//
// Trial to test the robot's behavior (according to NN) in the environment
//
double run_trial() {
double inputs[NB_INPUTS];
double outputs[NB_OUTPUTS];
//Get position of the e-puck
static double position[3]={0.0,0.0,0.0};
const double *gps_matrix = wb_gps_get_values(gps);
position[0] = gps_matrix[0];//gps_position_x(gps_matrix);
position[1] = gps_matrix[2];//gps_position_z(gps_matrix);
position[2] = gps_matrix[1];//gps_position_y(gps_matrix);
//Speed of the robot's wheels within the +SPEED_RANGE and -SPEED_RANGE values
int speed[2]={0,0};
//Maximum activation of all IR proximity sensors [0,1]
double maxIRActivation = 0;
//get sensor data, i.e., NN inputs
int i, j;
for(j=0;j<NB_INPUTS;j++) {
inputs[j]=(((double)wb_distance_sensor_get_value(ps[j])-ps_offset[j])<0)?0:((double)wb_distance_sensor_get_value(ps[j])-ps_offset[j])/((double)PS_RANGE);
//get max IR activation
if(inputs[j]>maxIRActivation) maxIRActivation=inputs[j];
printf("sensor #: %d, sensor read: %g, maxIR: %g\n", j, inputs[j], maxIRActivation);
}
//printf("max IR activation: %f\n", maxIRActivation);
// Run the neural network and computes the output speed of the robot
run_neural_network(inputs, outputs);
speed[LEFT] = SPEED_RANGE*outputs[0];
speed[RIGHT] = SPEED_RANGE*outputs[1];
// If you are running against an obstacle, stop the wheels
if ( maxIRActivation > 0.9 ) {
speed[LEFT]=0;
speed[RIGHT]=0;
}
// Set wheel speeds to output values
wb_differential_wheels_set_speed(speed[LEFT], speed[RIGHT]); //left, right
// Stop the robot if it is against an obstacle
for (i=0;i<NB_DIST_SENS;i++) {
int tmpps=(((double)wb_distance_sensor_get_value(ps[i])-ps_offset[i])<0)?0:((double)wb_distance_sensor_get_value(ps[i])-ps_offset[i]);
if(OBSTACLE_THRESHOLD<tmpps ) {// proximity sensors
//printf("%d \n",tmpps);
speed[LEFT] = 0;
speed[RIGHT] = 0;
break;
}
}
return compute_fitness(speed, position, maxIRActivation);
}
double run_trial() {
int speed[2]={0,0};
//Maximum activation of all IR proximity sensors [0,1]
//double maxIRActivation = 0;
//get sensor data, i.e., NN inputs
int j;
for(j=0;j<NB_DIST_SENS;j++) {
//printf("sensor %d reads %g\n",j,wb_distance_sensor_get_value(ps[j]));
temp[j]=(((double)wb_distance_sensor_get_value(ps[j])-ps_offset[j])<0)?0:(((double)wb_distance_sensor_get_value(ps[j])-ps_offset[j])/((double)PS_RANGE));
}
for(j=0;j<NB_PS;j++) {
//printf("sensor %d reads %g\n",j,wb_distance_sensor_get_value(ps[j]));
inputs[j]=(temp[2*j]+temp[(2*j)+1])/2.0;
}
inputs[4]= wb_distance_sensor_get_value(fs[0])-fs_offset[0];
//printf("floor sensor:%g\n",inputs[4]);
// Run the neural network and computes the output speed of the robot
run_neural_network(inputs, outputs);
speed[LEFT] = clip_value(outputs[0],max_speed); //scale outputs between 0 and 1
speed[RIGHT] = clip_value(outputs[1],max_speed);
//printf("L: %d; R: %d\n",speed[LEFT],speed[RIGHT]);
// Set wheel speeds to output values
wb_differential_wheels_set_speed(speed[LEFT], speed[RIGHT]); //left, right
//printf("Set wheels to outputs.\n");
return compute_fitness(inputs[4]);
return compute_fitness(inputs[4]);
}
//Determines whether or not the puck is extremely close,
//moderately close, or far from something in front of it.
