SRM / Mbed 2 deprecated LabWork2VFH_valleytry

vaLLEY TRY

Dependencies:   mbed

main.cpp@6:2cd6ae395c0f, 2019-04-05 (annotated)

Committer:
shut
Date:
Fri Apr 05 14:28:09 2019 +0000
Revision:
6:2cd6ae395c0f
Parent:
5:1649f59c37de
Child:
7:3a755ebe4eaf
retwerwer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jsobiecki 0:719ea21609f1 1 #include "mbed.h"
jsobiecki 0:719ea21609f1 2 #include "Robot.h"
jsobiecki 0:719ea21609f1 3 #include "math.h"
jsobiecki 4:5a892f5ab5a8 4 #include "ActiveCell.h"
jsobiecki 4:5a892f5ab5a8 5 #include "HistogramCell.h"
jsobiecki 0:719ea21609f1 6 #define M_PI 3.14159265358979323846
jsobiecki 0:719ea21609f1 7 //EXERCICIO 1
jsobiecki 0:719ea21609f1 8 //Luis Cruz N2011164454
jsobiecki 4:5a892f5ab5a8 9 //Jacek Sobecki N2018319609
jsobiecki 0:719ea21609f1 10 Serial pc(SERIAL_TX, SERIAL_RX, 115200);
jsobiecki 0:719ea21609f1 11 DigitalIn button(PC_13);
jsobiecki 0:719ea21609f1 12 void poseEst(float p[], float radius, float enc_res, float b);
jsobiecki 0:719ea21609f1 13 void SpeedLim(float w[]);
jsobiecki 4:5a892f5ab5a8 14 void initializeArrays();
jsobiecki 4:5a892f5ab5a8 15 void calcForce();
shut 6:2cd6ae395c0f 16 void sumForces();
shut 6:2cd6ae395c0f 17 void updateActive(float xR, float yR);
shut 2:c507076bfd93 18 //int ReadSensors();
jsobiecki 5:1649f59c37de 19 //const int m = 200, n = 200, activeSize = 11;
shut 6:2cd6ae395c0f 20 //histogram size | aSize active region size
shut 6:2cd6ae395c0f 21 const int hSize = 80, aSize = 11;
jsobiecki 4:5a892f5ab5a8 22 ActiveCell activeReg[aSize][aSize];
jsobiecki 4:5a892f5ab5a8 23 HistogramCell histogram[hSize][hSize];
jsobiecki 5:1649f59c37de 24 //Repulsive force sums
shut 6:2cd6ae395c0f 25 float p[3], p_obj[3], p_final[3], fX, fY;
shut 6:2cd6ae395c0f 26 const float Fca=6;/*5*/
jsobiecki 0:719ea21609f1 27 int main(){
jsobiecki 0:719ea21609f1 28
jsobiecki 0:719ea21609f1 29 button.mode(PullUp);
jsobiecki 0:719ea21609f1 30 getCountsAndReset();
jsobiecki 0:719ea21609f1 31 setSpeeds(0, 0);
jsobiecki 4:5a892f5ab5a8 32 initializeArrays();
jsobiecki 0:719ea21609f1 33 while(button==1);
shut 6:2cd6ae395c0f 34 //w[0] = Omega | w[1] = Left | w[2] = Right
jsobiecki 0:719ea21609f1 35 //p[0] = X | p[1] = Y | p[2] = Theta
jsobiecki 0:719ea21609f1 36 //p_obj[0] = X | p_obj[1] = Y | p_obj[2] = Theta
jsobiecki 0:719ea21609f1 37 //b = Distance between wheels, enc_res = Encoder Resolution, v = Calculated speed
jsobiecki 0:719ea21609f1 38 //k_v = Speed gain, k_s = Curvature gain, wratio = Angular speed ratio control command
shut 2:c507076bfd93 39 //Cells dim: 5x5cm |
shut 6:2cd6ae395c0f 40 float w[3], v, theta, theta_error, err, integral = 0.0, k_i = 0.01/*0.02*/;
shut 6:2cd6ae395c0f 41 const float radius = 3.5, b = 13.3, enc_res = 1440, k_v = 8/*7*/,
shut 6:2cd6ae395c0f 42 k_s = 12/*10*/, sample_time = 0.05, d_stalker = 7.5, k_f = 2.5; /*2.5*/ VFF
jsobiecki 0:719ea21609f1 43 // ===============================================================================
jsobiecki 0:719ea21609f1 44 // =================================== COORDS ====================================
