amiro-os / devices / DiWheelDrive / userthread.cpp @ 4d54a507
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#include "userthread.hpp" |
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#include "amiro_map.hpp" |
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#include "global.hpp" |
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#include "linefollow.hpp" |
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using namespace amiro; |
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extern Global global;
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// a buffer for the z-value of the accelerometer
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int16_t accel_z; |
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bool running = false; |
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|
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/**
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* Set speed.
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*
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* @param rpmSpeed speed for left and right wheel in rounds/min
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*/
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void UserThread::setRpmSpeedFuzzy(const int (&rpmSpeed)[2]) { |
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global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
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} |
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void UserThread::setRpmSpeed(const int (&rpmSpeed)[2]) { |
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global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL], rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL]); |
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} |
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void UserThread::lightOneLed(Color color, int idx){ |
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global.robot.setLightColor(idx, Color(color)); |
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} |
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void UserThread::lightAllLeds(Color color){
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int led = 0; |
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for(led=0; led<8; led++){ |
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lightOneLed(color, led); |
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} |
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} |
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void UserThread::showChargingState(){
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uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
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Color color = Color::GREEN; |
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if (numLeds <= 2){ |
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color = Color::RED; |
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}else if(numLeds <= 6){ |
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color = Color::YELLOW; |
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} |
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for (int i=0; i<numLeds; i++){ |
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lightOneLed(color, i); |
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this->sleep(300); |
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} |
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this->sleep(1000); |
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lightAllLeds(Color::BLACK); |
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} |
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|
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void UserThread::chargeAsLED(){
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uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
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Color color = Color::GREEN; |
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if (numLeds <= 2){ |
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color = Color::RED; |
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}else if(numLeds <= 6){ |
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color = Color::YELLOW; |
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} |
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for (int i=0; i<numLeds; i++){ |
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lightOneLed(color, i); |
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// this->sleep(300);
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} |
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// this->sleep(1000);
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// lightAllLeds(Color::BLACK);
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} |
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// ----------------------------------------------------------------
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void UserThread::getProxySectorVals(uint16_t (&proxVals)[8], uint16_t (&sProx)[8]){ |
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for (int i=0; i<8; i++){ |
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sProx[i] = (proxVals[i] < proxVals[(i+1) % 8]) ? proxVals[i] : proxVals[(i+1) % 8]; |
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// chprintf((BaseSequentialStream*)&global.sercanmux1, "%d: %d, ", i, sProx[i]);
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} |
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// chprintf((BaseSequentialStream*)&global.sercanmux1, "\n");
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} |
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void UserThread::getMaxFrontSectorVal(uint16_t (&sProx)[8], int32_t &sPMax){ |
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for (int i=2; i<5; i++){ |
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sPMax = (sPMax < sProx[i]) ? sProx[i] : sPMax; |
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} |
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} |
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void UserThread::proxSectorSpeedCorrection(int (&rpmSpeed)[2], uint16_t (&proxVals)[8]){ |
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int i;
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uint16_t sProx[8];
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int32_t sPMax = 0;
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getProxySectorVals(proxVals, sProx); |
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getMaxFrontSectorVal(sProx, sPMax); |
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int32_t speedL = rpmSpeed[0] - (sPMax * pCtrl.pFactor);
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int32_t speedR = rpmSpeed[1] - (sPMax * pCtrl.pFactor);
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if(sPMax > pCtrl.threshMid){
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rpmSpeed[0] = 0; |
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rpmSpeed[1] = 0; |
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pCtrl.staticCont++; |
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}else if((speedL > 0) || (speedR > 0)){ |
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pCtrl.staticCont = 0;
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rpmSpeed[0] = speedL;
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rpmSpeed[1] = speedR;
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}else{
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rpmSpeed[0] = 4000000 + (rpmSpeed[0] - global.rpmForward[0] * 1000000); |
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rpmSpeed[1] = 4000000 + (rpmSpeed[1] - global.rpmForward[0] * 1000000); |
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} |
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for(i=4; i<5; i++){ |
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if ((proxVals[i] > pCtrl.threshMid) && (proxVals[i+1] > pCtrl.threshLow)){ |
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rpmSpeed[0] = -5000000 ; |
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rpmSpeed[1] = -5000000 ; |
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// pCtrl.staticCont++;
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break;
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} |
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} |
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chargeAsLED(); |
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// chprintf((BaseSequentialStream*)&global.sercanmux1, "Max: %d factor: %d, Panel: %d SpeedL: %d SpeedR: %d ActualL: %d ActualR: %d\n",sPMax, pCtrl.pFactor, sPMax * pCtrl.pFactor, speedL, speedR, rpmSpeed[0], rpmSpeed[1]);
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} |
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// -------------------------------------------------------------------
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void UserThread::preventCollision( int (&rpmSpeed)[2], uint16_t (&proxVals)[8]) { |
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if((proxVals[3] > pCtrl.threshLow) || (proxVals[4] > pCtrl.threshLow)){ |
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rpmSpeed[0] = rpmSpeed[0] / 2; |
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rpmSpeed[1] = rpmSpeed[1] / 2; |
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} |
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if((proxVals[3] > pCtrl.threshMid) || (proxVals[4] > pCtrl.threshMid)){ |
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rpmSpeed[0] = rpmSpeed[0] / 3; |
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rpmSpeed[1] = rpmSpeed[1] / 3; |
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} |
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if((proxVals[3] > pCtrl.threshHigh) || (proxVals[4] > pCtrl.threshHigh)){ |
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rpmSpeed[0] = 0; |
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rpmSpeed[1] = 0; |
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utCount.ringProxCount++; |
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}else{
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utCount.ringProxCount = 0;
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} |
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|
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} |
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/**
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* Blocks as long as the position changes.
