amiro-os / devices / DiWheelDrive / userthread.cpp @ 8dced1c9
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| 1 | 10bf9cc0 | galberding | // #include "userthread.hpp"
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| 2 | 58fe0e0b | Thomas Schöpping | #include "global.hpp" |
| 3 | 10bf9cc0 | galberding | #include <cmath> |
| 4 | 8dced1c9 | galberding | #include "linefollow.hpp" |
| 5 | d4c6efa9 | galberding | #include "userthread.hpp" |
| 6 | 10bf9cc0 | galberding | // #include <cmath>
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| 7 | // #include "global.hpp"
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| 8 | 58fe0e0b | Thomas Schöpping | using namespace amiro; |
| 9 | |||
| 10 | extern Global global;
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| 11 | |||
| 12 | // a buffer for the z-value of the accelerometer
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| 13 | int16_t accel_z; |
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| 14 | 5d138bca | galberding | bool running = false; |
| 15 | 58fe0e0b | Thomas Schöpping | |
| 16 | |||
| 17 | 181f2892 | galberding | /**
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| 18 | * Set speed.
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| 19 | 8dced1c9 | galberding | *
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| 20 | 181f2892 | galberding | * @param rpmSpeed speed for left and right wheel in rounds/min
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| 21 | */
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| 22 | c9fa414d | galberding | void UserThread::setRpmSpeedFuzzy(const int (&rpmSpeed)[2]) { |
| 23 | 5d138bca | galberding | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
| 24 | 58fe0e0b | Thomas Schöpping | } |
| 25 | |||
| 26 | c9fa414d | galberding | void UserThread::setRpmSpeed(const int (&rpmSpeed)[2]) { |
| 27 | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL], rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL]); |
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| 28 | } |
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| 29 | |||
| 30 | 181f2892 | galberding | void UserThread::lightOneLed(Color color, int idx){ |
| 31 | 5d138bca | galberding | global.robot.setLightColor(idx, Color(color)); |
| 32 | } |
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| 33 | 58fe0e0b | Thomas Schöpping | |
| 34 | 181f2892 | galberding | void UserThread::lightAllLeds(Color color){
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| 35 | 5d138bca | galberding | int led = 0; |
| 36 | for(led=0; led<8; led++){ |
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| 37 | lightOneLed(color, led); |
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| 38 | } |
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| 39 | 58fe0e0b | Thomas Schöpping | } |
| 40 | |||
| 41 | 181f2892 | galberding | void UserThread::showChargingState(){
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| 42 | uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
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| 43 | Color color = Color::GREEN; |
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| 44 | if (numLeds <= 2){ |
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| 45 | color = Color::RED; |
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| 46 | }else if(numLeds <= 6){ |
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| 47 | color = Color::YELLOW; |
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| 48 | } |
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| 49 | for (int i=0; i<numLeds; i++){ |
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| 50 | lightOneLed(color, i); |
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| 51 | this->sleep(300); |
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| 52 | 9c46b728 | galberding | } |
| 53 | 181f2892 | galberding | this->sleep(1000); |
| 54 | lightAllLeds(Color::BLACK); |
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| 55 | 9c46b728 | galberding | } |
| 56 | |||
| 57 | 10bf9cc0 | galberding | void UserThread::chargeAsLED(){
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| 58 | uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
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| 59 | Color color = Color::GREEN; |
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| 60 | if (numLeds <= 2){ |
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| 61 | color = Color::RED; |
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| 62 | }else if(numLeds <= 6){ |
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| 63 | color = Color::YELLOW; |
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| 64 | } |
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| 65 | for (int i=0; i<numLeds; i++){ |
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| 66 | lightOneLed(color, i); |
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| 67 | // this->sleep(300);
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| 68 | } |
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| 69 | // this->sleep(1000);
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| 70 | // lightAllLeds(Color::BLACK);
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| 71 | } |
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| 72 | |||
| 73 | // ----------------------------------------------------------------
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| 74 | |||
| 75 | void UserThread::getProxySectorVals(uint16_t (&proxVals)[8], uint16_t (&sProx)[8]){ |
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| 76 | for (int i=0; i<8; i++){ |
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| 77 | sProx[i] = (proxVals[i] < proxVals[(i+1) % 8]) ? proxVals[i] : proxVals[(i+1) % 8]; |
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| 78 | // chprintf((BaseSequentialStream*)&global.sercanmux1, "%d: %d, ", i, sProx[i]);
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| 79 | 8dced1c9 | galberding | |
| 80 | 10bf9cc0 | galberding | } |
| 81 | // chprintf((BaseSequentialStream*)&global.sercanmux1, "\n");
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| 82 | |||
| 83 | } |
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| 84 | |||
| 85 | |||
| 86 | void UserThread::getMaxFrontSectorVal(uint16_t (&sProx)[8], int32_t &sPMax){ |
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| 87 | for (int i=2; i<5; i++){ |
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| 88 | sPMax = (sPMax < sProx[i]) ? sProx[i] : sPMax; |
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| 89 | } |
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| 90 | } |
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| 91 | |||
| 92 | void UserThread::proxSectorSpeedCorrection(int (&rpmSpeed)[2], uint16_t (&proxVals)[8]){ |
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| 93 | int i;
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| 94 | uint16_t sProx[8];
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| 95 | int32_t sPMax = 0;
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| 96 | getProxySectorVals(proxVals, sProx); |
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| 97 | getMaxFrontSectorVal(sProx, sPMax); |
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| 98 | 8dced1c9 | galberding | |
| 99 | 10bf9cc0 | galberding | int32_t speedL = rpmSpeed[0] - (sPMax * pCtrl.pFactor);
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| 100 | int32_t speedR = rpmSpeed[1] - (sPMax * pCtrl.pFactor);
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| 101 | |||
| 102 | |||
| 103 | |||
| 104 | if(sPMax > pCtrl.threshMid){
