amiro-os / devices / DiWheelDrive / userthread.cpp @ d02c536e
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#include "userthread.hpp" |
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#include "amiro_map.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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* 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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void UserThread::chargeAsLED(){
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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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void UserThread::getProxySectorVals(uint16_t (&proxVals)[8], uint16_t (&sProx)[8]){ |
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for (int i=0; i<8; i++){ |
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sProx[i] = (proxVals[i] < proxVals[(i+1) % 8]) ? proxVals[i] : proxVals[(i+1) % 8]; |
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// chprintf((BaseSequentialStream*)&global.sercanmux1, "%d: %d, ", i, sProx[i]);
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} |
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// chprintf((BaseSequentialStream*)&global.sercanmux1, "\n");
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} |
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void UserThread::getMaxFrontSectorVal(uint16_t (&sProx)[8], int32_t &sPMax){ |
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for (int i=2; i<5; i++){ |
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sPMax = (sPMax < sProx[i]) ? sProx[i] : sPMax; |
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} |
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} |
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void UserThread::proxSectorSpeedCorrection(int (&rpmSpeed)[2], uint16_t (&proxVals)[8]){ |
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int i;
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uint16_t sProx[8];
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int32_t sPMax = 0;
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getProxySectorVals(proxVals, sProx); |
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getMaxFrontSectorVal(sProx, sPMax); |
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int32_t speedL = rpmSpeed[0] - (sPMax * pCtrl.pFactor);
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int32_t speedR = rpmSpeed[1] - (sPMax * pCtrl.pFactor);
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if(sPMax > pCtrl.threshMid){
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rpmSpeed[0] = 0; |
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rpmSpeed[1] = 0; |
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pCtrl.staticCont++; |
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}else if((speedL > 0) || (speedR > 0)){ |
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pCtrl.staticCont = 0;
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rpmSpeed[0] = speedL;
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rpmSpeed[1] = speedR;
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}else{
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rpmSpeed[0] = 4000000 + (rpmSpeed[0] - global.rpmForward[0] * 1000000); |
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rpmSpeed[1] = 4000000 + (rpmSpeed[1] - global.rpmForward[0] * 1000000); |
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} |
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for(i=4; i<5; i++){ |
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if ((proxVals[i] > pCtrl.threshMid) && (proxVals[i+1] > pCtrl.threshLow)){ |
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rpmSpeed[0] = -5000000 ; |
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rpmSpeed[1] = -5000000 ; |
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// pCtrl.staticCont++;
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break;
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} |
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} |
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chargeAsLED(); |
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// chprintf((BaseSequentialStream*)&global.sercanmux1, "Max: %d factor: %d, Panel: %d SpeedL: %d SpeedR: %d ActualL: %d ActualR: %d\n",sPMax, pCtrl.pFactor, sPMax * pCtrl.pFactor, speedL, speedR, rpmSpeed[0], rpmSpeed[1]);
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} |
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// -------------------------------------------------------------------
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void UserThread::preventCollision( int (&rpmSpeed)[2], uint16_t (&proxVals)[8]) { |
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if((proxVals[3] > pCtrl.threshLow) || (proxVals[4] > pCtrl.threshLow)){ |
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rpmSpeed[0] = rpmSpeed[0] / 2; |
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rpmSpeed[1] = rpmSpeed[1] / 2; |
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} |
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if((proxVals[3] > pCtrl.threshMid) || (proxVals[4] > pCtrl.threshMid)){ |
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rpmSpeed[0] = rpmSpeed[0] / 3; |
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rpmSpeed[1] = rpmSpeed[1] / 3; |
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} |
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if((proxVals[3] > pCtrl.threshHigh) || (proxVals[4] > pCtrl.threshHigh)){ |
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rpmSpeed[0] = 0; |
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rpmSpeed[1] = 0; |
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utCount.ringProxCount++; |
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}else{
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utCount.ringProxCount = 0;
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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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bool motion = true; |
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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(200); |
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types::position tmp = global.odometry.getPosition(); |
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motion = oldPos.x != tmp.x; //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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lightAllLeds(Color::BLACK); |
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} |
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bool UserThread::checkFrontalObject(){
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uint32_t thresh = pCtrl.threshMid; |
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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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if (abs(start.x - stop_.x) > 200 /* || (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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int32_t UserThread::meanDeviation(uint16_t a, uint16_t b){
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int32_t diff = a - b; |
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int32_t res = 0;
