DONE!

README.org

@@ -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.

src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java

@@ -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;

src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/CatchBallBehavior.java

@@ -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);
 	}
 

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

@@ -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();
+			_ballFound = searchBall();
-			if(ballFound)
+			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();
+		while(queue.hasNextRangeSensorEvent())
-		activeWait(1000);
+			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. */
+			found = true;
-			state.setState(States.BALL_FOUND);
 
 			/* 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);
-	}
 }

src/ve/ucv/ciens/cicore/icaro/ryabi/sensors/FeatureDetectorsHandler.java

@@ -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;