Revision 58371433
ID | 5837143311f6de5068f1724a2d1dc8377610237d |
Renaming to line follow and getting rid of old linefollowing files.
scout/libscout/CMakeLists.txt | ||
---|---|---|
30 | 30 |
#target_link_libraries(example ${PROJECT_NAME}) |
31 | 31 |
|
32 | 32 |
set(MAIN_FILES src/Behavior.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp) |
33 |
set(BEHAVIOR_FILES src/behaviors/Odometry.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/behaviors/navigationMap.cpp src/behaviors/sim_line.cpp src/behaviors/wl_test.cpp)
|
|
33 |
set(BEHAVIOR_FILES src/behaviors/Odometry.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/behaviors/navigationMap.cpp src/behaviors/line_follow.cpp src/behaviors/wl_test.cpp)
|
|
34 | 34 |
set(TEST_BEHAVIOR_FILES src/behaviors/Scheduler.cpp src/behaviors/WH_Robot.cpp) |
35 | 35 |
set(HELPER_FILES src/helper_classes/Order.cpp src/helper_classes/PQWrapper.cpp) |
36 | 36 |
set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/WirelessReceiver.cpp src/EncodersControl.cpp src/LinesensorControl.cpp) |
scout/libscout/src/BehaviorList.cpp | ||
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8 | 8 |
behavior_list.push_back((Behavior*)new navigationMap(scoutname)); |
9 | 9 |
behavior_list.push_back((Behavior*)new Scheduler(scoutname)); |
10 | 10 |
behavior_list.push_back((Behavior*)new WH_Robot(scoutname)); |
11 |
behavior_list.push_back((Behavior*)new sim_line(scoutname));
|
|
11 |
behavior_list.push_back((Behavior*)new line_follow(scoutname));
|
|
12 | 12 |
behavior_list.push_back((Behavior*)new wl_test(scoutname)); |
13 | 13 |
return; |
14 | 14 |
} |
scout/libscout/src/BehaviorList.h | ||
---|---|---|
2 | 2 |
#define _BEHAVIOR_LIST_H_ |
3 | 3 |
|
4 | 4 |
#include "Behavior.h" |
5 |
#include "behaviors/sim_line.h"
|
|
5 |
#include "behaviors/line_follow.h"
|
|
6 | 6 |
#include "behaviors/draw_cw_circle.h" |
7 | 7 |
#include "behaviors/draw_ccw_circle.h" |
8 | 8 |
#include "behaviors/Odometry.h" |
scout/libscout/src/behaviors/lineDrive.cpp | ||
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1 |
/** |
|
2 |
* @file line_drive.cpp |
|
3 |
* |
|
4 |
* Provides functions to implement line driving behavior. This program extends |
|
5 |
* the behavior of the line-following program by following lines automatically |
|
6 |
* and implementing behaviors to deal with commands passed to line_drive. |
|
7 |
* |
|
8 |
* Specific implementation for the colony scout robots in a warehouse behaviour |
|
9 |
* setting. |
|
10 |
* |
|
11 |
* @author James Carroll(キヤロル) |
|
12 |
* Cannabalized from Dan Jacobs code. |
|
13 |
* @date 2-6-2012 |
|
14 |
*/ |
|
15 |
|
|
16 |
#include "line_drive.h" |
|
17 |
|
|
18 |
line_drive::line_drive(String scoutname): Behavior(scoutname, "line_drive") |
|
19 |
{ |
|
20 |
line_drive_init(); |
|
21 |
line_follow_init(); |
|
22 |
return; |
|
23 |
}; |
|
24 |
|
|
25 |
/** |
|
26 |
* Starts the line following procedure. Must be called before other |
|
27 |
* line-following functions will work. This function essentially resets the |
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28 |
* state of line-following. |
|
29 |
*/ |
|
30 |
void line_drive_init() |
|
31 |
{ |
|
32 |
lineFollow_init(); |
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33 |
for(int i=0; i<5; i++)state[i]=0; |
|
34 |
stateCounter=0; |
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35 |
stateLength=0; |
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36 |
stopped=0; |
|
37 |
} |
|
38 |
|
|
39 |
|
|
40 |
/** |
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41 |
* Follows a line and executes whatever command is next on the queue. |
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42 |
* @param speed The speed with which to drive along the line. |
