Revision 761
Svn gods be kind.
trunk/code/projects/slam/slam_analyzer.c | ||
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#include "slam_analyzer.h" |
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#include "slam_defs.h" |
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#include <stdio.h> |
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#include <stdlib.h> |
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|
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|
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void slam_analyze(RobotData* head){ |
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//The good stuff. |
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} |
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|
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|
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void slam_print_data(RobotData* head){ |
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if(head==NULL) printf("No data to display.\n"); |
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RobotData* iter = head; |
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BomNode* bomIter; |
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char i; |
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while(iter!= NULL){ |
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bomIter = iter->bom_head; |
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printf("Robot %x:\n",iter->id); |
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for(i=0;i<5;i++) |
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printf("\tSharp IR %i : %i\n\n",i,iter->IR[i]); |
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if(BomIter == NULL){ |
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printf("No Bom Data to Display\n\n\n"); |
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} |
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else{ |
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while(bomIter!=NULL){ |
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printf("\tBom reading for robot %x : %i",BomIter->id, BomIter->value); |
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bomIter = bomIter->next; |
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} |
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} |
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} |
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} |
trunk/code/projects/slam/slam_defs.h | ||
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#define SLAM_PACKET_GROUP 11 |
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#define CONTROL_PACKET_TYPE 'C' |
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#define REQUEST_PACKET_TYPE 'R' |
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#define ROBOT_RESPONSE 'I' |
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|
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#define MAX_ROBOTS 50 |
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|
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//Request Packet organization. |
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#define IR_1_LOC 0 |
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#define IR_2_LOC 1 |
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#define IR_3_LOC 2 |
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#define IR_4_LOC 3 |
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#define IR_5_LOC 4 |
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#define BOM_START_LOC 5 |
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|
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typedef struct bom_node{ |
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char value; |
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short int id; |
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struct bom_node* next; |
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} BomNode; |
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|
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typedef struct robot_data{ |
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short int id; |
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unsigned char IR[5]; |
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struct robot_data* next; |
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struct bom_node* bom_head; |
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} RobotData; |
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|
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RobotData* head_bot; |
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RobotData* current_bot; |
trunk/code/projects/slam/computer_main.c | ||
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#include <stdio.h> |
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#include <wireless.h> |
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#include <unistd.h> |
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#include <slam_defs.h> |
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|
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void handle_timeout(void); |
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void handle_response(int frame, int received); |
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void handle_receive(char type, int source, unsigned char* packet, int length); |
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void unregister(void); |
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void RobotData* getRobot(int id); |
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|
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RobotData* head_bot; |
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RobotData* current_bot; |
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int main(void) |
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{ |
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PacketGroupHandler* pgh = malloc(sizeof(PacketGroupHandler)); |
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pgh->groupCode = SLAM_PACKET_GROUP; |
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pgh->timeout_handler = handle_timeout; |
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pgh->handle_response = handle_response; |
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pgh->handle_receive = handle_receive; |
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pgh->unregister = unregister; |
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|
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|
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wl_init(); |
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wl_register_packet_group(pgh); |
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wl_token_ring_register(); |
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//wl_token_ring_join(); |
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//wl_token_ring_set_bom_functions(NULL,NULL,NULL); |
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|
