amiro-os / devices / DiWheelDrive / linefollow.cpp @ 1d9e5660
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| 1 | 726fdc72 | galberding | #include "global.hpp" |
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| 2 | d314ad6f | galberding | #include "linefollow.hpp" |
| 3 | 726fdc72 | galberding | #include <cmath> |
| 4 | |||
| 5 | |||
| 6 | |||
| 7 | LineFollow::LineFollow(Global *global){
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| 8 | this->global = global;
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| 9 | } |
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| 10 | LineFollow::LineFollow(Global *global, LineFollowStrategy strategy){
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| 11 | this->global = global;
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| 12 | this-> strategy = strategy;
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| 13 | } |
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| 14 | |||
| 15 | |||
| 16 | int LineFollow::transitionError(int FL, int FR, int targetL, int targetR){ |
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| 17 | // global->robot.setLightColor(0, Color::RED);
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| 18 | // global->robot.setLightColor(7, Color::RED);
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| 19 | int error = 0; |
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| 20 | |||
| 21 | switch (this->strategy) |
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| 22 | {
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| 23 | case LineFollowStrategy::TRANSITION_R_L:
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| 24 | error = -(FL -targetL + FR - targetR + this->trans);
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| 25 | break;
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| 26 | case LineFollowStrategy::TRANSITION_L_R:
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| 27 | error = (FL -targetL + FR - targetR + this->trans);
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| 28 | break;
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| 29 | default:
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| 30 | break;
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| 31 | } |
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| 32 | this->trans += 400; |
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| 33 | if(FL+FR <= RAND_TRESH){
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| 34 | // global->robot.setLightColor(0, Color::GREEN);
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| 35 | // global->robot.setLightColor(7, Color::GREEN);
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| 36 | switch (this->strategy) |
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| 37 | {
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| 38 | case LineFollowStrategy::TRANSITION_R_L:
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| 39 | this->strategy = LineFollowStrategy::EDGE_LEFT;
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| 40 | break;
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| 41 | case LineFollowStrategy::TRANSITION_L_R:
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| 42 | this->strategy = LineFollowStrategy::EDGE_RIGHT;
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| 43 | break;
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| 44 | default:
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| 45 | break;
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| 46 | } |
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| 47 | this->trans = 0; |
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| 48 | } |
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| 49 | return error;
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| 50 | } |
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| 51 | |||
| 52 | /**
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| 53 | * Calculate the error from front proxi sensors and fixed threshold values for those sensors.
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| 54 | */
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| 55 | int LineFollow::getError(){
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| 56 | // global->robot.setLightColor(3, Color::YELLOW);
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| 57 | // Get actual sensor data of both front sensors
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| 58 | int FL = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
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| 59 | int FR = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
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| 60 | int targetL = global->threshProxyL;
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| 61 | int targetR = global->threshProxyR;
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| 62 | int error = 0; |
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| 63 | switch (this->strategy) |
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| 64 | {
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| 65 | case LineFollowStrategy::EDGE_RIGHT:
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| 66 | error = -(FL -targetL + FR - targetR); |
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| 67 | break;
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| 68 | case LineFollowStrategy::EDGE_LEFT:
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| 69 | error = (FL -targetL + FR - targetR); |
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| 70 | break;
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| 71 | case LineFollowStrategy::MIDDLE:
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| 72 | // Assume that the smallest value means driving in the middle
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| 73 | targetL = targetR = !(targetL<targetR)?targetR:targetL; |
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| 74 | error = (FL -targetL + FR - targetR); |
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| 75 | break;
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| 76 | case LineFollowStrategy::TRANSITION_L_R: case LineFollowStrategy::TRANSITION_R_L: |
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| 77 | error = transitionError(FL, FR, targetL, targetR); |
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| 78 | break;
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| 79 | default:
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| 80 | break;
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| 81 | } |
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| 82 | // Debugging stuff ------
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| 83 | // if (global->enableRecord){
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| 84 | // global->senseRec[global->sensSamples].error = error;
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| 85 | // global->senseRec[global->sensSamples].FL = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
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| 86 | // global->senseRec[global->sensSamples].FR = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
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| 87 | // global->sensSamples++;
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| 88 | // }
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| 89 | // ----------------------
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| 90 | // Register white values
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| 91 | if (FL+FR > global->threshWhite){
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| 92 | whiteFlag = 1;
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| 93 | }else{
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| 94 | whiteFlag = 0;
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| 95 | } |
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| 96 | return error;
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| 97 | } |
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| 98 | |||
| 99 | |||
| 100 | |||
| 101 | |||
| 102 | /**
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| 103 | * Depending on the strategy different behaviours will be triggered.