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43 |
*/ |
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44 |
int doDrive(int speed) |
|
45 |
{ |
|
46 |
if(stopped) |
|
47 |
{ |
|
48 |
motors->set_sides(0,0,ABSOLUTE); |
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49 |
return NORMAL; |
|
50 |
} |
|
51 |
|
|
52 |
|
|
53 |
int code; |
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54 |
switch(state[0]) |
|
55 |
{ |
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56 |
case ISTRAIGHT: |
|
57 |
code = lineFollow(speed); |
|
58 |
if(code==INTERSECTION) |
|
59 |
{ |
|
60 |
for(int i=0; i<4; i++) state[i]=state[i+1]; |
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61 |
state[4]=0; |
|
62 |
if(state[0]==0)stateCounter++; |
|
63 |
break; |
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64 |
} |
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65 |
else if(code==NOBARCODE) return NORMAL; |
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66 |
return code; |
|
67 |
|
|
68 |
|
|
69 |
case ILEFT: |
|
70 |
code = turnLeft(); |
|
71 |
if(code==0) |
|
72 |
{ |
|
73 |
state[0]=0; |
|
74 |
stateCounter++; |
|
75 |
} |
|
76 |
break; |
|
77 |
|
|
78 |
case IRIGHT: |
|
79 |
code = turnRight(); |
|
80 |
if(code==0) |
|
81 |
{ |
|
82 |
state[0]=0; |
|
83 |
stateCounter++; |
|
84 |
} |
|
85 |
break; |
|
86 |
|
|
87 |
|
|
88 |
default: |
|
89 |
return LOST; |
|
90 |
|
|
91 |
} |
|
92 |
|
|
93 |
if(stateCounter>=stateLength) |
|
94 |
{ |
|
95 |
stateCounter=stateLength=0; |
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96 |
return FINISHED; |
|
97 |
} |
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98 |
return NORMAL; |
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99 |
} |
|
100 |
|
|
101 |
|
|
102 |
/** Starts the line-drive process if paused. */ |
|
103 |
void start(void){ |
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104 |
stopped=0; |
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105 |
} |
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106 |
|
|
107 |
/** Pauses the line-drive process. Default is started. */ |
|
108 |
void stop(void){ |
|
109 |
stopped=1; |
|
110 |
} |
|
111 |
|
|
112 |
|
|
113 |
|
|
114 |
/** |
|
115 |
* Executes an intersection turn where the intersection type is specified by the |
|
116 |
* parameters. |
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117 |
* @param type A valid defined intersection type |
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118 |
* @param dir The direction to turn at the intersection |
|
119 |
*/ |
|
120 |
int turn(int type, int dir) |
|
121 |
{ |
|
122 |
if(stateLength!=0) |
|
123 |
return ERROR; |
|
124 |
|
|
125 |
//turns that don't depend on what kind of road your on |
|
126 |
if(dir==ISTRAIGHT) |
|
127 |
{ |
|
128 |
stateLength++; |
|
129 |
state[1]=ISTRAIGHT; |
|
130 |
return NORMAL; |
|
131 |
} |
|
132 |
if(dir==IUTURN) |
|
133 |
{ |
|
134 |
stateLength+=2; |
|
135 |
state[1]=state[2]=ILEFT; |
|
136 |
return NORMAL; |
|
137 |
} |
|
138 |
|
|
139 |
if(type==ON_ROAD) |
|
140 |
{ |
|
141 |
if(dir==IRIGHT){ |
|
142 |
stateLength++; |
|
143 |
state[1] = IRIGHT; |
|
144 |
return NORMAL; |
|
145 |
} |
|
146 |
if(dir==ILEFT){ |
|
147 |
stateLength += 2; |
|
148 |
state[1] = ILEFT; |
|
149 |
state[2] = ISTRAIGHT; |
|
150 |
return NORMAL |
|
151 |
} |
|
152 |
} |
|
153 |
if(type==OFF_ROAD) |
|
154 |
{ |
|
155 |
if(dir==IRIGHT){ |
|
156 |
stateLength++; |
|
157 |
state[1]=IRIGHT; |
|
158 |
return NORMAL; |
|
159 |
} |
|
160 |
if(dir==ILEFT){ |
|
161 |
stateLength+=2; |
|
162 |
state[1]=ISTRAIGHT; |
|
163 |
state[2]=ILEFT; |
|
164 |
} |
|
165 |
} |
|
166 |
|
|
167 |
//Should never get here |
|
168 |
return ERROR; |
|
169 |
} |
|
170 |
|
scout/libscout/src/behaviors/lineDrive.h | ||
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1 |
