Zitierenbib doch der servofunktion nen namen und füge den in die schleife in der mainfunktiun ein.
Also ich habe jetzt Fahrprogramm und möchte dieses mit einem programm zusammen fügen, welches die Servosteuerung übernimmt.
Wichtig ist, das beide programme "ununterbrochen" und "Paralel" ablaufen, da das servo programm für einen IR abstandsmesser gebaut ist.
Hier der fahr code
und hier der servo move von radbruch, aber verändert:Code:/*****************************************************************************/ // Includes: #include "RP6RobotBaseLib.h" /*****************************************************************************/ // Behaviour command type: #define IDLE 0 // The behaviour command data type: typedef struct { uint8_t speed_left; // left speed (is used for rotation and // move distance commands - if these commands are // active, speed_right is ignored!) uint8_t speed_right; // right speed unsigned dir:2; // direction (FWD, BWD, LEFT, RIGHT) unsigned move:1; // move flag unsigned rotate:1; // rotate flag uint16_t move_value; // move value is used for distance and angle values uint8_t state; // state of the behaviour } behaviour_command_t; behaviour_command_t STOP = {0, 0, FWD, false, false, 0, IDLE}; /*****************************************************************************/ // Cruise Behaviour: #define CRUISE_SPEED_FWD 100 // Default speed when no obstacles are detected! #define MOVE_FORWARDS 1 behaviour_command_t cruise = {CRUISE_SPEED_FWD, CRUISE_SPEED_FWD, FWD, false, false, 0, MOVE_FORWARDS}; /** * We don't have anything to do here - this behaviour has only * a constant value for moving forwards - s. above! * Of course you can change this and add some random or timed movements * in here... */ void behaviour_cruise(void) { } /*****************************************************************************/ // Escape Behaviour: #define ESCAPE_SPEED_BWD 100 #define ESCAPE_SPEED_ROTATE 65 #define ESCAPE_FRONT 1 #define ESCAPE_FRONT_WAIT 2 #define ESCAPE_LEFT 3 #define ESCAPE_LEFT_WAIT 4 #define ESCAPE_RIGHT 5 #define ESCAPE_RIGHT_WAIT 6 #define ESCAPE_WAIT_END 7 behaviour_command_t escape = {0, 0, FWD, false, false, 0, IDLE}; /** * This is the Escape behaviour for the Bumpers. */ void behaviour_escape(void) { static uint8_t bump_count = 0; switch(escape.state) { case IDLE: break; case ESCAPE_FRONT: escape.speed_left = ESCAPE_SPEED_BWD; escape.dir = BWD; escape.move = true; if(bump_count > 3) escape.move_value = 220; else escape.move_value = 160; escape.state = ESCAPE_FRONT_WAIT; bump_count+=2; break; case ESCAPE_FRONT_WAIT: if(!escape.move) // Wait for movement to be completed { escape.speed_left = ESCAPE_SPEED_ROTATE; if(bump_count > 3) { escape.move_value = 100; escape.dir = RIGHT; bump_count = 0; } else { escape.dir = LEFT; escape.move_value = 70; } escape.rotate = true; escape.state = ESCAPE_WAIT_END; } break; case ESCAPE_LEFT: escape.speed_left = ESCAPE_SPEED_BWD; escape.dir = BWD; escape.move = true; if(bump_count > 3) escape.move_value = 190; else escape.move_value = 150; escape.state = ESCAPE_LEFT_WAIT; bump_count++; break; case ESCAPE_LEFT_WAIT: if(!escape.move) // Wait for movement to be completed { escape.speed_left = ESCAPE_SPEED_ROTATE; escape.dir = RIGHT; escape.rotate = true; if(bump_count > 3) { escape.move_value = 110; bump_count = 0; } else escape.move_value = 80; escape.state = ESCAPE_WAIT_END; } break; case ESCAPE_RIGHT: escape.speed_left = ESCAPE_SPEED_BWD; escape.dir = BWD; escape.move = true; if(bump_count > 3) escape.move_value = 190; else escape.move_value = 150; escape.state = ESCAPE_RIGHT_WAIT; bump_count++; break; case ESCAPE_RIGHT_WAIT: if(!escape.move) // Wait for movement to be completed { escape.speed_left = ESCAPE_SPEED_ROTATE; escape.dir = LEFT; escape.rotate = true; if(bump_count > 3) { escape.move_value = 110; bump_count = 0; } else escape.move_value = 80; escape.state = ESCAPE_WAIT_END; } break; case ESCAPE_WAIT_END: if(!