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devCor.proxbuf[devCor.pCount] = (diff*100)/((a+b)/2); |
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for (int i = 0; i< PROX_DEVIATION_MEAN_WINDOW; i++){ |
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res += devCor.proxbuf[i]; |
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} |
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devCor.pCount++; |
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devCor.pCount = devCor.pCount % PROX_DEVIATION_MEAN_WINDOW; |
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devCor.currentDeviation = res / PROX_DEVIATION_MEAN_WINDOW; |
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return devCor.currentDeviation;
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} |
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void setAttributes(uint8_t (&map)[MAX_NODES][NODE_ATTRIBUTES],
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uint8_t id, uint8_t l, uint8_t r, uint8_t att) {
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map[id][0] = l;
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map[id][1] = r;
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map[id][2] = att;
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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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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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LineFollowStrategy lStrategy = LineFollowStrategy::EDGE_RIGHT; |
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LineFollow lf(&global); |
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AmiroMap map(&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(currentState == states::INACTIVE){
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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::MSG_START:
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newState = states::CALIBRATION_CHECK; |
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break;
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case msg_content::MSG_STOP:
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newState = states::IDLE; |
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break;
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case msg_content::MSG_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::MSG_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::MSG_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::MSG_DOCK:
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newState = states::DETECT_STATION; |
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break;
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case msg_content::MSG_UNDOCK:
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newState = states::RELEASE; |
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break;
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case msg_content::MSG_CHARGE:
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newState = states::CHARGING; |
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break;
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case msg_content::MSG_RESET_ODOMETRY:
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global.odometry.resetPosition(); |
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break;
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case msg_content::MSG_CALIBRATE_BLACK:
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proxCalib.calibrateBlack = true;
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// global.odometry.resetPosition();
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newState = states::CALIBRATION; |
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break;
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case msg_content::MSG_CALIBRATE_WHITE:
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proxCalib.calibrateBlack = false;
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newState = states::CALIBRATION; |
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break;
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case msg_content::MSG_TEST_MAP_STATE:
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newState = states::TEST_MAP_STATE; |
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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 = currentState;
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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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// Continously update devication values
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meanDeviation(rProx[0] & 0xFFF0, rProx[7] & 0xFFF0); |
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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(currentState){
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case states::INACTIVE:
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// Dummy state to deactivate every interaction
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break;
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// ---------------------------------------
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case states::CALIBRATION_CHECK:
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// global.robot.calibrate();
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if(global.linePID.BThresh >= global.linePID.WThresh){
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newState = states::CALIBRATION_ERROR; |
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}else{
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newState = states::FOLLOW_LINE; |
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} |
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break;
|
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// ---------------------------------------
|
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case states::CALIBRATION:
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/* Calibrate the global thresholds for black or white.
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This values will be used by the line follow object
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*/
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proxCalib.buf = 0;
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if(proxCalib.calibrateBlack){
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chprintf((BaseSequentialStream*)&global.sercanmux1, "Black Calibration, Place AMiRo on black Surface!\n");
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global.robot.calibrate(); |
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} |
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for(int i=0; i <= proxCalib.meanWindow; i++){ |
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proxCalib.buf += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset() |
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+ global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
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this->sleep(CAN::UPDATE_PERIOD);
|
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} |