int collisionPending()
{
WbDeviceTag frontDistanceSensors[] = {ps0, ps7};
int tooHot = 0;
int i;
for(i=0; i < 2; i++)
{
double currentSensorValue = wb_distance_sensor_get_value(frontDistanceSensors[i]);
if(currentSensorValue >= STOP_THRESHOLD)
tooHot = 1;
else if(currentSensorValue > SLOW_THRESHOLD)
tooHot = 2;
}
return tooHot;
}
int main(){
reset();
int msl,msr; // motor speed left and right
double distances[NB_SENSORS]; // array keeping the distance sensor readings
int elapsed_time; // elapsed time during one time_step
int obstacle_near; // flag which becomes true if an obstacle is nearby
int hit_flag; // flag which becomes true as soon as the robot hits an obstacle
int last_ts_was_hit = 0; // flag memorizing whether the robot was already in a collision during the last
// time step
int time_steps; // counter for simulated time steps
int hit_counter; // counter for time steps involving collisions
int collision_duration; // duration of a single collision (in time steps unit)
double average_collision_duration;// average duration of a single collision
const double* gpsvalues; // matrix containing gps readings
double actx,acty; // current position
double oldx,oldy; // previous position
double speed; // average robot speed in free space
int collision_started = 0;
// iteration variables
int i;
int sensor_nb;
FILE* f; // file handle
char fname[]="/tmp/collision_pos.txt"; // file name to store the positions of the collisions
if(fmod(TIME_STEP,50)!=0){
printf("ERROR: The TIME_STEP needs to be a multiple of 50ms\n");
return(0);
}
for(i=0;i<NB_SENSORS;i++) {
wb_distance_sensor_enable(ps[i],50); // this function wb_*_enable() allows to specify an update interval for the sensor readings in milliseconds
}
wb_gps_enable(gps,50);
wb_robot_step(50);
gpsvalues = wb_gps_get_values(gps); // returns a pointer to three double values. The pointer is the address of an array allocated by the function internally.
wb_robot_step(50);
oldx=gpsvalues[0];
oldy=gpsvalues[2];
time_steps=0;
hit_counter=0;
hit_flag=0;
average_collision_duration=0;
speed=0;
int ts_2=0, ts_3=0, ts_4=0, ts_5=0;
for(;;){
elapsed_time=0; // reset elapsed time and hit flag
ts_5 = ts_4;
ts_4 = ts_3;
ts_3 = ts_2;
ts_2 = last_ts_was_hit;
last_ts_was_hit=hit_flag; // copying the status of the last time step
if(!last_ts_was_hit) {
collision_duration=1; // if not actually colliding, always reset counter
}
hit_flag=0; // every time step
while(elapsed_time<TIME_STEP){
msl=0; msr=0;
for(sensor_nb=0;sensor_nb<NB_SENSORS;sensor_nb++){ // read sensor values and calculate motor speeds
distances[sensor_nb] = wb_distance_sensor_get_value(ps[sensor_nb]);
//printf("t=%d, distance[%d] = %f\n",time_steps,sensor_nb,distances[sensor_nb]);
msr += distances[sensor_nb] * Interconn[sensor_nb];
msl += distances[sensor_nb] * Interconn[sensor_nb + NB_SENSORS];
}
msl /= 350; msr /= 350; // Normalizing speeds
actx=gpsvalues[0];
acty=gpsvalues[2];
//printf("x = %f, y = %f\n",actx, acty);
obstacle_near=(abs(msl)>10 || abs(msr)>10);
if(obstacle_near){ // if motor speed changes (if obstacle is hit)
//printf("obstacle_near=%d msr = %d msl = %d \n", obstacle_near, msr, msl);
hit_flag=1;
f=fopen(fname,"a");
fprintf(f,"%f %f\n",
actx,
acty);
fclose(f);
} else { // measure speed only when no obstacles near
double dist = sqrt((actx-oldx)*(actx-oldx)+(acty-oldy)*(acty-oldy)); // distance traveled in 50ms
if(dist<0.01) // don't consider fast speed due to wrap around
speed=speed*0.999+0.001*dist*1000.0/50.0;
}
oldx=actx;
oldy=acty;
msl += (BIAS_SPEED);
msr += (BIAS_SPEED);
wb_differential_wheels_set_speed(3*msl,3*msr);
gpsvalues = wb_gps_get_values(gps);
wb_robot_step(50); // Executing the simulation for 50ms
elapsed_time+=50;
} // end time step
time_steps++;
if(!(last_ts_was_hit || ts_2 || ts_3 || ts_4 || ts_5) && hit_flag){// increase hit counter only for new collisions
