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rtime.felk.cvut.cz Git - eurobot/public.git/log
Michal Vokac [Sun, 11 Dec 2011 12:59:33 +0000 (13:59 +0100)]
robofsm: FSM state survey tuning.
Michal Vokac [Sun, 11 Dec 2011 12:55:54 +0000 (13:55 +0100)]
robofsm: Tune function for target detection.
Run shape detection and store centers of all detected targets in a global variable (vector).
Michal Vokac [Sun, 11 Dec 2011 12:52:45 +0000 (13:52 +0100)]
robofsm: Add functions for counting approach point and angle for specified target position.
Michal Vokac [Sun, 11 Dec 2011 12:45:16 +0000 (13:45 +0100)]
robofsm: Obstacle avoidance tuning.
motion-control:
- count only with the center of the robot
map_handling:
- add ignore closer than functionality
fsmmove:
- count a real free space in front of the robot
Michal Vokac [Sun, 11 Dec 2011 01:35:25 +0000 (02:35 +0100)]
robofsm: Fix message print - add new line char.
Michal Vokac [Sun, 11 Dec 2011 01:33:27 +0000 (02:33 +0100)]
robodim: Add target dimensions and clear this file.
Michal Vokac [Sun, 11 Dec 2011 01:31:30 +0000 (02:31 +0100)]
Get rid of sharp_pos type.
I think there is too many position types used in the code.
I tend to use only these from robottype.h.
Michal Vokac [Fri, 9 Dec 2011 16:05:56 +0000 (17:05 +0100)]
robofsm: Add constant for close target value.
Michal Vokac [Fri, 9 Dec 2011 16:05:17 +0000 (17:05 +0100)]
robofsm: Tune detect_target function.
Check if any target detected first and then do other things.
Michal Vokac [Fri, 9 Dec 2011 16:01:14 +0000 (17:01 +0100)]
robofsm: Decrease hokuyo minimum range initial value.
Michal Vokac [Fri, 9 Dec 2011 15:58:45 +0000 (16:58 +0100)]
robofsm: Stop robot when obstacle event occur in MOTION FSM.
Michal Vokac [Fri, 9 Dec 2011 15:48:16 +0000 (16:48 +0100)]
robofsm: Start button not used on host.
Michal Vokac [Fri, 9 Dec 2011 16:49:31 +0000 (17:49 +0100)]
robofsm: Map handling - revert back to original idea.
Mark circular area around real obstacle with MAP_NEW_OBSTACLE flag.
Radius of the area is of the ROBOT_DIAGONAL_RADIUS_M size instead of OBS_SIZE_M.
Remove flag wall from map.
Increase hokuyo range to 4 meters.
Michal Vokac [Fri, 9 Dec 2011 15:27:03 +0000 (16:27 +0100)]
robofsm: Motion control tuning.
Decrease max position error to be lost.
Decrease close to target distance.
I am driving slowly so I add times in future to check collision in them.
Michal Vokac [Fri, 9 Dec 2011 10:05:33 +0000 (11:05 +0100)]
robofsm: Generate random positions across whole playground.
Michal Vokac [Fri, 9 Dec 2011 10:00:41 +0000 (11:00 +0100)]
robofsm: Allow path planing during rotation.
Using go_to instead of move_by path planing is used.
Path planer clears the map from unnecessary margins and so.
Michal Vokac [Fri, 9 Dec 2011 09:07:56 +0000 (10:07 +0100)]
robodim: Add robot diagonal radius.
Michal Vokac [Fri, 9 Dec 2011 08:55:11 +0000 (09:55 +0100)]
parhplan: Decrease map cell size.
Smaller playground area allows smaller map cell size now.
Michal Vokac [Fri, 9 Dec 2011 08:38:16 +0000 (09:38 +0100)]
robodim: Decrease map size - demo is intended for smaller areas.