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*/
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void UserThread::checkForMotion(){
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bool motion = true; |
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int led = 0; |
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types::position oldPos = global.odometry.getPosition(); |
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while(motion){
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this->sleep(200); |
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types::position tmp = global.odometry.getPosition(); |
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motion = oldPos.x != tmp.x; //abs(oldPos.x - tmp.x)+ abs(oldPos.y - tmp.y)+abs(oldPos.z - tmp.z);
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oldPos = tmp; |
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global.robot.setLightColor((led + 1) % 8, Color(Color::YELLOW)); |
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global.robot.setLightColor(led % 8, Color(Color::BLACK));
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led++; |
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} |
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lightAllLeds(Color::BLACK); |
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} |
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bool UserThread::checkFrontalObject(){
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uint32_t thresh = pCtrl.threshMid; |
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uint32_t prox; |
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for(int i=0; i<8; i++){ |
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prox = global.robot.getProximityRingValue(i); |
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if((i == 3) || (i == 4)){ |
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if(prox < thresh){
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return false; |
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} |
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}else{
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if(prox > thresh){
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return false; |
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} |
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} |
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} |
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return true; |
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} |
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bool UserThread::checkPinVoltage(){
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return global.ltc4412.isPluggedIn();
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} |
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bool UserThread::checkPinEnabled(){
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return global.ltc4412.isEnabled();
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} |
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int UserThread::checkDockingSuccess(){
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// setRpmSpeed(stop);
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checkForMotion(); |
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int success = 0; |
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// global.odometry.resetPosition();
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types::position start = global.startPos = global.odometry.getPosition(); |
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global.motorcontrol.setMotorEnable(false);
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this->sleep(1000); |
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types::position stop_ = global.endPos = global.odometry.getPosition(); |
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// Amiro moved, docking was not successful
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// if ((start.x + stop_.x) || (start.y + stop_.y)){
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if (abs(start.x - stop_.x) > 200 /* || (start.y + stop_.y) */){ |
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lightAllLeds(Color::RED); |
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// Enable Motor again if docking was not successful
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global.motorcontrol.setMotorEnable(true);
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success = 0;
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}else{
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lightAllLeds(Color::GREEN); |
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success = 1;
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} |
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// this->sleep(500);
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lightAllLeds(Color::BLACK); |
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return success;
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} |
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int UserThread::getProxyRingSum(){
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int prox_sum = 0; |
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for(int i=0; i<8;i++){ |
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prox_sum += global.robot.getProximityRingValue(i);; |
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} |
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return prox_sum;
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} |
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int32_t UserThread::meanDeviation(uint16_t a, uint16_t b){
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int32_t diff = a - b; |
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int32_t res = 0;
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devCor.proxbuf[devCor.pCount] = (diff*100)/((a+b)/2); |
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for (int i = 0; i< PROX_DEVIATION_MEAN_WINDOW; i++){ |
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res += devCor.proxbuf[i]; |
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} |
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devCor.pCount++; |
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devCor.pCount = devCor.pCount % PROX_DEVIATION_MEAN_WINDOW; |
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devCor.currentDeviation = res / PROX_DEVIATION_MEAN_WINDOW; |
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return devCor.currentDeviation;
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} |
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void setAttributes(uint8_t (&map)[MAX_NODES][NODE_ATTRIBUTES],
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uint8_t id, uint8_t l, uint8_t r, uint8_t att) {
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map[id][0] = l;
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map[id][1] = r;
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map[id][2] = att;
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} |
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UserThread::UserThread() : |
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chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>() |
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{
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} |
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UserThread::~UserThread() |
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{
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} |
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msg_t |
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UserThread::main() |
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{
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/*
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* SETUP
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*/
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// User thread state:
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for (uint8_t led = 0; led < 8; ++led) { |
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global.robot.setLightColor(led, Color(Color::BLACK)); |
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} |
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// State Variables
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ut_states prevState = ut_states::UT_IDLE; |
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ut_states currentState = ut_states::UT_INACTIVE; |
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ut_states newState = ut_states::UT_INACTIVE; |
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running = false;
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LineFollowStrategy lStrategy = LineFollowStrategy::EDGE_RIGHT; |
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LineFollow lf(&global); |
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AmiroMap map(&global, lStrategy); |
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/*
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* LOOP
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*/
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while (!this->shouldTerminate()) |
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{
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/*
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* read accelerometer z-value
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*/
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accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z); |
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if (accel_z < -900 /*-0.9g*/) { |
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// Start line following when AMiRo is rotated
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if(currentState == ut_states::UT_INACTIVE){
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newState = ut_states::UT_FOLLOW_LINE; |
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}else{
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newState = ut_states::UT_IDLE; |
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} |
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lightAllLeds(Color::GREEN); |
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this->sleep(1000); |
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lightAllLeds(Color::BLACK); |
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|
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// If message was received handle it here:
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} else if(global.msgReceived){ |
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global.msgReceived = false;
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// running = true;
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switch(global.lfStrategy){
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case msg_content::MSG_START:
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newState = ut_states::UT_CALIBRATION_CHECK; |
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break;
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case msg_content::MSG_STOP:
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newState = ut_states::UT_IDLE; |
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break;
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case msg_content::MSG_EDGE_RIGHT:
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// newState = ut_states::UT_FOLLOW_LINE;
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lStrategy = LineFollowStrategy::EDGE_RIGHT; |
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break;
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case msg_content::MSG_EDGE_LEFT:
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// newState = ut_states::UT_FOLLOW_LINE;
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lStrategy = LineFollowStrategy::EDGE_LEFT; |
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break;
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case msg_content::MSG_FUZZY:
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// newState = ut_states::UT_FOLLOW_LINE;
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lStrategy = LineFollowStrategy::FUZZY; |
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break;
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case msg_content::MSG_DOCK:
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newState = ut_states::UT_DETECT_STATION; |
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break;
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case msg_content::MSG_UNDOCK:
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newState = ut_states::UT_RELEASE; |
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break;
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case msg_content::MSG_CHARGE:
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newState = ut_states::UT_CHARGING; |
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break;
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case msg_content::MSG_RESET_ODOMETRY:
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global.odometry.resetPosition(); |
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break;
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case msg_content::MSG_CALIBRATE_BLACK:
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proxCalib.calibrateBlack = true;
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// global.odometry.resetPosition();
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newState = ut_states::UT_CALIBRATION; |
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break;
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case msg_content::MSG_CALIBRATE_WHITE:
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proxCalib.calibrateBlack = false;
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newState = ut_states::UT_CALIBRATION; |
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break;
|
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case msg_content::MSG_TEST_MAP_STATE:
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if (AMIRO_MAP_AUTO_TRACKING){
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newState = ut_states::UT_TEST_MAP_AUTO_STATE; |
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}else {
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newState = ut_states::UT_TEST_MAP_STATE; |
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} |
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break;
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case msg_content::MSG_SET_DIST_THRESH:
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|
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break;
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case msg_content::MSG_GET_MAP_INFO:
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break;
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default:
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newState = ut_states::UT_IDLE; |
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break;
|
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} |
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} |
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// newState = currentState;
|
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|
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// Get sensor data
|
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uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset(); |
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uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset(); |
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for(int i=0; i<8;i++){ |
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rProx[i] = global.robot.getProximityRingValue(i); |
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} |
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|
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// Continously update devication values
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meanDeviation(rProx[0] & 0xFFF0, rProx[7] & 0xFFF0); |
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// int FL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
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// int FR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
|
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switch(currentState){
|
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case ut_states::UT_INACTIVE:
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// Dummy state to deactivate every interaction
|
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break;
|
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// ---------------------------------------
|
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case ut_states::UT_CALIBRATION_CHECK:
|
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// global.robot.calibrate();
|
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if(global.linePID.BThresh >= global.linePID.WThresh){
|
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newState = ut_states::UT_CALIBRATION_ERROR; |
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}else{
|
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newState = ut_states::UT_FOLLOW_LINE; |
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} |
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break;
|
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// ---------------------------------------
|
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case ut_states::UT_CALIBRATION:
|
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/* Calibrate the global thresholds for black or white.
