ch.unizh.ini.jaer.projects.tobi.goalie
Class ServoArm

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.projects.tobi.goalie.ServoArm

All Implemented Interfaces:

de.thesycon.usbio.PnPNotifyInterface, java.util.Observer, FrameAnnotater

public class ServoArm
extends EventFilter2D
implements java.util.Observer, FrameAnnotater, de.thesycon.usbio.PnPNotifyInterface

Controls the servo arm in Goalie to decouple the motor actions from the sensory processing and manages self-calibration of the arm. This arm can also be controlled directly with visual feedback control using the tracked arm position. In this mode, the servo command is formed from an error signal that is the difference between the actual position and the desired position. The actual arm position comes from the cluster tracker that tracks the arm, while the desired position is the pixel position that the arm should go to.

Author:

malang, tobi

Field Summary

java.lang.Object

learningLock

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter2D

enclosedFilter, out

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter

annotationEnabled, chip, enclosedFilterChain, filterEnabled, log, perf, propertyTooltipMap, support

Constructor Summary

ServoArm(AEChip chip)
Creates a new instance of ServoArm

Method Summary

void	annotate(float[][][] frame) annotate the RGB frame somehow by color pixels in the rendered pixel frame data.
void	annotate(javax.media.opengl.GLAutoDrawable drawable) Each annotator enters annotate with graphics context current, in coordinates with pixel 0,0 in LL corner (note opposite from Java2D) and pixel spacing 1 unit after the scaling transform (which is already active).
void	annotate(java.awt.Graphics2D g) each annotator is called by the relevant class (e.g.
void	doShowSamples()
EventPacket<?>	filterPacket(EventPacket<?> in) Subclasses implement this method to define custom processing.
protected void	finalize()
float	getAcceptableAccuracyPixels()
int	getActualPosition() A tracker tracks the arm; this method returns the arm position.
RectangularClusterTracker	getArmTracker()
int	getDesiredPosition() The desired position of the arm
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getLastServoSetting() Returns the last servo command value, default 0.5f if nothing has been commanded yet.
float	getLearningLeftSamplingBoundary()
float	getLearningRightSamplingBoundary()
float	getOutputFromPosition(int position) Applies the learned model to return the learned motor value from the desired pixel position of the arm.
ServoInterface	getServoInterface()
float	getServoLimitLeft()
float	getServoLimitRight()
float	getServoPulseFreqHz()
float	getVisualFeedbackPIDControllerTauMs()
float	getVisualFeedbackProportionalGain()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isLearningFailed()
boolean	isRealtimeLogging()
boolean	isVisualFeedbackControlEnabled()
void	onAdd()
void	onRemove()
void	relax()
void	resetFilter() should reset the filter to initial state
void	setAcceptableAccuracyPixels(float acceptableAccuracyPixels)
void	setFilterEnabled(boolean yes) Resets the filter
void	setLearningFailed(boolean learningFailed)
void	setLearningLeftSamplingBoundary(float value)
void	setLearningRightSamplingBoundary(float value)
void	setPosition(int position) Sets the arm position in pixel space.
void	setRealtimeLogging(boolean v)
void	setServoInterface(ServoInterface servo)
void	setServoLimitLeft(float servoLimitLeft)
void	setServoLimitRight(float servoLimitRight)
void	setServoPulseFreqHz(float servoPulseFreqHz)
void	setVisualFeedbackControlEnabled(boolean visualFeedbackControlEnabled)
void	setVisualFeedbackPIDControllerTauMs(float visualFeedbackPIDControllerTauMs)
void	setVisualFeedbackProportionalGain(float visualFeedbackProportionalGain)
void	startLearning()
void	startLogging()
void	stopLearning()
void	stopLogging()
void	update(java.util.Observable o, java.lang.Object arg)

Methods inherited from class net.sf.jaer.eventprocessing.EventFilter2D

checkOutputPacketEventType, checkOutputPacketEventType, getEnclosedFilter, resetOut, setEnclosedFilter

Methods inherited from class net.sf.jaer.eventprocessing.EventFilter

getChip, getDescription, getEnclosedFilterChain, getEnclosingFilter, getPrefs, getPropertyChangeSupport, getPropertyTooltip, isAnnotationEnabled, isEnclosed, isFilterEnabled, prefsEnabledKey, setAnnotationEnabled, setChip, setEnclosed, setEnclosedFilter, setEnclosedFilterChain, setEnclosingFilter, setPreferredEnabledState, setPrefs, setPropertyTooltip

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface net.sf.jaer.graphics.FrameAnnotater

isAnnotationEnabled, setAnnotationEnabled

Field Detail

learningLock

public java.lang.Object learningLock

Constructor Detail

ServoArm

public ServoArm(AEChip chip)

Creates a new instance of ServoArm

Method Detail

isVisualFeedbackControlEnabled

public boolean isVisualFeedbackControlEnabled()

setVisualFeedbackControlEnabled

public void setVisualFeedbackControlEnabled(boolean visualFeedbackControlEnabled)

getVisualFeedbackProportionalGain

public float getVisualFeedbackProportionalGain()

setVisualFeedbackProportionalGain

public void setVisualFeedbackProportionalGain(float visualFeedbackProportionalGain)

getVisualFeedbackPIDControllerTauMs

public float getVisualFeedbackPIDControllerTauMs()

setVisualFeedbackPIDControllerTauMs

public void setVisualFeedbackPIDControllerTauMs(float visualFeedbackPIDControllerTauMs)

getServoInterface

public ServoInterface getServoInterface()

setServoInterface

public void setServoInterface(ServoInterface servo)

finalize

protected void finalize()
                 throws java.lang.Throwable

Overrides:

finalize in class java.lang.Object

Throws:

java.lang.Throwable

filterPacket

public EventPacket<?> filterPacket(EventPacket<?> in)

Description copied from class: EventFilter2D

Subclasses implement this method to define custom processing.

