amiro-os / devices / DiWheelDrive / userthread.cpp @ b24df8ad
History | View | Annotate | Download (23.786 KB)
| 1 |
// #include "userthread.hpp"
|
|---|---|
| 2 |
#include "global.hpp" |
| 3 |
#include <cmath> |
| 4 |
#include "linefollow.hpp" |
| 5 |
// #include <cmath>
|
| 6 |
// #include "global.hpp"
|
| 7 |
using namespace amiro; |
| 8 |
|
| 9 |
extern Global global;
|
| 10 |
|
| 11 |
// a buffer for the z-value of the accelerometer
|
| 12 |
int16_t accel_z; |
| 13 |
bool running = false; |
| 14 |
|
| 15 |
|
| 16 |
/**
|
| 17 |
* Set speed.
|
| 18 |
*
|
| 19 |
* @param rpmSpeed speed for left and right wheel in rounds/min
|
| 20 |
*/
|
| 21 |
void UserThread::setRpmSpeedFuzzy(const int (&rpmSpeed)[2]) { |
| 22 |
global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
| 23 |
} |
| 24 |
|
| 25 |
void UserThread::setRpmSpeed(const int (&rpmSpeed)[2]) { |
| 26 |
global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL], rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL]); |
| 27 |
} |
| 28 |
|
| 29 |
void UserThread::lightOneLed(Color color, int idx){ |
| 30 |
global.robot.setLightColor(idx, Color(color)); |
| 31 |
} |
| 32 |
|
| 33 |
void UserThread::lightAllLeds(Color color){
|
| 34 |
int led = 0; |
| 35 |
for(led=0; led<8; led++){ |
| 36 |
lightOneLed(color, led); |
| 37 |
} |
| 38 |
} |
| 39 |
|
| 40 |
void UserThread::showChargingState(){
|
| 41 |
uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
|
| 42 |
Color color = Color::GREEN; |
| 43 |
if (numLeds <= 2){ |
| 44 |
color = Color::RED; |
| 45 |
}else if(numLeds <= 6){ |
| 46 |
color = Color::YELLOW; |
| 47 |
} |
| 48 |
for (int i=0; i<numLeds; i++){ |
| 49 |
lightOneLed(color, i); |
| 50 |
this->sleep(300); |
| 51 |
} |
| 52 |
this->sleep(1000); |
| 53 |
lightAllLeds(Color::BLACK); |
| 54 |
} |
| 55 |
|
| 56 |
void UserThread::chargeAsLED(){
|
| 57 |
uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
|
| 58 |
Color color = Color::GREEN; |
| 59 |
if (numLeds <= 2){ |
| 60 |
color = Color::RED; |
| 61 |
}else if(numLeds <= 6){ |
| 62 |
color = Color::YELLOW; |
| 63 |
} |
| 64 |
for (int i=0; i<numLeds; i++){ |
| 65 |
lightOneLed(color, i); |
| 66 |
// this->sleep(300);
|
| 67 |
} |
| 68 |
// this->sleep(1000);
|
| 69 |
// lightAllLeds(Color::BLACK);
|
| 70 |
} |
| 71 |
|
| 72 |
// ----------------------------------------------------------------
|
| 73 |
|
| 74 |
void UserThread::getProxySectorVals(uint16_t (&proxVals)[8], uint16_t (&sProx)[8]){ |
| 75 |
for (int i=0; i<8; i++){ |
| 76 |
sProx[i] = (proxVals[i] < proxVals[(i+1) % 8]) ? proxVals[i] : proxVals[(i+1) % 8]; |
| 77 |
// chprintf((BaseSequentialStream*)&global.sercanmux1, "%d: %d, ", i, sProx[i]);
|
| 78 |
|
| 79 |