|
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This values will be used by the line follow object
|
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*/
|
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|
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proxCalib.buf = 0;
|
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if(proxCalib.calibrateBlack){
|
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chprintf((BaseSequentialStream*)&global.sercanmux1, "Black Calibration, Place AMiRo on black Surface!\n");
|
| 405 |
global.robot.calibrate(); |
| 406 |
} |
| 407 |
for(int i=0; i <= proxCalib.meanWindow; i++){ |
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proxCalib.buf += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset() |
| 409 |
+ global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
| 410 |
this->sleep(CAN::UPDATE_PERIOD);
|
| 411 |
} |
| 412 |
proxCalib.buf = proxCalib.buf / (2*proxCalib.meanWindow);
|
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|
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if(proxCalib.calibrateBlack){
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global.linePID.BThresh = proxCalib.buf; |
| 416 |
}else {
|
| 417 |
global.linePID.WThresh = proxCalib.buf; |
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} |
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chprintf((BaseSequentialStream*)&global.sercanmux1, "Black: %d, White: %d!\n", global.linePID.BThresh, global.linePID.WThresh);
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|
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newState = ut_states::UT_IDLE; |
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break;
|
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// ---------------------------------------
|
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case ut_states::UT_IDLE:
|
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global.motorcontrol.setMotorEnable(true);
|
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setRpmSpeed(stop); |
| 427 |
if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 428 |
global.robot.requestCharging(0);
|
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} |
| 430 |
// pCtrl.pFactor = 0;
|
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pCtrl.staticCont = 0;
|
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utCount.whiteCount = 0;
|
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utCount.ringProxCount = 0;
|
| 434 |
utCount.errorCount = 0;
|
| 435 |
newState = ut_states::UT_INACTIVE; |
| 436 |
break;
|
| 437 |
// ---------------------------------------
|
| 438 |
case ut_states::UT_FOLLOW_LINE:
|
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// Set correct forward speed to every strategy
|
| 440 |
if (global.forwardSpeed != global.rpmForward[0]){ |
| 441 |
global.forwardSpeed = global.rpmForward[0];
|
| 442 |
} |
| 443 |
|
| 444 |
if(lf.getStrategy() != lStrategy){
|
| 445 |
lf.setStrategy(lStrategy); |
| 446 |
} |
| 447 |
|
| 448 |
if(lf.followLine(rpmSpeed)){
|
| 449 |
utCount.whiteCount++; |
| 450 |
if(utCount.whiteCount >= WHITE_DETETION_TIMEOUT){
|
| 451 |
setRpmSpeed(stop); |
| 452 |
utCount.whiteCount = 0;
|
| 453 |
newState = ut_states::UT_WHITE_DETECTION_ERROR; |
| 454 |
} |
| 455 |
}else{
|
| 456 |
utCount.whiteCount = 0;
|
| 457 |
} |
| 458 |
|
| 459 |
preventCollision(rpmSpeed, rProx); |
| 460 |
// proxSectorSpeedCorrection(rpmSpeed, rProx);
|
| 461 |
|
| 462 |
if(utCount.ringProxCount > RING_PROX_DETECTION_TIMEOUT){
|
| 463 |
utCount.ringProxCount = 0;
|
| 464 |
|
| 465 |
|
| 466 |
checkForMotion(); |
| 467 |
// Check if only front sensors are active
|
| 468 |
if (checkFrontalObject()) {
|
| 469 |
// global.distcontrol.setTargetPosition(0, 2792526, ROTATION_DURATION);
|
| 470 |
// // BaseThread::sleep(8000);
|
| 471 |
// checkForMotion();
|
| 472 |
this->utCount.whiteCount = 0; |
| 473 |
newState = ut_states::UT_TURN; |
| 474 |
// lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT);
|
| 475 |
} else {
|
| 476 |
newState = ut_states::UT_PROXY_DETECTION_ERROR; |
| 477 |
} |
| 478 |
} |
| 479 |
|
| 480 |
if (lf.getStrategy() == LineFollowStrategy::FUZZY){
|
| 481 |
setRpmSpeedFuzzy(rpmSpeed); |
| 482 |
}else{
|
| 483 |
|
| 484 |
setRpmSpeed(rpmSpeed); |
| 485 |
} |
| 486 |
|
| 487 |
break;
|
| 488 |
// ---------------------------------------
|
| 489 |
case ut_states::UT_TURN:{
|
| 490 |
// Check the line strategy in order to continue driving on the right side
|
| 491 |
int factor = SPEED_CONVERSION_FACTOR;
|
| 492 |
int frontL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
| 493 |
int frontR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
|
| 494 |
int blackSensor = 0; |
| 495 |
if (lf.getStrategy() == LineFollowStrategy::EDGE_RIGHT) {
|
| 496 |
factor = -factor; |
| 497 |
blackSensor = frontL; |
| 498 |
}else{
|
| 499 |
