Tag Archives: Wall Tracking

Return of the Robot

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Posted 14 October 2024

It’s been almost four months since I did anything with Wall-E3, my autonomous wall-following robot. I’ve been busy with building a new 3D printer (Prusa Mk4) quarrelling with (and losing to) my other 3D printer (Flashforge Creator Pro 2), and some other stuff, but I’m now between projects so I want to spend some more time with Wall-E3. I ran a couple of field tests on my normal home track, and saw that the robot is still having trouble with managing transitions from one wall to another, especially at the end of the kitchen counter (the ‘B’ position shown in the diagram in this post).

Looking through the telemetry log, I was struck by the fact that it appears that the HandleAnomalousConditions() function always called with ANOMALY_CODE == ANOMALY_NONE. Looking through the code, I’m not quite sure where this happens. There is code in UpdateAllEnvironmentParameters(), but it shouldn’t execute unless all the other ‘elseif’s fail. Looking further, I found this code in the HandleAnomalousConditions() function:

However, it doesn’t appear that HandleExcessSteervalCase() is being called at all – hmm.

20 October 2024 Update:

So I think I figured some of this out. Here’s the relevant code in loop():

So the program simply loops through UpdateAllEnvironmentParameters() and HandleAnomalousConditions. The Update function retrieves all sensor information and uses it to update the global variable gl_LastAnomalyCode. HandleAnomalousConditions then uses the value of gl_LastAnomalyCode in a CASE statement to figure out what to do. Here’s the relevant code from HandleAnomalousConditions

The problem I was seeing was, HandleAnomalousConditions() was being called each time, but the ANOMALY_EXCESS_STEER_VAL case was never executed. Somehow, the anomaly code was being changed to ANOMALY_NONE before the call to HandleAnomalousConditions().

I think I finally figured out what was happening. The very first time through loop(), UpdateAllEnvironmentParameters() is called and (normally) sets gl_LastAnomalyCode to ANOMALY_NONE. Then HandleAnomalousConditions() is called and the ANOMALY_NONE case executes. This launches either the TrackRight or TrackLeft functions, which have their own internal loop that doesn’t exit until a non-NONE anomaly is detected. When this happens, the tracking loop exits, but because it started in the ANOMALY_NONE case section of HandleAnomalousConditions(), the next instruction to be executed is the one immediately after HandleAnomalousConditions() exits! The next relevant instruction is the call to UpdateAllEnvironmentParameters() at the top of loop(), which can (and apparently does) modify gl_LastAnomalyCode from ANOMALY_EXCESS_STEER_VAL to ANOMALY_NONE, which means the ANOMALY_EXCESS_STEER_VAL case is never executed.

So, it is critical that nothing changes gl_LastAnomalyCode between HandleAnomalousConditions() calls. As it turns out, the fix was simply to remove the call to HandleAnomalousConditions() at the top of loop(), resulting in the following in loop():

This works because all functions that contain a local loop (like TrackLeft/RightWall()) call UpdateAllEnvironmentParameters() each time through their loop, and exit when a non-NONE anomaly code is detected. With the removal of the call to UpdateAllEnvironmentParameters() in loop(), the next call to HandleAnomalousConditions() ‘sees’ the correct value in gl_LastAnomalyCode.

I made this change and made another run, with the following telemetry output:

In the above telemetry, the significant points are:

  • The first pass through HandleAnomalousConditions(NEITHER) ANOMALY_NONE CASE decides which wall to track and selects TrackLeftWallOffset()
  • Tracking starts at 0.7Sec and ends at 3.0Sec when an EXCESS_STEER_VAL anomaly is detected.
  • In HandleAnomalousConditions(LEFT) with last anomaly code = EXCESS_STEER_VAL shows that the gl_LastAnomalyCode has not been changed
  • In HandleAnomalousConditions(LEFT) ANOMALY_EXCESS_STEER_VAL case shows that the proper case section is executing.
  • HandleExcessSteervalCase(LEFT) open doorway block shows that the appropriate handler function is launched.
  • Ultimately this results in the right wall being captured and tracked (the run was terminated just before the robot actually started tracking the righthand wall).

28 October 2023 ‘Field Test’

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Posted 28 October 2023

Field test starting in bedroom hallway, just before MBR door. I have elected to start here, as WallE3 has been consistently making it this far with no problems whatsoever. Everything wen OK except for a couple of strange occurrences where it appeared that WallE3 was simply going straight without tracking anything. One of these occurrences was right at the end of the run. Here’s the video of the run:

And here’s the telemetry:

The strange behavior occurs just after WallE3 changed from the left to right-hand wall when it hits the open doorway of the larger guest bedroom, and then makes the hard right-hand turn to follow the near wall when it exits the hallway into the dining room area.

From the video, this occurs at approximately 203 sec, so I have excerpted the telemetry starting at the point where the robot transitions from the left to right wall.

At 215.3 sec WallE3 experiences another EXCESS_STEER_VAL anomaly (as the robot exits the hallway into the dining room area). WallE3 makes a slight right turn, moves forward a bit, and stops; this is the normal ‘move ahead one skosh’ after an EXCESS_STEER_VAL anomaly detection.

Then at 216.6 sec with gl_Left/RightCenterCm = 219.7/77.2, Left/RightSteerVal = 1.00/-1.00 it makes another right turn to, presumably, follow the right-hand wall, but it doesn’t try to capture the 30 cm offset and track – it just goes straight, eventually running into the wall on the far side of the open doorway into the kitchen area bathroom. From the telemetry it looks like WallE3 called ‘MoveToDesiredFrontDistCm() with a target distance of 30 cm as part of ‘CaptureWallOffset()’ but started the process almost parallel to the wall rather than perpendicular.

Matching the code up with the telemetry and the video, it becomes apparent that ‘HandleExcessSteervalCase(RIGHT)’ is called by HandleAnomalousConditions(RIGHT) as soon as the EXCESS_STEER_VAL anomaly is detected.

The first thing that HandleExcessSteervalCase() does is move forward for 500 mSec – the ‘skosh’ intended to clear the point where the anomaly occurred to obtain valid distance measurements. In this case, however, the video shows that the ‘forward’ direction was slanted off to the right instead of straight ahead, which meant that instead of detecting an ‘open corner’ condition with no trackable wall in range, the robot saw a trackable wall to the right at 77.2 cm, as the following telemetry line shows:

216672: gl_Left/RightCenterCm = 219.7/77.2, Left/RightSteerVal = 1.00/-1.00 

So, instead of the ‘open corner’ block in HandleExcessSteervalCase() executing, the ‘else if (trkcase == TRACKING_RIGHT)’ block was run , as shown below:

Since HandleExcessSteervalCase was called with TRACKING_RIGHT, and because gl_RightCenterCm = 77.2 was less than MAX_TRACKING_DISTANCE_CM (100 cm), ‘TrackRightWallOffset(WALL_OFFSET_TRACK_Kp, WALL_OFFSET_TRACK_Ki, WALL_OFFSET_TRACK_Kd, WALL_OFFSET_TGTDIST_CM)’ was called without running ‘ChooseBetterTrackingSide()’.

In TrackRightWallOffset(), CaptureWallOffset(TRACKING_RIGHT, 77.2) was called because the starting offset was too high for immediate tracking. In CaptureWallOffset(), a 90º CW turn was performed to (supposedly) point WallE3 directly at the wall to be tracked, and then ‘MoveToDesiredFrontDistCm(tgt_offset_cm)’ was called to capture the wall offset of 30 cm.

Unfortunately, the 90º CW turn step assumes the robot is already oriented parallel to the wall to be tracked, but because the actual physical configuration at this point was an open corner instead of an open doorway, WallE3 wasn’t at all parallel to the wall. So, the turn just oriented the robot to about 40-45º to the wall rather than 90º. The next step in the offset capture routine is to call MoveToDesiredFrontDistCm() to move the robot to the desired offset distance (in this case, 30 cm). But the front distance measurement never got down to 30 cm, as the robot wound up running along the baseboard, parallel to the wall. This would have continued indefinitely except WallE3 ran into the far edge of the doorway into the kitchen area bathroom.

So, everything worked just like it was supposed to, except that when the robot exited the bedroom hallway it was turned just enough so that it saw what looked like a trackable wall to the right, instead of gl_LeftCenterCm & gl_RightCenterCm > MAX_TRACKING_DIST_CM, so the open corner case wasn’t executed.

To fix this problem (and hopefully not create other ones) I added the condition that to bypass the ‘open corner’ case, the absolute value of the ‘trackable side’ steering value must be less than 1/2 the max steerval of +/- 1.

