root / trunk / code / behaviors / formation_control / circle / circle.c @ 1749
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/*** PROGRAM INFORMATION ***
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This program assembles a group of robots into a circle and allows them movement
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within that formation. Robots should be able to break formation and travel as a
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line, readjust in the face of obstacles, and reform if conditions are necessary.
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The program begins waiting for a button press. When pressed, a robot assumes the
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BEACON position, which means that it is the robot in the center of the circle and
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therefore in charge. It then gathers robots around it by sending them commands.
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This code is executed using two finite state machines, nested inside one another.
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One controls the overall state of the robot (whether it is a BEACON, an EDGE, or
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WAITING, for example).
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This code should be implemented so that most useful functions are built in to the
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machine. For example, the BEACON robot should be able to call methods such as
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CircleUp() to gather robots around it, and Move(distance) to move the circle group
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all at once.
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This Code is the property of the Carnegie Mellon Robotics Club and is being used
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to test formation control in a low-cost robot colony. Thanks to all members of
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RoboClub, especially Colony president John Sexton and the ever-present Chris Mar.
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AUTHORS: James Carroll, Steve DeVincentis, Hanzhang (Echo) Hu, Nico Paris, Joel Rey,
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Reva Street, Alex Zirbel */
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include <encoders.h> |
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#include "circle.h" |
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/*** TODO: ***
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- Transform the code into a method-based state machine that uses the procedural state
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machines, which are hardcoded and hard to edit, as a backup.
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- Implement a drive straight method for use in keeping the robots more accurate as a
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group.
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- Fix the approach method: good robots usually work well, but bad robots often have
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errors which might be avoidable with the use of error checking.
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- Make robots more robust: packages are often lost, which throws the entire procedural
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nature of the program off.
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- Consider using the center bot to check distances
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- More testing is always good and necessary. */
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/*** BOT LOG ***
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4-1-2010: BOT 7 as BEACON and BOT 1 as EDGE worked extremely well.
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4-2-2010: BOT 7 and BOT 14 worked extremely well, no matter states. BOT 1 started
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well, but malfunctioned later. */
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/*** TERMINOLOGY ***
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WAITINGSTATE:
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The robot waits to be given a signal to do something. Wireless is on, in
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case the robot is called on to turn into an EDGE. The color should be LIME
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or YELLOW-GREEN.
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BEACON_CONTROL:
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The code that executes commands when a robot is turned to BEACON mode. This
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code may run predefined methods for simplicity. One goal is to make these
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methods change the robot turn to to BEACON_MACHINE mode for a while, and then
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return to the CONTROL code where they left off.
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EDGE_CONTROL:
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Like BEACON_CONTROL, executes whatever orders are required of the robot as an
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EDGE.
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BEACON_MACHINE:
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A hardcoded list of functions which the robot is capable of running through.
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Consists of a finite state machine, where the robot executes a set of commands
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in a procedural manner and then returns to wherever it was in the control code.
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EDGE_MACHINE:
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Like the BEACON_MACHINE, but contains the same sort of procedural information
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for EDGE robots.
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END:
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A terminal state of the machine, where the robot just sits and waits. The
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color should be GREEN and WHITE.
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TYPES OF WIRELESS PACKETS:
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CIRCLE_ACTION_EXIST 'E'
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CIRCLE_ACTION_POSITION 'P'
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CIRCLE_ACTION_ACK 'A'
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A general acknowledgement package.
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CIRCLE_ACTION_DONE 'D'
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Used by robots to tell when they have finished their action.
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CIRCLE_ACTION_GOTYOU 'G'
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Used by the BEACON to tell a robot when it has been checked off.
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At this point, the EDGE has been recognized. Used for times when
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all EDGE robots have to communicate to the center via the spam method.
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CIRCLE_ACTION_FORWARD 'F'
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The BEACON tells the rest of the robots to move forward.
