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--- projekte2014:beerbot:dokumentation:software [2014/07/29 13:29]
wuxmax [BeerBotLib]
+++ projekte2014:beerbot:dokumentation:software [2016/01/21 12:45] (aktuell)
@@ Zeile 1: / Zeile 1: @@
-====== Softwaredokumentation ======
+====== Quellcode ======
+===== Main Sketch =====
+<code c++ BeerBot.ino>
+#include <NewPing.h>
+#include <Servo.h>
+#include "i2c_t3.h"
+#include "teensy3_Melexis90620.h"
+#include "BeerBotLib.h"
+#include "ThermalCam.h"
+ThermalCam thermCam;
+int thermCamServoPin = 14;
+int temperatureBorder = 24;
+ContactSensor frontSensor;
+int frontLeftPushButtonPin = 8;
+int frontRightPushButtonPin = 15;
+ContactSensor capSensor;
+int capRightPushButtonPin = 7;
+int capLeftPushButtonPin = 6;
+int capConductorPin = 9;
+Pusher pusher;
+int pusherPin = 21;
+Barrier lowBarrier;
+int lowBarrierServoPin = 12;
+int lowBarrierClosedPos = 150;
+int lowBarrierOpenPos = 60;
+Barrier highBarrier;
+int highBarrierServoPin = 13;
+int highBarrierClosedPos = 130;
+int highBarrierOpenPos = 83;
+Gear myGear;
+float wheelDiameter = 9.0;
+float axisDistance = 24.0;
+int leftMotorStepPin = 5;
+int leftMotorDirPin = 4;
+int rightMotorStepPin = 3;
+int rightMotorDirPin = 2;
+int phase = 0;
+boolean bottleFound = false;
+int lastFoundPos = 90;
+void setup() {
+  Serial.begin(9600); // for debugging purposes only
+  thermCam.setup(thermCamServoPin, temperatureBorder);
+  myGear.setup(wheelDiameter, axisDistance, leftMotorStepPin, leftMotorDirPin, rightMotorStepPin, rightMotorDirPin);
+  frontSensor.setup(frontRightPushButtonPin, frontLeftPushButtonPin, -1);
+  capSensor.setup(capRightPushButtonPin, capLeftPushButtonPin, capConductorPin);
+  pusher.setup(pusherPin);
+  lowBarrier.setup(lowBarrierServoPin, lowBarrierClosedPos, lowBarrierOpenPos);
+  highBarrier.setup(highBarrierServoPin, highBarrierClosedPos, highBarrierOpenPos);
+}
+void loop() {
+	main1();
+}
+/**
+* test functions for the different components of the robot.
+* for debugging and presentation purposes.
+*/
+void testOpen() {
+  lowBarrier.closeBarrier();
+  delay(500);
+  highBarrier.closeBarrier();
+  delay(1000);
+  pusher.push(300);
+  delay(2000);
+}
+void testPusher() {
+  pusher.push(300);
+  delay(3000);
+}
+void testBarriers() {
+  highBarrier.closeBarrier();
+  delay(15);
+  lowBarrier.closeBarrier();
+  delay(1000);
+  lowBarrier.openBarrier();
+  delay(15);
+  highBarrier.openBarrier();
+  delay(1000);
+}
+void testDrive() {
+  myGear.drive(20, 12, true);
+  myGear.turnAngle(90, true, 12);
+}
+/**
+* the main function of the robots software.
+* defines the different phases of the process
+* it is not working pefectly in its current state due to some problems with e.g. the contact sensors.
+* it is modified to work as good as possible under the given circumstances.