blackSensor = frontR; |
| 500 |
} |
| 501 |
|
| 502 |
rpmSpeed[0] = factor * CHARGING_SPEED;
|
| 503 |
rpmSpeed[1] = -factor * CHARGING_SPEED;
|
| 504 |
setRpmSpeed(rpmSpeed); |
| 505 |
|
| 506 |
if ((blackSensor >= global.linePID.WThresh )){
|
| 507 |
utCount.whiteCount = 1;
|
| 508 |
}else {
|
| 509 |
if((utCount.whiteCount == 1) && (blackSensor <= global.linePID.BThresh)){ |
| 510 |
utCount.whiteCount = 0;
|
| 511 |
newState = ut_states::UT_FOLLOW_LINE; |
| 512 |
setRpmSpeed(stop); |
| 513 |
} |
| 514 |
} |
| 515 |
break;
|
| 516 |
} |
| 517 |
// ---------------------------------------
|
| 518 |
case ut_states::UT_DETECT_STATION:
|
| 519 |
|
| 520 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 521 |
global.forwardSpeed = DETECTION_SPEED; |
| 522 |
} |
| 523 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_RIGHT){
|
| 524 |
lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
| 525 |
} |
| 526 |
|
| 527 |
lf.followLine(rpmSpeed); |
| 528 |
setRpmSpeed(rpmSpeed); |
| 529 |
// // Detect marker before docking station
|
| 530 |
// if ((WL+WR) < PROXY_WHEEL_THRESH){
|
| 531 |
// Use proxy ring
|
| 532 |
if ((rProx[3]+rProx[4]) > RING_PROX_FRONT_THRESH){ |
| 533 |
|
| 534 |
setRpmSpeed(stop); |
| 535 |
checkForMotion(); |
| 536 |
// 180° Rotation
|
| 537 |
global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
|
| 538 |
// BaseThread::sleep(8000);
|
| 539 |
checkForMotion(); |
| 540 |
newState = ut_states::UT_CORRECT_POSITIONING; |
| 541 |
} |
| 542 |
break;
|
| 543 |
// ---------------------------------------
|
| 544 |
case ut_states::UT_CORRECT_POSITIONING:
|
| 545 |
if (global.forwardSpeed != CHARGING_SPEED){
|
| 546 |
global.forwardSpeed = CHARGING_SPEED; |
| 547 |
} |
| 548 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_LEFT){
|
| 549 |
lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
| 550 |
} |
| 551 |
lf.followLine(rpmSpeed); |
| 552 |
setRpmSpeed(rpmSpeed); |
| 553 |
|
| 554 |
utCount.stateTime++; |
| 555 |
if (utCount.stateTime >= DOCKING_CORRECTION_TIMEOUT){
|
| 556 |
utCount.stateTime = 0;
|
| 557 |
newState = ut_states::UT_REVERSE; |
| 558 |
setRpmSpeed(stop); |
| 559 |
checkForMotion(); |
| 560 |
} |
| 561 |
break;
|
| 562 |
// ---------------------------------------
|
| 563 |
case ut_states::UT_REVERSE:
|
| 564 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 565 |
lf.setStrategy(LineFollowStrategy::REVERSE); |
| 566 |
} |
| 567 |
lf.followLine(rpmSpeed); |
| 568 |
setRpmSpeed(rpmSpeed); |
| 569 |
// utCount.stateTime++;
|
| 570 |
|
| 571 |
// Docking is only successful if Deviation is in range and sensors are at their max values.
|
| 572 |
if((rProx[0] >= PROX_MAX_VAL) |
| 573 |
&& (rProx[7] >= PROX_MAX_VAL)
|
| 574 |
&& ((devCor.currentDeviation > -MAX_DEVIATION_FACTOR) && (devCor.currentDeviation < MAX_DEVIATION_FACTOR) )){
|
| 575 |
// setRpmSpeed(stop);
|
| 576 |
// checkForMotion();
|
| 577 |
utCount.stateTime = 0;
|
| 578 |
newState = ut_states::UT_PUSH_BACK; |
| 579 |
}else if ((devCor.currentDeviation <= -MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 580 |
// Case R
|
| 581 |
utCount.stateTime = 0;
|
| 582 |
setRpmSpeed(stop); |
| 583 |
devCor.RCase = true;
|
| 584 |
lightAllLeds(Color::YELLOW); |
| 585 |
newState = ut_states::UT_DEVIATION_CORRECTION; |
| 586 |
}else if ((devCor.currentDeviation >= MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 587 |
// Case L
|
| 588 |
utCount.stateTime = 0;
|
| 589 |
setRpmSpeed(stop); |
| 590 |
devCor.RCase = false;
|
| 591 |
lightAllLeds(Color::WHITE); |
| 592 |
newState = ut_states::UT_DEVIATION_CORRECTION; |
| 593 |
}else if (utCount.stateTime >= REVERSE_DOCKING_TIMEOUT){ |
| 594 |
setRpmSpeed(stop); |
| 595 |
utCount.stateTime = 0;
|
| 596 |
utCount.errorCount++; |
| 597 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 598 |
newState = ut_states::UT_DOCKING_ERROR; |
| 599 |
}else{
|
| 600 |
newState = ut_states::UT_CORRECT_POSITIONING; |
| 601 |
} |
| 602 |
} |
| 603 |
|
| 604 |
// if((devCor.currentDeviation <= -10)){
|
| 605 |
// rpmSpeed[0] -= 2000000;
|
| 606 |
// }else if(devCor.currentDeviation >= 10){
|
| 607 |
// rpmSpeed[1] -= 2000000;
|
| 608 |
// }
|
| 609 |
// setRpmSpeed(rpmSpeed);
|
| 610 |
break;
|
| 611 |
// ---------------------------------------
|
| 612 |
case ut_states::UT_DEVIATION_CORRECTION:
|
| 613 |
// if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 614 |
// lf.setStrategy(LineFollowStrategy::REVERSE);
|
| 615 |
// }
|
| 616 |
// lf.followLine(rpmSpeed);
|
| 617 |
// setRpmSpeed(rpmSpeed);
|
| 618 |
if(utCount.stateTime < DEVIATION_CORRECTION_DURATION / 2 ){ |
| 619 |
if(devCor.RCase){
|
| 620 |
rpmSpeed[0] = 0; |
| 621 |
rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
| 622 |
}else {
|
| 623 |
rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
| 624 |
rpmSpeed[1] = 0; |
| 625 |
} |
| 626 |
setRpmSpeed(rpmSpeed); |
| 627 |