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| 105 | rpmSpeed[0] = 0; |
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| 106 | rpmSpeed[1] = 0; |
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| 107 | pCtrl.staticCont++; |
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| 108 | }else if((speedL > 0) || (speedR > 0)){ |
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| 109 | pCtrl.staticCont = 0;
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| 110 | rpmSpeed[0] = speedL;
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| 111 | rpmSpeed[1] = speedR;
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| 112 | }else{
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| 113 | rpmSpeed[0] = 4000000 + (rpmSpeed[0] - global.rpmForward[0] * 1000000); |
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| 114 | rpmSpeed[1] = 4000000 + (rpmSpeed[1] - global.rpmForward[0] * 1000000); |
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| 115 | } |
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| 116 | |||
| 117 | for(i=4; i<5; i++){ |
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| 118 | if ((proxVals[i] > pCtrl.threshMid) && (proxVals[i+1] > pCtrl.threshLow)){ |
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| 119 | rpmSpeed[0] = -5000000 ; |
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| 120 | rpmSpeed[1] = -5000000 ; |
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| 121 | // pCtrl.staticCont++;
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| 122 | break;
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| 123 | } |
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| 124 | } |
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| 125 | chargeAsLED(); |
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| 126 | 8dced1c9 | galberding | |
| 127 | 10bf9cc0 | galberding | // 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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| 128 | |||
| 129 | |||
| 130 | } |
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| 131 | // -------------------------------------------------------------------
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| 132 | |||
| 133 | |||
| 134 | void UserThread::preventCollision( int (&rpmSpeed)[2], uint16_t (&proxVals)[8]) { |
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| 135 | |||
| 136 | if((proxVals[3] > pCtrl.threshLow) || (proxVals[4] > pCtrl.threshLow)){ |
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| 137 | rpmSpeed[0] = rpmSpeed[0] / 2; |
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| 138 | rpmSpeed[1] = rpmSpeed[1] / 2; |
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| 139 | } |
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| 140 | |||
| 141 | if((proxVals[3] > pCtrl.threshMid) || (proxVals[4] > pCtrl.threshMid)){ |
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| 142 | d4c6efa9 | galberding | rpmSpeed[0] = rpmSpeed[0] / 3; |
| 143 | rpmSpeed[1] = rpmSpeed[1] / 3; |
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| 144 | 10bf9cc0 | galberding | } |
| 145 | |||
| 146 | if((proxVals[3] > pCtrl.threshHigh) || (proxVals[4] > pCtrl.threshHigh)){ |
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| 147 | rpmSpeed[0] = 0; |
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| 148 | rpmSpeed[1] = 0; |
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| 149 | utCount.ringProxCount++; |
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| 150 | }else{
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| 151 | utCount.ringProxCount = 0;
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| 152 | } |
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| 153 | 8dced1c9 | galberding | |
| 154 | 10bf9cc0 | galberding | } |
| 155 | |||
| 156 | |||
| 157 | 9c46b728 | galberding | /**
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| 158 | * Blocks as long as the position changes.
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| 159 | */
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| 160 | 181f2892 | galberding | void UserThread::checkForMotion(){
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| 161 | 8dced1c9 | galberding | bool motion = true; |
| 162 | 9c46b728 | galberding | int led = 0; |
| 163 | types::position oldPos = global.odometry.getPosition(); |
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| 164 | while(motion){
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| 165 | 8dced1c9 | galberding | this->sleep(200); |
| 166 | 9c46b728 | galberding | types::position tmp = global.odometry.getPosition(); |
| 167 | 8dced1c9 | galberding | motion = oldPos.x != tmp.x; //abs(oldPos.x - tmp.x)+ abs(oldPos.y - tmp.y)+abs(oldPos.z - tmp.z);
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| 168 | 9c46b728 | galberding | oldPos = tmp; |
| 169 | 8dced1c9 | galberding | global.robot.setLightColor((led + 1) % 8, Color(Color::YELLOW)); |
| 170 | global.robot.setLightColor(led % 8, Color(Color::BLACK));
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| 171 | led++; |
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| 172 | 9c46b728 | galberding | } |
| 173 | 10bf9cc0 | galberding | lightAllLeds(Color::BLACK); |
| 174 | 9c46b728 | galberding | } |
| 175 | |||
| 176 | fbcb25cc | galberding | bool UserThread::checkFrontalObject(){
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| 177 | 10bf9cc0 | galberding | uint32_t thresh = pCtrl.threshMid; |
| 178 | fbcb25cc | galberding | uint32_t prox; |
| 179 | for(int i=0; i<8; i++){ |
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| 180 | prox = global.robot.getProximityRingValue(i); |
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| 181 | if((i == 3) || (i == 4)){ |
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| 182 | if(prox < thresh){
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| 183 | return false; |
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| 184 | } |
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| 185 | }else{
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| 186 | if(prox > thresh){
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| 187 | return false; |
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| 188 | } |
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| 189 | } |
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| 190 | } |
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| 191 | return true; |
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| 192 | } |
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| 193 | |||
| 194 | 181f2892 | galberding | bool UserThread::checkPinVoltage(){
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| 195 | 8dced1c9 | galberding | return global.ltc4412.isPluggedIn();
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| 196 | 181f2892 | galberding | } |
| 197 | 9c46b728 | galberding | |
| 198 | 181f2892 | galberding | bool UserThread::checkPinEnabled(){
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| 199 | return global.ltc4412.isEnabled();
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| 200 | } |
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| 201 | |||
| 202 | int UserThread::checkDockingSuccess(){
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| 203 | // setRpmSpeed(stop);
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| 204 | checkForMotion(); |
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| 205 | 9c46b728 | galberding | int success = 0; |
| 206 | 10bf9cc0 | galberding | // global.odometry.resetPosition();
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| 207 | 9c46b728 | galberding | types::position start = global.startPos = global.odometry.getPosition(); |