+*/
+void main1() {
+  switch (phase) {
+    case 0:
+      if (bottleLoaded()) {
+        phase = 4;
+      }
+      else if (thermCam.searchColdSpot()) {
+        phase = 2;
+      }
+      else if (bottleClose()) {
+        phase = 3;
+      }
+      else {
+        phase = 1;
+      }
+      break;
+    case 1:
+      easySearch(100, 5);
+      if (bottleFound) {
+        phase = 2;
+      }
+      break;
+    case 2:
+      myGear.turnToServoPos(thermCam.getPos(), 12, 10, 10);
+      delay(500);
+      myGear.drive(5, 12, true);
+      delay(500);
+      if (bottleClose()) {
+        phase = 3;
+      }
+      if (bottleLoaded()) {
+        phase = 4;
+      }
+      else {
+        bottleFound = thermCam.searchColdSpot();
+        if (thermCam.getPos() != 90) {
+          lastFoundPos = thermCam.getPos();
+        }
+        Serial.println(lastFoundPos);
+        if (!bottleFound) {
+          phase = 3;
+        }
+      }
+      break;
+    case 3:
+     // adjustPosition();
+     myGear.turnToServoPos(lastFoundPos, 12, 0, 5);
+     myGear.drive(3, 12, true);
+     delay(1000);
+      if (bottleLoaded()) {
+        phase = 4;
+      }
+      break;
+   case 4:
+     lowBarrier.closeBarrier();
+     for (int i = 0; i < 4; i++) {
+       highBarrier.openBarrier();
+       delay(500);
+       highBarrier.closeBarrier();
+       delay(500);
+     }
+     phase = 5;
+     break;
+   case 5:
+     if (capSensor.isConducting()) {
+       pusher.push(300);
+       delay(2000);
+     }
+     break;
+  }
+}
+/**
+* helper function to check if the bottle is loaded by the robot.
+*/
+boolean bottleLoaded() {
+  return (capSensor.leftButtonPushed() || capSensor.rightButtonPushed());
+}
+/**
+* helper function to check if the robot touched the bottle.
+*/
+boolean bottleClose() {
+  return (frontSensor.leftButtonPushed() || frontSensor.rightButtonPushed());
+}
+/**
+* an easy algorithm that makes the robot drive forward and scan for cold bottles in steps.
+*/
+boolean easySearch(float totalDistance, float partDistance) {
+  for (float driven = 0; driven < totalDistance; driven += partDistance) {
+    myGear.drive(partDistance, 12, true);
+    if (thermCam.searchColdSpot()) {
+      bottleFound = true;
+      break;
+    }
+  }
+}
+/**
+* a more complex function to scan the room for cold bottles.
+* has not been tested.
+*/
+boolean complexSearch(float totalDistance, float partDistance) {
+  for (float driven = 0; driven < totalDistance; driven += partDistance) {
+    myGear.drive(partDistance, 12, true);
+    if (thermCam.searchColdSpot()) {
+      return true;
+    }
+  }
+  myGear.turnAngle(90, false, 12);
+  myGear.drive(partDistance, 12, true);
+  myGear.turnAngle(90, false, 12);
+  for (float driven = 0; driven < totalDistance; driven += partDistance) {
+    myGear.drive(partDistance, 12, true);
+    if (thermCam.searchColdSpot()) {
+      return true;
+    }
+  }
+  myGear.turnAngle(90, true, 12);
+  myGear.drive(partDistance, 12, true);
+  myGear.turnAngle(90, true, 12);
+  return false;
+}
+/**
+* a function to adjust the postion of the robot as it touches the bottle.
+*/
+void adjustPosition() {
+  if (frontSensor.leftButtonPushed()) {
+    myGear.turnAngle(2, true, 12);
+  }
+  else if (frontSensor.rightButtonPushed()) {
+    myGear.turnAngle(2, false, 12);
+  }
+  myGear.drive(1, 12, true);
+}
+</code>
 ===== Libraries =====
 ==== BeerBotLib ====
+This library defines and implements all classes that are needed to control the different components of the robot, except for the thermal camera.
