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navigation.py
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navigation.py
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import numpy as np
from drive import Drive
from kicker import Kicker
from dribbler import Dribbler
import time
import RPi.GPIO as GPIO
class Timer:
def __init__(self):
self.start_time = 0
self.end = 0
self.time_dif = 0
self.lock = False
def start(self):
if self.lock == False:
self.start_time = time.time()
self.lock = True
def update(self):
self.time_dif = time.time() - self.start_time
def get(self):
return self.time_dif
def clear(self):
print("clear")
self.lock = False
self.start_time = 0
self.end = 0
def cap_range(value):
if value is None:
return None
if value < 5:
value = 5
elif value > 250:
value = 250
return value
def within_angle(angle, lim):
if(-lim <= angle <= lim):
return True
return False
def rb_to_pwm(ran, bearing):
def speed(dist):
return 1 - ((251 - dist) * (0.75/250))
if ran is None:
return 0, 0
ml = (50 + bearing) * speed(ran)
mr = (50 + bearing) * speed(ran)
return ml, mr
def avg(ml1, mr1, ml2, mr2):
return ((ml2 - ml1) / 2), ((mr2 - mr1) / 2)
def turn(target_side, mins, maxs):
if target_side == -1:
return mins, maxs
else:
return maxs, mins
def spin(dir, speed):
return dir * speed, -dir * speed
MIN_BALL_DIST = 9
MAX_BALL_ANGLE = 7
MIN_GOAL_DIST = 90
MAX_GOAL_ANGLE = 3
MIN_OBS_DIST = 40
class Navigation:
def __init__(self):
self.circle_obstacle = False
self.goto_ball = False
self.ball_captured = False
self.goto_obstacle = False
self.goto_goal = False
self.ball_found = False
self.goal_found = False
self.goal_clear = False
self.spin = False
self.search_obs = False
self.timer = Timer()
self.target_side = -1
self.ball_side = -1
self.goal_side = -1
self.wall_side = -1
self.obs_side = -1
self.speed_mod = 1
self.no_target_count = 0
self.circle_count = 0
self.obs_r = None
self.obs_h = None
self.ball_r = None
self.ball_h = None
self.goal_r = None
self.goal_h = None
self.wall_r = None
self.wall_h = None
self.target_r = None
self.target_h = None
self.target_found = False
self.drive_sys = Drive()
self.dribbler = Dribbler()
self.kicker = Kicker()
obs_buffer = [None, None]
obs_buf_count = 0
def update(self, obs, ball, goal, wall):
if obs[0] is None:
self.obs_buf_count += 1
if(self.obs_buf_count > 2):
self.obs_buffer = [None, None]
self.obs_r = None
self.obs_h = None
else:
self.obs_r = cap_range(self.obs_buffer[0])
self.obs_h = self.obs_buffer[1]
else:
self.obs_buf_count = 0
self.obs_buffer = obs
self.ball_r = cap_range(ball[0])
self.ball_h = ball[1]
self.goal_r = cap_range(goal[0])
self.goal_h = goal[1]
self.wall_r = cap_range(wall[0])
self.wall_h = wall[1]
self.conditions()
self.state()
ml, mr, drib, kick = self.decide()
self.drive_sys.drive(ml, mr)
self.dribbler.start(drib)
if kick:
self.kicker.kick()
self.goal_clear = False
return kick
def conditions(self):
if self.ball_r is not None:
self.ball_side = np.sign(self.ball_h)
self.ball_found = True
self.no_target_count = 0
if(within_angle(self.ball_h, MAX_BALL_ANGLE) and self.ball_r < MIN_BALL_DIST):
self.ball_captured = True
else:
self.ball_captured = False
else:
self.ball_found = False
if self.goal_r is not None:
self.goal_side = np.sign(self.goal_h)
self.goal_found = True
if(within_angle(self.goal_h, MAX_GOAL_ANGLE) and self.goal_r < MIN_GOAL_DIST and self.target_clear()):
self.goal_clear = True
else:
self.goal_clear = False
else:
self.goal_found = False
if self.ball_captured:
self.target_r = self.goal_r
self.target_h = self.goal_h
self.target_side = self.goal_side
if self.goal_found:
self.target_found = True
else:
self.target_found = False
else:
self.target_r = self.ball_r
self.target_h = self.ball_h
self.target_side = self.ball_side
if self.ball_found:
self.target_found = True
else:
self.target_found = False
if self.wall_r is not None:
self.wall_side = np.sign(self.wall_h)
if self.obs_h is not None:
self.obs_side = np.sign(self.obs_h)
counter = 0
def state(self):
if not self.target_found:
print(self.counter)
if self.counter < 50 * self.speed_mod:
print("looking for ball")
self.counter += 1
self.spin = True
elif self.counter >= 50 * self.speed_mod:
self.spin = False
# spin until first obs found
if not self.search_obs:
print(self.obs_r)
if(self.obs_r is None):
self.spin = True
print("looking for obs")
else:
self.spin = False
if(self.obs_r > MIN_OBS_DIST):
print("going to obs")
self.goto_obstacle = True
else:
print("spinning to circle obs")
self.goto_obstacle = False
self.spin = True
self.target_side = -self.wall_side
self.search_obs = True
else:
if(self.counter >= 100 * self.speed_mod):
print("circling obs")
self.spin = False
self.counter += 1
self.circle_obstacle = True