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CIRCLE_CLAIM_CENTER 'C'
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Sent out by a robot when it takes over as BEACON. */
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int END = 100; |
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int WAITINGSTATE = 0; /* Define some variables to keep track of the state machine.*/ |
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int EDGE_CONTROL = 1; |
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int BEACON_CONTROL = 2; |
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int EDGE_MACHINE = 3; |
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int BEACON_MACHINE = 4; |
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int timeout = 0; |
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int sending = 0; |
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int stop2 = 0; |
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struct vector slave_position;
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int desired_max_bom;
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int bom_max_counter;
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void switch_sending(void) |
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{
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if(sending)
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{
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sending = 0;
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bom_off(); |
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} |
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else
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{
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sending = 1;
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bom_on(); |
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} |
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} |
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void forward(int speed){ // set the motors to this forward speed. |
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motor_l_set(FORWARD,speed); |
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motor_r_set(FORWARD,speed); |
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} |
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void left(int speed){ // turn left at this speed. |
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motor_l_set(FORWARD,speed); |
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motor_r_set(BACKWARD,speed); |
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} |
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void right(int speed){ |
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motor_l_set(BACKWARD,speed); |
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motor_r_set(FORWARD,speed); |
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} |
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void stop(void){ // could be set to motors_off(), or just use this as an alternative. |
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motor_l_set(BACKWARD,0); // stop() is better - motors_off() creates a slight delay to turn them back on. |
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motor_r_set(FORWARD,0);
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} |
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void setforward(int spd1, int spd2){ |
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motor_l_set(FORWARD,spd1); |
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motor_r_set(FORWARD,spd2); |
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} |
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void backward(int speed){ |
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motor_l_set(BACKWARD, speed); |
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motor_r_set(BACKWARD, speed); |
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} |
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int get_distance(void){ // takes an averaged reading of the front rangefinder |
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int temp,distance,kk=5; // kk sets this to 5 readings. |
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distance =0;
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for (int i=0; i<kk; i++){ |
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temp = range_read_distance(IR2); |
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if (temp == -1) |
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{
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//temp=0;
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i--; |
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} |
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else
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distance+= temp; |
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delay_ms(3);
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} |
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if (kk>0) |
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return (int)(distance/kk); |
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else
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return 0; |
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} |
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/* Sends a global packet with two arguments */
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void send2(char arg0, char arg1) |
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{
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char send_buffer[2]; |
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send_buffer[0]=arg0;
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send_buffer[1]=arg1;
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wl_basic_send_global_packet(42,send_buffer,2); |
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} |
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/* Sends a global packet with three arguments */
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void send3(char arg0, char arg1, char arg2) |
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{
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char send_buffer[3]; |
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send_buffer[0]=arg0;
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send_buffer[1]=arg1;
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send_buffer[2]=arg2;
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wl_basic_send_global_packet(42,send_buffer,3); |
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} |
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/*
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Orients the robot so that it is facing the beacon (or the broadcasting BOM).
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*/
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void correctTurn(void) |
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{
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orb1_set_color(BLUE); // BLUE and PURPLE
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left(220);
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while(1) |
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{
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int bomNum = 0; // bomNum is the current maximum reading |
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bom_refresh(BOM_ALL); |
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bomNum = bom_get_max(); |
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usb_puti(bomNum); |
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if(bomNum == 4) // when it's turned the right way, stop |
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{
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timeout = 0;
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//motor_l_set(1, 200);
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//motor_r_set(1, 200);
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break; // exits the while() loop to stop the method |
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} |
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else // facing the wrong way |
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{
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if(bomNum == -1) |
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{
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timeout++; |
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if(timeout > 5000) // if it's been looking too long, move a little bit as it turns |
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{
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motor_r_set(FORWARD, 210);
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motor_l_set(BACKWARD, 190);
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} |
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} |
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else if((bomNum >= 12) || (bomNum < 4)) |
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{
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motor_l_set(FORWARD, 200);
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motor_r_set(BACKWARD, 200);
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timeout = 0;
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} |
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else
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{
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motor_l_set(BACKWARD, 200);
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motor_r_set(FORWARD, 200);
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timeout = 0;
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} |
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} |
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} |
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return;
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} |
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/*
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BLINK the given number times
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*/
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void blink(int num) |
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{
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for(int i = 0; i<num; i++) |
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{
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orb_set_color(ORB_OFF); |
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delay_ms(150);
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orb_set_color(RED); |
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delay_ms(50);
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} |
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orb_set_color(ORB_OFF); |
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} |
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/*
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BLINK slowly the given number times
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*/
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void slowblink(int num) |
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{
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for(int i = 0; i<num; i++) |
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{
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orb_set_color(ORB_OFF); |
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delay_ms(300);
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orb_set_color(RED); |
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delay_ms(200);
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} |
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orb_set_color(ORB_OFF); |
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} |
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//*****************************************************************************************************************************************************************************************
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//*****************************************************************************************************************************************************************************************
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//*****************************************************************************************************************************************************************************************
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/*
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A state machine with five states. The robot starts out in WAITINGSTATE mode, from which
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it recieves a signal of some sort and moves to a different state.
