Merge pull request #129 from BlueAndi/feature/LineFollowerSimple

Feature/line follower simple

README.md

@@ -154,7 +154,8 @@ Example for the **LineFollowerTarget** application:
 | Calib | Application used for motor speed calibration. | Yes | No | ./webots/worlds/LargeTrack.wbt  ./webots/worlds/LineFollowerTrack.wbt |
 | ConvoyLeader | A line follower, providing information to the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip) in a convoy leader role. | No | Yes | ./webots/worlds/zumo_with_com_system/PlatoonTrack.wbt |
 | ConvoyFollower | Convoy follower, providing information to the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip) to drive to its target. | No | Yes | ./webots/worlds/zumo_with_com_system/PlatoonTrack.wbt |
-| LineFollower | Just a line follower, using a PID controller. | Yes | No | ./webots/worlds/ETrack.wbt  ./webots/worlds/LargeTrack.wbt  ./webots/worlds/LineFollowerTrack.wbt |
+| LineFollower | Just a line follower, using a PID controller with differential drive and odometry. | Yes | No | ./webots/worlds/ETrack.wbt  ./webots/worlds/LargeTrack.wbt  ./webots/worlds/LineFollowerTrack.wbt |
+| LineFollowerSimple | Just a simple line follower, using a PID controller. | Yes | No | ./webots/worlds/ETrack.wbt  ./webots/worlds/LargeTrack.wbt  ./webots/worlds/LineFollowerTrack.wbt |
 | RemoteControl | The robot is remote controlled by e.g. the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip) in a convoy follower role. | No | Yes | ./webots/world/zumo_with_com_system/* |
 | SensorFusion | The robot provides odometry and inertial data to the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip), which calculates the sensor fusion based location information. | No | Yes | ./webots/worlds/zumo_with_com_system/LineFollowerTrack.wbt |
 | Test | Only for testing purposes on native environment. | Yes | No | N/A |

lib/APPCalib/src/ErrorState.cpp

@@ -38,6 +38,7 @@
 #include "StartupState.h"
 #include <DifferentialDrive.h>
 #include <Logging.h>
+#include <Util.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -95,9 +96,8 @@ void ErrorState::process(StateMachine& sm)
     IButton& buttonA = Board::getInstance().getButtonA();
 
     /* Restart calibration? */
-    if (true == buttonA.isPressed())
+    if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed))
     {
-        buttonA.waitForRelease();
         sm.setState(&StartupState::getInstance());
     }
 }

lib/APPCalib/src/ErrorState.h

@@ -105,11 +105,12 @@ class ErrorState : public IState
     static const size_t ERROR_MSG_SIZE = 20;
 
     char m_errorMsg[ERROR_MSG_SIZE]; /**< Error message, which to show. */
+    bool m_isButtonAPressed;         /**< Is the button A pressed (last time)? */
 
     /**
      * Default constructor.
      */
-    ErrorState() : m_errorMsg()
+    ErrorState() : m_errorMsg(), m_isButtonAPressed(false)
     {
         m_errorMsg[0] = '\0';
     }

lib/APPCalib/src/ReadyState.cpp

@@ -39,6 +39,7 @@
 #include <DifferentialDrive.h>
 #include <Logging.h>
 #include "DrivingState.h"
+#include <Util.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -82,30 +83,30 @@ void ReadyState::process(StateMachine& sm)
     IButton& buttonC = board.getButtonC();
 
     /* Drive forward? */
-    if (true == buttonA.isPressed())
+    if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed))
     {
         DrivingState::getInstance().setCmd(DrivingState::DRIVING_CMD_FORWARD);
-        buttonA.waitForRelease();
+
         m_releaseTimer.start(RELEASE_DURATION);
 
         LOG_INFO("Drive forward 10 cm.");
     }
 
     /* Turn left? */
-    if (true == buttonB.isPressed())
+    if (true == Util::isButtonTriggered(buttonB, m_isButtonBPressed))
     {
         DrivingState::getInstance().setCmd(DrivingState::DRIVING_CMD_TURN_LEFT);
-        buttonB.waitForRelease();
+
         m_releaseTimer.start(RELEASE_DURATION);
 