#ifndef _LINE_DRIVE_H_ |
|
2 |
#define _LINE_DRIVE_H_ |
|
3 |
|
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4 |
#include "../Behavior.h" |
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5 |
#include "lineFollow.h" |
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6 |
|
|
7 |
/* |
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8 |
* Defines whether your making a turn from the main two-way road |
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9 |
* or from a one-way sub road. |
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10 |
*/ |
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11 |
#define ON_ROAD 0 |
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12 |
#define OFF_ROAD 0 |
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13 |
|
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14 |
/* |
|
15 |
* The type of turn you are making from the road you are on. |
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16 |
*/ |
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17 |
#define ISTRAIGHT 0 |
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18 |
#define ILEFT 1 |
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19 |
#define IRIGHT 2 |
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20 |
#define IUTURN 3 |
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21 |
|
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22 |
#define NORMAL -1 |
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23 |
#define FINISHED -2 |
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24 |
#define LOST -3 |
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25 |
#define ERROR -4 |
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26 |
|
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27 |
class line_drive : Behavior{ |
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28 |
line_drive(String scoutname); |
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29 |
run(); |
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30 |
|
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31 |
void line_drive_init(void); |
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32 |
|
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33 |
int doDrive(int speed); |
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34 |
|
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35 |
void start(void); |
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36 |
void stop(void); |
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37 |
|
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38 |
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39 |
int turn(int type, iint dir); |
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40 |
|
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41 |
private: |
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42 |
int state[5]; //! Stores a queue of sub-commands to be executed |
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43 |
int stateCounter; |
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44 |
int stateLength; |
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45 |
|
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46 |
//! Whether line_drive is currently paused. Set to 0 on initialization. |
|
47 |
int stopped=1; |
|
48 |
|
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49 |
}; |
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50 |
|
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51 |
#endif |
scout/libscout/src/behaviors/line_follow.cpp | ||
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1 | 1 |
/** |
2 |
* @file line_follow.cpp |
|
3 |
* @defgroup lineFollwing Line Following |
|
4 |
* |
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5 |
