AMiRo-OS

#include "userthread.hpp"

#include "global.hpp"

#include "linefollow2.hpp" 

using namespace amiro;

extern Global global;

// State machine states

enum states : uint8_t {

        IDLE,

        GO_RIGHT,

        GO_STRAIGHT,

        PARKING,

        PARKING_RIGHT,

        PARKING_LEFT,

        GO_LEFT,

        SPINNING_PARKING,

        SPINNING

};

// Policy

states policy[] = {

  GO_STRAIGHT,

  GO_RIGHT,

  GO_RIGHT,

  GO_STRAIGHT,

  GO_RIGHT,

  GO_STRAIGHT,

  GO_RIGHT,

  GO_STRAIGHT,

  GO_STRAIGHT,

  GO_RIGHT,

  GO_STRAIGHT,

  GO_RIGHT,

  GO_STRAIGHT

};

// The different classes (or members) of color discrimination

// BLACK is the line itselfe

// GREY is the boarder between the line and the surface

// WHITE is the common surface

enum colorMember : uint8_t {

        BLACK=0,

        GREY=1,

        WHITE=2

};

// a buffer for the z-value of the accelerometer

int16_t accel_z;

bool running;

// Get some information about the policy

const int sizeOfPolicy = sizeof(policy) / sizeof(states);

int policyCounter = 0; // Do not change this, it points to the beginning of the policy

// Different speed settings (all values in "rounds per minute")

const int rpmTurnLeft[2] = {-10, 10};

const int rpmTurnRight[2] = {rpmTurnLeft[1],rpmTurnLeft[0]};

const int rpmHalt[2] = {0, 0};

// Definition of the fuzzyfication function

//  | Membership

// 1|_B__   G    __W__

//  |    \  /\  /

//  |     \/  \/

//  |_____/\__/\______ Sensor values

// SEE MATLAB SCRIPT "fuzzyRule.m" for adjusting the values

// All values are "raw sensor values"

/* Use these values for white ground surface (e.g. paper) */

const int blackStartFalling = 0x1000; // Where the black curve starts falling

const int blackOff = 0x1800; // Where no more black is detected

const int whiteStartRising = 0x2800; // Where the white curve starts rising

const int whiteOn = 0x6000; // Where the white curve has reached the maximum value

const int greyMax = (whiteOn + blackStartFalling) / 2; // Where grey has its maximum

const int greyStartRising = blackStartFalling; // Where grey starts rising

const int greyOff = whiteOn; // Where grey is completely off again

/* Use these values for gray ground surfaces */

/*

const int blackStartFalling = 0x1000; // Where the black curve starts falling

const int blackOff = 0x2800; // Where no more black is detected

const int whiteStartRising = 0x4000; // Where the white curve starts rising

const int whiteOn = 0x5000; // Where the white curve starts rising

const int greyMax = (whiteOn + blackStartFalling) / 2; // Where grey has its maximum

const int greyStartRising = blackStartFalling; // Where grey starts rising

const int greyOff = whiteOn; // Where grey is completely off again

*/

int vcnl4020AmbientLight[4] = {0};

int vcnl4020Proximity[4] = {0};

// Border for the discrimination between black and white

const int discrBlackWhite = 16000; // border in "raw sensor values"

// Discrimination between black and white (returns BLACK or WHITE)

// The border was calculated by a MAP-decider

colorMember discrimination(int value) {

        if (value < discrBlackWhite)

                return BLACK;

        else

                return WHITE;

}

// Copy the speed from the source to the target array

void copyRpmSpeed(const int (&source)[2], int (&target)[2]) {

        target[constants::DiWheelDrive::LEFT_WHEEL] = source[constants::DiWheelDrive::LEFT_WHEEL];

        target[constants::DiWheelDrive::RIGHT_WHEEL] = source[constants::DiWheelDrive::RIGHT_WHEEL];

        // chprintf((BaseSequentialStream*) &SD1, "Speed left: %d, Speed right: %d\r\n", target[0], target[1]);

