amiro-os / devices / DiWheelDrive / userthread.cpp @ f336542d
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1 | 58fe0e0b | Thomas Schöpping | #include "userthread.hpp" |
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2 | |||
3 | #include "global.hpp" |
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4 | |||
5 | using namespace amiro; |
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6 | |||
7 | extern Global global;
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8 | |||
9 | // State machine states
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10 | enum states : uint8_t {
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11 | IDLE, |
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12 | GO_RIGHT, |
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13 | GO_STRAIGHT, |
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14 | PARKING, |
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15 | PARKING_RIGHT, |
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16 | PARKING_LEFT, |
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17 | GO_LEFT, |
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18 | SPINNING_PARKING, |
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19 | SPINNING |
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20 | }; |
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21 | |||
22 | // Policy
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23 | states policy[] = { |
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24 | GO_STRAIGHT, |
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25 | GO_RIGHT, |
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26 | GO_RIGHT, |
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27 | GO_STRAIGHT, |
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28 | GO_RIGHT, |
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29 | GO_STRAIGHT, |
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30 | GO_RIGHT, |
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31 | GO_STRAIGHT, |
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32 | GO_STRAIGHT, |
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33 | GO_RIGHT, |
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34 | GO_STRAIGHT, |
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35 | GO_RIGHT, |
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36 | GO_STRAIGHT |
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37 | }; |
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38 | |||
39 | // The different classes (or members) of color discrimination
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40 | // BLACK is the line itselfe
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41 | // GREY is the boarder between the line and the surface
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42 | // WHITE is the common surface
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43 | enum colorMember : uint8_t {
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44 | BLACK=0,
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45 | GREY=1,
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46 | WHITE=2
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47 | }; |
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48 | |||
49 | // a buffer for the z-value of the accelerometer
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50 | int16_t accel_z; |
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51 | bool running;
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52 | |||
53 | // Get some information about the policy
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54 | const int sizeOfPolicy = sizeof(policy) / sizeof(states); |
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55 | int policyCounter = 0; // Do not change this, it points to the beginning of the policy |
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56 | |||
57 | // Different speed settings (all values in "rounds per minute")
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58 | const int rpmForward[2] = {25,25}; |
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59 | const int rpmSoftLeft[2] = {15,25}; |
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60 | const int rpmHardLeft[2] = {10,25}; |
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61 | const int rpmSoftRight[2] = {rpmSoftLeft[1],rpmSoftLeft[0]}; |
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62 | const int rpmHardRight[2] = {rpmHardLeft[1],rpmHardLeft[0]}; |
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63 | const int rpmTurnLeft[2] = {-10, 10}; |
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64 | const int rpmTurnRight[2] = {rpmTurnLeft[1],rpmTurnLeft[0]}; |
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65 | const int rpmHalt[2] = {0, 0}; |
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66 | |||
67 | // Definition of the fuzzyfication function
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68 | // | Membership
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69 | // 1|_B__ G __W__
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70 | // | \ /\ /
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71 | // | \/ \/
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72 | // |_____/\__/\______ Sensor values
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73 | // SEE MATLAB SCRIPT "fuzzyRule.m" for adjusting the values
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74 | // All values are "raw sensor values"
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75 | /* Use these values for white ground surface (e.g. paper) */
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76 | |||
77 | const int blackStartFalling = 0x1000; // Where the black curve starts falling |
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78 | const int blackOff = 0x1800; // Where no more black is detected |
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79 | b4885314 | Thomas Schöpping | const int whiteStartRising = 0x2800; // Where the white curve starts rising |
80 | const int whiteOn = 0x6000; // Where the white curve has reached the maximum value |
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81 | 58fe0e0b | Thomas Schöpping | const int greyMax = (whiteOn + blackStartFalling) / 2; // Where grey has its maximum |
82 | const int greyStartRising = blackStartFalling; // Where grey starts rising |
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83 | const int greyOff = whiteOn; // Where grey is completely off again |
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84 | |||
85 | /* Use these values for gray ground surfaces */
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86 | /*
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87 | const int blackStartFalling = 0x1000; // Where the black curve starts falling
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88 | const int blackOff = 0x2800; // Where no more black is detected
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89 | const int whiteStartRising = 0x4000; // Where the white curve starts rising
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90 | const int whiteOn = 0x5000; // Where the white curve starts rising
