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Dependencies:   mbed

main.cpp@23:228317fe0457, 2014-12-14 (annotated)

Committer:
Jagang
Date:
Sun Dec 14 18:12:08 2014 +0000
Revision:
23:228317fe0457
Parent:
22:80fdb12c167f
Child:
24:3c0422e1ebd6
Initialisation des obstacles

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"
Near32 17:f360e21d3307 4 #include <iostream>
Jagang 23:228317fe0457 5 #include "Map.h"
Jagang 0:41149573d577 6
Near32 3:573a0dc8383f 7 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 8 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 9 /*KalmanFilter*/
Near32 3:573a0dc8383f 10 #include "EKF.h"
Near32 17:f360e21d3307 11 Mat<double> motion_bicycle3( Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 17:f360e21d3307 12 Mat<double> sensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt = 0.5 );
Near32 17:f360e21d3307 13 Mat<double> jmotion_bicycle3( 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 17:f360e21d3307 33
Near32 17:f360e21d3307 34
Near32 17:f360e21d3307 35 PwmOut pw1(p22);
Near32 17:f360e21d3307 36 DigitalOut dir1(p21);
Near32 17:f360e21d3307 37 PwmOut pw2(p24);
Near32 17:f360e21d3307 38 DigitalOut dir2(p23);
Near32 17:f360e21d3307 39
Near32 17:f360e21d3307 40 //mbuino
Near32 17:f360e21d3307 41 /*
Near32 17:f360e21d3307 42 PwmOut pw1(P0_17);
Near32 17:f360e21d3307 43 DigitalOut dir1(P0_18);
Near32 17:f360e21d3307 44 PwmOut pw2(P0_23);
Near32 17:f360e21d3307 45 DigitalOut dir2(P0_19);
Near32 17:f360e21d3307 46 */
Near32 17:f360e21d3307 47 /*
Near32 17:f360e21d3307 48 //nucleo
Near32 17:f360e21d3307 49 PwmOut pw1(PB_8);
Near32 17:f360e21d3307 50 DigitalOut dir1(D12);
Near32 17:f360e21d3307 51 PwmOut pw2(PB_9);
Near32 17:f360e21d3307 52 DigitalOut dir2(D13);
Near32 17:f360e21d3307 53 */
Near32 17:f360e21d3307 54 pw1.period_us(10);
Near32 17:f360e21d3307 55 pw2.period_us(10);
Near32 17:f360e21d3307 56
Near32 17:f360e21d3307 57
Near32 17:f360e21d3307 58 dir1.write(0);
Near32 17:f360e21d3307 59 dir2.write(0);
Near32 17:f360e21d3307 60 pw1.write(1.0);
Near32 17:f360e21d3307 61 pw2.write(0.8);
Near32 17:f360e21d3307 62 //setPWM(&pw1,0.9);
Near32 17:f360e21d3307 63 pcs.printf("mise à jour des pwm.\n");
Near32 17:f360e21d3307 64 //while(1);
Near32 3:573a0dc8383f 65 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 66 /*Odometry*/
Near32 17:f360e21d3307 67 QEI qei_left(p15,p16,NC,1024*reduc,QEI::X4_ENCODING);
Near32 17:f360e21d3307 68 //QEI qei_left(P0_2,P0_7,NC,1024*reduc,QEI::X4_ENCODING);//mbuino
Near32 17:f360e21d3307 69 //QEI qei_left(PA_3,PA_2,NC,1024*reduc,QEI::X4_ENCODING);//nucleo
Near32 17:f360e21d3307 70
Near32 17:f360e21d3307 71 QEI qei_right(p17,p18,NC,1024*reduc,QEI::X4_ENCODING);
Near32 17:f360e21d3307 72 //QEI qei_right(P0_8,P0_20,NC,1024*reduc,QEI::X4_ENCODING);//mbuino
Near32 17:f360e21d3307 73 //QEI qei_right(PA_10,PB_3,NC,1024*reduc,QEI::X4_ENCODING);//nucleo
Jagang 0:41149573d577 74
Jagang 0:41149573d577 75 Odometry odometry(&qei_left,&qei_right,0.07,0.07,0.26);
Near32 3:573a0dc8383f 76 /*----------------------------------------------------------------------------------------------*/
Jagang 0:41149573d577 77
Near32 3:573a0dc8383f 78
Near32 3:573a0dc8383f 79
Near32 3:573a0dc8383f 80 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 81 /*KalmanFilter*/
Near32 8:1150a13f6967 82 double phi_max = 100;
Near32 3:573a0dc8383f 83 /*en millimetres*/
Near32 3:573a0dc8383f 84 bicycle.set((double)100, 1,1); /*radius*/
