TeamSurface
Mit TaskWait ;-)
Diff: StateMachine.cpp
- Revision:
- 0:92d57d5d9305
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/StateMachine.cpp Fri Mar 23 15:44:15 2018 +0000
@@ -0,0 +1,203 @@
+/*
+ * StateMachine.cpp
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "StateMachine.h"
+
+using namespace std;
+
+const float StateMachine::PERIOD = 0.01f; // period of task in [s]
+const float StateMachine::DISTANCE_THRESHOLD = 0.2f; // minimum allowed distance to obstacle in [m]
+const float StateMachine::TRANSLATIONAL_VELOCITY = 0.3f; // translational velocity in [m/s]
+const float StateMachine::ROTATIONAL_VELOCITY = 1.0f; // rotational velocity in [rad/s]
+
+/**
+ * Creates and initializes a state machine object.
+ */
+StateMachine::StateMachine(Controller& controller, DigitalOut& enableMotorDriver, DigitalOut& led0, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4, DigitalOut& led5, DigitalIn& button, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3, IRSensor& irSensor4, IRSensor& irSensor5) : controller(controller), enableMotorDriver(enableMotorDriver), led0(led0), led1(led1), led2(led2), led3(led3), led4(led4), led5(led5), button(button), irSensor0(irSensor0), irSensor1(irSensor1), irSensor2(irSensor2), irSensor3(irSensor3), irSensor4(irSensor4), irSensor5(irSensor5) {
+
+ enableMotorDriver = 0;
+ state = ROBOT_OFF;
+ buttonNow = button;
+ buttonBefore = buttonNow;
+
+ ticker.attach(callback(this, &StateMachine::run), PERIOD);
+}
+
+/**
+ * Deletes the state machine object and releases all allocated resources.
+ */
+StateMachine::~StateMachine() {
+
+ ticker.detach();
+}
+
+/**
+ * Gets the actual state of this state machine.
+ * @return the actual state as an int constant.
+ */
+int StateMachine::getState() {
+
+ return state;
+}
+
+/**
+ * This method is called periodically by the ticker object and implements the
+ * logic of the state machine.
+ */
+void StateMachine::run() {
+
+ // set the leds based on distance measurements
+
+ led0 = irSensor0 < DISTANCE_THRESHOLD;
+ led1 = irSensor1 < DISTANCE_THRESHOLD;
+ led2 = irSensor2 < DISTANCE_THRESHOLD;
+ led3 = irSensor3 < DISTANCE_THRESHOLD;
+ led4 = irSensor4 < DISTANCE_THRESHOLD;
+ led5 = irSensor5 < DISTANCE_THRESHOLD;
+
+ // implementation of the state machine
+
+ switch (state) {
+
+ case ROBOT_OFF:
+
+ buttonNow = button;
+
+ if (buttonNow && !buttonBefore) { // detect button rising edge
+
+ enableMotorDriver = 1;
+
+ taskList.push_back(new TaskMoveTo(controller, 1.0f, 0.0f, 0.0f));
+ taskList.push_back(new TaskWait(controller, 2.0f));
+ taskList.push_back(new TaskMoveTo(controller, 1.0f, 1.0f, 0.0f));
+ taskList.push_back(new TaskWait(controller, 2.0f));
+ taskList.push_back(new TaskMoveTo(controller, 0.0f, 1.0f, 0.0f));
+ taskList.push_back(new TaskWait(controller, 2.0f));
+ taskList.push_back(new TaskMoveTo(controller, 0.0f, 0.0f, 0.0f));
+
+ state = MOVE_FORWARD;
+ }
+
+ buttonBefore = buttonNow;
+
+ break;
+
+ case MOVE_FORWARD:
+
+ buttonNow = button;
+
+ if (buttonNow && !buttonBefore) { // detect button rising edge
+
+ controller.setTranslationalVelocity(0.0f);
+ controller.setRotationalVelocity(0.0f);
+
+ state = SLOWING_DOWN;
+
+ } else if ((irSensor0 < DISTANCE_THRESHOLD) || (irSensor1 < DISTANCE_THRESHOLD)) {
+
+ controller.setTranslationalVelocity(0.0f);
+ controller.setRotationalVelocity(ROTATIONAL_VELOCITY);
+
+ state = TURN_LEFT;
+
+ } else if (irSensor5 < DISTANCE_THRESHOLD) {
+
+ controller.setTranslationalVelocity(0.0f);
+ controller.setRotationalVelocity(-ROTATIONAL_VELOCITY);
+
+ state = TURN_RIGHT;
+
+ } else if (taskList.size() > 0) {
+
+ Task* task = taskList.front();
+ int result = task->run(PERIOD);
+
+ if (result == Task::DONE){
+ taskList.pop_front();
+ delete task;
+ }
+
+ } else if (taskList.size() == 0) {
+
+ controller.setTranslationalVelocity(0.0f);
+ controller.setRotationalVelocity(0.0f);
+
+ state = SLOWING_DOWN;
+
+ }
+
+
+
+ buttonBefore = buttonNow;
+
+ break;
+
+ case TURN_LEFT:
+
+ buttonNow = button;
+
+ if (buttonNow && !buttonBefore) { // detect button rising edge
+
+ controller.setRotationalVelocity(0.0f);
+
+ state = SLOWING_DOWN;
+
+ } else if ((irSensor0 > DISTANCE_THRESHOLD) && (irSensor1 > DISTANCE_THRESHOLD) && (irSensor5 > DISTANCE_THRESHOLD)) {
+
+ controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
+ controller.setRotationalVelocity(0.0f);
+
+ state = MOVE_FORWARD;
+ }
+
+ buttonBefore = buttonNow;
+
+ break;
+
+ case TURN_RIGHT:
+
+ buttonNow = button;
+
+ if (buttonNow && !buttonBefore) { // detect button rising edge
+
+ controller.setRotationalVelocity(0.0f);
+
+ state = SLOWING_DOWN;
+
+ } else if ((irSensor0 > DISTANCE_THRESHOLD) && (irSensor1 > DISTANCE_THRESHOLD) && (irSensor5 > DISTANCE_THRESHOLD)) {
+
+ controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
+ controller.setRotationalVelocity(0.0f);
+
+ state = MOVE_FORWARD;
+ }
+
+ buttonBefore = buttonNow;
+
+ break;
+
+ case SLOWING_DOWN:
+
+ if ((fabs(controller.getActualTranslationalVelocity()) < 0.01f) && (fabs(controller.getActualRotationalVelocity()) < 0.01f)) {
+
+ enableMotorDriver = 0;
+
+ while (taskList.size() > 0) {
+ delete taskList.front();
+ taskList.pop_front();
+ }
+
+ state = ROBOT_OFF;
+ }
+
+ break;
+
+ default:
+
+ state = ROBOT_OFF;
+ }
+}