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 [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 [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 10:06:13 +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 [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 [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 [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.
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.
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.
Martin Synek [Thu, 24 Feb 2011 07:53:34 +0000 (08:53 +0100)]
1. Added two constructors -> default (settings for Hokuyo) and with parameters for setting property detection.
2. Input parameter method shape_detect is laser scan data (type unsigned short).