PRISMA Lab / Mbed OS Hyfliers_Completo_testato

Clone per testare Mbed studio

Dependencies:   PwmIn IONMcMotor MPU6050 Eigen ROVER

Fork of Hyfliers_Completo_testato by Marco De Silva

Robots/Rover/Rover_omni_cpp.txt@4:3f22193053d0, 2020-01-08 (annotated)

Committer:
anfontanelli
Date:
Wed Jan 08 11:05:36 2020 +0000
Revision:
4:3f22193053d0
Parent:
Robots/Rover/Rover.cpp@3:fc26045926d9 
release bad

Who changed what in which revision?

UserRevisionLine numberNew contents of line
anfontanelli 3:fc26045926d9 1 #include "Rover.h"
anfontanelli 3:fc26045926d9 2
anfontanelli 3:fc26045926d9 3 Rover::Rover(){
anfontanelli 3:fc26045926d9 4
anfontanelli 3:fc26045926d9 5 ionMcBoudRate = 460800;
anfontanelli 3:fc26045926d9 6 meccanumBoardAddress = 128;
anfontanelli 3:fc26045926d9 7 meccanumMotorGearBoxRatio = 103;
anfontanelli 3:fc26045926d9 8 meccanumEncoderPulse = 512;
anfontanelli 3:fc26045926d9 9 meccanumKt = 0.00667;
anfontanelli 3:fc26045926d9 10 meccanumTransmissionRatio = 1.0;
anfontanelli 3:fc26045926d9 11 omniTransmissionRatio = 1.0;
anfontanelli 3:fc26045926d9 12 omniBoardAddress = 129;
anfontanelli 3:fc26045926d9 13 omniMotorGearBoxRatio = 103;
anfontanelli 3:fc26045926d9 14 omniEncoderPulse = 512;
anfontanelli 3:fc26045926d9 15 omniKt = 0.00667;
anfontanelli 3:fc26045926d9 16
anfontanelli 3:fc26045926d9 17 r_meccanumWheel = 0.03;
anfontanelli 3:fc26045926d9 18 r_omniWheel = 0.019;
anfontanelli 3:fc26045926d9 19
anfontanelli 3:fc26045926d9 20 pipeCurve_I = 0.165;
anfontanelli 3:fc26045926d9 21 pipeCurve_E = 0.2925;
anfontanelli 3:fc26045926d9 22 pipeCurve_M = 0.228;
anfontanelli 3:fc26045926d9 23
anfontanelli 3:fc26045926d9 24 pipeDir = 0;
anfontanelli 3:fc26045926d9 25
anfontanelli 3:fc26045926d9 26 omniMeccanumCentralDistance = 0.25;
anfontanelli 3:fc26045926d9 27 wheelsCntactPointDistanceFromPipeCenter = 0.08;
anfontanelli 3:fc26045926d9 28
anfontanelli 3:fc26045926d9 29 eth_time_out = 2.0;
anfontanelli 3:fc26045926d9 30
anfontanelli 3:fc26045926d9 31 S = Eigen::Matrix3f::Zero();
anfontanelli 3:fc26045926d9 32
anfontanelli 3:fc26045926d9 33
anfontanelli 3:fc26045926d9 34 ionMcMeccanum = new IONMcMotors(meccanumBoardAddress,ionMcBoudRate, PG_14, PG_9, meccanumMotorGearBoxRatio, meccanumEncoderPulse, meccanumKt, meccanumKt);
anfontanelli 3:fc26045926d9 35 ionMcOmni = new IONMcMotors(omniBoardAddress,ionMcBoudRate, PB_9, PB_8, omniMotorGearBoxRatio, omniEncoderPulse, omniKt, omniKt);
anfontanelli 3:fc26045926d9 36 meccanumActuonix = new Servo(PE_11);
anfontanelli 3:fc26045926d9 37 omniActuonix = new Servo(PE_9);
anfontanelli 3:fc26045926d9 38 mpu = new MPU6050(PF_15, PF_14);
anfontanelli 3:fc26045926d9 39 eth_tcp = new Eth_tcp(3154, 500);
anfontanelli 3:fc26045926d9 40
anfontanelli 3:fc26045926d9 41 distance_sensors = new distanceSensors();
anfontanelli 3:fc26045926d9 42
anfontanelli 3:fc26045926d9 43
anfontanelli 3:fc26045926d9 44 eth_state = -1;
anfontanelli 3:fc26045926d9 45
anfontanelli 3:fc26045926d9 46 eth_status = false;
anfontanelli 3:fc26045926d9 47
anfontanelli 3:fc26045926d9 48
anfontanelli 3:fc26045926d9 49 }
anfontanelli 3:fc26045926d9 50
anfontanelli 3:fc26045926d9 51 void Rover::initializeTofs(){
anfontanelli 3:fc26045926d9 52 distance_sensors->TOFs_init();
anfontanelli 3:fc26045926d9 53 distance_sensors->TOFs_offset();
