amiro-os / devices / DiWheelDrive / userthread.cpp @ d4c6efa9
History | View | Annotate | Download (27.6 KB)
| 1 |
// #include "userthread.hpp"
|
|---|---|
| 2 |
#include "global.hpp" |
| 3 |
#include <cmath> |
| 4 |
#include "linefollow.hpp" |
| 5 |
#include "userthread.hpp" |
| 6 |
// #include <cmath>
|
| 7 |
// #include "global.hpp"
|
| 8 |
using namespace amiro; |
| 9 |
|
| 10 |
extern Global global;
|
| 11 |
|
| 12 |
// a buffer for the z-value of the accelerometer
|
| 13 |
int16_t accel_z; |
| 14 |
bool running = false; |
| 15 |
|
| 16 |
|
| 17 |
/**
|
| 18 |
* Set speed.
|
| 19 |
*
|
| 20 |
* @param rpmSpeed speed for left and right wheel in rounds/min
|
| 21 |
*/
|
| 22 |
void UserThread::setRpmSpeedFuzzy(const int (&rpmSpeed)[2]) { |
| 23 |
global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
| 24 |
} |
| 25 |
|
| 26 |
void UserThread::setRpmSpeed(const int (&rpmSpeed)[2]) { |
| 27 |
global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL], rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL]); |
| 28 |
} |
| 29 |
|
| 30 |
void UserThread::lightOneLed(Color color, int idx){ |
| 31 |
global.robot.setLightColor(idx, Color(color)); |
| 32 |
} |
| 33 |
|
| 34 |
void UserThread::lightAllLeds(Color color){
|
| 35 |
int led = 0; |
| 36 |
for(led=0; led<8; led++){ |
| 37 |
lightOneLed(color, led); |
| 38 |
} |
| 39 |
} |
| 40 |
|
| 41 |
void UserThread::showChargingState(){
|
| 42 |
uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
|
| 43 |
Color color = Color::GREEN; |
| 44 |
if (numLeds <= 2){ |
| 45 |
color = Color::RED; |
| 46 |
}else if(numLeds <= 6){ |
| 47 |
color = Color::YELLOW; |
| 48 |
} |
| 49 |
for (int i=0; i<numLeds; i++){ |
| 50 |
lightOneLed(color, i); |
| 51 |
this->sleep(300); |
| 52 |
} |
| 53 |
this->sleep(1000); |
| 54 |
lightAllLeds(Color::BLACK); |
| 55 |
} |
| 56 |
|
| 57 |
void UserThread::chargeAsLED(){
|
| 58 |
uint8_t numLeds = global.robot.getPowerStatus().state_of_charge / 12;
|
| 59 |
Color color = Color::GREEN; |
| 60 |
if (numLeds <= 2){ |
| 61 |
color = Color::RED; |
| 62 |
}else if(numLeds <= 6){ |
| 63 |
color = Color::YELLOW; |
| 64 |
} |
| 65 |
for (int i=0; i<numLeds; i++){ |
| 66 |
lightOneLed(color, i); |
| 67 |
// this->sleep(300);
|
| 68 |
} |
| 69 |
// this->sleep(1000);
|
| 70 |
// lightAllLeds(Color::BLACK);
|
| 71 |
} |
| 72 |
|
| 73 |
// ----------------------------------------------------------------
|
| 74 |
|
| 75 |
void UserThread::getProxySectorVals(uint16_t (&proxVals)[8], uint16_t (&sProx)[8]){ |
| 76 |
for (int i=0; i<8; i++){ |
| 77 |
sProx[i] = (proxVals[i] < proxVals[(i+1) % 8]) ? proxVals[i] : proxVals[(i+1) % 8]; |
| 78 |
// chprintf((BaseSequentialStream*)&global.sercanmux1, "%d: %d, ", i, sProx[i]);
|
| 79 |
|
| 80 |
} |
| 81 |
// chprintf((BaseSequentialStream*)&global.sercanmux1, "\n");
|
| 82 |
|
| 83 |
} |
| 84 |
|
| 85 |
|
| 86 |
void UserThread::getMaxFrontSectorVal(uint16_t (&sProx)[8], int32_t &sPMax){ |
| 87 |
for (int i=2; i<5; i++){ |
| 88 |
sPMax = (sPMax < sProx[i]) ? sProx[i] : sPMax; |
| 89 |
} |
| 90 |
} |
| 91 |
|
| 92 |
void UserThread::proxSectorSpeedCorrection(int (&rpmSpeed)[2], uint16_t (&proxVals)[8]){ |
| 93 |
int i;
|
| 94 |
uint16_t sProx[8];
|
| 95 |
int32_t sPMax = 0;
|
| 96 |
getProxySectorVals(proxVals, sProx); |
| 97 |
getMaxFrontSectorVal(sProx, sPMax); |
| 98 |
|
| 99 |
int32_t speedL = rpmSpeed[0] - (sPMax * pCtrl.pFactor);
|
| 100 |
int32_t speedR = rpmSpeed[1] - (sPMax * pCtrl.pFactor);
|
| 101 |
|
| 102 |
|
| 103 |
|
| 104 |
if(sPMax > pCtrl.threshMid){
|
| 105 |
rpmSpeed[0] = 0; |
| 106 |
rpmSpeed[1] = 0; |
| 107 |
pCtrl.staticCont++; |
| 108 |
}else if((speedL > 0) || (speedR > 0)){ |
| 109 |
pCtrl.staticCont = 0;
|
| 110 |
rpmSpeed[0] = speedL;
|
| 111 |