collision_started = 1;
hit_counter++;
//printf("hit_counter=%d msr = %d msl = %d \n",hit_counter, msr, msl);
}
else if(collision_started && hit_flag){
collision_duration++; // otherwise measure duration of a collision
//printf("collision_duration=%d msr = %d msl = %d \n", collision_duration, msr, msl);
}
if(!hit_flag && collision_started){ // at the end of a collision, we calculate the running average
if(collision_duration>4){
collision_started = 0;
printf("end of collision, duration=%d msr = %d msl = %d \n", collision_duration, msr, msl);
collision_duration = collision_duration + 4;
average_collision_duration= (average_collision_duration*(hit_counter-1)+collision_duration)/hit_counter;
f=fopen("/tmp/collision_duration_webots.txt","a");
fprintf(f,"%d \n",collision_duration);
fclose(f);}
else{
//printf("collision too short = %d, thus removed \n", collision_duration);
collision_started = 0;
hit_counter--;
}
}
if(fmod(time_steps,20*60*1) == 0){ // every 1 minutes
printf("Hits: %d Time [time steps]): %d p: %f Avg. Ta [time steps]: %0.2f v (m/s):%0.3f\n",
hit_counter, time_steps,
(double) hit_counter/(time_steps-hit_counter*ROUND(average_collision_duration)),
average_collision_duration,
speed);
f=fopen("/tmp/collision_probability.txt","a");
fprintf(f,"%f\n", (double) hit_counter/(time_steps-hit_counter*ROUND(average_collision_duration)));
fclose(f);
}
}
}
// the main function
int main(){
int msl, msr, bmsl, bmsr; // Wheel speeds
int sum_sensors; // Braitenberg parameters
int i, j; // Loop counter
int max_sens; // Store highest sensor value
double *rbuffer;
double buffer[255];
int distances[NB_SENSORS]; // Array for the distance sensor readings
for(;;) {
reset(); // Resetting the robot
while (wb_receiver_get_queue_length(receiver0) == 0) {
wb_robot_step(64);
}
rbuffer = (double *)wb_receiver_get_data(receiver0);
for(i=0; i<FLOCK_SIZE; i++) {
timestamp[i] = 0;
}
msl = 0; msr = 0;
max_sens = 0;
// Forever
for(j = 0; j < NB_STEPS; ++j){
bmsl = 0; bmsr = 0;
sum_sensors = 0;
max_sens = 0;
/* Braitenberg */
for(i=0;i<NB_SENSORS;i++) {
distances[i]=wb_distance_sensor_get_value(ds[i]); //Read sensor values
sum_sensors += distances[i]; // Add up sensor values
max_sens = max_sens>distances[i]?max_sens:distances[i]; // Check if new highest sensor value
// Weighted sum of distance sensor values for Braitenburg vehicle
bmsr += rbuffer[i] * distances[i];
bmsl += rbuffer[i+NB_SENSORS] * distances[i];
}
// Adapt Braitenberg values (empirical tests)
bmsl/=MIN_SENS; bmsr/=MIN_SENS;
bmsl+=66; bmsr+=72;
/* Send and get information */
timestamp[robot_id]++;
send_ping_robot(robot_id);
process_received_ping_messages();
//printf("ROBOT %d: wheels %d, %d\n", robot_id, bmsl, bmsr);
// Compute self position
prev_my_position[0] = my_position[0];
prev_my_position[1] = my_position[1];
update_self_motion(msl,msr);
speed[robot_id][0] = (1/DELTA_T)*(my_position[0]-prev_my_position[0]);
speed[robot_id][1] = (1/DELTA_T)*(my_position[1]-prev_my_position[1]);
// Reynold's rules with all previous info (updates the speed[][] table)
reynolds_rules();
//printf("ROBOT %d: speed: %f, %f\n", robot_id, speed[robot_id][0], speed[robot_id][1]);
// Compute wheels speed from reynold's speed
compute_wheel_speeds(&msl, &msr);
//printf("wheels: %d, %d\n", msl, msr);
// Adapt speed instinct to distance sensor values
if (sum_sensors > NB_SENSORS*MIN_SENS) {
msl -= msl*max_sens/(2*MAX_SENS);
msr -= msr*max_sens/(2*MAX_SENS);
}
// Add Braitenberg
msl += bmsl;
msr += bmsr;
// Set speed
wb_differential_wheels_set_speed(msl,msr);
// Continue one step
wb_robot_step(TIME_STEP);
}
wb_emitter_send(emitter0,(void *)buffer,sizeof(double));
wb_receiver_next_packet(receiver0);
}
}
void flocking_behavior(int *msl, int *msr)
{
int i;
float a[2]; // desired heading vector
float b[2]; // current heading vector
