#include <string.h>
#include <robodim.h>
#include <error.h>
-#include "corns_configs.h"
#include "actuators.h"
#include <trgen.h>
#include "match-timing.h"
-#include "eb2010misc.h"
#include <stdbool.h>
#include <ul_log.h>
name, fsm_event_str(fsm->events[fsm->ev_head])); } while(0)
-static void set_initial_position()
+void set_initial_position()
{
- robot_set_est_pos_trans(ROBOT_AXIS_TO_FRONT_M,
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2),
- DEG2RAD(180));
+ robot_set_est_pos_trans(ROBOT_AXIS_TO_BACK_M,
+ PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2.0),
+ 0);
}
-static void actuators_home()
+void actuators_home()
{
- static int tmp = 0;
- act_vidle(VIDLE_UP - tmp, VIDLE_FAST_SPEED);
- tmp = 1 - tmp; // Force movement (we need to change the target position)
+ act_jaws(CLOSE);
+ // drive lift to home position
+ //act_lift(0, 0, 1);
+ // unset the homing request
+ //act_lift(0, 0, 0);
}
void start_entry()
robot.check_turn_safety = false;
pthread_create(&thid, NULL, timing_thread, NULL);
start_timer();
- act_camera_on();
}
// We set initial position periodically in order for it to be updated
void start_exit()
{
- robot.corns = get_all_corns(robot.corns_conf_side, robot.corns_conf_center);
- act_camera_off();
+
+}
+
+void inline enable_bumpers(bool enabled)
+{
+ robot.use_left_bumper = enabled;
+ robot.use_right_bumper = enabled;
+ robot.use_back_bumpers = enabled;
}
/************************************************************************
struct TrajectoryConstraints tcJerk, tcFast, tcSlow, tcVerySlow;
-#define VIDLE_TIMEOUT 2000
-
-/************************************************************************
- * States that form the "collect some oranges" subautomaton. Calling automaton
- * SHOULD ALWAYS call the "approach_the_slope" state.
- ************************************************************************/
-
-bool inline is_ready_to_climb_the_slope(enum which_side which_slope, double x, double y) {
- bool ret;
- if (which_slope == MINE) {
- ret = x < 0.5 && y > PLAYGROUND_HEIGHT_M - 0.5;
- } else if (which_slope == OPPONENTS) {
- ret = x > 0.5 && y > PLAYGROUND_HEIGHT_M - 0.5;
- } else {
- ul_logfatal("ERROR: unknown side;");
-#warning Remove the next line
- robot_exit();
- }
- return ret;
-}
-
-static struct slope_approach_style *slope_approach_style_p;
-
/* assures that the robot is near the slope rim; if outside our starting area, approach the slope first */
-FSM_STATE(approach_the_slope)
-{
- switch(FSM_EVENT) {
- case EV_ENTRY: {
- slope_approach_style_p = (struct slope_approach_style *) FSM_EVENT_PTR;
- if (slope_approach_style_p == NULL) {
- ul_logfatal("\n\nit is not allowed to call the approach_the_slope state with NULL data!!\n\n");
-#warning remove the next line
- robot_exit();
- }
- double x, y, phi;
- robot_get_est_pos_trans(&x, &y, &phi);
- /* decide */
- bool ready_to_climb_the_slope = is_ready_to_climb_the_slope(slope_approach_style_p->which_side, x, y);
- /* if necessary, approach the slope */
- if (ready_to_climb_the_slope) {
- FSM_TRANSITION(climb_the_slope);
- } else {
- robot_goto_trans(
- x_coord(0.3, slope_approach_style_p->which_side),
- PLAYGROUND_HEIGHT_M - ROBOT_WIDTH_M/2 - 0.03,
- ARRIVE_FROM(DEG2RAD(0), 0.02),
- &tcFast);
- }
- break;
- }
- case EV_MOTION_DONE:
- FSM_TRANSITION(climb_the_slope);
- break;
- case EV_START:
- case EV_TIMER:
- case EV_RETURN:
- case EV_VIDLE_DONE:
- case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
- case EV_EXIT:
- break;
- }
-}
-
-void inline enable_switches(bool enabled)
-{
- robot.use_left_switch = enabled;
- robot.use_right_switch = enabled;
- robot.use_back_switch = enabled;
-}
-
-FSM_STATE(climb_the_slope)
-{
- struct TrajectoryConstraints tc;
- switch(FSM_EVENT) {
- case EV_ENTRY: {
- // disables using side switches on bumpers when going up
