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This commit is contained in:
sicarius 2007-02-22 13:12:03 +00:00
parent 9525458918
commit 655dd7522f
14 changed files with 212 additions and 166 deletions
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149
source/Concept/Framework/modules/executor/navigator.c
View file

@ -54,30 +54,6 @@ void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float
}
CalculateEngines();
//dings,,,
/*float xDrive = cos(direction + PI / 6.0f);
float yDrive = sin(direction + PI / 6.0f);
float vLeft = xDrive;
float vBack = (-xDrive + sqrt(3) * yDrive) / 2.0f;
float vRight = (-xDrive - sqrt(3) * yDrive) / 2.0f;
vLeft = vLeft * this->robotSpeed + rotationSpeed;
vBack = vBack * this->robotSpeed + rotationSpeed;
vRight = vRight * this->robotSpeed + rotationSpeed;
Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT);
curEngine->SetSpeed(vLeft);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_BACK);
curEngine->SetSpeed(vBack);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT);
curEngine->SetSpeed(vRight);
curEngine->SetEnabled(true);
curEngine = NULL;*/
}
//-----------------------------------------------------------------------------
@ -178,108 +154,43 @@ void Navigator::CalculateDirection()
//-----------------------------------------------------------------------------
void Navigator::CalculateEngines()
{
// Use the position_tracker
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
if(direction != EMPTY_FLOAT)
{
float relativeDirection = this->direction - locationeer->GetOrientation();
// get the relative position of the robot
float relativeDirection = this->direction - locationeer->GetOrientation();
float xDrive = cos(relativeDirection + PI / 6.0f);
float yDrive = sin(relativeDirection + PI / 6.0f);
// calculate x and y-koordinates
float xDrive = cos(relativeDirection + PI / 6.0f);
float yDrive = sin(relativeDirection + PI / 6.0f);
float vLeft = xDrive;
float vBack = (-xDrive + sqrt(3) * yDrive) / 2.0f;
float vRight = (-xDrive - sqrt(3) * yDrive) / 2.0f;
// calculate relative speed of engines
float vLeft = xDrive;
float vBack = (-xDrive + sqrt(3) * yDrive) / 2.0f;
float vRight = (-xDrive - sqrt(3) * yDrive) / 2.0f;
/*float speedCorrection = 1.0f;
// Get the maximal value
float speedCorrection = (float)max(max(fabs(vLeft),fabs(vBack)),fabs(vRight));
float maxEngineSpeed = 255.0f;
float minEngineSpeed = -255.0f;
// calculate the correct speeds of the engines
vLeft = ((float)vLeft * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
vBack = ((float)vBack * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
vRight = ((float)vRight * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
float maxSingleSpeed = max(max(fabs(vLeft), fabs(vBack)), fabs(vRight));
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vLeft,10,2);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,3);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vRight,10,4);
float calcSpeed = 1.0f;//sqrt(vLeft * vLeft - vLeft * vRight + vRight * vRight +
// vBack * (vBack + vLeft + vRight));
if(calcSpeed != 1.0f)
{
speedCorrection = 1.0f / calcSpeed;
}
float maxOverallSpeed = robotSpeed * maxSingleSpeed * speedCorrection;
if(maxOverallSpeed > maxEngineSpeed)
{
robotSpeed = maxEngineSpeed / (maxSingleSpeed * speedCorrection);
}*/
vLeft = vLeft * this->robotSpeed;// * speedCorrection;
vBack = vBack * this->robotSpeed;// * speedCorrection;
vRight = vRight * this->robotSpeed;// * speedCorrection;
/*maxSingleSpeed = max(max(fabs(vLeft), fabs(vBack)), fabs(vRight));
float minSingleSpeed = min(min(vLeft, vBack), vRight);
if(rotationSpeed)
{
if(this->rotationSpeed > 0)
{
if(maxEngineSpeed - maxSingleSpeed < this->rotationSpeed)
{
vLeft += maxEngineSpeed - maxSingleSpeed;
vBack += maxEngineSpeed - maxSingleSpeed;
vRight += maxEngineSpeed - maxSingleSpeed;
}
else
{
vLeft += this->rotationSpeed;
vBack += this->rotationSpeed;
vRight += this->rotationSpeed;
}
}
else
{
if((minEngineSpeed - minSingleSpeed) < this->rotationSpeed)
{
vLeft -= minEngineSpeed - minSingleSpeed;
vBack -= minEngineSpeed - minSingleSpeed;
vRight -= minEngineSpeed - minSingleSpeed;
}
else
{
vLeft -= this->rotationSpeed;
vBack -= this->rotationSpeed;
vRight -= this->rotationSpeed;
}
}
}*/
Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT);
curEngine->SetSpeed(vLeft);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_BACK);
curEngine->SetSpeed(vBack);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT);
curEngine->SetSpeed(vRight);
curEngine->SetEnabled(true);
curEngine = NULL;
}
else if(rotationSpeed)
{
Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT);
curEngine->SetSpeed(this->rotationSpeed);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_BACK);
curEngine->SetSpeed(this->rotationSpeed);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT);
curEngine->SetSpeed(this->rotationSpeed);
curEngine->SetEnabled(true);
curEngine = NULL;
}
else
{
Stop();
}
// Transfer the values to the engines
Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT);
curEngine->SetSpeed(vLeft);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_BACK);
curEngine->SetSpeed(vBack);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT);
curEngine->SetSpeed(vRight);
curEngine->SetEnabled(true);
curEngine = NULL;
}

