From: petr <silhavik.p@gmail.com>
Date: Fri, 27 Apr 2012 13:46:23 +0000 (+0200)
Subject: robofsm: Strategy
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/53c2e8550f0ac0a9ae4de7efaae6c989ec2ba904

robofsm: Strategy

New strategy for odometry autocalibration. Robot goes back and calibrate its odometry.
---

diff --git a/src/robofsm/Makefile.omk b/src/robofsm/Makefile.omk
index 8cc25dfb..7d33d226 100644
--- a/src/robofsm/Makefile.omk
+++ b/src/robofsm/Makefile.omk
@@ -9,7 +9,8 @@ robot_config_DEFINES = CONFIG_LOCK_CHECKING HAVE_PRIO_INHERIT
 
 bin_PROGRAMS += competition
 competition_SOURCES = competition2012.cc	\
-		      common-states.cc strategy_get_central_buillon.cc
+		      common-states.cc strategy_get_central_buillon.cc \
+		      strategy_odo_calibration.cc
 
 bin_PROGRAMS += homologation
 homologation_SOURCES = homologation2012.cc
diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index ad31ad13..7fd646d5 100644
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -421,4 +421,53 @@ FSM_STATE(leave_totem_up)
 		default:
 			break;
 	}
+}
+
+/* State for odometry calibration */
+
+FSM_STATE(go_back_for_cal)
+{
+	double x1 = 0, y1 = 0;
+	char buffer [20];
+	switch (FSM_EVENT) {
+		case EV_ENTRY:
+			robot_set_est_pos_trans(ROBOT_AXIS_TO_BACK_M + 1.0,
+						PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2.0),
+						0);
+			robot_move_by(-1.5, NO_TURN(), &tcSlow);
+			FSM_TIMER(500);
+			break;
+		case EV_MOTION_DONE:
+			ROBOT_LOCK(est_pos_odo);
+			robot.odo_cal_a = 1/robot.odo_distance_a;
+			robot.odo_cal_b = 1/robot.odo_distance_b;
+			x1 = robot.odo_distance_a;
+			y1 = robot.odo_distance_b;
+			ROBOT_UNLOCK(est_pos_odo);
+			printf("EROOR%f", x1);
+			FILE * file;
+			file = fopen ("odometry_cal_data","a+");
+			sprintf(buffer, "%4.4f", 1/x1);
+			fputs (buffer,file);
+			fputs ("\n", file);
+			sprintf(buffer, "%4.4f", 1/y1);
+			fputs (buffer,file);
+			fclose(file);
+			SUBFSM_RET(NULL);
+			break;
+		case EV_TIMER:
+			ROBOT_LOCK(est_pos_odo);
+			if(x1 == robot.odo_distance_a){
+				x1 = robot.odo_distance_a;
+				y1 = robot.odo_distance_b;
+				FSM_SIGNAL(MOTION,EV_MOVE_STOP, NULL);
+				FSM_SIGNAL(MAIN, EV_MOTION_DONE, NULL);
+			} else {
+				FSM_TIMER(500);
+			}
+			ROBOT_UNLOCK(est_pos_odo);
+			break;
+		default:
+			break;
+	}
 }
\ No newline at end of file
diff --git a/src/robofsm/common-states.h b/src/robofsm/common-states.h
index e17520f0..7dc1c4d0 100644
--- a/src/robofsm/common-states.h
+++ b/src/robofsm/common-states.h
@@ -12,7 +12,7 @@ extern bool up;
 /* strategy FSM */
 FSM_STATE_DECL(get_central_buillon_first);
 FSM_STATE_DECL(ignore_central_buillon);
-//FSM_STATE_DECL(calibrate);
+FSM_STATE_DECL(calibrate);
 
 /* Strategy catch buillon in center */
 FSM_STATE_DECL(approach_central_buillon);
@@ -25,6 +25,9 @@ FSM_STATE_DECL(return_home);
 //FSM_STATE_DECL(push_nearest_buillon);
 //FSM_STATE_DECL(push_bottle_fw);
 
+/* Autocalibration */
+FSM_STATE_DECL(go_back_for_cal);
+
 /* Common states */
 FSM_STATE_DECL(leave_home);
 FSM_STATE_DECL(leave_home_for_totem);
diff --git a/src/robofsm/competition2012.cc b/src/robofsm/competition2012.cc
index 9ed85bb4..64d1e218 100644
--- a/src/robofsm/competition2012.cc
+++ b/src/robofsm/competition2012.cc
@@ -1,7 +1,7 @@
  /*
  * competition.cc       12/02/28
  *
- * Robot's control program intended for homologation (approval phase) on Eurobot 2012.
+ * Robot's control program intended for competition on Eurobot 2012.
  *
  * Copyright: (c) 2012 CTU Flamingos
  *            CTU FEE - Department of Control Engineering
@@ -39,7 +39,7 @@ UL_LOG_CUST(ulogd_homologation); /* Log domain name = ulogd + name of the file *
 int main()
 {
 	int rv;
-
+	//robot_calibrate_odometry(); // calibrate odometry
 	rv = robot_init();
 	if (rv) error(1, errno, "robot_init() returned %d\n", rv);
 
@@ -49,7 +49,7 @@ int main()
  	robot.fsm.motion.debug_states = 1;
 	//robot.fsm.act.debug_states = 1;
 
-	robot.fsm.main.state = &fsm_state_main_get_central_buillon_first;
+	robot.fsm.main.state = &fsm_state_main_calibrate;
 	//robot.fsm.main.transition_callback = trans_callback;
 	//robot.fsm.motion.transition_callback = move_trans_callback;
 
@@ -78,4 +78,4 @@ int main()
 	robot_destroy();
 
 	return 0;
-} 
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/src/robofsm/strategy_odo_calibration.cc b/src/robofsm/strategy_odo_calibration.cc
new file mode 100644
index 00000000..40987cf2
--- /dev/null
+++ b/src/robofsm/strategy_odo_calibration.cc
@@ -0,0 +1,28 @@
+#include "common-states.h"
+#include "robot.h"
+#include <ul_log.h>
+
+
+UL_LOG_CUST(ulogd_strategy_odo_calibration); /* Log domain name = ulogd + name of the file */
+
+
+FSM_STATE(calibrate)
+{
+	switch (FSM_EVENT) {
+		case EV_ENTRY:
+			FSM_TIMER(2000);
+			break;
+		case EV_TIMER:
+			SUBFSM_TRANSITION(go_back_for_cal,NULL);
+			break;
+		case EV_RETURN:
+			robot_calibrate_odometry();
+			//FSM_TRANSITION(get_central_buillon_first);
+			break;
+		case EV_SWITCH_STRATEGY:
+			//FSM_TRANSITION(get_central_buillon_first);
+			break;
+		default:;
+	}
+}
+