rpmSpeed[1] = speedR;
|
| 112 |
}else{
|
| 113 |
rpmSpeed[0] = 4000000 + (rpmSpeed[0] - global.rpmForward[0] * 1000000); |
| 114 |
rpmSpeed[1] = 4000000 + (rpmSpeed[1] - global.rpmForward[0] * 1000000); |
| 115 |
} |
| 116 |
|
| 117 |
for(i=4; i<5; i++){ |
| 118 |
if ((proxVals[i] > pCtrl.threshMid) && (proxVals[i+1] > pCtrl.threshLow)){ |
| 119 |
rpmSpeed[0] = -5000000 ; |
| 120 |
rpmSpeed[1] = -5000000 ; |
| 121 |
// pCtrl.staticCont++;
|
| 122 |
break;
|
| 123 |
} |
| 124 |
} |
| 125 |
chargeAsLED(); |
| 126 |
|
| 127 |
// 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]);
|
| 128 |
|
| 129 |
|
| 130 |
} |
| 131 |
// -------------------------------------------------------------------
|
| 132 |
|
| 133 |
|
| 134 |
void UserThread::preventCollision( int (&rpmSpeed)[2], uint16_t (&proxVals)[8]) { |
| 135 |
|
| 136 |
if((proxVals[3] > pCtrl.threshLow) || (proxVals[4] > pCtrl.threshLow)){ |
| 137 |
rpmSpeed[0] = rpmSpeed[0] / 2; |
| 138 |
rpmSpeed[1] = rpmSpeed[1] / 2; |
| 139 |
} |
| 140 |
|
| 141 |
if((proxVals[3] > pCtrl.threshMid) || (proxVals[4] > pCtrl.threshMid)){ |
| 142 |
rpmSpeed[0] = rpmSpeed[0] / 3; |
| 143 |
rpmSpeed[1] = rpmSpeed[1] / 3; |
| 144 |
} |
| 145 |
|
| 146 |
if((proxVals[3] > pCtrl.threshHigh) || (proxVals[4] > pCtrl.threshHigh)){ |
| 147 |
rpmSpeed[0] = 0; |
| 148 |
rpmSpeed[1] = 0; |
| 149 |
utCount.ringProxCount++; |
| 150 |
}else{
|
| 151 |
utCount.ringProxCount = 0;
|
| 152 |
} |
| 153 |
|
| 154 |
} |
| 155 |
|
| 156 |
|
| 157 |
/**
|
| 158 |
* Blocks as long as the position changes.
|
| 159 |
*/
|
| 160 |
void UserThread::checkForMotion(){
|
| 161 |
int motion = 1; |
| 162 |
int led = 0; |
| 163 |
types::position oldPos = global.odometry.getPosition(); |
| 164 |
while(motion){
|
| 165 |
this->sleep(500); |
| 166 |
types::position tmp = global.odometry.getPosition(); |
| 167 |
motion = abs(oldPos.x - tmp.x)+ abs(oldPos.y - tmp.y)+abs(oldPos.z - tmp.z); |
| 168 |
oldPos = tmp; |
| 169 |
global.robot.setLightColor((led + 1) % 8, Color(Color::YELLOW)); |
| 170 |
global.robot.setLightColor(led % 8, Color(Color::BLACK));
|
| 171 |
led++; |
| 172 |
} |
| 173 |
lightAllLeds(Color::BLACK); |
| 174 |
} |
| 175 |
|
| 176 |
bool UserThread::checkFrontalObject(){
|
| 177 |
uint32_t thresh = pCtrl.threshMid; |
| 178 |
uint32_t prox; |
| 179 |
for(int i=0; i<8; i++){ |
| 180 |
prox = global.robot.getProximityRingValue(i); |
| 181 |
if((i == 3) || (i == 4)){ |
| 182 |
if(prox < thresh){
|
| 183 |
return false; |
| 184 |
} |
| 185 |
}else{
|
| 186 |
if(prox > thresh){
|
| 187 |
return false; |
| 188 |
} |
| 189 |
} |
| 190 |
} |
| 191 |
return true; |
| 192 |
} |
| 193 |
|
| 194 |
bool UserThread::checkPinVoltage(){
|
| 195 |
return global.ltc4412.isPluggedIn();
|
| 196 |
} |
| 197 |
|
| 198 |
bool UserThread::checkPinEnabled(){
|
| 199 |
return global.ltc4412.isEnabled();
|
| 200 |
} |
| 201 |
|
| 202 |
int UserThread::checkDockingSuccess(){
|
| 203 |
// setRpmSpeed(stop);
|
| 204 |
checkForMotion(); |
| 205 |
int success = 0; |
| 206 |
// global.odometry.resetPosition();
|
| 207 |
types::position start = global.startPos = global.odometry.getPosition(); |
| 208 |
global.motorcontrol.setMotorEnable(false);
|
| 209 |
this->sleep(1000); |
| 210 |
types::position stop_ = global.endPos = global.odometry.getPosition(); |
| 211 |
|
| 212 |
// Amiro moved, docking was not successful
|
| 213 |
// if ((start.x + stop_.x) || (start.y + stop_.y)){
|
| 214 |
if (abs(start.x - stop_.x) > 200 /* || (start.y + stop_.y) */){ |
| 215 |
lightAllLeds(Color::RED); |
| 216 |
// Enable Motor again if docking was not successful
|
| 217 |
global.motorcontrol.setMotorEnable(true);
|
| 218 |
success = 0;
|
| 219 |
}else{
|
| 220 |
lightAllLeds(Color::GREEN); |
| 221 |
success = 1;
|
| 222 |
} |