}

// Fuzzyfication of the sensor values

void fuzzyfication(int sensorValue, float (&fuzziedValue)[3]) {

        if (sensorValue < blackStartFalling ) {

                // Only black value

                fuzziedValue[BLACK] = 1.0f;

                fuzziedValue[GREY] = 0.0f;

                fuzziedValue[WHITE] = 0.0f;

        } else if (sensorValue > whiteOn ) {

                // Only white value

                fuzziedValue[BLACK] = 0.0f;

                fuzziedValue[GREY] = 0.0f;

                fuzziedValue[WHITE] = 1.0f;

        } else if ( sensorValue < greyMax) {

                // Some greyisch value between black and grey

                // Black is going down

                if ( sensorValue > blackOff) {

                        fuzziedValue[BLACK] = 0.0f;

                } else {

                        fuzziedValue[BLACK] = static_cast<float>(sensorValue-blackOff) / (blackStartFalling-blackOff);

                }

                // Grey is going up

                if ( sensorValue < greyStartRising) {

                        fuzziedValue[GREY] = 0.0f;

                } else {

                        fuzziedValue[GREY] = static_cast<float>(sensorValue-greyStartRising) / (greyMax-greyStartRising);

                }

                // White is absent

                fuzziedValue[WHITE] = 0.0f;

        } else if ( sensorValue >= greyMax) {

                // Some greyisch value between grey white

                // Black is absent

                fuzziedValue[BLACK] = 0.0f;

                // Grey is going down

                if ( sensorValue < greyOff) {

                        fuzziedValue[GREY] = static_cast<float>(sensorValue-greyOff) / (greyMax-greyOff);

                } else {

                        fuzziedValue[GREY] = 0.0f;

                }

                // White is going up

                if ( sensorValue < whiteStartRising) {

                        fuzziedValue[WHITE] = 0.0f;

                } else {

                        fuzziedValue[WHITE] = static_cast<float>(sensorValue-whiteStartRising) / (whiteOn-whiteStartRising);

                }

        }

}

// Return the color, which has the highest fuzzy value

colorMember getMember(float (&fuzzyValue)[3]) {

        colorMember member;

        if (fuzzyValue[BLACK] > fuzzyValue[GREY])

                if (fuzzyValue[BLACK] > fuzzyValue[WHITE])

                        member = BLACK;

                else

                        member = WHITE;

        else

                if (fuzzyValue[GREY] > fuzzyValue[WHITE])

                        member = GREY;

                else

                        member = WHITE;

        return member;

}

// Get a crisp output for the steering commands

void defuzzyfication(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]) {

        // all sensors are equal

        if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_LEFT] &&

            member[constants::DiWheelDrive::PROX_FRONT_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_RIGHT] &&

            member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == member[constants::DiWheelDrive::PROX_WHEEL_RIGHT]) {

                // something is wrong -> stop

                copyRpmSpeed(rpmHalt, rpmFuzzyCtrl);

        // both front sensor detect a line

        } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK &&

            member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {

                // straight

                copyRpmSpeed(global.rpmForward, rpmFuzzyCtrl);

        // exact one front sensor detects a line

        } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK ||

                   member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {

                // soft correction

                if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {

                        // soft right

                        copyRpmSpeed(global.rpmSoftRight, rpmFuzzyCtrl);

                } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == WHITE) {

                        // hard right

                        copyRpmSpeed(global.rpmHardRight, rpmFuzzyCtrl);

                } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {

                        // soft left

                        copyRpmSpeed(global.rpmSoftLeft, rpmFuzzyCtrl);

                } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE) {

                        // hard left

                        copyRpmSpeed(global.rpmHardLeft, rpmFuzzyCtrl);

                }

        // both wheel sensors detect a line

        } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK &&

                   member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {

                // something is wrong -> stop

                copyRpmSpeed(rpmHalt, rpmFuzzyCtrl);

        // exactly one wheel sensor detects a line

        } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK ||

                   member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {

                if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK) {

                        // turn left

                        copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl);

                } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {

                        // turn right

                        copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl);

                }

        // both front sensors may detect a line

        } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY &&

                   member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {

                if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {

                        // turn left

                        copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl);

                } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {

                        // turn right

                        copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl);

