| 1 |
1 |
#include "userthread.hpp"
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|
2 |
#include "amiro/Constants.h"
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| 2 |
3 |
#include "amiro_map.hpp"
|
| 3 |
4 |
#include "global.hpp"
|
| 4 |
5 |
#include "linefollow.hpp"
|
| ... | ... | |
| 273 |
274 |
for (uint8_t led = 0; led < 8; ++led) {
|
| 274 |
275 |
global.robot.setLightColor(led, Color(Color::BLACK));
|
| 275 |
276 |
}
|
|
277 |
|
|
278 |
// State Variables
|
|
279 |
ut_states prevState = ut_states::UT_IDLE;
|
|
280 |
ut_states currentState = ut_states::UT_INACTIVE;
|
|
281 |
ut_states newState = ut_states::UT_INACTIVE;
|
|
282 |
|
|
283 |
|
| 276 |
284 |
running = false;
|
| 277 |
285 |
LineFollowStrategy lStrategy = LineFollowStrategy::EDGE_RIGHT;
|
| 278 |
286 |
LineFollow lf(&global);
|
| ... | ... | |
| 289 |
297 |
|
| 290 |
298 |
if (accel_z < -900 /*-0.9g*/) {
|
| 291 |
299 |
// Start line following when AMiRo is rotated
|
| 292 |
|
if(currentState == states::INACTIVE){
|
| 293 |
|
newState = states::FOLLOW_LINE;
|
|
300 |
if(currentState == ut_states::UT_INACTIVE){
|
|
301 |
newState = ut_states::UT_FOLLOW_LINE;
|
| 294 |
302 |
}else{
|
| 295 |
|
newState = states::IDLE;
|
|
303 |
newState = ut_states::UT_IDLE;
|
| 296 |
304 |
}
|
| 297 |
305 |
lightAllLeds(Color::GREEN);
|
| 298 |
306 |
this->sleep(1000);
|
| ... | ... | |
| 304 |
312 |
// running = true;
|
| 305 |
313 |
switch(global.lfStrategy){
|
| 306 |
314 |
case msg_content::MSG_START:
|
| 307 |
|
newState = states::CALIBRATION_CHECK;
|
|
315 |
newState = ut_states::UT_CALIBRATION_CHECK;
|
| 308 |
316 |
break;
|
| 309 |
317 |
case msg_content::MSG_STOP:
|
| 310 |
|
newState = states::IDLE;
|
|
318 |
newState = ut_states::UT_IDLE;
|
| 311 |
319 |
break;
|
| 312 |
320 |
case msg_content::MSG_EDGE_RIGHT:
|
| 313 |
|
// newState = states::FOLLOW_LINE;
|
|
321 |
// newState = ut_states::UT_FOLLOW_LINE;
|
| 314 |
322 |
lStrategy = LineFollowStrategy::EDGE_RIGHT;
|
| 315 |
323 |
break;
|
| 316 |
324 |
case msg_content::MSG_EDGE_LEFT:
|
| 317 |
|
// newState = states::FOLLOW_LINE;
|
|
325 |
// newState = ut_states::UT_FOLLOW_LINE;
|
| 318 |
326 |
lStrategy = LineFollowStrategy::EDGE_LEFT;
|
| 319 |
327 |
break;
|
| 320 |
328 |
case msg_content::MSG_FUZZY:
|
| 321 |
|
// newState = states::FOLLOW_LINE;
|
|
329 |
// newState = ut_states::UT_FOLLOW_LINE;
|
| 322 |
330 |
lStrategy = LineFollowStrategy::FUZZY;
|
| 323 |
331 |
break;
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| 324 |
332 |
case msg_content::MSG_DOCK:
|
| 325 |
|
newState = states::DETECT_STATION;
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|
333 |
newState = ut_states::UT_DETECT_STATION;
|
| 326 |
334 |
break;
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| 327 |
335 |
case msg_content::MSG_UNDOCK:
|
| 328 |
|
newState = states::RELEASE;
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|
336 |
newState = ut_states::UT_RELEASE;
|
| 329 |
337 |
break;
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| 330 |
338 |
case msg_content::MSG_CHARGE:
|
| 331 |
|
newState = states::CHARGING;
|
|
339 |
newState = ut_states::UT_CHARGING;
|
| 332 |
340 |
break;
|
| 333 |
341 |
case msg_content::MSG_RESET_ODOMETRY:
|
| 334 |
342 |
global.odometry.resetPosition();
|
| ... | ... | |
| 336 |
344 |
case msg_content::MSG_CALIBRATE_BLACK:
|
| 337 |
345 |
proxCalib.calibrateBlack = true;
|
| 338 |
346 |
// global.odometry.resetPosition();
