amiro-os / devices / DiWheelDrive / userthread.cpp @ e404e6c0
History | View | Annotate | Download (29.252 KB)
| 1 | 58fe0e0b | Thomas Schöpping | #include "global.hpp" |
|---|---|---|---|
| 2 | 10bf9cc0 | galberding | #include <cmath> |
| 3 | 8dced1c9 | galberding | #include "linefollow.hpp" |
| 4 | d4c6efa9 | galberding | #include "userthread.hpp" |
| 5 | e404e6c0 | galberding | #include "amiro_map.hpp" |
| 6 | |||
| 7 | 58fe0e0b | Thomas Schöpping | 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 | 5d138bca | galberding | bool running = false; |
| 14 | 58fe0e0b | Thomas Schöpping | |
| 15 | |||
| 16 | 181f2892 | galberding | /**
|
| 17 | * Set speed.
|
||
| 18 | 8dced1c9 | galberding | *
|
| 19 | 181f2892 | galberding | * @param rpmSpeed speed for left and right wheel in rounds/min
|
| 20 | */
|
||
| 21 | c9fa414d | galberding | void UserThread::setRpmSpeedFuzzy(const int (&rpmSpeed)[2]) { |
| 22 | 5d138bca | galberding | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
| 23 | 58fe0e0b | Thomas Schöpping | } |
| 24 | |||
| 25 | c9fa414d | galberding | void UserThread::setRpmSpeed(const int (&rpmSpeed)[2]) { |
| 26 | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL], rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL]); |
||
| 27 | } |
||
| 28 | |||
| 29 | 181f2892 | galberding | void UserThread::lightOneLed(Color color, int idx){ |
| 30 | 5d138bca | galberding | global.robot.setLightColor(idx, Color(color)); |
| 31 | } |
||
| 32 | 58fe0e0b | Thomas Schöpping | |
| 33 | 181f2892 | galberding | void UserThread::lightAllLeds(Color color){
|
| 34 | 5d138bca | galberding | int led = 0; |
| 35 | for(led=0; led<8; led++){ |
||
| 36 | lightOneLed(color, led); |
||
| 37 | } |
||
| 38 | 58fe0e0b | Thomas Schöpping | } |
| 39 | |||
| 40 | 181f2892 | galberding | 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 | 9c46b728 | galberding | } |
| 52 | 181f2892 | galberding | this->sleep(1000); |
| 53 | lightAllLeds(Color::BLACK); |
||
| 54 | 9c46b728 | galberding | } |
| 55 | |||
| 56 | 10bf9cc0 | galberding | 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 | 8dced1c9 | galberding | |
| 79 | 10bf9cc0 | galberding | } |
| 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 | 8dced1c9 | galberding | |
| 98 | 10bf9cc0 | galberding | 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 | 8dced1c9 | galberding | |
| 126 | 10bf9cc0 | galberding | // 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 | d4c6efa9 | galberding | rpmSpeed[0] = rpmSpeed[0] / 3; |
| 142 | rpmSpeed[1] = rpmSpeed[1] / 3; |
||
| 143 | 10bf9cc0 | galberding | } |
| 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 | 8dced1c9 | galberding | |
| 153 | 10bf9cc0 | galberding | } |
| 154 | |||
| 155 | |||
| 156 | 9c46b728 | galberding | /**
|
| 157 | * Blocks as long as the position changes.
|
||
| 158 | */
|
||
| 159 | 181f2892 | galberding | void UserThread::checkForMotion(){
|
| 160 | 8dced1c9 | galberding | bool motion = true; |
| 161 | 9c46b728 | galberding | int led = 0; |
| 162 | types::position oldPos = global.odometry.getPosition(); |
||
| 163 | while(motion){
|
||
| 164 | 8dced1c9 | galberding | this->sleep(200); |
| 165 | 9c46b728 | galberding | types::position tmp = global.odometry.getPosition(); |
| 166 | 8dced1c9 | galberding | motion = oldPos.x != tmp.x; //abs(oldPos.x - tmp.x)+ abs(oldPos.y - tmp.y)+abs(oldPos.z - tmp.z);
|
| 167 | 9c46b728 | galberding | oldPos = tmp; |
| 168 | 8dced1c9 | galberding | global.robot.setLightColor((led + 1) % 8, Color(Color::YELLOW)); |
| 169 | global.robot.setLightColor(led % 8, Color(Color::BLACK));
|
||
| 170 | led++; |
||
| 171 | 9c46b728 | galberding | } |
| 172 | 10bf9cc0 | galberding | lightAllLeds(Color::BLACK); |
| 173 | 9c46b728 | galberding | } |
| 174 | |||
| 175 | fbcb25cc | galberding | bool UserThread::checkFrontalObject(){
|
| 176 | 10bf9cc0 | galberding | uint32_t thresh = pCtrl.threshMid; |
| 177 | fbcb25cc | galberding | 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 | 181f2892 | galberding | bool UserThread::checkPinVoltage(){
|
| 194 | 8dced1c9 | galberding | return global.ltc4412.isPluggedIn();
|
| 195 | 181f2892 | galberding | } |
| 196 | 9c46b728 | galberding | |
| 197 | 181f2892 | galberding | bool UserThread::checkPinEnabled(){
|
| 198 | return global.ltc4412.isEnabled();
|
||
| 199 | } |
||
| 200 | |||
| 201 | int UserThread::checkDockingSuccess(){
|
||
| 202 | // setRpmSpeed(stop);
|
||
| 203 | checkForMotion(); |
||
| 204 | 9c46b728 | galberding | int success = 0; |
| 205 | 10bf9cc0 | galberding | // global.odometry.resetPosition();
|
| 206 | 9c46b728 | galberding | types::position start = global.startPos = global.odometry.getPosition(); |
