DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
LOCOMOTION.cpp@27:fb1298d35bd1, 2016-04-13 (annotated)
- Committer:
- 12104404
- Date:
- Wed Apr 13 03:14:43 2016 +0000
- Revision:
- 27:fb1298d35bd1
- Parent:
- 26:0ea6a550a99d
- Child:
- 28:65daccc10f31
gravity compensation;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
12104404 | 6:0602a9e8118b | 1 | #include "LOCOMOTION.h" |
12104404 | 26:0ea6a550a99d | 2 | |
12104404 | 24:fb1f083ebd62 | 3 | LOCOMOTION::LOCOMOTION (PinName en, PinName motor1F, PinName motor1B, PinName motor2F, PinName motor2B, PinName forward1, PinName forward2, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4): |
12104404 | 24:fb1f083ebd62 | 4 | _en(en), _m1f(motor1F), _m1b(motor1B), _m2f(motor2F), _m2b(motor2B), _m1dir(forward1), _m2dir(forward2), _led1(led1), _led2(led2), _led3(led3), _led4(led4) |
12104404 | 23:455f7da3dd7a | 5 | { |
12104404 | 23:455f7da3dd7a | 6 | s=0; |
12104404 | 25:f3bf8351bbd4 | 7 | setMotors(0); |
12104404 | 23:455f7da3dd7a | 8 | _m1dir=0; |
12104404 | 23:455f7da3dd7a | 9 | _m2dir=0; |
12104404 | 23:455f7da3dd7a | 10 | _en=1; |
12104404 | 24:fb1f083ebd62 | 11 | _led1=1; |
12104404 | 24:fb1f083ebd62 | 12 | wait(0.01); |
12104404 | 24:fb1f083ebd62 | 13 | _led1=0; |
12104404 | 23:455f7da3dd7a | 14 | } |
12104404 | 26:0ea6a550a99d | 15 | |
12104404 | 25:f3bf8351bbd4 | 16 | inline void LOCOMOTION::setMotors(float x) |
12104404 | 15:7729da55873a | 17 | { |
12104404 | 25:f3bf8351bbd4 | 18 | _m1f=x; |
12104404 | 25:f3bf8351bbd4 | 19 | _m1b=x; |
12104404 | 25:f3bf8351bbd4 | 20 | _m2f=x; |
12104404 | 25:f3bf8351bbd4 | 21 | _m2b=x; |
12104404 | 15:7729da55873a | 22 | } |
12104404 | 27:fb1298d35bd1 | 23 | |
12104404 | 27:fb1298d35bd1 | 24 | inline void LOCOMOTION::setMotors12(float x,float y) |
12104404 | 27:fb1298d35bd1 | 25 | { |
12104404 | 27:fb1298d35bd1 | 26 | _m1f=x; |
12104404 | 27:fb1298d35bd1 | 27 | _m1b=x; |
12104404 | 27:fb1298d35bd1 | 28 | _m2f=y; |
12104404 | 27:fb1298d35bd1 | 29 | _m2b=y; |
12104404 | 27:fb1298d35bd1 | 30 | } |
12104404 | 26:0ea6a550a99d | 31 | |
12104404 | 23:455f7da3dd7a | 32 | inline int LOCOMOTION::wrap(int num) |
12104404 | 19:2dd81b864e14 | 33 | { |
12104404 | 23:455f7da3dd7a | 34 | return num%360; |
12104404 | 23:455f7da3dd7a | 35 | } |
12104404 | 26:0ea6a550a99d | 36 | |
12104404 | 23:455f7da3dd7a | 37 | void LOCOMOTION::eStop(void) |
12104404 | 23:455f7da3dd7a | 38 | { |
12104404 | 23:455f7da3dd7a | 39 | //Stop Motors |
12104404 | 25:f3bf8351bbd4 | 40 | setMotors(0); |
12104404 | 23:455f7da3dd7a | 41 | //Disable Motor Drivers |
12104404 | 23:455f7da3dd7a | 42 | _en=0; |
12104404 | 19:2dd81b864e14 | 43 | } |
12104404 | 26:0ea6a550a99d | 44 | |
12104404 | 18:f9012e93edb8 | 45 | bool LOCOMOTION::setXPos(int target, int current, int error, int angle) |
