Revision 3c3c3bb9 devices/DiWheelDrive/userthread.cpp
| devices/DiWheelDrive/userthread.cpp | ||
|---|---|---|
| 1 | 1 |
#include "userthread.hpp" |
| 2 |
#include "amiro/Constants.h" |
|
| 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; |
| 324 | 332 |
case msg_content::MSG_DOCK: |
| 325 |
newState = states::DETECT_STATION;
|
|
| 333 |
newState = ut_states::UT_DETECT_STATION;
|
|
| 326 | 334 |
break; |
| 327 | 335 |
case msg_content::MSG_UNDOCK: |
| 328 |
newState = states::RELEASE;
|
|
| 336 |
newState = ut_states::UT_RELEASE;
|
|
| 329 | 337 |
break; |
| 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;
|
|
| 351 |
newState = ut_states::UT_CALIBRATION;
|
|
| 344 | 352 |
break; |
| 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; |
|
| 356 |
}else {
|
|
| 357 |
newState = ut_states::UT_TEST_MAP_STATE; |
|
| 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 |
} |
| 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(); |
| 367 | 380 |
switch(currentState){
|
| 368 |
case states::INACTIVE:
|
|
| 381 |
case ut_states::UT_INACTIVE:
|
|
| 369 | 382 |
// Dummy state to deactivate every interaction |
| 370 | 383 |
break; |
| 371 | 384 |
// --------------------------------------- |
| 372 |
case states::CALIBRATION_CHECK:
|
|
| 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;
|
|
| 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 |
Also available in: Unified diff