* Takes care of following a line. Running this program is done by calling the |
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6 |
* init() function and then the line_follow(speed) command. However, direct use |
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7 |
* of this class is discouraged as its behavior is used by lineDrive.cpp, which |
|
8 |
* extends this class to provide behavior functionality. |
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9 |
* |
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10 |
* @author Dan Jacobs and the Colony Project |
|
11 |
* @date 11-1-2010 |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
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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 |
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7 |
* restriction, including without limitation the rights to use, |
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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: |
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12 |
* |
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13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
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15 |
* |
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16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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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. |
|
12 | 24 |
*/ |
13 | 25 |
|
14 | 26 |
#include "line_follow.h" |
15 | 27 |
|
16 |
//! Anything lower than this value is white |
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17 |
int GREY_THRESHOLD = 300; |
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18 |
//! Anything higher than this value is black |
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19 |
int BLACK_THRESHOLD = 750; |
|
28 |
using namespace std; |
|
20 | 29 |
|
21 |
int countHi = 0; |
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22 |
int countLo = 0; |
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23 |
int maxAvg, avg; |
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30 |
static int motor_l; |
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31 |
static int motor_r; |
|
24 | 32 |
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25 |
int duration[2] = {0}; |
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26 |
int lastColor[2] = {0}; |
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27 |
char isReset[2] = {1}; |
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28 |
int lastReadings[2][ NUM_READINGS ] = {{0}}; |
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29 |
int lastReadingsPtr[2] = {0}; |
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30 |
int numLast[2][4] = { {0, 0, 0, NUM_READINGS}, {0, 0, 0, NUM_READINGS} }; |
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31 |
int bitColor[2] = {0}; |
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32 |
|
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33 |
int turnDistance=0; |
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34 |
//! Counts the number of full line readings before we determine an intersection |
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35 |
int intersectionFilter=0; |
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33 |
void line_follow::follow_line() |
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34 |
{ |
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35 |
while(!linesensor->fullline()) |
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36 |
{ |
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37 |
double line_loc = linesensor->readline(); |
|
36 | 38 |
|
37 |
//! Keeps track of where the encoder of one motor started, for use in turns. |
