Revision 181f2892 devices/DiWheelDrive/userthread.cpp
| devices/DiWheelDrive/userthread.cpp | ||
|---|---|---|
| 1 | 1 |
#include "userthread.hpp" |
| 2 |
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| 3 | 2 |
#include "global.hpp" |
| 4 |
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| 5 | 3 |
#include "linefollow2.hpp" |
| 6 | 4 |
|
| 7 | 5 |
using namespace amiro; |
| 8 | 6 |
|
| 9 | 7 |
extern Global global; |
| 10 | 8 |
|
| 11 |
enum class states{
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FOLLOW_LINE, |
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OCCUPY, |
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RELEASE, |
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CHARGING |
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}; |
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enum msg_content{
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STOP, |
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START, |
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EDGE_LEFT, |
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EDGE_RIGHT, |
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FUZZY, |
|
| 24 |
DOCKING |
|
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}; |
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|
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// User thread state: |
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states utState = states::FOLLOW_LINE; |
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| 30 | 9 |
// a buffer for the z-value of the accelerometer |
| 31 | 10 |
int16_t accel_z; |
| 32 | 11 |
bool running = false; |
| 33 | 12 |
|
| 34 |
int vcnl4020AmbientLight[4] = {0};
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int vcnl4020Proximity[4] = {0};
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| 36 | 13 |
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// Set the speed by the array |
|
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void setRpmSpeed(const int (&rpmSpeed)[2]) {
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/** |
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* Set speed. |
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* |
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* @param rpmSpeed speed for left and right wheel in rounds/min |
|
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*/ |
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void UserThread::setRpmSpeed(const int (&rpmSpeed)[2]) {
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| 40 | 20 |
global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
| 41 | 21 |
} |
| 42 | 22 |
|
| 43 |
void lightOneLed(Color color, int idx){
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void UserThread::lightOneLed(Color color, int idx){
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| 44 | 24 |
global.robot.setLightColor(idx, Color(color)); |
| 45 | 25 |
} |
| 46 | 26 |
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| 47 |
void lightAllLeds(Color color){
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void UserThread::lightAllLeds(Color color){
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| 48 | 28 |
int led = 0; |
| 49 | 29 |
for(led=0; led<8; led++){
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| 50 | 30 |
lightOneLed(color, led); |
| 51 | 31 |
} |
| 52 | 32 |
} |
| 53 | 33 |
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/** |
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* Get the wanted strategy from the global object. |
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*/ |
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LineFollowStrategy determineStrategy(){
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switch(global.lfStrategy){
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case 0: |
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return LineFollowStrategy::EDGE_RIGHT; |
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break; |
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case 1: |
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return LineFollowStrategy::EDGE_LEFT; |
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break; |
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case 2: |
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return LineFollowStrategy::FUZZY; |
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break; |
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case 3: |
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return LineFollowStrategy::DOCKING; |
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default: |
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break; |
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void UserThread::showChargingState(){
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uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12; |
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Color color = Color::GREEN; |
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if (numLeds <= 2){
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color = Color::RED; |
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}else if(numLeds <= 6){
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color = Color::YELLOW; |
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} |
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for (int i=0; i<numLeds; i++){
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lightOneLed(color, i); |
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this->sleep(300); |
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| 72 | 45 |
} |
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return LineFollowStrategy::NONE; |
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this->sleep(1000); |
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lightAllLeds(Color::BLACK); |
|
| 74 | 48 |
} |
| 75 | 49 |
|
| 76 | 50 |
/** |
| 77 | 51 |
* Blocks as long as the position changes. |
| 78 | 52 |
*/ |
| 79 |
void checkForMotion(UserThread *ut){
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void UserThread::checkForMotion(){
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| 80 | 54 |
int motion = 1; |
| 81 | 55 |
int led = 0; |
| 82 | 56 |
types::position oldPos = global.odometry.getPosition(); |
| 83 | 57 |
while(motion){
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| 84 |
ut->sleep(500);
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this->sleep(500);
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| 85 | 59 |
types::position tmp = global.odometry.getPosition(); |
| 86 | 60 |
motion = abs(oldPos.x - tmp.x)+ abs(oldPos.y - tmp.y)+abs(oldPos.z - tmp.z); |
| 87 | 61 |
oldPos = tmp; |
| ... | ... | |
| 91 | 65 |
} |
| 92 | 66 |
} |
| 93 | 67 |
|
| 68 |
bool UserThread::checkPinVoltage(){
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return global.ltc4412.isPluggedIn(); |
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} |
|
| 94 | 71 |
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/**
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* Turns MotorControl off and checks if position remains stable.
