我开发了一个sphero应用程序，让它可以在房子等环境中旅行。目的是绘制环境图。我设法恢复了位置和碰撞点，但似乎这些碰撞破坏了位置。我认为Sphero遇到障碍时会偏离其路径。有没有人有足够的设置以获得最佳准确度？降低速度？基于其他参数（如方向？）的修正。
这是我的代码，应用可以在https://github.com/scenaristeur/sphero-carto下载：
package orbotix.uisample;
import java.io.File;
import java.io.FileWriter;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Random;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.os.Bundle;
import android.os.Environment;
import android.provider.Settings;
import android.util.Log;
import android.view.MotionEvent;
import android.view.View;
import android.widget.CheckBox;
import android.widget.TextView;
import android.widget.Toast;
import orbotix.robot.app.ColorPickerActivity;
import orbotix.robot.base.CollisionDetectedAsyncData;
import orbotix.robot.base.Robot;
import orbotix.robot.base.CollisionDetectedAsyncData.CollisionPower;
import orbotix.robot.sensor.Acceleration;
import orbotix.robot.sensor.LocatorData;
import orbotix.robot.widgets.CalibrationImageButtonView;
import orbotix.robot.widgets.NoSpheroConnectedView;
import orbotix.robot.widgets.NoSpheroConnectedView.OnConnectButtonClickListener;
import orbotix.robot.widgets.SlideToSleepView;
import orbotix.robot.widgets.joystick.JoystickView;
import orbotix.sphero.CollisionListener;
import orbotix.sphero.ConnectionListener;
import orbotix.sphero.LocatorListener;
import orbotix.sphero.Sphero;
import orbotix.view.calibration.CalibrationView;
import orbotix.view.calibration.ControllerActivity;
import orbotix.view.connection.SpheroConnectionView;
public class UiSampleActivity extends ControllerActivity {
/** ID to start the StartupActivity for result to connect the Robot */
private final static int STARTUP_ACTIVITY = 0;
private static final int BLUETOOTH_ENABLE_REQUEST = 11;
private static final int BLUETOOTH_SETTINGS_REQUEST = 12;
/** ID to start the ColorPickerActivity for result to select a color */
private final static int COLOR_PICKER_ACTIVITY = 1;
private boolean mColorPickerShowing = false;
/** The Robot to control */
private Sphero mRobot;
/** One-Touch Calibration Button */
private CalibrationImageButtonView mCalibrationImageButtonView;
/** Calibration View widget */
private CalibrationView mCalibrationView;
/** Slide to sleep view */
private SlideToSleepView mSlideToSleepView;
/** No Sphero Connected Pop-Up View */
private NoSpheroConnectedView mNoSpheroConnectedView;
/** Sphero Connection View */
private SpheroConnectionView mSpheroConnectionView;
//Colors
private int mRed = 0xff;
private int mGreen = 0xff;
private int mBlue = 0xff;
private float positionX;
private float positionY;
private float velocityX;
private float velocityY;
private String couleur="vert";
private float angle=0f;
private float vitesse=0.6f;
private boolean stop;
private boolean auto;
private int countCollision=0;
private int maxCollision=10;
private float accelX;
private float accelY;
private float powerX;
private float powerY;
private static final String TAG = "OBX-LocatorSmag";
private Point point=new Point();
private ArrayList<Point> points=new ArrayList<Point>();
File repertoire= new File (Environment.getExternalStorageDirectory()+"/smag-sphero");
private LocatorListener mLocatorListener = new LocatorListener() {
@Override
public void onLocatorChanged(LocatorData locatorData) {
Log.d(TAG, locatorData.toString());
if (locatorData != null) {
positionX=locatorData.getPositionX();
positionY=locatorData.getPositionY();
velocityX=locatorData.getVelocityX();
velocityY=locatorData.getVelocityY();
point=new Point(positionX,positionY,velocityX,velocityY,couleur);
points.add(point);
if ((auto)&&(Math.abs((velocityX))<.01)&&(Math.abs(velocityY)<.01)){
chercheDirection();
}
//Toast.makeText(UiSampleActivity.this,"X:"+positionX, Toast.LENGTH_SHORT).show();
// ((TextView) findViewById(R.id.txt_locator_x)).setText(locatorData.getPositionX() + " cm");
// ((TextView) findViewById(R.id.txt_locator_y)).setText(locatorData.getPositionY() + " cm");
// ((TextView) findViewById(R.id.txt_locator_vx)).setText(locatorData.getVelocityX() + " cm/s");