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91 | const int greyMax = (whiteOn + blackStartFalling) / 2; // Where grey has its maximum
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92 | const int greyStartRising = blackStartFalling; // Where grey starts rising
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93 | const int greyOff = whiteOn; // Where grey is completely off again
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94 | */
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95 | |||
96 | int vcnl4020AmbientLight[4] = {0}; |
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97 | int vcnl4020Proximity[4] = {0}; |
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98 | |||
99 | // Border for the discrimination between black and white
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100 | const int discrBlackWhite = 16000; // border in "raw sensor values" |
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101 | // Discrimination between black and white (returns BLACK or WHITE)
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102 | // The border was calculated by a MAP-decider
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103 | colorMember discrimination(int value) {
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104 | if (value < discrBlackWhite)
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105 | return BLACK;
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106 | else
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107 | return WHITE;
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108 | } |
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109 | |||
110 | // Copy the speed from the source to the target array
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111 | void copyRpmSpeed(const int (&source)[2], int (&target)[2]) { |
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112 | target[constants::DiWheelDrive::LEFT_WHEEL] = source[constants::DiWheelDrive::LEFT_WHEEL]; |
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113 | target[constants::DiWheelDrive::RIGHT_WHEEL] = source[constants::DiWheelDrive::RIGHT_WHEEL]; |
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114 | } |
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115 | |||
116 | // Fuzzyfication of the sensor values
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117 | void fuzzyfication(int sensorValue, float (&fuzziedValue)[3]) { |
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118 | if (sensorValue < blackStartFalling ) {
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119 | // Only black value
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120 | fuzziedValue[BLACK] = 1.0f; |
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121 | fuzziedValue[GREY] = 0.0f; |
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122 | fuzziedValue[WHITE] = 0.0f; |
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123 | } else if (sensorValue > whiteOn ) { |
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124 | // Only white value
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125 | fuzziedValue[BLACK] = 0.0f; |
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126 | fuzziedValue[GREY] = 0.0f; |
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127 | fuzziedValue[WHITE] = 1.0f; |
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128 | } else if ( sensorValue < greyMax) { |
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129 | // Some greyisch value between black and grey
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130 | |||
131 | // Black is going down
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132 | if ( sensorValue > blackOff) {
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133 | fuzziedValue[BLACK] = 0.0f; |
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134 | } else {
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135 | fuzziedValue[BLACK] = static_cast<float>(sensorValue-blackOff) / (blackStartFalling-blackOff); |
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136 | } |
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137 | |||
138 | // Grey is going up
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139 | if ( sensorValue < greyStartRising) {
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140 | fuzziedValue[GREY] = 0.0f; |
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141 | } else {
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142 | fuzziedValue[GREY] = static_cast<float>(sensorValue-greyStartRising) / (greyMax-greyStartRising); |
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143 | } |
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144 | |||
145 | // White is absent
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146 | fuzziedValue[WHITE] = 0.0f; |
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147 | |||
148 | } else if ( sensorValue >= greyMax) { |
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149 | // Some greyisch value between grey white
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150 | |||
151 | // Black is absent
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152 | fuzziedValue[BLACK] = 0.0f; |
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153 | |||
154 | // Grey is going down
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155 | if ( sensorValue < greyOff) {
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156 | fuzziedValue[GREY] = static_cast<float>(sensorValue-greyOff) / (greyMax-greyOff); |
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157 | } else {
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158 | fuzziedValue[GREY] = 0.0f; |
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159 | } |
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160 | |||
161 | // White is going up
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162 | if ( sensorValue < whiteStartRising) {
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163 | fuzziedValue[WHITE] = 0.0f; |
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164 | } else {
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165 | fuzziedValue[WHITE] = static_cast<float>(sensorValue-whiteStartRising) / (whiteOn-whiteStartRising); |
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166 | } |
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167 | } |
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168 | } |
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169 | |||
170 | // Return the color, which has the highest fuzzy value
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171 | colorMember getMember(float (&fuzzyValue)[3]) { |
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172 | colorMember member; |
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173 | |||
174 | if (fuzzyValue[BLACK] > fuzzyValue[GREY])
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175 | if (fuzzyValue[BLACK] > fuzzyValue[WHITE])
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176 | member = BLACK; |
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177 | else
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178 | member = WHITE; |
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179 | else