anfontanelli 3:fc26045926d9 54 }
anfontanelli 3:fc26045926d9 55
anfontanelli 3:fc26045926d9 56 void Rover::acquireTofs(float &frontDistance, float &retroDistance){
anfontanelli 3:fc26045926d9 57
anfontanelli 3:fc26045926d9 58 distance_sensors->TOFs_acquireFiltr();
anfontanelli 3:fc26045926d9 59 frontDistance = distance_sensors->getFrontDistance();
anfontanelli 3:fc26045926d9 60 retroDistance = distance_sensors->getRetroDistance();
anfontanelli 3:fc26045926d9 61
anfontanelli 3:fc26045926d9 62
anfontanelli 3:fc26045926d9 63
anfontanelli 3:fc26045926d9 64 }
anfontanelli 3:fc26045926d9 65
anfontanelli 3:fc26045926d9 66
anfontanelli 3:fc26045926d9 67 void Rover::computeCentralJointsFromTofs(){
anfontanelli 3:fc26045926d9 68
anfontanelli 3:fc26045926d9 69 float frontDistance;
anfontanelli 3:fc26045926d9 70 float retroDistance;
anfontanelli 3:fc26045926d9 71
anfontanelli 3:fc26045926d9 72 acquireTofs(frontDistance, retroDistance);
anfontanelli 3:fc26045926d9 73
anfontanelli 3:fc26045926d9 74
anfontanelli 3:fc26045926d9 75
anfontanelli 3:fc26045926d9 76 float frontVel = 0.05*frontDistance;
anfontanelli 3:fc26045926d9 77 float retroVel = -0.04*retroDistance;
anfontanelli 3:fc26045926d9 78
anfontanelli 3:fc26045926d9 79
anfontanelli 3:fc26045926d9 80 if(enableCurv==1){
anfontanelli 3:fc26045926d9 81 frontPos = frontPos + frontVel*0.005;
anfontanelli 3:fc26045926d9 82 retroPos = retroPos + retroVel*0.005;
anfontanelli 3:fc26045926d9 83 }else{
anfontanelli 3:fc26045926d9 84 frontPos = 0.0;
anfontanelli 3:fc26045926d9 85 retroPos = 0.0;
anfontanelli 3:fc26045926d9 86 }
anfontanelli 3:fc26045926d9 87
anfontanelli 3:fc26045926d9 88 if(frontPos > 0.5) frontPos=0.5;
anfontanelli 3:fc26045926d9 89 if(frontPos < -0.5) frontPos=-0.5;
anfontanelli 3:fc26045926d9 90 if(retroPos > 0.5) retroPos=0.5;
anfontanelli 3:fc26045926d9 91 if(retroPos < -0.5) retroPos=-0.5;
anfontanelli 3:fc26045926d9 92
anfontanelli 3:fc26045926d9 93 setCentralJointsAngle(frontPos,retroPos);
anfontanelli 3:fc26045926d9 94
anfontanelli 3:fc26045926d9 95 }
anfontanelli 3:fc26045926d9 96
anfontanelli 3:fc26045926d9 97
anfontanelli 3:fc26045926d9 98 void Rover::initializeImu(){
anfontanelli 3:fc26045926d9 99
anfontanelli 3:fc26045926d9 100 printf("Initialize IMU \r\n");
anfontanelli 3:fc26045926d9 101 //IMU
anfontanelli 3:fc26045926d9 102 FS_a = 8192; //per avere letture in g, sarebbe 32768/4 perchè 4g è il fondo scala
anfontanelli 3:fc26045926d9 103 FS_g = 131.072; //per avere letture in gradi/s, sarebbe 32768/250 perchè 250 è il fondo scala
anfontanelli 3:fc26045926d9 104
anfontanelli 3:fc26045926d9 105
anfontanelli 3:fc26045926d9 106 accBias[0] = 0.0;
anfontanelli 3:fc26045926d9 107 accBias[1] = 0.0;
anfontanelli 3:fc26045926d9 108 accBias[2] = 0.0;
anfontanelli 3:fc26045926d9 109 gyroBias[0] = 0.0;
anfontanelli 3:fc26045926d9 110 gyroBias[1] = 0.0;
anfontanelli 3:fc26045926d9 111 gyroBias[2] = 0.0;
anfontanelli 3:fc26045926d9 112
anfontanelli 3:fc26045926d9 113
anfontanelli 3:fc26045926d9 114 pitchAcc = 0.0;
anfontanelli 3:fc26045926d9 115 rollAcc = 0.0;
anfontanelli 3:fc26045926d9 116
anfontanelli 3:fc26045926d9 117 pitch_integrated = 0.0;
anfontanelli 3:fc26045926d9 118 roll_integrated = 0.0;
anfontanelli 3:fc26045926d9 119
anfontanelli 3:fc26045926d9 120 mpu->initialize();