|
| 339 |
|
newState = states::CALIBRATION;
|
|
347 |
newState = ut_states::UT_CALIBRATION;
|
| 340 |
348 |
break;
|
| 341 |
349 |
case msg_content::MSG_CALIBRATE_WHITE:
|
| 342 |
350 |
proxCalib.calibrateBlack = false;
|
| 343 |
|
newState = states::CALIBRATION;
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|
351 |
newState = ut_states::UT_CALIBRATION;
|
| 344 |
352 |
break;
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| 345 |
353 |
case msg_content::MSG_TEST_MAP_STATE:
|
| 346 |
|
newState = states::TEST_MAP_STATE;
|
|
354 |
if (AMIRO_MAP_AUTO_TRACKING){
|
|
355 |
newState = ut_states::UT_TEST_MAP_AUTO_STATE;
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|
356 |
}else {
|
|
357 |
newState = ut_states::UT_TEST_MAP_STATE;
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|
358 |
}
|
|
359 |
|
| 347 |
360 |
break;
|
| 348 |
361 |
|
| 349 |
362 |
default:
|
| 350 |
|
newState = states::IDLE;
|
|
363 |
newState = ut_states::UT_IDLE;
|
| 351 |
364 |
break;
|
| 352 |
365 |
}
|
| 353 |
366 |
}
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| 354 |
367 |
// newState = currentState;
|
| 355 |
368 |
|
| 356 |
369 |
// Get sensor data
|
| 357 |
|
// uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
| 358 |
|
// uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset();
|
|
370 |
uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
|
371 |
uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset();
|
| 359 |
372 |
for(int i=0; i<8;i++){
|
| 360 |
373 |
rProx[i] = global.robot.getProximityRingValue(i);
|
| 361 |
374 |
}
|
| ... | ... | |
| 365 |
378 |
// int FL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
| 366 |
379 |
// int FR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
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| 367 |
380 |
switch(currentState){
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| 368 |
|
case states::INACTIVE:
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|
381 |
case ut_states::UT_INACTIVE:
|
| 369 |
382 |
// Dummy state to deactivate every interaction
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| 370 |
383 |
break;
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| 371 |
384 |
// ---------------------------------------
|
| 372 |
|
case states::CALIBRATION_CHECK:
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|
385 |
case ut_states::UT_CALIBRATION_CHECK:
|
| 373 |
386 |
// global.robot.calibrate();
|
| 374 |
387 |
if(global.linePID.BThresh >= global.linePID.WThresh){
|
| 375 |
|
newState = states::CALIBRATION_ERROR;
|
|
388 |
newState = ut_states::UT_CALIBRATION_ERROR;
|
| 376 |
389 |
}else{
|
| 377 |
|
newState = states::FOLLOW_LINE;
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|
390 |
newState = ut_states::UT_FOLLOW_LINE;
|
| 378 |
391 |
}
|
| 379 |
392 |
break;
|
| 380 |
393 |
// ---------------------------------------
|
| 381 |
|
case states::CALIBRATION:
|
|
394 |
case ut_states::UT_CALIBRATION:
|
| 382 |
395 |
/* Calibrate the global thresholds for black or white.
|
| 383 |
396 |
This values will be used by the line follow object
|
| 384 |
397 |
*/
|
| ... | ... | |
| 402 |
415 |
}
|
| 403 |
416 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Black: %d, White: %d!\n", global.linePID.BThresh, global.linePID.WThresh);
|
| 404 |
417 |
|
| 405 |
|
newState = states::IDLE;
|
|
418 |
newState = ut_states::UT_IDLE;
|
| 406 |
419 |
break;
|
| 407 |
420 |