}else if (((utCount.stateTime >= DEVIATION_CORRECTION_DURATION / 2) && (utCount.stateTime < DEVIATION_CORRECTION_DURATION +10)) ){ |
| 628 |
if(devCor.RCase){
|
| 629 |
rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
| 630 |
rpmSpeed[1] = 0; |
| 631 |
}else {
|
| 632 |
rpmSpeed[0] = 0; |
| 633 |
rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
| 634 |
} |
| 635 |
setRpmSpeed(rpmSpeed); |
| 636 |
if(((devCor.currentDeviation >= -5) && (devCor.currentDeviation <= 5))){ |
| 637 |
utCount.stateTime = 0;
|
| 638 |
newState = ut_states::UT_REVERSE; |
| 639 |
setRpmSpeed(stop); |
| 640 |
} |
| 641 |
}else{
|
| 642 |
utCount.stateTime = 0;
|
| 643 |
newState = ut_states::UT_REVERSE; |
| 644 |
setRpmSpeed(stop); |
| 645 |
} |
| 646 |
|
| 647 |
utCount.stateTime++; |
| 648 |
|
| 649 |
|
| 650 |
// if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 651 |
// utCount.stateTime = 0;
|
| 652 |
// newState = ut_states::UT_CHECK_POSITIONING;
|
| 653 |
// }
|
| 654 |
break;
|
| 655 |
// ---------------------------------------
|
| 656 |
case ut_states::UT_PUSH_BACK:
|
| 657 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 658 |
lf.setStrategy(LineFollowStrategy::REVERSE); |
| 659 |
} |
| 660 |
lf.followLine(rpmSpeed); |
| 661 |
setRpmSpeed(rpmSpeed); |
| 662 |
|
| 663 |
utCount.stateTime++; |
| 664 |
if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 665 |
utCount.stateTime = 0;
|
| 666 |
newState = ut_states::UT_CHECK_POSITIONING; |
| 667 |
} |
| 668 |
break;
|
| 669 |
// ---------------------------------------
|
| 670 |
case ut_states::UT_CHECK_POSITIONING:
|
| 671 |
setRpmSpeed(stop); |
| 672 |
checkForMotion(); |
| 673 |
if(checkDockingSuccess()){
|
| 674 |
newState = ut_states::UT_CHECK_VOLTAGE; |
| 675 |
}else{
|
| 676 |
utCount.errorCount++; |
| 677 |
newState = ut_states::UT_CORRECT_POSITIONING; |
| 678 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 679 |
newState = ut_states::UT_DOCKING_ERROR; |
| 680 |
} |
| 681 |
} |
| 682 |
break;
|
| 683 |
// ---------------------------------------
|
| 684 |
case ut_states::UT_CHECK_VOLTAGE:
|
| 685 |
if(!checkPinEnabled()){
|
| 686 |
global.robot.requestCharging(1);
|
| 687 |
} else {
|
| 688 |
if(checkPinVoltage()){
|
| 689 |
// Pins are under voltage -> correctly docked
|
| 690 |
|
| 691 |
newState = ut_states::UT_CHARGING; |
| 692 |
}else{
|
| 693 |
utCount.errorCount++; |
| 694 |
// No voltage on pins -> falsely docked
|
| 695 |
// deactivate pins
|
| 696 |
global.motorcontrol.setMotorEnable(true);
|
| 697 |
global.robot.requestCharging(0);
|
| 698 |
// TODO: Soft release when docking falsely
|
| 699 |
if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){ |
| 700 |
newState = ut_states::UT_RELEASE_TO_CORRECT; |
| 701 |
} else {
|
| 702 |
newState = ut_states::UT_RELEASE_TO_CORRECT; //ut_states::UT_CORRECT_POSITIONING;
|
| 703 |
} |
| 704 |
|
| 705 |
if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
| 706 |
newState = ut_states::UT_DOCKING_ERROR; |
| 707 |
} |
| 708 |
} |
| 709 |
} |
| 710 |
break;
|
| 711 |
// ---------------------------------------
|
| 712 |
case ut_states::UT_RELEASE_TO_CORRECT:
|
| 713 |
|
| 714 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 715 |
checkForMotion(); |
| 716 |
// move 1cm forward
|
| 717 |
global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
| 718 |
checkForMotion(); |
| 719 |
// rotate back
|
| 720 |
global.distcontrol.setTargetPosition(0, -2*ROTATION_20, ROTATION_DURATION); |
| 721 |
checkForMotion(); |
| 722 |
|
| 723 |
global.distcontrol.setTargetPosition(1500, 0, ROTATION_DURATION); |
| 724 |
checkForMotion(); |
| 725 |
newState = ut_states::UT_CORRECT_POSITIONING; |
| 726 |
break;
|
| 727 |
// ---------------------------------------
|
| 728 |
case ut_states::UT_CHARGING:
|
| 729 |
global.motorcontrol.setMotorEnable(false);
|
| 730 |
utCount.errorCount = 0;
|
| 731 |
// Formulate Request to enable charging
|
| 732 |
if(/* checkPinVoltage() && */ !checkPinEnabled()){ |
| 733 |
global.robot.requestCharging(1);
|
| 734 |
} |
| 735 |
if(checkPinEnabled()){
|
| 736 |
showChargingState(); |
| 737 |
} |
| 738 |
break;
|
| 739 |
// ---------------------------------------
|
| 740 |
case ut_states::UT_RELEASE:
|
| 741 |
|
| 742 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 743 |
global.rpmForward[0] = DETECTION_SPEED;
|
| 744 |
} |
| 745 |
if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 746 |
global.robot.requestCharging(0);
|
| 747 |
}else{
|
| 748 |
global.motorcontrol.setMotorEnable(true);
|
| 749 |
// TODO: Use controlled
|
| 750 |
//Rotate -20° to free from magnet
|
| 751 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 752 |
checkForMotion(); |
| 753 |
// move 1cm forward
|
| 754 |
global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
| 755 |
checkForMotion(); |
| 756 |
// rotate back
|
| 757 |
// global.distcontrol.setTargetPosition(0, -ROTATION_20, ROTATION_DURATION);
