Zürcher Eliteeinheit / Mbed 2 deprecated ROME2_P6

rome2_p6 imported

Dependencies:   mbed

Controller.cpp@5:957580f33e52, 2018-05-18 (annotated)

Committer:
Appalco
Date:
Fri May 18 13:54:25 2018 +0000
Revision:
5:957580f33e52
Parent:
0:351a2fb21235 
fixed tolerance and wayponts

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Appalco 0:351a2fb21235 1 /*
Appalco 0:351a2fb21235 2 * Controller.cpp
Appalco 0:351a2fb21235 3 * Copyright (c) 2018, ZHAW
Appalco 0:351a2fb21235 4 * All rights reserved.
Appalco 0:351a2fb21235 5 */
Appalco 0:351a2fb21235 6
Appalco 0:351a2fb21235 7 #include <cmath>
Appalco 0:351a2fb21235 8 #include "Controller.h"
Appalco 0:351a2fb21235 9
Appalco 0:351a2fb21235 10 using namespace std;
Appalco 0:351a2fb21235 11
Appalco 0:351a2fb21235 12 const float Controller::PERIOD = 0.001f; // period of control task, given in [s]
Appalco 0:351a2fb21235 13 const float Controller::PI = 3.14159265f; // the constant PI
Appalco 0:351a2fb21235 14 const float Controller::WHEEL_DISTANCE = 0.170f; // distance between wheels, given in [m]
Appalco 0:351a2fb21235 15 const float Controller::WHEEL_RADIUS = 0.0375f; // radius of wheels, given in [m]
Appalco 0:351a2fb21235 16 const float Controller::COUNTS_PER_TURN = 1200.0f; // resolution of encoder counter
Appalco 0:351a2fb21235 17 const float Controller::LOWPASS_FILTER_FREQUENCY = 300.0f; // frequency of lowpass filter for actual speed values, given in [rad/s]
Appalco 0:351a2fb21235 18 const float Controller::KN = 40.0f; // speed constant of motor, given in [rpm/V]
Appalco 0:351a2fb21235 19 const float Controller::KP = 0.2f; // speed controller gain, given in [V/rpm]
Appalco 0:351a2fb21235 20 const float Controller::MAX_VOLTAGE = 12.0f; // supply voltage for power stage in [V]
Appalco 0:351a2fb21235 21 const float Controller::MIN_DUTY_CYCLE = 0.02f; // minimum allowed value for duty cycle (2%)
Appalco 0:351a2fb21235 22 const float Controller::MAX_DUTY_CYCLE = 0.98f; // maximum allowed value for duty cycle (98%)
Appalco 0:351a2fb21235 23 const float Controller::SIGMA_TRANSLATION = 0.0001; // standard deviation of estimated translation per period, given in [m]
Appalco 0:351a2fb21235 24 const float Controller::SIGMA_ORIENTATION = 0.0002; // standard deviation of estimated orientation per period, given in [rad]
Appalco 0:351a2fb21235 25 const float Controller::SIGMA_DISTANCE = 0.01; // standard deviation of distance measurement, given in [m]
Appalco 0:351a2fb21235 26 const float Controller::SIGMA_GAMMA = 0.03; // standard deviation of angle measurement, given in [rad]
Appalco 0:351a2fb21235 27
Appalco 0:351a2fb21235 28 /**
Appalco 0:351a2fb21235 29 * Creates and initializes a Controller object.
Appalco 0:351a2fb21235 30 * @param pwmLeft a pwm output object to set the duty cycle for the left motor.
Appalco 0:351a2fb21235 31 * @param pwmRight a pwm output object to set the duty cycle for the right motor.
Appalco 0:351a2fb21235 32 * @param counterLeft an encoder counter object to read the position of the left motor.
Appalco 0:351a2fb21235 33 * @param counterRight an encoder counter object to read the position of the right motor.