Near32 3:573a0dc8383f 85 bicycle.set((double)100, 2,1);
Near32 3:573a0dc8383f 86 bicycle.set((double)66, 3,1); /*entre-roue*/
Near32 3:573a0dc8383f 87
Near32 3:573a0dc8383f 88 int nbrstate = 5;
Near32 3:573a0dc8383f 89 int nbrcontrol = 2;
Near32 17:f360e21d3307 90 int nbrobs = 5;
Near32 3:573a0dc8383f 91 double dt = (double)0.05;
Near32 8:1150a13f6967 92 double stdnoise = (double)0.05;
Near32 3:573a0dc8383f 93
Near32 3:573a0dc8383f 94 Mat<double> initX((double)0, nbrstate, 1);
Near32 3:573a0dc8383f 95 initX.set( (double)0, 3,1);
Near32 3:573a0dc8383f 96
Near32 3:573a0dc8383f 97 bool extended = true;
Near32 17:f360e21d3307 98 bool filterOn = false;
Near32 17:f360e21d3307 99 EKF<double> instance(&pcs, nbrstate, nbrcontrol, nbrobs, dt, stdnoise, /*current state*/ initX, extended, filterOn);
Near32 3:573a0dc8383f 100
Near32 17:f360e21d3307 101 instance.initMotion(motion_bicycle3);
Near32 17:f360e21d3307 102 instance.initSensor(sensor_bicycle3);
Near32 17:f360e21d3307 103 instance.initJMotion(jmotion_bicycle3);
Near32 17:f360e21d3307 104 instance.initJSensor(jsensor_bicycle3);
Near32 3:573a0dc8383f 105
Near32 3:573a0dc8383f 106 /*desired State : (x y theta phiright phileft)*/
Near32 3:573a0dc8383f 107 Mat<double> dX((double)0, nbrstate, 1);
Near32 17:f360e21d3307 108 dX.set( (double)100, 1,1);
Near32 17:f360e21d3307 109 dX.set( (double)0, 2,1);
Near32 4:4025c071b207 110 dX.set( (double)0, 3,1);
Near32 3:573a0dc8383f 111 dX.set( (double)0, 4,1);
Near32 3:573a0dc8383f 112 dX.set( (double)0, 5,1);
Near32 3:573a0dc8383f 113
Near32 17:f360e21d3307 114 Mat<double> ki((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 115 Mat<double> kp((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 116 Mat<double> kd((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 117 //Mat<double> kdd((double)0.0015, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 118
Near32 17:f360e21d3307 119 for(int i=1;i<=nbrstate;i++)
Near32 17:f360e21d3307 120 {
Near32 17:f360e21d3307 121 kp.set( (double)0.01, i, i);
Near32 17:f360e21d3307 122 kd.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 123 ki.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 124 }
Near32 17:f360e21d3307 125
Near32 17:f360e21d3307 126 instance.setKi(ki);
Near32 17:f360e21d3307 127 instance.setKp(kp);
Near32 17:f360e21d3307 128 instance.setKd(kd);
Near32 17:f360e21d3307 129 //instance.setKdd(kdd);
Near32 17:f360e21d3307 130
Near32 3:573a0dc8383f 131 Mat<double> u(transpose( instance.getCommand()) );
Near32 3:573a0dc8383f 132
Near32 3:573a0dc8383f 133 /*Observations*/
Near32 17:f360e21d3307 134 /*il nous faut 5 observation :*/
Near32 17:f360e21d3307 135 Mat<double> z((double)0,5,1);
Near32 3:573a0dc8383f 136 measurementCallback(&z, &odometry);
Near32 3:573a0dc8383f 137
Near32 3:573a0dc8383f 138 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 139
Near32 3:573a0dc8383f 140
Jagang 0:41149573d577 141 while(1)
Jagang 0:41149573d577 142 {
Near32 17:f360e21d3307 143 //wait(1);
Near32 17:f360e21d3307 144 pcs.printf("%f : %f : %f\n",odometry.getX()*100,odometry.getY()*100,odometry.getTheta()*180/3.14);
Near32 17:f360e21d3307 145
Near32 3:573a0dc8383f 146
Near32 3:573a0dc8383f 147 /*------------------------------------------------------------------------------------------*/
Near32 17:f360e21d3307 148 /*Asservissement*/
Near32 17:f360e21d3307 149
Near32 17:f360e21d3307 150 //measurementCallback(&z, &odometry);
Near32 17:f360e21d3307 151 instance.measurement_Callback( instance.getX(), dX, true );