Well, that didn’t work as well as I thought. I made another field run, this time starting just before the end of the bedroom hallway where it opens into the dining area. What should have happened is the robot should have detected the ‘open corner’ configuration, made a 90º CW turn and carried on tracking the right-hand wall. What actually happened wasn’t that. Here’s a short video showing the action, along with the telemetry from the run

So, it appears the same sort of thing happened again, only this time it was the left-side distance that was less than MAX_TRACKING_DIST_CM. Since both steervals were +/- 1 this should have caused the ‘open corner’ block to execute.

Fixed (again!). Running another test.

ALRIGHT!! This time things worked just like they are supposed to! Here’s a short video showing the action, and the telemetry from the run.

As can be seen from the video and telemetry, the ‘open corner’ configuration was properly detected even with gl_Left/RightCenterCm = 84.1/235.6, Left/RightSteerVal = 1.00/1.00 (left side within MAX_TRACKING_DIST_CM but abs(left steerval) > MAX_STEERVAL ). Yay!!

Stay Tuned,

Frank

The WALL_OFFSET_DIST_AHEAD Anomaly

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Posted 21 October 2023,

The WALL_OFFSET_DIST_AHEAD anomaly is triggered when WallE3 is about to run head-on into an upcoming wall. The idea behind handling this anomaly is to allow WallE3 to navigate around internal corners. Up until a few days ago, WALL_OFFSET_DIST_AHEAD anomaly just called ‘BackupAndTurn90Deg(bool bIsCCW)’. This function backed the robot up to achieve the desired wall offset, turned 90º in the direction away from the last tracked wall to parallel the upcoming wall and then exited, whereupon loop() was re-entered from the top and a new tracking assessment was made.

However, this treatment failed spectacularly in the guest bedroom, as the ‘new’ wall was too short to track properly. This problem led to the development of the ‘RunToDaylight’ algorithm to allow WallE3 to find the best direction in which to travel. I now have RunToDaylightV2() working very nicely, but now I have the opposite problem; now RunToDaylightV2() is more likely than not to simply turn WallE3 180º and go back the way he came – perfectly legitimate from RunToDaylight’s point of view, but boring and too simplistic.

So, how to mix the two approaches (BackupAndTurn90Deg & RunToDaylight) so that RunToDaylight is used in tight corners, but BackupAndTurn90Deg is used for ‘normal’ wall configurations where there is ample (or at least reasonable) room for travel on the perpendicular wall.

I’m going to try combining the two options. The idea is that BackupAndTurn90Deg would be the default response to a WALL_OFFSET_DIST_AHEAD anomaly, but if the available front distance after the 90º turn is less than something like 2 x WALL_OFFSET_DIST_AHEAD (currently set at 30cm), then the RunToDaylight will be called to find a better direction in which to move.

This turned out to be pretty easy. The changes necessary to the WALL_OFFSET_DIST_AHEAD anomaly case in HandleAnomalousConditions is shown below:

The following short video and telemetry shows the action when WallE3 encounters a corner with not enough room to track the next wall in the internal corner.

And the following video and telemetry shows the action when WallE3 does have room enough to follow the internal corner wall. Note that in these two conditions, the code was not changed – the only thing that changed between the two runs is the ‘third wall’ was moved away from the first one to give WallE3 sufficient room to follow the internal corner wall.

So it seems this problem is pretty much solved – YAY!!

Stay Tuned,

Frank

Using QuickSort on Multiple Associated Arrays

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Posted 06 October 2023,

At the very end of the 04 October 2023 Update to the “The Guest Bedroom Problem” post , I made the following statement:

“Also, I need to figure out how to sort through the 360º search results. I would like to wind up with an array of steervals sorted in decreasing magnitude order, with a companion array of headings so Hdg[i] <–> Steerval[i]. Not sure how to do this yet, but it sounds promising!“

After some research on array sorts in C++ I came across this post with a nice example of a quick sort program, which I shamelessly copied. After some fumbling around (including writing my own ‘swap’ routine to allow future porting to Arduino code) I got it to work in my Visual Studio 2022 Community Edition setup with a single int[] array as shown in the following image:

Now the challenge was to extend this algorithm to sort multiple same-sized companion arrays. Looking at the QuickSort code, it appeared all I had to do was duplicate the ‘swap’ operation on all the companion arrays using the same swap indices determined for the ‘master’ array. One additional fly in the ointment was the requirement to handle both int[] and float[] arrays.

First I modified my ‘swap’ routine to be a generic template function as shown below:

Then I renamed the ‘arr’ array from the example to ‘FrontD’ and defined a second ‘Hdg[]’ array of float values with the same length as the original example array as shown below:

Then, for each occurrence of a call to ‘mySwap’ for the ‘FrontD’ array, I added a second call for the ‘Hdg’ array as shown below:

When I ran this code, it *almost* worked right off the bat. Unfortunately the ‘Hdg’ slave array wound up being sorted slightly differently than the ‘FrontD’ master array. After closely examining the code, I finally found the problem. In one place the original programmer used the indexing syntax ‘[i++]’ and ‘[i–]’ as input to the ‘mySwap’ function. This worked fine for the single master array, but failed with the second array because on the second call to ‘mySwap’ the indices had been changed – oops! Here is the original and revised syntax:

Now both calls to mySwap() use the same index values, and life is good. Here’s a debug printout from VS2022 showing a successful program run with a master (int Frontd[]) array and one slave (float Hdg[]) array:

And here is the complete code that produced the above output:

09 October 2023 Update:

After convincing myself that this scheme for synchronizing the sorting of ‘master’ and ‘slave’ arrays, I decided to port the capability into my robot code. I created a new WallE3 program called ‘WallE3_Quicksort_V3’ as a copy of ‘WallE3_Complete_V5’, and then added the ‘quickSort’, ‘partition’, and ‘mySwap’ functions from ‘Quicksort_V3’.

Then I set up a test block in setup() as shown below:

With this setup I got the following output:

In this test, the FrontD[] is the ‘master’ and the ‘Hdg[] is the ‘slave’, and the algorithm is set up to sort the array in increasing order.As can be seen from the above output, the FrontD[] array after Quicksort is indeed sorted from smallest to largest value, and the Hdg[] array elements after Quicksort are ordered in such a way as to correspond to their original relationship to FrontD[].

In my application I want to sort the master array in descending order rather than ascending, so after some googling I found that making the following change:

causes the sort to run in the other direction, giving the following output:

As desired, the ‘FrontD’ master array is sorted in descending order, and the ‘Hdg’ slave array elements are still synchronized with their original FrontD companion elements.

So I changed the test to use real data using the initialization code below:

and got the following output:

Gee, that went well — The FrontD distance array isn’t ordered at all – yuk!

OK, so back to basic troubleshooting. The first thing I did was to replace the FrontD[6] test array in my QuickSortV3 C++ program with the FrontD[36] array of actual front distance values (edited in Notepad++ to be a single line of comma-separated values) to see if I could establish a working baseline – an absolute necessity for efficient troubleshooting.

I had to edit the QuickSortV3 program to remove the references to the second Hdg[](slave) array, as I didn’t want to complicate things, but after I did this, the program sorted FrontD[36] properly in both the forward and reverse direction. To get the reverse sort, I had to flip ‘<=’ to ‘>’ in two places, and ‘>’ to ‘<=’ in one place, as shown below:

The following Excel plot shows the result for both the forward and reverse sorts

Now that I have a working baseline with my QuickSortV3 C++ program, it became easy to see the problem with my WallE3_Quicksort_V3 Arduino program; there are three places that need to be changed for reverse sorts, and I only changed one – ooops! After fixing these problems, I got the following output:

And now, the slave sort seems to be working as well, as shown by the following Excel plot:

The above plot looks very confusing at first, but it seems to be accurate; the ‘before’ picture is straightforward – the robot rotated in 10º steps, so the smooth blue line is expected. The ‘after’ plot looks crazy, but remember it is synchronized with the reverse sorted front distance array, so there is no organizing principal. The relationship of heading values with front distance values after the reverse sort is easier to see with the text output from the program, shown below:

For instance, the largest front distance shown is 507cm (row 9 in the original listing). In the unsorted data, the heading associated with 507cm is 82.1º. In the reverse sorted listing, 507cm is of course on the first row, and so is 82.1º. The lowest front distance (last row of the reverse sorted list) is 24cm, and the heading on the same line is -106.1º. Looking through the original (unsorted) list, 24cm is found on line 26, and the heading on that line is -106.1º as expected.