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180 | if (fuzzyValue[GREY] > fuzzyValue[WHITE])
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181 | member = GREY; |
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182 | else
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183 | member = WHITE; |
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184 | |||
185 | return member;
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186 | } |
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187 | |||
188 | // Get a crisp output for the steering commands
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189 | void defuzzyfication(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]) { |
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190 | |||
191 | b4885314 | Thomas Schöpping | // all sensors are equal
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192 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_LEFT] &&
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193 | member[constants::DiWheelDrive::PROX_FRONT_LEFT] == member[constants::DiWheelDrive::PROX_FRONT_RIGHT] && |
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194 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == member[constants::DiWheelDrive::PROX_WHEEL_RIGHT]) { |
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195 | // something is wrong -> stop
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196 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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197 | // both front sensor detect a line
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198 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK && |
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199 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) { |
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200 | 58fe0e0b | Thomas Schöpping | // straight
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201 | copyRpmSpeed(rpmForward, rpmFuzzyCtrl); |
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202 | b4885314 | Thomas Schöpping | // exact one front sensor detects a line
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203 | 58fe0e0b | Thomas Schöpping | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == BLACK || |
204 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == BLACK) { |
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205 | // soft correction
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206 | b4885314 | Thomas Schöpping | if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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207 | 58fe0e0b | Thomas Schöpping | // soft right
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208 | copyRpmSpeed(rpmSoftRight, rpmFuzzyCtrl); |
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209 | b4885314 | Thomas Schöpping | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == WHITE) { |
210 | 58fe0e0b | Thomas Schöpping | // hard right
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211 | copyRpmSpeed(rpmHardRight, rpmFuzzyCtrl); |
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212 | b4885314 | Thomas Schöpping | } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
213 | 58fe0e0b | Thomas Schöpping | // soft left
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214 | copyRpmSpeed(rpmSoftLeft, rpmFuzzyCtrl); |
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215 | b4885314 | Thomas Schöpping | } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == WHITE) { |
216 | 58fe0e0b | Thomas Schöpping | // hard left
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217 | copyRpmSpeed(rpmHardLeft, rpmFuzzyCtrl); |
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218 | b4885314 | Thomas Schöpping | } |
219 | // both wheel sensors detect a line
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220 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK && |
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221 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) { |
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222 | // something is wrong -> stop
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223 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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224 | // exactly one wheel sensor detects a line
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225 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK || |
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226 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) { |
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227 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == BLACK) {
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228 | // turn left
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229 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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230 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == BLACK) { |
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231 | // turn right
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232 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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233 | } |
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234 | // both front sensors may detect a line
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235 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY && |
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236 | 58fe0e0b | Thomas Schöpping | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
237 | b4885314 | Thomas Schöpping | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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238 | // turn left
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239 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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240 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
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241 | 58fe0e0b | Thomas Schöpping | // turn right
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242 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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243 | b4885314 | Thomas Schöpping | } |
244 | // exactly one front sensor may detect a line
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245 | } else if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY || |
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246 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
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247 | if (member[constants::DiWheelDrive::PROX_FRONT_LEFT] == GREY) {
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248 | 58fe0e0b | Thomas Schöpping | // turn left
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249 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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250 | b4885314 | Thomas Schöpping | } else if (member[constants::DiWheelDrive::PROX_FRONT_RIGHT] == GREY) { |
251 | // turn right
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252 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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253 | } |
