春ロボ2019 経路追従プログラム(ver.3)
Dependencies: CruizCore_R1370P
Fork of PathFollowing1-ver2 by
PathFollowing1.cpp@2:cd72726e166f, 2018-11-01 (annotated)
- Committer:
- yuki0701
- Date:
- Thu Nov 01 03:03:45 2018 +0000
- Revision:
- 2:cd72726e166f
- Parent:
- 1:9858517eef98
a;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuki0701 | 0:3d9101dd0061 | 1 | #include <PathFollowing1.h> |
yuki0701 | 0:3d9101dd0061 | 2 | #include <mbed.h> |
yuki0701 | 0:3d9101dd0061 | 3 | #include <math.h> |
yuki0701 | 0:3d9101dd0061 | 4 | |
yuki0701 | 0:3d9101dd0061 | 5 | |
yuki0701 | 0:3d9101dd0061 | 6 | namespace{ |
yuki0701 | 0:3d9101dd0061 | 7 | R1370P gyro(PC_6,PC_7); |
yuki0701 | 0:3d9101dd0061 | 8 | } |
yuki0701 | 0:3d9101dd0061 | 9 | |
yuki0701 | 0:3d9101dd0061 | 10 | //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 |
yuki0701 | 0:3d9101dd0061 | 11 | void pathfollowing1::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){ //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 |
yuki0701 | 0:3d9101dd0061 | 12 | |
yuki0701 | 0:3d9101dd0061 | 13 | double Vector_P[2] = {(plot_x2 - plot_x1), (plot_y2 - plot_y1)}; //ベクトルAB |
yuki0701 | 0:3d9101dd0061 | 14 | 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>)) |
yuki0701 | 0:3d9101dd0061 | 15 | 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 |
yuki0701 | 0:3d9101dd0061 | 16 | double UnitVector_Q[2] = {UnitVector_P[1], -UnitVector_P[0]}; //ベクトルCHの単位ベクトル |
yuki0701 | 0:3d9101dd0061 | 17 | double Vector_R[2] = {(now_x - plot_x1), (now_y - plot_y1)}; //ベクトルAC |
yuki0701 | 0:3d9101dd0061 | 18 | 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) |
yuki0701 | 0:3d9101dd0061 | 19 | |
yuki0701 | 0:3d9101dd0061 | 20 | 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 |
yuki0701 | 0:3d9101dd0061 | 21 | |
yuki0701 | 0:3d9101dd0061 | 22 | |
yuki0701 | 0:3d9101dd0061 | 23 | ///////////////////<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)////////////////////// |
yuki0701 | 0:3d9101dd0061 | 24 | |
yuki0701 | 0:3d9101dd0061 | 25 | |
yuki0701 | 0:3d9101dd0061 | 26 | now_timeQ=timer.read(); |
yuki0701 | 0:3d9101dd0061 | 27 | 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 |
yuki0701 | 0:3d9101dd0061 | 28 | diff_old=diff; |
yuki0701 | 0:3d9101dd0061 | 29 | |
yuki0701 | 0:3d9101dd0061 | 30 | if(out_dutyQ>0.1)out_dutyQ=0.1; |
yuki0701 | 0:3d9101dd0061 | 31 | if(out_dutyQ<-0.1)out_dutyQ=-0.1; |
yuki0701 | 0:3d9101dd0061 | 32 | |
yuki0701 | 0:3d9101dd0061 | 33 | old_timeQ=now_timeQ; |
yuki0701 | 0:3d9101dd0061 | 34 | |
yuki0701 | 0:3d9101dd0061 | 35 | 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 |
yuki0701 | 0:3d9101dd0061 | 36 | |
yuki0701 | 0:3d9101dd0061 | 37 | |
yuki0701 | 0:3d9101dd0061 | 38 | ///////////////////////////////<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)////////////////////////////////// |
yuki0701 | 0:3d9101dd0061 | 39 | |
yuki0701 | 0:3d9101dd0061 | 40 | now_angle=gyro.getAngle(); |