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*/
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int checkDockingSuccess(UserThread *ut){
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// global.motorcontrol.setTargetRPM(0,0);
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checkForMotion(ut);
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int led = 0;
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bool UserThread::checkPinEnabled(){
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return global.ltc4412.isEnabled();
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}
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int UserThread::checkDockingSuccess(){
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// setRpmSpeed(stop);
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checkForMotion();
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| 102 | 79 |
int success = 0; |
| 103 | 80 |
global.odometry.resetPosition(); |
| 104 | 81 |
types::position start = global.startPos = global.odometry.getPosition(); |
| 105 | 82 |
global.motorcontrol.toggleMotorEnable(); |
| 106 |
ut->sleep(1000);
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types::position stop = global.endPos = global.odometry.getPosition(); |
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global.motorcontrol.toggleMotorEnable(); |
|
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this->sleep(1000);
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types::position stop_ = global.endPos = global.odometry.getPosition();
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| 109 | 86 |
// Amiro moved, docking was not successful |
| 110 |
if ((start.x + stop.x) || (start.y + stop.y)){
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| 111 |
for(led=0; led<8; led++){
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global.robot.setLightColor(led, Color(Color::RED));
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}
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if ((start.x + stop_.x) || (start.y + stop_.y)){
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lightAllLeds(Color::RED);
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// Enable Motor again if docking was not successful
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global.motorcontrol.toggleMotorEnable();
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| 114 | 91 |
success = 0; |
| 115 | 92 |
}else{
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for(led=0; led<8; led++){
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global.robot.setLightColor(led, Color(Color::GREEN)); |
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} |
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lightAllLeds(Color::GREEN); |
|
| 119 | 94 |
success = 1; |
| 120 | 95 |
} |
| 121 | 96 |
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| 122 |
ut->sleep(500); |
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for(led=0; led<8; led++){
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global.robot.setLightColor(led, Color(Color::BLACK)); |
|
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} |
|
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this->sleep(500); |
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lightAllLeds(Color::BLACK); |
|
| 126 | 99 |
return success; |
| 127 | 100 |
} |
| 128 | 101 |
|
| 129 |
void correctPosition(UserThread *ut, LineFollow &lf, int steps){
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| 130 |
int checkWhite = 0; |
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| 131 |
int rpmSpeed[2] ={0};
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lf.setStrategy(LineFollowStrategy::EDGE_LEFT); |
|
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for (int correction=0; correction<steps; correction++){
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checkWhite = lf.followLine(rpmSpeed); |
|
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setRpmSpeed(rpmSpeed); |
|
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ut->sleep(CAN::UPDATE_PERIOD); |
|
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} |
|
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} |
|
| 139 |
|
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| 140 |