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proxCalib.buf = proxCalib.buf / (2*proxCalib.meanWindow);
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if(proxCalib.calibrateBlack){
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global.linePID.BThresh = proxCalib.buf; |
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}else {
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global.linePID.WThresh = proxCalib.buf; |
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} |
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chprintf((BaseSequentialStream*)&global.sercanmux1, "Black: %d, White: %d!\n", global.linePID.BThresh, global.linePID.WThresh);
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newState = states::IDLE; |
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break;
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// ---------------------------------------
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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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// pCtrl.pFactor = 0;
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pCtrl.staticCont = 0;
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utCount.whiteCount = 0;
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utCount.ringProxCount = 0;
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utCount.errorCount = 0;
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newState = states::INACTIVE; |
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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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|
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if(lf.getStrategy() != lStrategy){
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lf.setStrategy(lStrategy); |
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} |
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|
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if(lf.followLine(rpmSpeed)){
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utCount.whiteCount++; |
| 434 |
if(utCount.whiteCount >= WHITE_DETETION_TIMEOUT){
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setRpmSpeed(stop); |
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utCount.whiteCount = 0;
|
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newState = states::WHITE_DETECTION_ERROR; |
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} |
| 439 |
}else{
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utCount.whiteCount = 0;
|
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} |
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|
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preventCollision(rpmSpeed, rProx); |
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// proxSectorSpeedCorrection(rpmSpeed, rProx);
|
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|
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if(utCount.ringProxCount > RING_PROX_DETECTION_TIMEOUT){
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utCount.ringProxCount = 0;
|
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|
| 449 |
|
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checkForMotion(); |
| 451 |
// Check if only front sensors are active
|
| 452 |
if (checkFrontalObject()) {
|
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// global.distcontrol.setTargetPosition(0, 2792526, ROTATION_DURATION);
|
| 454 |
// // BaseThread::sleep(8000);
|
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// checkForMotion();
|
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this->utCount.whiteCount = 0; |
| 457 |
newState = states::TURN; |
| 458 |
// lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT);
|
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} else {
|
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newState = states::PROXY_DETECTION_ERROR; |
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} |
| 462 |
} |
| 463 |
|
| 464 |
if (lf.getStrategy() == LineFollowStrategy::FUZZY){
|
| 465 |
setRpmSpeedFuzzy(rpmSpeed); |
| 466 |
}else{
|
| 467 |
|
| 468 |
setRpmSpeed(rpmSpeed); |
| 469 |
} |
| 470 |
|
| 471 |
break;
|
| 472 |
// ---------------------------------------
|
| 473 |
case states::TURN:{
|
| 474 |
// Check the line strategy in order to continue driving on the right side
|
| 475 |
int factor = SPEED_CONVERSION_FACTOR;
|
| 476 |
int frontL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
| 477 |
int frontR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
|
| 478 |
int blackSensor = 0; |
| 479 |
if (lf.getStrategy() == LineFollowStrategy::EDGE_RIGHT) {
|
| 480 |
factor = -factor; |
| 481 |
blackSensor = frontL; |
| 482 |
}else{
|
| 483 |
blackSensor = frontR; |
| 484 |
} |
| 485 |
|
| 486 |
rpmSpeed[0] = factor * CHARGING_SPEED;
|
| 487 |
rpmSpeed[1] = -factor * CHARGING_SPEED;
|
| 488 |
setRpmSpeed(rpmSpeed); |
| 489 |
|
| 490 |
if ((blackSensor >= global.linePID.WThresh )){
|
| 491 |
utCount.whiteCount = 1;
|
| 492 |
}else {
|
| 493 |
if((utCount.whiteCount == 1) && (blackSensor <= global.linePID.BThresh)){ |
| 494 |
utCount.whiteCount = 0;
|
| 495 |
newState = states::FOLLOW_LINE; |
| 496 |
setRpmSpeed(stop); |
| 497 |
} |
| 498 |
} |
| 499 |
break;
|
| 500 |
} |
| 501 |
// ---------------------------------------
|
| 502 |
case states::DETECT_STATION:
|
| 503 |
|
| 504 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 505 |
global.forwardSpeed = DETECTION_SPEED; |
| 506 |
} |
| 507 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_RIGHT){
|
| 508 |
lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
| 509 |
} |
| 510 |
|
| 511 |
lf.followLine(rpmSpeed); |
| 512 |
setRpmSpeed(rpmSpeed); |
| 513 |
// // Detect marker before docking station
|
| 514 |
// if ((WL+WR) < PROXY_WHEEL_THRESH){
|
| 515 |
// Use proxy ring
|
| 516 |
if ((rProx[3]+rProx[4]) > RING_PROX_FRONT_THRESH){ |
| 517 |
|
| 518 |
setRpmSpeed(stop); |
| 519 |
checkForMotion(); |
| 520 |
// 180° Rotation
|
| 521 |
global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
|
| 522 |
// BaseThread::sleep(8000);
|
| 523 |
checkForMotion(); |
| 524 |
newState = states::CORRECT_POSITIONING; |
| 525 |
} |
| 526 |
break;
|
| 527 |
// ---------------------------------------
|
| 528 |
case states::CORRECT_POSITIONING:
|
| 529 |
if (global.forwardSpeed != CHARGING_SPEED){
|
| 530 |
global.forwardSpeed = CHARGING_SPEED; |
| 531 |
} |
| 532 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_LEFT){
|
| 533 |
lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
| 534 |
} |
| 535 |
lf.followLine(rpmSpeed); |
| 536 |
setRpmSpeed(rpmSpeed); |
| 537 |
|
| 538 |
utCount.stateTime++; |
| 539 |
if (utCount.stateTime >= DOCKING_CORRECTION_TIMEOUT){
|
| 540 |
utCount.stateTime = 0;
|
| 541 |
newState = states::REVERSE; |
| 542 |
setRpmSpeed(stop); |
| 543 |
checkForMotion(); |
| 544 |
} |
| 545 |
break;
|
| 546 |
// ---------------------------------------
|
| 547 |
case states::REVERSE:
|
| 548 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 549 |
lf.setStrategy(LineFollowStrategy::REVERSE); |
| 550 |
} |
| 551 |
lf.followLine(rpmSpeed); |
| 552 |
setRpmSpeed(rpmSpeed); |
| 553 |
// utCount.stateTime++;
|
| 554 |
|
| 555 |
// Docking is only successful if Deviation is in range and sensors are at their max values.