         LOG_INFO("Turn left 90°.");
     }
 
     /* Turn right? */
-    if (true == buttonC.isPressed())
+    if (true == Util::isButtonTriggered(buttonC, m_isButtonCPressed))
     {
         DrivingState::getInstance().setCmd(DrivingState::DRIVING_CMD_TURN_RIGHT);
-        buttonC.waitForRelease();
+
         m_releaseTimer.start(RELEASE_DURATION);
 
         LOG_INFO("Turn right 90°.");

lib/APPCalib/src/ReadyState.h

@@ -115,11 +115,20 @@ class ReadyState : public IState
     SimpleTimer m_timer;         /**< Used to show information for a certain time before changing to the next info. */
     UserInfo    m_userInfoState; /**< Current user info state. */
     SimpleTimer m_releaseTimer;  /**< Release timer */
+    bool        m_isButtonAPressed; /**< Is the button A pressed (last time)? */
+    bool        m_isButtonBPressed; /**< Is the button B pressed (last time)? */
+    bool        m_isButtonCPressed; /**< Is the button C pressed (last time)? */
 
     /**
      * Default constructor.
      */
-    ReadyState() : m_timer(), m_userInfoState(USER_INFO_DRIVE_FORWARD), m_releaseTimer()
+    ReadyState() :
+        m_timer(),
+        m_userInfoState(USER_INFO_DRIVE_FORWARD),
+        m_releaseTimer(),
+        m_isButtonAPressed(false),
+        m_isButtonBPressed(false),
+        m_isButtonCPressed(false)
     {
     }
 

lib/APPCalib/src/StartupState.cpp

@@ -38,6 +38,7 @@
 #include "MotorSpeedCalibrationState.h"
 #include "ReadyState.h"
 #include <DifferentialDrive.h>
+#include <Util.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -97,9 +98,8 @@ void StartupState::process(StateMachine& sm)
     IButton& buttonB = board.getButtonB();
 
     /* Start max. motor speed calibration? */
-    if (true == buttonA.isPressed())
+    if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed))
     {
-        buttonA.waitForRelease();
         sm.setState(&MotorSpeedCalibrationState::getInstance());
     }
 
@@ -109,10 +109,9 @@ void StartupState::process(StateMachine& sm)
     if (true == m_isMaxMotorSpeedCalibAvailable)
     {
         /* Ready to drive? */
-        if (true == buttonB.isPressed())
+        if (true == Util::isButtonTriggered(buttonB, m_isButtonBPressed))
         {
-            buttonB.waitForRelease();
-            sm.setState(&ReadyState::getInstance());
+            sm.setState(&MotorSpeedCalibrationState::getInstance());
         }
     }
 

lib/APPCalib/src/StartupState.h

@@ -112,11 +112,18 @@ class StartupState : public IState
     bool        m_isMaxMotorSpeedCalibAvailable; /**< Is max. motor speed calibration value available? */
     SimpleTimer m_timer;         /**< Used to show information for a certain time before changing to the next info. */
     UserInfo    m_userInfoState; /**< Current user info state. */
+    bool        m_isButtonAPressed; /**< Is the button A pressed (last time)? */
+    bool        m_isButtonBPressed; /**< Is the button B pressed (last time)? */
 
     /**
      * Default constructor.
      */
-    StartupState() : m_isMaxMotorSpeedCalibAvailable(false), m_timer(), m_userInfoState(USER_INFO_TEAM_NAME)
+    StartupState() :
+        m_isMaxMotorSpeedCalibAvailable(false),
+        m_timer(),
+        m_userInfoState(USER_INFO_TEAM_NAME),
+        m_isButtonAPressed(false),
+        m_isButtonBPressed(false)
     {
     }
 

lib/APPConvoyLeader/src/ErrorState.cpp

@@ -37,6 +37,7 @@
 #include <StateMachine.h>
 #include "StartupState.h"
 #include <DifferentialDrive.h>
+#include <Util.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -78,9 +79,8 @@ void ErrorState::process(StateMachine& sm)
     IButton& buttonA = Board::getInstance().getButtonA();
 
     /* Restart calibration? */
-    if (true == buttonA.isPressed())
+    if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed))
     {
-        buttonA.waitForRelease();
         sm.setState(&StartupState::getInstance());
     }
 }

lib/APPConvoyLeader/src/ErrorState.h

@@ -105,11 +105,12 @@ class ErrorState : public IState
     static const size_t ERROR_MSG_SIZE = 20;
 
     char m_errorMsg[ERROR_MSG_SIZE]; /**< Error message, which to show. */
+    bool m_isButtonAPressed;         /**< Is the button A pressed (last time)? */
 
