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2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Tue, 14 Jun 2022 00:52:39 -0500 Subject: [PATCH 02/23] Add files via upload --- robot arm source code (4).txt | 2229 +++++++++++++++++++++++++++++++++ 1 file changed, 2229 insertions(+) create mode 100644 robot arm source code (4).txt diff --git a/robot arm source code (4).txt b/robot arm source code (4).txt new file mode 100644 index 0000000..84f5bbf --- /dev/null +++ b/robot arm source code (4).txt @@ -0,0 +1,2229 @@ +//there are about 25 functions in this robot control script +// +//give power to robot platform, then connect the data wire with a computer +//wire mode (could be control through wireless tech., Wi-Fi) +//select and start (single servo control/ group action) +//======================================================================================================================================================================== + +// ----------LIBRARIES-------------- + +#include "VL53L0X2.h"; //the bookshelf we create +#include "Adafruit_VL53L0X2.h" +#include "LobotServoController.h" +#include "Ultrasound.h" +//#include "Screen.h" +#include +#include //default +#include + +//byte 8 bit +//short 16 bit +//int 32 bit +//long 64 bit +//there is no unsigned byte in Arduino //0 - 255 //A byte stores an 8-bit unsigned number, from 0 to 255. +//unsigned short //0 - 65535 +//unsigned int //0 - (2^32 - 1) +//unsigned long + +// --------CONSTANTS (won't change)------------------------------------------------------- +// address we will assign if dual sensor is present +#define LOX1_ADDRESS 0x30//0x27 and 0x28 could be used +#define LOX2_ADDRESS 0x29//default +#define LOX3_ADDRESS 0x31 +#define LOX4_ADDRESS 0x32 + +// set the pins to shutdown +#define SHT_LOX1 6//sensor1//Servo7PositionSensor +#define SHT_LOX2 A0//sensor2//Servo7PositionSensor +#define SHT_LOX3 7//sensor3 +#define SHT_LOX4 A1//sensor4 + +const byte IR1 = 2; //infrared sensor +//const byte IR1 = 3; //infrared sensor +const byte IR2 = 8; //infrared sensor +//const byte IR2 = 9; //infrared sensor +const byte IR3 = 10; //infrared sensor +//const byte IR3 = 11; //infrared sensor +const byte RxPin = 4; //robot arm port +const byte TxPin = 5; //robot arm port +const byte LED = 13; +const byte buttonPin = 12; //Touch sensor + +//from the reference point 265 to the 10,000 ms point +//distance sensor value from 265 to about 350 +// (350 - 265)/ 10,000 = 0.0084/ ms = 8.4/s +float speedTrain = 0.0084; + //assume the sensor1 value will not stuck in a constant value when the robot arm moves + //assumw the pet will not stand between the sensor and the robot arm + //move train only if the sensor value is from sensor1 0 to 710 + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + unsigned int durationMoveTrain_OriginalReferPoint2jointPoint = 15000; + unsigned int durationMoveTrain_referPoint2jointPoint = durationMoveTrain_OriginalReferPoint2jointPoint; + unsigned short jointPoint = 310; //before the point, the sensor value is accurate believe. + //sensor1 sensor1_Min allowed min distance + unsigned short sensor1_Min = 110; + //reference point: 145 (143 - 147 is fine) + unsigned short referencePoint = 145; //default// should > 2 //should > sensor1_Min + //trainDuration = (147 - 143)/ speedTrain = 595.24 ms + unsigned short trainDuration = 595; //19; //952; //1000; //define the smallest motor step distance//resolution; + float safeIndex = 0.8; // 0 < safeIndex < 1 +//The sensor1 wall (mirror) is 6.5 cm far from the edge of platform. +//The barrier, say pet, cannot be under the edge +//80 is the ideal backward sensor1 range (after the 308 point) per 10 seconds +//10.3 is the ideal backward distance (after the 308 point) per 10 seconds +//80/ 10.3 = x/ 6.5 +//x = 80 * 6.5/ 10.3 = 50.4854 +//Therefore, the allowed distance variance is no more than 50.4854 +//max distance Changed per trainDuration// arrange = 50.4854/ (trainDuration * speedTrain) = 10.1011; +//it is better for us to choose the index less than or equal to 10 +byte barrierIndex = 9; + +//could be initialized again________________________ + unsigned int durationMoveTrain_Max = durationMoveTrain_referPoint2jointPoint + 30000; //45000; + //dictionary: + //the trashbin durationMoveTrain_Max, table 25000, the duration of train movement + unsigned int durationMoveTrain_trashBin = durationMoveTrain_Max; + unsigned int durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 10000; + + +//------------ VARIABLES (will change)----------------------------------------------------- +unsigned long currentMillis = 0; //stores the value of total run time +//loopPeriod = duration + interval; +//period = interval + duration +//if switch between two states is needed, then setting clock below: +//if (state1) { +// set clock by using interval +// } else {//state2 +// set clock by using duration +// } +//in this class only duration or interval period is used + +// objects for the vl53l0x +Adafruit_VL53L0X2 lox1; //VL53L0X2 lox1; +//VL53L0X2 lox2; +VL53L0X2 lox3; +VL53L0X2 lox4; +SoftwareSerial mySerial(RxPin, TxPin); //Instantiate soft serial port£¨rx£¬tx£© +LobotServoController robotController(mySerial); //Instantiate servo controller communication library +Ultrasound ultrasound; //Instantiate the ultrasonic class +//Screen screen; + /* + //why it cause dead loop if we call constructors in setup() + lox1 = Adafruit_VL53L0X2(); //lox1 = VL53L0X2(); + //lox2 = VL53L0X2(); + lox3 = VL53L0X2(); + lox4 = VL53L0X2(); + //robotController(mySerial); + ultrasound = Ultrasound(); //Instantiate the ultrasonic class + //screen = Screen(); + */ + +bool isRunTime = false; + +//could be initialized again________________________ +//assume servo7 is controlled by Arduino board, Hiwonder robot arm board support it by providing energy and delivering information. +bool isRunningTrain = false; +//There are two methods to control the position of the train, servo7: + //because the sensor wire is poor, two different methods are used to control the position of the train, servo7: + //when train is too far from the sensor + //keeps or locks the previous time point/value/variable when visited joint point, + //the time point as the reference when robot moves forward and farther away from the sensor. + //1. Time setting (after/on the right side of the joint point) + //////records the previous time point only (once) at the beginning of train movement, like this: + //////////if (allow2updatePreviousMoveServo7_timer == true) {} + //////keeps or locks the previous time point/value/variable during the whole train movement process: + //////////allow2updatePreviousMoveServo7_timer = false; + //////////previousMoveServo7_timer = currentMillis; +unsigned long previousMoveServo7_timer = 0; //it is not enough to use int // stores the value of currentMillis as the previous time point for control the time of servo7 movement + //reset the previousMoveServo7_timer automatically ONLY IF the train will begin to move. + //private // this variable is not allowed to be edited by users + //There are two situations in which the train will begin to move: + // (a) when users ask to move train or + // (b) when the train is not hindered and it continues to finish the previous movement. +bool allow2updatePreviousMoveServo7_timer = false; //could be true, ONLY IF the train will begin to move. + //besides, we can use the same variable, durationMoveTrain, to represent two physical rules: + //1. Represent the total time point when there is no barrier. In other words, planned duration of the train Movement. + //////////durationMoveTrain = targeted duration; //For example, durationMoveTrain = 5000; //meaning set 5s movement + //////////allow2updatePreviousMoveServo7_timer = true; //unlock + //2. Represent the remainning time period when there is a barrier. + //////////durationMoveTrain = abs3(durationMoveTrain_remainingPlanned - trainDuration); //abs3() only applied to the integer + //durationMoveTrain_accumulationActual = abs2(currentMillis - previousMoveServo7_timer); + //////////allow2updatePreviousMoveServo7_timer = true; //unlock + //2. Distance setting (before/on the left side of the joint point) + //when train is close to the sensor, it is fine, just use the sensor value + // through previousDistanceSensor1, by recording sensor1 value and comparing previous and current value, + //we can detect the movement accuracy or whether the sensor is hindered. +//integer distance; +unsigned short previousDistanceSensor1 = 0; +unsigned short sensor1 = 0; //train +//previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered +unsigned int durationMoveTrain = 0; + //besides, we can use the same variable, durationMoveTrain, to represent two physical rules: + //1. Represent the total time point when there is no barrier. In other words, planned duration of the train Movement. + //////////durationMoveTrain = targeted duration; //For example, durationMoveTrain = 5000; //meaning set 5s movement + //////////allow2updatePreviousMoveServo7_timer = true; //unlock + //2. Represent the remainning time period when there is a barrier. + //////////durationMoveTrain = abs3(durationMoveTrain_remainingPlanned - trainDuration); //abs3() only applied to the integer + //durationMoveTrain_accumulationActual = abs2(currentMillis - previousMoveServo7_timer); + //////////allow2updatePreviousMoveServo7_timer = true; //unlock +unsigned int durationMoveTrain_remainingPlanned; +bool isFirstTime2SetDurationMoveTrain_remainingPlanned = true; + //durationMoveTrain_remainingPlanned = durationMoveTrain; // the first time + //since the second time, + //durationMoveTrain_remainingPlanned = abs3(durationMoveTrain_remainingPlanned(previousDurationMoveTrain) - trainDuration); //abs3() can only be used for integer + //only (once) at the beginning of train movement (before recover from the hindered state), + //the durationMoveTrain_remainingPlanned will be recorded by durationMoveTrain. + //1.only if the train finish the required movement or + //2.at the begining of train movement (user set rather than recover from the hindered state), + //this variable will be updated/reset. +unsigned long previousMillis; +//unsigned short sensor2 = 0; +unsigned short sensor3 = 0; +unsigned short sensor4 = 0; +unsigned short distance = 0; //ultrasound sensor + +//Record the number of touches +byte NumTouch; +//byte buttonLed_State = LOW; + +byte isHereArray = 0x00; +byte isSafe2grib = 0; + + +//before power off, it is very important +//put the good on the ground + +//before nap or stuck in some dead loop +//pauseTrain(); +//because it is not a right stop +//besides, if isRunning Train = 0, group action will continue to be run wrongly. +//robotController.stopActionGroup(); + + + + + +//======================================================================================================================================================================== + +void setup() { + //no need to be initialized again + //____________________________________________________________________________________________________________________ + //initial master boards' interface + //________________________________ + Serial.begin(9600); + // wait until serial port opens for native USB devices + while (! Serial) { delay(1); } + + + + mySerial.begin(9600); //communication between Uno R3 kit and the robot arm + + //Set the functions of IO port for each infrared sensor + pinMode(IR1, INPUT); + pinMode(IR2, INPUT); + pinMode(IR3, INPUT); + + pinMode(LED, OUTPUT); + pinMode(buttonPin, INPUT); + digitalWrite(LED, LOW); + // set the button pin as input with a pullup resistor to ensure it defaults to HIGH + pinMode(buttonPin, INPUT_PULLUP); + + pinMode(SHT_LOX1, OUTPUT); + pinMode(SHT_LOX2, OUTPUT); + pinMode(SHT_LOX3, OUTPUT); + pinMode(SHT_LOX4, OUTPUT); + //Serial.println(F("Shutdown TOF sensor pins inited...")); + digitalWrite(SHT_LOX1, LOW); + digitalWrite(SHT_LOX2, LOW); + digitalWrite(SHT_LOX3, LOW); + digitalWrite(SHT_LOX4, LOW); + //Serial.println(F("Both TOF sensors in reset mode...(pins are low)")); + + //Serial.println(F("Starting...")); + + //initial sensors + //________________________________ + setID(); + delay(100); // the TOF distance sensors need 90 ms to read + initialization(); //read_multi_tof_sensors(); //previousDistanceSensor1 = sensor1; + //loopInSetup(); + + //Sheridan framework + //____________________________________________________________________________________________________________________ + { + + //deal with the corner case + delay(100); // the TOF distance sensors need 90 ms to read + read_multi_tof_sensors(); + //because sometimes train stop without recording the correct sensor1 value into previousDistanceSensor1 + previousDistanceSensor1 = sensor1; + try2Recover(); + + delay(100); // the TOF distance sensors need 90 ms to read + read_multi_tof_sensors(); + previousDistanceSensor1 = sensor1; //assume the sensor1 laser beam is not hindered at the very beginnings + //but it is a corner case + loopInSetup(); + + + //test or some preaction + //delay(100); // the TOF distance sensors need 90 ms to read + //read_multi_tof_sensors(); + //previousDistanceSensor1 = sensor1; //assume the sensor1 laser beam is not hindered at the very beginnings + //but it is a corner case + //isRunTime = false; + //moveForward(durationMoveTrain_table); //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + + //delay(100); // the TOF distance sensors need 90 ms to read + //read_multi_tof_sensors(); + //previousDistanceSensor1 = sensor1; //assume the sensor1 laser beam is not hindered at the very beginnings + //but it is a corner case + //isRunTime = false; + //moveBackward(10000); + + + delay(100); // the TOF distance sensors need 90 ms to read + read_multi_tof_sensors(); + previousDistanceSensor1 = sensor1; //assume the sensor1 laser beam is not hindered at the very beginnings + //but it is a corner case + + } + + + + //Serial.println(F("Runtime")); + isRunTime = true; +} + +//======================================================================================================================================================================== + +void loop() { + // Notice that none of the action happens in loop() {} apart from reading millis() + // it just calls the functions that have the action code + //do not use while() loop or delay() in the loop() {} + //use synchronized timer/counter or asynchronous timer/counter + //set same clock or different clocks + //initial + //____________________________________________________________________________________________________________________ + //initialization(); + currentMillis = millis(); + // capture the latest value of millis() + // this is equivalent to noting the time from a clock + // use the same time for all operators to keep them synchronized + // in order to synchronize operators in each iteration of loop() {}, such as robot arm (servro1-6), a train (servo7) + isHereArray = 0x00; + + //read + //____________________________________________________________________________________________________________________ + //user IO + readButton(); //asynchronous, fast + //sensors + if (isHere(IR3))//the farthest InfraRedSensor + { + isHereArray = isHereArray | 0x01; // isHereArray = 0x00(0000 0000) | 0x01(0000 0001); + } + if (isHere(IR2))//the middle InfraRedSensor + { + isHereArray = isHereArray | 0x02; // isHereArray = 0x00(0000 0000) | 0x02(0000 0010); + } + if (isHere(IR1))//the closest InfraRedSensor + { + isHereArray = isHereArray | 0x04; // isHereArray = 0x00(0000 0000) | 0x04(0000 0100); + } + if (isHere())//altrasound + { + isHereArray = isHereArray | 0x08; // isHereArray = 0x00(0000 0000) | 0x08(0000 1000); + } + //asynchronous, fast + //Serial.println("isHereInfraRedSensor(IR1)"); + //Serial.println(isHere(IR1)); + //Serial.println(IR2); + //digitalRead() could not be put into the timer/counter {} + //Serial.println(isHere()); + //isHereArray recording the position of object + + + //essential sensors to control operators + read_multi_tof_sensors(); //asynchronous, fast + readRobot(); + //Receive data returned by the robotic arm + //asynchronous, fast + + //analysis + //make decisions + //take actions //synchronize, normal + //____________________________________________________________________________________________________________________ + run(); + //Serial.println(F("isSafe2grib")); + //Serial.println(isSafe2grib); + bool isDoneStep1 = step1(); + if (isDoneStep1) { + step3(); + } + + + //display //report to the PC or monitor + //____________________________________________________________________________________________________________________ + //screen.draw(sensor3); //asynchronous, very slow + + + //delay(100); // do not use delay() in the loop() {}, it will cause the currentMillis delay 100 ms, which could undermine the servo7 movement 100 * 0.0105 = about 1 cm +} + +//==================================================================================================================================================================== + +void initialization() { + //could be initialized again________________________ + durationMoveTrain_Max = durationMoveTrain_referPoint2jointPoint + 30000; //45000; + //dictionary: + //the trashbin durationMoveTrain_Max, table 25000, the duration of train movement + durationMoveTrain_trashBin = durationMoveTrain_Max; + durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 10000; + + //could be initialized again________________________ + //assume servo7 is controlled by arduino board, Hiwonder robot arm board support it by providing energy and delivering information. + isRunningTrain = false; + + previousMoveServo7_timer = 0; //it is not enough to use int // stores the value of currentMillis as the previous time point for control the time of servo7 movement + allow2updatePreviousMoveServo7_timer = false; + + //integer distance; + previousDistanceSensor1 = 0; + sensor1 = 0; //train + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + durationMoveTrain = 0; + durationMoveTrain_remainingPlanned = 0; + isFirstTime2SetDurationMoveTrain_remainingPlanned = true; + previousMillis = 0; + //unsigned short sensor2 = 0; + sensor3 = 0; + sensor4 = 0; + distance = 0; //ultrasound sensor + + //Record the number of touches + NumTouch = 0; + //byte buttonLed_State = LOW; + //the closest InfraRedSensor and altrasound sensor array + //reflect the object position + isHereArray = 0x00; + isSafe2grib = 0; + + //could be initialized again________________________ + read_multi_tof_sensors(); + previousDistanceSensor1 = sensor1; //assume the sensor1 laser beam is not hindered at the very beginnings + //but it is a corner case + + //initial timers/counters + //________________________________ + currentMillis = millis(); + // capture the latest value of millis() + // this is equivalent to noting the time from a clock + // use the same time for all operators to keep them synchronized + // in order to synchronize operators in each iteration of loop() {}, such as robot arm (servro1-6), a train (servo7) + //make sure the currentMillis > MAX(trainDuration, MAX(durationMoveTrain)) + currentMillis = millis(); + if (currentMillis <= durationMoveTrain_Max) { + unsigned int temp = durationMoveTrain_Max - currentMillis + 100; //unsigned int ////0 - (2^32 - 1) + //Serial.print(F("Initializing system for ")); + //Serial.print(temp/1000); + //Serial.println(F(" seconds")); + //delay(temp); + currentMillis = millis(); + } else {//currentMillis > durationMoveTrain_Max + //skip + } +} + +//Run button function +//======================================================================================================================================================================== + +void run() { + //analysis + //make decisions + //take actions //synchronize, normal + //____________________________________________________________________________________________________________________ + //initial + static byte step = 0; + //Serial.println(F("step")); + //Serial.println(step); + static unsigned long previousMillis_timer; //set loop check clock //unsigned long + if(previousMillis_timer <= abs2(currentMillis - (long)trainDuration))//synchronize + { + previousMillis_timer += trainDuration; //set clock + //all senstences below follow the same clock + //because we do not need to set different clocks + { + if ((NumTouch >= 1 && NumTouch <= 6) || NumTouch == 10) {//NumTouch = 1 - 4, 5, 6, or 10 + if (NumTouch == 5) {//initial + //skip + //do nothing + + } else {// (NumTouch != 5) //1s - 3s,15s, or wait + if (NumTouch == 4) {//wait + step = 0; //step = 0; + //wait here until the NumTouch is changed again + //Serial.println(F("wait here until the NumTouch is changed again, button4")); + + } else {//NumTouch == 1, 2, 3, 6 or 10 + if (NumTouch == 10) {//wait, besides, it means the robot is in front of the table right now + step = 0; //step = 0; + //wait here until the NumTouch is changed again + //Serial.println(F("wait here until the NumTouch is changed again, button10")); + } else {//NumTouch == 1, 2, 3, or 6 + //1s - 2s forward, or 1s backward, or 15s forward + if (step == 1) { + if (NumTouch == 3) {//backward + //currentMillis = millis(); + moveBackwardSafe(); + } else {//forward + //currentMillis = millis(); + moveForwardSafe(); + } + + if (!isRunningTrain) { + step = 2; + } + } else { + if (step == 2) { + if (NumTouch == 6) {//jump to the NumTouch 10, meaning the robot is in front of table + isSafe2grib = 1; + NumTouch = 10; + } else { + NumTouch = 4; //jump out to skip + } + } else {//default://step == 0: + + if (NumTouch == 6) { + //Override the value of durationMoveTrain + durationMoveTrain = durationMoveTrain_table; //durationMoveTrain = 15000; //durationMoveTrain = NumTouch * 1000; //durationMoveTrain = durationMoveTrain_Max; + + //Serial.println(F("15 seconds forward")); + } else {//NumTouch == 1 or 2 or 3 + if (NumTouch == 3) { + //Override the value of durationMoveTrain + durationMoveTrain = 1000; //durationMoveTrain = durationMoveTrain_Max; //durationMoveTrain = 40000; + //Serial.println(F("1 second backward")); + } else {//NumTouch == 1 or 2 + if (NumTouch == 1) { + //Override the value of durationMoveTrain + durationMoveTrain = NumTouch * 1000; //durationMoveTrain = durationMoveTrain_Max; //durationMoveTrain = 40000; + //Serial.println(F("1/2 seconds forward")); + } else {//NumTouch == 2 + //Override the value of durationMoveTrain + durationMoveTrain = 5000; //durationMoveTrain = durationMoveTrain_Max; //durationMoveTrain = 40000; + //Serial.println(F("1/2 seconds forward")); + } + } + + } + //Serial.println(durationMoveTrain); + //to put the variable below before the while loop is the same//byte isFirst = 1; + step = 1; + + } + } + } + } + } + } else {// (NumTouch >= 7 or == 0 + if (NumTouch >= 7) { + //Serial.println(F("button7/8/9")); + //switch + //switch between the original reference point and new reference point + if (NumTouch == 7) { + + //set the joint point as the reference point + referencePoint = jointPoint; + //durationMoveTrain_referPoint2jointPoint was the basis, it is 0 now + durationMoveTrain_referPoint2jointPoint = 0; + initialization(); + isRunTime = true; + + NumTouch = 0; + } else { + if (NumTouch == 8) { + //set 145 as the reference point + referencePoint = 145; + durationMoveTrain_referPoint2jointPoint = durationMoveTrain_OriginalReferPoint2jointPoint; + initialization(); + isRunTime = true; + + NumTouch = 0; + } else {//NumTouch >= 9 + //skip + } + } + + + } else {//NumTouch == 0 + //default + //Serial.println(F("button0")); + initTrain(sensor1); + step = 0; + + + } + } + + } + + + } +} + +//======================================================================================================================================================================== + +void loopInSetup() { + //simplified loop() {} + //corner case: cannot detect the barrier + //if there is barrier between sensor1 and train, train will moveforward without stop + isRunTime = true; + //for (unsigned short i = 65535; i > 0; i--) {}//this is not 65536, which causes overflow. + while(1) { + //initial + //____________________________________________________________________________________________________________________ + //initialization(); + currentMillis = millis(); + // capture the latest value of millis() + // this is equivalent to noting the time from a clock + // use the same time for all operators to keep them synchronized + // in order to synchronize operators in each iteration of loop() {}, such as robot arm (servro1-6), a train (servo7) + //read + //____________________________________________________________________________________________________________________ + readRobot(); + //Receive data returned by the robotic arm + //asynchronous, fast + //delay(100); // the TOF distance sensors need 90 ms to read + read_multi_tof_sensors(); + + //analysis + //make decisions + //take actions + //____________________________________________________________________________________________________________________ + //initalize operators + //Step 0.default position: + //servos 1 - 6 stand still/ expended arm position (group action 0), the arm near the fridge by servos 7 rotation (initTrain()) + robotController.runActionGroup(0, 1); + //initialize train + initTrain(sensor1); + if (!isRunningTrain) {break;} + delay(trainDuration); + } + + + isRunTime = false; +} + + +//Step 1. +//mian function:throw the leftover away: +//======================================================================================================================================================================== + +bool step1() { + static bool isDone = false; + unsigned short robotInterval = trainDuration; + static unsigned long previousButtonMillis_timer; //unsigned long + static byte step; + //Serial.println(F("step1().step")); + //Serial.println(step); + if (previousButtonMillis_timer <= abs2(currentMillis - (long)robotInterval)) { + previousButtonMillis_timer += robotInterval; + + if (step == 0) { + //train move forward (to the right side on the picture), move to the front of the table, + //durationMoveTrain = durationMoveTrain_table; + //NumTouch = 6; + if(NumTouch != 10) + //the check process above is for the setup() or initialization process + return false; + if (isHereArray != 0x00 && isSafe2grib) { + isSafe2grib = 0; + //Serial.println(F("in1")); + //Serial.println(durationMoveTrain); + gribBowl(); + + } else {//isHereArray == 0x00 || !isSafe2grib + if (isHereArray == 0x00 && !isSafe2grib) { + //even if is not running, it could be unsafe //isSafe2grib = 1; + if (!robotController.isRunning()) { + //Serial.println(F("in2")); + //Serial.println(durationMoveTrain); + step = 1; + //move it to the trash bin, moveForward(durationMoveTrain_trashBin++) + durationMoveTrain = abs3(durationMoveTrain_trashBin - durationMoveTrain_table); //abs3() only applied to the integer + //isSafe2grib = 0; + } + //Serial.println(F("in3")); + //Serial.println(durationMoveTrain); + } + //Serial.println(F("in4")); + //Serial.println(durationMoveTrain); + } + //Serial.println(F("in5")); + // Serial.println(durationMoveTrain); + + + } else { + if (step == 1) { + + moveForwardSafe(); + if (!isRunningTrain) { + isSafe2grib = 1; + step = 2; + } + + } else { + if (step == 2) { + if (isSafe2grib) { + isSafe2grib = 0; + throwLeftover(); + + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 3; + //move back(to the left side) to the table, + durationMoveTrain = abs3(durationMoveTrain_trashBin - durationMoveTrain_table) + 2000; //recalculate the variance of change direction + //abs3() only applied to the integer + } + } + } else { + if (step == 3) { + moveBackwardSafe(); + if (!isRunningTrain) { + isSafe2grib = 1; + step = 4; + } + } else { + if (step == 4) { + if (isSafe2grib) { + isSafe2grib = 0; + //put bowl on the table, group action 57 + robotController.runActionGroup(57, 1); + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 5; + } + } + } else { + if (step == 5) { + //go back to the default position, initTrain(),(group action 0) + //initTrain(sensor1); //NumTouch = 0; + //robotController.runActionGroup(0, 1); + //only if we make sure there is no barrier, we can use NumTouch = 7; //NumTouch = 8; + //count++; + //if (count >= ) + previousButtonMillis_timer += 1 * 24 * 60 * 60 * 1000; //set clock + //step = 0; + step = 6; + //default go back to step 0 + isSafe2grib = 1; + isDone = true; + return isDone; + } else {//step >= 6 //others + //skip + //previousButtonMillis_timer += 1 * 24 * 60 * 60 * 1000; //set clock + //step = 0; + //default go back to step 0 + } + } + } + } + } + } + return isDone; + } + + +} + + +//Step 3.feed: +//======================================================================================================================================================================== +void step3() { +//do not use switch(){} in the if() {}{} structure. No matter directly or indirectly call in the if() {}, switch() will be not working + unsigned short robotInterval = trainDuration; + static unsigned long previousButtonMillis_timer; //unsigned long + static byte step; + //Serial.println(F("step3().step")); + //Serial.println(step); + //only each action in each step, because multi action cause some strange conflicts( such as only run one of them, or miss to check some of them) + //when moving train, no use arm group action, because in each step, the action is checked several times + if (previousButtonMillis_timer <= abs2(currentMillis - (long)robotInterval)) { + previousButtonMillis_timer += robotInterval; + + if (step == 0) { + + if(NumTouch != 10)//assume the robot is in front of table + //the check process above is for the setup() or initialization process + return; + if (isHereArray == 0x00) + //!!!!! after test, changeto isHereArray != 0x00 + return; + if (!robotController.isRunning()) { + step = 22; + //train move backward 2s //move to the side of the fidge(joint point + 9s , moveForward(durationMoveTrain_fridgeSide), + durationMoveTrain = 2000; + } + } else { + if (step == 22) { + moveBackwardSafe(); + if (!isRunningTrain) { + isSafe2grib = 1; + step = 19; + } + } else { + if (step == 19) { + if (isSafe2grib) { + isSafe2grib = 0; + // (group 51)open the door of the fridge, group action 51, //1s 621 + 1s (642) + 1s (653) + 1s (674)+ fast rotota 1s(skip695, rotate servo 6 to 716 or 737) + //run group action 51 twice + robotController.runActionGroup(51, 1); + //assume the runActionGroup runtime of the robot arm is much longer than that of runTrain + + } else {//isHereArray != 0x00 && !isSafe2grib //isSafe2grib = 0; + if (!robotController.isRunning()) { + //even if is not running, it could be unsafe + step = 20; + isSafe2grib = 1; //isSafe2grib = 1; + } + } + } else { + + if (step == 20) { + if (isSafe2grib) { + isSafe2grib = 0; + //open the door of the fridge, group action 51, //1s 621 + 1s (642) + 1s (653) + 1s (674)+ fast rotota 1s(skip695, rotate servo 6 to 716 or 737) + //update 59 is 51_2 new, sweep a little more then first time + //which arm can avoid to be hindered by the line when run group 55 + robotController.runActionGroup(59, 1); + //if write this sentence in one step, actual run only once, + //besides, there is a problem about isRunning return + + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 1; + //train move backward 1s + durationMoveTrain = 1000; + } + } + } else { + + if (step == 1) { + moveBackwardSafe(); + if (!isRunningTrain) { + isSafe2grib = 1; + step = 2; + } + } else { + if (step == 2) { + if (isSafe2grib) { + isSafe2grib = 0; + //group action 55: push the door open + robotController.runActionGroup(55, 1); + + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 3; + //train move backward 8s + durationMoveTrain = 8 * 1000; + } + } + } else { + if (step == 3) { + moveBackwardSafe(); + if (!isRunningTrain) { + isSafe2grib = 1; + step = 4; + } + } else { + if (step == 4) { + if (isSafe2grib) { + isSafe2grib = 0; + //group action 56: push the door open, back and forth + robotController.runActionGroup(56, 1); + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 5; + isSafe2grib = 1; + } + } + } else { + if (step == 5) { + if (isSafe2grib) { + isSafe2grib = 0; + //pull arm back group action 58 never use group action 0:initial arm here + robotController.runActionGroup(58, 1); + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 6; + //train move