if(self.counter >= 150 * self.speed_mod):
print("circle obs done, spin out")
self.counter += 1
self.circle_obstacle = False
self.spin = True
if(self.counter >= 200 * self.speed_mod):
self.counter = 0
print("done")
self.spin = False
self.circle_obstacle = False
self.search_obs = False
# target seen
else:
print("going to target")
self.counter = 0
# if obstacle is too close
if self.obs_r is not None and self.obs_r < 25:
self.spin = True
self.target_side = -self.obs_side
def decide(self):
ml = 0
mr = 0
drib = 0
kick = False
# most complex situations at the top, least complex at the bottom
if self.circle_obstacle and self.target_found:
ml1, mr1 = turn(self.target_side, 45, 90)
ml2, mr2 = self.goto_target()
if ml1 > mr1:
ml, mr = min(ml2, ml1), max(mr2, mr1)
else:
ml, mr = max(ml2, ml1), min(mr2, mr1)
elif self.target_found:
ml, mr = self.goto_target()
elif self.circle_obstacle:
ml, mr = turn(self.target_side, 45, 90)
elif self.goto_obstacle:
ml, mr = rb_to_pwm(self.obs_r, self.obs_h)
elif self.spin:
ml, mr = spin(self.target_side, 40)
# dribbler adn speed adjusts
if self.ball_r is not None and self.ball_r < 25:
drib = 80
if self.ball_captured:
if self.spin:
ml *= 0.5
mr *= 0.5
self.speed_mod = 2
drib = 100
if self.circle_obstacle:
ml *= 0.65
mr *= 0.65
self.speed_mod = 1.5
drib = 85
else:
ml *= 1
mr *= 1
self.speed_mod = 1
drib = 75
else:
drib = 0
self.speed_mod = 1
if self.goal_clear:
drib = 0
kick = True
ml = 0
mr = 0
return ml, mr, drib, kick
'''
def target_clear_many(self):
def clear(obs_h, obs_r, thresh):
if self.target_r - 10 < obs_r:
return True
else:
if (obs_h - thresh <= self.target_h <= obs_h + thresh):
return False
return True
if self.target_h is None:
return False
for i in range(3):
if self.obs_h[i] is None:
return True
if not clear(self.obs_h[i], self.obs_r[i], 16):
return False
return True'''
def target_clear(self):
if self.obs_r is None:
return True
if self.target_r is None:
return False
if self.target_r - 20 < self.obs_r:
return True
else:
if (self.obs_h - 15 <= self.target_h <= self.obs_h + 15):
return False
return True
def target_between(self):
closest_left_h = -60
closest_left_r = 0
closest_right_h = 60
closest_right_r = 0
ret = [None, None], [None, None]
for i in range(3):
if self.obs_h[i] is None:
continue
if closest_left_h < self.obs_h[i] < self.target_h:
closest_left_h = self.obs_h[i]
closest_left_r = self.obs_r[i]
elif closest_right_h > self.obs_h[i] > self.target_h:
closest_right_h = self.obs_h[i]
closest_right_r = self.obs_r[i]
if closest_left_h != -60:
ret[0][:] = [closest_left_r, closest_left_h]
if closest_right_h != 60:
ret[1][:] = [closest_right_r, closest_right_h]
return ret
'''
def goto_target(self):
left_obs, right_obs = self.target_between()
if left_obs[0] is None and right_obs[0] is None:
#print("clear")
return self.goto_target_simple()
if left_obs[0] is not None and right_obs[0] is not None:
#print("between")
# ball inbetween left and right obs
gap = abs(np.sqrt(left_obs[0]**2 + right_obs[0]**2 - 2*left_obs[0]*right_obs[0]*np.cos(left_obs[1] - right_obs[1])))
dist_dif = - left_obs[0] + right_obs[0]
m1l, m1r = self.goto_target_simple()
m2l, m2r = 0, 0
if gap > 30:
# right obs below left obs
if dist_dif <= 0:
m2l, m2r = rb_to_pwm(left_obs[0], left_obs[1] * (10 + abs(dist_dif)) / 10)
else:
m2l, m2r = rb_to_pwm(right_obs[0], right_obs[1] * (10 + abs(dist_dif)) / 10)
else:
if dist_dif <= 0:
m2l, m2r = rb_to_pwm(right_obs[0], right_obs[1] + 16)
else:
m2l, m2r = rb_to_pwm(left_obs[0], left_obs[1] - 16)
ml = (m1l - m2l) / 2
mr = (m1r - m2r) / 2
return ml, mr
if left_obs[0] is None:
# ball to the right of right obs
#print("right")
heading = max((right_obs[1] - (251 - right_obs[0])), self.target_h)
return rb_to_pwm(self.target_r, heading)
if right_obs[0] is None:
print("left")
# ball to the left of left object
heading = max(left_obs[1] - (251 - left_obs[0]), self.target_h)
return rb_to_pwm(self.target_r, heading)
else:
print("uh oh")'''
def goto_target(self):
def avoid(heading, dist):
left = heading - ((251 - dist) * (175 / 250))
right = heading + ((251 - dist) * (175 / 250))
return left, right
if self.obs_r is None or self.obs_r - 10 > self.target_r:
return self.goto_target_simple()
else:
left_avoid, right_avoid = avoid(self.obs_h, self.obs_r)
if self.target_h <= left_avoid or self.target_h >= right_avoid:
return rb_to_pwm(self.target_r, self.target_h)
elif left_avoid < self.target_h <= self.obs_h:
return rb_to_pwm(self.obs_r, left_avoid)
elif right_avoid > self.target_h > self.obs_h:
return rb_to_pwm(self.obs_r, right_avoid)
else:
return 0, 0
def goto_target_simple(self):
return rb_to_pwm(self.target_r, self.target_h)
def stop(self):
self.drive_sys.stop()
self.dribbler.stop()
GPIO.cleanup()