Francisco Santos / Mbed 2 deprecated SRA_VFF

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Dependencies:   mbed Matrix

Robot.cpp@1:2716ea33958b, 2019-05-22 (annotated)

Committer:
PedroMartins96
Date:
Wed May 22 09:51:53 2019 +0000
Revision:
1:2716ea33958b
Parent:
0:a7324f51348d
Child:
2:06b7789c7da0
123456479876954;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PedroMartins96 0:a7324f51348d 1 #include "Robot.h"
PedroMartins96 0:a7324f51348d 2 #include "mbed.h"
PedroMartins96 1:2716ea33958b 3 #include "Matrix.h"
PedroMartins96 0:a7324f51348d 4
PedroMartins96 0:a7324f51348d 5 Serial PC(SERIAL_TX, SERIAL_RX);
PedroMartins96 0:a7324f51348d 6 I2C i2c(I2C_SDA, I2C_SCL );
PedroMartins96 0:a7324f51348d 7 const int addr8bit = 20 << 1; // 7bit I2C address is 20; 8bit I2C address is 40 (decimal).
PedroMartins96 1:2716ea33958b 8 Matrix map(80,80);
PedroMartins96 0:a7324f51348d 9 int16_t countsLeft = 0;
PedroMartins96 0:a7324f51348d 10 int16_t countsRight = 0;
PedroMartins96 1:2716ea33958b 11 int i, j;
PedroMartins96 1:2716ea33958b 12
PedroMartins96 1:2716ea33958b 13 float De=0, Dd=0, pi=3.141529, Ldis=14.2, r=6.95/2, theta=0, teta=0, teta_=0, x=25, y=25, D=0, Wee=0, Wdd=0, v=0, w=0;
PedroMartins96 1:2716ea33958b 14 float xc, yc; // coordenadas da célula
PedroMartins96 1:2716ea33958b 15 float x_obj = 0, y_obj = 0;
PedroMartins96 1:2716ea33958b 16 float xf = 200, yf = 200; // coordenadas finais
PedroMartins96 1:2716ea33958b 17
PedroMartins96 1:2716ea33958b 18 float fcr = 1000; // Força Constante Repulsiva
PedroMartins96 1:2716ea33958b 19 float fca = 14; // Força Constante Atrativa
PedroMartins96 1:2716ea33958b 20 float fre_x = 0, fre_y = 0, fa_x = 0, fa_y = 0, Fr_x = 0, Fr_y = 0;
PedroMartins96 0:a7324f51348d 21
PedroMartins96 0:a7324f51348d 22
PedroMartins96 1:2716ea33958b 23 float d = 0, dt = 0;
PedroMartins96 1:2716ea33958b 24 float P = 0, I = 0;
PedroMartins96 1:2716ea33958b 25 float phi1=0,aux=0;
PedroMartins96 1:2716ea33958b 26 float Kv=50, Ks=20, Ki = 0.001;
PedroMartins96 1:2716ea33958b 27 float erro = 0;
PedroMartins96 1:2716ea33958b 28 int aux_x = 0, aux_y = 0;
PedroMartins96 1:2716ea33958b 29
PedroMartins96 1:2716ea33958b 30 //PC.baud(9600);
PedroMartins96 1:2716ea33958b 31 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 32 // Seguimento de um percurso //
PedroMartins96 1:2716ea33958b 33 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 34 void VFF()
PedroMartins96 0:a7324f51348d 35 {
PedroMartins96 1:2716ea33958b 36 while((abs(x)<abs(xf)-2)||(abs(y)<abs(yf)-2)||(abs(x)>abs(xf)+2)||(abs(y)>abs(yf)+2)) {
PedroMartins96 1:2716ea33958b 37 motion();
PedroMartins96 1:2716ea33958b 38 f_repulsiva();
PedroMartins96 1:2716ea33958b 39 f_atrativa();
PedroMartins96 1:2716ea33958b 40 Fr_x = fre_x + fa_x;
PedroMartins96 1:2716ea33958b 41 Fr_y = fre_y + fa_y;
PedroMartins96 1:2716ea33958b 42 if(Fr_x>15) Fr_x = 15;
PedroMartins96 1:2716ea33958b 43 else if(Fr_x<-15) Fr_x = -15;