- enable_switches(false);
- robot.ignore_hokuyo = true;
- /* create the trajectory and go */
- tc = tcSlow;
- tc.maxacc = 0.4;
- robot_trajectory_new_backward(&tc);
- if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
- act_vidle(VIDLE_LOAD_PREPARE, 5);
- robot_trajectory_add_point_trans(
- x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01);
- robot_trajectory_add_final_point_trans(
- x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01,
- NO_TURN());
- } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
- FSM_TIMER(3800);
- robot_trajectory_add_point_trans(
- x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
- //1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85));
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.199);
- robot_trajectory_add_final_point_trans(
- x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
- //1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85),
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.199,
- NO_TURN());
- }
- break;
- }
- case EV_MOTION_DONE:
- SUBFSM_TRANSITION(load_oranges, NULL);
- break;
- case EV_RETURN:
- FSM_TRANSITION(sledge_down);
- break;
- case EV_TIMER:
- act_vidle(VIDLE_LOAD_PREPARE, 15);
- break;
- case EV_START:
- case EV_VIDLE_DONE:
- case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
- case EV_EXIT:
- break;
- }
-}
-
-/* subautomaton to load oranges in two stages */
-FSM_STATE_DECL(load_oranges2);
-FSM_STATE_DECL(load_oranges3);
-FSM_STATE(load_oranges)
+FSM_STATE(bypass_figure_in_front_of_start)
{
switch(FSM_EVENT) {
case EV_ENTRY:
- FSM_TIMER(1000);
- act_vidle(VIDLE_MIDDLE, VIDLE_MEDIUM_SPEED);
- break;
- case EV_VIDLE_DONE:
- FSM_TIMER(1000);
- break;
- case EV_TIMER:
- FSM_TRANSITION(load_oranges2);
+ robot_trajectory_new(&tcSlow);
+ robot_trajectory_add_point_trans(
+ 0.45 + 0.2,
+ PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2));
+ robot_trajectory_add_point_trans(
+ 0.45 + 0.35 + 0.175,
+ PLAYGROUND_HEIGHT_M - 0.35);
+ robot_trajectory_add_final_point_trans(
+ 0.45 + 0.35 + 0.175,
+ 0.7 + 0.175,
+ NO_TURN());
break;
case EV_MOTION_DONE:
- case EV_START:
- case EV_RETURN:
- case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
- case EV_EXIT:
- break;
- }
-}
-
-FSM_STATE(load_oranges2)
-{
- switch(FSM_EVENT) {
- case EV_ENTRY:
- act_vidle(VIDLE_UP, VIDLE_MEDIUM_SPEED);
- FSM_TIMER(1000);
- break;
- case EV_VIDLE_DONE:
- FSM_TRANSITION(load_oranges3);
- //SUBFSM_RET(NULL);
- break;
- case EV_TIMER:
- FSM_TRANSITION(load_oranges3);
- //SUBFSM_RET(NULL);
- break;
- case EV_MOTION_DONE:
- case EV_START:
- case EV_RETURN:
- case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
- case EV_EXIT:
- act_vidle(VIDLE_UP-1, VIDLE_FAST_SPEED);
- break;
- }
-}
-
-FSM_STATE(load_oranges3)
-{
- switch(FSM_EVENT) {
- case EV_ENTRY:
- act_vidle(VIDLE_MIDDLE+50, 0);
- FSM_TIMER(500);
- break;
- case EV_VIDLE_DONE:
SUBFSM_RET(NULL);
break;
- case EV_TIMER:
- SUBFSM_RET(NULL);
- break;
- case EV_MOTION_DONE:
case EV_START:
+ case EV_TIMER:
case EV_RETURN:
case EV_MOTION_ERROR:
case EV_SWITCH_STRATEGY:
DBG_PRINT_EVENT("unhandled event");
case EV_EXIT:
- act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
break;
}
}
-FSM_STATE(sledge_down)
-{
- struct TrajectoryConstraints tc;
+FSM_STATE(approach_second_green_figure)
+{
switch(FSM_EVENT) {
case EV_ENTRY:
- tc = tcFast;
- tc.maxe = 0.5;
- robot_trajectory_new(&tc);
+ robot.use_left_bumper = true;
+ robot.use_right_bumper = true;
+ robot.use_back_bumpers = true;
- if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
- robot_trajectory_add_point_trans(
- x_coord(1.2 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01);
- robot_trajectory_add_point_trans(
- x_coord(1.0 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.01);
- robot_trajectory_add_point_trans(
