ArActionDesired *Acquire::fire(ArActionDesired currentDesired)
{
myDesired.reset();
myDesired.setVel(0);
switch (myState) {
case STATE_START_LOOKING:
myFirstTurn.clear();
mySecondTurn.clear();
myState = STATE_LOOKING;
myGripper->liftUp();
myGripper->gripClose();
printf("Acquire: Raising lift\n");
myStartUp.setToNow();
myTryingGripper = true;
case STATE_LOOKING:
if (myTryingGripper && (myStartUp.mSecSince() < 600 ||
((!myGripper->isLiftMaxed() ||
myGripper->getGripState() != 2) &&
myStartUp.mSecSince() < 5000)))
{
myGripper->liftUp();
myGripper->gripClose();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
else if (myTryingGripper)
{
printf("Acquire: Done raising lift %ld after started.\n",
myStartUp.mSecSince());
myTryingGripper = false;
}
if (myActs->getNumBlobs(myChannel) > 0)
{
myDesired.setDeltaHeading(0);
myState = STATE_SUCCEEDED;
printf("Acquire: Succeeded!\n");
}
else if (myFirstTurn.didAll() && mySecondTurn.didAll())
{
myDesired.setDeltaHeading(0);
myState = STATE_FAILED;
printf("Acquire: Did two revolutions, didn't see the blob, Failed!\n");
}
else
{
myFirstTurn.update(myRobot->getTh());
if (myFirstTurn.didAll())
mySecondTurn.update(myRobot->getTh());
myDesired.setDeltaHeading(8);
}
return &myDesired;
default:
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
}
ArActionDesired *PickUp::fire(ArActionDesired currentDesired)
{
ArPose pose;
ArACTSBlob blob;
bool blobSeen = false;
double xRel, yRel;
double dist;
myDesired.reset();
if (myState == STATE_SUCCEEDED)
{
//printf("PickUp: Succeeded\n");
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
else if (myState == STATE_FAILED)
{
//printf("PickUp: Failed\n");
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
if (myActs->getNumBlobs(myChannel) > 0 &&
(blobSeen = myActs->getBlob(myChannel, 1, &blob)))
{
myLastSeen.setToNow();
}
// this if the stuff we want to do if we're not going to just drive forward
// and home in on the color, ie the pickup-specific stuff
if (myState == STATE_START_LOOKING)
{
myGripper->gripOpen();
mySentGripper.setToNow();
myPointedDown = false;
myState = STATE_LOOKING;
myLastSeen.setToNow();
myTried = false;
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
myWaitingOnGripper = true;
myWaitingOnLower = false;
myLowered = false;
myWaitingOnRaised = false;
myStartRaised = false;
printf("@@@@@ Pickup: Starting\n");
}
// we want to sit still until the lift is down or for a second and a half
if (myWaitingOnGripper)
{
if (mySentGripper.mSecSince() < 500 ||
(myGripper->getGripState() != 1
&& mySentGripper.mSecSince() < 2000))
{
myGripper->gripOpen();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
return &myDesired;
}
else
{
myWaitingOnGripper = false;
}
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
}
//printf("sensors %d %d stall %d %d\n",!(myRobot->getDigIn() & ArUtil::BIT2),
//!(myRobot->getDigIn() & ArUtil::BIT3),
//myRobot->isLeftMotorStalled(), myRobot->isRightMotorStalled());
if ((myRobot->isLeftBreakBeamTriggered() &&
myRobot->isRightBreakBeamTriggered()) ||
myRobot->isLeftMotorStalled() || myRobot->isRightMotorStalled())
{
if (!myWaitingOnLower && !myLowered && !myWaitingOnRaised)
{
myWaitingOnLower = true;
printf("PickUp: Lowering gripper\n");
mySentGripper.setToNow();
}
}
if (myWaitingOnLower)
{
/// TODO
if (mySentGripper.mSecSince() < 600 ||
(!myGripper->isLiftMaxed()
&& mySentGripper.mSecSince() < 20000))
{
myGripper->liftDown();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
return &myDesired;
}
else
{
myWaitingOnLower = false;
myWaitingOnRaised = true;
myStartRaised = true;
}
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
}
if (myWaitingOnRaised)
{
if (myStartRaised)
{
printf("PickUp: Raising gripper a little bit\n");
myGripper->liftCarry(15);
mySentGripper.setToNow();
myStartRaised = false;
}
if (mySentGripper.mSecSince() > 1000)
{
printf("PickUp: Raised the gripper a little bit\n");
