orange_avoider.h File Reference

#include <inttypes.h>
#include "math/pprz_geodetic_int.h"

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Functions
void	orange_avoider_init (void)
void	orange_avoider_periodic (void)
uint8_t	moveWaypointForward (uint8_t waypoint, float distanceMeters)
uint8_t	moveWaypoint (uint8_t waypoint, struct EnuCoor_i *new_coor)
uint8_t	increase_nav_heading (int32_t *heading, float incrementDegrees)
uint8_t	chooseRandomIncrementAvoidance (void)

Variables
uint8_t	safeToGoForwards
float	incrementForAvoidance
uint16_t	trajectoryConfidence

Detailed Description

Author

Roland Meertens Example on how to use the colours detected to avoid orange pole in the cyberzoo

Definition in file orange_avoider.h.

Function Documentation

uint8_t chooseRandomIncrementAvoidance

(

void

)

Definition at line 169 of file orange_avoider.c.

References incrementForAvoidance, and VERBOSE_PRINT.

Referenced by orange_avoider_init(), and orange_avoider_periodic().

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uint8_t increase_nav_heading	(	int32_t *	heading,
		float	incrementDegrees
	)

Definition at line 114 of file orange_avoider.c.

References ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, INT32_ANGLE_NORMALIZE, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and VERBOSE_PRINT.

Referenced by orange_avoider_periodic().

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uint8_t moveWaypoint	(	uint8_t	waypoint,
		struct EnuCoor_i *	new_coor
	)

Definition at line 147 of file orange_avoider.c.

References POS_FLOAT_OF_BFP, VERBOSE_PRINT, waypoint_set_xy_i(), EnuCoor_i::x, and EnuCoor_i::y.

Referenced by moveWaypointForward().

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uint8_t moveWaypointForward	(	uint8_t	waypoint,
		float	distanceMeters
	)

Definition at line 158 of file orange_avoider.c.

References calculateForwards(), and moveWaypoint().

Referenced by orange_avoider_periodic().

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void orange_avoider_init

(

void

)

Definition at line 68 of file orange_avoider.c.

References chooseRandomIncrementAvoidance(), color_cb_max, color_cb_min, color_cr_max, color_cr_min, color_lum_max, color_lum_min, ORANGE_AVOIDER_CB_MAX, ORANGE_AVOIDER_CB_MIN, ORANGE_AVOIDER_CR_MAX, ORANGE_AVOIDER_CR_MIN, ORANGE_AVOIDER_LUM_MAX, and ORANGE_AVOIDER_LUM_MIN.

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void orange_avoider_periodic

(

void

)

Definition at line 85 of file orange_avoider.c.

References chooseRandomIncrementAvoidance(), color_count, increase_nav_heading(), incrementForAvoidance, maxDistance, moveWaypointForward(), nav_heading, nav_set_heading_towards_waypoint(), safeToGoForwards, trajectoryConfidence, tresholdColorCount, VERBOSE_PRINT, and waypoint_set_here_2d().

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Variable Documentation

float incrementForAvoidance

Definition at line 61 of file orange_avoider.c.

Referenced by chooseRandomIncrementAvoidance(), and orange_avoider_periodic().

uint8_t safeToGoForwards

Definition at line 59 of file orange_avoider.c.

Referenced by orange_avoider_periodic().

uint16_t trajectoryConfidence

Definition at line 62 of file orange_avoider.c.

Referenced by orange_avoider_periodic().