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*/
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int main(void) |
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{
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/* Initialize dragonfly board */
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dragonfly_init(ALL_ON); |
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/* Initialize the basic wireless library */
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wl_basic_init_default(); |
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/* Set the XBee channel to 24 - must be standard among robots */
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wl_set_channel(24);
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int robotid = get_robotid();
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int centerid = 0; // once the EDGE gets the first signal from a center, it stores who the center is. |
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int used[17]; // stores a list of bots which are in the group by storing a "1" in the array if the robot of that index is in the group. |
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for (int i=0; i<17; i++) used[i] = 0; // initially, no robots in the group. |
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int data_length; // keeps track of the length of wireless packets received. |
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unsigned char *packet_data=wl_basic_do_default(&data_length); |
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int state = WAITINGSTATE;
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int beacon_State=0; // these variables keep track of the inner state machines in the procedural MACHINE states. |
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int edge_State=0; |
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int waitingCounter=0; |
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int robotsReceived=0; // an important variable that stores the size of the group. |
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int offset = 20; // offset for the approaching: how far off the rangefinders can be |
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int time=0; |
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int direction = 4; // keeps track of which way robots are facing relative to the center |
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int distance=1000; // how far away the robot is. Initialized to a large value to ensure that the robot doesn't think it is already the |
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// right distance away.
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int onefoot = 250; // how far away to stop. |
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while(1) |
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{
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bom_refresh(BOM_ALL); |
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/*
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*******EXPECTED MOVES ********** (OUT OF DATE. Will be updated once changes have been made.)
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The designed movement:
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1. one center robot, several edge robots are on;
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2. center robots: button 1 is pressed;
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3. center robots: send global package telling edges that he exists;
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4. EDGE robots response with ACK.
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5. EDGE robots wait for center robots to finish counting (DONE package)
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6. EDGE robtos approach the center robtot and stop at the "onefoot" distance, send message to the center
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*/
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/* This is the MAIN SWITCH LOOP, which governs the overall status of the robot. */
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switch(state)
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{
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/*
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The WAITINGSTATE. This state constantly checks for wireless packets,
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and updates its state as soon as it receives a signal.
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*/
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case 0: |
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packet_data=wl_basic_do_default(&data_length); |
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if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_CLAIM_CENTER) |
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{
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centerid = packet_data[1];
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send2(CIRCLE_ACTION_ACK,robotid); |
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state = EDGE_CONTROL; |
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} |
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if(button1_read())
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{
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send2(CIRCLE_CLAIM_CENTER, robotid); // becomes the center if button1 is clicked.
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} |
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break;
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//***********************************************************************************************************************************************************************************
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/*
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The CONTROL for the EDGE state. This sets a certain procedure to follow, in the form of simple
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commands, for a robot to follow if it is set to an EDGE.
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*/
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case 1: |
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break;
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//***********************************************************************************************************************************************************************************
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/*
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The CONTROL for the BEACON state. This sets a certain procedure to follow, in the form of simple
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commands, for a robot to follow if it is set to a BEACON.
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*/
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case 2: |
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break;
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//***********************************************************************************************************************************************************************************
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/*
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The MACHINE for the EDGE state.
