Revision: 8580
http://playerstage.svn.sourceforge.net/playerstage/?rev=8580&view=rev
Author: rtv
Date: 2010-03-11 05:31:28 +0000 (Thu, 11 Mar 2010)
Log Message:
-----------
fasr2
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr2.cc
code/stage/trunk/libstage/model_fiducial.cc
Modified: code/stage/trunk/examples/ctrl/fasr2.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr2.cc 2010-03-10 02:11:47 UTC (rev
8579)
+++ code/stage/trunk/examples/ctrl/fasr2.cc 2010-03-11 05:31:28 UTC (rev
8580)
@@ -213,6 +213,8 @@
double charger_heading;
nav_mode_t mode;
+ stg_radians_t docked_angle;
+
static pthread_mutex_t planner_mutex;
Model* goal;
@@ -228,6 +230,10 @@
static uint8_t* map_data;
static Model* map_model;
+ bool fiducial_sub;
+ bool ranger_sub;
+
+
public:
Robot( ModelPosition* pos,
Model* source,
@@ -249,12 +255,15 @@
charger_range(0),
charger_heading(0),
mode(MODE_WORK),
+ docked_angle(0),
goal(source),
graph(),
graphvis( graph ),
last_node( NULL ),
node_interval( 20 ),
- node_interval_countdown( node_interval )
+ node_interval_countdown( node_interval ),
+ fiducial_sub(false),
+ ranger_sub(false)
{
// need at least these models to get any work done
// (pos must be good, as we used it in the initialization list)
@@ -331,6 +340,37 @@
//puts("");
}
+ void EnableRanger( bool on )
+ {
+ if( on && !ranger_sub )
+ {
+ ranger_sub = true;
+ ranger->Subscribe();
+ }
+
+ if( !on && ranger_sub )
+ {
+ ranger_sub = false;
+ ranger->Unsubscribe();
+ }
+ }
+
+ void EnableFiducial( bool on )
+ {
+ if( on && !fiducial_sub )
+ {
+ fiducial_sub = true;
+ fiducial->Subscribe();
+ }
+
+ if( !on && fiducial_sub )
+ {
+ fiducial_sub = false;
+ fiducial->Unsubscribe();
+ }
+ }
+
+
void Plan( Model* dest )
{
Pose pose = pos->GetPose();
@@ -387,97 +427,117 @@
void Dock()
{
+ const stg_meters_t creep_distance = 0.5;
+
if( charger_ahoy )
{
double a_goal = normalize( charger_bearing );
-
- double orient = normalize( M_PI - (charger_bearing -
charger_heading) );
- //printf( "val %.2f\n", orient );
-
- //if( fabs(orient) < M_PI/4.0 )
- a_goal = normalize( a_goal - 2.0 * orient );
-
-
+
+ double orient = normalize( M_PI - (charger_bearing -
charger_heading) );
+ //printf( "val %.2f\n", orient );
+
+ //if( fabs(orient) < M_PI/4.0 )
+ a_goal = normalize( a_goal - 2.0 * orient );
+
+
// if( pos->Stalled() )
// {
// puts( "stalled. stopping" );
// pos->Stop();
// }
// else
-
+
// a_goal *= 2.0;
-
- if( charger_range > 0.6 )
- {
- if( !ObstacleAvoid() )
- {
- pos->SetXSpeed(
cruisespeed );
- pos->SetTurnSpeed(
a_goal );
+
+ if( charger_range > creep_distance )
+ {
+ if( !ObstacleAvoid() )
+ {
+ pos->SetXSpeed( cruisespeed );
+ pos->SetTurnSpeed( a_goal );
}
}
else
{
pos->SetTurnSpeed( a_goal );
pos->SetXSpeed( 0.02 ); // creep towards it
-
+
if( charger_range < 0.08 ) // close enough
- pos->Stop();
-
+ {
+ pos->Stop();
+ docked_angle = pos->GetPose().a;
+ }
+
if( pos->Stalled() ) // touching
