ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

main.cpp@28:0a659a910771, 2015-01-26 (annotated)

Committer:
Near32
Date:
Mon Jan 26 22:28:21 2015 +0000
Revision:
28:0a659a910771
Parent:
27:5f441ecda140
Child:
30:33e970ba1fe5
maj;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 0:41149573d577 1 #include "mbed.h"
Jagang 0:41149573d577 2 #include "QEI.h"
Jagang 0:41149573d577 3 #include "Odometry.h"
Jagang 23:228317fe0457 4 #include "Map.h"
Jagang 0:41149573d577 5
Near32 3:573a0dc8383f 6 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 7 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 8 /*KalmanFilter*/
Near32 3:573a0dc8383f 9 #include "EKF.h"
Near32 17:f360e21d3307 10 Mat<double> motion_bicycle3( Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 17:f360e21d3307 11 Mat<double> sensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt = 0.5 );
Near32 17:f360e21d3307 12 Mat<double> jmotion_bicycle3( Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 24:3c0422e1ebd6 13 Mat<double> jmotion_bicycle3_command(Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 17:f360e21d3307 14 Mat<double> jsensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt = 0.5);
Near32 3:573a0dc8383f 15 void measurementCallback( Mat<double>* z, Odometry* odometry);
Near32 17:f360e21d3307 16 bool setPWM(PwmOut *servo,float p);
Near32 3:573a0dc8383f 17
Near32 3:573a0dc8383f 18 Mat<double> bicycle(3,1);
Near32 17:f360e21d3307 19 int reduc = 16;
Near32 3:573a0dc8383f 20 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 21 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 22
Near32 17:f360e21d3307 23 /*----------------------------------------------------------------------------------------------*/
Near32 17:f360e21d3307 24 /*Serial*/
Near32 17:f360e21d3307 25 Serial pcs(USBTX, USBRX); // tx, rx
Near32 17:f360e21d3307 26 /*----------------------------------------------------------------------------------------------*/
Jagang 21:5443f93819db 27
Jagang 23:228317fe0457 28 /* --- Initialisation de la liste des obstable --- */
Jagang 23:228317fe0457 29 int Obstacle::lastId = 0;
Jagang 23:228317fe0457 30
Jagang 0:41149573d577 31 int main()
Jagang 0:41149573d577 32 {
Near32 24:3c0422e1ebd6 33 pcs.printf("demarrage");
Near32 24:3c0422e1ebd6 34 //mbed
Near32 24:3c0422e1ebd6 35 /*
Near32 17:f360e21d3307 36 PwmOut pw1(p22);
Near32 17:f360e21d3307 37 DigitalOut dir1(p21);
Near32 17:f360e21d3307 38 PwmOut pw2(p24);
Near32 17:f360e21d3307 39 DigitalOut dir2(p23);
Near32 24:3c0422e1ebd6 40 */
Near32 17:f360e21d3307 41
Near32 17:f360e21d3307 42 //mbuino
Near32 17:f360e21d3307 43 /*
Near32 17:f360e21d3307 44 PwmOut pw1(P0_17);
Near32 17:f360e21d3307 45 DigitalOut dir1(P0_18);
Near32 17:f360e21d3307 46 PwmOut pw2(P0_23);
Near32 17:f360e21d3307 47 DigitalOut dir2(P0_19);
Near32 17:f360e21d3307 48 */
Near32 17:f360e21d3307 49 /*
Near32 17:f360e21d3307 50 //nucleo
Near32 17:f360e21d3307 51 PwmOut pw1(PB_8);
Near32 17:f360e21d3307 52 DigitalOut dir1(D12);