(escape.move || escape.rotate)) // Wait for movement/rotation to be completed escape.state = IDLE; break; } } /** * Bumpers Event handler */ void bumpersStateChanged(void) { if(bumper_left && bumper_right) // Both Bumpers were hit { escape.state = ESCAPE_FRONT; } else if(bumper_left) // Left Bumper was hit { if(escape.state != ESCAPE_FRONT_WAIT) escape.state = ESCAPE_LEFT; } else if(bumper_right) // Right Bumper was hit { if(escape.state != ESCAPE_FRONT_WAIT) escape.state = ESCAPE_RIGHT; } } /*****************************************************************************/ // The new Avoid Behaviour: // Some speed values for different movements: #define AVOID_SPEED_L_ARC_LEFT 30 #define AVOID_SPEED_L_ARC_RIGHT 90 #define AVOID_SPEED_R_ARC_LEFT 90 #define AVOID_SPEED_R_ARC_RIGHT 30 #define AVOID_SPEED_ROTATE 60 // States for the Avoid FSM: #define AVOID_OBSTACLE_RIGHT 1 #define AVOID_OBSTACLE_LEFT 2 #define AVOID_OBSTACLE_MIDDLE 3 #define AVOID_OBSTACLE_MIDDLE_WAIT 4 #define AVOID_END 5 behaviour_command_t avoid = {0, 0, FWD, false, false, 0, IDLE}; /** * The new avoid behaviour. It uses the two ACS channels to avoid * collisions with obstacles. It drives arcs or rotates depending * on the sensor states and also behaves different after some * detecting cycles to avoid lock up situations. */ void behaviour_avoid(void) { static uint8_t last_obstacle = LEFT; static uint8_t obstacle_counter = 0; switch(avoid.state) { case IDLE: // This is different to the escape Behaviour where // we used the Event Handler to detect sensor changes... // Here we do this within the states! if(obstacle_right && obstacle_left) // left AND right sensor have detected something... avoid.state = AVOID_OBSTACLE_MIDDLE; else if(obstacle_left) // Left "sensor" has detected something avoid.state = AVOID_OBSTACLE_LEFT; else if(obstacle_right) // Right "sensor" has detected something avoid.state = AVOID_OBSTACLE_RIGHT; break; case AVOID_OBSTACLE_MIDDLE: avoid.dir = last_obstacle; avoid.speed_left = AVOID_SPEED_ROTATE; avoid.speed_right = AVOID_SPEED_ROTATE; if(!(obstacle_left || obstacle_right)) { if(obstacle_counter > 3) { obstacle_counter = 0; setStopwatch4(0); } else setStopwatch4(400); startStopwatch4(); avoid.state = AVOID_END; } break; case AVOID_OBSTACLE_RIGHT: avoid.dir = FWD; avoid.speed_left = AVOID_SPEED_L_ARC_LEFT; avoid.speed_right = AVOID_SPEED_L_ARC_RIGHT; if(obstacle_right && obstacle_left) avoid.state = AVOID_OBSTACLE_MIDDLE; if(!obstacle_right) { setStopwatch4(500); startStopwatch4(); avoid.state = AVOID_END; } last_obstacle = RIGHT; obstacle_counter++; break; case AVOID_OBSTACLE_LEFT: avoid.dir = FWD; avoid.speed_left = AVOID_SPEED_R_ARC_LEFT; avoid.speed_right = AVOID_SPEED_R_ARC_RIGHT; if(obstacle_right && obstacle_left) avoid.state = AVOID_OBSTACLE_MIDDLE; if(!obstacle_left) { setStopwatch4(500); startStopwatch4(); avoid.state = AVOID_END; } last_obstacle = LEFT; obstacle_counter++; break; case AVOID_END: if(getStopwatch4() > 1000) // We used timing based movement here! { stopStopwatch4(); setStopwatch4(0); avoid.state = IDLE; } break; } } /** * ACS Event Handler - ONLY used for LED display! * This does not affect the behaviour at all! * The sensor checks are completely done in the Avoid behaviour * statemachine. */ void acsStateChanged(void) { if(obstacle_left && obstacle_right) statusLEDs.byte = 0b100100; else statusLEDs.byte = 0b000000; statusLEDs.LED2 = obstacle_left; statusLEDs.LED3 = (!obstacle_left); statusLEDs.LED5 = obstacle_right; statusLEDs.LED6 = (!obstacle_right); updateStatusLEDs(); } /*****************************************************************************/ // Behaviour control: /** * This function processes the movement commands that the behaviours generate. * Depending on the values in the behaviour_command_t struct, it sets motor * speed, moves a given distance or rotates. */ void moveCommand(behaviour_command_t * cmd) { if(cmd->move_value > 0) // move or rotate? { if(cmd->rotate) rotate(cmd->speed_left, cmd->dir, cmd->move_value, false); else if(cmd->move) move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false); cmd->move_value = 0; // clear move value - the move commands are only // given once and then runs in background. } else if(!