Commit b748482edb05a97fb9b7186dc549905813a9a9ae - droidcopter

POSSIBLY FLAWED COMMIT Ben 11 years ago

9 changed file(s) with 76 addition(s) and 19 deletion(s). Raw diff Collapse all Expand all

Pilot/bin/classes.dex less more

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Pilot/bin/resources.ap_ less more

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-0

org/haldean/chopper/pilot/ChopperMain.java less more

68	68
69	69	reporter.registerReceiver(comm);
70	70	pic.registerReceiver(comm);
	71	guid.registerReceiver(comm);
71	72
72	73	new PersistentThread(comm).start();
73	74	status.getPersistentThreadInstance().start();

-1

org/haldean/chopper/pilot/ChopperStatus.java less more

104	104	private ReentrantLock[] mReadingLock;
105	105
106	106	/** List of registered receivers */
107		private LinkedList<Receivable> mRec = new LinkedList<Receivable>();
	107	private LinkedList<Receivable> mRec;
108	108
109	109	/** Hides Runnability, ensures singleton-ness */
110	110	private Runnable mRunner;

116	116	*/
117	117	public ChopperStatus(Context mycontext) {
118	118	mContext = mycontext;
	119	mRec = new LinkedList<Receivable>();
119	120
120	121	//Initialize the data locks
121	122	mReadingLock = new ReentrantLock[SENSORS];

-0

org/haldean/chopper/pilot/Comm.java less more

279	279	*/
280	280	public void sendMessage(final String message) {
281	281	if (mTextOut == null) { //connection not yet initialized
	282	//Log.d(TAG, "Message not sent, socket not available.");
282	283	return;
283	284	}
284	285	else {
	286	// Log.v(TAG, "Sending msg: " + message);
285	287	mPool.submit(new Runnable() {
286	288	public void run() {
287	289	try {

+63

-12

org/haldean/chopper/pilot/Guidance.java less more

0	0	package org.haldean.chopper.pilot;
	1
	2	import java.util.LinkedList;
	3	import java.util.ListIterator;
1	4
2	5	import android.os.Handler;
3	6	import android.os.Looper;

6	9
7	10	/**
8	11	* Determines motor speeds, based on chopper's status and desired velocity vector.
	12	*
	13	* May send the following messages to registered Receivables:<br>
	14	* <pre>
	15	* GUID:ERROR:<loop_1_error>:<loop_2_error>:<loop_3_error>:<loop_4_error>
	16	* </pre>
9	17	*
10	18	* May receive the following messages from Chopper components:
11	19	* <pre>

21	29	public class Guidance implements Constants, Receivable {
22	30
23	31	/** How many times per second the PID loop will run */
24		public int PIDREPS = 20;
	32	public int PIDREPS = 1;
25	33
26	34	/** Maximum permissible target velocity, in m/s; larger vectors will be resized */
27	35	public static final double MAX_VEL = 2.0;

30	38	public static final double MAX_ANGLE = 20;
31	39
32	40	/** The maximum change in motor speed permitted at one time. Must be positive. */
33		public static final double MAX_DMOTOR = .05F;
	41	public static final double MAX_DMOTOR = .05;
	42
	43	/** The maximum change in motor speed permitted at one time if the chopper is stabilizing. Must be positive. */
	44	public static final double MAX_DSTABLE = .1;
34	45
35	46	/** Tag for logging */
36	47	public static final String TAG = new String("chopper.Guidance");

91	102	* in the event of difficulty maintaining altitude */
92	103	private boolean mHorizontalDrift = false; //if true, does not consider dx, dy or azimuth error; makes for maximally efficient altitude control
93	104
	105	private LinkedList<Receivable> mRec;
	106
94	107	/** Handles to other chopper components */
95	108	private ChopperStatus mStatus;
96	109	private Navigation mNav;

110	123	}
111	124	mStatus = status;
112	125	mNav = nav;
113		//Temporary: need real tuning values at some point:
	126	mRec = new LinkedList<Receivable>();
	127
	128	//Temporary: need real tuning values at some point. Crap.
114	129	for (int i = 0; i < 4; i++)
115	130	for (int j = 0; j < 3; j++)
116	131	mGain[i][j] = .05;
	132	}
	133
	134	private String getErrorString() {
	135	return "GUID:ERROR:" + mErrors[0][0]
	136	+ ":" + mErrors[1][0]
	137	+ ":" + mErrors[2][0]
	138	+ ":" + mErrors[3][0];
117	139	}
118	140
119	141	/**

138	160	switch (msg.what) {
139	161	case EVAL_MOTOR_SPEED:
140	162	reviseMotorSpeed();
	163	updateReceivers(getErrorString());
141	164	break;
142	165	case NEW_PID_VALUE:
143	166	mGain[msg.arg1][msg.arg2] = (Double)msg.obj;

192	215	Message newValue = Message.obtain(mHandler, NEW_GUID_VECTOR, myVector);
193	216	newValue.sendToTarget();
194	217	}
	218	}
	219	}
	220
	221	/**
	222	* Registers a receiver to receive Guidance updates.
	223	* @param rec
	224	*/
	225	public void registerReceiver(Receivable rec) {
	226	synchronized (mRec) {
	227	mRec.add(rec);
195	228	}
196	229	}
197	230