myWaitingOnRaised = false;
myLowered = true;
}
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
return &myDesired;
}
if (myLowered && myGripper->getBreakBeamState() != 0)
{
if (!myTried)
{
printf("PickUp: Trying to pick up.\n");
myTriedStart.setToNow();
}
myTried = true;
myGripper->gripClose();
if (myGripper->getGripState() == 2 || myTriedStart.mSecSince() > 5000)
{
printf("PickUp: Succeeded, have block.\n");
myGripper->liftUp();
myState = STATE_SUCCEEDED;
}
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
// this means that the grippers are closed, but we don't have anything in
// them, ie that we failed to get the block
else if (myTried && (myGripper->getGripState() == 2 ||
myTriedStart.mSecSince() > 5000))
{
myState = STATE_FAILED;
myGripper->gripOpen();
ArUtil::sleep(3);
myGripper->liftUp();
printf("PickUp: Grippers closed, didn't get a block, failed.\n");
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
pose = myRobot->getPose();
dist = myLastPose.findDistanceTo(pose);
if (dist < 5 && myLastMoved.mSecSince() > 2500)
{
printf("PickUp: Failed, no movement in the last 2500 msec.\n");
myState = STATE_FAILED;
myGripper->gripOpen();
myGripper->liftUp();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
else if (dist > 5)
{
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
}
if (!blobSeen)
{
if (((!myPointedDown && myLastSeen.mSecSince() > 1500) ||
(myPointedDown && myLastSeen.mSecSince() > 4000)) &&
myGripper->getBreakBeamState() == 0)
{
printf("PickUp: Lost the blob, failed, last saw it %ld msec ago.\n",
myLastSeen.mSecSince());
myState = STATE_FAILED;
myGripper->gripOpen();
ArUtil::sleep(3);
myGripper->liftUp();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
}
else
myLastSeen.setToNow();
if (blobSeen)
{
xRel = (double)(blob.getXCG() - WIDTH/2.0) / (double)WIDTH + CAMERA_X_CORRECTION;
yRel = -(double)(blob.getYCG() - HEIGHT/2.0) / (double)HEIGHT;
//printf("xRel %.3f yRel %.3f: ", xRel, yRel);
}
else
{
//printf("No blob: ");
}
if (blobSeen && yRel < -.2 && !myPointedDown)
{
printf("PickUp: Pointing the camera down!!!\n");
myAMPTU->panTilt(0, -75);
myPointedDown = true;
}
if (!blobSeen || ArMath::fabs(xRel) < .001)
{
//printf("Going straight ahead\n");
myDesired.setDeltaHeading(0);
}
else
{
//printf("Turning %.2f\n", -xRel * 30);
if (-xRel > 1.0)
myDesired.setDeltaHeading(30);
else if (-xRel < -1.0)
myDesired.setDeltaHeading(-30);
else
myDesired.setDeltaHeading(-xRel * 30);
}
if (myRobot->isLeftTableSensingIRTriggered() ||
myRobot->isRightTableSensingIRTriggered())
myDesired.setVel(50);
else
myDesired.setVel(100);
return &myDesired;
}
ArActionDesired *DriveTo::fire(ArActionDesired currentDesired)
{
ArACTSBlob blob;
double xRel, yRel;
if (myState == STATE_START_LOOKING)
{
myGripper->gripClose();
myGripper->liftUp();
mySony->panTilt(0, -5);
myState = STATE_LOOKING;
myLastSeen.setToNow();
}
if (myActs->getNumBlobs(myChannel) == 0 ||
!myActs->getBlob(myChannel, 1, &blob))
{
if (myLastSeen.mSecSince() > 1000)
{
printf("DriveTo: Lost the blob, failed.\n");
myState = STATE_FAILED;
return NULL;
}
}
else
{
myLastSeen.setToNow();
}
if (myState == STATE_SUCCEEDED || myState == STATE_FAILED)
{
return NULL;
}
xRel = (double)(blob.getXCG() - WIDTH/2.0) / (double)WIDTH;
yRel = (double)(blob.getYCG() - HEIGHT/2.0) / (double)HEIGHT;
//printf("xRel %.3f yRel %.3f\n", xRel, yRel);
myDesired.reset();
// this if the stuff we want to do if we're not going to just drive forward
// and home in on the color, ie the pickup-specific stuff
if (currentDesired.getMaxVelStrength() > 0 &&
currentDesired.getMaxVel() < 50)
{
printf("DriveTo: Close to a wall of some sort, succeeded.\n");
myState = STATE_SUCCEEDED;
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
if (ArMath::fabs(xRel) < .10)
{
//printf("Going straight ahead\n");
myDesired.setDeltaHeading(0);
}
else
{
//printf("Turning %.2f\n", -xRel * 10);
myDesired.setDeltaHeading(-xRel * 10);