     /**
      * Default constructor.
      */
-    ErrorState() : m_errorMsg()
+    ErrorState() : m_errorMsg(), m_isButtonAPressed(false)
     {
         m_errorMsg[0] = '\0';
     }

lib/APPLineFollower/src/DrivingState.cpp

@@ -83,7 +83,7 @@ const int16_t DrivingState::POSITION_SET_POINT =
 
 /* Initialize the required sensor IDs to be generic. */
 const uint8_t DrivingState::SENSOR_ID_MOST_LEFT  = 0U;
-const uint8_t DrivingState::SENSOR_ID_MIDDLE     = Board::getInstance().getLineSensors().getNumLineSensors() / 2U;
+const uint8_t DrivingState::SENSOR_ID_MIDDLE     = (Board::getInstance().getLineSensors().getNumLineSensors() - 1U) / 2U;
 const uint8_t DrivingState::SENSOR_ID_MOST_RIGHT = Board::getInstance().getLineSensors().getNumLineSensors() - 1U;
 
 /* Initialize the position values used by the algorithmic. */

lib/APPLineFollower/src/ErrorState.cpp

@@ -38,6 +38,7 @@
 #include "StartupState.h"
 #include <DifferentialDrive.h>
 #include <Logging.h>
+#include <Util.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -70,8 +71,10 @@ LOG_TAG("EState");
 
 void ErrorState::entry()
 {
-    IDisplay& display = Board::getInstance().getDisplay();
-
+    IBoard&   board   = Board::getInstance();
+    IDisplay& display = board.getDisplay();
+
+    /* Stop the motors in any case! */
     DifferentialDrive::getInstance().disable();
 
     display.clear();
@@ -95,9 +98,8 @@ void ErrorState::process(StateMachine& sm)
     IButton& buttonA = Board::getInstance().getButtonA();
 
     /* Restart calibration? */
-    if (true == buttonA.isPressed())
+    if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed))
     {
-        buttonA.waitForRelease();
         sm.setState(&StartupState::getInstance());
     }
 }

lib/APPLineFollower/src/ErrorState.h

@@ -105,11 +105,12 @@ class ErrorState : public IState
     static const size_t ERROR_MSG_SIZE = 20;
 
     char m_errorMsg[ERROR_MSG_SIZE]; /**< Error message, which to show. */
+    bool m_isButtonAPressed;         /**< Is the button A pressed (last time)? */
 
     /**
      * Default constructor.
      */
-    ErrorState() : m_errorMsg()
+    ErrorState() : m_errorMsg(), m_isButtonAPressed(false)
     {
         m_errorMsg[0] = '\0';
     }

lib/APPLineFollower/src/ReadyState.cpp

@@ -94,13 +94,13 @@ void ReadyState::process(StateMachine& sm)
     IButton& buttonA = Board::getInstance().getButtonA();
 
     /* Shall track be released? */
-    if (true == buttonA.isPressed())
+    if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed))
     {
-        buttonA.waitForRelease();
         sm.setState(&ReleaseTrackState::getInstance());
     }
+
     /* Shall the line sensor values be printed out on console? */
-    else if (true == m_timer.isTimeout())
+    if (true == m_timer.isTimeout())
     {
         ILineSensors&   lineSensors  = Board::getInstance().getLineSensors();
         uint8_t         index        = 0;

lib/APPLineFollower/src/ReadyState.h

@@ -101,11 +101,12 @@ class ReadyState : public IState
     SimpleTimer m_timer;              /**< Timer used for cyclic debug output. */
     bool        m_isLapTimeAvailable; /**< Is set (true), if a lap time is available. */
     uint32_t    m_lapTime;            /**< Lap time in ms of the last successful driven round. */
+    bool        m_isButtonAPressed;   /**< Is the button A pressed (last time)? */
 
