homologation.cc File Reference

#include <robodata.h>
#include <robot.h>
#include <fsm.h>
#include <unistd.h>
#include <servos.h>
#include <math.h>
#include "trgen.h"
#include <movehelper.h>
#include <map.h>
#include <sharp.h>
#include <robomath.h>
#include <string.h>
#include <error.h>
#include <ul_log.h>

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Defines
#define	FSM_MAIN
#define	COMPETITION_TIME_DEFAULT   900
#define	TIME_TO_DEPOSITE_DEFAULT   60
#define	COMPETITION_TIME   COMPETITION_TIME_DEFAULT
#define	TIME_TO_DEPOSITE   TIME_TO_DEPOSITE_DEFAULT
#define	GO_TO_CONTAINER_TIMER   10000
#define	MAX_GET_BALL_ATTEMPS   8
#define	GET_BALL_TIMER   1500
#define	WAIT_BALL_INSIDE   5000
#define	GET_BALL_BAGR_SPEED   130
#define	MAX_CAROUSEL_ATTEMPTS   3
#define	CAROUSEL_ATTEMPT_TIMER   1000
#define	WAIT_FOR_DEPOSITION_TIMER   1500
Enumerations
enum	{ LEFT = 0, RIGHT, CENTER }
Functions
	UL_LOG_CUST (ulogd_homologation)
void	get_back_sharp_mm (int *sharp)
	Convert back sharps' measured values to mm.
void	get_rear_sharp_mm (int *sharp)
	Convert rear sharps' measured values to mm.
void	get_front_sharp_mm (int *sharp)
	Convert front sharps' measured values to mm.
void	get_front_sharp_m (double *sharp)
	Get values from front sharps.
void	get_rear_sharp_m (double *sharp)
	Get values from rear sharps.
void	get_back_sharp_m (double *sharp)
	Get values from back sharps.
int	closed_to_dispenser ()
	Use bumpers check if we are closed to the dispenser.
int	closed_to_container ()
void *	wait_for_end (void *arg)
	Competition timer.
void *	wait_to_deposition (void *arg)
	Timer to go to tray.
void	get_relative_pos (struct est_pos_type *est, struct ref_pos_type *ref, double l, double phi)
	Get position of the point when we know the distance and angle to turn.
void	robot_goto_point (struct ref_pos_type des_pos)
void	robot_go_closer ()
void	trans_callback (struct robo_fsm *fsm)
void	move_trans_callback (struct robo_fsm *fsm)
	FSM_STATE_DECL (init)
	FSM_STATE_DECL (wait_for_start)
	FSM_STATE_DECL (go_to_our_white_dispenser)
	FSM_STATE_DECL (go_to_our_white_dispenser2)
	FSM_STATE_DECL (go_to_container)
	FSM_STATE_DECL (go_back)
	FSM_STATE_DECL (get_balls)
	FSM_STATE_DECL (next_carousel_position)
	FSM_STATE_DECL (deposite_balls)
	FSM_STATE (init)
	FSM_STATE (wait_for_start)
	FSM_STATE (go_to_our_white_dispenser)
	FSM_STATE (go_to_our_white_dispenser2)
	FSM_STATE (go_to_our_red_dispenser)
	FSM_STATE (go_to_our_red_dispenser2)
	FSM_STATE (go_back)
	FSM_STATE (go_to_container)
	FSM_STATE (get_balls)
	FSM_STATE (next_carousel_position)
	FSM_STATE (deposite_balls)
int	main ()

---

Define Documentation

#define CAROUSEL_ATTEMPT_TIMER   1000

#define COMPETITION_TIME   COMPETITION_TIME_DEFAULT

#define COMPETITION_TIME_DEFAULT   900

#define FSM_MAIN

#define GET_BALL_BAGR_SPEED   130

#define GET_BALL_TIMER   1500

#define GO_TO_CONTAINER_TIMER   10000

#define MAX_CAROUSEL_ATTEMPTS   3

#define MAX_GET_BALL_ATTEMPS   8

#define TIME_TO_DEPOSITE   TIME_TO_DEPOSITE_DEFAULT

#define TIME_TO_DEPOSITE_DEFAULT   60

#define WAIT_BALL_INSIDE   5000

#define WAIT_FOR_DEPOSITION_TIMER   1500

---

Enumeration Type Documentation

anonymous enum

Enumerator:

LEFT
RIGHT
CENTER

---

Function Documentation

int closed_to_container

(

)

int closed_to_dispenser

(

)

Use bumpers check if we are closed to the dispenser.

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FSM_STATE

(

go_back

)

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FSM_STATE

(

go_to_container

)

FSM_STATE

(

get_balls

)

FSM_STATE

(

next_carousel_position

)

FSM_STATE

(

deposite_balls

)

FSM_STATE

(

go_to_our_red_dispenser2

)

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FSM_STATE

(

init

)

FSM_STATE

(

wait_for_start

)

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FSM_STATE

(

go_to_our_white_dispenser

)

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FSM_STATE

(

go_to_our_white_dispenser2

)

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FSM_STATE

(

go_to_our_red_dispenser

)

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FSM_STATE_DECL

(

init

)

FSM_STATE_DECL

(

wait_for_start

)

FSM_STATE_DECL

(

get_balls

)

FSM_STATE_DECL

(

go_to_our_white_dispenser

)

FSM_STATE_DECL

(

go_to_our_white_dispenser2

)

FSM_STATE_DECL

(

go_to_container

)

FSM_STATE_DECL

(

go_back

)

FSM_STATE_DECL

(

next_carousel_position

)

FSM_STATE_DECL

(

deposite_balls

)

void get_back_sharp_m

(

double *

sharp

)

Get values from back sharps.

void get_back_sharp_mm

(

int *

sharp

)

Convert back sharps' measured values to mm.

void get_front_sharp_m

(

double *

sharp

)

Get values from front sharps.

void get_front_sharp_mm

(

int *

sharp

)

Convert front sharps' measured values to mm.

void get_rear_sharp_m

(

double *

sharp

)

Get values from rear sharps.

void get_rear_sharp_mm

(

int *

sharp

)

Convert rear sharps' measured values to mm.

void get_relative_pos	(	struct est_pos_type *	est,
		struct ref_pos_type *	ref,
		double	l,
		double	phi
	)

Get position of the point when we know the distance and angle to turn.

Parameters:

	act	actual position
	pos	countered position

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int main

(

void

)

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void move_trans_callback

(

struct robo_fsm *

fsm

)

void robot_go_closer

(

)

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void robot_goto_point

(

struct ref_pos_type

des_pos

)

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void trans_callback

(

struct robo_fsm *

fsm

)

UL_LOG_CUST

(

ulogd_homologation

)

void* wait_for_end

(

void *

arg

)

Competition timer.

Stop robot when the timer exceeds.

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void* wait_to_deposition

(

void *

arg

)

Timer to go to tray.

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