root / trunk / code / behaviors / formation_control / circle_spacing / circle_spacing.c @ 1809
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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_spacing.h" |
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|
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enum role_e {MASTER,SLAVE};
|
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enum state_e {INIT, ID, MAPPING, PLANNING, WAIT, SENDING, RECIEVING, FINISH};
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|
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enum role_e role = SLAVE;
|
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enum state_e current_state = INIT;
|
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enum state_e next_state = INIT;
|
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int used[17] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; // if a robot is here, the value of the indice equal to its id is 1, esle 0 |
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int map[17] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; // Angular position of the robot which id equals the indice (20 for not here) |
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int neighbour[17] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; // clockwise neighbour |
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int gap[17] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; // gap to the left of the robot |
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int stop = 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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int robotid;
|
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int centerid = 0; |
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int robotsRecieved=0; |
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int target_slave = 0; |
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|
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|
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void set_desired_max_bom(int desired_angle) |
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{
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if (desired_angle >= 348 || desired_angle < 11) desired_max_bom = 0; |
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if (desired_angle >= 11 && desired_angle < 33) desired_max_bom = 1; |
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if (desired_angle >= 33 && desired_angle < 56) desired_max_bom = 2; |
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if (desired_angle >= 56 && desired_angle < 78) desired_max_bom = 3; |
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if (desired_angle >= 78 && desired_angle < 101) desired_max_bom = 4; |
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if (desired_angle >= 101 && desired_angle < 123) desired_max_bom = 5; |
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if (desired_angle >= 123 && desired_angle < 145) desired_max_bom = 6; |
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if (desired_angle >= 145 && desired_angle < 167) desired_max_bom = 7; |
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if (desired_angle >= 167 && desired_angle < 190) desired_max_bom = 8; |
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if (desired_angle >= 190 && desired_angle < 212) desired_max_bom = 9; |
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if (desired_angle >= 212 && desired_angle < 235) desired_max_bom = 10; |
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if (desired_angle >= 235 && desired_angle < 257) desired_max_bom = 11; |
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if (desired_angle >= 257 && desired_angle < 280) desired_max_bom = 12; |
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if (desired_angle >= 280 && desired_angle < 302) desired_max_bom = 13; |
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if (desired_angle >= 302 && desired_angle < 325) desired_max_bom = 14; |
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if (desired_angle >= 325 && desired_angle < 348) desired_max_bom = 15; |
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} |
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|
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// collects the angular position of the slave robots by making them switch their bom one by one.
|
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|
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void map_slaves()
|
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{
|
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int bom_max;
|
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|
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for(int i=0; i<17; i++) |
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{
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if(used[i])
|
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{
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send2(CIRCLE_ACTION_MAP,i); |
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delay_ms(1000);
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|
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do
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{
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bom_refresh(BOM_ALL); |
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bom_max = bom_get_max(); |
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} |
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while(bom_max == -1); |
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|
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map[i] = bom_max; |
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send2(CIRCLE_ACTION_DONE,i); |
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} |
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} |
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|
