From 3930ff7a23f24ff4dc8c9529e47d46eca04e4ab7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 7 Apr 2010 23:51:55 +0200 Subject: digital/io/src: add radar module, refs #129 --- digital/io/src/Makefile | 5 +- digital/io/src/playground.h | 4 ++ digital/io/src/radar.c | 140 ++++++++++++++++++++++++++++++++++++++++++++ digital/io/src/radar.h | 43 ++++++++++++++ 4 files changed, 190 insertions(+), 2 deletions(-) create mode 100644 digital/io/src/radar.c create mode 100644 digital/io/src/radar.h (limited to 'digital') diff --git a/digital/io/src/Makefile b/digital/io/src/Makefile index 7600baa9..8140c0c5 100644 --- a/digital/io/src/Makefile +++ b/digital/io/src/Makefile @@ -5,9 +5,10 @@ PROGS = io # Sources to compile. io_SOURCES = main.c asserv.c servo.avr.c eeprom.avr.c pwm.c \ switch.avr.c chrono.c main_timer.avr.c servo_pos.c \ - simu.host.c contact.c usdist.c + simu.host.c contact.c usdist.c radar.c # Modules needed for IO. -MODULES = proto uart twi utils adc math/fixed path trace flash spi +MODULES = proto uart twi utils adc math/fixed math/geometry path \ + trace flash spi # Configuration file. CONFIGFILE = avrconfig.h # IO board use an ATMega128. diff --git a/digital/io/src/playground.h b/digital/io/src/playground.h index 6e962423..7991e052 100644 --- a/digital/io/src/playground.h +++ b/digital/io/src/playground.h @@ -83,4 +83,8 @@ #define PG_START_ZONE_LENGTH 500 #define PG_START_ZONE_WIDTH 500 +/** Size of the unclimbable slope zone (Eurobot 2010). */ +#define PG_SLOPE_WIDTH (500 + 519 + 500) +#define PG_SLOPE_LENGTH (500 + 22) + #endif // playground_h diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c new file mode 100644 index 00000000..f7aac4d4 --- /dev/null +++ b/digital/io/src/radar.c @@ -0,0 +1,140 @@ +/* radar.c */ +/* 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 "common.h" +#include "radar.h" + +#include "playground.h" +#include "usdist.h" + +#include "modules/math/geometry/geometry.h" +#include "modules/utils/utils.h" + +/** Margin to be considered inside the playground. An obstacle can not be + * exactly at the playground edge. */ +#define RADAR_MARGIN_MM 150 + +/** Maximum distance for a sensor reading to be ignored if another sensor is + * nearer. */ +#define RADAR_FAR_MM 250 + +/** 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; +}; + +/** Define radar configuration. */ +struct radar_sensor_t radar_sensors[] = { +#define RADAR_SENSOR_FRONT 0 + { &usdist_mm[0], { 30 - 20, 0 }, G_ANGLE_UF016_DEG (0) }, +#define RADAR_SENSOR_LEFT 1 + { &usdist_mm[1], { 20 - 20, 20 }, G_ANGLE_UF016_DEG (40) }, +#define RADAR_SENSOR_RIGHT 2 + { &usdist_mm[2], { 20 - 20, -20 }, G_ANGLE_UF016_DEG (-40) }, +#define RADAR_SENSOR_BACK 3 + { &usdist_mm[3], { -30 - 20, 0 }, G_ANGLE_UF016_DEG (180) }, +}; + +/** Define exclusion area (considered as invalid point). */ +static uint8_t +radar_valid (vect_t p) +{ + return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM + && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM + /* Ignore points on slope, no margin for the slope start. */ + && (p.x < PG_WIDTH / 2 - PG_SLOPE_WIDTH / 2 + || p.x >= PG_WIDTH / 2 + PG_SLOPE_WIDTH / 2 + || p.y < PG_LENGTH - PG_SLOPE_LENGTH - RADAR_MARGIN_MM / 2); +} + +uint8_t +radar_update (vect_t robot_pos, uint16_t robot_a, vect_t *obs_pos) +{ + uint8_t i, j; + vect_t ray; + uint8_t obs_nb = 0; + uint8_t front_nb; + vect_t front_center; + /* Compute hit points for each sensor and eliminate invalid ones. */ + vect_t hit[UTILS_COUNT (radar_sensors)]; + uint8_t valid[UTILS_COUNT (radar_sensors)]; + uint16_t dist_mm[UTILS_COUNT (radar_sensors)]; + for (i = 0; i < UTILS_COUNT (radar_sensors); i++) + { + dist_mm[i] = *radar_sensors[i].dist_mm; + if (dist_mm[i] != 0xffff) + { + hit[i] = radar_sensors[i].pos; + vect_rotate_uf016 (&hit[i], robot_a); + vect_translate (&hit[i], &robot_pos); + vect_from_polar_uf016 (&ray, dist_mm[i], + robot_a + radar_sensors[i].a); + vect_translate (&hit[i], &ray); + valid[i] = radar_valid (hit[i]); + } + else + valid[i] = 0; + } + /* Ignore sensor results too far from other sensors. */ + for (i = 0; i < UTILS_COUNT (radar_sensors) - 1; i++) + { + for (j = i + 1; valid[i] && j < UTILS_COUNT (radar_sensors); j++) + { + if (valid[j]) + { + if (dist_mm[i] + RADAR_FAR_MM < dist_mm[j]) + valid[j] = 0; + else if (dist_mm[j] + RADAR_FAR_MM < dist_mm[i]) + valid[i] = 0; + } + } + } + /* Specific treatment about sensor topology. */ + if (valid[RADAR_SENSOR_BACK]) + obs_pos[obs_nb++] = hit[RADAR_SENSOR_BACK]; + front_nb = 0; + front_center.x = 0; front_center.y = 0; + for (i = RADAR_SENSOR_FRONT; i < RADAR_SENSOR_BACK; i++) + { + if (valid[i]) + { + vect_add (&front_center, &hit[i]); + front_nb++; + } + } + if (front_nb) + { + vect_scale_f824 (&front_center, 0x1000000l / front_nb); + obs_pos[obs_nb++] = front_center; + } + /* Done. */ + return obs_nb; +} + diff --git a/digital/io/src/radar.h b/digital/io/src/radar.h new file mode 100644 index 00000000..b602b69d --- /dev/null +++ b/digital/io/src/radar.h @@ -0,0 +1,43 @@ +#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 "modules/math/geometry/vect.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. + */ + +/** Update radar view. Return the number of obstacles found. Obstacles + * positions are returned in obs_pos. */ +uint8_t +radar_update (vect_t robot_pos, uint16_t robot_a, vect_t *obs_pos); + +#endif /* radar_h */ -- cgit v1.2.3