12104404 | 17:2f89826b5679 | 46 | { |
12104404 | 17:2f89826b5679 | 47 | if(abs(current-target)<=error) |
12104404 | 25:f3bf8351bbd4 | 48 | s=SPEED_X_MIN; |
12104404 | 17:2f89826b5679 | 49 | else |
12104404 | 25:f3bf8351bbd4 | 50 | s=((SPEED_X_MAX-SPEED_X_MIN)*abs(current-target)/FRAME_W)+SPEED_X_MIN; |
12104404 | 17:2f89826b5679 | 51 | if(current>target+error) { |
12104404 | 18:f9012e93edb8 | 52 | if(angle==0) { |
12104404 | 18:f9012e93edb8 | 53 | _m1dir=1; |
12104404 | 18:f9012e93edb8 | 54 | _m2dir=1; |
12104404 | 18:f9012e93edb8 | 55 | } else { |
12104404 | 18:f9012e93edb8 | 56 | _m1dir=0; |
12104404 | 18:f9012e93edb8 | 57 | _m2dir=0; |
12104404 | 18:f9012e93edb8 | 58 | } |
12104404 | 25:f3bf8351bbd4 | 59 | setMotors(s); |
12104404 | 17:2f89826b5679 | 60 | } else if(current<target-error) { |
12104404 | 18:f9012e93edb8 | 61 | if(angle==0) { |
12104404 | 18:f9012e93edb8 | 62 | _m1dir=0; |
12104404 | 18:f9012e93edb8 | 63 | _m2dir=0; |
12104404 | 18:f9012e93edb8 | 64 | } else { |
12104404 | 18:f9012e93edb8 | 65 | _m1dir=1; |
12104404 | 18:f9012e93edb8 | 66 | _m2dir=1; |
12104404 | 18:f9012e93edb8 | 67 | } |
12104404 | 25:f3bf8351bbd4 | 68 | setMotors(s); |
12104404 | 17:2f89826b5679 | 69 | } else { |
12104404 | 25:f3bf8351bbd4 | 70 | setMotors(0); |
12104404 | 17:2f89826b5679 | 71 | return true; |
12104404 | 17:2f89826b5679 | 72 | } |
12104404 | 17:2f89826b5679 | 73 | return false; |
12104404 | 17:2f89826b5679 | 74 | } |
12104404 | 26:0ea6a550a99d | 75 | |
12104404 | 25:f3bf8351bbd4 | 76 | bool LOCOMOTION::setYBias(int target, int current, int error, int angle) |
12104404 | 17:2f89826b5679 | 77 | { |
12104404 | 17:2f89826b5679 | 78 | if(abs(current-target)<=error) |
12104404 | 25:f3bf8351bbd4 | 79 | s=Y_BIAS_MIN; |
12104404 | 17:2f89826b5679 | 80 | else |
12104404 | 25:f3bf8351bbd4 | 81 | s=((Y_BIAS_MAX-Y_BIAS_MIN)*abs(current-target)/FRAME_H)+Y_BIAS_MIN; |
12104404 | 17:2f89826b5679 | 82 | if(current>target+error) { |
12104404 | 17:2f89826b5679 | 83 | //_m1dir=1; |
12104404 | 17:2f89826b5679 | 84 | //_m2dir=1; |
12104404 | 18:f9012e93edb8 | 85 | if(angle==0) { |
12104404 | 18:f9012e93edb8 | 86 | _m1f=_m1f*(1+s); |
12104404 | 18:f9012e93edb8 | 87 | _m1b=_m1b*(1+s); |
12104404 | 18:f9012e93edb8 | 88 | } else { |
12104404 | 18:f9012e93edb8 | 89 | _m2f=_m2f*(1+s); |
12104404 | 18:f9012e93edb8 | 90 | _m2b=_m2b*(1+s); |
12104404 | 18:f9012e93edb8 | 91 | } |
12104404 | 17:2f89826b5679 | 92 | } else if(current<target-error) { |
12104404 | 17:2f89826b5679 | 93 | //_m1dir=0; |
12104404 | 17:2f89826b5679 | 94 | //_m2dir=0; |
12104404 | 18:f9012e93edb8 | 95 | if(angle==0) { |
12104404 | 18:f9012e93edb8 | 96 | _m2f=_m2f*(1+s); |
12104404 | 18:f9012e93edb8 | 97 | _m2b=_m2b*(1+s); |
12104404 | 18:f9012e93edb8 | 98 | } else { |
12104404 | 18:f9012e93edb8 | 99 | _m1f=_m1f*(1+s); |
