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rtime.felk.cvut.cz Git - eurobot/public.git/log
Michal Vokac [Thu, 29 Dec 2011 08:02:51 +0000 (09:02 +0100)]
disp-4dgl: Change display screen for demo.
VID status renamed to MAN.
Do not show corns configuration.
Michal Vokac [Wed, 28 Dec 2011 20:06:35 +0000 (21:06 +0100)]
Merge branch 'demo' of ssh://rtime.felk.cvut.cz/eurobot/soft into demo
Michal Vokac [Wed, 28 Dec 2011 20:05:54 +0000 (21:05 +0100)]
eb_demo: Change stat button handling.
Now release of button is not needed for start to be processed.
After holding button for 100ms homing/stop is done.
After holding button for 1 second, start is send.
Michal Vokac [Fri, 16 Dec 2011 18:13:12 +0000 (19:13 +0100)]
camera: Do not release frame!
This causes segmentation fault - trying to capture frame to NULL pointer.
Michal Vokac [Fri, 16 Dec 2011 18:12:05 +0000 (19:12 +0100)]
camera: Automatically disable GUI when compiling for PPC.
Michal Vokac [Fri, 16 Dec 2011 18:10:55 +0000 (19:10 +0100)]
robofsm: Crane now working as expected.
TODO: decrease movement speed!
Michal Vokac [Fri, 16 Dec 2011 18:09:47 +0000 (19:09 +0100)]
robofsm: Disable camera at start-up.
Michal Vokac [Fri, 16 Dec 2011 18:08:23 +0000 (19:08 +0100)]
robofsm: Target detection
Do not return true when target detected but out of range!
Simply return number of detected targets inside playground.
Michal Vokac [Fri, 16 Dec 2011 15:37:04 +0000 (16:37 +0100)]
camera: Set ROI to tested area.
Decreased the area where the recognition is done.
This increase speed and decrease memory and CPU usage on PPC.
Michal Vokac [Fri, 16 Dec 2011 15:35:20 +0000 (16:35 +0100)]
camera: Release images and free memory usage!
Michal Sojka [Thu, 15 Dec 2011 21:17:05 +0000 (22:17 +0100)]
libjpeg must be enabled to compile things correctly for powerpc
Michal Sojka [Thu, 15 Dec 2011 21:03:02 +0000 (22:03 +0100)]
Change submodule URLs to absolute ones
This should fix buildbot failures. In master, this change has already
been done.
Michal Vokac [Thu, 15 Dec 2011 19:38:24 +0000 (20:38 +0100)]
robofsm: Better move_around error handling.
When can not reach new point for survey, stay where you are and survey.
Michal Vokac [Thu, 15 Dec 2011 19:35:13 +0000 (20:35 +0100)]
robofsm: remove unused events
Michal Vokac [Thu, 15 Dec 2011 19:29:51 +0000 (20:29 +0100)]
robofsm: remove unused variable
Michal Vokac [Thu, 15 Dec 2011 18:43:45 +0000 (19:43 +0100)]
robofsm: Test loading target without camera recognition.
Michal Vokac [Thu, 15 Dec 2011 18:43:08 +0000 (19:43 +0100)]
robofsm: Better approach target function.
do:
- turn head to target
- go forward small step
while: hokuyo minimum is greater then close to target
Michal Vokac [Thu, 15 Dec 2011 18:40:16 +0000 (19:40 +0100)]
robofsm: Fix wrong manipulation with crane.
Did not wait after crane down movement done.
Tune down position.
Michal Vokac [Thu, 15 Dec 2011 18:38:01 +0000 (19:38 +0100)]
robofsm: Decrease go backward distance.
Michal Vokac [Thu, 15 Dec 2011 18:37:29 +0000 (19:37 +0100)]
robofsm: Decrease hokuyo range when touching target.
Michal Vokac [Thu, 15 Dec 2011 18:35:41 +0000 (19:35 +0100)]
robofsm: Fix homing position bug - wrong units.
Michal Vokac [Thu, 15 Dec 2011 18:34:15 +0000 (19:34 +0100)]
robofsm: Obstacle avoidance controlled with one function.
Michal Vokac [Thu, 15 Dec 2011 18:32:44 +0000 (19:32 +0100)]
robofsm: Add debugging printouts.
Michal Vokac [Thu, 15 Dec 2011 00:56:18 +0000 (01:56 +0100)]
robofsm: Add condition for target valid but not loaded.
What to do then?
Michal Vokac [Thu, 15 Dec 2011 00:55:00 +0000 (01:55 +0100)]
robfsm: Add one cell to safe target approach radius.
Michal Vokac [Thu, 15 Dec 2011 00:54:12 +0000 (01:54 +0100)]
Remove NOP :)
Michal Vokac [Thu, 15 Dec 2011 00:53:08 +0000 (01:53 +0100)]
displayd: Update camera variables to new types.
Michal Vokac [Thu, 15 Dec 2011 00:52:40 +0000 (01:52 +0100)]
robofsm: Add FSM substates for target touch and load.
Michal Vokac [Thu, 15 Dec 2011 00:50:52 +0000 (01:50 +0100)]
robofsm: Start using camera recognition in demo FSM.
Add new FSM event on camera recognition done.
Michal Vokac [Thu, 15 Dec 2011 00:44:30 +0000 (01:44 +0100)]
robofsm: Add very slow trajectory constraints.
Michal Vokac [Thu, 15 Dec 2011 00:43:55 +0000 (01:43 +0100)]
robofsm: Update home position.
Start from the center of the playground.
Finish at the same angle as start.
Michal Vokac [Thu, 15 Dec 2011 00:28:12 +0000 (01:28 +0100)]
robofsm: Motion control tuning - use smaller gains.
This helps when robot is lost, if output from regulator is to large,
robot behaves and moves too quickly which is dangerous!
Michal Vokac [Thu, 15 Dec 2011 00:20:34 +0000 (01:20 +0100)]
pathplan: Decrease map cell size.
The PPC board is overloaded when using smaller map cell size.
Using cell size of 50mm instead of 100mm causes 4 times longer for cycles over whole map size.
This cause long delays in map_handling thread and problem with motion control feedback!
Michal Vokac [Thu, 15 Dec 2011 00:15:48 +0000 (01:15 +0100)]
camera: Enable ORTE communication in barcam.
Michal Vokac [Sun, 11 Dec 2011 13:15:50 +0000 (14:15 +0100)]
robofsm: Clear state events in MAIN FSM.
Michal Vokac [Sun, 11 Dec 2011 13:09:56 +0000 (14:09 +0100)]
robofsm: FSM state approach_target tuning.
Cycle over all detected targets and approach them.
After successful approach go to sub automaton and do recognition.
If target loaded, go home.
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.