(cmd->move || cmd->rotate)) // just move at speed? { changeDirection(cmd->dir); moveAtSpeed(cmd->speed_left,cmd->speed_right); } else if(isMovementComplete()) // movement complete? --> clear flags! { cmd->rotate = false; cmd->move = false; } } /** * The behaviourController task controls the subsumption architechture. * It implements the priority levels of the different behaviours. */ void behaviourController(void) { // Call all the behaviour tasks: behaviour_cruise(); behaviour_avoid(); behaviour_escape(); // Execute the commands depending on priority levels: if(escape.state != IDLE) // Highest priority - 3 moveCommand(&escape); else if(avoid.state != IDLE) // Priority - 2 moveCommand(&avoid); else if(cruise.state != IDLE) // Priority - 1 moveCommand(&cruise); else // Lowest priority - 0 moveCommand(&STOP); // Default command - do nothing! // In the current implementation this never // happens. } void akku(void) { setStopwatch1(300); startStopwatch1(); if(adcBat > 850) setLEDs(0b001001); else if(adcBat < 851 && adcBat > 780) { statusLEDs.LED4 = !statusLEDs.LED4; statusLEDs.LED1 = !statusLEDs.LED1; updateStatusLEDs(); } else if(adcBat < 781 && adcBat > 700) setLEDs(0b000001); else if(adcBat < 701 && adcBat > 650) { statusLEDs.LED1 = !statusLEDs.LED1; updateStatusLEDs(); } else if(adcBat < 651 && adcBat > 580) setLEDs(0b000000); else if(adcBat < 581 && adcBat > 500) powerOFF(); setStopwatch1(0); } /*****************************************************************************/ // Main: int main(void) { initRobotBase(); // Set Bumpers state changed event handler: BUMPERS_setStateChangedHandler(bumpersStateChanged); // Set ACS state changed event handler: ACS_setStateChangedHandler(acsStateChanged); powerON(); // Turn on Encoders, Current sensing, ACS and Power LED. setACSPwrLow(); // Main loop while(true) { behaviourController(); task_RP6System(); akku(); task_ACS(); } return 0; }
weiss nur das ich das irgendwie mit Stopwatches regeln muss... ist das richtig?Code:#include "RP6RobotBaseLib.h" uint8_t i, pause, servo_stellzeit, servo_delay; void servo(uint8_t w0, uint8_t w1, uint8_t w2) { unsigned int count=0; do{ PORTA |= E_INT1; // E_INT1 (Pin8) sleep(w0); PORTA &= ~E_INT1; PORTC |= 1; // SCL (Pin10) sleep(w1); PORTC &= ~1; PORTC |= 2; // SDA (Pin12) sleep(w2); PORTC &= ~2; sleep(servo_delay-(w0+w1+w2)); //sleep(127); } while (count++ < servo_stellzeit); mSleep(10*pause); } int main(void) { initRobotBase(); i=0; servo_stellzeit=15; DDRA |= E_INT1; // E_INT1 als Ausgang DDRC |= 3; // SCL und SDA als Ausgang // 5 - 15 - 25 // Min - Mitte - Max servo(15,15,15); // Grundstellung while (1) { switch (i) { case 0: i++; servo_delay= 205; break; } servo(10,14,15); // Arm runter servo(5,13,15); servo(10,12,25); // Arm hoch servo(15,11,10); servo(10,10,10); servo(5,9,10); servo(15,8,10); servo(10,7,15); // Arm runter servo(5,6,15); servo(10,5,25); // Arm hoch servo(10,6,15); servo(10,7,15); servo(15,8,10); servo(5,9,10); servo(10,10,10); servo(15,11,10); servo(10,12,25); servo(5,13,15); servo(10,14,15); servo(10,15,15); servo(10,16,15); servo(10,17,15); servo(10,18,15); servo(10,19,15); servo(10,20,10); servo(15,21,10); servo(10,22,25); servo(5,23,15); servo(10,24,15); servo(5,23,15); servo(10,22,25); servo(15,21,10); servo(10,20,10); servo(10,19,15); servo(10,18,15); servo(10,17,15); servo(10,16,15); servo(10,15,15); } return 0; }
Danke !
bib doch der servofunktion nen namen und füge den in die schleife in der mainfunktiun ein.