// ---------------------------------------
|
| 408 |
|
case states::IDLE:
|
|
421 |
case ut_states::UT_IDLE:
|
| 409 |
422 |
global.motorcontrol.setMotorEnable(true);
|
| 410 |
423 |
setRpmSpeed(stop);
|
| 411 |
424 |
if(/* checkPinVoltage() && */ checkPinEnabled()){
|
| ... | ... | |
| 416 |
429 |
utCount.whiteCount = 0;
|
| 417 |
430 |
utCount.ringProxCount = 0;
|
| 418 |
431 |
utCount.errorCount = 0;
|
| 419 |
|
newState = states::INACTIVE;
|
|
432 |
newState = ut_states::UT_INACTIVE;
|
| 420 |
433 |
break;
|
| 421 |
434 |
// ---------------------------------------
|
| 422 |
|
case states::FOLLOW_LINE:
|
|
435 |
case ut_states::UT_FOLLOW_LINE:
|
| 423 |
436 |
// Set correct forward speed to every strategy
|
| 424 |
437 |
if (global.forwardSpeed != global.rpmForward[0]){
|
| 425 |
438 |
global.forwardSpeed = global.rpmForward[0];
|
| ... | ... | |
| 434 |
447 |
if(utCount.whiteCount >= WHITE_DETETION_TIMEOUT){
|
| 435 |
448 |
setRpmSpeed(stop);
|
| 436 |
449 |
utCount.whiteCount = 0;
|
| 437 |
|
newState = states::WHITE_DETECTION_ERROR;
|
|
450 |
newState = ut_states::UT_WHITE_DETECTION_ERROR;
|
| 438 |
451 |
}
|
| 439 |
452 |
}else{
|
| 440 |
453 |
utCount.whiteCount = 0;
|
| ... | ... | |
| 454 |
467 |
// // BaseThread::sleep(8000);
|
| 455 |
468 |
// checkForMotion();
|
| 456 |
469 |
this->utCount.whiteCount = 0;
|
| 457 |
|
newState = states::TURN;
|
|
470 |
newState = ut_states::UT_TURN;
|
| 458 |
471 |
// lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT);
|
| 459 |
472 |
} else {
|
| 460 |
|
newState = states::PROXY_DETECTION_ERROR;
|
|
473 |
newState = ut_states::UT_PROXY_DETECTION_ERROR;
|
| 461 |
474 |
}
|
| 462 |
475 |
}
|
| 463 |
476 |
|
| ... | ... | |
| 470 |
483 |
|
| 471 |
484 |
break;
|
| 472 |
485 |
// ---------------------------------------
|
| 473 |
|
case states::TURN:{
|
|
486 |
case ut_states::UT_TURN:{
|
| 474 |
487 |
// Check the line strategy in order to continue driving on the right side
|
| 475 |
488 |
int factor = SPEED_CONVERSION_FACTOR;
|
| 476 |
489 |
int frontL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
| ... | ... | |
| 492 |
505 |
}else {
|
| 493 |
506 |
if((utCount.whiteCount == 1) && (blackSensor <= global.linePID.BThresh)){
|
| 494 |
507 |
utCount.whiteCount = 0;
|
| 495 |
|
newState = states::FOLLOW_LINE;
|
|
508 |
newState = ut_states::UT_FOLLOW_LINE;
|
| 496 |
509 |
setRpmSpeed(stop);
|
| 497 |
510 |
}
|
| 498 |
511 |
}
|
| 499 |
512 |
break;
|
| 500 |
513 |
}
|
| 501 |
514 |
// ---------------------------------------
|
| 502 |
|
case states::DETECT_STATION:
|
|
515 |
case ut_states::UT_DETECT_STATION:
|
| 503 |
516 |
|
| 504 |
517 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 505 |
518 |
global.forwardSpeed = DETECTION_SPEED;
|
| ... | ... | |
| 521 |
534 |
global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
|
| 522 |
535 |
// BaseThread::sleep(8000);
|
| 523 |
536 |
checkForMotion();
|
| 524 |
|
newState = states::CORRECT_POSITIONING;
|
|
537 |
newState = ut_states::UT_CORRECT_POSITIONING;
|
| 525 |
538 |
}
|
| 526 |
539 |
break;
|
| 527 |
540 |
// ---------------------------------------
|
| 528 |
|
case states::CORRECT_POSITIONING:
|
|
541 |
case ut_states::UT_CORRECT_POSITIONING:
|
| 529 |
542 |
if (global.forwardSpeed != CHARGING_SPEED){
|
| 530 |
543 |
global.forwardSpeed = CHARGING_SPEED;
|
| 531 |
544 |
}
|
| ... | ... | |
| 538 |
551 |
utCount.stateTime++;
|
| 539 |
552 |
if (utCount.stateTime >= DOCKING_CORRECTION_TIMEOUT){
|
