Project

General

Profile

Revision 6ee555a3

ID6ee555a311a763c3209c167ad843b2a8137b52c9

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