ロボステ6期 / Mbed 2 deprecated NHK2020-main１

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Dependencies:   uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

pathfollowing/PathFollowing.cpp@2:820dcd23c8e3, 2019-12-11 (annotated)

Committer:
yuki0701
Date:
Wed Dec 11 04:59:36 2019 +0000
Revision:
2:820dcd23c8e3
Parent:
0:b87fd8dd4322 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:b87fd8dd4322 1 #include "PathFollowing.h"
la00noix 0:b87fd8dd4322 2 #include "mbed.h"
la00noix 0:b87fd8dd4322 3 #include "math.h"
la00noix 0:b87fd8dd4322 4
yuki0701 2:820dcd23c8e3 5 double p_out,r_out_max, q_out_max;
la00noix 0:b87fd8dd4322 6 double Kvq_p,Kvq_d,Kvr_p,Kvr_d;
la00noix 0:b87fd8dd4322 7 double diff_old,diffangle,diffangle_old;
la00noix 0:b87fd8dd4322 8 double out_dutyQ,out_dutyR;
la00noix 0:b87fd8dd4322 9 double now_angle,target_angle;
la00noix 0:b87fd8dd4322 10 double now_timeQ,old_timeQ,now_timeR,old_timeR;
la00noix 0:b87fd8dd4322 11 double now_x, now_y;
la00noix 0:b87fd8dd4322 12 double diff_st,diff_tgt,diff_st_tgt,p_param;
la00noix 0:b87fd8dd4322 13 double usw_data1,usw_data2,usw_data3,usw_data4;
la00noix 0:b87fd8dd4322 14
la00noix 0:b87fd8dd4322 15 Timer timer;
la00noix 0:b87fd8dd4322 16
la00noix 0:b87fd8dd4322 17 //初期座標：A, 目標座標：B、機体位置：C、点Cから直線ABに下ろした垂線の足：H
la00noix 0:b87fd8dd4322 18 void XYRmotorout(double plot_x1, double plot_y1, double plot_x2, double plot_y2, double *ad_x_out, double *ad_y_out, double *ad_r_out, double speed1, double speed2 ) //プログラム使用時、now_x,now_yはグローバル変数として定義する必要あり
la00noix 0:b87fd8dd4322 19 //plot_x1,plot_y1:出発地点の座標
la00noix 0:b87fd8dd4322 20 //plot_x2,plot_y2:目標地点の座標
la00noix 0:b87fd8dd4322 21 //speed1:初期速度
la00noix 0:b87fd8dd4322 22 //speed2:目標速度
la00noix 0:b87fd8dd4322 23 {
la00noix 0:b87fd8dd4322 24 double Vector_P[2] = {(plot_x2 - plot_x1), (plot_y2 - plot_y1)}; //ベクトルAB
la00noix 0:b87fd8dd4322 25 double A_Vector_P = hypot(Vector_P[0], Vector_P[1]); //ベクトルABの大きさ（hypot(a,b)で√（a^2+b^2）を計算できる <math.h>））
la00noix 0:b87fd8dd4322 26 double UnitVector_P[2] = {Vector_P[0]/A_Vector_P, Vector_P[1]/A_Vector_P}; //ベクトルABの単位ベクトル
la00noix 0:b87fd8dd4322 27 double UnitVector_Q[2] = {UnitVector_P[1], -UnitVector_P[0]}; //ベクトルCHの単位ベクトル
la00noix 0:b87fd8dd4322 28 double Vector_R[2] = {(now_x - plot_x1), (now_y - plot_y1)}; //ベクトルAC
la00noix 0:b87fd8dd4322 29 double diff = UnitVector_P[0]*Vector_R[1] - UnitVector_P[1]*Vector_R[0]; //機体位置と直線ABの距離（外積を用いて計算）
la00noix 0:b87fd8dd4322 30
la00noix 0:b87fd8dd4322 31 //double VectorOut_P[2]= {0}; //ベクトルABに平行方向の出力をx軸方向、y軸方向の出力に分解
la00noix 0:b87fd8dd4322 32
la00noix 0:b87fd8dd4322 33 ///////////////////＜XYRmotorout関数内＞以下、ベクトルABに垂直な方向の誤差を埋めるPD制御（ベクトルABに垂直方向の出力を求め、x軸方向、y軸方向の出力に分解）//////////////////////
la00noix 0:b87fd8dd4322 34
la00noix 0:b87fd8dd4322 35 timer.start();
la00noix 0:b87fd8dd4322 36 now_timeQ=timer.read();
la00noix 0:b87fd8dd4322 37 out_dutyQ=Kvq_p*diff+Kvq_d*(diff-diff_old)/(now_timeQ-old_timeQ); //ベクトルABに垂直方向の出力を決定
la00noix 0:b87fd8dd4322 38 diff_old=diff;
la00noix 0:b87fd8dd4322 39
yuki0701 2:820dcd23c8e3 40 if(out_dutyQ>q_out_max)out_dutyQ=q_out_max;