// ((TextView) findViewById(R.id.txt_locator_vy)).setText(locatorData.getVelocityY() + " cm/s");
}
}
};
private BroadcastReceiver mColorChangeReceiver = new BroadcastReceiver() {
@Override
public void onReceive(Context context, Intent intent) {
// update colors
int red = intent.getIntExtra(ColorPickerActivity.EXTRA_COLOR_RED, 0);
int green = intent.getIntExtra(ColorPickerActivity.EXTRA_COLOR_GREEN, 0);
int blue = intent.getIntExtra(ColorPickerActivity.EXTRA_COLOR_BLUE, 0);
// change the color on the ball
mRobot.setColor(red, green, blue);
}
};
/** Called when the activity is first created. */
@Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.main);
if (!repertoire.exists()) {
repertoire.mkdir();
}
// Set up the Sphero Connection View
mSpheroConnectionView = (SpheroConnectionView) findViewById(R.id.sphero_connection_view);
mSpheroConnectionView.addConnectionListener(new ConnectionListener() {
@Override
public void onConnected(Robot robot) {
// Set Robot
mRobot = (Sphero) robot; // safe to cast for now
//Set connected Robot to the Controllers
setRobot(mRobot);
//active LocatorListener;
mRobot.getSensorControl().addLocatorListener(mLocatorListener);
mRobot.getSensorControl().setRate(5);
mRobot.getCollisionControl().addCollisionListener(mCollisionListener);
mRobot.getCollisionControl().startDetection(45, 45, 45, 45, 100);
// Make sure you let the calibration view knows the robot it should control
mCalibrationView.setRobot(mRobot);
// Make connect sphero pop-up invisible if it was previously up
mNoSpheroConnectedView.setVisibility(View.GONE);
mNoSpheroConnectedView.switchToConnectButton();
Toast.makeText(UiSampleActivity.this,"Déplacez Sphéro, cliquez ensuite sur Sleep pour enregistrer le parcours dans /smag-sphero", Toast.LENGTH_SHORT).show();
if (repertoire.isDirectory()){
Toast.makeText(UiSampleActivity.this,"positions enregistrées dans /smag-sphero", Toast.LENGTH_SHORT).show();
}else{
Toast.makeText(UiSampleActivity.this,"création du repertoire /smag-sphero", Toast.LENGTH_SHORT).show();
}
}
@Override
public void onConnectionFailed(Robot sphero) {
// let the SpheroConnectionView handle or hide it and do something here...
}
@Override
public void onDisconnected(Robot sphero) {
if (points!=null){ecrireFichier();}
mSpheroConnectionView.startDiscovery();
}
});
//Add the JoystickView as a Controller
addController((JoystickView) findViewById(R.id.joystick));
// Add the calibration view
mCalibrationView = (CalibrationView) findViewById(R.id.calibration_view);
// Set up sleep view
mSlideToSleepView = (SlideToSleepView) findViewById(R.id.slide_to_sleep_view);
mSlideToSleepView.hide();
// Send ball to sleep after completed widget movement
mSlideToSleepView.setOnSleepListener(new SlideToSleepView.OnSleepListener() {
@Override
public void onSleep() {
mRobot.sleep(0);
}
});
// Initialize calibrate button view where the calibration circle shows above button
// This is the default behavior
mCalibrationImageButtonView = (CalibrationImageButtonView) findViewById(R.id.calibration_image_button);
mCalibrationImageButtonView.setCalibrationView(mCalibrationView);
// You can also change the size and location of the calibration views (or you can set it in XML)
mCalibrationImageButtonView.setRadius(100);
mCalibrationImageButtonView.setOrientation(CalibrationView.CalibrationCircleLocation.ABOVE);
// Grab the No Sphero Connected View
mNoSpheroConnectedView = (NoSpheroConnectedView) findViewById(R.id.no_sphero_connected_view);
mNoSpheroConnectedView.setOnConnectButtonClickListener(new OnConnectButtonClickListener() {
@Override
public void onConnectClick() {
mSpheroConnectionView.setVisibility(View.VISIBLE);
mSpheroConnectionView.startDiscovery();
}
@Override
public void onSettingsClick() {
// Open the Bluetooth Settings Intent
Intent settingsIntent = new Intent(Settings.ACTION_BLUETOOTH_SETTINGS);
UiSampleActivity.this.startActivityForResult(settingsIntent, BLUETOOTH_SETTINGS_REQUEST);
}
});
}
/** Called when the user comes back to this app */