anfontanelli 3:fc26045926d9 121 bool mpu6050TestResult = mpu->testConnection();
anfontanelli 3:fc26045926d9 122 if(mpu6050TestResult) {
anfontanelli 3:fc26045926d9 123 printf("MPU6050 test passed \r\n");
anfontanelli 3:fc26045926d9 124 } else {
anfontanelli 3:fc26045926d9 125 printf("MPU6050 test failed \r\n");
anfontanelli 3:fc26045926d9 126 }
anfontanelli 3:fc26045926d9 127
anfontanelli 3:fc26045926d9 128
anfontanelli 3:fc26045926d9 129 calibrateImu();
anfontanelli 3:fc26045926d9 130 }
anfontanelli 3:fc26045926d9 131
anfontanelli 3:fc26045926d9 132 void Rover::setWheelsVelocity(float forward_speed, float stabilization_speed, float asset_correction_speed, float pipe_radius, float maxWheelAcceleration){
anfontanelli 3:fc26045926d9 133
anfontanelli 3:fc26045926d9 134 Eigen::Vector3f cartesianSpeed;
anfontanelli 3:fc26045926d9 135 Eigen::Vector3f wheelsSpeed;
anfontanelli 3:fc26045926d9 136
anfontanelli 3:fc26045926d9 137 updateRoverKin(pipe_radius, pipeDir);
anfontanelli 3:fc26045926d9 138
anfontanelli 3:fc26045926d9 139 cartesianSpeed << forward_speed, stabilization_speed, asset_correction_speed;
anfontanelli 3:fc26045926d9 140 wheelsSpeed = S*cartesianSpeed;
anfontanelli 3:fc26045926d9 141 ionMcMeccanum->setSpeed(1, wheelsSpeed[0],maxWheelAcceleration);
anfontanelli 3:fc26045926d9 142 ionMcMeccanum->setSpeed(2, wheelsSpeed[1],maxWheelAcceleration);
anfontanelli 3:fc26045926d9 143 ionMcOmni->setSpeed(1,wheelsSpeed[2],maxWheelAcceleration);
anfontanelli 3:fc26045926d9 144
anfontanelli 3:fc26045926d9 145 }
anfontanelli 3:fc26045926d9 146
anfontanelli 3:fc26045926d9 147
anfontanelli 3:fc26045926d9 148 int Rover::get_forward_vel(){
anfontanelli 3:fc26045926d9 149 int fv;
anfontanelli 3:fc26045926d9 150 eth_mutex.lock();
anfontanelli 3:fc26045926d9 151 fv = forward_vel;
anfontanelli 3:fc26045926d9 152 eth_mutex.unlock();
anfontanelli 3:fc26045926d9 153 return fv;
anfontanelli 3:fc26045926d9 154
anfontanelli 3:fc26045926d9 155 }
anfontanelli 3:fc26045926d9 156 int Rover::get_pitch(){
anfontanelli 3:fc26045926d9 157 int pit;
anfontanelli 3:fc26045926d9 158 eth_mutex.lock();
anfontanelli 3:fc26045926d9 159 pit = pitch_d;
anfontanelli 3:fc26045926d9 160 eth_mutex.unlock();
anfontanelli 3:fc26045926d9 161 return pit;
anfontanelli 3:fc26045926d9 162 }
anfontanelli 3:fc26045926d9 163
anfontanelli 3:fc26045926d9 164 int Rover::get_jointFront(){
anfontanelli 3:fc26045926d9 165 int jf;
anfontanelli 3:fc26045926d9 166 eth_mutex.lock();
anfontanelli 3:fc26045926d9 167 jf = jointFront;
anfontanelli 3:fc26045926d9 168 eth_mutex.unlock();
anfontanelli 3:fc26045926d9 169 return jf;
anfontanelli 3:fc26045926d9 170 }
anfontanelli 3:fc26045926d9 171 int Rover::get_jointRetro(){
anfontanelli 3:fc26045926d9 172 int jr;
anfontanelli 3:fc26045926d9 173 eth_mutex.lock();
anfontanelli 3:fc26045926d9 174 jr = jointRetro;
anfontanelli 3:fc26045926d9 175 eth_mutex.unlock();
anfontanelli 3:fc26045926d9 176 return jr;
anfontanelli 3:fc26045926d9 177 }
anfontanelli 3:fc26045926d9 178
anfontanelli 3:fc26045926d9 179 void Rover::getRoverVelocity(float &forward_speed, float &stabilization_speed, float &asset_correction_speed, float pipe_radius){
anfontanelli 3:fc26045926d9 180
anfontanelli 3:fc26045926d9 181 Eigen::Vector3f cartesianSpeed;