| 208 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(false);
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| 209 | this->sleep(1000); |
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| 210 | 181f2892 | galberding | types::position stop_ = global.endPos = global.odometry.getPosition(); |
| 211 | 8dced1c9 | galberding | |
| 212 | 9c46b728 | galberding | // Amiro moved, docking was not successful
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| 213 | 10bf9cc0 | galberding | // if ((start.x + stop_.x) || (start.y + stop_.y)){
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| 214 | 84b4c632 | galberding | if (abs(start.x - stop_.x) > 200 /* || (start.y + stop_.y) */){ |
| 215 | 181f2892 | galberding | lightAllLeds(Color::RED); |
| 216 | // Enable Motor again if docking was not successful
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| 217 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
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| 218 | 9c46b728 | galberding | success = 0;
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| 219 | }else{
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| 220 | 181f2892 | galberding | lightAllLeds(Color::GREEN); |
| 221 | 9c46b728 | galberding | success = 1;
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| 222 | } |
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| 223 | 8dced1c9 | galberding | |
| 224 | 61544eee | galberding | // this->sleep(500);
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| 225 | 181f2892 | galberding | lightAllLeds(Color::BLACK); |
| 226 | 9c46b728 | galberding | return success;
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| 227 | } |
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| 228 | |||
| 229 | c9fa414d | galberding | int UserThread::getProxyRingSum(){
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| 230 | int prox_sum = 0; |
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| 231 | e2002d0e | galberding | for(int i=0; i<8;i++){ |
| 232 | prox_sum += global.robot.getProximityRingValue(i);; |
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| 233 | } |
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| 234 | return prox_sum;
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| 235 | } |
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| 236 | |||
| 237 | b24df8ad | galberding | int32_t UserThread::meanDeviation(uint16_t a, uint16_t b){
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| 238 | int32_t diff = a - b; |
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| 239 | 8dced1c9 | galberding | int32_t res = 0;
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| 240 | b24df8ad | galberding | devCor.proxbuf[devCor.pCount] = (diff*100)/((a+b)/2); |
| 241 | for (int i = 0; i< PROX_DEVIATION_MEAN_WINDOW; i++){ |
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| 242 | res += devCor.proxbuf[i]; |
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| 243 | } |
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| 244 | devCor.pCount++; |
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| 245 | devCor.pCount = devCor.pCount % PROX_DEVIATION_MEAN_WINDOW; |
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| 246 | |||
| 247 | devCor.currentDeviation = res / PROX_DEVIATION_MEAN_WINDOW; |
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| 248 | return devCor.currentDeviation;
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| 249 | } |
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| 250 | |||
| 251 | e2002d0e | galberding | |
| 252 | 58fe0e0b | Thomas Schöpping | UserThread::UserThread() : |
| 253 | chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>() |
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| 254 | {
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| 255 | } |
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| 256 | |||
| 257 | UserThread::~UserThread() |
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| 258 | {
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| 259 | } |
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| 260 | |||
| 261 | msg_t |
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| 262 | UserThread::main() |
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| 263 | {
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| 264 | 5d138bca | galberding | /*
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| 265 | * SETUP
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| 266 | */
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| 267 | 181f2892 | galberding | // User thread state:
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| 268 | |||
| 269 | 5d138bca | galberding | for (uint8_t led = 0; led < 8; ++led) { |
| 270 | global.robot.setLightColor(led, Color(Color::BLACK)); |
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| 271 | } |
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| 272 | running = false;
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| 273 | 10bf9cc0 | galberding | LineFollowStrategy lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 274 | 5d138bca | galberding | LineFollow lf(&global); |
| 275 | /*
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| 276 | * LOOP
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| 277 | */
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| 278 | while (!this->shouldTerminate()) |
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| 279 | {
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| 280 | 181f2892 | galberding | /*
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| 281 | * read accelerometer z-value
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| 282 | */
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| 283 | accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z); |
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| 284 | 8dced1c9 | galberding | |
| 285 | if (accel_z < -900 /*-0.9g*/) { |
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| 286 | 181f2892 | galberding | // Start line following when AMiRo is rotated
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| 287 | 10bf9cc0 | galberding | if(currentState == states::INACTIVE){
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| 288 | fbcb25cc | galberding | newState = states::FOLLOW_LINE; |
| 289 | 181f2892 | galberding | }else{
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| 290 | fbcb25cc | galberding | newState = states::IDLE; |
| 291 | 181f2892 | galberding | } |
| 292 | lightAllLeds(Color::GREEN); |
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| 293 | this->sleep(1000); |
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| 294 | lightAllLeds(Color::BLACK); |
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| 295 | c76baf23 | Georg Alberding | |
| 296 | d607fcef | galberding | // If message was received handle it here:
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| 297 | } else if(global.msgReceived){ |
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| 298 | global.msgReceived = false;
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| 299 | 181f2892 | galberding | // running = true;
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| 300 | d607fcef | galberding | switch(global.lfStrategy){
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| 301 | 10bf9cc0 | galberding | case msg_content::MSG_START:
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| 302 | newState = states::CALIBRATION_CHECK; |
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| 303 | break;
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| 304 | case msg_content::MSG_STOP:
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| 305 | fbcb25cc | galberding | newState = states::IDLE; |
| 306 | 10bf9cc0 | galberding | break;
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| 307 | case msg_content::MSG_EDGE_RIGHT:
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| 308 | fbcb25cc | galberding | // newState = states::FOLLOW_LINE;
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| 309 | d607fcef | galberding | lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 310 | 10bf9cc0 | galberding | break;
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| 311 | case msg_content::MSG_EDGE_LEFT:
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| 312 | fbcb25cc | galberding | // newState = states::FOLLOW_LINE;
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| 313 | d607fcef | galberding | lStrategy = LineFollowStrategy::EDGE_LEFT; |
| 314 | 10bf9cc0 | galberding | break;
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| 315 | case msg_content::MSG_FUZZY:
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| 316 | fbcb25cc | galberding | // newState = states::FOLLOW_LINE;
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| 317 | d607fcef | galberding | lStrategy = LineFollowStrategy::FUZZY; |
| 318 | 10bf9cc0 | galberding | break;
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| 319 | case msg_content::MSG_DOCK:
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| 320 | fbcb25cc | galberding | newState = states::DETECT_STATION; |
| 321 | 10bf9cc0 | galberding | break;
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| 322 | case msg_content::MSG_UNDOCK:
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| 323 | fbcb25cc | galberding | newState = states::RELEASE; |
| 324 | 10bf9cc0 | galberding | break;
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| 325 | case msg_content::MSG_CHARGE:
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| 326 | fbcb25cc | galberding | newState = states::CHARGING; |
| 327 | 10bf9cc0 | galberding | break;
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| 328 | case msg_content::MSG_RESET_ODOMETRY:
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| 329 | global.odometry.resetPosition(); |
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| 330 | break;
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| 331 | case msg_content::MSG_CALIBRATE_BLACK:
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| 332 | proxCalib.calibrateBlack = true;
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| 333 | // global.odometry.resetPosition();
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| 334 | newState = states::CALIBRATION; |
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| 335 | break;
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| 336 | case msg_content::MSG_CALIBRATE_WHITE:
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| 337 | proxCalib.calibrateBlack = false;
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| 338 | newState = states::CALIBRATION; |
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| 339 | break;
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| 340 | d607fcef | galberding | default:
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| 341 | fbcb25cc | galberding | newState = states::IDLE; |
| 342 | 10bf9cc0 | galberding | break;
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| 343 | d607fcef | galberding | } |
| 344 | 5d138bca | galberding | } |
| 345 | 10bf9cc0 | galberding | // newState = currentState;
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| 346 | d607fcef | galberding | |
| 347 | 8dced1c9 | galberding | // Get sensor data
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| 348 | fbcb25cc | galberding | // uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
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| 349 | // uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset();
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| 350 | 019224ff | galberding | for(int i=0; i<8;i++){ |
| 351 | rProx[i] = global.robot.getProximityRingValue(i); |
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| 352 | } |
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| 353 | b24df8ad | galberding | |
| 354 | // Continously update devication values
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| 355 | meanDeviation(rProx[0] & 0xFFF0, rProx[7] & 0xFFF0); |
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| 356 | 181f2892 | galberding | // int FL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
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| 357 | // int FR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
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| 358 | 10bf9cc0 | galberding | switch(currentState){
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| 359 | case states::INACTIVE:
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| 360 | // Dummy state to deactivate every interaction
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| 361 | break;
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| 362 | // ---------------------------------------
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| 363 | case states::CALIBRATION_CHECK:
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| 364 | // global.robot.calibrate();
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| 365 | if(global.linePID.BThresh >= global.linePID.WThresh){
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| 366 | newState = states::CALIBRATION_ERROR; |
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| 367 | }else{
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| 368 | newState = states::FOLLOW_LINE; |
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| 369 | } |
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| 370 | break;
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| 371 | // ---------------------------------------
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| 372 | case states::CALIBRATION:
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| 373 | /* Calibrate the global thresholds for black or white.
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| 374 | This values will be used by the line follow object
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| 375 | */
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| 376 | |||
| 377 | proxCalib.buf = 0;
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| 378 | if(proxCalib.calibrateBlack){
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| 379 | chprintf((BaseSequentialStream*)&global.sercanmux1, "Black Calibration, Place AMiRo on black Surface!\n");
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| 380 | global.robot.calibrate(); |
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| 381 | } |
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| 382 | for(int i=0; i <= proxCalib.meanWindow; i++){ |
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| 383 | 8dced1c9 | galberding | proxCalib.buf += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset() |
| 384 | + global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
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| 385 | 10bf9cc0 | galberding | this->sleep(CAN::UPDATE_PERIOD);
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| 386 | } |
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| 387 | proxCalib.buf = proxCalib.buf / (2*proxCalib.meanWindow);
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| 388 | 8dced1c9 | galberding | |
| 389 | 10bf9cc0 | galberding | if(proxCalib.calibrateBlack){
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| 390 | global.linePID.BThresh = proxCalib.buf; |