Near32 17:f360e21d3307 53 PwmOut pw2(PB_9);
Near32 17:f360e21d3307 54 DigitalOut dir2(D13);
Near32 17:f360e21d3307 55 */
Near32 24:3c0422e1ebd6 56 //nucleo
Near32 24:3c0422e1ebd6 57 PwmOut pw1(PA_0);
Near32 24:3c0422e1ebd6 58 DigitalOut dir1(PB_8);
Near32 24:3c0422e1ebd6 59 PwmOut pw2(PA_1);
Near32 24:3c0422e1ebd6 60 DigitalOut dir2(PB_9);
Near32 17:f360e21d3307 61 pw1.period_us(10);
Near32 17:f360e21d3307 62 pw2.period_us(10);
Near32 17:f360e21d3307 63
Near32 17:f360e21d3307 64
Near32 17:f360e21d3307 65 dir1.write(0);
Near32 17:f360e21d3307 66 dir2.write(0);
Near32 24:3c0422e1ebd6 67
Near32 26:54e1afed58b2 68 pw1.write(0.0);
Near32 26:54e1afed58b2 69 pw2.write(0.0);
Near32 17:f360e21d3307 70 //setPWM(&pw1,0.9);
Near32 24:3c0422e1ebd6 71 pcs.printf("mise a jour des pwm.\n");
Near32 26:54e1afed58b2 72 Timer t;
Near32 24:3c0422e1ebd6 73
Near32 3:573a0dc8383f 74 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 75 /*Odometry*/
Near32 28:0a659a910771 76 QEI qei_left(D2,D3,NC,1024,QEI::X4_ENCODING);
Near32 28:0a659a910771 77 QEI qei_right(D4,D5,NC,1024,QEI::X4_ENCODING);
Jagang 27:5f441ecda140 78 Odometry odometry(&qei_left,&qei_right,0.07,0.07,0.26);
Near32 3:573a0dc8383f 79 /*----------------------------------------------------------------------------------------------*/
Jagang 0:41149573d577 80
Near32 3:573a0dc8383f 81
Near32 3:573a0dc8383f 82
Near32 3:573a0dc8383f 83 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 84 /*KalmanFilter*/
Near32 24:3c0422e1ebd6 85 //double phi_max = 100;
Near32 3:573a0dc8383f 86 /*en millimetres*/
Near32 26:54e1afed58b2 87 bicycle.set((double)36, 1,1); /*radius*/
Near32 26:54e1afed58b2 88 bicycle.set((double)36, 2,1);
Near32 26:54e1afed58b2 89 bicycle.set((double)220, 3,1); /*entre-roue*/
Near32 3:573a0dc8383f 90
Near32 3:573a0dc8383f 91 int nbrstate = 5;
Near32 3:573a0dc8383f 92 int nbrcontrol = 2;
Near32 17:f360e21d3307 93 int nbrobs = 5;
Near32 3:573a0dc8383f 94 double dt = (double)0.05;
Near32 8:1150a13f6967 95 double stdnoise = (double)0.05;
Near32 3:573a0dc8383f 96
Near32 3:573a0dc8383f 97 Mat<double> initX((double)0, nbrstate, 1);
Near32 3:573a0dc8383f 98 initX.set( (double)0, 3,1);
Near32 3:573a0dc8383f 99
Near32 3:573a0dc8383f 100 bool extended = true;
Near32 24:3c0422e1ebd6 101 bool filterOn = true;
Near32 24:3c0422e1ebd6 102 pcs.printf("mise a jour des pwm.\n");
Near32 24:3c0422e1ebd6 103 EKF<double> instance(nbrstate, nbrcontrol, nbrobs, dt, stdnoise, /*current state*/ initX, extended, filterOn);
Near32 3:573a0dc8383f 104
Near32 17:f360e21d3307 105 instance.initMotion(motion_bicycle3);
Near32 17:f360e21d3307 106 instance.initSensor(sensor_bicycle3);
Near32 17:f360e21d3307 107 instance.initJMotion(jmotion_bicycle3);
Near32 24:3c0422e1ebd6 108 //instance.initJMotionCommand(jmotion_bicycle3_command);
Near32 17:f360e21d3307 109 instance.initJSensor(jsensor_bicycle3);
Near32 3:573a0dc8383f 110
Near32 3:573a0dc8383f 111 /*desired State : (x y theta phiright phileft)*/