Hallo
Das ist nicht so einfach, denn die Servofunktion ist durch die Verwendung von Sleep() blockierend für das RP6-Tasksystem. Das bedeutet, wenn die Servos angesteuert werden, kann er nichts anders machen. Bevor wir uns aber in die Abgründe einer interruptgesteuerten Servofunktion stürzen, hier ein Versuch für einen Ansatz auf Basis der vorhandenen Funktion:
Ich habe die Positionen in ein Array gefüllt. Nun kann man sie über einen Index (radar_pos) einzeln aufrufen. Vielleicht funktioniert es so im Wechsel mit den Taskaufrufen. btw: task_RP6System(); ruft alle Tasks auf, also auch task_ACS();Code:#include "RP6RobotBaseLib.h" uint8_t radar_pos; uint8_t radar[38][3]=\ {{10,14,15},{5,13,15},{10,12,25},{15,11,10},{10,10,10}\ ,{5,9,10},{15,8,10},{10,7,15},{5,6,15},{10,5,25}\ ,{10,6,15},{10,7,15},{15,8,10},{5,9,10},{10,10,10}\ ,{15,11,10},{10,12,25},{5,13,15},{10,14,15},{10,15,15}\ ,{10,16,15},{10,17,15},{10,18,15},{10,19,15},{10,20,10}\ ,{15,21,10},{10,22,25},{5,23,15},{10,24,15},{5,23,15}\ ,{10,22,25},{15,21,10},{10,20,10},{10,19,15},{10,18,15}\ ,{10,17,15},{10,16,15},{10,15,15}}; void servo(uint8_t s1, uint8_t s2, uint8_t s3) { } int main(void) { initRobotBase(); radar_pos=0; startStopwatch1(); moveAtSpeed(100,100); while(1) { if (getStopwatch1()>1000) // eine Radar-Position pro Sekunde { servo(radar[radar_pos][0],radar[radar_pos][1],radar[radar_pos][2]); radar_pos++; if (radar_pos == 38) radar_pos=0; setStopwatch1(0); } task_RP6System(); } return(0); }
Vermutlich muss man in servo() hier noch was anpassen:
sleep(servo_delay-(w0+w1+w2));
//sleep(127);
Entweder zusätzlich oder alternativ noch einen task_RP6System()-Aufruf um die Stellzeit der Servos zu überbrücken. Ich hab's nicht getestet, weil ich grad mit anderen Spielereien beschäftigt bin.
Gruß
mic
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Ok das mit dem Array leucht ein! Wow danke!
Was ich noch nicht verstanden ... soll ich diesen Programmteil anstatt "meinem" Servoprogramm einbauen in das Fahrprogramm?
Habe es einfach mal ausgetestet.... wenn ich das Programm starte gibts gleich den typischen Error, nehme an weil die motoren starten und nich synchronisiert werden.
MfG carlitoco
Hallo
Ich dachte es als Zusatz/Ersatz für den Servoteil des zusammengefügten Programms. Also das Fahrprogramm von oben, die Servo-Funktion aus der Mitte und die Radar-Variablen mit Stoppuhr von unten. In der Hauptschleife wird dann der if (stopwatch...)-Teil eingefügt der dann einmal pro Sekunde eine neue Servoposition anfährt. Wie du das alls synchronisieren kannst, weis ich auch noch nicht....
Fehler des Antriebs?gibts gleich den typischen Error
Gruß
mic
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as components in applications intended to support or sustain life!
ne kein fehler des antriebes ... aber da ich nur dein Programmteil ausgeführt habe hat er das ACS-task nicht ausgeführt
ok also mache mich da später mal rann um zu versuchen das ganze in ein Programm zu schreiben...
-wünscht mir Verständniss und Glück
Sooo... zwei Tage später, hatte viel zu tun...
Ich bemerke, das miene Frage "Wie werden zwei einzelne Programme zusammengefügt?" noch nicht beantwortet ist, oder ich es noch nicht verstehe... Ich wollte die Frage anhand eines Beispiels stellen, damit man das Ganze auch Hand und Fuss hat.
Aber eigentlich ging es grundsätzlich darum wie ich z.B. den Servoteil in der fahrfunktion abrufe...
Also Roboman93 sagte:Das ist klar das dass möglich ist ... ich möchte aber einen Programm ablauf nicht komplett in die "main" schreiben, sondern diesen nur in der "main" abrufen, sonst könnte ich ja auch nur eine "main" bauen, wie es bei einfachen abläufen gemacht wird."Gib doch der servofunktion nen namen und füge den in die schleife in der mainfunktiun ein."
ich hoffe das ist verständlich geworden, da ich selber noch so gut wie keine Ahnung von C habe (abgesehen von tutorials) weiß ich nicht ob das richtig rüber kommt, sollten fragen Enstehen wie ich das miene bitte fragt.