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254 | // both wheel sensors may detect a line
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255 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY && |
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256 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
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257 | // something is wrong -> stop
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258 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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259 | // exactly one wheel sensor may detect a line
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260 | } else if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY || |
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261 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
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262 | if (member[constants::DiWheelDrive::PROX_WHEEL_LEFT] == GREY) {
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263 | 58fe0e0b | Thomas Schöpping | // turn left
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264 | copyRpmSpeed(rpmTurnLeft, rpmFuzzyCtrl); |
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265 | b4885314 | Thomas Schöpping | } else if (member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] == GREY) { |
266 | 58fe0e0b | Thomas Schöpping | // turn right
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267 | copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl); |
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268 | b4885314 | Thomas Schöpping | } |
269 | // no sensor detects anything
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270 | } else {
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271 | // line is lost -> stop
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272 | copyRpmSpeed(rpmHalt, rpmFuzzyCtrl); |
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273 | 58fe0e0b | Thomas Schöpping | } |
274 | |||
275 | return;
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276 | } |
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277 | |||
278 | Color memberToLed(colorMember member) { |
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279 | switch (member) {
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280 | case BLACK:
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281 | return Color(Color::GREEN);
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282 | case GREY:
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283 | return Color(Color::YELLOW);
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284 | case WHITE:
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285 | return Color(Color::RED);
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286 | default:
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287 | return Color(Color::WHITE);
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288 | } |
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289 | } |
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290 | |||
291 | // Line following by a fuzzy controler
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292 | void lineFollowing(int (&proximity)[4], int (&rpmFuzzyCtrl)[2]) { |
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293 | // FUZZYFICATION
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294 | // First we need to get the fuzzy value for our 3 values {BLACK, GREY, WHITE}
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295 | float leftWheelFuzzyMemberValues[3], leftFrontFuzzyMemberValues[3], rightFrontFuzzyMemberValues[3], rightWheelFuzzyMemberValues[3]; |
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296 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], leftWheelFuzzyMemberValues); |
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297 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], leftFrontFuzzyMemberValues); |
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298 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], rightFrontFuzzyMemberValues); |
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299 | fuzzyfication(proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], rightWheelFuzzyMemberValues); |
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300 | |||
301 | // INFERENCE RULE DEFINITION
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302 | // Get the member for each sensor
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303 | colorMember member[4];
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304 | member[constants::DiWheelDrive::PROX_WHEEL_LEFT] = getMember(leftWheelFuzzyMemberValues); |
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305 | member[constants::DiWheelDrive::PROX_FRONT_LEFT] = getMember(leftFrontFuzzyMemberValues); |
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306 | member[constants::DiWheelDrive::PROX_FRONT_RIGHT] = getMember(rightFrontFuzzyMemberValues); |
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307 | member[constants::DiWheelDrive::PROX_WHEEL_RIGHT] = getMember(rightWheelFuzzyMemberValues); |
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308 | |||
309 | // visualize sensors via LEDs
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310 | global.robot.setLightColor(constants::LightRing::LED_WNW, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_LEFT])); |
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311 | global.robot.setLightColor(constants::LightRing::LED_NNW, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_LEFT])); |
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312 | global.robot.setLightColor(constants::LightRing::LED_NNE, memberToLed(member[constants::DiWheelDrive::PROX_FRONT_RIGHT])); |
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313 | global.robot.setLightColor(constants::LightRing::LED_ENE, memberToLed(member[constants::DiWheelDrive::PROX_WHEEL_RIGHT])); |
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314 | |||
315 | // chprintf((BaseSequentialStream*) &SD1, "Left: BLACK: %f, GREY: %f, WHITE: %f\r\n", leftFuzzyMemberValues[BLACK], leftFuzzyMemberValues[GREY], leftFuzzyMemberValues[WHITE]);
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316 | // chprintf((BaseSequentialStream*) &SD1, "Right: BLACK: %f, GREY: %f, WHITE: %f\r\n", rightFuzzyMemberValues[BLACK], rightFuzzyMemberValues[GREY], rightFuzzyMemberValues[WHITE]);
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317 | |||
318 | // DEFUZZYFICATION
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319 | defuzzyfication(member, rpmFuzzyCtrl); |
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320 | } |
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321 | |||
322 | // Set the speed by the array
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323 | void setRpmSpeed(const int (&rpmSpeed)[2]) { |
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324 | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
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325 | } |
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326 | |||
327 | // Get the next policy rule