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usb_puts("Map: \r\n");
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for(int i=0; i<17; i++) |
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{
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usb_puti(map[i]); |
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usb_puts("\r\n");
|
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} |
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} |
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|
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void plan()
|
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{
|
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static int k = 0; |
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|
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target_slave++; |
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|
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if(target_slave>16) |
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{
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next_state = FINISH; |
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orb1_set_color(YELLOW); |
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} |
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else if(used[target_slave]) |
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{
|
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k++; |
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usb_puts("K: ");
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usb_puti(k); |
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usb_puts("\r\n");
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set_desired_max_bom(360/robotsRecieved*k);
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send2(CIRCLE_ACTION_MOVE,target_slave); |
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delay_ms(500);
|
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next_state = SENDING; |
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} |
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|
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|
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} |
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|
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void plan2()
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{
|
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int order[robotsRecieved];
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int check[17] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
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for(int i=0; i<robotsRecieved; i++) |
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{
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int current;
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int min = 20; |
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for(int j=0; j<17; j++) |
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{
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if(map[j]<min && !check[j])
|
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{
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current = j; |
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min = map[j]; |
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usb_puts("Test \r\n");
|
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} |
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|
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} |
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order[i]=current; |
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check[current]=1;
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|
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usb_puti(i); |
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usb_puts(" Current: ");
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usb_puti(current); |
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usb_puts("\r\n");
|
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} |
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usb_puts("Order: \r\n");
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for(int i=0; i<robotsRecieved; i++) |
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{ usb_puti(i);
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usb_puts(" ");
|
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usb_puti(order[i]); |
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usb_puts("\r\n");
|
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} |
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|
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for(int i=0; i<robotsRecieved; i++) |
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{
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if(i==robotsRecieved-1) gap[order[i]]= map[order[0]] - map[order[i]] +16; // closes the loop |
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else gap[order[i]]= map[order[i+1]] - map[order[i]]; |
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} |
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|
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usb_puts("Gap: \r\n");
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for(int i=0; i<17; i++) |
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{
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usb_puti(gap[i]); |
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usb_puts("\r\n");
|
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} |
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|
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for(int i=0; i<robotsRecieved; i++) |
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{
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if(i==0) neighbour[order[i]]=order[robotsRecieved-1]; |
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else neighbour[order[i]]=order[i-1]; |