Viele grüße und ein entspannten Freitag
Also ... ich habe jetzt erstmal angefangen die "Servo-Rada" Funktionen zusammen zu führen, jedoch scheitere ich da kläglich, weil ich die beiden Programme noch nicht richtig verstehe und was das C programmieren angeht sowieso noch ein Anfänger bin... kann mir da jamand helfen die beiden zusamen zu stellen?
und das von radbruchCode:#include "RP6RobotBaseLib.h" uint8_t i, pause, servo_stellzeit, servo_delay; void servo(uint8_t w0, uint8_t w1, uint8_t w2) { unsigned int count=0; do{ PORTA |= E_INT1; // E_INT1 (Pin8) sleep(w0); PORTA &= ~E_INT1; PORTC |= 1; // SCL (Pin10) sleep(w1); PORTC &= ~1; PORTC |= 2; // SDA (Pin12) sleep(w2); PORTC &= ~2; sleep(servo_delay-(w0+w1+w2)); //sleep(127); } while (count++ < servo_stellzeit); mSleep(10*pause); } int main(void) { initRobotBase(); i=0; servo_stellzeit=8; DDRA |= E_INT1; // E_INT1 als Ausgang DDRC |= 3; // SCL und SDA als Ausgang // 5 - 15 - 25 // Min - Mitte - Max servo(15,15,15); // Grundstellung while (1) { switch (i) { case 0: i++; servo_delay= 220; break; } servo(10,14,10); servo(10,13,10); servo(10,12,10); servo(10,11,10); servo(10,10,10); servo(10,9,10); servo(10,8,10); servo(10,7,10); servo(10,6,10); servo(10,5,10); servo(10,6,10); servo(10,7,10); servo(10,8,10); servo(10,9,10); servo(10,10,10); servo(10,11,10); servo(10,12,10); servo(10,13,10); servo(10,14,10); servo(10,15,10); servo(10,16,10); servo(10,17,10); servo(10,18,10); servo(10,19,10); servo(10,20,10); servo(10,21,10); servo(10,22,10); servo(10,23,10); servo(10,24,10); servo(10,23,10); servo(10,22,10); servo(10,21,10); servo(10,20,10); servo(10,19,10); servo(10,18,10); servo(10,17,10); servo(10,16,10); servo(10,15,10); } return 0; }
Danke für hilfe!Code:#include "RP6RobotBaseLib.h" uint8_t radar_pos; uint8_t radar[38][3]=\ {{10,14,10},{10,13,10},{10,12,10},{10,11,10},{10,10,10}\ ,{10,9,10},{10,8,10},{10,7,10},{10,6,10},{10,5,10}\ ,{10,6,10},{10,7,10},{10,8,10},{5,9,10},{10,10,10}\ ,{10,11,10},{10,12,10},{10,13,10},{10,14,10},{10,15,10}\ ,{10,16,10},{10,17,10},{10,18,10},{10,19,10},{10,20,10}\ ,{10,21,10},{10,22,10},{10,23,10},{10,24,10},{10,23,105}\ ,{10,22,10},{10,21,10},{10,20,10},{10,19,10},{10,18,10}\ ,{10,17,10},{10,16,10},{10,15,10}}; void servo(uint8_t s1, uint8_t s2, uint8_t s3) { } int main(void) { initRobotBase(); radar_pos=0; startStopwatch1(); moveAtSpeed(100,100); while(1) { if (getStopwatch1()>1000) // eine Radar-Position pro Sekunde { servo(radar[radar_pos][0],radar[radar_pos][1],radar[radar_pos][2]); radar_pos++; if (radar_pos == 38) radar_pos=0; setStopwatch1(0); } task_RP6System(); } return(0); }
also habe bisher diesen code erstellen können aber noch nicht getestet... mir ist klar das der Servo das programm blockieren könnteaber hab einfach mal drauf los gemacht...morgen gehts weiter!
okee hier ist ein bischen was passiert ...
radbruchs erläuterung & sein neuer code werden helfen
danke hier vorweg!
