Dear Apek,
Does this code run on a real e-puck robot (cross-compiled) or on a
Webots simulation of e-puck (simulation or remote-control of the real
robot) or all three?
If the problem occurs in the Webots simulation, please submit a support
ticket at http://www.cyberbotics.com/support/ticket.php
If the problem occurs on the real robot, I would suggest first to try
the same code with Webots as it is often easier to debug with Webots
(you can make printf of sensor values and other variables). If it works
with Webots in simulation and not with the real robot (in remote control
or cross-compilation), then, it may be a calibration problem, i.e., the
values read the sensors are not exactly the same in simulation and in
the real robot. This means your simulation models (robot & world) need
to be calibrated so that the code will run on both the simulation and
the real robot. I would suggest you to use the remote-control feature of
Webots in order to drive the real robot while still printing the
interesting values (sensors and variables). It should help you debunk
the problem.
Let me know if that helps.
Best regards,
-Olivier
On 9/30/10 5:14 AM, Apek Cheeky wrote:
> Can anyone tell me whats wrong with this code?
> My e-puck does not seem to follow the black line and read shapes...
>
> #include <webots/differential_wheels.h>
> #include <webots/camera.h>
> #include <math.h>
> #include <webots/robot.h>
> #include <stdlib.h>
> #include <webots/robot.h>
> #include <webots/led.h>
> #include <string.h>
> #include <time.h>
> #include <webots/distance_sensor.h>
>
> #define TIME_STEP_CAM 64
> #define TIME_STEP 64
> #define TRUE 1
> #define FALSE 0
> #define LEFT 0
> #define RIGHT 1
>
> #define NB_LEDS 10
> #define NB_DIST_SENS 8
> #define PS_RIGHT_10 0
> #define PS_RIGHT_45 1
> #define PS_RIGHT_90 2
> #define PS_RIGHT_REAR 3
> #define PS_LEFT_REAR 4
> #define PS_LEFT_90 5
> #define PS_LEFT_45 6
> #define PS_LEFT_10 7
> #define NB_FLOOR_SENS 3
> #define FS_WHITE 900
> #define FS_LEFT 0
> #define FS_CENTER 1
> #define FS_RIGHT 2
> WbDeviceTag cam;
> WbDeviceTag ps[NB_DIST_SENS];
> WbDeviceTag fs[NB_FLOOR_SENS];
> WbDeviceTag led[NB_LEDS];
>
>
> int speed[2]={0,0};
> int ps_value[NB_DIST_SENS]={0,0,0,0,0,0,0,0};
> unsigned short fs_value[NB_FLOOR_SENS]={0,0,0};
> unsigned short width,height;
> int i;
> int shapesize=0;
> int delay=0;
> int shapechecking,whitechecking;
> int Itriangle,square,triangle;
> int stop=0;
>
>
>
> void Sensor_check()
> {
> for(i=0;i<NB_FLOOR_SENS;i++)
> {
> fs_value[i]=(int)wb_distance_sensor_get_value(fs[i]);
> }
> for(i=0;i<NB_DIST_SENS;i++)
> {
> ps_value[i]=(int)wb_distance_sensor_get_value(ps[i]);
> }
> }
> void UTurn()
> {
> while((int)fs_value[0]>330)
> {
> speed[RIGHT]=400;//rotate right
> speed[LEFT]=-400;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> Sensor_check();
> }
> }
> void Offled()
> {
> for(i=0;i<9;i++)
> {
> wb_led_set(led[i],FALSE);
> }
> }
>
> void MoveObstacle()
> {
> Sensor_check();
>
> while ((int)ps_value[0]<2000&&(int)ps_value[7]<2000)
> {
> Sensor_check();
> speed[RIGHT]=300;
> speed[LEFT]=300;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
>
> delay=10000;
>
> while (delay!=0)
> {
> wb_led_set(led[0],TRUE);
> wb_led_set(led[7],TRUE);
> wb_led_set(led[6],TRUE);
> speed[RIGHT]=450;
> speed[LEFT]=-450;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> delay--;
> }
>
> Offled();
>
> delay=12000;
> while (delay!=0)
> {
> wb_led_set(led[0],TRUE);
> wb_led_set(led[8],TRUE);
> speed[RIGHT]=650;
> speed[LEFT]=650;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> delay--;