Michal Vokac [Thu, 8 Dec 2011 14:44:45 +0000 (15:44 +0100)]
robofsm: Remove unused feature for removing unseen obstacle from map.
Michal Vokac [Thu, 8 Dec 2011 14:35:04 +0000 (15:35 +0100)]
Clear white spaces and so.
Michal Vokac [Thu, 8 Dec 2011 14:29:31 +0000 (15:29 +0100)]
Remove unused map flags and related functions.
- MAP_FLAG_INVALIDATE_WALL
- MAP_FLAG_TARGET
Michal Vokac [Wed, 7 Dec 2011 15:12:15 +0000 (16:12 +0100)]
robodim: No brushes used!
Michal Vokac [Wed, 27 Apr 2011 14:17:29 +0000 (16:17 +0200)]
robofsm: No brushes in front of robot.
Michal Vokac [Mon, 5 Dec 2011 19:40:23 +0000 (20:40 +0100)]
camera: Remove unused header - causing compile errors.
Michal Vokac [Mon, 5 Dec 2011 19:38:44 +0000 (20:38 +0100)]
camera: Rename .c file to .cxx file - now compilation for PPC is OK.
Michal Vokac [Mon, 5 Dec 2011 18:35:50 +0000 (19:35 +0100)]
camera: Test barcam with algorithm from Gymspit.
Michal Vokac [Mon, 5 Dec 2011 18:33:11 +0000 (19:33 +0100)]
camera: Do not use fftw3 lib now.
Michal Vokac [Mon, 5 Dec 2011 18:30:32 +0000 (19:30 +0100)]
camera: Compile barcol and barcam source.
Michal Vokac [Sun, 4 Dec 2011 14:36:57 +0000 (15:36 +0100)]
camera: Remove unused function.
Michal Vokac [Sun, 4 Dec 2011 14:36:17 +0000 (15:36 +0100)]
camera: Add barcam header file.
Michal Vokac [Sat, 3 Dec 2011 17:35:12 +0000 (18:35 +0100)]
camera: Set proper indentation, same in whole code.
Michal Vokac [Sat, 3 Dec 2011 16:37:57 +0000 (17:37 +0100)]
camera: Add license as required by Tomas Novak (Gymspit roboteam).
Michal Vokac [Sat, 3 Dec 2011 11:32:42 +0000 (12:32 +0100)]
camera: Remove unused barcol sources.
Michal Vokac [Sat, 3 Dec 2011 11:32:07 +0000 (12:32 +0100)]
camera: Move barcol cource one directory up ad add Makefiles.
Michal Vokac [Fri, 2 Dec 2011 16:09:42 +0000 (17:09 +0100)]
camera: Add barcode recognition sw from Gymspit robo team.
Michal Vokac [Thu, 1 Dec 2011 09:05:18 +0000 (10:05 +0100)]
sysless: eb_ebb lib removed from sysless
Michal Vokac [Wed, 30 Nov 2011 16:34:20 +0000 (17:34 +0100)]
build: Update link to eb_ebb lib.
Michal Vokac [Wed, 30 Nov 2011 16:34:02 +0000 (17:34 +0100)]
eb_ebb: Move eb_ebb lib from sysless submodule to standard eurobot src tree.
Michal Vokac [Sun, 27 Nov 2011 16:20:36 +0000 (17:20 +0100)]
robofsm: Attempt to clear all old obstacles in map in area where nothing is detected.
This is lot of mathematical computation. Not good approach.
Michal Vokac [Sun, 27 Nov 2011 16:16:04 +0000 (17:16 +0100)]
robofsm: Remove unused flag.
Michal Vokac [Sun, 27 Nov 2011 16:15:18 +0000 (17:15 +0100)]
robofsm: Mark only the real obstacle in the map.
Michal Vokac [Sun, 27 Nov 2011 16:07:20 +0000 (17:07 +0100)]
robofsm: Beta version of demo application.
After power-up it waits for start signal.