shut 2:c507076bfd93 45 // ===============================================================================
jsobiecki 0:719ea21609f1 46 //Target coordinates
shut 6:2cd6ae395c0f 47 p_final[0] = 150, p_final[1] = 200, p_final[2] = 0;
shut 6:2cd6ae395c0f 48 //p_obj[0] = 20, p_obj[1] = 20, p_obj[2] = 0;
jsobiecki 0:719ea21609f1 49 //Initial coordinates:
shut 6:2cd6ae395c0f 50 p[0] = 95, p[1] = 20, p[2] = 0;
jsobiecki 0:719ea21609f1 51 // ===============================================================================
jsobiecki 0:719ea21609f1 52 // =================================== EXECUTION =================================
jsobiecki 0:719ea21609f1 53 // ===============================================================================
jsobiecki 0:719ea21609f1 54 while(1){
jsobiecki 0:719ea21609f1 55 getCountsAndReset();
jsobiecki 0:719ea21609f1 56 pc.printf("Speeds: Left=%lf Right=%lf\n", w[1], w[2]);
shut 6:2cd6ae395c0f 57 pc.printf("OBJECTIVE X: %lf OBJECTIVE Y: %lf\n", p_obj[0], p_obj[1]);
shut 6:2cd6ae395c0f 58 pc.printf("Position: X=%lf Y=%lf Theta=%lf\n\n", p[0], p[1], p[2]);
shut 6:2cd6ae395c0f 59 pc.printf("Force (X): X=%lf Force(Y)=%lf\n", fX, fY);
shut 2:c507076bfd93 60
jsobiecki 0:719ea21609f1 61 //Path calculation
shut 2:c507076bfd93 62 poseEst(p, radius, enc_res, b); //Pose estimation
shut 6:2cd6ae395c0f 63 updateActive(p[0], p[1]);
shut 6:2cd6ae395c0f 64 p_obj[0] = p[0]+k_f*fX; // add parameter to relate chosen direction (VFH) to the point nearby of the robot
shut 6:2cd6ae395c0f 65 p_obj[1] = p[1]+k_f*fY;
shut 2:c507076bfd93 66 //Control Law
shut 2:c507076bfd93 67 err = sqrt(pow((p_obj[0]-p[0]),2)+pow((p_obj[1]-p[1]),2)) - d_stalker; //distance to the point
jsobiecki 0:719ea21609f1 68 theta = atan2(p_obj[1]-p[1],p_obj[0]-p[0]);
jsobiecki 0:719ea21609f1 69 theta = atan2(sin(theta),cos(theta));
jsobiecki 0:719ea21609f1 70 p[2] = atan2(sin(p[2]),cos(p[2]));
jsobiecki 0:719ea21609f1 71 theta_error = theta-p[2];
shut 2:c507076bfd93 72 w[0] = k_s*(theta_error); //direction gain
jsobiecki 4:5a892f5ab5a8 73 integral += err;
shut 6:2cd6ae395c0f 74 v = k_v*err+k_i*integral; //Speed calculation
jsobiecki 0:719ea21609f1 75 w[1] = (v-(b/2)*w[0])/radius;
jsobiecki 0:719ea21609f1 76 w[2] = (v+(b/2)*w[0])/radius;
jsobiecki 0:719ea21609f1 77 SpeedLim(w);
shut 6:2cd6ae395c0f 78 //if((fabs(p[0]-p_final[0])+fabs(p[1]-p_final[1])) < 70) k_i = -0.005;
shut 6:2cd6ae395c0f 79 if((fabs(p[0]-p_final[0])+fabs(p[1]-p_final[1])) < 4){
jsobiecki 0:719ea21609f1 80 setSpeeds(0,0);
jsobiecki 0:719ea21609f1 81 }
jsobiecki 0:719ea21609f1 82 else{
jsobiecki 0:719ea21609f1 83 setSpeeds(w[1], w[2]);
jsobiecki 0:719ea21609f1 84 }
jsobiecki 0:719ea21609f1 85 wait(sample_time);
jsobiecki 0:719ea21609f1 86 }
jsobiecki 0:719ea21609f1 87 }
jsobiecki 0:719ea21609f1 88 // ===============================================================================
jsobiecki 0:719ea21609f1 89 // =================================== FUNCTIONS =================================
jsobiecki 0:719ea21609f1 90 // ===============================================================================