| 223 |
|
| 224 |
// this->sleep(500);
|
| 225 |
lightAllLeds(Color::BLACK); |
| 226 |
return success;
|
| 227 |
} |
| 228 |
|
| 229 |
int UserThread::getProxyRingSum(){
|
| 230 |
int prox_sum = 0; |
| 231 |
for(int i=0; i<8;i++){ |
| 232 |
prox_sum += global.robot.getProximityRingValue(i);; |
| 233 |
} |
| 234 |
return prox_sum;
|
| 235 |
} |
| 236 |
|
| 237 |
int32_t UserThread::meanDeviation(uint16_t a, uint16_t b){
|
| 238 |
int32_t diff = a - b; |
| 239 |
int32_t res = 0;
|
| 240 |
devCor.proxbuf[devCor.pCount] = (diff*100)/((a+b)/2); |
| 241 |
for (int i = 0; i< PROX_DEVIATION_MEAN_WINDOW; i++){ |
| 242 |
res += devCor.proxbuf[i]; |
| 243 |
} |
| 244 |
devCor.pCount++; |
| 245 |
devCor.pCount = devCor.pCount % PROX_DEVIATION_MEAN_WINDOW; |
| 246 |
|
| 247 |
devCor.currentDeviation = res / PROX_DEVIATION_MEAN_WINDOW; |
| 248 |
return devCor.currentDeviation;
|
| 249 |
} |
| 250 |
|
| 251 |
|
| 252 |
UserThread::UserThread() : |
| 253 |
chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>() |
| 254 |
{
|
| 255 |
} |
| 256 |
|
| 257 |
UserThread::~UserThread() |
| 258 |
{
|
| 259 |
} |
| 260 |
|
| 261 |
msg_t |
| 262 |
UserThread::main() |
| 263 |
{
|
| 264 |
/*
|
| 265 |
* SETUP
|
| 266 |
*/
|
| 267 |
// User thread state:
|
| 268 |
|
| 269 |
for (uint8_t led = 0; led < 8; ++led) { |
| 270 |
global.robot.setLightColor(led, Color(Color::BLACK)); |
| 271 |
} |
| 272 |
running = false;
|
| 273 |
LineFollowStrategy lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 274 |
LineFollow lf(&global); |
| 275 |
/*
|
| 276 |
* LOOP
|
| 277 |
*/
|
| 278 |
while (!this->shouldTerminate()) |
| 279 |
{
|
| 280 |
/*
|
| 281 |
* read accelerometer z-value
|
| 282 |
*/
|
| 283 |
accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z); |
| 284 |
|
| 285 |
if (accel_z < -900 /*-0.9g*/) { |
| 286 |
// Start line following when AMiRo is rotated
|
| 287 |
if(currentState == states::INACTIVE){
|
| 288 |
newState = states::FOLLOW_LINE; |
| 289 |
}else{
|
| 290 |
newState = states::IDLE; |
| 291 |
} |
| 292 |
lightAllLeds(Color::GREEN); |
| 293 |
this->sleep(1000); |
| 294 |
lightAllLeds(Color::BLACK); |
| 295 |
|
| 296 |
// If message was received handle it here:
|
| 297 |
} else if(global.msgReceived){ |
| 298 |
global.msgReceived = false;
|
| 299 |
// running = true;
|
| 300 |
switch(global.lfStrategy){
|
| 301 |
case msg_content::MSG_START:
|
| 302 |
newState = states::CALIBRATION_CHECK; |
| 303 |
break;
|
| 304 |
case msg_content::MSG_STOP:
|
| 305 |
newState = states::IDLE; |
| 306 |
break;
|
| 307 |
case msg_content::MSG_EDGE_RIGHT:
|
| 308 |
// newState = states::FOLLOW_LINE;
|
| 309 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 310 |
break;
|
| 311 |
case msg_content::MSG_EDGE_LEFT:
|
| 312 |
// newState = states::FOLLOW_LINE;
|
| 313 |
lStrategy = LineFollowStrategy::EDGE_LEFT; |
| 314 |
break;
|
| 315 |
case msg_content::MSG_FUZZY:
|
| 316 |
// newState = states::FOLLOW_LINE;
|
| 317 |
lStrategy = LineFollowStrategy::FUZZY; |
| 318 |
break;
|
| 319 |
case msg_content::MSG_DOCK:
|
| 320 |
newState = states::DETECT_STATION; |
| 321 |
break;
|
| 322 |
case msg_content::MSG_UNDOCK:
|
| 323 |
newState = states::RELEASE; |
| 324 |
break;
|
| 325 |
case msg_content::MSG_CHARGE:
|
| 326 |
newState = states::CHARGING; |
| 327 |
break;
|
| 328 |
case msg_content::MSG_RESET_ODOMETRY:
|
| 329 |
global.odometry.resetPosition(); |
| 330 |
break;
|
| 331 |
case msg_content::MSG_CALIBRATE_BLACK:
|
| 332 |
proxCalib.calibrateBlack = true;
|
| 333 |
// global.odometry.resetPosition();
|
| 334 |
newState = states::CALIBRATION; |
| 335 |
break;
|
| 336 |
case msg_content::MSG_CALIBRATE_WHITE:
|
| 337 |
proxCalib.calibrateBlack = false;
|
| 338 |
newState = states::CALIBRATION; |
| 339 |
break;
|
| 340 |