Near32 3:573a0dc8383f 112 Mat<double> dX((double)0, nbrstate, 1);
Near32 17:f360e21d3307 113 dX.set( (double)100, 1,1);
Near32 17:f360e21d3307 114 dX.set( (double)0, 2,1);
Near32 4:4025c071b207 115 dX.set( (double)0, 3,1);
Near32 3:573a0dc8383f 116 dX.set( (double)0, 4,1);
Near32 3:573a0dc8383f 117 dX.set( (double)0, 5,1);
Near32 3:573a0dc8383f 118
Near32 17:f360e21d3307 119 Mat<double> ki((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 120 Mat<double> kp((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 121 Mat<double> kd((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 122 //Mat<double> kdd((double)0.0015, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 123
Near32 17:f360e21d3307 124 for(int i=1;i<=nbrstate;i++)
Near32 17:f360e21d3307 125 {
Near32 17:f360e21d3307 126 kp.set( (double)0.01, i, i);
Near32 17:f360e21d3307 127 kd.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 128 ki.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 129 }
Near32 17:f360e21d3307 130
Near32 17:f360e21d3307 131 instance.setKi(ki);
Near32 17:f360e21d3307 132 instance.setKp(kp);
Near32 17:f360e21d3307 133 instance.setKd(kd);
Near32 17:f360e21d3307 134 //instance.setKdd(kdd);
Near32 17:f360e21d3307 135
Near32 3:573a0dc8383f 136 Mat<double> u(transpose( instance.getCommand()) );
Near32 3:573a0dc8383f 137
Near32 3:573a0dc8383f 138 /*Observations*/
Near32 28:0a659a910771 139 /*il nous faut 5 observation : mais on n'en met à jour que 3...*/
Near32 17:f360e21d3307 140 Mat<double> z((double)0,5,1);
Near32 28:0a659a910771 141 measurementCallback(&z, &odometry);
Near32 3:573a0dc8383f 142
Near32 3:573a0dc8383f 143 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 144
Near32 3:573a0dc8383f 145
Near32 24:3c0422e1ebd6 146 while(abs(instance.getX().get(1,1)-100) > 10)
Near32 26:54e1afed58b2 147 {
Near32 26:54e1afed58b2 148 t.start();
Near32 24:3c0422e1ebd6 149 //pcs.printf("%f : %f : %f\n", (double)odometry.getX()*100,(double)odometry.getY()*100,(double)odometry.getTheta()*180/3.14);
Near32 17:f360e21d3307 150
Near32 3:573a0dc8383f 151
Near32 3:573a0dc8383f 152 /*------------------------------------------------------------------------------------------*/
Near32 17:f360e21d3307 153 /*Asservissement*/
Near32 17:f360e21d3307 154
Near32 28:0a659a910771 155 measurementCallback(&z, &odometry);
Near32 28:0a659a910771 156 instance.measurement_Callback( z, dX, true );
Near32 17:f360e21d3307 157
Near32 3:573a0dc8383f 158 instance.state_Callback();
Near32 17:f360e21d3307 159
Near32 10:bca0274a007b 160 double phi_r = instance.getCommand().get(1,1);
Near32 10:bca0274a007b 161 double phi_l = instance.getCommand().get(2,1);
Near32 8:1150a13f6967 162
Near32 26:54e1afed58b2 163 double phi_max = 1.0;
Near32 3:573a0dc8383f 164
Near32 24:3c0422e1ebd6 165 instance.computeCommand(dX, (double)dt, -2);
Near32 26:54e1afed58b2 166 //pcs.printf("command : \n phi_r = %f \n phi_l = %f \n", ((double)phi_r/phi_max), ((double)phi_l/phi_max));