|
| 758 |
// checkForMotion();
|
| 759 |
|
| 760 |
// global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION);
|
| 761 |
// checkForMotion();
|
| 762 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 763 |
newState = ut_states::UT_FOLLOW_LINE; |
| 764 |
// whiteBuf = -100;
|
| 765 |
// lf.followLine(rpmSpeed);
|
| 766 |
// setRpmSpeed(rpmSpeed);
|
| 767 |
} |
| 768 |
// lightAllLeds(Color::BLACK);
|
| 769 |
break;
|
| 770 |
// ---------------------------------------
|
| 771 |
case ut_states::UT_DOCKING_ERROR:
|
| 772 |
newState = ut_states::UT_RELEASE; |
| 773 |
break;
|
| 774 |
// ---------------------------------------
|
| 775 |
case ut_states::UT_REVERSE_TIMEOUT_ERROR:
|
| 776 |
newState = ut_states::UT_IDLE; |
| 777 |
break;
|
| 778 |
// ---------------------------------------
|
| 779 |
case ut_states::UT_CALIBRATION_ERROR:
|
| 780 |
newState = ut_states::UT_IDLE; |
| 781 |
break;
|
| 782 |
// ---------------------------------------
|
| 783 |
case ut_states::UT_WHITE_DETECTION_ERROR:
|
| 784 |
newState = ut_states::UT_IDLE; |
| 785 |
break;
|
| 786 |
// ---------------------------------------
|
| 787 |
case ut_states::UT_PROXY_DETECTION_ERROR:
|
| 788 |
newState = ut_states::UT_IDLE; |
| 789 |
break;
|
| 790 |
// ---------------------------------------
|
| 791 |
case ut_states::UT_NO_CHARGING_POWER_ERROR:
|
| 792 |
newState = ut_states::UT_IDLE; |
| 793 |
break;
|
| 794 |
// ---------------------------------------
|
| 795 |
case ut_states::UT_UNKNOWN_STATE_ERROR:
|
| 796 |
newState = ut_states::UT_IDLE; |
| 797 |
break;
|
| 798 |
// ---------------------------------------
|
| 799 |
case ut_states::UT_TEST_MAP_AUTO_STATE:
|
| 800 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 801 |
"Start autotracking: \n");
|
| 802 |
|
| 803 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 804 |
"NodeCount: %d\n", map.getNodeCount());
|
| 805 |
for (int i=0; i<map.getNodeCount(); i++) { |
| 806 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 807 |
"ID: %d, l: %d, r: %d \n", map.getNodeList()[i].id,
|
| 808 |
map.getNodeList()[i].left, map.getNodeList()[i].right); |
| 809 |
} |
| 810 |
// Start test suit for trackUpdate
|
| 811 |
map.reset(); |
| 812 |
global.tcase = 0;
|
| 813 |
newState = UT_TEST_MAP_STATE; |
| 814 |
break;
|
| 815 |
// --------------------------------------------------
|
| 816 |
case ut_states::UT_TEST_MAP_STATE:{
|
| 817 |
// Test suit for amiro map
|
| 818 |
|
| 819 |
|
| 820 |
|
| 821 |
// AmiroMap map = AmiroMap(&global);
|
| 822 |
|
| 823 |
// --------------------------------------------------
|
| 824 |
|
| 825 |
global.tcase++; |
| 826 |
// Set basic valid map configuration
|
| 827 |
setAttributes(global.testmap, 0, 1, 2, 1); |
| 828 |
setAttributes(global.testmap, 1, 2, 2, 0); |
| 829 |
setAttributes(global.testmap, 2, 1, 0, 0); |
| 830 |
setAttributes(global.testmap, 3, 0, 0, 0xff); |
| 831 |
chprintf((BaseSequentialStream *)&global.sercanmux1, "Init Case: %d, res: %d\n",global.tcase, map.initialize());
|
| 832 |
global.testres[global.tcase] = map.get_state()->valid; |
| 833 |
|
| 834 |
global.tcase++; // 1
|
| 835 |
// Test map fail if first node is flagged with end
|
| 836 |
setAttributes(global.testmap, 0, 1, 2, 0xff); |
| 837 |
map.initialize(); |
| 838 |
global.testres[global.tcase] = !map.get_state()->valid; |
| 839 |
|
| 840 |
global.tcase++; // 2
|
| 841 |
// Test if node 2 is set as start node
|
| 842 |
setAttributes(global.testmap, 0, 1, 2, 0); |
| 843 |
setAttributes(global.testmap, 2, 1, 0, 1); |
| 844 |
map.initialize(); |
| 845 |
global.testres[global.tcase] = map.get_state()->current == 2;
|
| 846 |
|
| 847 |
global.tcase++; // 3
|
| 848 |
// Test if non reachable nodes will trigger invalid map
|
| 849 |
setAttributes(global.testmap, 3, 0, 0, 0); |
| 850 |
setAttributes(global.testmap, 4, 0, 0, 0xff); |
| 851 |
map.initialize(); |
| 852 |
global.testres[global.tcase] = !map.get_state()->valid; |
| 853 |
|
| 854 |
global.tcase++; // 4
|
| 855 |
// Test Reinitialization
|
| 856 |
setAttributes(global.testmap, 0, 1, 2, 1); |
| 857 |
setAttributes(global.testmap, 1, 2, 2, 0); |
| 858 |
setAttributes(global.testmap, 2, 1, 0, 0); |
| 859 |
setAttributes(global.testmap, 3, 0, 0, 0xff); |
| 860 |
map.initialize(); |
| 861 |
global.testres[global.tcase] = map.get_state()->valid; |
| 862 |
|
| 863 |
global.odometry.resetPosition(); |
| 864 |
uint8_t ret = 0;
|
| 865 |
global.tcase++; // 5
|
| 866 |
// Test update under normal linefollowing without fixpoint
|
| 867 |
ret = map.update(20000, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 868 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 869 |
"Update test %d: Ret %d, cur %d, nex %d\n", global.tcase, ret,
|
| 870 |
map.get_state()->current, map.get_state()->next); |
| 871 |
// No case should be true because neither was a node visited nor
|
| 872 |
// was a fixpoint detected.