|
| 556 |
if((rProx[0] >= PROX_MAX_VAL) |
| 557 |
&& (rProx[7] >= PROX_MAX_VAL)
|
| 558 |
&& ((devCor.currentDeviation > -MAX_DEVIATION_FACTOR) && (devCor.currentDeviation < MAX_DEVIATION_FACTOR) )){
|
| 559 |
// setRpmSpeed(stop);
|
| 560 |
// checkForMotion();
|
| 561 |
utCount.stateTime = 0;
|
| 562 |
newState = states::PUSH_BACK; |
| 563 |
}else if ((devCor.currentDeviation <= -MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 564 |
// Case R
|
| 565 |
utCount.stateTime = 0;
|
| 566 |
setRpmSpeed(stop); |
| 567 |
devCor.RCase = true;
|
| 568 |
lightAllLeds(Color::YELLOW); |
| 569 |
newState = states::DEVIATION_CORRECTION; |
| 570 |
}else if ((devCor.currentDeviation >= MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 571 |
// Case L
|
| 572 |
utCount.stateTime = 0;
|
| 573 |
setRpmSpeed(stop); |
| 574 |
devCor.RCase = false;
|
| 575 |
lightAllLeds(Color::WHITE); |
| 576 |
newState = states::DEVIATION_CORRECTION; |
| 577 |
}else if (utCount.stateTime >= REVERSE_DOCKING_TIMEOUT){ |
| 578 |
setRpmSpeed(stop); |
| 579 |
utCount.stateTime = 0;
|
| 580 |
utCount.errorCount++; |
| 581 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 582 |
newState = states::DOCKING_ERROR; |
| 583 |
}else{
|
| 584 |
newState = states::CORRECT_POSITIONING; |
| 585 |
} |
| 586 |
} |
| 587 |
|
| 588 |
// if((devCor.currentDeviation <= -10)){
|
| 589 |
// rpmSpeed[0] -= 2000000;
|
| 590 |
// }else if(devCor.currentDeviation >= 10){
|
| 591 |
// rpmSpeed[1] -= 2000000;
|
| 592 |
// }
|
| 593 |
// setRpmSpeed(rpmSpeed);
|
| 594 |
break;
|
| 595 |
// ---------------------------------------
|
| 596 |
case states::DEVIATION_CORRECTION:
|
| 597 |
// if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 598 |
// lf.setStrategy(LineFollowStrategy::REVERSE);
|
| 599 |
// }
|
| 600 |
// lf.followLine(rpmSpeed);
|
| 601 |
// setRpmSpeed(rpmSpeed);
|
| 602 |
if(utCount.stateTime < DEVIATION_CORRECTION_DURATION / 2 ){ |
| 603 |
if(devCor.RCase){
|
| 604 |
rpmSpeed[0] = 0; |
| 605 |
rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
| 606 |
}else {
|
| 607 |
rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
| 608 |
rpmSpeed[1] = 0; |
| 609 |
} |
| 610 |
setRpmSpeed(rpmSpeed); |
| 611 |
}else if (((utCount.stateTime >= DEVIATION_CORRECTION_DURATION / 2) && (utCount.stateTime < DEVIATION_CORRECTION_DURATION +10)) ){ |
| 612 |
if(devCor.RCase){
|
| 613 |
rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
| 614 |
rpmSpeed[1] = 0; |
| 615 |
}else {
|
| 616 |
rpmSpeed[0] = 0; |
| 617 |
rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
| 618 |
} |
| 619 |
setRpmSpeed(rpmSpeed); |
| 620 |
if(((devCor.currentDeviation >= -5) && (devCor.currentDeviation <= 5))){ |
| 621 |
utCount.stateTime = 0;
|
| 622 |
newState = states::REVERSE; |
| 623 |
setRpmSpeed(stop); |
| 624 |
} |
| 625 |
}else{
|
| 626 |
utCount.stateTime = 0;
|
| 627 |
newState = states::REVERSE; |
| 628 |
setRpmSpeed(stop); |
| 629 |
} |
| 630 |
|
| 631 |
utCount.stateTime++; |
| 632 |
|
| 633 |
|
| 634 |
// if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 635 |
// utCount.stateTime = 0;
|
| 636 |
// newState = states::CHECK_POSITIONING;
|
| 637 |
// }
|
| 638 |
break;
|
| 639 |
// ---------------------------------------
|
| 640 |
case states::PUSH_BACK:
|
| 641 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 642 |
lf.setStrategy(LineFollowStrategy::REVERSE); |
| 643 |
} |
| 644 |
lf.followLine(rpmSpeed); |
| 645 |
setRpmSpeed(rpmSpeed); |
| 646 |
|
| 647 |
utCount.stateTime++; |
| 648 |
if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 649 |
utCount.stateTime = 0;
|
| 650 |
newState = states::CHECK_POSITIONING; |
| 651 |
} |
| 652 |
break;
|
| 653 |
// ---------------------------------------
|
| 654 |
case states::CHECK_POSITIONING:
|
| 655 |
setRpmSpeed(stop); |
| 656 |
checkForMotion(); |
| 657 |
if(checkDockingSuccess()){
|
| 658 |
newState = states::CHECK_VOLTAGE; |
| 659 |
}else{
|
| 660 |
utCount.errorCount++; |
| 661 |
newState = states::CORRECT_POSITIONING; |
| 662 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 663 |
newState = states::DOCKING_ERROR; |
| 664 |
} |
| 665 |
} |
| 666 |
break;
|
| 667 |
// ---------------------------------------
|
| 668 |
case states::CHECK_VOLTAGE:
|
| 669 |
if(!checkPinEnabled()){
|
| 670 |
global.robot.requestCharging(1);
|
| 671 |
} else {
|
| 672 |
if(checkPinVoltage()){
|
| 673 |
// Pins are under voltage -> correctly docked
|
| 674 |
|
| 675 |
newState = states::CHARGING; |
| 676 |
}else{
|
| 677 |
utCount.errorCount++; |
| 678 |
// No voltage on pins -> falsely docked
|
| 679 |
// deactivate pins
|
| 680 |
global.motorcontrol.setMotorEnable(true);
|
| 681 |
global.robot.requestCharging(0);
|
| 682 |
// TODO: Soft release when docking falsely
|
| 683 |
if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){ |
| 684 |
newState = states::RELEASE_TO_CORRECT; |
| 685 |
} else {
|
| 686 |
newState = states::RELEASE_TO_CORRECT; //states::CORRECT_POSITIONING;
|
| 687 |
} |
| 688 |
|
| 689 |
if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
| 690 |
newState = states::DOCKING_ERROR; |
| 691 |
} |
| 692 |
} |
| 693 |
} |
| 694 |
break;
|
| 695 |
// ---------------------------------------
|
| 696 |
case states::RELEASE_TO_CORRECT:
|
| 697 |
|
| 698 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 699 |
checkForMotion(); |
| 700 |
// move 1cm forward
|
| 701 |
global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
| 702 |
checkForMotion(); |
| 703 |
// rotate back
|
| 704 |
global.distcontrol.setTargetPosition(0, -2*ROTATION_20, ROTATION_DURATION); |
| 705 |
checkForMotion(); |
| 706 |
|
| 707 |
global.distcontrol.setTargetPosition(1500, 0, ROTATION_DURATION); |
| 708 |
checkForMotion(); |
| 709 |
newState = states::CORRECT_POSITIONING; |
| 710 |
break;
|
| 711 |
// ---------------------------------------
|
| 712 |
case states::CHARGING:
|
| 713 |
global.motorcontrol.setMotorEnable(false);
|
| 714 |
utCount.errorCount = 0;
|
| 715 |
// Formulate Request to enable charging
|
| 716 |
if(/* checkPinVoltage() && */ !checkPinEnabled()){ |
| 717 |
global.robot.requestCharging(1);
|
| 718 |
} |
| 719 |
if(checkPinEnabled()){
|
| 720 |
showChargingState(); |
| 721 |
} |
| 722 |
break;
|
| 723 |
// ---------------------------------------
|
| 724 |
case states::RELEASE:
|
| 725 |
|
| 726 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 727 |
global.rpmForward[0] = DETECTION_SPEED;
|
| 728 |
} |
| 729 |
if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 730 |
global.robot.requestCharging(0);
|
| 731 |
}else{
|
| 732 |
global.motorcontrol.setMotorEnable(true);
|
| 733 |
// TODO: Use controlled
|
| 734 |
//Rotate -20° to free from magnet
|
| 735 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 736 |
checkForMotion(); |
| 737 |
// move 1cm forward
|
| 738 |
global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
| 739 |
checkForMotion(); |
| 740 |
// rotate back
|
| 741 |
// global.distcontrol.setTargetPosition(0, -ROTATION_20, ROTATION_DURATION);
|
| 742 |
// checkForMotion();
|
| 743 |
|
| 744 |
// global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION);
|
| 745 |
// checkForMotion();
|
| 746 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 747 |
newState = states::FOLLOW_LINE; |
| 748 |
// whiteBuf = -100;
|
| 749 |
// lf.followLine(rpmSpeed);
|
| 750 |
// setRpmSpeed(rpmSpeed);
|
| 751 |
} |
| 752 |
// lightAllLeds(Color::BLACK);
|
| 753 |
break;
|
| 754 |
// ---------------------------------------
|
| 755 |
case states::DOCKING_ERROR:
|
| 756 |
newState = states::RELEASE; |
| 757 |
break;
|
| 758 |
// ---------------------------------------
|
| 759 |
case states::REVERSE_TIMEOUT_ERROR:
|
| 760 |
newState = states::IDLE; |
| 761 |
break;
|
| 762 |
// ---------------------------------------
|
| 763 |
case states::CALIBRATION_ERROR:
|
| 764 |
newState = states::IDLE; |
| 765 |
break;
|
| 766 |
// ---------------------------------------
|
| 767 |
case states::WHITE_DETECTION_ERROR:
|
| 768 |
newState = states::IDLE; |
| 769 |
break;
|
| 770 |
// ---------------------------------------
|
| 771 |
case states::PROXY_DETECTION_ERROR:
|
| 772 |
newState = states::IDLE; |
| 773 |
break;
|
| 774 |
// ---------------------------------------
|
| 775 |
case states::NO_CHARGING_POWER_ERROR:
|
| 776 |
newState = states::IDLE; |
| 777 |
break;
|
| 778 |
// ---------------------------------------
|
| 779 |
case states::UNKNOWN_STATE_ERROR:
|
| 780 |
newState = states::IDLE; |