float h[2]; // haeding alignment vector
float p[2]; // proximal control vector
float r[2]; // migration control vector
float s[2]; // flocking control vector
float u = 0.0; // linear velocity of the e-puck
float w = 0.0; // angular velocity of the e-puck
float Nl = 0.0; // angular velocity of the left wheel
float Nr = 0.0; // angular velocity of the right wheel
float fk = 0.0; // buffer variable to compute the virtual force from IR sensor
float norm = 0.0; // buffer variable for vector normalization
float sens = 0.0; // buffer variable to get senser values
float xloc = 0.0; // buffer variable for the robots relative x position
float zloc = 0.0; // buffer variable for the robots relative z position
float aloc = 0.0; // buffer variable for the robots relative anlge
float dloc = 0.0; // buffer variable for the robots relative distance
float coef_k = COEF_KP *(COEF_K_U - COEF_K_L) + COEF_K_L; // De-normalization of coef_k
float coef_b = COEF_B *(COEF_B_U - COEF_B_L) + COEF_B_L; // De-normalization of coef_b
float coef_s = COEF_S *(COEF_S_U - COEF_S_L) + COEF_S_L; // De-normalization of coef_s
float coef_r = COEF_R *(COEF_R_U - COEF_R_L) + COEF_R_L; // De-normalization of coef_r
float coef_t = COEF_T *(COEF_T_U - COEF_T_L) + COEF_T_L; // De-normalization of coef_t
/*
* HEADING VECTOR
*/
h[0] = h[1] = 0.0f;
for(i = 0; i < FLOCK_SIZE; ++i) {
if (i != robot_id) {
h[0] += cosf( ( get_bearing_in_degrees() - neighboors_bearing[i] ) * M_PI / 180.0 );
h[1] += sinf( ( get_bearing_in_degrees() - neighboors_bearing[i] ) * M_PI / 180.0 );
}
}
norm = sqrtf(h[0]*h[0] + h[1]*h[1]);
h[0] /= norm;
h[1] /= norm;
/*
* PROXIMAL CONTROL
*/
p[0] = p[1] = .0f;
for(i = 0; i < NB_SENSORS; ++i) {
sens = wb_distance_sensor_get_value(ds[i]);
if (sens >= MIN_SENS) fk = -(sens*sens)/MAX_SENS;
if (sens < MIN_SENS) fk = 0.0;
p[0] += cosf( sensor_degrees[i] * M_PI / 180.0 ) * fk / ((float)NB_SENSORS);
p[1] += sinf( sensor_degrees[i] * M_PI / 180.0 ) * fk / ((float)NB_SENSORS);
}
s[0] = s[1] = .0f;
for(i = 0; i < FLOCK_SIZE; i++) {
fk = 0.0;
xloc = -relative_pos[i][1];
zloc = -relative_pos[i][0];
dloc = sqrtf(xloc*xloc + zloc*zloc);
if (i != robot_id)
{
if ( xloc >= 0.0) aloc = +atanf(zloc/xloc) * 180/M_PI;
if ( xloc < 0.0) aloc = +atanf(zloc/xloc) * 180/M_PI + 180;
if ( dloc >= coef_t) fk = +(dloc - coef_t)*(dloc - coef_t);
if ( dloc < coef_t) fk = -(dloc - coef_t)*(dloc - coef_t);
s[0] += cosf(aloc * M_PI/180) * fk;
s[1] += sinf(aloc * M_PI/180) * fk;
}
}
/*
* MIGRATION URGE
*/
r[0] = cosf(( get_bearing_in_degrees() - get_migr_bearing_in_degrees() - 90)* M_PI/180);
r[1] = sinf(( get_bearing_in_degrees() - get_migr_bearing_in_degrees() - 90)* M_PI/180);
/*
* HEADING VECTOR (desired = a, current = b)
*/
a[0] = h[0] + coef_b * p[0] + coef_r * r[0] + coef_s * s[0];
a[1] = h[1] + coef_b * p[1] + coef_r * r[1] + coef_s * s[1];
norm = sqrtf(a[0]*a[0] + a[1]*a[1]);
a[0] /= norm;
a[1] /= norm;
b[0] = cosf( 0.0 * M_PI / 180 );
b[1] = sinf( 0.0 * M_PI / 180 );
/*
* MOTION CONTROL
*/
float phase_a = atanf(a[1] / a[0]);
float phase_b = atanf(b[1] / b[0]);
float dphase = phase_b - phase_a;
u = (a[0]*b[0] + a[1]*b[1]) * MAX_SPEED_MS;
w = dphase * coef_k;
if (u < 0.0){
u = 0.0;
if (phase_a > 0) dphase = phase_b - (phase_a - M_PI);
if (phase_a <= 0) dphase = phase_b - (phase_a + M_PI);
w = dphase * coef_k;
}
/*
* WHEEL VELOCITY
*/
Nl = (u + AXLE_LENGTH * w / 2.0 ) / (2 * M_PI * WHEEL_RADIUS);
Nr = (u - AXLE_LENGTH * w / 2.0 ) / (2 * M_PI * WHEEL_RADIUS);
*msl = (int) ( Nl / ( SPEED_UNIT_RADS )) ;
*msr = (int) ( Nr / ( SPEED_UNIT_RADS )) ;
limit(msl,MAX_SPEED);
limit(msr,MAX_SPEED);
/*
* PRINT
*/
if (DISPLAY == 2)
{
if (robot_id == 3){
printf(" ------ ROBOT ID ------ \n");
printf(" robot id : %d \n " , robot_id);
printf(" ------ VECTORS ------ \n ");
printf(" h : %.6lf , %.6lf \n" , h[0], h[1]);