At this point, it is clear that my plan to have WallE3 turn a full circle while recording front distances and associated headings, then reverse sort the distance data array as the ‘master’ array while maintaining each distance value’s associated heading (the ‘slave’ array) is going to work. Then I should be able to easily find the heading associated with the median front distance of the first(only) group of front distances greater than some threshold – say 1.5m. Looking at the reverse-sorted front distance data above, I see there are about 10 distance measurements above 1.5m as shown below:

The median heading value for this group of 11 distances is 71.4º, which is associated with the front distance value of 444cm.

11 October 2023 Update:

After figuring out how to change my quickSort() function from a forward (increasing values) to a reverse (decreasing values) sort, I decided that I should make it capable of performing either sort (fwd or rev), by adding a boolean parameter to the function signature. I started by going back to my C++ program and making the mods there, and I was able to make it work fairly quickly, as the following output shows:

Then I ported the changes to my Arduino program and got the same results, as shown in the following output:

And here is the test code that produced the above output:

13 October 2023 Update:

After getting this to work in my C++ project, I ported it over to WallE3_QuickSort_V3 and got it working there. Thinking about the overall ‘Guest Bedroom Problem’, it is clear to me that I will need six synchronized arrays – FrontD, Hdg, L/R Dist, L/R Steer. At first I thought I could do this with five calls to ‘QuickSort() – one each for (FrontD, Hdg) and then one each for the remaining four, each using FrontD as the ‘master’ array. However, when I tried this, it failed miserably – only the first sort (FrontD, Hdg) worked, and the remaining four calls did nothing. After thinking about this for a while, I eventually figured out that the first call – (FrontD, Hdg) worked because each time two FrontD array items got swapped in mySwap(), the Hdg array got swapped in the same way – preserving synchrony. However, when the sorted FrontD array was used in the second and subsequent calls, mySwap() never gets called because all FrontD items are already in order. This meant that the second and subsequent ‘slave’ arrays stayed in their original unsorted state – oops!

So the answer to this problem is either keep replacing the ‘master’ parameter to QuickSort() with the unsorted version of FontD[] so that it will get sorted again (causing the required mySwap() calls to the ‘slave’ array, or modify QuickSort to take all five ‘slave’ arrays as parameters. Either way is a real PITA, but I think the ‘all at once’ strategy is more straightforward.

After implementing the ‘all at once’ strategy, I got the following output from my test program:

It appears that both the FWD & REV sorts succeeded (at least with respect to the front distance values). Spot checking the other arrays, we see for front distance values of 23 & 449:

So it is clear that all six arrays are synchronized through both FWD & REV sorts – Yay!

Looking at the reverse sorted and synched data for FrontD values above 1.5m we see a number options for travel directions, as detailed by the following lines from the reverse sort output:

The first four lines above are all ‘left-side’ tracking options. The fifth line above (at FrontD = 240) could actually utilize either the left or right walls for tracking, and the last two are ‘right-side’ options.

The option with the largest ‘head room’ (515cm) is shown in the first line above; on a relative heading of 82.0º, there is 515cm of travel distance available, and the robot is 30.2cm away from the left wall and is oriented almost parallel to it (left steerval is -0.2).

So it looks like this ‘Run To Daylight’ scheme might actually work, but there were a LOT more options than I thought I would have for tracking side and tracking direction. This may have been caused by the fact that I was doing the testing on my lab bench, with lots of ‘clutter’ around. It may be that in a real situation there are very few (or even no) options – we’ll see!

I modified my test program to choose the first acceptable parameter set from the reverse-sorted data, then turn WallE3 to that heading and refresh all parameters. The following short video and the resulting telemetry output are shown below:

As can be seen from the above, the first set of parameters in the synchronized arrays met the criteria, and was chosen. When WallE3 turned to the selected heading and refreshed parameters, everything except the front distance matched very well. I believe the difference in front distances was due to a very slight change in heading which resulted in the distance to a desk chair being measured instead of the distance to the far wall.

Next I tried a test in my office with a simulated corner situation, to see if WallE3 could used his new superpowers for good. I removed the infinite loop at the end of the test program and let loop() run as normal, after setting gl_LastAnomalyCode to ANOMALY_NONE. The following short video and telemetry readout shows the action:

Test of WallE3’s new ‘Run To Daylight’ capability

From the telemetry output we can see that WallE3 found an acceptable tracking option at index 1 in the reverse-sorted FrontD array, at a relative heading of 141.4º from the start of rotation, with the following parameters:

Then the robot turned to the desired heading, and then dropped into the normal ‘top of loop’. This caused TrackLeftWallOffset(350.0, 0.0, 20.0, 30) to be called. WallE3 tracked the left wall nicely from 0.7 sec to 3.2 sec where it ran out of wall and detected an EXCESS_STEERVAL Anomaly. All in all, this test seemed to work perfectly.

Stay tuned,

Frank

The Guest Bedroom Problem

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Posted 01 October 2023

After solving the problems described at the bottom of my “Responding to Steerval out of Range” post, I was able to get WallE3 to successfully enter our small guest bedroom, as shown in the following short video:

Unfortunately the robot wasn’t really tracking the left ‘wall’ (door surface) – it was just going straight until it ran into the trashcan, and then couldn’t figure out what to do next. As I worked with the code I got WallE3 to track the door OK, but then it still had problems with the trashcan and cupboard. Rather than starting in the hallway for each test, I decided to emulate the configuration in my office for more rapid iterations. Here’s the actual guest bedroom configuration:

And here is the simulated guest room configuration in my office:

Simulation of guest room configuration

And here is a short video showing a mostly successful run in the above simulated guest room configuration:

The telemetry from the run is shown below:

The salient events from the telemetry:

  • 0.6 – 2.1 sec: tracks left wall
  • 2.1 sec: detects WALL_OFFSET_DIST_AHEAD anomaly.
  • 2.1 – 7.6 sec recovers from WALL_OFFSET_DIST_AHEAD and starts tracking left wall again
  • 7.7 – 9.2 sec tracks left wall (simulated doorway into guest br)
  • 9.2 sec detects WALL_OFFSET_DIST_AHEAD anomaly (end of simulated door?)
  • 9.3 – 10.7 sec: recovers from WALL_OFFSET_DIST_AHEAD and starts tracking left wall again
  • 10.7 – 12.1 sec: tracks left wall
  • 12.1 sec: detects WALL_OFFSET_DIST_AHEAD anomaly. I think this is caused by the box (the simulated near end of the cupboard). This time the anomaly recovery calls ChooseBetterTrackingSide() with an average heading value of 93.1º. The result of this algorithm is 9 votes for left side, 0 for right. The robot starts tracking the left wall with an initial offset of 17.9cm, which is too close, and this causes ‘CaptureWallOffset()’ to be called. CaptureWallOffset() makes a 90º CCW turn to face the left wall, and then calls ‘MoveToDesiredFrontDistCm()’ to move (backup) to a front distance of 30cm. Once this is accomplished, a 90º CW turn is made to re-parallel the left wall, and then ‘RotateToParallelOrientation(LEFT)’ is called to complete the orientation operation.
  • 29.9 – 31.9 sec: tracks left wall (the simulated cupboard face).
  • 31.9 sec: an EXCESS_STEER_VAL anomaly is detected after the robot runs off the end of the simulated cupboard face

02 October 2023 Update:

Having solved the problem of getting from the hallway into the guest bedroom, there remained the problem of negotiating a ‘cul-de-sac’ at the far end of the cupboard, which I simulated in my office as shown in the following video:

And here is the telemetry from the run:

The robot tracks the left wall properly for the first 2.5sec, but then gets trapped in the ‘cul-de-sac’, and eventually resorts to calling a ‘RunToDaylight()’ function to get itself unstuck. RunToDaylight() calls ‘RotateToMaxDistance()’ which performs a full 360º rotation, memorizing the front distance and heading at each step. After the full rotation, the robot turns to the heading associated with the peak front distance and heads that way. As can be seen from the video, this works very well, but over the course of several runs the robot hit the corner of the wall a couple of times because the ‘peak’ heading was recorded just as the front distance sensor (but not necessarily the robot itself) cleared that corner. Here’s an excel plot that shows the issue.

Looking at the plot, it is clear that any heading from about 83 to 150º would suffice, so maybe picking the peak value isn’t so smart. Maybe picking the median value above some distance threshold (like maybe 1.5-2.0 meters) would be a better bet.

04 October 2023 Update:

As I was drifting off to sleep last night, I was mentally reviewing the above ‘run to daylight’ experiment and it struck me that WallE3 had ignored a perfectly good trackable wall segment (at about 31sec, step 22, 94.4º, 215cm in the above 360º search). It occurred to me that I should be searching for the point(s) where WallE3 is parallel or mostly parallel to a wall, with a meter or more of front distance available.