yuki0701 | 0:3d9101dd0061 | 41 | now_timeR=timer.read(); |
yuki0701 | 0:3d9101dd0061 | 42 | diffangle=target_angle-now_angle; |
yuki0701 | 0:3d9101dd0061 | 43 | out_dutyR=Kvr_p*diff+Kvr_d*(diffangle-diffangle_old)/(now_timeR-old_timeR); |
yuki0701 | 0:3d9101dd0061 | 44 | diffangle_old=diffangle; |
yuki0701 | 0:3d9101dd0061 | 45 | |
yuki0701 | 0:3d9101dd0061 | 46 | if(out_dutyR>r_out)out_dutyR=r_out; |
yuki0701 | 0:3d9101dd0061 | 47 | if(out_dutyR<-r_out)out_dutyR=-r_out; |
yuki0701 | 0:3d9101dd0061 | 48 | |
yuki0701 | 0:3d9101dd0061 | 49 | old_timeR=now_timeR; |
yuki0701 | 0:3d9101dd0061 | 50 | |
yuki0701 | 0:3d9101dd0061 | 51 | //////////////////////////<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///////////////////////////// |
yuki0701 | 1:9858517eef98 | 52 | ////////////////////////////////////////////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。/////////////////////////////////////////////// |
yuki0701 | 0:3d9101dd0061 | 53 | |
yuki0701 | 1:9858517eef98 | 54 | *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(now_angle)-(VectorOut_P[1]+VectorOut_Q[1])*sin(now_angle); |
yuki0701 | 1:9858517eef98 | 55 | *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(now_angle)+(VectorOut_P[1]+VectorOut_Q[1])*cos(now_angle); |
yuki0701 | 0:3d9101dd0061 | 56 | *ad_r_out = out_dutyR; |
yuki0701 | 0:3d9101dd0061 | 57 | |
yuki0701 | 0:3d9101dd0061 | 58 | } |
yuki0701 | 0:3d9101dd0061 | 59 | |
yuki0701 | 0:3d9101dd0061 | 60 | ////////////////////////////////////////////////////////////<XYRmotorout関数は以上>//////////////////////////////////////////////////////////////// |
yuki0701 | 0:3d9101dd0061 | 61 | |
yuki0701 | 0:3d9101dd0061 | 62 | |
yuki0701 | 0:3d9101dd0061 | 63 | |
yuki0701 | 0:3d9101dd0061 | 64 | |
yuki0701 | 0:3d9101dd0061 | 65 | void pathfollowing1::set_p_out(double p){ //ベクトルABに平行方向の出力値設定関数 |
yuki0701 | 0:3d9101dd0061 | 66 | p_out = p; |
yuki0701 | 0:3d9101dd0061 | 67 | } |
yuki0701 | 0:3d9101dd0061 | 68 | |
yuki0701 | 0:3d9101dd0061 | 69 | void pathfollowing1::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 |
yuki0701 | 0:3d9101dd0061 | 70 | Kvq_p=q_p; |
yuki0701 | 0:3d9101dd0061 | 71 | Kvq_d=q_d; |
yuki0701 | 0:3d9101dd0061 | 72 | } |
yuki0701 | 0:3d9101dd0061 | 73 | |
yuki0701 | 0:3d9101dd0061 | 74 | void pathfollowing1::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 |
yuki0701 | 0:3d9101dd0061 | 75 | Kvr_p=r_p; |
yuki0701 | 0:3d9101dd0061 | 76 | Kvr_d=r_d; |
yuki0701 | 0:3d9101dd0061 | 77 | } |
yuki0701 | 0:3d9101dd0061 | 78 | |
yuki0701 | 0:3d9101dd0061 | 79 | void pathfollowing1::set_r_out(double r){ //旋回時の最大出力値設定関数 |
yuki0701 | 0:3d9101dd0061 | 80 | r_out = r; |
yuki0701 | 0:3d9101dd0061 | 81 | } |
yuki0701 | 0:3d9101dd0061 | 82 | |
yuki0701 | 0:3d9101dd0061 | 83 | void pathfollowing1::set_target_angle(double t){ //機体の目標角度設定関数 |
yuki0701 | 0:3d9101dd0061 | 84 | target_angle = t; |
yuki0701 | 0:3d9101dd0061 | 85 | } |
yuki0701 | 0:3d9101dd0061 | 86 |