default:
|
| 341 |
newState = states::IDLE; |
| 342 |
break;
|
| 343 |
} |
| 344 |
} |
| 345 |
// newState = currentState;
|
| 346 |
|
| 347 |
// Get sensor data
|
| 348 |
// uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
| 349 |
// uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset();
|
| 350 |
for(int i=0; i<8;i++){ |
| 351 |
rProx[i] = global.robot.getProximityRingValue(i); |
| 352 |
} |
| 353 |
|
| 354 |
// Continously update devication values
|
| 355 |
meanDeviation(rProx[0] & 0xFFF0, rProx[7] & 0xFFF0); |
| 356 |
// int FL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
| 357 |
// int FR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
|
| 358 |
switch(currentState){
|
| 359 |
case states::INACTIVE:
|
| 360 |
// Dummy state to deactivate every interaction
|
| 361 |
break;
|
| 362 |
// ---------------------------------------
|
| 363 |
case states::CALIBRATION_CHECK:
|
| 364 |
// global.robot.calibrate();
|
| 365 |
if(global.linePID.BThresh >= global.linePID.WThresh){
|
| 366 |
newState = states::CALIBRATION_ERROR; |
| 367 |
}else{
|
| 368 |
newState = states::FOLLOW_LINE; |
| 369 |
} |
| 370 |
break;
|
| 371 |
// ---------------------------------------
|
| 372 |
case states::CALIBRATION:
|
| 373 |
/* Calibrate the global thresholds for black or white.
|
| 374 |
This values will be used by the line follow object
|
| 375 |
*/
|
| 376 |
|
| 377 |
proxCalib.buf = 0;
|
| 378 |
if(proxCalib.calibrateBlack){
|
| 379 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Black Calibration, Place AMiRo on black Surface!\n");
|
| 380 |
global.robot.calibrate(); |
| 381 |
} |
| 382 |
for(int i=0; i <= proxCalib.meanWindow; i++){ |
| 383 |
proxCalib.buf += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset() |
| 384 |
+ global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
| 385 |
this->sleep(CAN::UPDATE_PERIOD);
|
| 386 |
} |
| 387 |
proxCalib.buf = proxCalib.buf / (2*proxCalib.meanWindow);
|
| 388 |
|
| 389 |
if(proxCalib.calibrateBlack){
|
| 390 |
global.linePID.BThresh = proxCalib.buf; |
| 391 |
}else {
|
| 392 |
global.linePID.WThresh = proxCalib.buf; |
| 393 |
} |
| 394 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Black: %d, White: %d!\n", global.linePID.BThresh, global.linePID.WThresh);
|
| 395 |
|
| 396 |
newState = states::IDLE; |
| 397 |
break;
|
| 398 |
// ---------------------------------------
|
| 399 |
case states::IDLE:
|
| 400 |
global.motorcontrol.setMotorEnable(true);
|
| 401 |
setRpmSpeed(stop); |
| 402 |
if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 403 |
global.robot.requestCharging(0);
|
| 404 |
} |
| 405 |
// pCtrl.pFactor = 0;
|
| 406 |
pCtrl.staticCont = 0;
|
| 407 |
utCount.whiteCount = 0;
|
| 408 |
utCount.ringProxCount = 0;
|
| 409 |
utCount.errorCount = 0;
|
| 410 |
newState = states::INACTIVE; |
| 411 |
break;
|
| 412 |
// ---------------------------------------
|
| 413 |
case states::FOLLOW_LINE:
|
| 414 |
// Set correct forward speed to every strategy
|
| 415 |
if (global.forwardSpeed != global.rpmForward[0]){ |
| 416 |
global.forwardSpeed = global.rpmForward[0];
|
| 417 |
} |
| 418 |
|
| 419 |
if(lf.getStrategy() != lStrategy){
|
| 420 |
lf.setStrategy(lStrategy); |
| 421 |
} |
| 422 |
|
| 423 |
if(lf.followLine(rpmSpeed)){
|
| 424 |
utCount.whiteCount++; |
| 425 |
if(utCount.whiteCount >= WHITE_DETETION_TIMEOUT){
|
| 426 |
setRpmSpeed(stop); |
| 427 |
utCount.whiteCount = 0;
|
| 428 |
newState = states::WHITE_DETECTION_ERROR; |
| 429 |
} |
| 430 |
}else{
|
| 431 |
utCount.whiteCount = 0;
|
| 432 |
} |
| 433 |
|
| 434 |
preventCollision(rpmSpeed, rProx); |
| 435 |
// proxSectorSpeedCorrection(rpmSpeed, rProx);
|
| 436 |
|
| 437 |
if(utCount.ringProxCount > RING_PROX_DETECTION_TIMEOUT){
|
| 438 |