19
source/Concept/Framework/modules/input/distance_sensor.c
View file

@ -5,21 +5,36 @@ float Distance_Sensor::GetDistance()
{
uint32 result = 0;
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Gen Pulse; Pin:",1,4);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
msleep(500);
//Generate pulse
*hardwareDDR |= pin;//Set pin output
*hardwarePort |= pin;//Activate port
usleep(10);//Wait for 10µs
*hardwarePort &= ~pin;//Deactivate port
*hardwareDDR &= ~pin;//Set pin input
*hardwarePort &= ~pin;//Deactivate port
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Wait response; Pin:",1,4);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
uint16 i;
//Wait for response
for(uint16 i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
for(i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
//Calculate duration of response
while((*hardwarePin & pin)&&(result < 300000))
{
result++;
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
}
return (float(result) * DISTANCE_PER_VALUE);

2
source/Concept/Framework/modules/input/ir_sensor.c
View file

@ -5,5 +5,5 @@ uint16 IR_Sensor::GetIRIntensity()
{
if(!parent) return 0;
return parent->GetADCValue(channel);
return min(parent->GetADCValue(channel) + this->intensityCorrection, 1023);
}

7
source/Concept/Framework/modules/input/ir_sensor.h
View file

@ -12,12 +12,14 @@ public:
{
this->parent = NULL;
this->moduleId = 0;
this->intensityCorrection = 0;
}
IR_Sensor(uint32 sensorId)
{
this->parent = NULL;
this->moduleId = sensorId;
this->intensityCorrection = 0;
switch(sensorId)
{
@ -32,12 +34,15 @@ public:
break;
case IO_SENSOR_IR_100_DEG:
this->channel = 3;
this->intensityCorrection = 40;
break;
case IO_SENSOR_IR_180_DEG:
this->channel = 4;
this->intensityCorrection = 50;
break;
case IO_SENSOR_IR_260_DEG:
this->channel = 5;
this->intensityCorrection = 70;
break;
case IO_SENSOR_IR_300_DEG:
this->channel = 6;
@ -55,6 +60,8 @@ protected:
//Hardware
uint8 channel;
uint8 intensityCorrection;
public:
uint16 GetIRIntensity();
};

7
source/Concept/Framework/modules/interpreter/ball_tracker.c
View file

@ -109,9 +109,16 @@ void Ball_Tracker::Update()
break;
}
if(fabs(mainDirection - secondDirection) > PI)
{
min(mainDirection, secondDirection) += 2.0f * PI;
}
direction = (intensity[greatestIntensity] * mainDirection +
intensity[secondIntensity] * secondDirection) /
(intensity[greatestIntensity] + intensity[secondIntensity]);
direction = easyAngle(direction);
}
else
{

10
source/Concept/Framework/modules/interpreter/ball_tracker.h
View file

@ -30,6 +30,16 @@ public:
{
return direction;
}
bool KnowsBallDirection()
{
return direction != EMPTY_FLOAT;
}
bool RobotHasBall()
{
//fill me!
}
};
#endif