Appalco 0:351a2fb21235 34 */
Appalco 0:351a2fb21235 35 Controller::Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight) : pwmLeft(pwmLeft), pwmRight(pwmRight), counterLeft(counterLeft), counterRight(counterRight) {
Appalco 0:351a2fb21235 36
Appalco 0:351a2fb21235 37 // initialize periphery drivers
Appalco 0:351a2fb21235 38
Appalco 0:351a2fb21235 39 pwmLeft.period(0.00005f);
Appalco 0:351a2fb21235 40 pwmLeft.write(0.5f);
Appalco 0:351a2fb21235 41
Appalco 0:351a2fb21235 42 pwmRight.period(0.00005f);
Appalco 0:351a2fb21235 43 pwmRight.write(0.5f);
Appalco 0:351a2fb21235 44
Appalco 0:351a2fb21235 45 // initialize local variables
Appalco 0:351a2fb21235 46
Appalco 0:351a2fb21235 47 translationalMotion.setProfileVelocity(1.5f);
Appalco 0:351a2fb21235 48 translationalMotion.setProfileAcceleration(1.5f);
Appalco 0:351a2fb21235 49 translationalMotion.setProfileDeceleration(3.0f);
Appalco 0:351a2fb21235 50
Appalco 0:351a2fb21235 51 rotationalMotion.setProfileVelocity(3.0f);
Appalco 0:351a2fb21235 52 rotationalMotion.setProfileAcceleration(15.0f);
Appalco 0:351a2fb21235 53 rotationalMotion.setProfileDeceleration(15.0f);
Appalco 0:351a2fb21235 54
Appalco 0:351a2fb21235 55 translationalVelocity = 0.0f;
Appalco 0:351a2fb21235 56 rotationalVelocity = 0.0f;
Appalco 0:351a2fb21235 57 actualTranslationalVelocity = 0.0f;
Appalco 0:351a2fb21235 58 actualRotationalVelocity = 0.0f;
Appalco 0:351a2fb21235 59
Appalco 0:351a2fb21235 60 previousValueCounterLeft = counterLeft.read();
Appalco 0:351a2fb21235 61 previousValueCounterRight = counterRight.read();
Appalco 0:351a2fb21235 62
Appalco 0:351a2fb21235 63 speedLeftFilter.setPeriod(PERIOD);
Appalco 0:351a2fb21235 64 speedLeftFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
Appalco 0:351a2fb21235 65
Appalco 0:351a2fb21235 66 speedRightFilter.setPeriod(PERIOD);
Appalco 0:351a2fb21235 67 speedRightFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
Appalco 0:351a2fb21235 68
Appalco 0:351a2fb21235 69 desiredSpeedLeft = 0.0f;
Appalco 0:351a2fb21235 70 desiredSpeedRight = 0.0f;
Appalco 0:351a2fb21235 71
Appalco 0:351a2fb21235 72 actualSpeedLeft = 0.0f;
Appalco 0:351a2fb21235 73 actualSpeedRight = 0.0f;
Appalco 0:351a2fb21235 74
Appalco 0:351a2fb21235 75 x = 0.0f;
Appalco 0:351a2fb21235 76 y = 0.0f;
Appalco 0:351a2fb21235 77 alpha = 0.0f;
Appalco 0:351a2fb21235 78
Appalco 0:351a2fb21235 79 p[0][0] = 0.001f;
Appalco 0:351a2fb21235 80 p[0][1] = 0.0f;
Appalco 0:351a2fb21235 81 p[0][2] = 0.0f;
Appalco 0:351a2fb21235 82 p[1][0] = 0.0f;
Appalco 0:351a2fb21235 83 p[1][1] = 0.001f;
Appalco 0:351a2fb21235 84 p[1][2] = 0.0f;
Appalco 0:351a2fb21235 85 p[2][0] = 0.0f;
Appalco 0:351a2fb21235 86 p[2][1] = 0.0f;
Appalco 0:351a2fb21235 87 p[2][2] = 0.001f;
Appalco 0:351a2fb21235 88
Appalco 0:351a2fb21235 89 // start periodic task
Appalco 0:351a2fb21235 90
Appalco 0:351a2fb21235 91 ticker.attach(callback(this, &Controller::run), PERIOD);
Appalco 0:351a2fb21235 92 }
Appalco 0:351a2fb21235 93
Appalco 0:351a2fb21235 94 /**
Appalco 0:351a2fb21235 95 * Deletes the Controller object and releases all allocated resources.
Appalco 0:351a2fb21235 96 */
Appalco 0:351a2fb21235 97 Controller::~Controller() {
Appalco 0:351a2fb21235 98
Appalco 0:351a2fb21235 99 ticker.detach();
Appalco 0:351a2fb21235 100 }
Appalco 0:351a2fb21235 101
Appalco 0:351a2fb21235 102 /**
Appalco 0:351a2fb21235 103 * Sets the desired translational velocity of the robot.
Appalco 0:351a2fb21235 104 * @param velocity the desired translational velocity, given in [m/s].
Appalco 0:351a2fb21235 105 */
Appalco 0:351a2fb21235 106 void Controller::setTranslationalVelocity(float velocity) {
Appalco 0:351a2fb21235 107
Appalco 0:351a2fb21235 108 this->translationalVelocity = velocity;
Appalco 0:351a2fb21235 109 }
Appalco 0:351a2fb21235 110
Appalco 0:351a2fb21235 111 /**
Appalco 0:351a2fb21235 112 * Sets the desired rotational velocity of the robot.