PedroMartins96 0:a7324f51348d 44
PedroMartins96 1:2716ea33958b 45 if(Fr_y>15) Fr_y = 15;
PedroMartins96 1:2716ea33958b 46 else if(Fr_y<-15) Fr_y = -15;
PedroMartins96 0:a7324f51348d 47
PedroMartins96 1:2716ea33958b 48 x_obj = x + Fr_x;
PedroMartins96 1:2716ea33958b 49 y_obj = y + Fr_y;
PedroMartins96 1:2716ea33958b 50
PedroMartins96 1:2716ea33958b 51 erro = sqrt((x_obj-x)*(x_obj-x)+(y_obj-y)*(y_obj-y)) - 9;
PedroMartins96 1:2716ea33958b 52
PedroMartins96 1:2716ea33958b 53 P = Kv*erro;
PedroMartins96 1:2716ea33958b 54 I += erro;
PedroMartins96 1:2716ea33958b 55 v = P + Ki*I;
PedroMartins96 1:2716ea33958b 56 if(v>60) v = 60;
PedroMartins96 1:2716ea33958b 57 else if(v < -60) v=-60;
PedroMartins96 1:2716ea33958b 58
PedroMartins96 1:2716ea33958b 59 phi1=atan2((y_obj-y),(x_obj-x)); // Ângulo entre a posição final e a posição atual
PedroMartins96 1:2716ea33958b 60 aux = phi1-teta;
PedroMartins96 1:2716ea33958b 61 //Verifica se a diferença dos angulos pertence ao limite entre [-pi;pi]
PedroMartins96 1:2716ea33958b 62 if(aux<-pi) {
PedroMartins96 1:2716ea33958b 63 aux=aux+2*pi;
PedroMartins96 1:2716ea33958b 64 } else if(aux>pi) {
PedroMartins96 1:2716ea33958b 65 aux=aux-2*pi;
PedroMartins96 0:a7324f51348d 66 }
PedroMartins96 0:a7324f51348d 67
PedroMartins96 1:2716ea33958b 68 //Controlo proporcional
PedroMartins96 1:2716ea33958b 69 w=Ks*(aux);
PedroMartins96 1:2716ea33958b 70 if(w>5) w = 5;
PedroMartins96 1:2716ea33958b 71 else if(w<-5) w = -5;
PedroMartins96 1:2716ea33958b 72 //motion();
PedroMartins96 0:a7324f51348d 73
PedroMartins96 1:2716ea33958b 74 //PC.printf("fre_x=%f fre_y=%f fa_x=%f fa_y=%f erro=%f P=%f I=%f v=%f w=%f x=%f y=%f\n", fre_x,fre_y,fa_x,fa_y,erro,P,I,v,w,x,y);
PedroMartins96 1:2716ea33958b 75 PC.printf("%f %f %f\n",erro, x,y);
PedroMartins96 1:2716ea33958b 76 setSpeeds(Wee+33*abs(v)/v,Wdd+30*abs(v)/v);
PedroMartins96 0:a7324f51348d 77 }
PedroMartins96 1:2716ea33958b 78 setSpeeds(0,0);
PedroMartins96 0:a7324f51348d 79 }
PedroMartins96 0:a7324f51348d 80
PedroMartins96 0:a7324f51348d 81
PedroMartins96 1:2716ea33958b 82 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 83 // Cria Mapa //
PedroMartins96 1:2716ea33958b 84 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 85 void mapa(int x3,int y3)
PedroMartins96 0:a7324f51348d 86 {
PedroMartins96 1:2716ea33958b 87 for(i=1; i<=x3; i++) {
PedroMartins96 1:2716ea33958b 88 for(j=1; j<=y3; j++) {
PedroMartins96 1:2716ea33958b 89 if(i==1 || i==80 || j==1 || j==80) map.add(i,j,1);
PedroMartins96 1:2716ea33958b 90 else map.add(i,j,0);
PedroMartins96 1:2716ea33958b 91 //PC.printf("%d ", int(map.getNumber(i,j)));
PedroMartins96 1:2716ea33958b 92 }
PedroMartins96 1:2716ea33958b 93 //printf("\n");
PedroMartins96 1:2716ea33958b 94 //PC.printf("%d ", map.getNumber(i,-5));
PedroMartins96 1:2716ea33958b 95 }
PedroMartins96 1:2716ea33958b 96 PC.printf("I'm Ready\n");
PedroMartins96 1:2716ea33958b 97 }
PedroMartins96 0:a7324f51348d 98