12104404 | 18:f9012e93edb8 | 100 | _m1b=_m1b*(1+s); |
12104404 | 18:f9012e93edb8 | 101 | } |
12104404 | 17:2f89826b5679 | 102 | } else { |
12104404 | 17:2f89826b5679 | 103 | s=0; |
12104404 | 17:2f89826b5679 | 104 | return true; |
12104404 | 17:2f89826b5679 | 105 | } |
12104404 | 17:2f89826b5679 | 106 | return false; |
12104404 | 17:2f89826b5679 | 107 | } |
12104404 | 26:0ea6a550a99d | 108 | |
12104404 | 15:7729da55873a | 109 | bool LOCOMOTION::setAngle(int target, int current, int error, int mode) |
12104404 | 15:7729da55873a | 110 | { |
12104404 | 17:2f89826b5679 | 111 | s = 0; |
12104404 | 15:7729da55873a | 112 | int diff = 0; |
12104404 | 15:7729da55873a | 113 | diff = 180-wrap(target); |
12104404 | 15:7729da55873a | 114 | if(abs(wrap(current+diff)-180)<=error) |
12104404 | 15:7729da55873a | 115 | s=SPEED_TURN_MIN; |
12104404 | 15:7729da55873a | 116 | else |
12104404 | 15:7729da55873a | 117 | s=((SPEED_TURN_MAX-SPEED_TURN_MIN)*abs(wrap(current+diff)-180)/180)+SPEED_TURN_MIN; |
12104404 | 15:7729da55873a | 118 | switch(mode) { |
12104404 | 25:f3bf8351bbd4 | 119 | default: |
12104404 | 15:7729da55873a | 120 | case ANGLE_TURN: |
12104404 | 16:d6f15a13c3aa | 121 | if(wrap(current+diff)>180+error) { |
12104404 | 16:d6f15a13c3aa | 122 | _m1dir=1; |
12104404 | 16:d6f15a13c3aa | 123 | _m2dir=0; |
12104404 | 27:fb1298d35bd1 | 124 | setMotors12(compG(s,_m1dir,current),compG(s,_m2dir,current)); |
12104404 | 16:d6f15a13c3aa | 125 | } else if(wrap(current+diff)<180-error) { |
12104404 | 16:d6f15a13c3aa | 126 | _m1dir=0; |
12104404 | 16:d6f15a13c3aa | 127 | _m2dir=1; |
12104404 | 27:fb1298d35bd1 | 128 | setMotors12(compG(s,_m1dir,current),compG(s,_m2dir,current)); |
12104404 | 16:d6f15a13c3aa | 129 | } else { |
12104404 | 25:f3bf8351bbd4 | 130 | setMotors(0); |
12104404 | 16:d6f15a13c3aa | 131 | return true; |
12104404 | 16:d6f15a13c3aa | 132 | } |
12104404 | 15:7729da55873a | 133 | break; |
12104404 | 25:f3bf8351bbd4 | 134 | } |
12104404 | 25:f3bf8351bbd4 | 135 | return false; |
12104404 | 25:f3bf8351bbd4 | 136 | } |
12104404 | 26:0ea6a550a99d | 137 | |
12104404 | 26:0ea6a550a99d | 138 | void LOCOMOTION::setXstate(int *xCurrState, int *xTarget,bool xGood,bool angleGood,int *angleGoal,int *angleTol) |
12104404 | 25:f3bf8351bbd4 | 139 | { |
12104404 | 25:f3bf8351bbd4 | 140 | if (*xCurrState==X_INCREASE|| *xCurrState==X_DECREASE) { |
12104404 | 25:f3bf8351bbd4 | 141 | if(angleGood && xGood) { |
12104404 | 25:f3bf8351bbd4 | 142 | *xCurrState=X_BACKWARDS; |
12104404 | 26:0ea6a550a99d | 143 | wait(0.5); |
12104404 | 26:0ea6a550a99d | 144 | |
12104404 | 25:f3bf8351bbd4 | 145 | } |
12104404 | 25:f3bf8351bbd4 | 146 | } |
12104404 | 26:0ea6a550a99d | 147 | |
12104404 | 26:0ea6a550a99d | 148 | else if(xGood && angleGood && *xCurrState==X_BACKWARDS) { |