Appalco 0:351a2fb21235 113 * @param velocity the desired rotational velocity, given in [rad/s].
Appalco 0:351a2fb21235 114 */
Appalco 0:351a2fb21235 115 void Controller::setRotationalVelocity(float velocity) {
Appalco 0:351a2fb21235 116
Appalco 0:351a2fb21235 117 this->rotationalVelocity = velocity;
Appalco 0:351a2fb21235 118 }
Appalco 0:351a2fb21235 119
Appalco 0:351a2fb21235 120 /**
Appalco 0:351a2fb21235 121 * Gets the actual translational velocity of the robot.
Appalco 0:351a2fb21235 122 * @return the actual translational velocity, given in [m/s].
Appalco 0:351a2fb21235 123 */
Appalco 0:351a2fb21235 124 float Controller::getActualTranslationalVelocity() {
Appalco 0:351a2fb21235 125
Appalco 0:351a2fb21235 126 return actualTranslationalVelocity;
Appalco 0:351a2fb21235 127 }
Appalco 0:351a2fb21235 128
Appalco 0:351a2fb21235 129 /**
Appalco 0:351a2fb21235 130 * Gets the actual rotational velocity of the robot.
Appalco 0:351a2fb21235 131 * @return the actual rotational velocity, given in [rad/s].
Appalco 0:351a2fb21235 132 */
Appalco 0:351a2fb21235 133 float Controller::getActualRotationalVelocity() {
Appalco 0:351a2fb21235 134
Appalco 0:351a2fb21235 135 return actualRotationalVelocity;
Appalco 0:351a2fb21235 136 }
Appalco 0:351a2fb21235 137
Appalco 0:351a2fb21235 138 /**
Appalco 0:351a2fb21235 139 * Sets the actual x coordinate of the robots position.
Appalco 0:351a2fb21235 140 * @param x the x coordinate of the position, given in [m].
Appalco 0:351a2fb21235 141 */
Appalco 0:351a2fb21235 142 void Controller::setX(float x) {
Appalco 0:351a2fb21235 143
Appalco 0:351a2fb21235 144 this->x = x;
Appalco 0:351a2fb21235 145 }
Appalco 0:351a2fb21235 146
Appalco 0:351a2fb21235 147 /**
Appalco 0:351a2fb21235 148 * Gets the actual x coordinate of the robots position.
Appalco 0:351a2fb21235 149 * @return the x coordinate of the position, given in [m].
Appalco 0:351a2fb21235 150 */
Appalco 0:351a2fb21235 151 float Controller::getX() {
Appalco 0:351a2fb21235 152
Appalco 0:351a2fb21235 153 return x;
Appalco 0:351a2fb21235 154 }
Appalco 0:351a2fb21235 155
Appalco 0:351a2fb21235 156 /**
Appalco 0:351a2fb21235 157 * Sets the actual y coordinate of the robots position.
Appalco 0:351a2fb21235 158 * @param y the y coordinate of the position, given in [m].
Appalco 0:351a2fb21235 159 */
Appalco 0:351a2fb21235 160 void Controller::setY(float y) {
Appalco 0:351a2fb21235 161
Appalco 0:351a2fb21235 162 this->y = y;
Appalco 0:351a2fb21235 163 }
Appalco 0:351a2fb21235 164
Appalco 0:351a2fb21235 165 /**
Appalco 0:351a2fb21235 166 * Gets the actual y coordinate of the robots position.
Appalco 0:351a2fb21235 167 * @return the y coordinate of the position, given in [m].
Appalco 0:351a2fb21235 168 */
Appalco 0:351a2fb21235 169 float Controller::getY() {
Appalco 0:351a2fb21235 170
Appalco 0:351a2fb21235 171 return y;
Appalco 0:351a2fb21235 172 }
Appalco 0:351a2fb21235 173
Appalco 0:351a2fb21235 174 /**
Appalco 0:351a2fb21235 175 * Sets the actual orientation of the robot.
Appalco 0:351a2fb21235 176 * @param alpha the orientation, given in [rad].
Appalco 0:351a2fb21235 177 */
Appalco 0:351a2fb21235 178 void Controller::setAlpha(float alpha) {
Appalco 0:351a2fb21235 179
Appalco 0:351a2fb21235 180 this->alpha = alpha;
Appalco 0:351a2fb21235 181 }
Appalco 0:351a2fb21235 182
Appalco 0:351a2fb21235 183 /**
Appalco 0:351a2fb21235 184 * Gets the actual orientation of the robot.
