amiro-os / devices / DiWheelDrive / linefollow2.cpp @ ab2f0120
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| 1 | c76baf23 | Georg Alberding | #include "global.hpp" |
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| 2 | #include "linefollow2.hpp" |
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| 3 | 2330e415 | Georg Alberding | #include <cmath> |
| 4 | c76baf23 | Georg Alberding | |
| 5 | |||
| 6 | 22b85da1 | galberding | |
| 7 | 12463563 | galberding | LineFollow::LineFollow(Global *global){
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| 8 | this->global = global;
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| 9 | } |
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| 10 | 1b3adcdd | galberding | LineFollow::LineFollow(Global *global, LineFollowStrategy strategy){
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| 11 | this->global = global;
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| 12 | this-> strategy = strategy;
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| 13 | c76baf23 | Georg Alberding | } |
| 14 | 25388c2f | Georg Alberding | |
| 15 | 22b85da1 | galberding | /**
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| 16 | * Calculate the error from front proxi sensors and fixed threshold values for those sensors.
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| 17 | */
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| 18 | int LineFollow::getError(){
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| 19 | 1b3adcdd | galberding | // Get actual sensor data of both front sensors
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| 20 | 88afb834 | galberding | int FL = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
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| 21 | int FR = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
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| 22 | int targetL = global->threshProxyL;
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| 23 | int targetR = global->threshProxyR;
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| 24 | 1b3adcdd | galberding | int error = 0; |
| 25 | switch (this->strategy) |
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| 26 | {
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| 27 | bfffb0bd | galberding | case LineFollowStrategy::EDGE_RIGHT: case LineFollowStrategy::DOCKING: |
| 28 | 1b3adcdd | galberding | error = -(FL -targetL + FR - targetR); |
| 29 | break;
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| 30 | case LineFollowStrategy::EDGE_LEFT:
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| 31 | error = (FL -targetL + FR - targetR); |
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| 32 | break;
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| 33 | case LineFollowStrategy::MIDDLE:
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| 34 | // Assume that the smallest value means driving in the middle
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| 35 | targetL = targetR = !(targetL<targetR)?targetR:targetL; |
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| 36 | error = (FL -targetL + FR - targetR); |
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| 37 | break;
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| 38 | |||
| 39 | default:
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| 40 | break;
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| 41 | } |
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| 42 | // Debugging stuff ------
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| 43 | if (global->enableRecord){
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| 44 | global->senseRec[global->sensSamples].error = error; |
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| 45 | global->senseRec[global->sensSamples].FL = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset(); |
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| 46 | global->senseRec[global->sensSamples].FR = global->vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
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| 47 | global->sensSamples++; |
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| 48 | } |
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| 49 | // ----------------------
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| 50 | // Register white values
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| 51 | 22b85da1 | galberding | if (FL+FR > global->threshWhite){
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| 52 | whiteFlag = 1;
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| 53 | }else{
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| 54 | whiteFlag = 0;
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| 55 | } |
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| 56 | return error;
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| 57 | } |
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| 58 | |||
| 59 | 1b3adcdd | galberding | int LineFollow::followLine(int (&rpmSpeed)[2]){ |
| 60 | bfffb0bd | galberding | int correctionSpeed = 0; |
| 61 | 1b3adcdd | galberding | switch (this->strategy) |
| 62 | {
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| 63 | case LineFollowStrategy::FUZZY:
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| 64 | bfffb0bd | galberding | for (int i = 0; i < 4; i++) { |
| 65 | vcnl4020AmbientLight[i] = global->vcnl4020[i].getAmbientLight(); |
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| 66 | vcnl4020Proximity[i] = global->vcnl4020[i].getProximityScaledWoOffset(); |
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| 67 | } |
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| 68 | lineFollowing(vcnl4020Proximity, rpmSpeed); |
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| 69 | break;
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| 70 | |||
| 71 | case LineFollowStrategy::DOCKING:
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| 72 | correctionSpeed = -getPidCorrectionSpeed(); |
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| 73 | rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] = -global->forwardSpeed; |
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| 74 | |||
| 75 | rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] = -global->forwardSpeed; |
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| 76 | |||
| 77 | break;
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| 78 | 22b85da1 | galberding | |
| 79 | 1b3adcdd | galberding | default:
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| 80 | bfffb0bd | galberding | correctionSpeed = getPidCorrectionSpeed(); |
| 81 | // chprintf((BaseSequentialStream*) &SD1, "Correction: %d, thresh: %d\n",correctionSpeed, global->threshWhite);
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| 82 | 22b85da1 | galberding | |
| 83 | bfffb0bd | galberding | rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] = global->forwardSpeed + correctionSpeed; |
| 84 | 22b85da1 | galberding | |
| 85 | bfffb0bd | galberding | rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] = global->forwardSpeed - correctionSpeed; |
| 86 | break;
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| 87 | 1b3adcdd | galberding | } |
| 88 | bfffb0bd | galberding | return whiteFlag;
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| 89 | 22b85da1 | galberding | } |
| 90 | |||
| 91 | 1b3adcdd | galberding | |
| 92 | 22b85da1 | galberding | /**
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| 93 | * Pid controller which returns a corrections speed.
