春ロボ1班(元F3RC4班+) / PathFollowing_12_22

harurobo_mbed_undercarriage_sub

PathFollowing.cpp@1:d438093cb464, 2018-11-24 (annotated)

Committer:
yuki0701
Date:
Sat Nov 24 14:44:14 2018 +0000
Revision:
1:d438093cb464
Parent:
0:591749f315ac
Child:
2:32362343f091
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;
la00noix 0:591749f315ac 12
yuki0701 1:d438093cb464 13
la00noix 0:591749f315ac 14 Timer timer;
la00noix 0:591749f315ac 15
la00noix 0:591749f315ac 16 //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
la00noix 0:591749f315ac 17 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) //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
la00noix 0:591749f315ac 18 {
la00noix 0:591749f315ac 19 double Vector_P[2] = {(plot_x2 - plot_x1), (plot_y2 - plot_y1)}; //ベクトルAB
la00noix 0:591749f315ac 20 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 21 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 22 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 23 double Vector_R[2] = {(now_x - plot_x1), (now_y - plot_y1)}; //ベクトルAC
la00noix 0:591749f315ac 24 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 25
la00noix 0:591749f315ac 26 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
la00noix 0:591749f315ac 27
la00noix 0:591749f315ac 28 ///////////////////＜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 29
la00noix 0:591749f315ac 30 timer.start();
la00noix 0:591749f315ac 31 now_timeQ=timer.read();
la00noix 0:591749f315ac 32 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 33 diff_old=diff;
la00noix 0:591749f315ac 34
la00noix 0:591749f315ac 35 if(out_dutyQ>0.1)out_dutyQ=0.1;
la00noix 0:591749f315ac 36 if(out_dutyQ<-0.1)out_dutyQ=-0.1;
la00noix 0:591749f315ac 37
la00noix 0:591749f315ac 38 old_timeQ=now_timeQ;
la00noix 0:591749f315ac 39
la00noix 0:591749f315ac 40 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 41
la00noix 0:591749f315ac 42 ///////////////////////////////<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 43
la00noix 0:591749f315ac 44 now_timeR=timer.read();
la00noix 0:591749f315ac 45 diffangle=target_angle-now_angle;
yuki0701 1:d438093cb464 46 out_dutyR=-(Kvr_p*diffangle+Kvr_d*(diffangle-diffangle_old)/(now_timeR-old_timeR));
la00noix 0:591749f315ac 47 diffangle_old=diffangle;
la00noix 0:591749f315ac 48
yuki0701 1:d438093cb464 49 if(out_dutyR>r_out_max)out_dutyR=r_out_max;
yuki0701 1:d438093cb464 50 if(out_dutyR<-r_out_max)out_dutyR=-r_out_max;
la00noix 0:591749f315ac 51
la00noix 0:591749f315ac 52 old_timeR=now_timeR;
la00noix 0:591749f315ac 53
la00noix 0:591749f315ac 54 //////////////////////////<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 55 ////////////////////////////////////////////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。///////////////////////////////////////////////
la00noix 0:591749f315ac 56
yuki0701 1:d438093cb464 57 *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 1:d438093cb464 58 *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);
la00noix 0:591749f315ac 59 *ad_r_out = out_dutyR;
la00noix 0:591749f315ac 60 }
la00noix 0:591749f315ac 61
la00noix 0:591749f315ac 62 ////////////////////////////////////////////////////////////<XYRmotorout関数は以上>////////////////////////////////////////////////////////////////
la00noix 0:591749f315ac 63
la00noix 0:591749f315ac 64
la00noix 0:591749f315ac 65 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 66 {
la00noix 0:591749f315ac 67 p_out = p;
la00noix 0:591749f315ac 68 }
la00noix 0:591749f315ac 69
la00noix 0:591749f315ac 70 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 71 {
la00noix 0:591749f315ac 72 Kvq_p=q_p;
la00noix 0:591749f315ac 73 Kvq_d=q_d;
la00noix 0:591749f315ac 74 }
la00noix 0:591749f315ac 75
la00noix 0:591749f315ac 76 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 77 {
la00noix 0:591749f315ac 78 Kvr_p=r_p;
la00noix 0:591749f315ac 79 Kvr_d=r_d;
la00noix 0:591749f315ac 80 }
la00noix 0:591749f315ac 81
la00noix 0:591749f315ac 82 void set_r_out(double r) //旋回時の最大出力値設定関数
la00noix 0:591749f315ac 83 {
yuki0701 1:d438093cb464 84 r_out_max = r;
la00noix 0:591749f315ac 85 }
la00noix 0:591749f315ac 86
la00noix 0:591749f315ac 87 void set_target_angle(double t) //機体の目標角度設定関数
la00noix 0:591749f315ac 88 {
la00noix 0:591749f315ac 89 target_angle = t;
la00noix 0:591749f315ac 90 }