| 781 |
break;
|
| 782 |
// ---------------------------------------
|
| 783 |
case states::TEST_MAP_STATE:{
|
| 784 |
// Test suit for amiro map
|
| 785 |
|
| 786 |
|
| 787 |
|
| 788 |
// AmiroMap map = AmiroMap(&global);
|
| 789 |
|
| 790 |
// --------------------------------------------------
|
| 791 |
|
| 792 |
global.tcase = 0;
|
| 793 |
// Set basic valid map configuration
|
| 794 |
setAttributes(global.testmap, 0, 1, 2, 1); |
| 795 |
setAttributes(global.testmap, 1, 2, 2, 0); |
| 796 |
setAttributes(global.testmap, 2, 1, 0, 0); |
| 797 |
setAttributes(global.testmap, 3, 0, 0, 0xff); |
| 798 |
chprintf((BaseSequentialStream *)&global.sercanmux1, "Init Case: %d, res: %d\n",global.tcase, map.initialize());
|
| 799 |
global.testres[global.tcase] = map.get_state()->valid; |
| 800 |
|
| 801 |
global.tcase++; // 1
|
| 802 |
// Test map fail if first node is flagged with end
|
| 803 |
setAttributes(global.testmap, 0, 1, 2, 0xff); |
| 804 |
map.initialize(); |
| 805 |
global.testres[global.tcase] = !map.get_state()->valid; |
| 806 |
|
| 807 |
global.tcase++; // 2
|
| 808 |
// Test if node 2 is set as start node
|
| 809 |
setAttributes(global.testmap, 0, 1, 2, 0); |
| 810 |
setAttributes(global.testmap, 2, 1, 0, 1); |
| 811 |
map.initialize(); |
| 812 |
global.testres[global.tcase] = map.get_state()->current == 2;
|
| 813 |
|
| 814 |
global.tcase++; // 3
|
| 815 |
// Test if non reachable nodes will trigger invalid map
|
| 816 |
setAttributes(global.testmap, 3, 0, 0, 0); |
| 817 |
setAttributes(global.testmap, 4, 0, 0, 0xff); |
| 818 |
map.initialize(); |
| 819 |
global.testres[global.tcase] = !map.get_state()->valid; |
| 820 |
|
| 821 |
global.tcase++; // 4
|
| 822 |
// Test Reinitialization
|
| 823 |
setAttributes(global.testmap, 0, 1, 2, 1); |
| 824 |
setAttributes(global.testmap, 1, 2, 2, 0); |
| 825 |
setAttributes(global.testmap, 2, 1, 0, 0); |
| 826 |
setAttributes(global.testmap, 3, 0, 0, 0xff); |
| 827 |
map.initialize(); |
| 828 |
global.testres[global.tcase] = map.get_state()->valid; |
| 829 |
|
| 830 |
global.odometry.resetPosition(); |
| 831 |
uint8_t ret = 0;
|
| 832 |
global.tcase++; // 5
|
| 833 |
// Test update under normal linefollowing without fixpoint
|
| 834 |
ret = map.update(20000, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 835 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 836 |
"Update test %d: Ret %d, cur %d, nex %d\n", global.tcase, ret,
|
| 837 |
map.get_state()->current, map.get_state()->next); |
| 838 |
// No case should be true because neither was a node visited nor
|
| 839 |
// was a fixpoint detected.
|
| 840 |
global.testres[global.tcase] = (ret == 0x4);
|
| 841 |
|
| 842 |
|
| 843 |
global.odometry.setPosition(1.0, 0.0, 0.0); |
| 844 |
chprintf((BaseSequentialStream *)&global.sercanmux1, "Current Point: %d\n", global.odometry.getPosition().x);
|
| 845 |
global.tcase++; // 6
|
| 846 |
// Fixpoint on left side
|
| 847 |
ret = map.update(0, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 848 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 849 |
"Update test %d: Ret %d, cur %d, nex %d\n", global.tcase, ret,
|
| 850 |
map.get_state()->current, map.get_state()->next); |
| 851 |
// No case should be true because neither was a node visited nor
|
| 852 |
// was a fixpoint detected.
|
| 853 |
// global.odometry
|
| 854 |
global.testres[global.tcase] = (ret == 0x1)
|
| 855 |
&& (map.get_state()->strategy == 0x01)
|
| 856 |
&& (map.get_state()->dist == 0)
|
| 857 |
&& (map.get_state()->current == 2);
|
| 858 |
|
| 859 |
|
| 860 |
global.odometry.setPosition(1.5, 0.0, 0.0); |
| 861 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 862 |
"Current Point: %d\n", global.odometry.getPosition().x);
|
| 863 |
global.tcase++; // 7
|
| 864 |
// Fixpoint on left side, no update should appear because fixpoint already
|
| 865 |
// marked
|
| 866 |
ret = map.update(0, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 867 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 868 |
"Update test %d: Ret %d, cur %d, nex %d\n", global.tcase, ret,
|
| 869 |
map.get_state()->current, map.get_state()->next); |
| 870 |
// No case should be true because neither was a node visited nor
|
| 871 |
// was a fixpoint detected.