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while(1){ |
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wl_do(); |
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wl_token_iterator_begin() |
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|
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//Iterate through the robots in the token ring. |
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while(wl_token_iterator_has_next()){ |
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wl_send_robot_to_robot_packet(SLAM_PACKET_GROUP,REQUEST_PACKET_TYPE, |
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NULL,0,wl_token_iterator_next(),0); |
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//head_bot will not be modified by the analyzer. |
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usleep(50000); |
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} |
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slam_analyze(head_bot); |
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} |
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return 0; |
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} |
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|
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void handle_timeout(void){} |
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void handle_response(int frame, int received){} |
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|
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void handle_receive(char type, int source, unsigned char* packet, int length){ |
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if(type == ROBOT_RESPONSE){ |
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int i; |
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current_bot = getRobot(source); |
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if(current_bot == NULL){ |
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//Add the new robot to the front of the list. |
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current_bot = malloc(sizeof(RobotData)); |
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current_bot->next = head_bot; //Works even if head_bot is null. |
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head_bot = current_bot; |
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} |
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for(i=0;i<5;i++) |
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current_bot->IR[i] = packet[i]; |
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i++; //i=5 |
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63 |
|
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//Bom Handling. |
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//Clear the current information. |
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BomNode* head = current_bot->bom_head; |
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if(head!=NULL){ |
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BomNode* next = head->next; |
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while(next!=NULL){ |
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free(head); |
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head = next; |
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next = head->next; |
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} |
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free(head); |
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} |
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//All of the memory allocated for the BomList is free. |
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|
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//The remainder of the packet is bom data. |
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BomNode* bom_node; |
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current_bot->bom_head = bom_node; |
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//i still points to the first bom information spot at 5. |
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while(i<length){ |
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bom_node = malloc(sizeof BomNode); |
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bom_node->id = (short int)((short)packet[i++]<<8 + packet[i++]); |
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if(i>=length){ |
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printf("Packet not constructed correctly. Terminate. \n"); |
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exit(EXIT_FAILURE); |
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} |
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bom_node->value = packet[i++]; |
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if(i>=length){ |
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printf("Packet not constructed correctly. Terminate. \n"); |
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exit(EXIT_FAILURE); |
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} |
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bom_node = bom_node->next; |
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} |
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} |
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} |
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RobotData* getRobot(int id){ |
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RobotData* next = head_bot; |
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while(next->id != id && next->next!=NULL); |
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if(next->id != id) return NULL; |
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else return next; |
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} |
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trunk/code/projects/slam/slam_analyzer.h | ||
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <slam_defs.h> |
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|
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void slam_analyze(RobotData* head); |
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void slam_print_data(RobotData* head); |
trunk/code/projects/slam/smart_run_around_fsm.c | ||
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#include "dragonfly_lib.h" |
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#include "smart_run_around_fsm.h" |
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|
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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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|
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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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analog_init(); |
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motors_init(); |
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orb_init(); |
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orb_enable(); |
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usb_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=0; |