printf(" p : %.6lf , %.6lf \n" , p[0], p[1]);
printf(" r : %.6lf , %.6lf \n" , r[0], r[1]);
printf(" a : %.6lf , %.6lf \n" , a[0], a[1]);
printf(" b : %.6lf , %.6lf \n" , b[0], b[1]);
printf(" s : %.6lf , %.6lf \n" , s[0], s[1]);
printf(" ------ CONTROL ------ \n ");
printf(" pa , pb : %.6lf , %.6lf \n" , phase_a*(180/M_PI), phase_b*(180/M_PI));
printf(" u , w : %.6lf , %.6lf \n" , u, w);
printf(" Nl , Nr : %.6lf , %.6lf \n" , Nl , Nr);
printf(" MSL/R : %.6d , %.6d \n", *msl, *msr);
printf(" --------------------- \n ");
}
}
}
int main(int argc, const char *argv[]) {
WbDeviceTag speaker, microphone;
WbDeviceTag sensors[NUM_SENSORS];
int role = UNKNOWN;
int prev_audible = -1;
int i, j; // for loops
// initialize webots
wb_robot_init();
// determine role
if (argc >= 2) {
if (! strcmp(argv[1], "speaker"))
role = SPEAKER;
else if (! strcmp(argv[1], "microphone"))
role = MICROPHONE;
}
// use speaker or microphone according to specified role
if (role == SPEAKER)
speaker = wb_robot_get_device("speaker");
else if (role == MICROPHONE) {
// we only use "mic0" in this demo
microphone = wb_robot_get_device("mic0");
wb_microphone_enable(microphone, TIME_STEP / 2);
}
// find distance sensors
for (i = 0; i < NUM_SENSORS; i++) {
char sensor_name[64];
sprintf(sensor_name, "ps%d", i);
sensors[i] = wb_robot_get_device(sensor_name);
wb_distance_sensor_enable(sensors[i], TIME_STEP);
}
// main loop
for (;;) {
if (role == SPEAKER) {
wb_speaker_emit_sample(speaker, SAMPLE, sizeof(SAMPLE));
}
else if (role == MICROPHONE) {
const short *rec_buffer = (const short *)wb_microphone_get_sample_data(microphone);
int numSamples = wb_microphone_get_sample_size(microphone) / sizeof(SAMPLE[0]);
if (rec_buffer) {
int audible = 0;
for (i = 0; i < numSamples; i++) {
// warning this demo assumes no noise and therefore depends on the sound plugin configuration !
if (rec_buffer[i] != 0)
audible = 1;
}
if (audible != prev_audible) {
printf(audible ? "I hear you now !\n" : "I can't hear you !\n");
prev_audible = audible;
}
}
else
printf("received: nothing this time ...\n");
}
// read distance sensor values
double sensor_values[NUM_SENSORS];
for (i = 0; i < NUM_SENSORS; i++)
sensor_values[i] = wb_distance_sensor_get_value(sensors[i]);
// compute braitenberg collision avoidance
double speed[2];
for (i = 0; i < 2; i++) {
speed[i] = 0.0;
for (j = 0; j < NUM_SENSORS; j++)
speed[i] += EPUCK_MATRIX[j][i] * (1 - (sensor_values[j] / RANGE));
}
// set the motors speed
wb_differential_wheels_set_speed(speed[0], speed[1]);
// simulation step
wb_robot_step(TIME_STEP);
}
return 0;
}
////////////////////////////////////////////
// Main
int main()
{
int i, speed[2], ps_offset[NB_DIST_SENS]={0,0,0,0,0,0,0,0}, Mode=1;
/* intialize Webots */
wb_robot_init();
/* initialization */
char name[20];
for (i = 0; i < NB_LEDS; i++) {
sprintf(name, "led%d", i);
led[i] = wb_robot_get_device(name); /* get a handler to the sensor */
}
for (i = 0; i < NB_DIST_SENS; i++) {
sprintf(name, "ps%d", i);
ps[i] = wb_robot_get_device(name); /* proximity sensors */
wb_distance_sensor_enable(ps[i],TIME_STEP);
}
for (i = 0; i < NB_GROUND_SENS; i++) {
sprintf(name, "gs%d", i);
gs[i] = wb_robot_get_device(name); /* ground sensors */
wb_distance_sensor_enable(gs[i],TIME_STEP);
}
for(;;) // Main loop
{
// Run one simulation step
wb_robot_step(TIME_STEP);
// Reset all BB variables when switching from simulation to real robot and back
if (Mode!=wb_robot_get_mode())
{
oam_reset = TRUE;
llm_active = FALSE;
llm_past_side = NO_SIDE;
ofm_active = FALSE;
lem_active = FALSE;
lem_state = LEM_STATE_STANDBY;
Mode = wb_robot_get_mode();
if (Mode == SIMULATION) {
for(i=0;i<NB_DIST_SENS;i++) ps_offset[i]=PS_OFFSET_SIMULATION[i];
wb_differential_wheels_set_speed(0,0); wb_robot_step(TIME_STEP); // Just run one step to make sure we get correct sensor values