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*/
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case 3: |
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switch(edge_State)
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{
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/*
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0. EDGE robots are on.
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1. They are waiting for EXIST pacakage from the Center robots
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2. After they receive the package, they send ACK package to center.
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3. Done for now: display green.
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*/
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case 0: |
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bom_off(); |
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orb1_set_color(YELLOW); |
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orb2_set_color(CYAN); |
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packet_data=wl_basic_do_default(&data_length); |
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if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_EXIST) |
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{
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centerid = packet_data[1];
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send2(CIRCLE_ACTION_ACK,robotid); |
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edge_State=1;
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} |
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break;
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/*
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1. Wait for DONE package
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2. The counting process is DONE
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*/
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case 1: |
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orb_set_color(YELLOW); |
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orb2_set_color(PURPLE); |
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send2(CIRCLE_ACTION_ACK,robotid); // keep sending the packet until we get a response
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packet_data=wl_basic_do_default(&data_length); |
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if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_GOTYOU && packet_data[1] == robotid) |
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{
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edge_State=2;
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} |
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break;
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case 2: // wait for the second, general, done packet. |
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orb_set_color(YELLOW); |
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packet_data=wl_basic_do_default(&data_length); |
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if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE && packet_data[1] == centerid) |
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{
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edge_State=3;
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} |
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break;
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case 3: |
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// COLOR afer DONE ---> MAGENTA
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orb_set_color(MAGENTA); |
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correctTurn(); // turn to face the beacon
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forward(175);
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//range_init();
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distance = get_distance(); |
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time=0;
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while ((distance-offset)>=onefoot || distance==0 || (distance+offset)<onefoot) |
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{
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if(distance==0) |
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orb_set_color(WHITE); |
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else if(distance-offset>=onefoot) |
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forward(175);
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else
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backward(175);
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//correctApproach();
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distance = get_distance(); |
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delay_ms(14);
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time+=14;
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if(time>50) |
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{
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correctTurn(); |
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time=0;