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| 104 | * FUZZY - standard tracking of black area
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| 105 | * REVERSE - drive back
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| 106 | * @param: rpmSpeed motor speed
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| 107 | */
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| 108 | int LineFollow::followLine(int (&rpmSpeed)[2]){ |
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| 109 | |||
| 110 | int correctionSpeed = 0; |
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| 111 | switch (this->strategy) |
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| 112 | {
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| 113 | case LineFollowStrategy::FUZZY:
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| 114 | for (int i = 0; i < 4; i++) { |
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| 115 | vcnl4020AmbientLight[i] = global->vcnl4020[i].getAmbientLight(); |
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| 116 | vcnl4020Proximity[i] = global->vcnl4020[i].getProximityScaledWoOffset(); |
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| 117 | } |
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| 118 | lineFollowing(vcnl4020Proximity, rpmSpeed); |
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| 119 | break;
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| 120 | |||
| 121 | case LineFollowStrategy::REVERSE:
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| 122 | correctionSpeed = -getPidCorrectionSpeed(); |
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| 123 | c9fa414d | galberding | rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] = -1000000*global->forwardSpeed;
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| 124 | 726fdc72 | galberding | |
| 125 | c9fa414d | galberding | rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] = -1000000*global->forwardSpeed;
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| 126 | 726fdc72 | galberding | |
| 127 | break;
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| 128 | |||
| 129 | default:
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| 130 | correctionSpeed = getPidCorrectionSpeed(); |
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| 131 | // chprintf((BaseSequentialStream*) &SD1, "Correction: %d, thresh: %d\n",correctionSpeed, global->threshWhite);
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| 132 | |||
| 133 | c9fa414d | galberding | rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] = 1000000*global->forwardSpeed + correctionSpeed;
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| 134 | 726fdc72 | galberding | |
| 135 | c9fa414d | galberding | rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] = 1000000*global->forwardSpeed - correctionSpeed;
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| 136 | 726fdc72 | galberding | break;
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| 137 | } |
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| 138 | return whiteFlag;
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| 139 | } |
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| 140 | |||
| 141 | |||
| 142 | /**
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| 143 | * Pid controller which returns a corrections speed.
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| 144 | */
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| 145 | int LineFollow::getPidCorrectionSpeed(){
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| 146 | c9fa414d | galberding | int32_t error = getError(); |
| 147 | int32_t sloap = oldError - error ; |
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| 148 | 726fdc72 | galberding | // int correctionSpeed = (int) (global->K_p*error + Ki*accumHist - global->K_d*sloap);
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| 149 | c9fa414d | galberding | int32_t correctionSpeed = (int32_t) (K_p*error + K_i*accumHist + K_d*sloap); |
| 150 | 726fdc72 | galberding | oldError = error; |
| 151 | c9fa414d | galberding | accumHist += error; |
| 152 | 726fdc72 | galberding | if (abs(error) > global->maxDist.error){
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| 153 | global->maxDist.error = error; |
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| 154 | } |
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| 155 | return correctionSpeed;
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| 156 | } |
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| 157 | |||
| 158 | |||
| 159 | void LineFollow::setStrategy(LineFollowStrategy strategy){
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| 160 | |||
| 161 | if(this->strategy == LineFollowStrategy::TRANSITION_R_L || this->strategy == LineFollowStrategy::TRANSITION_L_R){ |
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| 162 | return;
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| 163 | } |
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| 164 | |||
| 165 | switch(strategy){
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| 166 | case LineFollowStrategy::EDGE_LEFT:
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| 167 | if((this->strategy == LineFollowStrategy::EDGE_RIGHT) || (this->strategy == LineFollowStrategy::TRANSITION_R_L)){ |
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| 168 | this->strategy = LineFollowStrategy::TRANSITION_R_L;
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| 169 | }else{
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| 170 | // In case of fuzzy or reverse
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| 171 | this->strategy = strategy;
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| 172 | } |
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| 173 | break;
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| 174 | case LineFollowStrategy::EDGE_RIGHT:
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| 175 | if((this->strategy == LineFollowStrategy::EDGE_LEFT) || (this->strategy == LineFollowStrategy::TRANSITION_L_R)){ |
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| 176 | this->strategy = LineFollowStrategy::TRANSITION_L_R;
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| 177 | }else{
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| 178 | // In case of fuzzy or reverse
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| 179 | this->strategy = strategy;
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| 180 | } |
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| 181 | break;
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| 182 | default:
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| 183 | // From Fuzzy or Reverse state should work to transition automatically
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| 184 | this->strategy = strategy;
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| 185 | break;
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| 186 | } |
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| 187 | // this->strategy = strategy;
