Revision 1b3adcdd devices/DiWheelDrive/userthread.cpp
| devices/DiWheelDrive/userthread.cpp | ||
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| 42 | 42 |
// BLACK is the line itselfe |
| 43 | 43 |
// GREY is the boarder between the line and the surface |
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// WHITE is the common surface |
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enum colorMember : uint8_t {
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BLACK=0, |
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GREY=1, |
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WHITE=2 |
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}; |
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// enum colorMember : uint8_t {
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// BLACK=0,
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// GREY=1,
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// WHITE=2
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// };
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// a buffer for the z-value of the accelerometer |
| 52 | 52 |
int16_t accel_z; |
| ... | ... | |
| 57 | 57 |
int policyCounter = 0; // Do not change this, it points to the beginning of the policy |
| 58 | 58 |
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// Different speed settings (all values in "rounds per minute") |
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const int rpmTurnLeft[2] = {-10, 10};
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const int rpmTurnRight[2] = {rpmTurnLeft[1],rpmTurnLeft[0]};
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const int rpmHalt[2] = {0, 0};
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// const int rpmTurnLeft[2] = {-10, 10};
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// const int rpmTurnRight[2] = {rpmTurnLeft[1],rpmTurnLeft[0]};
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// const int rpmHalt[2] = {0, 0};
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// Definition of the fuzzyfication function |
| 65 | 65 |
// | Membership |
| ... | ... | |
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// All values are "raw sensor values" |
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/* Use these values for white ground surface (e.g. paper) */ |
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const int blackStartFalling = 0x1000; // Where the black curve starts falling |
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const int blackOff = 0x1800; // Where no more black is detected |
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const int whiteStartRising = 0x2800; // Where the white curve starts rising |
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const int whiteOn = 0x6000; // Where the white curve has reached the maximum value |
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const int greyMax = (whiteOn + blackStartFalling) / 2; // Where grey has its maximum |
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const int greyStartRising = blackStartFalling; // Where grey starts rising |
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const int greyOff = whiteOn; // Where grey is completely off again |
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// const int blackStartFalling = 0x1000; // Where the black curve starts falling
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// const int blackOff = 0x1800; // Where no more black is detected
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// const int whiteStartRising = 0x2800; // Where the white curve starts rising
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// const int whiteOn = 0x6000; // Where the white curve has reached the maximum value
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// const int greyMax = (whiteOn + blackStartFalling) / 2; // Where grey has its maximum
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// const int greyStartRising = blackStartFalling; // Where grey starts rising
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// const int greyOff = whiteOn; // Where grey is completely off again
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/* Use these values for gray ground surfaces */ |
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/* |
| ... | ... | |
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// chprintf((BaseSequentialStream*) &SD1, "Speed left: %d, Speed right: %d\r\n", target[0], target[1]); |
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} |
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// Fuzzyfication of the sensor values |
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void fuzzyfication(int sensorValue, float (&fuzziedValue)[3]) {
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if (sensorValue < blackStartFalling ) {
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// Only black value |
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fuzziedValue[BLACK] = 1.0f; |
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fuzziedValue[GREY] = 0.0f; |
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fuzziedValue[WHITE] = 0.0f; |
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} else if (sensorValue > whiteOn ) {
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// Only white value |
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fuzziedValue[BLACK] = 0.0f; |
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fuzziedValue[GREY] = 0.0f; |
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fuzziedValue[WHITE] = 1.0f; |
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} else if ( sensorValue < greyMax) {
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// Some greyisch value between black and grey |
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// Black is going down |
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if ( sensorValue > blackOff) {
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fuzziedValue[BLACK] = 0.0f; |
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} else {
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fuzziedValue[BLACK] = static_cast<float>(sensorValue-blackOff) / (blackStartFalling-blackOff); |
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} |
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// Grey is going up |
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if ( sensorValue < greyStartRising) {
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fuzziedValue[GREY] = 0.0f; |
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} else {
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fuzziedValue[GREY] = static_cast<float>(sensorValue-greyStartRising) / (greyMax-greyStartRising); |
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} |
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// White is absent |
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fuzziedValue[WHITE] = 0.0f; |
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} else if ( sensorValue >= greyMax) {
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// Some greyisch value between grey white |
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// Black is absent |
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fuzziedValue[BLACK] = 0.0f; |
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// Grey is going down |
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if ( sensorValue < greyOff) {
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fuzziedValue[GREY] = static_cast<float>(sensorValue-greyOff) / (greyMax-greyOff); |
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} else {
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fuzziedValue[GREY] = 0.0f; |
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} |
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// White is going up |
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if ( sensorValue < whiteStartRising) {
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fuzziedValue[WHITE] = 0.0f; |
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} else {
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fuzziedValue[WHITE] = static_cast<float>(sensorValue-whiteStartRising) / (whiteOn-whiteStartRising); |
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} |
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} |
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} |
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// Return the color, which has the highest fuzzy value |
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colorMember getMember(float (&fuzzyValue)[3]) {
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colorMember member; |
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if (fuzzyValue[BLACK] > fuzzyValue[GREY]) |
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if (fuzzyValue[BLACK] > fuzzyValue[WHITE]) |
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member = BLACK; |
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else |
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member = WHITE; |
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else |
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if (fuzzyValue[GREY] > fuzzyValue[WHITE]) |
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member = GREY; |
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else |
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member = WHITE; |
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return member; |
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} |
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// Get a crisp output for the steering commands |
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void defuzzyfication(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]) {
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// all sensors are equal |
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if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_LEFT] && |
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member[constants::DiWheelDrive::PROX_FRONT_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_RIGHT] && |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == member[constants::DiWheelDrive::PROX_WHEEL_RIGHT]) {
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// something is wrong -> stop |
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copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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// both front sensor detect a line |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK && |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {
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// straight |
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copyRpmSpeed(global.rpmForward, rpmFuzzyCtrl); |
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// exact one front sensor detects a line |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK || |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {
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// soft correction |
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if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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// soft right |
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copyRpmSpeed(global.rpmSoftRight, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == WHITE) {
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// hard right |
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copyRpmSpeed(global.rpmHardRight, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
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// soft left |
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copyRpmSpeed(global.rpmSoftLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE) {
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// hard left |
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copyRpmSpeed(global.rpmHardLeft, rpmFuzzyCtrl); |
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} |
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// both wheel sensors detect a line |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK && |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {
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// something is wrong -> stop |
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copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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// exactly one wheel sensor detects a line |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK || |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {
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if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK) {
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// turn left |
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copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {
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// turn right |
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copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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} |
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// both front sensors may detect a line |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY && |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
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if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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// turn left |
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copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
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// turn right |
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copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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} |
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// exactly one front sensor may detect a line |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY || |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
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if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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// turn left |
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copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
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// turn right |
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copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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} |
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// both wheel sensors may detect a line |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY && |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
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// something is wrong -> stop |
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copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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// exactly one wheel sensor may detect a line |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY || |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
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if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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// turn left |
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copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
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// turn right |
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copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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} |
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// no sensor detects anything |
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} else {
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// line is lost -> stop |
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copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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} |
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return; |
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} |
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Color memberToLed(colorMember member) {
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switch (member) {
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case BLACK: |
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return Color(Color::GREEN); |
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case GREY: |
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return Color(Color::YELLOW); |
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case WHITE: |
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return Color(Color::RED); |
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default: |
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return Color(Color::WHITE); |
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} |
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} |
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//void lineFollowing_new(xyz) {}
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void defuzz(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]){
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// all sensors are equal |
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// if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_LEFT] && |
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// member[constants::DiWheelDrive::PROX_FRONT_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_RIGHT] && |
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// member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == member[constants::DiWheelDrive::PROX_WHEEL_RIGHT]) {
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// // something is wrong -> stop |
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// copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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// // both front sensor detect a line |
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if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK && |
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(member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY)) {
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// straight |
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copyRpmSpeed(global.rpmForward, rpmFuzzyCtrl); |
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// Deviation to right |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK |
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&& member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE){
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copyRpmSpeed(global.rpmSoftLeft, rpmFuzzyCtrl); |
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// Deviation to left |
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}else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK |
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&& member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK){
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copyRpmSpeed(global.rpmSoftRight, rpmFuzzyCtrl); |
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// Hard deviatio to right |
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}else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY |
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&& member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE){
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copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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// Hard deviation to left |
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}else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY |
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&& member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK){
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copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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// stop if white |
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}else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == WHITE |
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&& member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE ){
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copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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} |
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} |
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// Line following by a fuzzy controler |
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void lineFollowing(int (&proximity)[4], int (&rpmFuzzyCtrl)[2]) {
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// FUZZYFICATION |
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// First we need to get the fuzzy value for our 3 values {BLACK, GREY, WHITE}
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float leftWheelFuzzyMemberValues[3], leftFrontFuzzyMemberValues[3], rightFrontFuzzyMemberValues[3], rightWheelFuzzyMemberValues[3]; |
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fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], leftWheelFuzzyMemberValues); |
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fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], leftFrontFuzzyMemberValues); |
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fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], rightFrontFuzzyMemberValues); |
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fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], rightWheelFuzzyMemberValues); |
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// INFERENCE RULE DEFINITION |
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// Get the member for each sensor |
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colorMember member[4]; |
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member[constants::DiWheelDrive::PROX_WHEEL_LEFT] = getMember(leftWheelFuzzyMemberValues); |
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member[constants::DiWheelDrive::PROX_FRONT_LEFT] = getMember(leftFrontFuzzyMemberValues); |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] = getMember(rightFrontFuzzyMemberValues); |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] = getMember(rightWheelFuzzyMemberValues); |
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// visualize sensors via LEDs |
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global.robot.setLightColor(constants::LightRing::LED_WNW, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_LEFT])); |
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global.robot.setLightColor(constants::LightRing::LED_NNW, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_LEFT])); |
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global.robot.setLightColor(constants::LightRing::LED_NNE, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_RIGHT])); |
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global.robot.setLightColor(constants::LightRing::LED_ENE, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_RIGHT])); |
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// chprintf((BaseSequentialStream*) &SD1, "Left: BLACK: %f, GREY: %f, WHITE: %f\r\n", leftWheelFuzzyMemberValues[BLACK], leftWheelFuzzyMemberValues[GREY], leftWheelFuzzyMemberValues[WHITE]); |
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// chprintf((BaseSequentialStream*) &SD1, "Right: BLACK: %f, GREY: %f, WHITE: %f\r\n", rightFuzzyMemberValues[BLACK], rightFuzzyMemberValues[GREY], rightFuzzyMemberValues[WHITE]); |
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// DEFUZZYFICATION |
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// defuzzyfication(member, rpmFuzzyCtrl); |
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defuzz(member, rpmFuzzyCtrl); |
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} |
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// Set the speed by the array |
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void setRpmSpeed(const int (&rpmSpeed)[2]) {
|
| ... | ... | |
| 452 | 206 |
vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight(); |
| 453 | 207 |
vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 454 | 208 |
} |
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lf.stableFollow(vcnl4020Proximity, rpmFuzzyCtrl, &global); |
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// lf.stableFollow(vcnl4020Proximity, rpmFuzzyCtrl, &global);
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// chprintf((BaseSequentialStream*) &SD1, "0x%04X 0x%04X 0x%04X 0x%04X\n", |
| 457 | 211 |
// vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], |
| 458 | 212 |
// vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
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