 === BeerBotLib.h ===
@@ Zeile 175: / Zeile 454: @@
 	this-> position = pos;
 }
-// void NewServo::moveLeft(int servoSpeed, int servoDelay) {
-// 	if (position > 0) {
-// 		setPos(position - servoSpeed);
-// 		delay(servoDelay);
-// 	}
-// }
-//
-// void NewServo::moveRight(int servoSpeed, int servoDelay) {
-// 	if (position < 180) {
-// 		setPos(position + servoSpeed);
-// 		delay(servoDelay);
-// 	}
-// }
 /**
@@ Zeile 503: / Zeile 768: @@
 *
 * @param angle: amount of degrees (0 - 360) by which the robot should turn,
-*		 turnDirection: rue --> anti-clockwise turning, false --> clockwise turning,
+*		 turnDirection: true --> anti-clockwise turning, false --> clockwise turning,
 *		 stepSpeed: the delay between two steps oft the stepper motors.
 */
@@ Zeile 526: / Zeile 791: @@
 ==== ThermalCam ====
+This library defines and implements only the ThermalCam class. We seperated the thermal camera library, because it is the largest and most complex part of the software.
 === ThermalCam.h ===
+<code c++ ThermalCam.h>
+#ifndef ThermalCam_h
+#define ThermalCam_h
+#include "Arduino.h"
+#include "i2c_t3.h"
+#include "teensy3_Melexis90620.h"
+#include "BeerBotLib.h"
+class ThermalCam {
+	private:
+		Melexis90620 sensor;
+		NewServo myServo;
+		int sweepSpeed;
+		double* pixelTemps;
+		double temperatureBorder;
+		int servoRange;
+		boolean foundColdPixel();
+		void getThermalData();
+	public:
+		void setup(int servoPin, int temperatureBorder);
+		boolean searchColdSpot();
+		int getPos();
+};
+#endif
+</code>
 === ThermalCam.cpp ===
+<code c++ ThermalCam.cpp>
+#include <ThermalCam.h>
+void ThermalCam::setup(int servoPin, int temperatureBorder){
+	myServo.setup(servoPin, 90, true);
+	sensor.init(16);
+	this-> sweepSpeed = 2;
+	this-> temperatureBorder = temperatureBorder;
+	this-> servoRange = 90;
+}
+/*
+    Function for getting the thermaldata.
+*/
+void ThermalCam::getThermalData() {
+    sensor.readTemperatures();
+    pixelTemps = sensor.getPixelTemperatures();
+}
+/*
+    Function sets thermalcam-servo to 90 degrees.
+    Servo does a complete sweep and every degree the thermaldata gets checked for a cold source.
+    If there is a cold source, "true" is returned back, else "false".
+*/
+boolean ThermalCam::searchColdSpot() {
+    myServo.setPos(90);
+    delay(100);
+    for (int i = 0; i < servoRange; i++) {
+        myServo.sweep((int)sweepSpeed, servoRange, 15);
+        getThermalData();
+	if (foundColdPixel()) {
+	    return true;
+	}
+    }
+    return false;
+}
+/*
+    Function, which gives back the current position (angle) of the thermalcam-servo.
+*/
+int ThermalCam::getPos() {
+    return myServo.getPos();
+}
+/*
+    Function, which checks the two rows in the middle of the thermalcam-pixelarray for a cold source.
+*/
+boolean ThermalCam::foundColdPixel() {
+    for( int i = 28; i < 35; i++ ) {
+    if( pixelTemps[i] < temperatureBorder ) return true;
+    }
+    return false;
+}
+</code>
+==== 3rd party libraries ====
+=== i2c_t3 ====
+I2C library for Teensy3
+http://forum.pjrc.com/threads/21680-New-I2C-library-for-Teensy3
+=== teensy3_Melexis90620 ===
+Library to control the Melexis90620 thermal camera
+https://github.com/Zapalot/teensy3_Melexis90620
+=== NewPing ===
+Library for improved usage of an ultrasonic distance sensor with a Teensy.
+https://github.com/PaulStoffregen/NewPing

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