printf("\n\n\nSwitching to SIMULATION and reseting all BB variables.\n\n");
} else if (Mode == REALITY) {
for(i=0;i<NB_DIST_SENS;i++) ps_offset[i]=PS_OFFSET_REALITY[i];
wb_differential_wheels_set_speed(0,0); wb_robot_step(TIME_STEP); // Just run one step to make sure we get correct sensor values
printf("\n\n\nSwitching to REALITY and reseting all BB variables.\n\n");
}
}
// read sensors value
for(i=0;i<NB_DIST_SENS;i++) ps_value[i] = (((int)wb_distance_sensor_get_value(ps[i])-ps_offset[i])<0)?0:((int)wb_distance_sensor_get_value(ps[i])-ps_offset[i]);
for(i=0;i<NB_GROUND_SENS;i++) gs_value[i] = wb_distance_sensor_get_value(gs[i]);
// Reset all BB variables when switching from simulation to real robot and back
if (Mode!=wb_robot_get_mode())
{
oam_reset = TRUE;
llm_active = FALSE;
llm_past_side = NO_SIDE;
ofm_active = FALSE;
lem_active = FALSE;
lem_state = LEM_STATE_STANDBY;
Mode = wb_robot_get_mode();
if (Mode == SIMULATION) printf("\nSwitching to SIMULATION and reseting all BB variables.\n\n");
else if (Mode == REALITY) printf("\nSwitching to REALITY and reseting all BB variables.\n\n");
}
// Speed initialization
speed[LEFT] = 0;
speed[RIGHT] = 0;
// *** START OF SUBSUMPTION ARCHITECTURE ***
// LFM - Line Following Module
LineFollowingModule();
// Speed computation
speed[LEFT] = lfm_speed[LEFT];
speed[RIGHT] = lfm_speed[RIGHT];
// *** END OF SUBSUMPTION ARCHITECTURE ***
// Debug display
printf("OAM %d side %d \n", oam_active, oam_side);
// Set wheel speeds
wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
}
return 0;
}
// entry point of the controller
int main(int argc, char **argv)
{
// initialize the Webots API
wb_robot_init();
// internal variables
int i;
WbDeviceTag ps[8];
char ps_names[8][4] = {
"ps0", "ps1", "ps2", "ps3",
"ps4", "ps5", "ps6", "ps7"
};
// initialize devices
for (i=0; i<8 ; i++) {
ps[i] = wb_robot_get_device(ps_names[i]);
wb_distance_sensor_enable(ps[i], TIME_STEP);
}
WbDeviceTag ls[8];
char ls_names[8][4] = {
"ls0", "ls1", "ls2", "ls3",
"ls4", "ls5", "ls6", "ls7"
};
// initialize devices
for (i=0; i<8 ; i++) {
ls[i] = wb_robot_get_device(ls_names[i]);
wb_light_sensor_enable(ls[i], TIME_STEP);
}
WbDeviceTag led[8];
char led_names[8][5] = {
"led0", "led1", "led2", "led3",
"led4", "led5", "led6", "led7"
};
// initialize devices
for (i=0; i<8 ; i++) {
led[i] = wb_robot_get_device(led_names[i]);
}
// feedback loop
while (1) {
// step simulation
int delay = wb_robot_step(TIME_STEP);
if (delay == -1) // exit event from webots
break;
// read sensors outputs
double ps_values[8];
for (i=0; i<8 ; i++)
ps_values[i] = wb_distance_sensor_get_value(ps[i]);
update_search_speed(ps_values, 250);
// set speeds
double left_speed = get_search_left_wheel_speed();
double right_speed = get_search_right_wheel_speed();
// read IR sensors outputs
double ls_values[8];
for (i=0; i<8 ; i++){
ls_values[i] = wb_light_sensor_get_value(ls[i]);
}
int active_ir = FALSE;
for(i=0; i<8; i++){
if(ls_values[i] < 2275){
active_ir = TRUE;
}
}
if(active_ir == TRUE){
swarm_retrieval(ls_values, ps_values, 2275);
left_speed = get_retrieval_left_wheel_speed();
right_speed = get_retrieval_right_wheel_speed();
}
if(is_pushing() == TRUE || stagnation == TRUE){
// check for stagnation
stagnation_counter = stagnation_counter + 1;
if(stagnation_counter == min((50 + positive_feedback * 50), 300) && stagnation == FALSE){
stagnation_counter = 0; // reset counter
stagnation_check = TRUE;
for(i=0; i<8; i++)
prev_dist_values[i] = ps_values[i];
}
if(stagnation_check == TRUE){
left_speed = 0;
right_speed = 0;
}
if(stagnation_check == TRUE && stagnation_counter == 5){
stagnation_counter = 0; // reset counter
reset_stagnation();
valuate_pushing(ps_values, prev_dist_values);
stagnation = get_stagnation_state();
stagnation_check = FALSE;
if(stagnation == TRUE)
positive_feedback = 0;
else