jsobiecki 0:719ea21609f1 91 //Pose Estimation function
jsobiecki 0:719ea21609f1 92 void poseEst(float p[], float radius, float enc_res, float b){
jsobiecki 0:719ea21609f1 93 float deltaDl, deltaDr, deltaD, deltaT;
jsobiecki 0:719ea21609f1 94 deltaDl = ((float)countsLeft)*(2.0*M_PI*radius/enc_res);
jsobiecki 0:719ea21609f1 95 deltaDr = ((float)countsRight)*(2.0*M_PI*radius/enc_res);
jsobiecki 0:719ea21609f1 96 deltaD = (deltaDr + deltaDl)/2;
jsobiecki 0:719ea21609f1 97 deltaT = (deltaDr - deltaDl)/b;
jsobiecki 0:719ea21609f1 98 if(fabs(deltaT) == 0){
jsobiecki 0:719ea21609f1 99 p[0] = p[0] + deltaD*cos(p[2]) + deltaT/2;
jsobiecki 0:719ea21609f1 100 p[1] = p[1] + deltaD*sin(p[2]) + deltaT/2;
jsobiecki 0:719ea21609f1 101 return;
jsobiecki 0:719ea21609f1 102 }
jsobiecki 0:719ea21609f1 103 p[0] = p[0] + deltaD*(sin(deltaT/2.0f)/(deltaT/2.0f))*cos(p[2]+deltaT/2.0f);
jsobiecki 0:719ea21609f1 104 p[1] = p[1] + deltaD*(sin(deltaT/2.0f)/(deltaT/2.0f))*sin(p[2]+deltaT/2.0f);
jsobiecki 0:719ea21609f1 105 p[2] = p[2] + deltaT;
jsobiecki 0:719ea21609f1 106 }
jsobiecki 0:719ea21609f1 107 //Speed limiter function
jsobiecki 0:719ea21609f1 108 void SpeedLim(float w[]){
jsobiecki 0:719ea21609f1 109 float wratio;
shut 6:2cd6ae395c0f 110 wratio = fabs(w[2]/w[1]);
jsobiecki 0:719ea21609f1 111 if(w[2] > 150 || w[1] > 150){
jsobiecki 0:719ea21609f1 112 if(wratio < 1){
jsobiecki 0:719ea21609f1 113 w[1] = 150;
jsobiecki 0:719ea21609f1 114 w[2] = w[1]*wratio;
jsobiecki 0:719ea21609f1 115 }
jsobiecki 0:719ea21609f1 116 else if(wratio > 1){
jsobiecki 0:719ea21609f1 117 w[2] = 150;
jsobiecki 0:719ea21609f1 118 w[1] = w[2]/wratio;
jsobiecki 0:719ea21609f1 119 }
jsobiecki 0:719ea21609f1 120 else{
jsobiecki 0:719ea21609f1 121 w[2] = 150;
jsobiecki 0:719ea21609f1 122 w[1] = 150;
jsobiecki 0:719ea21609f1 123 }
jsobiecki 0:719ea21609f1 124 }
jsobiecki 0:719ea21609f1 125 if(w[2] < 50 || w[1] < 50){
jsobiecki 0:719ea21609f1 126 if(wratio < 1){
jsobiecki 0:719ea21609f1 127 w[1] = 50;
jsobiecki 0:719ea21609f1 128 w[2] = w[1]*wratio;
jsobiecki 0:719ea21609f1 129 }
jsobiecki 0:719ea21609f1 130 else if(wratio > 1){
jsobiecki 0:719ea21609f1 131 w[2] = 50;
jsobiecki 0:719ea21609f1 132 w[1] = w[2]/wratio;
jsobiecki 0:719ea21609f1 133 }
jsobiecki 0:719ea21609f1 134 else{
jsobiecki 0:719ea21609f1 135 w[2] = 50;
jsobiecki 0:719ea21609f1 136 w[1] = 50;
jsobiecki 0:719ea21609f1 137 }
jsobiecki 0:719ea21609f1 138 }
jsobiecki 0:719ea21609f1 139 }
jsobiecki 4:5a892f5ab5a8 140
jsobiecki 4:5a892f5ab5a8 141 void initializeArrays() {
jsobiecki 4:5a892f5ab5a8 142 for (int i = 0; i < hSize; i++) {
jsobiecki 4:5a892f5ab5a8 143 for (int j = 0; j < hSize; j++) {
jsobiecki 4:5a892f5ab5a8 144 histogram[i][j].calculate(i, j);
shut 6:2cd6ae395c0f 145 if(i>15 && i<25 && j > 15 && j<25)
shut 6:2cd6ae395c0f 146 histogram[i][j].cellVal=5;
jsobiecki 4:5a892f5ab5a8 147 }
jsobiecki 4:5a892f5ab5a8 148 }
jsobiecki 4:5a892f5ab5a8 149 for (int i = 0; i < aSize; i++) {
jsobiecki 4:5a892f5ab5a8 150 for (int j = 0; j < aSize; j++) {
jsobiecki 4:5a892f5ab5a8 151 activeReg[i][j].calDist(i, j);