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| 391 | }else {
|
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| 392 | global.linePID.WThresh = proxCalib.buf; |
||
| 393 | } |
||
| 394 | chprintf((BaseSequentialStream*)&global.sercanmux1, "Black: %d, White: %d!\n", global.linePID.BThresh, global.linePID.WThresh);
|
||
| 395 | |||
| 396 | newState = states::IDLE; |
||
| 397 | break;
|
||
| 398 | // ---------------------------------------
|
||
| 399 | 181f2892 | galberding | case states::IDLE:
|
| 400 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
|
| 401 | 181f2892 | galberding | setRpmSpeed(stop); |
| 402 | if(/* checkPinVoltage() && */ checkPinEnabled()){ |
||
| 403 | global.robot.requestCharging(0);
|
||
| 404 | } |
||
| 405 | 10bf9cc0 | galberding | // pCtrl.pFactor = 0;
|
| 406 | pCtrl.staticCont = 0;
|
||
| 407 | fbcb25cc | galberding | utCount.whiteCount = 0;
|
| 408 | 10bf9cc0 | galberding | utCount.ringProxCount = 0;
|
| 409 | 27d4e1fa | galberding | utCount.errorCount = 0;
|
| 410 | 10bf9cc0 | galberding | newState = states::INACTIVE; |
| 411 | break;
|
||
| 412 | 181f2892 | galberding | // ---------------------------------------
|
| 413 | case states::FOLLOW_LINE:
|
||
| 414 | // Set correct forward speed to every strategy
|
||
| 415 | if (global.forwardSpeed != global.rpmForward[0]){ |
||
| 416 | global.forwardSpeed = global.rpmForward[0];
|
||
| 417 | } |
||
| 418 | 8dced1c9 | galberding | |
| 419 | 181f2892 | galberding | if(lf.getStrategy() != lStrategy){
|
| 420 | 9c46b728 | galberding | lf.setStrategy(lStrategy); |
| 421 | } |
||
| 422 | 5d138bca | galberding | |
| 423 | 181f2892 | galberding | if(lf.followLine(rpmSpeed)){
|
| 424 | fbcb25cc | galberding | utCount.whiteCount++; |
| 425 | 10bf9cc0 | galberding | if(utCount.whiteCount >= WHITE_DETETION_TIMEOUT){
|
| 426 | setRpmSpeed(stop); |
||
| 427 | utCount.whiteCount = 0;
|
||
| 428 | newState = states::WHITE_DETECTION_ERROR; |
||
| 429 | 9c46b728 | galberding | } |
| 430 | 181f2892 | galberding | }else{
|
| 431 | fbcb25cc | galberding | utCount.whiteCount = 0;
|
| 432 | 9c46b728 | galberding | } |
| 433 | e2002d0e | galberding | |
| 434 | 10bf9cc0 | galberding | preventCollision(rpmSpeed, rProx); |
| 435 | // proxSectorSpeedCorrection(rpmSpeed, rProx);
|
||
| 436 | 61544eee | galberding | |
| 437 | 10bf9cc0 | galberding | if(utCount.ringProxCount > RING_PROX_DETECTION_TIMEOUT){
|
| 438 | utCount.ringProxCount = 0;
|
||
| 439 | 8dced1c9 | galberding | |
| 440 | d4c6efa9 | galberding | |
| 441 | checkForMotion(); |
||
| 442 | // Check if only front sensors are active
|
||
| 443 | if (checkFrontalObject()) {
|
||
| 444 | // global.distcontrol.setTargetPosition(0, 2792526, ROTATION_DURATION);
|
||
| 445 | // // BaseThread::sleep(8000);
|
||
| 446 | // checkForMotion();
|
||
| 447 | this->utCount.whiteCount = 0; |
||
| 448 | newState = states::TURN; |
||
| 449 | // lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT);
|
||
| 450 | } else {
|
||
| 451 | newState = states::PROXY_DETECTION_ERROR; |
||
| 452 | } |
||
| 453 | 61544eee | galberding | } |
| 454 | |||
| 455 | c9fa414d | galberding | if (lf.getStrategy() == LineFollowStrategy::FUZZY){
|
| 456 | setRpmSpeedFuzzy(rpmSpeed); |
||
| 457 | }else{
|
||
| 458 | |||
| 459 | setRpmSpeed(rpmSpeed); |
||
| 460 | } |
||
| 461 | 8dced1c9 | galberding | |
| 462 | 10bf9cc0 | galberding | break;
|
| 463 | 181f2892 | galberding | // ---------------------------------------
|
| 464 | d4c6efa9 | galberding | case states::TURN:{
|
| 465 | // Check the line strategy in order to continue driving on the right side
|
||
| 466 | int factor = SPEED_CONVERSION_FACTOR;
|
||
| 467 | int frontL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
||
| 468 | int frontR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
|
||
| 469 | 8dced1c9 | galberding | int blackSensor = 0; |
| 470 | d4c6efa9 | galberding | if (lf.getStrategy() == LineFollowStrategy::EDGE_RIGHT) {
|
| 471 | factor = -factor; |
||
| 472 | 8dced1c9 | galberding | blackSensor = frontL; |
| 473 | }else{
|
||
| 474 | blackSensor = frontR; |
||
| 475 | d4c6efa9 | galberding | } |
| 476 | 8dced1c9 | galberding | |
| 477 | d4c6efa9 | galberding | rpmSpeed[0] = factor * CHARGING_SPEED;
|
| 478 | rpmSpeed[1] = -factor * CHARGING_SPEED;
|
||
| 479 | setRpmSpeed(rpmSpeed); |
||
| 480 | 8dced1c9 | galberding | |
| 481 | if ((blackSensor >= global.linePID.WThresh )){
|
||
| 482 | d4c6efa9 | galberding | utCount.whiteCount = 1;
|
| 483 | 8dced1c9 | galberding | }else {
|
| 484 | if((utCount.whiteCount == 1) && (blackSensor <= global.linePID.BThresh)){ |
||
| 485 | d4c6efa9 | galberding | utCount.whiteCount = 0;
|
| 486 | fbcb25cc | galberding | newState = states::FOLLOW_LINE; |
| 487 | d4c6efa9 | galberding | setRpmSpeed(stop); |
| 488 | fbcb25cc | galberding | } |
| 489 | d4c6efa9 | galberding | } |
| 490 | 10bf9cc0 | galberding | break;
|
| 491 | d4c6efa9 | galberding | } |
| 492 | fbcb25cc | galberding | // ---------------------------------------
|
| 493 | 181f2892 | galberding | case states::DETECT_STATION:
|
| 494 | 8dced1c9 | galberding | |
| 495 | 61544eee | galberding | if (global.forwardSpeed != DETECTION_SPEED){
|
| 496 | global.forwardSpeed = DETECTION_SPEED; |
||
| 497 | } |
||
| 498 | 181f2892 | galberding | if(lf.getStrategy() != LineFollowStrategy::EDGE_RIGHT){
|
| 499 | lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
||
| 500 | } |
||
| 501 | 8dced1c9 | galberding | |
| 502 | 181f2892 | galberding | lf.followLine(rpmSpeed); |
| 503 | setRpmSpeed(rpmSpeed); |
||
| 504 | // // Detect marker before docking station
|
||
| 505 | 019224ff | galberding | // if ((WL+WR) < PROXY_WHEEL_THRESH){
|
| 506 | 8dced1c9 | galberding | // Use proxy ring
|
| 507 | 019224ff | galberding | if ((rProx[3]+rProx[4]) > RING_PROX_FRONT_THRESH){ |
| 508 | |||
| 509 | d607fcef | galberding | setRpmSpeed(stop); |
| 510 | 181f2892 | galberding | checkForMotion(); |
| 511 | 8dced1c9 | galberding | // 180° Rotation
|
| 512 | 181f2892 | galberding | global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
|
| 513 | // BaseThread::sleep(8000);
|
||
| 514 | checkForMotion(); |
||
| 515 | newState = states::CORRECT_POSITIONING; |
||
| 516 | 9c46b728 | galberding | } |
| 517 | 10bf9cc0 | galberding | break;
|
| 518 | 181f2892 | galberding | // ---------------------------------------
|
| 519 | case states::CORRECT_POSITIONING:
|
||
| 520 | 019224ff | galberding | if (global.forwardSpeed != CHARGING_SPEED){
|
| 521 | global.forwardSpeed = CHARGING_SPEED; |
||
| 522 | } |
||
| 523 | 181f2892 | galberding | if(lf.getStrategy() != LineFollowStrategy::EDGE_LEFT){
|
| 524 | lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
||
| 525 | 9c46b728 | galberding | } |
| 526 | 181f2892 | galberding | lf.followLine(rpmSpeed); |
| 527 | setRpmSpeed(rpmSpeed); |
||
| 528 | 9c46b728 | galberding | |
| 529 | 10bf9cc0 | galberding | utCount.stateTime++; |
| 530 | if (utCount.stateTime >= DOCKING_CORRECTION_TIMEOUT){
|
||
| 531 | utCount.stateTime = 0;
|
||
| 532 | 181f2892 | galberding | newState = states::REVERSE; |
| 533 | setRpmSpeed(stop); |
||
| 534 | checkForMotion(); |
||
| 535 | } |
||
| 536 | 10bf9cc0 | galberding | break;
|
| 537 | 181f2892 | galberding | // ---------------------------------------
|
| 538 | case states::REVERSE:
|
||
| 539 | if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
||
| 540 | lf.setStrategy(LineFollowStrategy::REVERSE); |
||
| 541 | } |
||
| 542 | lf.followLine(rpmSpeed); |
||
| 543 | setRpmSpeed(rpmSpeed); |
||
| 544 | b24df8ad | galberding | // utCount.stateTime++;
|
| 545 | 58fe0e0b | Thomas Schöpping | |
| 546 | b24df8ad | galberding | // Docking is only successful if Deviation is in range and sensors are at their max values.