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38 |
int encoderStart = -1; |
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39 |
int encoderReset = 0; // 0 if encoderStart has no value set |
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39 |
cout << "line_loc: " << line_loc << endl; |
|
40 | 40 |
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41 |
int min(int x, int y){return x>y ? y : x;}
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42 |
int max(int x, int y){return x<y ? y : x;}
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41 |
motor_l = -MOTOR_BASE + SCALE * line_loc;
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42 |
motor_r = -MOTOR_BASE - SCALE * line_loc;
|
|
43 | 43 |
|
44 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
|
45 |
} |
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46 |
halt(); |
|
47 |
} |
|
44 | 48 |
|
45 |
void line_follow::init()
|
|
49 |
void line_follow::turn_left()
|
|
46 | 50 |
{ |
47 |
int i, j, curReading; |
|
48 |
int lowGrey = 1000, highGrey = 0, lowBlack = 1000, |
|
49 |
highBlack = 0; |
|
51 |
bool first = true; |
|
52 |
do |
|
53 |
{ |
|
54 |
motor_l = -MOTOR_BASE; |
|
55 |
motor_r = MOTOR_BASE/8; |
|
50 | 56 |
|
51 |
analog_init(0); |
|
52 |
encoders_init(); |
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53 |
lost = 0; |
|
54 |
intersectionFilter=0; |
|
57 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
|
55 | 58 |
|
56 |
for(i=0; i<2; i++)
|
|
57 |
{
|
|
58 |
for(j=0; j<NUM_READINGS; j++)
|
|
59 |
double line_loc = linesensor->readline();
|
|
60 |
cout << "line_loc: " << line_loc << endl;
|
|
61 |
if(first)
|
|
59 | 62 |
{ |
60 |
lastReadings[i][j] = BAD_READING; |
|
63 |
loop_rate->sleep(); |
|
64 |
loop_rate->sleep(); |
|
65 |
loop_rate->sleep(); |
|
66 |
first = false; |
|
61 | 67 |
} |
62 |
isReset[i] = 1; |
|
63 |
} |
|
64 |
|
|
65 |
// Calibrate thresholds |
|
66 |
orb_set_color(YELLOW); |
|
67 |
delay_ms(2000); |
|
68 |
|
|
69 |
orb_set_color(BLUE); |
|
70 |
|
|
71 |
for(i=0; i<100; i++) |
|
72 |
{ |
|
73 |
curReading = read_line(LEFT_SENSOR + 6); |
|
74 |
if(curReading < lowGrey) |
|
75 |
lowGrey = curReading; |
|
76 |
if(curReading > highGrey) |
|
77 |
highGrey = curReading; |
|
78 |
|
|
79 |
delay_ms(20); |
|
80 | 68 |
} |
81 |
|
|
82 |
orb_set_color(YELLOW); |
|
83 |
delay_ms(2000); |
|
84 |
|
|
85 |
orb_set_color(GREEN); |
|
86 |
|
|
87 |
for(i=0; i<100; i++) |
|
88 |
{ |
|
89 |
curReading = read_line(LEFT_SENSOR + 6); |
|
90 |
if(curReading < lowBlack) |
|
91 |
lowBlack = curReading; |
|
92 |
if(curReading > highBlack) |
|
93 |
highBlack = curReading; |
|
94 |
|
|
95 |
delay_ms(20); |
|
96 |
} |
|
97 |
|
|
98 |
orbs_set(0,0,0,0,0,0); |
|
99 |
|
|
100 |
GREY_THRESHOLD = lowGrey / 2; |
|
101 |
BLACK_THRESHOLD = (highGrey + lowBlack) / 2; |
|
102 |
|
|
103 |
usb_puts("Grey: "); |
|
104 |
usb_puti(lowGrey); |
|
105 |
usb_puts(", "); |
|
106 |
usb_puti(highGrey); |
|
107 |
usb_puts("\nBlack: "); |
|
108 |
usb_puti(lowBlack); |
|
109 |
usb_puts(", "); |
|
110 |
usb_puti(highBlack); |
|
111 |
usb_puts("\nThresholds: "); |
|
112 |
usb_puti(GREY_THRESHOLD); |
|
113 |
usb_puts(", "); |
|
114 |
usb_puti(BLACK_THRESHOLD); |
|
115 |
usb_puts("\n\n"); |
|
116 |
|
|
117 |
delay_ms(1500); |
|
69 |
while(linesensor->readline()); |
|
118 | 70 |
} |
119 | 71 |
|
120 |
|
|
121 |
/** |
|
122 |
* Follows a line at the given speed. |
|
123 |
* @param speed The speed with which to follow the line. |
|
124 |
*/ |
|
125 |
int line_follow::follow_line(int speed) |
|
72 |
void line_follow::halt() |
|
126 | 73 |
{ |
127 |
int colors[5]; |
|
128 |
int position; |
|
129 |
|
|
130 |
|
|
131 |
updateLine(colors); |
|
132 |
position = lineLocate(colors); |
|
133 |
|
|
134 |
//not on line |
|
135 |
if(position == NOLINE) |
|
136 |