positive_feedback = positive_feedback + 1;
}
if(stagnation == TRUE){
stagnation_recovery(ps_values, 300);
left_speed = get_stagnation_left_wheel_speed();
right_speed = get_stagnation_right_wheel_speed();
if(get_stagnation_state() == FALSE){
reset_stagnation();
stagnation = FALSE;
stagnation_counter = 0;
}
}
}
// write actuators inputs
wb_differential_wheels_set_speed(left_speed, right_speed);
for(i=0; i<8; i++){
wb_led_set(led[i], get_LED_state(i));
}
}
// cleanup the Webots API
wb_robot_cleanup();
return 0; //EXIT_SUCCESS
}
void getSensorValues(int *sensorTable) {
unsigned int i;
for(i = 0; i < NB_SENSORS; i++) {
sensorTable[i] = wb_distance_sensor_get_value(sensors[i]);
}
}
// controller main loop
static int run(int ms) {
static double ds_value[NB_SENSORS];
int i;
for (i = 0; i < NB_SENSORS; i++)
// read sensor values
// reads the handle in ps[i] and saves its value in ds_value[i]
ds_value[i] = wb_distance_sensor_get_value(ps[i]); // range: 0 (far) to 4095 (0 distance (in theory))
// choose behavior
double left_speed, right_speed;
int duration;
//printf("ds_value[0] = %f\n", ds_value[0]);
int front_threshold = 1024;
int side_threshold = 2048;
if (ds_value[0] > front_threshold )
{ // we detected an obstacle on the front right
left_speed = -400;
right_speed = +400; // turn around
duration = 10 * TIME_STEP; // for 1280 milliseconds
}
else if ( ds_value[1] > front_threshold )
{
left_speed = 200;
right_speed = 400;
duration = 10 * TIME_STEP;
}
else if ( ds_value[6] > front_threshold )
{ // we detected an obstacle on the front right
right_speed = -400;
left_speed = +400; //turn around the other side
duration = 10 * TIME_STEP; // for 1280 millisecondss
}
else if ( ds_value[7] > front_threshold)
{
right_speed = -400;
left_speed = +400; //turn around the other side
duration = 10 * TIME_STEP; // for 1280 millisecondss
}
else if ( ds_value[2] > side_threshold)
{ // obstacle from the right
// move away left a bit
left_speed = 100;
right_speed = 200;
duration = 5 * TIME_STEP;
}
else if ( ds_value[5] > side_threshold)
{ // obstacle from the left
// move away right a bit
left_speed = 200;
right_speed = 100;
duration = 5 * TIME_STEP;
}
else if ( ds_value[3] > side_threshold || ds_value[4] > side_threshold)
{ // detected on the back
// run away from the obstacle
left_speed = right_speed = 500; // go straight
duration = TIME_STEP; // for 64 milliseconds
}
else {
left_speed = right_speed = 500; // go straight
duration = TIME_STEP; // for 64 milliseconds
}
// update fitness
fitness_step(left_speed, right_speed, ds_value);
// actuate wheel motors
// sets the e-pucks wheel speeds to left_speed (left wheel) and right_speed (right wheel)
// max speed is 1000 == 2 turns per second
wb_differential_wheels_set_speed(left_speed, right_speed);
// compute and display fitness every 1000 controller steps
if (step_count % 1000 == 999) {
double fitness = fitness_compute();
printf("fitness = %f\n", fitness);
fitness_reset();
}
return duration;
}
// Main function
int main(int argc, char **argv)
{
// Initialize webots
wb_robot_init();
// GPS tick data
int red_line_tick = 0;
int green_circle_tick = 0;
// Get robot devices
WbDeviceTag left_wheel = wb_robot_get_device("left_wheel");
WbDeviceTag right_wheel = wb_robot_get_device("right_wheel");
// Get robot sensors
WbDeviceTag forward_left_sensor = wb_robot_get_device("so3");
wb_distance_sensor_enable(forward_left_sensor, TIME_STEP);
WbDeviceTag forward_right_sensor = wb_robot_get_device("so4");
wb_distance_sensor_enable(forward_right_sensor, TIME_STEP);
WbDeviceTag left_sensor = wb_robot_get_device("so1");
wb_distance_sensor_enable(left_sensor, TIME_STEP);
// Get the compass
WbDeviceTag compass = wb_robot_get_device("compass");
wb_compass_enable(compass, TIME_STEP);
// Get the GPS data
WbDeviceTag gps = wb_robot_get_device("gps");
wb_gps_enable(gps, TIME_STEP);