backward,moveBackward(durationMoveTrain_fridge_sensor) or initTrain() + } + } + } else { + if (step == 6) { + //train move backward,moveBackward(durationMoveTrain_fridge_sensor) or initTrain() + initTrain(sensor1); + + if (!isRunningTrain) { + isSafe2grib = 1; + step = 7; + } + } else { + if (step == 7) { + if (isSafe2grib) { + isSafe2grib = 0; + //and then grib the container pillet, (need to make sure where is the bowl (how far = distance between each isHere sensor to the robot arm, + //height and width is almost fixed), GROUP action 18 19 20, keep it close to the base before moving + robotController.runActionGroup(18, 1); + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 8; + //move it to the side of table,moveForward(durationMoveTrain_table), + 12s + durationMoveTrain = durationMoveTrain_table + 12 * 1000; + } + } } else { + if (step == 8) { + moveForwardSafe(); + if (!isRunningTrain) { + isSafe2grib = 1; + step = 9; + } + } else { + if (step == 9) { + if (isSafe2grib) { + isSafe2grib = 0; + //rotate the container several times quickly over the bowl,(how far = distance between each isHere sensor to the robot arm, + //height and width is almost fixed, 61 62 63 64 65 66 67), group action_turnOver() 7,keep pillet close to the base and + robotController.runActionGroup(61, 1); + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 10; + //moveBackward(durationMoveTrain_fridge_sensor) or initTrain() 8 9 10 + } + } + } else { + if (step == 10) { + //moveBackward(durationMoveTrain_fridge_sensor) or initTrain() 8 9 10 + initTrain(sensor1); + + if (!isRunningTrain) { + isSafe2grib = 1; + step = 11; + } + } else { + if (step == 11) { + if (isSafe2grib) { + isSafe2grib = 0; + //put the pillet and cracker container back, group action 6, + robotController.runActionGroup(6, 1); + + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 12; + isSafe2grib = 1; + } + } + } else { + if (step == 12) { + if (isSafe2grib) { + isSafe2grib = 0; + //close the door, group action 52, + robotController.runActionGroup(52, 1); + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 21; + //besides, moveForward(durationMoveTrain_fridge++)12s, + durationMoveTrain = 12 * 1000; + } + } + } else { + if (step == 21) { + moveForwardSafe(); + if (!isRunningTrain) { + isSafe2grib = 1; + step = 13; + } + } else { + if (step == 13) { + if (isSafe2grib) { + isSafe2grib = 0; + //then ,knock the door, group action 53 + robotController.runActionGroup(53, 1); + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 14; + isSafe2grib = 1; + //group action 0 + } + } + } else { + if (step ==14) { + if (isSafe2grib) { + isSafe2grib = 0; + robotController.runActionGroup(0, 1); + } else {//!isSafe2grib + if (!robotController.isRunning()) { + step = 15; + //go back to the default position, initTrain() + //go back to the default position, initTrain() + } + } + + } else { + if (step == 15) { + //go back to the default position, initTrain() + //NumTouch = 0; + if (initTrain(sensor1)){ //if (!isRunningTrain) { + //only if we make sure there is no barrier, we can use NumTouch = 7; //NumTouch = 8; + //count++; + //if (count >= ) + previousButtonMillis_timer += 1 * 24 * 60 * 60 * 1000; //set clock + step = 16; + //default go back to step 0 + } + + } else {//step (>= 16 && <= 18) or (>= 23) //others + //skip + //previousButtonMillis_timer += 1 * 24 * 60 * 60 * 1000; //set clock + //step = 0; + //default go back to step 0 + } + } + } + } + + } + } + } + } + } + } + } + } + } + } + } + } + } + } + + } + + } + + } +} + +//======================================================================================================================================================================== + +void readRobot() { + unsigned short robotInterval = 100; + static unsigned long previousButtonMillis_timer; //unsigned long + if (previousButtonMillis_timer <= abs2(millis() - (long)robotInterval)) {// currentMillis = abs2(millis() - (long)robotInterval) + previousButtonMillis_timer += robotInterval; + robotController.receiveHandler(); + } + +} + +//put it into the bin after the cap open, (need to make sure where is the bin (how +//far = distance between bin to the robot arm, it could be fixed as well, height and width +//is almost fixed), shake in front of the bin and pull arm back, turnOver = servo 1 rotate 90 degree +//hold the bowl, (group action 54) +//======================================================================================================================================================================== + +void throwLeftover() { + //unsigned short robotInterval = trainDuration; + //static unsigned long previousButtonMillis_timer; //unsigned long + //if (previousButtonMillis_timer <= abs2(currentMillis - (long)robotInterval)) { + //previousButtonMillis_timer += robotInterval; + robotController.runActionGroup(54, 1); + //} +} + + +//gribbing the used bowl,(need to make sure where is the bowl (how far = distance +//between each isHere sensor to the robot arm, height and width is almost fixed), +//GROUP action 11 12 13 14 15 16 17, holding the bowl, keep it close to the base of arm before moving +//======================================================================================================================================================================== + +void gribBowl() { + unsigned short robotInterval = trainDuration; + static unsigned long previousButtonMillis_timer; //unsigned long + if (previousButtonMillis_timer <= abs2(currentMillis - (long)robotInterval)) { + previousButtonMillis_timer += robotInterval; + //isHereArray recording the position of object + //Serial.println(F("isHereArray")); + //Serial.println(isHereArray); + if(isHereArray == 0x00) { + //case 0x00: //default//0x00(0000 0000) + //no object detected in front of sensors + //skip + } else { + if(isHereArray == 0x01) { + //case 0x01://0x01(0000 0001) + //just in front of the farthest InfraRedSensor + robotController.runActionGroup(11,1); + }else { + if(isHereArray == 0x03) { + //case 0x03://0x03(0000 0011) + //between the middle and the farthest InfraRedSensor + robotController.runActionGroup(12,1); + } else { + if(isHereArray == 0x02) { + //case 0x02://0x02(0000 0010) + robotController.runActionGroup(13,1); + } else { + if(isHereArray == 0x07) { + //case 0x07://0x07(0000 0111) + robotController.runActionGroup(13,1); + //just in front of the middle InfraRedSensor + } else { + if(isHereArray == 0x06) { + //case 0x06://0x06(0000 0110) + //between the closest and the middle InfraRedSensor + robotController.runActionGroup(14,1); + } else { + if(isHereArray == 0x04) { + //case 0x04://0x02(0000 0100) + robotController.runActionGroup(15,1); + } else { + if(isHereArray == 0x0E) { + //case 0x0E://0x02(0000 1110)//14 + robotController.runActionGroup(15,1); + //just in front of the closest InfraRedSensor + } else { + if(isHereArray == 0x0C) { + //case 0x0C://0x0C(0000 1100)//12 + //between the closest InfraRedSensor and the ultrasound sensor + robotController.runActionGroup(16,1); + } else { + if(isHereArray == 0x08) { + //case 0x08://0x08(0000 1000) + + robotController.runActionGroup(17,1); + //just in front of the ultrasound sensor + } else { + //default://otherwise + //others shake the arm let pet leave the place + } + } + + } + } + + } + } + } + } + } + } + + } + +} + +//======================================================================================================================================================================== + +void try2Recover() { +//sensor1 < sensor1_Min || durationMoveTrain > durationMoveTrain_Max + //normally it is not allowed to move over durationMoveTrain_Max or under sensor1_Min + //no sensor signal available + //but let us try to go back to the reference point, sensor1 145 + //move train only if the sensor value is from sensor1 0 to 710 + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + //trainDuration = (147 - 143)/ speedTrain = 595.24 ms + short temp = sensor1 - referencePoint; //unsigned short + //Serial.println(F("sensor1 - referencePoint")); + //Serial.println(temp); + //durationMoveTrain = (targetedPoint - referencePoint) / speedTrain; + durationMoveTrain = (int)(abs2((long)temp)/speedTrain); //abs3() can only be used for integer //unsigned int + //Serial.println(F("durationMoveTrain")); + //Serial.println(durationMoveTrain); + if (durationMoveTrain > durationMoveTrain_Max && sensor1 <= 710) { + durationMoveTrain = durationMoveTrain_referPoint2jointPoint; + allow2updatePreviousMoveServo7_timer = true; //unlock + moveBackward(durationMoveTrain); + //not update// it is not correct //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + //difference + } else { + if (sensor1 >= 0 && sensor1 < sensor1_Min) { + durationMoveTrain = (referencePoint - sensor1_Min)/ speedTrain; ////assume referencePoint > sensor1_Min + allow2updatePreviousMoveServo7_timer = true; //unlock + moveForward(durationMoveTrain); + + } else { + // (sensor1 < 0 || sensor > 710) // too close || over far + //genearlly it is impossible to reach that close or far, meaning it could be some bugs or noise + //skip or ignore + } + } + +} +//======================================================================================================================================================================== + +/* + if (previousButtonMillis_timer <= abs2(millis() - (long)buttonInterval)) {// currentMillis = abs2(millis() - (long)buttonInterval) + + //if (digitalRead(buttonPin) != LOW) { + //delay(80); + if (digitalRead(buttonPin) == LOW) { + previousButtonMillis_timer += buttonInterval; + + Serial.println(F("button")); + Serial.println(NumTouchLocal); + NumTouchLocal++; + if (NumTouchLocal > 2) {NumTouchLocal = 1;} + //buttonLed_State = ! buttonLed_State; // this changes it to low if it was high + // and to high if it was low + } + //} + } +*/ +void readButton() { +//do not use while() loop or delay() in the loop() {} +//use synchronized timer/counter or asynchronous timer/counter +//set same clock or different clocks + // ask + // this only reads the button state after the button interval has elapsed + // this avoids multiple flashes if the button is pressed + // Notice that there is no need to synchronize this, using millis() instead of currentMillis + // use of millis() with the flashing Leds + // every time the button is pressed it changes buttonLed_State causing: + static byte step; //0 - 255 + static byte NumTouchLocal = 0; + static unsigned short count; //0 - 65535 + static unsigned long previousButtonMillis_timer; + unsigned short buttonInterval = 200; //200; //300 + + + //if (robotController.isRunning()) + // return; + //if (isRunningTrain) + // return; + + if (previousButtonMillis_timer <= abs2(millis() - (long)buttonInterval)) {// currentMillis = abs2(millis() - (long)buttonInterval) + if (step == 0) //do not use switch(){} in the if() {}{} structure + {//case 0: + if (digitalRead(buttonPin) == LOW) + {//Detection touch sensor + digitalWrite(LED, HIGH); + delay(500); + if (digitalRead(buttonPin) != LOW) + {//If it is short press once + digitalWrite(LED, LOW); + NumTouchLocal ++ ; + count = 0; + step = 1; + previousButtonMillis_timer += buttonInterval; + } + } + } else { + if (step == 1) { + //case 1: + if (digitalRead(buttonPin) == LOW) + {//Detection touch sensor + digitalWrite(LED, HIGH); + delay(500); + if (digitalRead(buttonPin) != LOW) + {//If it is short touch once + NumTouchLocal ++ ; + digitalWrite(LED, LOW); + if (NumTouchLocal > 9) + NumTouchLocal = 9; + count = 0; + previousButtonMillis_timer += buttonInterval; + } + } + else + { + count++; + if (count > 15) + { + step = 2; + count = 0; + } + else + { + previousButtonMillis_timer += buttonInterval; + } + } + + } else { + if (step == 2) { + //case 2: + //output NumTouchLocal + NumTouch = NumTouchLocal; + count++; + if (count > 1) + { + count = 0; + NumTouchLocal = 0; + step = 0; + } + + } else { + //default: + NumTouchLocal = 0; + count = 0; + step = 0; + } + } + } + + Serial.println(F("button")); + Serial.println(NumTouchLocal); + //Serial.println(NumTouch); + + } + +} + +//======================================================================================================================================================================== + +bool isHere() +{ //ultrasound sensor + static unsigned long previousMillis_timer; + unsigned short sensorInterval = 100; + bool isHere = false; + if (previousMillis_timer <= abs2(millis() - (long)sensorInterval))// currentMillis - sensorInterval could be != abs2(millis() - (long)sensorInterval) + { + previousMillis_timer += sensorInterval; //synchronize, besides, set clock + distance=((short)ultrasound.GetDistance())/10; //unsigned short + //Serial.println(distance); //Get and print distance of serial port, unit mm + //if (robotController.isRunning() == false) //Execute when the robotic arm stop running + { + if (distance <= 10) + { + isHere = true; + ultrasound.rainbow_color(); + } else {//>10 + ultrasound.Color(0, 255, 0, 0, 255, 0); //green + } + } + return isHere; + } +} + +//======================================================================================================================================================================== + +bool isHere(byte ID) //InfraRedSensor +{ //infrared sensor + //??digitalRead() is not compitable with timer/counter + //static unsigned long previousMillis_timer; + //unsigned short sensorInterval = 500; + bool isHere = false; + //if (previousMillis_timer <= abs2(millis() - (long)sensorInterval))// currentMillis - sensorInterval could be != abs2(millis() - (long)sensorInterval) + //{ + //previousMillis_timer += sensorInterval; //synchronize, besides, set clock + //a object is detected by the sensor + if (digitalRead(ID) == LOW) + { + isHere = true; + } else { + //skip + } + return isHere; + //} +} + +//======================================================================================================================================================================== + +void setID() { + // all reset + digitalWrite(SHT_LOX1, LOW); + digitalWrite(SHT_LOX2, LOW); + digitalWrite(SHT_LOX3, LOW); + digitalWrite(SHT_LOX4, LOW); + delay(10); + // all unreset + digitalWrite(SHT_LOX1, HIGH); + digitalWrite(SHT_LOX2, HIGH); + digitalWrite(SHT_LOX3, HIGH); + digitalWrite(SHT_LOX4, HIGH); + delay(10); + + // activating LOX1 and reseting LOX2 + digitalWrite(SHT_LOX1, HIGH); + digitalWrite(SHT_LOX2, LOW); + digitalWrite(SHT_LOX3, LOW); + digitalWrite(SHT_LOX4, LOW); + + /* + // initing LOX1 + Wire.begin(); //This function initializes the Wire library + lox1.setAddress(LOX1_ADDRESS); //set address// + if(!lox1.init()) { + Serial.println(F("Failed to boot first VL53L0X")); + //while(1); + } + */ + // initing LOX1 + if(!lox1.begin(LOX1_ADDRESS, false, &Wire, 3)) { + //Serial.println(F("Failed to boot first VL53L0X, LOX1")); + //while(1); + } + delay(10); + + // activating LOX2 + digitalWrite(SHT_LOX2, HIGH); + delay(10); + + //initing LOX2 + //Wire.begin(); //This function initializes the Wire library + //default//lox2.setAddress(LOX2_ADDRESS); //set address// + //if(!lox2.init()) { + // Serial.println(F("Failed to boot second VL53L0X")); + //while(1); + //} + + + // activating LOX3 + digitalWrite(SHT_LOX3, HIGH); + delay(10); + + //initing LOX3 + Wire.begin(); //This function initializes the Wire library + lox3.setAddress(LOX3_ADDRESS); //set address// + if(!lox3.init()) { + //Serial.println(F("Failed to boot third VL53L0X, LOX3")); + //while(1); + } + //lox3.setMeasurementTimingBudget(sensor1_Min); + //a longer timing budget allows for more accurate measurements. + + // activating LOX4 + digitalWrite(SHT_LOX4, HIGH); + delay(10); + + //initing LOX4 + Wire.begin(); //This function initializes the Wire library + lox4.setAddress(LOX4_ADDRESS); //set address// + if(!lox4.init()) { + //Serial.println(F("Failed to boot fourth VL53L0X, LOX4")); + //while(1); + } +} + +//======================================================================================================================================================================== + +void read_multi_tof_sensors() { + // the TOF distance sensors need 90 ms to read + //asynchronous, fast + static unsigned long previousMillis_timer; + unsigned short sensorInterval = 100; //short + if (previousMillis_timer < abs2(millis() - (long)sensorInterval))// currentMillis - sensorInterval could be != abs2(millis() - (long)sensorInterval) + { + previousMillis_timer += sensorInterval; //set clock + //make sure that the sensor value is number instaed of some mysterious string + // this holds the measurement + VL53L0X_RangingMeasurementData_t measure1; + + lox1.rangingTest(&measure1, false); // pass in 'true' to get debug data printout! + // print sensor1 reading + Serial.print(F("1: ")); + if(measure1.RangeStatus != 4) { // if not out of range + sensor1 = measure1.RangeMilliMeter; + Serial.print(sensor1); + //Serial.print(F("mm")); + } else { + //Serial.print(F("Out of range")); + } + /* + Serial.print(F("1: ")); + Serial.print(lox1.readRangeSingleMillimeters()); + Serial.print(F("mm")); + */ + + //Serial.print(F(" ")); + + // print sensor2 reading + //Serial.print(F("2: ")); + // Serial.print(lox2.readRangeSingleMillimeters()); + // Serial.print(F("mm")); + + Serial.print(F(" ")); + + // print sensor3 reading + Serial.print(F("3: ")); + sensor3 = lox3.readRangeSingleMillimeters(); + Serial.print(sensor3); + //Serial.print(F("mm")); + + Serial.print(F(" ")); + + // print sensor4 reading + Serial.print(F("4: ")); + sensor4 = lox4.readRangeSingleMillimeters(); + Serial.print(sensor4); + //Serial.print(F("mm")); + + Serial.println(); + } + +} + +//======================================================================================================================================================================== + +bool isHinderedSensor1() { + //asynchronous + //static unsigned long previousMillis_timer; + //unsigned short sensorInterval = 100; + bool isHindered = false; //sensor laser beam is not hindered + //unsigned long difference; + // if (previousMillis_timer <= abs2(millis() - (long)sensorInterval))// currentMillis - sensorInterval could be != abs2(millis() - (long)sensorInterval) + //{ + // previousMillis_timer += sensorInterval; //set clock // previousMillis_timer = previousMillis_timer + sensorInterval; + //double check whether we need to update the durationMoveTrain + //sensor1 is not stuck + //assume the sensor1 value will not stuck in a constant value when the robot arm moves + //assumw the pet will not stand between the sensor and the robot arm + //delay(100); + //sensor1 has been updated + //previousDistanceSensor1 is still the same as above in the function + //952 > 100 no need to update previousMillis_timer//1000; //no need 120; + + if (isRunningTrain) { //train is moving + short temp = previousDistanceSensor1 - sensor1; + //Serial.println(F("previousDistanceSensor1")); + //Serial.println(previousDistanceSensor1); + //Serial.println(F("sensor1")); + //Serial.println(sensor1); + //Serial.println(F("difference")); + //Serial.println((short)abs2((long)temp)); //abs3() can only be used for integer + //Serial.println(F("2 * trainDuration * speedTrain")); + //Serial.println(2 * trainDuration * speedTrain); + //if is hindered, the difference > 0 + if ((previousDistanceSensor1 > sensor1) && (short)abs2((long)temp) > barrierIndex * trainDuration * speedTrain) { // (referencePoint + 2 - sensor1_Min) = 47 + //abs3() can only be used for integer + //difference > 2 * trainDuration * speedTrain + //case1: sensor1 is hindered by pet or something else + //because of sensor stuck + //due to the barrier + isHindered = true; + } else {//difference + //skip + } + } else {//!isRunningTrain + //corner case + //skip + // + } + //Serial.println(F("isHindered")); + //Serial.println(isHindered); + return isHindered; + //} +} + +//======================================================================================================================================================================== + +//Moving train to the reference point is its function +//moveBackward(), if the robot is on the right side of the reference point +//moveForward(), if the robot is on the left side of the reference point +bool initTrain(unsigned short sensor1) { + //moving the robot arm platform to the reference point is the function + //normally, it is used in the runtime, loop() {} + //initial + static unsigned long previousMillis_timer; //set loop check clock + static byte isFirstTime = 1; //flag check whether it is the first time to enter the codes about the hindered state + bool isDone = false; + if(previousMillis_timer <= abs2(currentMillis - (long)trainDuration)) + { + previousMillis_timer += trainDuration; + //synchronize, besides, set clock + //1000; //no need 120; + //Serial.println(F("sensor1")); + //Serial.println(sensor1); + //Serial.println(F("previousDistanceSensor1")); + //Serial.println(previousDistanceSensor1); + if (sensor1 >= referencePoint - 2 && sensor1 <= referencePoint + 2) {//about 145 + //stop + isDone = true; + stopTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + return isDone; + } else {// sensor1 < referencePoint - 2 || sensor1 > referencePoint + 2 + //Serial.println(F("sensor1 < referencePoint - 2 || sensor1 > referencePoint + 2")); + //move train only if the sensor value is from sensor1 0 to 710 + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + //trainDuration = (147 - 143)/ speedTrain = 595.24 ms + short temp = sensor1 - referencePoint; //unsigned short + //Serial.println(F("sensor1 - referencePoint")); + //Serial.println(temp); + //durationMoveTrain = (targetedPoint - referencePoint) / speedTrain; + durationMoveTrain = (int)(abs2((long)temp)/speedTrain); //abs3() can only be used for integer //unsigned int + //Serial.println(F("durationMoveTrain")); + //Serial.println(durationMoveTrain); + if (sensor1 >= sensor1_Min && durationMoveTrain <= durationMoveTrain_Max) { + + //Serial.println(F("isHindered: ")); + //Serial.println(isHinderedSensor1()); + if (isHinderedSensor1()) { + //assume the train is moving + //case1: sensor1 is hindered by pet or something else + //the reference point calculated during the runtime is wrong due to barrier + //but it is fine, after the pet move away, the reference pint will be recalculated and corrected. + //Serial.println(F("isB")); + + if (isFirstTime) {//step == 1 + //normally, the durationMoveTrain(remainning duration) is recorded only (once) at the beginning of movement + //during the movement, the previousMoveServo7_timer is not updated + //if eveything is running smoothly, the durationMoveTrain is equal to the difference between the previousMoveServo7_timer recorded and currentTime + //if the train is paused temperarily, besides, the real time(currentTime) is never stopped + // we recorded the remainning duration only (once) at the beginning of the pause (not before the robot moves again, because the currentTime is changed). + //therefore, we can assign the remainning duration to durationMoveTrain only (once) at the beginning of the pause, like this: + ///////////durationMoveTrain = abs3(durationMoveTrain_remainingPlanned - trainDuration); + //durationMoveTrain_accumulationActual = abs2(currentMillis - previousMoveServo7_timer); + // durationMoveTrain's physical rule is recording the total/remaining time of train movement. + //which we can use the same variable, durationMoveTrain, to represent two physical rules: + //1. Represent the total time point when there is no barrier. In other words, planned duration of the train Movement. + //////////durationMoveTrain = targeted duration; //For example, durationMoveTrain = 5000; //meaning set 5s movement + //////////allow2updatePreviousMoveServo7_timer = true; //unlock + //2. Represent the remainning time period when there is a barrier. + //////////durationMoveTrain = durationMoveTrain_remainingPlanned; + //////////allow2updatePreviousMoveServo7_timer = true; //unlock + durationMoveTrain = abs3(durationMoveTrain_remainingPlanned - abs2(millis() - previousMillis)); //?0.5 delay + //durationMoveTrain_accumulationActual = abs2(currentMillis - previousMoveServo7_timer); + //the durationMoveTrain_remainingPlanned will be recorded by durationMoveTrain. + //abs3() only applied to the integer + //abs3() can only be used for integer + allow2updatePreviousMoveServo7_timer = true; //unlock + + isFirstTime2SetDurationMoveTrain_remainingPlanned = true; + isFirstTime = 0; // step = 2; + + //pause + pauseTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + //assume the train is moving, just have to wait for pet leaving there. + /* + if (isRunningTrain) { + + } else {//!isRunningTrain + + } + */ + //there is barrier, the sensor1 value is wrong + //previousDistanceSensor1 = sensor1; + //update it only if distance is correct which means no barrier + + } else {//!isFirstTime + //skip + //wait here + //pause + pauseTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + //assume the train is moving, just have to wait for pet leaving there. + + //there is barrier, the sensor1 value is wrong + //previousDistanceSensor1 = sensor1; + //update it only if distance is correct which means no barrier + } + + + } else {//!isHinderedSensor1() + isFirstTime = 1; // step = 1; + if (isFirstTime2SetDurationMoveTrain_remainingPlanned) { + isFirstTime2SetDurationMoveTrain_remainingPlanned = false; + //1.only (once) at the beginning of train movement (before recover from the hindered state), + //2.only (once) at the beginning of train movement (user set), + //the durationMoveTrain_remainingPlanned will be reset + //only the train is really stopped for a reasonable reason, not pause not skip, just correct to stop + //In other words, the train finished the request movement, then + //isFirstTime2SetDurationMoveTrain_remainingPlanned = true; + durationMoveTrain_remainingPlanned = durationMoveTrain; + + } else { + + durationMoveTrain_remainingPlanned = abs3(durationMoveTrain_remainingPlanned - abs2(millis() - previousMillis)); + //the value above which is calculated since the very second time. In other words, + //this variable will be updated (all the time) during the required movement + //abs3() can only be used for integer + } + previousMillis = millis(); + + //durationMoveTrain can be used to show the big picture, while it could not be accurate when train is far from joint point + if (sensor1 > jointPoint && durationMoveTrain <= durationMoveTrain_Max) { + //synchronize + + //Serial.println(F("currentMillis")); + //Serial.println(currentMillis); + //Serial.println(F("previousMoveServo7_timer")); + //Serial.println(previousMoveServo7_timer); + //Serial.println(F("durationMoveTrain_remainingPlanned")); + //Serial.println(durationMoveTrain_remainingPlanned); + //Serial.println(F("durationMoveTrainBeforeOverride")); + //Serial.println(durationMoveTrain); + //check the difference between scheduled (the previous loop) remaining and actual (the currunt loop) + //if the variance between differenceDuration and trainDuration is too large, meaning the speed is very unstable or the sensor1 is very unaccurate + unsigned int differenceDuration = abs3(durationMoveTrain_remainingPlanned - durationMoveTrain); //abs3() can only be used for integer + //Serial.println(F("differenceDuration")); + //Serial.println(differenceDuration); + //Serial.println("trainDuration"); + //Serial.println(trainDuration); + //Through the test, we found it is because the sensor1 is not accurate in this case + //Therefore, give up to control precisely the position through the sensor1 in the case + //Override the value of durationMoveTrain + durationMoveTrain = durationMoveTrain_OriginalReferPoint2jointPoint; + //Serial.println(durationMoveTrain); + // corner case if the runtime is smaller than the calculated durationMoveTrain at the very beginning, settng clock will be missed + //check the difference between scheduled (the previous loop) remaining and actual (the currunt loop) + if (durationMoveTrain_remainingPlanned < durationMoveTrain) { + // (abs3(durationMoveTrain_remainingPlanned) < durationMoveTrain)//set clock ////abs3() can only be used for integer + //abs3() can only be used for integer + //Serial.println(F("bigger asdfsdsff")); + //skip or continue to move + //small deviation or vibration is acceptable + + //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + if (previousDistanceSensor1 > sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 <= sensor1 + //skip + } + } else {//durationMoveTrain_remainingPlanned >= durationMoveTrain + //Serial.println(F("bigger jointPointfsdfsdfsdfsdf")); + allow2updatePreviousMoveServo7_timer = true; //unlock + moveBackward(durationMoveTrain); + } + + + + + } else { + //sensor1_Min <= sensor1 < referencePoint - 2 || referencePoint + 2 < sensor1 <= jointPoint + //case2: sensor1 is not accurate (the value is too big or too small) during the previous loop period + //accurate control + short temp = previousDistanceSensor1 - sensor1; + unsigned short differenceDistance = (short)abs2((long)temp); + //Serial.println(F("sensor1_Min <= sensor1 < referencePoint - 2 || referencePoint + 2 < sensor1 <= jointPoint")); + //Serial.println(F("previousDistanceSensor1")); + //Serial.println(previousDistanceSensor1); + //Serial.println(F("differenceDistance")); + //Serial.println(differenceDistance); + //Serial.println(F("trainDuration * speedTrain * (1 - safeIndex)")); + //Serial.println(trainDuration * speedTrain * (1 - safeIndex)); + //Serial.println(F("trainDuration * speedTrain * (1 + safeIndex)")); + //Serial.println(trainDuration * speedTrain * (1 + safeIndex)); + //if (differenceDistance >= trainDuration * speedTrain * (1 - safeIndex) && differenceDistance <= trainDuration * speedTrain * (1 + safeIndex) ) { + + //idealy, the speed of train is stable, + //the distance difference per duration = trainDuration * speedTrain // (147 - 143) = 5 //10 //10.5 + //Besides, considering the sensor value deviation.