Mission code - Revision history

Jca: /* case 0, case 1, green button pressed */

2020-01-18T15:59:16Z

case 0, case 1, green button pressed

← Older revision		Revision as of 17:59, 18 January 2020
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	=== case 0, case 1, green button ~~pressed~~ ===		=== case 0, case 1, green button ===

	On the first state, state 0, the operator is told what to do:		On the first state, state 0, the operator is told what to do:

Jca: /* Mission 1 code */

2020-01-18T15:58:34Z

Mission 1 code

← Older revision		Revision as of 17:58, 18 January 2020
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	== Mission 1 code==		== Mission 1 code==

	This mission segment function is called ~~very~~ about 10ms until it returns true (finished).		This mission segment function is called every about 10ms until it returns true (finished).
	When the mission is in manual mode, then code is not called.		When the mission is in manual mode, then code is not called.

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	=== ~~Green~~ button pressed ===		=== case 0, case 1, green button pressed ===

	On the first state, state 0, the operator is told what to do:		On the first state, state 0, the operator is told what to do:
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	Once these messages are announced, then state is changed to 1.		Once these messages are announced, then state is changed to 1.

			=== case 1, wait for button ===

	On the next call to the function, there is a check to see if the green button is pressed, if it is, then state is changed to 10.		On the next call to the function, there is a check to see if the green button is pressed, if it is, then state is changed to 10.

	=== ~~Drive~~ snippet ===		=== case 10, drive snippet ===

	When the state is ~~t10~~ the following code is executed:		When the state is 10 the following code is executed:

	case 10: // first PART - wait for IR2 then go fwd and turn		case 10: // first PART - wait for IR2 then go fwd and turn
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	There is a couple of lines to play:		There is a couple of lines to play:

	~~case 10: // first PART - wait for IR2 then go fwd and turn~~
	~~....~~
	// play as we go		// play as we go
	play.setFile("../The_thing_goes_Bassim.mp3");		play.setFile("../The_thing_goes_Bassim.mp3");
Line 177:		Line 177:
	The state is then changed to 11.		The state is then changed to 11.

	===~~Wait~~ for mission snippet event===		===case 11, wait for mission snippet event===

	The 4 lines of REGBOT mission snippet is sent and activated, now we should wait until it has finished.		The 4 lines of REGBOT mission snippet is sent and activated, now we should wait until it has finished.

Jca: /* Mission2 code */

2020-01-18T15:51:38Z

Mission2 code

← Older revision		Revision as of 17:51, 18 January 2020
Line 200:		Line 200:
	This will tell the mission loop that this segment is finished, and will then reset the state to 0 and call the next mission segment instead.		This will tell the mission loop that this segment is finished, and will then reset the state to 0 and call the next mission segment instead.

	== ~~Mission2~~ code==		== Mission 2 code==

	This part will look for an ArUco code marker in a camera image. If found then move to the marker, if not then turn a bit.		This part will look for an ArUco code marker in a camera image. If found then move to the marker, if not then turn a bit.

Jca: /* case 31 */

2020-01-18T15:51:13Z

case 31

← Older revision		Revision as of 17:51, 18 January 2020
Line 521:		Line 521:
	When the manoeuver is finished, the REGBOT is asked to emit an event 2.		When the manoeuver is finished, the REGBOT is asked to emit an event 2.

	====case 31====		===case 31===

	The state 31 just waits for REGBOT to finish (event 2) and then finishes the mission segment.		The state 31 just waits for REGBOT to finish (event 2) and then finishes the mission segment.

