altb_pmic / Mbed 2 deprecated Test_Realbot

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Dependencies:   mbed

main.cpp@1:e79de7ffd211, 2019-12-04 (annotated)

Committer:
pmic
Date:
Wed Dec 04 10:35:14 2019 +0000
Revision:
1:e79de7ffd211
Parent:
0:937360eb9f8c
Child:
2:27f16e37a176
First test in main successfull.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 0:937360eb9f8c 1 #include "mbed.h"
pmic 0:937360eb9f8c 2 #include "PT1_Controller.h"
pmic 0:937360eb9f8c 3 #include "Target_Planer.h"
pmic 0:937360eb9f8c 4 #include <vector>
pmic 0:937360eb9f8c 5
pmic 0:937360eb9f8c 6 using namespace std;
pmic 0:937360eb9f8c 7
pmic 0:937360eb9f8c 8 #define pi 3.141592653589793
pmic 0:937360eb9f8c 9
pmic 0:937360eb9f8c 10 Serial pc(SERIAL_TX, SERIAL_RX);
pmic 0:937360eb9f8c 11
pmic 0:937360eb9f8c 12 double kpv = 0.6412; // proportional controller for distance error
pmic 0:937360eb9f8c 13 double kpw = 0.6801; // proportional controller for angle error
pmic 0:937360eb9f8c 14 double Ts = 1/30.0; // samplingrate 30 Hz
pmic 0:937360eb9f8c 15 double Tf = 1/(2.0*pi*4.0); // fg = 4 Hz
pmic 0:937360eb9f8c 16 PT1_Controller distance_cntr(kpv, Ts, Tf);
pmic 0:937360eb9f8c 17 PT1_Controller angle_cntr(kpw, Ts, Tf);
pmic 0:937360eb9f8c 18
pmic 0:937360eb9f8c 19 // (vRx (m/s), wR (rad/s)) -> (vRxRB (unit unknown), wRRB (unit unknown))
pmic 0:937360eb9f8c 20 // Cu2uRB = 2.8070 0
pmic 0:937360eb9f8c 21 // 0 0.9263
pmic 0:937360eb9f8c 22 double kv2RB = 2.8070; // maps desired forward velocity from m/s 2 RB unit
pmic 0:937360eb9f8c 23 double kw2RB = 0.9263; // maps desired turn speed from rad/s 2 RB unit
pmic 0:937360eb9f8c 24
pmic 0:937360eb9f8c 25 Timer timer; // timer for time measurement
pmic 0:937360eb9f8c 26 float dt = 0.0f;
pmic 0:937360eb9f8c 27
pmic 0:937360eb9f8c 28 uint32_t i;
pmic 0:937360eb9f8c 29
pmic 0:937360eb9f8c 30 // user defined functions
pmic 0:937360eb9f8c 31 double quat2psi(double qw, double qx, double qy, double qz);
pmic 0:937360eb9f8c 32 double getShortRotation(double ang);
pmic 0:937360eb9f8c 33
pmic 0:937360eb9f8c 34 const int N = 4;
pmic 0:937360eb9f8c 35 double Pathx[N] = {0, 2, 1, 4};
pmic 0:937360eb9f8c 36 double Pathy[N] = {0, 3, 0 ,1};
pmic 0:937360eb9f8c 37 double R = 0.16;
pmic 0:937360eb9f8c 38 Target_Planer target_planer(Pathx, Pathy, (uint16_t)N, R);
pmic 0:937360eb9f8c 39 double RobotPosx = 10.1;
pmic 0:937360eb9f8c 40 double RobotPosy = 10.1;
pmic 1:e79de7ffd211 41 double TargetPosx = -999.0;
pmic 1:e79de7ffd211 42 double TargetPosy = -999.0;
pmic 1:e79de7ffd211 43 double TargetAng = -999.0;
pmic 0:937360eb9f8c 44
pmic 0:937360eb9f8c 45 int main()
pmic 0:937360eb9f8c 46 {
pmic 0:937360eb9f8c 47 pc.baud(2000000);
pmic 0:937360eb9f8c 48
pmic 0:937360eb9f8c 49 timer.start();
pmic 0:937360eb9f8c 50
pmic 0:937360eb9f8c 51 i = 0;
pmic 0:937360eb9f8c 52
pmic 0:937360eb9f8c 53 // reset internal filter storage to zero
pmic 0:937360eb9f8c 54 distance_cntr.reset();
pmic 0:937360eb9f8c 55 angle_cntr.reset();
pmic 0:937360eb9f8c 56
pmic 0:937360eb9f8c 57 while(1) {
pmic 0:937360eb9f8c 58
pmic 0:937360eb9f8c 59 dt = timer.read();
