9cc0 | galberding | break;
|
| 544 | 181f2892 | galberding | // ---------------------------------------
|
| 545 | ba75ee1d | galberding | case states::CHECK_VOLTAGE:
|
| 546 | if(!checkPinEnabled()){
|
||
| 547 | global.robot.requestCharging(1);
|
||
| 548 | } else {
|
||
| 549 | if(checkPinVoltage()){
|
||
| 550 | // Pins are under voltage -> correctly docked
|
||
| 551 | 10bf9cc0 | galberding | |
| 552 | ba75ee1d | galberding | newState = states::CHARGING; |
| 553 | }else{
|
||
| 554 | 27d4e1fa | galberding | utCount.errorCount++; |
| 555 | ba75ee1d | galberding | // No voltage on pins -> falsely docked
|
| 556 | // deactivate pins
|
||
| 557 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
|
| 558 | ba75ee1d | galberding | global.robot.requestCharging(0);
|
| 559 | 27d4e1fa | galberding | // TODO: Soft release when docking falsely
|
| 560 | 61544eee | galberding | if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){ |
| 561 | newState = states::RELEASE_TO_CORRECT; |
||
| 562 | } else {
|
||
| 563 | 27d4e1fa | galberding | newState = states::RELEASE_TO_CORRECT; //states::CORRECT_POSITIONING;
|
| 564 | } |
||
| 565 | |||
| 566 | if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
||
| 567 | 10bf9cc0 | galberding | newState = states::DOCKING_ERROR; |
| 568 | 61544eee | galberding | } |
| 569 | ba75ee1d | galberding | } |
| 570 | } |
||
| 571 | 10bf9cc0 | galberding | break;
|
| 572 | 019224ff | galberding | // ---------------------------------------
|
| 573 | case states::RELEASE_TO_CORRECT:
|
||
| 574 | 27d4e1fa | galberding | |
| 575 | 019224ff | galberding | global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 576 | checkForMotion(); |
||
| 577 | // move 1cm forward
|
||
| 578 | global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
||
| 579 | checkForMotion(); |
||
| 580 | // rotate back
|
||
| 581 | global.distcontrol.setTargetPosition(0, -2*ROTATION_20, ROTATION_DURATION); |
||
| 582 | checkForMotion(); |
||
| 583 | |||
| 584 | 10bf9cc0 | galberding | global.distcontrol.setTargetPosition(1500, 0, ROTATION_DURATION); |
| 585 | 019224ff | galberding | checkForMotion(); |
| 586 | newState = states::CORRECT_POSITIONING; |
||
| 587 | 10bf9cc0 | galberding | break;
|
| 588 | 27d4e1fa | galberding | // ---------------------------------------
|
| 589 | 181f2892 | galberding | case states::CHARGING:
|
| 590 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(false);
|
| 591 | 10bf9cc0 | galberding | utCount.errorCount = 0;
|
| 592 | 181f2892 | galberding | // Formulate Request to enable charging
|
| 593 | if(/* checkPinVoltage() && */ !checkPinEnabled()){ |
||
| 594 | global.robot.requestCharging(1);
|
||
| 595 | } |
||
| 596 | if(checkPinEnabled()){
|
||
| 597 | showChargingState(); |
||
| 598 | } |
||
| 599 | 10bf9cc0 | galberding | break;
|
| 600 | 181f2892 | galberding | // ---------------------------------------
|
| 601 | case states::RELEASE:
|
||
| 602 | 61544eee | galberding | if (global.forwardSpeed != DETECTION_SPEED){
|
| 603 | global.rpmForward[0] = DETECTION_SPEED;
|
||
| 604 | } |
||
| 605 | 181f2892 | galberding | if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 606 | global.robot.requestCharging(0);
|
||
| 607 | }else{
|
||
| 608 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
|
| 609 | |||
| 610 | 181f2892 | galberding | //Rotate -20° to free from magnet
|
| 611 | global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
||
| 612 | 61544eee | galberding | checkForMotion(); |
| 613 | // move 1cm forward
|
||
| 614 | global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
||
| 615 | checkForMotion(); |
||
| 616 | // rotate back
|
||
| 617 | 10bf9cc0 | galberding | // global.distcontrol.setTargetPosition(0, -ROTATION_20, ROTATION_DURATION);
|
| 618 | // checkForMotion();
|
||
| 619 | 019224ff | galberding | |
| 620 | 61544eee | galberding | // global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION);
|
| 621 | // checkForMotion();
|
||
| 622 | 181f2892 | galberding | lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 623 | newState = states::FOLLOW_LINE; |
||
| 624 | 61544eee | galberding | // whiteBuf = -100;
|
| 625 | // lf.followLine(rpmSpeed);
|
||
| 626 | // setRpmSpeed(rpmSpeed);
|
||
| 627 | 181f2892 | galberding | } |
| 628 | 61544eee | galberding | // lightAllLeds(Color::BLACK);
|
| 629 | 10bf9cc0 | galberding | break;
|
| 630 | // ---------------------------------------
|
||
| 631 | case states::DOCKING_ERROR:
|
||
| 632 | newState = states::RELEASE; |
||
| 633 | break;
|
||
| 634 | // ---------------------------------------
|
||
| 635 | case states::REVERSE_TIMEOUT_ERROR:
|
||
| 636 | newState = states::IDLE; |
||
| 637 | break;
|
||
| 638 | // ---------------------------------------
|
||
| 639 | case states::CALIBRATION_ERROR:
|
||
| 640 | newState = states::IDLE; |
||
| 641 | break;
|
||
| 642 | // ---------------------------------------
|
||
| 643 | case states::WHITE_DETECTION_ERROR:
|
||
| 644 | newState = states::IDLE; |
||
| 645 | break;
|
||
| 646 | // ---------------------------------------
|
||
| 647 | case states::PROXY_DETECTION_ERROR:
|
||
| 648 | newState = states::IDLE; |
||
| 649 | break;
|
||
| 650 | // ---------------------------------------
|
||
| 651 | case states::NO_CHARGING_POWER_ERROR:
|
||
| 652 | newState = states::IDLE; |
||
| 653 | break;
|
||
| 654 | // ---------------------------------------
|
||
| 655 | case states::UNKNOWN_STATE_ERROR:
|
||
| 656 | newState = states::IDLE; |
||
| 657 | break;
|
||
| 658 | // ---------------------------------------
|
||
| 659 | 181f2892 | galberding | default:
|
| 660 | 10bf9cc0 | galberding | newState = states::UNKNOWN_STATE_ERROR; |
| 661 | break;
|
||
| 662 | 181f2892 | galberding | } |
| 663 | 10bf9cc0 | galberding | if (currentState != newState){
|
| 664 | fbcb25cc | galberding | chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
| 665 | 27d4e1fa | galberding | global.robot.transmitState(newState); |
| 666 | } |
||
| 667 | 10bf9cc0 | galberding | prevState = currentState; |
| 668 | currentState = newState; |
||
| 669 | if (utCount.stateCount > CAN_TRANSMIT_STATE_THRESH){
|
||
| 670 | utCount.stateCount = 0;
|
||
| 671 | // chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
||
| 672 | global.robot.transmitState(currentState); |
||
| 673 | // global.robot.setOdometry(global.odometry.getPosition());
|
||
| 674 | |||
| 675 | }else{
|
||
| 676 | utCount.stateCount++; |
||
| 677 | } |
||
| 678 | 5d138bca | galberding | this->sleep(CAN::UPDATE_PERIOD);
|
| 679 | } |
||
| 680 | 58fe0e0b | Thomas Schöpping | |
| 681 | return RDY_OK;
|
||
| 682 | } |