Near32 28:0a659a910771 167 (instance.getCommand()).afficher();
Near32 28:0a659a910771 168 (instance.getX()).afficher();
Near32 28:0a659a910771 169 (instance.getSigma()).afficher();
Near32 17:f360e21d3307 170
Near32 17:f360e21d3307 171
Near32 24:3c0422e1ebd6 172 if(phi_r >= 0)
Near32 24:3c0422e1ebd6 173 dir1.write(1);
Near32 24:3c0422e1ebd6 174 else
Near32 17:f360e21d3307 175 dir1.write(0);
Near32 17:f360e21d3307 176
Near32 17:f360e21d3307 177 if(phi_l <= 0)
Near32 17:f360e21d3307 178 dir2.write(0);
Near32 17:f360e21d3307 179 else
Near32 17:f360e21d3307 180 dir2.write(1);
Near32 17:f360e21d3307 181
Near32 17:f360e21d3307 182 if(abs(phi_r/phi_max) < 1.0)
Near32 26:54e1afed58b2 183 {
Near32 26:54e1afed58b2 184 //pcs.printf( "VALUE PWM 1 : %f \n", (float)abs((double)phi_r/phi_max)) ;
Near32 22:80fdb12c167f 185 setPWM(&pw1, (float)abs((double)phi_r/phi_max));
Near32 26:54e1afed58b2 186 }
Near32 17:f360e21d3307 187 else
Near32 24:3c0422e1ebd6 188 pcs.printf("P1...");
Near32 17:f360e21d3307 189
Near32 17:f360e21d3307 190 if(abs(phi_l/phi_max) < 1.0)
Near32 26:54e1afed58b2 191 {
Near32 26:54e1afed58b2 192 //pcs.printf( "VALUE PWM 2 : %f \n", (float)abs((double)phi_l/phi_max)) ;
Near32 22:80fdb12c167f 193 setPWM(&pw2,(float)abs((double)phi_l/phi_max));
Near32 26:54e1afed58b2 194 }
Near32 17:f360e21d3307 195 else
Near32 17:f360e21d3307 196 pcs.printf("P2...");
Near32 17:f360e21d3307 197
Near32 26:54e1afed58b2 198 //pcs.printf("\n\n----------------- Commande mise executee. ------------------ \n");
Near32 26:54e1afed58b2 199 t.stop();
Near32 26:54e1afed58b2 200 pcs.printf("%f s \n\r", t.read());
Near32 26:54e1afed58b2 201 t.reset();
Near32 26:54e1afed58b2 202
Near32 26:54e1afed58b2 203 }
Near32 3:573a0dc8383f 204
Near32 26:54e1afed58b2 205
Near32 26:54e1afed58b2 206 DigitalOut led(LED1);
Near32 26:54e1afed58b2 207 while(1)
Near32 26:54e1afed58b2 208 {
Near32 26:54e1afed58b2 209 //setPWM(&pw1,0.0);
Near32 26:54e1afed58b2 210 //setPWM(&pw2,0.0);
Near32 26:54e1afed58b2 211 pw1.write(0.0);
Near32 26:54e1afed58b2 212 pw2.write(0.0);
Near32 26:54e1afed58b2 213 led = !led;
Near32 26:54e1afed58b2 214 wait(1);
Jagang 0:41149573d577 215 }
Jagang 0:41149573d577 216 }
Near32 3:573a0dc8383f 217
Near32 3:573a0dc8383f 218 void measurementCallback( Mat<double>* z, Odometry* odometry)
Near32 3:573a0dc8383f 219 {
Near32 3:573a0dc8383f 220 z->set( (double)/*conversionUnitée mm */odometry->getX(), 1,1);
Near32 3:573a0dc8383f 221 z->set( (double)/*conversionUnitée mm*/odometry->getY(), 2,1);
Near32 3:573a0dc8383f 222 z->set( (double)/*conversionUnitée rad*/odometry->getTheta(), 3,1);
Near32 3:573a0dc8383f 223 }
Near32 3:573a0dc8383f 224
Near32 17:f360e21d3307 225 Mat<double> motion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 226 {
Near32 3:573a0dc8383f 227 Mat<double> r(state);
Near32 24:3c0422e1ebd6 228 //double v = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)+r.get(5,1));
Near32 24:3c0422e1ebd6 229 //double w = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)-r.get(5,1));