After start signal:
1. Uses shape_detect lib for target detection from hokuyo data.
2. Turns on the same point by 120deg and detect - max. three times.
3. When no detection - generates new random point max 2 meters far.
4. TODO - On detection - approach the target.
- Find cross-section point between path to the point and circle of some radius around the target.
- Map handling needs lots of changes and improvements.
Actual type of map handling is not suitable for large spaces.
Michal Vokac [Sun, 27 Nov 2011 15:51:23 +0000 (16:51 +0100)]
robofsm: Add function for clearing specific flag from the whole map.
Michal Vokac [Sun, 27 Nov 2011 15:41:38 +0000 (16:41 +0100)]
pathplan: Decrease map cell size.
Michal Vokac [Sun, 27 Nov 2011 15:40:57 +0000 (16:40 +0100)]
pathplan: Add new flag in map for detected target.
Michal Vokac [Sun, 27 Nov 2011 15:39:38 +0000 (16:39 +0100)]
robofsm: Increase act_crane position type.
This is forgotten commit. This is already done in other places. (types atc.)
Michal Vokac [Sun, 27 Nov 2011 15:36:38 +0000 (16:36 +0100)]
robofsm: Update crane positions.
Michal Vokac [Sun, 27 Nov 2011 15:05:48 +0000 (16:05 +0100)]
robofsm: Add header with start states enum.
Michal Vokac [Sun, 27 Nov 2011 14:59:26 +0000 (15:59 +0100)]
robofsm: Release motion control feedback on start-up and when motor_stop() called.
Michal Vokac [Sun, 27 Nov 2011 14:57:10 +0000 (15:57 +0100)]
robofsm: No team color parameter used.
Michal Vokac [Fri, 25 Nov 2011 16:24:31 +0000 (17:24 +0100)]
robofsm: get rid of corns.
Michal Vokac [Fri, 25 Nov 2011 16:19:35 +0000 (17:19 +0100)]
robofsm: Use start states from can_msg_def for controlling start sequence.
Michal Vokac [Fri, 25 Nov 2011 16:14:54 +0000 (17:14 +0100)]
robofsm: Rename old remains of vidle to crane.
Michal Vokac [Fri, 25 Nov 2011 16:11:03 +0000 (17:11 +0100)]
robomon: decrease size of obstacle - now it is same as the yellow chess figure.
Michal Vokac [Fri, 25 Nov 2011 16:08:51 +0000 (17:08 +0100)]
robomon: Change color of playground - now it is the same as free cell in map.
Michal Vokac [Fri, 25 Nov 2011 16:00:10 +0000 (17:00 +0100)]
robomon: remove simulated wall
Michal Vokac [Fri, 25 Nov 2011 15:50:39 +0000 (16:50 +0100)]
robofsm: Delete old source.
Michal Vokac [Fri, 25 Nov 2011 15:46:16 +0000 (16:46 +0100)]
Update crane position variable type. Char was too small.
Michal Vokac [Fri, 25 Nov 2011 15:37:35 +0000 (16:37 +0100)]
robofsm: Compile common_states and shape_detect sources.
Michal Vokac [Fri, 25 Nov 2011 15:30:56 +0000 (16:30 +0100)]
displayd: Use common start states for displaying stat plug status.
Michal Vokac [Fri, 25 Nov 2011 12:23:57 +0000 (13:23 +0100)]
eb_demo: remove unused defines
Michal Vokac [Fri, 25 Nov 2011 10:43:30 +0000 (11:43 +0100)]
eb_demo: Do not use yellow led - it is in collision with start state led which is more important.
Michal Vokac [Fri, 25 Nov 2011 10:39:23 +0000 (11:39 +0100)]
eb_demo: Use start states from can_msg_def - these are common for whole system.
Michal Vokac [Fri, 25 Nov 2011 10:37:31 +0000 (11:37 +0100)]
eb_demo: Fix switch strategy pin direction init.