} |
| 80 |
// chprintf((BaseSequentialStream*)&global.sercanmux1, "\n");
|
| 81 |
|
| 82 |
} |
| 83 |
|
| 84 |
|
| 85 |
void UserThread::getMaxFrontSectorVal(uint16_t (&sProx)[8], int32_t &sPMax){ |
| 86 |
for (int i=2; i<5; i++){ |
| 87 |
sPMax = (sPMax < sProx[i]) ? sProx[i] : sPMax; |
| 88 |
} |
| 89 |
} |
| 90 |
|
| 91 |
void UserThread::proxSectorSpeedCorrection(int (&rpmSpeed)[2], uint16_t (&proxVals)[8]){ |
| 92 |
int i;
|
| 93 |
uint16_t sProx[8];
|
| 94 |
int32_t sPMax = 0;
|
| 95 |
getProxySectorVals(proxVals, sProx); |
| 96 |
getMaxFrontSectorVal(sProx, sPMax); |
| 97 |
|
| 98 |
int32_t speedL = rpmSpeed[0] - (sPMax * pCtrl.pFactor);
|
| 99 |
int32_t speedR = rpmSpeed[1] - (sPMax * pCtrl.pFactor);
|
| 100 |
|
| 101 |
|
| 102 |
|
| 103 |
if(sPMax > pCtrl.threshMid){
|
| 104 |
rpmSpeed[0] = 0; |
| 105 |
rpmSpeed[1] = 0; |
| 106 |
pCtrl.staticCont++; |
| 107 |
}else if((speedL > 0) || (speedR > 0)){ |
| 108 |
pCtrl.staticCont = 0;
|
| 109 |
rpmSpeed[0] = speedL;
|
| 110 |
rpmSpeed[1] = speedR;
|
| 111 |
}else{
|
| 112 |
rpmSpeed[0] = 4000000 + (rpmSpeed[0] - global.rpmForward[0] * 1000000); |
| 113 |
rpmSpeed[1] = 4000000 + (rpmSpeed[1] - global.rpmForward[0] * 1000000); |
| 114 |
} |
| 115 |
|
| 116 |
for(i=4; i<5; i++){ |
| 117 |
if ((proxVals[i] > pCtrl.threshMid) && (proxVals[i+1] > pCtrl.threshLow)){ |
| 118 |
rpmSpeed[0] = -5000000 ; |
| 119 |
rpmSpeed[1] = -5000000 ; |
| 120 |
// pCtrl.staticCont++;
|
| 121 |
break;
|
| 122 |
} |
| 123 |
} |
| 124 |
chargeAsLED(); |
| 125 |
|
| 126 |
// chprintf((BaseSequentialStream*)&global.sercanmux1, "Max: %d factor: %d, Panel: %d SpeedL: %d SpeedR: %d ActualL: %d ActualR: %d\n",sPMax, pCtrl.pFactor, sPMax * pCtrl.pFactor, speedL, speedR, rpmSpeed[0], rpmSpeed[1]);
|
| 127 |
|
| 128 |
|
| 129 |
} |
| 130 |
// -------------------------------------------------------------------
|
| 131 |
|
| 132 |
|
| 133 |
void UserThread::preventCollision( int (&rpmSpeed)[2], uint16_t (&proxVals)[8]) { |
| 134 |
|
| 135 |
if((proxVals[3] > pCtrl.threshLow) || (proxVals[4] > pCtrl.threshLow)){ |
| 136 |
rpmSpeed[0] = rpmSpeed[0] / 2; |
| 137 |
rpmSpeed[1] = rpmSpeed[1] / 2; |
| 138 |
} |
| 139 |
|
| 140 |
if((proxVals[3] > pCtrl.threshMid) || (proxVals[4] > pCtrl.threshMid)){ |
| 141 |
rpmSpeed[0] = rpmSpeed[0] / 4; |
| 142 |
rpmSpeed[1] = rpmSpeed[1] / 4; |
| 143 |
} |
| 144 |
|
| 145 |
if((proxVals[3] > pCtrl.threshHigh) || (proxVals[4] > pCtrl.threshHigh)){ |
| 146 |
rpmSpeed[0] = 0; |
| 147 |
rpmSpeed[1] = 0; |
| 148 |
utCount.ringProxCount++; |
| 149 |
}else{
|
| 150 |
utCount.ringProxCount = 0;
|
| 151 |
} |
| 152 |
|
| 153 |
} |
| 154 |
|
| 155 |
|
| 156 |
/**
|
| 157 |
* Blocks as long as the position changes.