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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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orb_set_color(GREEN); |
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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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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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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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/*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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110 |
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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): orb_set_color(GREEN); |
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move(STRAIT_SPEED,pControl); |
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break; |
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case(BACKWARDS): orb_set_color(ORANGE); |
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move(-STRAIT_SPEED,0); |
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break; |
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case(CRAZY): orb_set_color(RED); |
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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); orb_set_color(BLUE); |
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break; |
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} |
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} |
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trunk/code/projects/slam/robot_main.c | ||
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1 |
#include "dragonfly_lib.h" |
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#include "wireless.h" |
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#include "wl_token_ring.h" |
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#include "smart_run_around_fsm.h" |
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#include "slam_defs.h" |
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#define BOM_POST_DELAY 50 |
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#define PACKET_BUFFER_SIZE 101 |
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void bom_pre(void); |
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void bom_post(void); |
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//Packet Handler Functions |
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void timeout_handle(void); |
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void response_handle(int frame, int received); |
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void receive_handle(char type, int source, unsigned char* packet, int length); |
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17 |
void unregister(void); |
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18 |
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int make_request_packet(char** packet); |
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20 |
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int IR[5]; |
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int main(void) |
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{ |
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25 |
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dragonfly_init(ALL_ON); |
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wl_init(); |
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29 |
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wl_token_ring_register(); |
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wl_token_ring_join(); |
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wl_token_ring_set_bom_functions(bom_pre, bom_post, get_max_bom); |
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PacketGroupHandler packet_group_handler; |
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packet_group_handler.groupCode=SLAM_PACKET_GROUP; |
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packet_group_handler.timeout_handler=timeout_handle; |
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packet_group_handler.handle_response=response_handle; |
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packet_group_handler.handle_receive=receive_handle; |
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packet_group_handler.unregister=unregister; |
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40 |
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wl_register_packet_group(&packet_group_handler); |
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int i; |
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44 |
while(1){ |
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45 |
wl_do(); |
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run_around_FSM(); |
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47 |
for(i=0;i<5;i++){ |
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48 |
IR[i]=range_read_distance(i); |
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49 |
} |
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50 |
} |
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51 |
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52 |
wl_unregister_packet_group(&packet_group_handler); |
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53 |
} |
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54 |
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55 |
void bom_pre(void){ |
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56 |
bom_on(); |
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} |
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58 |
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59 |
void bom_post(void){ |
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60 |
delay_ms(BOM_POST_DELAY); |
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bom_off(); |
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} |
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63 |
|
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64 |
//These can probably be NULL.. |
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65 |
|
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66 |
void timeout_handle(void){ |
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|
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} |
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69 |
|
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70 |
void response_handle(int frame, int received){ |
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71 |
|
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72 |
} |
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73 |
|
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74 |
void receive_handle(char type, int source, unsigned char* packet, int length){ |
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75 |
int i; |
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76 |
if(type==REQUEST_PACKET_TYPE){ |
