ROME2 Lab3

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Show/hide line numbers StateMachine.cpp Source File

StateMachine.cpp

00001 /*
00002  * StateMachine.cpp
00003  * Copyright (c) 2020, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #include <cmath>
00008 #include "StateMachine.h"
00009 #include <deque>
00010 #include "Task.h"
00011 #include "TaskWait.h"
00012 #include "TaskMoveTo.h"
00013 
00014 using namespace std;
00015 
00016 const float StateMachine::PERIOD = 0.01f;                   // period of task in [s]
00017 const float StateMachine::DISTANCE_THRESHOLD = 0.2f;        // minimum allowed distance to obstacle in [m]
00018 const float StateMachine::TRANSLATIONAL_VELOCITY = 0.5f;    // translational velocity in [m/s]
00019 const float StateMachine::ROTATIONAL_VELOCITY = 2.0f;       // rotational velocity in [rad/s]
00020 
00021 /**
00022  * Creates and initializes a state machine object.
00023  */
00024 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) {
00025     
00026     enableMotorDriver = 0;
00027     state = ROBOT_OFF;
00028     buttonNow = button;
00029     buttonBefore = buttonNow;
00030     
00031     ticker.attach(callback(this, &StateMachine::run), PERIOD);
00032 }
00033 
00034 /**
00035  * Deletes the state machine object and releases all allocated resources.
00036  */
00037 StateMachine::~StateMachine() {
00038     
00039     ticker.detach();
00040 }
00041 
00042 /**
00043  * Gets the actual state of this state machine.
00044  * @return the actual state as an int constant.
00045  */
00046 int StateMachine::getState() {
00047     
00048     return state;
00049 }
00050 
00051 /**
00052  * This method is called periodically by the ticker object and implements the
00053  * logic of the state machine.
00054  */
00055 void StateMachine::run() {
00056     
00057     // set the leds based on distance measurements
00058     
00059     led0 = irSensor0 < DISTANCE_THRESHOLD;
00060     led1 = irSensor1 < DISTANCE_THRESHOLD;
00061     led2 = irSensor2 < DISTANCE_THRESHOLD;
00062     led3 = irSensor3 < DISTANCE_THRESHOLD;
00063     led4 = irSensor4 < DISTANCE_THRESHOLD;
00064     led5 = irSensor5 < DISTANCE_THRESHOLD;
00065     
00066     // implementation of the state machine
00067     
00068     switch (state) {
00069         
00070         case ROBOT_OFF:
00071             
00072             buttonNow = button;
00073             
00074             if (buttonNow && !buttonBefore) {   // detect button rising edge
00075                 
00076                 enableMotorDriver = 1;
00077                 
00078                 taskList.push_back(new TaskMoveTo(controller, 0.0f, 1.0f, 0.0f));
00079                 taskList.push_back(new TaskWait(controller, 2.0f));
00080                 taskList.push_back(new TaskMoveTo(controller, 1.0f, 1.0f, -1.0f));
00081                 taskList.push_back(new TaskWait(controller, 2.0f));
00082                 taskList.push_back(new TaskMoveTo(controller, 1.0f, 0.0f, 0.0f));
00083                 taskList.push_back(new TaskWait(controller, 2.0f));
00084                 taskList.push_back(new TaskMoveTo(controller, 0.0f, 0.0f, 0.0f));
00085                 taskList.push_back(new TaskWait(controller, 2.0f));
00086                 
00087                 state = MOVE_FORWARD;
00088             }
00089             
00090             buttonBefore = buttonNow;
00091             
00092             break;
00093             
00094         case MOVE_FORWARD:
00095             
00096             buttonNow = button;
00097             
00098 
00099             
00100             if (buttonNow && !buttonBefore) {   // detect button rising edge
00101                 
00102                 controller.setTranslationalVelocity(0.0f);
00103                 controller.setRotationalVelocity(0.0f);
00104                 
00105                 state = SLOWING_DOWN;
00106                 
00107             } else if ((irSensor3 < DISTANCE_THRESHOLD) || (irSensor4 < DISTANCE_THRESHOLD)) {
00108                 
00109                 controller.setTranslationalVelocity(0.0f);
00110                 controller.setRotationalVelocity(ROTATIONAL_VELOCITY);
00111                 
00112                 state = TURN_LEFT;
00113                 
00114             } else if (irSensor2 < DISTANCE_THRESHOLD) {
00115                 
00116                 controller.setTranslationalVelocity(0.0f);
00117                 controller.setRotationalVelocity(-ROTATIONAL_VELOCITY);
00118                 
00119                 state = TURN_RIGHT;
00120                 
00121             } else if (taskList.size() > 0) {           // if statement hier unten, da kollision erkennung wichtiger
00122             
00123                 Task* task = taskList.front();
00124                 int result = task->run(PERIOD);
00125                 
00126                         if (result == Task::DONE) {
00127                             
00128                             taskList.pop_front();
00129                             delete task;
00130                              
00131                         } else {
00132                             
00133                         controller.setTranslationalVelocity(0.0f);  //Sicher gehen, dass die letzen Geschw. auch wirklich 0 sind
00134                         controller.setRotationalVelocity(0.0f);
00135                         state = SLOWING_DOWN;
00136                         
00137                         }
00138             }  else {
00139                 
00140             }
00141             
00142             buttonBefore = buttonNow;
00143             
00144             break;
00145             
00146         case TURN_LEFT:
00147             
00148             buttonNow = button;
00149             
00150             if (buttonNow && !buttonBefore) {   // detect button rising edge
00151                 
00152                 controller.setRotationalVelocity(0.0f);
00153                 
00154                 state = SLOWING_DOWN;
00155                 
00156             } else if ((irSensor2 > DISTANCE_THRESHOLD) && (irSensor3 > DISTANCE_THRESHOLD) && (irSensor4 > DISTANCE_THRESHOLD)) {
00157                 
00158                 controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
00159                 controller.setRotationalVelocity(0.0f);
00160                 
00161                 state = MOVE_FORWARD;
00162             }
00163             
00164             buttonBefore = buttonNow;
00165             
00166             break;
00167             
00168         case TURN_RIGHT:
00169             
00170             buttonNow = button;
00171             
00172             if (buttonNow && !buttonBefore) {   // detect button rising edge
00173                 
00174                 controller.setRotationalVelocity(0.0f);
00175                 
00176                 state = SLOWING_DOWN;
00177                 
00178             } else if ((irSensor2 > DISTANCE_THRESHOLD) && (irSensor3 > DISTANCE_THRESHOLD) && (irSensor4 > DISTANCE_THRESHOLD)) {
00179                 
00180                 controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
00181                 controller.setRotationalVelocity(0.0f);
00182                 
00183                 state = MOVE_FORWARD;
00184             }
00185             
00186             buttonBefore = buttonNow;
00187             
00188             break;
00189             
00190         case SLOWING_DOWN:
00191             
00192             if ((fabs(controller.getActualTranslationalVelocity()) < 0.01f) && (fabs(controller.getActualRotationalVelocity()) < 0.01f)) {
00193                 
00194                 while (taskList.size() > 0) {
00195                     delete taskList.front();
00196                     taskList.pop_front();
00197                     }
00198                     
00199                 enableMotorDriver = 0;
00200                 
00201                 state = ROBOT_OFF;
00202             }
00203             
00204             break;
00205             
00206         default:
00207             
00208             state = ROBOT_OFF;
00209     }
00210 }
00211