utCount.ringProxCount = 0;
|
| 439 |
|
| 440 |
|
| 441 |
checkForMotion(); |
| 442 |
// Check if only front sensors are active
|
| 443 |
if (checkFrontalObject()) {
|
| 444 |
// global.distcontrol.setTargetPosition(0, 2792526, ROTATION_DURATION);
|
| 445 |
// // BaseThread::sleep(8000);
|
| 446 |
// checkForMotion();
|
| 447 |
this->utCount.whiteCount = 0; |
| 448 |
newState = states::TURN; |
| 449 |
// lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT);
|
| 450 |
} else {
|
| 451 |
newState = states::PROXY_DETECTION_ERROR; |
| 452 |
} |
| 453 |
} |
| 454 |
|
| 455 |
if (lf.getStrategy() == LineFollowStrategy::FUZZY){
|
| 456 |
setRpmSpeedFuzzy(rpmSpeed); |
| 457 |
}else{
|
| 458 |
|
| 459 |
setRpmSpeed(rpmSpeed); |
| 460 |
} |
| 461 |
|
| 462 |
break;
|
| 463 |
// ---------------------------------------
|
| 464 |
case states::TURN:{
|
| 465 |
// Check the line strategy in order to continue driving on the right side
|
| 466 |
int factor = SPEED_CONVERSION_FACTOR;
|
| 467 |
int frontL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
| 468 |
int frontR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
|
| 469 |
if (lf.getStrategy() == LineFollowStrategy::EDGE_RIGHT) {
|
| 470 |
factor = -factor; |
| 471 |
} |
| 472 |
|
| 473 |
rpmSpeed[0] = factor * CHARGING_SPEED;
|
| 474 |
rpmSpeed[1] = -factor * CHARGING_SPEED;
|
| 475 |
setRpmSpeed(rpmSpeed); |
| 476 |
|
| 477 |
if ((frontL > 2* pCtrl.threshHigh ) && (frontR > 2* pCtrl.threshHigh )){ |
| 478 |
utCount.whiteCount = 1;
|
| 479 |
}else{
|
| 480 |
if(utCount.whiteCount){
|
| 481 |
utCount.whiteCount = 0;
|
| 482 |
newState = states::FOLLOW_LINE; |
| 483 |
setRpmSpeed(stop); |
| 484 |
} |
| 485 |
} |
| 486 |
break;
|
| 487 |
} |
| 488 |
// ---------------------------------------
|
| 489 |
case states::DETECT_STATION:
|
| 490 |
|
| 491 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 492 |
global.forwardSpeed = DETECTION_SPEED; |
| 493 |
} |
| 494 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_RIGHT){
|
| 495 |
lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
| 496 |
} |
| 497 |
|
| 498 |
lf.followLine(rpmSpeed); |
| 499 |
setRpmSpeed(rpmSpeed); |
| 500 |
// // Detect marker before docking station
|
| 501 |
// if ((WL+WR) < PROXY_WHEEL_THRESH){
|
| 502 |
// Use proxy ring
|
| 503 |
if ((rProx[3]+rProx[4]) > RING_PROX_FRONT_THRESH){ |
| 504 |
|
| 505 |
setRpmSpeed(stop); |
| 506 |
checkForMotion(); |
| 507 |
// 180° Rotation
|
| 508 |
global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
|
| 509 |
// BaseThread::sleep(8000);
|
| 510 |
checkForMotion(); |
| 511 |
newState = states::CORRECT_POSITIONING; |
| 512 |
} |
| 513 |
break;
|
| 514 |
// ---------------------------------------
|
| 515 |
case states::CORRECT_POSITIONING:
|
| 516 |
if (global.forwardSpeed != CHARGING_SPEED){
|
| 517 |
global.forwardSpeed = CHARGING_SPEED; |
| 518 |
} |
| 519 |
if(lf.getStrategy() != LineFollowStrategy::EDGE_LEFT){
|
| 520 |
lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
| 521 |
} |
| 522 |
lf.followLine(rpmSpeed); |
| 523 |
setRpmSpeed(rpmSpeed); |
| 524 |
|
| 525 |
utCount.stateTime++; |
| 526 |
if (utCount.stateTime >= DOCKING_CORRECTION_TIMEOUT){
|
| 527 |
utCount.stateTime = 0;
|
| 528 |
newState = states::REVERSE; |
| 529 |
setRpmSpeed(stop); |
| 530 |
checkForMotion(); |
| 531 |
} |
| 532 |
break;
|
| 533 |
// ---------------------------------------
|
| 534 |
case states::REVERSE:
|
| 535 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 536 |
lf.setStrategy(LineFollowStrategy::REVERSE); |
| 537 |
} |
| 538 |
lf.followLine(rpmSpeed); |
| 539 |
setRpmSpeed(rpmSpeed); |
| 540 |
// utCount.stateTime++;
|
| 541 |
|
| 542 |
// Docking is only successful if Deviation is in range and sensors are at their max values.