|
| 873 |
global.testres[global.tcase] = (ret == 0x4);
|
| 874 |
|
| 875 |
|
| 876 |
global.odometry.setPosition(1.0, 0.0, 0.0); |
| 877 |
chprintf((BaseSequentialStream *)&global.sercanmux1, "Current Point: %d\n", global.odometry.getPosition().x);
|
| 878 |
global.tcase++; // 6
|
| 879 |
// Fixpoint on left side
|
| 880 |
ret = map.update(0, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 881 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 882 |
"Update test %d: Ret %d, cur %d, nex %d\n", global.tcase, ret,
|
| 883 |
map.get_state()->current, map.get_state()->next); |
| 884 |
// No case should be true because neither was a node visited nor
|
| 885 |
// was a fixpoint detected.
|
| 886 |
// global.odometry
|
| 887 |
global.testres[global.tcase] = (ret == 0x2)
|
| 888 |
&& (map.get_state()->strategy == 0x02)
|
| 889 |
&& (map.get_state()->dist == 0)
|
| 890 |
&& (map.get_state()->current == 2);
|
| 891 |
|
| 892 |
|
| 893 |
global.odometry.setPosition(1.5, 0.0, 0.0); |
| 894 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 895 |
"Current Point: %d\n", global.odometry.getPosition().x);
|
| 896 |
global.tcase++; // 7
|
| 897 |
// Fixpoint on left side, no update should appear because fixpoint already
|
| 898 |
// marked
|
| 899 |
ret = map.update(0, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 900 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 901 |
"Update test %d: Ret %d, cur %d, nex %d\n", global.tcase, ret,
|
| 902 |
map.get_state()->current, map.get_state()->next); |
| 903 |
// No case should be true because neither was a node visited nor
|
| 904 |
// was a fixpoint detected.
|
| 905 |
global.testres[global.tcase] = (ret == 0x00)
|
| 906 |
&& (map.get_state()->strategy == 0x02);
|
| 907 |
// && (map.get_state()->dist == 0);
|
| 908 |
|
| 909 |
global.odometry.setPosition(1.2, 0.0, 0.0); |
| 910 |
global.tcase++; // 8
|
| 911 |
// Fixpoint on left side, no update should appear because fixpoint already
|
| 912 |
// marked
|
| 913 |
ret = map.update(20000, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 914 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 915 |
"Update test %d: Ret %d, cur %d, nex %d, dist %d, len %d\n", global.tcase, ret,
|
| 916 |
map.get_state()->current, map.get_state()->next, map.get_state()->dist, map.get_state()->eLength); |
| 917 |
// No case should be true because neither was a node visited nor
|
| 918 |
// was a fixpoint detected.
|
| 919 |
global.testres[global.tcase] = |
| 920 |
(ret == 0x04) && (map.get_state()->strategy == 0x02); |
| 921 |
|
| 922 |
global.odometry.setPosition(.5, 0.0, 0.0); |
| 923 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 924 |
"Current Point: %d\n", global.odometry.getPosition().x);
|
| 925 |
global.tcase++; // 9
|
| 926 |
// Fixpoint on left side, no update should appear because fixpoint already
|
| 927 |
// marked
|
| 928 |
ret = map.update(0, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 929 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 930 |
"Update test %d: Ret %d, cur %d, nex %d, dist %d, len %d\n",
|
| 931 |
global.tcase, ret, map.get_state()->current, |
| 932 |
map.get_state()->next, map.get_state()->dist, |
| 933 |
map.get_state()->eLength); |
| 934 |
// No case should be true because neither was a node visited nor
|
| 935 |
// was a fixpoint detected.
|
| 936 |
global.testres[global.tcase] = |
| 937 |
(ret == 2) &&
|
| 938 |
(map.get_state()->strategy == 2) &&
|
| 939 |
// (map.get_state()->dist == 0) &&
|
| 940 |
(map.get_state()->eLength == 50);
|
| 941 |
|
| 942 |
global.odometry.setPosition(.75, 0.0, 0.0); |
| 943 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 944 |
"Current Point: %d\n", global.odometry.getPosition().x);
|
| 945 |
global.tcase++; // 10
|
| 946 |
// Fixpoint on left side, no update should appear because fixpoint already
|
| 947 |
// marked
|
| 948 |
ret = map.update(20000, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 949 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 950 |
"Update test %d: Ret %d, cur %d, nex %d, dist %d, len %d\n",
|
| 951 |
global.tcase, ret, map.get_state()->current, |
| 952 |
map.get_state()->next, map.get_state()->dist, |
| 953 |
map.get_state()->eLength); |
| 954 |
// No case should be true because neither was a node visited nor
|
| 955 |
// was a fixpoint detected.