> }
>
> Offled();
>
> delay=12000;
> while (delay!=0)
> {
> wb_led_set(led[5],TRUE);
> wb_led_set(led[4],TRUE);
> speed[RIGHT]=-650;
> speed[LEFT]=-650;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> delay--;
>
> }
>
> Offled();
> wb_led_set(led[0],TRUE);
> wb_led_set(led[1],TRUE);
> wb_led_set(led[2],TRUE);
> speed[RIGHT]=-300;
> speed[LEFT]=300;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
>
> void black_line()
> {
>
> Sensor_check();
> if((int)fs_value[2]<330)
> {
> speed[RIGHT]=speed[RIGHT]-180;//rotate right
> speed[LEFT]=speed[LEFT]+100;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
> else if((int)fs_value[0]<330)
> {
> speed[RIGHT]=speed[RIGHT]+100;// rotate left
> speed[LEFT]=speed[LEFT]-180;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
> else if((int)fs_value[1]<330)
> {
> speed[RIGHT]=400;// foward
> speed[LEFT]=400;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
> }
> void movewall()
> {
>
> speed[RIGHT]=400;
> speed[LEFT]=400;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
>
> Sensor_check();
> while((int)ps_value[0]>200||(int)ps_value[7]>200)
> {
> Sensor_check();
> black_line();
> }
>
> speed[RIGHT]=400;
> speed[LEFT]=400;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
>
> void shape()
> {
> if(shapesize==0)
> {
> shapesize=shapechecking;
> }
> else if(shapesize<shapechecking&&whitechecking>3)
> {
> triangle++;
> }
> else if(shapesize>shapechecking&&whitechecking>3)
> {
> Itriangle++;
> }
> else if(shapesize==shapechecking&&whitechecking>3)
> {
> square++;
> }
> shapesize=shapechecking;
>
> }
> void shapecompare()
> {
> if(triangle>square&&triangle>Itriangle)//triangle
> {
> movewall();
> }
> else if(triangle<square&&square>Itriangle)//square
> {
> MoveObstacle();
>
> }
> else if(Itriangle>triangle&&square<Itriangle)// Itriangle
> {
> UTurn();
> }
> Offled();
> triangle=0;
> square=0;
> Itriangle=0;
> shapesize=0;
> whitechecking=0;
> }
> void CheckCamera()
> {
> int reg1,x,y;
> const unsigned char *image;
> cam = wb_robot_get_device("camera");
> wb_camera_enable(cam,TIME_STEP_CAM);
> width = wb_camera_get_width(cam);
> height = wb_camera_get_height(cam);
> image = wb_camera_get_image(cam);
>
> for (y=38;y>0;y--)
> {
> for (x=0;x<width;x++)
> {
> reg1 = wb_camera_image_get_red(image,width,x,y);
> if (reg1<50)
> {
> shapechecking=x;
> whitechecking=x-1;
> shape();
> y--;
> x=0;
> }
> }
> }
> }
>
>
> int main() {
>
> wb_robot_init();
> char light[]="led0";
> for(i=0;i<NB_LEDS;i++)
> {
> led[i]=wb_robot_get_device(light);
> light[3]++;
> }
>
> char named[]="fs0";
> for (i = 0; i < NB_FLOOR_SENS; i++)
> {
>
> fs[i] = wb_robot_get_device(named); /* floor sensors */
> wb_distance_sensor_enable(fs[i],TIME_STEP);
> named[2]++;
> }
>
> char textPS[]="ps0";
> for(i=0;i<NB_DIST_SENS;i++)
> {
> ps[i]=wb_robot_get_device(textPS);
> wb_distance_sensor_enable(ps[i],TIME_STEP);
> textPS[2]++;
> }
>
> //main loop
> while(stop==0)
> {
>
> Sensor_check();
>
> if((int)ps_value[0]>200||(int)ps_value[7]>200)
> {
> speed[RIGHT]=0;
> speed[LEFT]=0;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> CheckCamera();
> shapecompare();
> }
> else
> {
> black_line();
> }
> }
> /* Enter here exit cleanup code */
>
> /* Necessary to cleanup webots stuff */
> wb_robot_cleanup();
>
> return 0;
> }
>
>
> _______________________________________________
> E-puck-user mailing list
> [email protected]
> https://mail.gna.org/listinfo/e-puck-user
_______________________________________________
E-puck-user mailing list
[email protected]
https://mail.gna.org/listinfo/e-puck-user