|
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| 141 | 102 |
UserThread::UserThread() : |
| 142 | 103 |
chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>() |
| 143 | 104 |
{
|
| ... | ... | |
| 153 | 114 |
/* |
| 154 | 115 |
* SETUP |
| 155 | 116 |
*/ |
| 117 |
// User thread state: |
|
| 118 |
states utState = states::IDLE; |
|
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states newState; |
|
| 120 |
|
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| 121 |
int whiteBuf = 0; |
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| 122 |
int correctionStep = 0; |
|
| 156 | 123 |
int rpmSpeed[2] = {0};
|
| 157 | 124 |
int stop[2] = {0};
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| 158 |
int proxyWheelThresh = 18000; |
|
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LineFollowStrategy lStrategy; |
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LineFollowStrategy lStrategy = LineFollowStrategy::FUZZY; |
|
| 160 | 126 |
for (uint8_t led = 0; led < 8; ++led) {
|
| 161 | 127 |
global.robot.setLightColor(led, Color(Color::BLACK)); |
| 162 | 128 |
} |
| ... | ... | |
| 167 | 133 |
*/ |
| 168 | 134 |
while (!this->shouldTerminate()) |
| 169 | 135 |
{
|
| 170 |
/* |
|
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* read accelerometer z-value |
|
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*/ |
|
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accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z); |
|
| 174 |
|
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| 175 |
/* |
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* evaluate the accelerometer |
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*/ |
|
| 136 |
/* |
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* read accelerometer z-value |
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*/ |
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accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z); |
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|
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if (accel_z < -900 /*-0.9g*/) {
|
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// Start line following when AMiRo is rotated |
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if(utState == states::IDLE){
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utState = states::FOLLOW_LINE; |
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}else{
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utState = states::IDLE; |
|
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} |
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| 148 |
lightAllLeds(Color::GREEN); |
|
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this->sleep(1000); |
|
| 150 |
lightAllLeds(Color::BLACK); |
|
| 178 | 151 |
|
| 179 |
//Features over can: (Line Following) |
|
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//SetKP |
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| 181 |
//SetKI |
|
| 182 |
//SetKd ? |
|
| 183 |
//SetSleepTime |
|
| 184 |
//SeForwardSpeed? or SetMaxSpeed |
|
| 185 |
//DriveOnLeftLine |
|
| 186 |
//DriveOnRightLine |
|
| 187 |
|
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| 188 |
//if accel_z<-900 |
|
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//send can event (one time) |
|
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// Line following is started if amiro roteted |
|
| 191 |
if (accel_z < -900 /*-0.9g*/) { //new: (can.allowLineFollowOnTurn && accel_z < 900) || can.startLineFollow optional feature
|
|
| 192 |
// set the front LEDs to blue for one second |
|
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lightAllLeds(Color::GREEN); |
|
| 194 |
this->sleep(1000); |
|
| 195 |
lightAllLeds(Color::BLACK); |
|
| 196 |
running = !running; |
|
| 197 | 152 |
// If message was received handle it here: |
| 198 | 153 |
} else if(global.msgReceived){
|
| 199 |
|
|
| 200 | 154 |
global.msgReceived = false; |
| 201 |
running = true; |
|
| 155 |
// running = true;
|
|
| 202 | 156 |
switch(global.lfStrategy){
|
| 203 | 157 |
case msg_content::START: |
| 158 |
utState = states::FOLLOW_LINE; |
|
| 204 | 159 |
break; |
| 205 | 160 |
case msg_content::STOP: |
| 206 |
running = false;
