Revision fbcb25cc devices/DiWheelDrive/userthread.cpp
| devices/DiWheelDrive/userthread.cpp | ||
|---|---|---|
| 69 | 69 |
} |
| 70 | 70 |
} |
| 71 | 71 |
|
| 72 |
bool UserThread::checkFrontalObject(){
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|
| 73 |
uint32_t thresh = 1000; |
|
| 74 |
uint32_t prox; |
|
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for(int i=0; i<8; i++){
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prox = global.robot.getProximityRingValue(i); |
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if((i == 3) || (i == 4)){
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if(prox < thresh){
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return false; |
|
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} |
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}else{
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if(prox > thresh){
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return false; |
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} |
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} |
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} |
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return true; |
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} |
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|
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| 72 | 90 |
bool UserThread::checkPinVoltage(){
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| 73 | 91 |
return global.ltc4412.isPluggedIn(); |
| 74 | 92 |
} |
| ... | ... | |
| 128 | 146 |
* SETUP |
| 129 | 147 |
*/ |
| 130 | 148 |
// User thread state: |
| 131 |
states utState = states::IDLE; |
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states newState; |
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| 133 | 149 |
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int whiteBuf = 0; |
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int proxyBuf = 0; |
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// int whiteBuf = 0; |
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// int proxyBuf = 0; |
|
| 136 | 153 |
// int reverseBuf = 0; |
| 137 | 154 |
int correctionStep = 0; |
| 138 | 155 |
// int dist_count = 0; |
| ... | ... | |
| 161 | 178 |
if (accel_z < -900 /*-0.9g*/) {
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| 162 | 179 |
// Start line following when AMiRo is rotated |
| 163 | 180 |
if(utState == states::IDLE){
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utState = states::FOLLOW_LINE;
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newState = states::FOLLOW_LINE;
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| 165 | 182 |
}else{
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utState = states::IDLE;
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newState = states::IDLE;
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| 167 | 184 |
} |
| 168 | 185 |
lightAllLeds(Color::GREEN); |
| 169 | 186 |
this->sleep(1000); |
| ... | ... | |
| 175 | 192 |
// running = true; |
| 176 | 193 |
switch(global.lfStrategy){
|
| 177 | 194 |
case msg_content::START: |
| 178 |
utState = states::FOLLOW_LINE;
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newState = states::FOLLOW_LINE;
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| 179 | 196 |
break; |
| 180 | 197 |
case msg_content::STOP: |
| 181 |
utState = states::IDLE;
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newState = states::IDLE;
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| 182 | 199 |
break; |
| 183 | 200 |
case msg_content::EDGE_RIGHT: |
| 184 |
// utState = states::FOLLOW_LINE;
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// newState = states::FOLLOW_LINE;
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|
| 185 | 202 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
| 186 | 203 |
break; |
| 187 | 204 |
case msg_content::EDGE_LEFT: |
| 188 |
// utState = states::FOLLOW_LINE;
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// newState = states::FOLLOW_LINE;
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| 189 | 206 |
lStrategy = LineFollowStrategy::EDGE_LEFT; |
| 190 | 207 |
break; |
| 191 | 208 |
case msg_content::FUZZY: |
| 192 |
// utState = states::FOLLOW_LINE;
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// newState = states::FOLLOW_LINE;
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| 193 | 210 |
lStrategy = LineFollowStrategy::FUZZY; |
| 194 | 211 |
break; |
| 195 | 212 |
case msg_content::DOCK: |
