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Changes for page SCChart Controller

Last modified by Richard Kreissig on 2025/01/30 12:18
From version 10.1
edited by stu122612
on 2020/03/14 09:49
Change comment: There is no comment for this version
To version 15.1
edited by stu104225
on 2020/03/23 13:48
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
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1 -XWiki.stu122612
1 +XWiki.stu104225
Content
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12 12  [[image:attach:Overview.png]]
13 13  
14 14  {{expand title="Full Overview (all regions expanded)"}}
15 -[[image:attach:Screen Shot 2020-03-14 at 10.38.05.png]]
15 +[[image:attach:expanded.png]]
16 +
17 +{{expand title="Full Overview (user labels deactivated)"}}
18 +[[image:attach:expanded2.png]]
16 16  {{/expand}}
20 +{{/expand}}
17 17  
22 +\\
23 +
24 +\\
25 +
18 18  The behaviour and information processing is distributed across multiple regions in the controller.
19 19  
20 20  (% style="list-style-type: square;" %)
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26 26  
27 27  = Actuating =
28 28  
29 -\\
30 -
31 31  [[image:attach:Screen Shot 2020-03-14 at 10.46.45.png]]
32 32  
33 -= Trigger Delayed =
39 +The actuation of flippers is implemented via a common automaton to which the appropriate signals are connected. The connected output signals are what is used to set the values of the GPIO pins by the outside system. With the {{code language="none"}}trigger{{/code}} signal a standard actuation of the flipper can be initiated. The automaton waits after enabling and disabling for the real world to catch up, as the flipper arms take some time to move from their resting position and back. Additionally there is a hold signal which can be used from the outside to basically override the behaviour regarding the cooldown.
34 34  
41 +(% style="font-size: 24.0px;letter-spacing: -0.01em;" %)TriggerDelayed
42 +
35 35  [[image:attach:Screen Shot 2020-03-14 at 10.47.09.png]]
36 36  
45 +As previously mentioned these regions are simply an extension on top of the {{code language="none"}}Actuating{{/code}} regions. They receive a trigger signal and then wait for a certain amount of time until passing that information onwards (ie. setting the trigger signal connected to one of the {{code language="none"}}Actuating{{/code}} regions seen above.
46 +
37 37  = Prediction =
38 38  
49 +[[image:attach:PredictionJPG.JPG]]
50 +
51 +This region reacts to the input signals //newPos// and //newFrame//, that are coming from the image processing.
52 +Whenever there are two temporally close positions, where the ball was detected, an external function call to the ball physics model is made.
53 +\\When the ball was not detected for several frames, e.g. when it fell to the drain, or left the detection's region of interest, the information about the last position becomes stale and should be discarded.
54 +In order to decide when to discard an old position the automaton counts frames since the last recognized ball position. After two frames the position is marked as no longer pending and after 10 frames it is discarded.
55 +
39 39  = Launching =
40 40  
41 41  [[image:attach:Screen Shot 2020-03-14 at 10.25.04.png]]
Confluence.Code.ConfluencePageClass[0]
Id
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1 -72450090
1 +73072657
URL
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1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/72450090/SCChart Controller
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/73072657/SCChart Controller