PedroMartins96 1:2716ea33958b 99 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 100 // Cria objeto //
PedroMartins96 1:2716ea33958b 101 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 102 void cria_obj(int c, int l, int p[])
PedroMartins96 1:2716ea33958b 103 {
PedroMartins96 1:2716ea33958b 104 int k = p[0]/5;
PedroMartins96 1:2716ea33958b 105 int m = p[1]/5;
PedroMartins96 1:2716ea33958b 106 c = (c/5)/2;
PedroMartins96 1:2716ea33958b 107 l = (l/5)/2;
PedroMartins96 1:2716ea33958b 108 for(i=k-c+1; i<=k+c; i++)
PedroMartins96 1:2716ea33958b 109 {
PedroMartins96 1:2716ea33958b 110 for(j=m-l+1; j<=m+l; j++) {
PedroMartins96 1:2716ea33958b 111 if((i==(k-c+1)) || (i==(k+c)) || (j==(m-l+1)) || (j==(m+l))) map.add(i,j,1);
PedroMartins96 1:2716ea33958b 112 else map.add(i,j, 0);
PedroMartins96 0:a7324f51348d 113 }
PedroMartins96 0:a7324f51348d 114 }
PedroMartins96 0:a7324f51348d 115 }
PedroMartins96 0:a7324f51348d 116
PedroMartins96 1:2716ea33958b 117 void print_map(int x3, int y3)
PedroMartins96 0:a7324f51348d 118 {
PedroMartins96 1:2716ea33958b 119 //map.add(8, 16, 4);
PedroMartins96 1:2716ea33958b 120 for(i=1; i<=x3; i++) {
PedroMartins96 1:2716ea33958b 121 for(j=1; j<=y3; j++) {
PedroMartins96 1:2716ea33958b 122 PC.printf("%d ", int(map.getNumber(i,j)));
PedroMartins96 0:a7324f51348d 123 }
PedroMartins96 1:2716ea33958b 124 printf("\n");
PedroMartins96 0:a7324f51348d 125 }
PedroMartins96 0:a7324f51348d 126 }
PedroMartins96 0:a7324f51348d 127
PedroMartins96 1:2716ea33958b 128 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 129 // Força Repulsiva //
PedroMartins96 1:2716ea33958b 130 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 131 void f_repulsiva()
PedroMartins96 1:2716ea33958b 132 {
PedroMartins96 1:2716ea33958b 133 fre_x = 0;
PedroMartins96 1:2716ea33958b 134 fre_y = 0;
PedroMartins96 1:2716ea33958b 135 aux_x = x/5;
PedroMartins96 1:2716ea33958b 136 aux_y = y/5;
PedroMartins96 1:2716ea33958b 137 for(i=aux_x-5; i<=aux_x+5; i++) {
PedroMartins96 1:2716ea33958b 138 for(j=aux_y-5; j<=aux_y+5; j++) {
PedroMartins96 1:2716ea33958b 139 if(i<=0 || i>80 || j<=0 || j>80 || (i == aux_x && j == aux_y)) {
PedroMartins96 1:2716ea33958b 140 // do nothing
PedroMartins96 1:2716ea33958b 141 } else {
PedroMartins96 1:2716ea33958b 142 xc = (i - 1)*5 + 2.5;
PedroMartins96 1:2716ea33958b 143 yc = (j - 1)*5 + 2.5;
PedroMartins96 1:2716ea33958b 144 d = map.getNumber(i,j)*sqrt((x-xc)*(x-xc)+(y-yc)*(y-yc));
PedroMartins96 1:2716ea33958b 145 if(d < 20 ) fcr = fcr * 1.5;
PedroMartins96 1:2716ea33958b 146 else fcr = 80;
PedroMartins96 1:2716ea33958b 147 if(d == 0){
PedroMartins96 1:2716ea33958b 148
PedroMartins96 1:2716ea33958b 149 }
PedroMartins96 1:2716ea33958b 150 else {
PedroMartins96 1:2716ea33958b 151 fre_x = fre_x + ((fcr*map.getNumber(i,j)*(x-xc))/(d*d*d));
PedroMartins96 1:2716ea33958b 152 fre_y = fre_y + ((fcr*map.getNumber(i,j)*(y-yc))/(d*d*d));
PedroMartins96 1:2716ea33958b 153 }