     /**
      * Default constructor.
      */
-    ReadyState() : m_timer(), m_isLapTimeAvailable(false), m_lapTime(0)
+    ReadyState() : m_timer(), m_isLapTimeAvailable(false), m_lapTime(0), m_isButtonAPressed(false)
     {
     }
 

lib/APPLineFollower/src/ReleaseTrackState.cpp

@@ -37,6 +37,7 @@
 #include <StateMachine.h>
 #include "DrivingState.h"
 #include "ParameterSets.h"
+#include <Util.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -77,13 +78,12 @@ void ReleaseTrackState::process(StateMachine& sm)
     IButton& buttonA = Board::getInstance().getButtonA();
 
     /* Change parameter set? */
-    if (true == buttonA.isPressed())
+    if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed))
     {
-        /* Choose next parameter set (round-robin) */
+        /* Choose next parameter set (round-robin). */
         ParameterSets::getInstance().next();
         showParSet();
 
-        buttonA.waitForRelease();
         m_releaseTimer.restart();
     }
 

lib/APPLineFollower/src/ReleaseTrackState.h

@@ -95,12 +95,13 @@ class ReleaseTrackState : public IState
     /** Track release timer duration in ms. */
     static const uint32_t TRACK_RELEASE_DURATION = 5000;
 
-    SimpleTimer m_releaseTimer; /**< Track release timer */
+    SimpleTimer m_releaseTimer;     /**< Track release timer */
+    bool        m_isButtonAPressed; /**< Is the button A pressed (last time)? */
 
     /**
      * Default constructor.
      */
-    ReleaseTrackState()
+    ReleaseTrackState() : m_releaseTimer(), m_isButtonAPressed(false)
     {
     }
 

lib/APPLineFollower/src/StartupState.cpp

@@ -39,6 +39,7 @@
 #include "LineSensorsCalibrationState.h"
 #include "Sound.h"
 #include <DifferentialDrive.h>
+#include <Util.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -96,11 +97,10 @@ void StartupState::process(StateMachine& sm)
     Board&   board   = Board::getInstance();
     IButton& buttonA = board.getButtonA();
 
-    /* Start max. motor speed calibration? */
-    if (true == buttonA.isPressed())
+    /* Start line sensor calibration? */
+    if (true == Util::isButtonTriggered(buttonA, m_isButtonAPressed))
     {
-        buttonA.waitForRelease();
-        sm.setState(&MotorSpeedCalibrationState::getInstance());
+        sm.setState(&LineSensorsCalibrationState::getInstance());
     }
 
     /* If the max. motor speed calibration is done, it will be possible to
@@ -111,9 +111,8 @@ void StartupState::process(StateMachine& sm)
         IButton& buttonB = board.getButtonB();
 
         /* Start line sensor calibration? */
-        if (true == buttonB.isPressed())
+        if (true == Util::isButtonTriggered(buttonB, m_isButtonBPressed))
         {
-            buttonB.waitForRelease();
             sm.setState(&LineSensorsCalibrationState::getInstance());
         }
     }

lib/APPLineFollower/src/StartupState.h

@@ -113,11 +113,18 @@ class StartupState : public IState
     bool        m_isMaxMotorSpeedCalibAvailable; /**< Is max. motor speed calibration value available? */
     SimpleTimer m_timer;         /**< Used to show information for a certain time before changing to the next info. */
     UserInfo    m_userInfoState; /**< Current user info state. */
+    bool        m_isButtonAPressed; /**< Is the button A pressed (last time)? */
+    bool        m_isButtonBPressed; /**< Is the button B pressed (last time)? */
 
     /**
      * Default constructor.
      */
-    StartupState() : m_isMaxMotorSpeedCalibAvailable(false), m_timer(), m_userInfoState(USER_INFO_TEAM_NAME)
+    StartupState() :
+        m_isMaxMotorSpeedCalibAvailable(false),
+        m_timer(),
+        m_userInfoState(USER_INFO_TEAM_NAME),
+        m_isButtonAPressed(false),
+        m_isButtonBPressed(false)
     {
     }
 

lib/APPLineFollowerSimple/library.json

@@ -0,0 +1,17 @@
+{
+    "name": "APPLineFollowerSimple",
+    "version": "0.1.0",
+    "description": "LineFollower application",
+    "authors": [{
+        "name": "Andreas Merkle",
+        "email": "[email protected]",
+        "url": "https://github.com/BlueAndi",
+        "maintainer": true
+    }],
+    "license": "MIT",
+    "dependencies": [{
+        "name": "Service"
+    }],
+    "frameworks": "*",
+    "platforms": "*"
+}