|
| 158 |
*/
|
| 159 |
void UserThread::checkForMotion(){
|
| 160 |
int motion = 1; |
| 161 |
int led = 0; |
| 162 |
types::position oldPos = global.odometry.getPosition(); |
| 163 |
while(motion){
|
| 164 |
this->sleep(500); |
| 165 |
types::position tmp = global.odometry.getPosition(); |
| 166 |
motion = abs(oldPos.x - tmp.x)+ abs(oldPos.y - tmp.y)+abs(oldPos.z - tmp.z); |
| 167 |
oldPos = tmp; |
| 168 |
global.robot.setLightColor((led + 1) % 8, Color(Color::YELLOW)); |
| 169 |
global.robot.setLightColor(led % 8, Color(Color::BLACK));
|
| 170 |
led++; |
| 171 |
} |
| 172 |
lightAllLeds(Color::BLACK); |
| 173 |
} |
| 174 |
|
| 175 |
bool UserThread::checkFrontalObject(){
|
| 176 |
uint32_t thresh = pCtrl.threshMid; |
| 177 |
uint32_t prox; |
| 178 |
for(int i=0; i<8; i++){ |
| 179 |
prox = global.robot.getProximityRingValue(i); |
| 180 |
if((i == 3) || (i == 4)){ |
| 181 |
if(prox < thresh){
|
| 182 |
return false; |
| 183 |
} |
| 184 |
}else{
|
| 185 |
if(prox > thresh){
|
| 186 |
return false; |
| 187 |
} |
| 188 |
} |
| 189 |
} |
| 190 |
return true; |
| 191 |
} |
| 192 |
|
| 193 |
bool UserThread::checkPinVoltage(){
|
| 194 |
return global.ltc4412.isPluggedIn();
|
| 195 |
} |
| 196 |
|
| 197 |
bool UserThread::checkPinEnabled(){
|
| 198 |
return global.ltc4412.isEnabled();
|
| 199 |
} |
| 200 |
|
| 201 |
int UserThread::checkDockingSuccess(){
|
| 202 |
// setRpmSpeed(stop);
|
| 203 |
checkForMotion(); |
| 204 |
int success = 0; |
| 205 |
// global.odometry.resetPosition();
|
| 206 |
types::position start = global.startPos = global.odometry.getPosition(); |
| 207 |
global.motorcontrol.setMotorEnable(false);
|
| 208 |
this->sleep(1000); |
| 209 |
types::position stop_ = global.endPos = global.odometry.getPosition(); |
| 210 |
|
| 211 |
// Amiro moved, docking was not successful
|
| 212 |
// if ((start.x + stop_.x) || (start.y + stop_.y)){
|
| 213 |
if (abs(start.x - stop_.x) > 0 /* || (start.y + stop_.y) */){ |
| 214 |
lightAllLeds(Color::RED); |
| 215 |
// Enable Motor again if docking was not successful
|
| 216 |
global.motorcontrol.setMotorEnable(true);
|
| 217 |
success = 0;
|
| 218 |
}else{
|
| 219 |
lightAllLeds(Color::GREEN); |
| 220 |
success = 1;
|
| 221 |
} |
| 222 |
|
| 223 |
// this->sleep(500);
|
| 224 |
lightAllLeds(Color::BLACK); |
| 225 |
return success;
|
| 226 |
} |
| 227 |
|
| 228 |
int UserThread::getProxyRingSum(){
|
| 229 |
int prox_sum = 0; |
| 230 |
for(int i=0; i<8;i++){ |
| 231 |
prox_sum += global.robot.getProximityRingValue(i);; |
| 232 |
} |
| 233 |
return prox_sum;
|
| 234 |
} |
| 235 |
|
| 236 |
int32_t UserThread::meanDeviation(uint16_t a, uint16_t b){
|
| 237 |
int32_t diff = a - b; |
| 238 |
int32_t res = 0;
|
| 239 |
devCor.proxbuf[devCor.pCount] = (diff*100)/((a+b)/2); |
| 240 |
for (int i = 0; i< PROX_DEVIATION_MEAN_WINDOW; i++){ |
| 241 |
res += devCor.proxbuf[i]; |
| 242 |
} |
| 243 |
devCor.pCount++; |
| 244 |
devCor.pCount = devCor.pCount % PROX_DEVIATION_MEAN_WINDOW; |
| 245 |
|
| 246 |
devCor.currentDeviation = res / PROX_DEVIATION_MEAN_WINDOW; |
| 247 |
return devCor.currentDeviation;
|
| 248 |
} |
| 249 |
|
| 250 |
|
| 251 |
UserThread::UserThread() : |
| 252 |
chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>() |
| 253 |
{
|
| 254 |
} |
| 255 |
|
| 256 |
UserThread::~UserThread() |
| 257 |
{
|
| 258 |
} |
| 259 |
|
| 260 |
msg_t |
| 261 |
UserThread::main() |
| 262 |
{
|
| 263 |
/*
|
| 264 |
* SETUP
|
| 265 |
*/
|
| 266 |
// User thread state:
|
| 267 |
|
| 268 |
for (uint8_t led = 0; led < 8; ++led) { |
| 269 |
global.robot.setLightColor(led, Color(Color::BLACK)); |
| 270 |
} |
| 271 |
running = false;
|
| 272 |