| 207 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(false);
|
| 208 | this->sleep(1000); |
||
| 209 | 181f2892 | galberding | types::position stop_ = global.endPos = global.odometry.getPosition(); |
| 210 | 8dced1c9 | galberding | |
| 211 | 9c46b728 | galberding | // Amiro moved, docking was not successful
|
| 212 | 10bf9cc0 | galberding | // if ((start.x + stop_.x) || (start.y + stop_.y)){
|
| 213 | 84b4c632 | galberding | if (abs(start.x - stop_.x) > 200 /* || (start.y + stop_.y) */){ |
| 214 | 181f2892 | galberding | lightAllLeds(Color::RED); |
| 215 | // Enable Motor again if docking was not successful
|
||
| 216 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
|
| 217 | 9c46b728 | galberding | success = 0;
|
| 218 | }else{
|
||
| 219 | 181f2892 | galberding | lightAllLeds(Color::GREEN); |
| 220 | 9c46b728 | galberding | success = 1;
|
| 221 | } |
||
| 222 | 8dced1c9 | galberding | |
| 223 | 61544eee | galberding | // this->sleep(500);
|
| 224 | 181f2892 | galberding | lightAllLeds(Color::BLACK); |
| 225 | 9c46b728 | galberding | return success;
|
| 226 | } |
||
| 227 | |||
| 228 | c9fa414d | galberding | int UserThread::getProxyRingSum(){
|
| 229 | int prox_sum = 0; |
||
| 230 | e2002d0e | galberding | for(int i=0; i<8;i++){ |
| 231 | prox_sum += global.robot.getProximityRingValue(i);; |
||
| 232 | } |
||
| 233 | return prox_sum;
|
||
| 234 | } |
||
| 235 | |||
| 236 | b24df8ad | galberding | int32_t UserThread::meanDeviation(uint16_t a, uint16_t b){
|
| 237 | int32_t diff = a - b; |
||
| 238 | 8dced1c9 | galberding | int32_t res = 0;
|
| 239 | b24df8ad | galberding | 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 | e404e6c0 | galberding | void setAttributes(uint8_t (&map)[MAX_NODES][NODE_ATTRIBUTES],
|
| 251 | uint8_t id, uint8_t l, uint8_t r, uint8_t att) {
|
||
| 252 | map[id][0] = l;
|
||
| 253 | map[id][1] = r;
|
||
| 254 | map[id][2] = att;
|
||
| 255 | } |
||
| 256 | e2002d0e | galberding | |
| 257 | 58fe0e0b | Thomas Schöpping | UserThread::UserThread() : |
| 258 | chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>() |
||
| 259 | {
|
||
| 260 | } |
||
| 261 | |||
| 262 | UserThread::~UserThread() |
||
| 263 | {
|
||
| 264 | } |
||
| 265 | |||
| 266 | msg_t |
||
| 267 | UserThread::main() |
||
| 268 | {
|
||
| 269 | 5d138bca | galberding | /*
|
| 270 | * SETUP
|
||
| 271 | */
|
||
| 272 | 181f2892 | galberding | // User thread state:
|
| 273 | |||
| 274 | 5d138bca | galberding | for (uint8_t led = 0; led < 8; ++led) { |
| 275 | global.robot.setLightColor(led, Color(Color::BLACK)); |
||
| 276 | } |
||
| 277 | running = false;
|
||
| 278 | 10bf9cc0 | galberding | LineFollowStrategy lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 279 | 5d138bca | galberding | LineFollow lf(&global); |
| 280 | e404e6c0 | galberding | AmiroMap map(&global); |
| 281 | 5d138bca | galberding | /*
|
| 282 | * LOOP
|
||
| 283 | */
|
||
| 284 | while (!this->shouldTerminate()) |
||
| 285 | {
|
||
| 286 | 181f2892 | galberding | /*
|
| 287 | * read accelerometer z-value
|
||
| 288 | */
|
||
| 289 | accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z); |
||
| 290 | 8dced1c9 | galberding | |
| 291 | if (accel_z < -900 /*-0.9g*/) { |
||
| 292 | 181f2892 | galberding | // Start line following when AMiRo is rotated
|
| 293 | 10bf9cc0 | galberding | if(currentState == states::INACTIVE){
|
| 294 | fbcb25cc | galberding | newState = states::FOLLOW_LINE; |
| 295 | 181f2892 | galberding | }else{
|
| 296 | fbcb25cc | galberding | newState = states::IDLE; |
| 297 | 181f2892 | galberding | } |
| 298 | lightAllLeds(Color::GREEN); |
||
| 299 | this->sleep(1000); |
||
| 300 | lightAllLeds(Color::BLACK); |
||
| 301 | c76baf23 | Georg Alberding | |
| 302 | d607fcef | galberding | // If message was received handle it here:
|
| 303 | } else if(global.msgReceived){ |
||
| 304 | global.msgReceived = false;
|
||
| 305 | 181f2892 | galberding | // running = true;
|
| 306 | d607fcef | galberding | switch(global.lfStrategy){
|
| 307 | e404e6c0 | galberding | case msg_content::MSG_START:
|
| 308 | newState = states::CALIBRATION_CHECK; |
||
| 309 | 10bf9cc0 | galberding | break;
|
| 310 | e404e6c0 | galberding | case msg_content::MSG_STOP:
|
| 311 | newState = states::IDLE; |
||
| 312 | 10bf9cc0 | galberding | break;
|
| 313 | e404e6c0 | galberding | case msg_content::MSG_EDGE_RIGHT:
|
| 314 | // newState = states::FOLLOW_LINE;
|
||
| 315 | lStrategy = LineFollowStrategy::EDGE_RIGHT; |
||
| 316 | 10bf9cc0 | galberding | break;
|
| 317 | e404e6c0 | galberding | case msg_content::MSG_EDGE_LEFT:
|
| 318 | // newState = states::FOLLOW_LINE;
|
||
| 319 | lStrategy = LineFollowStrategy::EDGE_LEFT; |
||
| 320 | 10bf9cc0 | galberding | break;
|
| 321 | e404e6c0 | galberding | case msg_content::MSG_FUZZY:
|
| 322 | // newState = states::FOLLOW_LINE;
|
||
| 323 | lStrategy = LineFollowStrategy::FUZZY; |
||
| 324 | 10bf9cc0 | galberding | break;
|
| 325 | e404e6c0 | galberding | case msg_content::MSG_DOCK:
|
| 326 | newState = states::DETECT_STATION; |
||
| 327 | 10bf9cc0 | galberding | break;
|
| 328 | e404e6c0 | galberding | case msg_content::MSG_UNDOCK:
|
| 329 | newState = states::RELEASE; |
||
| 330 | break;
|
||
| 331 | case msg_content::MSG_CHARGE:
|
||
| 332 | newState = states::CHARGING; |
||
| 333 | 10bf9cc0 | galberding | break;
|
| 334 | e404e6c0 | galberding | case msg_content::MSG_RESET_ODOMETRY:
|
| 335 | global.odometry.resetPosition(); |
||
| 336 | 10bf9cc0 | galberding | break;
|
| 337 | e404e6c0 | galberding | case msg_content::MSG_CALIBRATE_BLACK:
|
| 338 | proxCalib.calibrateBlack = true;
|
||
| 339 | // global.odometry.resetPosition();
|
||
| 340 | newState = states::CALIBRATION; |
||
| 341 | 10bf9cc0 | galberding | break;
|
| 342 | e404e6c0 | galberding | case msg_content::MSG_CALIBRATE_WHITE:
|
| 343 | proxCalib.calibrateBlack = false;
|
||
| 344 | newState = states::CALIBRATION; |
||
| 345 | 10bf9cc0 | galberding | break;
|
| 346 | e404e6c0 | galberding | case msg_content::MSG_TEST_MAP_STATE:
|
| 347 | newState = states::TEST_MAP_STATE; |
||
| 348 | 10bf9cc0 | galberding | break;
|
| 349 | e404e6c0 | galberding | |
| 350 | default:
|
||
| 351 | newState = states::IDLE; |
||
| 352 | 10bf9cc0 | galberding | break;
|
| 353 | d607fcef | galberding | } |
| 354 | 5d138bca | galberding | } |
| 355 | 10bf9cc0 | galberding | // newState = currentState;
|
| 356 | d607fcef | galberding | |
| 357 | 8dced1c9 | galberding | // Get sensor data
|
| 358 | fbcb25cc | galberding | // uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
| 359 | // uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset();
|
||
| 360 | 019224ff | galberding | for(int i=0; i<8;i++){ |
| 361 | rProx[i] = global.robot.getProximityRingValue(i); |
||
| 362 | } |
||
| 363 | b24df8ad | galberding | |
| 364 | // Continously update devication values
|
||
| 365 | meanDeviation(rProx[0] & 0xFFF0, rProx[7] & 0xFFF0); |
||
| 366 | 181f2892 | galberding | // int FL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
| 367 | // int FR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
|
||
| 368 | 10bf9cc0 | galberding | switch(currentState){
|
| 369 | case states::INACTIVE:
|
||
| 370 | // Dummy state to deactivate every interaction
|
||
| 371 | break;
|
||
| 372 | // ---------------------------------------
|
||
| 373 | case states::CALIBRATION_CHECK:
|
||
| 374 | // global.robot.calibrate();
|
||
| 375 | if(global.linePID.BThresh >= global.linePID.WThresh){
|
||
| 376 | newState = states::CALIBRATION_ERROR; |
||
| 377 | }else{
|
||
| 378 | newState = states::FOLLOW_LINE; |
||
| 379 | } |
||
| 380 | break;
|
||
| 381 | // ---------------------------------------
|
||
| 382 | case states::CALIBRATION:
|
||
| 383 | /* Calibrate the global thresholds for black or white.
|
||
| 384 | This values will be used by the line follow object
|
||
| 385 | */
|
||
| 386 | |||
| 387 | proxCalib.buf = 0;
|
||
| 388 | if(proxCalib.calibrateBlack){
|
||
| 389 | chprintf((BaseSequentialStream*)&global.sercanmux1, "Black Calibration, Place AMiRo on black Surface!\n");
|
||
| 390 | global.robot.calibrate(); |
||
| 391 | } |
||
| 392 | for(int i=0; i <= proxCalib.meanWindow; i++){ |
||
| 393 | 8dced1c9 | galberding | proxCalib.buf += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset() |
| 394 | + global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
||
| 395 | 10bf9cc0 | galberding | this->sleep(CAN::UPDATE_PERIOD);
|
| 396 | } |
||
| 397 | proxCalib.buf = proxCalib.buf / (2*proxCalib.meanWindow);
|
||
| 398 | 8dced1c9 | galberding | |
| 399 | 10bf9cc0 | galberding | if(proxCalib.calibrateBlack){
|
| 400 | global.linePID.BThresh = proxCalib.buf; |
||
| 401 | }else {
|
||
| 402 | global.linePID.WThresh = proxCalib.buf; |
||
| 403 | } |
||
| 404 | chprintf((BaseSequentialStream*)&global.sercanmux1, "Black: %d, White: %d!\n", global.linePID.BThresh, global.linePID.WThresh);
|
||
| 405 | |||
| 406 | newState = states::IDLE; |
||
| 407 | break;
|
||
| 408 | // ---------------------------------------
|
||
| 409 | 181f2892 | galberding | case states::IDLE:
|
| 410 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
|
| 411 | 181f2892 | galberding | setRpmSpeed(stop); |
| 412 | if(/* checkPinVoltage() && */ checkPinEnabled()){ |
||
| 413 | global.robot.requestCharging(0);
|
||
| 414 | } |
||
| 415 | 10bf9cc0 | galberding | // pCtrl.pFactor = 0;
|
| 416 | pCtrl.staticCont = 0;
|
||
| 417 | fbcb25cc | galberding | utCount.whiteCount = 0;
|
