View source for Embedded Motion Control 2014 Group 12

==Introduction==

<b>Members of group 12</b>

<table border="1" cellpadding="5" cellspacing="0" style="width:100%;border-collapse:collapse;">
<table style>
<tr>
<td colspan="3"><b>Groupmembers</b> ([mailto:j.w.donkers@student.tue.nl;j.m.willems@student.tue.nl;k.drenth@student.tue.nl;a.t.v.rijn@student.tue.nl email all])</td>
</tr>
<tr>
<td width="150px"><b>Name:</b></td>
<td width="150px"><b>Student id:</b></td>
<td width="200px"><b>Email:</b></td>
</tr>
<tr>
    <td>Anthom van Rijn</td>
  <td>0737682</td>
<td>[mailto:a.t.v.rijn@student.tue.nl e-mail Anthom]</td>
</tr><tr>
  <td>Jan Donkers</td>
  <td>0724801</td>
<td>[mailto:j.w.donkers@student.tue.nl e-mail Jan]</td>
</tr><tr>
<td>Jeroen Willems</td>
  <td>0755833</td>
<td>[mailto:j.m.willems@student.tue.nl e-mail Jeroen]</td>
</tr><tr>
  <td>Karel Drenth</td>
  <td>0863408</td>
<td>[mailto:k.drenth@student.tue.nl e-mail Karel ]</td>
</tr>
</table>

=Corridor Challenge=
The goal of the corridor challenge is to make pico drive autonomously trhough a corridor, recognize succesfully a T-junction and have him/her take this corner.

==Planning==

===Week 1===
* Lecture

===Week 2===
* C++ tutorials
* ROS tutorials
* SVN tutorials 
* Run the first test on pico (safe_drive.cpp) to get some hands-on experience.

===Week 3===
* Start the actual coding, based on the safe_drive.cpp file. Paying special attention to robustness and exceptions.
* Have pico recognize situations (corridor, corner, t-junction,dead-end, etc.) and act accordingly
* Have the script succesfully run in simulation

===Week 4===
* Fine tuning of script
* Corridor Competition

==Software Architecture==
The initial choice was made to first create a robust, well working robot that could:
* Successfully recognize a situation
* Be robust against deviations in corruption in the input data
* Take the appropriate action

==Experiments==
* 09-05-2013
Tested the provided safe_drive file, making small alteration to see the effects on Pico. Tested how hard constrains are handeld and some different safety protocols.
* 13-05-2013
Tried, and failed, to run corridor_challenge_v2 due to numerous bugs in the script (most importantly: stuck in situation zero, unsure what to do). Received help from tutor regarding tips and tricks regarding Qt creator for debugging, building/making C++ in ROS and running simulations. Information was used to create a "how to start: Pico" tutorial. Remainder of time spent on bugfixing.

==Change log==
===09-05===
Created scipt corridor_challenge.cpp with basic siteval to recognize conditions

===13-05 ===
* Testing corridor_challenge on Pico.
With new input from experiments: updated the corridor_challenge.cpp to corridor_challenge_v2.cpp. 
Brought the function sit-eval withing the callback loop for sensor messages. This way, the situation is evaluated and updated whenever new laser data is present. Some minor typo's. Added a situation that when things are to close (hard constraint) pico shuts down. After testing it was revealed that pico is stuck in condition 0 (does not know where he is).


=== 15-05 === 
* Revised corridor_challenge_v2.cpp -> renamed to corridorchallenge_v2.cpp and added some new functions: 
* Extended laser 'vision' with left- and right diagonal view and updated amount of laser data used for each 'vision' vector. 
* Extended the amount of possible situation PICO can be in to nine. Currently using:  

- Corridor<br>
- T-Junction (L+R)<br>
- Crossing<br>
- Corner (L+R)<br>
- Dead End<br>
- Exit<br>

* Added a function that compares the left and right laser data and 'strafes' PICO to the middle using the y coordinate. 
* Added an 'integrator'-like function that aligns the front vector of PICO to the walls of the corridor.
* Included front laser data to this function to ensure 'backup' when PICO comes too close to a wall.
* Added corresponding functions to new situations. 
* Tweaked variables to ensure functioning simulations. (Allowance of some initial angle with reference to wall 'disturbance'). PICO is currently able to pass corridors, T-junctions and corners, for this however, the amount of possible situations PICO can be in is reduced for the sake of simplicity.

==Final Design==
The final design that was used was corridor_challenge_v2. It's goal was to use the laser data to recognize one of 9 conditions (ranging from freedom, corridor) and act in a preprogrammed way (outside of the loop) on how to handle these, and then turn on the loop again.

==Result==
Due to unforseen circumstances, corridorchallenge v3 failed to load on pico. We resorted back to v2, which, while less robust, was still able to find the t-junction and act accordingly. The result was first place in the limited speed catagory, with a time of around 20 seconds.

=Maze Challenge=
Test1

==Planning==
==Changelog==
==Experiments==
==Final Design==
==Final result==
We became first in the slow catogory.