|
| 543 |
if((rProx[0] >= PROX_MAX_VAL) |
| 544 |
&& (rProx[7] >= PROX_MAX_VAL)
|
| 545 |
&& ((devCor.currentDeviation > -MAX_DEVIATION_FACTOR) && (devCor.currentDeviation < MAX_DEVIATION_FACTOR) )){
|
| 546 |
// setRpmSpeed(stop);
|
| 547 |
// checkForMotion();
|
| 548 |
utCount.stateTime = 0;
|
| 549 |
newState = states::PUSH_BACK; |
| 550 |
}else if ((devCor.currentDeviation <= -MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 551 |
// Case R
|
| 552 |
utCount.stateTime = 0;
|
| 553 |
setRpmSpeed(stop); |
| 554 |
devCor.RCase = true;
|
| 555 |
lightAllLeds(Color::YELLOW); |
| 556 |
newState = states::DEVIATION_CORRECTION; |
| 557 |
}else if ((devCor.currentDeviation >= MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 558 |
// Case L
|
| 559 |
utCount.stateTime = 0;
|
| 560 |
setRpmSpeed(stop); |
| 561 |
devCor.RCase = false;
|
| 562 |
lightAllLeds(Color::WHITE); |
| 563 |
newState = states::DEVIATION_CORRECTION; |
| 564 |
}else if (utCount.stateTime >= REVERSE_DOCKING_TIMEOUT){ |
| 565 |
setRpmSpeed(stop); |
| 566 |
utCount.stateTime = 0;
|
| 567 |
utCount.errorCount++; |
| 568 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 569 |
newState = states::DOCKING_ERROR; |
| 570 |
}else{
|
| 571 |
newState = states::CORRECT_POSITIONING; |
| 572 |
} |
| 573 |
} |
| 574 |
|
| 575 |
// if((devCor.currentDeviation <= -10)){
|
| 576 |
// rpmSpeed[0] -= 2000000;
|
| 577 |
// }else if(devCor.currentDeviation >= 10){
|
| 578 |
// rpmSpeed[1] -= 2000000;
|
| 579 |
// }
|
| 580 |
// setRpmSpeed(rpmSpeed);
|
| 581 |
break;
|
| 582 |
// ---------------------------------------
|
| 583 |
case states::DEVIATION_CORRECTION:
|
| 584 |
// if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 585 |
// lf.setStrategy(LineFollowStrategy::REVERSE);
|
| 586 |
// }
|
| 587 |
// lf.followLine(rpmSpeed);
|
| 588 |
// setRpmSpeed(rpmSpeed);
|
| 589 |
if(utCount.stateTime < DEVIATION_CORRECTION_DURATION / 2 ){ |
| 590 |
if(devCor.RCase){
|
| 591 |
rpmSpeed[0] = 0; |
| 592 |
rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
| 593 |
}else {
|
| 594 |
rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
| 595 |
rpmSpeed[1] = 0; |
| 596 |
} |
| 597 |
setRpmSpeed(rpmSpeed); |
| 598 |
}else if (((utCount.stateTime >= DEVIATION_CORRECTION_DURATION / 2) && (utCount.stateTime < DEVIATION_CORRECTION_DURATION +10)) ){ |
| 599 |
if(devCor.RCase){
|
| 600 |
rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
| 601 |
rpmSpeed[1] = 0; |
| 602 |
}else {
|
| 603 |
rpmSpeed[0] = 0; |
| 604 |
rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
| 605 |
} |
| 606 |
setRpmSpeed(rpmSpeed); |
| 607 |
if(((devCor.currentDeviation >= -5) && (devCor.currentDeviation <= 5))){ |
| 608 |
utCount.stateTime = 0;
|
| 609 |
newState = states::REVERSE; |
| 610 |
setRpmSpeed(stop); |
| 611 |
} |
| 612 |
}else{
|
| 613 |
utCount.stateTime = 0;
|
| 614 |
newState = states::REVERSE; |
| 615 |
setRpmSpeed(stop); |
| 616 |
} |
| 617 |
|
| 618 |
utCount.stateTime++; |
| 619 |
|
| 620 |
|
| 621 |
// if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 622 |
// utCount.stateTime = 0;
|
| 623 |
// newState = states::CHECK_POSITIONING;
|
| 624 |
// }
|
| 625 |
break;
|
| 626 |
// ---------------------------------------
|
| 627 |
case states::PUSH_BACK:
|
| 628 |
if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 629 |
lf.setStrategy(LineFollowStrategy::REVERSE); |
| 630 |
} |
| 631 |
lf.followLine(rpmSpeed); |
| 632 |
setRpmSpeed(rpmSpeed); |
| 633 |
|
| 634 |
utCount.stateTime++; |
| 635 |
if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
| 636 |
utCount.stateTime = 0;
|
| 637 |
newState = states::CHECK_POSITIONING; |
| 638 |
} |
| 639 |
break;
|
| 640 |
// ---------------------------------------
|
| 641 |
case states::CHECK_POSITIONING:
|
| 642 |
setRpmSpeed(stop); |
| 643 |
checkForMotion(); |
| 644 |
if(checkDockingSuccess()){
|
| 645 |
newState = states::CHECK_VOLTAGE; |
| 646 |
}else{