| 540 |
553 |
utCount.stateTime = 0;
|
| 541 |
|
newState = states::REVERSE;
|
|
554 |
newState = ut_states::UT_REVERSE;
|
| 542 |
555 |
setRpmSpeed(stop);
|
| 543 |
556 |
checkForMotion();
|
| 544 |
557 |
}
|
| 545 |
558 |
break;
|
| 546 |
559 |
// ---------------------------------------
|
| 547 |
|
case states::REVERSE:
|
|
560 |
case ut_states::UT_REVERSE:
|
| 548 |
561 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 549 |
562 |
lf.setStrategy(LineFollowStrategy::REVERSE);
|
| 550 |
563 |
}
|
| ... | ... | |
| 559 |
572 |
// setRpmSpeed(stop);
|
| 560 |
573 |
// checkForMotion();
|
| 561 |
574 |
utCount.stateTime = 0;
|
| 562 |
|
newState = states::PUSH_BACK;
|
|
575 |
newState = ut_states::UT_PUSH_BACK;
|
| 563 |
576 |
}else if ((devCor.currentDeviation <= -MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){
|
| 564 |
577 |
// Case R
|
| 565 |
578 |
utCount.stateTime = 0;
|
| 566 |
579 |
setRpmSpeed(stop);
|
| 567 |
580 |
devCor.RCase = true;
|
| 568 |
581 |
lightAllLeds(Color::YELLOW);
|
| 569 |
|
newState = states::DEVIATION_CORRECTION;
|
|
582 |
newState = ut_states::UT_DEVIATION_CORRECTION;
|
| 570 |
583 |
}else if ((devCor.currentDeviation >= MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){
|
| 571 |
584 |
// Case L
|
| 572 |
585 |
utCount.stateTime = 0;
|
| 573 |
586 |
setRpmSpeed(stop);
|
| 574 |
587 |
devCor.RCase = false;
|
| 575 |
588 |
lightAllLeds(Color::WHITE);
|
| 576 |
|
newState = states::DEVIATION_CORRECTION;
|
|
589 |
newState = ut_states::UT_DEVIATION_CORRECTION;
|
| 577 |
590 |
}else if (utCount.stateTime >= REVERSE_DOCKING_TIMEOUT){
|
| 578 |
591 |
setRpmSpeed(stop);
|
| 579 |
592 |
utCount.stateTime = 0;
|
| 580 |
593 |
utCount.errorCount++;
|
| 581 |
594 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 582 |
|
newState = states::DOCKING_ERROR;
|
|
595 |
newState = ut_states::UT_DOCKING_ERROR;
|
| 583 |
596 |
}else{
|
| 584 |
|
newState = states::CORRECT_POSITIONING;
|
|
597 |
newState = ut_states::UT_CORRECT_POSITIONING;
|
| 585 |
598 |
}
|
| 586 |
599 |
}
|
| 587 |
600 |
|
| ... | ... | |
| 593 |
606 |
// setRpmSpeed(rpmSpeed);
|
| 594 |
607 |
break;
|
| 595 |
608 |
// ---------------------------------------
|
| 596 |
|
case states::DEVIATION_CORRECTION:
|
|
609 |
case ut_states::UT_DEVIATION_CORRECTION:
|
| 597 |
610 |
// if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 598 |
611 |
// lf.setStrategy(LineFollowStrategy::REVERSE);
|
| 599 |
612 |
// }
|
| ... | ... | |
| 619 |
632 |
setRpmSpeed(rpmSpeed);
|
| 620 |
633 |
if(((devCor.currentDeviation >= -5) && (devCor.currentDeviation <= 5))){
|
| 621 |
634 |
utCount.stateTime = 0;
|
| 622 |
|
newState = states::REVERSE;
|
|
635 |
newState = ut_states::UT_REVERSE;
|
| 623 |
636 |
setRpmSpeed(stop);
|
| 624 |
637 |
}
|
| 625 |
638 |
}else{
|
| 626 |
639 |
utCount.stateTime = 0;
|
| 627 |
|
newState = states::REVERSE;
|
|
640 |
newState = ut_states::UT_REVERSE;
|
| 628 |
641 |
setRpmSpeed(stop);
|
| 629 |
642 |
}
|
| 630 |
643 |
|
| ... | ... | |
| 633 |
646 |
|
| 634 |
647 |
// if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 635 |
648 |
// utCount.stateTime = 0;
|
| 636 |
|
// newState = states::CHECK_POSITIONING;
|
|
649 |
// newState = ut_states::UT_CHECK_POSITIONING;
|
| 637 |
650 |
// }
|
| 638 |
651 |
break;
|
| 639 |
652 |
// ---------------------------------------
|
| 640 |
|
case states::PUSH_BACK:
|
|
653 |
case ut_states::UT_PUSH_BACK:
|
| 641 |