LineFollowStrategy lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 273 |
LineFollow lf(&global); |
| 274 |
/*
|
| 275 |
* LOOP
|
| 276 |
*/
|
| 277 |
while (!this->shouldTerminate()) |
| 278 |
{
|
| 279 |
/*
|
| 280 |
* read accelerometer z-value
|
| 281 |
*/
|
| 282 |
accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z); |
| 283 |
|
| 284 |
if (accel_z < -900 /*-0.9g*/) { |
| 285 |
// Start line following when AMiRo is rotated
|
| 286 |
if(currentState == states::INACTIVE){
|
| 287 |
newState = states::FOLLOW_LINE; |
| 288 |
}else{
|
| 289 |
newState = states::IDLE; |
| 290 |
} |
| 291 |
lightAllLeds(Color::GREEN); |
| 292 |
this->sleep(1000); |
| 293 |
lightAllLeds(Color::BLACK); |
| 294 |
|
| 295 |
// If message was received handle it here:
|
| 296 |
} else if(global.msgReceived){ |
| 297 |
global.msgReceived = false;
|
| 298 |
// running = true;
|
| 299 |
switch(global.lfStrategy){
|
| 300 |
case msg_content::MSG_START:
|
| 301 |
newState = states::CALIBRATION_CHECK; |
| 302 |
break;
|
| 303 |
case msg_content::MSG_STOP:
|
| 304 |
newState = states::IDLE; |
| 305 |
break;
|
| 306 |
case msg_content::MSG_EDGE_RIGHT:
|
| 307 |
// newState = states::FOLLOW_LINE;
|
| 308 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 309 |
break;
|
| 310 |
case msg_content::MSG_EDGE_LEFT:
|
| 311 |
// newState = states::FOLLOW_LINE;
|
| 312 |
lStrategy = LineFollowStrategy::EDGE_LEFT; |
| 313 |
break;
|
| 314 |
case msg_content::MSG_FUZZY:
|
| 315 |
// newState = states::FOLLOW_LINE;
|
| 316 |
lStrategy = LineFollowStrategy::FUZZY; |
| 317 |
break;
|
| 318 |
case msg_content::MSG_DOCK:
|
| 319 |
newState = states::DETECT_STATION; |
| 320 |
break;
|
| 321 |
case msg_content::MSG_UNDOCK:
|
| 322 |
newState = states::RELEASE; |
| 323 |
break;
|
| 324 |
case msg_content::MSG_CHARGE:
|
| 325 |
newState = states::CHARGING; |
| 326 |
break;
|
| 327 |
case msg_content::MSG_RESET_ODOMETRY:
|
| 328 |
global.odometry.resetPosition(); |
| 329 |
break;
|
| 330 |
case msg_content::MSG_CALIBRATE_BLACK:
|
| 331 |
proxCalib.calibrateBlack = true;
|
| 332 |
// global.odometry.resetPosition();
|
| 333 |
newState = states::CALIBRATION; |
| 334 |
break;
|
| 335 |
case msg_content::MSG_CALIBRATE_WHITE:
|
| 336 |
proxCalib.calibrateBlack = false;
|
| 337 |
newState = states::CALIBRATION; |
| 338 |
break;
|
| 339 |
default:
|
| 340 |
newState = states::IDLE; |
| 341 |
break;
|
| 342 |
} |
| 343 |
} |
| 344 |
// newState = currentState;
|
| 345 |
|
| 346 |
// Get sensor data
|
| 347 |
// uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
| 348 |
// uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset();
|
| 349 |
for(int i=0; i<8;i++){ |
| 350 |
rProx[i] = global.robot.getProximityRingValue(i); |
| 351 |
} |
| 352 |
|
| 353 |
// Continously update devication values
|
| 354 |
meanDeviation(rProx[0] & 0xFFF0, rProx[7] & 0xFFF0); |
| 355 |
// int FL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
| 356 |
// int FR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
|
| 357 |
switch(currentState){
|
| 358 |
case states::INACTIVE:
|
| 359 |
// Dummy state to deactivate every interaction
|
| 360 |
break;
|
| 361 |
// ---------------------------------------
|
| 362 |
case states::CALIBRATION_CHECK:
|
| 363 |
// global.robot.calibrate();
|
| 364 |
if(global.linePID.BThresh >= global.linePID.WThresh){
|
| 365 |
newState = states::CALIBRATION_ERROR; |
| 366 |
}else{
|
| 367 |
newState = states::FOLLOW_LINE; |
| 368 |
} |
| 369 |
break;
|
| 370 |
// ---------------------------------------
|
| 371 |
case states::CALIBRATION:
|
| 372 |
/* Calibrate the global thresholds for black or white.