                }

        // exactly one front sensor may detect a line

        } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY ||

                   member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {

                if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {

                        // turn left

                        copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl);

                } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {

                        // turn right

                        copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl);

                }

        // both wheel sensors may detect a line

        } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY &&

                   member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {

                // something is wrong -> stop

                copyRpmSpeed(rpmHalt, rpmFuzzyCtrl);

        // exactly one wheel sensor may detect a line

        } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY ||

                   member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {

                if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {

                        // turn left

                        copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl);

                } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {

                        // turn right

                        copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl);

                }

        // no sensor detects anything 

        } else {

                // line is lost -> stop

                copyRpmSpeed(rpmHalt, rpmFuzzyCtrl);

        }

        return;

}

Color memberToLed(colorMember member) {

        switch (member) {

                case BLACK:

                        return Color(Color::GREEN);

                case GREY:

                        return Color(Color::YELLOW);

                case WHITE:

                        return Color(Color::RED);

                default:

                        return Color(Color::WHITE);

        }

}

//void lineFollowing_new(xyz) {}

void defuzz(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]){

        // all sensors are equal

        // if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_LEFT] &&

        //     member[constants::DiWheelDrive::PROX_FRONT_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_RIGHT] &&

        //     member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == member[constants::DiWheelDrive::PROX_WHEEL_RIGHT]) {

        //         // something is wrong -> stop

        //         copyRpmSpeed(rpmHalt, rpmFuzzyCtrl);

        // // both front sensor detect a line

        if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK &&

            (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY)) {

                // straight

                copyRpmSpeed(global.rpmForward, rpmFuzzyCtrl);

        // Deviation to right

        } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK

                && member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE){

                        copyRpmSpeed(global.rpmSoftLeft, rpmFuzzyCtrl);

        // Deviation to left

        }else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK

                && member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK){

                        copyRpmSpeed(global.rpmSoftRight, rpmFuzzyCtrl);

        // Hard deviatio to right

        }else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY

                && member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE){

                        copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl);

        // Hard deviation to left

        }else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY

                && member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK){

                        copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl);

        // stop if white

        }else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == WHITE

                && member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE ){

                        copyRpmSpeed(rpmHalt, rpmFuzzyCtrl);

        }

}

// Line following by a fuzzy controler

void lineFollowing(int (&proximity)[4], int (&rpmFuzzyCtrl)[2]) {

        // FUZZYFICATION

        // First we need to get the fuzzy value for our 3 values {BLACK, GREY, WHITE}

        float leftWheelFuzzyMemberValues[3], leftFrontFuzzyMemberValues[3], rightFrontFuzzyMemberValues[3], rightWheelFuzzyMemberValues[3];

        fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], leftWheelFuzzyMemberValues);

        fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], leftFrontFuzzyMemberValues);

        fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], rightFrontFuzzyMemberValues);

        fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], rightWheelFuzzyMemberValues);

        // INFERENCE RULE DEFINITION

        // Get the member for each sensor

        colorMember member[4];

        member[constants::DiWheelDrive::PROX_WHEEL_LEFT] = getMember(leftWheelFuzzyMemberValues);

        member[constants::DiWheelDrive::PROX_FRONT_LEFT] = getMember(leftFrontFuzzyMemberValues);

        member[constants::DiWheelDrive::PROX_FRONT_RIGHT] = getMember(rightFrontFuzzyMemberValues);

        member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] = getMember(rightWheelFuzzyMemberValues);

        // visualize sensors via LEDs

        global.robot.setLightColor(constants::LightRing::LED_WNW, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_LEFT]));

        global.robot.setLightColor(constants::LightRing::LED_NNW, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_LEFT]));

        global.robot.setLightColor(constants::LightRing::LED_NNE, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_RIGHT]));

        global.robot.setLightColor(constants::LightRing::LED_ENE, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_RIGHT]));

        // chprintf((BaseSequentialStream*) &SD1, "Left: BLACK: %f, GREY: %f, WHITE: %f\r\n", leftWheelFuzzyMemberValues[BLACK], leftWheelFuzzyMemberValues[GREY], leftWheelFuzzyMemberValues[WHITE]);

