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DONE!

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Miguel Angel Astor Romero
2016-06-23 17:24:35 -04:00
parent 1a11653b93
commit bcf10d5176
6 changed files with 101 additions and 27 deletions
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85
README.org
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@@ -1,7 +1,84 @@
* RyABI
* RyABI (/Robótica y Aprendizaje Bio-Inspirado/ - Robotics and Bio-Inspired Learning)
** Abstract
RyABI (/Robótica y Aprendizaje Bio-Inspirado/ - Robotics and Bio-Inspired Learning) is a control program for LEGO Mindstorms NXT using the LeJOS NXJ
firmware. It is developed as part of the homonimous course being taught at the Computer Sciences School of the UCV.
Future verions of this README file will include a technical report on the development of the project.
RyABI is a control program for LEGO Mindstorms NXT using the LeJOS NXJ firmware. The controller is based on the
subsumption reactive control architecture.
** Objective
The controller assumes an environment like the following:
#+BEGIN_SRC ditaa :file environment.png :cmdline -o -E
. +-----------+
. | |
. |cBLK |
+----+ +------+----+
| | | |
| | | |
| | +---------+ | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | +-----+ | | | |
| | |Robot| | | | |
| | |cGRE | | | | |
| | +-----+ | | | |
| | | | | |
| | | | +---------+ | |
| | | cBLK | | | | | +-----+
| | +---------+ | | | | |Ball |
| | | | | | |cYEL |
| | | | | | +-----+
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | cBLK | | |
| | +---------+ | |
| | | |
| | | |
| | | |
| | | |
|cBLU| |cPNK|
+----+ +------+----+
. | |
. |cBLK |
. +-----------+
#+END_SRC
#+RESULTS:
[[file:environment.png]]
The goal of the controller is to find a ball (in yellow) that is located on one side of a goal line (in pink),
while avoiding any obstacles (in black) it can find. Once the ball is found, or the robot has collided with any
of the two obstacles at the sides of the goal line, the controller will return to the starting line (in blue).
The floor and the start/goal lines must be of constrasting colors. Contrary to what the diagram implies, both
the start and goal lines *must* be of a similar color.
** Robot
The robot is based on a differential drive and must use the following motors:
* Motors A and C :: Attached to the wheels. Used to move and steer the robot.
* Motor B :: Attached to a gripper claw. Used to catch the ball.
It must also use the following sensors:
* Ultrasonic ranger :: Used to find the ball. Attached to port 1.
* Touch bumper :: Used to detect obstacles. Attached to port 2.
* HiTechnic compass :: Used to steer and move with some precission. Attached to port 3.
* Greyscale light detector :: Used to find the start and goal lines. Attached to port 4.
** Subsumption
The controller uses the following five behaviors:
* Wander :: Simply moves the robot forward.
* Search :: When the goal line is found the robot will start searching for the ball using the range sensor.
* Catch :: When the ball has been found the robot will attempt to grab it with it's gripper.
* Victory :: When the start line is crossed the robot will stop moving a play a little tune.
* Avoid :: If the robot bumped against an obstacle then the robot will move a bit to the right to avoid it. It may take many attempts to clear a wide obstacle.

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2
src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java
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@@ -46,7 +46,7 @@ import ve.ucv.ciens.cicore.icaro.ryabi.utils.QuitButtonListener;
@SuppressWarnings("deprecation")
public class RyABI {
private static final float WHEEL_DIAMETER = 56.0f;
private static final float TRACK_WIDTH = 155.0f;
private static final float TRACK_WIDTH = 144.0f;
private static ArcRotateMoveController pilot;
private static UltrasonicSensor sonar;

5
src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/CatchBallBehavior.java
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@@ -53,14 +53,15 @@ public class CatchBallBehavior extends BaseBehavior {
@Override
public void action() {
pilot.travel(65);
pilot.travel(60);
Motor.B.backward();
try { Thread.sleep(2000); } catch(InterruptedException e) { };
Motor.B.stop(true);
Motor.B.suspendRegulation();
/* Turn towards the start line and start moving. */
Rotations.rotate90(compass, pilot);
Rotations.rotate90(compass, pilot);
pilot.travel(200);
pilot.travel(350);
state.setState(States.WANDER);
}

34
src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
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@@ -63,18 +63,19 @@ public class SearchBallBehavior extends BaseBehavior {
@Override
public boolean takeControl() {
/* If the ball has already been found then this behavior should not take control again. */
if(ballFound)
if(ballFound) {
return false;
}
/* If the current state is SEARCH_BALL then set the detectors and take control. */
if(state.getState() == States.SEARCH_BALL) {
if(state.getState() == States.SEARCH_BALL && !ballFound) {
setDetectors();
return true;
}
/* If the state is not SEARCH_BALL but there is at least one light feature detected
* indicating that the finish line has been reached then set the detectors and take control. */
if(queue.hasNextLightSensorEvent()) {
if(queue.hasNextLightSensorEvent() && !ballFound) {
state.setState(States.SEARCH_BALL);
setDetectors();
@@ -91,6 +92,7 @@ public class SearchBallBehavior extends BaseBehavior {
@Override
public void action() {
boolean _ballFound = false;
boolean obstacleFound = false;
/* Discard unneeded touch events. */
@@ -106,9 +108,11 @@ public class SearchBallBehavior extends BaseBehavior {
pilot.stop();
if(!obstacleFound) {
ballFound = searchBall();
if(ballFound)
_ballFound = searchBall();
if(_ballFound) {
ballFound = true;
state.setState(States.BALL_FOUND);
}
} else {
ballFound = true;
Rotations.rotate90(compass, pilot);
@@ -127,7 +131,7 @@ public class SearchBallBehavior extends BaseBehavior {
private void setDetectors() {
detectorHandler.enableTouchDetector();
detectorHandler.disableLightDetector();
detectorHandler.disableRangeDetector();
detectorHandler.enableRangeDetector();
}
private void moveLeft() {
@@ -157,17 +161,17 @@ public class SearchBallBehavior extends BaseBehavior {
private boolean searchBall() {
boolean found = false;
detectorHandler.enableRangeDetector();
activeWait(1000);
while(queue.hasNextRangeSensorEvent())
queue.getNextRangeSensorEvent();
try { Thread.sleep(2000); } catch(InterruptedException e) { };
if(queue.hasNextRangeSensorEvent()) {
/* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */
state.setState(States.BALL_FOUND);
found = true;
/* Discard unneeded range features. */
while(queue.hasNextRangeSensorEvent())
queue.getNextRangeSensorEvent();
}
detectorHandler.disableRangeDetector();
return found;
}
@@ -188,12 +192,4 @@ public class SearchBallBehavior extends BaseBehavior {
return obstacleFound;
}
private void activeWait(long milliseconds) {
long then = System.currentTimeMillis(), now;
System.out.println("Waiting.");
do {
now = System.currentTimeMillis();
} while(now - then < 1000);
}
}

2
src/ve/ucv/ciens/cicore/icaro/ryabi/sensors/FeatureDetectorsHandler.java
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@@ -41,7 +41,7 @@ public final class FeatureDetectorsHandler {
/**
* Gets the singleton instance of this class.
*
* @return the instacne.
* @return the instance.
*/
public static FeatureDetectorsHandler getInstance() {
return SingletonHolder.INSTANCE;