Code:Und hier mein neues Servogezappel, das noch sehr unausgereift wirkt: /*****************************************************************************/ // Includes: #include "RP6RobotBaseLib.h" /*****************************************************************************/ // Behaviour command type: #define IDLE 0 // The behaviour command data type: typedef struct { uint8_t speed_left; // left speed (is used for rotation and // move distance commands - if these commands are // active, speed_right is ignored!) uint8_t speed_right; // right speed unsigned dir:2; // direction (FWD, BWD, LEFT, RIGHT) unsigned move:1; // move flag unsigned rotate:1; // rotate flag uint16_t move_value; // move value is used for distance and angle values uint8_t state; // state of the behaviour } behaviour_command_t; behaviour_command_t STOP = {0, 0, FWD, false, false, 0, IDLE}; /*****************************************************************************/ // Cruise Behaviour: #define CRUISE_SPEED_FWD 60 // Default speed when no obstacles are detected! #define MOVE_FORWARDS 1 behaviour_command_t cruise = {CRUISE_SPEED_FWD, CRUISE_SPEED_FWD, FWD, false, false, 0, MOVE_FORWARDS}; /** * We don't have anything to do here - this behaviour has only * a constant value for moving forwards - s. above! * Of course you can change this and add some random or timed movements * in here... */ void behaviour_cruise(void) { } /*****************************************************************************/ // Escape Behaviour: #define ESCAPE_SPEED_BWD 80 #define ESCAPE_SPEED_ROTATE 50 #define ESCAPE_FRONT 1 #define ESCAPE_FRONT_WAIT 2 #define ESCAPE_LEFT 3 #define ESCAPE_LEFT_WAIT 4 #define ESCAPE_RIGHT 5 #define ESCAPE_RIGHT_WAIT 6 #define ESCAPE_WAIT_END 7 behaviour_command_t escape = {0, 0, FWD, false, false, 0, IDLE}; /** * This is the Escape behaviour for the Bumpers. */ void behaviour_escape(void) { static uint8_t bump_count = 0; switch(escape.state) { case IDLE: break; case ESCAPE_FRONT: escape.speed_left = ESCAPE_SPEED_BWD; escape.dir = BWD; escape.move = true; if(bump_count > 3) escape.move_value = 220; else escape.move_value = 160; escape.state = ESCAPE_FRONT_WAIT; bump_count+=2; break; case ESCAPE_FRONT_WAIT: if(!escape.move) // Wait for movement to be completed { escape.speed_left = ESCAPE_SPEED_ROTATE; if(bump_count > 3) { escape.move_value = 100; escape.dir = RIGHT; bump_count = 0; } else { escape.dir = LEFT; escape.move_value = 70; } escape.rotate = true; escape.state = ESCAPE_WAIT_END; } break; case ESCAPE_LEFT: escape.speed_left = ESCAPE_SPEED_BWD; escape.dir = BWD; escape.move = true; if(bump_count > 3) escape.move_value = 190; else escape.move_value = 150; escape.state = ESCAPE_LEFT_WAIT; bump_count++; break; case ESCAPE_LEFT_WAIT: if(!escape.move) // Wait for movement to be completed { escape.speed_left = ESCAPE_SPEED_ROTATE; escape.dir = RIGHT; escape.rotate = true; if(bump_count > 3) { escape.move_value = 110; bump_count = 0; } else escape.move_value = 80; escape.state = ESCAPE_WAIT_END; } break; case ESCAPE_RIGHT: escape.speed_left = ESCAPE_SPEED_BWD; escape.dir = BWD; escape.move = true; if(bump_count > 3) escape.move_value = 190; else escape.move_value = 150; escape.state = ESCAPE_RIGHT_WAIT; bump_count++; break; case ESCAPE_RIGHT_WAIT: if(!escape.move) // Wait for movement to be completed { escape.speed_left = ESCAPE_SPEED_ROTATE; escape.dir = LEFT; escape.rotate = true; if(bump_count > 3) { escape.move_value = 110; bump_count = 0; } else escape.move_value = 80; escape.state = ESCAPE_WAIT_END; } break; case ESCAPE_WAIT_END: if(!