|
| 956 |
global.testres[global.tcase] = |
| 957 |
(ret == 4) && (map.get_state()->strategy == 2) && |
| 958 |
// (map.get_state()->dist == 50)
|
| 959 |
(map.get_state()->eLength == 50);
|
| 960 |
|
| 961 |
int failed = 0; |
| 962 |
int passed = 0; |
| 963 |
for (int i = 0; i <= global.tcase; i++) { |
| 964 |
if (global.testres[i]) {
|
| 965 |
passed++; |
| 966 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 967 |
"Test %d Passed!\n", i);
|
| 968 |
} else {
|
| 969 |
failed++; |
| 970 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 971 |
"Test %d Failed\n", i);
|
| 972 |
} |
| 973 |
} |
| 974 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 975 |
"Total: %d, Passed: %d, Failed: %d\n", global.tcase + 1, passed, |
| 976 |
failed); |
| 977 |
|
| 978 |
newState = ut_states::UT_IDLE; |
| 979 |
break;
|
| 980 |
} |
| 981 |
// --------------------------------------------------
|
| 982 |
default:
|
| 983 |
newState = ut_states::UT_UNKNOWN_STATE_ERROR; |
| 984 |
break;
|
| 985 |
} |
| 986 |
|
| 987 |
// In case a new state is set:
|
| 988 |
// 1. Record the state transition
|
| 989 |
if (AMIRO_MAP_AUTO_TRACKING) {
|
| 990 |
// map.trackUpdate(WL, WR, lStrategy, currentState);
|
| 991 |
} |
| 992 |
|
| 993 |
if (currentState != newState){
|
| 994 |
|
| 995 |
global.stateTransitionCounter++; |
| 996 |
// Clear all state transitions to prevent overflow
|
| 997 |
if (global.stateTransitionCounter >= 255) { |
| 998 |
global.stateTransitionCounter = 0;
|
| 999 |
for (int i = 0; i < 24; i++) { |
| 1000 |
global.stateTracker[i] = 0;
|
| 1001 |
} |
| 1002 |
} |
| 1003 |
// Transmit the new state over can
|
| 1004 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
| 1005 |
global.robot.transmitState(newState); |
| 1006 |
|
| 1007 |
// Increase state count for specific state
|
| 1008 |
// TODO: Improve with dictionary or other than switch case
|
| 1009 |
if (newState == ut_states::UT_IDLE)
|
| 1010 |
{global.stateTracker[ut_states::UT_IDLE] += 1;}
|
| 1011 |
else if (newState == ut_states::UT_FOLLOW_LINE) |
| 1012 |
{global.stateTracker[ut_states::UT_FOLLOW_LINE] += 1;}
|
| 1013 |
else if (newState == ut_states::UT_DETECT_STATION) |
| 1014 |
{global.stateTracker[ut_states::UT_DETECT_STATION] += 1;}
|
| 1015 |
else if (newState == ut_states::UT_REVERSE) |
| 1016 |
{global.stateTracker[ut_states::UT_REVERSE] += 1;}
|
| 1017 |
else if (newState == ut_states::UT_PUSH_BACK) |
| 1018 |
{global.stateTracker[ut_states::UT_PUSH_BACK] += 1;}
|
| 1019 |
else if (newState == ut_states::UT_CHECK_POSITIONING) |
| 1020 |
{global.stateTracker[ut_states::UT_CHECK_POSITIONING] += 1;}
|
| 1021 |
else if (newState == ut_states::UT_CHECK_VOLTAGE) |
| 1022 |
{global.stateTracker[ut_states::UT_CHECK_VOLTAGE] += 1;}
|
| 1023 |
else if (newState == ut_states::UT_CHARGING) |
| 1024 |
{global.stateTracker[ut_states::UT_CHARGING] += 1;}
|
| 1025 |
else if (newState == ut_states::UT_RELEASE) |
| 1026 |
{global.stateTracker[ut_states::UT_RELEASE] += 1;}
|
| 1027 |
else if (newState == ut_states::UT_RELEASE_TO_CORRECT) |
| 1028 |
{global.stateTracker[ut_states::UT_RELEASE_TO_CORRECT] += 1;}
|
| 1029 |
else if (newState == ut_states::UT_CORRECT_POSITIONING) |
| 1030 |
{global.stateTracker[ut_states::UT_CORRECT_POSITIONING] += 1;}
|
| 1031 |
else if (newState == ut_states::UT_TURN) |
| 1032 |
{global.stateTracker[ut_states::UT_TURN] += 1;}
|
| 1033 |
else if (newState == ut_states::UT_INACTIVE) |
| 1034 |
{global.stateTracker[ut_states::UT_INACTIVE] += 1;}
|
| 1035 |
else if (newState == ut_states::UT_CALIBRATION) |
| 1036 |
{global.stateTracker[ut_states::UT_CALIBRATION] += 1;}
|
| 1037 |
else if (newState == ut_states::UT_CALIBRATION_CHECK) |
| 1038 |
{global.stateTracker[ut_states::UT_CALIBRATION_CHECK] += 1;}
|
| 1039 |
else if (newState == ut_states::UT_DEVIATION_CORRECTION) |
| 1040 |
{global.stateTracker[ut_states::UT_DEVIATION_CORRECTION] += 1;}
|
| 1041 |
else if (newState == ut_states::UT_DOCKING_ERROR) |
| 1042 |
{global.stateTracker[16+(-ut_states::UT_DOCKING_ERROR)] += 1;}
|
| 1043 |
else if (newState == ut_states::UT_REVERSE_TIMEOUT_ERROR) |
| 1044 |
{global.stateTracker[16+(-ut_states::UT_REVERSE_TIMEOUT_ERROR)] += 1;}
|
| 1045 |
else if (newState == ut_states::UT_CALIBRATION_ERROR) |
| 1046 |
{global.stateTracker[16+(-ut_states::UT_CALIBRATION_ERROR)] += 1;}
|
| 1047 |
else if (newState == ut_states::UT_WHITE_DETECTION_ERROR) |
| 1048 |
{global.stateTracker[16+(-ut_states::UT_WHITE_DETECTION_ERROR)] += 1;}
|
| 1049 |
else if (newState == ut_states::UT_PROXY_DETECTION_ERROR) |
| 1050 |
{global.stateTracker[16+(-ut_states::UT_PROXY_DETECTION_ERROR)] += 1;}
|
| 1051 |
else if (newState == ut_states::UT_NO_CHARGING_POWER_ERROR) |
| 1052 |
{global.stateTracker[16+(-ut_states::UT_NO_CHARGING_POWER_ERROR)] += 1;}
|
| 1053 |
else if (newState == ut_states::UT_UNKNOWN_STATE_ERROR) |
| 1054 |
{global.stateTracker[16+(-ut_states::UT_UNKNOWN_STATE_ERROR)] += 1;}
|
| 1055 |
} |
| 1056 |
|
| 1057 |
// Keep track of last state and set the new state for next iteration
|
| 1058 |
prevState = currentState; |
| 1059 |
currentState = newState; |
| 1060 |
|
| 1061 |
this->sleep(CAN::UPDATE_PERIOD);
|
| 1062 |
} |
| 1063 |
|
| 1064 |
return RDY_OK;
|
| 1065 |
} |