Specified by:

filterPacket in class EventFilter2D

Parameters:

in - the input packet

Returns:

the output packet

getFilterState

public java.lang.Object getFilterState()

Description copied from class: EventFilter

should return the filter state in some useful form

Specified by:

getFilterState in class EventFilter

resetFilter

public void resetFilter()

Description copied from class: EventFilter

should reset the filter to initial state

Specified by:

resetFilter in class EventFilter

initFilter

public void initFilter()

Description copied from class: EventFilter

this should allocate and initialize memory: it may be called when the chip e.g. size parameters are changed after creation of the filter

Specified by:

initFilter in class EventFilter

setFilterEnabled

public void setFilterEnabled(boolean yes)

Description copied from class: EventFilter2D

Resets the filter

Overrides:

setFilterEnabled in class EventFilter2D

Parameters:

yes - true to reset

See Also:

EventFilter.setPreferredEnabledState()

annotate

public void annotate(float[][][] frame)

Description copied from interface: FrameAnnotater

annotate the RGB frame somehow by color pixels in the rendered pixel frame data.

Specified by:

annotate in interface FrameAnnotater

Parameters:

frame - the RGB pixel information. First dimension is Y, second is X, third is RGB

annotate

public void annotate(java.awt.Graphics2D g)

Description copied from interface: FrameAnnotater

each annotator is called by the relevant class (e.g. EyeTracker) and enters annotate with graphics context current, in coordinates with pixel 0,0 in UL corner and pixel spacing 1 unit before scaling transform (which is already active).

Specified by:

annotate in interface FrameAnnotater

Parameters:

g - the Graphics2D context

annotate

public void annotate(javax.media.opengl.GLAutoDrawable drawable)

Description copied from interface: FrameAnnotater

Each annotator enters annotate with graphics context current, in coordinates with pixel 0,0 in LL corner (note opposite from Java2D) and pixel spacing 1 unit after the scaling transform (which is already active). The FrameAnnotater then can use JOGL calls to render to the screen by getting the GL context, e.g. the following code, used in the context of an AEChip object, draws a golden lines from LL to UR of the pixel array.

        GL gl = drawable.getGL();
        gl.glBegin(GL.GL_LINES);
        gl.glColor3f(.5f, .5f, 0);
        gl.glVertex2f(0, 0);
        gl.glVertex2f(getSizeX() - 1, getSizeY() - 1);
        gl.glEnd();
 

Specified by:

annotate in interface FrameAnnotater

Parameters:

drawable - the OpenGL drawable components, e.g., GLCanvas

getActualPosition

public int getActualPosition()

A tracker tracks the arm; this method returns the arm position.

Returns:

arm x position in image space, or the last measurement if no arm is tracked

getDesiredPosition

public int getDesiredPosition()

The desired position of the arm

setPosition

public void setPosition(int position)

Sets the arm position in pixel space. Also immediately aborts learning and sets the state to be ServoArmState.active.

Parameters:

position - the position of the arm in pixels in image space in the x coordinate (along the bottom of the scene in the arm tracking region).

relax

public void relax()

getOutputFromPosition

public float getOutputFromPosition(int position)

Applies the learned model to return the learned motor value from the desired pixel position of the arm.

Parameters:

position - the diseired postion in pixels [0,chip.getSizeX()-1]

Returns:

the learned motor value to move to this postion in servo units [0,1]

stopLearning

public void stopLearning()

startLearning

public void startLearning()

startLogging

public void startLogging()

stopLogging

public void stopLogging()

getLearningLeftSamplingBoundary

public float getLearningLeftSamplingBoundary()

setLearningLeftSamplingBoundary

public void setLearningLeftSamplingBoundary(float value)

getLearningRightSamplingBoundary

public float getLearningRightSamplingBoundary()

setLearningRightSamplingBoundary

public void setLearningRightSamplingBoundary(float value)

getServoLimitLeft

public float getServoLimitLeft()

setServoLimitLeft

public void setServoLimitLeft(float servoLimitLeft)

getServoLimitRight

public float getServoLimitRight()

setServoLimitRight

public void setServoLimitRight(float servoLimitRight)

isRealtimeLogging

public boolean isRealtimeLogging()

setRealtimeLogging

public void setRealtimeLogging(boolean v)

onAdd

public void onAdd()

Specified by:

onAdd in interface de.thesycon.usbio.PnPNotifyInterface

onRemove

public void onRemove()

Specified by:

onRemove in interface de.thesycon.usbio.PnPNotifyInterface

update

public void update(java.util.Observable o,
                   java.lang.Object arg)

Specified by:

update in interface java.util.Observer

doShowSamples

public void doShowSamples()

getServoPulseFreqHz

public float getServoPulseFreqHz()

setServoPulseFreqHz

public void setServoPulseFreqHz(float servoPulseFreqHz)

getAcceptableAccuracyPixels

public float getAcceptableAccuracyPixels()

setAcceptableAccuracyPixels

public void setAcceptableAccuracyPixels(float acceptableAccuracyPixels)

getLastServoSetting

public float getLastServoSetting()

Returns the last servo command value, default 0.5f if nothing has been commanded yet.

getArmTracker

public RectangularClusterTracker getArmTracker()

isLearningFailed

public boolean isLearningFailed()

setLearningFailed

public void setLearningFailed(boolean learningFailed)