Jca: /* Mission2 code */

2020-01-18T15:50:31Z

Mission2 code

@@ Line 342: / Line 342: @@
    return finished;
+  }
 The first state 'case 0:' do nothing - just set the state to 11.
-The 'case 11:' is
+===case 11:===
     case 11:
@@ Line 363: / Line 365: @@
 Then the flag to start ArUco analyses is set, and all previously detected markers have their 'new' flag cleared.
-The 'case 12:' is
+===case 12:===
      case 12:
@@ Line 387: / Line 389: @@
 Then it checks the result, if the marker count is not zero, then the state is set to 30, if not then to 20 - to make a slight turn.
-The 'case 20:' and 'case 21:' is
+=== case 20: and case 21: ===
      case 20:
@@ Line 419: / Line 421: @@
 'Case 21' waits for event 2 and sets the state back to 11, initiating another image search. There is further a test to see if the robot has turned 36 times.
-The 'case 30:' is
+=== case 30:===
 * extract the marker position,
@@ Line 425: / Line 429: @@
 * translate the manoeuver to a REGBOT snippet.
-hertil
+==== extract marker position ====

Jca: /* Mission2 code */

2020-01-18T13:46:18Z

Mission2 code

← Older revision		Revision as of 15:46, 18 January 2020
Line 342:		Line 342:
	return finished;		return finished;
	}		}

			The first state 'case 0:' do nothing - just set the state to 11.

			The 'case 11:' is

			case 11:
			if (fabsf(bridge->motor->getVelocity()) < 0.001 and bridge->imu->turnrate() < (2*180/M_PI))
			{ // finished first drive and turnrate is zero'ish
			state = 12;
			usleep(35000);
			// start aruco analysis
			cam->arUcos->setNewFlagToFalse();
			cam->doArUcoAnalysis = true;
			}
			break;

			This state checks if the robot is stationary by checking if the velocity is zero and the gyro do not detect any movement (less than 2 degrees per second).

			If the robot is steady, then it waits a bit (35ms) to allow the camera to start another frame.
			Then the flag to start ArUco analyses is set, and all previously detected markers have their 'new' flag cleared.

			The 'case 12:' is

			case 12:
			if (not cam->doArUcoAnalysis)
			{ // aruco processing finished
			if (cam->arUcos->getMarkerCount(true) > 0)
			{ // found a marker - go to marker (any marker)
			state = 30;
			// tell the operator
			printf("# case=%d found marker\n", state);
			system("espeak \"found marker.\" -ven+f4 -s130 -a5 2>/dev/null &");
			bridge->send("oled 5 found marker");
			}
			else
			{ // turn a bit (more)
			state = 20;
			}
			}
			break;

			This state waits until the ArUco flag is cleared (is cleared, when the camera process is finished).

			Then it checks the result, if the marker count is not zero, then the state is set to 30, if not then to 20 - to make a slight turn.

			The 'case 20:' and 'case 21:' is

			case 20:
			{ // turn a bit and then look for a marker again
			int line = 0;
			snprintf(lines[line++], MAX_LEN, "vel=0.25, tr=0.15: turn=10,time=10");
			snprintf(lines[line++], MAX_LEN, "vel=0,event=2:dist=1");
			sendAndActivateSnippet(lines, line);
			// make sure event 2 is cleared
			bridge->event->isEventSet(2);
			// tell the operator
			printf("# case=%d sent mission turn a bit\n", state);
			system("espeak \"turn.\" -ven+f4 -s130 -a5 2>/dev/null &");
			bridge->send("oled 5 code turn a bit");
			state = 21;
			break;
			}
			case 21: // wait until manoeuvre has finished
			if (bridge->event->isEventSet(2))
			{// repeat looking (until all 360 degrees are tested)
			if (featureCnt < 36)
			state = 11;
			else
			state = 999;
			featureCnt++;
			}
			break;

			The case 20 sends a mission snippet to REGBOT with a turn of 10 degrees and a turning radius of 15cm. And ask REGBOT to emit an event 2 when finished and the velocity set to 0.

			'Case 21' waits for event 2 and sets the state back to 11, initiating another image search. There is further a test to see if the robot has turned 36 times.

