amiro-os / devices / DiWheelDrive / userthread.cpp @ a0033dcb
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#include "userthread.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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/**
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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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int motion = 1; |
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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(500); |
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types::position tmp = global.odometry.getPosition(); |
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motion = 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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} |
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bool UserThread::checkFrontalObject(){
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uint32_t thresh = 1000;
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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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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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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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// int whiteBuf = 0;
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// int proxyBuf = 0;
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// int reverseBuf = 0;
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int correctionStep = 0; |
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// int dist_count = 0;
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// bool needDistance = false;
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uint16_t rProx[8]; // buffer for ring proxy values |
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int rpmSpeed[2] = {0}; |
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int stop[2] = {0}; |
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int turn[2] = {5,-5}; |
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LineFollowStrategy lStrategy = LineFollowStrategy::EDGE_RIGHT; |
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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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running = false;
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LineFollow lf(&global); |
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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(utState == states::IDLE){
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newState = states::FOLLOW_LINE; |
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}else{
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newState = states::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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// 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::START:
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newState = states::FOLLOW_LINE; |
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break;
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case msg_content::STOP:
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newState = states::IDLE; |
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break;
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case msg_content::EDGE_RIGHT:
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// newState = states::FOLLOW_LINE;
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lStrategy = LineFollowStrategy::EDGE_RIGHT; |
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break;
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case msg_content::EDGE_LEFT:
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// newState = states::FOLLOW_LINE;
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lStrategy = LineFollowStrategy::EDGE_LEFT; |
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break;
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case msg_content::FUZZY:
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// newState = states::FOLLOW_LINE;
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lStrategy = LineFollowStrategy::FUZZY; |
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break;
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case msg_content::DOCK:
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newState = states::DETECT_STATION; |
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break;
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case msg_content::UNDOCK:
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newState = states::RELEASE; |
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break;
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case msg_content::CHARGE:
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newState = states::CHARGING; |
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break;
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default:
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newState = states::IDLE; |
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break;
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} |
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} |
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// newState = utState;
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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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// 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(utState){
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case states::IDLE:
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global.motorcontrol.setMotorEnable(true);
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setRpmSpeed(stop); |
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if(/* checkPinVoltage() && */ checkPinEnabled()){ |
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global.robot.requestCharging(0);
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} |
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utCount.whiteCount = 0;
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utCount.proxyCount = 0;
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utCount.errorCount = 0;
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utCount.idleCount++; |
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if (utCount.idleCount > 10){ |
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utCount.idleCount = 0;
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// chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
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global.robot.transmitState(utState); |
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} |
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break;
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// ---------------------------------------
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case states::FOLLOW_LINE:
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// Set correct forward speed to every strategy
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if (global.forwardSpeed != global.rpmForward[0]){ |
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global.forwardSpeed = global.rpmForward[0];
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} |
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if(lf.getStrategy() != lStrategy){
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lf.setStrategy(lStrategy); |
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} |
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if(lf.followLine(rpmSpeed)){
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utCount.whiteCount++; |
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if(utCount.whiteCount >= WHITE_COUNT_THRESH){
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rpmSpeed[0] = stop[0]; |
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rpmSpeed[1] = stop[1]; |
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newState = states::IDLE; |
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} |
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}else{
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utCount.whiteCount = 0;
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// setRpmSpeed(rpmSpeed);
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} |
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if(getProxyRingSum() > PROXY_RING_THRESH){