|
| 872 |
global.testres[global.tcase] = (ret == 0x00)
|
| 873 |
&& (map.get_state()->strategy == 0x01);
|
| 874 |
// && (map.get_state()->dist == 0);
|
| 875 |
|
| 876 |
global.odometry.setPosition(1.2, 0.0, 0.0); |
| 877 |
global.tcase++; // 8
|
| 878 |
// Fixpoint on left side, no update should appear because fixpoint already
|
| 879 |
// marked
|
| 880 |
ret = map.update(20000, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 881 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 882 |
"Update test %d: Ret %d, cur %d, nex %d, dist %d, len %d\n", global.tcase, ret,
|
| 883 |
map.get_state()->current, map.get_state()->next, map.get_state()->dist, map.get_state()->eLength); |
| 884 |
// No case should be true because neither was a node visited nor
|
| 885 |
// was a fixpoint detected.
|
| 886 |
global.testres[global.tcase] = |
| 887 |
(ret == 0x04) && (map.get_state()->strategy == 0x01) |
| 888 |
&& (map.get_state()->dist == 0);
|
| 889 |
|
| 890 |
global.odometry.setPosition(.5, 0.0, 0.0); |
| 891 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 892 |
"Current Point: %d\n", global.odometry.getPosition().x);
|
| 893 |
global.tcase++; // 9
|
| 894 |
// Fixpoint on left side, no update should appear because fixpoint already
|
| 895 |
// marked
|
| 896 |
ret = map.update(0, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 897 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 898 |
"Update test %d: Ret %d, cur %d, nex %d, dist %d, len %d\n",
|
| 899 |
global.tcase, ret, map.get_state()->current, |
| 900 |
map.get_state()->next, map.get_state()->dist, |
| 901 |
map.get_state()->eLength); |
| 902 |
// No case should be true because neither was a node visited nor
|
| 903 |
// was a fixpoint detected.
|
| 904 |
global.testres[global.tcase] = |
| 905 |
(ret == 9) &&
|
| 906 |
(map.get_state()->strategy == 1) &&
|
| 907 |
(map.get_state()->dist == 0) &&
|
| 908 |
(map.get_state()->eLength == 50);
|
| 909 |
|
| 910 |
global.odometry.setPosition(.75, 0.0, 0.0); |
| 911 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 912 |
"Current Point: %d\n", global.odometry.getPosition().x);
|
| 913 |
global.tcase++; // 10
|
| 914 |
// Fixpoint on left side, no update should appear because fixpoint already
|
| 915 |
// marked
|
| 916 |
ret = map.update(20000, 20000, LineFollowStrategy::EDGE_RIGHT); |
| 917 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 918 |
"Update test %d: Ret %d, cur %d, nex %d, dist %d, len %d\n",
|
| 919 |
global.tcase, ret, map.get_state()->current, |
| 920 |
map.get_state()->next, map.get_state()->dist, |
| 921 |
map.get_state()->eLength); |
| 922 |
// No case should be true because neither was a node visited nor
|
| 923 |
// was a fixpoint detected.