- x_coord(0.8 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.05);
- robot_trajectory_add_point_trans(
- x_coord(0.6 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.10);
- robot_trajectory_add_final_point_trans(
- x_coord(0.5 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.19,
- NO_TURN());
- } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
- robot_trajectory_add_point_trans(
- x_coord(1 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
- //1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85));
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.199);
- robot_trajectory_add_final_point_trans(
- x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.2, slope_approach_style_p->which_side),
- //1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85),
- PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.199,
- NO_TURN());
- }
+ robot_trajectory_new(&tcSlow);
+ robot_trajectory_add_final_point_trans(
+ 0.45 + 0.35,
+ 0.29 + 0.28,
+ ARRIVE_FROM(DEG2RAD(180), 0.10));
break;
case EV_MOTION_DONE:
- /* just for sure, try to close it one more time */
- act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
- SUBFSM_RET(NULL);
- delete(slope_approach_style_p);
+ act_jaws(OPEN);
+ FSM_TIMER(2000);
break;
- case EV_START:
case EV_TIMER:
+ FSM_TRANSITION(load_second_green_figure);
+ break;
case EV_RETURN:
- case EV_VIDLE_DONE:
case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
- break;
case EV_EXIT:
- // enables using side switches on bumpers
- enable_switches(true);
- robot.ignore_hokuyo = false;
- robot.check_turn_safety = true;
-
break;
}
}
-/************************************************************************
- * The "unload our oranges" subautomaton
- ************************************************************************/
-
-FSM_STATE(to_cntainer_and_unld)
+FSM_STATE(load_second_green_figure)
{
- TrajectoryConstraints tcNotSoFast = trajectoryConstraintsDefault;
- tcNotSoFast.maxv = 0.5; tcNotSoFast.maxacc = 0.3; tcNotSoFast.maxomega = 2;
switch(FSM_EVENT) {
case EV_ENTRY:
- robot_goto_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, ARRIVE_FROM(DEG2RAD(90),0.05), &tcNotSoFast);
+ robot_trajectory_new(&tcSlow);
+ robot_trajectory_add_final_point_trans(
+ ROBOT_AXIS_TO_FIGURE_CENTER_M + 0.05,
+ 0.29 + 0.28,
+ NO_TURN());
break;
case EV_MOTION_DONE:
- FSM_TIMER(1000); // FIXME: test this
- act_vidle(VIDLE_DOWN, VIDLE_FAST_SPEED);
+ FSM_TIMER(2000);
+ act_jaws(CATCH);
break;
case EV_TIMER:
- FSM_TRANSITION(jerk);
+ FSM_TRANSITION(go_out_second_green_figure);
break;
- case EV_START:
case EV_RETURN:
- case EV_VIDLE_DONE:
case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
case EV_EXIT:
+ // enables using side switches on bumpers
+ //robot.use_left_switch = true;
+ //robot.use_right_switch = true;
+ //robot.ignore_hokuyo = false;
break;
}
}
-FSM_STATE(jerk)
+FSM_STATE(go_out_second_green_figure)
{
- static char move_cnt;
switch(FSM_EVENT) {
case EV_ENTRY:
- move_cnt = 0;
- robot_move_by(-0.05, NO_TURN(), &tcJerk);
+ robot_trajectory_new_backward(&tcSlow);
+ robot_trajectory_add_final_point_trans(0.45 + 0.35, 0.7, NO_TURN());
break;
case EV_MOTION_DONE:
- if (move_cnt == 0) {
- robot_move_by(0.05, NO_TURN(), &tcJerk);
- } else if (move_cnt > 0) {
- FSM_TIMER(1500); // FIXME: test this
- }
- move_cnt++;
- break;
case EV_TIMER:
- act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
- SUBFSM_RET(NULL);
+ FSM_TRANSITION(place_figure_to_protected_block);
break;
case EV_START:
case EV_RETURN:
- case EV_VIDLE_DONE:
case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
case EV_EXIT:
break;
}
}
-/************************************************************************
- * The "collect corns" subautomaton
- ************************************************************************/
-
-static enum where_to_go {
- CORN,
- TURN_AROUND,
