WALLE Class Reference

WALL-E class that holds all necessary peripherals and devices in order to control WALL-E and complete it's goal and objective. More...

#include <WALLE_FSM.h>

Public Member Functions
	WALLE (BNO055 &imu, HCSR04 &range, RomiMotor &leftMotor, RomiMotor &rightMotor, OV2640Camera &camera, Servo &LArm, Servo &LHand, Servo &RArm, Servo &RHand)
	WALLE Constructor Function that holds reference to all sensors for use in FSM.
void	init ()
	Function Initializes WALLE and restes the current PID States.
void	update (float dt)
	Function updates the FSM and peripherals at every call, creating the autonomous WALL_E Bot based on PID.
void	simpleUpdate (float dt, float yaw, uint16_t distance)
	Function that is a simpler version of the WALL-E FSM without the use PID controls and still utilizes external peripherals.
void	closeHands ()
	Function is responsible for closing the hands on WALLE.
void	liftArms ()
	Function is responsible for raising and lowering the arms.
void	computerVision ()

Private Types
enum class	State {   START_SCAN , TURN_SEGMENT , STOP_MEASURE , FINISH_SCAN ,   TURN , FORWARD , STOP , IDENTIFY }
	Enumeration for WALL-E State Transitions. More...

Private Member Functions
void	stopMotors ()
	Function stops motors completely.
float	normalizeAngle (float angle)

Private Attributes
enum WALLE::State	state
BNO055 &	imu
HCSR04 &	rangeSensor
RomiMotor &	leftMotor
RomiMotor &	rightMotor
OV2640Camera &	camera
Servo &	leftArm
Servo &	leftHand
Servo &	rightArm
Servo &	rightHand
PIDController	turnPID
PIDController	drivePID
float	targetYaw
float	initialYaw
int	currentSegment
int	totalSegments
float	segmentAngle
int	stopTimer
float	scanYawStart
int	distances [16]
int	candidateAngles [16]
uint32_t	actionDuration
uint32_t	actionStartTime
const float	yawTolerance = 2.0f
const uint16_t	distanceThreshold = 7

Detailed Description

WALL-E class that holds all necessary peripherals and devices in order to control WALL-E and complete it's goal and objective.

Member Enumeration Documentation

State

enum class WALLE::State

strongprivate

Enumeration for WALL-E State Transitions.

Enumerator
START_SCAN	START_SCAN FSM State to begin scans and data collection
TURN_SEGMENT	TURN_SEGMENT FSM State to turn to the next angle for data collection
STOP_MEASURE	STOP_MEASURE FSM State to record angle data and distance data
FINISH_SCAN	FINISH_SCAN FSM State that indicates all angles and distances have been recorded
TURN	TURN FSM State to turn to the angle which has the closest object detected
FORWARD	FORWARD FSM State to move forward towards the object
STOP	STOP FSM State to stop in front of object after a certain threshold
IDENTIFY	IDENTIFY FSM State to utilize computer vision to detect the color

Constructor & Destructor Documentation

WALLE()

WALLE::WALLE	(	BNO055 &	imu,
		HCSR04 &	range,
		RomiMotor &	leftMotor,
		RomiMotor &	rightMotor,
		OV2640Camera &	camera,
		Servo &	LArm,
		Servo &	LHand,
		Servo &	RArm,
		Servo &	RHand )

WALLE Constructor Function that holds reference to all sensors for use in FSM.

Member Function Documentation

closeHands()

void WALLE::closeHands

(

)

Function is responsible for closing the hands on WALLE.

Returns

None

computerVision()

void WALLE::computerVision

(

)

init()

void WALLE::init

(

)

Function Initializes WALLE and restes the current PID States.

Returns

None

liftArms()

void WALLE::liftArms

(

)

Function is responsible for raising and lowering the arms.

Returns

None

normalizeAngle()

float WALLE::normalizeAngle ( float angle )

private

simpleUpdate()

void WALLE::simpleUpdate	(	float	dt,
		float	yaw,
		uint16_t	distance )

Function that is a simpler version of the WALL-E FSM without the use PID controls and still utilizes external peripherals.

Returns

None

stopMotors()

void WALLE::stopMotors ( )

private

Function stops motors completely.

Returns

None

update()

void WALLE::update

(

float

dt

)

Function updates the FSM and peripherals at every call, creating the autonomous WALL_E Bot based on PID.

Returns

None

Member Data Documentation

actionDuration

uint32_t WALLE::actionDuration

private

actionStartTime

uint32_t WALLE::actionStartTime

private

camera

OV2640Camera& WALLE::camera

private

candidateAngles

int WALLE::candidateAngles[16]

private

currentSegment

int WALLE::currentSegment

private

distances

int WALLE::distances[16]

private

distanceThreshold

const uint16_t WALLE::distanceThreshold = 7

private

drivePID

PIDController WALLE::drivePID

private

imu

BNO055& WALLE::imu

private

initialYaw

float WALLE::initialYaw

private

leftArm

Servo& WALLE::leftArm

private

leftHand

Servo& WALLE::leftHand

private

leftMotor

RomiMotor& WALLE::leftMotor

private

rangeSensor

HCSR04& WALLE::rangeSensor

private

rightArm

Servo& WALLE::rightArm

private

rightHand

Servo& WALLE::rightHand

private

rightMotor

RomiMotor& WALLE::rightMotor

private

scanYawStart

float WALLE::scanYawStart

private

segmentAngle

float WALLE::segmentAngle

private

state

enum WALLE::State WALLE::state

private

stopTimer

int WALLE::stopTimer

private

targetYaw

float WALLE::targetYaw

private

totalSegments

int WALLE::totalSegments

private

turnPID

PIDController WALLE::turnPID

private

yawTolerance

const float WALLE::yawTolerance = 2.0f

private

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

• C:/Users/arath/OneDrive/Documents/ME 507/Project-WALLE/Code/Inc/WALLE_FSM.h
• C:/Users/arath/OneDrive/Documents/ME 507/Project-WALLE/Code/src/WALLE_FSM.cpp