654 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 642 |
655 |
lf.setStrategy(LineFollowStrategy::REVERSE);
|
| 643 |
656 |
}
|
| ... | ... | |
| 647 |
660 |
utCount.stateTime++;
|
| 648 |
661 |
if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 649 |
662 |
utCount.stateTime = 0;
|
| 650 |
|
newState = states::CHECK_POSITIONING;
|
|
663 |
newState = ut_states::UT_CHECK_POSITIONING;
|
| 651 |
664 |
}
|
| 652 |
665 |
break;
|
| 653 |
666 |
// ---------------------------------------
|
| 654 |
|
case states::CHECK_POSITIONING:
|
|
667 |
case ut_states::UT_CHECK_POSITIONING:
|
| 655 |
668 |
setRpmSpeed(stop);
|
| 656 |
669 |
checkForMotion();
|
| 657 |
670 |
if(checkDockingSuccess()){
|
| 658 |
|
newState = states::CHECK_VOLTAGE;
|
|
671 |
newState = ut_states::UT_CHECK_VOLTAGE;
|
| 659 |
672 |
}else{
|
| 660 |
673 |
utCount.errorCount++;
|
| 661 |
|
newState = states::CORRECT_POSITIONING;
|
|
674 |
newState = ut_states::UT_CORRECT_POSITIONING;
|
| 662 |
675 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 663 |
|
newState = states::DOCKING_ERROR;
|
|
676 |
newState = ut_states::UT_DOCKING_ERROR;
|
| 664 |
677 |
}
|
| 665 |
678 |
}
|
| 666 |
679 |
break;
|
| 667 |
680 |
// ---------------------------------------
|
| 668 |
|
case states::CHECK_VOLTAGE:
|
|
681 |
case ut_states::UT_CHECK_VOLTAGE:
|
| 669 |
682 |
if(!checkPinEnabled()){
|
| 670 |
683 |
global.robot.requestCharging(1);
|
| 671 |
684 |
} else {
|
| 672 |
685 |
if(checkPinVoltage()){
|
| 673 |
686 |
// Pins are under voltage -> correctly docked
|
| 674 |
687 |
|
| 675 |
|
newState = states::CHARGING;
|
|
688 |
newState = ut_states::UT_CHARGING;
|
| 676 |
689 |
}else{
|
| 677 |
690 |
utCount.errorCount++;
|
| 678 |
691 |
// No voltage on pins -> falsely docked
|
| ... | ... | |
| 681 |
694 |
global.robot.requestCharging(0);
|
| 682 |
695 |
// TODO: Soft release when docking falsely
|
| 683 |
696 |
if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){
|
| 684 |
|
newState = states::RELEASE_TO_CORRECT;
|
|
697 |
newState = ut_states::UT_RELEASE_TO_CORRECT;
|
| 685 |
698 |
} else {
|
| 686 |
|
newState = states::RELEASE_TO_CORRECT; //states::CORRECT_POSITIONING;
|
|
699 |
newState = ut_states::UT_RELEASE_TO_CORRECT; //ut_states::UT_CORRECT_POSITIONING;
|
| 687 |
700 |
}
|
| 688 |
701 |
|
| 689 |
702 |
if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
| 690 |
|
newState = states::DOCKING_ERROR;
|
|
703 |
newState = ut_states::UT_DOCKING_ERROR;
|
| 691 |
704 |
}
|
| 692 |
705 |
}
|
| 693 |
706 |
}
|
| 694 |
707 |
break;
|
| 695 |
708 |
// ---------------------------------------
|
| 696 |
|
case states::RELEASE_TO_CORRECT:
|
|
709 |
case ut_states::UT_RELEASE_TO_CORRECT:
|
| 697 |
710 |
|
| 698 |
711 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 699 |
712 |
checkForMotion();
|
| ... | ... | |
| 706 |
719 |
|
| 707 |
720 |
global.distcontrol.setTargetPosition(1500, 0, ROTATION_DURATION);
|
| 708 |
721 |
checkForMotion();
|
| 709 |
|
newState = states::CORRECT_POSITIONING;
|
|
722 |
newState = ut_states::UT_CORRECT_POSITIONING;
|
| 710 |
723 |
break;
|
| 711 |
724 |
// ---------------------------------------
|
| 712 |
|
case states::CHARGING:
|
|
725 |
case ut_states::UT_CHARGING:
|
| 713 |
726 |
global.motorcontrol.setMotorEnable(false);
|
| 714 |
727 |
utCount.errorCount = 0;
|
| 715 |
728 |
// Formulate Request to enable charging
|
| ... | ... | |
| 721 |
734 |
}
|
| 722 |
735 |
break;
|
| 723 |
736 |
// ---------------------------------------
