amiro-os / devices / DiWheelDrive / linefollow.cpp @ 9090cc7e
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// #include "global.hpp"
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#include "linefollow.hpp" |
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#include <cmath> |
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#include <limits> |
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LineFollow::LineFollow(Global *global){
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this->global = global;
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} |
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LineFollow::LineFollow(Global *global, LineFollowStrategy strategy){
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this->global = global;
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this-> strategy = strategy;
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} |
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int LineFollow::transitionError(int FL, int FR, int targetL, int targetR){ |
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// global->robot.setLightColor(0, Color::RED);
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// global->robot.setLightColor(7, Color::RED);
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int error = 0; |
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|
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switch (this->strategy) |
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{
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case LineFollowStrategy::TRANSITION_R_L:
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error = -(FL -targetL + FR - targetR + this->trans);
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break;
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case LineFollowStrategy::TRANSITION_L_R:
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error = (FL -targetL + FR - targetR + this->trans);
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break;
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default:
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break;
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} |
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this->trans += 400; |
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if(FL+FR <= RAND_TRESH){
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// global->robot.setLightColor(0, Color::GREEN);
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// global->robot.setLightColor(7, Color::GREEN);
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switch (this->strategy) |
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{
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case LineFollowStrategy::TRANSITION_R_L:
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this->strategy = LineFollowStrategy::EDGE_LEFT;
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break;
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case LineFollowStrategy::TRANSITION_L_R:
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this->strategy = LineFollowStrategy::EDGE_RIGHT;
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break;
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default:
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break;
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} |
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this->trans = 0; |
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} |
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return error;
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} |
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|
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/**
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* Calculate the error from front proxi sensors and fixed threshold values for those sensors.
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*/
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int LineFollow::getError(){
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// global->robot.setLightColor(3, Color::YELLOW);
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// Get actual sensor data of both front sensors
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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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// int targetL = global->linePID.threshProxyL;
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// int targetR = global->linePID.threshProxyR;
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int targetL = global->linePID.BThresh;
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int targetR = global->linePID.WThresh;
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int error = 0; |
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switch (this->strategy) |
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{
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case LineFollowStrategy::EDGE_RIGHT:
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error = -(FL -targetL + FR - targetR); |
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break;
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case LineFollowStrategy::EDGE_LEFT:
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error = (FL -targetL + FR - targetR); |
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break;
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case LineFollowStrategy::MIDDLE:
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// Assume that the smallest value means driving in the middle
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// targetL = targetR = !(targetL<targetR)?targetR:targetL;
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error = (FL -targetL + FR - targetL); |
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break;
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case LineFollowStrategy::TRANSITION_L_R: case LineFollowStrategy::TRANSITION_R_L: |
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error = transitionError(FL, FR, targetL, targetR); |
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break;
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default:
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break;
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} |
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// Debugging stuff ------
|
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// if (global->enableRecord){
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// global->senseRec[global->sensSamples].error = error;
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// global->senseRec[global->sensSamples].FL = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
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// global->senseRec[global->sensSamples].FR = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
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// global->sensSamples++;
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// }
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// ----------------------
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// Register white values
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if (FL+FR > global->threshWhite){
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whiteFlag = 1;
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}else{
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whiteFlag = 0;
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} |
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return error;
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} |
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/**
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* Depending on the strategy different behaviours will be triggered.