Near32 24:3c0422e1ebd6 230 double v = state.get(4,1);
Near32 24:3c0422e1ebd6 231 double w = state.get(5,1);
Near32 3:573a0dc8383f 232
Near32 3:573a0dc8383f 233 r.set( r.get(1,1) + v*cos(r.get(3,1))*dt, 1,1);
Near32 3:573a0dc8383f 234 r.set( r.get(2,1) + v*sin(r.get(3,1))*dt, 2,1);
Near32 3:573a0dc8383f 235
Near32 17:f360e21d3307 236 double angle = (r.get(3,1) + dt*w);
Near32 3:573a0dc8383f 237 if( angle < -PI)
Near32 3:573a0dc8383f 238 {
Near32 3:573a0dc8383f 239 angle = angle - PI*ceil(angle/PI);
Near32 3:573a0dc8383f 240 }
Near32 3:573a0dc8383f 241 else if( angle > PI)
Near32 3:573a0dc8383f 242 {
Near32 3:573a0dc8383f 243 angle = angle - PI*floor(angle/PI);
Near32 3:573a0dc8383f 244 }
Near32 3:573a0dc8383f 245
Near32 17:f360e21d3307 246 r.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 3:573a0dc8383f 247
Near32 17:f360e21d3307 248
Near32 17:f360e21d3307 249 /*----------------------------------------*/
Near32 17:f360e21d3307 250 /*Modele du moteur*/
Near32 17:f360e21d3307 251 /*----------------------------------------*/
Near32 24:3c0422e1ebd6 252 //double r1 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)+command.get(2,1));
Near32 24:3c0422e1ebd6 253 //double r2 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)-command.get(2,1));
Near32 24:3c0422e1ebd6 254 double r1 = bicycle.get(1,1)/2*(command.get(1,1)+command.get(2,1));
Near32 24:3c0422e1ebd6 255 double r2 = bicycle.get(1,1)/bicycle.get(3,1)*(command.get(1,1)-command.get(2,1));
Near32 17:f360e21d3307 256
Near32 17:f360e21d3307 257
Near32 17:f360e21d3307 258 r.set( r1, 4,1);
Near32 17:f360e21d3307 259 r.set( r2, 5,1);
Near32 17:f360e21d3307 260
Near32 17:f360e21d3307 261
Near32 17:f360e21d3307 262 /*----------------------------------------*/
Near32 17:f360e21d3307 263 /*----------------------------------------*/
Near32 3:573a0dc8383f 264
Near32 3:573a0dc8383f 265 return r;
Near32 3:573a0dc8383f 266 }
Near32 3:573a0dc8383f 267
Near32 3:573a0dc8383f 268
Near32 17:f360e21d3307 269 Mat<double> sensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 17:f360e21d3307 270 {
Near32 28:0a659a910771 271 double angle = state.get(3,1);
Near32 28:0a659a910771 272 if( angle < -PI)
Near32 28:0a659a910771 273 {
Near32 28:0a659a910771 274 angle = angle - PI*ceil(angle/PI);
Near32 28:0a659a910771 275 }
Near32 28:0a659a910771 276 else if( angle > PI)
Near32 28:0a659a910771 277 {
Near32 28:0a659a910771 278 angle = angle - PI*floor(angle/PI);
Near32 28:0a659a910771 279 }
Near32 28:0a659a910771 280
Near32 28:0a659a910771 281 state.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 17:f360e21d3307 282 return state;
Near32 3:573a0dc8383f 283 }
Near32 3:573a0dc8383f 284
Near32 17:f360e21d3307 285
Near32 17:f360e21d3307 286 Mat<double> jmotion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 287 {
Near32 3:573a0dc8383f 288 double h = numeric_limits<double>::epsilon()*10e2;