|
| 647 |
utCount.errorCount++; |
| 648 |
newState = states::CORRECT_POSITIONING; |
| 649 |
if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 650 |
newState = states::DOCKING_ERROR; |
| 651 |
} |
| 652 |
} |
| 653 |
break;
|
| 654 |
// ---------------------------------------
|
| 655 |
case states::CHECK_VOLTAGE:
|
| 656 |
if(!checkPinEnabled()){
|
| 657 |
global.robot.requestCharging(1);
|
| 658 |
} else {
|
| 659 |
if(checkPinVoltage()){
|
| 660 |
// Pins are under voltage -> correctly docked
|
| 661 |
|
| 662 |
newState = states::CHARGING; |
| 663 |
}else{
|
| 664 |
utCount.errorCount++; |
| 665 |
// No voltage on pins -> falsely docked
|
| 666 |
// deactivate pins
|
| 667 |
global.motorcontrol.setMotorEnable(true);
|
| 668 |
global.robot.requestCharging(0);
|
| 669 |
// TODO: Soft release when docking falsely
|
| 670 |
if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){ |
| 671 |
newState = states::RELEASE_TO_CORRECT; |
| 672 |
} else {
|
| 673 |
newState = states::RELEASE_TO_CORRECT; //states::CORRECT_POSITIONING;
|
| 674 |
} |
| 675 |
|
| 676 |
if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
| 677 |
newState = states::DOCKING_ERROR; |
| 678 |
} |
| 679 |
} |
| 680 |
} |
| 681 |
break;
|
| 682 |
// ---------------------------------------
|
| 683 |
case states::RELEASE_TO_CORRECT:
|
| 684 |
|
| 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, -2*ROTATION_20, ROTATION_DURATION); |
| 692 |
checkForMotion(); |
| 693 |
|
| 694 |
global.distcontrol.setTargetPosition(1500, 0, ROTATION_DURATION); |
| 695 |
checkForMotion(); |
| 696 |
newState = states::CORRECT_POSITIONING; |
| 697 |
break;
|
| 698 |
// ---------------------------------------
|
| 699 |
case states::CHARGING:
|
| 700 |
global.motorcontrol.setMotorEnable(false);
|
| 701 |
utCount.errorCount = 0;
|
| 702 |
// Formulate Request to enable charging
|
| 703 |
if(/* checkPinVoltage() && */ !checkPinEnabled()){ |
| 704 |
global.robot.requestCharging(1);
|
| 705 |
} |
| 706 |
if(checkPinEnabled()){
|
| 707 |
showChargingState(); |
| 708 |
} |
| 709 |
break;
|
| 710 |
// ---------------------------------------
|
| 711 |
case states::RELEASE:
|
| 712 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 713 |
global.rpmForward[0] = DETECTION_SPEED;
|
| 714 |
} |
| 715 |
if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 716 |
global.robot.requestCharging(0);
|
| 717 |
}else{
|
| 718 |
global.motorcontrol.setMotorEnable(true);
|
| 719 |
// TODO: Use controlled
|
| 720 |
//Rotate -20° to free from magnet
|
| 721 |
global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 722 |
checkForMotion(); |
| 723 |
// move 1cm forward
|
| 724 |
global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
| 725 |
checkForMotion(); |
| 726 |
// rotate back
|
| 727 |
// global.distcontrol.setTargetPosition(0, -ROTATION_20, ROTATION_DURATION);
|
| 728 |
// checkForMotion();
|
| 729 |
|
| 730 |
// global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION);
|
| 731 |
// checkForMotion();
|
| 732 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 733 |
newState = states::FOLLOW_LINE; |
| 734 |
// whiteBuf = -100;
|
| 735 |
// lf.followLine(rpmSpeed);
|
| 736 |
// setRpmSpeed(rpmSpeed);
|
| 737 |
} |
| 738 |
// lightAllLeds(Color::BLACK);
|
| 739 |
break;
|
| 740 |
// ---------------------------------------
|
| 741 |
case states::DOCKING_ERROR:
|
| 742 |
newState = states::RELEASE; |
| 743 |
break;
|
| 744 |
// ---------------------------------------
|
| 745 |
case states::REVERSE_TIMEOUT_ERROR:
|
| 746 |
newState = states::IDLE; |
| 747 |
break;
|
| 748 |
// ---------------------------------------
|
| 749 |
case states::CALIBRATION_ERROR:
|
| 750 |
newState = states::IDLE; |
| 751 |
break;
|
| 752 |
// ---------------------------------------
|
| 753 |
case states::WHITE_DETECTION_ERROR:
|
| 754 |
newState = states::IDLE; |
| 755 |
break;
|
| 756 |
// ---------------------------------------