yuki0701 2:820dcd23c8e3 41 if(out_dutyQ<-q_out_max)out_dutyQ=-q_out_max;
la00noix 0:b87fd8dd4322 42
la00noix 0:b87fd8dd4322 43 old_timeQ=now_timeQ;
la00noix 0:b87fd8dd4322 44
la00noix 0:b87fd8dd4322 45 double VectorOut_Q[2] = {out_dutyQ*UnitVector_Q[0], out_dutyQ*UnitVector_Q[1]}; //ベクトルABに垂直方向の出力をx軸方向、y軸方向の出力に分解
la00noix 0:b87fd8dd4322 46
la00noix 0:b87fd8dd4322 47 ///////////////////////////////<XYRmotorout関数内＞以下、機体角度と目標角度の誤差を埋めるPD制御（旋回のための出力値を決定）//////////////////////////////////
la00noix 0:b87fd8dd4322 48
la00noix 0:b87fd8dd4322 49 now_timeR=timer.read();
la00noix 0:b87fd8dd4322 50 diffangle=target_angle-now_angle;
la00noix 0:b87fd8dd4322 51 out_dutyR=-(Kvr_p*diffangle+Kvr_d*(diffangle-diffangle_old)/(now_timeR-old_timeR));
la00noix 0:b87fd8dd4322 52 diffangle_old=diffangle;
la00noix 0:b87fd8dd4322 53
la00noix 0:b87fd8dd4322 54 if(out_dutyR>r_out_max)out_dutyR=r_out_max;
la00noix 0:b87fd8dd4322 55 if(out_dutyR<-r_out_max)out_dutyR=-r_out_max;
la00noix 0:b87fd8dd4322 56
la00noix 0:b87fd8dd4322 57 old_timeR=now_timeR;
la00noix 0:b87fd8dd4322 58
la00noix 0:b87fd8dd4322 59 //////////////////////////<XYRmotorout関数内＞以下、x軸方向、y軸方向、旋回の出力をそれぞれad_x_out,ad_y_out,ad_r_outの指すアドレスに書き込む/////////////////////////////
la00noix 0:b87fd8dd4322 60 ////////////////////////////////////////////その際、x軸方向、y軸方向の出力はフィールドの座標系から機体の座標系に変換する。///////////////////////////////////////////////
la00noix 0:b87fd8dd4322 61
la00noix 0:b87fd8dd4322 62 diff_st = hypot(now_x-plot_x1,now_y-plot_y1); //出発座標と機体の位置の距離
la00noix 0:b87fd8dd4322 63 diff_tgt = hypot(now_x - plot_x2, now_y - plot_y2); //機体の位置と目標座標の距離
la00noix 0:b87fd8dd4322 64 diff_st_tgt = hypot(plot_x1-plot_x2,plot_y1-plot_y2); //出発座標と目標座標の距離
la00noix 0:b87fd8dd4322 65
la00noix 0:b87fd8dd4322 66 if(speed1 == speed2) { //等速移動
la00noix 0:b87fd8dd4322 67
la00noix 0:b87fd8dd4322 68 double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]};
la00noix 0:b87fd8dd4322 69
la00noix 0:b87fd8dd4322 70 *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180);
la00noix 0:b87fd8dd4322 71 *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180);
la00noix 0:b87fd8dd4322 72 *ad_r_out = out_dutyR;
la00noix 0:b87fd8dd4322 73
la00noix 0:b87fd8dd4322 74 } else if(speed2 == 0) { //減速移動(目標速度が０)→ベクトルABに垂直な方向の出力にもP制御をかける。
la00noix 0:b87fd8dd4322 75
la00noix 0:b87fd8dd4322 76 double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]};
la00noix 0:b87fd8dd4322 77
la00noix 0:b87fd8dd4322 78 if(diff_tgt > diff_st_tgt) {
la00noix 0:b87fd8dd4322 79 diff_tgt = diff_st_tgt;
la00noix 0:b87fd8dd4322 80 }
la00noix 0:b87fd8dd4322 81
la00noix 0:b87fd8dd4322 82 p_param=(diff_tgt/diff_st_tgt);
la00noix 0:b87fd8dd4322 83
la00noix 0:b87fd8dd4322 84 *ad_x_out = p_param*((VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180));
la00noix 0:b87fd8dd4322 85 *ad_y_out = p_param*((VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180));
la00noix 0:b87fd8dd4322 86 *ad_r_out = out_dutyR;
la00noix 0:b87fd8dd4322 87
la00noix 0:b87fd8dd4322 88 } else if(speed1 > speed2) { //減速移動（目標速度が０でない）
la00noix 0:b87fd8dd4322 89
la00noix 0:b87fd8dd4322 90 if(diff_tgt > diff_st_tgt) {