anfontanelli 3:fc26045926d9 182 Eigen::Vector3f wheelsSpeed;
anfontanelli 3:fc26045926d9 183
anfontanelli 3:fc26045926d9 184 float speedM1 = 0.0;
anfontanelli 3:fc26045926d9 185 float speedM2 = 0.0;
anfontanelli 3:fc26045926d9 186 float speedM3 = 0.0;
anfontanelli 3:fc26045926d9 187
anfontanelli 3:fc26045926d9 188 updateRoverKin(pipe_radius, pipeDir);
anfontanelli 3:fc26045926d9 189
anfontanelli 3:fc26045926d9 190 getMotorsSpeed(speedM1, speedM2, speedM3);
anfontanelli 3:fc26045926d9 191
anfontanelli 3:fc26045926d9 192 wheelsSpeed << speedM1, speedM2, speedM3;
anfontanelli 3:fc26045926d9 193
anfontanelli 3:fc26045926d9 194 cartesianSpeed = S_inv*wheelsSpeed;
anfontanelli 3:fc26045926d9 195
anfontanelli 3:fc26045926d9 196 forward_speed = cartesianSpeed[0];
anfontanelli 3:fc26045926d9 197 stabilization_speed = cartesianSpeed[1];
anfontanelli 3:fc26045926d9 198 asset_correction_speed = cartesianSpeed[2];
anfontanelli 3:fc26045926d9 199
anfontanelli 3:fc26045926d9 200 }
anfontanelli 3:fc26045926d9 201
anfontanelli 3:fc26045926d9 202 void Rover::getRoverWheelsVelocity(float &speed_wheel_dx, float &speed_wheel_sx, float &speed_wheels_retro){
anfontanelli 3:fc26045926d9 203
anfontanelli 3:fc26045926d9 204 Eigen::Vector3f cartesianSpeed;
anfontanelli 3:fc26045926d9 205 Eigen::Vector3f wheelsSpeed;
anfontanelli 3:fc26045926d9 206
anfontanelli 3:fc26045926d9 207 float speedM1 = 0.0;
anfontanelli 3:fc26045926d9 208 float speedM2 = 0.0;
anfontanelli 3:fc26045926d9 209 float speedM3 = 0.0;
anfontanelli 3:fc26045926d9 210
anfontanelli 3:fc26045926d9 211 getMotorsSpeed(speedM1, speedM2, speedM3);
anfontanelli 3:fc26045926d9 212
anfontanelli 3:fc26045926d9 213 speed_wheel_dx = speedM1;
anfontanelli 3:fc26045926d9 214 speed_wheel_sx = speedM2;
anfontanelli 3:fc26045926d9 215 speed_wheels_retro = speedM3;
anfontanelli 3:fc26045926d9 216
anfontanelli 3:fc26045926d9 217
anfontanelli 3:fc26045926d9 218 }
anfontanelli 3:fc26045926d9 219
anfontanelli 3:fc26045926d9 220 void Rover::updateRoverKin(float pipe_radius, int pipeDir){
anfontanelli 3:fc26045926d9 221 float rm = r_meccanumWheel;
anfontanelli 3:fc26045926d9 222 float ro = r_omniWheel;
anfontanelli 3:fc26045926d9 223 float l = omniMeccanumCentralDistance;
anfontanelli 3:fc26045926d9 224 float L = wheelsCntactPointDistanceFromPipeCenter;
anfontanelli 3:fc26045926d9 225 float pr = pipe_radius;
anfontanelli 3:fc26045926d9 226 float R_dx = 0.0;
anfontanelli 3:fc26045926d9 227 float R_sx = 0.0;
anfontanelli 3:fc26045926d9 228 float R_m = 0.0;
anfontanelli 3:fc26045926d9 229 if(pipeDir ==0){
anfontanelli 3:fc26045926d9 230 R_dx = 1.0;
anfontanelli 3:fc26045926d9 231 R_sx = 1.0;
anfontanelli 3:fc26045926d9 232 R_m = 1.0;
anfontanelli 3:fc26045926d9 233 }else if(pipeDir == 1){
anfontanelli 3:fc26045926d9 234 R_dx = pipeCurve_I;
anfontanelli 3:fc26045926d9 235 R_sx = pipeCurve_E;
anfontanelli 3:fc26045926d9 236 R_m = pipeCurve_M;
anfontanelli 3:fc26045926d9 237 }else if(pipeDir == -1){
anfontanelli 3:fc26045926d9 238 R_dx = pipeCurve_E;
anfontanelli 3:fc26045926d9 239 R_sx = pipeCurve_I;
anfontanelli 3:fc26045926d9 240 R_m = pipeCurve_M;
anfontanelli 3:fc26045926d9 241
anfontanelli 3:fc26045926d9 242 }
anfontanelli 3:fc26045926d9 243
anfontanelli 3:fc26045926d9 244 S << -1.0*R_dx/(rm*R_m), pr/rm, -L/rm,