I think I might be able to use a “Figure of Merit” (FoM) defined as the front distance divided by the left or right steering value to detect the optimum travel direction. Steering values vary from 0 to +/-1 so it would need to be abs(FrontD/SteerVal), and it would be maximum at the point where steerval is minimum and front distance is maximum.

One fly in the ointment is the case where steerval is == 0; that would cause FrontD/steerval to be undefined – oops! So I think I need to modify the function that retrieves steervals from the Teensy to limit steerval to something like .001, so the FoM wouldn’t go above a few thousand (10/07/24 note: This was done in ‘GetRequestedVL53l0xValues()’)

Also, I need to figure out how to sort through the 360º search results. I would like to wind up with an array of steervals sorted in decreasing magnitude order, with a companion array of headings so Hdg[i] <–> Steerval[i]. Not sure how to do this yet, but it sounds promising!

07 October 2023 Update:

After some web searching and experimentation, I now have a program that can sort a ‘master’ array and one or more ‘slave’ arrays such that the slave array is rearranged into the same order as the master. See this post for all the gory details.

Now I think I have the tools to address the ‘guest bedroom problem’, as follows:

  • Make the same 360º rotation as before, saving L/R steervals, headings, and front distances into separate 36-element arrays.
  • Sort the above arrays, using front distances as the master, and the others as slaves.
  • Find the element in the front distance array that is greater than a set threshold (say 150cm), has an associated steerval <= (MAX_STEERVAL / 2) and produces the highest ‘FoM’ as described above. Turn to the heading associated with this element, and start tracking that side.
  • If no front distance element / steerval combination satisfies the above criteria, then turn to the heading associated with the middle element of the first/only set of front distance values above the above distance threshold and move forward until another anomaly is detected.

11 October 2023 Update:

I think I’m going to need to save/sort the L/R distances in addition the values listed above, for a total of six parameters; L/R distances, L/R steervals, Hdg, and Front distance. The FrontD array would be the ‘master’ array, and the other five would be ‘slave’ arrays. I could modify my current QuickSort() routine to do all five slave arrays at once (by adding four more ‘swap’ lines in two places in ‘partition’) but this would also require modifying the signatures of QuickSort(), partition() – yuk! I could also simply call ‘QuickSort()’ five times (once for each ‘slave’ array) with the unsorted FrontD array as the master each time. I like this latter approach as it preserves more of the generality of the ‘QuickSort()’ routine.

To do this, I’ll have to define all six arrays at global scope with the following memory requirements:

  • uint16_t FrontD[36]: 2 bytes/value, 36 values –> 72 bytes
  • float Hdg[36]: 4 bytes/value, 36 values –> 144 bytes
  • float LeftSteer[36]: 4 bytes/value, 36 values –> 144 bytes
  • float RightSteer[36]: 4 bytes/value, 36 values –> 144 bytes
  • float LeftDist[36]: 4 bytes/value, 36 values –> 144 bytes
  • float RightDist[36]: 4 bytes/value, 36 values –> 144 bytes

for a total of 4*144 + 72 = 648 bytes. The current memory requirements for WallE3_QuickSort_V3 on a Teensy 3.5 is:

So another 648 bytes is not going to be a problem. After defining and initializing the additional four arrays and recompiling, I got:

So the increase from 115248 to 115312 in program size and from 7728 to 8304 bytes wasn’t enough to even move the percentages – woohoo!

16 October 2023 Update:

After getting the ‘one master and five slave array’ quicksort algorithm working, I did some more testing in my office. The test configurations that featured side walls within tracking distance (100cm) worked very well; however, when I simulated the configuration where no trackable side walls could be found, the robot consistently failed to orient to the most open direction – instead it wound up pointing to one edge or the other of the ‘open direction’ wedge. The algorithm I was using was to use the heading associated with the middle entry of the first N (reverse sorted) front distances.

Then I tried using the middle entry of the first N (reverse sorted) heading values, where the group of heading values to be sorted were the ones associated with the above first N reverse-sorted front distances. However, this didn’t work either, because when I designed the experiment, the maximum distances naturally occurred around 180º from the starting orientation, and this meant that the first N headings included both positive and negative values. When reverse-sorted, the positive values were at the top as expected, but the negative values got sorted to the bottom – oops!

The solution to the problem was to create a temporary heading array, fill it with the heading values associated with the first N front distances as before, but with the heading values modified to fit into the 0-359º range (by adding 360 to negative values). The result of this trick was to ‘homogenize’ the headings so they were all sequential, and then selecting the median value did indeed point the robot in the correct direction, as shown in the following short video and telemetry output.

In the above telemetry output, the first two values in the Hdg array associated with the reverse-sorted FrontD array are negative, so if the Hdg array is reverse sorted to find the best RunToDaylight heading, the two headings associated with the longest open run aren’t considered unless they are first modified such that all headings lie in the 0-360 range. The ‘tempHdg’ array accomplishes this.

After the above successful test of the new ‘RunToDaylight’ capability, it is time to integrate this into the rest of the program. At the moment the code is contained in ‘RunToDaylightV2’ and it is only called from ‘#pragma region QUICKSORT_TEST in setup(). In the mainline code, ‘RunToDaylight’ is called from ChooseBetterTrackingSide() when the ‘Better Side’ can’t be determined.

ChooseBetterTrackingSide() is called from HandleExcessSteervalCase() when a trackable wall is found on both sides, and a determination has to be made on how to proceed. So, it appears that all I have to do is comment out (or delete) the QUICKSORT_TEST #pragma region and RunToDaylightV2 will be called as necessary.

After making the necessary changes, I made a long ‘field test’, starting in our entrance hallway and going through the kitchen and down the bedroom hallway to the end, and then once again into the guest bedroom. This all worked perfectly, and I was pleased to see that ‘RunToDaylightV2()’ was called at the end. See the accompanying video and the telemetry for all the details:

17 October 2023 Update:

I tried another Guest Bedroom ‘field test’, with different results this time, as shown in the accompanying video and telemetry:

Stay tuned,

Frank

WallE3_Complete_V5 Print Timing Issue

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Posted 24 September 2023,

This post addresses the problem I have started to see regarding print buffer overflow due to the decreased time (now 50mSec) between environment updates. When running longer field tests, I have started to see many lines where telemetry printout has become garbled, with the next line of printout starting before the previous line has finished, as shown in the accompanying printout

In the above printout, you will notice that the horizontal scrollbar is much smaller than normal, indicating the line lengths are much longer than normal, and the portion that is visible is really really ugly!

So, what to do? I ran a search through my almost 7000 lines of code for ‘gl_pSerPort->printf(‘ to see how big of a problem I’m looking at, and the search came back with some 400+ hits – ouch! One thought would be to put an ‘if’ statement around each printf call and use an ‘EllapsedMillisec’ variable to limit calls to, say, every 100 or 200 msec, but doing that for 400+ calls would get pretty tedious. Another thought is to abstract all these print statements into a function, and have the time spacing internal to the function. So the function call would look something like:

and the function internals would look something like:

The problem with the function internals is the argument list would have to match the contents of ‘formatstr’, which means I would have to have an overload for every unique format, and changing anything would be a hassle, as I would have to find and edit the correct overload – yuck!

OK, more thought needed on this – maybe the ‘if’ statement is the way to go (maybe a macro?)

Another thought that just came up; if I filter all print statements by an elapsed time gate, that might actually filter out important one-time error information – ouch! This potential problem suggests adding a priority value to the ‘LogPrint()’ function, so the function might look like:

And good programming technique would demand that the PRIORITY_CODE have a default value, which (for Arduino programming) would require that every overload have a function declaration at the top of the program – yuck! yuck!

Maybe it would be easier to just put the

around each and every ‘low priority’ print statement (all 400+ of them)? yuck! yuck! yuck!

After thinking about this some more, it occurs to me that this problem may be a lot smaller than I think. The primary culprit is the long telemetry string printed out each WALL_TRACK_UPDATE_INTERVAL_MSEC (currently set to 50mSec). It may well be that I only need to guard this one print statement and 99% of the time that will do the trick. As I find other printout statements that are causing problems, I can treat them as well.