|
|
| 161 |
utState = states::IDLE;
|
|
| 207 | 162 |
break; |
| 208 | 163 |
case msg_content::EDGE_RIGHT: |
| 164 |
// utState = states::FOLLOW_LINE; |
|
| 209 | 165 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 210 | 166 |
break; |
| 211 | 167 |
case msg_content::EDGE_LEFT: |
| 168 |
// utState = states::FOLLOW_LINE; |
|
| 212 | 169 |
lStrategy = LineFollowStrategy::EDGE_LEFT; |
| 213 | 170 |
break; |
| 214 | 171 |
case msg_content::FUZZY: |
| 172 |
// utState = states::FOLLOW_LINE; |
|
| 215 | 173 |
lStrategy = LineFollowStrategy::FUZZY; |
| 216 | 174 |
break; |
| 217 |
case msg_content::DOCKING: |
|
| 218 |
utState = states::OCCUPY; |
|
| 219 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
|
| 175 |
case msg_content::DOCK: |
|
| 176 |
utState = states::DETECT_STATION; |
|
| 177 |
break; |
|
| 178 |
case msg_content::UNDOCK: |
|
| 179 |
utState = states::RELEASE; |
|
| 180 |
break; |
|
| 181 |
case msg_content::CHARGE: |
|
| 182 |
utState = states::CHARGING; |
|
| 220 | 183 |
break; |
| 221 | 184 |
default: |
| 185 |
utState = states::IDLE; |
|
| 222 | 186 |
break; |
| 223 | 187 |
} |
| 224 |
|
|
| 225 | 188 |
} |
| 189 |
newState = utState; |
|
| 226 | 190 |
|
| 227 |
if(running){
|
|
| 228 |
switch(utState){
|
|
| 229 |
case states::FOLLOW_LINE:{
|
|
| 230 |
// LineFollowStrategy lStrategy = determineStrategy(); |
|
| 231 |
if(lStrategy == LineFollowStrategy::DOCKING){
|
|
| 232 |
utState = states::OCCUPY; |
|
| 233 |
break; |
|
| 234 |
} |
|
| 191 |
// Get sensor data |
|
| 192 |
int WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset(); |
|
| 193 |
int WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset(); |
|
| 194 |
// int FL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset(); |
|
| 195 |
// int FR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
|
| 196 |
switch(utState){
|
|
| 197 |
case states::IDLE: |
|
| 198 |
if (!global.motorcontrol.getMotorEnable()){
|
|
| 199 |
global.motorcontrol.toggleMotorEnable(); |
|
| 200 |
} |
|
| 201 |
setRpmSpeed(stop); |
|
| 202 |
if(/* checkPinVoltage() && */ checkPinEnabled()){
|
|
| 203 |
global.robot.requestCharging(0); |
|
| 204 |
} |
|
| 205 |
|
|
| 206 |
break; |
|
| 207 |
// --------------------------------------- |
|
| 208 |
case states::FOLLOW_LINE: |
|
| 209 |
// Set correct forward speed to every strategy |
|
| 210 |
if (global.forwardSpeed != global.rpmForward[0]){
|
|
| 211 |
global.forwardSpeed = global.rpmForward[0]; |
|
| 212 |
} |
|
| 213 |
|
|
| 214 |
if(lf.getStrategy() != lStrategy){
|
|
| 235 | 215 |
lf.setStrategy(lStrategy); |
| 236 |
lf.followLine(rpmSpeed); |
|
| 237 |
setRpmSpeed(rpmSpeed); |
|
| 238 |
break; |
|
| 239 | 216 |
} |
| 240 |
case states::OCCUPY:{
|
|
| 241 |
// Get Wheel proxy sensors |
|
| 242 |
int WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset(); |
|
| 243 |
int WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset(); |
|
| 244 |
// Check for black |
|
| 245 |
if ((WL+WR) < proxyWheelThresh){ /*TODO: Only check for one sensor */
|
|
| 246 |
global.motorcontrol.setTargetRPM(0,0); |
|
| 247 | 217 |
|
| 248 |
// Stop when in docking state and take further actions |
|
| 249 |
if(lf.getStrategy() == LineFollowStrategy::DOCKING){
|
|
| 250 |
if(checkDockingSuccess(this)){
|
|
| 251 |
utState = states::CHARGING; |
|
| 252 |
break; |
|
| 253 |
}else{
|
|
| 254 |
correctPosition(this, lf, 250); |
|
| 255 |
lf.setStrategy(LineFollowStrategy::DOCKING); |
|
| 256 |
// break; |
|
| 257 |
} |
|
| 258 |
}else{
|
|
| 259 |
checkForMotion(this); |
|
| 260 |
// 180° Rotation |
|
| 261 |
global.distcontrol.setTargetPosition(0, 3141592, 10000); |
|
| 262 |
// BaseThread::sleep(8000); |
|
| 263 |
checkForMotion(this); |
|
| 264 |
correctPosition(this, lf, 250); |
|
| 265 |
// break; |
|
| 266 |
lf.setStrategy(LineFollowStrategy::DOCKING); |
|
| 267 |
|
|
| 268 |
} |
|
| 218 |
//TODO: Check if white is detected and stop threshold is reached |
|
| 219 |
if(lf.followLine(rpmSpeed)){
|
|
| 220 |
|
|
| 221 |
if(whiteBuf >= WHITE_COUNT_THRESH){
|
|
| 222 |
setRpmSpeed(stop); |
|
| 223 |
newState = states::IDLE; |
|
| 224 |
}else{
|
|
| 225 |
whiteBuf++; |
|
| 269 | 226 |
} |
| 270 |
|
|
| 271 |
// Set correct following |
|
| 272 |
// lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
|