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77 |
|
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78 |
/*Send a message back to our computer overlord.*/ |
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79 |
char buf[PACKET_BUFFER_SIZE]; |
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80 |
int len = make_request_packet(&buf); |
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81 |
char packet[len]; |
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82 |
for(i=0; i< len ; i++){ |
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83 |
packet[i]=buf[i]; |
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84 |
} |
|
85 |
|
|
86 |
wl_send_robot_to_robot_packet(SLAM_PACKET_GROUP, ROBOT_RESPONSE, packet, len, source , 0); |
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87 |
} |
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88 |
else if(type == CONTROL_PACKET_TYPE){ |
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89 |
for(i=0;i<length;i++){ |
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90 |
|
|
91 |
} |
|
92 |
} |
|
93 |
} |
|
94 |
|
|
95 |
|
|
96 |
/** |
|
97 |
|
|
98 |
Packets are structured {IR1, IR2, IR3, IR4, IR5, |
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99 |
BomID1, ... , BomValue1, BomID2, ... , BomValue2, etc.} |
|
100 |
Total size is 5 + 3*numRobots. So Xbee should support |
|
101 |
up to 31 robots before we need to restructure the |
|
102 |
communication between the computer and the robot. |
|
103 |
|
|
104 |
*/ |
|
105 |
int make_request_packet(char** packet){ |
|
106 |
int i,j; |
|
107 |
for(i=0;i<5;i++){ |
|
108 |
(*packet)[i] = IR[i]; |
|
109 |
} |
|
110 |
i=5; |
|
111 |
wl_token_iterator_begin(); |
|
112 |
int id = wl_get_xbee_id(); |
|
113 |
|
|
114 |
while(wl_token_iterator_has_next()){ |
|
115 |
int robot_in_view = wl_token_iterator_next(); |
|
116 |
|
|
117 |
//Robot int's are two bytes. |
|
118 |
(*packet)[i] = robot_in_view; |
|
119 |
i+=2; |
|
120 |
|
|
121 |
int bom_number = wl_token_get_sensor_reading(id,robot_in_view); |
|
122 |
//Bom reading of 255 denotes an unseen node. |
|
123 |
if(bom_number<0) bom_number = 255; |
|
124 |
bom_number %= 256; |
|
125 |
char bom_value = (char) bom_number; |
|
126 |
(*packet)[i] = bom_value; |
|
127 |
i++; |
|
128 |
} |
|
129 |
//Size is one bom byte towards every robot, and 5 IR bytes. |
|
130 |
return wl_token_get_num_robots()+5; |
|
131 |
} |
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132 |
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trunk/code/projects/slam/smart_run_around_fsm.h | ||
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1 |
//Obstacle Avoid Numbers |
|
2 |
|
|
3 |
|
|
4 |
#ifndef _RUN_AROUND_FSM_H_ |
|
5 |
#define _RUN_AROUND_FSM_H_ |
|
6 |
|
|
7 |
//The States: |
|
8 |
#define MOVING 12 //Move strait. |
|
9 |
#define BACKWARDS 15 //Move backwards. (Front close to wall.) |
|
10 |
#define STOP 16 //Stop. The default state, (Something broke). |
|
11 |
#define CRAZY 40 //Erratic behavior that occurs more often when the robot is frequently trying to turn. (i.e. may be stuck.) |
|
12 |
|
|
13 |
#define LEFT 37 //Left |
|
14 |
#define RIGHT 39 //Right |
|
15 |
|
|
16 |
#define BACKUP_MAX 15 |
|
17 |
#define CRAZY_MAX 200 //The number of counts between "crazy moments" |
|
18 |
#define STRAIT_SPEED 200 //The speed when going strait or backing up. |
|
19 |
#define TURN_CONSTANT 2 |
|
20 |
#define PCONTROL_CRAZY_LIMIT 80 |
|
21 |
|
|
22 |
int avoid_state; /*State machine variable.*/ |
|
23 |
int crazy_count; /*Counter for a 'get unstuck' behavior.*/ |
|
24 |
|
|
25 |
int backup_count; /*Counter for backup duration.*/ |
|
26 |
int pControl; /*Proportional control variable, determines turn direction.*/ |
|
27 |
int d1,d2,d3,d4,d5; /*The five distances taken in by IR.*/ |
|
28 |
|
|
29 |
void run_around_init(void); |
|
30 |
void run_around_FSM(void); |
|
31 |
void evaluate_state(void); |
|
32 |
|
|
33 |
#endif |
trunk/code/projects/slam/Makefile | ||
---|---|---|
1 |
########Update This Section######## |
|
2 |
# |
|
3 |
# |
|
4 |
|
|
5 |
# Relative path to the root directory (containing lib directory) |
|
6 |
ifndef COLONYROOT |
|
7 |
COLONYROOT = ../../.. |
|
8 |
endif |
|
9 |
|
|
10 |
# Target file name (without extension). |
|
11 |
TARGET = robot_main |
|
12 |
|
|
13 |
# Uncomment this to use the wireless library |
|
14 |
USE_WIRELESS = 1 |
|
15 |
|
|
16 |
# com1 = serial port. Use lpt1 to connect to parallel port. |
|
17 |
AVRDUDE_PORT = com4 |
|
18 |
|
|
19 |
robot: all |
|
20 |
TARGET = robot_main |
|
21 |
|
|
22 |
# |
|
23 |
# |
|
24 |
################################### |
|
25 |
|
|
26 |
# Hey Emacs, this is a -*- makefile -*- |
|
27 |
#---------------------------------------------------------------------------- |
|
28 |
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
|
29 |
# |
|
30 |
# Released to the Public Domain |
|
31 |
# |
|
32 |
# Additional material for this makefile was written by: |
|
33 |
# Peter Fleury |
|
34 |
# Tim Henigan |
|
35 |
# Colin O'Flynn |
|
36 |
# Reiner Patommel |
|
37 |
# Markus Pfaff |
|
38 |
# Sander Pool |
|
39 |
# Frederik Rouleau |
|
40 |
# |
|
41 |
#---------------------------------------------------------------------------- |
|
42 |
# On command line: |
|
43 |
# |
|
44 |
# make all = Make software. |
|
45 |
# |
|
46 |
# make clean = Clean out built project files. |
|
47 |
# |
|
48 |
# make coff = Convert ELF to AVR COFF. |
|
49 |
# |
|
50 |
# make extcoff = Convert ELF to AVR Extended COFF. |
|
51 |
# |
|
52 |
# make program = Download the hex file to the device, using avrdude. |
|
53 |
# Please customize the avrdude settings below first! |
|
54 |
# |
|
55 |
# make debug = Start either simulavr or avarice as specified for debugging, |
|
56 |
# with avr-gdb or avr-insight as the front end for debugging. |
|
57 |
# |
|
58 |
# make filename.s = Just compile filename.c into the assembler code only. |
|
59 |
# |
|
60 |
# make filename.i = Create a preprocessed source file for use in submitting |
|
61 |
# bug reports to the GCC project. |
|
62 |
# |
|
63 |
# To rebuild project do "make clean" then "make all". |
|
64 |
#---------------------------------------------------------------------------- |
|
65 |
|
|
66 |
#if you want your code to work on the Firefly++ and not Firefly+ |
|
67 |
#then add the -DFFPP line to CDEFS |
|
68 |
CDEFS = |
|
69 |
#-DFFPP |
|
70 |
|
|
71 |
# MCU name |
|
72 |
MCU = atmega128 |
|
73 |
|
|
74 |
# Processor frequency. |
|
75 |
# This will define a symbol, F_CPU, in all source code files equal to the |
|
76 |
# processor frequency. You can then use this symbol in your source code to |
|
77 |
# calculate timings. Do NOT tack on a 'UL' at the end, this will be done |
|
78 |
# automatically to create a 32-bit value in your source code. |
|
79 |
F_CPU = 8000000 |
|
80 |
|
|
81 |
# Output format. (can be srec, ihex, binary) |
|
82 |
FORMAT = ihex |
|
83 |
|
|
84 |
# List C source files here. (C dependencies are automatically generated.) |
|
85 |
SRC = $(wildcard *.c) |
|
86 |
|
|
87 |
# List Assembler source files here. |
|
88 |
