Mapping for TP2
Dependencies: ISR_Mini-explorer mbed
Fork of GoToPointWithAngle by
main.cpp@14:44ab4626f1ad, 2017-03-27 (annotated)
- Committer:
- AurelienBernier
- Date:
- Mon Mar 27 16:44:37 2017 +0000
- Revision:
- 14:44ab4626f1ad
- Parent:
- 13:41f75c132135
- Child:
- 16:ff73cc7b3156
- Child:
- 18:dbc5fbad4975
print mms;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
geotsam | 0:8bffb51cc345 | 1 | #include "mbed.h" |
geotsam | 0:8bffb51cc345 | 2 | #include "robot.h" // Initializes the robot. This include should be used in all main.cpp! |
geotsam | 0:8bffb51cc345 | 3 | #include "math.h" |
AurelienBernier | 6:afde4b08166b | 4 | |
AurelienBernier | 6:afde4b08166b | 5 | Timer t; |
AurelienBernier | 4:8c56c3ba6e54 | 6 | |
geotsam | 0:8bffb51cc345 | 7 | float dist(float robot_x, float robot_y, float target_x, float target_y); |
geotsam | 0:8bffb51cc345 | 8 | |
geotsam | 12:3c0ca2350624 | 9 | int goToPointWithAngle(float target_x, float target_y, float target_angle); |
AurelienBernier | 8:109314be5b68 | 10 | |
AurelienBernier | 11:e641aa08c92e | 11 | int updateSonarValues(); |
AurelienBernier | 11:e641aa08c92e | 12 | |
AurelienBernier | 8:109314be5b68 | 13 | float alpha; //angle error |
AurelienBernier | 8:109314be5b68 | 14 | float rho; //distance from target |
AurelienBernier | 8:109314be5b68 | 15 | float beta; |
AurelienBernier | 11:e641aa08c92e | 16 | float kRho=12, ka=30, kb=-13; //Kappa values |
AurelienBernier | 8:109314be5b68 | 17 | float linear, angular, angular_left, angular_right; |
AurelienBernier | 8:109314be5b68 | 18 | float dt=0.5; |
AurelienBernier | 8:109314be5b68 | 19 | float temp; |
AurelienBernier | 8:109314be5b68 | 20 | float d2; |
AurelienBernier | 8:109314be5b68 | 21 | |
AurelienBernier | 11:e641aa08c92e | 22 | bool tooClose = false; |
AurelienBernier | 11:e641aa08c92e | 23 | |
AurelienBernier | 11:e641aa08c92e | 24 | int leftMm; |
AurelienBernier | 11:e641aa08c92e | 25 | int frontMm; |
AurelienBernier | 11:e641aa08c92e | 26 | int rightMm; |
AurelienBernier | 11:e641aa08c92e | 27 | |
AurelienBernier | 8:109314be5b68 | 28 | //Diameter of a wheel and distance between the 2 |
AurelienBernier | 8:109314be5b68 | 29 | float r=3.25, b=7.2; |
AurelienBernier | 8:109314be5b68 | 30 | |
AurelienBernier | 8:109314be5b68 | 31 | int speed=999; // Max speed at beggining of movement |
AurelienBernier | 8:109314be5b68 | 32 | |
AurelienBernier | 8:109314be5b68 | 33 | //Target example x,y values |
AurelienBernier | 8:109314be5b68 | 34 | float target_x=46.8, target_y=78.6, target_angle=1.7; |
AurelienBernier | 8:109314be5b68 | 35 | |
AurelienBernier | 4:8c56c3ba6e54 | 36 | //Timeout time; |
geotsam | 0:8bffb51cc345 | 37 | int main(){ |
geotsam | 13:41f75c132135 | 38 | i2c1.frequency(100000); |
AurelienBernier | 2:ea61e801e81f | 39 | initRobot(); //Initializing the robot |
geotsam | 0:8bffb51cc345 | 40 | pc.baud(9600); // baud for the pc communication |
geotsam | 0:8bffb51cc345 | 41 | |
geotsam | 13:41f75c132135 | 42 | measure_always_on(); |
geotsam | 13:41f75c132135 | 43 | wait_ms(50); |
geotsam | 13:41f75c132135 | 44 | |
AurelienBernier | 2:ea61e801e81f | 45 | //Resetting coordinates before moving |
AurelienBernier | 2:ea61e801e81f | 46 | theta=0; |
geotsam | 0:8bffb51cc345 | 47 | X=0; |
geotsam | 0:8bffb51cc345 | 48 | Y=0; |
geotsam | 0:8bffb51cc345 | 49 | |