Near32 17:f360e21d3307 152
Near32 3:573a0dc8383f 153 instance.state_Callback();
Near32 17:f360e21d3307 154
Near32 10:bca0274a007b 155 double phi_r = instance.getCommand().get(1,1);
Near32 10:bca0274a007b 156 double phi_l = instance.getCommand().get(2,1);
Near32 8:1150a13f6967 157
Near32 17:f360e21d3307 158 double phi_max = 100;
Near32 3:573a0dc8383f 159
Near32 17:f360e21d3307 160 instance.computeCommand(dX, (double)dt, -2);
Near32 22:80fdb12c167f 161 pcs.printf("command : \n phi_r = %f \n phi_l = %f \n", (phi_r/phi_max)*100, (phi_l/phi_max)*100);
Near32 17:f360e21d3307 162 //instance.getX().afficher();
Near32 17:f360e21d3307 163
Near32 17:f360e21d3307 164
Near32 17:f360e21d3307 165 if(phi_r <= 0)
Near32 17:f360e21d3307 166 dir1.write(0);
Near32 17:f360e21d3307 167 else
Near32 17:f360e21d3307 168 dir1.write(1);
Near32 17:f360e21d3307 169
Near32 17:f360e21d3307 170 if(phi_l <= 0)
Near32 17:f360e21d3307 171 dir2.write(0);
Near32 17:f360e21d3307 172 else
Near32 17:f360e21d3307 173 dir2.write(1);
Near32 17:f360e21d3307 174
Near32 17:f360e21d3307 175 if(abs(phi_r/phi_max) < 1.0)
Near32 22:80fdb12c167f 176 setPWM(&pw1, (float)abs((double)phi_r/phi_max));
Near32 17:f360e21d3307 177 else
Near32 17:f360e21d3307 178 cout << "P1..." << endl;
Near32 17:f360e21d3307 179
Near32 17:f360e21d3307 180 if(abs(phi_l/phi_max) < 1.0)
Near32 22:80fdb12c167f 181 setPWM(&pw2,(float)abs((double)phi_l/phi_max));
Near32 17:f360e21d3307 182 else
Near32 17:f360e21d3307 183 pcs.printf("P2...");
Near32 17:f360e21d3307 184
Near32 17:f360e21d3307 185 pcs.printf("\n\n----------------- Commande mise executee. ------------------ \n\n");
Near32 3:573a0dc8383f 186
Jagang 0:41149573d577 187 }
Jagang 0:41149573d577 188 }
Near32 3:573a0dc8383f 189
Near32 3:573a0dc8383f 190 void measurementCallback( Mat<double>* z, Odometry* odometry)
Near32 3:573a0dc8383f 191 {
Near32 3:573a0dc8383f 192 z->set( (double)/*conversionUnitée mm */odometry->getX(), 1,1);
Near32 3:573a0dc8383f 193 z->set( (double)/*conversionUnitée mm*/odometry->getY(), 2,1);
Near32 3:573a0dc8383f 194 z->set( (double)/*conversionUnitée rad*/odometry->getTheta(), 3,1);
Near32 3:573a0dc8383f 195 }
Near32 3:573a0dc8383f 196
Near32 17:f360e21d3307 197 Mat<double> motion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 198 {
Near32 3:573a0dc8383f 199 Mat<double> r(state);
Near32 3:573a0dc8383f 200 double v = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)+r.get(5,1));
Near32 17:f360e21d3307 201 double w = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)-r.get(5,1));
Near32 3:573a0dc8383f 202
Near32 3:573a0dc8383f 203 r.set( r.get(1,1) + v*cos(r.get(3,1))*dt, 1,1);
Near32 3:573a0dc8383f 204 r.set( r.get(2,1) + v*sin(r.get(3,1))*dt, 2,1);
Near32 3:573a0dc8383f 205
Near32 17:f360e21d3307 206 double angle = (r.get(3,1) + dt*w);
Near32 3:573a0dc8383f 207 if( angle < -PI)
Near32 3:573a0dc8383f 208 {
Near32 3:573a0dc8383f 209 angle = angle - PI*ceil(angle/PI);
Near32 3:573a0dc8383f 210 }
Near32 3:573a0dc8383f 211 else if( angle > PI)
Near32 3:573a0dc8383f 212 {
Near32 3:573a0dc8383f 213 angle = angle - PI*floor(angle/PI);
Near32 3:573a0dc8383f 214 }
Near32 3:573a0dc8383f 215
Near32 17:f360e21d3307 216 r.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 3:573a0dc8383f 217
Near32 17:f360e21d3307 218
Near32 17:f360e21d3307 219 /*----------------------------------------*/
Near32 17:f360e21d3307 220 /*Modele du moteur*/