25 September 2023 Update:

I did a search for ‘gl_pSerPort->printf(‘ but bypassed everything in setup() and loop(). Starting in TrackLeftWallOffset() in the ‘while (gl_LastAnomalyCode == ANOMALY_NONE )’ block I put an ‘if(mSecSinceLastTelemetryUpdate > PRINT_INTERVAL_MSEC)’ guard around the call to ‘OutputTelemetryLine(TRACKING_LEFT)’, as shown below:

26 September 2023 Update:

After guarding the ‘OutputTelemetry()’ call in both TrackLeftWallOffset() and TrackRightWallOffset(), I ran another field test, and saw that telemetry output was clean, and now coming in 0.1sec intervals, as intended – yay!

Stay tuned,

Frank

Responding to ‘Steerval out of Range’ Anomalies

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Posted 02 September 2023

As described in this earlier post, I hatched a plan to use ‘out of range’ (>= 1) steering values to manage ‘open doorway’, ‘open corner’ and other navigation anomalies, but as usual, this has turned out to be ‘easier said than done’. The problem of deciding what to do after an excessive steerval anomaly detection is complicated by the robot’s behavior leading up to the anomaly. As the steering value rises toward the limit, the robot naturally changes its wheel motor speeds in a manner intended to bring the steering value back down again. In the case of an ‘open doorway’ event, this means the robot turns into the open doorway instead of continuing straight. Then, when the robot stops in response to the associated anomaly detection, it is oriented in a way that makes figuring out what to do next very difficult. The following short video, illustrates the problem. In the first part of the video the robot stops at the 45º break and executes the current anomaly response algorithm; it turns parallel to the left wall, turns 90º to the wall and goes forward to the desired offset distance, then makes another 90º turn and continues wall-following. At the end of the video at the next ‘excess steerval’ anomaly, the robot makes an abrupt turn into the open doorway and can’t recover.

So, what to do, what to do? The robot doesn’t have any idea where it is in the house; all it knows is the steering value for the tracked wall first increased sharply (causing the abrupt left turn shown in the video) and then went out of range (causing the robot to stop). What I want the robot to do is figure out that there is a trackable wall opposite the open doorway, and discovering/tracking it is the preferred behavior.

So, how does the robot ‘discover’ that the other wall is a better tracking candidate? The following diagram shows the situation just after the robot stops.

From the robot’s point of view, the nearest wall is still on its left side but the short left-side segment (the side of a bookcase in this particular configuration) isn’t long enough to actually perform a ‘RotateToParallelOrientation’ procedure. In the meantime, the perfectly good wall a meter or so away is totally ignored. Oops! May have found the problem; if the center distance to the other wall is more than 1m – it is outside the current value for ‘MAX_TRACKING_DISTANCE_CM’

07 September 2023 Update:

After further review, it appears the issue wasn’t so much distances > MAX_TRACKING_DISTANCE_CM as having the reported distance to both sides < MAX_TRACKING_DISTANCE_CM, even after the ‘excessive steerval’ anomaly trigger. This occurs, for instance, when the robot successfully navigates the ‘open door’ into my office, transitions to the right-hand wall (kitchen counter) and then runs off the end of the counter wall. This generates an ‘excessive steerval’ anomaly, but when the robot checks again to decide what to do, both side sensors report distance values < MAX_TRACKING_DISTANCE_CM, most likely due to a ‘false’ distance report from a kitchen eat-in counter bar stool, as shown in the following diagram.

In the above diagram, the robot is located at ‘Position B’. There is nothing to track on to its right (except the legs and cross-braces of the bar stool), and a nice wall to the left. However, because the robot can still ‘see’ the bar stool legs on the right, both sides report distances < MAX_TRACKING_DISTANCE_CM.

So, I’m thinking about introducing the ability for the robot to discern the ‘best’ way forward, but this begs the question of what ‘forward’ and ‘best’ mean in this context.

Forward:

I propose that ‘forward’ in this context means – the direction roughly in line with the previous average heading of the robot. In the above diagram, the average robot heading was toward the top of the diagram, so ‘forward’ would mean no more than 90º either side of this heading (note that WallE3 knows nothing about compass headings – so the baseline average heading at the point of decision can be anything).

Best:

I propose that ‘best’ in this context means “the wall that subtends the largest angle in the ‘forward’ (i.e. +/- 90º from average heading from last 2-3 sec before the anomaly) hemisphere.

In order to implement this scheme, I need to also implement a way of determining the average heading value for the last 2-3 sec. This implies an array of heading values that is updated at each measurement interval, with a length that covers the desired time interval. I already do this with front and side distances with aFrontDist, aLeftDistCM, aRightDistCM, and aRearDistCM, with various sizes. The aFrontDist and aRearDistCM sizes are supposed to be large enough so that the front and rear variance calculations will trigger a ‘stuck’ anomaly after about 5 sec of no movement; however, I see from the current code that while the front array size was bumped to 100 just last month to accommodate the new 50mSec cycle time, the rear one is still at 50. It occurs to me that the array size should automatically change based on the cycle time to maintain the desired ‘stuck’ detection time frame (nominally 5 sec). To do this I could create a ‘STUCK_TIME_FRAME_SEC’ constant, and then multiply this by the measurement time interval in Sec in the aFront and aRear array declarations. Here’s what I came up with:

This at least compiles, so I am optimistic that I haven’t created a huge disaster.

To start this implementation, I created a new global variable ‘gl_AvgHeadingDeg’, a new function to initialize a new ‘aAvgHdgDeg’ array, and ‘UpdateAvgHdgArray()’ to update the array and the average heading at each regular measurement interval as shown

Then I added code to UpdateAllEnvironmentalParameters() to update the average heading array, as shown below:

Then I created a ‘ChooseBetterTrackingSide()’ function to actually determine which side to ‘nominate’ for further wall tracking, as shown below:

10 September 2023 Update:

To test the new average heading idea, I modified my existing ‘#ifdef HDG_ONLY’ code block to add the average heading, and then manually rotated the robot back and forth to see if the average heading value was reasonable. After the usual amount of code debugging, I got what I think are reasonable results, as shown in the following Excel plot:

Robot very rapidly rotated from ~0deg to ~90deg

With the actual and average headings stabilized, I very rapidly rotated the robot from ~0º to ~90º and then allowed the average heading value to catch up. As predicted with the current update rate of 50mSec, the average value array of 60 points took approximately 3Sec to catch up.

Now that I have the average heading value feature working, I can start testing the ability to actually use the average value. Here’s a short video and telemetry output from a test in my office showing the ‘ChooseBetterSide’ algorithm in action:

Choose Better Side algorithm test

The salient points in the above video:

  • At 4sec (3.3sec in telemetry), the robot detects an ‘EXCESS_STEER_VAL’ anomaly
  • At about 4.5sec (3.8sec in telemetry) ChooseBetterSide() is called
  • 4.5-10.0sec, the robot makes nine 10º CCW turns to measure left/right distances in ‘forward’ direction, and then turns back to the initial average heading.
  • As shown in the telemetry, ChooseBetterSide found 7 left and 0 right trackable wall segments, and returned TRACKING_LEFT
  • At 12sec, the robot executes a ‘RotateToParallelOrientation(TRACKING_LEFT) to prepare to track the left side wall
  • At 13-15sec the robot tracks the left side wall. Note that because the robot was within the tracking distance window at the end of the RotateToParallelOrientation call, it started tracking immediately.

Here’s the telemetry from the above test run:

Next I ran a ‘field’ test in the hallway outside my office, as shown in the following short video:

Interestingly, the normal ‘open door’ algorithm was used for the open doorway into my office, at about 14sec into the video, causing WallE3 to transition to the ‘other’ (kitchen counter) wall. At the end of the kitchen counter (at about 31sec) the ‘ChooseBestSide’ algorithm was used to transition back to the left side wall. Unfortunately he robot failed to make the left turn into the bedroom hallway at the end of the run. More work to go!

Here’s the telemetry from the run:

Stay Tuned!

Frank

13 September 2023 Update:

Yesterday, at the end of the run the robot quit with the output “HandleExcessSteervalCase in ‘else //OpenCorner:’ Can’t decide what to do.” However, when I tried to duplicate this problem in my office with a simple ‘L’ (open corner) configuration, the robot instead chose the ‘ChooseBetterTrackingSide() option – rats.

Looking through the code and the results, I can see this happened because the steervals from both sides were < MAX. The distances from both sides were > MAX_TRACKING_DIST_CM, but I am currently not using this factor for decisions.

Looks like I need to use both distance and steerval to distinguish among the various error configurations (or maybe I need to use the previous steerval, the one that caused the anomaly?