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|
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} |
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|
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usb_puts("Neighbour: \r\n");
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for(int i=0; i<17; i++) |
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{
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usb_puti(neighbour[i]); |
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usb_puts("\r\n");
|
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} |
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} |
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|
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void plan3()
|
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{
|
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static int move_counter =0; |
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int max = 0; |
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int move_gap = 0; |
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|
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for(int j=0; j<17; j++) |
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{
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if(gap[j]>max && gap[j]!=20) |
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{
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target_slave = j; |
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max = gap[j]; |
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} |
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|
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} |
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|
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move_counter++; |
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if(move_counter==robotsRecieved) next_state = FINISH;
|
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else
|
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{
|
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move_gap = gap[target_slave]-16/robotsRecieved;
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desired_max_bom = map[target_slave]+move_gap; |
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if(desired_max_bom>15) desired_max_bom-=16; |
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gap[target_slave]-=move_gap; |
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gap[neighbour[target_slave]] += move_gap; |
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usb_puts("Target:");
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usb_puti(target_slave); |
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usb_puts(" Destination:");
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usb_puti(desired_max_bom); |
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usb_puts("\n\r");
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send2(CIRCLE_ACTION_MOVE,target_slave); |
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delay_ms(500);
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next_state = SENDING; |
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} |
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} |
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|
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|
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void switch_state ()
|
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{
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switch(role)
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{
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case MASTER:
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switch(current_state)
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{
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case PLANNING:
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orb1_set_color(RED); |
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break;
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case SENDING:
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bom_off(); |
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break;
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} |
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|
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|
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switch(next_state)
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{
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case ID:
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send2(CIRCLE_ACTION_EXIST,robotid); |
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break;
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|
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case MAPPING:
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map_slaves(); |
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plan2(); |
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break;
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|
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case PLANNING:
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|
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orb1_set_color(PINK); |
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break;
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|
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case SENDING:
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bom_on(); |
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break;
|
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|
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case RECIEVING:
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break;
|
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} |
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break;
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|
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case SLAVE:
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switch(current_state)
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{
|
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case SENDING:
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bom_off(); |
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break;
|
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|
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} |
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|
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|
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switch(next_state)
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{
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case ID:
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|
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break;
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|
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case MAPPING:
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orb1_set_color(PINK); |
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break;
|
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|
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case SENDING:
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bom_on(); |
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break;
|
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|
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case RECIEVING:
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bom_off(); |
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break;
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case FINISH:
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motor_l_set(FORWARD,0);
|
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motor_r_set(FORWARD,0);
|
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orb1_set_color(YELLOW); |
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break;
|
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} |
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break;
|
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} |
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|
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|
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current_state = next_state; |
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} |
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|
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|
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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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|
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|
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int main(void) |
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{
|
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|
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|
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int sending_counter = 0; |
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int waitingCounter=0; |
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int max_bom;
|
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|
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/* Initialize dragonfly board */
|
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|
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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wl_basic_init_default(); |
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wl_set_channel(12);
|
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int data_length;
|
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unsigned char *packet_data; |
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char send_buffer[2]; |
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|
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|
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robotid = get_robotid(); |
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|
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if(wheel()>100) |
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{
|
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role = MASTER; |
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} |
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|
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|
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if(role == MASTER) {orb2_set_color(RED); set_desired_max_bom(30);} |
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else orb2_set_color(BLUE);
|
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|
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|
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while(1) |
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{
|
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|
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|
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bom_refresh(BOM_ALL); |
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|
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|
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if(current_state != next_state) switch_state();
|
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|
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|
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switch(role)
|
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|
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{
|
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case MASTER:
|
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|
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|
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switch(current_state)
|
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{
|
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case INIT:
|