anfontanelli 3:fc26045926d9 245 1.0*R_sx/(rm*R_m), pr/rm, -L/rm,
anfontanelli 3:fc26045926d9 246 0, pr/ro, l/ro;
anfontanelli 3:fc26045926d9 247
anfontanelli 3:fc26045926d9 248 S_inv << -rm/2, rm/2, 0,
anfontanelli 3:fc26045926d9 249 l*rm/(2*pr*(L+l)), l*rm/(2*pr*(L+l)), L*ro/(pr*(L+l)),
anfontanelli 3:fc26045926d9 250 -rm/(2*(L+l)), -rm/(2*(L+l)), ro/(L+l);
anfontanelli 3:fc26045926d9 251 }
anfontanelli 3:fc26045926d9 252
anfontanelli 3:fc26045926d9 253 void Rover::getMotorsTorque(float &torM1, float &torM2, float &torM3){
anfontanelli 3:fc26045926d9 254
anfontanelli 3:fc26045926d9 255
anfontanelli 3:fc26045926d9 256 torM1 = ionMcMeccanum->getMotorTorque(1);
anfontanelli 3:fc26045926d9 257 torM2 = ionMcMeccanum->getMotorTorque(2);
anfontanelli 3:fc26045926d9 258 torM3 = ionMcOmni->getMotorTorque(1);
anfontanelli 3:fc26045926d9 259
anfontanelli 3:fc26045926d9 260 }
anfontanelli 3:fc26045926d9 261
anfontanelli 3:fc26045926d9 262 void Rover::getMotorsSpeed(float &speedM1, float &speedM2, float &speedM3){
anfontanelli 3:fc26045926d9 263
anfontanelli 3:fc26045926d9 264 speedM1 = ionMcMeccanum->getMotorSpeed(1);
anfontanelli 3:fc26045926d9 265 speedM2 = ionMcMeccanum->getMotorSpeed(2);
anfontanelli 3:fc26045926d9 266 speedM3 = ionMcOmni->getMotorSpeed(1);
anfontanelli 3:fc26045926d9 267
anfontanelli 3:fc26045926d9 268 }
anfontanelli 3:fc26045926d9 269
anfontanelli 3:fc26045926d9 270 void Rover::setCentralJointsAngle(float jointFront, float jointRetro){
anfontanelli 3:fc26045926d9 271
anfontanelli 3:fc26045926d9 272 float LmRestPosFront = (9.0+0.5)/1000; //9
anfontanelli 3:fc26045926d9 273 float LmRestPosRetro = (9.0-0.5)/1000; //9
anfontanelli 3:fc26045926d9 274 float maxLenght = 0.02;
anfontanelli 3:fc26045926d9 275
anfontanelli 3:fc26045926d9 276 float LmFront = LmRestPosFront - centralJoint2actuonix(jointFront);
anfontanelli 3:fc26045926d9 277 float LmRetro = LmRestPosRetro - centralJoint2actuonix(jointRetro);
anfontanelli 3:fc26045926d9 278
anfontanelli 3:fc26045926d9 279 meccanumActuonix->write(1.0 - LmFront/maxLenght);
anfontanelli 3:fc26045926d9 280 omniActuonix->write(1.0 - LmRetro/maxLenght);
anfontanelli 3:fc26045926d9 281
anfontanelli 3:fc26045926d9 282 if (jointFront > 3.14*5/180){
anfontanelli 3:fc26045926d9 283 pipeDir = -1;
anfontanelli 3:fc26045926d9 284 }else if (jointFront < -3.14*5/180){
anfontanelli 3:fc26045926d9 285 pipeDir = 1;
anfontanelli 3:fc26045926d9 286 }else{
anfontanelli 3:fc26045926d9 287 pipeDir = 0;
anfontanelli 3:fc26045926d9 288 }
anfontanelli 3:fc26045926d9 289
anfontanelli 3:fc26045926d9 290
anfontanelli 3:fc26045926d9 291 }
anfontanelli 3:fc26045926d9 292
anfontanelli 3:fc26045926d9 293 float Rover::centralJoint2actuonix(float jointAngle){
anfontanelli 3:fc26045926d9 294
anfontanelli 3:fc26045926d9 295 float alpha = deg2rad(34.4);
anfontanelli 3:fc26045926d9 296 float L1 = 23.022/1000;
anfontanelli 3:fc26045926d9 297 float L2 = 62.037/1000;
anfontanelli 3:fc26045926d9 298 float L3 = 51.013/1000;
anfontanelli 3:fc26045926d9 299 float L4 = 4.939/1000;
anfontanelli 3:fc26045926d9 300
anfontanelli 3:fc26045926d9 301 float l1 = L1*sin(alpha + jointAngle);
anfontanelli 3:fc26045926d9 302 float l2 = L1*cos(alpha + jointAngle);
anfontanelli 3:fc26045926d9 303 float h = sqrt( (L2 - l1)*(L2 - l1) + (l2 - L4)*(l2 - L4) );