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| 188 | } |
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| 189 | |||
| 190 | void LineFollow::promptStrategyChange(LineFollowStrategy strategy){
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| 191 | this->strategy = strategy;
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| 192 | } |
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| 193 | |||
| 194 | LineFollowStrategy LineFollow::getStrategy(){
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| 195 | return this->strategy; |
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| 196 | } |
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| 197 | void LineFollow::setGains(float Kp, float Ki, float Kd){ |
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| 198 | this->K_p = Kp;
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| 199 | this->K_i = Ki;
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| 200 | this->K_d = Kd;
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| 201 | } |
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| 202 | |||
| 203 | |||
| 204 | |||
| 205 | |||
| 206 | |||
| 207 | // Legacy code, fuzzy following-----------------------------------------
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| 208 | // Line following by a fuzzy controler
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| 209 | void LineFollow::lineFollowing(int (&proximity)[4], int (&rpmFuzzyCtrl)[2]) { |
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| 210 | // FUZZYFICATION
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| 211 | // First we need to get the fuzzy value for our 3 values {BLACK, GREY, WHITE}
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| 212 | float leftWheelFuzzyMemberValues[3], leftFrontFuzzyMemberValues[3], rightFrontFuzzyMemberValues[3], rightWheelFuzzyMemberValues[3]; |
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| 213 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], leftWheelFuzzyMemberValues); |
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| 214 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], leftFrontFuzzyMemberValues); |
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| 215 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], rightFrontFuzzyMemberValues); |
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| 216 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], rightWheelFuzzyMemberValues); |
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| 217 | |||
| 218 | // INFERENCE RULE DEFINITION
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| 219 | // Get the member for each sensor
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| 220 | colorMember member[4];
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| 221 | member[constants::DiWheelDrive::PROX_WHEEL_LEFT] = getMember(leftWheelFuzzyMemberValues); |
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| 222 | member[constants::DiWheelDrive::PROX_FRONT_LEFT] = getMember(leftFrontFuzzyMemberValues); |
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| 223 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] = getMember(rightFrontFuzzyMemberValues); |
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| 224 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] = getMember(rightWheelFuzzyMemberValues); |
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| 225 | |||
| 226 | // visualize sensors via LEDs
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| 227 | global->robot.setLightColor(constants::LightRing::LED_WNW, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_LEFT])); |
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| 228 | global->robot.setLightColor(constants::LightRing::LED_NNW, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_LEFT])); |
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| 229 | global->robot.setLightColor(constants::LightRing::LED_NNE, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_RIGHT])); |
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| 230 | global->robot.setLightColor(constants::LightRing::LED_ENE, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_RIGHT])); |
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| 231 | |||
| 232 | // chprintf((BaseSequentialStream*) &SD1, "Left: BLACK: %f, GREY: %f, WHITE: %f\r\n", leftWheelFuzzyMemberValues[BLACK], leftWheelFuzzyMemberValues[GREY], leftWheelFuzzyMemberValues[WHITE]);
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| 233 | // chprintf((BaseSequentialStream*) &SD1, "Right: BLACK: %f, GREY: %f, WHITE: %f\r\n", rightFuzzyMemberValues[BLACK], rightFuzzyMemberValues[GREY], rightFuzzyMemberValues[WHITE]);
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| 234 | |||
| 235 | // DEFUZZYFICATION
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| 236 | defuzzyfication(member, rpmFuzzyCtrl); |
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| 237 | // defuzz(member, rpmFuzzyCtrl);
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| 238 | } |
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| 239 | |||
| 240 | |||
| 241 | Color LineFollow::memberToLed(colorMember member) {
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| 242 | switch (member) {
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| 243 | case BLACK:
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| 244 | return Color(Color::GREEN);
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| 245 | case GREY:
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| 246 | return Color(Color::YELLOW);
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| 247 | case WHITE:
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| 248 | return Color(Color::RED);
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| 249 | default:
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| 250 | return Color(Color::WHITE);
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| 251 | } |
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| 252 | } |
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| 253 | |||
| 254 | void LineFollow::defuzzyfication(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]) { |
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| 255 | whiteFlag = 0;
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| 256 | // all sensors are equal
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| 257 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_LEFT] &&
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| 258 | member[constants::DiWheelDrive::PROX_FRONT_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_RIGHT] && |
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| 259 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == member[constants::DiWheelDrive::PROX_WHEEL_RIGHT]) {
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| 260 | // something is wrong -> stop
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| 261 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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| 262 | // both front sensor detect a line
