Revision 1201
Changed smart run-around from old version to new version, which seems kind
of silly, since the rangefinder functions didn't actually change.
| trunk/code/projects/mapping/auto/smart_run_around_fsm.c | ||
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#include "dragonfly_lib.h"
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#include <dragonfly_lib.h>
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#include "smart_run_around_fsm.h" |
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/*A simple behavior for navigating in an environment, i.e. avoiding walls and getting stuck. |
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Could be better at not getting stuck. |
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Latest revision only has two accessible states: move and reverse. |
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*/ |
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void run_around_init(void) |
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{
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range_init(); |
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orb_init(); |
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/*Start in the default state, MOVING*/ |
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avoid_state=MOVING; |
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/*Set timers to their maximum values.*/ |
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crazy_count=CRAZY_MAX; |
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backup_count=BACKUP_MAX; |
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pControl=0; |
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/*Initialize distances to zero.*/ |
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d1=0; d2=0; d3=0; d4=0; d5=0; |
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state = FORWARD; // start out moving forward |
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// initialize rangefinder values to 0 |
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d1 = 0, d2 = 0, d3 = 0, d4 = 0, d5 = 0; |
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} |
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/*The main function, call this to update states as frequently as possible.*/ |
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void run_around_FSM(void) {
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/*Default to moving.*/ |
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avoid_state=MOVING; |
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/*The following lines ensure that undefined (-1) values |
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will not update the distances.*/ |
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int temp; |
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temp=range_read_distance(IR1); |
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d1=(temp == -1) ? d1 : temp; |
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temp=range_read_distance(IR2); |
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d2=(temp == -1) ? d2 : temp; |
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temp=range_read_distance(IR3); |
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d3=(temp == -1) ? d3 : temp; |
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temp=range_read_distance(IR4); |
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d4=(temp == -1) ? d4 : temp; |
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temp=range_read_distance(IR5); |
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d5=(temp == -1) ? d5 : temp; |
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/*If the crazy count is in it's >>3 range, it acts crazy.*/ |
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if(crazy_count<=(CRAZY_MAX>>3)) |
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{
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avoid_state=CRAZY; |
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crazy_count--; |
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if(crazy_count<0) crazy_count=CRAZY_MAX; |
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evaluate_state(); |
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return; |
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} |
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//Checks the forward distance to see if it should back up, if so...state backwards. |
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if((d2!=-1)&&(d2 < 150)){
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backup_count=BACKUP_MAX; |
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avoid_state=BACKWARDS; |
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evaluate_state(); |
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return; |
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} |
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/* |
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if(d1 < 120 || d3 < 120) {
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avoid_state = BACKWARDS; |
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backup_count = BACKUP_MAX; |
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evaluate_state(); |
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return; |
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} |
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*/ |
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if(backup_count<BACKUP_MAX){
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avoid_state=BACKWARDS; |
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if(backup_count<0) |
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backup_count=BACKUP_MAX; |
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evaluate_state(); |
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return; |
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} |
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/*Should evaluate an expression from -255 to 255 to pass to move.*/ |
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pControl= ((d3-d1) + (d4-d5)) >> TURN_CONSTANT; |
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/* evaluate rangefinder input and update state |
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* call this function as often as possible to avoid collisions |
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*/ |
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void run_around_FSM(void) |
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{
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/* TODO: find a better way to handle rangefinder input |
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* robot should deal with -1s (obstacles too close or too far to detect) |
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* in a way that keeps it from crashing or driving in circles |
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*/ |
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// do not update distances when rangefinders return -1 |
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// otherwise update distances with new rangefinder values |
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int16_t temp; |
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if(pControl > 255) |
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pControl = 255; |
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if(pControl < -255) |
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pControl = -255; |
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if(pControl>PCONTROL_CRAZY_LIMIT || pControl<-PCONTROL_CRAZY_LIMIT) crazy_count--; |
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/*i.e. if you really want to turn for an extended period of time...you're probably stuck.*/ |
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temp = range_read_distance(IR1); |
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d1 = (temp == -1) ? d1 : temp; |
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/*Debug stuff:*/ |
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/*usb_puts("pControl evaluating: ");
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usb_puti(pControl); |
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usb_puts("\n\r");
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usb_puts("IR1: ");
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usb_puti(d1); |
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usb_puts(" IR2: ");
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usb_puti(d2); |
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usb_puts(" IR3: ");
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usb_puti(d3); |
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usb_puts(" IR4: ");
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usb_puti(d4); |
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usb_puts(" IR5: ");
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usb_puti(d5); |
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usb_puts("\n\r");*/
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evaluate_state(); |
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} |
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temp = range_read_distance(IR2); |
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d2 = (temp == -1) ? d2 : temp; |
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temp = range_read_distance(IR3); |
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d3 = (temp == -1) ? d3 : temp; |
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//Acts on state change. |
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void evaluate_state(){
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switch(avoid_state){
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case(MOVING): |
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move(STRAIT_SPEED,-pControl); |
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break; |
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case(BACKWARDS): |
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move(-STRAIT_SPEED-50,0); |
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break; |
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case(CRAZY): |
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/*TODO: Implement a crazy state.*/ |
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move(STRAIT_SPEED,-pControl); |
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break; |
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default: |
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/*Should never get here, go strait.*/ |
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move(100,0); |
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break; |
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} |
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temp = range_read_distance(IR4); |
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d4 = (temp == -1) ? d4 : temp; |
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temp = range_read_distance(IR5); |
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d5 = (temp == -1) ? d5 : temp; |