So, just using current steerval, we get the following four possibilities

  • 1: Left < MAX, Right < MAX
  • 2: Left < MAX, Right > MAX
  • 3: Left > MAX, Right < MAX
  • 4: Left > MAX, Right > MAX

If we then add the previous steerval (the one that created the anomaly) into the mix we get eight – the above four with PrevLeft > MAX, and four with PrevRight > Max.

So, assuming that the anomaly was EXCESS_STEERVAL on the left side, then the first possibility above was true in the test case, so what should have happened is recognition of an ‘open corner’ case, with the previously tracked wall on the left side. This should produce a left 90º turn, a forward run of 0.5-1.0sec and then either track left or ‘choose best side’.

15 September 2023 Update:

After thinking about this problem for a while, I have come to the conclusion that I’m overthinking the ‘Excess Steerval’ and ‘Open Corner’ conditions. I now think that the ‘Open Corner’ condition can be uniquely defined as the condition where both left and right distances are > MAX_TRACKING_DIST_CM after an ‘Excess Steerval’ anomaly occurs. This means my earlier re-write of HandleExcessSteervalCase() to incorporate steerval information is incorrect – bummer!

Looking at the two wall diagrams above, it looks like there are only a few conditions that are possible after an ‘Excess Steerval’ anomaly:

  • An ‘open doorway’ configuration can be identified uniquely because it will have a tracked-side distance > MAX_TRACKING_DIST_CM and a non-tracked side < MAX_TRACKING_DIST_CM.
  • An ‘open corner’ configuration can be identified uniquely because it will have tracked-side and non-tracked side distances > MAX_TRACKING_DIST_CM.
  • The ‘Which Wall?’ (ChooseBestWall) configuration can be identified uniquely because it will have a tracked-side distance < MAX_TRACKING_DIST_CM.

So I think this all boils down to the following flow chart:

Based on the above, it appears that my original version of HandleExcessSteervalCase() was closer to the mark than my 09/04/23 re-write – oops! Fortunately I kept the old version as a comment block, so I may be able to fix my ‘oops’ without too much agony.

After modifying (once again) my HandleExcessSteervalCase() function, I got the ‘open corner’ case working – at least I think I did. The following short video and telemetry printout shows the action.

Successful ‘Open Corner’ Run

Here is the current ‘state of code’ for the ‘HandleExcessSteervalCase’ function:

25 September 2023 Update: Open Corner/Doorway Success!

After quite a bit of yelling, cursing, coding and re-coding, I now believe that WallE3, my autonomous wall-following robot has truly gained the ability to correctly handle ‘open doorway’ and ‘open corner situations. Here’s a short video showing the results of a ‘field test’:

Successful ‘open doorway’ and ‘open corner’ field test

Salient points from the video:

  • 0:12: WallE3 encounters an open doorway to the left, with a trackable wall (kitchen counter) to the right. WallE3 stops and transfers to the right wall.
  • 0:29: WallE3 encounters an ‘Excess Steerval’ situation, but doesn’t know which wall is better. It utilizes the ‘ChooseBetterTrackingSide()’ function to determine that the left side wall is a better bet, and transfers to it for further progress.
  • 0:49: WallE3 encounters an ‘open corner’ situation, where both left and right side distances are > MAX_TRACKING_DISTANCE_CM. Since the last-tracked wall was on the left side, WallE3 turns that way and continues to track around the corner.
  • 0:57: WallE3 encounters another ‘open doorway’ situation, and properly transfers to the right wall for onward tracking.
  • 1:09: WallE3 encounters another open doorway on the left (non-tracked) side, but because it is tracking the right wall, this is simply ignored.
  • 1:14: WallE3 encounters another ‘open doorway’ situation, and properly transfers to the left wall for onward tracking.
  • 1:28: WallE3 encounters a WALL_OFFSET_DIST_AHEAD anomaly and quits, because there is no handling code for this yet.

This is by far the ‘cleanest’ run WallE3 has made to date, and gives me some hope for the future. The handling code for the WALL_OFFSET_DIST_AHEAD anomaly has already been written and tested in earlier versions of the code – I just haven’t ported it into the new ‘HandleExcessSteervalCase()’ architecture.

26 September 2023 Update:

Looking at the ‘HandleAnomalousConditions() function in ‘WallE3_Complete_V4.ino’, I see the following:

For the ‘ANOMALY_OBSTACLE_AHEAD’ case, the response was to call ‘BackupAndTurn90Deg(trkcase == TRACKING_RIGHT, true, MOTOR_SPEED_FULL), so it backed up and turned right (CW) if it was tracking the left wall, and left (CCW) if it was tracking the right wall. The ‘BackupAndTurn90Deg()’ function turns all the LEDs ON, calls ‘MoveToDesiredFrontDistCm(WALL_OFFSET_TGTDIST_CM)’ to move backward, turns all the LEDs OFF, and then calls ‘SpinTurn()’ to do the 90deg turn. Note that this procedure now ignores the ‘uint16_t motor_speed’ parameter in the sig to ‘BackupAndTurn90Deg().

The ‘BackupAndTurn90Deg()’ function is called in only two places; the above HandleAnomalousConditions() block, and in ‘IRHomeToChgStn()’. Both calls specify a speed to use, which ‘BackupAndTurn90Deg()’ ignores because the ‘backup’ part of ‘BackupAndTurn90Deg()’ is controlled by a PID and is limited to MOTOR_SPD_QTR.

So, I have revised BackupAndTurn90Deg() to remove the speed parameter and the front/back boolean from the signature, and ported the code for ANOMALY_OBSTACLE_AHEAD, ANOMALY_STUCK_AHEAD, ANOMALY_STUCK_BEHIND and ANOMALY_WALL_OFFSET_DIST_AHEAD cases from WallE3_Complete_V4

28 September 2023 Update:

After porting the remaining anomaly code handlers to WallE3_Complete_V5, I made another ‘field test’. This time WallE3 travelled all the way down the hallway as before, but this time instead of stopping with an unhandled anomaly condition, the robot backed up from the door, turned around a few times, and then butted its head into the left-side wall – oops! It then backed up and did it again! If I hadn’t turned it off, I suspect it would have continued doing that forever. Here’s the video showing the action:

The telemetry from the above run is shown below:

As shown in the video and telemetry, everything goes swimmingly until about 89sec (90sec & change in the video) where the robot reports a WALL_OFFSET_DIST_AHEAD anomaly. This is expected, but WALLE3 doesn’t back up as far as it should, and then after doing the expected 90º CW turn, instead of starting to track the new left wall, it does another 180º CW turn and runs headlong into the old left wall (the left wall of the hallway, facing the closed door). Regarding the backup maneuver, it appears it started at 18cm and stopped at 19cm, well short of the expected 30cm.

From the code in HandleAnomalousConditions(), The ANOMALY_OBSTACLE_AHEAD case is shown below:

So BackupAndTurn90Deg(false) is called which should result in a backup to 30cm, then a 90º CW turn. Looking at BackupAndTurn90Deg(false), we see

So BackupAndTurn90Deg() calls MoveToDesiredFrontDistCm(WALL_OFFSET_TGTDIST_CM) which should back up to 30cm.

In MoveToDesiredFrontDistCm() we have:

This function starts with a measured distance of 18cm and a target of 30. The column header line gets printed OK, but then it immediately stops at a distance of 19cm. Obviously the

statement is returning a FALSE value and terminating the block, but I don’t see why

Oops! Using the wrong distance variable – gl_LeftCenterCm instead of gl_FrontCm. Apparently I never ported the correct code from 230918_WallE3_MoveTo_Test.ino to WallE3_Complete_V5.ino.

Stay Tuned,

Frank

WallE3_Complete_V5 Code Cleanup

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Posted 25 August 2023

After (I hope) getting WallE3’s wall-switching feature figured out, I am trying to clean up the code in WallE3_Complete_V5:

  • Enums: Removed NavCases, TrackingState enums. Removed ‘OPEN_CORNER’, ‘OPEN_DOORWAY’ and ‘TRACKING_WRONG_WALL’ anomaly codes from AnomalyCode enum list, and corresponding strings from AnomalyStrArray. Removed TRACKING_LEFT/RIGHT_CAPTURE entries from WallTrackingCases enum list, and corresponding strings from WallTrackStrArray. Now there are only three enums in enums.h.
  • Cleaned out unused/commented-out PID values from WALL_FOLLOW_SUPPORT #pragma region
  • Deleted previously commented-out global boolean variables (see this post for details)
  • Removed dead code from loop() #pragma region WALL_TRACKING section. Now this section contains only one line – ‘HandleAnomalousConditions(gl_CurTrackingCase);’
  • Removed dead code from UpdateAllEnvironmentParameters()
  • Removed IsOpenCorner() (was already commented out)
  • Removed IsTrackingWrongWall() (was already commented out)
  • Removed CheckForAnomalies() (was already commented out)
  • Added braces to ANOMALY_NONE: case in HandleAnomalousConditions() to eliminate any possible scoping issues.
  • Removed dead code from ExecuteStuckRecoveryManeuver()
  • Removed dead code from ExecuteRearObstacleRecoveryManeuver()

When done, The code cleanup resulted in about 700 fewer lines of code (~6400 vs ~7100)

Troubleshooting Wall Switch Maneuver

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Posted 18 August 2023

I’m running some ‘open doorway’ tests in my office test setup, and I keep getting an uncontrolled spin maneuver at the end of the run. The following short video illustrates the problem:


And here is the telemetry for the above run:

The very first time through the program, gl_LastAnomalyCode is ANOMALY_NONE, so the CASE statement gets skipped entirely (this is why there are two “Just after UpdateAllEnvironmentParameters() at top of loop()…” printouts here, but only one thereafter).