# Make them always end in a capital .S. Files ending in a lowercase .s |
|
89 |
# will not be considered source files but generated files (assembler |
|
90 |
# output from the compiler), and will be deleted upon "make clean"! |
|
91 |
# Even though the DOS/Win* filesystem matches both .s and .S the same, |
|
92 |
# it will preserve the spelling of the filenames, and gcc itself does |
|
93 |
# care about how the name is spelled on its command-line. |
|
94 |
ASRC = |
|
95 |
|
|
96 |
# Optimization level, can be [0, 1, 2, 3, s]. |
|
97 |
# 0 = turn off optimization. s = optimize for size. |
|
98 |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
|
99 |
OPT = s |
|
100 |
|
|
101 |
# Debugging format. |
|
102 |
# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
|
103 |
# AVR Studio 4.10 requires dwarf-2. |
|
104 |
# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
|
105 |
DEBUG = |
|
106 |
|
|
107 |
# Compiler flag to set the C Standard level. |
|
108 |
# c89 = "ANSI" C |
|
109 |
# gnu89 = c89 plus GCC extensions |
|
110 |
# c99 = ISO C99 standard (not yet fully implemented) |
|
111 |
# gnu99 = c99 plus GCC extensions |
|
112 |
CSTANDARD = -std=gnu99 |
|
113 |
|
|
114 |
# Place -D or -U options here |
|
115 |
CDEFS += -DF_CPU=$(F_CPU)UL |
|
116 |
CDEFS += -DFFP |
|
117 |
# for wireless library |
|
118 |
ifdef USE_WIRELESS |
|
119 |
CDEFS += -DROBOT |
|
120 |
endif |
|
121 |
|
|
122 |
# Place -I, -L options here |
|
123 |
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly |
|
124 |
CINCS += -L$(COLONYROOT)/code/lib/bin |
|
125 |
ifdef USE_WIRELESS |
|
126 |
CINCS += -I$(COLONYROOT)/code/lib/include/libwireless |
|
127 |
endif |
|
128 |
|
|
129 |
#---------------- Compiler Options ---------------- |
|
130 |
# -g*: generate debugging information |
|
131 |
# -O*: optimization level |
|
132 |
# -f...: tuning, see GCC manual and avr-libc documentation |
|
133 |
# -Wall...: warning level |
|
134 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
135 |
# -adhlns...: create assembler listing |
|
136 |
CFLAGS = |
|
137 |
# CFLAGS = -g$(DEBUG) |
|
138 |
CFLAGS += $(CDEFS) $(CINCS) |
|
139 |
CFLAGS += -O$(OPT) |
|
140 |
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
|
141 |
CFLAGS += -Wall -Wstrict-prototypes |
|
142 |
CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
|
143 |
CFLAGS += $(CSTANDARD) |
|
144 |
|
|
145 |
#---------------- Assembler Options ---------------- |
|
146 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
147 |
# -ahlms: create listing |
|
148 |
# -gstabs: have the assembler create line number information; note that |
|
149 |
# for use in COFF files, additional information about filenames |
|
150 |
# and function names needs to be present in the assembler source |
|
151 |
# files -- see avr-libc docs [FIXME: not yet described there] |
|
152 |
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
|
153 |
|
|
154 |
|
|
155 |
#---------------- Library Options ---------------- |
|
156 |
# Minimalistic printf version |
|
157 |
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
|
158 |
|
|
159 |
# Floating point printf version (requires MATH_LIB = -lm below) |
|
160 |
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
|
161 |
|
|
162 |
# If this is left blank, then it will use the Standard printf version. |
|
163 |
PRINTF_LIB = |
|
164 |
#PRINTF_LIB = $(PRINTF_LIB_MIN) |
|
165 |
#PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
|
166 |
|
|
167 |
|
|
168 |
# Minimalistic scanf version |
|
169 |
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
|
170 |
|
|
171 |
# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
|
172 |
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
|
173 |
|
|
174 |
# If this is left blank, then it will use the Standard scanf version. |
|
175 |
SCANF_LIB = |
|
176 |
#SCANF_LIB = $(SCANF_LIB_MIN) |
|
177 |
#SCANF_LIB = $(SCANF_LIB_FLOAT) |
|
178 |
|
|
179 |
MATH_LIB = -lm |
|
180 |
|
|
181 |
#---------------- External Memory Options ---------------- |
|
182 |
|
|
183 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
184 |
# used for variables (.data/.bss) and heap (malloc()). |
|
185 |
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
|
186 |
|
|
187 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
188 |
# only used for heap (malloc()). |
|
189 |
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
|
190 |
|
|
191 |
EXTMEMOPTS = |
|
192 |
|
|
193 |
#---------------- Linker Options ---------------- |
|
194 |
# -Wl,...: tell GCC to pass this to linker. |
|
195 |
# -Map: create map file |
|
196 |
# --cref: add cross reference to map file |
|
197 |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
|
198 |
LDFLAGS += $(EXTMEMOPTS) |
|
199 |
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
|
200 |
ifdef USE_WIRELESS |
|
201 |
LDFLAGS += -lwireless |
|
202 |
endif |
|
203 |
LDFLAGS += -ldragonfly |
|
204 |
|
|
205 |
|
|
206 |
|
|
207 |
#---------------- Programming Options (avrdude) ---------------- |
|
208 |
|
|
209 |
# Programming hardware: alf avr910 avrisp bascom bsd |
|
210 |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
|
211 |
# |
|
212 |
# Type: avrdude -c ? |
|
213 |
# to get a full listing. |
|
214 |
# |
|
215 |
AVRDUDE_PROGRAMMER = avrisp |
|
216 |
|
|
217 |
# programmer connected to serial device |
|
218 |
|
|
219 |
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
|
220 |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
|
221 |
|
|
222 |
|
|
223 |
# Uncomment the following if you want avrdude's erase cycle counter. |
|
224 |
# Note that this counter needs to be initialized first using -Yn, |
|
225 |
# see avrdude manual. |
|
226 |
#AVRDUDE_ERASE_COUNTER = -y |
|
227 |
|
|
228 |
# Uncomment the following if you do /not/ wish a verification to be |
|
229 |
# performed after programming the device. |
|
230 |
#AVRDUDE_NO_VERIFY = -V |
|
231 |
|
|
232 |
# Increase verbosity level. Please use this when submitting bug |
|
233 |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
|
234 |
# to submit bug reports. |
|
235 |
#AVRDUDE_VERBOSE = -v -v |
|
236 |
|
|
237 |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
|
238 |
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
|
239 |
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
|
240 |
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
|
241 |
|
|
242 |
#don't check for device signature |
|
243 |
AVRDUDE_FLAGS += -F |
|
244 |
|
|
245 |
|
|
246 |
|
|
247 |
#---------------- Debugging Options ---------------- |
|
248 |
|
|
249 |
# For simulavr only - target MCU frequency. |
|
250 |
DEBUG_MFREQ = $(F_CPU) |
|
251 |
|
|
252 |
# Set the DEBUG_UI to either gdb or insight. |
|
253 |
# DEBUG_UI = gdb |
|
254 |
DEBUG_UI = insight |
|
255 |
|
|
256 |
# Set the debugging back-end to either avarice, simulavr. |
|
257 |
DEBUG_BACKEND = avarice |
|
258 |
#DEBUG_BACKEND = simulavr |
|
259 |
|
|
260 |
# GDB Init Filename. |
|
261 |
GDBINIT_FILE = __avr_gdbinit |
|
262 |
|
|
263 |
# When using avarice settings for the JTAG |
|
264 |
JTAG_DEV = /dev/com1 |
|
265 |
|
|
266 |
