春ロボ1班(元F3RC4班+) / PathFollowing_12_22

harurobo_mbed_undercarriage_sub

PathFollowing.cpp@4:69775231687c, 2018-12-05 (annotated)

Committer:
yuki0701
Date:
Wed Dec 05 07:01:57 2018 +0000
Revision:
4:69775231687c
Parent:
3:5da150ef209c
Child:
6:efe1bc381434
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:591749f315ac 1 #include <PathFollowing.h>
la00noix 0:591749f315ac 2 #include <mbed.h>
la00noix 0:591749f315ac 3 #include <math.h>
la00noix 0:591749f315ac 4
yuki0701 1:d438093cb464 5 double p_out,r_out_max;
la00noix 0:591749f315ac 6 double Kvq_p,Kvq_d,Kvr_p,Kvr_d;
la00noix 0:591749f315ac 7 double diff_old,diffangle,diffangle_old;
la00noix 0:591749f315ac 8 double out_dutyQ,out_dutyR;
la00noix 0:591749f315ac 9 double now_angle,target_angle;
la00noix 0:591749f315ac 10 double now_timeQ,old_timeQ,now_timeR,old_timeR;
la00noix 0:591749f315ac 11 double now_x, now_y;
yuki0701 4:69775231687c 12 double diff_st,diff_tgt,diff_st_tgt,p_param;
la00noix 0:591749f315ac 13
yuki0701 1:d438093cb464 14
la00noix 0:591749f315ac 15 Timer timer;
la00noix 0:591749f315ac 16
la00noix 0:591749f315ac 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
yuki0701 4:69775231687c 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
yuki0701 4:69775231687c 19 //plot_x1,plot_y1:出発地点の座標
yuki0701 4:69775231687c 20 //plot_x2,plot_y2:目標地点の座標
yuki0701 4:69775231687c 21 //speed1:初期速度
yuki0701 4:69775231687c 22 //speed2:目標速度
la00noix 0:591749f315ac 23 {
la00noix 0:591749f315ac 24 double Vector_P[2] = {(plot_x2 - plot_x1), (plot_y2 - plot_y1)}; //ベクトルAB
la00noix 0:591749f315ac 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 0:591749f315ac 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 0:591749f315ac 27 double UnitVector_Q[2] = {UnitVector_P[1], -UnitVector_P[0]}; //ベクトルCHの単位ベクトル
la00noix 0:591749f315ac 28 double Vector_R[2] = {(now_x - plot_x1), (now_y - plot_y1)}; //ベクトルAC
la00noix 0:591749f315ac 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 0:591749f315ac 30
yuki0701 4:69775231687c 31
yuki0701 4:69775231687c 32 //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 0:591749f315ac 33
la00noix 0:591749f315ac 34 ///////////////////＜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 0:591749f315ac 35
la00noix 0:591749f315ac 36 timer.start();
la00noix 0:591749f315ac 37 now_timeQ=timer.read();
la00noix 0:591749f315ac 38 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 0:591749f315ac 39 diff_old=diff;
la00noix 0:591749f315ac 40
yuki0701 2:32362343f091 41 if(out_dutyQ>500)out_dutyQ=500;
yuki0701 2:32362343f091 42 if(out_dutyQ<-500)out_dutyQ=-500;
la00noix 0:591749f315ac 43
la00noix 0:591749f315ac 44 old_timeQ=now_timeQ;
la00noix 0:591749f315ac 45
la00noix 0:591749f315ac 46 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 0:591749f315ac 47
la00noix 0:591749f315ac 48 ///////////////////////////////<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 0:591749f315ac 49
la00noix 0:591749f315ac 50 now_timeR=timer.read();
la00noix 0:591749f315ac 51 diffangle=target_angle-now_angle;
yuki0701 1:d438093cb464 52 out_dutyR=-(Kvr_p*diffangle+Kvr_d*(diffangle-diffangle_old)/(now_timeR-old_timeR));
la00noix 0:591749f315ac 53 diffangle_old=diffangle;
la00noix 0:591749f315ac 54
yuki0701 1:d438093cb464 55 if(out_dutyR>r_out_max)out_dutyR=r_out_max;
yuki0701 1:d438093cb464 56 if(out_dutyR<-r_out_max)out_dutyR=-r_out_max;
la00noix 0:591749f315ac 57
la00noix 0:591749f315ac 58 old_timeR=now_timeR;
la00noix 0:591749f315ac 59
la00noix 0:591749f315ac 60 //////////////////////////<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 0:591749f315ac 61 ////////////////////////////////////////////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 4:69775231687c 62
yuki0701 4:69775231687c 63 diff_st = hypot(now_x-plot_x1,now_y-plot_y1); //出発座標と機体の位置の距離
yuki0701 4:69775231687c 64 diff_tgt = hypot(now_x - plot_x2, now_y - plot_y2); //機体の位置と目標座標の距離
yuki0701 4:69775231687c 65 diff_st_tgt = hypot(plot_x1-plot_x2,plot_y1-plot_y2); //出発座標と目標座標の距離
yuki0701 4:69775231687c 66
yuki0701 4:69775231687c 67 if(speed1 == speed2) { //等速移動
yuki0701 4:69775231687c 68
