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-rw-r--r--Information/Hardware/Portbelegung.odsbin14493 -> 14582 bytes
-rw-r--r--source/Concept/Framework/RoboCode.aps2
-rw-r--r--source/Concept/Framework/default/Makefile7
-rwxr-xr-xsource/Concept/Framework/main.c53
-rwxr-xr-xsource/Concept/Framework/modules/executor/navigator.c223
-rwxr-xr-xsource/Concept/Framework/modules/executor/navigator.h14
-rw-r--r--source/Concept/Framework/tools.h9
7 files changed, 218 insertions, 90 deletions
diff --git a/Information/Hardware/Portbelegung.ods b/Information/Hardware/Portbelegung.ods
index 331cb29..13e4bae 100644
--- a/Information/Hardware/Portbelegung.ods
+++ b/Information/Hardware/Portbelegung.ods
Binary files differ
diff --git a/source/Concept/Framework/RoboCode.aps b/source/Concept/Framework/RoboCode.aps
index 4822e36..bb686cb 100644
--- a/source/Concept/Framework/RoboCode.aps
+++ b/source/Concept/Framework/RoboCode.aps
@@ -1 +1 @@
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diff --git a/source/Concept/Framework/default/Makefile b/source/Concept/Framework/default/Makefile
index d0fbfb0..fc917c5 100644
--- a/source/Concept/Framework/default/Makefile
+++ b/source/Concept/Framework/default/Makefile
@@ -13,7 +13,7 @@ COMMON = -mmcu=$(MCU)
## Compile options common for all C compilation units.
CFLAGS = $(COMMON)
-CFLAGS += -Wall -gdwarf-2 -O3 -fsigned-char
+CFLAGS += -Wall -gdwarf-2 -DF_CPU=16000000ULUL -O3 -fsigned-char
CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
## Assembly specific flags
@@ -22,7 +22,7 @@ ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
## Linker flags
LDFLAGS = $(COMMON)
-LDFLAGS +=
+LDFLAGS += -lm
## Intel Hex file production flags
@@ -36,6 +36,9 @@ HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0
## Include Directories
INCLUDES = -I"Y:\Concept\Framework\modules" -I"Y:\Concept\Framework\modules\executor" -I"Y:\Concept\Framework\modules\input" -I"Y:\Concept\Framework\modules\interpreter" -I"Y:\Concept\Framework\modules\logic" -I"Y:\Concept\Framework\modules\output"
+## Libraries
+LIBS = -lm
+
## Objects that must be built in order to link
OBJECTS = io_module.o atmega128io.o main.o robot.o tools.o distance_sensor.o ir_sensor.o keyboard.o mouse_sensor.o sensor.o position_tracker.o display.o dribbler.o engine.o kicker.o led.o ball_tracker.o navigator.o
diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c
index fa6d718..7822933 100755
--- a/source/Concept/Framework/main.c
+++ b/source/Concept/Framework/main.c
@@ -132,13 +132,54 @@ int main()
uint16 value = 0;
int8 value2 = 0;
Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
+ Keyboard* ourKeyboard = localRobot->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
uint32 i = 1;
- Ball_Tracker* ourBallTracker = localRobot->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
+ Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ float rotation = 0;
+
+ ourDisplay->Print("Starting...", 1, 1);
//Run
while(true)
{
- msleep(500);
+ uint8 someInput = ourKeyboard->GetInput();
+ switch(someInput)
+ {
+ case 1:
+ ourNavigator->Drive(225.0f * PI / 180.0f, rotation, 200, rotation);
+ break;
+ case 2:
+ ourNavigator->Drive(180.0f * PI / 180.0f, rotation, 200, rotation);
+ break;
+ case 3:
+ ourNavigator->Drive(135.0f * PI / 180.0f, rotation, 200, rotation);
+ break;
+ case 4:
+ ourNavigator->Drive(270.0f * PI / 180.0f, rotation, 200, rotation);
+ break;
+ case 5:
+ ourNavigator->Stop();
+ break;
+ case 6:
+ ourNavigator->Drive(90.0f * PI / 180.0f, rotation, 200, rotation);
+ break;
+ case 7:
+ ourNavigator->Drive(315.0f * PI / 180.0f, rotation, 200, rotation);
+ break;
+ case 8:
+ ourNavigator->Drive(0.0f * PI / 180.0f, rotation, 200, rotation);
+ break;
+ case 9:
+ ourNavigator->Drive(45.0f * PI / 180.0f, rotation, 200, rotation);
+ break;
+ case 10:
+ rotation -= 10;
+ break;
+ case 12:
+ rotation += 10;
+ break;
+ }
+ msleep(50);/*
ourDisplay->Clear();
ourDisplay->Print(i++);
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
@@ -172,15 +213,11 @@ int main()
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value);
- ourDisplay->Print(";");