12104404 | 26:0ea6a550a99d | 149 | if(*angleGoal==0) { |
12104404 | 26:0ea6a550a99d | 150 | *xCurrState=ROTATE_1; |
12104404 | 26:0ea6a550a99d | 151 | wait(0.5); |
12104404 | 26:0ea6a550a99d | 152 | } else { |
12104404 | 26:0ea6a550a99d | 153 | *xCurrState=ROTATE_2; |
12104404 | 26:0ea6a550a99d | 154 | wait(0.5); |
12104404 | 25:f3bf8351bbd4 | 155 | } |
12104404 | 25:f3bf8351bbd4 | 156 | } |
12104404 | 26:0ea6a550a99d | 157 | |
12104404 | 26:0ea6a550a99d | 158 | else if (xGood && angleGood) { |
12104404 | 26:0ea6a550a99d | 159 | if (*xCurrState==ROTATE_1) { |
12104404 | 26:0ea6a550a99d | 160 | *xCurrState=X_INCREASE; |
12104404 | 26:0ea6a550a99d | 161 | wait(0.5); |
12104404 | 26:0ea6a550a99d | 162 | } else { |
12104404 | 26:0ea6a550a99d | 163 | *xCurrState=X_DECREASE; |
12104404 | 26:0ea6a550a99d | 164 | wait(0.5); |
12104404 | 26:0ea6a550a99d | 165 | } |
12104404 | 26:0ea6a550a99d | 166 | } |
12104404 | 26:0ea6a550a99d | 167 | |
12104404 | 25:f3bf8351bbd4 | 168 | switch(*xCurrState) { |
12104404 | 25:f3bf8351bbd4 | 169 | case X_INCREASE: |
12104404 | 25:f3bf8351bbd4 | 170 | *angleGoal=180; |
12104404 | 25:f3bf8351bbd4 | 171 | *xTarget=X_FAR_GOAL; |
12104404 | 25:f3bf8351bbd4 | 172 | _m1dir=1; |
12104404 | 25:f3bf8351bbd4 | 173 | _m2dir=1; |
12104404 | 25:f3bf8351bbd4 | 174 | break; |
12104404 | 26:0ea6a550a99d | 175 | |
12104404 | 25:f3bf8351bbd4 | 176 | case X_DECREASE: |
12104404 | 25:f3bf8351bbd4 | 177 | *angleGoal=0; |
12104404 | 25:f3bf8351bbd4 | 178 | *xTarget=X_NEAR_GOAL; |
12104404 | 26:0ea6a550a99d | 179 | //_m1dir=1; |
12104404 | 26:0ea6a550a99d | 180 | //_m2dir=1; |
12104404 | 25:f3bf8351bbd4 | 181 | break; |
12104404 | 26:0ea6a550a99d | 182 | |
12104404 | 25:f3bf8351bbd4 | 183 | case X_BACKWARDS: |
12104404 | 25:f3bf8351bbd4 | 184 | if (*angleGoal==0) { |
12104404 | 25:f3bf8351bbd4 | 185 | *xTarget=X_NEAR_GOAL+BACKOFF; |
12104404 | 25:f3bf8351bbd4 | 186 | } else { |
12104404 | 25:f3bf8351bbd4 | 187 | *xTarget=X_FAR_GOAL-BACKOFF; |
12104404 | 25:f3bf8351bbd4 | 188 | } |
12104404 | 26:0ea6a550a99d | 189 | //_m1dir=0; |
12104404 | 26:0ea6a550a99d | 190 | //_m2dir=0; |
12104404 | 15:7729da55873a | 191 | break; |
12104404 | 26:0ea6a550a99d | 192 | |
12104404 | 26:0ea6a550a99d | 193 | case ROTATE_1: |
12104404 | 26:0ea6a550a99d | 194 | *xTarget=*xTarget; |
12104404 | 26:0ea6a550a99d | 195 | *angleTol=2; |
12104404 | 26:0ea6a550a99d | 196 | *angleGoal=180; |
12104404 | 26:0ea6a550a99d | 197 | break; |
12104404 | 26:0ea6a550a99d | 198 | |
12104404 | 26:0ea6a550a99d | 199 | case ROTATE_2: |
12104404 | 26:0ea6a550a99d | 200 | *xTarget=*xTarget; |
12104404 | 26:0ea6a550a99d | 201 | *angleTol=2; |
12104404 | 26:0ea6a550a99d | 202 | *angleGoal=0; |
12104404 | 26:0ea6a550a99d | 203 | break; |
12104404 | 26:0ea6a550a99d | 204 | |
12104404 | 15:7729da55873a | 205 | } |