# Debugging port used to communicate between GDB / avarice / simulavr. |
|
267 |
DEBUG_PORT = 4242 |
|
268 |
|
|
269 |
# Debugging host used to communicate between GDB / avarice / simulavr, normally |
|
270 |
# just set to localhost unless doing some sort of crazy debugging when |
|
271 |
# avarice is running on a different computer. |
|
272 |
DEBUG_HOST = localhost |
|
273 |
|
|
274 |
|
|
275 |
|
|
276 |
#============================================================================ |
|
277 |
|
|
278 |
|
|
279 |
# Define programs and commands. |
|
280 |
SHELL = sh |
|
281 |
CC = avr-gcc |
|
282 |
OBJCOPY = avr-objcopy |
|
283 |
OBJDUMP = avr-objdump |
|
284 |
SIZE = avr-size |
|
285 |
NM = avr-nm |
|
286 |
AVRDUDE = avrdude |
|
287 |
REMOVE = rm -f |
|
288 |
REMOVEDIR = rm -rf |
|
289 |
COPY = cp |
|
290 |
WINSHELL = cmd |
|
291 |
|
|
292 |
|
|
293 |
# Define Messages |
|
294 |
# English |
|
295 |
MSG_ERRORS_NONE = Errors: none |
|
296 |
MSG_BEGIN = -------- begin -------- |
|
297 |
MSG_END = -------- end -------- |
|
298 |
MSG_SIZE_BEFORE = Size before: |
|
299 |
MSG_SIZE_AFTER = Size after: |
|
300 |
MSG_COFF = Converting to AVR COFF: |
|
301 |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
|
302 |
MSG_FLASH = Creating load file for Flash: |
|
303 |
MSG_EEPROM = Creating load file for EEPROM: |
|
304 |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
|
305 |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
|
306 |
MSG_LINKING = Linking: |
|
307 |
MSG_COMPILING = Compiling: |
|
308 |
MSG_ASSEMBLING = Assembling: |
|
309 |
MSG_CLEANING = Cleaning project: |
|
310 |
|
|
311 |
|
|
312 |
|
|
313 |
|
|
314 |
# Define all object files. |
|
315 |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
|
316 |
|
|
317 |
# Define all listing files. |
|
318 |
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
|
319 |
|
|
320 |
|
|
321 |
# Compiler flags to generate dependency files. |
|
322 |
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
|
323 |
|
|
324 |
|
|
325 |
# Combine all necessary flags and optional flags. |
|
326 |
# Add target processor to flags. |
|
327 |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
|
328 |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
|
329 |
|
|
330 |
|
|
331 |
|
|
332 |
|
|
333 |
|
|
334 |
# Default target. |
|
335 |
all: begin gccversion sizebefore build sizeafter end |
|
336 |
|
|
337 |
build: elf hex eep lss sym |
|
338 |
|
|
339 |
elf: $(TARGET).elf |
|
340 |
hex: $(TARGET).hex |
|
341 |
eep: $(TARGET).eep |
|
342 |
lss: $(TARGET).lss |
|
343 |
sym: $(TARGET).sym |
|
344 |
|
|
345 |
|
|
346 |
|
|
347 |
# Eye candy. |
|
348 |
# AVR Studio 3.x does not check make's exit code but relies on |
|
349 |
# the following magic strings to be generated by the compile job. |
|
350 |
begin: |
|
351 |
@echo |
|
352 |
@echo $(MSG_BEGIN) |
|
353 |
|
|
354 |
end: |
|
355 |
@echo $(MSG_END) |
|
356 |
@echo |
|
357 |
|
|
358 |
|
|
359 |
# Display size of file. |
|
360 |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
|
361 |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
|
362 |
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
|
363 |
|
|
364 |
sizebefore: |
|
365 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
|
366 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
367 |
|
|
368 |
sizeafter: |
|
369 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
|
370 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
371 |
|
|
372 |
|
|
373 |
|
|
374 |
# Display compiler version information. |
|
375 |
gccversion : |
|
376 |
@$(CC) --version |
|
377 |
|
|
378 |
|
|
379 |
|
|
380 |
# Program the device. |
|
381 |
program: $(TARGET).hex $(TARGET).eep |
|
382 |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
|
383 |
|
|
384 |
|
|
385 |
# Generate avr-gdb config/init file which does the following: |
|
386 |
# define the reset signal, load the target file, connect to target, and set |
|
387 |
# a breakpoint at main(). |
|
388 |
gdb-config: |
|
389 |
@$(REMOVE) $(GDBINIT_FILE) |
|
390 |
@echo define reset >> $(GDBINIT_FILE) |
|
391 |
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
|
392 |
@echo end >> $(GDBINIT_FILE) |
|
393 |
@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
|
394 |
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
|
395 |
ifeq ($(DEBUG_BACKEND),simulavr) |
|
396 |
@echo load >> $(GDBINIT_FILE) |
|
397 |
endif |
|
398 |
@echo break main >> $(GDBINIT_FILE) |
|
399 |
|
|
400 |
debug: gdb-config $(TARGET).elf |
|
401 |
ifeq ($(DEBUG_BACKEND), avarice) |
|
402 |
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
|
403 |
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
|
404 |
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
|
405 |
@$(WINSHELL) /c pause |
|
406 |
|
|
407 |
else |
|
408 |
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
|
409 |
$(DEBUG_MFREQ) --port $(DEBUG_PORT) |
|
410 |
endif |
|
411 |
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
|
412 |
|
|
413 |
|
|
414 |
|
|
415 |
|
|
416 |
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
|
417 |
COFFCONVERT=$(OBJCOPY) --debugging \ |
|
418 |
--change-section-address .data-0x800000 \ |
|
419 |
--change-section-address .bss-0x800000 \ |
|
420 |
--change-section-address .noinit-0x800000 \ |
|
421 |
--change-section-address .eeprom-0x810000 |
|
422 |
|
|
423 |
|
|
424 |
coff: $(TARGET).elf |
|
425 |
@echo |
|
426 |
@echo $(MSG_COFF) $(TARGET).cof |
|
427 |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
|
428 |
|
|
429 |
|
|
430 |
extcoff: $(TARGET).elf |
|
431 |
@echo |
|
432 |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
|
433 |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
|
434 |
|
|
435 |
|
|
436 |
|
|
437 |
# Create final output files (.hex, .eep) from ELF output file. |
|
438 |
%.hex: %.elf |
|
439 |
@echo |
|
440 |
@echo $(MSG_FLASH) $@ |
|
441 |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
|
442 |
|
|
443 |
%.eep: %.elf |
|
444 |
@echo |
|
445 |
@echo $(MSG_EEPROM) $@ |
|
446 |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
|
447 |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
|
448 |
|
|
449 |
# Create extended listing file from ELF output file. |
|
450 |
%.lss: %.elf |
|
451 |
@echo |
|
452 |
@echo $(MSG_EXTENDED_LISTING) $@ |
|
453 |
$(OBJDUMP) -h -S $< > $@ |
|
454 |
|
|
455 |
# Create a symbol table from ELF output file. |
|
456 |
%.sym: %.elf |
|
457 |
@echo |
|
458 |
@echo $(MSG_SYMBOL_TABLE) $@ |
|
459 |
$(NM) -n $< > $@ |
|
460 |
|
|
461 |
|
|
462 |
|
|
463 |
# Link: create ELF output file from object files. |
|
464 |
.SECONDARY : $(TARGET).elf |
|
465 |
.PRECIOUS : $(OBJ) |
|
466 |
%.elf: $(OBJ) |
|
467 |
@echo |
|
468 |
@echo $(MSG_LINKING) $@ |
|
469 |
$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
|
470 |
|
|
471 |
|
|
472 |
# Compile: create object files from C source files. |
|
473 |
%.o : %.c |
|
474 |
@echo |
|
475 |
@echo $(MSG_COMPILING) $< |
|
476 |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
|
477 |
|
|
478 |
|
|
479 |
# Compile: create assembler files from C source files. |
|
480 |
%.s : %.c |
|
481 |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
