Contains the FSM to controll the Drive. More...

#include <DriveCtrl.h>

Collaboration diagram for DriveCtrl:

[legend]

Public Types
enum	Event { Event::TurnLeft, Event::TurnRight, Event::TurnAround, Event::FollowLineForward, Event::FollowLineBackward, Event::FullLineDetected, Event::LineAligned, Event::Error, Event::Resume, Event::Reset, Event::NoEvent }
	Enum holds all possible events. More...

enum	State { State::idle, State::turningLeft, State::turningRight, State::turningAround, State::followingLineForward, State::followingLineBackward, State::resetState, State::errorState }
	Enum holds all possible states. More...

Public Member Functions
	DriveCtrl ()
	Construct a new Drive Ctrl object and set the currentState with idle state and initialize the PID-Controller. More...

void	loop ()
	Calls the do-function of the active state and hence generates Events. More...

void	loop (Event currentEvent)
	procceses the current Event and calls the do-function of the active state More...

const State	getcurrentState ()
	Get the current State. More...

Private Member Functions
void	process (Event e)
	changes the state of the FSM based on the event More...

void	entryAction_idle ()
	executes the entry action of the idle More...

DriveCtrl::Event	doAction_idle ()
	executes the main action of the idle More...

void	exitAction_idle ()
	executes the exit action of the idle More...

void	entryAction_turningLeft ()
	executes the entry action of the turningLeft More...

DriveCtrl::Event	doAction_turningLeft ()
	executes the main action of the turningLeft More...

void	exitAction_turningLeft ()
	executes the exit action of the turningLeft More...

void	entryAction_turningRight ()
	executes the entry action of the turningRight More...

DriveCtrl::Event	doAction_turningRight ()
	executes the main action of the turningRight More...

void	exitAction_turningRight ()
	executes the exit action of the turningRight More...

void	entryAction_turningAround ()
	executes the entry action of the turningAround More...

DriveCtrl::Event	doAction_turningAround ()
	executes the main action of the turningAround More...

void	exitAction_turningAround ()
	executes the exit action of the turningAround More...

void	entryAction_followingLineForward ()
	executes the entry action of the followingLineForward More...

DriveCtrl::Event	doAction_followingLineForward ()
	executes the main action of the followingLineForward More...

void	exitAction_followingLineForward ()
	executes the exit action of the followingLineForward More...

void	entryAction_followingLineBackward ()
	executes the entry action of the followingLineBackward More...

DriveCtrl::Event	doAction_followingLineBackward ()
	executes the main action of the followingLineBackward More...

void	exitAction_followingLineBackward ()
	executes the exit action of the followingLineBackward More...

void	entryAction_errorState ()
	entry action of the errorState More...

DriveCtrl::Event	doAction_errorState ()
	main action of the errorState More...

void	exitAction_errorState ()
	exit action of the errorState More...

void	entryAction_resetState ()
	entry action of the resetState More...

DriveCtrl::Event	doAction_resetState ()
	main action of the resetState More...

void	exitAction_resetState ()
	exit action of the resetState More...

String	decodeState (State state)
	Decodes the State-Enum and returns a description. More...

String	decodeEvent (Event event)
	Decodes the Event-Enum and returns a description. More...

Private Attributes
State	lastStateBevorError
	holds the last state of the FSM so it's possible to resume after error More...

State	currentState
	holds the current state of the FSM More...

Event	currentEvent
	holds the current event of the FSM More...

Event(DriveCtrl::*	doActionFPtr )(void) = nullptr
	Functionpointer to call the current states do-function. More...

unsigned long	currentMillis = 0
	will store current time More...

unsigned long	previousMillis = 0
	will store last time More...

const unsigned long	ignoreSensorTurnMillis = 500
	sets how long the sensors are ignored for a turn More...

const unsigned long	ignoreSensorAroundMillis = 1500
	sets how long the sensors are ignored for a turning around More...

double	pController_Input = 0
	Controller Input. More...

double	pController_Output = 0
	Controller Output. More...

double	pController_Setpoint = 0
	Controller Setpoint. More...

int	pSampleTime = 50
	Controler SampleTime in ms. More...

double	pVal_p = PID_KP
	P-Value. More...

double	pVal_i = PID_KI / pSampleTime
	I-Value (independet of SamplingTime) More...

double	pVal_d = PID_KD * pSampleTime
	D-Value (independet of SamplingTime) More...

PID	pController = PID(&pController_Input, &pController_Output, &pController_Setpoint, pVal_p, pVal_i, pVal_d, DIRECT)
	PID-Controller Object. More...

Drive	pDrive = Drive(RIGHT_MOTOR, LEFT_MOTOR)
	Drive Object. More...