|
| 373 |
This values will be used by the line follow object
|
| 374 |
*/
|
| 375 |
|
| 376 |
proxCalib.buf = 0;
|
| 377 |
if(proxCalib.calibrateBlack){
|
| 378 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Black Calibration, Place AMiRo on black Surface!\n");
|
| 379 |
global.robot.calibrate(); |
| 380 |
} |
| 381 |
for(int i=0; i <= proxCalib.meanWindow; i++){ |
| 382 |
proxCalib.buf += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset() |
| 383 |
+ global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
| 384 |
this->sleep(CAN::UPDATE_PERIOD);
|
| 385 |
} |
| 386 |
proxCalib.buf = proxCalib.buf / (2*proxCalib.meanWindow);
|
| 387 |
|
| 388 |
if(proxCalib.calibrateBlack){
|
| 389 |
global.linePID.BThresh = proxCalib.buf; |
| 390 |
}else {
|
| 391 |
global.linePID.WThresh = proxCalib.buf; |
| 392 |
} |
| 393 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Black: %d, White: %d!\n", global.linePID.BThresh, global.linePID.WThresh);
|
| 394 |
|
| 395 |
newState = states::IDLE; |
| 396 |
break;
|
| 397 |
// ---------------------------------------
|
| 398 |
case states::IDLE:
|
| 399 |
global.motorcontrol.setMotorEnable(true);
|
| 400 |
setRpmSpeed(stop); |
| 401 |
if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 402 |
global.robot.requestCharging(0);
|
| 403 |
} |
| 404 |
// pCtrl.pFactor = 0;
|
| 405 |
pCtrl.staticCont = 0;
|
| 406 |
utCount.whiteCount = 0;
|
| 407 |
utCount.ringProxCount = 0;
|
| 408 |
utCount.errorCount = 0;
|
| 409 |
newState = states::INACTIVE; |
| 410 |
break;
|
| 411 |
// ---------------------------------------
|
| 412 |
case states::FOLLOW_LINE:
|
| 413 |
// Set correct forward speed to every strategy
|
| 414 |
if (global.forwardSpeed != global.rpmForward[0]){ |
| 415 |
global.forwardSpeed = global.rpmForward[0];
|
| 416 |
} |
| 417 |
|
| 418 |
if(lf.getStrategy() != lStrategy){
|
| 419 |
lf.setStrategy(lStrategy); |
| 420 |
} |
| 421 |
|
| 422 |
if(lf.followLine(rpmSpeed)){
|
| 423 |
utCount.whiteCount++; |
| 424 |
if(utCount.whiteCount >= WHITE_DETETION_TIMEOUT){
|
| 425 |
setRpmSpeed(stop); |
| 426 |
utCount.whiteCount = 0;
|
| 427 |
newState = states::WHITE_DETECTION_ERROR; |
| 428 |
} |
| 429 |
}else{
|
| 430 |
utCount.whiteCount = 0;
|
| 431 |
} |
| 432 |
|
| 433 |
preventCollision(rpmSpeed, rProx); |
| 434 |
// proxSectorSpeedCorrection(rpmSpeed, rProx);
|
| 435 |
|
| 436 |
if(utCount.ringProxCount > RING_PROX_DETECTION_TIMEOUT){
|
| 437 |
utCount.ringProxCount = 0;
|
| 438 |
newState = states::TURN; |
| 439 |
} |
| 440 |
|
| 441 |
if (lf.getStrategy() == LineFollowStrategy::FUZZY){
|
| 442 |
setRpmSpeedFuzzy(rpmSpeed); |
| 443 |
}else{
|
| 444 |
|
| 445 |
setRpmSpeed(rpmSpeed); |
| 446 |
} |
| 447 |
|
| 448 |
break;
|
| 449 |
// ---------------------------------------
|
| 450 |
case states::TURN:
|
| 451 |
checkForMotion(); |
| 452 |
// Check if only front sensors are active
|
| 453 |
if(checkFrontalObject()){
|
| 454 |
global.distcontrol.setTargetPosition(0, 2792526, ROTATION_DURATION); |
| 455 |
// BaseThread::sleep(8000);
|
| 456 |
checkForMotion(); |
| 457 |
newState = states::FOLLOW_LINE; |
| 458 |
// lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT);
|
| 459 |
}else{
|
| 460 |
newState = states::PROXY_DETECTION_ERROR; |
| 461 |
} |
| 462 |
break;
|
| 463 |
// ---------------------------------------
|
| 464 |
case states::DETECT_STATION:
|
| 465 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 466 |
global.forwardSpeed = DETECTION_SPEED; |
| 467 |
} |
| 468 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_RIGHT){
|
| 469 |
lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
| 470 |
} |
| 471 |
|
| 472 |
lf.followLine(rpmSpeed); |
| 473 |
setRpmSpeed(rpmSpeed); |
| 474 |
// // Detect marker before docking station
|
| 475 |
// if ((WL+WR) < PROXY_WHEEL_THRESH){
|
| 476 |
// Use proxy ring
|
| 477 |
if ((rProx[3]+rProx[4]) > RING_PROX_FRONT_THRESH){ |
| 478 |
|
| 479 |
setRpmSpeed(stop); |
| 480 |
checkForMotion(); |
| 481 |
// 180° Rotation
|
| 482 |
global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
|
| 483 |
// BaseThread::sleep(8000);
|
| 484 |
checkForMotion(); |
| 485 |
newState = states::CORRECT_POSITIONING; |
| 486 |
} |
| 487 |
break;
|
| 488 |
// ---------------------------------------
|
| 489 |
case states::CORRECT_POSITIONING:
|
| 490 |
if (global.forwardSpeed != CHARGING_SPEED){
|
| 491 |
global.forwardSpeed = CHARGING_SPEED; |
| 492 |
} |
| 493 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_LEFT){
|
| 494 |
lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
| 495 |
} |
| 496 |
lf.followLine(rpmSpeed); |
| 497 |
setRpmSpeed(rpmSpeed); |
| 498 |
|
| 499 |
utCount.stateTime++; |
| 500 |
if (utCount.stateTime >= DOCKING_CORRECTION_TIMEOUT){
|
| 501 |
utCount.stateTime = 0;
|
| 502 |
newState = states::REVERSE; |
| 503 |
setRpmSpeed(stop); |
| 504 |
checkForMotion(); |
| 505 |
} |
| 506 |
break;
|
| 507 |
// ---------------------------------------
|
| 508 |
case states::REVERSE:
|
| 509 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 510 |
lf.setStrategy(LineFollowStrategy::REVERSE); |
| 511 |
} |
| 512 |
lf.followLine(rpmSpeed); |
| 513 |
setRpmSpeed(rpmSpeed); |
| 514 |
// utCount.stateTime++;
|
| 515 |
|
| 516 |
// Docking is only successful if Deviation is in range and sensors are at their max values.
|
| 517 |
if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL) && ((devCor.currentDeviation > -MAX_DEVIATION_FACTOR) && (devCor.currentDeviation < MAX_DEVIATION_FACTOR) )){ |
| 518 |
// setRpmSpeed(stop);
|
| 519 |
// checkForMotion();
|
| 520 |
utCount.stateTime = 0;
|
| 521 |
newState = states::PUSH_BACK; |
| 522 |
}else if ((devCor.currentDeviation <= -MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 523 |
// Case R
|
| 524 |
utCount.stateTime = 0;
|
| 525 |
setRpmSpeed(stop); |
| 526 |
devCor.RCase = true;
|
| 527 |
lightAllLeds(Color::YELLOW); |
| 528 |
newState = states::DEVIATION_CORRECTION; |
| 529 |
}else if ((devCor.currentDeviation >= MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 530 |
// Case L
|
| 531 |
utCount.stateTime = 0;
|
| 532 |
setRpmSpeed(stop); |
| 533 |
devCor.RCase = false;
|
| 534 |
lightAllLeds(Color::WHITE); |
| 535 |
newState = states::DEVIATION_CORRECTION; |
| 536 |
}else if (utCount.stateTime >= REVERSE_DOCKING_TIMEOUT){ |
| 537 |
setRpmSpeed(stop); |
| 538 |
utCount.stateTime = 0;
|
| 539 |
utCount.errorCount++; |
| 540 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 541 |
newState = states::DOCKING_ERROR; |
| 542 |
}else{
|
| 543 |
newState = states::CORRECT_POSITIONING; |
| 544 |
} |
| 545 |
} |
| 546 |
|
| 547 |
break;
|
| 548 |
// ---------------------------------------
|
| 549 |
case states::DEVIATION_CORRECTION:
|
| 550 |
// if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 551 |
// lf.setStrategy(LineFollowStrategy::REVERSE);
|
| 552 |
// }
|
| 553 |
// lf.followLine(rpmSpeed);
|
| 554 |
// setRpmSpeed(rpmSpeed);
|
| 555 |
if(utCount.stateTime < DEVIATION_CORRECTION_DURATION / 2 ){ |
| 556 |
if(devCor.RCase){
|
| 557 |
rpmSpeed[0] = 0; |
| 558 |
rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
| 559 |
}else {
|
| 560 |
rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
| 561 |
rpmSpeed[1] = 0; |
| 562 |
} |
| 563 |
setRpmSpeed(rpmSpeed); |
| 564 |
}else if ((utCount.stateTime >= DEVIATION_CORRECTION_DURATION / 2) && (utCount.stateTime < DEVIATION_CORRECTION_DURATION)){ |
| 565 |
if(devCor.RCase){
|
| 566 |
rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
| 567 |
rpmSpeed[1] = 0; |
| 568 |
}else {
|
| 569 |
rpmSpeed[0] = 0; |
| 570 |
rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
| 571 |
} |
| 572 |
setRpmSpeed(rpmSpeed); |
| 573 |
}else if (utCount.stateTime >= DEVIATION_CORRECTION_DURATION + 10) { |
| 574 |
// Wait to clear the mean window buffer
|
| 575 |
setRpmSpeed(stop); |
| 576 |
}else{
|
| 577 |
utCount.stateTime = 0;
|
| 578 |
newState = states::REVERSE; |
| 579 |
setRpmSpeed(stop); |
| 580 |
} |
| 581 |
|
| 582 |
utCount.stateTime++; |
| 583 |
|
| 584 |
|
| 585 |
// if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 586 |
// utCount.stateTime = 0;
|
| 587 |
// newState = states::CHECK_POSITIONING;
|
| 588 |
// }
|
| 589 |
break;
|
| 590 |
// ---------------------------------------
|
| 591 |
case states::PUSH_BACK:
|
| 592 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 593 |
lf.setStrategy(LineFollowStrategy::REVERSE); |
| 594 |
} |
| 595 |
lf.followLine(rpmSpeed); |
| 596 |
setRpmSpeed(rpmSpeed); |
| 597 |
|
| 598 |
utCount.stateTime++; |
| 599 |
if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 600 |
utCount.stateTime = 0;
|
| 601 |
newState = states::CHECK_POSITIONING; |
| 602 |
} |
| 603 |
break;
|
| 604 |
// ---------------------------------------
|
| 605 |
case states::CHECK_POSITIONING:
|
| 606 |
setRpmSpeed(stop); |
| 607 |
checkForMotion(); |
| 608 |
if(checkDockingSuccess()){
|
| 609 |
newState = states::CHECK_VOLTAGE; |
| 610 |
}else{
|
| 611 |
utCount.errorCount++; |
| 612 |
newState = states::CORRECT_POSITIONING; |
| 613 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 614 |
newState = states::DOCKING_ERROR; |
| 615 |
} |
| 616 |
} |
| 617 |
break;
|
| 618 |
// ---------------------------------------
|
| 619 |
case states::CHECK_VOLTAGE:
|
| 620 |
if(!checkPinEnabled()){
|
| 621 |
global.robot.requestCharging(1);
|
| 622 |
} else {
|
| 623 |
if(checkPinVoltage()){
|
| 624 |
// Pins are under voltage -> correctly docked
|
| 625 |
|
| 626 |
newState = states::CHARGING; |
| 627 |
}else{
|
| 628 |
utCount.errorCount++; |
| 629 |
// No voltage on pins -> falsely docked
|
| 630 |
// deactivate pins
|
| 631 |
global.motorcontrol.setMotorEnable(true);
|
| 632 |
global.robot.requestCharging(0);
|
| 633 |
// TODO: Soft release when docking falsely
|
| 634 |
if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){ |
| 635 |
newState = states::RELEASE_TO_CORRECT; |
| 636 |
} else {
|
| 637 |
newState = states::RELEASE_TO_CORRECT; //states::CORRECT_POSITIONING;
|
| 638 |
} |
| 639 |
|
| 640 |
if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
| 641 |
newState = states::DOCKING_ERROR; |
| 642 |
} |
| 643 |
} |
| 644 |
} |
| 645 |
break;
|
| 646 |
// ---------------------------------------
|
| 647 |
case states::RELEASE_TO_CORRECT:
|
| 648 |
|
| 649 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 650 |
checkForMotion(); |
| 651 |
// move 1cm forward
|
| 652 |
global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
| 653 |
checkForMotion(); |
| 654 |
// rotate back
|
| 655 |
global.distcontrol.setTargetPosition(0, -2*ROTATION_20, ROTATION_DURATION); |
| 656 |
checkForMotion(); |
| 657 |
|
| 658 |
global.distcontrol.setTargetPosition(1500, 0, ROTATION_DURATION); |
| 659 |