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* FUZZY - standard tracking of black area
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* REVERSE - drive back
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* @param: rpmSpeed motor speed
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*/
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int LineFollow::followLine(int (&rpmSpeed)[2]){ |
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|
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int correctionSpeed = 0; |
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switch (this->strategy) |
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{
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case LineFollowStrategy::FUZZY:
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for (int i = 0; i < 4; i++) { |
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vcnl4020AmbientLight[i] = global->vcnl4020[i].getAmbientLight(); |
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vcnl4020Proximity[i] = global->vcnl4020[i].getProximityScaledWoOffset(); |
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} |
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lineFollowing(vcnl4020Proximity, rpmSpeed); |
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break;
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case LineFollowStrategy::REVERSE:
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correctionSpeed = -getPidCorrectionSpeed(); |
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rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] = -1000000*global->forwardSpeed;
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rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] = -1000000*global->forwardSpeed;
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break;
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default:
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correctionSpeed = getPidCorrectionSpeed(); |
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// chprintf((BaseSequentialStream*) &SD1, "Correction: %d, thresh: %d\n",correctionSpeed, global->threshWhite);
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rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] = 1000000*global->forwardSpeed + correctionSpeed;
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rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] = 1000000*global->forwardSpeed - correctionSpeed;
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break;
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} |
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|
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// Limit Speed
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if ((rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] > MAX_CORRECTED_SPEED) || (rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] > MAX_CORRECTED_SPEED)){
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rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] /= 2;
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rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] /= 2;
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} |
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return whiteFlag;
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} |
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/**
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* Pid controller which returns a corrections speed.
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*/
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int LineFollow::getPidCorrectionSpeed(){
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int32_t error = getError(); |
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int32_t sloap = oldError - error ; |
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// int correctionSpeed = (int) (global->K_p*error + Ki*accumHist - global->K_d*sloap);
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int32_t correctionSpeed = (int32_t) (K_p*error + K_i*accumHist + K_d*sloap); |
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oldError = error; |
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// Overflow Protection
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if ((error > 0) && (accumHist > std::numeric_limits<int32_t>::max() - error)){ |
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// Overflow detected
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accumHist = std::numeric_limits<int32_t>::max(); |
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} else if ((error < 0) && (accumHist < std::numeric_limits<int32_t>::min() - error)) { |
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// Underflow detected
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accumHist = std::numeric_limits<int32_t>::min(); |
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}else {
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accumHist += error; |
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} |
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if (abs(error) > global->maxDist.error){
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global->maxDist.error = error; |
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} |
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return correctionSpeed;
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} |
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void LineFollow::setStrategy(LineFollowStrategy strategy){
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if(this->strategy == LineFollowStrategy::TRANSITION_R_L || this->strategy == LineFollowStrategy::TRANSITION_L_R){ |
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return;
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} |
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switch(strategy){
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case LineFollowStrategy::EDGE_LEFT:
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if((this->strategy == LineFollowStrategy::EDGE_RIGHT) || (this->strategy == LineFollowStrategy::TRANSITION_R_L)){ |
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this->strategy = LineFollowStrategy::TRANSITION_R_L;
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}else{
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// In case of fuzzy or reverse
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this->strategy = strategy;
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} |
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break;
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case LineFollowStrategy::EDGE_RIGHT:
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if((this->strategy == LineFollowStrategy::EDGE_LEFT) || (this->strategy == LineFollowStrategy::TRANSITION_L_R)){ |
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this->strategy = LineFollowStrategy::TRANSITION_L_R;
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}else{
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// In case of fuzzy or reverse
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this->strategy = strategy;
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} |
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break;
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default:
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// From Fuzzy or Reverse state should work to transition automatically
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this->strategy = strategy;
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break;
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} |
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// this->strategy = strategy;
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} |
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void LineFollow::promptStrategyChange(LineFollowStrategy strategy){
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this->strategy = strategy;
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} |
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LineFollowStrategy LineFollow::getStrategy(){
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return this->strategy; |
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} |
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void LineFollow::setGains(float Kp, float Ki, float Kd){ |