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utState = states::DETECT_STATION;
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newState = states::DETECT_STATION;
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| 197 | 214 |
break; |
| 198 | 215 |
case msg_content::UNDOCK: |
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utState = states::RELEASE;
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newState = states::RELEASE;
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| 200 | 217 |
break; |
| 201 | 218 |
case msg_content::CHARGE: |
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utState = states::CHARGING;
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newState = states::CHARGING;
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| 203 | 220 |
break; |
| 204 | 221 |
default: |
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utState = states::IDLE;
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newState = states::IDLE;
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| 206 | 223 |
break; |
| 207 | 224 |
} |
| 208 | 225 |
} |
| 209 |
newState = utState; |
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// newState = utState;
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| 210 | 227 |
|
| 211 | 228 |
// Get sensor data |
| 212 |
uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset(); |
|
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uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset(); |
|
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// uint16_t WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
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// uint16_t WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_RIGHT].getProximityScaledWoOffset();
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| 214 | 231 |
for(int i=0; i<8;i++){
|
| 215 | 232 |
rProx[i] = global.robot.getProximityRingValue(i); |
| 216 | 233 |
} |
| ... | ... | |
| 223 | 240 |
if(/* checkPinVoltage() && */ checkPinEnabled()){
|
| 224 | 241 |
global.robot.requestCharging(0); |
| 225 | 242 |
} |
| 226 |
whiteBuf = 0;
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proxyBuf = 0;
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utCount.whiteCount = 0;
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utCount.proxyCount = 0;
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| 228 | 245 |
utCount.errorCount = 0; |
| 246 |
utCount.idleCount++; |
|
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if (utCount.idleCount > 10){
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utCount.idleCount = 0; |
|
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// chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState); |
|
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global.robot.transmitState(utState); |
|
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} |
|
| 229 | 252 |
break; |
| 230 | 253 |
// --------------------------------------- |
| 231 | 254 |
case states::FOLLOW_LINE: |
| ... | ... | |
| 238 | 261 |
lf.setStrategy(lStrategy); |
| 239 | 262 |
} |
| 240 | 263 |
|
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//TODO: Check if white is detected and stop threshold is reached |
|
| 242 | 264 |
if(lf.followLine(rpmSpeed)){
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whiteBuf++;
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if(whiteBuf >= WHITE_COUNT_THRESH){
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utCount.whiteCount++;
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if(utCount.whiteCount >= WHITE_COUNT_THRESH){
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| 245 | 267 |
rpmSpeed[0] = stop[0]; |
| 246 | 268 |
rpmSpeed[1] = stop[1]; |
| 247 | 269 |
newState = states::IDLE; |
| 248 | 270 |
} |
| 249 | 271 |
}else{
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whiteBuf = 0;
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utCount.whiteCount = 0;
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|
| 251 | 273 |
// setRpmSpeed(rpmSpeed); |
| 252 | 274 |
} |
| 253 | 275 |
|
| 254 | 276 |
if(getProxyRingSum() > PROXY_RING_THRESH){
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| 255 |
proxyBuf++; |
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| 256 |
if(proxyBuf > WHITE_COUNT_THRESH){
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newState = states::IDLE; |
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utCount.proxyCount++; |
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if(utCount.proxyCount > WHITE_COUNT_THRESH){