|
| 724 |
|
case states::RELEASE:
|
|
737 |
case ut_states::UT_RELEASE:
|
| 725 |
738 |
|
| 726 |
739 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 727 |
740 |
global.rpmForward[0] = DETECTION_SPEED;
|
| ... | ... | |
| 744 |
757 |
// global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION);
|
| 745 |
758 |
// checkForMotion();
|
| 746 |
759 |
lStrategy = LineFollowStrategy::EDGE_RIGHT;
|
| 747 |
|
newState = states::FOLLOW_LINE;
|
|
760 |
newState = ut_states::UT_FOLLOW_LINE;
|
| 748 |
761 |
// whiteBuf = -100;
|
| 749 |
762 |
// lf.followLine(rpmSpeed);
|
| 750 |
763 |
// setRpmSpeed(rpmSpeed);
|
| ... | ... | |
| 752 |
765 |
// lightAllLeds(Color::BLACK);
|
| 753 |
766 |
break;
|
| 754 |
767 |
// ---------------------------------------
|
| 755 |
|
case states::DOCKING_ERROR:
|
| 756 |
|
newState = states::RELEASE;
|
|
768 |
case ut_states::UT_DOCKING_ERROR:
|
|
769 |
newState = ut_states::UT_RELEASE;
|
| 757 |
770 |
break;
|
| 758 |
771 |
// ---------------------------------------
|
| 759 |
|
case states::REVERSE_TIMEOUT_ERROR:
|
| 760 |
|
newState = states::IDLE;
|
|
772 |
case ut_states::UT_REVERSE_TIMEOUT_ERROR:
|
|
773 |
newState = ut_states::UT_IDLE;
|
| 761 |
774 |
break;
|
| 762 |
775 |
// ---------------------------------------
|
| 763 |
|
case states::CALIBRATION_ERROR:
|
| 764 |
|
newState = states::IDLE;
|
|
776 |
case ut_states::UT_CALIBRATION_ERROR:
|
|
777 |
newState = ut_states::UT_IDLE;
|
| 765 |
778 |
break;
|
| 766 |
779 |
// ---------------------------------------
|
| 767 |
|
case states::WHITE_DETECTION_ERROR:
|
| 768 |
|
newState = states::IDLE;
|
|
780 |
case ut_states::UT_WHITE_DETECTION_ERROR:
|
|
781 |
newState = ut_states::UT_IDLE;
|
| 769 |
782 |
break;
|
| 770 |
783 |
// ---------------------------------------
|
| 771 |
|
case states::PROXY_DETECTION_ERROR:
|
| 772 |
|
newState = states::IDLE;
|
|
784 |
case ut_states::UT_PROXY_DETECTION_ERROR:
|
|
785 |
newState = ut_states::UT_IDLE;
|
| 773 |
786 |
break;
|
| 774 |
787 |
// ---------------------------------------
|
| 775 |
|
case states::NO_CHARGING_POWER_ERROR:
|
| 776 |
|
newState = states::IDLE;
|
|
788 |
case ut_states::UT_NO_CHARGING_POWER_ERROR:
|
|
789 |
newState = ut_states::UT_IDLE;
|
| 777 |
790 |
break;
|
| 778 |
791 |
// ---------------------------------------
|
| 779 |
|
case states::UNKNOWN_STATE_ERROR:
|
| 780 |
|
newState = states::IDLE;
|
|
792 |
case ut_states::UT_UNKNOWN_STATE_ERROR:
|
|
793 |
newState = ut_states::UT_IDLE;
|
| 781 |
794 |
break;
|
| 782 |
795 |
// ---------------------------------------
|
| 783 |
|
case states::TEST_MAP_STATE:{
|
|
796 |
case ut_states::UT_TEST_MAP_AUTO_STATE:
|
|
797 |
chprintf((BaseSequentialStream *)&global.sercanmux1,
|
|
798 |
"Start autotracking: \n");
|
|
799 |
|
|
800 |
chprintf((BaseSequentialStream *)&global.sercanmux1,
|
|
801 |
"NodeCount: %d\n", map.getNodeCount());
|
|
802 |
for (int i=0; i<map.getNodeCount(); i++) {
|
|
803 |
chprintf((BaseSequentialStream *)&global.sercanmux1,
|
|
804 |
"ID: %d, l: %d, r: %d \n", map.getNodeList()[i].id,
|
|
805 |
map.getNodeList()[i].left, map.getNodeList()[i].right);
|
|
806 |
}
|
|
807 |
newState = UT_IDLE;
|
|
808 |
break;
|
|
809 |
case ut_states::UT_TEST_MAP_STATE:{
|
| 784 |
810 |
// Test suit for amiro map
|
| 785 |
811 |
|
| 786 |
812 |
|
| ... | ... | |
| 942 |
968 |
"Total: %d, Passed: %d, Failed: %d\n", global.tcase + 1, passed,
|
| 943 |
969 |
failed);
|
| 944 |