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| 94 | */
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| 95 | int LineFollow::getPidCorrectionSpeed(){
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| 96 | int error = getError();
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| 97 | 1b3adcdd | galberding | int sloap = error - oldError;
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| 98 | int correctionSpeed = (int) (Kp*error + Ki*accumHist + Kd*sloap); |
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| 99 | oldError = error; |
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| 100 | // accumHist += (int) (0.01 * error);
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| 101 | 22b85da1 | galberding | if (abs(error) > global->maxDist.error){
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| 102 | global->maxDist.error = error; |
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| 103 | } |
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| 104 | return correctionSpeed;
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| 105 | 88afb834 | galberding | } |
| 106 | 12463563 | galberding | |
| 107 | 1b3adcdd | galberding | |
| 108 | void LineFollow::setStrategy(LineFollowStrategy strategy){
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| 109 | this->strategy = strategy;
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| 110 | } |
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| 111 | |||
| 112 | LineFollowStrategy LineFollow::getStrategy(){
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| 113 | return this->strategy; |
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| 114 | } |
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| 115 | void LineFollow::setGains(float Kp, float Ki, float Kd){ |
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| 116 | this->Kp = Kp;
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| 117 | this->Ki = Ki;
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| 118 | this->Kd = Kd;
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| 119 | } |
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| 120 | |||
| 121 | |||
| 122 | |||
| 123 | |||
| 124 | |||
| 125 | // Lagacy code, fuzzy following-----------------------------------------
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| 126 | // Line following by a fuzzy controler
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| 127 | void LineFollow::lineFollowing(int (&proximity)[4], int (&rpmFuzzyCtrl)[2]) { |
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| 128 | // FUZZYFICATION
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| 129 | // First we need to get the fuzzy value for our 3 values {BLACK, GREY, WHITE}
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| 130 | float leftWheelFuzzyMemberValues[3], leftFrontFuzzyMemberValues[3], rightFrontFuzzyMemberValues[3], rightWheelFuzzyMemberValues[3]; |
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| 131 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], leftWheelFuzzyMemberValues); |
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| 132 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], leftFrontFuzzyMemberValues); |
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| 133 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], rightFrontFuzzyMemberValues); |
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| 134 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], rightWheelFuzzyMemberValues); |
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| 135 | |||
| 136 | // INFERENCE RULE DEFINITION
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| 137 | // Get the member for each sensor
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| 138 | colorMember member[4];
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| 139 | member[constants::DiWheelDrive::PROX_WHEEL_LEFT] = getMember(leftWheelFuzzyMemberValues); |
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| 140 | member[constants::DiWheelDrive::PROX_FRONT_LEFT] = getMember(leftFrontFuzzyMemberValues); |
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| 141 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] = getMember(rightFrontFuzzyMemberValues); |
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| 142 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] = getMember(rightWheelFuzzyMemberValues); |
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| 143 | |||
| 144 | // visualize sensors via LEDs
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| 145 | global->robot.setLightColor(constants::LightRing::LED_WNW, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_LEFT])); |
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| 146 | global->robot.setLightColor(constants::LightRing::LED_NNW, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_LEFT])); |
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| 147 | global->robot.setLightColor(constants::LightRing::LED_NNE, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_RIGHT])); |
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| 148 | global->robot.setLightColor(constants::LightRing::LED_ENE, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_RIGHT])); |
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| 149 | |||
| 150 | // chprintf((BaseSequentialStream*) &SD1, "Left: BLACK: %f, GREY: %f, WHITE: %f\r\n", leftWheelFuzzyMemberValues[BLACK], leftWheelFuzzyMemberValues[GREY], leftWheelFuzzyMemberValues[WHITE]);
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| 151 | // chprintf((BaseSequentialStream*) &SD1, "Right: BLACK: %f, GREY: %f, WHITE: %f\r\n", rightFuzzyMemberValues[BLACK], rightFuzzyMemberValues[GREY], rightFuzzyMemberValues[WHITE]);
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| 152 | |||
| 153 | // DEFUZZYFICATION
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| 154 | defuzzyfication(member, rpmFuzzyCtrl); |
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| 155 | // defuzz(member, rpmFuzzyCtrl);
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| 156 | } |
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| 157 | |||
| 158 | |||
| 159 | Color LineFollow::memberToLed(colorMember member) {
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| 160 | switch (member) {
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| 161 | case BLACK:
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| 162 | return Color(Color::GREEN);
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| 163 | case GREY:
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| 164 | return Color(Color::YELLOW);
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| 165 | case WHITE:
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| 166 | return Color(Color::RED);
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| 167 | default:
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| 168 | return Color(Color::WHITE);
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| 169 | } |
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| 170 | } |
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| 171 | |||
| 172 | void LineFollow::defuzzyfication(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]) { |
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| 173 | whiteFlag = 0;
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| 174 | // all sensors are equal
