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ADDED: line leader sensor for ev3 (generation)
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Signed-off-by: greg <lahmatbiy@gmail.com>
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@lahmatbiy
lahmatbiy committed Nov 8, 2017
1 parent 4ce9deb commit cb30055
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Showing 39 changed files with 6,045 additions and 4,636 deletions.
21 changes: 21 additions & 0 deletions plugins/robots/common/ev3Kit/src/blocks/ev3BlocksFactory.cpp
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Expand Up @@ -127,6 +127,17 @@ qReal::IdList Ev3BlocksFactory::providedBlocks() const
, id("Ev3WaitForGyroscope")
, id("Ev3WaitForReceivingMail")

, id("Ev3CalibrateWhiteLL")
, id("Ev3CalibrateBlackLL")
, id("Ev3CalibratePIDLL")
, id("Ev3SleepLL")
, id("Ev3WakeUpLL")
, id("Ev3ReadAvrLL")
, id("Ev3ReadAllLL")
, id("Ev3ReadSteeringLL")
, id("Ev3WaitForGyroscope")
, id("Ev3WaitForReceivingMail")

, id("Ev3DrawPixel")
, id("Ev3DrawLine")
, id("Ev3DrawCircle")
Expand All @@ -147,6 +158,16 @@ qReal::IdList Ev3BlocksFactory::blocksToDisable() const
<< id("Ev3CalibrateGyroscope")
<< id("Ev3StartCompassCalibration")
<< id("Ev3StopCompassCalibration")
<< id("Ev3CalibrateWhiteLL")
<< id("Ev3CalibrateBlackLL")
<< id("Ev3CalibratePIDLL")
<< id("Ev3SleepLL")
<< id("Ev3WakeUpLL")
<< id("Ev3ReadAvrLL")
<< id("Ev3ReadAllLL")
<< id("Ev3ReadSteeringLL")
<< id("Ev3WaitForGyroscope")
<< id("Ev3WaitForReceivingMail")
;
} else {
if (!mInterpretedModels.contains(mRobotModelManager->model().robotId())) {
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205 changes: 204 additions & 1 deletion plugins/robots/editor/ev3/ev3Metamodel.xml
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Expand Up @@ -294,7 +294,6 @@
</generalizations>
</logic>
</node>

<node displayedName="Send Mail" name="Ev3SendMail" description="Sends mail (message) to another robot. If Receiver name left empty, message will be sent to all connected robots">
<graphics>
<picture sizex="50" sizey="50">
Expand Down Expand Up @@ -328,6 +327,200 @@
</logic>
</node>