- CONTAINER,
- NO_MORE_CORN
-} where_to_go = CORN;
-
-static struct corn *corn_to_get;
-
-FSM_STATE(rush_corns_decider)
+FSM_STATE(place_figure_to_protected_block)
{
switch(FSM_EVENT) {
case EV_ENTRY:
- if (where_to_go == CORN) {
- FSM_TRANSITION(approach_next_corn);
- } else if (where_to_go == CONTAINER) {
- FSM_TRANSITION(rush_the_corn);
- } else if (where_to_go == TURN_AROUND) {
- FSM_TRANSITION(turn_around);
- } else /* NO_MORE_CORN */ {
- }
+ robot_trajectory_new(&tcSlow);
+ robot_trajectory_add_final_point_trans(
+ 0.45 + 0.2,
+ 0.12 + 0.08 + ROBOT_AXIS_TO_FIGURE_CENTER_M,
+ ARRIVE_FROM(DEG2RAD(-90), 0.20));
break;
case EV_START:
case EV_TIMER:
- case EV_RETURN:
- case EV_VIDLE_DONE:
- case EV_MOTION_DONE:
- case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
- case EV_EXIT:
- break;
- }
-}
-
-static int cnt = 0;
-FSM_STATE(approach_next_corn)
-{
- switch(FSM_EVENT) {
- case EV_ENTRY: {
- double x, y, phi;
- robot_get_est_pos(&x, &y, &phi);
- ul_logdeb("approach_next_corn: puck cnt: %d, est pos %.3f, %.3f, %.3f\n",
- cnt, x, y, phi);
-
- corn_to_get = choose_next_corn();
- if (corn_to_get) {
- Pos *p = get_corn_approach_position(corn_to_get);
- corn_to_get->was_collected = true;
- robot_goto_trans(p->x, p->y, TURN(p->phi), &tcFast);
- delete(p);
- where_to_go = CONTAINER;
- } else {
- where_to_go = NO_MORE_CORN;
- }
- break;
- }
- case EV_MOTION_DONE:
- cnt++;
- FSM_TRANSITION(rush_corns_decider);
+ FSM_TRANSITION(leave_protected_figure);
break;
- case EV_START:
- case EV_TIMER:
case EV_RETURN:
- case EV_VIDLE_DONE:
- case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
- case EV_EXIT:
- break;
- }
-}
-
-FSM_STATE(rush_the_corn)
-{
- switch(FSM_EVENT) {
- case EV_ENTRY:
- double x;
- if (robot.team_color == BLUE) {
- x = corn_to_get->position.x;
- } else {
- x = PLAYGROUND_WIDTH_M - corn_to_get->position.x;
- }
- remove_wall_around_corn(x, corn_to_get->position.y);
- robot_goto_trans(PLAYGROUND_WIDTH_M - 0.4, 0.15, ARRIVE_FROM(DEG2RAD(-90), 0.02), &tcSlow);
- where_to_go = TURN_AROUND;
- break;
case EV_MOTION_DONE:
- FSM_TRANSITION(rush_last_cms);
+ act_jaws(OPEN);
+ FSM_TIMER(2000);
break;
- case EV_START:
- case EV_TIMER:
- case EV_RETURN:
- case EV_VIDLE_DONE:
case EV_MOTION_ERROR:
case EV_SWITCH_STRATEGY:
DBG_PRINT_EVENT("unhandled event");
}
}
-FSM_STATE(rush_last_cms)
+FSM_STATE(leave_protected_figure)
{
- static char move_cnt;
switch(FSM_EVENT) {
case EV_ENTRY:
- robot.ignore_hokuyo = true;
- robot.check_turn_safety = false;
- move_cnt = 0;
- robot_move_by(0.08, NO_TURN(), &tcSlow);
- break;
- case EV_MOTION_DONE:
- if (move_cnt == 0) {
- robot_move_by(-0.08, NO_TURN(), &tcSlow);
- } else if (move_cnt > 0) {
- FSM_TRANSITION(rush_corns_decider);
- }
- move_cnt++;
+ //FSM_TIMER(1000);
+ robot_trajectory_new_backward(&tcSlow);
+ robot_trajectory_add_point_trans(
+ 0.45 + 0.175,
+ 0.7);
+ robot_trajectory_add_final_point_trans(
+ 0.45 + 0.35,
+ 0.35 + 0.35 + 0.175,
+ TURN_CW(DEG2RAD(0)));
break;
case EV_START:
case EV_TIMER:
- case EV_RETURN:
- case EV_VIDLE_DONE:
- case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
- case EV_EXIT:
- robot.ignore_hokuyo = false;
- robot.check_turn_safety = true;
- break;
- }
-}
-
-// used to perform the maneuvre
-FSM_STATE(turn_around)
-{
- switch(FSM_EVENT) {
- case EV_ENTRY:
- robot_trajectory_new_backward(&tcFast);
- robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, TURN_CCW(90));
break;
+ case EV_RETURN:
case EV_MOTION_DONE:
- where_to_go = CORN;
- FSM_TRANSITION(rush_corns_decider);
+ //FSM_TRANSITION(load_second_figure);
+ SUBFSM_RET(NULL);
break;
- case EV_START:
- case EV_TIMER:
- case EV_RETURN:
- case EV_VIDLE_DONE:
case EV_MOTION_ERROR:
- case EV_SWITCH_STRATEGY:
- DBG_PRINT_EVENT("unhandled event");
case EV_EXIT:
break;
}
projects / eurobot / public.git / commitdiff