|
| 547 | d4c6efa9 | galberding | if((rProx[0] >= PROX_MAX_VAL) |
| 548 | && (rProx[7] >= PROX_MAX_VAL)
|
||
| 549 | && ((devCor.currentDeviation > -MAX_DEVIATION_FACTOR) && (devCor.currentDeviation < MAX_DEVIATION_FACTOR) )){
|
||
| 550 | 61544eee | galberding | // setRpmSpeed(stop);
|
| 551 | // checkForMotion();
|
||
| 552 | 10bf9cc0 | galberding | utCount.stateTime = 0;
|
| 553 | 27d4e1fa | galberding | newState = states::PUSH_BACK; |
| 554 | b24df8ad | galberding | }else if ((devCor.currentDeviation <= -MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 555 | 8dced1c9 | galberding | // Case R
|
| 556 | b24df8ad | galberding | utCount.stateTime = 0;
|
| 557 | setRpmSpeed(stop); |
||
| 558 | devCor.RCase = true;
|
||
| 559 | lightAllLeds(Color::YELLOW); |
||
| 560 | newState = states::DEVIATION_CORRECTION; |
||
| 561 | }else if ((devCor.currentDeviation >= MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
||
| 562 | 8dced1c9 | galberding | // Case L
|
| 563 | b24df8ad | galberding | utCount.stateTime = 0;
|
| 564 | setRpmSpeed(stop); |
||
| 565 | devCor.RCase = false;
|
||
| 566 | lightAllLeds(Color::WHITE); |
||
| 567 | newState = states::DEVIATION_CORRECTION; |
||
| 568 | 10bf9cc0 | galberding | }else if (utCount.stateTime >= REVERSE_DOCKING_TIMEOUT){ |
| 569 | setRpmSpeed(stop); |
||
| 570 | utCount.stateTime = 0;
|
||
| 571 | utCount.errorCount++; |
||
| 572 | if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
||
| 573 | newState = states::DOCKING_ERROR; |
||
| 574 | }else{
|
||
| 575 | newState = states::CORRECT_POSITIONING; |
||
| 576 | } |
||
| 577 | 27d4e1fa | galberding | } |
| 578 | 10bf9cc0 | galberding | |
| 579 | 84b4c632 | galberding | // if((devCor.currentDeviation <= -10)){
|
| 580 | // rpmSpeed[0] -= 2000000;
|
||
| 581 | // }else if(devCor.currentDeviation >= 10){
|
||
| 582 | // rpmSpeed[1] -= 2000000;
|
||
| 583 | // }
|
||
| 584 | // setRpmSpeed(rpmSpeed);
|
||
| 585 | 10bf9cc0 | galberding | break;
|
| 586 | 27d4e1fa | galberding | // ---------------------------------------
|
| 587 | b24df8ad | galberding | case states::DEVIATION_CORRECTION:
|
| 588 | // if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
||
| 589 | // lf.setStrategy(LineFollowStrategy::REVERSE);
|
||
| 590 | // }
|
||
| 591 | // lf.followLine(rpmSpeed);
|
||
| 592 | // setRpmSpeed(rpmSpeed);
|
||
| 593 | if(utCount.stateTime < DEVIATION_CORRECTION_DURATION / 2 ){ |
||
| 594 | if(devCor.RCase){
|
||
| 595 | rpmSpeed[0] = 0; |
||
| 596 | rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
||
| 597 | }else {
|
||
| 598 | rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
||
| 599 | rpmSpeed[1] = 0; |
||
| 600 | } |
||
| 601 | setRpmSpeed(rpmSpeed); |
||
| 602 | 84b4c632 | galberding | }else if (((utCount.stateTime >= DEVIATION_CORRECTION_DURATION / 2) && (utCount.stateTime < DEVIATION_CORRECTION_DURATION +10)) ){ |
| 603 | b24df8ad | galberding | if(devCor.RCase){
|
| 604 | rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
||
| 605 | rpmSpeed[1] = 0; |
||
| 606 | }else {
|
||
| 607 | rpmSpeed[0] = 0; |
||
| 608 | rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
||
| 609 | } |
||
| 610 | setRpmSpeed(rpmSpeed); |
||
| 611 | 84b4c632 | galberding | if(((devCor.currentDeviation >= -5) && (devCor.currentDeviation <= 5))){ |
| 612 | utCount.stateTime = 0;
|
||
| 613 | newState = states::REVERSE; |
||
| 614 | setRpmSpeed(stop); |
||
| 615 | } |
||
| 616 | b24df8ad | galberding | }else{
|
| 617 | utCount.stateTime = 0;
|
||
| 618 | newState = states::REVERSE; |
||
| 619 | setRpmSpeed(stop); |
||
| 620 | } |
||
| 621 | |||
| 622 | utCount.stateTime++; |
||
| 623 | |||
| 624 | |||
| 625 | // if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
||
| 626 | // utCount.stateTime = 0;
|
||
| 627 | // newState = states::CHECK_POSITIONING;
|
||
| 628 | // }
|
||
| 629 | break;
|
||
| 630 | // ---------------------------------------
|
||
| 631 | 27d4e1fa | galberding | case states::PUSH_BACK:
|
| 632 | if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
||
| 633 | lf.setStrategy(LineFollowStrategy::REVERSE); |
||
| 634 | } |
||
| 635 | lf.followLine(rpmSpeed); |
||
| 636 | setRpmSpeed(rpmSpeed); |
||
| 637 | |||
| 638 | 10bf9cc0 | galberding | utCount.stateTime++; |
| 639 | if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
||
| 640 | utCount.stateTime = 0;
|
||
| 641 | 181f2892 | galberding | newState = states::CHECK_POSITIONING; |
| 642 | } |
||
| 643 | 10bf9cc0 | galberding | break;
|
| 644 | 181f2892 | galberding | // ---------------------------------------
|
| 645 | case states::CHECK_POSITIONING:
|
||
| 646 | 61544eee | galberding | setRpmSpeed(stop); |
| 647 | checkForMotion(); |
||
| 648 | 27d4e1fa | galberding | if(checkDockingSuccess()){
|
| 649 | newState = states::CHECK_VOLTAGE; |
||
| 650 | }else{
|
||
| 651 | utCount.errorCount++; |
||
| 652 | newState = states::CORRECT_POSITIONING; |
||