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328 | states getNextPolicy() { |
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329 | // If the policy is over, start again
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330 | if (policyCounter >= sizeOfPolicy)
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331 | policyCounter = 3;
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332 | |||
333 | return policy[policyCounter++];
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334 | } |
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335 | |||
336 | |||
337 | |||
338 | UserThread::UserThread() : |
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339 | chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>() |
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340 | { |
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341 | } |
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342 | |||
343 | UserThread::~UserThread() |
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344 | { |
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345 | } |
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346 | |||
347 | msg_t |
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348 | UserThread::main() |
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349 | { |
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350 | /*
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351 | * SETUP
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352 | */
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353 | int rpmFuzzyCtrl[2] = {0}; |
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354 | for (uint8_t led = 0; led < 8; ++led) { |
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355 | global.robot.setLightColor(led, Color(Color::BLACK)); |
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356 | } |
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357 | running = false;
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358 | |||
359 | /*
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360 | * LOOP
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361 | */
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362 | while (!this->shouldTerminate()) |
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363 | { |
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364 | /*
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365 | * read accelerometer z-value
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366 | */
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367 | accel_z = global.lis331dlh.getAccelerationForce(LIS331DLH::AXIS_Z); |
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368 | |||
369 | /*
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370 | * evaluate the accelerometer
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371 | */
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372 | if (accel_z < -900 /*-0.9g*/) { |
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373 | if (running) {
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374 | // stop the robot
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375 | running = false;
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376 | global.motorcontrol.setTargetRPM(0, 0); |
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377 | } else {
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378 | // start the robot
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379 | running = true;
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380 | } |
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381 | // set the front LEDs to blue for one second
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382 | global.robot.setLightColor(constants::LightRing::LED_SSW, Color(Color::BLACK)); |
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383 | global.robot.setLightColor(constants::LightRing::LED_WSW, Color(Color::BLACK)); |
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384 | global.robot.setLightColor(constants::LightRing::LED_WNW, Color(Color::WHITE)); |
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385 | global.robot.setLightColor(constants::LightRing::LED_NNW, Color(Color::WHITE)); |
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386 | global.robot.setLightColor(constants::LightRing::LED_NNE, Color(Color::WHITE)); |
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387 | global.robot.setLightColor(constants::LightRing::LED_ENE, Color(Color::WHITE)); |
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388 | global.robot.setLightColor(constants::LightRing::LED_ESE, Color(Color::BLACK)); |
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389 | global.robot.setLightColor(constants::LightRing::LED_SSE, Color(Color::BLACK)); |
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390 | this->sleep(MS2ST(1000)); |
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391 | global.robot.setLightColor(constants::LightRing::LED_WNW, Color(Color::BLACK)); |
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392 | global.robot.setLightColor(constants::LightRing::LED_NNW, Color(Color::BLACK)); |
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393 | global.robot.setLightColor(constants::LightRing::LED_NNE, Color(Color::BLACK)); |
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394 | global.robot.setLightColor(constants::LightRing::LED_ENE, Color(Color::BLACK)); |
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395 | } |
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396 | |||
397 | if (running) {
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398 | // Read the proximity values
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399 | for (int i = 0; i < 4; i++) { |
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400 | vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight(); |
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401 | vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
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402 | } |
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403 | |||
404 | // chprintf((BaseSequentialStream*) &SD1, "0x%04X 0x%04X 0x%04X 0x%04X\n",
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405 | // vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT],
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406 | // vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT],
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407 | // vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT],
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408 | // vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT]);
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409 | |||
410 | lineFollowing(vcnl4020Proximity, rpmFuzzyCtrl); |
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411 | setRpmSpeed(rpmFuzzyCtrl); |
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412 | } |
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413 | |||
414 | 8dbafe16 | Thomas Schöpping | this->sleep(CAN::UPDATE_PERIOD);
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415 | 58fe0e0b | Thomas Schöpping | } |
416 | |||
417 | return RDY_OK;
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418 | } |