| 418 | 10bf9cc0 | galberding | utCount.ringProxCount = 0;
|
| 419 | 27d4e1fa | galberding | utCount.errorCount = 0;
|
| 420 | 10bf9cc0 | galberding | newState = states::INACTIVE; |
| 421 | break;
|
||
| 422 | 181f2892 | galberding | // ---------------------------------------
|
| 423 | case states::FOLLOW_LINE:
|
||
| 424 | // Set correct forward speed to every strategy
|
||
| 425 | if (global.forwardSpeed != global.rpmForward[0]){ |
||
| 426 | global.forwardSpeed = global.rpmForward[0];
|
||
| 427 | } |
||
| 428 | 8dced1c9 | galberding | |
| 429 | 181f2892 | galberding | if(lf.getStrategy() != lStrategy){
|
| 430 | 9c46b728 | galberding | lf.setStrategy(lStrategy); |
| 431 | } |
||
| 432 | 5d138bca | galberding | |
| 433 | 181f2892 | galberding | if(lf.followLine(rpmSpeed)){
|
| 434 | fbcb25cc | galberding | utCount.whiteCount++; |
| 435 | 10bf9cc0 | galberding | if(utCount.whiteCount >= WHITE_DETETION_TIMEOUT){
|
| 436 | setRpmSpeed(stop); |
||
| 437 | utCount.whiteCount = 0;
|
||
| 438 | newState = states::WHITE_DETECTION_ERROR; |
||
| 439 | 9c46b728 | galberding | } |
| 440 | 181f2892 | galberding | }else{
|
| 441 | fbcb25cc | galberding | utCount.whiteCount = 0;
|
| 442 | 9c46b728 | galberding | } |
| 443 | e2002d0e | galberding | |
| 444 | 10bf9cc0 | galberding | preventCollision(rpmSpeed, rProx); |
| 445 | // proxSectorSpeedCorrection(rpmSpeed, rProx);
|
||
| 446 | 61544eee | galberding | |
| 447 | 10bf9cc0 | galberding | if(utCount.ringProxCount > RING_PROX_DETECTION_TIMEOUT){
|
| 448 | utCount.ringProxCount = 0;
|
||
| 449 | 8dced1c9 | galberding | |
| 450 | d4c6efa9 | galberding | |
| 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 | this->utCount.whiteCount = 0; |
||
| 458 | newState = states::TURN; |
||
| 459 | // lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT);
|
||
| 460 | } else {
|
||
| 461 | newState = states::PROXY_DETECTION_ERROR; |
||
| 462 | } |
||
| 463 | 61544eee | galberding | } |
| 464 | |||
| 465 | c9fa414d | galberding | if (lf.getStrategy() == LineFollowStrategy::FUZZY){
|
| 466 | setRpmSpeedFuzzy(rpmSpeed); |
||
| 467 | }else{
|
||
| 468 | |||
| 469 | setRpmSpeed(rpmSpeed); |
||
| 470 | } |
||
| 471 | 8dced1c9 | galberding | |
| 472 | 10bf9cc0 | galberding | break;
|
| 473 | 181f2892 | galberding | // ---------------------------------------
|
| 474 | d4c6efa9 | galberding | case states::TURN:{
|
| 475 | // Check the line strategy in order to continue driving on the right side
|
||
| 476 | int factor = SPEED_CONVERSION_FACTOR;
|
||
| 477 | int frontL = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset();
|
||
| 478 | int frontR = global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset();
|
||
| 479 | 8dced1c9 | galberding | int blackSensor = 0; |
| 480 | d4c6efa9 | galberding | if (lf.getStrategy() == LineFollowStrategy::EDGE_RIGHT) {
|
| 481 | factor = -factor; |
||
| 482 | 8dced1c9 | galberding | blackSensor = frontL; |
| 483 | }else{
|
||
| 484 | blackSensor = frontR; |
||
| 485 | d4c6efa9 | galberding | } |
| 486 | 8dced1c9 | galberding | |
| 487 | d4c6efa9 | galberding | rpmSpeed[0] = factor * CHARGING_SPEED;
|
| 488 | rpmSpeed[1] = -factor * CHARGING_SPEED;
|
||
| 489 | setRpmSpeed(rpmSpeed); |
||
| 490 | 8dced1c9 | galberding | |
| 491 | if ((blackSensor >= global.linePID.WThresh )){
|
||
| 492 | d4c6efa9 | galberding | utCount.whiteCount = 1;
|
| 493 | 8dced1c9 | galberding | }else {
|
| 494 | if((utCount.whiteCount == 1) && (blackSensor <= global.linePID.BThresh)){ |
||
| 495 | d4c6efa9 | galberding | utCount.whiteCount = 0;
|
| 496 | fbcb25cc | galberding | newState = states::FOLLOW_LINE; |
| 497 | d4c6efa9 | galberding | setRpmSpeed(stop); |
| 498 | fbcb25cc | galberding | } |
| 499 | d4c6efa9 | galberding | } |
| 500 | 10bf9cc0 | galberding | break;
|
| 501 | d4c6efa9 | galberding | } |
| 502 | fbcb25cc | galberding | // ---------------------------------------
|
| 503 | e404e6c0 | galberding | case states::DETECT_STATION:
|
| 504 | 8dced1c9 | galberding | |
| 505 | 61544eee | galberding | if (global.forwardSpeed != DETECTION_SPEED){
|
| 506 | global.forwardSpeed = DETECTION_SPEED; |
||
| 507 | } |
||
| 508 | 181f2892 | galberding | if(lf.getStrategy() != LineFollowStrategy::EDGE_RIGHT){
|
| 509 | lf.setStrategy(LineFollowStrategy::EDGE_RIGHT); |
||
| 510 | } |
||
| 511 | 8dced1c9 | galberding | |
| 512 | 181f2892 | galberding | lf.followLine(rpmSpeed); |
| 513 | setRpmSpeed(rpmSpeed); |
||
| 514 | // // Detect marker before docking station
|
||
| 515 | 019224ff | galberding | // if ((WL+WR) < PROXY_WHEEL_THRESH){
|
| 516 | 8dced1c9 | galberding | // Use proxy ring
|
| 517 | 019224ff | galberding | if ((rProx[3]+rProx[4]) > RING_PROX_FRONT_THRESH){ |
| 518 | |||
| 519 | d607fcef | galberding | setRpmSpeed(stop); |