Appalco 0:351a2fb21235 185 * @return the orientation, given in [rad].
Appalco 0:351a2fb21235 186 */
Appalco 0:351a2fb21235 187 float Controller::getAlpha() {
Appalco 0:351a2fb21235 188
Appalco 0:351a2fb21235 189 return alpha;
Appalco 0:351a2fb21235 190 }
Appalco 0:351a2fb21235 191
Appalco 0:351a2fb21235 192 /**
Appalco 0:351a2fb21235 193 * Correct the pose with given actual and measured coordinates of a beacon.
Appalco 0:351a2fb21235 194 * @param xActual the actual x coordinate of the beacon, given in [m].
Appalco 0:351a2fb21235 195 * @param yActual the actual y coordinate of the beacon, given in [m].
Appalco 0:351a2fb21235 196 * @param xMeasured the x coordinate of the beacon measured with a sensor(i.e. a laser scanner), given in [m].
Appalco 0:351a2fb21235 197 * @param yMeasured the y coordinate of the beacon measured with a sensor(i.e. a laser scanner), given in [m].
Appalco 0:351a2fb21235 198 */
Appalco 0:351a2fb21235 199 void Controller::correctPoseWithBeacon(float xActual, float yActual, float xMeasured, float yMeasured) {
Appalco 0:351a2fb21235 200
Appalco 0:351a2fb21235 201 // create copies of current state and covariance matrix for Kalman filter P
Appalco 0:351a2fb21235 202
Appalco 0:351a2fb21235 203 float x = this->x;
Appalco 0:351a2fb21235 204 float y = this->y;
Appalco 0:351a2fb21235 205 float alpha = this->alpha;
Appalco 0:351a2fb21235 206
Appalco 0:351a2fb21235 207 float p[3][3];
Appalco 0:351a2fb21235 208
Appalco 0:351a2fb21235 209 for (int i = 0; i < 3; i++) {
Appalco 0:351a2fb21235 210 for (int j = 0; j < 3; j++) {
Appalco 0:351a2fb21235 211 p[i][j] = this->p[i][j];
Appalco 0:351a2fb21235 212 }
Appalco 0:351a2fb21235 213 }
Appalco 0:351a2fb21235 214
Appalco 0:351a2fb21235 215 // calculate covariance matrix of innovation S
Appalco 0:351a2fb21235 216
Appalco 0:351a2fb21235 217 float s[2][2];
Appalco 0:351a2fb21235 218 float r = sqrt((xActual-x)*(xActual-x)+(yActual-y)*(yActual-y));
Appalco 0:351a2fb21235 219
Appalco 0:351a2fb21235 220 s[0][0] = 1.0f/r/r*(p[1][0]*xActual*yActual+p[1][1]*yActual*yActual+r*r*SIGMA_DISTANCE*SIGMA_DISTANCE+p[0][0]*(xActual-x)*(xActual-x)-p[1][0]*yActual*x+p[0][1]*(xActual-x)*(yActual-y)-p[1][0]*xActual*y-2.0f*p[1][1]*yActual*y+p[1][0]*x*y+p[1][1]*y*y);
Appalco 0:351a2fb21235 221 s[0][1] = -(1.0f/r/r/r*(-p[1][1]*xActual*yActual+p[1][0]*yActual*yActual-p[0][2]*xActual*r*r-p[1][2]*yActual*r*r-p[0][1]*(xActual-x)*(xActual-x)+p[1][1]*yActual*x+p[0][2]*r*r*x+p[0][0]*(xActual-x)*(yActual-y)+p[1][1]*xActual*y-2.0f*p[1][0]*yActual*y+p[1][2]*r*r*y-p[1][1]*x*y+p[1][0]*y*y));
Appalco 0:351a2fb21235 222 s[1][0] = ((xActual-x)*(p[2][0]*r*r+p[1][0]*(xActual-x)+p[0][0]*(-yActual+y))+(yActual-y)*(p[2][1]*r*r+p[1][1]*(xActual-x)+p[0][1]*(-yActual+y)))/r/r/r;
Appalco 0:351a2fb21235 223 s[1][1] = p[2][2]+SIGMA_GAMMA*SIGMA_GAMMA+p[1][2]*(xActual-x)/r/r+p[0][2]*(-yActual+y)/r/r-(yActual-y)*(p[2][0]*r*r+p[1][0]*(xActual-x)+p[0][0]*(-yActual+y))/r/r/r/r+(xActual-x)*(p[2][1]*r*r+p[1][1]*(xActual-x)+p[0][1]*(-yActual+y))/r/r/r/r;