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this->K_p = Kp;
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this->K_i = Ki;
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this->K_d = Kd;
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} |
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// Legacy code, fuzzy following-----------------------------------------
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// Line following by a fuzzy controler
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void LineFollow::lineFollowing(int (&proximity)[4], int (&rpmFuzzyCtrl)[2]) { |
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// FUZZYFICATION
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// First we need to get the fuzzy value for our 3 values {BLACK, GREY, WHITE}
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float leftWheelFuzzyMemberValues[3], leftFrontFuzzyMemberValues[3], rightFrontFuzzyMemberValues[3], rightWheelFuzzyMemberValues[3]; |
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fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], leftWheelFuzzyMemberValues); |
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fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], leftFrontFuzzyMemberValues); |
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fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], rightFrontFuzzyMemberValues); |
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fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], rightWheelFuzzyMemberValues); |
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// INFERENCE RULE DEFINITION
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// Get the member for each sensor
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colorMember member[4];
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member[constants::DiWheelDrive::PROX_WHEEL_LEFT] = getMember(leftWheelFuzzyMemberValues); |
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member[constants::DiWheelDrive::PROX_FRONT_LEFT] = getMember(leftFrontFuzzyMemberValues); |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] = getMember(rightFrontFuzzyMemberValues); |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] = getMember(rightWheelFuzzyMemberValues); |
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// visualize sensors via LEDs
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global->robot.setLightColor(constants::LightRing::LED_WNW, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_LEFT])); |
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global->robot.setLightColor(constants::LightRing::LED_NNW, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_LEFT])); |
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global->robot.setLightColor(constants::LightRing::LED_NNE, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_RIGHT])); |
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global->robot.setLightColor(constants::LightRing::LED_ENE, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_RIGHT])); |
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|
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// chprintf((BaseSequentialStream*) &SD1, "Left: BLACK: %f, GREY: %f, WHITE: %f\r\n", leftWheelFuzzyMemberValues[BLACK], leftWheelFuzzyMemberValues[GREY], leftWheelFuzzyMemberValues[WHITE]);
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// chprintf((BaseSequentialStream*) &SD1, "Right: BLACK: %f, GREY: %f, WHITE: %f\r\n", rightFuzzyMemberValues[BLACK], rightFuzzyMemberValues[GREY], rightFuzzyMemberValues[WHITE]);
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// DEFUZZYFICATION
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defuzzyfication(member, rpmFuzzyCtrl); |
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// defuzz(member, rpmFuzzyCtrl);
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} |
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Color LineFollow::memberToLed(colorMember member) {
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switch (member) {
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case BLACK:
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return Color(Color::GREEN);
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case GREY:
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return Color(Color::YELLOW);
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case WHITE:
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return Color(Color::RED);
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default:
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return Color(Color::WHITE);
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} |
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} |
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|
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void LineFollow::defuzzyfication(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]) { |
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whiteFlag = 0;
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// all sensors are equal
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if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_LEFT] &&
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member[constants::DiWheelDrive::PROX_FRONT_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_RIGHT] && |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == member[constants::DiWheelDrive::PROX_WHEEL_RIGHT]) {
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// something is wrong -> stop
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copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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// both front sensor detect a line
|
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK && |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {
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// straight
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copyRpmSpeed(global->rpmForward, rpmFuzzyCtrl); |
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// exact one front sensor detects a line
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK || |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {
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// soft correction
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if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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// soft right
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copyRpmSpeed(global->rpmSoftRight, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == WHITE) { |
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// hard right
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copyRpmSpeed(global->rpmHardRight, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
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// soft left
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copyRpmSpeed(global->rpmSoftLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE) { |
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// hard left
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copyRpmSpeed(global->rpmHardLeft, rpmFuzzyCtrl); |
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} |
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// both wheel sensors detect a line
|
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK && |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {
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// something is wrong -> stop
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copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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// exactly one wheel sensor detects a line
|
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK || |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {
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if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK) {
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// turn left
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copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) { |
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// turn right
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copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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} |
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// both front sensors may detect a line
