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+#ifndef radar_h
+#define radar_h
+/* radar.h */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "defs.h"
+
+/**
+ * Handle any distance sensors information to extract useful data. This
+ * includes:
+ * - combining several sensors information for a more precise obstacle
+ * position,
+ * - ignoring obstacles not in the playground,
+ * - determining if an obstacle should make the robot stop.
+ */
+
+/** Estimated obstacle edge radius. As the sensors detect obstacle edge, this is
+ * added to position obstacle center. */
+#undef RADAR_OBSTACLE_EDGE_RADIUS_MM
+
+/** Estimated obstacle radius. The obstacle may be larger than at the
+ * detected edge. */
+#undef RADAR_OBSTACLE_RADIUS_MM
+
+/** Stop distance. Distance under which an obstacle is considered harmful when
+ * moving. */
+#undef RADAR_STOP_MM
+
+/** Clearance distance. Distance over which an obstacle should be to the side
+ * when moving.
+ *
+ * OK, more explanations: when moving, a rectangle is placed in front of the
+ * robot, of length RADAR_STOP_MM and width 2 * (RADAR_CLEARANCE_MM +
+ * BOT_SIZE_SIDE). If an obstacle is inside this rectangle, it is considered
+ * in the way.
+ *
+ * If the destination point is near (< RADAR_STOP_MM - RADAR_CLEARANCE_MM),
+ * this reduce the rectangle length.
+ *
+ * If the destination is really near (< RADAR_EPSILON_MM), ignore all this. */
+#undef RADAR_CLEARANCE_MM
+
+/** Destination distance near enough so that obstacles could be ignored. */
+#undef RADAR_EPSILON_MM
+
+/* All this in another file. */
+#include "radar_defs.h"
+
+/** Margin to be considered inside the playground. An obstacle can not be
+ * exactly at the playground edge. */
+#define RADAR_MARGIN_MM 150
+
+/** Describe a radar sensor. */
+struct radar_sensor_t
+{
+ /** Distance updated by another module. */
+ uint16_t *dist_mm;
+ /** Position relative to the robot center. */
+ vect_t pos;
+ /** Angle relative to the robot X axis. */
+ uint16_t a;
+};
+
+/** Update radar view. Return the number of obstacles found. Obstacles
+ * positions are returned in obs_pos. */
+uint8_t
+radar_update (const position_t *robot_pos, vect_t *obs_pos);
+
+/** Return non zero if there is a blocking obstacle near the robot while going
+ * to a destination point. */
+uint8_t
+radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos,
+ const vect_t *obs_pos, uint8_t obs_nb);
+
+#endif /* radar_h */