Appalco 0:351a2fb21235 224
Appalco 0:351a2fb21235 225 // calculate Kalman matrix K
Appalco 0:351a2fb21235 226
Appalco 0:351a2fb21235 227 float k[3][2];
Appalco 0:351a2fb21235 228
Appalco 0:351a2fb21235 229 k[0][0] = -((s[1][0]*(-p[0][2]+(p[0][1]*(-xActual+x))/r/r+(p[0][0]*(yActual-y))/r/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1]))+(s[1][1]*((p[0][0]*(-xActual+x))/r+(p[0][1]*(-yActual+y))/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1]);
Appalco 0:351a2fb21235 230 k[0][1] = (s[0][0]*(-p[0][2]+(p[0][1]*(-xActual+x))/r/r+(p[0][0]*(yActual-y))/r/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1])-(s[0][1]*((p[0][0]*(-xActual+x))/r+(p[0][1]*(-yActual+y))/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1]);
Appalco 0:351a2fb21235 231 k[1][0] = -((s[1][0]*(-p[1][2]+(p[1][1]*(-xActual+x))/r/r+(p[1][0]*(yActual-y))/r/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1]))+(s[1][1]*((p[1][0]*(-xActual+x))/r+(p[1][1]*(-yActual+y))/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1]);
Appalco 0:351a2fb21235 232 k[1][1] = (s[0][0]*(-p[1][2]+(p[1][1]*(-xActual+x))/r/r+(p[1][0]*(yActual-y))/r/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1])-(s[0][1]*((p[1][0]*(-xActual+x))/r+(p[1][1]*(-yActual+y))/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1]);
Appalco 0:351a2fb21235 233 k[2][0] = -((s[1][0]*(-p[2][2]+(p[2][1]*(-xActual+x))/r/r+(p[2][0]*(yActual-y))/r/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1]))+(s[1][1]*((p[2][0]*(-xActual+x))/r+(p[2][1]*(-yActual+y))/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1]);
Appalco 0:351a2fb21235 234 k[2][1] = (s[0][0]*(-p[2][2]+(p[2][1]*(-xActual+x))/r/r+(p[2][0]*(yActual-y))/r/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1])-(s[0][1]*((p[2][0]*(-xActual+x))/r+(p[2][1]*(-yActual+y))/r))/(-(s[0][1]*s[1][0])+s[0][0]*s[1][1]);
Appalco 0:351a2fb21235 235
Appalco 0:351a2fb21235 236 // calculate pose correction
Appalco 0:351a2fb21235 237
Appalco 0:351a2fb21235 238 float distanceMeasured = sqrt((xMeasured-x)*(xMeasured-x)+(yMeasured-y)*(yMeasured-y));
Appalco 0:351a2fb21235 239 float gammaMeasured = atan2(yMeasured-y, xMeasured-x)-alpha;
Appalco 0:351a2fb21235 240
Appalco 0:351a2fb21235 241 if (gammaMeasured > PI) gammaMeasured -= 2.0f*PI;
Appalco 0:351a2fb21235 242 else if (gammaMeasured < -PI) gammaMeasured += 2.0f*PI;
Appalco 0:351a2fb21235 243
Appalco 0:351a2fb21235 244 float distanceEstimated = sqrt((xActual-x)*(xActual-x)+(yActual-y)*(yActual-y));
Appalco 0:351a2fb21235 245 float gammaEstimated = atan2(yActual-y, xActual-x)-alpha;
Appalco 0:351a2fb21235 246
Appalco 0:351a2fb21235 247 if (gammaEstimated > PI) gammaEstimated -= 2.0f*PI;
Appalco 0:351a2fb21235 248 else if (gammaEstimated < -PI) gammaEstimated += 2.0f*PI;