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next_state = ID; |
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break;
|
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case ID:
|
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|
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waitingCounter++; |
| 358 |
|
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|
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if(packet_data!=0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_ACK) |
| 361 |
{
|
| 362 |
|
| 363 |
//only add to robots seen if you haven't gotten an ACK from this robot
|
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if(used[packet_data[1]]==0) |
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{
|
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robotsRecieved++; |
| 367 |
used[packet_data[1]] = 1; |
| 368 |
|
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usb_puts("Added: ");
|
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usb_puti(packet_data[1]);
|
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usb_puts("\r\n");
|
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} |
| 373 |
|
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// NEW: sends a packet to each robot it receives telling them to be done.
|
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send2(CIRCLE_ACTION_GOTYOU,packet_data[1]);
|
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} |
| 377 |
if(waitingCounter >= 300){ |
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next_state = MAPPING; |
| 379 |
} |
| 380 |
break;
|
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|
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case MAPPING:
|
| 383 |
|
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next_state = PLANNING; |
| 385 |
break;
|
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|
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case PLANNING:
|
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plan3(); |
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break;
|
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|
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case SENDING:
|
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|
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if(sending_counter++>4) // clock for switching the BOMs between the master and slave |
| 394 |
{
|
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next_state = RECIEVING; |
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sending_counter = 0;
|
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send2(CIRCLE_ACTION_CHANGE,target_slave); |
| 398 |
} |
| 399 |
break;
|
| 400 |
|
| 401 |
case RECIEVING:
|
| 402 |
|
| 403 |
if(sending_counter++>4) // clock for switching the BOMs between the master and slave |
| 404 |
{
|
| 405 |
next_state = SENDING; |
| 406 |
sending_counter = 0;
|
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send2(CIRCLE_ACTION_CHANGE,target_slave); |
| 408 |
} |
| 409 |
|
| 410 |
max_bom = bom_get_max(); |
| 411 |
//usb_puts("bom_get_max : ");
|
| 412 |
//usb_puti(max_bom);
|
| 413 |
//usb_puts("\n\r");
|
| 414 |
|
| 415 |
if(max_bom == desired_max_bom)
|
| 416 |
{
|
| 417 |
bom_max_counter ++; |
| 418 |
if(bom_max_counter>2) // only stops the slave if two consecutive boms reading give the desired bom as the max one. Filters the noise. |
| 419 |
{
|
| 420 |
send2(CIRCLE_ACTION_STOP,target_slave); |
| 421 |
next_state = PLANNING; |
| 422 |
bom_max_counter = 0;
|
| 423 |
} |
| 424 |
|
| 425 |
} |
| 426 |
else bom_max_counter = 0; |
| 427 |
break;
|
| 428 |
|
| 429 |
} |
| 430 |
|
| 431 |
break;
|
| 432 |
|
| 433 |
|
| 434 |
|
| 435 |
case SLAVE:
|
| 436 |
|
| 437 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_STOP && packet_data[1] == robotid) next_state = FINISH; |
| 438 |
|
| 439 |
|
| 440 |
|
| 441 |
switch(current_state)
|
| 442 |
{
|
| 443 |
case INIT:
|
| 444 |
next_state = ID; |
| 445 |
break;
|
| 446 |
|
| 447 |
case ID:
|
| 448 |
|
| 449 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_EXIST) |
| 450 |
{
|
| 451 |
centerid = packet_data[1];
|
| 452 |
|
| 453 |
send2(CIRCLE_ACTION_ACK,robotid); |
| 454 |
|
| 455 |
next_state = MAPPING; |
| 456 |
|
| 457 |
} |
| 458 |
break;
|
| 459 |
|
| 460 |
case MAPPING:
|
| 461 |
|
| 462 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_MAP && packet_data[1] == robotid) |
| 463 |
{
|
| 464 |
bom_on(); |
| 465 |
} |
| 466 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_DONE && packet_data[1] == robotid) |
| 467 |
{
|
| 468 |
bom_off(); |
| 469 |
next_state = PLANNING; |
| 470 |
} |
| 471 |
|
| 472 |
case PLANNING:
|
| 473 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_MOVE && packet_data[1] == robotid) |
| 474 |
{
|
| 475 |
next_state = RECIEVING; |
| 476 |
} |
| 477 |
break;
|
| 478 |
|
| 479 |
case SENDING:
|
| 480 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_CHANGE && packet_data[1] == robotid) |
| 481 |
next_state = RECIEVING; |
| 482 |
break;
|
| 483 |
|
| 484 |
case RECIEVING:
|
| 485 |
|
| 486 |
if(packet_data != 0 && data_length>=2 && packet_data[0]==CIRCLE_ACTION_CHANGE && packet_data[1] == robotid) |
| 487 |
next_state = SENDING; |
| 488 |
|
| 489 |
if(stop)
|
| 490 |
{
|
| 491 |
motor_l_set(FORWARD,0);
|
| 492 |
motor_r_set(FORWARD,0);
|
| 493 |
orb1_set_color(GREEN); |
| 494 |
} |
| 495 |
|
| 496 |
else
|
| 497 |
{
|
| 498 |
max_bom = bom_get_max(); |
| 499 |
/*usb_puts("bom_get_max : ");
|
| 500 |
usb_puti(max_bom);
|
| 501 |
usb_puts("/n/r");*/
|
| 502 |
|
| 503 |
|
| 504 |
if(max_bom == 8) |
| 505 |
{
|
| 506 |
orb2_set_color(BLUE); |
| 507 |
motor_r_set(FORWARD,180);
|
| 508 |
motor_l_set(FORWARD,180);
|
| 509 |
|
| 510 |
} |
| 511 |
else if(max_bom == 7 || max_bom == 6 || max_bom == 5) |
| 512 |
{
|
| 513 |
motor_l_set(FORWARD,180);
|
| 514 |
motor_r_set(FORWARD,0);
|
| 515 |
} |
| 516 |
else if(max_bom == -1); |
| 517 |
else
|
| 518 |
{
|
| 519 |
orb2_set_color(GREEN); |
| 520 |
motor_l_set(FORWARD,0);
|
| 521 |