jsobiecki 4:5a892f5ab5a8 152 }
jsobiecki 4:5a892f5ab5a8 153 }
jsobiecki 4:5a892f5ab5a8 154 }
jsobiecki 4:5a892f5ab5a8 155 void calcForce(){
jsobiecki 4:5a892f5ab5a8 156 for (int i = 0; i < aSize; i++) {
jsobiecki 4:5a892f5ab5a8 157 for (int j = 0; j < aSize; j++) {
jsobiecki 4:5a892f5ab5a8 158 activeReg[i][j].calForce();
jsobiecki 4:5a892f5ab5a8 159 }
jsobiecki 4:5a892f5ab5a8 160 }
jsobiecki 5:1649f59c37de 161 activeReg[5][5].forceX=0;
jsobiecki 5:1649f59c37de 162 activeReg[5][5].forceY=0;
jsobiecki 4:5a892f5ab5a8 163 }
jsobiecki 5:1649f59c37de 164 //every time robot changes position we need to call this function to update active region and calculate forces
jsobiecki 4:5a892f5ab5a8 165 //xR, yR - robots position in coordinates system
shut 6:2cd6ae395c0f 166 void updateActive(float xR, float yR) {
jsobiecki 4:5a892f5ab5a8 167 int idXr = 0;
jsobiecki 4:5a892f5ab5a8 168 int idYr = 0;
jsobiecki 4:5a892f5ab5a8 169 for (int i = 0; i < hSize; i++) {
jsobiecki 4:5a892f5ab5a8 170 for (int j = 0; j < hSize; j++) {
shut 6:2cd6ae395c0f 171 if (xR > histogram[i][j].x - 2.5f && xR < histogram[i][j].x + 2.5f && yR > histogram[i][j].y - 2.5f &&
shut 6:2cd6ae395c0f 172 yR < histogram[i][j].y + 2.5f) {
jsobiecki 4:5a892f5ab5a8 173 idXr = i;
jsobiecki 4:5a892f5ab5a8 174 idYr = j;
jsobiecki 4:5a892f5ab5a8 175 break;
shut 2:c507076bfd93 176 }
shut 2:c507076bfd93 177 }
shut 2:c507076bfd93 178 }
jsobiecki 4:5a892f5ab5a8 179 int m = idXr - aSize / 2;
jsobiecki 4:5a892f5ab5a8 180 for (int k = 0; k < aSize; k++) {
jsobiecki 4:5a892f5ab5a8 181 int n = idYr - aSize / 2;
jsobiecki 4:5a892f5ab5a8 182 for (int l = 0; l < aSize; l++) {
shut 6:2cd6ae395c0f 183 if(m >= 0 && n >= 0 && m < hSize && n < hSize) {
jsobiecki 4:5a892f5ab5a8 184 activeReg[k][l].cellVal = histogram[m][n].cellVal;
jsobiecki 4:5a892f5ab5a8 185 }
jsobiecki 4:5a892f5ab5a8 186 n++;
jsobiecki 4:5a892f5ab5a8 187 }
jsobiecki 4:5a892f5ab5a8 188 m++;
jsobiecki 4:5a892f5ab5a8 189 }
jsobiecki 4:5a892f5ab5a8 190 calcForce();
shut 6:2cd6ae395c0f 191 sumForces();
jsobiecki 5:1649f59c37de 192 }
jsobiecki 5:1649f59c37de 193 void sumForces(){
jsobiecki 5:1649f59c37de 194 //attractive force
shut 6:2cd6ae395c0f 195 float rFx=0.0;
shut 6:2cd6ae395c0f 196 float rFy=0.0;
shut 6:2cd6ae395c0f 197 float distance = sqrt(pow((float)abs(p_final[1] - p[1]), 2) + pow((float)abs(p_final[0] - p[0]), 2));
shut 6:2cd6ae395c0f 198 float aFx = Fca*(p_final[0]-p[0])/distance;
shut 6:2cd6ae395c0f 199 float aFy = Fca*(p_final[1]-p[1])/distance;
jsobiecki 5:1649f59c37de 200 //repulsive force
jsobiecki 5:1649f59c37de 201 for(int i=0;i<aSize;i++){
jsobiecki 5:1649f59c37de 202 for(int j=0;j<aSize;j++){
jsobiecki 5:1649f59c37de 203 rFx+=activeReg[i][j].forceX;
jsobiecki 5:1649f59c37de 204 rFy+=activeReg[i][j].forceY;
jsobiecki 5:1649f59c37de 205 }
jsobiecki 5:1649f59c37de 206 }
jsobiecki 5:1649f59c37de 207 //sum
jsobiecki 5:1649f59c37de 208 fX=aFx-rFx;
jsobiecki 5:1649f59c37de 209 fY=aFy-rFy;
shut 6:2cd6ae395c0f 210 pc.printf("Repulsive (X): X=%lf Force(Y)=%lf\n\n", rFx, rFy);
shut 2:c507076bfd93 211 }