| 520 | 181f2892 | galberding | checkForMotion(); |
| 521 | 8dced1c9 | galberding | // 180° Rotation
|
| 522 | 181f2892 | galberding | global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION);
|
| 523 | // BaseThread::sleep(8000);
|
||
| 524 | checkForMotion(); |
||
| 525 | newState = states::CORRECT_POSITIONING; |
||
| 526 | 9c46b728 | galberding | } |
| 527 | 10bf9cc0 | galberding | break;
|
| 528 | 181f2892 | galberding | // ---------------------------------------
|
| 529 | e404e6c0 | galberding | case states::CORRECT_POSITIONING:
|
| 530 | 019224ff | galberding | if (global.forwardSpeed != CHARGING_SPEED){
|
| 531 | global.forwardSpeed = CHARGING_SPEED; |
||
| 532 | } |
||
| 533 | 181f2892 | galberding | if(lf.getStrategy() != LineFollowStrategy::EDGE_LEFT){
|
| 534 | lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
||
| 535 | 9c46b728 | galberding | } |
| 536 | 181f2892 | galberding | lf.followLine(rpmSpeed); |
| 537 | setRpmSpeed(rpmSpeed); |
||
| 538 | 9c46b728 | galberding | |
| 539 | 10bf9cc0 | galberding | utCount.stateTime++; |
| 540 | if (utCount.stateTime >= DOCKING_CORRECTION_TIMEOUT){
|
||
| 541 | utCount.stateTime = 0;
|
||
| 542 | 181f2892 | galberding | newState = states::REVERSE; |
| 543 | setRpmSpeed(stop); |
||
| 544 | checkForMotion(); |
||
| 545 | } |
||
| 546 | 10bf9cc0 | galberding | break;
|
| 547 | 181f2892 | galberding | // ---------------------------------------
|
| 548 | e404e6c0 | galberding | case states::REVERSE:
|
| 549 | 181f2892 | galberding | if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 550 | lf.setStrategy(LineFollowStrategy::REVERSE); |
||
| 551 | } |
||
| 552 | lf.followLine(rpmSpeed); |
||
| 553 | setRpmSpeed(rpmSpeed); |
||
| 554 | b24df8ad | galberding | // utCount.stateTime++;
|
| 555 | 58fe0e0b | Thomas Schöpping | |
| 556 | b24df8ad | galberding | // Docking is only successful if Deviation is in range and sensors are at their max values.
|
| 557 | d4c6efa9 | galberding | if((rProx[0] >= PROX_MAX_VAL) |
| 558 | && (rProx[7] >= PROX_MAX_VAL)
|
||
| 559 | && ((devCor.currentDeviation > -MAX_DEVIATION_FACTOR) && (devCor.currentDeviation < MAX_DEVIATION_FACTOR) )){
|
||
| 560 | 61544eee | galberding | // setRpmSpeed(stop);
|
| 561 | // checkForMotion();
|
||
| 562 | 10bf9cc0 | galberding | utCount.stateTime = 0;
|
| 563 | 27d4e1fa | galberding | newState = states::PUSH_BACK; |
| 564 | b24df8ad | galberding | }else if ((devCor.currentDeviation <= -MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
| 565 | 8dced1c9 | galberding | // Case R
|
| 566 | b24df8ad | galberding | utCount.stateTime = 0;
|
| 567 | setRpmSpeed(stop); |
||
| 568 | devCor.RCase = true;
|
||
| 569 | lightAllLeds(Color::YELLOW); |
||
| 570 | newState = states::DEVIATION_CORRECTION; |
||
| 571 | }else if ((devCor.currentDeviation >= MAX_DEVIATION_FACTOR) && ((rProx[0] > DEVIATION_DIST_THRESH) || (rProx[7] > DEVIATION_DIST_THRESH))){ |
||
| 572 | 8dced1c9 | galberding | // Case L
|
| 573 | b24df8ad | galberding | utCount.stateTime = 0;
|
| 574 | setRpmSpeed(stop); |
||
| 575 | devCor.RCase = false;
|
||
| 576 | lightAllLeds(Color::WHITE); |
||
| 577 | newState = states::DEVIATION_CORRECTION; |
||
| 578 | 10bf9cc0 | galberding | }else if (utCount.stateTime >= REVERSE_DOCKING_TIMEOUT){ |
| 579 | setRpmSpeed(stop); |
||
| 580 | utCount.stateTime = 0;
|
||
| 581 | utCount.errorCount++; |
||
| 582 | if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
||
| 583 | newState = states::DOCKING_ERROR; |
||
| 584 | }else{
|
||
| 585 | newState = states::CORRECT_POSITIONING; |
||
| 586 | } |
||
| 587 | 27d4e1fa | galberding | } |
| 588 | 10bf9cc0 | galberding | |
| 589 | 84b4c632 | galberding | // if((devCor.currentDeviation <= -10)){
|
| 590 | // rpmSpeed[0] -= 2000000;
|
||
| 591 | // }else if(devCor.currentDeviation >= 10){
|
||
| 592 | // rpmSpeed[1] -= 2000000;
|
||
| 593 | // }
|
||
| 594 | // setRpmSpeed(rpmSpeed);
|
||
| 595 | 10bf9cc0 | galberding | break;
|
| 596 | 27d4e1fa | galberding | // ---------------------------------------
|
| 597 | e404e6c0 | galberding | case states::DEVIATION_CORRECTION:
|
| 598 | b24df8ad | galberding | // if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 599 | // lf.setStrategy(LineFollowStrategy::REVERSE);
|
||
| 600 | // }
|
||
| 601 | // lf.followLine(rpmSpeed);
|
||
| 602 | // setRpmSpeed(rpmSpeed);
|
||
| 603 | if(utCount.stateTime < DEVIATION_CORRECTION_DURATION / 2 ){ |
||
| 604 | if(devCor.RCase){
|
||
| 605 | rpmSpeed[0] = 0; |
||
| 606 | rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
||
| 607 | }else {
|
||
| 608 | rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
||
| 609 | rpmSpeed[1] = 0; |
||
| 610 | } |
||
| 611 | setRpmSpeed(rpmSpeed); |