{ |
|
137 |
if(lost++ > 20) |
|
138 |
{ |
|
139 |
orb2_set_color(GREEN); |
|
140 |
motors_off(); |
|
141 |
return LINELOST; |
|
142 |
} |
|
143 |
} |
|
144 |
else if(position == FULL_LINE) |
|
145 |
{ |
|
146 |
if(intersectionFilter++ > 4) |
|
147 |
{ |
|
148 |
orb2_set_color(RED); |
|
149 |
barCodePosition[0]=0; |
|
150 |
barCodePosition[1]=0; |
|
151 |
disableBarCode=50; |
|
152 |
} |
|
153 |
} |
|
154 |
//on line |
|
155 |
else |
|
156 |
{ |
|
157 |
position*=30; |
|
158 |
orb2_set_color(ORB_OFF); |
|
159 |
motorLeft(min(speed+position, 255)); |
|
160 |
motorRight(min(speed-position, 255)); |
|
161 |
lost=0; |
|
162 |
intersectionFilter=0; |
|
163 |
} |
|
74 |
motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
|
164 | 75 |
} |
165 | 76 |
|
166 |
|
|
167 |
/** |
|
168 |
* Turns left at a cross of two lines. Assumes that we are at lines in a cross |
|
169 |
* pattern, and turns until it sets straight on the new line. |
|
170 |
* @return 0 if turn finishes otherwise return 1 |
|
171 |
*/ |
|
172 |
int line_follow::turnLeft() |
|
77 |
void line_follow::turn_right() |
|
173 | 78 |
{ |
174 |
motors->set_sides(-20, 20, MOTOR_ABSOLUTE); |
|
175 |
|
|
176 |
if(!encoderReset) |
|
177 |
{ |
|
178 |
encoderStart = encoder_get_x(RIGHT); |
|
179 |
encoderReset = 1; |
|
180 |
} |
|
181 |
|
|
182 |
if(encoder_get_x(RIGHT) < encoderStart) |
|
183 |
{ |
|
184 |
encoderStart = 0; |
|
185 |
motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
|
186 |
delay_ms(2000); |
|
187 |
} |
|
188 |
|
|
189 |
if(encoder_get_x(RIGHT) - encoderStart > 300) |
|
190 |
{ |
|
191 |
encoderReset = 0; |
|
192 |
return 0; |
|
193 |
} |
|
194 |
return 1; |
|
195 |
} |
|
196 |
|
|
197 |
|
|
198 |
|
|
199 |
/** |
|
200 |
* Turns right at a cross of two lines. Assumes that we are at lines in a cross |
|
201 |
* pattern, and turns until it sets straight on the new line. |
|
202 |
* @return 0 if the turn finishes otherwise return 1 |
|
203 |
*/ |
|
204 |
int line_follow::turnRight() |
|
205 |
{ |
|
206 |
/// Set motors using new motors functions |
|
207 |
motors->set_sides(20, -20, MOTOR_ABSOLUTE); |
|
79 |
bool first = true; |
|
80 |
do |
|
81 |
{ |
|
82 |
motor_l = MOTOR_BASE/8; |
|
83 |
motor_r = -MOTOR_BASE; |
|
208 | 84 |
|
209 |
int colors[5]; |
|
210 |
updateLine(colors); |
|
211 |
int position = lineLocate(colors); |
|
212 |
if(position>2 || position<-2) |
|
213 |
turnDistance++; |
|
85 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
|
214 | 86 |
|
215 |
if(turnDistance>1)
|
|
216 |
{
|
|
217 |
if(position<3 && position>-3)
|
|
87 |
double line_loc = linesensor->readline();
|
|
88 |
cout << "line_loc: " << line_loc << endl;
|
|
89 |
if(first)
|
|
218 | 90 |
{ |
219 |
turnDistance = 0; |
|
220 |
return 0; |
|
91 |
loop_rate->sleep(); |
|
92 |
loop_rate->sleep(); |
|
93 |
loop_rate->sleep(); |
|
94 |
first = false; |
|
221 | 95 |
} |
222 | 96 |
} |
223 |
return 1; |
|
224 |
} |
|
225 |
|
|
226 |
|
|
227 |
void line_follow::updateLine(int* values) |
|
228 |
{ |
|
229 |
for(int i = 0; i<5; i++) |
|
230 |
values[i] = (read_line(4-i) < LINE_COLOR ? LWHITE : LBLACK); |
|
231 |
} |
|
232 |
|
|
233 |
|
|
234 |
int line_follow::lineLocate(int* colors) |
|
235 |
{ |
|
236 |
int i; |
|
237 |
int wsum = 0; |
|
238 |
int count=0; |
|
239 |
|
|
240 |
for(i = 0; i<5; i++) |
|
241 |
{ |
|
242 |
count += colors[i]/2; |
|
243 |
wsum += (i)*colors[i]; |
|
244 |
} |
|
245 |
if(count==0) |
|
246 |
return NOLINE; |
|
247 |
if(count==5) |
|
248 |
return FULL_LINE; |
|
249 |
return (wsum/count)-4; /// Subtract 4 to center the index around the center. |
|
250 |
} |
|
251 |
|
|
252 |
void line_follow::motorLeft(int speed) |
|
253 |
{ |
|
254 |
int tempspeed = 0; |
|
255 |
if ((speed-=127)>=0) |
|
256 |
{ |
|
257 |
tempspeed = 160+speed*95/128; |
|
258 |