(escape.move || escape.rotate)) // Wait for movement/rotation to be completed escape.state = IDLE; break; } } /** * Bumpers Event handler */ void bumpersStateChanged(void) { if(bumper_left && bumper_right) // Both Bumpers were hit { escape.state = ESCAPE_FRONT; } else if(bumper_left) // Left Bumper was hit { if(escape.state != ESCAPE_FRONT_WAIT) escape.state = ESCAPE_LEFT; } else if(bumper_right) // Right Bumper was hit { if(escape.state != ESCAPE_FRONT_WAIT) escape.state = ESCAPE_RIGHT; } } /*****************************************************************************/ // The new Avoid Behaviour: // Some speed values for different movements: #define AVOID_SPEED_L_ARC_LEFT 20 #define AVOID_SPEED_L_ARC_RIGHT 65 #define AVOID_SPEED_R_ARC_LEFT 65 #define AVOID_SPEED_R_ARC_RIGHT 20 #define AVOID_SPEED_ROTATE 50 // States for the Avoid FSM: #define AVOID_OBSTACLE_RIGHT 1 #define AVOID_OBSTACLE_LEFT 2 #define AVOID_OBSTACLE_MIDDLE 3 #define AVOID_OBSTACLE_MIDDLE_WAIT 4 #define AVOID_END 5 behaviour_command_t avoid = {0, 0, FWD, false, false, 0, IDLE}; /** * The new avoid behaviour. It uses the two ACS channels to avoid * collisions with obstacles. It drives arcs or rotates depending * on the sensor states and also behaves different after some * detecting cycles to avoid lock up situations. */ void behaviour_avoid(void) { static uint8_t last_obstacle = LEFT; static uint8_t obstacle_counter = 0; switch(avoid.state) { case IDLE: // This is different to the escape Behaviour where // we used the Event Handler to detect sensor changes... // Here we do this within the states! if(obstacle_right && obstacle_left) // left AND right sensor have detected something... avoid.state = AVOID_OBSTACLE_MIDDLE; else if(obstacle_left) // Left "sensor" has detected something avoid.state = AVOID_OBSTACLE_LEFT; else if(obstacle_right) // Right "sensor" has detected something avoid.state = AVOID_OBSTACLE_RIGHT; break; case AVOID_OBSTACLE_MIDDLE: avoid.dir = last_obstacle; avoid.speed_left = AVOID_SPEED_ROTATE; avoid.speed_right = AVOID_SPEED_ROTATE; if(!(obstacle_left || obstacle_right)) { if(obstacle_counter > 3) { obstacle_counter = 0; setStopwatch4(0); } else setStopwatch4(600); startStopwatch4(); avoid.state = AVOID_END; } break; case AVOID_OBSTACLE_RIGHT: avoid.dir = FWD; avoid.speed_left = AVOID_SPEED_L_ARC_LEFT; avoid.speed_right = AVOID_SPEED_L_ARC_RIGHT; if(obstacle_right && obstacle_left) avoid.state = AVOID_OBSTACLE_MIDDLE; if(!obstacle_right) { setStopwatch4(700); startStopwatch4(); avoid.state = AVOID_END; } last_obstacle = RIGHT; obstacle_counter++; break; case AVOID_OBSTACLE_LEFT: avoid.dir = FWD; avoid.speed_left = AVOID_SPEED_R_ARC_LEFT; avoid.speed_right = AVOID_SPEED_R_ARC_RIGHT; if(obstacle_right && obstacle_left) avoid.state = AVOID_OBSTACLE_MIDDLE; if(!obstacle_left) { setStopwatch4(700); startStopwatch4(); avoid.state = AVOID_END; } last_obstacle = LEFT; obstacle_counter++; break; case AVOID_END: if(getStopwatch4() > 1000) // We used timing based movement here! { stopStopwatch4(); setStopwatch4(0); avoid.state = IDLE; } break; } } /** * ACS Event Handler - ONLY used for LED display! * This does not affect the behaviour at all! * The sensor checks are completely done in the Avoid behaviour * statemachine. */ /*****************************************************************************/ // Behaviour control: /** * This function processes the movement commands that the behaviours generate. * Depending on the values in the behaviour_command_t struct, it sets motor * speed, moves a given distance or rotates. */ void moveCommand(behaviour_command_t * cmd) { if(cmd->move_value > 0) // move or rotate? { if(cmd->rotate) rotate(cmd->speed_left, cmd->dir, cmd->move_value, false); else if(cmd->move) move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false); cmd->move_value = 0; // clear move value - the move commands are only // given once and then runs in background. } else if(!(cmd->move || cmd->rotate)) // just move at speed? { changeDirection(cmd->dir); moveAtSpeed(cmd->speed_left,cmd->speed_right); } else if(isMovementComplete()) // movement complete? --> clear flags! { cmd->rotate = false; cmd->move = false; } } /** * The behaviourController task controls the subsumption architechture. * It implements the priority levels of the different behaviours. */ void behaviourController(void) { // Call all the behaviour tasks: behaviour_cruise(); behaviour_avoid(); behaviour_escape(); // Execute the commands depending on priority levels: if(escape.state != IDLE) // Highest priority - 3 moveCommand(&escape); else if(avoid.state != IDLE) // Priority - 2 