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| 263 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK && |
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| 264 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {
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| 265 | // straight
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| 266 | copyRpmSpeed(global->rpmForward, rpmFuzzyCtrl); |
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| 267 | // exact one front sensor detects a line
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| 268 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK || |
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| 269 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {
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| 270 | // soft correction
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| 271 | if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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| 272 | // soft right
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| 273 | copyRpmSpeed(global->rpmSoftRight, rpmFuzzyCtrl); |
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| 274 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == WHITE) { |
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| 275 | // hard right
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| 276 | copyRpmSpeed(global->rpmHardRight, rpmFuzzyCtrl); |
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| 277 | } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
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| 278 | // soft left
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| 279 | copyRpmSpeed(global->rpmSoftLeft, rpmFuzzyCtrl); |
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| 280 | } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE) { |
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| 281 | // hard left
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| 282 | copyRpmSpeed(global->rpmHardLeft, rpmFuzzyCtrl); |
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| 283 | } |
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| 284 | // both wheel sensors detect a line
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| 285 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK && |
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| 286 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {
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| 287 | // something is wrong -> stop
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| 288 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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| 289 | // exactly one wheel sensor detects a line
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| 290 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK || |
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| 291 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {
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| 292 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK) {
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| 293 | // turn left
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| 294 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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| 295 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) { |
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| 296 | // turn right
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| 297 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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| 298 | } |
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| 299 | // both front sensors may detect a line
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| 300 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY && |
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| 301 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
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| 302 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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| 303 | // turn left
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| 304 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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| 305 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
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| 306 | // turn right
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| 307 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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| 308 | } |
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| 309 | // exactly one front sensor may detect a line
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| 310 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY || |
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| 311 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
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| 312 | if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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| 313 | // turn left
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| 314 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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| 315 | } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
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| 316 | // turn right
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| 317 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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| 318 | } |
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| 319 | // both wheel sensors may detect a line
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| 320 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY && |
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| 321 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
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| 322 | // something is wrong -> stop
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| 323 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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| 324 | // exactly one wheel sensor may detect a line
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| 325 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY || |
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| 326 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
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| 327 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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| 328 | // turn left
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| 329 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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| 330 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
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| 331 | // turn right
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| 332 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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| 333 | } |