//but moveback value deviation is pretty small + //sensor1 value could be floating between expectedValue - 1 to expectedValue + 1 + // (592 * 0.0084 * 0.7 = 3.4810, center = 592 * 0.0084 = 5, 592 * 0.0084 * 1.3 = 6.4646) + // (592 * 0.0084 * 0.2 = 0.9946, center = 592 * 0.0084 = 5, 592 * 0.0084 * 1.8 = 8.9510) + //nevertheless, the actual speed is a little high, + //592 * 0.0105 = 6.2160, it is very close to the upper boundary, + //therefore, how about 0.7 as upper-band safeindex, 592 * 0.0084 * 1.7 = 8.4538 + //test 3 use safeindex = 0.8 control both boundries + if (differenceDistance >= trainDuration * speedTrain * (1 - safeIndex) && differenceDistance <= trainDuration * speedTrain * (1.7) ) { + //Serial.println(F("less jointPoint durationMoveTrain_Max0skip")); + //continue to move + //small deviation or vibration is acceptable + previousDistanceSensor1 = sensor1; + //update it only if distance is correct which means no barrier + } else { //it could stop (differenceDistance < trainDuration * speedTrain * (1 - safeIndex)) or not in the range + //reset + //Override the value of durationMoveTrain + if (durationMoveTrain < trainDuration) { + //1000; //define the smallest step distance//resolution + durationMoveTrain = trainDuration; + } else { + //skip + + } + + allow2updatePreviousMoveServo7_timer = true; + if (sensor1 > referencePoint + 2) { + //Serial.println(F("sensor1 > referencePoint + 2 movef")); + //if (sensor1 > referencePoint + 2 && sensor1 <= jointPoint) {}//joint + moveBackward(durationMoveTrain); //set clock + + } else {//< referencePoint - 2 + //Serial.println(F("< referencePoint - 2moveForward")); + //if (sensor1 >= sensor1_Min && sensor1 < referencePoint - 2) {} + moveForward(durationMoveTrain); //set clock ////case1: + + + } + } + + + + } + + + } + + + + } else { + //sensor1 < sensor1_Min || durationMoveTrain > durationMoveTrain_Max + //normally it is not allowed to move over durationMoveTrain_Max or under sensor1_Min + //no sensor signal available + //Serial.println(F("sensor1 < sensor1_Min || durationMoveTrain > durationMoveTrain_Max")); + pauseTrain(); + if (sensor1 >= 0 && sensor1 < sensor1_Min) { + //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + if (previousDistanceSensor1 < sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 >= sensor1 + //skip + } + + } + } + + + + + } + + //Serial.println('loop'); + return isDone; //-1//false//while(1); + } +} + +//======================================================================================================================================================================= + +unsigned int abs3(int temp) { + unsigned int result; + //traditional abs3() can only be used for integer + if (temp >= 0) { + result = temp; + } else {//temp <= 0 + result = 0 - temp; + } + + return result; +} + +//======================================================================================================================================================================= + +unsigned long abs2(long temp) { + unsigned long result; + //traditional abs3() can only be used for integer + if (temp >= 0) { + result = temp; + } else {//temp <= 0 + result = 0 - temp; + } + + return result; +} + +//train move backward (to the left side): +//======================================================================================================================================================================== + +void moveBackward(unsigned int durationMoveTrain) { + if (isRunTime) { + static unsigned long previousMillis_timer; //set loop check clock + if(previousMillis_timer <= abs2(currentMillis - (long)trainDuration)) + { + previousMillis_timer += trainDuration; + //synchronize, besides, set clock + //1000; // no need 250; + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + if (sensor1 >= sensor1_Min) { + //Serial.println(F("allow2updatePreviousMoveServo7_timer")); + //Serial.println(allow2updatePreviousMoveServo7_timer); + if (allow2updatePreviousMoveServo7_timer) { + //start + //////records the previous time point only (once) at the beginning of train movement, like this: + //////////if (allow2updatePreviousMoveServo7_timer == true) {} + //////keeps or locks the previous time point/value/variable during the whole train movement process: + //////////allow2updatePreviousMoveServo7_timer = false; + //////////previousMoveServo7_timer = currentMillis; + //reset the previousMoveServo7_timer automatically only if the train will begin to move. + //There are two situations in which the train will begin to move: + // (a) when users ask to move train or + // (b) when the train is not hindered and it continues to finish the previous movement. + allow2updatePreviousMoveServo7_timer = false; //lock + previousMoveServo7_timer = currentMillis; + //Serial.println(F("previousMoveServo7_timer")); + //Serial.println(previousMoveServo7_timer); + //synchronize + // capture the latest value of currentMillis + // this is equivalent to noting the time from a clock + // use the same time for all servo 7 movements to keep them synchronized + + robotController.moveServo(7, 485, 1000); //set speed + isRunningTrain = true; + } else {//!allow2updatePreviousMoveServo7_timer + //Serial.println(durationMoveTrain_accumulationActual); + //Serial.println(durationMoveTrain); + unsigned long durationMoveTrain_accumulationActual = abs2(currentMillis - previousMoveServo7_timer); //abs3() can only be used for integer + if (durationMoveTrain_accumulationActual >= durationMoveTrain) {// only no sensor signal case, we guess + stopTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + } else {//durationMoveTrain_accumulationActual < durationMoveTrain + //skip + //do nothing if we have already stopped the train + //continue to move if the train is running + } + } + + //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + if (previousDistanceSensor1 > sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 <= sensor1 + //skip + } + + + } else {//sensor < sensor1_Min + //skip //do nothing + } + + } else { + //skip//do nothing + } + } else {//set up + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + if (sensor1 >= sensor1_Min) { + robotController.moveServo(7, 485, 1000); //set speed + /* + //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + if (previousDistanceSensor1 > sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 <= sensor1 + //skip + } + */ + isRunningTrain = true; + delay(durationMoveTrain); + stopTrain(); + //assume the sensor1 laser beam is not hindered at the very beginnings + //it could be wrong// previousDistanceSensor1 = sensor1; + + } else {//sensor < sensor1_Min + //skip //do nothing + } + } +} + +//train move forward (to the right side on the picture): +//======================================================================================================================================================================== + +void moveForward(unsigned int durationMoveTrain) { + if (isRunTime) { + static unsigned long previousMillis_timer; //set loop check clock + if(previousMillis_timer <= abs2(currentMillis - (long)trainDuration)) + { + previousMillis_timer += trainDuration; + //synchronize, besides, set clock + //1000; // no need 250; + + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + if (durationMoveTrain <= durationMoveTrain_Max) { + //Serial.println(allow2updatePreviousMoveServo7_timer); + if (allow2updatePreviousMoveServo7_timer) { + //start + //////records the previous time point only (once) at the beginning of train movement, like this: + //////////if (allow2updatePreviousMoveServo7_timer == true) {} + //////keeps or locks the previous time point/value/variable during the whole train movement process: + //////////allow2updatePreviousMoveServo7_timer = false; + //////////previousMoveServo7_timer = currentMillis; + //reset the previousMoveServo7_timer automatically only if the train will begin to move. + //There are two situations in which the train will begin to move: + // (a) when users ask to move train or + // (b) when the train is not hindered and it continues to finish the previous movement. + allow2updatePreviousMoveServo7_timer = false; //lock + //default//allow2updatePreviousMoveServo7_timer = false; //lock + previousMoveServo7_timer = currentMillis; //update + //Serial.println(F("previousMoveServo7_timer")); + //Serial.println(previousMoveServo7_timer); + //synchronize + // capture the latest value of currentMillis + // this is equivalent to noting the time from a clock + // use the same time for all servo 7 movements to keep them synchronized + + robotController.moveServo(7, 515, 1000); //set speed + isRunningTrain = true; + //Serial.println(F("durationMoveTrain_accumulationActual")); + //Serial.println(currentMillis - previousMoveServo7_timer); + //Serial.println(durationMoveTrain); + } else {//!allow2updatePreviousMoveServo7_timer + unsigned long durationMoveTrain_accumulationActual = abs2(currentMillis - previousMoveServo7_timer); //abs3() can only be used for integer + if (durationMoveTrain_accumulationActual >= durationMoveTrain) {// only no sensor signal case, we guess + stopTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + } else {//durationMoveTrain_accumulationActual < durationMoveTrain + //skip + //do nothing if we have already stopped the train + //continue to move if the train is running + + } + } + + //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + if (previousDistanceSensor1 < sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 >= sensor1 + //skip + } + + + } else {//durationMoveTrain > durationMoveTrain_Max + //skip //do nothing + } + } else { + //skip//do nothing + } + } else {//set up + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + if (durationMoveTrain <= durationMoveTrain_Max) { + robotController.moveServo(7, 515, 1000); //set speed + /* + //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + if (previousDistanceSensor1 < sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 >= sensor1 + //skip + } + */ + isRunningTrain = true; + delay(durationMoveTrain); + stopTrain(); + //assume the sensor1 laser beam is not hindered at the very beginnings + //it could be wrong// previousDistanceSensor1 = sensor1; + } else {//durationMoveTrain > durationMoveTrain_Max + //skip //do nothing + } + } + +} + + +//======================================================================================================================================================================== + +void stopTrain() { + //default//allow2updatePreviousMoveServo7_timer = false; //lock + robotController.moveServo(7, 500, 1); //train stop: + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + //no update it because it could be not correct + isRunningTrain = false; + //only the train is really stopped for a reasonable reason, not pause not skip, just correct to stop + //In other words, the train finished the request movement, then + isFirstTime2SetDurationMoveTrain_remainingPlanned = true; +} + +//======================================================================================================================================================================== + +void pauseTrain() { + //default//allow2updatePreviousMoveServo7_timer = false; //lock + robotController.moveServo(7, 500, 1); //train stop: + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not hindered + //no update it because it could be not correct + isRunningTrain = true; + //because it is not a right stop + //besides, if isRunning Train = 0, group action will continue to be run wrongly. + //only the train is really stopped for a reasonable reason, not pause not skip, just correct to stop + //In other words, the train finished the request movement, then + //isFirstTime2SetDurationMoveTrain_remainingPlanned = true; + //otherwise, default is false during the whole runTime +} + +//======================================================================================================================================================================== +void moveForwardSafe() { + + static unsigned long previousButtonMillis_timer; //unsigned long + static byte step; + //Serial.println(F("moveForwardSafe().step")); + //Serial.println(step); + if (previousButtonMillis_timer <= abs2(currentMillis - (long)trainDuration)) { + previousButtonMillis_timer += trainDuration; + + if (step == 0) { + allow2updatePreviousMoveServo7_timer = true; //unlock + isRunningTrain = true; + step = 1; + } else { + if (step == 1) { + if (0) {// (isHinderedSensor1()) { + //2. represent the remainning time period when there is a barrier. + durationMoveTrain = abs3(durationMoveTrain_remainingPlanned - abs2(millis() - previousMillis)); //?0.5 delay + //durationMoveTrain_accumulationActual = abs2(currentMillis - previousMoveServo7_timer); + //abs3() only applied to the integer + //Serial.println(F("durationMoveTrain In barrierd branch")); + //Serial.println(durationMoveTrain); + allow2updatePreviousMoveServo7_timer = true; //unlock + + step = 2; + isFirstTime2SetDurationMoveTrain_remainingPlanned = true; + + //pause + pauseTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + //assume the train is moving, just have to wait for pet leaving there. + + //there is barrier, the sensor1 value is wrong + //previousDistanceSensor1 = sensor1; + //update it only if distance is correct which means no barrier + + } else {//!isHinderedSensor1() + + if (isFirstTime2SetDurationMoveTrain_remainingPlanned) { + isFirstTime2SetDurationMoveTrain_remainingPlanned = false; + //1.only (once) at the beginning of train movement (before recover from the hindered state), + //2.only (once) at the beginning of train movement (user set), + //the durationMoveTrain_remainingPlanned will be reset + //only the train is really stopped for a reasonable reason, not pause not skip, just correct to stop + //In other words, the train finished the request movement, then + //isFirstTime2SetDurationMoveTrain_remainingPlanned = true; + durationMoveTrain_remainingPlanned = durationMoveTrain; + + } else { + + durationMoveTrain_remainingPlanned = abs3(durationMoveTrain_remainingPlanned - abs2(millis() - previousMillis)); + //the value above which is calculated since the very second time. In other words, + //this variable will be updated (all the time) during the required movement + //abs3() can only be used for integer + } + previousMillis = millis(); + //Serial.println(F("durationMoveTrain_remainingPlanned")); + //Serial.println(durationMoveTrain_remainingPlanned); + //Serial.println(F("durationMoveTrain")); + //Serial.println(durationMoveTrain); + moveForward(durationMoveTrain); //initTrain(sensor1); + } + if (!isRunningTrain) { + step = 0; + } + } else { + if (step == 2) { + //skip + //wait here + //pause + pauseTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + //assume the train is moving, just have to wait for pet leaving there. + + //there is barrier, the sensor1 value is wrong + //previousDistanceSensor1 = sensor1; + //update it only if distance is correct which means no barrier + if (!isHinderedSensor1()) { + step = 1; + } + } else {//step >= 3 + //skip + //There is a bug if jump into this hole + } + } + } + + + } +} + +//======================================================================================================================================================================== +void moveBackwardSafe() { + + static unsigned long previousButtonMillis_timer; //unsigned long + static byte step; + //Serial.println(F("moveBackwardSafe().step")); + //Serial.println(step); + if (previousButtonMillis_timer <= abs2(currentMillis - (long)trainDuration)) { + previousButtonMillis_timer += trainDuration; + + if (step == 0) { + allow2updatePreviousMoveServo7_timer = true; //unlock + isRunningTrain = true; + step = 1; + } else { + if (step == 1) { + if (0) {// (isHinderedSensor1()) { + //2. represent the remainning time period when there is a barrier. + durationMoveTrain = abs3(durationMoveTrain_remainingPlanned - abs2(millis() - previousMillis)); //?0.5 delay + //durationMoveTrain_accumulationActual = abs2(currentMillis - previousMoveServo7_timer); + //abs3() only applied to the integer + allow2updatePreviousMoveServo7_timer = true; //unlock + + step = 2; + isFirstTime2SetDurationMoveTrain_remainingPlanned = true; + + //pause + pauseTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + //assume the train is moving, just have to wait for pet leaving there. + + //there is barrier, the sensor1 value is wrong + //previousDistanceSensor1 = sensor1; + //update it only if distance is correct which means no barrier + + } else {//!isHinderedSensor1() + + if (isFirstTime2SetDurationMoveTrain_remainingPlanned) { + isFirstTime2SetDurationMoveTrain_remainingPlanned = false; + //1.only (once) at the beginning of train movement (before recover from the hindered state), + //2.only (once) at the beginning of train movement (user set), + //the durationMoveTrain_remainingPlanned will reset + //only the train is really stopped for a reasonable reason, not pause not skip, just correct to stop + //In other words, the train finished the request movement, then + //isFirstTime2SetDurationMoveTrain_remainingPlanned = true; + durationMoveTrain_remainingPlanned = durationMoveTrain; + + } else { + + durationMoveTrain_remainingPlanned = abs3(durationMoveTrain_remainingPlanned - abs2(millis() - previousMillis)); + //the value above which is calculated since the very second time. In other words, + //this variable will be updated (all the time) during the required movement + //abs3() can only be used for integer + } + previousMillis = millis(); + moveBackward(durationMoveTrain); //initTrain(sensor1); + } + if (!isRunningTrain) { + step = 0; + } + } else { + if (step == 2) { + //wait here + //pause + pauseTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + //assume the train is moving, just have to wait for pet leaving there. + + //there is barrier, the sensor1 value is wrong + //previousDistanceSensor1 = sensor1; + //update it only if distance is correct which means no barrier + if (!isHinderedSensor1()) { + step = 1; + } + } else {//step >= 3 + //skip + //There is a bug if jump into this hole + } + } + } + + + } +} From 277a90c75e1a59d6b0efac06aee76997c9e4026c Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Tue, 14 Jun 2022 00:58:51 -0500 Subject: [PATCH 03/23] Update robot arm source code (4).txt --- robot arm source code (4).txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/robot arm source code (4).txt b/robot arm source code (4).txt index 84f5bbf..52d169d 100644 --- a/robot arm source code (4).txt +++ b/robot arm source code (4).txt @@ -1,7 +1,7 @@ //there are about 25 functions in this robot control script // //give power to robot platform, then connect the data wire with a computer -//wire mode (could be control through wireless tech., Wi-Fi) +//wire mode (could be controled through wireless tech., Wi-Fi) //select and start (single servo control/ group action) //======================================================================================================================================================================== @@ -104,7 +104,7 @@ Adafruit_VL53L0X2 lox1; //VL53L0X2 lox1; //VL53L0X2 lox2; VL53L0X2 lox3; VL53L0X2 lox4; -SoftwareSerial mySerial(RxPin, TxPin); //Instantiate soft serial port£¨rx£¬tx£© +SoftwareSerial mySerial(RxPin, TxPin); //Instantiate soft serial port£¨rx£¬tx£© LobotServoController robotController(mySerial); //Instantiate servo controller communication library Ultrasound ultrasound; //Instantiate the ultrasonic class //Screen screen; From 9e2e0afffaff64a0a688892f5400204c01985cc2 Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Tue, 14 Jun 2022 08:22:25 -0500 Subject: [PATCH 04/23] Update robot arm source code (4).txt --- robot arm source code (4).txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/robot arm source code (4).txt b/robot arm source code (4).txt index 52d169d..b7af11b 100644 --- a/robot arm source code (4).txt +++ b/robot arm source code (4).txt @@ -23,7 +23,7 @@ //there is no unsigned byte in Arduino //0 - 255 //A byte stores an 8-bit unsigned number, from 0 to 255. //unsigned short //0 - 65535 //unsigned int //0 - (2^32 - 1) -//unsigned long +//unsigned long //0 - (2^64 - 1) // --------CONSTANTS (won't change)------------------------------------------------------- // address we will assign if dual sensor is present @@ -620,6 +620,7 @@ void loopInSetup() { //Step 1. //mian function:throw the leftover away: //======================================================================================================================================================================== +//do not use switch(){} in the if(){} structure. No matter directly or indirectly call in the if(), switch() will be not working bool step1() { static bool isDone = false; From 19472ba07de955520757c3835d31d02f32f6afab Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Tue, 14 Jun 2022 08:36:47 -0500 Subject: [PATCH 05/23] Update robot arm source code (4).txt --- robot arm source code (4).txt | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/robot arm source code (4).txt b/robot arm source code (4).txt index b7af11b..ea81a35 100644 --- a/robot arm source code (4).txt +++ b/robot arm source code (4).txt @@ -1,7 +1,8 @@ //there are about 25 functions in this robot control script -// +//porject idea introduction: +//https://docs.google.com/presentation/d/12GfPPMKdLY4WXjXnS6jgWiD87svpd2VR/edit?usp=sharing&ouid=104479909616474097737&rtpof=true&sd=true //give power to robot platform, then connect the data wire with a computer -//wire mode (could be controled through wireless tech., Wi-Fi) +//wire mode (could be controled through wireless, or Wi-Fi tech.) //select and start (single servo control/ group action) //======================================================================================================================================================================== From a26fa4eccdc82491c5518cfe7f8438c820008831 Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Tue, 14 Jun 2022 13:54:31 -0500 Subject: [PATCH 06/23] Add files via upload --- Adafruit_VL53L0X2.cpp | 826 +++++++++++++++++++++++++ Adafruit_VL53L0X2.h | 161 +++++ Distance.ino.bak | 1249 ++++++++++++++++++++++++++++++++++++++ LobotServoController.cpp | 369 +++++++++++ LobotServoController.h | 60 ++ Ultrasound.cpp | 131 ++++ Ultrasound.h | 52 ++ VL53L0X2.cpp | 1010 ++++++++++++++++++++++++++++++ VL53L0X2.h | 206 +++++++ 9 files changed, 4064 insertions(+) create mode 100644 Adafruit_VL53L0X2.cpp create mode 100644 Adafruit_VL53L0X2.h create mode 100644 Distance.ino.bak create mode 100644 LobotServoController.cpp create mode 100644 LobotServoController.h create mode 100644 Ultrasound.cpp create mode 100644 Ultrasound.h create mode 100644 VL53L0X2.cpp create mode 100644 VL53L0X2.h diff --git a/Adafruit_VL53L0X2.cpp b/Adafruit_VL53L0X2.cpp new file mode 100644 index 0000000..442fb23 --- /dev/null +++ b/Adafruit_VL53L0X2.cpp @@ -0,0 +1,826 @@ +/*! + * @file Adafruit_VL53L0X2.cpp + * + * @mainpage Adafruit VL53L0X time-of-flight sensor + * + * @section intro_sec Introduction + * + * This is the documentation for Adafruit's VL53L0X driver for the + * Arduino platform. It is designed specifically to work with the + * Adafruit VL53L0X breakout: https://www.adafruit.com/product/3317 + * + * These sensors use I2C to communicate, 2 pins (SCL+SDA) are required + * to interface with the breakout. + * + * Adafruit invests time and resources providing this open source code, + * please support Adafruit and open-source hardware by purchasing + * products from Adafruit! + * + * @section dependencies Dependencies + * + * + * @section author Author + * + * Written by Limor Fried/Ladyada for Adafruit Industries. + * + * Updated by Andrew DeVries for Digital Example to include methods needed for + * Interrupt triggering + * + * @section license License + * + * BSD license, all text here must be included in any redistribution. + * + */ + +#include "Adafruit_VL53L0X2.h" +#include "vl53l0x_api_core.h" + +#define VERSION_REQUIRED_MAJOR 1 ///< Required sensor major version +#define VERSION_REQUIRED_MINOR 0 ///< Required sensor minor version +#define VERSION_REQUIRED_BUILD 1 ///< Required sensor build + +#define STR_HELPER(x) #x ///< a string helper +#define STR(x) STR_HELPER(x) ///< string helper wrapper + +/**************************************************************************/ +/*! + @brief Setups the I2C interface and hardware + @param i2c_addr Optional I2C address the sensor can be found on. Default is + 0x29 + @param debug Optional debug flag. If true, debug information will print out + via Serial.print during setup. Defaults to false. + @param i2c Optional I2C bus the sensor is located on. Default is Wire + @param vl_config Sensor configuration + @returns True if device is set up, false on any failure +*/ +/**************************************************************************/ +boolean Adafruit_VL53L0X2::begin(uint8_t i2c_addr, boolean debug, TwoWire *i2c, + VL53L0X_Sense_config_t vl_config) { + uint32_t refSpadCount; + uint8_t isApertureSpads; + uint8_t VhvSettings; + uint8_t PhaseCal; + + // Initialize Comms + pMyDevice->I2cDevAddr = VL53L0X_I2C_ADDR; // default + pMyDevice->comms_type = 1; + pMyDevice->comms_speed_khz = 400; + pMyDevice->i2c = i2c; + + pMyDevice->i2c->begin(); // VL53L0X_i2c_init(); + + // unclear if this is even needed: + if (VL53L0X_IMPLEMENTATION_VER_MAJOR != VERSION_REQUIRED_MAJOR || + VL53L0X_IMPLEMENTATION_VER_MINOR != VERSION_REQUIRED_MINOR || + VL53L0X_IMPLEMENTATION_VER_SUB != VERSION_REQUIRED_BUILD) { + + Status = VL53L0X_ERROR_NOT_SUPPORTED; + + return false; + } + + Status = VL53L0X_DataInit(&MyDevice); // Data initialization + + if (!setAddress(i2c_addr)) { + return false; + } + + Status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo); + + if (Status == VL53L0X_ERROR_NONE) { + + if ((DeviceInfo.ProductRevisionMajor != 1) || + (DeviceInfo.ProductRevisionMinor != 1)) { + + Status = VL53L0X_ERROR_NOT_SUPPORTED; + } + } + + if (Status == VL53L0X_ERROR_NONE) { + + Status = VL53L0X_StaticInit(pMyDevice); // Device Initialization + } + + if (Status == VL53L0X_ERROR_NONE) { + + Status = VL53L0X_PerformRefSpadManagement( + pMyDevice, &refSpadCount, &isApertureSpads); // Device Initialization + } + + if (Status == VL53L0X_ERROR_NONE) { + + Status = VL53L0X_PerformRefCalibration(pMyDevice, &VhvSettings, + &PhaseCal); // Device Initialization + } + + if (Status == VL53L0X_ERROR_NONE) { + // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement + + Status = VL53L0X_SetDeviceMode( + pMyDevice, + VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode + } + + // Enable/Disable Sigma and Signal check + if( Status == VL53L0X_ERROR_NONE ) { + Status = VL53L0X_SetLimitCheckEnable( pMyDevice, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1 ); + } + + if( Status == VL53L0X_ERROR_NONE ) { + Status = VL53L0X_SetLimitCheckEnable( pMyDevice, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1 ); + } + + if( Status == VL53L0X_ERROR_NONE ) { + Status = VL53L0X_SetLimitCheckEnable( pMyDevice, VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 1 ); + } + + if( Status == VL53L0X_ERROR_NONE ) { + Status = VL53L0X_SetLimitCheckValue( pMyDevice, VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, (FixPoint1616_t)( 1.5 * 0.023 * 65536 ) ); + } + + // call off to the config function to do the last part of configuration. + if (Status == VL53L0X_ERROR_NONE) { + configSensor(vl_config); + } + + + if (Status == VL53L0X_ERROR_NONE) { + return true; + } else { + return false; + } +} + +/**************************************************************************/ +/*! + @brief Change the I2C address of the sensor + @param newAddr the new address to set the sensor to + @returns True if address was set successfully, False otherwise +*/ +/**************************************************************************/ +boolean Adafruit_VL53L0X2::setAddress(uint8_t newAddr) { + newAddr &= 0x7F; + + Status = VL53L0X_SetDeviceAddress(pMyDevice, newAddr * 2); // 7->8 bit + + delay(10); + + if (Status == VL53L0X_ERROR_NONE) { + pMyDevice->I2cDevAddr = newAddr; // 7 bit addr + return true; + } + return false; +} + +/**************************************************************************/ +/*! + @brief Configure the sensor for one of the ways the example ST + sketches configure the sensors for different usages. + @param vl_config Which configureation you are trying to configure for + It should be one of the following + VL53L0X_SENSE_DEFAULT + VL53L0X_SENSE_LONG_RANGE + VL53L0X_SENSE_HIGH_SPEED, + VL53L0X_SENSE_HIGH_ACCURACY + @returns True if address was set successfully, False otherwise +*/ +/**************************************************************************/ +boolean Adafruit_VL53L0X2::configSensor(VL53L0X_Sense_config_t vl_config) { + // All of them appear to configure a few things + + // Serial.print(F("VL53L0X: configSensor ")); + // Serial.println((int)vl_config, DEC); + // Enable/Disable Sigma and Signal check + Status = VL53L0X_SetLimitCheckEnable( + pMyDevice, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1); + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_SetLimitCheckEnable( + pMyDevice, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1); + } + + if (Status != VL53L0X_ERROR_NONE) + return false; + + switch (vl_config) { + case VL53L0X_SENSE_HIGH_ACCURACY: + // increase timing budget to 200 ms + + if (Status == VL53L0X_ERROR_NONE) { + setLimitCheckValue(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (FixPoint1616_t)(0.25 * 65536)); + } + if (Status == VL53L0X_ERROR_NONE) { + setLimitCheckValue(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, + (FixPoint1616_t)(18 * 65536)); + } + if (Status == VL53L0X_ERROR_NONE) { + setMeasurementTimingBudgetMicroSeconds(200000); + } + // Not sure about ignore threshold, try turnning it off... + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_SetLimitCheckEnable( + pMyDevice, VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); + } + + break; + } + + return (Status == VL53L0X_ERROR_NONE); +} + +/**************************************************************************/ +/*! + @brief get a ranging measurement from the device + @param RangingMeasurementData the pointer to the struct the data will be + stored in + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns True if address was set successfully, False otherwise +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::getSingleRangingMeasurement( + VL53L0X_RangingMeasurementData_t *RangingMeasurementData, boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + FixPoint1616_t LimitCheckCurrent; + + /* + * Step 4 : Test ranging mode + */ + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_PerformSingleRangingMeasurement(pMyDevice, + RangingMeasurementData); + + } + + return Status; +} +/**************************************************************************/ +/*! + @brief Start the ranging measurement from the device + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::startMeasurement(boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_StartMeasurement(pMyDevice); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief Stop ranging measurement from the device + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::stopMeasurement(boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_StopMeasurement(pMyDevice); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief Stop ranging measurement from the device + @param LimitCheckId Limit Check ID (0<= LimitCheckId < + VL53L0X_GetNumberOfLimitCheck() ). + @param pLimitCheckCurrent Pointer to current Value for a given LimitCheckId. + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::getLimitCheckCurrent( + uint8_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent, boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint16_t intLimitCheckId = LimitCheckId; + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_GetLimitCheckCurrent(pMyDevice, intLimitCheckId, + pLimitCheckCurrent); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief Set a new device mode + @param DeviceMode New device mode to apply + Valid values are: + VL53L0X_DEVICEMODE_SINGLE_RANGING + VL53L0X_DEVICEMODE_CONTINUOUS_RANGING + VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING + VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM + VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY + VL53L0X_HISTOGRAMMODE_RETURN_ONLY + VL53L0X_HISTOGRAMMODE_BOTH + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::setDeviceMode(VL53L0X_DeviceModes DeviceMode, + boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_SetDeviceMode(pMyDevice, DeviceMode); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief Set low and high Interrupt thresholds + @param ThresholdLow Low threshold (mm, lux ..., depending on the mode) + @param ThresholdHigh High threshold (mm, lux ..., depending on the mode) + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::setInterruptThresholds( + FixPoint1616_t ThresholdLow, FixPoint1616_t ThresholdHigh, boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + if (Status == VL53L0X_ERROR_NONE) { + + // ST API Comments "no dependency on DeviceMode for Ewok " so device mode + // not used but API requires something so pass in + // VL53L0X_DEVICEMODE_CONTINUOUS_RANGING even though not used + Status = VL53L0X_SetInterruptThresholds( + pMyDevice, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, ThresholdLow, + ThresholdHigh); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief Get high and low Interrupt thresholds + @param pThresholdLow Low threshold (mm, lux ..., depending on the mode) + @param pThresholdHigh High threshold (mm, lux ..., depending on the mode) + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error +Adafruit_VL53L0X2::getInterruptThresholds(FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh, + boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + if (Status == VL53L0X_ERROR_NONE) { + + // ST API Comments "no dependency on DeviceMode for Ewok " so device mode + // not used but API requires something so pass in + // VL53L0X_DEVICEMODE_CONTINUOUS_RANGING even though not used + Status = VL53L0X_GetInterruptThresholds( + pMyDevice, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, pThresholdLow, + pThresholdHigh); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief Get current new device mode + @param pDeviceMode Pointer to current apply mode value + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::getDeviceMode(VL53L0X_DeviceModes *pDeviceMode, + boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + if (Status == VL53L0X_ERROR_NONE) { + + Status = VL53L0X_GetDeviceMode(pMyDevice, pDeviceMode); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief Clear system interrupt condition + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::clearInterruptMask(boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + if (Status == VL53L0X_ERROR_NONE) { + + Status = VL53L0X_ClearInterruptMask(pMyDevice, 0); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief Set the configuration of GPIO pin 0 + @param DeviceMode Device Mode associated to the Gpio. + @param Functionality Select Pin functionality. + @param Polarity Set interrupt polarity. Active high or active low. + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::setGpioConfig( + VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, + VL53L0X_InterruptPolarity Polarity, boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + if (Status == VL53L0X_ERROR_NONE) { + + // Pin is always 0, Devicemode is ignored if not + // VL53L0X_DEVICEMODE_GPIO_DRIVE or VL53L0X_DEVICEMODE_GPIO_OSC + Status = VL53L0X_SetGpioConfig(pMyDevice, 0, DeviceMode, Functionality, + Polarity); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief Get current configuration for GPIO pin 0 + @param pDeviceMode Pointer to Device Mode associated to the Gpio. + @param pFunctionality Pointer to Pin functionality. + @param pPolarity Pointer to interrupt polarity. Active high or active low. + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns status code +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::getGpioConfig( + VL53L0X_DeviceModes *pDeviceMode, VL53L0X_GpioFunctionality *pFunctionality, + VL53L0X_InterruptPolarity *pPolarity, boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + if (Status == VL53L0X_ERROR_NONE) { + + // Pin is always 0, Devicemode is ignored if not + // VL53L0X_DEVICEMODE_GPIO_DRIVE or VL53L0X_DEVICEMODE_GPIO_OSC + + Status = VL53L0X_GetGpioConfig(pMyDevice, 0, pDeviceMode, pFunctionality, + pPolarity); + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief get a ranging measurement from the device + @param RangingMeasurementData the pointer to the struct the data will be + stored in + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns VL53L0X_ERROR_NONE or Error if one occured +*/ +/**************************************************************************/ +VL53L0X_Error Adafruit_VL53L0X2::getRangingMeasurement( + VL53L0X_RangingMeasurementData_t *RangingMeasurementData, boolean debug) { + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + FixPoint1616_t LimitCheckCurrent; + + if (Status == VL53L0X_ERROR_NONE) { + Status = + VL53L0X_GetRangingMeasurementData(pMyDevice, RangingMeasurementData); + + } + + return Status; +} + +/**************************************************************************/ +/*! + @brief print a ranging measurement out via Serial.print in a human-readable + format + @param pRangingMeasurementData a pointer to the ranging measurement data +*/ +/**************************************************************************/ +void Adafruit_VL53L0X2::printRangeStatus( + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) { + char buf[VL53L0X_MAX_STRING_LENGTH]; + uint8_t RangeStatus; + + /* + * New Range Status: data is valid when pRangingMeasurementData->RangeStatus = + * 0 + */ + + RangeStatus = pRangingMeasurementData->RangeStatus; + + VL53L0X_GetRangeStatusString(RangeStatus, buf); + + Serial.print(F("Range Status: ")); + Serial.print(RangeStatus); + Serial.print(F(" : ")); + Serial.println(buf); +} + +/**************************************************************************/ +/*! + @brief Single shot ranging. Be sure to check the return of readRangeStatus + to before using the return value! + @return Distance in millimeters if valid +*/ +/**************************************************************************/ + +uint16_t Adafruit_VL53L0X2::readRange(void) { + VL53L0X_RangingMeasurementData_t measure; // keep our own private copy + + Status = getSingleRangingMeasurement(&measure, false); + _rangeStatus = measure.RangeStatus; + + if (Status == VL53L0X_ERROR_NONE) + return measure.RangeMilliMeter; + // Other status return something totally out of bounds... + return 0xffff; +} + +/**************************************************************************/ +/*! + @brief Request ranging success/error message (retrieve after ranging) + @returns One of possible VL6180X_ERROR_* values +*/ +/**************************************************************************/ + +uint8_t Adafruit_VL53L0X2::readRangeStatus(void) { return _rangeStatus; } + +/**************************************************************************/ +/*! + @brief Start a range operation + @return true if range operation successfully started. +*/ +/**************************************************************************/ + +boolean Adafruit_VL53L0X2::startRange(void) { + + /* This function will do a complete single ranging + * Here we fix the mode! */ + // first lets set the device in SINGLE_Ranging mode + Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_SINGLE_RANGING); + + if (Status == VL53L0X_ERROR_NONE) { + // Lets start up the measurement + Status = VL53L0X_StartMeasurement(pMyDevice); + } + return (Status == VL53L0X_ERROR_NONE); +} + +/**************************************************************************/ +/*! + @brief Checks to see if a range operation has completed + @return true if range operation completed or an error has happened +*/ +/**************************************************************************/ + +boolean Adafruit_VL53L0X2::isRangeComplete(void) { + uint8_t NewDataReady = 0; + Status = VL53L0X_GetMeasurementDataReady(pMyDevice, &NewDataReady); + return ((Status != VL53L0X_ERROR_NONE) || (NewDataReady == 1)); +} + +/**************************************************************************/ +/*! + @brief Wait until Range operation has completed. + @return true if range operation completed, false if error. +*/ +/**************************************************************************/ + +boolean Adafruit_VL53L0X2::waitRangeComplete(void) { + Status = VL53L0X_measurement_poll_for_completion(pMyDevice); + + return (Status == VL53L0X_ERROR_NONE); +} + +/**************************************************************************/ +/*! + @brief Return the range in mm for the last operation. + @return Range in mm. +*/ +/**************************************************************************/ + +uint16_t Adafruit_VL53L0X2::readRangeResult(void) { + VL53L0X_RangingMeasurementData_t measure; // keep our own private copy + + Status = VL53L0X_GetRangingMeasurementData(pMyDevice, &measure); + _rangeStatus = measure.RangeStatus; + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_ClearInterruptMask(pMyDevice, 0); + + if ((Status == VL53L0X_ERROR_NONE) && (_rangeStatus != 4)) + return measure.RangeMilliMeter; + + return 0xffff; // some out of range value +} + +/**************************************************************************/ +/*! + @brief Start a continuous range operation + @param period_ms inter measurement period in milliseconds + @return True if successful, false otherwise +*/ +/**************************************************************************/ +boolean Adafruit_VL53L0X2::startRangeContinuous(uint16_t period_ms) { + /* This function will do a complete single ranging + * Here we fix the mode! */ + // first lets set the device in SINGLE_Ranging mode + Status = VL53L0X_SetDeviceMode(pMyDevice, + VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING); + + if (Status == VL53L0X_ERROR_NONE) { + Status = + VL53L0X_SetInterMeasurementPeriodMilliSeconds(pMyDevice, period_ms); + } + + if (Status == VL53L0X_ERROR_NONE) { + // Lets start up the measurement + Status = VL53L0X_StartMeasurement(pMyDevice); + } + return (Status == VL53L0X_ERROR_NONE); +} + +/**************************************************************************/ +/*! + @brief Stop a continuous ranging operation +*/ +/**************************************************************************/ +void Adafruit_VL53L0X2::stopRangeContinuous(void) { + + Status = VL53L0X_StopMeasurement(pMyDevice); + + // lets wait until that completes. + uint32_t StopCompleted = 0; + uint32_t LoopNb; + + // Wait until it finished + // use timeout to avoid deadlock + if (Status == VL53L0X_ERROR_NONE) { + LoopNb = 0; + do { + Status = VL53L0X_GetStopCompletedStatus(pMyDevice, &StopCompleted); + if ((StopCompleted == 0x00) || Status != VL53L0X_ERROR_NONE) { + break; + } + LoopNb = LoopNb + 1; + VL53L0X_PollingDelay(pMyDevice); + } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); + + if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) { + Status = VL53L0X_ERROR_TIME_OUT; + } + } + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_ClearInterruptMask( + pMyDevice, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); + } +} + +/**************************************************************************/ +/*! + @brief Wrapper to ST library code to budget how long a measurement + should take + @param budget_us the new budget + @returns True if success +*/ +/**************************************************************************/ +boolean +Adafruit_VL53L0X2::setMeasurementTimingBudgetMicroSeconds(uint32_t budget_us) { + Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice, budget_us); + return (Status == VL53L0X_ERROR_NONE); +} + +/**************************************************************************/ +/*! + @brief Wrapper to ST library code to budget how long a measurement + should take + @returns the current budget time in microseconds. +*/ +/**************************************************************************/ +uint32_t Adafruit_VL53L0X2::getMeasurementTimingBudgetMicroSeconds() { + uint32_t budget_us; + Status = + VL53L0X_GetMeasurementTimingBudgetMicroSeconds(pMyDevice, &budget_us); + return (budget_us); +} + +/**************************************************************************/ +/*! + @brief Sets the VCSEL pulse period. + @param VcselPeriodType VCSEL period identifier (pre-range|final). + @param VCSELPulsePeriod VCSEL period value + @returns True if success +*/ +/**************************************************************************/ +boolean +Adafruit_VL53L0X2::setVcselPulsePeriod(VL53L0X_VcselPeriod VcselPeriodType, + uint8_t VCSELPulsePeriod) { + Status = + VL53L0X_SetVcselPulsePeriod(pMyDevice, VcselPeriodType, VCSELPulsePeriod); + return (Status == VL53L0X_ERROR_NONE); +} + +/**************************************************************************/ +/*! + @brief Gets the VCSEL pulse period. + @param VcselPeriodType VCSEL period identifier (pre-range|final). + @returns the current pulse peried for the given type. +*/ +/**************************************************************************/ +uint8_t +Adafruit_VL53L0X2::getVcselPulsePeriod(VL53L0X_VcselPeriod VcselPeriodType) { + uint8_t cur_period; + Status = VL53L0X_GetVcselPulsePeriod(pMyDevice, VcselPeriodType, &cur_period); + return (cur_period); +} + +/**************************************************************************/ +/*! + @brief Enable/Disable a specific limit check + @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + @param LimitCheckEnable if 1 the check limit + corresponding to LimitCheckId is Enabled + if 0 the check limit + corresponding to LimitCheckId is disabled + @return true if succeeded + */ +/**************************************************************************/ +boolean Adafruit_VL53L0X2::setLimitCheckEnable(uint16_t LimitCheckId, + uint8_t LimitCheckEnable) { + Status = + VL53L0X_SetLimitCheckEnable(pMyDevice, LimitCheckId, LimitCheckEnable); + return (Status == VL53L0X_ERROR_NONE); +} + +/**************************************************************************/ +/*! + @brief Get specific limit check enable state + @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + @return current state of limit enabled + */ +/**************************************************************************/ +uint8_t Adafruit_VL53L0X2::getLimitCheckEnable(uint16_t LimitCheckId) { + + uint8_t cur_limit; + Status = VL53L0X_GetLimitCheckEnable(pMyDevice, LimitCheckId, &cur_limit); + return (cur_limit); +} + +/**************************************************************************/ +/*! + @brief Set a specific limit check value + @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + LimitCheckId + @param LimitCheckValue Limit Check Value + @return true if succeeded. + */ +/**************************************************************************/ + +boolean Adafruit_VL53L0X2::setLimitCheckValue(uint16_t LimitCheckId, + FixPoint1616_t LimitCheckValue) { + + Status = VL53L0X_SetLimitCheckValue(pMyDevice, LimitCheckId, LimitCheckValue); + return (Status == VL53L0X_ERROR_NONE); +} + +/**************************************************************************/ +/*! + @brief Get a specific limit check value + @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + @return limit check value in FixPoint1616 + */ +/**************************************************************************/ +FixPoint1616_t Adafruit_VL53L0X2::getLimitCheckValue(uint16_t LimitCheckId) { + + FixPoint1616_t LimitCheckValue; + Status = + VL53L0X_GetLimitCheckValue(pMyDevice, LimitCheckId, &LimitCheckValue); + return (LimitCheckValue); +} + diff --git a/Adafruit_VL53L0X2.h b/Adafruit_VL53L0X2.h new file mode 100644 index 0000000..560ddc1 --- /dev/null +++ b/Adafruit_VL53L0X2.h @@ -0,0 +1,161 @@ +/*! + * @file Adafruit_VL53L0X2.h + This is a library for the Adafruit VL53L0X Sensor Breakout + Designed specifically to work with the VL53L0X sensor from Adafruit + ----> https://www.adafruit.com/products/3317 + These sensors use I2C to communicate, 2 pins are required to + interface + Adafruit invests time and resources providing this open source code, + please support Adafruit and open-source hardware by purchasing + products from Adafruit! + Written by Limor Fried/Ladyada for Adafruit Industries. + Updated by Andrew DeVries for Digital Example to include methods needed for + Interrupt triggering. + BSD license, all text above must be included in any + redistribution + ****************************************************/ + +#ifndef Adafruit_VL53L0X2_H +#define Adafruit_VL53L0X2_H + +#if (ARDUINO >= 100) +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + +#include "Wire.h" +#include "vl53l0x_api.h" + +#define VL53L0X_I2C_ADDR 0x29 ///< Default sensor I2C address + +/**************************************************************************/ +/*! + @brief Class that stores state and functions for interacting with VL53L0X + time-of-flight sensor chips +*/ +/**************************************************************************/ +class Adafruit_VL53L0X2 { +public: + /** Sensor configurations */ + typedef enum { + VL53L0X_SENSE_DEFAULT = 0, + VL53L0X_SENSE_LONG_RANGE, + VL53L0X_SENSE_HIGH_SPEED, + VL53L0X_SENSE_HIGH_ACCURACY + } VL53L0X_Sense_config_t; + + boolean begin(uint8_t i2c_addr = VL53L0X_I2C_ADDR, boolean debug = false, + TwoWire *i2c = &Wire, + VL53L0X_Sense_config_t vl_config = VL53L0X_SENSE_DEFAULT); + boolean setAddress(uint8_t newAddr); + + // uint8_t getAddress(void); // not currently implemented + + /**************************************************************************/ + /*! + @brief get a ranging measurement from the device + @param pRangingMeasurementData the pointer to the struct the data will be + stored in + @param debug Optional debug flag. If true debug information will print via + Serial.print during execution. Defaults to false. + @returns True if address was set successfully, False otherwise + */ + /**************************************************************************/ + VL53L0X_Error + rangingTest(VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + boolean debug = false) { + return getSingleRangingMeasurement(pRangingMeasurementData, debug); + }; + + VL53L0X_Error getSingleRangingMeasurement( + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + boolean debug = false); + void + printRangeStatus(VL53L0X_RangingMeasurementData_t *pRangingMeasurementData); + + VL53L0X_Error getRangingMeasurement( + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + boolean debug = false); + VL53L0X_Error startMeasurement(boolean debug = false); + VL53L0X_Error stopMeasurement(boolean debug = false); + VL53L0X_Error getLimitCheckCurrent(uint8_t LimitCheckId, + FixPoint1616_t *pLimitCheckCurrent, + boolean debug = false); + VL53L0X_Error getDeviceMode(VL53L0X_DeviceModes *pDeviceMode, + boolean debug = false); + VL53L0X_Error setDeviceMode(VL53L0X_DeviceModes DeviceMode, + boolean debug = false); + + VL53L0X_Error setInterruptThresholds(FixPoint1616_t ThresholdLow, + FixPoint1616_t ThresholdHigh, + boolean debug = false); + VL53L0X_Error getInterruptThresholds(FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh, + boolean debug = false); + VL53L0X_Error clearInterruptMask(boolean debug = false); + + VL53L0X_Error getGpioConfig(VL53L0X_DeviceModes *pDeviceMode, + VL53L0X_GpioFunctionality *pFunctionality, + VL53L0X_InterruptPolarity *pPolarity, + boolean debug = false); + VL53L0X_Error setGpioConfig(VL53L0X_DeviceModes DeviceMode, + VL53L0X_GpioFunctionality Functionality, + VL53L0X_InterruptPolarity Polarity, + boolean debug = false); + + VL53L0X_Error Status = + VL53L0X_ERROR_NONE; ///< indicates whether or not the sensor has + ///< encountered an error + // Add similar methods as Adafruit_VL6180X class adapted to range of device + uint16_t readRange(void); + // float readLux(uint8_t gain); + uint8_t readRangeStatus(void); + + boolean startRange(void); + boolean isRangeComplete(void); + boolean waitRangeComplete(void); + uint16_t readRangeResult(void); + + boolean startRangeContinuous(uint16_t period_ms = 50); + void stopRangeContinuous(void); + + // void setTimeout(uint16_t timeout) { io_timeout = timeout; } + // uint16_t getTimeout(void) { return io_timeout; } + /**************************************************************************/ + /*! + @brief timeout status + @returns True if timeout has occurred, False otherwise + */ + /**************************************************************************/ + boolean timeoutOccurred(void) { return false; } + + boolean configSensor(VL53L0X_Sense_config_t vl_config); + + // Export some wrappers to internal setting functions + // that are used by the above helper function to allow + // more complete control. + boolean setMeasurementTimingBudgetMicroSeconds(uint32_t budget_us); + uint32_t getMeasurementTimingBudgetMicroSeconds(void); + + boolean setVcselPulsePeriod(VL53L0X_VcselPeriod VcselPeriodType, + uint8_t VCSELPulsePeriod); + + uint8_t getVcselPulsePeriod(VL53L0X_VcselPeriod VcselPeriodType); + + boolean setLimitCheckEnable(uint16_t LimitCheckId, uint8_t LimitCheckEnable); + uint8_t getLimitCheckEnable(uint16_t LimitCheckId); + boolean setLimitCheckValue(uint16_t LimitCheckId, + FixPoint1616_t LimitCheckValue); + FixPoint1616_t getLimitCheckValue(uint16_t LimitCheckId); + +private: + VL53L0X_Dev_t MyDevice; + VL53L0X_Dev_t *pMyDevice = &MyDevice; + VL53L0X_DeviceInfo_t DeviceInfo; + + uint8_t _rangeStatus; +}; + +#endif + diff --git a/Distance.ino.bak b/Distance.ino.bak new file mode 100644 index 0000000..025dbe5 --- /dev/null +++ b/Distance.ino.bak @@ -0,0 +1,1249 @@ +//give power +//set mode (pair, wireless, bluetooth) +//select and start (signle servo control/ group action) +//======================================================================================================================================================================== + +// ----------LIBRARIES-------------- + +#include "VL53L0X2.h"; //the bookshelf we create +#include "Adafruit_VL53L0X2.h" +#include "LobotServoController.h" +#include "Ultrasound.h" +//#include "Screen.h" +#include +#include //default +#include + +//byte 8 bit +//short 16 bit +//int 32 bit +//long 64 bit +//there is no unsigned byte in Arduino //0 - 255 //A byte stores an 8-bit unsigned number, from 0 to 255. +//unsigned short //0 - 65535 +//unsigned int //0 - (2^32 - 1) +//unsigned long + +// --------CONSTANTS (won't change)------------------------------------------------------- +// address we will assign if dual sensor is present +#define LOX1_ADDRESS 0x30//0x27 and 0x28 could be used +#define LOX2_ADDRESS 0x29//default +#define LOX3_ADDRESS 0x31 +#define LOX4_ADDRESS 0x32 + +// set the pins to shutdown +#define SHT_LOX1 6//sensor1//Servo7PositionSensor +#define SHT_LOX2 A0//sensor2//Servo7PositionSensor +#define SHT_LOX3 7//sensor3 +#define SHT_LOX4 A1//sensor4 + +const byte RxPin = 4; +const byte TxPin = 5; +const byte LED = 13; +const byte buttonPin = 12; //Touch sensor + +//from the reference point 265 to the 10,000 ms point +//distance sensor value from 265 to about 350 +//(350 - 265)/ 10,000 = 0.0084/ ms = 8.4/s +float speedTrain = 0.0084; + //assume the sensor1 value will not stuck in a constant value when the robot arm moves + //assumw the pet will not stand between the sensor and the robot arm + //move train only if the sensor value is from sensor1 0 to 710 + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + unsigned int durationMoveTrain_referPoint2jointPoint = 15000; + unsigned short jointPoint = 310; //before the point, the sensor value is accurate believe. + //sensor1 sensor1_Min allowed min distance + unsigned short sensor1_Min = 110; + //reference point: 145 (143 - 147 is fine) + unsigned short referencePoint = 145;//default// should > 2 //should > sensor1_Min + //trainDuration = (147 - 143)/ speedTrain = 595.24 ms + unsigned short trainDuration = 595;//19;//952;//1000;//define the smallest motor step distance//resolution; + float safeIndex = 0.3;// 0 < safeIndex < 1 +//The sensor1 wall (mirror) is 6.5 cm far from the edge of platform. +//The barrier, say pet, can not be under the edge +//80 is the ideal backward sensor1 range (after the 308 point) per 10 seconds +//10.3 is the ideal backward distance (after the 308 point) per 10 seconds +//80/ 10.3 = x/ 6.5 +//x = 80 * 6.5/ 10.3 = 50.4854 +//Therefore, the allowed distance variance is no more than 50.4854 +//max distance Changed per trainDuration// arrange = 50.4854/ (trainDuration * speedTrain) = 10.1011; +//it is better for us to choose the index less than or equal to 10 +byte barrierIndex = 9; + +//could be initialized again________________________ + unsigned int durationMoveTrain_Max = (durationMoveTrain_referPoint2jointPoint + 30000) * 0.0105 / speedTrain;//56250;//45000; + //dictionary: + //the trashbin durationMoveTrain_Max, table 25000, the duration of train movement + unsigned int durationMoveTrain_trashBin = durationMoveTrain_Max; + unsigned int durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 10000; + + +//------------ VARIABLES (will change)----------------------------------------------------- +unsigned long currentMillis = 0; //stores the value of total run time +//loopPeriod = duration + interval; +//period = interval + duration +//if switch between two states is needed, then setting clock below: +//if (state1) { +// set clock by using interval +// } else {//state2 +// set clock by using duration +// } +//in this class only duration or interval period is used + +// objects for the vl53l0x +Adafruit_VL53L0X2 lox1;//VL53L0X2 lox1; +//VL53L0X2 lox2; +VL53L0X2 lox3; +VL53L0X2 lox4; +SoftwareSerial mySerial(RxPin, TxPin); +LobotServoController robotController(mySerial); +Ultrasound ultrasound; //Instantiate the ultrasonic class +//Screen screen; + /* + //why it cause dead loop if we call constructors in setup() + lox1 = Adafruit_VL53L0X2();//lox1 = VL53L0X2(); + //lox2 = VL53L0X2(); + lox3 = VL53L0X2(); + lox4 = VL53L0X2(); + //robotController(mySerial); + ultrasound = Ultrasound(); //Instantiate the ultrasonic class + //screen = Screen(); + */ + +bool isRunTime = false; + +//could be initialized again________________________ +//assume servo7 is controlled by arduino board, Hiwonder robot arm board support it by providing energy and delivering information. +bool isRunningTrain = false; +//There are two methods to control the position of the train, servo7: +//1. time setting +//planned duration of the train Movement +unsigned long previousMoveServo7_timer = 0;//it is not enough to use int // stores the value of currentMillis as the previousTimer for control the time of servo7 movement +bool allow2updatePreviousMoveServo7_timer = false; +//2. distance setting. +// through previousDistanceSensor1, by recording sensor1 value and comparing previous and current value, +//we can detect the movement accuracy or whether the sensor is barried. +//integer distance; +unsigned short previousDistanceSensor1 = 0; +unsigned short sensor1 = 0;//train +//previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried +unsigned int durationMoveTrain = 0; +//unsigned short sensor2 = 0; +unsigned short sensor3 = 0; +unsigned short sensor4 = 0; +unsigned short distance = 0;//ultrasound sensor + +//Record the number of touches +byte NumTouch; +//byte buttonLed_State = LOW; + + + + +//before power off, it is very important +//put the good on the ground + +//before nap or stuck in some dead loop +//stopTrain(); +//robotController.stopActionGroup(); + + + + + +//======================================================================================================================================================================== +void setup() { + //no need to be initalized again + //____________________________________________________________________________________________________________________ + //initial master boards' interface + //________________________________ + Serial.begin(9600); + // wait until serial port opens for native USB devices + while (! Serial) { delay(1); } + + + + mySerial.begin(9600); //communication between uno R3 kit and the robot arm + + pinMode(LED, OUTPUT); + pinMode(buttonPin, INPUT); + digitalWrite(LED, LOW); + // set the button pin as input with a pullup resistor to ensure it defaults to HIGH + pinMode(buttonPin, INPUT_PULLUP); + + pinMode(SHT_LOX1, OUTPUT); + pinMode(SHT_LOX2, OUTPUT); + pinMode(SHT_LOX3, OUTPUT); + pinMode(SHT_LOX4, OUTPUT); + //Serial.println(F("Shutdown TOF sensor pins inited...")); + digitalWrite(SHT_LOX1, LOW); + digitalWrite(SHT_LOX2, LOW); + digitalWrite(SHT_LOX3, LOW); + digitalWrite(SHT_LOX4, LOW); + //Serial.println(F("Both TOF sensors in reset mode...(pins are low)")); + + //Serial.println(F("Starting...")); + + //initial sensors + //________________________________ + setID(); + delay(100);// the TOF distance sensors need 90 ms to read + initialization();//read_multi_tof_sensors(); //previousDistanceSensor1 = sensor1; + loopInSetup(); + + //sherden framework + //____________________________________________________________________________________________________________________ + { + + //deal with the corner case + delay(100);// the TOF distance sensors need 90 ms to read + read_multi_tof_sensors(); + //because sometimes train stop without recording the correct sensor1 value into previousDistanceSensor1 + previousDistanceSensor1 = sensor1; + try2Recover(); + + delay(100);// the TOF distance sensors need 90 ms to read + read_multi_tof_sensors(); + previousDistanceSensor1 = sensor1;//assume the sensor1 laser beam is not barried at the very beginnings + //but it is a corner case + loopInSetup(); + + + //test or some preaction + //delay(100);// the TOF distance sensors need 90 ms to read + //read_multi_tof_sensors(); + //previousDistanceSensor1 = sensor1;//assume the sensor1 laser beam is not barried at the very beginnings + //but it is a corner case + //moveForward(durationMoveTrain_table);//moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + + //delay(100);// the TOF distance sensors need 90 ms to read + //read_multi_tof_sensors(); + //previousDistanceSensor1 = sensor1;//assume the sensor1 laser beam is not barried at the very beginnings + //but it is a corner case + //moveBackward(10000); + + + delay(100);// the TOF distance sensors need 90 ms to read + read_multi_tof_sensors(); + previousDistanceSensor1 = sensor1;//assume the sensor1 laser beam is not barried at the very beginnings + //but it is a corner case + + } + + + + Serial.println(F("Runtime")); + isRunTime = true; +} + +//======================================================================================================================================================================== +void loop() { + // Notice that none of the action happens in loop() apart from reading millis() + // it just calls the functions that have the action code + + //initial + //____________________________________________________________________________________________________________________ + //initialization(); + currentMillis = millis(); + // capture the latest value of millis() + // this is equivalent to noting the time from a clock + // use the same time for all operators to keep them synchronized + // in order to synchronize operators in each iteration of loop(), such as robot arm (servro1-6), a train (servo7) + + //read + //____________________________________________________________________________________________________________________ + //user IO + readButton();//asynchronize, very fast + //sensors + isHere();//asynchronize, very fast + // + // + // + //essential sensors to control operators + read_multi_tof_sensors();//asynchronize, very fast + readRobot(); + //Receive data returned by the robotic arm + //asynchronize, very fast + + //analysis + //make decisions + //take actions //synchronize, normal + //____________________________________________________________________________________________________________________ + run(); + + //display //report to the PC or monitor + //____________________________________________________________________________________________________________________ + //screen.draw(sensor3);//asynchronize, very slow + + + //delay(100);// do not use delay() in the loop(), it will cause the currentMillis delay 100 ms, which could undermine the servo7 movement 100 * 0.0105 = about 1 cm +} + +//==================================================================================================================================================================== +void initialization() { + //could be initialized again________________________ + durationMoveTrain_Max = (durationMoveTrain_referPoint2jointPoint + 30000) * 0.0105 / speedTrain;//56250;//45000; + //dictionary: + //the trashbin durationMoveTrain_Max, table 25000, the duration of train movement + durationMoveTrain_trashBin = durationMoveTrain_Max; + durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 10000; + + //could be initialized again________________________ + //assume servo7 is controlled by arduino board, Hiwonder robot arm board support it by providing energy and delivering information. + isRunningTrain = false; + //There are two methods to control the position of the train, servo7: + //1. time setting + //planned duration of the train Movement + + //reset the previousMoveServo7_timer + previousMoveServo7_timer = 0;//it is not enough to use int // stores the value of currentMillis as the previousTimer for control the time of servo7 movement + allow2updatePreviousMoveServo7_timer = false; + //2. distance setting. + // through previousDistanceSensor1, by recording sensor1 value and comparing previous and current value, + //we can detect the movement accuracy or whether the sensor is barried. + //integer distance; + previousDistanceSensor1 = 0; + sensor1 = 0;//train + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + durationMoveTrain = 0; + //unsigned short sensor2 = 0; + sensor3 = 0; + sensor4 = 0; + distance = 0;//ultrasound sensor + + //Record the number of touches + NumTouch = 0; + //byte buttonLed_State = LOW; + + //could be initialized again________________________ + read_multi_tof_sensors(); + previousDistanceSensor1 = sensor1;//assume the sensor1 laser beam is not barried at the very beginnings + //but it is a corner case + + //initial timers/counters + //________________________________ + currentMillis = millis(); + // capture the latest value of millis() + // this is equivalent to noting the time from a clock + // use the same time for all operators to keep them synchronized + // in order to synchronize operators in each iteration of loop(), such as robot arm (servro1-6), a train (servo7) + //make sure the currentMillis > MAX(trainDuration, MAX(durationMoveTrain)) + currentMillis = millis(); + if (currentMillis <= durationMoveTrain_Max) { + unsigned int temp = durationMoveTrain_Max - currentMillis + 100;//unsigned int ////0 - (2^32 - 1) + //Serial.print(F("Initializing system for ")); + //Serial.print(temp/1000); + //Serial.println(F(" seconds")); + //delay(temp); + currentMillis = millis(); + } else {//currentMillis > durationMoveTrain_Max + //skip + } +} +//======================================================================================================================================================================== +void run() { + //analysis + //make decisions + //take actions //synchronize, normal + //____________________________________________________________________________________________________________________ + //initial + static unsigned long previousMillis_timer;//set loop check clock //unsigned long + if(previousMillis_timer <= currentMillis - trainDuration) + { + previousMillis_timer += trainDuration; + { + if (NumTouch >= 1 && NumTouch <=4 ) { + + //Override the value of durationMoveTrain + //if (durationMoveTrain < trainDuration) { + //1000;//define the smallest step distance//resolution + // durationMoveTrain = trainDuration; + //} else { + // //skip + //} + durationMoveTrain = durationMoveTrain_Max;//durationMoveTrain = NumTouch * 1000; + + Serial.println(F("button1/2/3/4")); + Serial.println(durationMoveTrain); + //byte isFirst = 1; + allow2updatePreviousMoveServo7_timer = true;//unlock + while(1) { + currentMillis = millis(); + + + + moveForward(durationMoveTrain);//initTrain(sensor1); + + //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + if (previousDistanceSensor1 < sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 >= sensor1 + //skip + } + + + + + + if (!isRunningTrain) {break;} + } + + /* + isRunTime = false; + //delay(100);// the TOF distance sensors need 90 ms to read + moveForward(durationMoveTrain); + read_multi_tof_sensors(); + //delete the sentence below after the test !!!!!!!!! + previousDistanceSensor1 = sensor1;//assume the sensor1 laser beam is not barried at the very beginnings + //but it is a corner case + isRunTime = true; + */ + + + NumTouch = 0; + } else { + if (NumTouch >= 5 && NumTouch <= 6) { + + + if (NumTouch == 5) {//5s + isRunTime = false; + //delay(100);// the TOF distance sensors need 90 ms to read + moveForward(5000); //in the setup() which means sensor1 310 joint point//moveForward(durationMoveTrain_table); + read_multi_tof_sensors(); + //delete the sentence below after the test !!!!!!!!! + previousDistanceSensor1 = sensor1;//assume the sensor1 laser beam is not barried at the very beginnings + //but it is a corner case + isRunTime = true; + + + } else {//(NumTouch == 6) //15s + isRunTime = false; + //delay(100);// the TOF distance sensors need 90 ms to read + moveForward(15000); //in the setup() which means sensor1 310 joint point//moveForward(durationMoveTrain_table); + read_multi_tof_sensors(); + //delete the sentence below after the test !!!!!!!!! + previousDistanceSensor1 = sensor1;//assume the sensor1 laser beam is not barried at the very beginnings + //but it is a corner case + isRunTime = true; + } + Serial.println(F("button5/6")); + + NumTouch = 0; + + } else { + if (NumTouch >= 7 && NumTouch <= 8) { + Serial.println(F("button7/8")); + + //switch between the original reference point and new reference point + if (NumTouch == 7) { + + //set the joint point as the reference point + //previous time variable keeps when visited joint point, the time as the reference when robot move forward after the point + referencePoint = jointPoint; + //durationMoveTrain_referPoint2jointPoint was the basis, it is 0 now + durationMoveTrain_referPoint2jointPoint = 0; + initialization(); + } else {//NumTouch == 8 + //set 145 as the reference point + referencePoint = 145; + durationMoveTrain_referPoint2jointPoint = 15000; + initialization(); + + } + + NumTouch = 0; + + + + } else {//NumTouch == 0 or NumTouch > 8 + //default + Serial.println(F("button0")); + initTrain(sensor1); + + + } + } + } + } + + + } +} + +//======================================================================================================================================================================== +void loopInSetup() { + //simplified loop() + //corner case: can not detect the barrier + //if there is barrier between sensor1 and train, train will moveforward without stop + isRunTime = true; + //for (unsigned short i = 65535; i > 0; i--) {}//this is not 65536, which causes overflow. + while(1) { + //initial + //____________________________________________________________________________________________________________________ + //initialization(); + currentMillis = millis(); + // capture the latest value of millis() + // this is equivalent to noting the time from a clock + // use the same time for all operators to keep them synchronized + // in order to synchronize operators in each iteration of loop(), such as robot arm (servro1-6), a train (servo7) + //read + //____________________________________________________________________________________________________________________ + readRobot(); + //Receive data returned by the robotic arm + //asynchronize, very fast + //delay(100);// the TOF distance sensors need 90 ms to read + read_multi_tof_sensors(); + + //analysis + //make decisions + //take actions + //____________________________________________________________________________________________________________________ + //initalize operators + robotController.runActionGroup(0, 1); + //initialize train + initTrain(sensor1); + if (!isRunningTrain) {break;} + //delay(trainDuration); + delay(300); + } + + + isRunTime = false; +} + +//======================================================================================================================================================================== +void readRobot() { + unsigned short robotInterval = 100; + static unsigned long previousButtonMillis_timer;//unsigned long + if (previousButtonMillis_timer <= millis() - robotInterval) {// currentMillis = millis() - robotInterval + previousButtonMillis_timer += robotInterval; + robotController.receiveHandler(); + } + +} + +//======================================================================================================================================================================== +void try2Recover() { +//sensor1 < sensor1_Min || durationMoveTrain > durationMoveTrain_Max + //normally it is not allowed to move over durationMoveTrain_Max or under sensor1_Min + //no sensor signal available + //but let us try to go back to the reference point, sensor1 145 + if (durationMoveTrain > durationMoveTrain_Max && sensor1 <= 710) { + durationMoveTrain = durationMoveTrain_referPoint2jointPoint; + allow2updatePreviousMoveServo7_timer = true;//unlock + moveBackward(durationMoveTrain); + //not update// it is not correct //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + //difference + } else { + if (sensor1 >= 0 && sensor1 < sensor1_Min) { + durationMoveTrain = (referencePoint - sensor1_Min)/ speedTrain;////assume + allow2updatePreviousMoveServo7_timer = true;//unlock + moveForward(durationMoveTrain); + //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + if (previousDistanceSensor1 < sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 >= sensor1 + //skip + } + //difference + } else { + //(sensor1 < 0 || sensor > 710) // too close || over far + //genearlly it is impossible to reach that close or far, meaning it could be some bugs or noise + //skip or ignore + } + } + +} +//======================================================================================================================================================================== +void readButton() { + + // ask + // this only reads the button state after the button interval has elapsed + // this avoids multiple flashes if the button is pressed + // Notice that there is no need to synchronize this, using millis() instead of currentMillis + // use of millis() with the flashing Leds + // every time the button is pressed it changes buttonLed_State causing: + static byte step;//0 - 255 + static byte NumTouchLocal = 0; + static unsigned short count;//0 - 65535 + static unsigned long previousButtonMillis_timer; + unsigned short buttonInterval = 1;//10;//100;//500 //200;//300 + + + //if (robotController.isRunning()) + // return; + //if (isRunningTrain) + // return; +/* + + if (previousButtonMillis_timer <= millis() - buttonInterval) {// currentMillis = millis() - buttonInterval + + //if (digitalRead(buttonPin) != LOW) { + //delay(80); + if (digitalRead(buttonPin) == LOW) { + previousButtonMillis_timer += buttonInterval; + + Serial.println(F("button")); + Serial.println(NumTouchLocal); + NumTouchLocal++; + if (NumTouchLocal > 2) {NumTouchLocal = 1;} + //buttonLed_State = ! buttonLed_State; // this changes it to low if it was high + // and to high if it was low + } + + //} + + } +*/ + if (previousButtonMillis_timer <= millis() - buttonInterval) {// currentMillis = millis() - buttonInterval + switch(step) + { + case 0: + if (digitalRead(buttonPin) == LOW) + {//Detection touch sensor + digitalWrite(LED, HIGH); + delay(400); + if (digitalRead(buttonPin) != LOW) + {//If it is short press once + digitalWrite(LED, LOW); + NumTouchLocal ++ ; + count = 0; + step = 1; + previousButtonMillis_timer += buttonInterval; + } + } + break; + case 1: + if (digitalRead(buttonPin) == LOW) + {//Detection touch sensor + digitalWrite(LED, HIGH); + delay(400); + if (digitalRead(buttonPin) != LOW) + {//If it is short touch once + NumTouchLocal ++ ; + digitalWrite(LED, LOW); + if (NumTouchLocal > 9) + NumTouchLocal = 9; + count = 0; + previousButtonMillis_timer += buttonInterval; + } + } + else + { + count++; + if (count > 10) + { + step = 2; + count = 0; + } + else + { + previousButtonMillis_timer += buttonInterval; + } + } + break; + case 2: + //output NumTouchLocal + NumTouch = NumTouchLocal; + count++; + if (count > 1) + { + count = 0; + NumTouchLocal = 0; + step = 0; + } + break; + default: + NumTouchLocal = 0; + count = 0; + step = 0; + break; + } + Serial.println(F("button")); + Serial.println(NumTouchLocal); + } + +} + +//======================================================================================================================================================================== +bool isHere() +{ //ultrasound sensor + static unsigned long previousMillis_timer; + unsigned short sensorInterval = 100; + bool isHere = false; + if (previousMillis_timer <= millis() - sensorInterval)// currentMillis - sensorInterval could be != millis() - sensorInterval + { + previousMillis_timer += sensorInterval;//synchronize, besides, set clock + distance=((short)ultrasound.GetDistance())/10; //unsigned short + //Serial.println(distance); //Get and print distance of serial port, unit mm + //if (robotController.isRunning() == false) //Execute when the robotic arm stop running + { + if (distance <= 10) + { + isHere = true; + ultrasound.rainbow_color(); + } else {//>10 + ultrasound.Color(0, 255, 0, 0, 255, 0); //green + } + } + + } +} + +//======================================================================================================================================================================== +void setID() { + // all reset + digitalWrite(SHT_LOX1, LOW); + digitalWrite(SHT_LOX2, LOW); + digitalWrite(SHT_LOX3, LOW); + digitalWrite(SHT_LOX4, LOW); + delay(10); + // all unreset + digitalWrite(SHT_LOX1, HIGH); + digitalWrite(SHT_LOX2, HIGH); + digitalWrite(SHT_LOX3, HIGH); + digitalWrite(SHT_LOX4, HIGH); + delay(10); + + // activating LOX1 and reseting LOX2 + digitalWrite(SHT_LOX1, HIGH); + digitalWrite(SHT_LOX2, LOW); + digitalWrite(SHT_LOX3, LOW); + digitalWrite(SHT_LOX4, LOW); + + /* + // initing LOX1 + Wire.begin();//This function initializes the Wire library + lox1.setAddress(LOX1_ADDRESS);//set address// + if(!lox1.init()) { + Serial.println(F("Failed to boot first VL53L0X")); + //while(1); + } + */ + // initing LOX1 + if(!lox1.begin(LOX1_ADDRESS, false, &Wire, 3)) { + //Serial.println(F("Failed to boot first VL53L0X, LOX1")); + //while(1); + } + delay(10); + + // activating LOX2 + digitalWrite(SHT_LOX2, HIGH); + delay(10); + + //initing LOX2 + //Wire.begin();//This function initializes the Wire library + //default//lox2.setAddress(LOX2_ADDRESS);//set address// + //if(!lox2.init()) { + // Serial.println(F("Failed to boot second VL53L0X")); + //while(1); + //} + + + // activating LOX3 + digitalWrite(SHT_LOX3, HIGH); + delay(10); + + //initing LOX3 + Wire.begin();//This function initializes the Wire library + lox3.setAddress(LOX3_ADDRESS);//set address// + if(!lox3.init()) { + //Serial.println(F("Failed to boot third VL53L0X, LOX3")); + //while(1); + } + //lox3.setMeasurementTimingBudget(sensor1_Min); + //a longer timing budget allows for more accurate measurements. + + // activating LOX4 + digitalWrite(SHT_LOX4, HIGH); + delay(10); + + //initing LOX4 + Wire.begin();//This function initializes the Wire library + lox4.setAddress(LOX4_ADDRESS);//set address// + if(!lox4.init()) { + //Serial.println(F("Failed to boot fourth VL53L0X, LOX4")); + //while(1); + } +} + +//======================================================================================================================================================================== +void read_multi_tof_sensors() { + // the TOF distance sensors need 90 ms to read + //asynchronize, very fast + static unsigned long previousMillis_timer; + unsigned short sensorInterval = 100; //short + if (previousMillis_timer < millis() - sensorInterval)// currentMillis - sensorInterval could be != millis() - sensorInterval + { + previousMillis_timer += sensorInterval;//set clock + //make sure that the sensor value is number instaed of some mysterious string + // this holds the measurement + VL53L0X_RangingMeasurementData_t measure1; + + lox1.rangingTest(&measure1, false); // pass in 'true' to get debug data printout! + // print sensor1 reading + Serial.print(F("1: ")); + if(measure1.RangeStatus != 4) { // if not out of range + sensor1 = measure1.RangeMilliMeter; + Serial.print(sensor1); + //Serial.print(F("mm")); + } else { + //Serial.print(F("Out of range")); + } + /* + Serial.print(F("1: ")); + Serial.print(lox1.readRangeSingleMillimeters()); + Serial.print(F("mm")); + */ + + //Serial.print(F(" ")); + + // print sensor2 reading + //Serial.print(F("2: ")); + // Serial.print(lox2.readRangeSingleMillimeters()); + // Serial.print(F("mm")); + + Serial.print(F(" ")); + + // print sensor3 reading + Serial.print(F("3: ")); + sensor3 = lox3.readRangeSingleMillimeters(); + Serial.print(sensor3); + //Serial.print(F("mm")); + + Serial.print(F(" ")); + + // print sensor4 reading + Serial.print(F("4: ")); + sensor4 = lox4.readRangeSingleMillimeters(); + Serial.print(sensor4); + //Serial.print(F("mm")); + + Serial.println(); + } + +} + +//======================================================================================================================================================================== +bool isBarriedSensor1() { + //asynchronize + //static unsigned long previousMillis_timer; + //unsigned short sensorInterval = 100; + bool isBarried = false;//sensor laser beam is not barried + //unsigned long difference; + // if (previousMillis_timer <= millis() - sensorInterval)// currentMillis - sensorInterval could be != millis() - sensorInterval + //{ + // previousMillis_timer += sensorInterval;//set clock // previousMillis_timer = previousMillis_timer + sensorInterval; + //double check whether we need to update the durationMoveTrain + //sensor1 is not stuck + //assume the sensor1 value will not stuck in a constant value when the robot arm moves + //assumw the pet will not stand between the sensor and the robot arm + //delay(100); + //sensor1 has been updated + //previousDistanceSensor1 is still the same as above in the function + //952 > 100 no need to update previousMillis_timer//1000;//no need 120; + + if (isRunningTrain) { //train is moving + short temp = previousDistanceSensor1 - sensor1; + Serial.println(F("previousDistanceSensor1")); + Serial.println(previousDistanceSensor1); + Serial.println(F("sensor1")); + Serial.println(sensor1); + Serial.println(F("difference")); + Serial.println((short)abs2((long)temp));//abs() can only be used for integer + Serial.println(F("2 * trainDuration * speedTrain")); + Serial.println(2 * trainDuration * speedTrain); + //if is barried, the difference > 0 + if ((previousDistanceSensor1 > sensor1) && (short)abs2((long)temp) > barrierIndex * trainDuration * speedTrain) { //(referencePoint + 2 - sensor1_Min) = 47 + //abs() can only be used for integer + //difference > 2 * trainDuration * speedTrain + //case1: sensor1 is barried by pet or something else + //because of sensor stuck + //due to the barrier + isBarried = true; + } else {//difference + //skip + } + } else {//!isRunningTrain + //corner case + //skip + // + } + return isBarried; + //} +} + +//train move forward (to the right side on the picture): +//======================================================================================================================================================================== +void moveForward(unsigned int durationMoveTrain) { + if (isRunTime) { + static unsigned long previousMillis_timer;//set loop check clock + if(previousMillis_timer <= currentMillis - trainDuration) + { + previousMillis_timer += trainDuration; + //synchronize, besides, set clock + //1000;// no need 250; + + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + if (durationMoveTrain <= durationMoveTrain_Max) { + //Serial.println(allow2updatePreviousMoveServo7_timer); + if (allow2updatePreviousMoveServo7_timer) { + //start + allow2updatePreviousMoveServo7_timer = false;//lock + //default//allow2updatePreviousMoveServo7_timer = false;//lock + previousMoveServo7_timer = currentMillis; + //Serial.println(F("previousMoveServo7_timer")); + //Serial.println(previousMoveServo7_timer); + //synchronize + // capture the latest value of currentMillis + // this is equivalent to noting the time from a clock + // use the same time for all servo 7 movements to keep them synchronized + + robotController.moveServo(7, 515, 1000);//set speed + isRunningTrain = true; + //Serial.println(F("currentMillis - previousMoveServo7_timer")); + //Serial.println(currentMillis - previousMoveServo7_timer); + //Serial.println(durationMoveTrain); + } else {//!allow2updatePreviousMoveServo7_timer + if (currentMillis - previousMoveServo7_timer > durationMoveTrain) {// only no sensor signal case, we guess + stopTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + } else {//durationMoveTrain_accumulationActual <= durationMoveTrain + //skip//do nothing + } + } + } else {//durationMoveTrain > durationMoveTrain_Max + //skip //do nothing} + } + } else {// + //skip//do nothing + } + } else {//set up + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + if (durationMoveTrain <= durationMoveTrain_Max) { + robotController.moveServo(7, 515, 1000);//set speed + isRunningTrain = true; + delay(durationMoveTrain); + stopTrain(); + //!!!!!delete the sentence below when we finish the test + previousDistanceSensor1 = sensor1;//assume the sensor1 laser beam is not barried at the very beginnings + //it could be wrong// previousDistanceSensor1 = sensor1; + } else {//durationMoveTrain > durationMoveTrain_Max + //skip //do nothing + } + } + +} + +//======================================================================================================================================================================== +//Moving train to the reference point is its function +//moveBackward(), if the robot is on the right side of the reference point +//moveForward(), if the robot is on the left side of the reference point +bool initTrain(unsigned short sensor1) { + //moving the robot arm platform to the reference point is the function + //normally, it is used in the runtime, loop() + //initial + static unsigned long previousMillis_timer;//set loop check clock + bool isDone = false; + if(previousMillis_timer <= currentMillis - trainDuration) + { + previousMillis_timer += trainDuration; + //synchronize, besides, set clock + //1000;//no need 120; + //Serial.println(F("sensor1")); + //Serial.println(sensor1); + //Serial.println(F("previousDistanceSensor1")); + //Serial.println(previousDistanceSensor1); + if (sensor1 >= referencePoint - 2 && sensor1 <= referencePoint + 2) {//about 145 + //stop + isDone = true; + stopTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + return isDone; + } else {// sensor1 < referencePoint - 2 || sensor1 > referencePoint + 2 + //Serial.println(F("sensor1 < referencePoint - 2 || sensor1 > referencePoint + 2")); + //move train only if the sensor value is from sensor1 0 to 710 + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + //trainDuration = (147 - 143)/ speedTrain = 595.24 ms + short temp = sensor1 - referencePoint;//unsigned short + //Serial.println(F("sensor1 - referencePoint")); + //Serial.println(temp); + //durationMoveTrain = (targetedPoint - referencePoint) / speedTrain; + durationMoveTrain = (int)(abs2((long)temp)/speedTrain);//abs() can only be used for integer //unsigned int + //Serial.println(F("durationMoveTrain")); + //Serial.println(durationMoveTrain); + if (sensor1 >= sensor1_Min && durationMoveTrain <= durationMoveTrain_Max) { + + //Serial.println(F("isBarried: ")); + //Serial.println(isBarriedSensor1()); + if (isBarriedSensor1()) { + //assume the train is moving + //case1: sensor1 is barried by pet or something else + //the reference point calculated during the runtime is wrong due to barrier + //but it is fine, after the pet move away, the reference pint will be recalculated and corrected. + //Serial.println(F("isB")); + stopTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + //assume the train is moving, just have to wait for pet leaving there. + isRunningTrain = 1; + /* + if (isRunningTrain) { + + } else {//!isRunningTrain + + } + */ + } else {//!isBarriedSensor1() + + //durationMoveTrain can be used to show the big picture, while it could not be accurate when train is far from joint point + if (sensor1 > jointPoint && durationMoveTrain <= durationMoveTrain_Max) { + //synchronize + unsigned int durationMoveTrain_remainingPlanned = (int)abs2(currentMillis - previousMoveServo7_timer);//abs() can only be used for integer + Serial.println(F("currentMillis")); + Serial.println(currentMillis); + Serial.println(F("previousMoveServo7_timer")); + Serial.println(previousMoveServo7_timer); + Serial.println(F("durationMoveTrain_remainingPlanned")); + Serial.println(durationMoveTrain_remainingPlanned); + Serial.println(F("durationMoveTrainBeforeOverride")); + Serial.println(durationMoveTrain); + //check the difference between scheduled(the previous loop) remaining and actual(the currunt loop) + //if the variance between differenceDuration and trainDuration is too large, meaning the speed is very unstable or the sensor1 is very unaccurate + unsigned int differenceDuration = abs(durationMoveTrain_remainingPlanned - durationMoveTrain);//abs() can only be used for integer + Serial.println(F("differenceDuration")); + Serial.println(differenceDuration); + Serial.println("trainDuration"); + Serial.println(trainDuration); + //Through the test, we found it is because the sensor1 is not accurate in this case + //Therefore, give up to control precisely the position through the sensor1 in the case + //Override the value of durationMoveTrain + durationMoveTrain = durationMoveTrain_referPoint2jointPoint; + Serial.println(durationMoveTrain); + // corner case if the runtime is smaller than the calculated durationMoveTrain at the very beginning, settng clock will be missed + //check the difference between scheduled(the previous loop) remaining and actual(the currunt loop) + if (durationMoveTrain_remainingPlanned < durationMoveTrain) { + //(abs(durationMoveTrain_remainingPlanned) < durationMoveTrain)//set clock ////abs() can only be used for integer + //abs() can only be used for integer + //Serial.println(F("bigger asdfsdsff")); + //skip or continue to move + //small deviation or vibration is acceptable + } else {//durationMoveTrain_remainingPlanned >= durationMoveTrain + //Serial.println(F("bigger jointPointfsdfsdfsdfsdf")); + allow2updatePreviousMoveServo7_timer = true;//unlock + moveBackward(durationMoveTrain); + } + //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + if (previousDistanceSensor1 > sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 <= sensor1 + //skip + } + + + + + } else { + //sensor1_Min <= sensor1 < referencePoint - 2 || referencePoint + 2 < sensor1 <= jointPoint + //case2: sensor1 is not accurate(the value is too big or too small) during the previous loop period + //accurate control + short temp = previousDistanceSensor1 - sensor1; + unsigned short differenceDistance = (short)abs2((long)temp); + //Serial.println(F("sensor1_Min <= sensor1 < referencePoint - 2 || referencePoint + 2 < sensor1 <= jointPoint")); + //Serial.println(F("previousDistanceSensor1")); + //Serial.println(previousDistanceSensor1); + //Serial.println(F("differenceDistance")); + //Serial.println(differenceDistance); + //Serial.println(F("trainDuration * speedTrain * (1 - safeIndex)")); + //Serial.println(trainDuration * speedTrain * (1 - safeIndex)); + //Serial.println(F("trainDuration * speedTrain * (1 + safeIndex)")); + //Serial.println(trainDuration * speedTrain * (1 + safeIndex)); + //if (differenceDistance >= trainDuration * speedTrain * (1 - safeIndex) && differenceDistance <= trainDuration * speedTrain * (1 + safeIndex) ) { + + //idealy, the speed of train is stable, + //the distance difference per duration = trainDuration * speedTrain //(147 - 143) = 5 //10 //10.5 + //Besides, considering the sensor value deviation. + //sensor1 value could be floating between expectedValue - 1 to expectedValue + 1 + //(592 * 0.0084 * 0.7 = 3.4810, center = 592 * 0.0084 = 5, 592 * 0.0084 * 1.3 = 6.4646) + //nevertheless, the actual speed is a little high, + //592 * 0.0105 = 6.2160, it is very close to the upper boundary, + //therefore, how about 0.7 as upper-band safeindex, 592 * 0.0084 * 1.7 = 8.4538 + if (differenceDistance >= trainDuration * speedTrain * (1 - safeIndex) && differenceDistance <= trainDuration * speedTrain * (1.7) ) { + //Serial.println(F("less jointPoint durationMoveTrain_Max0skip")); + //continue to move + //small deviation or vibration is acceptable + previousDistanceSensor1 = sensor1; + //update it only if distance is correct which means no barrier + } else { //it could stop (differenceDistance < trainDuration * speedTrain * (1 - safeIndex)) or not in the range + //reset + //Override the value of durationMoveTrain + if (durationMoveTrain < trainDuration) { + //1000;//define the smallest step distance//resolution + durationMoveTrain = trainDuration; + } else { + //skip + + } + + allow2updatePreviousMoveServo7_timer = true; + if (sensor1 > referencePoint + 2) { + //Serial.println(F("sensor1 > referencePoint + 2 movef")); + //if (sensor1 > referencePoint + 2 && sensor1 <= jointPoint) {}//joint + moveBackward(durationMoveTrain);//set clock + //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + if (previousDistanceSensor1 > sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 <= sensor1 + //skip + } + + } else {//< referencePoint - 2 + //Serial.println(F("< referencePoint - 2moveForward")); + //if (sensor1 >= sensor1_Min && sensor1 < referencePoint - 2) {} + moveForward(durationMoveTrain);//set clock ////case1: + //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + if (previousDistanceSensor1 < sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 >= sensor1 + //skip + } + + + } + } + + + + } + + + } + + + + } else { + //sensor1 < sensor1_Min || durationMoveTrain > durationMoveTrain_Max + //normally it is not allowed to move over durationMoveTrain_Max or under sensor1_Min + //no sensor signal available + //Serial.println(F("sensor1 < sensor1_Min || durationMoveTrain > durationMoveTrain_Max")); + stopTrain(); + if (sensor1 >= 0 && sensor1 < sensor1_Min) { + //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + if (previousDistanceSensor1 < sensor1) { + previousDistanceSensor1 = sensor1; + } else {//previousDistanceSensor1 >= sensor1 + //skip + } + + } + } + + + + + } + + //Serial.println('loop'); + return isDone;//-1//false//while(1); + } +} + +//======================================================================================================================================================================= +unsigned long abs2(long temp) { + unsigned long result; + //traditional abs() can only be used for integer + if (temp >= 0) { + result = temp; + } else {//temp <= 0 + result = 0 - temp; + } + + return result; +} + +//train move backward (to the left side): +//======================================================================================================================================================================== +void moveBackward(unsigned int durationMoveTrain) { + if (isRunTime) { + static unsigned long previousMillis_timer;//set loop check clock + if(previousMillis_timer <= currentMillis - trainDuration) + { + previousMillis_timer += trainDuration; + //synchronize, besides, set clock + //1000;// no need 250; + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + if (sensor1 >= sensor1_Min) { + //Serial.println(allow2updatePreviousMoveServo7_timer); + if (allow2updatePreviousMoveServo7_timer) { + //start + allow2updatePreviousMoveServo7_timer = false;//lock + previousMoveServo7_timer = currentMillis; + //Serial.println(F("previousMoveServo7_timer")); + //Serial.println(previousMoveServo7_timer); + //synchronize + // capture the latest value of currentMillis + // this is equivalent to noting the time from a clock + // use the same time for all servo 7 movements to keep them synchronized + + robotController.moveServo(7, 485, 1000);//set speed + isRunningTrain = true; + //Serial.println(currentMillis - previousMoveServo7_timer); + //Serial.println(durationMoveTrain); + } else {//!allow2updatePreviousMoveServo7_timer + + if (currentMillis - previousMoveServo7_timer > durationMoveTrain) { + stopTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + } else { + //skip//do nothing + } + } + } else {//sensor < sensor1_Min + //skip //do nothing + } + + } else { + //skip//do nothing + } + } else {//set up + //protection: + //moveForward(durationMoveTrain_Max); allowed max distance //moveForward(durationMoveTrain_referPoint2jointPoint); in the setup() which means sensor1 310 joint point + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + //sensor1 sensor1_Min allowed min distance + //reference point: 145 (143 - 147 is fine) + if (sensor1 >= sensor1_Min) { + robotController.moveServo(7, 485, 1000);//set speed + isRunningTrain = true; + delay(durationMoveTrain); + stopTrain(); + //it could be wrong// previousDistanceSensor1 = sensor1; + + } else {//sensor < sensor1_Min + //skip //do nothing + } + } +} + +//======================================================================================================================================================================== +void stopTrain() { + //default//allow2updatePreviousMoveServo7_timer = false;//lock + robotController.moveServo(7, 500, 1);//train stop: + //previousDistanceSensor1 = sensor1; //update the previousDistanceSensor1 only if the sensor1 is working well and is not barried + //no update it because it could be not correct + isRunningTrain = false; +} diff --git a/LobotServoController.cpp b/LobotServoController.cpp new file mode 100644 index 0000000..67e8703 --- /dev/null +++ b/LobotServoController.cpp @@ -0,0 +1,369 @@ +#include "LobotServoController.h" +#include + +#define GET_LOW_BYTE(A) (uint8_t)((A)) +//Marco function, get lower eight bits of A +#define GET_HIGH_BYTE(A) (uint8_t)((A) >> 8) +//Marco function,get high 8 bits of A +#define BYTE_TO_HW(A, B) ((((uint16_t)(A)) << 8) | (uint8_t)(B)) +//Marco function,A is the high 8bits and B is the low 8bits,which is combined into 16 bits + +LobotServoController::LobotServoController(SoftwareSerial &A) +{ + //Set the running action group number is 0xFF, the number of runs to be 0, the mark to be false in running, and the battery voltage to be 0 + numOfActinGroupRunning = 0xFF; + actionGroupRunTimes = 0; + isGetBatteryVolt = false; + isRunning_ = false; + batteryVoltage = 0; + stateChange = false; + isUseHardwareSerial = false; + stateChangeCallback = NULL; + A.listen(); + SerialX = (Stream*)(&A); +} + +LobotServoController::LobotServoController(HardwareSerial &A) +{ + //Set the running action group number is 0xFF, the number of runs to be 0, the mark to be false is running, and the battery voltage to be 0 + numOfActinGroupRunning = 0xFF; + actionGroupRunTimes = 0; + isGetBatteryVolt = false; + isRunning_ = false; + batteryVoltage = 0; + stateChange = false; + isUseHardwareSerial = true; + stateChangeCallback = NULL; + SerialX = (Stream*)(&A); +} + +/********************************************************************************* + * Function: moveServo + * Description： Control the single servo rotation + * Parameters: sevoID:servoID，Position:target position ,Time: rotation time + Servo ID value:0<= servo ID<=31,Time value: Time > 0 + * Return: no return + * Others: + **********************************************************************************/ +void LobotServoController::moveServo(uint8_t servoID, uint16_t Position, uint16_t Time) +{ + uint8_t buf[11]; + if (servoID > 31 || !