13
source/Concept/Framework/modules/interpreter/position_tracker.c
View file

@ -3,9 +3,11 @@
//-----------------------------------------------------------------------------
void Position_Tracker::Update()
{
// We want to use the mouse-sensors
Mouse_Sensor* mouseLeft = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
Mouse_Sensor* mouseRight = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
// Generate a vector for the left mouse
int8 leftX = mouseLeft->GetXMovement();
int8 leftY = mouseLeft->GetYMovement();
float distanceLeft = sqrt(leftX * leftX + leftY * leftY);
@ -14,12 +16,14 @@ void Position_Tracker::Update()
float movementLeftX = cos(angleLeft) * distanceLeft;
float movementLeftY = sin(angleLeft) * distanceLeft;
// AVR calculates a little bit strange ;)
if(!leftX && !leftY)
{
movementLeftX = 0;
movementLeftY = 0;
}
// Generate a vector for the right mouse
int8 rightX = mouseRight->GetXMovement();
int8 rightY = mouseRight->GetYMovement();
float distanceRight = sqrt(rightX * rightX + rightY * rightY);
@ -28,21 +32,24 @@ void Position_Tracker::Update()
float movementRightX = cos(angleRight) * distanceRight;
float movementRightY = sin(angleRight) * distanceRight;
// AVR calculates a little bit strange ;)
if(!rightX && !rightY)
{
movementRightX = 0;
movementRightY = 0;
}
float movementDifferenceX = (movementRightX + mouseRight->GetPositionX()) - (movementLeftX + mouseLeft->GetPositionX());
// Generate vector from P:left to P:right
float movementDifferenceX = movementRightX - movementLeftX;
float movementDifferenceY = (movementRightY + mouseRight->GetPositionY()) - (movementLeftY + mouseLeft->GetPositionY());
// Calculate the difference of orientation
float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f);
float robotMovementX = movementDifferenceX / 2.0f;
float robotMovementY = movementDifferenceY / 2.0f;
robotMovementX += movementLeftX + mouseLeft->GetPositionX() + (-mouseLeft->GetPositionX() * cos(orientationDiff));
robotMovementY += movementLeftY + mouseLeft->GetPositionY() + (-mouseLeft->GetPositionX() * sin(orientationDiff));
robotMovementY += movementLeftY + mouseLeft->GetPositionY() + (mouseLeft->GetPositionX() * sin(orientationDiff));
//float robotDistance = sqrt(robotMovementX * robotMovementX + robotMovementY * robotMovementY);
float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotMovementX - sin(this->orientation + (orientationDiff / 2.0f)) * robotMovementY;
@ -58,7 +65,7 @@ void Position_Tracker::Update()
}
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(" ", 5, 1);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(absoluteDiffX, 5, 1);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(robotMovementY + movementLeftY + mouseLeft->GetPositionY() + (mouseLeft->GetPositionX() * sin(orientationDiff)), 5, 1);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(absoluteDiffY, 12, 1);
this->positionX += absoluteDiffX;

26
source/Concept/Framework/modules/interpreter/position_tracker.h
View file

@ -32,19 +32,27 @@ protected:
public:
void Update();
float GetPositionX()
{
return positionX;
// Sets the current position; x and y in mm
void SetPosition(int newPositionX, int newPositionY, float newOrientation) {
positionX = newPositionX*(TICKS_PER_CM/10.0f);
positionY = newPositionY*(TICKS_PER_CM/10.0f);
orientation = easyAngle(newOrientation);
}
float GetPositionY()
{
return positionY;
// returns x-koordinate in mm
int GetPositionX() {
return (int)((positionX*10.0f)/TICKS_PER_CM);
}
float GetOrientation()
{
return orientation;
// returns y-koordinate in mm
int GetPositionY() {
return (int)((positionY*10.0f)/TICKS_PER_CM);
}
// returns orientation
float GetOrientation() {
return 0.0f; //tmp!!!!!!!!!!
//return orientation;
}
};

7
source/Concept/Framework/modules/output/dribbler.h
View file

@ -66,19 +66,20 @@ protected:
{
*hardwarePort |= pinForward;
*hardwarePort &= ~pinReverse;
*portPower |= pinPower;
}
else if(curSpeed < 0)
{
*hardwarePort |= pinReverse;
*hardwarePort &= ~pinForward;
*portPower |= pinPower;
}
else
{
*hardwarePort |= pinForward;
*hardwarePort |= pinReverse;
}
*portPower |= pinPower;
*portPower &= ~pinPower;
}
}
else
{