motors->set(MOTOR_LEFT, tempspeed, MOTOR_ABSOLUTE); |
|
259 |
} |
|
260 |
else |
|
261 |
{ |
|
262 |
tempspeed = 160+speed*95/128; |
|
263 |
motors->set(MOTOR_LEFT, -tempspeed, MOTOR_ABSOLUTE); |
|
264 |
} |
|
97 |
while(linesensor->readline()); |
|
265 | 98 |
} |
266 | 99 |
|
267 |
void line_follow::motorRight(int speed)
|
|
100 |
void line_follow::run()
|
|
268 | 101 |
{ |
269 |
int tempspeed = 0; |
|
270 |
if ((speed-=127)>=0) |
|
271 |
{ |
|
272 |
tempspeed = 160+speed*95/128; |
|
273 |
motors->set(MOTOR_RIGHT, tempspeed, MOTOR_ABSOLUTE); |
|
274 |
} |
|
275 |
else |
|
276 |
{ |
|
277 |
tempspeed = 160+speed*95/128; |
|
278 |
motors->set(MOTOR_RIGHT, -tempspeed, MOTOR_ABSOLUTE); |
|
279 |
} |
|
102 |
follow_line(); |
|
103 |
turn_right(); |
|
104 |
follow_line(); |
|
105 |
turn_left(); |
|
106 |
follow_line(); |
|
107 |
turn_right(); |
|
108 |
follow_line(); |
|
280 | 109 |
} |
281 |
|
scout/libscout/src/behaviors/line_follow.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 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 |
*/ |
|
1 | 25 |
|
2 | 26 |
#ifndef _LINE_FOLLOW_H_ |
3 | 27 |
#define _LINE_FOLLOW_H_ |
4 | 28 |
|
5 | 29 |
#include "../Behavior.h" |
6 | 30 |
|
7 |
#define LWHITE 0 |
|
8 |
#define LGREY 1 |
|
9 |
#define LBLACK 2 |
|
10 |
#define BAD_READING 3 |
|
11 |
#define CENTER 3 |
|
12 |
#define LINELOST -1 |
|
13 |
|
|
14 |
#define INTERSECTION -25 |
|
15 |
|
|
16 |
#define NOLINE -50 |
|
17 |
#define FULL_LINE -51 |
|
18 |
|
|
19 |
#define NUM_READINGS 20 |
|
20 |
|
|
21 |
#define LEFT_SENSOR 1 |
|
22 |
#define RIGHT_SENSOR 0 |
|
23 |
|
|
24 |
/** |
|
25 |
* Helps with debugging. |
|
26 |
* 0 - no debug output. |
|
27 |
* 1 - print out buckets |
|
28 |
* 2 - print out line sensor readings |
|
29 |
*/ |
|
30 |
#define DBG_LINEFOLLOW 2 |
|
31 |
|
|
31 |
#define MOTOR_BASE 50 |
|
32 |
#define SCALE 20 |
|
32 | 33 |
|
33 |
//! A simple function to return the minimum of two integers. |
|
34 |
int min(int x, int y); |
|
35 |
//! A simple function to return the maximum of two integers. |
|
36 |
int max(int x, int y); |
|
37 |
|
|
38 |
|
|
39 |
class line_follow |
|
34 |
class line_follow : Behavior |
|
40 | 35 |
{ |
41 |
public: |
|
42 |
/** Actually executes the behavior. */ |
|
43 |
void init(); |
|
44 |
|
|
45 |
/** line_follow |
|
46 |
* Must call line_follow_init first |
|
47 |
* Must be called inside a loop |
|
48 |
*/ |
|
49 |
int follow_line(int speed); |
|
50 |
|
|
51 |
/** turnLeft turnRight |
|
52 |
* Must be called inside a loop |
|
53 |
* returns 0 when complete |
|
54 |
*/ |
|
55 |
int turnLeft(void); |
|
56 |
int turnRight(void); |
|
57 |
|
|
58 |
/** |
|
59 |
* @brief Updates the values stored in the array to white or black based on |
|
60 |
* current sensor readings. |
|
61 |
* |
|
62 |
* @param values The array of five integers to be updated. |
|
63 |
*/ |
|
64 |
void updateLine(int* values); |
|
36 |
public: |
|
37 |
line_follow(std::string scoutname) : Behavior(scoutname, "line_follow") {}; |
|
65 | 38 |
|
66 |
/** |
|
67 |
* @brief Returns an index of the middle of the line based on line readings. |
|
68 |
* |
|
69 |
* Two special return values are possible: |
|
70 |
* NOLINE if none of the sensors holds a black value, and |
|
71 |
* FULL_LINE if all of the sensors see black. |
|
72 |
* |
|
73 |
* Otherwise, returns a value from -4 (farthest left) to 4 (farthest right), with |
|
74 |
* 0 the line being centered in the middle. |
|
75 |
* |
|
76 |
* @param colors The array of 5 readings from the line sensor. Must be either |
|
77 |
* LWHITE or LBLACK. |
|
78 |
* @return Either a special value or an index from -4 to 4. |
|
79 |
* |
|
80 |
*/ |
|
81 |
int lineLocate(int* colors); |
|
82 |
|
|
83 |
/** @todo Alex: I hate these functions, but I'm keeping them so code will still work. But we should delete them sometime. */ |