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| 334 | // no sensor detects anything
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| 335 | } else {
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| 336 | // line is lost -> stop
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| 337 | whiteFlag = 1;
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| 338 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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| 339 | } |
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| 340 | chprintf((BaseSequentialStream*) &SD1, "Fuzzy Speed: Left: %d, Right: %d\n", rpmFuzzyCtrl[0], rpmFuzzyCtrl[1]); |
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| 341 | return;
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| 342 | } |
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| 343 | |||
| 344 | colorMember LineFollow::getMember(float (&fuzzyValue)[3]) { |
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| 345 | colorMember member; |
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| 346 | |||
| 347 | if (fuzzyValue[BLACK] > fuzzyValue[GREY])
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| 348 | if (fuzzyValue[BLACK] > fuzzyValue[WHITE])
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| 349 | member = BLACK; |
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| 350 | else
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| 351 | member = WHITE; |
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| 352 | else
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| 353 | if (fuzzyValue[GREY] > fuzzyValue[WHITE])
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| 354 | member = GREY; |
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| 355 | else
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| 356 | member = WHITE; |
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| 357 | |||
| 358 | return member;
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| 359 | } |
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| 360 | |||
| 361 | // Fuzzyfication of the sensor values
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| 362 | void LineFollow::fuzzyfication(int sensorValue, float (&fuzziedValue)[3]) { |
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| 363 | if (sensorValue < blackStartFalling ) {
|
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| 364 | // Only black value
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| 365 | fuzziedValue[BLACK] = 1.0f; |
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| 366 | fuzziedValue[GREY] = 0.0f; |
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| 367 | fuzziedValue[WHITE] = 0.0f; |
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| 368 | } else if (sensorValue > whiteOn ) { |
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| 369 | // Only white value
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| 370 | fuzziedValue[BLACK] = 0.0f; |
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| 371 | fuzziedValue[GREY] = 0.0f; |
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| 372 | fuzziedValue[WHITE] = 1.0f; |
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| 373 | } else if ( sensorValue < greyMax) { |
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| 374 | // Some greyisch value between black and grey
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| 375 | |||
| 376 | // Black is going down
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| 377 | if ( sensorValue > blackOff) {
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| 378 | fuzziedValue[BLACK] = 0.0f; |
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| 379 | } else {
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| 380 | fuzziedValue[BLACK] = static_cast<float>(sensorValue-blackOff) / (blackStartFalling-blackOff); |
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| 381 | } |
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| 382 | |||
| 383 | // Grey is going up
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| 384 | if ( sensorValue < greyStartRising) {
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| 385 | fuzziedValue[GREY] = 0.0f; |
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| 386 | } else {
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| 387 | fuzziedValue[GREY] = static_cast<float>(sensorValue-greyStartRising) / (greyMax-greyStartRising); |
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| 388 | } |
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| 389 | |||
| 390 | // White is absent
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| 391 | fuzziedValue[WHITE] = 0.0f; |
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| 392 | |||
| 393 | } else if ( sensorValue >= greyMax) { |
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| 394 | // Some greyisch value between grey white
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| 395 | |||
| 396 | // Black is absent
|
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| 397 | fuzziedValue[BLACK] = 0.0f; |
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| 398 | |||
| 399 | // Grey is going down
|
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| 400 | if ( sensorValue < greyOff) {
|
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| 401 | fuzziedValue[GREY] = static_cast<float>(sensorValue-greyOff) / (greyMax-greyOff); |
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| 402 | } else {
|
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| 403 | fuzziedValue[GREY] = 0.0f; |
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| 404 | } |
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| 405 | |||
| 406 | // White is going up
|
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| 407 | if ( sensorValue < whiteStartRising) {
|
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| 408 | fuzziedValue[WHITE] = 0.0f; |
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| 409 | } else {
|
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| 410 | fuzziedValue[WHITE] = static_cast<float>(sensorValue-whiteStartRising) / (whiteOn-whiteStartRising); |
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| 411 | } |
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| 412 | } |
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| 413 | } |
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| 414 | |||
| 415 | void LineFollow::copyRpmSpeed(const int (&source)[2], int (&target)[2]) { |
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| 416 | target[constants::DiWheelDrive::LEFT_WHEEL] = source[constants::DiWheelDrive::LEFT_WHEEL]; |
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| 417 | target[constants::DiWheelDrive::RIGHT_WHEEL] = source[constants::DiWheelDrive::RIGHT_WHEEL]; |
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| 418 | // chprintf((BaseSequentialStream*) &SD1, "Speed left: %d, Speed right: %d\r\n", target[0], target[1]);
|
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| 419 | } |