AurelienBernier | 4:8c56c3ba6e54 | 50 | alpha = atan2((target_y-Y),(target_x-X))-theta; |
AurelienBernier | 4:8c56c3ba6e54 | 51 | alpha = atan(sin(alpha)/cos(alpha)); |
AurelienBernier | 4:8c56c3ba6e54 | 52 | rho = dist(X, Y, target_x, target_y); |
AurelienBernier | 6:afde4b08166b | 53 | |
AurelienBernier | 4:8c56c3ba6e54 | 54 | beta = -alpha-theta+target_angle; |
AurelienBernier | 6:afde4b08166b | 55 | //beta = atan(sin(beta)/cos(beta)); |
AurelienBernier | 8:109314be5b68 | 56 | |
AurelienBernier | 8:109314be5b68 | 57 | goToPointWithAngle(target_x, target_y, target_angle); |
AurelienBernier | 8:109314be5b68 | 58 | |
AurelienBernier | 8:109314be5b68 | 59 | //Stop at the end |
AurelienBernier | 8:109314be5b68 | 60 | leftMotor(1,0); |
AurelienBernier | 8:109314be5b68 | 61 | rightMotor(1,0); |
AurelienBernier | 8:109314be5b68 | 62 | |
AurelienBernier | 8:109314be5b68 | 63 | pc.printf("\n\r %f -- arrived!", rho); |
AurelienBernier | 8:109314be5b68 | 64 | } |
AurelienBernier | 8:109314be5b68 | 65 | |
AurelienBernier | 8:109314be5b68 | 66 | //Distance computation function |
AurelienBernier | 8:109314be5b68 | 67 | float dist(float robot_x, float robot_y, float target_x, float target_y){ |
AurelienBernier | 8:109314be5b68 | 68 | return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2)); |
AurelienBernier | 8:109314be5b68 | 69 | } |
AurelienBernier | 8:109314be5b68 | 70 | |
AurelienBernier | 11:e641aa08c92e | 71 | //Updates sonar values |
AurelienBernier | 11:e641aa08c92e | 72 | int updateSonarValues() { |
AurelienBernier | 11:e641aa08c92e | 73 | leftMm = get_distance_left_sensor(); |
AurelienBernier | 11:e641aa08c92e | 74 | frontMm = get_distance_front_sensor(); |
AurelienBernier | 11:e641aa08c92e | 75 | rightMm = get_distance_right_sensor(); |
AurelienBernier | 11:e641aa08c92e | 76 | return 0; |
AurelienBernier | 11:e641aa08c92e | 77 | } |
AurelienBernier | 11:e641aa08c92e | 78 | |
geotsam | 12:3c0ca2350624 | 79 | int goToPointWithAngle(float target_x, float target_y, float target_angle) { |
AurelienBernier | 8:109314be5b68 | 80 | do { |
geotsam | 0:8bffb51cc345 | 81 | pc.printf("\n\n\r entered while"); |
AurelienBernier | 2:ea61e801e81f | 82 | |
AurelienBernier | 6:afde4b08166b | 83 | //Timer stuff |
AurelienBernier | 6:afde4b08166b | 84 | dt = t.read(); |
AurelienBernier | 6:afde4b08166b | 85 | t.reset(); |
AurelienBernier | 6:afde4b08166b | 86 | t.start(); |
AurelienBernier | 6:afde4b08166b | 87 | |
AurelienBernier | 11:e641aa08c92e | 88 | updateSonarValues(); |
AurelienBernier | 11:e641aa08c92e | 89 | if (leftMm < 100 || frontMm < 100 || rightMm < 100) { |
AurelienBernier | 11:e641aa08c92e | 90 | tooClose = true; |
AurelienBernier | 11:e641aa08c92e | 91 | } |
AurelienBernier | 11:e641aa08c92e | 92 | |
AurelienBernier | 2:ea61e801e81f | 93 | //Updating X,Y and theta with the odometry values |
geotsam | 0:8bffb51cc345 | 94 | Odometria(); |
geotsam | 3:1e0f4cb93eda | 95 | |
AurelienBernier | 4:8c56c3ba6e54 | 96 | alpha = atan2((target_y-Y),(target_x-X))-theta; |
AurelienBernier | 4:8c56c3ba6e54 | 97 | alpha = atan(sin(alpha)/cos(alpha)); |
AurelienBernier | 4:8c56c3ba6e54 | 98 | rho = dist(X, Y, target_x, target_y); |
AurelienBernier | 6:afde4b08166b | 99 | d2 = rho; |
AurelienBernier | 5:dea05b8f30d0 | 100 | beta = -alpha-theta+target_angle; |