@Override
protected void onResume() {
super.onResume();
if (mColorPickerShowing) {
mColorPickerShowing = false;
return;
}
Log.d("", "registering Color Change Listener");
IntentFilter filter = new IntentFilter(ColorPickerActivity.ACTION_COLOR_CHANGE);
registerReceiver(mColorChangeReceiver, filter);
}
/** Called when the user presses the back or home button */
@Override
protected void onPause() {
super.onPause();
if (mColorPickerShowing) return;
ecrireFichier();
// Disconnect Robot properly
if (mRobot != null) {
mRobot.disconnect();
}
try {
unregisterReceiver(mColorChangeReceiver); // many times throws exception on leak
} catch (Exception e) {
}
}
@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
super.onActivityResult(requestCode, resultCode, data);
if (resultCode == RESULT_OK) {
if (requestCode == COLOR_PICKER_ACTIVITY) {
//Get the colors
mRed = data.getIntExtra(ColorPickerActivity.EXTRA_COLOR_RED, 0xff);
mGreen = data.getIntExtra(ColorPickerActivity.EXTRA_COLOR_GREEN, 0xff);
mBlue = data.getIntExtra(ColorPickerActivity.EXTRA_COLOR_BLUE, 0xff);
//Set the color
mRobot.setColor(mRed, mGreen, mBlue);
} else if (requestCode == BLUETOOTH_ENABLE_REQUEST) {
// User enabled bluetooth, so refresh Sphero list
mSpheroConnectionView.setVisibility(View.VISIBLE);
mSpheroConnectionView.startDiscovery();
}
} else {
if (requestCode == STARTUP_ACTIVITY) {
// Failed to return any robot, so we bring up the no robot connected view
mNoSpheroConnectedView.setVisibility(View.VISIBLE);
} else if (requestCode == BLUETOOTH_ENABLE_REQUEST) {
// User clicked "NO" on bluetooth enable settings screen
Toast.makeText(UiSampleActivity.this,
"Enable Bluetooth to Connect to Sphero", Toast.LENGTH_LONG).show();
} else if (requestCode == BLUETOOTH_SETTINGS_REQUEST) {
// User enabled bluetooth, so refresh Sphero list
mSpheroConnectionView.setVisibility(View.VISIBLE);
mSpheroConnectionView.startDiscovery();
}
}
}
/**
* When the user clicks the "Color" button, show the ColorPickerActivity
*
* @param v The Button clicked
*/
public void onColorClick(View v) {
mColorPickerShowing = true;
Intent i = new Intent(this, ColorPickerActivity.class);
//Tell the ColorPickerActivity which color to have the cursor on.
i.putExtra(ColorPickerActivity.EXTRA_COLOR_RED, mRed);
i.putExtra(ColorPickerActivity.EXTRA_COLOR_GREEN, mGreen);
i.putExtra(ColorPickerActivity.EXTRA_COLOR_BLUE, mBlue);
startActivityForResult(i, COLOR_PICKER_ACTIVITY);
}
public void onAutoClick(View v) {
mRobot.setColor(150, 150, 0);
Toast.makeText(UiSampleActivity.this,"Auto", Toast.LENGTH_SHORT).show();
// for (int i=0;i<10;i++){
auto=true;
mRobot.drive(angle, vitesse);
}
/**
* When the user clicks the "Sleep" button, show the SlideToSleepView shows
*
* @param v The Button clicked
*/
public void onSleepClick(View v) {
ecrireFichier();
mSlideToSleepView.show();
}
public void onWriteClick(View v){
String message= "X :"+positionX+" Y : "+positionY;
Toast.makeText(UiSampleActivity.this,"Ecriture fichier"+message, Toast.LENGTH_LONG).show();
/* String NOTES ="info.txt";
File file = new File(Environment.getExternalStorageDirectory(), NOTES);
String Info = "Test Text";
try {
file.createNewFile();
FileWriter filewriter = new FileWriter(file,false);
filewriter.write(Info);
filewriter.close();
Toast.makeText(UiSampleActivity.this,"OK", Toast.LENGTH_LONG).show();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
Toast.makeText(UiSampleActivity.this,"Ecriture plantée"+message, Toast.LENGTH_LONG).show();
}*/
}
public void onStopClick(View v) {
if (mRobot != null) {
// Stop robot
stop=true;
auto=false;
mRobot.stop();
}
}
@Override
public boolean dispatchTouchEvent(MotionEvent event) {
mCalibrationView.interpretMotionEvent(event);
mSlideToSleepView.interpretMotionEvent(event);
return super.dispatchTouchEvent(event);
}
private final CollisionListener mCollisionListener = new CollisionListener() {
public void collisionDetected(CollisionDetectedAsyncData collisionData) {
mRobot.setColor(200, 0, 0);