moveCommand(&avoid); else if(cruise.state != IDLE) // Priority - 1 moveCommand(&cruise); else // Lowest priority - 0 moveCommand(&STOP); // Default command - do nothing! // In the current implementation this never // happens. } void akku(void) { //IF BATT >9V /* Das alte if(adcBat > 900) setLEDs(0b001001); else if(adcBat < 901 && adcBat > 800) { statusLEDs.LED4 = !statusLEDs.LED4; statusLEDs.LED1 = !statusLEDs.LED1; updateStatusLEDs(); } else if(adcBat < 801 && adcBat > 700) setLEDs(0b000001); else if(adcBat < 701 && adcBat > 590) { statusLEDs.LED1 = !statusLEDs.LED1; updateStatusLEDs(); } else if(adcBat < 591 && adcBat > 500) setLEDs(0b000010); else if(adcBat < 591 && adcBat > 580) { mSleep (5000); if (adcBat > 591) { powerOFF(); mSleep(5000); powerON(); setACSPwrHigh(); } else if (adcBat <= 591) &STOP; } */ if(adcBat > 800) setLEDs(0b001001); else if(adcBat < 801 && adcBat > 750) { statusLEDs.LED4 = !statusLEDs.LED4; statusLEDs.LED1 = !statusLEDs.LED1; updateStatusLEDs(); } else if(adcBat < 751 && adcBat > 700) setLEDs(0b000001); else if(adcBat < 701 && adcBat > 680) { statusLEDs.LED1 = !statusLEDs.LED1; updateStatusLEDs(); } else if(adcBat < 681 && adcBat > 620) setLEDs(0b000010); //könnte ich hier irgendwann eine Variable fahrfunktion //(langsermer) einrichten...mit angeschlossener //Ir-empfänger für Palm quelle "suchfunktion"? else if(adcBat < 621 && adcBat > 601) { mSleep (5000) ; if (adcBat > 621) { powerOFF(); mSleep(1000); powerON(); setACSPwrMed(); } else if (adcBat < 621) moveAtSpeed(0,0); } else if(adcBat < 601 && adcBat > 590) { mSleep (5000) ; //5sek. if (adcBat > 609) { powerOFF(); mSleep(1000); powerON(); setACSPwrHigh(); } else if (adcBat <= 609) moveAtSpeed(0,0); } } /* { setLEDs(0b001001); uint8_t i, pause, servo_stellzeit, servo_delay; void servo(uint8_t w0, uint8_t w1, uint8_t w2) { unsigned int count=0; do{ PORTA |= E_INT1; // E_INT1 (Pin8) sleep(w0); PORTA &= ~E_INT1; PORTC |= 1; // SCL (Pin10) sleep(w1); PORTC &= ~1; PORTC |= 2; // SDA (Pin12) sleep(w2); PORTC &= ~2; sleep(servo_delay-(w0+w1+w2)); //sleep(127); } while (count++ < servo_stellzeit); mSleep(10*pause); } i=0; servo_stellzeit=8; DDRA |= E_INT1; // E_INT1 als Ausgang DDRC |= 3; // SCL und SDA als Ausgang // 5 - 15 - 25 // Min - Mitte - Max servo(15,15,15); // Grundstellung while (1) { switch (i) { case 0: i++; servo_delay= 220; break; } servo(10,14,10); servo(10,13,10); servo(10,12,10); servo(10,11,10); servo(10,10,10); servo(10,9,10); servo(10,8,10); servo(10,7,10); servo(10,6,10); servo(10,7,10); servo(10,8,10); servo(10,9,10); servo(10,10,10); servo(10,11,10); servo(10,12,10); servo(10,13,10); servo(10,14,10); servo(10,15,10); servo(10,16,10); servo(10,17,10); servo(10,18,10); servo(10,19,10); servo(10,20,10); servo(10,21,10); servo(10,22,10); servo(10,23,10); servo(10,24,10); servo(10,23,10); servo(10,22,10); servo(10,21,10); servo(10,20,10); servo(10,19,10); servo(10,18,10); servo(10,17,10); servo(10,16,10); servo(10,15,10); powerOFF(); mSleep(1000); powerON(); } } } */ //Radar #define pos1 450 #define pos2 1420 extern uint8_t acs_state; uint16_t servo_pos, servo_timer, servo_dummy; void radar (void) { DDRC |= 1; startStopwatch1(); startStopwatch2(); servo_pos = pos1; { if ((getStopwatch1() > 20) && (acs_state < 2)) // alle 20ms einen Servoimpuls erzeugen { setStopwatch1(0); servo_timer = servo_pos; PORTC|=1; while(servo_timer--) servo_dummy ^= servo_timer; PORTC&=~1; } if (getStopwatch2() > 1000) // alle 1000ms Servo auf andere Seite fahren { if (servo_pos == pos1) servo_pos=pos2; else servo_pos=pos1; setStopwatch2(0); } } } /*****************************************************************************/ // Main: int main(void) { initRobotBase(); // Set Bumpers state changed event handler: BUMPERS_setStateChangedHandler(bumpersStateChanged); powerON(); // Turn on Encoders, Current sensing, ACS and Power LED. setACSPwrMed(); // Main loop while(true) { //task_RP6System(); radar(); akku(); task_ADC(); task_ACS(); task_Bumpers(); task_motionControl(); radar(); behaviourController(); } return 0; }
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