        // chprintf((BaseSequentialStream*) &SD1, "Right: BLACK: %f, GREY: %f, WHITE: %f\r\n", rightFuzzyMemberValues[BLACK], rightFuzzyMemberValues[GREY], rightFuzzyMemberValues[WHITE]);

        // DEFUZZYFICATION

        // defuzzyfication(member, rpmFuzzyCtrl);

        defuzz(member, rpmFuzzyCtrl);

}

// Set the speed by the array

void setRpmSpeed(const int (&rpmSpeed)[2]) {

        global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000);

}

// Get the next policy rule

states getNextPolicy() {

        // If the policy is over, start again

        if (policyCounter >= sizeOfPolicy)

                policyCounter = 3;

        return policy[policyCounter++];

}

UserThread::UserThread() :

  chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>()

{

}

UserThread::~UserThread()

{

}

msg_t

UserThread::main()

{

        /*

         * SETUP

         */

        int rpmFuzzyCtrl[2] = {0};

    for (uint8_t led = 0; led < 8; ++led) {

                global.robot.setLightColor(led, Color(Color::BLACK));

    }

    running = false;

        LineFollow lf;

        /*

         * LOOP

         */

        while (!this->shouldTerminate())

        {

        /*

         * read accelerometer z-value

         */

        accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z);

        /*

         * evaluate the accelerometer

         */

        //Features over can: (Line Following)

        //SetKP

        //SetKI

        //SetKd ?

        //SetSleepTime

        //SeForwardSpeed? or SetMaxSpeed

        //DriveOnLeftLine

        //DriveOnRightLine

        //if accel_z<-900

                //send can event (one time)

                // Line following is started if amiro roteted

        if (accel_z < -900 /*-0.9g*/) { //new: (can.allowLineFollowOnTurn && accel_z < 900) || can.startLineFollow optional feature

            if (running) {

                // stop the robot

                running = false;

                global.motorcontrol.setTargetRPM(0, 0);

            } else {

                // start the robot

                running = true;

            }

            // set the front LEDs to blue for one second

            global.robot.setLightColor(constants::LightRing::LED_SSW, Color(Color::BLACK));

            global.robot.setLightColor(constants::LightRing::LED_WSW, Color(Color::BLACK));

            global.robot.setLightColor(constants::LightRing::LED_WNW, Color(Color::WHITE));

            global.robot.setLightColor(constants::LightRing::LED_NNW, Color(Color::WHITE));

            global.robot.setLightColor(constants::LightRing::LED_NNE, Color(Color::WHITE));

            global.robot.setLightColor(constants::LightRing::LED_ENE, Color(Color::WHITE));

            global.robot.setLightColor(constants::LightRing::LED_ESE, Color(Color::BLACK));

            global.robot.setLightColor(constants::LightRing::LED_SSE, Color(Color::BLACK));

            this->sleep(MS2ST(1000));

            global.robot.setLightColor(constants::LightRing::LED_WNW, Color(Color::BLACK));

            global.robot.setLightColor(constants::LightRing::LED_NNW, Color(Color::BLACK));

            global.robot.setLightColor(constants::LightRing::LED_NNE, Color(Color::BLACK));

            global.robot.setLightColor(constants::LightRing::LED_ENE, Color(Color::BLACK));

        }

        if (running) {

            // Read the proximity values

            for (int i = 0; i < 4; i++) {

                vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();

                vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset();

            }

                        lf.followLine(vcnl4020Proximity, rpmFuzzyCtrl, &global);

            // chprintf((BaseSequentialStream*) &SD1, "0x%04X 0x%04X 0x%04X 0x%04X\n",

            //         vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT],

            //         vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT],

            //         vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT],

            //         vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT]);

        //if (configLineFollowing==2)

        //   lineFollownew

        //else

            // lineFollowing(vcnl4020Proximity, rpmFuzzyCtrl, &global);

            // setRpmSpeed(rpmFuzzyCtrl);

        }

                // this->sleep(US2ST(5));

                this->sleep(CAN::UPDATE_PERIOD);

        }

  return RDY_OK;

}