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// update state based on rangefinder input |
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if (d2 < IR2_DANGER) // avoid frontal collision by turning in place |
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state = SPIN; |
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/* nowhere to turn, so don't |
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* will probably need to turn around soon, but not yet |
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*/ |
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else if (d1 < IR13_DANGER && d3 < IR13_DANGER) |
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state = FORWARD; |
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else if (d1 < IR13_DANGER) // avoid left-side collision by turning right |
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state = RIGHT; |
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else if (d3 < IR13_DANGER) // avoid right-side collision by turning left |
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state = LEFT; |
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else if (d2 < IR2_INTEREST) // should turn to avoid obstacle up ahead |
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{
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if (d3 >= d1) // more room on right |
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state = RIGHT; |
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else // more room on left |
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state = LEFT; |
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} |
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else // no obstacles close by, so keep going straight |
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state = FORWARD; |
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/* Debugging via USB output */ |
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usb_puts("IR1: ");
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usb_puti(d1); |
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usb_puts(" IR2: ");
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usb_puti(d2); |
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usb_puts(" IR3: ");
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usb_puti(d3); |
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usb_puts(" IR4: ");
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usb_puti(d4); |
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usb_puts(" IR5: ");
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usb_puti(d5); |
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usb_puts("\n\r");
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if (button2_read()) // pushing buttons resets robot |
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reset(); |
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evaluate_state(); // take action on updated state |
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} |
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// behave according to current state |
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// TODO: adjust speeds after testing |
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void evaluate_state(void) |
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{
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switch (state) |
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{
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case FORWARD: |
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orb_set_color(GREEN); |
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move(FULL_SPD, 0); // drive straight forward |
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break; |
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case LEFT: |
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orbs_set_color(GREEN, YELLOW); // green on left side |
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move(HALF_SPD, NRML_TURN); // drive forward and to the left |
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break; |
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case RIGHT: |
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orbs_set_color(YELLOW, GREEN); // green on right side |
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move(HALF_SPD, -NRML_TURN); // drive forward and to the right |
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break; |
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case SPIN: |
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orb_set_color(RED); |
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move(0, NRML_TURN); // spin CCW without traveling |
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break; |
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default: // should never reach this |
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orb_set_color(PURPLE); |
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move(0, 0); // stop completely |
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} |
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} |
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| trunk/code/projects/mapping/auto/Makefile | ||
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| 1 |
########Update This Section########
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#######Update This Section######## |
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# |
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# |
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|
| ... | ... | |
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USE_WIRELESS = 1 |
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# com1 = serial port. Use lpt1 to connect to parallel port. |
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AVRDUDE_PORT = /dev/tty.usbserial-A4001hAS
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AVRDUDE_PORT = /dev/ttyUSB0
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# |
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# |
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################################### |
| trunk/code/projects/mapping/auto/smart_run_around_fsm.h | ||
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//Obstacle Avoid Numbers |
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// smart_run_around_fsm.h |
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// required to run Smart Run Around functions |
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// declare functions and global variables |
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#ifndef _RUN_AROUND_FSM_H_ |
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#define _RUN_AROUND_FSM_H_ |
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//The States: |
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#define MOVING 12 //Move strait. |
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#define BACKWARDS 15 //Move backwards. (Front close to wall.) |
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#define STOP 16 //Stop. The default state, (Something broke). |
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#define CRAZY 40 //Erratic behavior that occurs more often when the robot is frequently trying to turn. (i.e. may be stuck.) |
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// states (robot shall never move in reverse) |
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// these constants may be changed (but can't overlap) without effect |
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#define FORWARD 0 // drive straight forward |
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#define LEFT 1 // drive forward and to the left |
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#define RIGHT 2 // drive forward and to the right |
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#define SPIN 3 // turn without traveling (last resort if otherwise stuck) |
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#define BACKUP_MAX 60 |
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#define CRAZY_MAX 200 //The number of counts between "crazy moments" |
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#define STRAIT_SPEED 185 //The speed when going strait or backing up. |
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#define TURN_CONSTANT 2 |
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#define PCONTROL_CRAZY_LIMIT 80 |
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/* conditions on rangefinders (in mm) informing state changes |
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* distances are 50 greater than in real life, cannot be smaller than 100 |
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* naming format: SENSOR_URGENCY |
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* changing these constants affects robot operation |
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*/ |
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#define IR2_DANGER 150 // 10 cm: dangerously close to front |
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#define IR13_DANGER 200 // 15 cm: dangerously close to sides (looking ahead) |
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#define IR2_INTEREST 300 // 25 cm: notably close to front |
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#define IR45_DANGER 150 // dangerously close to side (looking sideways) |
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int avoid_state; |
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int prev_state; /*State machine variable.*/ |
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int crazy_count; /*Counter for a 'get unstuck' behavior.*/ |
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uint8_t state; // current state of FSM: FORWARD, LEFT, RIGHT, SPIN |
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int16_t d1, d2, d3, d4, d5; // values returned by rangefinders |
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int backup_count; /*Counter for backup duration.*/ |
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int pControl; /*Proportional control variable, determines turn direction.*/ |
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int d1,d2,d3,d4,d5; /*The five distances taken in by IR.*/ |
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// initialize rangefinders and global variables |
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void run_around_init(void); |
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void run_around_init(void); |
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/* evaluate rangefinder input and update state |
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* call this function as often as possible to avoid collisions |
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*/ |
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void run_around_FSM(void); |
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// behave according to current state |
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void evaluate_state(void); |
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#endif |
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