970 |
|
| 945 |
|
newState = states::IDLE;
|
|
971 |
newState = ut_states::UT_IDLE;
|
| 946 |
972 |
break;
|
| 947 |
973 |
}
|
| 948 |
974 |
// --------------------------------------------------
|
| 949 |
975 |
default:
|
| 950 |
|
newState = states::UNKNOWN_STATE_ERROR;
|
|
976 |
newState = ut_states::UT_UNKNOWN_STATE_ERROR;
|
| 951 |
977 |
break;
|
| 952 |
978 |
}
|
| 953 |
979 |
|
| 954 |
980 |
// In case a new state is set:
|
| 955 |
981 |
// 1. Record the state transition
|
|
982 |
if (AMIRO_MAP_AUTO_TRACKING) {
|
|
983 |
// map.trackUpdate(WL, WR, lStrategy, currentState);
|
|
984 |
}
|
|
985 |
|
| 956 |
986 |
if (currentState != newState){
|
| 957 |
987 |
|
| 958 |
988 |
global.stateTransitionCounter++;
|
| ... | ... | |
| 969 |
999 |
|
| 970 |
1000 |
// Increase state count for specific state
|
| 971 |
1001 |
// TODO: Improve with dictionary or other than switch case
|
| 972 |
|
if (newState == states::IDLE)
|
| 973 |
|
{global.stateTracker[states::IDLE] += 1;}
|
| 974 |
|
else if (newState == states::FOLLOW_LINE)
|
| 975 |
|
{global.stateTracker[states::FOLLOW_LINE] += 1;}
|
| 976 |
|
else if (newState == states::DETECT_STATION)
|
| 977 |
|
{global.stateTracker[states::DETECT_STATION] += 1;}
|
| 978 |
|
else if (newState == states::REVERSE)
|
| 979 |
|
{global.stateTracker[states::REVERSE] += 1;}
|
| 980 |
|
else if (newState == states::PUSH_BACK)
|
| 981 |
|
{global.stateTracker[states::PUSH_BACK] += 1;}
|
| 982 |
|
else if (newState == states::CHECK_POSITIONING)
|
| 983 |
|
{global.stateTracker[states::CHECK_POSITIONING] += 1;}
|
| 984 |
|
else if (newState == states::CHECK_VOLTAGE)
|
| 985 |
|
{global.stateTracker[states::CHECK_VOLTAGE] += 1;}
|
| 986 |
|
else if (newState == states::CHARGING)
|
| 987 |
|
{global.stateTracker[states::CHARGING] += 1;}
|
| 988 |
|
else if (newState == states::RELEASE)
|
| 989 |
|
{global.stateTracker[states::RELEASE] += 1;}
|
| 990 |
|
else if (newState == states::RELEASE_TO_CORRECT)
|
| 991 |
|
{global.stateTracker[states::RELEASE_TO_CORRECT] += 1;}
|
| 992 |
|
else if (newState == states::CORRECT_POSITIONING)
|
| 993 |
|
{global.stateTracker[states::CORRECT_POSITIONING] += 1;}
|
| 994 |
|
else if (newState == states::TURN)
|
| 995 |
|
{global.stateTracker[states::TURN] += 1;}
|
| 996 |
|
else if (newState == states::INACTIVE)
|
| 997 |
|
{global.stateTracker[states::INACTIVE] += 1;}
|
| 998 |
|
else if (newState == states::CALIBRATION)
|
| 999 |
|
{global.stateTracker[states::CALIBRATION] += 1;}
|
| 1000 |
|
else if (newState == states::CALIBRATION_CHECK)
|
| 1001 |
|
{global.stateTracker[states::CALIBRATION_CHECK] += 1;}
|
| 1002 |
|
else if (newState == states::DEVIATION_CORRECTION)
|
| 1003 |
|
{global.stateTracker[states::DEVIATION_CORRECTION] += 1;}
|
| 1004 |
|
else if (newState == states::DOCKING_ERROR)
|
| 1005 |
|
{global.stateTracker[16+(-states::DOCKING_ERROR)] += 1;}
|
| 1006 |
|
else if (newState == states::REVERSE_TIMEOUT_ERROR)
|
| 1007 |
|
{global.stateTracker[16+(-states::REVERSE_TIMEOUT_ERROR)] += 1;}
|
| 1008 |
|
else if (newState == states::CALIBRATION_ERROR)
|
| 1009 |
|
{global.stateTracker[16+(-states::CALIBRATION_ERROR)] += 1;}
|
| 1010 |
|
else if (newState == states::WHITE_DETECTION_ERROR)
|
| 1011 |
|
{global.stateTracker[16+(-states::WHITE_DETECTION_ERROR)] += 1;}
|
| 1012 |
|
else if (newState == states::PROXY_DETECTION_ERROR)
|
| 1013 |
|
{global.stateTracker[16+(-states::PROXY_DETECTION_ERROR)] += 1;}
|
| 1014 |