EnvironmentDetection	pEnvdetect
	EnviromentDetection Object. More...

Detailed Description

Contains the FSM to controll the Drive.

Definition at line 32 of file DriveCtrl.h.

Member Enumeration Documentation

◆ Event

enum DriveCtrl::Event

strong

Enum holds all possible events.

Enumerator
TurnLeft	Ext.: Turn left.
TurnRight	Ext.: Turn right.
TurnAround	Ext.: Turn around on position.
FollowLineForward	Ext.: Follow the line forwards.
FollowLineBackward	Ext.: Follow the line backwards.
FullLineDetected	Signal: Full line detected.
LineAligned	Signal: Line is alligned in the middle of the vehicle.
Error	Ext.: Error occured.
Resume	Ext.: Resume after Error occured.
Reset	Ext.: Reset after Error occured.
NoEvent	No event generated.

Definition at line 39 of file DriveCtrl.h.

◆ State

enum DriveCtrl::State

strong

Enum holds all possible states.

Enumerator
idle	idle state
turningLeft	turning left state
turningRight	turning right state
turningAround	turning around state
followingLineForward	follow the line while driving forward state
followingLineBackward	follow the line while driving backward state
resetState	Reset state.
errorState	Error state.

Definition at line 56 of file DriveCtrl.h.

Constructor & Destructor Documentation

◆ DriveCtrl()

DriveCtrl::DriveCtrl ( )

Construct a new Drive Ctrl object and set the currentState with idle state and initialize the PID-Controller.

Definition at line 17 of file DriveCtrl.cpp.

Member Function Documentation

◆ loop() [1/2]

void DriveCtrl::loop ( )

Calls the do-function of the active state and hence generates Events.

Definition at line 26 of file DriveCtrl.cpp.

◆ loop() [2/2]

void DriveCtrl::loop ( Event currentEvent )

procceses the current Event and calls the do-function of the active state

Parameters

currentEvent - Event

Definition at line 31 of file DriveCtrl.cpp.

◆ getcurrentState()

const DriveCtrl::State DriveCtrl::getcurrentState ( )

Get the current State.

Returns: State - current State

Definition at line 37 of file DriveCtrl.cpp.

◆ process()

void DriveCtrl::process ( Event e )

private

changes the state of the FSM based on the event

Parameters

e - Event

Definition at line 41 of file DriveCtrl.cpp.

◆ entryAction_idle()

void DriveCtrl::entryAction_idle ( )

private

executes the entry action of the idle

Definition at line 156 of file DriveCtrl.cpp.

◆ doAction_idle()

DriveCtrl::Event DriveCtrl::doAction_idle ( )

private

executes the main action of the idle

This is an idle-state. Return NoEvent.

Returns: DriveCtrl::Event - generated Event

Definition at line 163 of file DriveCtrl.cpp.

◆ exitAction_idle()

void DriveCtrl::exitAction_idle ( )

private

executes the exit action of the idle

Definition at line 169 of file DriveCtrl.cpp.

◆ entryAction_turningLeft()

void DriveCtrl::entryAction_turningLeft ( )

private

executes the entry action of the turningLeft

Start Turning Left.

Definition at line 174 of file DriveCtrl.cpp.

◆ doAction_turningLeft()

DriveCtrl::Event DriveCtrl::doAction_turningLeft ( )

private

executes the main action of the turningLeft

Turn Left until the line is aligned again. Return LineAligned else return no Event.

Returns: DriveCtrl::Event - generated Event

Definition at line 184 of file DriveCtrl.cpp.

◆ exitAction_turningLeft()

void DriveCtrl::exitAction_turningLeft ( )

private

executes the exit action of the turningLeft

Stop Driving.

Definition at line 194 of file DriveCtrl.cpp.

◆ entryAction_turningRight()

void DriveCtrl::entryAction_turningRight ( )

private

executes the entry action of the turningRight

Start Turning Right.

Definition at line 200 of file DriveCtrl.cpp.

◆ doAction_turningRight()

DriveCtrl::Event DriveCtrl::doAction_turningRight ( )

private

executes the main action of the turningRight

Turn Right until the line is aligned again. Return LineAligned else return no Event.

Returns: DriveCtrl::Event - generated Event

Definition at line 210 of file DriveCtrl.cpp.

◆ exitAction_turningRight()

void DriveCtrl::exitAction_turningRight ( )

private

executes the exit action of the turningRight

Stop Driving.

Definition at line 220 of file DriveCtrl.cpp.

◆ entryAction_turningAround()

void DriveCtrl::entryAction_turningAround ( )

private

executes the entry action of the turningAround

Start Turning Right.