(Time > 0)) { //The servo ID should not be greater than 31,which can be modified according to corresponding controller + return; + } + buf[0] = FRAME_HEADER; //Fill frame header + buf[1] = FRAME_HEADER; + buf[2] = 8; //Date length=number of control servos*3+5,here=1*3+5 + buf[3] = CMD_SERVO_MOVE; //Fill servo movement command + buf[4] = 1; //Number of servo to be controlled + buf[5] = GET_LOW_BYTE(Time); //Fill time of low 8 bits + buf[6] = GET_HIGH_BYTE(Time); //Fill time of high 8 bits + buf[7] = servoID; //Servo ID + buf[8] = GET_LOW_BYTE(Position); //Fill target position of low 8 bits + buf[9] = GET_HIGH_BYTE(Position); //Fill target position of high 8 bits + + SerialX->write(buf, 10); +} + +/********************************************************************************* + * Function: moveServos + * Description： Control multiple servos rotation + * Parameters: servos[]:Servo struct array，Num:the munber of servos,Time:rotation time + 0 < Num <= 32,Time > 0 + * Return: no return + * Others: + **********************************************************************************/ +void LobotServoController::moveServos(LobotServo servos[], uint8_t Num, uint16_t Time) +{ + uint8_t buf[103]; //Set the cache + if (Num < 1 || Num > 32 || !(Time > 0)) { + return; //The number of the servos can not be 0 and the maximum is 32, the time can not be 0 + } + buf[0] = FRAME_HEADER; //Fill frame header + buf[1] = FRAME_HEADER; + buf[2] = Num * 3 + 5; //Date length=number of control servo*3+5 + buf[3] = CMD_SERVO_MOVE; //Fill servo movement command + buf[4] = Num; //Number of servo to be controlled + buf[5] = GET_LOW_BYTE(Time); //Get time of low 8 bits + buf[6] = GET_HIGH_BYTE(Time); //Get time of high 8 bits + uint8_t index = 7; + for (uint8_t i = 0; i < Num; i++) { //Circularly fill the servo ID and the corresponding target position + buf[index++] = servos[i].ID; //Fill servo ID + buf[index++] = GET_LOW_BYTE(servos[i].Position); //Fill target position of low 8 bits + buf[index++] = GET_HIGH_BYTE(servos[i].Position);//Fill target position of high 8 bits + } + SerialX->write(buf, buf[2] + 2); //Send the frame,the length of which is the data length + two bytes of the frame header +} + +/********************************************************************************* + * Function: moveServos + * Description： Control multiple servos rotation + * Parameters: Num:the number of servo,Time:rotation time,...:servoID,rotation angle，servoID,rotation angle... + * Return: no return + * Others: + **********************************************************************************/ +void LobotServoController::moveServos(uint8_t Num, uint16_t Time, ...) +{ + uint8_t buf[128]; + va_list arg_ptr = NULL; + va_start(arg_ptr, Time); //Gets the variable parameter address + if (Num < 1 || Num > 32 || (!(Time > 0)) || arg_ptr == NULL) { + return; //The number of the servos can not be 0 and the maximum is 32, the time can not be 0,variable arguments cannot be empty + } + buf[0] = FRAME_HEADER; //Fill frame header + buf[1] = FRAME_HEADER; + buf[2] = Num * 3 + 5; //Date length=number of control servo * 3 + 5 + buf[3] = CMD_SERVO_MOVE; //Servo movement command + buf[4] = Num; //Number of servo to be controlled + buf[5] = GET_LOW_BYTE(Time); //Get time of low 8 bits + buf[6] = GET_HIGH_BYTE(Time); //Get time of high 8 bits + uint8_t index = 7; + for (uint8_t i = 0; i < Num; i++) { //Circularly fill the servo ID and the corresponding target position from variable parameter + uint16_t tmp = va_arg(arg_ptr, uint16_t); //Get the servo ID from variable parameter + buf[index++] = GET_LOW_BYTE(tmp); //avrgcc's variable-parameterare all 16 bits + //Get it's low 8 bits + uint16_t pos = va_arg(arg_ptr, uint16_t); //Getcorresponding target position from variable parameter + buf[index++] = GET_LOW_BYTE(pos); //Fill target position of low 8 bits + buf[index++] = GET_HIGH_BYTE(pos); //Fill target position of high 8 bits + } + va_end(arg_ptr); //Empty arg_ptr + SerialX->write(buf, buf[2] + 2); //Send frame +} + + +/********************************************************************************* + * Function: runActionGroup + * Description： Runs the specified action group + * Parameters: NumOfAction:action group number, Times:perform Times + * Return: No return + * Others: Times = 0 is infinited loop + **********************************************************************************/ +void LobotServoController::runActionGroup(uint8_t numOfAction, uint16_t Times) +{ + uint8_t buf[7]; + buf[0] = FRAME_HEADER; //Fill frame header + buf[1] = FRAME_HEADER; + buf[2] = 5; //Data length, the number of bytes of data frame except the head part of the data frame, this command is fixed to 5 + buf[3] = CMD_ACTION_GROUP_RUN; //Fill runs action group command + buf[4] = numOfAction; //Fill runs action group number + buf[5] = GET_LOW_BYTE(Times); //Gets the low 8 bits to run the number of times + buf[6] = GET_HIGH_BYTE(Times); //Gets the high 8 bits to run the number of times + //isRunning_ = true; + SerialX->write(buf, 7); //Send digital frame +} + +/********************************************************************************* + * Function: stopActiongGroup + * Description： Stop action group running + * Parameters: Speed: target speed + * Return: No return + * Others: + **********************************************************************************/ +void LobotServoController::stopActionGroup(void) +{ + uint8_t buf[4]; + buf[0] = FRAME_HEADER; //Fill frame header + buf[1] = FRAME_HEADER; + buf[2] = 2; //Data length, the number of bytes of data frame except the head part of the data frame, this command is fixed to 2 + buf[3] = CMD_ACTION_GROUP_STOP; //Fill stop running action group command + + SerialX->write(buf, 4); //Send digital frame +} + +/********************************************************************************* + * Function: setActionGroupSpeed + * Description： Sets the speed of the specified action group + * Parameters: NumOfAction: action group number, Speed:target speed + * Return: no Return + * Others: + **********************************************************************************/ +void LobotServoController::setActionGroupSpeed(uint8_t numOfAction, uint16_t Speed) +{ + uint8_t buf[7]; + buf[0] = FRAME_HEADER; //Fill frame header + buf[1] = FRAME_HEADER; + buf[2] = 5; //Data length, the number of bytes of data frame except the head part of the data frame, this command is fixed to 5 + buf[3] = CMD_ACTION_GROUP_SPEED; //Fill the set action group speed command + buf[4] = numOfAction; //Fill the action group number to set + buf[5] = GET_LOW_BYTE(Speed); //Get the lower eight of the target speed + buf[6] = GET_HIGH_BYTE(Speed); //Get the high eight of the target speed + + SerialX->write(buf, 7); //Send digital frame +} + + +/********************************************************************************* + * Function: setAllActionGroupSpeed + * Description： Sets the running speed of all action groups + * Parameters: Speed: target speed + * Return: no Return + * Others: + **********************************************************************************/ +void LobotServoController::setAllActionGroupSpeed(uint16_t Speed) +{ + setActionGroupSpeed(0xFF, Speed); //Call the action group speed set, and set the speed of all groups when the group number is 0xFF +} + +/********************************************************************************* + * Function: sendCMDGetBatteryVolt + * Description： Send get battery voltage command + * Parameters: no input parameter + * Return: no Return + * Others: + **********************************************************************************/ +void LobotServoController::sendCMDGetBatteryVolt() +{ + uint8_t buf[4]; + buf[0] = FRAME_HEADER; //Fill frame header + buf[1] = FRAME_HEADER; + buf[2] = 2; //Data length, the number of bytes of data frame except the head part of the data frame, this command is fixed to 2 + buf[3] = CMD_GET_BATTERY_VOLTAGE; //Battery voltage command after filling + if(!isUseHardwareSerial) + ((SoftwareSerial*)(SerialX))->listen(); + isGetBatteryVolt = false; + SerialX->write(buf, 4); //Send digital frame +} + +uint16_t LobotServoController::getBatteryVolt(void) +{ + if(isGetBatteryVolt) + { + isGetBatteryVolt = false; + return batteryVoltage; + }else{ + return -1; + } +} + +uint16_t LobotServoController::getBatteryVolt(uint32_t timeout) +{ + isGetBatteryVolt = false; + sendCMDGetBatteryVolt(); + timeout += millis(); + while(!isGetBatteryVolt) + { + if(timeout < millis()) + { + return -1; + } + receiveHandle(); + } + return batteryVoltage; +} +bool LobotServoController::isRunning() +{ + return isRunning_; +} + +int LobotServoController::actionGroupRunning() +{ + int ret; + ret = isRunning_ ? numOfActinGroupRunning : (-1); + return ret; +} + +bool LobotServoController::waitForStop(uint32_t timeout) +{ + while(SerialX->available()) + SerialX->read(); + timeout += millis(); + while(isRunning_) + { + if(timeout < millis()) + { + return false; + } + receiveHandle(); + } + return true; +} + +void LobotServoController::setCallback(void *p) +{ + if(p != NULL) + { + stateChangeCallback = (void(*)())p; + } +} +void LobotServoController::receiveHandler() +{ + uint8_t rx; + static uint8_t buf[16]; + static bool isGetFrameHeader = false; + static uint8_t frameHeaderCount = 0; + static uint8_t dataLength = 2; + static uint8_t dataCount = 0; + + while(SerialX->available() > 0) + { + rx = SerialX->read(); + if(!isGetFrameHeader) + { + if(rx == 0x55) + { + frameHeaderCount++; + if(frameHeaderCount == 2) + { + frameHeaderCount = 0; + isGetFrameHeader = true; + dataCount = 1; + } + } else { + isGetFrameHeader = false; + dataCount = 0; + frameHeaderCount = 0; + } + } + if(isGetFrameHeader) + { + buf[dataCount] = rx; + if(dataCount == 2) + { + dataLength = buf[dataCount]; + if(dataLength < 2 || dataLength > 8) + { + dataLength = 2; + isGetFrameHeader = false; + } + } + dataCount++; + if(dataCount == dataLength + 2) + { + isGetFrameHeader = false; + switch(buf[3]) + { + case BATTERY_VOLTAGE: + batteryVoltage = BYTE_TO_HW(buf[5], buf[4]); + isGetBatteryVolt = true; + break; + case ACTION_GROUP_RUNNING: + isRunning_ = true; + stateChange = true; + numOfActinGroupRunning = buf[4]; + actionGroupRunTimes = BYTE_TO_HW(buf[6],buf[5]); + break; + case ACTION_GROUP_COMPLETE: + case ACTION_GROUP_STOPPED: + stateChange = true; + numOfActinGroupRunning = 0xFF; + actionGroupRunTimes = 0; + isRunning_ = false; + break; + default: + break; + } + } + } + } + if(stateChange) + { + stateChange = false; + if(stateChangeCallback != NULL) + (*stateChangeCallback)(); + } +} + +void LobotServoController::receiveHandle() +{ + receiveHandler(); +} diff --git a/LobotServoController.h b/LobotServoController.h new file mode 100644 index 0000000..b6821ed --- /dev/null +++ b/LobotServoController.h @@ -0,0 +1,60 @@ +#ifndef LOBOTSERVOCONTROLLER_H +#define LOBOTSERVOCONTROLLER_H + +#include +#include + +//Send part of the command +#define FRAME_HEADER 0x55 //Frame header +#define CMD_SERVO_MOVE 0x03 //Servo movement command +#define CMD_ACTION_GROUP_RUN 0x06 //Run action group command +#define CMD_ACTION_GROUP_STOP 0x07 //Stop run action group command +#define CMD_ACTION_GROUP_SPEED 0x0B //Set action group runs speed command +#define CMD_GET_BATTERY_VOLTAGE 0x0F //Get battery voltage command + +//Receiver part of the command +#define BATTERY_VOLTAGE 0x0F //Battery voltage +#define ACTION_GROUP_RUNNING 0x06 //Action group running +#define ACTION_GROUP_STOPPED 0x07 //Action group stopped +#define ACTION_GROUP_COMPLETE 0x08 //Action group complete + +struct LobotServo { //ServoID and position struct + uint8_t ID; //ServoID + uint16_t Position; //Servo data +}; + +class LobotServoController { + public: + LobotServoController(SoftwareSerial &A); + LobotServoController(HardwareSerial &A); + void moveServo(uint8_t servoID, uint16_t Position, uint16_t Time); + void moveServos(LobotServo servos[], uint8_t Num, uint16_t Time); + void moveServos(uint8_t Num,uint16_t Time, ...); + void runActionGroup(uint8_t NumOfAction, uint16_t Times); + void stopActionGroup(void); + void setActionGroupSpeed(uint8_t NumOfAction, uint16_t Speed); + void setAllActionGroupSpeed(uint16_t Speed); + + + uint16_t getBatteryVolt(void); + uint16_t getBatteryVolt(uint32_t timeout); + bool waitForStop(uint32_t timeout); + void sendCMDGetBatteryVolt(void); + bool isRunning(void); + int actionGroupRunning(void); + void receiveHandler(void); + void receiveHandle(void); + void setCallback(void *p); + + private: + uint8_t numOfActinGroupRunning; //The sequence number of the running action group + uint16_t actionGroupRunTimes; //Number of running action group runs + bool isUseHardwareSerial; + bool isGetBatteryVolt; + uint16_t batteryVoltage; //Controller battery voltage + bool isRunning_; //Is there an action group running? + bool stateChange; + void (*stateChangeCallback)(void); + Stream *SerialX; +}; +#endif diff --git a/Ultrasound.cpp b/Ultrasound.cpp new file mode 100644 index 0000000..e1b8bb7 --- /dev/null +++ b/Ultrasound.cpp @@ -0,0 +1,131 @@ +#include +#include "Ultrasound.h" + +Ultrasound::Ultrasound() +{ + Wire.begin(); +} + +//Write byte +bool Ultrasound::wireWriteByte(uint8_t addr, uint8_t val) +{ + Wire.beginTransmission(addr); + Wire.write(val); + if( Wire.endTransmission() != 0 ) + { + return false; + } + return true; +} + +//Write multiple bytes +bool Ultrasound::wireWriteDataArray(uint8_t addr, uint8_t reg,uint8_t *val,unsigned int len) +{ + unsigned int i; + + Wire.beginTransmission(addr); + Wire.write(reg); + for(i = 0; i < len; i++) + { + Wire.write(val[i]); + } + if( Wire.endTransmission() != 0 ) + { + return false; + } + return true; +} + +//Read the specified length byte +int Ultrasound::wireReadDataArray(uint8_t addr, uint8_t reg, uint8_t *val, unsigned int len) +{ + unsigned char i = 0; + /* Indicate which register we want to read from */ + if (!wireWriteByte(addr, reg)) + { + return -1; + } + Wire.requestFrom(addr, len); + while (Wire.available()) + { + if (i >= len) + { + return -1; + } + val[i] = Wire.read(); + i++; + } + /* Read block data */ + return i; +} + +//Set ultrasonic rgb to breathing light mode +//r1，g1，b1 represent the breathing cycle of the rgb light on the right, for example,20，20，20，which means a cycle of 2s +//r2，g2，b2 represent the breathing cycle of the rgb light on the left +void Ultrasound::Breathing(uint8_t r1, uint8_t g1, uint8_t b1, uint8_t r2, uint8_t g2, uint8_t b2) +{ + uint8_t breathing[6]; + uint8_t value = RGB_WORK_BREATHING_MODE; + + wireWriteDataArray(ULTRASOUND_I2C_ADDR, RGB_WORK_MODE, &value, 1); + breathing[0] = r1;breathing[1] = g1;breathing[2] = b1;//RGB1 blue + breathing[3] = r2;breathing[4] = g2;breathing[5] = b2;//RGB2 + wireWriteDataArray(ULTRASOUND_I2C_ADDR, RGB1_R_BREATHING_CYCLE,breathing,6); //Send color value +} + +//Set the color of the ultrasonic rgb light +//r1, g1, b1 represent the ratio of the three primary colors of the rgb lamp on the right, the range is 0-255 +//r2, g2, b2 represent the ratio of the three primary colors of the rgb lamp on the left, the range is 0-255 +void Ultrasound::Color(uint8_t r1, uint8_t g1, uint8_t b1, uint8_t r2, uint8_t g2, uint8_t b2) +{ + uint8_t RGB[6]; + uint8_t value = RGB_WORK_SIMPLE_MODE; + + wireWriteDataArray(ULTRASOUND_I2C_ADDR, RGB_WORK_MODE,&value,1); + RGB[0] = r1;RGB[1] = g1;RGB[2] = b1;//RGB1 + RGB[3] = r2;RGB[4] = g2;RGB[5] = b2;//RGB2 + wireWriteDataArray(ULTRASOUND_I2C_ADDR, RGB1_R,RGB,6); +} + +//Get the distance measured by ultrasonic in mm +u16 Ultrasound::GetDistance() +{ + u16 distance; + wireReadDataArray(ULTRASOUND_I2C_ADDR, 0,(uint8_t *)&distance,2); + return distance; +} + +void Ultrasound::rainbow_color() ////Gradient rainbow light +{ + + if(i<33&&i>=0){ + r=255; + g=7.65*i; + b=0; + }else if(i<50&&i>=33){ + r=750-15*i; + g=255; + b=0; + }else if(i<=66&&i>=50){ + r=0; + g=255; + b=15*i-750; + }else if(i<=83&&i>66){ + r=0; + g=1250-15*i; + b=255; + }else if(i<=100&&i>83){ + r=9*i-750; + g=0; + b=255; + }else{ + r=5*i-350; + g=0; + b=1500-12.5*i; + } + i++; + if(i>120) + i=0; + Color(r, g,b, r, g, b); + + } diff --git a/Ultrasound.h b/Ultrasound.h new file mode 100644 index 0000000..1765e1d --- /dev/null +++ b/Ultrasound.h @@ -0,0 +1,52 @@ +#ifndef ULTRASOUND_H +#define ULTRASOUND_H + +#include + +#define ULTRASOUND_I2C_ADDR 0x77 + +//Register +#define DISDENCE_L 0//Lower 8 bits of distance, unit mm +#define DISDENCE_H 1 + +#define RGB_BRIGHTNESS 50//0-255 + +#define RGB_WORK_MODE 2//RGB light mode, 0:user-defined mode 1:breathing light mode default 0 + +#define RGB1_R 3//R value of probe No. 1, 0~255, default 0 +#define RGB1_G 4//default 0 +#define RGB1_B 5//default 255 + +#define RGB2_R 6//R value of probe No. 2, 0~255, default 0 +#define RGB2_G 7//default 0 +#define RGB2_B 8//default 255 + +#define RGB1_R_BREATHING_CYCLE 9 //In the breathing light mode, the breathing cycle of the R of the No. 1 probe, the unit is 100ms and the default is 0. + //If the period is set to 3000ms, the value is 30 +#define RGB1_G_BREATHING_CYCLE 10 +#define RGB1_B_BREATHING_CYCLE 11 + +#define RGB2_R_BREATHING_CYCLE 12//Probe 2 +#define RGB2_G_BREATHING_CYCLE 13 +#define RGB2_B_BREATHING_CYCLE 14 + +#define RGB_WORK_SIMPLE_MODE 0 +#define RGB_WORK_BREATHING_MODE 1 + +class Ultrasound { + public: + Ultrasound(); + bool wireWriteByte(uint8_t addr, uint8_t val); + bool wireWriteDataArray(uint8_t addr, uint8_t reg,uint8_t *val,unsigned int len); + int wireReadDataArray(uint8_t addr, uint8_t reg, uint8_t *val, unsigned int len); + + void Breathing(uint8_t r1, uint8_t g1, uint8_t b1, uint8_t r2, uint8_t g2, uint8_t b2); + void Color(uint8_t r1, uint8_t g1, uint8_t b1, uint8_t r2, uint8_t g2, uint8_t b2); + void rainbow_color(); + u16 GetDistance(); + int i; //Current data location + uint16_t r; + uint16_t g; + uint16_t b; +}; +#endif diff --git a/VL53L0X2.cpp b/VL53L0X2.cpp new file mode 100644 index 0000000..c4b9b2b --- /dev/null +++ b/VL53L0X2.cpp @@ -0,0 +1,1010 @@ +// Most of the functionality of this library is based on the VL53L0X2 API +// provided by ST (STSW-IMG005), and some of the explanatory comments are quoted +// or paraphrased from the API source code, API user manual (UM2039), and the +// VL53L0X2 datasheet. + +#include "VL53L0X2.h" +#include + + + +// Constructors //////////////////////////////////////////////////////////////// + +VL53L0X2::VL53L0X2() + : bus(&Wire)//what does it mean?? + , address(ADDRESS_DEFAULT) + , io_timeout(0) // no timeout + , did_timeout(false) +{ +} + +// Public Methods ////////////////////////////////////////////////////////////// + +void VL53L0X2::setAddress(uint8_t new_addr) +{ + writeReg(I2C_SLAVE_DEVICE_ADDRESS, new_addr & 0x7F); + address = new_addr; +} + +// Initialize sensor using sequence based on VL53L0X2_DataInit(), +// VL53L0X2_StaticInit(), and VL53L0X2_PerformRefCalibration(). +// This function does not perform reference SPAD calibration +// (VL53L0X2_PerformRefSpadManagement()), since the API user manual says that it +// is performed by ST on the bare modules; it seems like that should work well +// enough unless a cover glass is added. +// If io_2v8 (optional) is true or not given, the sensor is configured for 2V8 +// mode. +bool VL53L0X2::init(bool io_2v8) +{ + // check model ID register (value specified in datasheet) + if (readReg(IDENTIFICATION_MODEL_ID) != 0xEE) { return false; } + + // VL53L0X2_DataInit() begin + + // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary + if (io_2v8) + { + writeReg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, + readReg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV) | 0x01); // set bit 0 + } + + // "Set I2C standard mode" + writeReg(0x88, 0x00); + + writeReg(0x80, 0x01); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + stop_variable = readReg(0x91); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + // disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks + writeReg(MSRC_CONFIG_CONTROL, readReg(MSRC_CONFIG_CONTROL) | 0x12); + + // set final range signal rate limit to 0.25 MCPS (million counts per second) + setSignalRateLimit(0.25); + + writeReg(SYSTEM_SEQUENCE_CONFIG, 0xFF); + + // VL53L0X2_DataInit() end + + // VL53L0X2_StaticInit() begin + + uint8_t spad_count; + bool spad_type_is_aperture; + if (!getSpadInfo(&spad_count, &spad_type_is_aperture)) { return false; } + + // The SPAD map (RefGoodSpadMap) is read by VL53L0X2_get_info_from_device() in + // the API, but the same data seems to be more easily readable from + // GLOBAL_CONFIG_SPAD_ENABLES_REF_0 through _6, so read it from there + uint8_t ref_spad_map[6]; + readMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6); + + // -- VL53L0X2_set_reference_spads() begin (assume NVM values are valid) + + writeReg(0xFF, 0x01); + writeReg(DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); + writeReg(DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); + writeReg(0xFF, 0x00); + writeReg(GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4); + + uint8_t first_spad_to_enable = spad_type_is_aperture ? 12 : 0; // 12 is the first aperture spad + uint8_t spads_enabled = 0; + + for (uint8_t i = 0; i < 48; i++) + { + if (i < first_spad_to_enable || spads_enabled == spad_count) + { + // This bit is lower than the first one that should be enabled, or + // (reference_spad_count) bits have already been enabled, so zero this bit + ref_spad_map[i / 8] &= ~(1 << (i % 8)); + } + else if ((ref_spad_map[i / 8] >> (i % 8)) & 0x1) + { + spads_enabled++; + } + } + + writeMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6); + + // -- VL53L0X2_set_reference_spads() end + + // -- VL53L0X2_load_tuning_settings() begin + // DefaultTuningSettings from VL53L0X2_tuning.h + + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + + writeReg(0xFF, 0x00); + writeReg(0x09, 0x00); + writeReg(0x10, 0x00); + writeReg(0x11, 0x00); + + writeReg(0x24, 0x01); + writeReg(0x25, 0xFF); + writeReg(0x75, 0x00); + + writeReg(0xFF, 0x01); + writeReg(0x4E, 0x2C); + writeReg(0x48, 0x00); + writeReg(0x30, 0x20); + + writeReg(0xFF, 0x00); + writeReg(0x30, 0x09); + writeReg(0x54, 0x00); + writeReg(0x31, 0x04); + writeReg(0x32, 0x03); + writeReg(0x40, 0x83); + writeReg(0x46, 0x25); + writeReg(0x60, 0x00); + writeReg(0x27, 0x00); + writeReg(0x50, 0x06); + writeReg(0x51, 0x00); + writeReg(0x52, 0x96); + writeReg(0x56, 0x08); + writeReg(0x57, 0x30); + writeReg(0x61, 0x00); + writeReg(0x62, 0x00); + writeReg(0x64, 0x00); + writeReg(0x65, 0x00); + writeReg(0x66, 0xA0); + + writeReg(0xFF, 0x01); + writeReg(0x22, 0x32); + writeReg(0x47, 0x14); + writeReg(0x49, 0xFF); + writeReg(0x4A, 0x00); + + writeReg(0xFF, 0x00); + writeReg(0x7A, 0x0A); + writeReg(0x7B, 0x00); + writeReg(0x78, 0x21); + + writeReg(0xFF, 0x01); + writeReg(0x23, 0x34); + writeReg(0x42, 0x00); + writeReg(0x44, 0xFF); + writeReg(0x45, 0x26); + writeReg(0x46, 0x05); + writeReg(0x40, 0x40); + writeReg(0x0E, 0x06); + writeReg(0x20, 0x1A); + writeReg(0x43, 0x40); + + writeReg(0xFF, 0x00); + writeReg(0x34, 0x03); + writeReg(0x35, 0x44); + + writeReg(0xFF, 0x01); + writeReg(0x31, 0x04); + writeReg(0x4B, 0x09); + writeReg(0x4C, 0x05); + writeReg(0x4D, 0x04); + + writeReg(0xFF, 0x00); + writeReg(0x44, 0x00); + writeReg(0x45, 0x20); + writeReg(0x47, 0x08); + writeReg(0x48, 0x28); + writeReg(0x67, 0x00); + writeReg(0x70, 0x04); + writeReg(0x71, 0x01); + writeReg(0x72, 0xFE); + writeReg(0x76, 0x00); + writeReg(0x77, 0x00); + + writeReg(0xFF, 0x01); + writeReg(0x0D, 0x01); + + writeReg(0xFF, 0x00); + writeReg(0x80, 0x01); + writeReg(0x01, 0xF8); + + writeReg(0xFF, 0x01); + writeReg(0x8E, 0x01); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + // -- VL53L0X2_load_tuning_settings() end + + // "Set interrupt config to new sample ready" + // -- VL53L0X2_SetGpioConfig() begin + + writeReg(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x04); + writeReg(GPIO_HV_MUX_ACTIVE_HIGH, readReg(GPIO_HV_MUX_ACTIVE_HIGH) & ~0x10); // active low + writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01); + + // -- VL53L0X2_SetGpioConfig() end + + measurement_timing_budget_us = getMeasurementTimingBudget(); + + // "Disable MSRC and TCC by default" + // MSRC = Minimum Signal Rate Check + // TCC = Target CentreCheck + // -- VL53L0X2_SetSequenceStepEnable() begin + + writeReg(SYSTEM_SEQUENCE_CONFIG, 0xE8); + + // -- VL53L0X2_SetSequenceStepEnable() end + + // "Recalculate timing budget" + setMeasurementTimingBudget(90);//measurement_timing_budget_us);//a longer timing budget allows for more accurate measurements. + + // VL53L0X2_StaticInit() end + + // VL53L0X2_PerformRefCalibration() begin (VL53L0X2_perform_ref_calibration()) + + // -- VL53L0X2_perform_vhv_calibration() begin + + writeReg(SYSTEM_SEQUENCE_CONFIG, 0x01); + if (!performSingleRefCalibration(0x40)) { return false; } + + // -- VL53L0X2_perform_vhv_calibration() end + + // -- VL53L0X2_perform_phase_calibration() begin + + writeReg(SYSTEM_SEQUENCE_CONFIG, 0x02); + if (!performSingleRefCalibration(0x00)) { return false; } + + // -- VL53L0X2_perform_phase_calibration() end + + // "restore the previous Sequence Config" + writeReg(SYSTEM_SEQUENCE_CONFIG, 0xE8); + + // VL53L0X2_PerformRefCalibration() end + + return true; +} + +// Write an 8-bit register +void VL53L0X2::writeReg(uint8_t reg, uint8_t value) +{ + bus->beginTransmission(address); + bus->write(reg); + bus->write(value); + last_status = bus->endTransmission(); +} + +// Write a 16-bit register +void VL53L0X2::writeReg16Bit(uint8_t reg, uint16_t value) +{ + bus->beginTransmission(address); + bus->write(reg); + bus->write((uint8_t)(value >> 8)); // value high byte + bus->write((uint8_t)(value)); // value low byte + last_status = bus->endTransmission(); +} + +// Write a 32-bit register +void VL53L0X2::writeReg32Bit(uint8_t reg, uint32_t value) +{ + bus->beginTransmission(address); + bus->write(reg); + bus->write((uint8_t)(value >> 24)); // value highest byte + bus->write((uint8_t)(value >> 16)); + bus->write((uint8_t)(value >> 8)); + bus->write((uint8_t)(value)); // value lowest byte + last_status = bus->endTransmission(); +} + +// Read an 8-bit register +uint8_t VL53L0X2::readReg(uint8_t reg) +{ + uint8_t value; + + bus->beginTransmission(address); + bus->write(reg); + last_status = bus->endTransmission(); + + bus->requestFrom(address, (uint8_t)1); + value = bus->read(); + + return value; +} + +// Read a 16-bit register +uint16_t VL53L0X2::readReg16Bit(uint8_t reg) +{ + uint16_t value; + + bus->beginTransmission(address); + bus->write(reg); + last_status = bus->endTransmission(); + + bus->requestFrom(address, (uint8_t)2); + value = (uint16_t)bus->read() << 8; // value high byte + value |= bus->read(); // value low byte + + return value; +} + +// Read a 32-bit register +uint32_t VL53L0X2::readReg32Bit(uint8_t reg) +{ + uint32_t value; + + bus->beginTransmission(address); + bus->write(reg); + last_status = bus->endTransmission(); + + bus->requestFrom(address, (uint8_t)4); + value = (uint32_t)bus->read() << 24; // value highest byte + value |= (uint32_t)bus->read() << 16; + value |= (uint16_t)bus->read() << 8; + value |= bus->read(); // value lowest byte + + return value; +} + +// Write an arbitrary number of bytes from the given array to the sensor, +// starting at the given register +void VL53L0X2::writeMulti(uint8_t reg, uint8_t const * src, uint8_t count) +{ + bus->beginTransmission(address); + bus->write(reg); + + while (count-- > 0) + { + bus->write(*(src++)); + } + + last_status = bus->endTransmission(); +} + +// Read an arbitrary number of bytes from the sensor, starting at the given +// register, into the given array +void VL53L0X2::readMulti(uint8_t reg, uint8_t * dst, uint8_t count) +{ + bus->beginTransmission(address); + bus->write(reg); + last_status = bus->endTransmission(); + + bus->requestFrom(address, count); + + while (count-- > 0) + { + *(dst++) = bus->read(); + } +} + +// Set the return signal rate limit check value in units of MCPS (mega counts +// per second). "This represents the amplitude of the signal reflected from the +// target and detected by the device"; setting this limit presumably determines +// the minimum measurement necessary for the sensor to report a valid reading. +// Setting a lower limit increases the potential range of the sensor but also +// seems to increase the likelihood of getting an inaccurate reading because of +// unwanted reflections from objects other than the intended target. +// Defaults to 0.25 MCPS as initialized by the ST API and this library. +bool VL53L0X2::setSignalRateLimit(float limit_Mcps) +{ + if (limit_Mcps < 0 || limit_Mcps > 511.99) { return false; } + + // Q9.7 fixed point format (9 integer bits, 7 fractional bits) + writeReg16Bit(FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, limit_Mcps * (1 << 7)); + return true; +} + +// Get the return signal rate limit check value in MCPS +float VL53L0X2::getSignalRateLimit() +{ + return (float)readReg16Bit(FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT) / (1 << 7); +} + +// Set the measurement timing budget in microseconds, which is the time allowed +// for one measurement; the ST API and this library take care of splitting the +// timing budget among the sub-steps in the ranging sequence. A longer timing +// budget allows for more accurate measurements. Increasing the budget by a +// factor of N decreases the range measurement standard deviation by a factor of +// sqrt(N). Defaults to about 33 milliseconds; the minimum is 20 ms. +// based on VL53L0X2_set_measurement_timing_budget_micro_seconds() +bool VL53L0X2::setMeasurementTimingBudget(uint32_t budget_us) +{ + SequenceStepEnables enables; + SequenceStepTimeouts timeouts; + + uint16_t const StartOverhead = 1910; + uint16_t const EndOverhead = 960; + uint16_t const MsrcOverhead = 660; + uint16_t const TccOverhead = 590; + uint16_t const DssOverhead = 690; + uint16_t const PreRangeOverhead = 660; + uint16_t const FinalRangeOverhead = 550; + + uint32_t used_budget_us = StartOverhead + EndOverhead; + + getSequenceStepEnables(&enables); + getSequenceStepTimeouts(&enables, &timeouts); + + if (enables.tcc) + { + used_budget_us += (timeouts.msrc_dss_tcc_us + TccOverhead); + } + + if (enables.dss) + { + used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + DssOverhead); + } + else if (enables.msrc) + { + used_budget_us += (timeouts.msrc_dss_tcc_us + MsrcOverhead); + } + + if (enables.pre_range) + { + used_budget_us += (timeouts.pre_range_us + PreRangeOverhead); + } + + if (enables.final_range) + { + used_budget_us += FinalRangeOverhead; + + // "Note that the final range timeout is determined by the timing + // budget and the sum of all other timeouts within the sequence. + // If there is no room for the final range timeout, then an error + // will be set. Otherwise the remaining time will be applied to + // the final range." + + if (used_budget_us > budget_us) + { + // "Requested timeout too big." + return false; + } + + uint32_t final_range_timeout_us = budget_us - used_budget_us; + + // set_sequence_step_timeout() begin + // (SequenceStepId == VL53L0X2_SEQUENCESTEP_FINAL_RANGE) + + // "For the final range timeout, the pre-range timeout + // must be added. To do this both final and pre-range + // timeouts must be expressed in macro periods MClks + // because they have different vcsel periods." + + uint32_t final_range_timeout_mclks = + timeoutMicrosecondsToMclks(final_range_timeout_us, + timeouts.final_range_vcsel_period_pclks); + + if (enables.pre_range) + { + final_range_timeout_mclks += timeouts.pre_range_mclks; + } + + writeReg16Bit(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, + encodeTimeout(final_range_timeout_mclks)); + + // set_sequence_step_timeout() end + + measurement_timing_budget_us = budget_us; // store for internal reuse + } + return true; +} + +// Get the measurement timing budget in microseconds +// based on VL53L0X2_get_measurement_timing_budget_micro_seconds() +// in us +uint32_t VL53L0X2::getMeasurementTimingBudget() +{ + SequenceStepEnables enables; + SequenceStepTimeouts timeouts; + + uint16_t const StartOverhead = 1910; + uint16_t const EndOverhead = 960; + uint16_t const MsrcOverhead = 660; + uint16_t const TccOverhead = 590; + uint16_t const DssOverhead = 690; + uint16_t const PreRangeOverhead = 660; + uint16_t const FinalRangeOverhead = 550; + + // "Start and end overhead times always present" + uint32_t budget_us = StartOverhead + EndOverhead; + + getSequenceStepEnables(&enables); + getSequenceStepTimeouts(&enables, &timeouts); + + if (enables.tcc) + { + budget_us += (timeouts.msrc_dss_tcc_us + TccOverhead); + } + + if (enables.dss) + { + budget_us += 2 * (timeouts.msrc_dss_tcc_us + DssOverhead); + } + else if (enables.msrc) + { + budget_us += (timeouts.msrc_dss_tcc_us + MsrcOverhead); + } + + if (enables.pre_range) + { + budget_us += (timeouts.pre_range_us + PreRangeOverhead); + } + + if (enables.final_range) + { + budget_us += (timeouts.final_range_us + FinalRangeOverhead); + } + + measurement_timing_budget_us = budget_us; // store for internal reuse + return budget_us; +} + +// Set the VCSEL (vertical cavity surface emitting laser) pulse period for the +// given period type (pre-range or final range) to the given value in PCLKs. +// Longer periods seem to increase the potential range of the sensor. +// Valid values are (even numbers only): +// pre: 12 to 18 (initialized default: 14) +// final: 8 to 14 (initialized default: 10) +// based on VL53L0X2_set_vcsel_pulse_period() +bool VL53L0X2::setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks) +{ + uint8_t vcsel_period_reg = encodeVcselPeriod(period_pclks); + + SequenceStepEnables enables; + SequenceStepTimeouts timeouts; + + getSequenceStepEnables(&enables); + getSequenceStepTimeouts(&enables, &timeouts); + + // "Apply specific settings for the requested clock period" + // "Re-calculate and apply timeouts, in macro periods" + + // "When the VCSEL period for the pre or final range is changed, + // the corresponding timeout must be read from the device using + // the current VCSEL period, then the new VCSEL period can be + // applied. The timeout then must be written back to the device + // using the new VCSEL period. + // + // For the MSRC timeout, the same applies - this timeout being + // dependant on the pre-range vcsel period." + + + if (type == VcselPeriodPreRange) + { + // "Set phase check limits" + switch (period_pclks) + { + case 12: + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x18); + break; + + case 14: + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x30); + break; + + case 16: + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x40); + break; + + case 18: + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x50); + break; + + default: + // invalid period + return false; + } + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + + // apply new VCSEL period + writeReg(PRE_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg); + + // update timeouts + + // set_sequence_step_timeout() begin + // (SequenceStepId == VL53L0X2_SEQUENCESTEP_PRE_RANGE) + + uint16_t new_pre_range_timeout_mclks = + timeoutMicrosecondsToMclks(timeouts.pre_range_us, period_pclks); + + writeReg16Bit(PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, + encodeTimeout(new_pre_range_timeout_mclks)); + + // set_sequence_step_timeout() end + + // set_sequence_step_timeout() begin + // (SequenceStepId == VL53L0X2_SEQUENCESTEP_MSRC) + + uint16_t new_msrc_timeout_mclks = + timeoutMicrosecondsToMclks(timeouts.msrc_dss_tcc_us, period_pclks); + + writeReg(MSRC_CONFIG_TIMEOUT_MACROP, + (new_msrc_timeout_mclks > 256) ? 