- value2 = (localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT))->GetXMovement();
- ourDisplay->Print(value2, 10, 4);
- value2 = (localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT))->GetYMovement();
- ourDisplay->Print(value2, 15, 4);
+ ourDisplay->Print(";");*/
localRobot->Update();
- ourDisplay->PrintFloat(ourBallTracker->GetBallDirection(), 1, 4);
+ //ourDisplay->PrintFloat(ourBallTracker->GetBallDirection(), 1, 4);
}
//Cleanup
diff --git a/source/Concept/Framework/modules/executor/navigator.c b/source/Concept/Framework/modules/executor/navigator.c
index 459d4c1..691b1d0 100755
--- a/source/Concept/Framework/modules/executor/navigator.c
+++ b/source/Concept/Framework/modules/executor/navigator.c
@@ -7,7 +7,7 @@ void Navigator::Stop()
this->targetAngle = -1.0f;
this->targetX = -1.0f;
this->targetY = -1.0f;
- this->speed = 0;
+ this->robotSpeed = 0;
this->rotationSpeed = 0;
for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++)
@@ -20,12 +20,12 @@ void Navigator::Stop()
//-----------------------------------------------------------------------------
void Navigator::Rotate(float rotationSpeed)
{
- this->rotationSpeed = rotationSpeed;
+ this->rotationSpeed = min(rotationSpeed, 255.0f);;
this->direction = -1.0f;
this->targetAngle = -1.0f;
this->targetX = -1.0f;
this->targetY = -1.0f;
- this->speed = 0;
+ this->robotSpeed = 0;
for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++)
{
@@ -35,6 +35,66 @@ void Navigator::Rotate(float rotationSpeed)
}
//-----------------------------------------------------------------------------
+void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed)
+{
+ this->rotationSpeed = min(rotationSpeed, 255.0f);
+ this->direction = newDirection;
+ this->targetAngle = newAngle;
+ this->targetX = -1.0f;
+ this->targetY = -1.0f;
+ this->robotSpeed = newSpeed;
+
+ if(targetAngle - (parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN))->GetOrientation() > PI)
+ {
+ if(rotationSpeed > 0)
+ {
+ rotationSpeed = -rotationSpeed;
+ }
+ }
+ else
+ {
+ if(rotationSpeed < 0)
+ {
+ rotationSpeed = -rotationSpeed;
+ }
+ }
+
+ Update();
+}
+
+//-----------------------------------------------------------------------------
+void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed)
+{
+ if(newX < 0 || newY < 0) return;
+
+ Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+
+ this->rotationSpeed = min(rotationSpeed, 255.0f);
+ this->targetX = newX;
+ this->targetY = newY;
+ this->direction = direction2d(locationeer->GetPositionX(), locationeer->GetPositionY(), targetX, targetY);;
+ this->targetAngle = newAngle;
+ this->robotSpeed = newSpeed;
+
+ if(targetAngle - locationeer->GetOrientation() > PI)
+ {
+ if(rotationSpeed > 0)
+ {
+ rotationSpeed = -rotationSpeed;
+ }
+ }
+ else
+ {
+ if(rotationSpeed < 0)
+ {
+ rotationSpeed = -rotationSpeed;
+ }
+ }
+
+ Update();
+}
+
+//-----------------------------------------------------------------------------
void Navigator::Update()
{
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
@@ -103,97 +163,110 @@ void Navigator::Update()
//Calculate directional/rotational engine speed
if(hasDistanceToDrive)
{
+ float relativeDirection = this->direction - locationeer->GetOrientation();
-
- float maxRobotSpeed = 255.0f * sqrt(2) / 2.0f;
-
- if(speed > maxRobotSpeed)
+ if(targetX >= 0 && targetY >= 0)
{
- speed = maxRobotSpeed;
+ float directionToTarget = direction2d(locationeer->GetPositionX(), locationeer->GetPositionY(), targetX, targetY);
+ relativeDirection = directionToTarget - locationeer->GetOrientation();
}
- maxMotorSpeed = speed / (sqrt(2) / 2);
+ float xDrive = cos(relativeDirection);
+ float yDrive = sin(relativeDirection);
+ float vLeft = (-yDrive + sqrt(3) * xDrive) / 2.0f;
+ float vBack = yDrive;
+ float vRight = (-yDrive - sqrt(3) * xDrive)/2;
+ float speedCorrection = 1.0f;
- relAngel = direction - orientation
-
- robotSpeed = sin(45) * maxMotorSpeed
- maxMotorSpeed = robotSpeed / sin(45)
+ float maxEngineSpeed = 255.0f;
+ float minEngineSpeed = -255.0f;
- if(relAngel > 45)
- {
- sin(relAngel) * (speed / sin(45)) * sin(relAngel + 45);
+ float maxSingleSpeed = max(max(vLeft, vBack), vRight);
- back = speed / sin(relAngel);
- }