|
84 |
|
|
85 |
/** motorLeft |
|
86 |
* Commands the left motor |
|
87 |
* Cannot be used to stop |
|
88 |
* 0-126 are backward |
|
89 |
* 127-255 are forward |
|
90 |
*/ |
|
91 |
void motorLeft(int speed); |
|
92 |
|
|
93 |
/** motorRight |
|
94 |
* Commands the right motor |
|
95 |
* Cannot be used to stop |
|
96 |
* 0-126 are backward |
|
97 |
* 127-255 are forward |
|
98 |
*/ |
|
99 |
void motorRight(int speed); |
|
39 |
/** Actually executes the behavior. */ |
|
40 |
void run(); |
|
100 | 41 |
|
101 | 42 |
private: |
102 |
/** lost
|
|
103 |
* Internal counter to detect if the line was lost
|
|
104 |
*/
|
|
105 |
int lost;
|
|
43 |
void turn_left();
|
|
44 |
void turn_right();
|
|
45 |
void follow_line();
|
|
46 |
void halt();
|
|
106 | 47 |
}; |
48 |
|
|
107 | 49 |
#endif |
scout/libscout/src/behaviors/sim_line.cpp | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 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 |
#include "sim_line.h" |
|
27 |
|
|
28 |
using namespace std; |
|
29 |
|
|
30 |
static int motor_l; |
|
31 |
static int motor_r; |
|
32 |
|
|
33 |
void sim_line::follow_line() |
|
34 |
{ |
|
35 |
while(!linesensor->fullline()) |
|
36 |
{ |
|
37 |
double line_loc = linesensor->readline(); |
|
38 |
|
|
39 |
cout << "line_loc: " << line_loc << endl; |
|
40 |
|
|
41 |
motor_l = -MOTOR_BASE + SCALE * line_loc; |
|
42 |
motor_r = -MOTOR_BASE - SCALE * line_loc; |
|
43 |
|
|
44 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
|
45 |
} |
|
46 |
halt(); |
|
47 |
} |
|
48 |
|
|
49 |
void sim_line::turn_left() |
|
50 |
{ |
|
51 |
bool first = true; |
|
52 |
do |
|
53 |
{ |
|
54 |
motor_l = -MOTOR_BASE; |
|
55 |
motor_r = MOTOR_BASE/8; |
|
56 |
|
|
57 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
|
58 |
|
|
59 |
double line_loc = linesensor->readline(); |
|
60 |
cout << "line_loc: " << line_loc << endl; |
|
61 |
if(first) |
|
62 |
{ |
|
63 |
loop_rate->sleep(); |
|
64 |
loop_rate->sleep(); |
|
65 |
loop_rate->sleep(); |
|
66 |
first = false; |
|
67 |
} |
|
68 |
} |
|
69 |
while(linesensor->readline()); |
|
70 |
} |
|
71 |
|
|
72 |
void sim_line::halt() |
|
73 |
{ |
|
74 |
motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
|
75 |
} |
|
76 |
|
|
77 |
void sim_line::turn_right() |
|
78 |
{ |
|
79 |
bool first = true; |
|
80 |
do |
|
81 |
{ |
|
82 |
motor_l = MOTOR_BASE/8; |
|
83 |
motor_r = -MOTOR_BASE; |
|
84 |
|
|
85 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
|
86 |
|
|
87 |
double line_loc = linesensor->readline(); |
|
88 |
cout << "line_loc: " << line_loc << endl; |
|
89 |
if(first) |
|
90 |
{ |
|
91 |
loop_rate->sleep(); |
|
92 |
loop_rate->sleep(); |
|
93 |
loop_rate->sleep(); |
|
94 |
first = false; |
|
95 |
} |
|
96 |
} |
|
97 |
while(linesensor->readline()); |
|
98 |
} |
|
99 |
|
|
100 |
void sim_line::run() |
|
101 |
{ |
|
102 |
follow_line(); |
|
103 |
turn_right(); |
|
104 |
follow_line(); |
|
105 |
turn_left(); |
|
106 |
follow_line(); |
|
107 |
turn_right(); |
|
108 |
follow_line(); |
|
109 |
} |
scout/libscout/src/behaviors/sim_line.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 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 |
#ifndef _SIM_LINE_H_ |
|
27 |
#define _SIM_LINE_H_ |
|
28 |
|
|
29 |
#include "../Behavior.h" |
|
30 |
|
|
31 |
#define MOTOR_BASE 50 |
|
32 |
#define SCALE 20 |
|
33 |
|
|
34 |
class sim_line : Behavior |
|
35 |
{ |
|
36 |
public: |
|
37 |
sim_line(std::string scoutname) : Behavior(scoutname, "sim_line") {}; |
|
38 |
|
|
39 |
/** Actually executes the behavior. */ |
|
40 |
void run(); |
|
41 |
|
|
42 |
private: |
|
43 |
void turn_left(); |
|
44 |
void turn_right(); |
|
45 |
void follow_line(); |
|
46 |
void halt(); |
|
47 |
}; |
|
48 |
|
|
49 |
#endif |
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