From 6548d83aa655176ef939817e36cd05d0e6cfaccd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 23 May 2011 01:23:43 +0200 Subject: digital/{io,io-hub,ai}: add generic radar, add radar to robospierre --- digital/ai/src/move/radar.h | 96 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 96 insertions(+) create mode 100644 digital/ai/src/move/radar.h (limited to 'digital/ai/src/move/radar.h') diff --git a/digital/ai/src/move/radar.h b/digital/ai/src/move/radar.h new file mode 100644 index 00000000..2e37d11d --- /dev/null +++ b/digital/ai/src/move/radar.h @@ -0,0 +1,96 @@ +#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 */ -- cgit v1.2.3