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utCount.proxyCount++; |
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if(utCount.proxyCount > WHITE_COUNT_THRESH){
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rpmSpeed[0] = stop[0]; |
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rpmSpeed[1] = stop[1]; |
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// newState = states::IDLE;
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if (continue_on_obstacle){
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newState = states::TURN; |
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utCount.proxyCount = 0;
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}else{
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newState = states::IDLE; |
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} |
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} |
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}else{
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utCount.proxyCount = 0;
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} |
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if ((rProx[3] + rProx[4]) > RING_PROX_FRONT_THRESH){ |
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rpmSpeed[0] = stop[0]; |
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rpmSpeed[1] = stop[1]; |
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} |
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if (lf.getStrategy() == LineFollowStrategy::FUZZY){
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setRpmSpeedFuzzy(rpmSpeed); |
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}else{
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setRpmSpeed(rpmSpeed); |
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} |
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break;
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// ---------------------------------------
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case states::TURN:
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checkForMotion(); |
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// Check if only front sensors are active
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if(checkFrontalObject()){
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global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
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// BaseThread::sleep(8000);
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checkForMotion(); |
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newState = states::FOLLOW_LINE; |
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lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
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}else{
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newState = states::IDLE; |
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} |
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break;
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// ---------------------------------------
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case states::DETECT_STATION:
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if (global.forwardSpeed != DETECTION_SPEED){
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global.forwardSpeed = DETECTION_SPEED; |
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} |
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if(lf.getStrategy() != LineFollowStrategy::EDGE_RIGHT){
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lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
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} |
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lf.followLine(rpmSpeed); |
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setRpmSpeed(rpmSpeed); |
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// // Detect marker before docking station
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// if ((WL+WR) < PROXY_WHEEL_THRESH){
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// Use proxy ring
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if ((rProx[3]+rProx[4]) > RING_PROX_FRONT_THRESH){ |
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|
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setRpmSpeed(stop); |
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checkForMotion(); |
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// 180° Rotation
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global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
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// BaseThread::sleep(8000);
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checkForMotion(); |
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newState = states::CORRECT_POSITIONING; |
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} |
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break;
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// ---------------------------------------
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case states::CORRECT_POSITIONING:
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if (global.forwardSpeed != CHARGING_SPEED){
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global.forwardSpeed = CHARGING_SPEED; |
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} |
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if(lf.getStrategy() != LineFollowStrategy::EDGE_LEFT){
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lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
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} |
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lf.followLine(rpmSpeed); |
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setRpmSpeed(rpmSpeed); |
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|
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utCount.stepCount++; |
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if (utCount.stepCount >= MAX_CORRECTION_STEPS){
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utCount.stepCount = 0;
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newState = states::REVERSE; |
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setRpmSpeed(stop); |
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checkForMotion(); |
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} |
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break;
|
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// ---------------------------------------
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case states::REVERSE:
|
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if(lf.getStrategy() != LineFollowStrategy::REVERSE){
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lf.setStrategy(LineFollowStrategy::REVERSE); |
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} |
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lf.followLine(rpmSpeed); |
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setRpmSpeed(rpmSpeed); |
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|
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// if ((WL+WR) < PROXY_WHEEL_THRESH){
|
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// Is of those sensors at it max val means that the AMiRo cant drive back
|
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// so check if correctly positioned
|
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//definitely wrong positioned -> correct position directly without rotation
|
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// Both sensors are at a wall -> potential loading station dock and on magnet -> need to rotate
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// if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){
|
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// setRpmSpeed(stop);
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// checkForMotion();
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// newState = states::CHECK_POSITIONING;
|
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// } else
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if((rProx[0] >= PROX_MAX_VAL) || (rProx[7] >= PROX_MAX_VAL)){ |
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// setRpmSpeed(stop);
|
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// checkForMotion();
|
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utCount.stepCount = 0;
|
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newState = states::PUSH_BACK; |