|
482 |
|
|
483 |
|
|
484 |
# Assemble: create object files from assembler source files. |
|
485 |
%.o : %.S |
|
486 |
@echo |
|
487 |
@echo $(MSG_ASSEMBLING) $< |
|
488 |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
|
489 |
|
|
490 |
# Create preprocessed source for use in sending a bug report. |
|
491 |
%.i : %.c |
|
492 |
$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
|
493 |
|
|
494 |
|
|
495 |
# Target: clean project. |
|
496 |
clean: begin clean_list end |
|
497 |
|
|
498 |
clean_list : |
|
499 |
@echo |
|
500 |
@echo $(MSG_CLEANING) |
|
501 |
$(REMOVE) $(TARGET).hex |
|
502 |
$(REMOVE) $(TARGET).eep |
|
503 |
$(REMOVE) $(TARGET).cof |
|
504 |
$(REMOVE) $(TARGET).elf |
|
505 |
$(REMOVE) $(TARGET).map |
|
506 |
$(REMOVE) $(TARGET).sym |
|
507 |
$(REMOVE) $(TARGET).lss |
|
508 |
$(REMOVE) $(OBJ) |
|
509 |
$(REMOVE) $(LST) |
|
510 |
$(REMOVE) $(SRC:.c=.s) |
|
511 |
$(REMOVE) $(SRC:.c=.d) |
|
512 |
$(REMOVEDIR) .dep |
|
513 |
|
|
514 |
|
|
515 |
|
|
516 |
# Include the dependency files. |
|
517 |
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
|
518 |
|
|
519 |
|
|
520 |
# Listing of phony targets. |
|
521 |
.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
|
522 |
build elf hex eep lss sym coff extcoff \ |
|
523 |
clean clean_list program debug gdb-config |
|
524 |
|
trunk/code/projects/slam.bak2/computer/wl_defs.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file wl_defs.h |
|
28 |
* @brief Definitions for Wireless |
|
29 |
* |
|
30 |
* Contains definitions for wireless packet groups, packet types, |
|
31 |
* debugging information, etc. |
|
32 |
* |
|
33 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
36 |
#ifndef WL_DEFS_H |
|
37 |
#define WL_DEFS_H |
|
38 |
|
|
39 |
//comment out this line if using a computer hooked up to an xbee |
|
40 |
//#define ROBOT |
|
41 |
|
|
42 |
//uncomment this line for debug information |
|
43 |
//#define WL_DEBUG |
|
44 |
|
|
45 |
// Packet Groups and Types |
|
46 |
|
|
47 |
// Error group |
|
48 |
#define WL_ERROR_GROUP 1 |
|
49 |
|
|
50 |
#define WL_ERROR_STRING_TYPE 1 |
|
51 |
|
|
52 |
// Token Ring group |
|
53 |
#define WL_TOKEN_RING_GROUP 2 |
|
54 |
|
|
55 |
#define WL_TOKEN_PASS 1 |
|
56 |
#define WL_TOKEN_BOM_ON 2 |
|
57 |
#define WL_TOKEN_JOIN 3 |
|
58 |
#define WL_TOKEN_JOIN_ACCEPT 4 |
|
59 |
|
|
60 |
// timing constants |
|
61 |
#ifndef FIREFLY |
|
62 |
#define BOM_DELAY 50 |
|
63 |
#else |
|
64 |
#define BOM_DELAY 100 |
|
65 |
#endif |
|
66 |
|
|
67 |
#define DEATH_DELAY 4 |
|
68 |
#define JOIN_DELAY 8 |
|
69 |
|
|
70 |
// Recharging group |
|
71 |
#define WL_RECHARGE_GROUP 3 |
|
72 |
|
|
73 |
#define WL_RECHARGE_POLL_STATIONS 1 |
|
74 |
#define WL_RECHARGE_STATION_AVAILABLE 2 |
|
75 |
#define WL_RECHARGE_REQUEST 3 |
|
76 |
#define WL_RECHARGE_REQUEST_ACCEPT 4 |
|
77 |
#define WL_RECHARGE_VERIFY 5 |
|
78 |
#define WL_RECHARGE_CANCEL 6 |
|
79 |
#define WL_RECHARGE_SEEKING 7 |
|
80 |
#define WL_RECHARGE_DOCKED 8 |
|
81 |
|
|
82 |
#ifdef WL_DEBUG |
|
83 |
|
|
84 |
#ifdef ROBOT |
|
85 |
#include <serial.h> |
|
86 |
#endif |
|
87 |
|
|
88 |
#ifdef ROBOT |
|
89 |
#define WL_DEBUG_PRINT( s ) usb_puts( s ) |
|
90 |
#else |
|
91 |
#define WL_DEBUG_PRINT( s ) printf( s ) |
|
92 |
#endif |
|
93 |
|
|
94 |
#ifdef ROBOT |
|
95 |
#define WL_DEBUG_PRINT_INT( i ) usb_puti(i) |
|
96 |
#else |
|
97 |
#define WL_DEBUG_PRINT_INT( i ) printf("%i", i) |
|
98 |
#endif |
|
99 |
|
|
100 |
#else |
|
101 |
|
|
102 |
#define WL_DEBUG_PRINT( s ) |
|
103 |
#define WL_DEBUG_PRINT_INT( i ) |
|
104 |
|
|
105 |
#endif |
|
106 |
|
|
107 |
#endif |
|
108 |
|
trunk/code/projects/slam.bak2/computer/data_requests.h | ||
---|---|---|
1 |
#define DATA_REQUEST_GROUP 7 |
|
2 |
#define BOM_TYPE 0 |
|
3 |
#define IR_TYPE 1 |
|
4 |
#define ENCODER_TYPE 2 |
|
5 |
#define ALL_TYPE 3 |
|
6 |
|
|
7 |
/** |
|
8 |
* @brief I tried to leave the data in an easy manipulable form, however |
|
9 |
* the side effect is that you're going to have to reference here sometimes. |
|
10 |
* The fields are obvious... |
|
11 |
* robot_id is the id of the robot that was being looked at by robot that the |
|
12 |
* list encapsulates. |
|
13 |
* value is the 0-15 value of the IR receiver that saw the robot. (Counter clockwise |
|
14 |
* from the right side. |
|
15 |
* next is a pointer to the next BomNode (or NULL). |
|
16 |
*/ |
|
17 |
typedef struct { |
|
18 |
short int robot_id; |
|
19 |
char value; |
|
20 |
struct BomNode* next; |
|
21 |
} BomNode; |
|
22 |
|
|
23 |
/*typedef struct{ |
|
24 |
unsigned char* packet; |
|
25 |
char type; |
|
26 |
int source; |
|
27 |
int length; |
|
28 |
} RawData;*/ |
|
29 |
|
|
30 |
/** |
|
31 |
* @brief Initializes the Data Request functionality on the server side. |
|
32 |
* |
|
33 |
* @param void*(bom_data_handler(BomNode** head)) A function that accepts |
|
34 |
* a BomNode** as an argument and handles the bom data however you would like. |
|
35 |
* |
|
36 |
* @param void*(IR_data_handler(short** data)) A function that accepts an |
|
37 |
* array of shorts for processing. |
|
38 |
* |
|
39 |
* @param void*(encoder_data_handler(unsigned char** data)) A function that |
|
40 |
* accepts an array of unsigned chars (tentatively) as data for processing. |
|
41 |
*/ |
|
42 |
void data_requests_init( |
|
43 |
void(*bom_data_handler)(short id, BomNode** head), |
|
44 |
void(*IR_data_handler)(short id, short** data), |
|
45 |
void(*encoder_data_handler)(short id, unsigned char** data)); |
|
46 |
|
|
47 |
/** |
|
48 |
* @brief Pings the robot for BOM data. |
|
49 |
* |
|
50 |
* @param robot_id The robot ID of the robot to ping. Typically you will need |
|
51 |
* to join (if not insert yourself into) the token ring to get a list of robot |
|
52 |
* id's. |
|
53 |
*/ |
|
54 |
void request_bom_data(int robot_id); |
|
55 |
|
|
56 |
/** |
|
57 |
* @brief Pings the robot for BOM data. |
|
58 |
*/ |
|
59 |
void request_IR_data(int robot_id); |
|
60 |
|
|
61 |
/** |
|
62 |
* @brief Pings the robot for encoder data. |
|
63 |
* NOT YET DONE (We don't have encoders yet...) |
|
64 |
*/ |
|
65 |
void request_encoder_data(int robot_id); |
|
66 |
|
|
67 |
void request_all(int robot_id); |
trunk/code/projects/slam.bak2/computer/slam.txt | ||
---|---|---|
1 |
This is the game plan if anyone is interested. |
|
2 |
Each robot will go for an unspecified amount of time, |
|
3 |
accruing encoder, BOM, and IR data. The IR and encoders |
|
4 |
will be used to generate heat maps for each robot, starting |
|
5 |
at the center, decreasing in certainty (i.e. the amount of |
|
6 |
'color' put on during a time unit will be spread over a greater |
|
7 |
area) over time according to the physical limitations of |
|
8 |
the measuring devices. |
|
9 |
|
|
10 |
When the uncertainty gets too high, a new map will be allocated for |
|
11 |
the robot. |
|
12 |
|
|
13 |
The BOM data will be used to orient individual maps to one another. |
|
14 |
Along with physical limitations on the size of the environment, and |
|
15 |
hopefully some brainstorming to do with triangularization and what not, |
|
16 |
the heat maps will become increasingly well oriented. |