yuki0701 4:69775231687c 69 double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]};
yuki0701 4:69775231687c 70
yuki0701 4:69775231687c 71 *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);
yuki0701 4:69775231687c 72 *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);
yuki0701 4:69775231687c 73 *ad_r_out = out_dutyR;
la00noix 0:591749f315ac 74
yuki0701 4:69775231687c 75 } 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。
yuki0701 4:69775231687c 76
yuki0701 4:69775231687c 77 double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]};
yuki0701 4:69775231687c 78
yuki0701 4:69775231687c 79 if(diff_tgt > diff_st_tgt) {
yuki0701 4:69775231687c 80 diff_tgt = diff_st_tgt;
yuki0701 4:69775231687c 81 }
yuki0701 2:32362343f091 82
yuki0701 4:69775231687c 83 p_param=(diff_tgt/diff_st_tgt);
yuki0701 4:69775231687c 84
yuki0701 4:69775231687c 85 *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));
yuki0701 4:69775231687c 86 *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));
yuki0701 4:69775231687c 87 *ad_r_out = out_dutyR;
yuki0701 4:69775231687c 88
yuki0701 4:69775231687c 89 } else if(speed1 > speed2) { //減速移動（目標速度が０でない）
yuki0701 2:32362343f091 90
yuki0701 4:69775231687c 91 if(diff_tgt > diff_st_tgt) {
yuki0701 4:69775231687c 92 diff_tgt = diff_st_tgt;
yuki0701 4:69775231687c 93 }
yuki0701 4:69775231687c 94
yuki0701 4:69775231687c 95 p_param=(diff_tgt/diff_st_tgt);
yuki0701 4:69775231687c 96
yuki0701 4:69775231687c 97 double speed3 = speed2 + (speed1-speed2)*p_param;
yuki0701 4:69775231687c 98
yuki0701 4:69775231687c 99 double VectorOut_P[2] = {speed3*UnitVector_P[0], speed3*UnitVector_P[1]};
yuki0701 4:69775231687c 100
yuki0701 4:69775231687c 101 *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);
yuki0701 4:69775231687c 102 *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);
yuki0701 4:69775231687c 103 *ad_r_out = out_dutyR;
yuki0701 2:32362343f091 104
yuki0701 4:69775231687c 105 } else if(speed1 < speed2) { //加速移動(speed1)
yuki0701 4:69775231687c 106
yuki0701 4:69775231687c 107 if(diff_st > diff_st_tgt) {
yuki0701 4:69775231687c 108 diff_st = diff_st_tgt;
yuki0701 4:69775231687c 109 }
yuki0701 4:69775231687c 110
yuki0701 4:69775231687c 111 p_param=(diff_st/diff_st_tgt);
yuki0701 2:32362343f091 112
yuki0701 4:69775231687c 113 double speed4 = speed1 + (speed2-speed1)*p_param;
yuki0701 4:69775231687c 114
yuki0701 4:69775231687c 115 double VectorOut_P[2] = {speed4*UnitVector_P[0], speed4*UnitVector_P[1]};
yuki0701 4:69775231687c 116
yuki0701 4:69775231687c 117 *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);
yuki0701 4:69775231687c 118 *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);
yuki0701 4:69775231687c 119 *ad_r_out = out_dutyR;
yuki0701 2:32362343f091 120 }
la00noix 0:591749f315ac 121 }
la00noix 0:591749f315ac 122
la00noix 0:591749f315ac 123 ////////////////////////////////////////////////////////////<XYRmotorout関数は以上>////////////////////////////////////////////////////////////////
la00noix 0:591749f315ac 124
la00noix 0:591749f315ac 125
yuki0701 4:69775231687c 126 /*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 0:591749f315ac 127 {
la00noix 0:591749f315ac 128 p_out = p;
yuki0701 4:69775231687c 129 }*/
la00noix 0:591749f315ac 130
la00noix 0:591749f315ac 131 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 0:591749f315ac 132 {
la00noix 0:591749f315ac 133 Kvq_p=q_p;
la00noix 0:591749f315ac 134 Kvq_d=q_d;
la00noix 0:591749f315ac 135 }
la00noix 0:591749f315ac 136
la00noix 0:591749f315ac 137 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 0:591749f315ac 138 {
la00noix 0:591749f315ac 139 Kvr_p=r_p;
la00noix 0:591749f315ac 140 Kvr_d=r_d;
la00noix 0:591749f315ac 141 }
la00noix 0:591749f315ac 142
la00noix 0:591749f315ac 143 void set_r_out(double r) //旋回時の最大出力値設定関数
la00noix 0:591749f315ac 144 {
yuki0701 1:d438093cb464 145 r_out_max = r;
la00noix 0:591749f315ac 146 }
la00noix 0:591749f315ac 147
la00noix 0:591749f315ac 148 void set_target_angle(double t) //機体の目標角度設定関数
la00noix 0:591749f315ac 149 {
la00noix 0:591749f315ac 150 target_angle = t;
la00noix 0:591749f315ac 151 }