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| 175 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_LEFT] &&
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| 176 | member[constants::DiWheelDrive::PROX_FRONT_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_RIGHT] && |
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| 177 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == member[constants::DiWheelDrive::PROX_WHEEL_RIGHT]) {
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| 178 | // something is wrong -> stop
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| 179 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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| 180 | // both front sensor detect a line
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| 181 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK && |
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| 182 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {
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| 183 | // straight
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| 184 | copyRpmSpeed(global->rpmForward, rpmFuzzyCtrl); |
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| 185 | // exact one front sensor detects a line
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| 186 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK || |
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| 187 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) {
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| 188 | // soft correction
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| 189 | if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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| 190 | // soft right
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| 191 | copyRpmSpeed(global->rpmSoftRight, rpmFuzzyCtrl); |
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| 192 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == WHITE) { |
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| 193 | // hard right
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| 194 | copyRpmSpeed(global->rpmHardRight, rpmFuzzyCtrl); |
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| 195 | } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
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| 196 | // soft left
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| 197 | copyRpmSpeed(global->rpmSoftLeft, rpmFuzzyCtrl); |
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| 198 | } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE) { |
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| 199 | // hard left
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| 200 | copyRpmSpeed(global->rpmHardLeft, rpmFuzzyCtrl); |
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| 201 | } |
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| 202 | // both wheel sensors detect a line
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| 203 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK && |
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| 204 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {
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| 205 | // something is wrong -> stop
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| 206 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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| 207 | // exactly one wheel sensor detects a line
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| 208 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK || |
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| 209 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) {
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| 210 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK) {
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| 211 | // turn left
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| 212 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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| 213 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) { |
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| 214 | // turn right
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| 215 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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| 216 | } |
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| 217 | // both front sensors may detect a line
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| 218 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY && |
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| 219 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
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| 220 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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| 221 | // turn left
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| 222 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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| 223 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
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| 224 | // turn right
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| 225 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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| 226 | } |
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| 227 | // exactly one front sensor may detect a line
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| 228 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY || |
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| 229 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) {
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| 230 | if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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| 231 | // turn left
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| 232 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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| 233 | } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
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| 234 | // turn right
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| 235 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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| 236 | } |
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| 237 | // both wheel sensors may detect a line
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| 238 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY && |
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| 239 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
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| 240 | // something is wrong -> stop
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| 241 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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| 242 | // exactly one wheel sensor may detect a line
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| 243 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY || |
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| 244 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) {
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| 245 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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| 246 | // turn left