Appalco 0:351a2fb21235 249
Appalco 0:351a2fb21235 250 x += k[0][0]*(distanceMeasured-distanceEstimated)+k[0][1]*(gammaMeasured-gammaEstimated);
Appalco 0:351a2fb21235 251 y += k[1][0]*(distanceMeasured-distanceEstimated)+k[1][1]*(gammaMeasured-gammaEstimated);
Appalco 0:351a2fb21235 252 alpha += k[2][0]*(distanceMeasured-distanceEstimated)+k[2][1]*(gammaMeasured-gammaEstimated);
Appalco 0:351a2fb21235 253
Appalco 0:351a2fb21235 254 this->x = x;
Appalco 0:351a2fb21235 255 this->y = y;
Appalco 0:351a2fb21235 256 this->alpha = alpha;
Appalco 0:351a2fb21235 257
Appalco 0:351a2fb21235 258 // calculate correction of covariance matrix for Kalman filter P
Appalco 0:351a2fb21235 259
Appalco 0:351a2fb21235 260 p[0][0] = k[0][1]*p[2][0]+p[0][0]*(1-(k[0][0]*(-xActual+x))/r-(k[0][1]*(yActual-y))/r/r)+p[1][0]*(-((k[0][1]*(-xActual+x))/r/r)-(k[0][0]*(-yActual+y))/r);
Appalco 0:351a2fb21235 261 p[0][1] = k[0][1]*p[2][1]+p[0][1]*(1-(k[0][0]*(-xActual+x))/r-(k[0][1]*(yActual-y))/r/r)+p[1][1]*(-((k[0][1]*(-xActual+x))/r/r)-(k[0][0]*(-yActual+y))/r);
Appalco 0:351a2fb21235 262 p[0][2] = k[0][1]*p[2][2]+p[0][2]*(1-(k[0][0]*(-xActual+x))/r-(k[0][1]*(yActual-y))/r/r)+p[1][2]*(-((k[0][1]*(-xActual+x))/r/r)-(k[0][0]*(-yActual+y))/r);
Appalco 0:351a2fb21235 263
Appalco 0:351a2fb21235 264 p[1][0] = k[1][1]*p[2][0]+p[0][0]*(-((k[1][0]*(-xActual+x))/r)-(k[1][1]*(yActual-y))/r/r)+p[1][0]*(1-(k[1][1]*(-xActual+x))/r/r-(k[1][0]*(-yActual+y))/r);
Appalco 0:351a2fb21235 265 p[1][1] = k[1][1]*p[2][1]+p[0][1]*(-((k[1][0]*(-xActual+x))/r)-(k[1][1]*(yActual-y))/r/r)+p[1][1]*(1-(k[1][1]*(-xActual+x))/r/r-(k[1][0]*(-yActual+y))/r);
Appalco 0:351a2fb21235 266 p[1][2] = k[1][1]*p[2][2]+p[0][2]*(-((k[1][0]*(-xActual+x))/r)-(k[1][1]*(yActual-y))/r/r)+p[1][2]*(1-(k[1][1]*(-xActual+x))/r/r-(k[1][0]*(-yActual+y))/r);
Appalco 0:351a2fb21235 267
Appalco 0:351a2fb21235 268 p[2][0] = (1+k[2][1])*p[2][0]+p[0][0]*(-((k[2][0]*(-xActual+x))/r)-(k[2][1]*(yActual-y))/r/r)+p[1][0]*(-((k[2][1]*(-xActual+x))/r/r)-(k[2][0]*(-yActual+y))/r);
Appalco 0:351a2fb21235 269 p[2][1] = (1+k[2][1])*p[2][1]+p[0][1]*(-((k[2][0]*(-xActual+x))/r)-(k[2][1]*(yActual-y))/r/r)+p[1][1]*(-((k[2][1]*(-xActual+x))/r/r)-(k[2][0]*(-yActual+y))/r);
Appalco 0:351a2fb21235 270 p[2][2] = (1+k[2][1])*p[2][2]+p[0][2]*(-((k[2][0]*(-xActual+x))/r)-(k[2][1]*(yActual-y))/r/r)+p[1][2]*(-((k[2][1]*(-xActual+x))/r/r)-(k[2][0]*(-yActual+y))/r);
Appalco 0:351a2fb21235 271
Appalco 0:351a2fb21235 272 for (int i = 0; i < 3; i++) {
Appalco 0:351a2fb21235 273 for (int j = 0; j < 3; j++) {
Appalco 0:351a2fb21235 274 this->p[i][j] = p[i][j];
Appalco 0:351a2fb21235 275 }
Appalco 0:351a2fb21235 276 }
Appalco 0:351a2fb21235 277 }
Appalco 0:351a2fb21235 278
Appalco 0:351a2fb21235 279 /**
Appalco 0:351a2fb21235 280 * This method is called periodically by the ticker object and contains the
Appalco 0:351a2fb21235 281 * algorithm of the speed controller.