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} |
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} |
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stop(); |
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orb_set_color(GREEN); |
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send2(CIRCLE_ACTION_ACK, robotid); |
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stop(); |
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edge_State=4;
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break;
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// waits for a packet to tell it to turn on the bom.
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case 4: |
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packet_data=wl_basic_do_default(&data_length); |
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if(packet_data != 0 && data_length==2 && packet_data[0]==CIRCLE_ACTION_GOTYOU && packet_data[1] == robotid) |
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{
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bom_on(); |
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orb_set_color(ORANGE); |
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send2(CIRCLE_ACTION_ACK,centerid); |
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edge_State = 5;
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} |
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break;
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// waits for a packet to tell it that it has been received.
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case 5: |
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orb2_set_color(YELLOW); |
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packet_data=wl_basic_do_default(&data_length); |
| 505 |
if(packet_data != 0 && data_length==3 && packet_data[0]==CIRCLE_ACTION_GOTYOU && packet_data[1] == robotid) |
| 506 |
{
|
| 507 |
bom_off(); |
| 508 |
direction = packet_data[2];
|
| 509 |
orb_set_color(YELLOW); |
| 510 |
edge_State = 6;
|
| 511 |
} |
| 512 |
break;
|
| 513 |
|
| 514 |
/* Wait for the center bot to send a DONE packet; then turn to face the right direction. */
|
| 515 |
case 6: |
| 516 |
orb_set_color(GREEN); |
| 517 |
packet_data=wl_basic_do_default(&data_length); |
| 518 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE) |
| 519 |
{
|
| 520 |
orb_set_color(WHITE); |
| 521 |
orb2_set_color(CYAN); |
| 522 |
edge_State = 7;
|
| 523 |
} |
| 524 |
break;
|
| 525 |
|
| 526 |
/* Turn until we reach the right direction (DIRECTION) */
|
| 527 |
case 7: |
| 528 |
left(170);
|
| 529 |
bom_refresh(BOM_ALL); |
| 530 |
if(bom_get_max() == direction)
|
| 531 |
{
|
| 532 |
stop(); |
| 533 |
orb_set_color(YELLOW); |
| 534 |
edge_State = 8;
|
| 535 |
} |
| 536 |
break;
|
| 537 |
|
| 538 |
/* Wait for the command to move forward. */
|
| 539 |
case 8: |
| 540 |
packet_data=wl_basic_do_default(&data_length); |
| 541 |
if(packet_data != 0 && data_length>=3 && packet_data[0]==CIRCLE_ACTION_FORWARD) |
| 542 |
{
|
| 543 |
orb_set_color(BLUE); |
| 544 |
forward(200);
|
| 545 |
delay_ms(2000);
|
| 546 |
edge_State = END; |
| 547 |
} |
| 548 |
break;
|
| 549 |
|
| 550 |
/* Terminal. */
|
| 551 |
case 100: |
| 552 |
stop(); |
| 553 |
orb_set_color(GREEN); |
| 554 |
orb2_set_color(WHITE); |
| 555 |
while(1); |
| 556 |
break;
|
| 557 |
|
| 558 |
|
| 559 |
} // end the EdgeState switch
|
| 560 |
|
| 561 |
break; // break the Edge state in the main switch loop |
| 562 |
|
| 563 |
// END for EDGE robots
|
| 564 |
|
| 565 |
|
| 566 |
|
| 567 |
|
| 568 |
|
| 569 |
|
| 570 |
//***********************************************************************************************************************************************************************************
|
| 571 |
|
| 572 |
|
| 573 |
|
| 574 |
|
| 575 |
/*
|
| 576 |
The MACHINE for the BEACON state
|
| 577 |
*/
|
| 578 |
case 4: |
| 579 |
switch(beacon_State)
|
| 580 |
{
|
| 581 |
|
| 582 |
/* 0. center robots on wait for pressing button 1 */
|
| 583 |
case 0: |
| 584 |
bom_on(); |
| 585 |
orb_set_color(PURPLE); |
| 586 |
if(button1_click()) beacon_State=1; |
| 587 |
break;
|
| 588 |
|
| 589 |
/* 1. Send EXIST package to EDGE robots */
|
| 590 |
case 1: |
| 591 |
orb_set_color(RED); |
| 592 |
send2(CIRCLE_ACTION_EXIST,robotid); |
| 593 |
beacon_State=2;
|
| 594 |
break;
|
| 595 |
|
| 596 |
/* 2. Count the number of the EDGE robots *******NOTE: at most 1000 times of loop ****** */
|
| 597 |
case 2: |
| 598 |
waitingCounter++; |
| 599 |
orb1_set_color(YELLOW); |
| 600 |
orb2_set_color(BLUE); |
| 601 |
packet_data=wl_basic_do_default(&data_length); |
| 602 |
|
| 603 |
if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 604 |
{
|
| 605 |
orb_set_color(RED); |
| 606 |
orb2_set_color(BLUE); |
| 607 |
//only add to robots seen if you haven't gotten an ACK from this robot
|
| 608 |
if(used[packet_data[1]]==0) |
| 609 |
{
|
| 610 |
robotsReceived++; |
| 611 |
used[packet_data[1]] = 1; |
| 612 |
|
| 613 |
usb_puts("Added: ");
|
| 614 |
usb_puti(packet_data[1]);
|
| 615 |
usb_puts("\r\n");
|
| 616 |
} |
| 617 |
|
| 618 |
// NEW: sends a packet to each robot it receives telling them to be done.