Definition at line 226 of file DriveCtrl.cpp.

◆ doAction_turningAround()

DriveCtrl::Event DriveCtrl::doAction_turningAround ( )

private

executes the main action of the turningAround

Turn Right until the line is aligned again. Return LineAligned else return no Event.

Returns: DriveCtrl::Event - generated Event

Definition at line 237 of file DriveCtrl.cpp.

◆ exitAction_turningAround()

void DriveCtrl::exitAction_turningAround ( )

private

executes the exit action of the turningAround

Stop Driving.

Definition at line 250 of file DriveCtrl.cpp.

◆ entryAction_followingLineForward()

void DriveCtrl::entryAction_followingLineForward ( )

private

executes the entry action of the followingLineForward

Start Driving Straight

Definition at line 256 of file DriveCtrl.cpp.

◆ doAction_followingLineForward()

DriveCtrl::Event DriveCtrl::doAction_followingLineForward ( )

private

executes the main action of the followingLineForward

Check Line-deviation and correct accordingly via PID-Controller and drive until a FullLine is Detected. Return Event FullLine else reutrn NoEvent.

Returns: DriveCtrl::Event - generated Event

Definition at line 267 of file DriveCtrl.cpp.

◆ exitAction_followingLineForward()

void DriveCtrl::exitAction_followingLineForward ( )

private

executes the exit action of the followingLineForward

Stop driving.

Definition at line 294 of file DriveCtrl.cpp.

◆ entryAction_followingLineBackward()

void DriveCtrl::entryAction_followingLineBackward ( )

private

executes the entry action of the followingLineBackward

Start Driving Straight

Definition at line 300 of file DriveCtrl.cpp.

◆ doAction_followingLineBackward()

DriveCtrl::Event DriveCtrl::doAction_followingLineBackward ( )

private

executes the main action of the followingLineBackward

Check Line-deviation and correct accordingly via PID-Controller and drive until a FullLine is Detected. Return Event FullLine else reutrn NoEvent.

Returns: DriveCtrl::Event - generated Event

Definition at line 314 of file DriveCtrl.cpp.

◆ exitAction_followingLineBackward()

void DriveCtrl::exitAction_followingLineBackward ( )

private

executes the exit action of the followingLineBackward

Stop driving.

Definition at line 343 of file DriveCtrl.cpp.

◆ entryAction_errorState()

void DriveCtrl::entryAction_errorState ( )

private

entry action of the errorState

Definition at line 351 of file DriveCtrl.cpp.

◆ doAction_errorState()

DriveCtrl::Event DriveCtrl::doAction_errorState ( )

private

main action of the errorState

Returns: DriveCtrl::Event - generated Event

Definition at line 360 of file DriveCtrl.cpp.

◆ exitAction_errorState()

void DriveCtrl::exitAction_errorState ( )

private

exit action of the errorState

Definition at line 366 of file DriveCtrl.cpp.

◆ entryAction_resetState()

void DriveCtrl::entryAction_resetState ( )

private

entry action of the resetState

Definition at line 371 of file DriveCtrl.cpp.

◆ doAction_resetState()

DriveCtrl::Event DriveCtrl::doAction_resetState ( )

private

main action of the resetState

Returns: DriveCtrl::Event - generated Event

Definition at line 377 of file DriveCtrl.cpp.

◆ exitAction_resetState()

void DriveCtrl::exitAction_resetState ( )

private

exit action of the resetState

Definition at line 383 of file DriveCtrl.cpp.

◆ decodeState()

String DriveCtrl::decodeState ( State state )

private

Decodes the State-Enum and returns a description.

Parameters

state - enum State

Returns: String - State as String

Definition at line 389 of file DriveCtrl.cpp.

◆ decodeEvent()

String DriveCtrl::decodeEvent ( Event event )

private

Decodes the Event-Enum and returns a description.

Parameters

event - enum Event

Returns: String - Event as String

Definition at line 414 of file DriveCtrl.cpp.

Member Data Documentation

◆ lastStateBevorError

State DriveCtrl::lastStateBevorError

private

holds the last state of the FSM so it's possible to resume after error

Definition at line 95 of file DriveCtrl.h.

◆ currentState

State DriveCtrl::currentState

private

holds the current state of the FSM

Definition at line 96 of file DriveCtrl.h.

◆ currentEvent

Event DriveCtrl::currentEvent

private

holds the current event of the FSM

Definition at line 97 of file DriveCtrl.h.

◆ doActionFPtr

Event(DriveCtrl::* DriveCtrl::doActionFPtr) (void) = nullptr

private

Functionpointer to call the current states do-function.

https://stackoverflow.com/questions/1485983/calling-c-class-methods-via-a-function-pointer

Definition at line 104 of file DriveCtrl.h.