la00noix 0:b87fd8dd4322 91 diff_tgt = diff_st_tgt;
la00noix 0:b87fd8dd4322 92 }
la00noix 0:b87fd8dd4322 93
la00noix 0:b87fd8dd4322 94 p_param=(diff_tgt/diff_st_tgt);
la00noix 0:b87fd8dd4322 95
la00noix 0:b87fd8dd4322 96 double speed3 = speed2 + (speed1-speed2)*p_param;
la00noix 0:b87fd8dd4322 97
la00noix 0:b87fd8dd4322 98 double VectorOut_P[2] = {speed3*UnitVector_P[0], speed3*UnitVector_P[1]};
la00noix 0:b87fd8dd4322 99
la00noix 0:b87fd8dd4322 100 *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180);
la00noix 0:b87fd8dd4322 101 *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180);
la00noix 0:b87fd8dd4322 102 *ad_r_out = out_dutyR;
la00noix 0:b87fd8dd4322 103
la00noix 0:b87fd8dd4322 104 } else if(speed1 < speed2) { //加速移動(speed1)
la00noix 0:b87fd8dd4322 105
la00noix 0:b87fd8dd4322 106 if(diff_st > diff_st_tgt) {
la00noix 0:b87fd8dd4322 107 diff_st = diff_st_tgt;
la00noix 0:b87fd8dd4322 108 }
la00noix 0:b87fd8dd4322 109
la00noix 0:b87fd8dd4322 110 p_param=(diff_st/diff_st_tgt);
la00noix 0:b87fd8dd4322 111
la00noix 0:b87fd8dd4322 112 double speed4 = speed1 + (speed2-speed1)*p_param;
la00noix 0:b87fd8dd4322 113
la00noix 0:b87fd8dd4322 114 double VectorOut_P[2] = {speed4*UnitVector_P[0], speed4*UnitVector_P[1]};
la00noix 0:b87fd8dd4322 115
la00noix 0:b87fd8dd4322 116 *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180);
la00noix 0:b87fd8dd4322 117 *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180);
la00noix 0:b87fd8dd4322 118 *ad_r_out = out_dutyR;
la00noix 0:b87fd8dd4322 119 }
la00noix 0:b87fd8dd4322 120 }
la00noix 0:b87fd8dd4322 121
la00noix 0:b87fd8dd4322 122 ////////////////////////////////////////////////////////////<XYRmotorout関数は以上>////////////////////////////////////////////////////////////////
la00noix 0:b87fd8dd4322 123
la00noix 0:b87fd8dd4322 124
la00noix 0:b87fd8dd4322 125 /*void set_p_out(double p) //ベクトルABに平行方向の出力値設定関数
la00noix 0:b87fd8dd4322 126 {
la00noix 0:b87fd8dd4322 127 p_out = p;
la00noix 0:b87fd8dd4322 128 }*/
la00noix 0:b87fd8dd4322 129
la00noix 0:b87fd8dd4322 130 void q_setPDparam(double q_p,double q_d) //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 131 {
la00noix 0:b87fd8dd4322 132 Kvq_p=q_p;
la00noix 0:b87fd8dd4322 133 Kvq_d=q_d;
la00noix 0:b87fd8dd4322 134 }
la00noix 0:b87fd8dd4322 135
la00noix 0:b87fd8dd4322 136 void r_setPDparam(double r_p,double r_d) //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 137 {
la00noix 0:b87fd8dd4322 138 Kvr_p=r_p;
la00noix 0:b87fd8dd4322 139 Kvr_d=r_d;
la00noix 0:b87fd8dd4322 140 }
la00noix 0:b87fd8dd4322 141
la00noix 0:b87fd8dd4322 142 void set_r_out(double r) //旋回時の最大出力値設定関数
la00noix 0:b87fd8dd4322 143 {
la00noix 0:b87fd8dd4322 144 r_out_max = r;
la00noix 0:b87fd8dd4322 145 }
la00noix 0:b87fd8dd4322 146
yuki0701 2:820dcd23c8e3 147 void set_q_out(double q){
yuki0701 2:820dcd23c8e3 148 q_out_max = q;
yuki0701 2:820dcd23c8e3 149 }
yuki0701 2:820dcd23c8e3 150
la00noix 0:b87fd8dd4322 151 void set_target_angle(double t) //機体の目標角度設定関数
la00noix 0:b87fd8dd4322 152 {
la00noix 0:b87fd8dd4322 153 target_angle = t;
la00noix 0:b87fd8dd4322 154 }