}
myDesired.setVel(300);
return &myDesired;
}
ArActionDesired *PickUp::fire(ArActionDesired currentDesired)
{
ArPose pose;
ArACTSBlob blob;
bool blobSeen = false;
double xRel, yRel;
double dist;
myDesired.reset();
if (myState == STATE_SUCCEEDED)
{
//printf("PickUp: Succeeded\n");
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
else if (myState == STATE_FAILED)
{
//printf("PickUp: Failed\n");
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
// this if the stuff we want to do if we're not going to just drive forward
// and home in on the color, ie the pickup-specific stuff
if (myState == STATE_START_LOOKING)
{
myGripper->gripOpen();
ArUtil::sleep(3);
myGripper->liftDown();
mySentLiftDown.setToNow();
myPointedDown = false;
myState = STATE_LOOKING;
myLastSeen.setToNow();
myTried = false;
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
myWaitingOnGripper = true;
printf("@@@@@ Pickup: Lowering lift\n");
}
// we want to sit still until the lift is down or for a second and a half
if (myWaitingOnGripper)
{
if (mySentLiftDown.mSecSince() < 500 ||
((!myGripper->isLiftMaxed() || myGripper->getGripState() != 2)
&& mySentLiftDown.mSecSince() < 5000))
{
myGripper->liftDown();
myGripper->gripOpen();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
return &myDesired;
}
else
{
myWaitingOnGripper = false;
}
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
}
if (myGripper->getBreakBeamState() != 0)
{
if (myGripper->getGripState() == 2)
{
printf("PickUp: Succeeded, have block.\n");
myGripper->liftUp();
myState = STATE_SUCCEEDED;
}
else if (!myTried)
{
myGripper->gripClose();
printf("PickUp: Trying to pick up.\n");
myTried = true;
myTriedStart.setToNow();
}
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
// this means that the grippers are closed, but we don't have anything in
// them, ie that we failed to get the block
else if (myTried && (myGripper->getGripState() == 2 ||
myTriedStart.mSecSince() > 5000))
{
myState = STATE_FAILED;
myGripper->gripOpen();
ArUtil::sleep(3);
myGripper->liftUp();
printf("PickUp: Grippers closed, didn't get a block, failed.\n");
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
pose = myRobot->getPose();
dist = myLastPose.findDistanceTo(pose);
if (dist < 5 && myLastMoved.mSecSince() > 1500)
{
printf("PickUp: Failed, no movement in the last 1500 msec.\n");
myState = STATE_FAILED;
myGripper->gripOpen();
myGripper->liftUp();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
else if (dist > 5)
{
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
}
if (myActs->getNumBlobs(myChannel) == 0 ||
!(blobSeen = myActs->getBlob(myChannel, 1, &blob)))
{
if (((!myPointedDown && myLastSeen.mSecSince() > 1500) ||
(myPointedDown && myLastSeen.mSecSince() > 4000)) &&
myGripper->getBreakBeamState() == 0)
{
printf("PickUp: Lost the blob, failed, last saw it %ld msec ago.\n",
myLastSeen.mSecSince());
myState = STATE_FAILED;
myGripper->gripOpen();
ArUtil::sleep(3);
myGripper->liftUp();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
}
else
myLastSeen.setToNow();
if (blobSeen)
{
xRel = (double)(blob.getXCG() - WIDTH/2.0) / (double)WIDTH;
yRel = (double)(blob.getYCG() - HEIGHT/2.0) / (double)HEIGHT;
//printf("xRel %.3f yRel %.3f:\n", xRel, yRel);
}
else
{
//printf("No blob: ");
}
if (blobSeen && yRel < 0.2 && !myPointedDown)
{
printf("PickUp: Pointing the camera down!!!\n");
mySony->panTilt(0, -ArSonyPTZ::MAX_TILT);
myPointedDown = true;
}
if (!blobSeen || ArMath::fabs(xRel) < .10)
{
//printf("Going straight ahead\n");
myDesired.setDeltaHeading(0);
}
else
{
//printf("Turning %.2f\n", -xRel * 10);
if (ArMath::fabs(-xRel * 10) <= 10)
myDesired.setDeltaHeading(-xRel * 10);
else if (-xRel > 0)
myDesired.setDeltaHeading(10);
else
myDesired.setDeltaHeading(-10);
}
myDesired.setVel(150);
return &myDesired;
}
void close()
{
ArLog::log(ArLog::Normal, "Closing gripper...");
myGripper->gripClose();
}