| 653 | 10bf9cc0 | galberding | if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 654 | newState = states::DOCKING_ERROR; |
||
| 655 | 27d4e1fa | galberding | } |
| 656 | } |
||
| 657 | 10bf9cc0 | galberding | break;
|
| 658 | 181f2892 | galberding | // ---------------------------------------
|
| 659 | ba75ee1d | galberding | case states::CHECK_VOLTAGE:
|
| 660 | if(!checkPinEnabled()){
|
||
| 661 | global.robot.requestCharging(1);
|
||
| 662 | } else {
|
||
| 663 | if(checkPinVoltage()){
|
||
| 664 | 8dced1c9 | galberding | // Pins are under voltage -> correctly docked
|
| 665 | |||
| 666 | ba75ee1d | galberding | newState = states::CHARGING; |
| 667 | }else{
|
||
| 668 | 27d4e1fa | galberding | utCount.errorCount++; |
| 669 | ba75ee1d | galberding | // No voltage on pins -> falsely docked
|
| 670 | // deactivate pins
|
||
| 671 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
|
| 672 | ba75ee1d | galberding | global.robot.requestCharging(0);
|
| 673 | 27d4e1fa | galberding | // TODO: Soft release when docking falsely
|
| 674 | 61544eee | galberding | if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){ |
| 675 | newState = states::RELEASE_TO_CORRECT; |
||
| 676 | } else {
|
||
| 677 | 8dced1c9 | galberding | newState = states::RELEASE_TO_CORRECT; //states::CORRECT_POSITIONING;
|
| 678 | 27d4e1fa | galberding | } |
| 679 | |||
| 680 | if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
||
| 681 | 10bf9cc0 | galberding | newState = states::DOCKING_ERROR; |
| 682 | 61544eee | galberding | } |
| 683 | ba75ee1d | galberding | } |
| 684 | } |
||
| 685 | 10bf9cc0 | galberding | break;
|
| 686 | 019224ff | galberding | // ---------------------------------------
|
| 687 | case states::RELEASE_TO_CORRECT:
|
||
| 688 | 8dced1c9 | galberding | |
| 689 | 019224ff | galberding | global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 690 | checkForMotion(); |
||
| 691 | // move 1cm forward
|
||
| 692 | global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
||
| 693 | checkForMotion(); |
||
| 694 | // rotate back
|
||
| 695 | global.distcontrol.setTargetPosition(0, -2*ROTATION_20, ROTATION_DURATION); |
||
| 696 | checkForMotion(); |
||
| 697 | |||
| 698 | 10bf9cc0 | galberding | global.distcontrol.setTargetPosition(1500, 0, ROTATION_DURATION); |
| 699 | 019224ff | galberding | checkForMotion(); |
| 700 | newState = states::CORRECT_POSITIONING; |
||
| 701 | 10bf9cc0 | galberding | break;
|
| 702 | 27d4e1fa | galberding | // ---------------------------------------
|
| 703 | 181f2892 | galberding | case states::CHARGING:
|
| 704 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(false);
|
| 705 | 10bf9cc0 | galberding | utCount.errorCount = 0;
|
| 706 | 181f2892 | galberding | // Formulate Request to enable charging
|
| 707 | if(/* checkPinVoltage() && */ !checkPinEnabled()){ |
||
| 708 | global.robot.requestCharging(1);
|
||
| 709 | } |
||
| 710 | if(checkPinEnabled()){
|
||
| 711 | showChargingState(); |
||
| 712 | } |
||
| 713 | 10bf9cc0 | galberding | break;
|
| 714 | 181f2892 | galberding | // ---------------------------------------
|
| 715 | case states::RELEASE:
|
||
| 716 | 61544eee | galberding | if (global.forwardSpeed != DETECTION_SPEED){
|
| 717 | global.rpmForward[0] = DETECTION_SPEED;
|
||
| 718 | } |
||
| 719 | 181f2892 | galberding | if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 720 | global.robot.requestCharging(0);
|
||
| 721 | }else{
|
||
| 722 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
|
| 723 | 8dced1c9 | galberding | // TODO: Use controlled
|
| 724 | 181f2892 | galberding | //Rotate -20° to free from magnet
|
| 725 | global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
||
| 726 | 61544eee | galberding | checkForMotion(); |
| 727 | // move 1cm forward
|
||
| 728 | global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
||
| 729 | checkForMotion(); |
||
| 730 | // rotate back
|
||
| 731 | 10bf9cc0 | galberding | // global.distcontrol.setTargetPosition(0, -ROTATION_20, ROTATION_DURATION);
|
| 732 | // checkForMotion();
|
||
| 733 | 019224ff | galberding | |
| 734 | 61544eee | galberding | // global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION);
|
| 735 | // checkForMotion();
|
||
| 736 | 181f2892 | galberding | lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 737 | newState = states::FOLLOW_LINE; |
||
| 738 | 61544eee | galberding | // whiteBuf = -100;
|
| 739 | // lf.followLine(rpmSpeed);
|
||
| 740 | // setRpmSpeed(rpmSpeed);
|
||
| 741 | 181f2892 | galberding | } |
| 742 | 61544eee | galberding | // lightAllLeds(Color::BLACK);
|
| 743 | 10bf9cc0 | galberding | break;
|
| 744 | // ---------------------------------------
|
||
| 745 | case states::DOCKING_ERROR:
|
||
| 746 | newState = states::RELEASE; |
||
| 747 | break;
|
||
| 748 | // ---------------------------------------
|
||
| 749 | case states::REVERSE_TIMEOUT_ERROR:
|
||