Near32 3:573a0dc8383f 289 Mat<double> var( (double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 290 var.set( h, 1,1);
Near32 17:f360e21d3307 291 Mat<double> G(motion_bicycle3(state, command, dt) - motion_bicycle3(state+var, command,dt));
Near32 3:573a0dc8383f 292
Near32 3:573a0dc8383f 293 for(int i=2;i<=state.getLine();i++)
Near32 3:573a0dc8383f 294 {
Near32 3:573a0dc8383f 295 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 296 var.set( h, i,1);
Near32 17:f360e21d3307 297 G = operatorL(G, motion_bicycle3(state, command, dt) - motion_bicycle3(state+var, command,dt) );
Near32 3:573a0dc8383f 298 }
Near32 3:573a0dc8383f 299
Near32 3:573a0dc8383f 300
Near32 3:573a0dc8383f 301 return (1.0/h)*G;
Near32 3:573a0dc8383f 302 }
Near32 3:573a0dc8383f 303
Near32 24:3c0422e1ebd6 304 Mat<double> jmotion_bicycle3_command(Mat<double> state, Mat<double> command, double dt)
Near32 24:3c0422e1ebd6 305 {
Near32 24:3c0422e1ebd6 306 double h = numeric_limits<double>::epsilon()*10e2;
Near32 24:3c0422e1ebd6 307 Mat<double> var( (double)0, command.getLine(), command.getColumn());
Near32 24:3c0422e1ebd6 308 var.set( h, 1,1);
Near32 24:3c0422e1ebd6 309 Mat<double> G(motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt));
Near32 24:3c0422e1ebd6 310
Near32 24:3c0422e1ebd6 311 for(int i=2;i<=command.getLine();i++)
Near32 24:3c0422e1ebd6 312 {
Near32 24:3c0422e1ebd6 313 var.set( (double)0, i-1,1);
Near32 24:3c0422e1ebd6 314 var.set( h, i,1);
Near32 24:3c0422e1ebd6 315 G = operatorL(G, motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt) );
Near32 24:3c0422e1ebd6 316 }
Near32 24:3c0422e1ebd6 317
Near32 24:3c0422e1ebd6 318
Near32 24:3c0422e1ebd6 319 return (1.0/(2*h))*G;
Near32 24:3c0422e1ebd6 320 }
Near32 24:3c0422e1ebd6 321
Near32 17:f360e21d3307 322 Mat<double> jsensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 3:573a0dc8383f 323 {
Near32 3:573a0dc8383f 324 double h = numeric_limits<double>::epsilon()*10e2;
Near32 3:573a0dc8383f 325 Mat<double> var((double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 326 var.set( h, 1,1);
Near32 24:3c0422e1ebd6 327 Mat<double> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 3:573a0dc8383f 328
Near32 3:573a0dc8383f 329 for(int i=2;i<=state.getLine();i++)
Near32 24:3c0422e1ebd6 330 {
Near32 3:573a0dc8383f 331 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 332 var.set( h, i,1);
Near32 24:3c0422e1ebd6 333 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 3:573a0dc8383f 334 }
Near32 3:573a0dc8383f 335
Near32 3:573a0dc8383f 336
Near32 24:3c0422e1ebd6 337 return (1.0/(2*h))*H;
Near32 17:f360e21d3307 338 }
Near32 17:f360e21d3307 339
Near32 17:f360e21d3307 340 bool setPWM(PwmOut *servo,float p)
Near32 17:f360e21d3307 341 {
Near32 17:f360e21d3307 342 if(p <= 1.0f && p >= 0.0f)
Near32 17:f360e21d3307 343 {
Near32 17:f360e21d3307 344 servo->write(p);
Near32 17:f360e21d3307 345 return true;
Near32 17:f360e21d3307 346 }
Near32 17:f360e21d3307 347
Near32 17:f360e21d3307 348 return false;
Near32 3:573a0dc8383f 349 }