Michal Vokac [Fri, 25 Nov 2011 10:34:18 +0000 (11:34 +0100)]
eb_demo: Use port numbers defines from the eb_ebb lib.
Michal Vokac [Fri, 25 Nov 2011 10:17:56 +0000 (11:17 +0100)]
cand: Maybe fix problem with huge positioning error.
There was a mess in parsing the message with data from motor odometry.
Data from left wheel goes to motion_irc left but error from left wheel
goes to motion_status right and vice versa.
Michal Vokac [Fri, 25 Nov 2011 10:10:12 +0000 (11:10 +0100)]
cand: Update comments - now it is clear what is what.
Michal Vokac [Fri, 25 Nov 2011 10:06:13 +0000 (11:06 +0100)]
motor-control: Release motion feedback when received speed greater then xxx.
This i used for releasing the motors after match time expires and before competition starts.
Motors are not blocked at spd = 0 and you can better manipulate with the robot.
I am not sure whether this is good solution.
I think it will be better to use special CAN msg with release motors information.
Michal Vokac [Fri, 25 Nov 2011 09:56:38 +0000 (10:56 +0100)]
Move start state enum to can_ids_def file.
Now start states are common for lpc boards and other applications.
EB board now sends exact start states in robot_cmd CAN message.
ORTE robot_cmd type changed from boolean to char - now it can handle many different states.
Michal Vokac [Fri, 25 Nov 2011 09:47:32 +0000 (10:47 +0100)]
types: Remove unused type.
Michal Vokac [Sat, 29 Oct 2011 22:13:39 +0000 (00:13 +0200)]
eb_demo: New function of start button handling.
Starting of the robot is done using one push button.
After power on, short press causes actuators homing and transition to READY state.
Then long press causes starting of the robot.
Another short press stops the robot and returns to READY state.
Martin Synek [Thu, 5 May 2011 16:15:47 +0000 (18:15 +0200)]
robomon: add draw circle center detected obstacle
Michal Vokac [Wed, 27 Apr 2011 14:09:40 +0000 (16:09 +0200)]
robomon: Add limits of hokuyo scan view.
I think it is better to draw the same scanning area in robomon as the real robot can see.
Michal Sojka [Tue, 15 Mar 2011 10:06:43 +0000 (11:06 +0100)]
robomon: Set no brash for drawing detected shapes
Michal Sojka [Tue, 15 Mar 2011 09:41:53 +0000 (10:41 +0100)]
robomon: Draw detected arcs as circles
Martin Synek [Sat, 12 Mar 2011 16:36:45 +0000 (17:36 +0100)]
robomon/hokuyoscan: add visualization detect arc in window robomon.
green line: detected arc
yellow line: detected line
Michal Sojka [Mon, 28 Feb 2011 13:16:21 +0000 (14:16 +0100)]
robomon: Remove shapedet debugging output
Michal Vokac [Wed, 27 Apr 2011 14:18:25 +0000 (16:18 +0200)]
robodim: Added hokuyo range parameter.
Martin Synek [Sun, 1 May 2011 19:08:27 +0000 (21:08 +0200)]
Shape_detect:
Change constants minimal and maximal angle detection to global
(HOKUYO_RANGE_ANGLE_LEFT, HOKUYO_RANGE_ANGLE_RIGHT).
Martin Synek [Wed, 27 Apr 2011 10:38:01 +0000 (12:38 +0200)]
Shape_detect:
Moved method bresenham_cicle to constructor.
Add maximal (70) and minimal (-70) angle detection (polar_to_cartes()).
Martin Synek [Tue, 26 Apr 2011 08:41:11 +0000 (10:41 +0200)]
Shape_detect: Repair of defined Radius - absent ";"
Martin Synek [Mon, 25 Apr 2011 10:25:17 +0000 (12:25 +0200)]
Shape_detect:
Constants for detecting arcs moved into the constructor.
Add documentation.