motor_r_set(FORWARD,180);
|
| 522 |
} |
| 523 |
} |
| 524 |
break;
|
| 525 |
|
| 526 |
} |
| 527 |
|
| 528 |
break;
|
| 529 |
} |
| 530 |
|
| 531 |
packet_data = wl_basic_do_default(&data_length); |
| 532 |
delay_ms(10);
|
| 533 |
} |
| 534 |
|
| 535 |
|
| 536 |
return 0; |
| 537 |
|
| 538 |
|
| 539 |
|
| 540 |
|
| 541 |
} |
| 542 |
|
| 543 |
|
| 544 |
|
| 545 |
|
| 546 |
|
| 547 |
|
| 548 |
|
| 549 |
|
| 550 |
|
| 551 |
|
| 552 |
|
| 553 |
|
| 554 |
|
| 555 |
|
| 556 |
|
| 557 |
|
| 558 |
|
| 559 |
|
| 560 |
|
| 561 |
|
| 562 |
|
| 563 |
|
| 564 |
|
| 565 |
|
| 566 |
|
| 567 |
|
| 568 |
|
| 569 |
|
| 570 |
|
| 571 |
|
| 572 |
|
| 573 |
|
| 574 |
|
| 575 |
|
| 576 |
/*
|
| 577 |
|
| 578 |
|
| 579 |
// Code working for a single slave orbiting around the master, with only one direction (tested on 07.04.2010)
|
| 580 |
|
| 581 |
|
| 582 |
#include <dragonfly_lib.h>
|
| 583 |
#include <wl_basic.h>
|
| 584 |
#include<encoders.h>
|
| 585 |
|
| 586 |
|
| 587 |
int master = 0;
|
| 588 |
int sending = 0;
|
| 589 |
int stop = 0;
|
| 590 |
struct vector slave_position;
|
| 591 |
int desired_max_bom;
|
| 592 |
int bom_max_counter;
|
| 593 |
|
| 594 |
|
| 595 |
void set_desired_max_bom(int desired_angle)
|
| 596 |
{
|
| 597 |
if (desired_angle >= 348 || desired_angle < 11) desired_max_bom = 0;
|
| 598 |
if (desired_angle >= 11 && desired_angle < 33) desired_max_bom = 1;
|
| 599 |
if (desired_angle >= 33 && desired_angle < 56) desired_max_bom = 2;
|
| 600 |
if (desired_angle >= 56 && desired_angle < 78) desired_max_bom = 3;
|
| 601 |
if (desired_angle >= 78 && desired_angle < 101) desired_max_bom = 4;
|
| 602 |
if (desired_angle >= 101 && desired_angle < 123) desired_max_bom = 5;
|
| 603 |
if (desired_angle >= 123 && desired_angle < 145) desired_max_bom = 6;
|
| 604 |
if (desired_angle >= 145 && desired_angle < 167) desired_max_bom = 7;
|
| 605 |
if (desired_angle >= 167 && desired_angle < 190) desired_max_bom = 8;
|
| 606 |
if (desired_angle >= 190 && desired_angle < 212) desired_max_bom = 9;
|
| 607 |
if (desired_angle >= 212 && desired_angle < 235) desired_max_bom = 10;
|
| 608 |
if (desired_angle >= 235 && desired_angle < 257) desired_max_bom = 11;
|
| 609 |
if (desired_angle >= 257 && desired_angle < 280) desired_max_bom = 12;
|
| 610 |
if (desired_angle >= 280 && desired_angle < 302) desired_max_bom = 13;
|
| 611 |
if (desired_angle >= 302 && desired_angle < 325) desired_max_bom = 14;
|
| 612 |
if (desired_angle >= 325 && desired_angle < 348) desired_max_bom = 15;
|
| 613 |
}
|
| 614 |
|
| 615 |
|
| 616 |
|
| 617 |
|
| 618 |
|
| 619 |
|
| 620 |
void switch_sending ()
|
| 621 |
{
|
| 622 |
if(sending)
|
| 623 |
{
|
| 624 |
sending = 0;
|
| 625 |
bom_off();
|
| 626 |
}
|
| 627 |
else
|
| 628 |
{
|
| 629 |
sending = 1;
|
| 630 |
bom_on();
|
| 631 |
}
|
| 632 |
}
|
| 633 |
|
| 634 |
|
| 635 |
|
| 636 |
int main(void)
|
| 637 |
{
|
| 638 |
|
| 639 |
|
| 640 |
|
| 641 |
int sending_counter = 0;
|
| 642 |
|
| 643 |
// Initialize dragonfly board
|
| 644 |
|
| 645 |
dragonfly_init(ALL_ON);
|
| 646 |
xbee_init();
|
| 647 |
wl_basic_init_default();
|
| 648 |
wl_set_channel(12);
|
| 649 |
int data_length;
|
| 650 |
unsigned char *packet_data;
|
| 651 |
char send_buffer[2];
|
| 652 |
|
| 653 |
|
| 654 |
if(wheel()>100)
|
| 655 |
{
|
| 656 |
master = 1;
|
| 657 |
}
|
| 658 |
|
| 659 |
|
| 660 |
if(master) {orb1_set_color(RED); set_desired_max_bom(30);}
|
| 661 |
else orb1_set_color(BLUE);
|
| 662 |
|
| 663 |
|
| 664 |
while(1)
|
| 665 |
{
|
| 666 |
|
| 667 |
|
| 668 |
|
| 669 |
|
| 670 |
bom_refresh(BOM_ALL);
|
| 671 |
|
| 672 |
|
| 673 |
|
| 674 |
if(master)
|
| 675 |
{
|
| 676 |
|
| 677 |
if(sending_counter++>4) // clock for switching the BOMs between the master and slave
|
| 678 |
{
|
| 679 |
switch_sending();
|
| 680 |
sending_counter = 0;
|
| 681 |
send_buffer[0] = 'a';
|
| 682 |
wl_basic_send_global_packet(42, send_buffer, 1);
|
| 683 |
}
|
| 684 |
|
| 685 |
|
| 686 |
if(sending)
|
| 687 |
{
|
| 688 |
|
| 689 |
|
| 690 |
|
| 691 |
|
| 692 |
|
| 693 |
}
|
| 694 |
|
| 695 |
else // recieving
|
| 696 |
{
|
| 697 |
int max_bom = bom_get_max();
|
| 698 |
usb_puts("bom_get_max : ");
|
| 699 |
usb_puti(max_bom);
|
| 700 |
usb_puts("\n\r");
|
| 701 |
|
| 702 |
if(max_bom == desired_max_bom)
|
| 703 |
{
|
| 704 |
if(bom_max_counter) // only stops the slave if two consecutive boms reading give the desired bom as the max one. Filters the noise.
|
| 705 |
{
|
| 706 |
send_buffer[0] = 's';
|
| 707 |
wl_basic_send_global_packet(42, send_buffer, 2);
|
| 708 |
}
|
| 709 |
bom_max_counter =1;
|
| 710 |
}
|
| 711 |
else bom_max_counter = 0;
|
| 712 |
|
| 713 |
}
|
| 714 |
}
|
| 715 |
|
| 716 |
|
| 717 |
|
| 718 |
else // slave
|
| 719 |
{
|
| 720 |
if(packet_data[0]=='s') stop=1;
|
| 721 |
if(packet_data[0]=='a') switch_sending();
|
| 722 |
|
| 723 |
if(sending)
|
| 724 |
{
|
| 725 |
|
| 726 |
}
|
| 727 |
|
| 728 |
else // recieving
|
| 729 |
{
|
| 730 |
|
| 731 |
if(stop)
|
| 732 |
{
|
| 733 |
motor_l_set(FORWARD,0);
|
| 734 |
motor_r_set(FORWARD,0);
|
| 735 |
orb1_set_color(GREEN);
|
| 736 |
}
|
| 737 |
|
| 738 |
else
|
| 739 |
{
|
| 740 |
int max_bom = bom_get_max();
|
| 741 |
|
| 742 |
|
| 743 |
|
| 744 |
if(max_bom == 8)
|
| 745 |
{
|
| 746 |
orb2_set_color(BLUE);
|
| 747 |
motor_r_set(FORWARD,180);
|
| 748 |
motor_l_set(FORWARD,180);
|
| 749 |
|
| 750 |
}
|
| 751 |
else if(max_bom == 7 || max_bom == 6 || max_bom == 5)
|
| 752 |
{
|
| 753 |
motor_l_set(FORWARD,180);
|
| 754 |
motor_r_set(FORWARD,0);
|
| 755 |
}
|
| 756 |
else if(max_bom == -1);
|
| 757 |
else
|
| 758 |
{
|
| 759 |
orb2_set_color(GREEN);
|
| 760 |
motor_l_set(FORWARD,0);
|
| 761 |
motor_r_set(FORWARD,180);
|
| 762 |
}
|
| 763 |
}
|
| 764 |
|
| 765 |
|
| 766 |
}
|
| 767 |
|
| 768 |
|
| 769 |
}
|
| 770 |
|
| 771 |
packet_data = wl_basic_do_default(&data_length);
|
| 772 |
delay_ms(10);
|
| 773 |
}
|
| 774 |
|
| 775 |
|
| 776 |
return 0;
|
| 777 |
|
| 778 |
|
| 779 |
|
| 780 |
|
| 781 |
}
|
| 782 |
|
| 783 |
|
| 784 |
|
| 785 |
*/
|
| 786 |
|