||
| 612 | 84b4c632 | galberding | }else if (((utCount.stateTime >= DEVIATION_CORRECTION_DURATION / 2) && (utCount.stateTime < DEVIATION_CORRECTION_DURATION +10)) ){ |
| 613 | b24df8ad | galberding | if(devCor.RCase){
|
| 614 | rpmSpeed[0] = DEVIATION_CORRECTION_SPEED;
|
||
| 615 | rpmSpeed[1] = 0; |
||
| 616 | }else {
|
||
| 617 | rpmSpeed[0] = 0; |
||
| 618 | rpmSpeed[1] = DEVIATION_CORRECTION_SPEED;
|
||
| 619 | } |
||
| 620 | setRpmSpeed(rpmSpeed); |
||
| 621 | 84b4c632 | galberding | if(((devCor.currentDeviation >= -5) && (devCor.currentDeviation <= 5))){ |
| 622 | utCount.stateTime = 0;
|
||
| 623 | newState = states::REVERSE; |
||
| 624 | setRpmSpeed(stop); |
||
| 625 | } |
||
| 626 | b24df8ad | galberding | }else{
|
| 627 | utCount.stateTime = 0;
|
||
| 628 | newState = states::REVERSE; |
||
| 629 | setRpmSpeed(stop); |
||
| 630 | } |
||
| 631 | |||
| 632 | utCount.stateTime++; |
||
| 633 | |||
| 634 | |||
| 635 | // if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
||
| 636 | // utCount.stateTime = 0;
|
||
| 637 | // newState = states::CHECK_POSITIONING;
|
||
| 638 | // }
|
||
| 639 | break;
|
||
| 640 | // ---------------------------------------
|
||
| 641 | e404e6c0 | galberding | case states::PUSH_BACK:
|
| 642 | 27d4e1fa | galberding | if(lf.getStrategy() != LineFollowStrategy::REVERSE){
|
| 643 | lf.setStrategy(LineFollowStrategy::REVERSE); |
||
| 644 | } |
||
| 645 | lf.followLine(rpmSpeed); |
||
| 646 | setRpmSpeed(rpmSpeed); |
||
| 647 | |||
| 648 | 10bf9cc0 | galberding | utCount.stateTime++; |
| 649 | if (utCount.stateTime > PUSH_BACK_TIMEOUT){
|
||
| 650 | utCount.stateTime = 0;
|
||
| 651 | 181f2892 | galberding | newState = states::CHECK_POSITIONING; |
| 652 | } |
||
| 653 | 10bf9cc0 | galberding | break;
|
| 654 | 181f2892 | galberding | // ---------------------------------------
|
| 655 | e404e6c0 | galberding | case states::CHECK_POSITIONING:
|
| 656 | 61544eee | galberding | setRpmSpeed(stop); |
| 657 | checkForMotion(); |
||
| 658 | 27d4e1fa | galberding | if(checkDockingSuccess()){
|
| 659 | newState = states::CHECK_VOLTAGE; |
||
| 660 | }else{
|
||
| 661 | utCount.errorCount++; |
||
| 662 | newState = states::CORRECT_POSITIONING; |
||
| 663 | 10bf9cc0 | galberding | if (utCount.errorCount >= DOCKING_ERROR_THRESH){
|
| 664 | newState = states::DOCKING_ERROR; |
||
| 665 | 27d4e1fa | galberding | } |
| 666 | } |
||
| 667 | 10bf9cc0 | galberding | break;
|
| 668 | 181f2892 | galberding | // ---------------------------------------
|
| 669 | e404e6c0 | galberding | case states::CHECK_VOLTAGE:
|
| 670 | ba75ee1d | galberding | if(!checkPinEnabled()){
|
| 671 | global.robot.requestCharging(1);
|
||
| 672 | } else {
|
||
| 673 | if(checkPinVoltage()){
|
||
| 674 | 8dced1c9 | galberding | // Pins are under voltage -> correctly docked
|
| 675 | |||
| 676 | ba75ee1d | galberding | newState = states::CHARGING; |
| 677 | }else{
|
||
| 678 | 27d4e1fa | galberding | utCount.errorCount++; |
| 679 | ba75ee1d | galberding | // No voltage on pins -> falsely docked
|
| 680 | // deactivate pins
|
||
| 681 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
|
| 682 | ba75ee1d | galberding | global.robot.requestCharging(0);
|
| 683 | 27d4e1fa | galberding | // TODO: Soft release when docking falsely
|
| 684 | 61544eee | galberding | if((rProx[0] >= PROX_MAX_VAL) && (rProx[7] >= PROX_MAX_VAL)){ |
| 685 | newState = states::RELEASE_TO_CORRECT; |
||
| 686 | } else {
|
||
| 687 | 8dced1c9 | galberding | newState = states::RELEASE_TO_CORRECT; //states::CORRECT_POSITIONING;
|
| 688 | 27d4e1fa | galberding | } |
| 689 | |||
| 690 | if (utCount.errorCount > DOCKING_ERROR_THRESH){
|
||
| 691 | 10bf9cc0 | galberding | newState = states::DOCKING_ERROR; |
| 692 | 61544eee | galberding | } |
| 693 | ba75ee1d | galberding | } |
| 694 | } |
||
| 695 | 10bf9cc0 | galberding | break;
|
| 696 | 019224ff | galberding | // ---------------------------------------
|
| 697 | e404e6c0 | galberding | case states::RELEASE_TO_CORRECT:
|
| 698 | 8dced1c9 | galberding | |
| 699 | 019224ff | galberding | global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
| 700 | checkForMotion(); |
||
| 701 | // move 1cm forward
|
||
| 702 | global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
||
| 703 | checkForMotion(); |
||
| 704 | // rotate back
|
||
| 705 | global.distcontrol.setTargetPosition(0, -2*ROTATION_20, ROTATION_DURATION); |
||
| 706 | checkForMotion(); |
||
| 707 | |||
| 708 | 10bf9cc0 | galberding | global.distcontrol.setTargetPosition(1500, 0, ROTATION_DURATION); |
| 709 | 019224ff | galberding | checkForMotion(); |
| 710 | newState = states::CORRECT_POSITIONING; |
||
| 711 | 10bf9cc0 | galberding | break;
|
