WallyHackenslacker/RyABI
1
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity

Fixed up to ball search.

Browse Source
This commit is contained in:
Miguel Angel Astor Romero
2016-06-23 14:21:34 -04:00
parent 5289603a82
commit 2f829de04b
4 changed files with 55 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java
View File

@@ -78,7 +78,7 @@ public class RyABI {
pilot = new CompassPilot(compass, WHEEL_DIAMETER, TRACK_WIDTH, Motor.A, Motor.C); pilot = new CompassPilot(compass, WHEEL_DIAMETER, TRACK_WIDTH, Motor.A, Motor.C);
/* Create the feature detectors. */ /* Create the feature detectors. */
rangeDetector = new RangeFeatureDetector(sonar, 20, 200); rangeDetector = new RangeFeatureDetector(sonar, 30, 200);
touchDetector = new TouchFeatureDetector(touch); touchDetector = new TouchFeatureDetector(touch);
lightDetector = new LightFeatureDetector(light, invertLightDetector); lightDetector = new LightFeatureDetector(light, invertLightDetector);

102
src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
View File

@@ -96,66 +96,64 @@ public class SearchBallBehavior extends BaseBehavior {
@Override @Override
public void action() { public void action() {
while(!supress) { if(queue.hasNextRangeSensorEvent()) {
if(queue.hasNextRangeSensorEvent()) { /* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */
/* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */ if(pilot.isMoving())
if(pilot.isMoving()) pilot.stop();
pilot.stop(); ballFound = true;
ballFound = true; state.setState(States.BALL_FOUND);
state.setState(States.BALL_FOUND);
/* Discard unneeded range features. */ /* Discard unneeded range features. */
while(queue.hasNextRangeSensorEvent()) while(queue.hasNextRangeSensorEvent())
queue.getNextRangeSensorEvent(); queue.getNextRangeSensorEvent();
} else {
if(turnLeft) {
/* Search to the left of the robot. */
Rotations.rotateM90(compass, pilot);
pilot.travel(100);
if(queue.hasNextTouchSensorEvent()) {
/* If an obstacle is found while searching then start searching
* to the opposite side. */
pilot.travel(-200);
turnLeft = false;
/* Discard unneeded touch events. */
while(queue.hasNextTouchSensorEvent())
queue.getNextTouchSensorEvent();
detectorHandler.enableTouchDetector();
}
Rotations.rotate90(compass, pilot);
} else { } else {
if(turnLeft) { /* Search to the right of the robot. */
/* Search to the left of the robot. */ Rotations.rotate90(compass, pilot);
Rotations.rotateM90(compass, pilot); pilot.travel(100);
pilot.travel(100);
if(queue.hasNextTouchSensorEvent()) { if(queue.hasNextTouchSensorEvent()) {
/* If an obstacle is found while searching then start searching /* If an obstacle is found while searching then give up and go back
* to the opposite side. */ * to the start line. */
pilot.travel(-200); pilot.travel(-200);
turnLeft = false; state.setState(States.WANDER);
ballFound = true;
/* Discard unneeded touch events. */ /* Discard unneeded touch events. */
while(queue.hasNextTouchSensorEvent()) while(queue.hasNextTouchSensorEvent())
queue.getNextTouchSensorEvent(); queue.getNextTouchSensorEvent();
detectorHandler.enableTouchDetector(); detectorHandler.enableTouchDetector();
}
Rotations.rotate90(compass, pilot);
} else {
/* Search to the right of the robot. */
Rotations.rotate90(compass, pilot);
pilot.travel(100);
if(queue.hasNextTouchSensorEvent()) {
/* If an obstacle is found while searching then give up and go back
* to the start line. */
pilot.travel(-200);
state.setState(States.WANDER);
ballFound = true;
/* Discard unneeded touch events. */
while(queue.hasNextTouchSensorEvent())
queue.getNextTouchSensorEvent();
detectorHandler.enableTouchDetector();
}
Rotations.rotateM90(compass, pilot);
/* If the ball was found or the robot gave up then turn around towards the start line. */
if(ballFound)
Rotations.rotate180(compass, pilot);
} }
Rotations.rotateM90(compass, pilot);
/* If the ball was found or the robot gave up then turn around towards the start line. */
if(ballFound)
Rotations.rotate180(compass, pilot);
} }
} }
} }

2
src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SensorCalibrationBehavior.java
View File

@@ -54,7 +54,7 @@ public class SensorCalibrationBehavior extends BaseBehavior {
/* Calibrate the compass by turning slowly by 720 degrees. */ /* Calibrate the compass by turning slowly by 720 degrees. */
System.out.println("Calib. compass"); System.out.println("Calib. compass");
DifferentialPilot p = new DifferentialPilot(wheelDiameter, trackWidth, Motor.A, Motor.C); DifferentialPilot p = new DifferentialPilot(wheelDiameter, trackWidth, Motor.A, Motor.C);
p.setRotateSpeed(25); p.setRotateSpeed(20);
compass.startCalibration(); compass.startCalibration();
p.rotate(720, false); p.rotate(720, false);
compass.stopCalibration(); compass.stopCalibration();

4
src/ve/ucv/ciens/cicore/icaro/ryabi/utils/Rotations.java
View File

@@ -36,8 +36,9 @@ public abstract class Rotations {
diff = 90.0f - cMeasure; diff = 90.0f - cMeasure;
do { do {
pilot.rotate(diff); pilot.rotate(diff);
cMeasure = compass.getDegreesCartesian(); cMeasure = 360.0f - compass.getDegreesCartesian();
diff = 90.0f - cMeasure; diff = 90.0f - cMeasure;
System.out.println(cMeasure + " " + diff);
} while(Math.abs(diff) > 1.0f); } while(Math.abs(diff) > 1.0f);
pilot.stop(); pilot.stop();
@@ -60,6 +61,7 @@ public abstract class Rotations {
pilot.rotate(diff); pilot.rotate(diff);
cMeasure = compass.getDegreesCartesian(); cMeasure = compass.getDegreesCartesian();
diff = -90 + cMeasure; diff = -90 + cMeasure;
System.out.println(cMeasure + " " + diff);
} while(Math.abs(diff) > 1.0f); } while(Math.abs(diff) > 1.0f);
pilot.stop(); pilot.stop();