|
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY && |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
|
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if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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// turn left
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copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
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// turn right
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copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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} |
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// exactly one front sensor may detect a line
|
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} else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY || |
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member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
|
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if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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// turn left
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copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
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// turn right
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copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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} |
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// both wheel sensors may detect a line
|
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY && |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
|
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// something is wrong -> stop
|
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copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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// exactly one wheel sensor may detect a line
|
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY || |
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member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
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if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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// turn left
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copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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} else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
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// turn right
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copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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} |
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// no sensor detects anything
|
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} else {
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// line is lost -> stop
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whiteFlag = 1;
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copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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} |
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chprintf((BaseSequentialStream*) &SD1, "Fuzzy Speed: Left: %d, Right: %d\n", rpmFuzzyCtrl[0], rpmFuzzyCtrl[1]); |
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return;
|
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} |
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|
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colorMember LineFollow::getMember(float (&fuzzyValue)[3]) { |
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colorMember member; |
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|
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if (fuzzyValue[BLACK] > fuzzyValue[GREY])
|
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if (fuzzyValue[BLACK] > fuzzyValue[WHITE])
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member = BLACK; |
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else
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member = WHITE; |
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else
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if (fuzzyValue[GREY] > fuzzyValue[WHITE])
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member = GREY; |
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else
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member = WHITE; |
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return member;
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} |
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|
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// Fuzzyfication of the sensor values
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void LineFollow::fuzzyfication(int sensorValue, float (&fuzziedValue)[3]) { |
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if (sensorValue < blackStartFalling ) {
|
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// Only black value
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fuzziedValue[BLACK] = 1.0f; |
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fuzziedValue[GREY] = 0.0f; |
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fuzziedValue[WHITE] = 0.0f; |
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} else if (sensorValue > whiteOn ) { |
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// Only white value
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fuzziedValue[BLACK] = 0.0f; |
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fuzziedValue[GREY] = 0.0f; |
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fuzziedValue[WHITE] = 1.0f; |
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} else if ( sensorValue < greyMax) { |
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// Some greyisch value between black and grey
|
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|
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// Black is going down
|
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if ( sensorValue > blackOff) {
|
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fuzziedValue[BLACK] = 0.0f; |
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} else {
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fuzziedValue[BLACK] = static_cast<float>(sensorValue-blackOff) / (blackStartFalling-blackOff); |
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} |
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|
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// Grey is going up
|
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if ( sensorValue < greyStartRising) {
|
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fuzziedValue[GREY] = 0.0f; |
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} else {
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fuzziedValue[GREY] = static_cast<float>(sensorValue-greyStartRising) / (greyMax-greyStartRising); |
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} |
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|
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// White is absent
|
| 412 |
fuzziedValue[WHITE] = 0.0f; |
| 413 |
|
| 414 |
} else if ( sensorValue >= greyMax) { |
| 415 |
// Some greyisch value between grey white
|
| 416 |
|
| 417 |
// Black is absent
|
| 418 |
fuzziedValue[BLACK] = 0.0f; |
| 419 |
|
| 420 |
// Grey is going down
|
| 421 |
if ( sensorValue < greyOff) {
|
| 422 |
fuzziedValue[GREY] = static_cast<float>(sensorValue-greyOff) / (greyMax-greyOff); |
| 423 |
} else {
|
| 424 |
fuzziedValue[GREY] = 0.0f; |
| 425 |
} |
| 426 |
|
| 427 |
// White is going up
|
| 428 |
if ( sensorValue < whiteStartRising) {
|
| 429 |
fuzziedValue[WHITE] = 0.0f; |
| 430 |
} else {
|
| 431 |
fuzziedValue[WHITE] = static_cast<float>(sensorValue-whiteStartRising) / (whiteOn-whiteStartRising); |
| 432 |
} |
| 433 |
} |
| 434 |
} |
| 435 |
|
| 436 |
void LineFollow::copyRpmSpeed(const int (&source)[2], int (&target)[2]) { |
| 437 |
target[constants::DiWheelDrive::LEFT_WHEEL] = source[constants::DiWheelDrive::LEFT_WHEEL]; |
| 438 |
target[constants::DiWheelDrive::RIGHT_WHEEL] = source[constants::DiWheelDrive::RIGHT_WHEEL]; |
| 439 |
// chprintf((BaseSequentialStream*) &SD1, "Speed left: %d, Speed right: %d\r\n", target[0], target[1]);
|
| 440 |
} |