Martin Synek [Mon, 25 Apr 2011 08:45:32 +0000 (10:45 +0200)]
Shape_detect: offline.c - Testing for sequence measured files from Hokuyo.
- editation offline.c for testing sequance files.
- add -f switch for name open file
- add -n switch for number open files
- add -h and --help for print help
Martin Synek [Mon, 25 Apr 2011 08:40:03 +0000 (10:40 +0200)]
Shape_detect:
Add method arcs_compare() for comparing of two detected arcs vectors.
Add documentation.
Martin Synek [Sun, 24 Apr 2011 07:11:17 +0000 (09:11 +0200)]
Shape_detect: Erase old version created accumulator Hough transform.
Martin Synek [Sun, 24 Apr 2011 07:06:56 +0000 (08:06 +0100)]
Shape_detect:
Erase old version methods (bool fit_arc and Point rotate) and
constants (Arc_max_aperture, Arc_min_aperture and Arc_std_max) arc detection.
Martin Synek [Fri, 22 Apr 2011 10:48:48 +0000 (11:48 +0100)]
Shape_detect: Optimization of constant detection arc and filtration detected the circle.
Michal Sojka [Wed, 20 Apr 2011 20:32:00 +0000 (21:32 +0100)]
shapedet: Draw hough's acumulator in gnuplot
This is a quick hack, but it should be extremely useful in settings
right parameters of haugh transform (scale and maybe some maximal distance
or minimum number of points).
In production code, the debugging should be turned off!
This patch also converts all constants to millimeters, because I found
it confusing to think about which variable is in which units.
Martin Synek [Wed, 20 Apr 2011 21:18:09 +0000 (23:18 +0200)]
Shape_detect: Add Bresenham's circle drawing algorithm for compute Hough transform method.
Martin Synek [Tue, 19 Apr 2011 06:27:39 +0000 (08:27 +0200)]
Shape_detect: add method hough_transform_arc.
Michal Sojka [Thu, 17 Mar 2011 09:53:45 +0000 (10:53 +0100)]
shapedet: Allow better testing
To test shapedet behaviour, the following steps were done:
- gnuplot support was removed from shape_det library
- gnuplot support was added to shape_detect_offline test program and
plotting is catvated by -g switch.
- shape_detect_offline prints the detected objects to stdout
With these changes, it is possible to test shape detector with
individual data sets and tune the results based on this.
Michal Sojka [Thu, 17 Mar 2011 07:57:01 +0000 (08:57 +0100)]
shapedet: Include examples in documentation directly from sources
This ensures that the documentation is up-to-date and in a compilable
state.
Michal Sojka [Thu, 17 Mar 2011 07:35:59 +0000 (08:35 +0100)]
shapedet: Split text program into two versions - online and offline
The use if #ifdef inside the code is not good. The online version was
in a uncompilable state, because it was not compiled at all.
Michal Sojka [Thu, 17 Mar 2011 07:02:51 +0000 (08:02 +0100)]
shapedet: Documentation overhaul
Martin Synek [Wed, 16 Mar 2011 20:07:21 +0000 (21:07 +0100)]
shape_detect: optimalization detection of obstacle (diameter 20cm).
Martin Synek [Tue, 15 Mar 2011 09:37:09 +0000 (10:37 +0100)]
shape_detect: Correct calculation of arc radius.
Michal Vokac [Thu, 20 Oct 2011 12:33:58 +0000 (14:33 +0200)]
hokuyoscan/shape_detect: Add drawing arc center (green point).
shape_detect: Correct calculation of arc center.
Martin Synek [Sat, 12 Mar 2011 16:25:30 +0000 (17:25 +0100)]
Shape_detect:
Create data type Arc.
Modification function fit_arc, shape_detect -> prepare.
Modification Software Documentation.
Michal Sojka [Wed, 9 Mar 2011 13:40:25 +0000 (14:40 +0100)]
shapedet: Better API
This needs to be implemented later.