263	296	Log.w(TAG, "Nav Target lock not available.");
264	297	}
265	298	}
266		Log.v(TAG, "Relative target: " + mTarget[0] + ", " + mTarget[1] + ", " + mTarget[2]);
	299	Log.v(TAG, "Relative target: " + mTarget[0] + ", " + mTarget[1] + ", " + mTarget[2] + ", " + mTarget[3]);
267	300	}
268	301
269	302

345	378	case 3: //Azimuth
346	379	break;
347	380	}
348		mTorques[i] = dmotor;
349		//Log.v(TAG, "phi: " + phi);
350		//Log.v(TAG, "dmotor: " + dmotor);
	381	mTorques[i] = dmotor;
351	382	}
352	383	mLastUpdate = thistime;
353	384

381	412	else if (mTempMotorSpeed[i] > 1)
382	413	mTempMotorSpeed[i] = 1;
383	414	double diff = mTempMotorSpeed[i] - mMotorSpeed[i];
384		if (diff > 0)
385		mMotorSpeed[i] += Math.min(diff, MAX_DMOTOR);
386		else if (diff < 0)
387		mMotorSpeed[i] += Math.max(diff, -MAX_DMOTOR);
388
	415	if (mStabilizing) {
	416	if (diff > 0)
	417	mMotorSpeed[i] += Math.min(diff, MAX_DSTABLE);
	418	else if (diff < 0)
	419	mMotorSpeed[i] += Math.max(diff, -MAX_DSTABLE);
	420	}
	421	else {
	422	if (diff > 0)
	423	mMotorSpeed[i] += Math.min(diff, MAX_DMOTOR);
	424	else if (diff < 0)
	425	mMotorSpeed[i] += Math.max(diff, -MAX_DMOTOR);
	426	}
389	427	//Linearizes system with regard to prop thrust, not prop RPMs
390	428	mMotorSpeed[i] = Math.sqrt(mMotorSpeed[i]);
391	429

412	450
413	451	//Pass motor values to motor controller!
414	452	}
	453
	454	/**
	455	* Updates all receivers
	456	* @param str The message to send.
	457	*/
	458	private void updateReceivers(String str) {
	459	synchronized (mRec) {
	460	ListIterator<Receivable> myList = mRec.listIterator();
	461	while (myList.hasNext()) {
	462	//myList.next().receiveMessage(str, this);
	463	}
	464	}
	465	}
415	466	}
416	467

-1

org/haldean/chopper/pilot/MakePicture.java less more

85	85	private static PersistentThread myThread;
86	86
87	87	/** Registered receivers */
88		private LinkedList<Receivable> mRec = new LinkedList<Receivable>();
	88	private LinkedList<Receivable> mRec;
89	89
90	90	/**
91	91	* Constructs the thread, stores the surface for preview rendering.
92	92	* @param sh The SurfaceHolder to which the preview will be rendered
93	93	*/
94	94	public MakePicture(SurfaceHolder sh) {
	95	mRec = new LinkedList<Receivable>();
95	96	mPreviewHolder = sh;
96	97	}
97	98

-4

org/haldean/chopper/pilot/Navigation.java less more

81	81	private static PersistentThread sThread;
82	82
83	83	/** Registered receivers */
84		private LinkedList<Receivable> mRec = new LinkedList<Receivable>();
	84	private LinkedList<Receivable> mRec;
85	85
86	86	/**
87	87	* Constructs a navigation object, initializes NavLists

91	91	if (status == null) {
92	92	throw new NullPointerException();
93	93	}
94
	94	mRec = new LinkedList<Receivable>();
95	95	mLowPower = new NavList();
96	96	mFlightPath = new NavList();
97	97	mOnMyOwn = new NavList();

143	143	evalNextVector();
144	144	break;
145	145	}
146		}
	146	}
147	147	};
148	148
149	149	//FOR TESTING ONLY:
150	150	/*String taskList = "{ { VEL!0!10!0!0!300 VEL!5!10!5!10!180 } " +
151	151	"{ DEST!300!-74.012345!40.74!10!100 { DEST!300!-77.07950!38.97300!100!250 " +
152	152	" DEST!587!-117.15!32.72!10!600 } } }";*/
153		String taskList = "{VEL!0!0!0!0!600}";
	153	String taskList = "{ VEL!0!0!0!180!600 }";
154	154	setTask(BASIC_AUTO, taskList);
155	155	updateStatus(BASIC_AUTO);
156	156	autoPilot(true);

-1

org/haldean/chopper/pilot/StatusReporter.java less more

38	38	private ChopperStatus mStatus;
39	39
40	40	/** List of registered receivers */
41		private LinkedList<Receivable> mRec = new LinkedList<Receivable>();;
	41	private LinkedList<Receivable> mRec;
42	42
43	43	/** Handles task scheduling */
44	44	private Handler mHandler;

48	48	* @param status The ChopperStatus from which to compile status reports
49	49	*/
50	50	public StatusReporter(ChopperStatus status) {
	51	mRec = new LinkedList<Receivable>();
51	52	mStatus = status;
52	53	}
53	54