| 750 | newState = states::IDLE; |
||
| 751 | break;
|
||
| 752 | // ---------------------------------------
|
||
| 753 | case states::CALIBRATION_ERROR:
|
||
| 754 | newState = states::IDLE; |
||
| 755 | break;
|
||
| 756 | // ---------------------------------------
|
||
| 757 | case states::WHITE_DETECTION_ERROR:
|
||
| 758 | newState = states::IDLE; |
||
| 759 | break;
|
||
| 760 | // ---------------------------------------
|
||
| 761 | case states::PROXY_DETECTION_ERROR:
|
||
| 762 | newState = states::IDLE; |
||
| 763 | break;
|
||
| 764 | // ---------------------------------------
|
||
| 765 | case states::NO_CHARGING_POWER_ERROR:
|
||
| 766 | newState = states::IDLE; |
||
| 767 | break;
|
||
| 768 | // ---------------------------------------
|
||
| 769 | case states::UNKNOWN_STATE_ERROR:
|
||
| 770 | newState = states::IDLE; |
||
| 771 | break;
|
||
| 772 | // ---------------------------------------
|
||
| 773 | 181f2892 | galberding | default:
|
| 774 | 10bf9cc0 | galberding | newState = states::UNKNOWN_STATE_ERROR; |
| 775 | break;
|
||
| 776 | 181f2892 | galberding | } |
| 777 | 10bf9cc0 | galberding | if (currentState != newState){
|
| 778 | fbcb25cc | galberding | chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
| 779 | 27d4e1fa | galberding | global.robot.transmitState(newState); |
| 780 | d4c6efa9 | galberding | if (newState == states::IDLE)
|
| 781 | {global.stateTracker[states::IDLE] += 1;}
|
||
| 782 | else if (newState == states::FOLLOW_LINE) |
||
| 783 | {global.stateTracker[states::FOLLOW_LINE] += 1;}
|
||
| 784 | else if (newState == states::DETECT_STATION) |
||
| 785 | {global.stateTracker[states::DETECT_STATION] += 1;}
|
||
| 786 | else if (newState == states::REVERSE) |
||
| 787 | {global.stateTracker[states::REVERSE] += 1;}
|
||
| 788 | else if (newState == states::PUSH_BACK) |
||
| 789 | {global.stateTracker[states::PUSH_BACK] += 1;}
|
||
| 790 | else if (newState == states::CHECK_POSITIONING) |
||
| 791 | {global.stateTracker[states::CHECK_POSITIONING] += 1;}
|
||
| 792 | else if (newState == states::CHECK_VOLTAGE) |
||
| 793 | {global.stateTracker[states::CHECK_VOLTAGE] += 1;}
|
||
| 794 | else if (newState == states::CHARGING) |
||
| 795 | {global.stateTracker[states::CHARGING] += 1;}
|
||
| 796 | else if (newState == states::RELEASE) |
||
| 797 | {global.stateTracker[states::RELEASE] += 1;}
|
||
| 798 | else if (newState == states::RELEASE_TO_CORRECT) |
||
| 799 | {global.stateTracker[states::RELEASE_TO_CORRECT] += 1;}
|
||
| 800 | else if (newState == states::CORRECT_POSITIONING) |
||
| 801 | {global.stateTracker[states::CORRECT_POSITIONING] += 1;}
|
||
| 802 | else if (newState == states::TURN) |
||
| 803 | {global.stateTracker[states::TURN] += 1;}
|
||
| 804 | else if (newState == states::INACTIVE) |
||
| 805 | {global.stateTracker[states::INACTIVE] += 1;}
|
||
| 806 | else if (newState == states::CALIBRATION) |
||
| 807 | {global.stateTracker[states::CALIBRATION] += 1;}
|
||
| 808 | else if (newState == states::CALIBRATION_CHECK) |
||
| 809 | {global.stateTracker[states::CALIBRATION_CHECK] += 1;}
|
||
| 810 | else if (newState == states::DEVIATION_CORRECTION) |
||
| 811 | {global.stateTracker[states::DEVIATION_CORRECTION] += 1;}
|
||
| 812 | 8dced1c9 | galberding | |
| 813 | d4c6efa9 | galberding | else if (newState == states::DOCKING_ERROR){global.stateTracker[16+(-states::DOCKING_ERROR)] += 1;} |
| 814 | else if (newState == states::REVERSE_TIMEOUT_ERROR){global.stateTracker[16+(-states::REVERSE_TIMEOUT_ERROR)] += 1;} |
||
| 815 | else if (newState == states::CALIBRATION_ERROR){global.stateTracker[16+(-states::CALIBRATION_ERROR)] += 1;} |
||
| 816 | else if (newState == states::WHITE_DETECTION_ERROR){global.stateTracker[16+(-states::WHITE_DETECTION_ERROR)] += 1;} |
||
| 817 | else if (newState == states::PROXY_DETECTION_ERROR){global.stateTracker[16+(-states::PROXY_DETECTION_ERROR)] += 1;} |
||
| 818 | else if (newState == states::NO_CHARGING_POWER_ERROR){global.stateTracker[16+(-states::NO_CHARGING_POWER_ERROR)] += 1;} |
||
| 819 | else if (newState == states::UNKNOWN_STATE_ERROR){global.stateTracker[16+(-states::UNKNOWN_STATE_ERROR)] += 1;} |
||
| 820 | 27d4e1fa | galberding | } |
| 821 | 10bf9cc0 | galberding | prevState = currentState; |
| 822 | currentState = newState; |
||
| 823 | 84b4c632 | galberding | // if (utCount.stateCount > CAN_TRANSMIT_STATE_THRESH){
|
| 824 | // utCount.stateCount = 0;
|
||
| 825 | // // chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
||
| 826 | // global.robot.transmitState(currentState);
|
||
| 827 | // // global.robot.setOdometry(global.odometry.getPosition());
|
||
| 828 | 8dced1c9 | galberding | |
| 829 | 84b4c632 | galberding | // }else{
|
| 830 | // utCount.stateCount++;
|
||
| 831 | // }
|
||
| 832 | 5d138bca | galberding | this->sleep(CAN::UPDATE_PERIOD);
|
| 833 | } |
||
| 834 | 58fe0e0b | Thomas Schöpping | |
| 835 | return RDY_OK;
|
||
| 836 | } |