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rtime.felk.cvut.cz Git - eurobot/public.git/log
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.
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.