255 : (new_msrc_timeout_mclks - 1)); + + // set_sequence_step_timeout() end + } + else if (type == VcselPeriodFinalRange) + { + switch (period_pclks) + { + case 8: + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x10); + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + writeReg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x02); + writeReg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C); + writeReg(0xFF, 0x01); + writeReg(ALGO_PHASECAL_LIM, 0x30); + writeReg(0xFF, 0x00); + break; + + case 10: + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x28); + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + writeReg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + writeReg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09); + writeReg(0xFF, 0x01); + writeReg(ALGO_PHASECAL_LIM, 0x20); + writeReg(0xFF, 0x00); + break; + + case 12: + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x38); + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + writeReg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + writeReg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08); + writeReg(0xFF, 0x01); + writeReg(ALGO_PHASECAL_LIM, 0x20); + writeReg(0xFF, 0x00); + break; + + case 14: + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x48); + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + writeReg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + writeReg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07); + writeReg(0xFF, 0x01); + writeReg(ALGO_PHASECAL_LIM, 0x20); + writeReg(0xFF, 0x00); + break; + + default: + // invalid period + return false; + } + + // apply new VCSEL period + writeReg(FINAL_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg); + + // update timeouts + + // set_sequence_step_timeout() begin + // (SequenceStepId == VL53L0X2_SEQUENCESTEP_FINAL_RANGE) + + // "For the final range timeout, the pre-range timeout + // must be added. To do this both final and pre-range + // timeouts must be expressed in macro periods MClks + // because they have different vcsel periods." + + uint16_t new_final_range_timeout_mclks = + timeoutMicrosecondsToMclks(timeouts.final_range_us, period_pclks); + + if (enables.pre_range) + { + new_final_range_timeout_mclks += timeouts.pre_range_mclks; + } + + writeReg16Bit(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, + encodeTimeout(new_final_range_timeout_mclks)); + + // set_sequence_step_timeout end + } + else + { + // invalid type + return false; + } + + // "Finally, the timing budget must be re-applied" + + setMeasurementTimingBudget(measurement_timing_budget_us); + + // "Perform the phase calibration. This is needed after changing on vcsel period." + // VL53L0X2_perform_phase_calibration() begin + + uint8_t sequence_config = readReg(SYSTEM_SEQUENCE_CONFIG); + writeReg(SYSTEM_SEQUENCE_CONFIG, 0x02); + performSingleRefCalibration(0x0); + writeReg(SYSTEM_SEQUENCE_CONFIG, sequence_config); + + // VL53L0X2_perform_phase_calibration() end + + return true; +} + +// Get the VCSEL pulse period in PCLKs for the given period type. +// based on VL53L0X2_get_vcsel_pulse_period() +uint8_t VL53L0X2::getVcselPulsePeriod(vcselPeriodType type) +{ + if (type == VcselPeriodPreRange) + { + return decodeVcselPeriod(readReg(PRE_RANGE_CONFIG_VCSEL_PERIOD)); + } + else if (type == VcselPeriodFinalRange) + { + return decodeVcselPeriod(readReg(FINAL_RANGE_CONFIG_VCSEL_PERIOD)); + } + else { return 255; } +} + +// Start continuous ranging measurements. If period_ms (optional) is 0 or not +// given, continuous back-to-back mode is used (the sensor takes measurements as +// often as possible); otherwise, continuous timed mode is used, with the given +// inter-measurement period in milliseconds determining how often the sensor +// takes a measurement. +// based on VL53L0X2_StartMeasurement() +void VL53L0X2::startContinuous(uint32_t period_ms) +{ + writeReg(0x80, 0x01); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + writeReg(0x91, stop_variable); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + if (period_ms != 0) + { + // continuous timed mode + + // VL53L0X2_SetInterMeasurementPeriodMilliSeconds() begin + + uint16_t osc_calibrate_val = readReg16Bit(OSC_CALIBRATE_VAL); + + if (osc_calibrate_val != 0) + { + period_ms *= osc_calibrate_val; + } + + writeReg32Bit(SYSTEM_INTERMEASUREMENT_PERIOD, period_ms); + + // VL53L0X2_SetInterMeasurementPeriodMilliSeconds() end + + writeReg(SYSRANGE_START, 0x04); // VL53L0X2_REG_SYSRANGE_MODE_TIMED + } + else + { + // continuous back-to-back mode + writeReg(SYSRANGE_START, 0x02); // VL53L0X2_REG_SYSRANGE_MODE_BACKTOBACK + } +} + +// Stop continuous measurements +// based on VL53L0X2_StopMeasurement() +void VL53L0X2::stopContinuous() +{ + writeReg(SYSRANGE_START, 0x01); // VL53L0X2_REG_SYSRANGE_MODE_SINGLESHOT + + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + writeReg(0x91, 0x00); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); +} + +// Returns a range reading in millimeters when continuous mode is active +// (readRangeSingleMillimeters() also calls this function after starting a +// single-shot range measurement) +uint16_t VL53L0X2::readRangeContinuousMillimeters() +{ + startTimeout(); + while ((readReg(RESULT_INTERRUPT_STATUS) & 0x07) == 0) + { + if (checkTimeoutExpired()) + { + did_timeout = true; + return 65535; + } + } + + // assumptions: Linearity Corrective Gain is 1000 (default); + // fractional ranging is not enabled + uint16_t range = readReg16Bit(RESULT_RANGE_STATUS + 10); + + writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01); + + return range; +} + +// Performs a single-shot range measurement and returns the reading in +// millimeters +// based on VL53L0X2_PerformSingleRangingMeasurement() +uint16_t VL53L0X2::readRangeSingleMillimeters() +{ + writeReg(0x80, 0x01); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + writeReg(0x91, stop_variable); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + writeReg(SYSRANGE_START, 0x01); + + // "Wait until start bit has been cleared" + startTimeout(); + while (readReg(SYSRANGE_START) & 0x01) + { + if (checkTimeoutExpired()) + { + did_timeout = true; + return 65535; + } + } + + return readRangeContinuousMillimeters(); +} + +// Did a timeout occur in one of the read functions since the last call to +// timeoutOccurred()? +bool VL53L0X2::timeoutOccurred() +{ + bool tmp = did_timeout; + did_timeout = false; + return tmp; +} + +// Private Methods ///////////////////////////////////////////////////////////// + +// Get reference SPAD (single photon avalanche diode) count and type +// based on VL53L0X2_get_info_from_device(), +// but only gets reference SPAD count and type +bool VL53L0X2::getSpadInfo(uint8_t * count, bool * type_is_aperture) +{ + uint8_t tmp; + + writeReg(0x80, 0x01); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + + writeReg(0xFF, 0x06); + writeReg(0x83, readReg(0x83) | 0x04); + writeReg(0xFF, 0x07); + writeReg(0x81, 0x01); + + writeReg(0x80, 0x01); + + writeReg(0x94, 0x6b); + writeReg(0x83, 0x00); + startTimeout(); + while (readReg(0x83) == 0x00) + { + if (checkTimeoutExpired()) { return false; } + } + writeReg(0x83, 0x01); + tmp = readReg(0x92); + + *count = tmp & 0x7f; + *type_is_aperture = (tmp >> 7) & 0x01; + + writeReg(0x81, 0x00); + writeReg(0xFF, 0x06); + writeReg(0x83, readReg(0x83) & ~0x04); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x01); + + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + return true; +} + +// Get sequence step enables +// based on VL53L0X2_GetSequenceStepEnables() +void VL53L0X2::getSequenceStepEnables(SequenceStepEnables * enables) +{ + uint8_t sequence_config = readReg(SYSTEM_SEQUENCE_CONFIG); + + enables->tcc = (sequence_config >> 4) & 0x1; + enables->dss = (sequence_config >> 3) & 0x1; + enables->msrc = (sequence_config >> 2) & 0x1; + enables->pre_range = (sequence_config >> 6) & 0x1; + enables->final_range = (sequence_config >> 7) & 0x1; +} + +// Get sequence step timeouts +// based on get_sequence_step_timeout(), +// but gets all timeouts instead of just the requested one, and also stores +// intermediate values +void VL53L0X2::getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts) +{ + timeouts->pre_range_vcsel_period_pclks = getVcselPulsePeriod(VcselPeriodPreRange); + + timeouts->msrc_dss_tcc_mclks = readReg(MSRC_CONFIG_TIMEOUT_MACROP) + 1; + timeouts->msrc_dss_tcc_us = + timeoutMclksToMicroseconds(timeouts->msrc_dss_tcc_mclks, + timeouts->pre_range_vcsel_period_pclks); + + timeouts->pre_range_mclks = + decodeTimeout(readReg16Bit(PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI)); + timeouts->pre_range_us = + timeoutMclksToMicroseconds(timeouts->pre_range_mclks, + timeouts->pre_range_vcsel_period_pclks); + + timeouts->final_range_vcsel_period_pclks = getVcselPulsePeriod(VcselPeriodFinalRange); + + timeouts->final_range_mclks = + decodeTimeout(readReg16Bit(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI)); + + if (enables->pre_range) + { + timeouts->final_range_mclks -= timeouts->pre_range_mclks; + } + + timeouts->final_range_us = + timeoutMclksToMicroseconds(timeouts->final_range_mclks, + timeouts->final_range_vcsel_period_pclks); +} + +// Decode sequence step timeout in MCLKs from register value +// based on VL53L0X2_decode_timeout() +// Note: the original function returned a uint32_t, but the return value is +// always stored in a uint16_t. +uint16_t VL53L0X2::decodeTimeout(uint16_t reg_val) +{ + // format: "(LSByte * 2^MSByte) + 1" + return (uint16_t)((reg_val & 0x00FF) << + (uint16_t)((reg_val & 0xFF00) >> 8)) + 1; +} + +// Encode sequence step timeout register value from timeout in MCLKs +// based on VL53L0X2_encode_timeout() +uint16_t VL53L0X2::encodeTimeout(uint32_t timeout_mclks) +{ + // format: "(LSByte * 2^MSByte) + 1" + + uint32_t ls_byte = 0; + uint16_t ms_byte = 0; + + if (timeout_mclks > 0) + { + ls_byte = timeout_mclks - 1; + + while ((ls_byte & 0xFFFFFF00) > 0) + { + ls_byte >>= 1; + ms_byte++; + } + + return (ms_byte << 8) | (ls_byte & 0xFF); + } + else { return 0; } +} + +// Convert sequence step timeout from MCLKs to microseconds with given VCSEL period in PCLKs +// based on VL53L0X2_calc_timeout_us() +uint32_t VL53L0X2::timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks) +{ + uint32_t macro_period_ns = calcMacroPeriod(vcsel_period_pclks); + + return ((timeout_period_mclks * macro_period_ns) + 500) / 1000; +} + +// Convert sequence step timeout from microseconds to MCLKs with given VCSEL period in PCLKs +// based on VL53L0X2_calc_timeout_mclks() +uint32_t VL53L0X2::timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks) +{ + uint32_t macro_period_ns = calcMacroPeriod(vcsel_period_pclks); + + return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns); +} + + +// based on VL53L0X2_perform_single_ref_calibration() +bool VL53L0X2::performSingleRefCalibration(uint8_t vhv_init_byte) +{ + writeReg(SYSRANGE_START, 0x01 | vhv_init_byte); // VL53L0X2_REG_SYSRANGE_MODE_START_STOP + + startTimeout(); + while ((readReg(RESULT_INTERRUPT_STATUS) & 0x07) == 0) + { + if (checkTimeoutExpired()) { return false; } + } + + writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01); + + writeReg(SYSRANGE_START, 0x00); + + return true; +} diff --git a/VL53L0X2.h b/VL53L0X2.h new file mode 100644 index 0000000..ac58190 --- /dev/null +++ b/VL53L0X2.h @@ -0,0 +1,206 @@ +#ifndef VL53L0X2_h +#define VL53L0X2_h + +#include +#include + + +// Defines ///////////////////////////////////////////////////////////////////// + +// The Arduino two-wire interface uses a 7-bit number for the address, +// and sets the last bit correctly based on reads and writes +#define ADDRESS_DEFAULT 0b0101001 + +// Record the current time to check an upcoming timeout against +#define startTimeout() (timeout_start_ms = millis()) + +// Check if timeout is enabled (set to nonzero value) and has expired +#define checkTimeoutExpired() (io_timeout > 0 && ((uint16_t)(millis() - timeout_start_ms) > io_timeout)) + +// Decode VCSEL (vertical cavity surface emitting laser) pulse period in PCLKs +// from register value +// based on VL53L0X2_decode_vcsel_period() +#define decodeVcselPeriod(reg_val) (((reg_val) + 1) << 1) + +// Encode VCSEL pulse period register value from period in PCLKs +// based on VL53L0X2_encode_vcsel_period() +#define encodeVcselPeriod(period_pclks) (((period_pclks) >> 1) - 1) + +// Calculate macro period in *nanoseconds* from VCSEL period in PCLKs +// based on VL53L0X2_calc_macro_period_ps() +// PLL_period_ps = 1655; macro_period_vclks = 2304 +#define calcMacroPeriod(vcsel_period_pclks) ((((uint32_t)2304 * (vcsel_period_pclks) * 1655) + 500) / 1000) + + +class VL53L0X2 +{ + public: + // register addresses from API VL53L0X2_device.h (ordered as listed there) + enum regAddr + { + SYSRANGE_START = 0x00, + + SYSTEM_THRESH_HIGH = 0x0C, + SYSTEM_THRESH_LOW = 0x0E, + + SYSTEM_SEQUENCE_CONFIG = 0x01, + SYSTEM_RANGE_CONFIG = 0x09, + SYSTEM_INTERMEASUREMENT_PERIOD = 0x04, + + SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A, + + GPIO_HV_MUX_ACTIVE_HIGH = 0x84, + + SYSTEM_INTERRUPT_CLEAR = 0x0B, + + RESULT_INTERRUPT_STATUS = 0x13, + RESULT_RANGE_STATUS = 0x14, + + RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC, + RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0, + RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0, + RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4, + RESULT_PEAK_SIGNAL_RATE_REF = 0xB6, + + ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28, + + I2C_SLAVE_DEVICE_ADDRESS = 0x8A, + + MSRC_CONFIG_CONTROL = 0x60, + + PRE_RANGE_CONFIG_MIN_SNR = 0x27, + PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56, + PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57, + PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64, + + FINAL_RANGE_CONFIG_MIN_SNR = 0x67, + FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47, + FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48, + FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44, + + PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61, + PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62, + + PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50, + PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51, + PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52, + + SYSTEM_HISTOGRAM_BIN = 0x81, + HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33, + HISTOGRAM_CONFIG_READOUT_CTRL = 0x55, + + FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70, + FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71, + FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72, + CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20, + + MSRC_CONFIG_TIMEOUT_MACROP = 0x46, + + SOFT_RESET_GO2_SOFT_RESET_N = 0xBF, + IDENTIFICATION_MODEL_ID = 0xC0, + IDENTIFICATION_REVISION_ID = 0xC2, + + OSC_CALIBRATE_VAL = 0xF8, + + GLOBAL_CONFIG_VCSEL_WIDTH = 0x32, + GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0, + GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1, + GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2, + GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3, + GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4, + GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5, + + GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6, + DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E, + DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F, + POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80, + + VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89, + + ALGO_PHASECAL_LIM = 0x30, + ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30, + }; + + enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange }; + + uint8_t last_status; // status of last I2C transmission + + VL53L0X2(); + + void setBus(TwoWire * bus) { this->bus = bus; } + TwoWire * getBus() { return bus; } + + void setAddress(uint8_t new_addr); + inline uint8_t getAddress() { return address; } + + bool init(bool io_2v8 = true); + + void writeReg(uint8_t reg, uint8_t value); + void writeReg16Bit(uint8_t reg, uint16_t value); + void writeReg32Bit(uint8_t reg, uint32_t value); + uint8_t readReg(uint8_t reg); + uint16_t readReg16Bit(uint8_t reg); + uint32_t readReg32Bit(uint8_t reg); + + void writeMulti(uint8_t reg, uint8_t const * src, uint8_t count); + void readMulti(uint8_t reg, uint8_t * dst, uint8_t count); + + bool setSignalRateLimit(float limit_Mcps); + float getSignalRateLimit(); + + bool setMeasurementTimingBudget(uint32_t budget_us); + uint32_t getMeasurementTimingBudget(); + + bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks); + uint8_t getVcselPulsePeriod(vcselPeriodType type); + + void startContinuous(uint32_t period_ms = 0); + void stopContinuous(); + uint16_t readRangeContinuousMillimeters(); + uint16_t readRangeSingleMillimeters(); + + inline void setTimeout(uint16_t timeout) { io_timeout = timeout; } + inline uint16_t getTimeout() { return io_timeout; } + bool timeoutOccurred(); + + private: + // TCC: Target CentreCheck + // MSRC: Minimum Signal Rate Check + // DSS: Dynamic Spad Selection + + struct SequenceStepEnables + { + boolean tcc, msrc, dss, pre_range, final_range; + }; + + struct SequenceStepTimeouts + { + uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks; + + uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks; + uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us; + }; + + TwoWire * bus; + uint8_t address; + uint16_t io_timeout; + bool did_timeout; + uint16_t timeout_start_ms; + + uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X2_DevData_t structure in API + uint32_t measurement_timing_budget_us; + + bool getSpadInfo(uint8_t * count, bool * type_is_aperture); + + void getSequenceStepEnables(SequenceStepEnables * enables); + void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts); + + bool performSingleRefCalibration(uint8_t vhv_init_byte); + + static uint16_t decodeTimeout(uint16_t value); + static uint16_t encodeTimeout(uint32_t timeout_mclks); + static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks); + static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks); +}; + +#endif From 14fd7bbd48de4b439545801f6b2a7bb9f345a68c Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Tue, 14 Jun 2022 13:57:02 -0500 Subject: [PATCH 07/23] Update robot arm source code (4).txt --- robot arm source code (4).txt | 1 + 1 file changed, 1 insertion(+) diff --git a/robot arm source code (4).txt b/robot arm source code (4).txt index ea81a35..a2197fb 100644 --- a/robot arm source code (4).txt +++ b/robot arm source code (4).txt @@ -1,3 +1,4 @@ +//This is a .ino file, //there are about 25 functions in this robot control script //porject idea introduction: //https://docs.google.com/presentation/d/12GfPPMKdLY4WXjXnS6jgWiD87svpd2VR/edit?usp=sharing&ouid=104479909616474097737&rtpof=true&sd=true From 4d9880ad0538f5d30bf395a9ab229dcaeae0991f Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Fri, 1 Jul 2022 11:13:23 -0500 Subject: [PATCH 08/23] Update robot arm source code (4).txt --- robot arm source code (4).txt | 143 +++++++++++++++++++++++++--------- 1 file changed, 105 insertions(+), 38 deletions(-) diff --git a/robot arm source code (4).txt b/robot arm source code (4).txt index a2197fb..422a11e 100644 --- a/robot arm source code (4).txt +++ b/robot arm source code (4).txt @@ -13,7 +13,7 @@ #include "Adafruit_VL53L0X2.h" #include "LobotServoController.h" #include "Ultrasound.h" -//#include "Screen.h" +#include "U8g2lib.h" #include #include //default #include @@ -30,7 +30,7 @@ // --------CONSTANTS (won't change)------------------------------------------------------- // address we will assign if dual sensor is present #define LOX1_ADDRESS 0x30//0x27 and 0x28 could be used -#define LOX2_ADDRESS 0x29//default +//#define LOX2_ADDRESS 0x29//default #define LOX3_ADDRESS 0x31 #define LOX4_ADDRESS 0x32 @@ -86,7 +86,7 @@ byte barrierIndex = 9; //dictionary: //the trashbin durationMoveTrain_Max, table 25000, the duration of train movement unsigned int durationMoveTrain_trashBin = durationMoveTrain_Max; - unsigned int durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 10000; + unsigned int durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 13000; //------------ VARIABLES (will change)----------------------------------------------------- @@ -102,14 +102,15 @@ unsigned long currentMillis = 0; //stores the value of total run time //in this class only duration or interval period is used // objects for the vl53l0x -Adafruit_VL53L0X2 lox1; //VL53L0X2 lox1; +VL53L0X2 lox1;//Adafruit_VL53L0X2 lox1; // //VL53L0X2 lox2; VL53L0X2 lox3; VL53L0X2 lox4; SoftwareSerial mySerial(RxPin, TxPin); //Instantiate soft serial port£¨rx£¬tx£© LobotServoController robotController(mySerial); //Instantiate servo controller communication library Ultrasound ultrasound; //Instantiate the ultrasonic class -//Screen screen; +U8G2_SSD1306_128X64_NONAME_1_HW_I2C u8g2(U8G2_R0, /* reset=*/ U8X8_PIN_NONE);//screen = Screen(); + /* //why it cause dead loop if we call constructors in setup() lox1 = Adafruit_VL53L0X2(); //lox1 = VL53L0X2(); @@ -118,7 +119,6 @@ Ultrasound ultrasound; //Instantiate the ultrasonic class lox4 = VL53L0X2(); //robotController(mySerial); ultrasound = Ultrasound(); //Instantiate the ultrasonic class - //screen = Screen(); */ bool isRunTime = false; @@ -247,6 +247,19 @@ void setup() { //initial sensors //________________________________ + { + u8g2.begin();//Wire.begin(); + u8g2.setFontPosTop(); + + u8g2.setDisplayRotation(U8G2_R2); + u8g2.setFont(u8g2_font_fub20_tr); + u8g2.firstPage(); + do { + u8g2.setCursor(0, 38); + u8g2.println("0.0"); + } while ( u8g2.nextPage() ); + + } setID(); delay(100); // the TOF distance sensors need 90 ms to read initialization(); //read_multi_tof_sensors(); //previousDistanceSensor1 = sensor1; @@ -320,6 +333,7 @@ void loop() { //read //____________________________________________________________________________________________________________________ //user IO + readSerial(); //asynchronous, fast readButton(); //asynchronous, fast //sensors if (isHere(IR3))//the farthest InfraRedSensor @@ -360,29 +374,44 @@ void loop() { run(); //Serial.println(F("isSafe2grib")); //Serial.println(isSafe2grib); - bool isDoneStep1 = step1(); - if (isDoneStep1) { + //bool isDoneStep1 = step1(); + //if (isDoneStep1) { step3(); - } + //} //display //report to the PC or monitor //____________________________________________________________________________________________________________________ - //screen.draw(sensor3); //asynchronous, very slow + //draw(sensor3); //asynchronous, very slow //delay(100); // do not use delay() in the loop() {}, it will cause the currentMillis delay 100 ms, which could undermine the servo7 movement 100 * 0.0105 = about 1 cm } //==================================================================================================================================================================== +void readSerial() { + static unsigned long previousButtonMillis_timer; + unsigned short buttonInterval = 200; + char NumTouchLocal; + if (previousButtonMillis_timer <= abs2(millis() - (long)buttonInterval)) {// currentMillis = abs2(millis() - (long)buttonInterval) + previousButtonMillis_timer += buttonInterval; + if (Serial.available() > 0) { + NumTouchLocal = char(Serial.read()); + NumTouch = (byte)NumTouchLocal - (byte)('0'); + Serial.println(NumTouch); + } + } +} + +//==================================================================================================================================================================== void initialization() { //could be initialized again________________________ durationMoveTrain_Max = durationMoveTrain_referPoint2jointPoint + 30000; //45000; //dictionary: //the trashbin durationMoveTrain_Max, table 25000, the duration of train movement durationMoveTrain_trashBin = durationMoveTrain_Max; - durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 10000; + durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 13000; //could be initialized again________________________ //assume servo7 is controlled by arduino board, Hiwonder robot arm board support it by providing energy and delivering information. @@ -399,7 +428,7 @@ void initialization() { durationMoveTrain_remainingPlanned = 0; isFirstTime2SetDurationMoveTrain_remainingPlanned = true; previousMillis = 0; - //unsigned short sensor2 = 0; + //sensor2 = 0; sensor3 = 0; sensor4 = 0; distance = 0; //ultrasound sensor @@ -438,6 +467,40 @@ void initialization() { } } +//======================================================================================================================================================================== +void draw(unsigned int sensor3) { + // answer + // no need to synchronize, keep currentMillis local + // can report slowly + static uint32_t previousMillis_timer = 0; + unsigned int screenInterval = 500; + if (previousMillis_timer < millis() - screenInterval)//currentMillis = millis() - screenInterval + { + previousMillis_timer = previousMillis_timer + screenInterval;//set clock + u8g2.clearBuffer(); + u8g2.firstPage(); + do { + if(sensor3 < 350)// + { + u8g2.setFont(u8g2_font_fub35_tn);//u8g2.setFont(u8g2_font_fub35_tn); // 791 bytes + u8g2.setCursor(0, 38); + //Serial.println(sensor3); + //u8g2.print(" "); + u8g2.print(sensor3, 1); + //u8g2.setCursor(90, 38); + //u8g2.setFont(u8g2_font_fub20_tr); // 2520 bytes + //u8g2.println("mm"); + } + else//>= 350 + { + //u8g2.setFont(u8g2_font_fub20_tr); + //u8g2.setCursor(5, 38); + //u8g2.println("over range"); + } + } while ( u8g2.nextPage()); + } +} + //Run button function //======================================================================================================================================================================== @@ -1022,7 +1085,7 @@ void step3() { //======================================================================================================================================================================== void readRobot() { - unsigned short robotInterval = 100; + unsigned short robotInterval = 500; static unsigned long previousButtonMillis_timer; //unsigned long if (previousButtonMillis_timer <= abs2(millis() - (long)robotInterval)) {// currentMillis = abs2(millis() - (long)robotInterval) previousButtonMillis_timer += robotInterval; @@ -1247,7 +1310,7 @@ void readButton() { else { count++; - if (count > 15) + if (count >50) { step = 2; count = 0; @@ -1264,7 +1327,7 @@ void readButton() { //output NumTouchLocal NumTouch = NumTouchLocal; count++; - if (count > 1) + if (count > 5) { count = 0; NumTouchLocal = 0; @@ -1280,8 +1343,9 @@ void readButton() { } } - Serial.println(F("button")); - Serial.println(NumTouchLocal); + //Serial.println(F("button")); + //Serial.println(NumTouchLocal); + draw(NumTouchLocal); //asynchronous, very slow //Serial.println(NumTouch); } @@ -1358,7 +1422,7 @@ void setID() { digitalWrite(SHT_LOX3, LOW); digitalWrite(SHT_LOX4, LOW); - /* + // initing LOX1 Wire.begin(); //This function initializes the Wire library lox1.setAddress(LOX1_ADDRESS); //set address// @@ -1366,23 +1430,23 @@ void setID() { Serial.println(F("Failed to boot first VL53L0X")); //while(1); } - */ + /* // initing LOX1 if(!lox1.begin(LOX1_ADDRESS, false, &Wire, 3)) { //Serial.println(F("Failed to boot first VL53L0X, LOX1")); //while(1); } - delay(10); + */ // activating LOX2 - digitalWrite(SHT_LOX2, HIGH); + //digitalWrite(SHT_LOX2, HIGH); delay(10); //initing LOX2 //Wire.begin(); //This function initializes the Wire library //default//lox2.setAddress(LOX2_ADDRESS); //set address// //if(!lox2.init()) { - // Serial.println(F("Failed to boot second VL53L0X")); + //Serial.println(F("Failed to boot second VL53L0X")); //while(1); //} @@ -1420,52 +1484,55 @@ void read_multi_tof_sensors() { // the TOF distance sensors need 90 ms to read //asynchronous, fast static unsigned long previousMillis_timer; - unsigned short sensorInterval = 100; //short + unsigned short sensorInterval = 500; //short if (previousMillis_timer < abs2(millis() - (long)sensorInterval))// currentMillis - sensorInterval could be != abs2(millis() - (long)sensorInterval) { previousMillis_timer += sensorInterval; //set clock //make sure that the sensor value is number instaed of some mysterious string + /* // this holds the measurement VL53L0X_RangingMeasurementData_t measure1; lox1.rangingTest(&measure1, false); // pass in 'true' to get debug data printout! // print sensor1 reading - Serial.print(F("1: ")); + //Serial.print(F("1: ")); if(measure1.RangeStatus != 4) { // if not out of range sensor1 = measure1.RangeMilliMeter; - Serial.print(sensor1); + Serial.println(sensor1); //Serial.print(F("mm")); } else { //Serial.print(F("Out of range")); } - /* - Serial.print(F("1: ")); - Serial.print(lox1.readRangeSingleMillimeters()); - Serial.print(F("mm")); */ + sensor1 = lox1.readRangeSingleMillimeters(); + + Serial.print(F(" 1: ")); + Serial.print(sensor1); + //Serial.print(F("mm")); + //Serial.print(F(" ")); - + //sensor2 = lox2.readRangeSingleMillimeters(); // print sensor2 reading - //Serial.print(F("2: ")); - // Serial.print(lox2.readRangeSingleMillimeters()); + //Serial.print(F(" 2: ")); + //Serial.print(sensor2); // Serial.print(F("mm")); - Serial.print(F(" ")); + //Serial.print(F(" ")); // print sensor3 reading - Serial.print(F("3: ")); + Serial.print(F(" 3: ")); sensor3 = lox3.readRangeSingleMillimeters(); Serial.print(sensor3); //Serial.print(F("mm")); - Serial.print(F(" ")); + //Serial.print(F(" ")); // print sensor4 reading - Serial.print(F("4: ")); + Serial.print(F(" 4: ")); sensor4 = lox4.readRangeSingleMillimeters(); - Serial.print(sensor4); - //Serial.print(F("mm")); + Serial.print(sensor4); + Serial.print(F(" mm")); Serial.println(); } From f2891fe7a7f3db123b73ffa71fc30c8a77065774 Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Mon, 4 Jul 2022 10:26:00 -0500 Subject: [PATCH 09/23] Delete robot arm source code (4).docx --- robot arm source code (4).docx | Bin 38640 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 robot arm source code (4).docx diff --git a/robot arm source code (4).docx b/robot arm source code (4).docx deleted file mode 100644 index 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zo0I_`dJ#F6H7(0xy3?mHGBWl$E&%`eOggHymL{_CPi}4J=O+64^$f`5g`{w@NVzx% z?iqx6`$K<{?J`-1E{PEM$5cdIcUsDQJJR5nCfU+sF|+7u3-B-h)w(4j76k7sWB>*D z4HqDP?edHV=qd%^QXYoi^WyJ!QzbBd*}8gL=mogjdR_nNJ31PN3D}dEpW;D)HW>QA zCh&o+6!bm|Pg|6i@UDD92%LDLSw{t)xd}Xs^#BY2-hvTyH+ud;gQ>5N3pj|MXFrk& za_YqiLpuOK(UI>e!