Appalco 0:351a2fb21235 282 */
Appalco 0:351a2fb21235 283 void Controller::run() {
Appalco 0:351a2fb21235 284
Appalco 0:351a2fb21235 285 // calculate the planned velocities using the motion planner
Appalco 0:351a2fb21235 286
Appalco 0:351a2fb21235 287 translationalMotion.incrementToVelocity(translationalVelocity, PERIOD);
Appalco 0:351a2fb21235 288 rotationalMotion.incrementToVelocity(rotationalVelocity, PERIOD);
Appalco 0:351a2fb21235 289
Appalco 0:351a2fb21235 290 // calculate the values 'desiredSpeedLeft' and 'desiredSpeedRight' using the kinematic model
Appalco 0:351a2fb21235 291
Appalco 0:351a2fb21235 292 desiredSpeedLeft = (translationalMotion.velocity-WHEEL_DISTANCE/2.0f*rotationalMotion.velocity)/WHEEL_RADIUS*60.0f/2.0f/PI;
Appalco 0:351a2fb21235 293 desiredSpeedRight = -(translationalMotion.velocity+WHEEL_DISTANCE/2.0f*rotationalMotion.velocity)/WHEEL_RADIUS*60.0f/2.0f/PI;
Appalco 0:351a2fb21235 294
Appalco 0:351a2fb21235 295 // calculate actual speed of motors in [rpm]
Appalco 0:351a2fb21235 296
Appalco 0:351a2fb21235 297 short valueCounterLeft = counterLeft.read();
Appalco 0:351a2fb21235 298 short valueCounterRight = counterRight.read();
Appalco 0:351a2fb21235 299
Appalco 0:351a2fb21235 300 short countsInPastPeriodLeft = valueCounterLeft-previousValueCounterLeft;
Appalco 0:351a2fb21235 301 short countsInPastPeriodRight = valueCounterRight-previousValueCounterRight;
Appalco 0:351a2fb21235 302
Appalco 0:351a2fb21235 303 previousValueCounterLeft = valueCounterLeft;
Appalco 0:351a2fb21235 304 previousValueCounterRight = valueCounterRight;
Appalco 0:351a2fb21235 305
Appalco 0:351a2fb21235 306 actualSpeedLeft = speedLeftFilter.filter((float)countsInPastPeriodLeft/COUNTS_PER_TURN/PERIOD*60.0f);
Appalco 0:351a2fb21235 307 actualSpeedRight = speedRightFilter.filter((float)countsInPastPeriodRight/COUNTS_PER_TURN/PERIOD*60.0f);
Appalco 0:351a2fb21235 308
Appalco 0:351a2fb21235 309 // calculate motor phase voltages
Appalco 0:351a2fb21235 310
Appalco 0:351a2fb21235 311 float voltageLeft = KP*(desiredSpeedLeft-actualSpeedLeft)+desiredSpeedLeft/KN;
Appalco 0:351a2fb21235 312 float voltageRight = KP*(desiredSpeedRight-actualSpeedRight)+desiredSpeedRight/KN;
Appalco 0:351a2fb21235 313
Appalco 0:351a2fb21235 314 // calculate, limit and set duty cycles
Appalco 0:351a2fb21235 315
Appalco 0:351a2fb21235 316 float dutyCycleLeft = 0.5f+0.5f*voltageLeft/MAX_VOLTAGE;
Appalco 0:351a2fb21235 317 if (dutyCycleLeft < MIN_DUTY_CYCLE) dutyCycleLeft = MIN_DUTY_CYCLE;
Appalco 0:351a2fb21235 318 else if (dutyCycleLeft > MAX_DUTY_CYCLE) dutyCycleLeft = MAX_DUTY_CYCLE;
Appalco 0:351a2fb21235 319 pwmLeft.write(dutyCycleLeft);
Appalco 0:351a2fb21235 320
Appalco 0:351a2fb21235 321 float dutyCycleRight = 0.5f+0.5f*voltageRight/MAX_VOLTAGE;
Appalco 0:351a2fb21235 322 if (dutyCycleRight < MIN_DUTY_CYCLE) dutyCycleRight = MIN_DUTY_CYCLE;
Appalco 0:351a2fb21235 323 else if (dutyCycleRight > MAX_DUTY_CYCLE) dutyCycleRight = MAX_DUTY_CYCLE;
Appalco 0:351a2fb21235 324 pwmRight.write(dutyCycleRight);
Appalco 0:351a2fb21235 325