At 2.7Sec an anomaly (ANOMALY_EXCESS_STEER_VAL) is detected when the robot hits the gap in the right-hand wall. This causes the program to start over at the top of loop(), and this time gl_LastAnomalyCode = ANOMALY_EXCESS_STEER_VAL, which causes HandleExcessSteervalCase() to be called. HandleExcessSteervalCase() in turn calls TrackLeftWallOffset(), which in turn calls CaptureWallOffset(TRACKING_LEFT,78.4).

The capture operation moves the robot to the ‘other’ wall and turns the robot parallel, and then continues TrackLeftWallOffset().

From 19.0 to 21.2Sec the robot tracks the left wall, where it again detects a ANOMALY_EXCESS_STEERVAL anomaly. Unfortunately, due to the proximity of a bookshelf on the left, the reported left/right distances at this point are 35.9/63.7cm, so the program calls TrackLeftWallOffset() instead of TrackRightWallOffset(). Because the starting distance (3.59Cm) is less than 1.5*[desired offset of 30cm], the capture phase is skipped entirely and TrackLeftWallOffset() is continued. The column header line is printed, but the program immediately detects an ANOMALY_EXCESS_STEERVAL anomaly. From the video it looks like the robot should have tracked the left wall (the book case) for a second or so.

The bottom line (I think) is that I had a flawed test wall configuration; I wanted the robot to transition back from the left wall to the right one, but the end of the left wall was too close to the actual left wall of my office – bummer.

23 August 2023 Update:

I think I may have finally gotten the multiple-wall-switch scenario working properly! Here’s a short video and the telemetry for the run:

The robot starts out tracking the right wall. At about 3sec, it hits the first wall gap and generates an EXCESSIVE_STEER_VAL anomaly. This caused the program to exit wall tracking and restart the loop() function from the top.

It took another 2.7sec to figure out it needed to transition to the left wall, calling “TrackLeftWallOffset: Start tracking offset of 30cm” at 5.7sec. This involved an ‘offset capture step, so the actual left wall tracking phase didn’t begin until about 13sec.

At 15.8sec the robot generated another EXCESSIVE_STEER_VAL anomaly, again causing the program to exit wall tracking and restart the loop() function from the top. This time the anomaly was caused by running out of wall on the left side, so the robot has to transition back to the right wall – that was what was supposed to happen. What actually happened is the robot still thought there was a left wall available at 36.4cm and a right wall at 52.4cm, so it started tracking the (nonexistent) left wall again. Of course this cause an immediate EXCESSIVE_STEER_VAL anomaly, and this time the left/right distance was 127.9/50.6, so this time the robot correctly transitioned back to the right wall, starting at 19.2sec. The transition involved an ‘offset capture’ step, so the actual right-wall tracking operation started at 29.1sec.

All in all, I thought this was a very successful run, with the minor nit about momentarily trying to track a non-existent wall. I think this may be an instance where distance reporting is lagging slightly behind reality.

24 August 2023 Update:

I added a second 200mSec delay and a second call to ‘UpdateAllEnvironmentParameters()’ to troubleshoot the above ‘lagging distance problem’, but it didn’t solve the problem – still get the same problem with a ‘phantom left wall’ measurement. After looking at the code a bit, I now see there is a definite coding problem – oops!

HandleAnomalousCondition vs Switch(gl_LastAnomalyCode)

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Posted 14 August 2023

In previous versions of the WallE3 operating system I used three functions to deal with anomalous conditions. At each update interval (currently set to 50mSec) I called a function called UpdateAllEnvironmentalParameters() which updated all sensor measurements; then a second function called CheckForAnomalousConditions() to update anomaly condition flags (like ‘gl_DeadBattery’, ‘gl_bStuckAhead’ and the like), and a third function, called HandleAnomalousConditions() to actually respond properly to any anomalous condition identified in CheckForAnomalousConditions().

However, I wasn’t really happy with the program flow with this arrangement, so in the current version (WallE3_Complete_V4) I eliminated CheckForAnomalousConditions() entirely and pulled the anomaly flag update code into UpdateAllEnvironmentalParameters(). I also replaced HandleAnomalousConditions() with a ‘switch(gl_LastAnomalyCode)’ block at the top of the loop() function, just before the code that decides which wall (left or right) is to be tracked. So now the program flow looks like this:

So, very simple and very direct. The ‘case’ block looks like this (only the ‘ExcessSteerVal’ case has been populated at the moment):

I think this is going to be a robust flow; Any anomaly causes the current tracking operation to break and return control to the top of loop(). Then the case statement handles the anomaly as required, and drops the program right back into left/right wall tracking determination. If no anomalies are encountered (unlikely, but could happen) then the tracking block runs forever.

15 August 2023 Update:

I’m working on populating the ‘ANOMALY_STUCK_AHEAD’ case in the ‘switch (gl_LastAnomalyCode)’ block. The function ExecuteStuckRecoveryManeuver(WallTrackingCases trkdir) already exists, but it requires a ‘WallTrackingCases trkdir’ parameter to specify which wall is currently being tracked. I have a global ‘TrackingCases’ variable called ‘gl_CurTrackingCase’, but it isn’t clear to me how it is initiated and updated in the code.

Searching for ‘gl_CurTrackingCase’ produces the following hits:

  • it is initialized to ‘WallTrackingCases::TRACKING_NEITHER’ in the pre-setup initialization block
  • It is set to ‘TRACKING_LEFT’ at the top of TrackLeftWallOffset()
  • It is set to ‘TRACKING_RIGHT’ at the top of TrackRightWallOffset()
  • In ‘HandleExcessSteervalCase()’ it is updated to either TRACKING_LEFT or TRACKING_RIGHT, depending on current left/right distances, and then used as the input to several ‘RotateToParallelOrientation()’ and ‘SpinTurn()’ calls.

Looking at the above list, it appears that the value stored in gl_CurTrackingCase by the TrackLeftWallOffset() & TrackRightWallOffset() functions is never used; in HandleExcessSteervalCase() (the only function that references gl_CurTrackingCase), the value of the variable is updated locally by checking current left/right wall distances. IOW, the initialization lines in TrackLeftWallOffset() & TrackRightWallOffset() could be removed and the references to gl_CurTrackingCase in HandleExcessSteervalCase() could be converted to local variables and nothing would change.

So it appears that there are two ways to skin this cat.

  • Keep gl_CurTrackingCase as a global variable that is updated in TrackLeftWallOffset() & TrackRightWallOffset() to reflect the current tracking case, and then reference it in HandleExcessSteervalCase() without regenerating the value from left/right wall distances. Keep the current definition of ExecuteStuckRecoveryManeuver(WallTrackingCases trkdir) and call it from the ‘ANOMALY_STUCK_AHEAD’ case block, with ‘trkdir’ replaced by gl_CurTrackingCase.
  • Remove the ‘gl_CurTrackingCase’ global variable entirely, and use current left/right distances to determine the tracking case anywhere it is needed.

Of these two options, I prefer the first one. At the point where either TrackLeftWallOffset() & TrackRightWallOffset() are called, the tracking case is known current left/right distance comparisons, and inside either tracking function, the tracking case doesn’t change. When the active tracking function exits to the top of loop() due to an anomaly (the only way it can exit), the extant tracking case is still what it was at function exit. The only way it should change is from another left/right distance comparison after the current anomaly has been resolved.

