Zürcher Eliteeinheit / Mbed 2 deprecated ROME2_P6

rome2_p6 imported

Dependencies:   mbed

TaskMoveToWaypoint.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 * TaskMoveToWaypoint.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 "TaskMoveToWaypoint.h"
Appalco 0:351a2fb21235 9
Appalco 0:351a2fb21235 10 using namespace std;
Appalco 0:351a2fb21235 11
Appalco 0:351a2fb21235 12 const float TaskMoveToWaypoint::DEFAULT_VELOCITY = 0.2f; // default velocity value, given in [m/s]
Appalco 0:351a2fb21235 13 const float TaskMoveToWaypoint::PI = 3.14159265f; // the constant PI
Appalco 0:351a2fb21235 14 const float TaskMoveToWaypoint::K = 2.0f; // controller gain parameter
Appalco 0:351a2fb21235 15
Appalco 0:351a2fb21235 16 /**
Appalco 0:351a2fb21235 17 * Creates a task object that moves the robot to a given waypoint.
Appalco 0:351a2fb21235 18 * @param conroller a reference to the controller object of the robot.
Appalco 0:351a2fb21235 19 * @param x the x coordinate of the waypoint position, given in [m].
Appalco 0:351a2fb21235 20 * @param y the y coordinate of the waypoint position, given in [m].
Appalco 0:351a2fb21235 21 */
Appalco 0:351a2fb21235 22 TaskMoveToWaypoint::TaskMoveToWaypoint(Controller& controller, float x, float y) : controller(controller) {
Appalco 0:351a2fb21235 23
Appalco 0:351a2fb21235 24 this->x = x;
Appalco 0:351a2fb21235 25 this->y = y;
Appalco 0:351a2fb21235 26 this->velocity = DEFAULT_VELOCITY;
Appalco 0:351a2fb21235 27 this->initialDistance = 0.0f;
Appalco 0:351a2fb21235 28 }
Appalco 0:351a2fb21235 29
Appalco 0:351a2fb21235 30 /**
Appalco 0:351a2fb21235 31 * Creates a task object that moves the robot to a given waypoint.
Appalco 0:351a2fb21235 32 * @param conroller a reference to the controller object of the robot.
Appalco 0:351a2fb21235 33 * @param x the x coordinate of the target position, given in [m].
Appalco 0:351a2fb21235 34 * @param y the y coordinate of the target position, given in [m].
Appalco 0:351a2fb21235 35 * @param velocity the maximum translational velocity, given in [m/s].
Appalco 0:351a2fb21235 36 */
Appalco 0:351a2fb21235 37 TaskMoveToWaypoint::TaskMoveToWaypoint(Controller& controller, float x, float y, float velocity) : controller(controller) {
Appalco 0:351a2fb21235 38
Appalco 0:351a2fb21235 39 this->x = x;
Appalco 0:351a2fb21235 40 this->y = y;
Appalco 0:351a2fb21235 41 this->velocity = velocity;
Appalco 0:351a2fb21235 42 this->initialDistance = 0.0f;
Appalco 0:351a2fb21235 43 }
Appalco 0:351a2fb21235 44
Appalco 0:351a2fb21235 45 /**
Appalco 0:351a2fb21235 46 * Deletes the task object.
Appalco 0:351a2fb21235 47 */
Appalco 0:351a2fb21235 48 TaskMoveToWaypoint::~TaskMoveToWaypoint() {}
Appalco 0:351a2fb21235 49
Appalco 0:351a2fb21235 50 /**
Appalco 0:351a2fb21235 51 * This method is called periodically by a task sequencer.
Appalco 0:351a2fb21235 52 * @param period the period of the task sequencer, given in [s].
Appalco 0:351a2fb21235 53 * @return the status of this task, i.e. RUNNING or DONE.
Appalco 0:351a2fb21235 54 */
Appalco 0:351a2fb21235 55 int TaskMoveToWaypoint::run(float period) {
Appalco 0:351a2fb21235 56
Appalco 0:351a2fb21235 57 float translationalVelocity = 0.0f;
Appalco 0:351a2fb21235 58 float rotationalVelocity = 0.0f;
Appalco 0:351a2fb21235 59
Appalco 0:351a2fb21235 60 float x = controller.getX();
Appalco 0:351a2fb21235 61 float y = controller.getY();
Appalco 0:351a2fb21235 62 float alpha = controller.getAlpha();
Appalco 0:351a2fb21235 63
Appalco 0:351a2fb21235 64 float rho = sqrt((this->x-x)*(this->x-x)+(this->y-y)*(this->y-y));
Appalco 0:351a2fb21235 65 float gamma = atan2(this->y-y, this->x-x)-alpha;
Appalco 0:351a2fb21235 66
Appalco 0:351a2fb21235 67 while (gamma < -PI) gamma += 2.0f*PI;
Appalco 0:351a2fb21235 68 while (gamma > PI) gamma -= 2.0f*PI;
Appalco 0:351a2fb21235 69
Appalco 0:351a2fb21235 70 if (initialDistance == 0.0f) initialDistance = rho;
Appalco 0:351a2fb21235 71
Appalco 0:351a2fb21235 72 translationalVelocity = velocity;
Appalco 0:351a2fb21235 73 rotationalVelocity = (rho < initialDistance/2.0f) ? 0.0f : K*gamma;
Appalco 0:351a2fb21235 74
Appalco 0:351a2fb21235 75 controller.setTranslationalVelocity(translationalVelocity);
Appalco 0:351a2fb21235 76 controller.setRotationalVelocity(rotationalVelocity);
Appalco 0:351a2fb21235 77
Appalco 0:351a2fb21235 78 return (rho < initialDistance/2.0f) && ((gamma < -PI/2.0f) || (gamma > PI/2.0f)) ? DONE : RUNNING;
Appalco 0:351a2fb21235 79 }
Appalco 0:351a2fb21235 80