anfontanelli 3:fc26045926d9 304 return L3 - h;
anfontanelli 3:fc26045926d9 305
anfontanelli 3:fc26045926d9 306 }
anfontanelli 3:fc26045926d9 307
anfontanelli 3:fc26045926d9 308
anfontanelli 3:fc26045926d9 309 float Rover::deg2rad(float deg) {
anfontanelli 3:fc26045926d9 310 return deg * M_PI / 180.0;
anfontanelli 3:fc26045926d9 311 }
anfontanelli 3:fc26045926d9 312
anfontanelli 3:fc26045926d9 313
anfontanelli 3:fc26045926d9 314
anfontanelli 3:fc26045926d9 315 void Rover::calcImuAngles(float& pitch, float& roll, float dtImu)
anfontanelli 3:fc26045926d9 316 {
anfontanelli 3:fc26045926d9 317
anfontanelli 3:fc26045926d9 318 mpu->getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //acquisisco i dati dal sensore
anfontanelli 3:fc26045926d9 319 a_x=float(ax)/FS_a - accBias[0]; //li converto in float, (CALCOLI EVITABILE SE INSTANZIASSI LE VARIABILI SUBITO COME FLOAT)
anfontanelli 3:fc26045926d9 320 a_y=float(ay)/FS_a - accBias[1];
anfontanelli 3:fc26045926d9 321 a_z=float(az)/FS_a;
anfontanelli 3:fc26045926d9 322 g_x=float(gx)/FS_g - gyroBias[0];
anfontanelli 3:fc26045926d9 323 g_y=float(gy)/FS_g - gyroBias[1];
anfontanelli 3:fc26045926d9 324 g_z=float(gz)/FS_g - gyroBias[2];
anfontanelli 3:fc26045926d9 325
anfontanelli 3:fc26045926d9 326
anfontanelli 3:fc26045926d9 327 pitch_integrated = g_x * dtImu; // Angle around the X-axis // Integrate the gyro data(deg/s) over time to get angle, usato g_x perchè movimento attorno all'asse x
anfontanelli 3:fc26045926d9 328 roll_integrated = g_y * dtImu; // Angle around the Y-axis //uso g_y perchè ho il rollio ruotando atttorno all'asse y
anfontanelli 3:fc26045926d9 329
anfontanelli 3:fc26045926d9 330 pitchAcc = atan2f(a_y, sqrt(a_z*a_z + a_x*a_x))*180/M_PI; //considerare formule paper, calcolo i contrubiti dovuti dall'accelerometro
anfontanelli 3:fc26045926d9 331 rollAcc = -atan2f(a_x, sqrt(a_y*a_y + a_z*a_z))*180/M_PI; //
anfontanelli 3:fc26045926d9 332
anfontanelli 3:fc26045926d9 333 if ( abs( pitchAcc - pitchAcc_p ) > 10){
anfontanelli 3:fc26045926d9 334 pitchAcc = pitch;
anfontanelli 3:fc26045926d9 335 }
anfontanelli 3:fc26045926d9 336
anfontanelli 3:fc26045926d9 337 if ( abs( rollAcc - rollAcc_p ) > 10){
anfontanelli 3:fc26045926d9 338 rollAcc = roll;
anfontanelli 3:fc26045926d9 339 }
anfontanelli 3:fc26045926d9 340
anfontanelli 3:fc26045926d9 341 // Apply Complementary Filter
anfontanelli 3:fc26045926d9 342 pitch = 0.95f*( pitch + pitch_integrated) + 0.05f*pitchAcc;
anfontanelli 3:fc26045926d9 343 roll = 0.95f*( roll + roll_integrated) + 0.05f*(rollAcc);
anfontanelli 3:fc26045926d9 344
anfontanelli 3:fc26045926d9 345 pitchAcc_p = pitchAcc;
anfontanelli 3:fc26045926d9 346 rollAcc_p = rollAcc;
anfontanelli 3:fc26045926d9 347
anfontanelli 3:fc26045926d9 348
anfontanelli 3:fc26045926d9 349 }
anfontanelli 3:fc26045926d9 350
anfontanelli 3:fc26045926d9 351 void Rover::calibrateImu()
anfontanelli 3:fc26045926d9 352 {
anfontanelli 3:fc26045926d9 353 const int CALIBRATION = 500;
anfontanelli 3:fc26045926d9 354 for(int i=0;i<50;i++)
anfontanelli 3:fc26045926d9 355 {
anfontanelli 3:fc26045926d9 356 mpu->getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
anfontanelli 3:fc26045926d9 357 }
anfontanelli 3:fc26045926d9 358
anfontanelli 3:fc26045926d9 359
