#define MOTION_CONTROL_INIT_ONLY
#include "motion-control.h"
+#include "robot.h"
/* Global definition of robot structure */
struct robot robot;
void fill_in_known_areas_in_map()
{
- /* Do not plan path close to edges */
- //ShmapSetRectangleFlag(0.0, 0.0, 0.26, 2.1, MAP_FLAG_WALL, 0); /* left */
- //ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.26, MAP_FLAG_WALL, 0); /* bottom */
- //ShmapSetRectangleFlag(0.0, 1.84, 3.0, 2.1, MAP_FLAG_WALL, 0); /* top */
- //ShmapSetRectangleFlag(2.74, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); /* right */
-
-// /* Container surroundings */
-// ShmapSetRectangleFlag(0.0, 0.0, 0.4, 0.2, 0, MAP_FLAG_WALL); /* left container */
-// ShmapSetRectangleFlag(3.0, 0.0, 2.6, 0.2, 0, MAP_FLAG_WALL); /* right container */
-
-// /* Ignore other obstacles at edges */
-// ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* left */
-// ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
-// ShmapSetRectangleFlag(0.0, 2.01, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* top */
-// ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* right */
-// ShmapSetRectangleFlag(1.0, 1.5, 1.95, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* rised area */
-
- /* start blocs */
- ShmapSetRectangleFlag(0, 1.7, 0.4, 1.678, MAP_FLAG_WALL, 0);
- ShmapSetRectangleFlag(2.55, 1.7, 3, 1.678, MAP_FLAG_WALL, 0);
-
- /* protected bloc left */
- ShmapSetRectangleFlag(0.45, 0, 1.15, 0.12, MAP_FLAG_WALL, 0);
- ShmapSetRectangleFlag(0.45, 0.12, 0.472, 0.25, MAP_FLAG_WALL, 0);
- ShmapSetRectangleFlag(1.128, 0.12, 1.15, 0.25, MAP_FLAG_WALL, 0);
-
- /* protected bloc right */
- ShmapSetRectangleFlag(1.85, 0, 2.55, 0.12, MAP_FLAG_WALL, 0);
- ShmapSetRectangleFlag(1.85, 0.12, 1.872, 0.25, MAP_FLAG_WALL, 0);
- ShmapSetRectangleFlag(2.528, 0.12, 2.55, 0.25, MAP_FLAG_WALL, 0);
+ /*----- playground width 3.0 m and playground height 2.0 m -----*/
+ /* Ignore other obstacles at edges */
+ ShmapSetRectangleFlag(0.0, 0.0, 0.40, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* left */
+ ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
+ ShmapSetRectangleFlag(0.0, 1.91, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* top */
+ ShmapSetRectangleFlag(2.6, 0.0, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* right */
+
+ /* Small walls that cannot be detected by hokuyo */
+ ShmapSetRectangleFlag(0.0, 1.49, 0.39, 1.432, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(3.0, 1.49, 2.61, 1.432, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(0.325, 0.0, 0.38, 0.74, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(2.675, 0.0, 2.62, 0.74, MAP_FLAG_WALL, 0);
+
+ /* Palm tree */
+ //ShmapSetCircleFlag(1.5, 1.0, 0.075, MAP_FLAG_WALL, 0);
+
+ /* Totems and palm tree */
+ ShmapSetRectangleFlag(0.975, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
+ ShmapSetCircleFlag(1.1, 1.0, 0.3, MAP_FLAG_WALL, 0);
+ ShmapSetCircleFlag(2.0, 1.0, 0.3, MAP_FLAG_WALL, 0);
+
+ //ShmapSetRectangleFlag(1.775, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
}
static void trans_callback(struct robo_fsm *fsm)
{
int rv;
pthread_mutexattr_t mattr;
-
rv = pthread_mutexattr_init(&mattr);
#ifdef HAVE_PRIO_INHERIT
rv = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
robot.fsm.act.transition_callback = trans_callback;
robot.fsm.motion.transition_callback = trans_callback;
- robot.team_color = RED;
+ robot.team_color = VIOLET;
- if (robot.team_color == RED) {
- ul_loginf("We are RED!\n");
+ if (robot.team_color == VIOLET) {
+ ul_loginf("We are VIOLET!\n");
} else {
- ul_loginf("We are BLUE!\n");
+ ul_loginf("We are RED!\n");
}
- robot_set_est_pos_trans(1, 1, DEG2RAD(0));
+ robot_set_est_pos_trans(ROBOT_START_X_M, ROBOT_START_Y_M, DEG2RAD(ROBOT_START_ANGLE_DEG));
robot.ignore_hokuyo = false;
robot.map = ShmapInit(1);
*/
robot.obstacle_avoidance_enabled = true;
- robot.use_back_switch = true;
- robot.use_left_switch = true;
- robot.use_right_switch = true;
+ robot.use_back_bumpers = true;
+ robot.use_left_bumper = true;
+ robot.use_right_bumper = true;
robot.start_state = POWER_ON;
robot.check_turn_safety = true;
ROBOT_UNLOCK(ref_pos);
}
}
+
+void robot_calibrate_odometry()
+{
+ robot.odo_distance_a = 0;
+ robot.odo_distance_b = 0;
+ FILE *file;
+ file = fopen ("odometry_cal_data", "r");
+ if (file == NULL)
+ {
+ robot.odo_cal_a = 1;
+ robot.odo_cal_b = 1;
+ fprintf(stderr, "ODO calibration file not found! \n\n");
+ return;
+ }
+ char line [15];
+ float a = 0;
+ float b = 0;
+ int num = 0;
+ while (fgets (line, 15 , file)) {
+ a += atof(strtok(line," "));
+ fgets (line, 15 , file);
+ b += atof(strtok(NULL," "));
+ num ++;
+ }
+ fclose (file);
+ if(a == 0 || b == 0) {
+ robot.odo_cal_a = 1;
+ robot.odo_cal_b = 1;
+ return;
+ }
+ robot.odo_cal_a = a / num;
+ robot.odo_cal_b = b / num;
+ printf("ODO calibrated value A: %f\n",robot.odo_cal_a);
+ printf("ODO calibrated value B: %f\n",robot.odo_cal_b);
+}