- else
+ float calcSpeed = sqrt(vLeft * vLeft - vLeft * vRight + vRight * vRight +
+ vBack * (vBack + vLeft + vRight));
+
+ if(calcSpeed != 1.0f)
{
-
+ speedCorrection = 1.0f / calcSpeed;
}
- left =
- back = sin(relAngel) * speed
-
-
- direction = 0:
- orientation = 0:
- left = speed
- right = -speed
- back = 0
+ float maxOverallSpeed = robotSpeed * maxSingleSpeed * speedCorrection;
+ if(maxOverallSpeed > maxEngineSpeed)
+ {
+ robotSpeed = maxEngineSpeed / (maxSingleSpeed * speedCorrection);
+ }
+
- direction = 0:
- orientation = 90:
- left = speed
- right = speed
- back = (sinVcos)(45) * speed
+ vLeft = vLeft * this->robotSpeed * speedCorrection;
+ vBack = vBack * this->robotSpeed * speedCorrection;
+ vRight = vRight * this->robotSpeed * speedCorrection;
- direction = 0:
- orientation = 45:
- left = speed
- right = 0
- back = -speed
+ maxSingleSpeed = max(max(vLeft, vBack), vRight);
+ float minSingleSpeed = min(min(vLeft, vBack), vRight);
- direction = 0:
- orientation = 180:
- left = -speed
- right = speed
- back = 0
+ if(hasOrientationToAdjust)
+ {
+ 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(!hasOrientationToAdjust)
+ else if(hasOrientationToAdjust)
{
- Stop();
- }
+ 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();
}
}
-
-// Aktualieren ohne Parameter
-/*void Navigator::Update() {
- // Richtung in x und y-Kompontente zerlegen
- double y = cos((double)direction*0.01745); // richtung ist winkel
- double x = sin((double)direction*0.01745);
-
- // Abweichung der Ausrichtung ermitteln(als winkel)
- int w = sensor.GetAusrichtung() - ausrichtung;
-
- // Stärke der einzelnen Motoren berechnen
- double v0 = (-x+sqrt(3)*y)/2;
- double v1 = x;
- double v2 = (-x-sqrt(3)*y)/2;
-
- // Ausgerechnete Stärke an die Motoren übergeben
- board.motor(0,(int)((double)v0*speed +w));
- board.motor(1,(int)((double)v1*speed +w));
- board.motor(2,(int)((double)v2*speed +w));
-}
-
-// Aktualieren mit allen Parametern
-void Navigator::Drive(float newDirection, float newAngle, float newSpeed) {
- SetDirection(newDirection);
- SetAngle(newAngle);
- SetSpeed(newSpeed);
- Update(); // Und anwenden
-}*/
diff --git a/source/Concept/Framework/modules/executor/navigator.h b/source/Concept/Framework/modules/executor/navigator.h
index ed8b3c8..8da52f6 100755
--- a/source/Concept/Framework/modules/executor/navigator.h
+++ b/source/Concept/Framework/modules/executor/navigator.h
@@ -1,6 +1,7 @@
#ifndef _NAVIGATOR_H
#define _NAVIGATOR_H
+//#include <math.h>
#include "../../stdafx.h"
class Navigator : public IO_Module
@@ -14,7 +15,7 @@ public:
this->targetAngle = -1.0f;
this->targetX = -1.0f;
this->targetY = -1.0f;
- this->speed = 0;
+ this->robotSpeed = 0;
this->rotationSpeed = 0;
}
@@ -26,7 +27,7 @@ public:
this->targetAngle = -1.0f;
this->targetX = -1.0f;
this->targetY = -1.0f;
- this->speed = 0;
+ this->robotSpeed = 0;
this->rotationSpeed = 0;
}
@@ -35,7 +36,7 @@ protected:
float targetAngle;
float targetX;
float targetY;
- float speed;
+ float robotSpeed;
float rotationSpeed;
public:
@@ -45,9 +46,14 @@ public:
void Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed);
- void DriveTo(float newX, float newY, float newAngle);
+ void DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed);
void Rotate(float rotationSpeed);
+
+ void SetSpeed(float newSpeed)
+ {
+ this->robotSpeed = newSpeed;
+ }
};
#endif
diff --git a/source/Concept/Framework/tools.h b/source/Concept/Framework/tools.h
index 0ca4dda..ca19993 100644
--- a/source/Concept/Framework/tools.h
+++ b/source/Concept/Framework/tools.h
@@ -9,6 +9,10 @@
void operator delete(void* p);
#endif
+#define max(a, b) (((a) > (b)) ? (a) : (b))
+#define min(a, b) (((a) < (b)) ? (a) : (b))
+#define sign(a) (((a) < 0) ? (-1) : (1))
+
inline void sleep(int sec)
{
for (int s=0; s<sec; s++) {
@@ -40,6 +44,11 @@ inline void usleep(int usec)
inline float distance2d(float x1, float y1, float x2, float y2)
{
return sqrt(((x1 - x2) * (x1 - x2)) + ((y1 - y2) * (y1 - y2)));
+}
+
+inline float direction2d(float x1, float y1, float x2, float y2)
+{
+ return atan((y2 - y1) / (x2 - x1));
}
#endif
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-23 11:07:00 +0100