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| 258 | 279 |
rpmSpeed[0] = stop[0]; |
| 259 | 280 |
rpmSpeed[1] = stop[1]; |
| 281 |
// newState = states::IDLE; |
|
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if (continue_on_obstacle){
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newState = states::TURN; |
|
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utCount.proxyCount = 0; |
|
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}else{
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newState = states::IDLE; |
|
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} |
|
| 260 | 288 |
} |
| 261 | 289 |
}else{
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proxyBuf = 0;
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utCount.proxyCount = 0;
|
|
| 263 | 291 |
} |
| 264 | 292 |
|
| 265 | 293 |
if ((rProx[3] + rProx[4]) > RING_PROX_FRONT_THRESH){
|
| ... | ... | |
| 267 | 295 |
rpmSpeed[1] = stop[1]; |
| 268 | 296 |
} |
| 269 | 297 |
|
| 270 |
// if (needDistance){
|
|
| 271 |
// whiteBuf = 0; |
|
| 272 |
// proxyBuf = 0; |
|
| 273 |
// dist_count++; |
|
| 274 |
// if(dist_count > DIST_THRESH){
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|
| 275 |
// dist_count = 0; |
|
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// needDistance = false; |
|
| 277 |
// } |
|
| 278 |
// } |
|
| 279 |
// whiteBuf = 0; |
|
| 280 |
// proxyBuf = 0; |
|
| 281 |
// lf.followLine(rpmSpeed); |
|
| 282 | 298 |
if (lf.getStrategy() == LineFollowStrategy::FUZZY){
|
| 283 | 299 |
setRpmSpeedFuzzy(rpmSpeed); |
| 284 | 300 |
}else{
|
| ... | ... | |
| 288 | 304 |
|
| 289 | 305 |
break; |
| 290 | 306 |
// --------------------------------------- |
| 307 |
case states::TURN: |
|
| 308 |
checkForMotion(); |
|
| 309 |
// Check if only front sensors are active |
|
| 310 |
if(checkFrontalObject()){
|
|
| 311 |
global.distcontrol.setTargetPosition(0, ROTATION_180, ROTATION_DURATION); |
|
| 312 |
// BaseThread::sleep(8000); |
|
| 313 |
checkForMotion(); |
|
| 314 |
newState = states::FOLLOW_LINE; |
|
| 315 |
lf.promptStrategyChange(LineFollowStrategy::EDGE_LEFT); |
|
| 316 |
}else{
|
|
| 317 |
newState = states::IDLE; |
|
| 318 |
} |
|
| 319 |
break; |
|
| 320 |
// --------------------------------------- |
|
| 291 | 321 |
case states::DETECT_STATION: |
| 292 | 322 |
if (global.forwardSpeed != DETECTION_SPEED){
|
| 293 | 323 |
global.forwardSpeed = DETECTION_SPEED; |
| ... | ... | |
| 323 | 353 |
lf.followLine(rpmSpeed); |
| 324 | 354 |
setRpmSpeed(rpmSpeed); |
| 325 | 355 |
|
| 326 |
correctionStep++;
|
|
| 327 |
if (correctionStep >= MAX_CORRECTION_STEPS){
|
|
| 328 |
correctionStep = 0;
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|
| 356 |
utCount.stepCount++;
|
|
| 357 |
if (utCount.stepCount >= MAX_CORRECTION_STEPS){
|
|
| 358 |
utCount.stepCount = 0;
|
|
| 329 | 359 |
newState = states::REVERSE; |
| 330 | 360 |
setRpmSpeed(stop); |
| 331 | 361 |
checkForMotion(); |
| ... | ... | |
| 352 | 382 |
if((rProx[0] >= PROX_MAX_VAL) || (rProx[7] >= PROX_MAX_VAL)){
|
| 353 | 383 |
// setRpmSpeed(stop); |
| 354 | 384 |
// checkForMotion(); |
| 355 |
utCount.reverseCount = 0;
|
|
| 385 |
utCount.stepCount = 0;
|
|
| 356 | 386 |
newState = states::PUSH_BACK; |
| 357 | 387 |
} |
| 358 | 388 |
break; |
| ... | ... | |
| 364 | 394 |
lf.followLine(rpmSpeed); |
| 365 | 395 |
setRpmSpeed(rpmSpeed); |
| 366 | 396 |
|
| 367 |
utCount.reverseCount++;
|
|
| 368 |
if (utCount.reverseCount > PUSH_BACK_COUNT){
|
|
| 397 |
utCount.stepCount++;
|
|
| 398 |
if (utCount.stepCount > PUSH_BACK_COUNT){
|
|
| 369 | 399 |
newState = states::CHECK_POSITIONING; |
| 370 | 400 |
} |
| 371 | 401 |
break; |
| ... | ... | |
| 435 | 465 |
// --------------------------------------- |
| 436 | 466 |
case states::ERROR: |
| 437 | 467 |
utCount.errorCount = 0; |
| 438 |
lStrategy = LineFollowStrategy::EDGE_RIGHT; |
|
| 439 |
newState = states::FOLLOW_LINE;
|
|
| 468 |
// lStrategy = LineFollowStrategy::EDGE_RIGHT;
|
|
| 469 |
newState = states::RELEASE;
|
|
| 440 | 470 |
break; |
| 441 | 471 |
// --------------------------------------- |
| 442 | 472 |
case states::CHARGING: |
| ... | ... | |
| 485 | 515 |
break; |
| 486 | 516 |
} |
| 487 | 517 |
if (utState != newState){
|
| 518 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Transmit state %d\n", newState); |
|
| 488 | 519 |
global.robot.transmitState(newState); |
| 489 | 520 |
} |
| 490 | 521 |
utState = newState; |
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