Appalco 0:351a2fb21235 326 // calculate the values 'actualTranslationalVelocity' and 'actualRotationalVelocity' using the kinematic model
Appalco 0:351a2fb21235 327
Appalco 0:351a2fb21235 328 actualTranslationalVelocity = (actualSpeedLeft-actualSpeedRight)*2.0f*PI/60.0f*WHEEL_RADIUS/2.0f;
Appalco 0:351a2fb21235 329 actualRotationalVelocity = (-actualSpeedRight-actualSpeedLeft)*2.0f*PI/60.0f*WHEEL_RADIUS/WHEEL_DISTANCE;
Appalco 0:351a2fb21235 330
Appalco 0:351a2fb21235 331 // calculate the actual robot pose
Appalco 0:351a2fb21235 332
Appalco 0:351a2fb21235 333 float deltaTranslation = actualTranslationalVelocity*PERIOD;
Appalco 0:351a2fb21235 334 float deltaOrientation = actualRotationalVelocity*PERIOD;
Appalco 0:351a2fb21235 335
Appalco 0:351a2fb21235 336 float sinAlpha = sin(alpha+deltaOrientation);
Appalco 0:351a2fb21235 337 float cosAlpha = cos(alpha+deltaOrientation);
Appalco 0:351a2fb21235 338
Appalco 0:351a2fb21235 339 x += cosAlpha*deltaTranslation;
Appalco 0:351a2fb21235 340 y += sinAlpha*deltaTranslation;
Appalco 0:351a2fb21235 341 float alpha = this->alpha+deltaOrientation;
Appalco 0:351a2fb21235 342
Appalco 0:351a2fb21235 343 while (alpha > PI) alpha -= 2.0f*PI;
Appalco 0:351a2fb21235 344 while (alpha < -PI) alpha += 2.0f*PI;
Appalco 0:351a2fb21235 345
Appalco 0:351a2fb21235 346 this->alpha = alpha;
Appalco 0:351a2fb21235 347
Appalco 0:351a2fb21235 348 // calculate covariance matrix for Kalman filter P
Appalco 0:351a2fb21235 349
Appalco 0:351a2fb21235 350 p[0][0] = p[0][0]+SIGMA_TRANSLATION*SIGMA_TRANSLATION*cosAlpha*cosAlpha+deltaTranslation*deltaTranslation*(SIGMA_ORIENTATION*SIGMA_ORIENTATION+p[2][2])*sinAlpha*sinAlpha-deltaTranslation*(p[0][2]+p[2][0])*sinAlpha;
Appalco 0:351a2fb21235 351 p[0][1] = p[0][1]-deltaTranslation*p[2][1]*sinAlpha+cosAlpha*(deltaTranslation*p[0][2]+(SIGMA_TRANSLATION*SIGMA_TRANSLATION-deltaTranslation*deltaTranslation*(SIGMA_ORIENTATION*SIGMA_ORIENTATION+p[2][2]))*sinAlpha);
Appalco 0:351a2fb21235 352 p[0][2] = p[0][2]-deltaTranslation*(SIGMA_ORIENTATION*SIGMA_ORIENTATION+p[2][2])*sinAlpha;
Appalco 0:351a2fb21235 353
Appalco 0:351a2fb21235 354 p[1][0] = p[1][0]-deltaTranslation*p[1][2]*sinAlpha+cosAlpha*(deltaTranslation*p[2][0]+(SIGMA_TRANSLATION*SIGMA_TRANSLATION-deltaTranslation*deltaTranslation*(SIGMA_ORIENTATION*SIGMA_ORIENTATION+p[2][2]))*sinAlpha);
Appalco 0:351a2fb21235 355 p[1][1] = p[1][1]+deltaTranslation*deltaTranslation*(SIGMA_ORIENTATION*SIGMA_ORIENTATION+p[2][2])*cosAlpha*cosAlpha+deltaTranslation*(p[1][2]+p[2][1])*cosAlpha+SIGMA_TRANSLATION*SIGMA_TRANSLATION*sinAlpha*sinAlpha;
Appalco 0:351a2fb21235 356 p[1][2] = p[1][2]+deltaTranslation*(SIGMA_ORIENTATION*SIGMA_ORIENTATION+p[2][2])*cosAlpha;
Appalco 0:351a2fb21235 357
Appalco 0:351a2fb21235 358 p[2][0] = p[2][0]-deltaTranslation*(SIGMA_ORIENTATION*SIGMA_ORIENTATION+p[2][2])*sinAlpha;
Appalco 0:351a2fb21235 359 p[2][1] = p[2][1]+deltaTranslation*(SIGMA_ORIENTATION*SIGMA_ORIENTATION+p[2][2])*cosAlpha;
Appalco 0:351a2fb21235 360 p[2][2] = p[2][2]+SIGMA_ORIENTATION*SIGMA_ORIENTATION;
Appalco 0:351a2fb21235 361 }
Appalco 0:351a2fb21235 362