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} |
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break;
|
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// ---------------------------------------
|
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case states::PUSH_BACK:
|
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if(lf.getStrategy() != LineFollowStrategy::REVERSE){
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lf.setStrategy(LineFollowStrategy::REVERSE); |
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} |
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lf.followLine(rpmSpeed); |
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setRpmSpeed(rpmSpeed); |
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|
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utCount.stepCount++; |
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if (utCount.stepCount > PUSH_BACK_COUNT){
|
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newState = states::CHECK_POSITIONING; |
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} |
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break;
|
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// ---------------------------------------
|
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case states::CHECK_POSITIONING:
|
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setRpmSpeed(stop); |
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checkForMotion(); |
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// if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){
|
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if(checkDockingSuccess()){
|
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newState = states::CHECK_VOLTAGE; |
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}else{
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utCount.errorCount++; |
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newState = states::CORRECT_POSITIONING; |
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if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
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newState = states::ERROR; |
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} |
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} |
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// }
|
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// else{
|
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// newState = CORRECT_POSITIONING;
|
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// }
|
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break;
|
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// ---------------------------------------
|
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case states::CHECK_VOLTAGE:
|
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if(!checkPinEnabled()){
|
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global.robot.requestCharging(1);
|
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} else {
|
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if(checkPinVoltage()){
|
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// Pins are under voltage -> correctly docked
|
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utCount.errorCount = 0;
|
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newState = states::CHARGING; |
| 430 |
}else{
|
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utCount.errorCount++; |
| 432 |
// No voltage on pins -> falsely docked
|
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// deactivate pins
|
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global.motorcontrol.setMotorEnable(true);
|
| 435 |
global.robot.requestCharging(0);
|
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// TODO: Soft release when docking falsely
|
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if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){ |
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newState = states::RELEASE_TO_CORRECT; |
| 439 |
} else {
|
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newState = states::RELEASE_TO_CORRECT; //states::CORRECT_POSITIONING;
|
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} |
| 442 |
|
| 443 |
if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
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newState = states::ERROR; |
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} |
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} |
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} |
| 448 |
break;
|
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// ---------------------------------------
|
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case states::RELEASE_TO_CORRECT:
|
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|
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global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
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checkForMotion(); |
| 454 |
// move 1cm forward
|
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global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
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checkForMotion(); |
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// rotate back
|
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global.distcontrol.setTargetPosition(0, -2*ROTATION_20, ROTATION_DURATION); |
| 459 |
checkForMotion(); |
| 460 |
|
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global.distcontrol.setTargetPosition(7000, 0, ROTATION_DURATION); |
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checkForMotion(); |
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newState = states::CORRECT_POSITIONING; |
| 464 |
break;
|
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// ---------------------------------------
|
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case states::ERROR:
|
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utCount.errorCount = 0;
|
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// lStrategy = LineFollowStrategy::EDGE_RIGHT;
|
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newState = states::RELEASE; |
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break;
|
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// ---------------------------------------
|
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case states::CHARGING:
|
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global.motorcontrol.setMotorEnable(false);
|
| 474 |
// Formulate Request to enable charging
|
| 475 |
if(/* checkPinVoltage() && */ !checkPinEnabled()){ |
| 476 |
global.robot.requestCharging(1);
|
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} |
| 478 |
if(checkPinEnabled()){
|
| 479 |
showChargingState(); |
| 480 |
} |
| 481 |
break;
|
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|
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// ---------------------------------------
|
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case states::RELEASE:
|
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if (global.forwardSpeed != DETECTION_SPEED){
|
| 486 |
global.rpmForward[0] = DETECTION_SPEED;
|
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} |
| 488 |
if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 489 |
global.robot.requestCharging(0);
|
| 490 |
}else{
|
| 491 |
global.motorcontrol.setMotorEnable(true);
|
| 492 |
|
| 493 |
//Rotate -20° to free from magnet
|
| 494 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 495 |
checkForMotion(); |
| 496 |
// move 1cm forward
|
| 497 |
global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
| 498 |
checkForMotion(); |
| 499 |
// rotate back
|
| 500 |
global.distcontrol.setTargetPosition(0, -ROTATION_20, ROTATION_DURATION);
|
| 501 |
checkForMotion(); |
| 502 |
|
| 503 |
// global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION);
|
| 504 |
// checkForMotion();
|
| 505 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 506 |
newState = states::FOLLOW_LINE; |
| 507 |
// whiteBuf = -100;
|
| 508 |
// lf.followLine(rpmSpeed);
|
| 509 |
// setRpmSpeed(rpmSpeed);
|
| 510 |
} |
| 511 |
// lightAllLeds(Color::BLACK);
|
| 512 |
break;
|
| 513 |
|
| 514 |
default:
|
| 515 |
break;
|
| 516 |
} |
| 517 |
if (utState != newState){
|
| 518 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
| 519 |
global.robot.transmitState(newState); |
| 520 |
} |
| 521 |
utState = newState; |
| 522 |
this->sleep(CAN::UPDATE_PERIOD);
|
| 523 |
} |
| 524 |
|
| 525 |
return RDY_OK;
|
| 526 |
} |