<!-- LineLeader, EV3 -->
<node displayedName="Calibrate White" name="Ev3CalibrateWhiteLL" description="Calibrates the white threshold for each sensor in the array. Place the array over the white surface with all sensors on the white area.">
<graphics>
<picture sizex="50" sizey="50">
<image y1="0" name="images/calWhiteLineLeader.svg" x1="0" y2="50" x2="50"/>
</picture>
<labels>
<label x="40" y="-35" textBinded="Port" hard="true" background="white" prefix="Port:"/>
</labels>
<nonResizeable/>
</graphics>
<logic>
<properties>
</properties>
<container/>
<generalizations>
<parent parentName="Ev3SensorBlock"/>
</generalizations>
</logic>
</node>
<node displayedName="Calibrate Black" name="Ev3CalibrateBlackLL" description="Calibrates the black threshold for each sensor in the array. Place the array over the black surface with all sensors on the black area.">
<graphics>
<picture sizex="50" sizey="50">
<image y1="0" name="images/calBlackLineLeader.svg" x1="0" y2="50" x2="50"/>
</picture>
<labels>
<label x="40" y="-35" textBinded="Port" hard="true" background="white" prefix="Port:"/>
</labels>
<nonResizeable/>
</graphics>
<logic>
<properties>
</properties>
<container/>
<generalizations>
<parent parentName="Ev3SensorBlock"/>
</generalizations>
</logic>
</node>
<node displayedName="Calibrate PID" name="Ev3CalibratePIDLL" description="Sets set point, P, I, D value of PID control and P factor, I factor, D factor for P, I, D value of PID control.">
<graphics>
<picture sizex="50" sizey="50">
<image y1="0" name="images/calPIDLineLeader.svg" x1="0" y2="50" x2="50"/>
</picture>
<labels>
<label x="40" y="-35" textBinded="Port" hard="true" background="white" prefix="Port:"/>
<label x="45" y="60" textBinded="SetPoint" hard="false" prefix="Message type:"/>
<label x="45" y="90" textBinded="P" hard="false" prefix="P:"/>
<label x="45" y="120" textBinded="PFactor" hard="false" prefix="P factor:"/>
<label x="45" y="150" textBinded="I" hard="false" prefix="I:"/>
<label x="45" y="180" textBinded="IFactor" hard="false" prefix="I factor:"/>
<label x="45" y="210" textBinded="D" hard="false" prefix="D:"/>
<label x="45" y="240" textBinded="DFactor" hard="false" prefix="D factor:"/>
</labels>
<nonResizeable/>
</graphics>
<logic>
<properties>
<property displayedName="Set point" type="int" name="SetPoint">
<default>45</default>
</property>
<property displayedName="P" type="int" name="P">
<default>25</default>
</property>
<property displayedName="P factor" type="int" name="PFactor">
<default>32</default>
</property>
<property displayedName="I" type="int" name="I">
<default>0</default>
</property>
<property displayedName="I factor" type="int" name="IFactor">
<default>32</default>
</property>
<property displayedName="D" type="int" name="D">
<default>8</default>
</property>
<property displayedName="D factor" type="int" name="DFactor">
<default>32</default>
</property>
</properties>
<container/>
<generalizations>
<parent parentName="Ev3SensorBlock"/>
</generalizations>
</logic>
</node>
<node displayedName="Sleep Line Leader" name="Ev3SleepLL" description="Puts the line leader to sleep conserve power">
<graphics>
<picture sizex="50" sizey="50">
<image y1="0" name="images/sleepLineLeader.svg" x1="0" y2="50" x2="50"/>
</picture>
<labels>
<label x="40" y="-35" textBinded="Port" hard="true" background="white" prefix="Port:"/>
</labels>
<nonResizeable/>
</graphics>
<logic>
<properties>
</properties>
<container/>
<generalizations>
<parent parentName="Ev3SensorBlock"/>
</generalizations>
</logic>
</node>
<node displayedName="Wake Up Line Leader" name="Ev3WakeUpLL" description="Wakes the line leader to prepare for use.">
<graphics>
<picture sizex="50" sizey="50">
<image y1="0" name="images/wakeUpLineLeader.svg" x1="0" y2="50" x2="50"/>
</picture>
<labels>
<label x="40" y="-35" textBinded="Port" hard="true" background="white" prefix="Port:"/>
</labels>
<nonResizeable/>
</graphics>
<logic>
<properties>
</properties>
<container/>
<generalizations>
<parent parentName="Ev3SensorBlock"/>
</generalizations>
</logic>
</node>
<node displayedName="Read Average to Variable" name="Ev3ReadAvrLL" description="Read the Weighted Average value from the sensor. This value is calculated internally by the sensor where each of the eight sensors is either triggered or not and multiplied by a factor to help determine if the line is left, right or on center of the line (according to the set point). EXPECTED VALUES: 0-80 (-1=ERROR)">
<graphics>
<picture sizex="50" sizey="50">
<image y1="0" name="images/readAvrLineLeader.svg" x1="0" y2="50" x2="50"/>
</picture>
<labels>
<label x="40" y="-35" textBinded="Port" hard="true" background="white" prefix="Port:"/>
<label x="45" y="60" textBinded="Variable" hard="false" background="white" prefix="Variable:"/>
</labels>
<nonResizeable/>
</graphics>
<logic>
<properties>
<property displayedName="Variable" type="string" name="Variable">
<default>x</default>
</property>
</properties>
<container/>
<generalizations>
<parent parentName="Ev3SensorBlock"/>
</generalizations>
</logic>
</node>
<node displayedName="Read Sensor to Array" name="Ev3ReadAllLL" description="Read the values from the Line Leader. Amount of light or dark each sensor sees. Typically between 0-20. 0=black, 100=white.">
<graphics>
<picture sizex="50" sizey="50">
<image y1="0" name="images/readCalLineLeader.svg" x1="0" y2="50" x2="50"/>
</picture>
<labels>
<label x="40" y="-35" textBinded="Port" hard="true" background="white" prefix="Port:"/>
<label x="45" y="60" textBinded="Variable" hard="false" background="white" prefix="Array:"/>
</labels>
<nonResizeable/>
</graphics>
<logic>
<properties>
<property displayedName="Array Variable" type="string" name="Variable">
<default>a</default>
</property>
</properties>
<container/>
<generalizations>
<parent parentName="Ev3SensorBlock"/>
</generalizations>
</logic>
</node>
<node displayedName="Read Steering to Variable" name="Ev3ReadSteeringLL" description="Read the Steering value from the sensor. This value is calculated internally and can directly be used to set turning values for the robot's motors. EXPECTED VALUES: -100 to 100 (-101=ERROR)">
<graphics>
<picture sizex="50" sizey="50">
<image y1="0" name="images/readSteeringLineLeader.svg" x1="0" y2="50" x2="50"/>
</picture>
<labels>
<label x="40" y="-35" textBinded="Port" hard="true" background="white" prefix="Port:"/>
<label x="45" y="60" textBinded="Variable" hard="false" background="white" prefix="Variable:"/>
</labels>
<nonResizeable/>
</graphics>
<logic>
<properties>
<property displayedName="Variable" type="string" name="Variable">
<default>x</default>
</property>
</properties>
<container/>
<generalizations>
<parent parentName="Ev3SensorBlock"/>
</generalizations>
</logic>
</node>

<!-- Waiting for sensors blocks, EV3 -->
<node displayedName="Wait for Mail Receiving" name="Ev3WaitForReceivingMail" description="Stores a message from another robot (fom mailbox) into a given variable. When no incoming messages are present at the moment, a robot will wait for incoming message if 'Synchronized' property is true, and doing nothing otherwise.">
<graphics>
Expand Down Expand Up @@ -760,6 +953,16 @@
<element name="Ev3StartCompassCalibration"/>
<element name="Ev3StopCompassCalibration"/>
</group>
<group name="Line Leader">
<element name="Ev3CalibrateWhiteLL"/>
<element name="Ev3CalibrateBlackLL"/>
<element name="Ev3CalibratePIDLL"/>
<element name="Ev3SleepLL"/>
<element name="Ev3WakeUpLL"/>
<element name="Ev3ReadAvrLL"/>
<element name="Ev3ReadAllLL"/>
<element name="Ev3ReadSteeringLL"/>
</group>
<group name="Wait">
<element name="Ev3WaitForTouchSensor"/>
<element name="Ev3WaitForEncoder"/>
Expand Down

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