| 712 | 27d4e1fa | galberding | // ---------------------------------------
|
| 713 | e404e6c0 | galberding | case states::CHARGING:
|
| 714 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(false);
|
| 715 | 10bf9cc0 | galberding | utCount.errorCount = 0;
|
| 716 | 181f2892 | galberding | // Formulate Request to enable charging
|
| 717 | if(/* checkPinVoltage() && */ !checkPinEnabled()){ |
||
| 718 | global.robot.requestCharging(1);
|
||
| 719 | } |
||
| 720 | if(checkPinEnabled()){
|
||
| 721 | showChargingState(); |
||
| 722 | } |
||
| 723 | 10bf9cc0 | galberding | break;
|
| 724 | 181f2892 | galberding | // ---------------------------------------
|
| 725 | e404e6c0 | galberding | case states::RELEASE:
|
| 726 | 61544eee | galberding | if (global.forwardSpeed != DETECTION_SPEED){
|
| 727 | global.rpmForward[0] = DETECTION_SPEED;
|
||
| 728 | } |
||
| 729 | 181f2892 | galberding | if(/* checkPinVoltage() && */ checkPinEnabled()){ |
| 730 | global.robot.requestCharging(0);
|
||
| 731 | }else{
|
||
| 732 | 27d4e1fa | galberding | global.motorcontrol.setMotorEnable(true);
|
| 733 | 8dced1c9 | galberding | // TODO: Use controlled
|
| 734 | 181f2892 | galberding | //Rotate -20° to free from magnet
|
| 735 | global.distcontrol.setTargetPosition(0, ROTATION_20, ROTATION_DURATION);
|
||
| 736 | 61544eee | galberding | checkForMotion(); |
| 737 | // move 1cm forward
|
||
| 738 | global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION); |
||
| 739 | checkForMotion(); |
||
| 740 | // rotate back
|
||
| 741 | 10bf9cc0 | galberding | // global.distcontrol.setTargetPosition(0, -ROTATION_20, ROTATION_DURATION);
|
| 742 | // checkForMotion();
|
||
| 743 | 019224ff | galberding | |
| 744 | 61544eee | galberding | // global.distcontrol.setTargetPosition(5000, 0, ROTATION_DURATION);
|
| 745 | // checkForMotion();
|
||
| 746 | 181f2892 | galberding | lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 747 | newState = states::FOLLOW_LINE; |
||
| 748 | 61544eee | galberding | // whiteBuf = -100;
|
| 749 | // lf.followLine(rpmSpeed);
|
||
| 750 | // setRpmSpeed(rpmSpeed);
|
||
| 751 | 181f2892 | galberding | } |
| 752 | 61544eee | galberding | // lightAllLeds(Color::BLACK);
|
| 753 | 10bf9cc0 | galberding | break;
|
| 754 | // ---------------------------------------
|
||
| 755 | e404e6c0 | galberding | case states::DOCKING_ERROR:
|
| 756 | newState = states::RELEASE; |
||
| 757 | 10bf9cc0 | galberding | break;
|
| 758 | // ---------------------------------------
|
||
| 759 | e404e6c0 | galberding | case states::REVERSE_TIMEOUT_ERROR:
|
| 760 | newState = states::IDLE; |
||
| 761 | 10bf9cc0 | galberding | break;
|
| 762 | // ---------------------------------------
|
||
| 763 | e404e6c0 | galberding | case states::CALIBRATION_ERROR:
|
| 764 | newState = states::IDLE; |
||
| 765 | 10bf9cc0 | galberding | break;
|
| 766 | // ---------------------------------------
|
||
| 767 | e404e6c0 | galberding | case states::WHITE_DETECTION_ERROR:
|
| 768 | newState = states::IDLE; |
||
| 769 | 10bf9cc0 | galberding | break;
|
| 770 | // ---------------------------------------
|
||
| 771 | e404e6c0 | galberding | case states::PROXY_DETECTION_ERROR:
|
| 772 | newState = states::IDLE; |
||
| 773 | 10bf9cc0 | galberding | break;
|
| 774 | // ---------------------------------------
|
||
| 775 | e404e6c0 | galberding | case states::NO_CHARGING_POWER_ERROR:
|
| 776 | newState = states::IDLE; |
||
| 777 | 10bf9cc0 | galberding | break;
|
| 778 | // ---------------------------------------
|
||
| 779 | e404e6c0 | galberding | case states::UNKNOWN_STATE_ERROR:
|
| 780 | 10bf9cc0 | galberding | newState = states::IDLE; |
| 781 | break;
|
||
| 782 | // ---------------------------------------
|
||
| 783 | e404e6c0 | galberding | case states::TEST_MAP_STATE:{
|
| 784 | /* Test suit for amiro map */
|
||
| 785 | |||
| 786 | |||
| 787 | setAttributes(global.testmap, 0, 1, 2, 1); |
||
| 788 | setAttributes(global.testmap, 1, 2, 2, 0); |
||
| 789 | setAttributes(global.testmap, 2, 1, 0, 0); |
||
| 790 | setAttributes(global.testmap, 3, 0, 0, 0xff); |
||
| 791 | // AmiroMap map = AmiroMap(&global);
|
||
| 792 | |||
| 793 | // // --------------------------------------------------
|
||
| 794 | |||
| 795 | global.tcase = 0;
|
||
| 796 | map.initialize(); |
||
| 797 | global.testres[global.tcase] = map.get_state()->valid; |
||
| 798 | |||
| 799 | global.tcase++; // 1
|
||
| 800 | setAttributes(global.testmap, 0, 1, 2, 0xff); |
||
| 801 | map.initialize(); |
||
| 802 | global.testres[global.tcase] = !map.get_state()->valid; |
||
| 803 | |||
| 804 | global.tcase++; // 2
|
||
| 805 | setAttributes(global.testmap, 0, 1, 2, 0); |
||
| 806 | setAttributes(global.testmap, 2, 1, 0, 1); |
||
| 807 | map.initialize(); |