16 August 2023 Update:

Oops! I ‘simplified’ HandleExcessSteervalCase() and now it doesn’t work anymore – ugh! The problem is I didn’t have a good understanding of how this function decides which wall to track. Its usually (but not necessarily) the other wall from the one identified in gl_CurTrackingCase, so I actually have to check left/right distances as was done in the ‘unsimplified’ version. So most of the time, HandleExcessSteervalCase() will change gl_CurTrackingCase to the ‘other’ wall

19 August 2023 Update:

Well, things are a bit more complicated than I thought. While chasing other bugs, I realized that there are other places in the code that use anomaly detection – oops. Now I have a CASE block at the top of loop() that I thought replaced the code in HandleAnomalousConditions(), but now I see that it only replaced one usage – there are several more places in the program that still use the function

  • 2 places in ExecuteStuckRecoveryManeuver()
  • MoveToDesiredRightDistCm()
  • MoveToDesiredLeftDistCm() – it should be in there but isn’t – strange!
  • MoveToDesiredFrontDistCm() – it should be in there but isn’t – strange!
  • MoveToDesiredRearDistCm() – it should be in there but isn’t – strange!

So this is a real problem – I have a CASE block doing anomaly handling at the top of loop(), and HandleAnomalousConditions() doing the same thing (but different code!) in several other places in the program – yikes!

Here is the code for HandleAnomalousConditions:

So HandleAnomalousConditions() is just a bunch of if and ‘else if’ blocks looking at a bunch of global boolean variables denoting different anomaly conditions. The boolean variables are updated in UpdateAllEnvironmentParameters(), and the associated anomaly code is loaded into gl_LastAnomalyCode.

So, the current program flow associated with anomalies goes something like this:

  • UpdateAllEnvironmentParameters() is called each time through the timing loop for any function that has a timing loop. It updates all the anomaly-related global boolean variables.
  • HandleAnomalousConditions() is also called each time through, and it both updates gl_LastAnomalyCode with the current anomaly condition, AND actually takes action to address the anomaly condition (either directly or by calling a specific handler function)
  • The new CASE block at the top of loop() switches on the value of gl_LastAnomalyCode (as updated by HandleAnomalousConditions()) and ALSO attempts to address the current anomaly condition before dropping back into either TrackLeftWallOffset() or TrackRightWallOffset().

So it appears that the CASE block and HandleAnomalousConditions() are doing the same thing, but at different program scope levels; The CASE block only runs at the top of loop(), but HandleAnomalousConditions() is ‘local’ to most functions that have their own ‘local’ operating loops. Moreover there are two duplicative ways to describe anomalies – the various global boolean variables like ‘gl_bStuckAhead’ and the global enumerated values for gl_LastAnomalyCode like ‘ANOMALY_STUCK_AHEAD’.

The idea behind the enumerated anomaly codes was to consolidate anomaly detection in ‘while’ loops to just something like ‘while (gl_LastAnomalyCode == ANOMALY_NONE)’ rather than having to list all applicable error conditions with something like ‘while(!gl_bStuckAhead && !gl_bStuckBehind && !gl_ObstacleAhead …). If an anomaly was detected, then the idea was that the function would exit in a way that caused the main loop() function to run again from the top, and the CASE block would actually respond to the anomaly. In this scheme, error handling is removed from the context in which the error occurred – probably OK for TrackLeft/RightWallOffset(), but not so much for MoveToDesiredFront/Back/Left/RightDistance() as the potential anomalies are few and the response to those errors are heavily context dependent (I think).

So now I’m beginning to think that this entire ANOMALY_XXX thing (with accompanying enum.h) is a bust, and unneeded. Part of the reason for doing it was to (as noted above) avoid having long strings of “!gl_bStuckAhead && !gl_bStuckBehind && !gl_ObstacleAhead …” in the ‘while’ statements. It just occurred to me that maybe I could consolidate these into a function call, like ‘IsAnomaly()’ that would return TRUE if any anomaly was found; so now the ‘while’ statement would look like:

And ‘IsAnomaly() would just be a big OR string.

So I can replace the big CASE statement at the top of loop() with just

if (gl_bExcessiveSteerVal) {....}

OK, so I created another ‘clean’ version – WallE3_Complete_V5 to see whether or not I can remove the ANOMALY_XXX stuff without completely screwing up the code. First I made sure that _V5 would compile clean – check. Then I commented out the ANOMALY_XXX lines from enum.h. This blew a bunch (as in 28) of errors, so I started going through them from top to bottom:

Not going to work; I can (and did) create the IsAnomaly() function, but using it instead of ‘&& gl_LastAnomalyCode == ANOMALY_NONE eliminates the ability to print out the name of the anomaly that caused the loop to break – and I want to keep this feature.

I guess I could simply replace the code in ‘HandleAnomalousConditions() with the CASE block that switches on gl_LastAnomalyCode, and that would at least get me to the point of having only ONE function that deals with anomaly handling.

So, first order of business is to try and eliminate the global gl_bXXX anomaly variables: In UpdateAllEnvironmentParameters() we have:

So a typical line like


would be replaced with:

This would allow human-readable printout of the exact anomaly type, and the use of a CASE block with

  • Replaced all gl_bxxx lines in UpdateAllEnvironmentParameters() with ‘if(xx) statements & recompiled – OK
  • Replaced the code in ‘HandleAnomalousConditions()’ with a CASE block vs ‘if’ and ‘elseif’ statements – Recompiled OK.
  • Replaced the ‘switch (gl_LastAnomalyCode)’ statement at the top of loop() with a call to HandleAnomalousConditions(gl_CurTrackingCase). Recompiled OK
  • Did a search for each gl_bXXX to make sure it was no longer used:
    • gl_bIRBeamAvail: moved the ‘if(gl_IRBeamAvail)’ code inside #pragma region IR_HOMING into the ANOMALY_IR_BEAM_AVAILABLE case inside HandleAnomalousConditions. The call to UpdateIRHomingValues() here isn’t needed – it is called by IsIRBeamAvail() in UpdateAllEnvironmentParameters(). Also removed it from ‘while (gl_LastAnomalyCode == ANOMALY_NONE && !gl_bIRBeamAvail)’ statement in TrackLeft/RightWallOffset(). Now compiles OK w/o gl_bIRBeamAvail defined.
    • gl_bChgConnect: Can’t remove because it is state memory for charge connnect/disconnect state.
    • gl_bObstacleAhead: Compiles OK w/o gl_bObstacleAhead
    • gl_bWallOffsetDistAhead: Compiles OK w/o gl_bWallOffsetDistAhead
    • gl_bObstacleBehind: In ExecuteStuckRecoveryManeuver() replaced ‘gl_bObstacleBehind’ with equivalent ANOMALY_CODE treatments
    • gl_bStuckAhead/Behind: Basically the same as for gl_bObstacleBehind
    • gl_DeadBattery: No changes required; the only place it was used had already been replaced by a call to IsDeadBattery() and assignment of ANOMALY_DEAD_BATTERY to gl_LastAnomalyCode.
    • gl_bTrackingWrongWall: No changes required; It never found a home in the current program – and there is no existing comparable ANOMALY_CODE enumeration.
    • gl_bOpenCorner/gl_bOpenDoorway: no No changes required; these anomalies are both handled as sub-cases of ANOMALY_EXCESSIVE_STEERVAL
    • gl_bIsSpinning: No changes required; It never found a home in the current program – and there is no existing comparable ANOMALY_CODE enumeration. This may come back at some time – but if it does, it will be via an added ANOMALY_CODE enumeration – not a global bool.
    • gl_bExcessiveSteerVal: No changes required; Replaced by a call to IsExcessiveSteerVal() and assignment of ANOMALY_EXCESS_STEER_VAL to gl_LastAnomalyCode.

OK – now I have eliminated all global booleans associated with anomalies – everything now is handled in the switch(gl_LastAnomalyCode) CASE block. At this point I’m going to commit to my local Git repository – with all the old code still in the codebase but commented out until I can run some basic tests to see how badly I have screwed everything up.

22 August 2023 Update:

This morning I uploaded _V5 to the robot and set it loose on my ‘two wall changes’ test configuration, and I’m happy to say that it performed identically to what it was doing prior to the changes described above. It even failed in almost exactly the same way at the end with the ”aggressive spin move” behavior (which I’m almost sure is due to calling SpinTurn() with a very large rotation value).

24 August 2023 Update:

I think I now have the ‘right-left-right’ wall switching algorithm working fairly well now, and the actual code is starting to look a lot like the flow diagram posted above. The latest change was to move left/right wall selection code out of loop() and into ‘HandleAnomalousConditions()’, bringing the code more into line with the flow diagram. Now the robot goes through both transitions (right-to-left and left-to-right) with no problem and no duplicative steps – yay!

Stay tuned,

Frank