checkForMotion(); |
| 660 |
newState = states::CORRECT_POSITIONING; |
| 661 |
break;
|
| 662 |
// ---------------------------------------
|
| 663 |
case states::CHARGING:
|
| 664 |
global.motorcontrol.setMotorEnable(false);
|
| 665 |
utCount.errorCount = 0;
|
| 666 |
// Formulate Request to enable charging
|
| 667 |
if(/* checkPinVoltage() && */ !checkPinEnabled()){ |
| 668 |
global.robot.requestCharging(1);
|
| 669 |
} |
| 670 |
if(checkPinEnabled()){
|
| 671 |
showChargingState(); |
| 672 |
} |
| 673 |
break;
|
| 674 |
// ---------------------------------------
|
| 675 |
case states::RELEASE:
|
| 676 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 677 |
global.rpmForward[0] = DETECTION_SPEED;
|
| 678 |
} |
| 679 |
if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 680 |
global.robot.requestCharging(0);
|
| 681 |
}else{
|
| 682 |
global.motorcontrol.setMotorEnable(true);
|
| 683 |
|
| 684 |
//Rotate -20° to free from magnet
|
| 685 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 686 |
checkForMotion(); |
| 687 |
// move 1cm forward
|
| 688 |
global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
| 689 |
checkForMotion(); |
| 690 |
// rotate back
|
| 691 |
// global.distcontrol.setTargetPosition(0, -ROTATION_20, ROTATION_DURATION);
|
| 692 |
// checkForMotion();
|
| 693 |
|
| 694 |
// global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION);
|
| 695 |
// checkForMotion();
|
| 696 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 697 |
newState = states::FOLLOW_LINE; |
| 698 |
// whiteBuf = -100;
|
| 699 |
// lf.followLine(rpmSpeed);
|
| 700 |
// setRpmSpeed(rpmSpeed);
|
| 701 |
} |
| 702 |
// lightAllLeds(Color::BLACK);
|
| 703 |
break;
|
| 704 |
// ---------------------------------------
|
| 705 |
case states::DOCKING_ERROR:
|
| 706 |
newState = states::RELEASE; |
| 707 |
break;
|
| 708 |
// ---------------------------------------
|
| 709 |
case states::REVERSE_TIMEOUT_ERROR:
|
| 710 |
newState = states::IDLE; |
| 711 |
break;
|
| 712 |
// ---------------------------------------
|
| 713 |
case states::CALIBRATION_ERROR:
|
| 714 |
newState = states::IDLE; |
| 715 |
break;
|
| 716 |
// ---------------------------------------
|
| 717 |
case states::WHITE_DETECTION_ERROR:
|
| 718 |
newState = states::IDLE; |
| 719 |
break;
|
| 720 |
// ---------------------------------------
|
| 721 |
case states::PROXY_DETECTION_ERROR:
|
| 722 |
newState = states::IDLE; |
| 723 |
break;
|
| 724 |
// ---------------------------------------
|
| 725 |
case states::NO_CHARGING_POWER_ERROR:
|
| 726 |
newState = states::IDLE; |
| 727 |
break;
|
| 728 |
// ---------------------------------------
|
| 729 |
case states::UNKNOWN_STATE_ERROR:
|
| 730 |
newState = states::IDLE; |
| 731 |
break;
|
| 732 |
// ---------------------------------------
|
| 733 |
default:
|
| 734 |
newState = states::UNKNOWN_STATE_ERROR; |
| 735 |
break;
|
| 736 |
} |
| 737 |
if (currentState != newState){
|
| 738 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
| 739 |
global.robot.transmitState(newState); |
| 740 |
} |
| 741 |
prevState = currentState; |
| 742 |
currentState = newState; |
| 743 |
if (utCount.stateCount > CAN_TRANSMIT_STATE_THRESH){
|
| 744 |
utCount.stateCount = 0;
|
| 745 |
// chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
| 746 |
global.robot.transmitState(currentState); |
| 747 |
// global.robot.setOdometry(global.odometry.getPosition());
|
| 748 |
|
| 749 |
}else{
|
| 750 |
utCount.stateCount++; |
| 751 |
} |
| 752 |
this->sleep(CAN::UPDATE_PERIOD);
|
| 753 |
} |
| 754 |
|
| 755 |
return RDY_OK;
|
| 756 |
} |