|
| 757 |
case states::PROXY_DETECTION_ERROR:
|
| 758 |
newState = states::IDLE; |
| 759 |
break;
|
| 760 |
// ---------------------------------------
|
| 761 |
case states::NO_CHARGING_POWER_ERROR:
|
| 762 |
newState = states::IDLE; |
| 763 |
break;
|
| 764 |
// ---------------------------------------
|
| 765 |
case states::UNKNOWN_STATE_ERROR:
|
| 766 |
newState = states::IDLE; |
| 767 |
break;
|
| 768 |
// ---------------------------------------
|
| 769 |
default:
|
| 770 |
newState = states::UNKNOWN_STATE_ERROR; |
| 771 |
break;
|
| 772 |
} |
| 773 |
if (currentState != newState){
|
| 774 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
| 775 |
global.robot.transmitState(newState); |
| 776 |
if (newState == states::IDLE)
|
| 777 |
{global.stateTracker[states::IDLE] += 1;}
|
| 778 |
else if (newState == states::FOLLOW_LINE) |
| 779 |
{global.stateTracker[states::FOLLOW_LINE] += 1;}
|
| 780 |
else if (newState == states::DETECT_STATION) |
| 781 |
{global.stateTracker[states::DETECT_STATION] += 1;}
|
| 782 |
else if (newState == states::REVERSE) |
| 783 |
{global.stateTracker[states::REVERSE] += 1;}
|
| 784 |
else if (newState == states::PUSH_BACK) |
| 785 |
{global.stateTracker[states::PUSH_BACK] += 1;}
|
| 786 |
else if (newState == states::CHECK_POSITIONING) |
| 787 |
{global.stateTracker[states::CHECK_POSITIONING] += 1;}
|
| 788 |
else if (newState == states::CHECK_VOLTAGE) |
| 789 |
{global.stateTracker[states::CHECK_VOLTAGE] += 1;}
|
| 790 |
else if (newState == states::CHARGING) |
| 791 |
{global.stateTracker[states::CHARGING] += 1;}
|
| 792 |
else if (newState == states::RELEASE) |
| 793 |
{global.stateTracker[states::RELEASE] += 1;}
|
| 794 |
else if (newState == states::RELEASE_TO_CORRECT) |
| 795 |
{global.stateTracker[states::RELEASE_TO_CORRECT] += 1;}
|
| 796 |
else if (newState == states::CORRECT_POSITIONING) |
| 797 |
{global.stateTracker[states::CORRECT_POSITIONING] += 1;}
|
| 798 |
else if (newState == states::TURN) |
| 799 |
{global.stateTracker[states::TURN] += 1;}
|
| 800 |
else if (newState == states::INACTIVE) |
| 801 |
{global.stateTracker[states::INACTIVE] += 1;}
|
| 802 |
else if (newState == states::CALIBRATION) |
| 803 |
{global.stateTracker[states::CALIBRATION] += 1;}
|
| 804 |
else if (newState == states::CALIBRATION_CHECK) |
| 805 |
{global.stateTracker[states::CALIBRATION_CHECK] += 1;}
|
| 806 |
else if (newState == states::DEVIATION_CORRECTION) |
| 807 |
{global.stateTracker[states::DEVIATION_CORRECTION] += 1;}
|
| 808 |
|
| 809 |
else if (newState == states::DOCKING_ERROR){global.stateTracker[16+(-states::DOCKING_ERROR)] += 1;} |
| 810 |
else if (newState == states::REVERSE_TIMEOUT_ERROR){global.stateTracker[16+(-states::REVERSE_TIMEOUT_ERROR)] += 1;} |
| 811 |
else if (newState == states::CALIBRATION_ERROR){global.stateTracker[16+(-states::CALIBRATION_ERROR)] += 1;} |
| 812 |
else if (newState == states::WHITE_DETECTION_ERROR){global.stateTracker[16+(-states::WHITE_DETECTION_ERROR)] += 1;} |
| 813 |
else if (newState == states::PROXY_DETECTION_ERROR){global.stateTracker[16+(-states::PROXY_DETECTION_ERROR)] += 1;} |
| 814 |
else if (newState == states::NO_CHARGING_POWER_ERROR){global.stateTracker[16+(-states::NO_CHARGING_POWER_ERROR)] += 1;} |
| 815 |
else if (newState == states::UNKNOWN_STATE_ERROR){global.stateTracker[16+(-states::UNKNOWN_STATE_ERROR)] += 1;} |
| 816 |
} |
| 817 |
prevState = currentState; |
| 818 |
currentState = newState; |
| 819 |
// if (utCount.stateCount > CAN_TRANSMIT_STATE_THRESH){
|
| 820 |
// utCount.stateCount = 0;
|
| 821 |
// // chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
| 822 |
// global.robot.transmitState(currentState);
|
| 823 |
// // global.robot.setOdometry(global.odometry.getPosition());
|
| 824 |
|
| 825 |
// }else{
|
| 826 |
// utCount.stateCount++;
|
| 827 |
// }
|
| 828 |
this->sleep(CAN::UPDATE_PERIOD);
|
| 829 |
} |
| 830 |
|
| 831 |
return RDY_OK;
|
| 832 |
} |