12104404 | 25:f3bf8351bbd4 | 206 | } |
12104404 | 25:f3bf8351bbd4 | 207 | void LOCOMOTION::setAngleTol(int *angleTol,bool yGood, bool xGood) |
12104404 | 25:f3bf8351bbd4 | 208 | { |
12104404 | 25:f3bf8351bbd4 | 209 | if (xGood||yGood) { |
12104404 | 25:f3bf8351bbd4 | 210 | *angleTol=2; |
12104404 | 25:f3bf8351bbd4 | 211 | } else { |
12104404 | 25:f3bf8351bbd4 | 212 | *angleTol=10; |
12104404 | 25:f3bf8351bbd4 | 213 | } |
12104404 | 25:f3bf8351bbd4 | 214 | } |
12104404 | 26:0ea6a550a99d | 215 | |
12104404 | 25:f3bf8351bbd4 | 216 | void LOCOMOTION::setYgoal(bool xGood,bool angleGood,bool yGood,int *yTarget) |
12104404 | 25:f3bf8351bbd4 | 217 | { |
12104404 | 26:0ea6a550a99d | 218 | if (yGood) { |
12104404 | 25:f3bf8351bbd4 | 219 | *yTarget+=Y_INCREMENT; |
12104404 | 25:f3bf8351bbd4 | 220 | } |
12104404 | 25:f3bf8351bbd4 | 221 | } |
12104404 | 26:0ea6a550a99d | 222 | |
12104404 | 25:f3bf8351bbd4 | 223 | void LOCOMOTION::check_xya(bool *xGood,bool *yGood,bool *angleGood, int xGoal,int angleGoal,int yGoal,LOCALIZE_xya xya,int xErr, int yErr,int angleErr) |
12104404 | 25:f3bf8351bbd4 | 224 | { |
12104404 | 25:f3bf8351bbd4 | 225 | *xGood=abs(xya.x-xGoal)<xErr; |
12104404 | 25:f3bf8351bbd4 | 226 | *yGood=abs(xya.y-yGoal)<yErr; |
12104404 | 26:0ea6a550a99d | 227 | *angleGood=setAngle(angleGoal,xya.a,angleErr,ANGLE_TURN); |
12104404 | 26:0ea6a550a99d | 228 | } |
12104404 | 26:0ea6a550a99d | 229 | |
12104404 | 26:0ea6a550a99d | 230 | void LOCOMOTION::mStop(void) |
12104404 | 26:0ea6a550a99d | 231 | { |
12104404 | 26:0ea6a550a99d | 232 | setMotors(0); |
12104404 | 27:fb1298d35bd1 | 233 | } |
12104404 | 27:fb1298d35bd1 | 234 | void LOCOMOTION::moveF(int angle) |
12104404 | 27:fb1298d35bd1 | 235 | { |
12104404 | 27:fb1298d35bd1 | 236 | _m1dir=1; |
12104404 | 27:fb1298d35bd1 | 237 | _m2dir=1; |
12104404 | 27:fb1298d35bd1 | 238 | setMotors12(compG(0.5,_m1dir,angle),compG(0.5,_m2dir,angle)); |
12104404 | 27:fb1298d35bd1 | 239 | } |
12104404 | 27:fb1298d35bd1 | 240 | |
12104404 | 27:fb1298d35bd1 | 241 | void LOCOMOTION::moveB(void) |
12104404 | 27:fb1298d35bd1 | 242 | { |
12104404 | 27:fb1298d35bd1 | 243 | _m1dir=1; |
12104404 | 27:fb1298d35bd1 | 244 | _m2dir=1; |
12104404 | 27:fb1298d35bd1 | 245 | setMotors(0.15) ; |
12104404 | 27:fb1298d35bd1 | 246 | } |
12104404 | 27:fb1298d35bd1 | 247 | |
12104404 | 27:fb1298d35bd1 | 248 | inline float LOCOMOTION::compG(float speed, bool dir, int angle) |
12104404 | 27:fb1298d35bd1 | 249 | { |
12104404 | 27:fb1298d35bd1 | 250 | if(dir) |
12104404 | 27:fb1298d35bd1 | 251 | return (cos((double)angle*M_PI/180.0)*GAIN_GRAVITY)*speed+speed; |
12104404 | 27:fb1298d35bd1 | 252 | else |
12104404 | 27:fb1298d35bd1 | 253 | return -1*(cos((double)angle*M_PI/180.0)*GAIN_GRAVITY)*speed+speed; |
12104404 | 23:455f7da3dd7a | 254 | } |