- pos->SetXSpeed( -0.01 ); // back off a bit
-
+ pos->SetXSpeed( -0.01 ); // back off a bit
}
}
else
{
printf( "%s docking but can't see a charger\n", pos->Token()
);
pos->Stop();
+ EnableFiducial( false );
mode = MODE_WORK; // should get us back on track eventually
}
// if the battery is charged, go back to work
if( Full() )
{
- //printf( "fully charged, now back to work\n" );
-
- ranger->Subscribe(); // enable the sonar to see behind us
- fiducial->Unsubscribe();
+ //printf( "fully charged, now back to work\n" );
mode = MODE_UNDOCK;
+ EnableRanger(true); // enable the sonar to see behind us
+ //EnableFiducial(false);
}
}
void UnDock()
{
- const stg_meters_t back_off_distance = 0.4;
+ const stg_meters_t back_off_distance = 0.2;
const stg_meters_t back_off_speed = -0.02;
+ const stg_radians_t undock_rotate_speed = 0.3;
const stg_meters_t wait_distance = 0.2;
const unsigned int BACK_SENSOR_FIRST = 10;
const unsigned int BACK_SENSOR_LAST = 13;
- // stay put while anything is close behind
- for( unsigned int s = BACK_SENSOR_FIRST; s <= BACK_SENSOR_LAST; ++s )
- if( ranger->sensors[s].range < wait_distance)
- {
- pos->Say( "Waiting..." );
- pos->SetXSpeed( 0.0 );
- return;
- }
- pos->Say( "" );
if( charger_range < back_off_distance )
- {
- pos->SetXSpeed( back_off_speed );
- }
+ {
+ pos->SetXSpeed( back_off_speed );
+
+ pos->Say( "" );
+
+ // stay put while anything is close behind
+ for( unsigned int s = BACK_SENSOR_FIRST; s <=
BACK_SENSOR_LAST; ++s )
+ if( ranger->sensors[s].range < wait_distance)
+ {
+ pos->Say( "Waiting..." );
+ pos->SetXSpeed( 0.0 );
+ return;
+ }
+ }
else
- {
- mode = MODE_WORK;
- SetGoal( pos->GetFlagCount() ? sink : source );
-
- fiducial->Unsubscribe();
- ranger->Unsubscribe();
- }
- }
+ { // we've backed up enough
+
+ double heading_error = normalize( pos->GetPose().a -
(docked_angle + M_PI ) );
+
+ if( fabs( heading_error ) > 0.05 )
+ {
+ // turn
+ pos->SetXSpeed( 0 );
+ pos->SetTurnSpeed( undock_rotate_speed *
sgn(-heading_error) );
+ }
+ else
+ {
+ // we're pointing the right way, so we're done
+ mode = MODE_WORK;
+ SetGoal( pos->GetFlagCount() ? sink : source );
+
+ EnableFiducial(false);
+ EnableRanger(false);
+ }
+ }
+ }
bool ObstacleAvoid()
{
@@ -605,7 +665,7 @@
// if we are low on juice - find the direction to the
recharger instead
if( Hungry() )
{
- fiducial->Subscribe();
+ EnableFiducial(true);
//puts( "hungry - using refuel map" );
Modified: code/stage/trunk/libstage/model_fiducial.cc
===================================================================
--- code/stage/trunk/libstage/model_fiducial.cc 2010-03-10 02:11:47 UTC (rev
8579)
+++ code/stage/trunk/libstage/model_fiducial.cc 2010-03-11 05:31:28 UTC (rev
8580)
@@ -327,7 +327,7 @@
void ModelFiducial::Shutdown( void )
{
- PRINT_DEBUG( "fiducial shutdown" );
+ //PRINT_DEBUG( "fiducial shutdown" );
fiducials.clear();
Model::Shutdown();
}
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