Project

General

Profile

Revision 6ee555a3

ID6ee555a311a763c3209c167ad843b2a8137b52c9
Parent fa857318
Child 679f4e26, c06735bb

Added by Priya about 11 years ago

Changed scout constants to refresh faster. Also retuned linefollowing for faster refresh rate.

View differences:

scout/libscout/src/behaviors/line_follow.cpp
30 30 
static int motor_l;
31 31 
static int motor_r;
32 32 

  		




  33
  
  
    
Duration init_turn_time(1.5);


  		




  
  33
  
    
Duration init_turn_time(0.4);


  		




  34
  34
  
    

  		




  35
  35
  
    
void line_follow::follow_line()


  		




  36
  36
  
    
{


  		




  ......




  38
  38
  
    
    {


  		




  39
  39
  
    
        double line_loc = linesensor->readline();


  		




  40
  40
  
    

  		




  41
  
  
    
        motor_l = min(max((int) (-MOTOR_BASE + SCALE * line_loc), -128), 127);


  		




  42
  
  
    
        motor_r = min(max((int) (-MOTOR_BASE - SCALE * line_loc), -128), 127);


  		




  
  41
  
    
        if (line_loc == 0.0)


  		




  
  42
  
    
        {


  		




  
  43
  
    
            motors->set_sides(-60, -60, MOTOR_ABSOLUTE);


  		




  
  44
  
    
            continue;


  		




  
  45
  
    
        }


  		




  
  46
  
    

  		




  
  47
  
    
        motor_l = min(max((int) (-MOTOR_BASE + KP * line_loc), -128), 127);


  		




  
  48
  
    
        motor_r = min(max((int) (-MOTOR_BASE - KP * line_loc), -128), 127);


  		




  43
  49
  
    

  		




  44
  50
  
    
        motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);


  		




  45
  51
  
    
    }


  		




  46
  52
  
    
    while(!linesensor->fullline());


  		




  47
  53
  
    
    halt();


  		




  48
  
  
    
    ROS_INFO("Intersection reached!");


  		




  49
  54
  
    
}


  		




  50
  55
  
    

  		




  51
  56
  
    
void line_follow::turn_straight()


  		




  ......




  67
  72
  
    
  do


  		




  68
  73
  
    
  {


  		




  69
  74
  
    
    motor_l = -MOTOR_BASE;


  		




  70
  
  
    
    motor_r = 3*MOTOR_BASE/5;


  		




  
  75
  
    
    motor_r = 2*MOTOR_BASE/5;


  		




  71
  76
  
    

  		




  72
  77
  
    
    motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);


  		




  73
  78
  
    

  		




  ......




  119
  124
  
    
  float line_loc;


  		




  120
  125
  
    
  do


  		




  121
  126
  
    
  {


  		




  122
  
  
    
    motor_l = 3*MOTOR_BASE/5;


  		




  
  127
  
    
    motor_l = 2*MOTOR_BASE/5;


  		




  123
  128
  
    
    motor_r = -MOTOR_BASE;


  		




  124
  129
  
    

  		




  125
  130
  
    
    motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);


  		












  

    
      scout/libscout/src/behaviors/line_follow.h
    
  





  30
  30
  
    
#include "../Sensors.h"


  		




  31
  31
  
    

  		




  32
  32
  
    
#define MOTOR_BASE 40.0f


  		




  33
  
  
    
#define SCALE 40.0f


  		




  
  33
  
    
#define KP 20.0f


  		




  34
  34
  
    

  		




  35
  35
  
    
class line_follow : public Behavior


  		




  36
  36
  
    
{


  		












  

    
      scout/libscout/src/behaviors/maze_solve.cpp
    
  





  43
  43
  
    
#define DOWN 2


  		




  44
  44
  
    
#define LEFT 3


  		




  45
  45
  
    

  		




  46
  
  
    
Duration sonar_update_time(1.0);


  		




  
  46
  
    
Duration sonar_update_time(1.5);


  		




  47
  47
  
    

  		




  48
  48
  
    
void maze_solve::run(){


  		




  49
  49
  
    
    


  		




  ......




  167
  167
  
    
            dir = LEFT;


  		




  168
  168
  
    
        }


  		




  169
  169
  
    
    }


  		




  
  170
  
    

  		




  
  171
  
    
    ROS_INFO("DEAD END FOUND, TURNING BACK.");


  		




  170
  172
  
    
    // we have exhausted all the options. This path is clearly a


  		




  171
  173
  
    
    // dead end. go back to where we come from and return false.


  		




  172
  174
  
    
    turn_from_to(dir, initial_dir);


  		












  

    
      scout/scoutsim/GUI.py
    
  





  5
  5
  
    
# shell subprocess libs


  		




  6
  6
  
    
import subprocess


  		




  7
  7
  
    
import shlex  #for converting string commands to tokens


  		




  
  8
  
    
import sys


  		




  8
  9
  
    

  		




  9
  10
  
    
# GUI libs


  		




  10
  11
  
    
import wx


  		




  ......




  33
  34
  
    
    # this takes advantage of the fact that our behavior list start at 1    


  		




  34
  35
  
    
    behaviors = ["Pause", "CW Circle", "CCW Circle", "Odometry",


  		




  35
  36
  
    
                          "Navigation Map", "Scheduler", "Warehouse",


  		




  36
  
  
    
                          "Line Follow", "WL Test"]


  		




  
  37
  
    
                          "Line Follow", "WL Test", "Maze Solve"]


  		




  37
  38
  
    
    @classmethod


  		




  38
  39
  
    
    def getNumber(self, behaviorName):


  		




  39
  40
  
    
        if (behaviorName in Behaviors.behaviors):


  		




  ......




  178
  179
  
    
            style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER, size=(600, 600))


  		




  179
  180
  
    
        


  		




  180
  181
  
    
        # open up scoutsim race


  		




  181
  
  
    
        command = shlex.split("rosrun scoutsim scoutsim_node race")


  		




  
  182
  
    
        if len(sys.argv) > 1:


  		




  
  183
  
    
            map_name = sys.argv[1]


  		




  
  184
  
    
        else:


  		




  
  185
  
    
            map_name = "race"


  		




  
  186
  
    
        command = shlex.split("rosrun scoutsim scoutsim_node " + map_name)


  		




  182
  187
  
    
        self.simWindowProcess = subprocess.Popen(command, shell=False)


  		




  183
  188
  
    
        #rospy.wait_for_service('/spawn') #don't know why this is here


  		




  184
  189
  
    
        


  		












  

    
      scout/scoutsim/src/scout_constants.h
    
  





  84
  84
  
    
    // Time it takes for the sonar to spin from position 0 to position 23


  		




  85
  85
  
    
    const float SONAR_HALF_SPIN_TIME = 0.5;


  		




  86
  86
  
    

  		




  87
  
  
    
    const float REAL_TIME_REFRESH_RATE = 0.08;   // s


  		




  88
  
  
    
    const float SIM_TIME_REFRESH_RATE = 0.05;   // s


  		




  
  87
  
    
    const float REAL_TIME_REFRESH_RATE = 0.05;   // s


  		




  
  88
  
    
    const float SIM_TIME_REFRESH_RATE = 0.02;   // s


  		




  89
  89
  
    
}


  		




  90
  90
  
    

  		




  91
  91
  
    
#endif


  		












Also available in:  Unified diff