|
| 924 |
global.testres[global.tcase] = |
| 925 |
(ret == 12) && (map.get_state()->strategy == 1) && |
| 926 |
(map.get_state()->dist == 50) && (map.get_state()->eLength == 50); |
| 927 |
|
| 928 |
int failed = 0; |
| 929 |
int passed = 0; |
| 930 |
for (int i = 0; i <= global.tcase; i++) { |
| 931 |
if (global.testres[i]) {
|
| 932 |
passed++; |
| 933 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 934 |
"Test %d Passed!\n", i);
|
| 935 |
} else {
|
| 936 |
failed++; |
| 937 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 938 |
"Test %d Failed\n", i);
|
| 939 |
} |
| 940 |
} |
| 941 |
chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 942 |
"Total: %d, Passed: %d, Failed: %d\n", global.tcase + 1, passed, |
| 943 |
failed); |
| 944 |
|
| 945 |
newState = states::IDLE; |
| 946 |
break;
|
| 947 |
} |
| 948 |
// --------------------------------------------------
|
| 949 |
default:
|
| 950 |
newState = states::UNKNOWN_STATE_ERROR; |
| 951 |
break;
|
| 952 |
} |
| 953 |
|
| 954 |
// In case a new state is set:
|
| 955 |
// 1. Record the state transition
|
| 956 |
if (currentState != newState){
|
| 957 |
|
| 958 |
global.stateTransitionCounter++; |
| 959 |
// Clear all state transitions to prevent overflow
|
| 960 |
if (global.stateTransitionCounter >= 255) { |
| 961 |
global.stateTransitionCounter = 0;
|
| 962 |
for (int i = 0; i < 24; i++) { |
| 963 |
global.stateTracker[i] = 0;
|
| 964 |
} |
| 965 |
} |
| 966 |
// Transmit the new state over can
|
| 967 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
| 968 |
global.robot.transmitState(newState); |
| 969 |
|
| 970 |
// Increase state count for specific state
|
| 971 |
// TODO: Improve with dictionary or other than switch case
|
| 972 |
if (newState == states::IDLE)
|
| 973 |
{global.stateTracker[states::IDLE] += 1;}
|
| 974 |
else if (newState == states::FOLLOW_LINE) |
| 975 |
{global.stateTracker[states::FOLLOW_LINE] += 1;}
|
| 976 |
else if (newState == states::DETECT_STATION) |
| 977 |
{global.stateTracker[states::DETECT_STATION] += 1;}
|
| 978 |
else if (newState == states::REVERSE) |
| 979 |
{global.stateTracker[states::REVERSE] += 1;}
|
| 980 |
else if (newState == states::PUSH_BACK) |
| 981 |
{global.stateTracker[states::PUSH_BACK] += 1;}
|
| 982 |
else if (newState == states::CHECK_POSITIONING) |
| 983 |
{global.stateTracker[states::CHECK_POSITIONING] += 1;}
|
| 984 |
else if (newState == states::CHECK_VOLTAGE) |
| 985 |
{global.stateTracker[states::CHECK_VOLTAGE] += 1;}
|
| 986 |
else if (newState == states::CHARGING) |
| 987 |
{global.stateTracker[states::CHARGING] += 1;}
|
| 988 |
else if (newState == states::RELEASE) |
| 989 |
{global.stateTracker[states::RELEASE] += 1;}
|
| 990 |
else if (newState == states::RELEASE_TO_CORRECT) |
| 991 |
{global.stateTracker[states::RELEASE_TO_CORRECT] += 1;}
|
| 992 |
else if (newState == states::CORRECT_POSITIONING) |
| 993 |
{global.stateTracker[states::CORRECT_POSITIONING] += 1;}
|
| 994 |
else if (newState == states::TURN) |
| 995 |
{global.stateTracker[states::TURN] += 1;}
|
| 996 |
else if (newState == states::INACTIVE) |
| 997 |
{global.stateTracker[states::INACTIVE] += 1;}
|
| 998 |
else if (newState == states::CALIBRATION) |
| 999 |
{global.stateTracker[states::CALIBRATION] += 1;}
|
| 1000 |
else if (newState == states::CALIBRATION_CHECK) |
| 1001 |
{global.stateTracker[states::CALIBRATION_CHECK] += 1;}
|
| 1002 |
else if (newState == states::DEVIATION_CORRECTION) |
| 1003 |
{global.stateTracker[states::DEVIATION_CORRECTION] += 1;}
|
| 1004 |
else if (newState == states::DOCKING_ERROR) |
| 1005 |
{global.stateTracker[16+(-states::DOCKING_ERROR)] += 1;}
|
| 1006 |
else if (newState == states::REVERSE_TIMEOUT_ERROR) |
| 1007 |
{global.stateTracker[16+(-states::REVERSE_TIMEOUT_ERROR)] += 1;}
|
| 1008 |
else if (newState == states::CALIBRATION_ERROR) |
| 1009 |
{global.stateTracker[16+(-states::CALIBRATION_ERROR)] += 1;}
|
| 1010 |
else if (newState == states::WHITE_DETECTION_ERROR) |
| 1011 |
{global.stateTracker[16+(-states::WHITE_DETECTION_ERROR)] += 1;}
|
| 1012 |
else if (newState == states::PROXY_DETECTION_ERROR) |
| 1013 |
{global.stateTracker[16+(-states::PROXY_DETECTION_ERROR)] += 1;}
|
| 1014 |
else if (newState == states::NO_CHARGING_POWER_ERROR) |
| 1015 |
{global.stateTracker[16+(-states::NO_CHARGING_POWER_ERROR)] += 1;}
|
| 1016 |
else if (newState == states::UNKNOWN_STATE_ERROR) |
| 1017 |
{global.stateTracker[16+(-states::UNKNOWN_STATE_ERROR)] += 1;}
|
| 1018 |
} |
| 1019 |
|
| 1020 |
// Keep track of last state and set the new state for next iteration
|
| 1021 |
prevState = currentState; |
| 1022 |
currentState = newState; |
| 1023 |
|
| 1024 |
this->sleep(CAN::UPDATE_PERIOD);
|
| 1025 |
} |
| 1026 |
|
| 1027 |
return RDY_OK;
|
| 1028 |
} |