~0~6lzU7EIS2`@$4stMtT zb*OzX0I1vm4(JiT>~UC?BIG)(W*p?w2s+4hSlb|EA?)ez^TeQkU(nwjenRl!+GQUK z0FzMw@Q+G{5Pmp|JP1#TA-sa!oRW}$FcaISNRHhb{Gq&z5KkC`_whsVdw7C~OvrFJ i0PW)efGzQW1@^*`js__>;{o6}_`-nRpnCV`r~d%_uQ%ZU From 4457eeca1fb339a2e2a52350e1318da4714c7e07 Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Mon, 4 Jul 2022 10:35:30 -0500 Subject: [PATCH 10/23] Update and rename robot arm source code (4).txt to robot_arm_source_code.md --- robot arm source code (4).txt => robot_arm_source_code.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) rename robot arm source code (4).txt => robot_arm_source_code.md (98%) diff --git a/robot arm source code (4).txt b/robot_arm_source_code.md similarity index 98% rename from robot arm source code (4).txt rename to robot_arm_source_code.md index 422a11e..a8d4d1a 100644 --- a/robot arm source code (4).txt +++ b/robot_arm_source_code.md @@ -102,7 +102,9 @@ unsigned long currentMillis = 0; //stores the value of total run time //in this class only duration or interval period is used // objects for the vl53l0x -VL53L0X2 lox1;//Adafruit_VL53L0X2 lox1; // +VL53L0X2 lox1;//Adafruit_VL53L0X2 lox1; +//Adafruit TOF sensor library is good, just the sketch and global variables are occupying too much memory space +//(almost 50% memory of the flash disk of arduino uno R3) //VL53L0X2 lox2; VL53L0X2 lox3; VL53L0X2 lox4; From a74665c305d54d81457f08dd6b429522f4ce78fc Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Mon, 4 Jul 2022 10:36:44 -0500 Subject: [PATCH 11/23] Rename robot_arm_source_code.md to robot_arm_source_code.txt --- robot_arm_source_code.md => robot_arm_source_code.txt | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename robot_arm_source_code.md => robot_arm_source_code.txt (100%) diff --git a/robot_arm_source_code.md b/robot_arm_source_code.txt similarity index 100% rename from robot_arm_source_code.md rename to robot_arm_source_code.txt From 3c194d5e5ca8cff317fa2b537bc00e9dc7f809ad Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Mon, 4 Jul 2022 10:42:27 -0500 Subject: [PATCH 12/23] Rename robot_arm_source_code.txt to robot arm source code (4).txt --- robot_arm_source_code.txt => robot arm source code (4).txt | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename robot_arm_source_code.txt => robot arm source code (4).txt (100%) diff --git a/robot_arm_source_code.txt b/robot arm source code (4).txt similarity index 100% rename from robot_arm_source_code.txt rename to robot arm source code (4).txt From f7eae670554d42e87758ccfc5f3fc979a1bbc5a2 Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Mon, 4 Jul 2022 10:53:46 -0500 Subject: [PATCH 13/23] Create ReadMe_RemoteRobotArm --- ReadMe_RemoteRobotArm | 1 + 1 file changed, 1 insertion(+) create mode 100644 ReadMe_RemoteRobotArm diff --git a/ReadMe_RemoteRobotArm b/ReadMe_RemoteRobotArm new file mode 100644 index 0000000..d6b6ef1 --- /dev/null +++ b/ReadMe_RemoteRobotArm @@ -0,0 +1 @@ +https://www.remoteutilities.com/download/ From dc5e9dac14160662ecc2a9a1faeb9b58e1e95771 Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Fri, 8 Jul 2022 20:48:17 -0500 Subject: [PATCH 14/23] Update robot arm source code (4).txt --- robot arm source code (4).txt | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/robot arm source code (4).txt b/robot arm source code (4).txt index a8d4d1a..479c2f3 100644 --- a/robot arm source code (4).txt +++ b/robot arm source code (4).txt @@ -86,8 +86,7 @@ byte barrierIndex = 9; //dictionary: //the trashbin durationMoveTrain_Max, table 25000, the duration of train movement unsigned int durationMoveTrain_trashBin = durationMoveTrain_Max; - unsigned int durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 13000; - + unsigned int durationMoveTrain_table = durationMoveTrain_referPoint2jointPoint + 15000; //------------ VARIABLES (will change)----------------------------------------------------- unsigned long currentMillis = 0; //stores the value of total run time @@ -102,9 +101,7 @@ unsigned long currentMillis = 0; //stores the value of total run time //in this class only duration or interval period is used // objects for the vl53l0x -VL53L0X2 lox1;//Adafruit_VL53L0X2 lox1; -//Adafruit TOF sensor library is good, just the sketch and global variables are occupying too much memory space -//(almost 50% memory of the flash disk of arduino uno R3) +VL53L0X2 lox1;//Adafruit_VL53L0X2 lox1; // //VL53L0X2 lox2; VL53L0X2 lox3; VL53L0X2 lox4; @@ -376,10 +373,10 @@ void loop() { run(); //Serial.println(F("isSafe2grib")); //Serial.println(isSafe2grib); - //bool isDoneStep1 = step1(); - //if (isDoneStep1) { + bool isDoneStep1 = step1(); + if (isDoneStep1) { step3(); - //} + } //display //report to the PC or monitor @@ -832,7 +829,7 @@ void step3() { if (!robotController.isRunning()) { step = 22; //train move backward 2s //move to the side of the fidge(joint point + 9s , moveForward(durationMoveTrain_fridgeSide), - durationMoveTrain = 2000; + durationMoveTrain = 4000; } } else { if (step == 22) { @@ -948,8 +945,8 @@ void step3() { } else {//!isSafe2grib if (!robotController.isRunning()) { step = 8; - //move it to the side of table,moveForward(durationMoveTrain_table), + 12s - durationMoveTrain = durationMoveTrain_table + 12 * 1000; + //move it to the side of table,moveForward(durationMoveTrain_table), + 10s + durationMoveTrain = durationMoveTrain_table + 10 * 1000; } } } else { if (step == 8) { From ab578ccf3c379aa9a1b4346929649727f5c82d90 Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Mon, 17 Oct 2022 17:52:58 -0500 Subject: [PATCH 15/23] Add files via upload --- RTP.cpp | 316 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ RTP.h | 130 +++++++++++++++++++++++ 2 files changed, 446 insertions(+) create mode 100644 RTP.cpp create mode 100644 RTP.h diff --git a/RTP.cpp b/RTP.cpp new file mode 100644 index 0000000..529bf73 --- /dev/null +++ b/RTP.cpp @@ -0,0 +1,316 @@ +/////////////////////////////////////// +// COMP/ELEC/MECH 450/550 +// Project 3 +// Authors: Connor Kelly, Simon (Guoliang Du) +////////////////////////////////////// + +#include "RTP.h" +#include +#include "ompl/base/goals/GoalSampleableRegion.h" +// often useful headers: +#include +//#include "ompl/base/spaces/RealVectorStateSpace.h" +//RealVectorStateSpace +#include "ompl/tools/config/SelfConfig.h" + + + + +ompl::geometric::RTP::RTP(const base::SpaceInformationPtr &si) : base::Planner(si, "RTP") +{ +// the specifications of this planner (ompl::base::PlannerSpecs) + specs_.approximateSolutions = true; + specs_.directed = true; + + Planner::declareParam("range", this, &RTP::setRange, &RTP::getRange, "0.:1.:10000."); + Planner::declareParam("goal_bias", this, &RTP::setGoalBias, &RTP::getGoalBias, "0.:.05:1."); + // Planner::declareParam("intermediate_states", this, &RRT::setIntermediateStates, &RRT::getIntermediateStates, "0,1"); + + // addIntermediateStates_ = addIntermediateStates; +} + + + + +ompl::geometric::RTP::~RTP() +{ + // free any allocated memory + freeMemory(); +} + + +void ompl::geometric::RTP::clear() +{ + + + Planner::clear(); + sampler_.reset(); + freeMemory(); + // clear the data structures here + // if (nn_) + // nn_->clear(); + if (tree) { + tree->clear(); + } + lastGoalMotion_ = nullptr; +} + +// optional, if additional setup/configuration is needed, the setup() method can be implemented +void ompl::geometric::RTP::setup() +{ + Planner::setup(); + + // perhaps attempt some auto-configuration + tools::SelfConfig sc(si_, getName()); + // This RTP inherits from ompl::base::planner class + // the planner class has a built-in function called "getName()" + + sc.configurePlannerRange(maxDistance_); + + // if (!nn_) + // nn_.reset(tools::SelfConfig::getDefaultNearestNeighbors(this)); + //if (!tree) + // tree_reset(); + + // nn_->setDistanceFunction + // ( + // [this](const Motion *a, const Motion *b) + // { + // return distanceFunction(a, b); + // } + // ); +} +/*void tree_reset() +{ +as(0)->values[0]; +} +*/ +void ompl::geometric::RTP::freeMemory() +{ + if (tree) + { + //the tree information has already been stored in an arraylist(the root pointer) called tree, we do not need to creat a new list + for (auto &motion : *tree) + //meaning: for ( auto i = begin(*tree); i != end(*tree); ++i) + { + //besides: + // auto &motion = *i; // motion is a node on the tree, besides the node has some property (state) + if (motion->state != nullptr) + si_->freeState(motion->state); + delete motion; + } + } +} + + + + +ompl::base::PlannerStatus ompl::geometric::RTP::solve(const base::PlannerTerminationCondition &ptc) +{ + //Todo: + // init tree vector + // make sure the planner is configured correctly; ompl::base::Planner::checkValidity + // ensures that there is at least one input state and a ompl::base::Goal object specified + checkValidity(); + base::Goal *goal = pdef_->getGoal().get(); + // pdef_ is a field or memeber variable of planner class + // it is about the problem defined by an user + // get a handle to the Goal from the ompl::base::ProblemDefinition member, pdef_ + auto *goal_s = dynamic_cast(goal); + + // get input states with PlannerInputStates helper, pis_ + // initialize tree to start states + while (const base::State *st = pis_.nextStart()) + //pis_ means PlannerInputStates, Utility class to extract valid input states + + { + // st will contain a start state. Typically this state will + // be cloned here and inserted into the Planner's data structure. + auto *motion = new Motion(si_); + si_->copyState(motion->state, st); + // nn_->add(motion); + tree->push_back(motion); + } + + + // if needed, sample states from the goal region (and wait until a state is sampled) + //const base::State *st = pis_.nextGoal(ptc); + // or sample a new goal state only if available: + //const base::State *st = pis_.nextGoal(); + + + // if init tree is empty, exit + if (tree->size() == 0) + { + OMPL_ERROR("%s: There are no valid initial states!", getName().c_str()); + return base::PlannerStatus::INVALID_START; + } + + if (!sampler_) + sampler_ = si_->allocStateSampler(); + + OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree->size()); + + + // ------------------------------------------------------------------------------------------ + + Motion *solution = nullptr; + Motion *approxsol = nullptr; + double approxdif = std::numeric_limits::infinity(); + auto *rmotion = new Motion(si_); //random node, could be the state of a node in the space, + base::State *rstate = rmotion->state;// + //base::State *xstate = si_->allocState();// state of the intermediate node + //nmotion is a tree node + //dstate is originially for the state of the intermediate tree node, but + //we do not need intermediate nodes, therefore dstate = rstate all the time in the algorithm + //which means dstate is just the state of the random node above + + // periodically check if ptc() returns true. + // if it does, terminate planning. + while (!ptc) + { +// TODO: Implement RTP as described +// 1. Select a random configuration qa from the existing Random tree. +// 2. Sample a random configuration qb from the configuration space. With a small probability, select the +// goal configuration as qb instead of a random one. +// 3. Check whether the straight-line path between qa and qb in the C-space is valid (i.e., collision free). If +// the path is valid, add the path from qa to qb to the tree. +// 4. Repeat steps 1 - 3 until the goal state is added to the tree. Extract the final motion plan from the tree + + // Start planning here. + + // call routines from SpaceInformation (si_) as needed. i.e., + // si_->allocStateSampler() for sampling, + // si_->checkMotion(state1, state2) for state validity, etc... + + // use the Goal pointer to evaluate whether a sampled state satisfies the goal requirements + + // use log macros for informative messaging, i.e., logInfo("Planner found a solution!"); + + // 1. Select a random configuration qa from the existing Random tree. + + /* find a random state in the tree */ + // pick an existing node from the tree + Motion *nmotion = tree->at(rng_.uniformInt(0, tree->size() - 1)); + //base::State *stateNodePicked = nmotion->state;// the state of the existing tree node picked above + base::State *dstate = rstate;// state of the random node + + + // 2. Sample a random configuration qb from the configuration space. With a small probability, select the + // goal configuration as qb instead of a random one. + + /* sample random state (with goal biasing) */ + if ((goal_s != nullptr) && rng_.uniform01() < goalBias_ && goal_s->canSample()) + goal_s->sampleGoal(rstate); + else + sampler_->sampleUniform(rstate); + + + // 3. Check whether the straight-line path between qa and qb in the C-space is valid (i.e., collision free). If + // the path is valid, add the path from qa to qb to the tree. + + /* find state to add */ + // double d = si_->distance(nmotion->state, rstate); + // if (d > maxDistance_) + // { + // si_->getStateSpace()->interpolate(nmotion->state, rstate, maxDistance_ / d, xstate); + // dstate = xstate; + // } + + if (si_->checkMotion(nmotion->state, dstate)) + { + + auto *motion = new Motion(si_); + si_->copyState(motion->state, dstate);// the random node becomes a new tree node + motion->parent = nmotion; + tree->push_back(motion); + + nmotion = motion; + + + // 4. Repeat steps 1 - 3 until the goal state is added to the tree. Extract the final motion plan from the tree + double dist = 0.0; + bool sat = goal->isSatisfied(nmotion->state, &dist); + if (sat) + { + approxdif = dist; + solution = nmotion; + break; + } + if (dist < approxdif) + { + approxdif = dist; + approxsol = nmotion; + } + } + } + + + // ------------------------------------------------------------------------------------------ + + + bool solved = false; + bool approximate = false; + if (solution == nullptr) + { + solution = approxsol; + approximate = true; + } + + if (solution != nullptr) + { + lastGoalMotion_ = solution; + + /* construct the solution path */ + std::vector mpath; + while (solution != nullptr) + { + mpath.push_back(solution); + solution = solution->parent; + } + + /* set the solution path */ + auto path(std::make_shared(si_)); + for (int i = mpath.size() - 1; i >= 0; --i) + path->append(mpath[i]->state); + + // When a solution path is computed, save it here + pdef_->addSolutionPath(path, approximate, approxdif, getName()); + solved = true; + } + + //si_->freeState(xstate);// state of the intermediate node + if (rmotion->state != nullptr) + si_->freeState(rmotion->state); + delete rmotion; + + + OMPL_INFORM("%s: Created %u states", getName().c_str(), tree->size()); + + return {solved, approximate}; + + // Return a value from the PlannerStatus enumeration. + // See ompl::base::PlannerStatus for the possible return values + //return base::PlannerStatus::EXACT_SOLUTION; + +} + + +void ompl::geometric::RTP::getPlannerData(base::PlannerData &data) const +{ + // fill data with the states and edges that were created + // in the exploration data structure + // perhaps also fill control::PlannerData + Planner::getPlannerData(data); + + if (lastGoalMotion_ != nullptr) + data.addGoalVertex(base::PlannerDataVertex(lastGoalMotion_->state)); + + for (auto &motion : *tree) + { + if (motion->parent == nullptr) + data.addStartVertex(base::PlannerDataVertex(motion->state)); + else + data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state)); + } +} diff --git a/RTP.h b/RTP.h new file mode 100644 index 0000000..c9ec189 --- /dev/null +++ b/RTP.h @@ -0,0 +1,130 @@ +/////////////////////////////////////// +// COMP/ELEC/MECH 450/550 +// Project 3 +// Authors: Connor Kelly, Simon (Guoliang Du) +////////////////////////////////////// + +#ifndef RANDOM_TREE_H +#define RANDOM_TREE_H + +//#include "ompl/datastructures/NearestNeighbors.h" +#include +#include "ompl/geometric/planners/PlannerIncludes.h" + +namespace ompl +{ + namespace geometric + { + // TODO: Implement RTP as described + + class RTP : public base::Planner //inheritance from the grandparent + { + + + public: + + /** \brief Constructor */ + RTP(const base::SpaceInformationPtr &si); + + ~RTP() override; //destructor ?? but why override + + void getPlannerData(base::PlannerData &data) const override; + + base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override; + + void clear() override; + + + + /** \brief Set the goal bias + + In the process of randomly selecting states in + the state space to attempt to go towards, the + algorithm may in fact choose the actual goal state, if + it knows it, with some probability. This probability + is a real number between 0.0 and 1.0; its value should + usually be around 0.05 and should not be too large. It + is probably a good idea to use the default value. */ + void setGoalBias(double goalBias) + { + goalBias_ = goalBias; + } + + /** \brief Get the goal bias the planner is using */ + double getGoalBias() const + { + return goalBias_; + } + + /** \brief Set the range the planner is supposed to use. + + This parameter greatly influences the runtime of the + algorithm. It represents the maximum length of a + motion to be added in the tree of motions. */ + void setRange(double distance) + { + maxDistance_ = distance; + } + + /** \brief Get the range the planner is using */ + double getRange() const + { + return maxDistance_; + } + + + + void setup() override; + + protected: + /** \brief Representation of a motion + + This only contains pointers to parent motions as we + only need to go backwards in the tree. */ + class Motion + { + public: + Motion() = default; + + /** \brief Constructor that allocates memory for the state */ + Motion(const base::SpaceInformationPtr &si) : state(si->allocState()) + { + } + + ~Motion() = default; + + /** \brief The state contained by the motion */ + base::State * state{nullptr}; + + /** \brief The parent motion in the exploration tree */ + Motion * parent{nullptr}; + }; + + /** \brief Free the memory allocated by this planner */ + void freeMemory(); + + /** \brief A tree datastructure containing the tree of motions */ + std::shared_ptr> tree; + + /** \brief State sampler */ + base::StateSamplerPtr sampler_; + + /** \brief The fraction of time the goal is picked as the state to expand towards (if such a state is + * available) */ + double goalBias_{.05}; + + /** \brief The maximum length of a motion to be added to a tree */ + double maxDistance_{0.}; + + /** \brief The random number generator */ + RNG rng_; + + /** \brief The most recent goal motion. Used for PlannerData computation */ + Motion * lastGoalMotion_{nullptr}; + + }; + + } // namespace geometric +} // namespace ompl + +#endif From f150eb2d38bf172833005e63681f210e86f47281 Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Mon, 17 Oct 2022 18:24:09 -0500 Subject: [PATCH 16/23] Update RTP.cpp --- RTP.cpp | 138 ++++++++++++++++++++++++++------------------------------ 1 file changed, 63 insertions(+), 75 deletions(-) diff --git a/RTP.cpp b/RTP.cpp index 529bf73..a0d6ded 100644 --- a/RTP.cpp +++ b/RTP.cpp @@ -9,24 +9,22 @@ #include "ompl/base/goals/GoalSampleableRegion.h" // often useful headers: #include -//#include "ompl/base/spaces/RealVectorStateSpace.h" -//RealVectorStateSpace #include "ompl/tools/config/SelfConfig.h" +//constructor +// This RTP implement inherits from ompl::base::planner class ompl::geometric::RTP::RTP(const base::SpaceInformationPtr &si) : base::Planner(si, "RTP") { -// the specifications of this planner (ompl::base::PlannerSpecs) + // the specifications of this planner (ompl::base::PlannerSpecs) specs_.approximateSolutions = true; specs_.directed = true; Planner::declareParam("range", this, &RTP::setRange, &RTP::getRange, "0.:1.:10000."); Planner::declareParam("goal_bias", this, &RTP::setGoalBias, &RTP::getGoalBias, "0.:.05:1."); - // Planner::declareParam("intermediate_states", this, &RRT::setIntermediateStates, &RRT::getIntermediateStates, "0,1"); - // addIntermediateStates_ = addIntermediateStates; } @@ -34,11 +32,12 @@ ompl::geometric::RTP::RTP(const base::SpaceInformationPtr &si) : base::Planner(s ompl::geometric::RTP::~RTP() { - // free any allocated memory + // free any allocated memory freeMemory(); } + void ompl::geometric::RTP::clear() { @@ -46,12 +45,12 @@ void ompl::geometric::RTP::clear() Planner::clear(); sampler_.reset(); freeMemory(); - // clear the data structures here - // if (nn_) - // nn_->clear(); + + // clear the data structures here if (tree) { tree->clear(); } + lastGoalMotion_ = nullptr; } @@ -60,41 +59,26 @@ void ompl::geometric::RTP::setup() { Planner::setup(); - // perhaps attempt some auto-configuration + // perhaps attempt some auto-configuration tools::SelfConfig sc(si_, getName()); - // This RTP inherits from ompl::base::planner class // the planner class has a built-in function called "getName()" sc.configurePlannerRange(maxDistance_); - - // if (!nn_) - // nn_.reset(tools::SelfConfig::getDefaultNearestNeighbors(this)); - //if (!tree) - // tree_reset(); - - // nn_->setDistanceFunction - // ( - // [this](const Motion *a, const Motion *b) - // { - // return distanceFunction(a, b); - // } - // ); -} -/*void tree_reset() -{ -as(0)->values[0]; } -*/ + + + + void ompl::geometric::RTP::freeMemory() { if (tree) { //the tree information has already been stored in an arraylist(the root pointer) called tree, we do not need to creat a new list for (auto &motion : *tree) - //meaning: for ( auto i = begin(*tree); i != end(*tree); ++i) { + //meaning: for ( auto i = begin(*tree); i != end(*tree); ++i) //besides: - // auto &motion = *i; // motion is a node on the tree, besides the node has some property (state) + // auto &motion = *i; // motion is a node on the tree, besides the node has some property (state) if (motion->state != nullptr) si_->freeState(motion->state); delete motion; @@ -109,34 +93,37 @@ ompl::base::PlannerStatus ompl::geometric::RTP::solve(const base::PlannerTermina { //Todo: // init tree vector - // make sure the planner is configured correctly; ompl::base::Planner::checkValidity - // ensures that there is at least one input state and a ompl::base::Goal object specified + // make sure the planner is configured correctly; ompl::base::Planner::checkValidity + // ensures that there is at least one input state and a ompl::base::Goal object specified checkValidity(); + + // get a handle to the Goal from the ompl::base::ProblemDefinition member, pdef_ base::Goal *goal = pdef_->getGoal().get(); // pdef_ is a field or memeber variable of planner class // it is about the problem defined by an user - // get a handle to the Goal from the ompl::base::ProblemDefinition member, pdef_ + + auto *goal_s = dynamic_cast(goal); - // get input states with PlannerInputStates helper, pis_ - // initialize tree to start states + + // get input states with PlannerInputStates helper, pis_ + // initialize tree to start states while (const base::State *st = pis_.nextStart()) //pis_ means PlannerInputStates, Utility class to extract valid input states { - // st will contain a start state. Typically this state will - // be cloned here and inserted into the Planner's data structure. + // st will contain a start state. Typically this state will + // be cloned here and inserted into the Planner's data structure. auto *motion = new Motion(si_); si_->copyState(motion->state, st); - // nn_->add(motion); tree->push_back(motion); } - // if needed, sample states from the goal region (and wait until a state is sampled) - //const base::State *st = pis_.nextGoal(ptc); - // or sample a new goal state only if available: - //const base::State *st = pis_.nextGoal(); + // if needed, sample states from the goal region (and wait until a state is sampled) + //const base::State *st = pis_.nextGoal(ptc); + // or sample a new goal state only if available: + //const base::State *st = pis_.nextGoal(); // if init tree is empty, exit @@ -165,40 +152,40 @@ ompl::base::PlannerStatus ompl::geometric::RTP::solve(const base::PlannerTermina //we do not need intermediate nodes, therefore dstate = rstate all the time in the algorithm //which means dstate is just the state of the random node above - // periodically check if ptc() returns true. - // if it does, terminate planning. + + + // periodically check if ptc() returns true. + // if it does, terminate planning. while (!ptc) { -// TODO: Implement RTP as described -// 1. Select a random configuration qa from the existing Random tree. -// 2. Sample a random configuration qb from the configuration space. With a small probability, select the -// goal configuration as qb instead of a random one. -// 3. Check whether the straight-line path between qa and qb in the C-space is valid (i.e., collision free). If -// the path is valid, add the path from qa to qb to the tree. -// 4. Repeat steps 1 - 3 until the goal state is added to the tree. Extract the final motion plan from the tree - - // Start planning here. - - // call routines from SpaceInformation (si_) as needed. i.e., - // si_->allocStateSampler() for sampling, - // si_->checkMotion(state1, state2) for state validity, etc... - - // use the Goal pointer to evaluate whether a sampled state satisfies the goal requirements - - // use log macros for informative messaging, i.e., logInfo("Planner found a solution!"); - + // TODO: Implement RTP as described + // 1. Select a random configuration qa from the existing Random tree. + // 2. Sample a random configuration qb from the configuration space. With a small probability, select the + // goal configuration as qb instead of a random one. + // 3. Check whether the straight-line path between qa and qb in the C-space is valid (i.e., collision free). If + // the path is valid, add the path from qa to qb to the tree. + // 4. Repeat steps 1 - 3 until the goal state is added to the tree. Extract the final motion plan from the tree + + // Start planning here. + + // call routines from SpaceInformation (si_) as needed. i.e., + // si_->allocStateSampler() for sampling, + // si_->checkMotion(state1, state2) for state validity, etc... + + // use the Goal pointer to evaluate whether a sampled state satisfies the goal requirements + + // use log macros for informative messaging, i.e., logInfo("Planner found a solution!"); + + // 1. Select a random configuration qa from the existing Random tree. - /* find a random state in the tree */ // pick an existing node from the tree Motion *nmotion = tree->at(rng_.uniformInt(0, tree->size() - 1)); - //base::State *stateNodePicked = nmotion->state;// the state of the existing tree node picked above base::State *dstate = rstate;// state of the random node // 2. Sample a random configuration qb from the configuration space. With a small probability, select the // goal configuration as qb instead of a random one. - /* sample random state (with goal biasing) */ if ((goal_s != nullptr) && rng_.uniform01() < goalBias_ && goal_s->canSample()) goal_s->sampleGoal(rstate); @@ -208,7 +195,6 @@ ompl::base::PlannerStatus ompl::geometric::RTP::solve(const base::PlannerTermina // 3. Check whether the straight-line path between qa and qb in the C-space is valid (i.e., collision free). If // the path is valid, add the path from qa to qb to the tree. - /* find state to add */ // double d = si_->distance(nmotion->state, rstate); // if (d > maxDistance_) @@ -218,6 +204,7 @@ ompl::base::PlannerStatus ompl::geometric::RTP::solve(const base::PlannerTermina // } if (si_->checkMotion(nmotion->state, dstate)) + //nmotion->state, meaning the state of the existing tree node picked above { auto *motion = new Motion(si_); @@ -274,12 +261,13 @@ ompl::base::PlannerStatus ompl::geometric::RTP::solve(const base::PlannerTermina for (int i = mpath.size() - 1; i >= 0; --i) path->append(mpath[i]->state); - // When a solution path is computed, save it here + // When a solution path is computed, save it here pdef_->addSolutionPath(path, approximate, approxdif, getName()); solved = true; } - //si_->freeState(xstate);// state of the intermediate node + //si_->freeState(xstate);//x is the state of the intermediate node + if (rmotion->state != nullptr) si_->freeState(rmotion->state); delete rmotion; @@ -289,18 +277,18 @@ ompl::base::PlannerStatus ompl::geometric::RTP::solve(const base::PlannerTermina return {solved, approximate}; - // Return a value from the PlannerStatus enumeration. - // See ompl::base::PlannerStatus for the possible return values - //return base::PlannerStatus::EXACT_SOLUTION; + // Return a value from the PlannerStatus enumeration. + // See ompl::base::PlannerStatus for the possible return values + //return base::PlannerStatus::EXACT_SOLUTION; } void ompl::geometric::RTP::getPlannerData(base::PlannerData &data) const { - // fill data with the states and edges that were created - // in the exploration data structure - // perhaps also fill control::PlannerData + // fill data with the states and edges that were created + // in the exploration data structure + // perhaps also fill control::PlannerData Planner::getPlannerData(data); if (lastGoalMotion_ != nullptr) From 4c3c3805fae4b68b0510219e49edcf0f294dbd0e Mon Sep 17 00:00:00 2001 From: "Simon (Du, Guoliang)" <101145370+SimonDuGL@users.noreply.github.com> Date: Tue, 22 Nov 2022 22:19:31 -0600 Subject: [PATCH 17/23] Add files via upload --- RGrrt_tree.csv | 1333 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 1333 insertions(+) create mode 100644 RGrrt_tree.csv diff --git a/RGrrt_tree.csv b/RGrrt_tree.csv new file mode 100644 index 0000000..a2c5cf8 --- /dev/null +++ b/RGrrt_tree.csv @@ -0,0 +1,1333 @@ +,x,y,Column3,Column4 +0,0.0,0.0,0.0,0.1 +1,0.009895,-0.00125,-0.251327,0.1 +2,0.0,0.0,0.0,0.1 +3,0.009974,0.000627,0.125664,0.1 +4,0.009895,-0.00125,-0.251327,0.1 +5,0.019035,-0.005205,-0.565486,0.1 +6,0.019035,-0.005205,-0.565486,0.1 +7,0.027932,-0.009738,-0.376991,0.1 +8,0.009974,0.000627,0.125664,0.1 +9,0.028882,0.006771,0.502654,0.1 +10,0.019035,-0.005205,-0.565486,0.1 +11,0.037084,-0.013698,-0.314159,0.1 +12,0.028882,0.006771,0.502654,0.1 +13,0.046967,0.015281,0.376991,0.1 +14,0.019035,-0.005205,-0.565486,0.1 +15,0.02712,-0.011079,-0.69115,0.1 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