marvin:ecp4
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marvin:ecp4 [2009/01/28 15:44] – deva | marvin:ecp4 [2009/01/29 11:00] (current) – rieper | ||
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</ | </ | ||
- | =====Stikord===== | + | ======Lab report 4 - Behaviour Control====== |
- | * Behaviors | + | |
- | * Beskriv Behavior superklassen | + | |
- | * Prioriteter | + | |
- | * Resurse fordeling | + | |
- | + | ||
- | ======End course project, lab report 4====== | + | |
**Date:** January 16nd 2009\\ | **Date:** January 16nd 2009\\ | ||
**Duration of activity:** 8-16\\ | **Duration of activity:** 8-16\\ | ||
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=====Project Goal===== | =====Project Goal===== | ||
- | Make drive autonomous, avoiding obstacles, using a behaviour model. | + | Make the robot drive autonomously, avoiding obstacles |
=====Plan===== | =====Plan===== | ||
- | * Move balance code to a thread. | + | * Move balance |
- | * Make control parameters writeable from outside the motor thread to make it possible to move. | + | * Make control parameters writeable from outside the motor thread to make it possible to drive around. |
- | * Copy code from previous Behaviour project ([[marvin: | + | * Copy code from previous Behaviour project |
- | * Modify the code to make it fit the Marvin. | + | * Modify the code to make it fit Marvin. |
- | === The Ultrasonic Sensor === | + | =====Theory===== |
+ | ====The Ultrasonic Sensor==== | ||
+ | Ultrasonic sensors work on a principle similar to radar or sonar by emitting an impulse and interpreting the echoes from radio or sound waves respectively. Ultrasonic sensors generate high frequency sound waves and evaluate the echo which is received back by the sensor. The time interval between the emitted and received signal is then calculated in order to determine a distance to a given object. The ultrasonic sensors are also known as transducers when they both send and receive signals. The Ultrasonic Sensor(([[http:// | ||
- | Ultrasonic sensors work on a principle similar to radar or sonar by emitting an impulse and interpreting the echoes from radio or sound waves respectively. Ultrasonic sensors generate high frequency sound waves and evaluate the echo which is received back by the sensor. The timer interval between the emitted and received signal is then calculated in order to determine a distance to a given object. The ultrasonic sensors are also known as transducers when they both send and receive signals. The Ultrasonic Sensor | + | {{ : |
- | {{ : | + | ====Knowledge |
- | + | Prior to using a sensor for a specific purpose it is important to investigate the main use for the sensor. For example in lab session 4 (([[http:// | |
- | === Knowledge | + | |
- | Prior to using a sensor for a specific purpose it is important to investigate the main use for the sensor. For example in lab session 4 (([[marvin: | + | |
[[http:// | [[http:// | ||
{{youtube> | {{youtube> | ||
- | =====The Behavior class===== | + | =====Implementation===== |
- | + | ====The | |
- | ===RandomDrive=== | + | |
- | + | ||
- | The thread drives forward with different random numbers on each motor. This means that Marvin not necessarily (in fact not likely) will drive straight ahead. It will do this within a time interval. All these intervals are computed using a random function from Math library. | + | |
- | + | ||
- | ===AvoidFront=== | + | |
- | + | ||
- | Implemented using a sonic sensor. The thread activates a backward motion and do this for X seconds to get a away from the obstacle. Afterwards Marvin stops and turns left corresponding to a 90 degree turn to the left. | + | |
- | + | ||
- | === BTControl === | + | |
- | The thread handles blutooth communication in order to control Marvin with a remote control. The arrow keys on the computer is used instead of a remote. | + | |
{{ : | {{ : | ||
- | A platform for a behavior | + | A platform for a behaviour |
- | suppression mechanism. An actual | + | It has access to control the Marvin by means of the control methods (forward, backward, left and right). |
- | the Behavior class. Each behavior | + | However, access can be suppressed so that the motor commands will not be performed while the behaviour |
- | It has access to control the Marvin by means of the control methods | + | |
- | (forward, backward, left and right). | + | |
- | However, access can be suppressed so that the motor commands | + | |
- | will not be performed while the behavior | + | |
^ Variable | ^ Variable | ||
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// Clone the Behavior list. | // Clone the Behavior list. | ||
this.behaviors = new ArrayList(); | this.behaviors = new ArrayList(); | ||
+ | |||
for(int i = 0; i < behaviors.size(); | for(int i = 0; i < behaviors.size(); | ||
Behavior b = (Behavior)behaviors.get(i); | Behavior b = (Behavior)behaviors.get(i); | ||
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} | } | ||
</ | </ | ||
+ | The '' | ||
+ | ====The RandomDrive Class==== | ||
+ | This behaviour drives in one of four random directions for a random number of milliseconds. | ||
+ | All of these numbers are computed using a random function from Java Math library. | ||
- | An example of a behavoir: | + | ====The AvoidFront Class==== |
+ | Implemented using a ultrasonic sensor. The behaviour activates a backward motion and do this for a number of milliseconds to back away from the obstacle. Afterwards Marvin stops and turns right corresponding to an approximately 90 degree turn. The code for the essential parts of the '' | ||
<code java> | <code java> | ||
public class AvoidFront extends Behavior | public class AvoidFront extends Behavior | ||
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} | } | ||
</ | </ | ||
- | The full source code for these classes can be found in the files '' | + | ====The BTController Class==== |
+ | The thread handles bluetooth communication | ||
+ | The full source code for these classes can be found in the files '' |
marvin/ecp4.txt · Last modified: 2009/01/29 11:00 by rieper