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| 247 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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| 248 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
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| 249 | // turn right
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| 250 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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| 251 | } |
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| 252 | // no sensor detects anything
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| 253 | } else {
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| 254 | // line is lost -> stop
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| 255 | whiteFlag = 1;
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| 256 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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| 257 | } |
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| 258 | chprintf((BaseSequentialStream*) &SD1, "Fuzzy Speed: Left: %d, Right: %d\n", rpmFuzzyCtrl[0], rpmFuzzyCtrl[1]); |
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| 259 | return;
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| 260 | } |
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| 261 | |||
| 262 | colorMember LineFollow::getMember(float (&fuzzyValue)[3]) { |
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| 263 | colorMember member; |
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| 264 | |||
| 265 | if (fuzzyValue[BLACK] > fuzzyValue[GREY])
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| 266 | if (fuzzyValue[BLACK] > fuzzyValue[WHITE])
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| 267 | member = BLACK; |
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| 268 | else
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| 269 | member = WHITE; |
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| 270 | else
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| 271 | if (fuzzyValue[GREY] > fuzzyValue[WHITE])
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| 272 | member = GREY; |
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| 273 | else
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| 274 | member = WHITE; |
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| 275 | |||
| 276 | return member;
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| 277 | } |
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| 278 | |||
| 279 | // Fuzzyfication of the sensor values
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| 280 | void LineFollow::fuzzyfication(int sensorValue, float (&fuzziedValue)[3]) { |
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| 281 | if (sensorValue < blackStartFalling ) {
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| 282 | // Only black value
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| 283 | fuzziedValue[BLACK] = 1.0f; |
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| 284 | fuzziedValue[GREY] = 0.0f; |
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| 285 | fuzziedValue[WHITE] = 0.0f; |
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| 286 | } else if (sensorValue > whiteOn ) { |
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| 287 | // Only white value
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| 288 | fuzziedValue[BLACK] = 0.0f; |
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| 289 | fuzziedValue[GREY] = 0.0f; |
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| 290 | fuzziedValue[WHITE] = 1.0f; |
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| 291 | } else if ( sensorValue < greyMax) { |
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| 292 | // Some greyisch value between black and grey
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| 293 | |||
| 294 | // Black is going down
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| 295 | if ( sensorValue > blackOff) {
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| 296 | fuzziedValue[BLACK] = 0.0f; |
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| 297 | } else {
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| 298 | fuzziedValue[BLACK] = static_cast<float>(sensorValue-blackOff) / (blackStartFalling-blackOff); |
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| 299 | } |
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| 300 | |||
| 301 | // Grey is going up
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| 302 | if ( sensorValue < greyStartRising) {
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| 303 | fuzziedValue[GREY] = 0.0f; |
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| 304 | } else {
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| 305 | fuzziedValue[GREY] = static_cast<float>(sensorValue-greyStartRising) / (greyMax-greyStartRising); |
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| 306 | } |
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| 307 | |||
| 308 | // White is absent
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| 309 | fuzziedValue[WHITE] = 0.0f; |
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| 310 | |||
| 311 | } else if ( sensorValue >= greyMax) { |
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| 312 | // Some greyisch value between grey white
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| 313 | |||
| 314 | // Black is absent
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| 315 | fuzziedValue[BLACK] = 0.0f; |
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| 316 | |||
| 317 | // Grey is going down
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| 318 | if ( sensorValue < greyOff) {
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| 319 | fuzziedValue[GREY] = static_cast<float>(sensorValue-greyOff) / (greyMax-greyOff); |
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| 320 | } else {
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| 321 | fuzziedValue[GREY] = 0.0f; |
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| 322 | } |
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| 323 | |||
| 324 | // White is going up
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| 325 | if ( sensorValue < whiteStartRising) {
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| 326 | fuzziedValue[WHITE] = 0.0f; |
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| 327 | } else {
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| 328 | fuzziedValue[WHITE] = static_cast<float>(sensorValue-whiteStartRising) / (whiteOn-whiteStartRising); |
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| 329 | } |
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| 330 | } |
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| 331 | } |
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| 332 | |||
| 333 | void LineFollow::copyRpmSpeed(const int (&source)[2], int (&target)[2]) { |
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| 334 | target[constants::DiWheelDrive::LEFT_WHEEL] = source[constants::DiWheelDrive::LEFT_WHEEL]; |
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| 335 | target[constants::DiWheelDrive::RIGHT_WHEEL] = source[constants::DiWheelDrive::RIGHT_WHEEL]; |
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| 336 | // chprintf((BaseSequentialStream*) &SD1, "Speed left: %d, Speed right: %d\r\n", target[0], target[1]);
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| 337 | } |