|
17 |
|
|
18 |
Finally, after a currently unspecified amount of time, the maps which have |
|
19 |
been properly oriented (this could probably just be all of them due to the nature |
|
20 |
of the heat maps,) will be summed up into one meta map! Metamap will undergo some |
|
21 |
signal processing, probably in the form of a second order gradient, to get a map |
|
22 |
of magnitudes, which we will try to further reduce to lines. These lines are the |
|
23 |
walls of the environment. |
|
24 |
|
|
25 |
In time, it is possible that this "unspecfied amount of time" could become a continuous |
|
26 |
computation, but I haven't put much thought into how this will scale. It will almost |
|
27 |
definitely depend upon the chosen resolution of the heat map. |
|
28 |
|
|
29 |
I do want people working with me, this should be a lot of fun, |
|
30 |
I think this is a solid method of mapping. |
trunk/code/projects/slam.bak2/computer/queue.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file queue.h |
|
28 |
* @brief A queue implementation |
|
29 |
* |
|
30 |
* Implements a queue, a first in, first out data structure. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
35 |
#ifndef WIRELESS_QUEUE_H |
|
36 |
#define WIRELESS_QUEUE_H |
|
37 |
|
|
38 |
struct node_def; |
|
39 |
|
|
40 |
/** |
|
41 |
* @defgroup queue Queue |
|
42 |
* @brief A queue implementation |
|
43 |
* |
|
44 |
* A queue implementation. |
|
45 |
* |
|
46 |
* @{ |
|
47 |
**/ |
|
48 |
|
|
49 |
/** |
|
50 |
* @struct Queue |
|
51 |
* Represents a queue, a first in, first out data structure. |
|
52 |
**/ |
|
53 |
typedef struct |
|
54 |
{ |
|
55 |
/** |
|
56 |
* The head of the queue, the next item to be removed. |
|
57 |
**/ |
|
58 |
struct node_def* head; |
|
59 |
/** |
|
60 |
* The tail of the queue, the last item added. |
|
61 |
**/ |
|
62 |
struct node_def* tail; |
|
63 |
/** |
|
64 |
* The number of elements in the queue. |
|
65 |
**/ |
|
66 |
int size; |
|
67 |
} Queue; |
|
68 |
|
|
69 |
/** @brief Create a new queue **/ |
|
70 |
Queue* queue_create(void); |
|
71 |
/** @brief Destroy a queue **/ |
|
72 |
void queue_destroy(Queue* q); |
|
73 |
/** @brief Add an element to a queue **/ |
|
74 |
void queue_add(Queue* q, void* item); |
|
75 |
/** @brief Remove an element from a queue **/ |
|
76 |
void* queue_remove(Queue* q); |
|
77 |
/** @brief Remove all instances of a given element from a queue **/ |
|
78 |
void queue_remove_all(Queue* q, void* item); |
|
79 |
/** @brief Get the size of a queue **/ |
|
80 |
int queue_size(Queue* q); |
|
81 |
/** @brief Check if the queue is empty **/ |
|
82 |
int queue_is_empty(Queue* q); |
|
83 |
|
|
84 |
/** @} **/ |
|
85 |
|
|
86 |
|
|
87 |
#endif |
|
88 |
|
trunk/code/projects/slam.bak2/computer/server_main.c | ||
---|---|---|
1 |
#include <stdio.h> |
|
2 |
#include <stdlib.h> |
|
3 |
#include <sys/time.h> |
|
4 |
#include "data_requests.h" |
|
5 |
#include "queue.h" |
|
6 |
#include "math.h" |
|
7 |
|
|
8 |
#define DEFAULT_WIDTH 512 |
|
9 |
#define DEFAULT_HEIGHT 512 |
|
10 |
#define MAX_MAPS 30 |
|
11 |
|
|
12 |
#define MAX_ID 20 |
|
13 |
|
|
14 |
typedef struct dataNode{ |
|
15 |
struct timeval* timeStamp; |
|
16 |
char type; |
|
17 |
union{ |
|
18 |
BomNode* u_b; |
|
19 |
short* u_s; |
|
20 |
unsigned char* u_c; |
|
21 |
} data; |
|
22 |
short robot_id; |
|
23 |
} Data; |
|
24 |
|
|
25 |
/** |
|
26 |
* Map oriented data. |
|
27 |
*/ |
|
28 |
|
|
29 |
typedef struct Map{ |
|
30 |
int data[DEFAULT_WIDTH][DEFAULT_HEIGHT]; |
|
31 |
int robot_x; |
|
32 |
int robot_y; |
|
33 |
double robot_orientation; |
|
34 |
short robot_id; |
|
35 |
char correlation_group; |
|
36 |
} Map; |
|
37 |
|
|
38 |
Map** map_array; |
|
39 |
int map_count; |
|
40 |
|
|
41 |
/**Robot oriented data.**/ |
|
42 |
Queue* dataQueue; |
|
43 |
int robot_map[MAX_ID]; |
|
44 |
|
|
45 |
/*These functions simply add the data to the queue.*/ |
|
46 |
void bom_handler(short id, BomNode** head); |
|
47 |
void IR_handler(short id, short** data); |
|
48 |
void encoder_handler(short id, unsigned char** data); |
|
49 |
|
|
50 |
void slam_analyze(void); |
|
51 |
void bom_analyze(BomNode* head,short robot_id); |
|
52 |
void IR_analyze(short* data, short robot_id); |
|
53 |
void encoder_analyze(unsigned char* data, short robot_id); |
|
54 |
|
|
55 |
void initialize(void); |
|
56 |
|
|
57 |
int main(void){ |
|
58 |
data_requests_init(bom_handler,IR_handler,encoder_handler); |
|
59 |
dataQueue = queue_create(); |
|
60 |
initialize(); |
|
61 |
slam_analyze(); |
|
62 |
return -1; |
|
63 |
} |
|
64 |
|
|
65 |
void initialize(void){ |
|
66 |
map_array = malloc(MAX_MAPS * sizeof(Map*)); |
|
67 |
map_count = 0; |
|
68 |
int i; |
|
69 |
for(i=0; i<MAX_ID;i++){ |
|
70 |
robot_map[i] = -1; |
|
71 |
} |
|
72 |
} |
|
73 |
|
|
74 |
void slam_analyze(void){ |
|
75 |
Data* current_data; |
|
76 |
while(1){ |
|
77 |
if(!queue_is_empty(dataQueue)){ |
|
78 |
if(queue_size(dataQueue) < 5){ |
|
79 |
//request_all(/*The robot that most needs it*/); |
|
80 |
} |
|
81 |
current_data = (Data*)queue_remove(dataQueue); |
|
82 |
switch(current_data->type){ |
|
83 |
|
|
84 |
case(BOM_TYPE): |
|
85 |
bom_analyze(current_data->data.u_b,current_data->robot_id); |
|
86 |
break; |
|
87 |
|
|
88 |
case(IR_TYPE): |
|
89 |
IR_analyze(current_data->data.u_s,current_data->robot_id); |
|
90 |
break; |
|
91 |
|
|
92 |
case(ENCODER_TYPE): |
|
93 |
encoder_analyze(current_data->data.u_c,current_data->robot_id); |
|
94 |
break; |
|
95 |
} |
|
96 |
} |
|
97 |
} |
|
98 |
} |
|
99 |
|
|
100 |
void initialize_map(int robot_id){ |
|
101 |
int i,j; |
|
102 |
map_array[map_count] = (Map*)malloc(sizeof(Map)); |
|
103 |
for(i=0;i<DEFAULT_WIDTH;i++){ |
|
104 |
for(j=0;j<DEFAULT_HEIGHT;j++){ |
|
105 |
map_array[map_count]->data[i][j] = 0; |
|
106 |
} |
|
107 |
} |
|
108 |
map_array[map_count]->robot_x = DEFAULT_WIDTH / 2; |
|
109 |
map_array[map_count]->robot_y = DEFAULT_HEIGHT/ 2; |
|
110 |
map_array[map_count]->robot_orientation = 0; |
|
111 |
map_array[map_count]->robot_id = robot_id; |
|
112 |
map_array[map_count]->correlation_group = -1; |
|
113 |
robot_map[robot_id] = map_count++; |
|
114 |
} |
|
115 |
|
|
116 |
void bom_analyze(BomNode* head, short robot_id){ |
|
117 |
BomNode* current_node = head; |
|
118 |
if(robot_map[robot_id]==-1) initialize_map(robot_id); |
|
119 |
|
|
120 |
while(current_node!=NULL){ |
|
121 |
|
|
122 |
current_node = current_node->next; |
|
123 |
} |
|
124 |
} |
|
125 |
|
|
126 |
void IR_analyze(short* data, short robot_id){ |
|
127 |
if(robot_map[robot_id]==-1) initialize_map(robot_id); |
|
128 |
|
|
129 |
} |
|
130 |
|
|
131 |
void encoder_analyze(unsigned char* data, short robot_id){ |
|
132 |
if(robot_map[robot_id]==-1) initialize_map(robot_id); |
|
133 |
|
|
134 |
} |
|
135 |
|
|
136 |
/*The packet handling functions for nata requests.*/ |
|
137 |
|
|
138 |
void bom_handler(short id, BomNode** head){ |
|
139 |
Data* newData = malloc(sizeof(Data)); |
|
140 |
newData->type = BOM_TYPE; |
|
141 |
newData->data.u_b = (*head); |
|
142 |
newData->robot_id = id; |
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