| 273 |
lf.followLine(rpmSpeed); |
|
| 227 |
}else{
|
|
| 228 |
whiteBuf = 0; |
|
| 274 | 229 |
setRpmSpeed(rpmSpeed); |
| 275 |
|
|
| 276 |
break; |
|
| 277 | 230 |
} |
| 278 |
case states::RELEASE:{
|
|
| 279 |
break; |
|
| 231 |
// lf.followLine(rpmSpeed); |
|
| 232 |
// setRpmSpeed(rpmSpeed); |
|
| 233 |
|
|
| 234 |
break; |
|
| 235 |
// --------------------------------------- |
|
| 236 |
case states::DETECT_STATION: |
|
| 237 |
if (global.forwardSpeed != CHARGING_SPEED){
|
|
| 238 |
global.forwardSpeed = CHARGING_SPEED; |
|
| 280 | 239 |
} |
| 281 |
case states::CHARGING:{
|
|
| 240 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_RIGHT){
|
|
| 241 |
lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
|
| 242 |
} |
|
| 243 |
|
|
| 244 |
lf.followLine(rpmSpeed); |
|
| 245 |
setRpmSpeed(rpmSpeed); |
|
| 246 |
// // Detect marker before docking station |
|
| 247 |
if ((WL+WR) < PROXY_WHEEL_THRESH){
|
|
| 282 | 248 |
setRpmSpeed(stop); |
| 283 |
break; |
|
| 249 |
checkForMotion(); |
|
| 250 |
// 180° Rotation |
|
| 251 |
global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION); |
|
| 252 |
// BaseThread::sleep(8000); |
|
| 253 |
checkForMotion(); |
|
| 254 |
newState = states::CORRECT_POSITIONING; |
|
| 284 | 255 |
} |
| 285 |
default:{
|
|
| 286 |
break; |
|
| 256 |
break; |
|
| 257 |
// --------------------------------------- |
|
| 258 |
case states::CORRECT_POSITIONING: |
|
| 259 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_LEFT){
|
|
| 260 |
lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
|
| 287 | 261 |
} |
| 288 |
} |
|
| 262 |
lf.followLine(rpmSpeed); |
|
| 263 |
setRpmSpeed(rpmSpeed); |
|
| 289 | 264 |
|
| 290 |
}else{
|
|
| 291 |
// Stop |
|
| 292 |
setRpmSpeed(stop); |
|
| 293 |
} |
|
| 265 |
correctionStep++; |
|
| 266 |
if (correctionStep >= MAX_CORRECTION_STEPS){
|
|
| 267 |
correctionStep = 0; |
|
| 268 |
newState = states::REVERSE; |
|
| 269 |
setRpmSpeed(stop); |
|
| 270 |
checkForMotion(); |
|
| 271 |
} |
|
| 272 |
break; |
|
| 273 |
// --------------------------------------- |
|
| 274 |
case states::REVERSE: |
|
| 275 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
|
| 276 |
lf.setStrategy(LineFollowStrategy::REVERSE); |
|
| 277 |
} |
|
| 278 |
lf.followLine(rpmSpeed); |
|
| 279 |
setRpmSpeed(rpmSpeed); |
|
| 294 | 280 |
|
| 281 |
if ((WL+WR) < PROXY_WHEEL_THRESH){
|
|
| 282 |
setRpmSpeed(stop); |
|
| 283 |
checkForMotion(); |
|
| 284 |
newState = states::CHECK_POSITIONING; |
|
| 285 |
} |
|
| 286 |
break; |
|
| 287 |
// --------------------------------------- |
|
| 288 |
case states::CHECK_POSITIONING: |
|
| 289 |
if(checkDockingSuccess()/* && checkVoltage() */){
|
|
| 290 |
newState = states::CHARGING; |
|
| 291 |
}else{
|
|
| 292 |
newState = states::CORRECT_POSITIONING; |
|
| 293 |
} |
|
| 294 |
break; |
|
| 295 |
// --------------------------------------- |
|
| 296 |
case states::CHARGING: |
|
| 297 |
if (global.motorcontrol.getMotorEnable()){
|
|
| 298 |
global.motorcontrol.toggleMotorEnable(); |
|
| 299 |
} |
|
| 300 |
// Formulate Request to enable charging |
|
| 301 |
if(/* checkPinVoltage() && */ !checkPinEnabled()){
|
|
| 302 |
global.robot.requestCharging(1); |
|
| 303 |
} |
|
| 304 |
if(checkPinEnabled()){
|
|
| 305 |
showChargingState(); |
|
| 306 |
} |
|
| 307 |
break; |
|
| 308 |
|
|
| 309 |
// --------------------------------------- |
|
| 310 |
case states::RELEASE: |
|
| 311 |
if(/* checkPinVoltage() && */ checkPinEnabled()){
|
|
| 312 |
global.robot.requestCharging(0); |
|
| 313 |
} |
|
| 314 |
|
|
| 315 |
if(checkPinEnabled()){
|
|
| 316 |
showChargingState(); |
|
| 317 |
}else{
|
|
| 318 |
if (!global.motorcontrol.getMotorEnable()){
|
|
| 319 |
global.motorcontrol.toggleMotorEnable(); |
|
| 320 |
} |
|
| 321 |
//Rotate -20° to free from magnet |
|
| 322 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION); |
|
| 323 |
checkForMotion(); |
|
| 324 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
|
| 325 |
newState = states::FOLLOW_LINE; |
|
| 326 |
} |
|
| 327 |
lightAllLeds(Color::BLACK); |
|
| 328 |
break; |
|
| 329 |
|
|
| 330 |
default: |
|
| 331 |
break; |
|
| 332 |
} |
|
| 333 |
utState = newState; |
|
| 295 | 334 |
this->sleep(CAN::UPDATE_PERIOD); |
| 296 | 335 |
} |
| 297 | 336 |
|
Also available in: Unified diff