||
| 808 | global.testres[global.tcase] = map.get_state()->current == 2;
|
||
| 809 | |||
| 810 | global.tcase++; // 3
|
||
| 811 | setAttributes(global.testmap, 3, 0, 0, 0); |
||
| 812 | setAttributes(global.testmap, 4, 0, 0, 0xff); |
||
| 813 | map.initialize(); |
||
| 814 | global.testres[global.tcase] = !map.get_state()->valid; |
||
| 815 | |||
| 816 | int failed = 0; |
||
| 817 | int passed = 0; |
||
| 818 | for (int i = 0; i <= global.tcase; i++) { |
||
| 819 | if (global.testres[i]) {
|
||
| 820 | passed++; |
||
| 821 | chprintf((BaseSequentialStream *)&global.sercanmux1, |
||
| 822 | "Test %d Passed!\n", i);
|
||
| 823 | } else {
|
||
| 824 | failed++; |
||
| 825 | chprintf((BaseSequentialStream *)&global.sercanmux1, |
||
| 826 | "Test %d Failed\n", i);
|
||
| 827 | } |
||
| 828 | 27d4e1fa | galberding | } |
| 829 | e404e6c0 | galberding | chprintf((BaseSequentialStream *)&global.sercanmux1, |
| 830 | "Total: %d, Passed: %d, Failed: %d\n", global.tcase + 1, passed, |
||
| 831 | failed); |
||
| 832 | |||
| 833 | newState = states::IDLE; |
||
| 834 | break;
|
||
| 835 | } |
||
| 836 | // --------------------------------------------------
|
||
| 837 | default:
|
||
| 838 | newState = states::UNKNOWN_STATE_ERROR; |
||
| 839 | break;
|
||
| 840 | } |
||
| 841 | |||
| 842 | if (currentState != newState){
|
||
| 843 | chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState);
|
||
| 844 | global.robot.transmitState(newState); |
||
| 845 | // if (newState == states::IDLE)
|
||
| 846 | // {global.stateTracker[states::IDLE] += 1;}
|
||
| 847 | // else if (newState == states::FOLLOW_LINE)
|
||
| 848 | // {global.stateTracker[states::FOLLOW_LINE] += 1;}
|
||
| 849 | // else if (newState == states::DETECT_STATION)
|
||
| 850 | // {global.stateTracker[states::DETECT_STATION] += 1;}
|
||
| 851 | // else if (newState == states::REVERSE)
|
||
| 852 | // {global.stateTracker[states::REVERSE] += 1;}
|
||
| 853 | // else if (newState == states::PUSH_BACK)
|
||
| 854 | // {global.stateTracker[states::PUSH_BACK] += 1;}
|
||
| 855 | // else if (newState == states::CHECK_POSITIONING)
|
||
| 856 | // {global.stateTracker[states::CHECK_POSITIONING] += 1;}
|
||
| 857 | // else if (newState == states::CHECK_VOLTAGE)
|
||
| 858 | // {global.stateTracker[states::CHECK_VOLTAGE] += 1;}
|
||
| 859 | // else if (newState == states::CHARGING)
|
||
| 860 | // {global.stateTracker[states::CHARGING] += 1;}
|
||
| 861 | // else if (newState == states::RELEASE)
|
||
| 862 | // {global.stateTracker[states::RELEASE] += 1;}
|
||
| 863 | // else if (newState == states::RELEASE_TO_CORRECT)
|
||
| 864 | // {global.stateTracker[states::RELEASE_TO_CORRECT] += 1;}
|
||
| 865 | // else if (newState == states::CORRECT_POSITIONING)
|
||
| 866 | // {global.stateTracker[states::CORRECT_POSITIONING] += 1;}
|
||
| 867 | // else if (newState == states::TURN)
|
||
| 868 | // {global.stateTracker[states::TURN] += 1;}
|
||
| 869 | // else if (newState == states::INACTIVE)
|
||
| 870 | // {global.stateTracker[states::INACTIVE] += 1;}
|
||
| 871 | // else if (newState == states::CALIBRATION)
|
||
| 872 | // {global.stateTracker[states::CALIBRATION] += 1;}
|
||
| 873 | // else if (newState == states::CALIBRATION_CHECK)
|
||
| 874 | // {global.stateTracker[states::CALIBRATION_CHECK] += 1;}
|
||
| 875 | // else if (newState == states::DEVIATION_CORRECTION)
|
||
| 876 | // {global.stateTracker[states::DEVIATION_CORRECTION] += 1;}
|
||
| 877 | // else if (newState == states::DOCKING_ERROR)
|
||
| 878 | // {global.stateTracker[16+(-states::DOCKING_ERROR)] += 1;}
|
||
| 879 | // else if (newState == states::REVERSE_TIMEOUT_ERROR)
|
||
| 880 | // {global.stateTracker[16+(-states::REVERSE_TIMEOUT_ERROR)] += 1;}
|
||
| 881 | // else if (newState == states::CALIBRATION_ERROR)
|
||
| 882 | // {global.stateTracker[16+(-states::CALIBRATION_ERROR)] += 1;}
|
||
| 883 | // else if (newState == states::WHITE_DETECTION_ERROR)
|
||
| 884 | // {global.stateTracker[16+(-states::WHITE_DETECTION_ERROR)] += 1;}
|
||
| 885 | // else if (newState == states::PROXY_DETECTION_ERROR)
|
||
| 886 | // {global.stateTracker[16+(-states::PROXY_DETECTION_ERROR)] += 1;}
|
||
| 887 | // else if (newState == states::NO_CHARGING_POWER_ERROR)
|
||
| 888 | // {global.stateTracker[16+(-states::NO_CHARGING_POWER_ERROR)] += 1;}
|
||
| 889 | // else if (newState == states::UNKNOWN_STATE_ERROR)
|
||
| 890 | // {global.stateTracker[16+(-states::UNKNOWN_STATE_ERROR)] += 1;}
|
||
| 891 | } |
||
| 892 | prevState = currentState; |
||
| 893 | currentState = newState; |
||
| 894 | |||
| 895 | 5d138bca | galberding | this->sleep(CAN::UPDATE_PERIOD);
|
| 896 | } |
||
| 897 | 58fe0e0b | Thomas Schöpping | |
| 898 | return RDY_OK;
|
||
| 899 | } |