anfontanelli 3:fc26045926d9 360 printf(" START CALIBRATION \r\n");
anfontanelli 3:fc26045926d9 361
anfontanelli 3:fc26045926d9 362
anfontanelli 3:fc26045926d9 363 for(int i=0;i<CALIBRATION;i++)
anfontanelli 3:fc26045926d9 364 {
anfontanelli 3:fc26045926d9 365 mpu->getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //acquisisco i dati dal sensore
anfontanelli 3:fc26045926d9 366 a_x=(float)ax/FS_a; //li converto in float, (CALCOLI EVITABILE SE INSTANZIASSI LE VARIABILI SUBITO COME FLOAT)
anfontanelli 3:fc26045926d9 367 a_y=(float)ay/FS_a;
anfontanelli 3:fc26045926d9 368 //a_z=(float)az/FS_a;
anfontanelli 3:fc26045926d9 369 g_x=(float)gx/FS_g;
anfontanelli 3:fc26045926d9 370 g_y=(float)gy/FS_g;;
anfontanelli 3:fc26045926d9 371 g_z=(float)gz/FS_g;;
anfontanelli 3:fc26045926d9 372
anfontanelli 3:fc26045926d9 373 accBias[0] += a_x;
anfontanelli 3:fc26045926d9 374 accBias[1] += a_y;
anfontanelli 3:fc26045926d9 375 gyroBias[0] += g_x;
anfontanelli 3:fc26045926d9 376 gyroBias[1] += g_y;
anfontanelli 3:fc26045926d9 377 gyroBias[2] += g_z;
anfontanelli 3:fc26045926d9 378
anfontanelli 3:fc26045926d9 379 }
anfontanelli 3:fc26045926d9 380
anfontanelli 3:fc26045926d9 381 //BIAS
anfontanelli 3:fc26045926d9 382 accBias[0] = accBias[0]/CALIBRATION;
anfontanelli 3:fc26045926d9 383 accBias[1] = accBias[1]/CALIBRATION;
anfontanelli 3:fc26045926d9 384 gyroBias[0] = gyroBias[0]/CALIBRATION;
anfontanelli 3:fc26045926d9 385 gyroBias[1] = gyroBias[1]/CALIBRATION;
anfontanelli 3:fc26045926d9 386 gyroBias[2] = gyroBias[2]/CALIBRATION;
anfontanelli 3:fc26045926d9 387
anfontanelli 3:fc26045926d9 388
anfontanelli 3:fc26045926d9 389 printf(" END CALIBRATION \r\n");
anfontanelli 3:fc26045926d9 390
anfontanelli 3:fc26045926d9 391 //printf("%f\t %f\t %f\t %f\t %f\t \r\n", accBias[0], accBias[1], gyroBias[0],gyroBias[1],gyroBias[2]); //stampo le misure
anfontanelli 3:fc26045926d9 392
anfontanelli 3:fc26045926d9 393
anfontanelli 3:fc26045926d9 394 }
anfontanelli 3:fc26045926d9 395
anfontanelli 3:fc26045926d9 396
anfontanelli 3:fc26045926d9 397
anfontanelli 3:fc26045926d9 398 void Rover::startEthComunication(){
anfontanelli 3:fc26045926d9 399 printf("Avvio la comunicazione ethernet \r\n");
anfontanelli 3:fc26045926d9 400 comunicationTimer.start();
anfontanelli 3:fc26045926d9 401 eth_tcp->connect();
anfontanelli 3:fc26045926d9 402 setState(1);
anfontanelli 3:fc26045926d9 403
anfontanelli 3:fc26045926d9 404 }
anfontanelli 3:fc26045926d9 405
anfontanelli 3:fc26045926d9 406 void Rover::ethComunicationUpdate(float _time, float _pitch, float _vels_a, float _vels_m, float _velf_a, float _velf_m) {
anfontanelli 3:fc26045926d9 407
anfontanelli 3:fc26045926d9 408 if( eth_tcp->is_connected()){
anfontanelli 3:fc26045926d9 409 setState(2);
anfontanelli 3:fc26045926d9 410 printf("ETH: connected!\r\n");
anfontanelli 3:fc26045926d9 411 sock_open = true;
anfontanelli 3:fc26045926d9 412 }else{
anfontanelli 3:fc26045926d9 413 setState(1);
anfontanelli 3:fc26045926d9 414 }
anfontanelli 3:fc26045926d9 415
anfontanelli 3:fc26045926d9 416 eth_status = eth_tcp->recv_pkt(cmd, recv_vec, n_of_int);
anfontanelli 3:fc26045926d9 417
anfontanelli 3:fc26045926d9 418 eth_time = comunicationTimer.read();
anfontanelli 3:fc26045926d9 419 //printf("%f\r\n", (double)(eth_time - eth_time_sample_received));