// Prepare robot for velocity commands
wb_motor_set_position(left_wheel, INFINITY);
wb_motor_set_position(right_wheel, INFINITY);
wb_motor_set_velocity(left_wheel, 0.0);
wb_motor_set_velocity(right_wheel, 0.0);
// Begin in mode 0, moving forward
int mode = 0;
// Main loop
while (wb_robot_step(TIME_STEP) != -1) {
// Get the sensor data
double forward_left_value = wb_distance_sensor_get_value(forward_left_sensor);
double forward_right_value = wb_distance_sensor_get_value(forward_right_sensor);
double left_value = wb_distance_sensor_get_value(left_sensor);
// Read compass and convert to angle
const double *compass_val = wb_compass_get_values(compass);
double compass_angle = convert_bearing_to_degrees(compass_val);
// Read in the GPS data
const double *gps_val = wb_gps_get_values(gps);
// Debug
printf("Sensor input values:\n");
printf("- Forward left: %.2f.\n",forward_left_value);
printf("- Forward right: %.2f.\n",forward_right_value);
printf("- Right: %.2f.\n",left_value);
printf("- Compass angle (degrees): %.2f.\n", compass_angle);
printf("- GPS values (x,z): %.2f, %.2f.\n", gps_val[0], gps_val[2]);
// Send acuator commands
double left_speed, right_speed;
left_speed = 0;
right_speed = 0;
// List the current modes
printf("Mode: %d.\n", mode);
printf("Action: ");
/*
* There are four modes for this controller.
* They are listed as below:
* 0: Finding initial correct angle
* 1: Moving forward
* 2: Wall following
* 3: Rotating after correct point
* 4: Finding green circle + moving on
*/
// If it reaches GPS coords past the red line
if (gps_val[2] > 8.0) {
// Up the GPS tick
red_line_tick = red_line_tick + 1;
}
// If the red line tick tolerance reaches
// more than 10 per cycle, begin mode 3
if (red_line_tick > 10) {
mode = 3;
}
if (mode == 0) { // Mode 0: Find correct angle
printf("Finding correct angle\n");
if (compass_angle < (DESIRED_ANGLE - 1.0)) {
// Turn right
left_speed = MAX_SPEED;
right_speed = 0;
} else if (compass_angle > (DESIRED_ANGLE + 1.0)) {
// Turn left
left_speed = 0;
right_speed = MAX_SPEED;
} else {
// Reached the desired angle, move in a straight line
mode = 1;
}
} else if(mode == 1) { // Mode 1: Move forward
printf("Moving forward.\n");
left_speed = MAX_SPEED;
right_speed = MAX_SPEED;
// When sufficiently close to a wall in front of robot, switch mode to wall following
if ((forward_right_value > 500) || (forward_left_value > 500)) {
mode = 2;
}
}
else if (mode == 2) { // Mode 2: Wall following
if ((forward_right_value > 200) || (forward_left_value > 200)) {
printf("Backing up and turning right.\n");
left_speed = MAX_SPEED / 4.0;
right_speed = - MAX_SPEED / 2.0;
}
else {
if (left_value > 300) {
printf("Turning right away from wall.\n");
left_speed = MAX_SPEED;
right_speed = MAX_SPEED / 1.75;
}
else {
if (left_value < 200) {
printf("Turning left towards wall.\n");
left_speed = MAX_SPEED / 1.75;
right_speed = MAX_SPEED;
}
else {
printf("Moving forward along wall.\n");
left_speed = MAX_SPEED;
right_speed = MAX_SPEED;
}
}
}
} else if (mode == 3) {
// Once arrived, turn to the right
printf("Finding correct angle (again)\n");
if (compass_angle < (90 - 1.0)) {
// Turn right
left_speed = MAX_SPEED;
right_speed = MAX_SPEED / 1.75;
} else if (compass_angle > (90 + 1.0)) {
// Turn left
left_speed = MAX_SPEED / 1.75;
right_speed = MAX_SPEED;
} else {
// Reached the desired angle, move in a straight line
if (green_circle_tick > 10) {
left_speed = 0;
right_speed = 0;
} else {
left_speed = MAX_SPEED;
right_speed = MAX_SPEED;
}
if (gps_val[0] < -3.2) {
green_circle_tick = green_circle_tick + 1;
}
}
}
// Set the motor speeds.
wb_motor_set_velocity(left_wheel, left_speed);
wb_motor_set_velocity(right_wheel, right_speed);
// Perform simple simulation step
} while (wb_robot_step(TIME_STEP) != -1);
// Clean up webots
wb_robot_cleanup();
return 0;
}