pmic 0:937360eb9f8c 60 timer.reset();
pmic 0:937360eb9f8c 61
pmic 0:937360eb9f8c 62 /*
pmic 0:937360eb9f8c 63 double phiR = quat2psi(double qw, double qx, double qy, double qz); // transform actual robot orientation (quaternioni) into turning angle
pmic 0:937360eb9f8c 64 // it is assumed that target_ang and phiR both lie between -pi and pi
pmic 0:937360eb9f8c 65 double e_ang = getShortRotation(target_angle - phiR);
pmic 0:937360eb9f8c 66 // update angle controller
pmic 0:937360eb9f8c 67 */
pmic 0:937360eb9f8c 68 // double qw = 0.984005578673161;
pmic 0:937360eb9f8c 69 // double qx = 0.009063618716137;
pmic 0:937360eb9f8c 70 // double qy = 0.177899336159591;
pmic 0:937360eb9f8c 71 // double qz = 0.001629344754243;
pmic 0:937360eb9f8c 72
pmic 0:937360eb9f8c 73 if(i < 4) {
pmic 0:937360eb9f8c 74 // pc.printf("%i; %.12f; %.12f; %0.12f; %.6f;\r\n", i, quat2psi(qw, qx, qy, qz), qx*qy + qw*qz, 0.5 - (qy*qy + qz*qz), dt);
pmic 0:937360eb9f8c 75 // pc.printf("%i; %i; %.6f;\r\n", i, target_planer.returnPathLength(), dt);
pmic 1:e79de7ffd211 76 // pc.printf("%i; %.12f; %.12f; %i; %i; %.6f;\r\n", i, target_planer.returnPathxAtIndex(i), target_planer.returnPathyAtIndex(i), target_planer.returnPathLength(), target_planer.returnClosestPointOnPath(RobotPosx, RobotPosy), dt);
pmic 1:e79de7ffd211 77 // pc.printf("%i; %.12f; %.12f;;\r\n", i, TargetPosx, TargetPosy);
pmic 1:e79de7ffd211 78 // target_planer.update(RobotPosx, RobotPosx);
pmic 1:e79de7ffd211 79 // target_planer.readTargetPos(&TargetPosx, &TargetPosy);
pmic 1:e79de7ffd211 80 pc.printf("%i; %.12f; %.12f; %.12f; %.6f;\r\n", i, TargetPosx, TargetPosy, TargetAng, dt);
pmic 1:e79de7ffd211 81 target_planer.updateAndReturnTarget(RobotPosx, RobotPosy, &TargetPosx, &TargetPosy, &TargetAng);
pmic 0:937360eb9f8c 82 }
pmic 0:937360eb9f8c 83
pmic 0:937360eb9f8c 84 i++;
pmic 0:937360eb9f8c 85 wait_us(33333);
pmic 0:937360eb9f8c 86 }
pmic 0:937360eb9f8c 87 }
pmic 0:937360eb9f8c 88
pmic 0:937360eb9f8c 89 /*
pmic 0:937360eb9f8c 90 function psi = quat2psi(q)
pmic 0:937360eb9f8c 91 % q = [qw qx qy qz] (= [q0, q1, q2, q3] = [qr, qi, qj, qk])
pmic 0:937360eb9f8c 92 for i = 1:length(q) % restore norm
pmic 0:937360eb9f8c 93 q(i,:) = q(i,:) / sqrt(q(i,1)^2 + q(i,2)^2 + q(i,3)^2 + q(i,4)^2);
pmic 0:937360eb9f8c 94 end
pmic 0:937360eb9f8c 95 psi = atan2( (q(:,2).*q(:,3) + q(:,1).*q(:,4) ), 1/2 - (q(:,3).^2 + q(:,4).^2) );
pmic 0:937360eb9f8c 96 end
pmic 0:937360eb9f8c 97 */
pmic 0:937360eb9f8c 98 double quat2psi(double qw, double qx, double qy, double qz)
pmic 0:937360eb9f8c 99 {
pmic 0:937360eb9f8c 100 double s = 1/(qw*qw + qx*qx + qy*qy + qz*qz);
pmic 0:937360eb9f8c 101 return atan2(s*(qx*qy + qw*qz), 0.5 - s*(qy*qy + qz*qz));
pmic 0:937360eb9f8c 102 }
pmic 0:937360eb9f8c 103
pmic 0:937360eb9f8c 104 double getShortRotation(double ang)
pmic 0:937360eb9f8c 105 {
pmic 0:937360eb9f8c 106 // we maybe need to introduce a threshold in case the angle is noisy and around +/-pi (180° rotation)
pmic 0:937360eb9f8c 107 return atan2(sin(ang), cos(ang));
pmic 0:937360eb9f8c 108 }
pmic 0:937360eb9f8c 109