			The 'case 30:' is

			* extract the marker position,
			* calculate manoeuver required to face the marker,
			* translate the manoeuver to a REGBOT snippet.

			hertil

Jca: /* Mission2 code */

2020-01-16T15:17:58Z

Mission2 code

← Older revision		Revision as of 17:17, 16 January 2020
Line 215:		Line 215:
	break;		break;
	case 11:		case 11:
	~~// wait for finished driving first part)~~
	if (fabsf(bridge->motor->getVelocity()) < 0.001 and bridge->imu->turnrate() < (2*180/M_PI))		if (fabsf(bridge->motor->getVelocity()) < 0.001 and bridge->imu->turnrate() < (2*180/M_PI))
	{ // finished first drive and turnrate is zero'ish		{ // finished first drive and turnrate is zero'ish
	state = 12;		state = 12;
	~~// wait further 30ms - about one camera frame at 30 FPS~~
	usleep(35000);		usleep(35000);
	// start aruco analysis		// start aruco analysis
	~~printf("# started new ArUco analysis\n");~~
	cam->arUcos->setNewFlagToFalse();		cam->arUcos->setNewFlagToFalse();
	cam->doArUcoAnalysis = true;		cam->doArUcoAnalysis = true;
Line 233:		Line 230:
	{ // found a marker - go to marker (any marker)		{ // found a marker - go to marker (any marker)
	state = 30;		state = 30;
	~~// tell the operator~~
	~~printf("# case=%d found marker\n", state);~~
	~~system("espeak \"found marker.\" -ven+f4 -s130 -a5 2>/dev/null &");~~
	~~bridge->send("oled 5 found marker");~~
	}		}
	else		else
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	// make sure event 2 is cleared		// make sure event 2 is cleared
	bridge->event->isEventSet(2);		bridge->event->isEventSet(2);
	~~// tell the operator~~
	~~printf("# case=%d sent mission turn a bit\n", state);~~
	~~system("espeak \"turn.\" -ven+f4 -s130 -a5 2>/dev/null &");~~
	~~bridge->send("oled 5 code turn a bit");~~
	state = 21;		state = 21;
	break;		break;
Line 323:		Line 312:
	snprintf(lines[line++], MAX_LEN, "vel=0, event=2: dist=1");		snprintf(lines[line++], MAX_LEN, "vel=0, event=2: dist=1");
	sendAndActivateSnippet(lines, line);		sendAndActivateSnippet(lines, line);
	~~// make sure event 2 is cleared~~
	bridge->event->isEventSet(2);		bridge->event->isEventSet(2);
	//
	~~// debug~~
	~~for (int i = 0; i < line; i++)~~
	~~{ // print sent lines~~
	~~printf("# line %d: %s\n", i, lines[i]);~~
	}
	~~// debug end~~
	~~// tell the operator~~
	~~printf("# Sent mission snippet to marker (%d lines)\n", line);~~
	~~//system("espeak \"code snippet to marker.\" -ven+f4 -s130 -a20 2>/dev/null &");~~
	~~bridge->send("oled 5 code to marker");~~
	}		}
	else		else
	{		{ // look again for marker
	~~printf("# No need to move, just %.2fm, frame %d\n",~~
	~~pp4.movementDistance(), v->frameNumber);~~
	// look again for marker
	state = 11;		state = 11;
	}		}

Jca: /* =Synthetic speach */

2020-01-16T15:13:51Z

=Synthetic speach

← Older revision		Revision as of 17:13, 16 January 2020
Line 101:		Line 101:
	The 'printf(...)' prints to the console.		The 'printf(...)' prints to the console.

	====Synthetic speach===		====Synthetic speach====

	The line ' ''system("espeak \"press green to start\" -ven+f4 -s130 -a5 2>/dev/null &");'' '		The line ' ''system("espeak \"press green to start\" -ven+f4 -s130 -a5 2>/dev/null &");'' '

Jca: /* Mission code */

2020-01-16T15:13:34Z

Mission code

Show changes

Jca at 09:11, 1 January 2020

2020-01-01T09:11:18Z

← Older revision		Revision as of 11:11, 1 January 2020
Line 1:		Line 1:
	Back to [[robobot]].		Back to [[robobot]].

	Back to [[Robobot mission]] application.		Back to [[Robobot mission]] application.