Near32 17:f360e21d3307 221 /*----------------------------------------*/
Near32 17:f360e21d3307 222 double r1 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)+command.get(2,1));
Near32 17:f360e21d3307 223 double r2 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)-command.get(2,1));
Near32 17:f360e21d3307 224
Near32 17:f360e21d3307 225
Near32 17:f360e21d3307 226 r.set( r1, 4,1);
Near32 17:f360e21d3307 227 r.set( r2, 5,1);
Near32 17:f360e21d3307 228
Near32 17:f360e21d3307 229
Near32 17:f360e21d3307 230 /*----------------------------------------*/
Near32 17:f360e21d3307 231 /*----------------------------------------*/
Near32 3:573a0dc8383f 232
Near32 3:573a0dc8383f 233 return r;
Near32 3:573a0dc8383f 234 }
Near32 3:573a0dc8383f 235
Near32 3:573a0dc8383f 236
Near32 17:f360e21d3307 237 Mat<double> sensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 17:f360e21d3307 238 {
Near32 17:f360e21d3307 239 return state;
Near32 3:573a0dc8383f 240 }
Near32 3:573a0dc8383f 241
Near32 17:f360e21d3307 242
Near32 17:f360e21d3307 243 Mat<double> jmotion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 244 {
Near32 3:573a0dc8383f 245 double h = numeric_limits<double>::epsilon()*10e2;
Near32 3:573a0dc8383f 246 Mat<double> var( (double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 247 var.set( h, 1,1);
Near32 17:f360e21d3307 248 Mat<double> G(motion_bicycle3(state, command, dt) - motion_bicycle3(state+var, command,dt));
Near32 3:573a0dc8383f 249
Near32 3:573a0dc8383f 250 for(int i=2;i<=state.getLine();i++)
Near32 3:573a0dc8383f 251 {
Near32 3:573a0dc8383f 252 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 253 var.set( h, i,1);
Near32 17:f360e21d3307 254 G = operatorL(G, motion_bicycle3(state, command, dt) - motion_bicycle3(state+var, command,dt) );
Near32 3:573a0dc8383f 255 }
Near32 3:573a0dc8383f 256
Near32 3:573a0dc8383f 257
Near32 3:573a0dc8383f 258 return (1.0/h)*G;
Near32 3:573a0dc8383f 259 }
Near32 3:573a0dc8383f 260
Near32 17:f360e21d3307 261 Mat<double> jsensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 3:573a0dc8383f 262 {
Near32 3:573a0dc8383f 263 double h = numeric_limits<double>::epsilon()*10e2;
Near32 3:573a0dc8383f 264 Mat<double> var((double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 265 var.set( h, 1,1);
Near32 17:f360e21d3307 266 Mat<double> H(sensor_bicycle3(state, command, d_state, dt) - sensor_bicycle3(state+var, command, d_state, dt));
Near32 3:573a0dc8383f 267
Near32 3:573a0dc8383f 268 for(int i=2;i<=state.getLine();i++)
Near32 17:f360e21d3307 269 {
Near32 3:573a0dc8383f 270 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 271 var.set( h, i,1);
Near32 17:f360e21d3307 272 Mat<double> temp(sensor_bicycle3(state, command, d_state, dt) - sensor_bicycle3(state+var, command, d_state, dt));
Near32 17:f360e21d3307 273
Near32 17:f360e21d3307 274 H = operatorL(H, temp );
Near32 17:f360e21d3307 275 pcs.printf("sensor bicycle %d...\n",i);
Near32 3:573a0dc8383f 276 }
Near32 3:573a0dc8383f 277
Near32 3:573a0dc8383f 278
Near32 3:573a0dc8383f 279 return (1.0/h)*H;
Near32 17:f360e21d3307 280 }
Near32 17:f360e21d3307 281
Near32 17:f360e21d3307 282 bool setPWM(PwmOut *servo,float p)
Near32 17:f360e21d3307 283 {
Near32 17:f360e21d3307 284 if(p <= 1.0f && p >= 0.0f)
Near32 17:f360e21d3307 285 {
Near32 17:f360e21d3307 286 servo->write(p);
Near32 17:f360e21d3307 287 return true;
Near32 17:f360e21d3307 288 }
Near32 17:f360e21d3307 289
Near32 17:f360e21d3307 290 return false;
Near32 3:573a0dc8383f 291 }