feat: Automatic mow angle increment (#45)

* Semi automatic mowing (#1) * feat: add semi-automatic mode * updated logic based on PR comments, shared_state obj proposal * use shared_ptr for the shared state object * minor improvements * added min/max to automatic_mode parm * feat: add automatic mowing angle increment Signed-off-by: Tom Marek <[email protected]> * remove a typo --------- Signed-off-by: Tom Marek <[email protected]>
ClemensElflein · Jul 19, 2023 · 937caac · 937caac
1 parent 199d372
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diff --git a/src/mower_logic/cfg/MowerLogic.cfg b/src/mower_logic/cfg/MowerLogic.cfg
@@ -13,6 +13,7 @@ gen.add("outline_count", int_t, 0, "Outline count to mow before filling", 3, 0,
 gen.add("outline_offset", double_t, 0, "Additional outer outline offset, use positive values for safety, negative values to enlarge the area", 0.0, -1.0, 1.0)
 gen.add("mow_angle_offset", double_t, 0, "Mowing angle offset", 0, -180, 180)
 gen.add("mow_angle_offset_is_absolute", bool_t, 0, "If true then the offset is relative to East, if false then the offset is relative to the auto-detected angle.", False)
+gen.add("mow_angle_increment", double_t, 0, "Mowing angle automatic increment. Will be added to the offset every time the entire map is finished", 0, 0, 180)
 gen.add("tool_width", double_t, 0, "Width of the mower", 0.14, 0.1, 2)
 gen.add("enable_mower", bool_t, 0, "True to enable mow motor", False)
 gen.add("manual_pause_mowing", bool_t, 0, "True to disable mowing automatically", False)

diff --git a/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp b/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp
@@ -92,10 +92,17 @@ void MowingBehavior::reset() {
     currentMowingPaths.clear();
     auto config = getConfig();
     config.current_area = 0;
+
     if (config.automatic_mode == eAutoMode::SEMIAUTO) {
         ROS_INFO_STREAM("MowingBehavior: Finished semiautomatic task");
         shared_state->active_semiautomatic_task = false;
     }
+
+    // increment mowing angle offset and return into the <-180, 180> range
+    config.mow_angle_offset = std::fmod(config.mow_angle_offset + config.mow_angle_increment + 180, 360);
+    if (config.mow_angle_offset < 0) config.mow_angle_offset += 360;
+    config.mow_angle_offset -= 180;
+
     setConfig(config);
 }
 

diff --git a/src/open_mower/config/mower_config.sh.example b/src/open_mower/config/mower_config.sh.example
@@ -90,6 +90,8 @@ export OM_OUTLINE_COUNT=4
 # Mowing angle offset -180 deg - +180 deg, 0 = east, -90 = north. If mowing angle offset is not absolute it gets added to the auto detected angle which is set by the first 2 m of recorded outline.
 export OM_MOWING_ANGLE_OFFSET=0
 export OM_MOWING_ANGLE_OFFSET_IS_ABSOLUTE=False
+# The increment value will automatically add specified number of degrees to the mowing angle everytime the whole map is finished
+export OM_MOWING_ANGLE_INCREMENT=0
 
 # The width of mowing paths.
 # Choose it smaller than your actual mowing tool in order to have some overlap.

diff --git a/src/open_mower/launch/open_mower.launch b/src/open_mower/launch/open_mower.launch
@@ -19,6 +19,7 @@
         <param name="outline_offset" value="$(env OM_OUTLINE_OFFSET)"/>
         <param name="mow_angle_offset" value="$(optenv OM_MOWING_ANGLE_OFFSET 0)"/>
         <param name="mow_angle_offset_is_absolute" value="$(optenv OM_MOWING_ANGLE_OFFSET_IS_ABSOLUTE False)"/>
+        <param name="mow_angle_increment" value="$(optenv OM_MOWING_ANGLE_INCREMENT 0)"/>
         <param name="battery_full_voltage" value="$(env OM_BATTERY_FULL_VOLTAGE)"/>
         <param name="motor_hot_temperature" value="$(env OM_MOWING_MOTOR_TEMP_HIGH)"/>
         <param name="motor_cold_temperature" value="$(env OM_MOWING_MOTOR_TEMP_LOW)"/>