|
| 619 |
send2(CIRCLE_ACTION_GOTYOU,packet_data[1]);
|
| 620 |
} |
| 621 |
if(waitingCounter >= 300){ |
| 622 |
beacon_State=3;
|
| 623 |
} |
| 624 |
break;
|
| 625 |
|
| 626 |
/* COUNTing is DONE. Sending DONE package. */
|
| 627 |
case 3: |
| 628 |
blink(robotsReceived); |
| 629 |
orb_set_color(GREEN); |
| 630 |
send2(CIRCLE_ACTION_DONE, robotid); |
| 631 |
beacon_State=4;
|
| 632 |
break;
|
| 633 |
|
| 634 |
/* Wait for all the robots to get to right distance/position */
|
| 635 |
case 4: |
| 636 |
left(170);
|
| 637 |
orb1_set_color(YELLOW); |
| 638 |
orb2_set_color(WHITE); |
| 639 |
|
| 640 |
int numOk = 0; |
| 641 |
|
| 642 |
while(numOk<robotsReceived)
|
| 643 |
{
|
| 644 |
packet_data=wl_basic_do_default(&data_length); |
| 645 |
if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 646 |
{
|
| 647 |
numOk++; |
| 648 |
} |
| 649 |
} |
| 650 |
|
| 651 |
beacon_State = 5;
|
| 652 |
break;
|
| 653 |
|
| 654 |
/* Turns all the robots in the same direction */
|
| 655 |
case 5: |
| 656 |
stop(); |
| 657 |
bom_off(); |
| 658 |
orb_set_color(ORANGE); |
| 659 |
|
| 660 |
// for each robot, tells them to turn their bom on, then tells them which way they should face.
|
| 661 |
for(int i=0; i < 17; i++) |
| 662 |
{
|
| 663 |
if(used[i] == 1) |
| 664 |
{
|
| 665 |
send2(CIRCLE_ACTION_GOTYOU, i); |
| 666 |
while(1) // waits for a response so it knows the BOM is on. |
| 667 |
{
|
| 668 |
orb_set_color(RED); |
| 669 |
orb2_set_color(WHITE); |
| 670 |
packet_data=wl_basic_do_default(&data_length); |
| 671 |
if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 672 |
{
|
| 673 |
orb_set_color(ORANGE); |
| 674 |
break;
|
| 675 |
} |
| 676 |
} |
| 677 |
|
| 678 |
bom_refresh(BOM_ALL); |
| 679 |
direction = bom_get_max(); |
| 680 |
direction += 8;
|
| 681 |
if(direction > 15) direction -= 16; |
| 682 |
send3(CIRCLE_ACTION_GOTYOU, i, direction); |
| 683 |
delay_ms(20);
|
| 684 |
} |
| 685 |
} |
| 686 |
beacon_State = 6;
|
| 687 |
break;
|
| 688 |
|
| 689 |
/* Sends a DONE packet to signify that it has read in all the robots' directions and sent packets.
|
| 690 |
Edge robots should now turn to face the right direction. */
|
| 691 |
case 6: |
| 692 |
send2(CIRCLE_ACTION_DONE,robotid); |
| 693 |
bom_on(); |
| 694 |
beacon_State = 7;
|
| 695 |
break;
|
| 696 |
|
| 697 |
/* Tells the robots to move forward and moves itself. */
|
| 698 |
case 7: |
| 699 |
orb_set_color(YELLOW); |
| 700 |
delay_ms(5000);
|
| 701 |
|
| 702 |
// format: type of ack, speed, time.
|
| 703 |
send3(CIRCLE_ACTION_FORWARD,200,2000); |
| 704 |
orb_set_color(BLUE); |
| 705 |
forward(200);
|
| 706 |
delay_ms(2000);
|
| 707 |
stop(); |
| 708 |
beacon_State = END; |
| 709 |
break;
|
| 710 |
|
| 711 |
/* Terminal. */
|
| 712 |
case 100: |
| 713 |
stop(); |
| 714 |
orb_set_color(GREEN); |
| 715 |
orb2_set_color(WHITE); |
| 716 |
while(1); |
| 717 |
break;
|
| 718 |
} |
| 719 |
break;
|
| 720 |
|
| 721 |
//***********************************************************************************************************************************************************************************
|
| 722 |
|
| 723 |
} // ends the main switch
|
| 724 |
} // ends the main while loop
|
| 725 |
|
| 726 |
orb_set_color(RED); // error, we should never break from the while loop!
|
| 727 |
|
| 728 |
while(1); /* END HERE, just in case something happened. This way we can see the red orb. */ |
| 729 |
} |
| 730 |
|
| 731 |
|