Diff: PathFollowing.cpp

Revision:

4:69775231687c

Parent:

3:5da150ef209c

--- a/PathFollowing.cpp	Tue Dec 04 13:24:20 2018 +0000
+++ b/PathFollowing.cpp	Wed Dec 05 07:01:57 2018 +0000
@@ -9,13 +9,17 @@
 double now_angle,target_angle;
 double now_timeQ,old_timeQ,now_timeR,old_timeR;
 double now_x, now_y;
-double diff_tgt, p_param;
+double diff_st,diff_tgt,diff_st_tgt,p_param;
 
 
 Timer timer;
 
 //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
-void XYRmotorout(int type, double plot_x1, double plot_y1, double plot_x2, double plot_y2, double *ad_x_out, double *ad_y_out, double *ad_r_out)  //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
+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
+//plot_x1,plot_y1:出発地点の座標
+//plot_x2,plot_y2:目標地点の座標
+//speed1:初期速度
+//speed2:目標速度
 {
     double Vector_P[2] = {(plot_x2 - plot_x1), (plot_y2 - plot_y1)}; //ベクトルAB
     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>））
@@ -24,7 +28,8 @@
     double Vector_R[2] = {(now_x - plot_x1), (now_y - plot_y1)}; //ベクトルAC
     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）
 
-    double VectorOut_P[2] = {p_out*UnitVector_P[0], p_out*UnitVector_P[1]}; //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
+
+    //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*/
 
 ///////////////////＜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）//////////////////////
 
@@ -54,37 +59,74 @@
 
 //////////////////////////<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/////////////////////////////
 ////////////////////////////////////////////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。///////////////////////////////////////////////
-    switch(type) {
+
+    diff_st = hypot(now_x-plot_x1,now_y-plot_y1); //出発座標と機体の位置の距離
+    diff_tgt = hypot(now_x - plot_x2, now_y - plot_y2); //機体の位置と目標座標の距離
+    diff_st_tgt = hypot(plot_x1-plot_x2,plot_y1-plot_y2); //出発座標と目標座標の距離
+
+    if(speed1 == speed2) { //等速移動
+
+        double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]};
+
+        *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);
+        *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);
+        *ad_r_out = out_dutyR;
 
-        case 1://減速しない運動
-            *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);
-            *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);
-            *ad_r_out = out_dutyR;
-            break;
+    } 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。
+
+        double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]};
+
+        if(diff_tgt > diff_st_tgt) {
+            diff_tgt = diff_st_tgt;
+        }
 
-        case 2://減速する運動
-            diff_tgt = hypot(now_x - plot_x2, now_y - plot_y2);
+        p_param=(diff_tgt/diff_st_tgt);
+
+        *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));
+        *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));
+        *ad_r_out = out_dutyR;
+
+    } else if(speed1 > speed2) { //減速移動（目標速度が０でない）
 
-            if(diff_tgt > 300) {
-                diff_tgt = 300;
-            }
+        if(diff_tgt > diff_st_tgt) {
+            diff_tgt = diff_st_tgt;
+        }
+        
+        p_param=(diff_tgt/diff_st_tgt);
+
+        double speed3 = speed2 + (speed1-speed2)*p_param;
+
+        double VectorOut_P[2] = {speed3*UnitVector_P[0], speed3*UnitVector_P[1]};
+         
+        *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);
+        *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);
+        *ad_r_out = out_dutyR;
 
-            p_param=(diff_tgt/300);
+    } else if(speed1 < speed2) { //加速移動(speed1)
+
+        if(diff_st > diff_st_tgt) {
+            diff_st = diff_st_tgt;
+        }
+             
+        p_param=(diff_st/diff_st_tgt);
 
-            *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));
-            *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));
-            *ad_r_out = out_dutyR;
-            break;
+        double speed4 = speed1 + (speed2-speed1)*p_param;
+
+        double VectorOut_P[2] = {speed4*UnitVector_P[0], speed4*UnitVector_P[1]};
+         
+        *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);
+        *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);
+        *ad_r_out = out_dutyR;
     }
 }
 
 ////////////////////////////////////////////////////////////<XYRmotorout関数は以上>////////////////////////////////////////////////////////////////
 
 
-void set_p_out(double p)  //ベクトルABに平行方向の出力値設定関数
+/*void set_p_out(double p)  //ベクトルABに平行方向の出力値設定関数
 {
     p_out = p;
-}
+}*/
 
 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
 {