Acceleration acceleration = collisionData.getImpactAcceleration();
CollisionPower power = collisionData.getImpactPower();
stop=true;
accelX=(float) acceleration.x;
accelY=(float) acceleration.y;
powerX=power.x;
powerY=power.y;
couleur="rouge";
point=new Point(positionX,positionY,velocityX,velocityY,couleur);
points.add(point);
couleur="vert";
countCollision++;
Toast.makeText(UiSampleActivity.this,countCollision+" Collision "+angle, Toast.LENGTH_SHORT).show();
if (auto){
mRobot.setColor(20,0,0);
chercheDirection();
//mRobot.drive(angle,vitesse);
}
/* // Update the UI with the collision data
Acceleration acceleration = collisionData.getImpactAcceleration();
mAccelXValueLabel = (TextView) findViewById(R.id.accel_x_value);
mAccelXValueLabel.setText("" + acceleration.x);
mAccelYValueLabel = (TextView) findViewById(R.id.accel_y_value);
mAccelYValueLabel.setText("" + acceleration.y);
mAccelZValueLabel = (TextView) findViewById(R.id.accel_z_value);
mAccelZValueLabel.setText("" + acceleration.z);
mXAxisCheckBox = (CheckBox) findViewById(R.id.axis_x_checkbox);
mXAxisCheckBox.setChecked(collisionData.hasImpactXAxis());
mYAxisCheckBox = (CheckBox) findViewById(R.id.axis_y_checkbox);
mYAxisCheckBox.setChecked(collisionData.hasImpactYAxis());
CollisionPower power = collisionData.getImpactPower();
mPowerXValueLabel = (TextView) findViewById(R.id.power_x_value);
mPowerXValueLabel.setText("" + power.x);
mPowerYValueLabel = (TextView) findViewById(R.id.power_y_value);
mPowerYValueLabel.setText("" + power.y);
mSpeedValueLabel = (TextView) findViewById(R.id.speed_value);
mSpeedValueLabel.setText("" + collisionData.getImpactSpeed());
mTimestampLabel = (TextView) findViewById(R.id.time_stamp_value);
mTimestampLabel.setText(collisionData.getImpactTimeStamp() + " ms");*/
}
};
public void chercheDirection(){
//mRobot.drive(angle, vitesse);
if((velocityX==0)&&(velocityY==0)){
mRobot.setColor(0, 0, 20);
Random rand = new Random();
float variation = rand.nextFloat();
/* float sens=rand.nextFloat();
if (sens>.5){
angle=angle+(180f*variation);
}else{
angle=angle-(180f*variation);
}*/
angle=angle+180f*variation;
if(angle>=360f){
angle-=360;
}
mRobot.setColor(20,0,0);
//vitesse=0.2f;
// Toast.makeText(UiSampleActivity.this,"demi tour "+angle+" "+vitesse, Toast.LENGTH_SHORT).show();
mRobot.drive(angle,vitesse);
//vitesse=0.6f;
try {
Thread.sleep(250);
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
mRobot.setColor(20,20,0);
mRobot.drive(angle,vitesse);
}
}
public void ecrireFichier(){
String message= "";
//ecriture
String cheminTime ="smag-sphero/Smag-Sphero"+System.currentTimeMillis()+".txt";
String cheminLast ="smag-sphero/Smag-Sphero-last.txt";
File file = new File(Environment.getExternalStorageDirectory(), cheminTime);
File fileLast = new File(Environment.getExternalStorageDirectory(), cheminLast);
Point dernier=null;
for (int i=0;i<points.size();i++){
Point p=points.get(i);
dernier=p;
message=message+p.getX()+","+p.getY()+","+p.getVelX()+","+p.getVelY()+","+p.getCouleur()+","+p.getAccelX()+","+p.getAccelY()+","+p.getPowerX()+","+p.getPowerY()+"\n";
}
message=message+dernier.getX()+","+dernier.getY()+","+dernier.getVelX()+","+dernier.getVelY()+",bleu,"+dernier.getAccelX()+","+dernier.getAccelY()+","+dernier.getPowerX()+","+dernier.getPowerY()+"\n";
String Info = message;
try {
file.createNewFile();
FileWriter filewriter = new FileWriter(file,true);
filewriter.write(Info);
filewriter.close();
//pour last
if (fileLast.exists()){
fileLast.delete();
}
fileLast.createNewFile();
FileWriter filewriterLast = new FileWriter(fileLast,true);
filewriterLast.write(Info);
filewriterLast.close();
Toast.makeText(UiSampleActivity.this,"OK", Toast.LENGTH_LONG).show();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
Toast.makeText(UiSampleActivity.this,"Ecriture plantée"+message, Toast.LENGTH_LONG).show();
}
}
}
答案 0 :(得分：2)
如果您只想映射环境（地面图）的边界，您可以沿着墙壁行驶。
您可以分析imu传感器的滚动值，并在以0.15的功率行驶时使其与左墙保持约35°的距离。
当sphero击中凹角时，速度降至零，你必须向右转，直到他再次移动。
当sphero沿凸角转弯时，滚动值将降至0°或更低。你必须保存这个位置，停止sphero并计算返回到该保存点的方向，然后从那里开始映射。