◆ currentMillis

unsigned long DriveCtrl::currentMillis = 0

private

will store current time

Definition at line 106 of file DriveCtrl.h.

◆ previousMillis

unsigned long DriveCtrl::previousMillis = 0

private

will store last time

Definition at line 107 of file DriveCtrl.h.

◆ ignoreSensorTurnMillis

const unsigned long DriveCtrl::ignoreSensorTurnMillis = 500

private

sets how long the sensors are ignored for a turn

Definition at line 108 of file DriveCtrl.h.

◆ ignoreSensorAroundMillis

const unsigned long DriveCtrl::ignoreSensorAroundMillis = 1500

private

sets how long the sensors are ignored for a turning around

Definition at line 109 of file DriveCtrl.h.

◆ pController_Input

double DriveCtrl::pController_Input = 0

private

Controller Input.

Definition at line 111 of file DriveCtrl.h.

◆ pController_Output

double DriveCtrl::pController_Output = 0

private

Controller Output.

Definition at line 112 of file DriveCtrl.h.

◆ pController_Setpoint

double DriveCtrl::pController_Setpoint = 0

private

Controller Setpoint.

Definition at line 113 of file DriveCtrl.h.

◆ pSampleTime

int DriveCtrl::pSampleTime = 50

private

Controler SampleTime in ms.

Definition at line 114 of file DriveCtrl.h.

◆ pVal_p

double DriveCtrl::pVal_p = PID_KP

private

P-Value.

Definition at line 115 of file DriveCtrl.h.

◆ pVal_i

double DriveCtrl::pVal_i = PID_KI / pSampleTime

private

I-Value (independet of SamplingTime)

Definition at line 116 of file DriveCtrl.h.

◆ pVal_d

double DriveCtrl::pVal_d = PID_KD * pSampleTime

private

D-Value (independet of SamplingTime)

Definition at line 117 of file DriveCtrl.h.

◆ pController

PID DriveCtrl::pController = PID(&pController_Input, &pController_Output, &pController_Setpoint, pVal_p, pVal_i, pVal_d, DIRECT)

private

PID-Controller Object.

https://www.quora.com/What-would-be-appropriate-tuning-factors-for-PID-line-follower-robot

Set all the gains to zero
Increase only Kp (Proportional gain) to get an ultimate oscillating value Kp(max)
Increase Kd (Derivative gain) until the oscillations disappear.
Repeat steps 2 and 3 until increasing Kd does not dampen the oscillations
Now increase Ki (Integral gain) to get a good system with desired number of oscillations (Ideally zero)

Todo:: Improve controller and make it adaptive to speedchanges

Definition at line 131 of file DriveCtrl.h.

◆ pDrive

Drive DriveCtrl::pDrive = Drive(RIGHT_MOTOR, LEFT_MOTOR)

private

Drive Object.

Definition at line 132 of file DriveCtrl.h.

◆ pEnvdetect

EnvironmentDetection DriveCtrl::pEnvdetect

private

EnviromentDetection Object.

Definition at line 133 of file DriveCtrl.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Event

◆ State

Constructor & Destructor Documentation

◆ DriveCtrl()

Member Function Documentation

◆ loop() [1/2]

◆ loop() [2/2]

◆ getcurrentState()

◆ process()

◆ entryAction_idle()

◆ doAction_idle()

◆ exitAction_idle()

◆ entryAction_turningLeft()

◆ doAction_turningLeft()

◆ exitAction_turningLeft()

◆ entryAction_turningRight()

◆ doAction_turningRight()

◆ exitAction_turningRight()

◆ entryAction_turningAround()

◆ doAction_turningAround()

◆ exitAction_turningAround()

◆ entryAction_followingLineForward()

◆ doAction_followingLineForward()

◆ exitAction_followingLineForward()

◆ entryAction_followingLineBackward()

◆ doAction_followingLineBackward()

◆ exitAction_followingLineBackward()

◆ entryAction_errorState()

◆ doAction_errorState()

◆ exitAction_errorState()

◆ entryAction_resetState()

◆ doAction_resetState()

◆ exitAction_resetState()

◆ decodeState()

◆ decodeEvent()

Member Data Documentation

◆ lastStateBevorError

◆ currentState

◆ currentEvent

◆ doActionFPtr

◆ currentMillis

◆ previousMillis

◆ ignoreSensorTurnMillis

◆ ignoreSensorAroundMillis

◆ pController_Input

◆ pController_Output

◆ pController_Setpoint

◆ pSampleTime

◆ pVal_p

◆ pVal_i

◆ pVal_d

◆ pController

◆ pDrive

◆ pEnvdetect