AurelienBernier | 6:afde4b08166b | 101 | //beta = atan(sin(beta)/cos(beta)); |
AurelienBernier | 6:afde4b08166b | 102 | |
AurelienBernier | 6:afde4b08166b | 103 | |
AurelienBernier | 2:ea61e801e81f | 104 | //Computing angle error and distance towards the target value |
AurelienBernier | 4:8c56c3ba6e54 | 105 | rho += dt*(-kRho*cos(alpha)*rho); |
AurelienBernier | 4:8c56c3ba6e54 | 106 | temp = alpha; |
AurelienBernier | 6:afde4b08166b | 107 | alpha += dt*(kRho*sin(alpha)-ka*alpha-kb*beta); |
AurelienBernier | 6:afde4b08166b | 108 | beta += dt*(-kRho*sin(temp)); |
AurelienBernier | 6:afde4b08166b | 109 | pc.printf("\n\r d2=%f", d2); |
AurelienBernier | 6:afde4b08166b | 110 | pc.printf("\n\r dt=%f", dt); |
geotsam | 0:8bffb51cc345 | 111 | |
AurelienBernier | 2:ea61e801e81f | 112 | //Computing linear and angular velocities |
AurelienBernier | 4:8c56c3ba6e54 | 113 | if(alpha>=-1.5708 && alpha<=1.5708){ |
AurelienBernier | 4:8c56c3ba6e54 | 114 | linear=kRho*rho; |
AurelienBernier | 4:8c56c3ba6e54 | 115 | angular=ka*alpha+kb*beta; |
geotsam | 3:1e0f4cb93eda | 116 | } |
geotsam | 3:1e0f4cb93eda | 117 | else{ |
AurelienBernier | 4:8c56c3ba6e54 | 118 | linear=-kRho*rho; |
AurelienBernier | 4:8c56c3ba6e54 | 119 | angular=-ka*alpha-kb*beta; |
geotsam | 3:1e0f4cb93eda | 120 | } |
geotsam | 0:8bffb51cc345 | 121 | angular_left=(linear-0.5*b*angular)/r; |
geotsam | 0:8bffb51cc345 | 122 | angular_right=(linear+0.5*b*angular)/r; |
geotsam | 0:8bffb51cc345 | 123 | |
AurelienBernier | 2:ea61e801e81f | 124 | //Slowing down at the end for more precision |
AurelienBernier | 6:afde4b08166b | 125 | if (d2<25) { |
AurelienBernier | 6:afde4b08166b | 126 | speed = d2*30; |
geotsam | 0:8bffb51cc345 | 127 | } |
AurelienBernier | 2:ea61e801e81f | 128 | |
AurelienBernier | 2:ea61e801e81f | 129 | //Normalize speed for motors |
geotsam | 0:8bffb51cc345 | 130 | if(angular_left>angular_right) { |
geotsam | 0:8bffb51cc345 | 131 | angular_right=speed*angular_right/angular_left; |
geotsam | 0:8bffb51cc345 | 132 | angular_left=speed; |
geotsam | 0:8bffb51cc345 | 133 | } else { |
geotsam | 0:8bffb51cc345 | 134 | angular_left=speed*angular_left/angular_right; |
geotsam | 0:8bffb51cc345 | 135 | angular_right=speed; |
geotsam | 0:8bffb51cc345 | 136 | } |
geotsam | 0:8bffb51cc345 | 137 | |
geotsam | 0:8bffb51cc345 | 138 | pc.printf("\n\r X=%f", X); |
geotsam | 0:8bffb51cc345 | 139 | pc.printf("\n\r Y=%f", Y); |
AurelienBernier | 14:44ab4626f1ad | 140 | pc.printf("\n\r leftMm=%f", leftMm); |
AurelienBernier | 14:44ab4626f1ad | 141 | pc.printf("\n\r frontMm=%f", frontMm); |
AurelienBernier | 14:44ab4626f1ad | 142 | pc.printf("\n\r rightMm=%f", rightMm); |
geotsam | 0:8bffb51cc345 | 143 | |
AurelienBernier | 2:ea61e801e81f | 144 | //Updating motor velocities |
AurelienBernier | 1:f0807d5c5a4b | 145 | leftMotor(1,angular_left); |
AurelienBernier | 1:f0807d5c5a4b | 146 | rightMotor(1,angular_right); |
geotsam | 0:8bffb51cc345 | 147 | |
AurelienBernier | 7:c94070f9af78 | 148 | wait(0.2); |
AurelienBernier | 6:afde4b08166b | 149 | //Timer stuff |
AurelienBernier | 6:afde4b08166b | 150 | t.stop(); |
AurelienBernier | 11:e641aa08c92e | 151 | } while(d2>1 & !tooClose); |
AurelienBernier | 8:109314be5b68 | 152 | |
AurelienBernier | 8:109314be5b68 | 153 | return 0; |
AurelienBernier | 6:afde4b08166b | 154 | } |