|
else if (newState == states::NO_CHARGING_POWER_ERROR)
|
| 1015 |
|
{global.stateTracker[16+(-states::NO_CHARGING_POWER_ERROR)] += 1;}
|
| 1016 |
|
else if (newState == states::UNKNOWN_STATE_ERROR)
|
| 1017 |
|
{global.stateTracker[16+(-states::UNKNOWN_STATE_ERROR)] += 1;}
|
|
1002 |
if (newState == ut_states::UT_IDLE)
|
|
1003 |
{global.stateTracker[ut_states::UT_IDLE] += 1;}
|
|
1004 |
else if (newState == ut_states::UT_FOLLOW_LINE)
|
|
1005 |
{global.stateTracker[ut_states::UT_FOLLOW_LINE] += 1;}
|
|
1006 |
else if (newState == ut_states::UT_DETECT_STATION)
|
|
1007 |
{global.stateTracker[ut_states::UT_DETECT_STATION] += 1;}
|
|
1008 |
else if (newState == ut_states::UT_REVERSE)
|
|
1009 |
{global.stateTracker[ut_states::UT_REVERSE] += 1;}
|
|
1010 |
else if (newState == ut_states::UT_PUSH_BACK)
|
|
1011 |
{global.stateTracker[ut_states::UT_PUSH_BACK] += 1;}
|
|
1012 |
else if (newState == ut_states::UT_CHECK_POSITIONING)
|
|
1013 |
{global.stateTracker[ut_states::UT_CHECK_POSITIONING] += 1;}
|
|
1014 |
else if (newState == ut_states::UT_CHECK_VOLTAGE)
|
|
1015 |
{global.stateTracker[ut_states::UT_CHECK_VOLTAGE] += 1;}
|
|
1016 |
else if (newState == ut_states::UT_CHARGING)
|
|
1017 |
{global.stateTracker[ut_states::UT_CHARGING] += 1;}
|
|
1018 |
else if (newState == ut_states::UT_RELEASE)
|
|
1019 |
{global.stateTracker[ut_states::UT_RELEASE] += 1;}
|
|
1020 |
else if (newState == ut_states::UT_RELEASE_TO_CORRECT)
|
|
1021 |
{global.stateTracker[ut_states::UT_RELEASE_TO_CORRECT] += 1;}
|
|
1022 |
else if (newState == ut_states::UT_CORRECT_POSITIONING)
|
|
1023 |
{global.stateTracker[ut_states::UT_CORRECT_POSITIONING] += 1;}
|
|
1024 |
else if (newState == ut_states::UT_TURN)
|
|
1025 |
{global.stateTracker[ut_states::UT_TURN] += 1;}
|
|
1026 |
else if (newState == ut_states::UT_INACTIVE)
|
|
1027 |
{global.stateTracker[ut_states::UT_INACTIVE] += 1;}
|
|
1028 |
else if (newState == ut_states::UT_CALIBRATION)
|
|
1029 |
{global.stateTracker[ut_states::UT_CALIBRATION] += 1;}
|
|
1030 |
else if (newState == ut_states::UT_CALIBRATION_CHECK)
|
|
1031 |
{global.stateTracker[ut_states::UT_CALIBRATION_CHECK] += 1;}
|
|
1032 |
else if (newState == ut_states::UT_DEVIATION_CORRECTION)
|
|
1033 |
{global.stateTracker[ut_states::UT_DEVIATION_CORRECTION] += 1;}
|
|
1034 |
else if (newState == ut_states::UT_DOCKING_ERROR)
|
|
1035 |
{global.stateTracker[16+(-ut_states::UT_DOCKING_ERROR)] += 1;}
|
|
1036 |
else if (newState == ut_states::UT_REVERSE_TIMEOUT_ERROR)
|
|
1037 |
{global.stateTracker[16+(-ut_states::UT_REVERSE_TIMEOUT_ERROR)] += 1;}
|
|
1038 |
else if (newState == ut_states::UT_CALIBRATION_ERROR)
|
|
1039 |
{global.stateTracker[16+(-ut_states::UT_CALIBRATION_ERROR)] += 1;}
|
|
1040 |
else if (newState == ut_states::UT_WHITE_DETECTION_ERROR)
|
|
1041 |
{global.stateTracker[16+(-ut_states::UT_WHITE_DETECTION_ERROR)] += 1;}
|
|
1042 |
else if (newState == ut_states::UT_PROXY_DETECTION_ERROR)
|
|
1043 |
{global.stateTracker[16+(-ut_states::UT_PROXY_DETECTION_ERROR)] += 1;}
|
|
1044 |
else if (newState == ut_states::UT_NO_CHARGING_POWER_ERROR)
|
|
1045 |
{global.stateTracker[16+(-ut_states::UT_NO_CHARGING_POWER_ERROR)] += 1;}
|
|
1046 |
else if (newState == ut_states::UT_UNKNOWN_STATE_ERROR)
|
|
1047 |
{global.stateTracker[16+(-ut_states::UT_UNKNOWN_STATE_ERROR)] += 1;}
|
| 1018 |
1048 |
}
|
| 1019 |
1049 |
|
| 1020 |
1050 |
// Keep track of last state and set the new state for next iteration
|