anfontanelli 3:fc26045926d9 420
anfontanelli 3:fc26045926d9 421
anfontanelli 3:fc26045926d9 422 if(eth_status){
anfontanelli 3:fc26045926d9 423 eth_time_sample_received = comunicationTimer.read();
anfontanelli 3:fc26045926d9 424 if(cmd == 's'){
anfontanelli 3:fc26045926d9 425 if(n_of_int == 4){
anfontanelli 3:fc26045926d9 426 eth_mutex.lock();
anfontanelli 3:fc26045926d9 427 forward_vel = recv_vec.get();
anfontanelli 3:fc26045926d9 428 pitch_d = recv_vec.get();
anfontanelli 3:fc26045926d9 429 //jointFront = recv_vec.get();
anfontanelli 3:fc26045926d9 430 //jointRetro = recv_vec.get();
anfontanelli 3:fc26045926d9 431 enableStab = recv_vec.get();
anfontanelli 3:fc26045926d9 432 enableCurv= recv_vec.get();
anfontanelli 3:fc26045926d9 433 eth_mutex.unlock();
anfontanelli 3:fc26045926d9 434 }
anfontanelli 3:fc26045926d9 435
anfontanelli 3:fc26045926d9 436 eth_mutex.lock();
anfontanelli 3:fc26045926d9 437 vec_to_send.put(_time*1000);
anfontanelli 3:fc26045926d9 438 vec_to_send.put(_pitch*1000);
anfontanelli 3:fc26045926d9 439 vec_to_send.put(_vels_a*1000);
anfontanelli 3:fc26045926d9 440 vec_to_send.put(_vels_m*1000);
anfontanelli 3:fc26045926d9 441 vec_to_send.put(_velf_a*1000);
anfontanelli 3:fc26045926d9 442 vec_to_send.put(_velf_m*1000);
anfontanelli 3:fc26045926d9 443
anfontanelli 3:fc26045926d9 444 eth_mutex.unlock();
anfontanelli 3:fc26045926d9 445 eth_tcp->send_vec_of_int(vec_to_send);
anfontanelli 3:fc26045926d9 446
anfontanelli 3:fc26045926d9 447 vec_to_send.clear();
anfontanelli 3:fc26045926d9 448
anfontanelli 3:fc26045926d9 449 cmd = ' ';
anfontanelli 3:fc26045926d9 450
anfontanelli 3:fc26045926d9 451 }
anfontanelli 3:fc26045926d9 452 }
anfontanelli 3:fc26045926d9 453
anfontanelli 3:fc26045926d9 454 if((double)(eth_time - eth_time_sample_received)>eth_time_out && sock_open == true){
anfontanelli 3:fc26045926d9 455 eth_tcp->reset_connection();
anfontanelli 3:fc26045926d9 456 sock_open = false;
anfontanelli 3:fc26045926d9 457 eth_mutex.lock();
anfontanelli 3:fc26045926d9 458 forward_vel = 0.0;
anfontanelli 3:fc26045926d9 459 pitch_d = 0.0;
anfontanelli 3:fc26045926d9 460 //jointFront = 0.0;
anfontanelli 3:fc26045926d9 461 //jointRetro = 0.0;
anfontanelli 3:fc26045926d9 462 enableCurv = 0;
anfontanelli 3:fc26045926d9 463 eth_mutex.unlock();
anfontanelli 3:fc26045926d9 464 }
anfontanelli 3:fc26045926d9 465
anfontanelli 3:fc26045926d9 466
anfontanelli 3:fc26045926d9 467 }
anfontanelli 3:fc26045926d9 468
anfontanelli 3:fc26045926d9 469 int Rover::getEthState(){
anfontanelli 3:fc26045926d9 470 int state;
anfontanelli 3:fc26045926d9 471
anfontanelli 3:fc26045926d9 472 eth_mutex.lock();
anfontanelli 3:fc26045926d9 473 state = eth_state;
anfontanelli 3:fc26045926d9 474 eth_mutex.unlock();
anfontanelli 3:fc26045926d9 475
anfontanelli 3:fc26045926d9 476 return state;
anfontanelli 3:fc26045926d9 477 }
anfontanelli 3:fc26045926d9 478
anfontanelli 3:fc26045926d9 479 void Rover::setState(int state){
anfontanelli 3:fc26045926d9 480
anfontanelli 3:fc26045926d9 481 eth_mutex.lock();
anfontanelli 3:fc26045926d9 482 eth_state = state;
anfontanelli 3:fc26045926d9 483 eth_mutex.unlock();
anfontanelli 3:fc26045926d9 484
anfontanelli 3:fc26045926d9 485 }
anfontanelli 3:fc26045926d9 486
anfontanelli 3:fc26045926d9 487