PedroMartins96 1:2716ea33958b 154 }
PedroMartins96 1:2716ea33958b 155 }
PedroMartins96 1:2716ea33958b 156 }
PedroMartins96 1:2716ea33958b 157 }
PedroMartins96 1:2716ea33958b 158
PedroMartins96 1:2716ea33958b 159 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 160 // Força Atrativa //
PedroMartins96 1:2716ea33958b 161 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 162 void f_atrativa()
PedroMartins96 1:2716ea33958b 163 {
PedroMartins96 1:2716ea33958b 164 dt = sqrt((xf-x)*(xf-x)+(yf-y)*(yf-y));
PedroMartins96 1:2716ea33958b 165 fa_x = fca*((xf-x)/dt);
PedroMartins96 1:2716ea33958b 166 fa_y = fca*((yf-y)/dt);
PedroMartins96 1:2716ea33958b 167 }
PedroMartins96 1:2716ea33958b 168
PedroMartins96 1:2716ea33958b 169 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 170 // Odometria //
PedroMartins96 1:2716ea33958b 171 ////////////////////////////////////////////////////
PedroMartins96 0:a7324f51348d 172 void motion()
PedroMartins96 0:a7324f51348d 173 {
PedroMartins96 0:a7324f51348d 174 getCountsAndReset();
PedroMartins96 0:a7324f51348d 175 De=((2*pi*r)*countsLeft)/1440;
PedroMartins96 0:a7324f51348d 176 Dd=((2*pi*r)*countsRight)/1440;
PedroMartins96 0:a7324f51348d 177 theta=(Dd-De)/Ldis;
PedroMartins96 1:2716ea33958b 178
PedroMartins96 0:a7324f51348d 179 D=(De+Dd)/2;
PedroMartins96 1:2716ea33958b 180
PedroMartins96 0:a7324f51348d 181 if(theta==0) {
PedroMartins96 0:a7324f51348d 182 x=x+D*cos(teta);
PedroMartins96 0:a7324f51348d 183 y=y+D*sin(teta);
PedroMartins96 0:a7324f51348d 184 teta=teta;
PedroMartins96 0:a7324f51348d 185 } else {
PedroMartins96 0:a7324f51348d 186 x = x + D*((sin(theta/2)/(theta/2))*cos(teta+theta/2));
PedroMartins96 0:a7324f51348d 187 y = y + D*((sin(theta/2)/(theta/2))*sin(teta+theta/2));
PedroMartins96 0:a7324f51348d 188 teta=teta+theta;
PedroMartins96 0:a7324f51348d 189 }
PedroMartins96 1:2716ea33958b 190
PedroMartins96 0:a7324f51348d 191 //Limite entre [-2pi; 2pi]
PedroMartins96 1:2716ea33958b 192 if (teta>=(pi)) {
PedroMartins96 0:a7324f51348d 193 teta=teta-2*pi;
PedroMartins96 0:a7324f51348d 194 }
PedroMartins96 1:2716ea33958b 195 if (teta<=(-pi)) {
PedroMartins96 0:a7324f51348d 196 teta=teta+2*pi;
PedroMartins96 0:a7324f51348d 197 }
PedroMartins96 0:a7324f51348d 198
PedroMartins96 0:a7324f51348d 199 Wee=(v-(Ldis/2)*w);
PedroMartins96 0:a7324f51348d 200 Wdd=(v+(Ldis/2)*w);
PedroMartins96 0:a7324f51348d 201 //PC.printf("phi1=%f D=%f x=%f y=%f teta=%f\n", w,theta,x,y,teta);
PedroMartins96 0:a7324f51348d 202 }
PedroMartins96 0:a7324f51348d 203
PedroMartins96 0:a7324f51348d 204 void setSpeeds(int16_t leftSpeed, int16_t rightSpeed)
PedroMartins96 0:a7324f51348d 205 {
PedroMartins96 0:a7324f51348d 206 char buffer[5];
PedroMartins96 0:a7324f51348d 207
PedroMartins96 0:a7324f51348d 208 buffer[0] = 0xA1;
PedroMartins96 0:a7324f51348d 209 memcpy(&buffer[1], &leftSpeed, sizeof(leftSpeed));
PedroMartins96 0:a7324f51348d 210 memcpy(&buffer[3], &rightSpeed, sizeof(rightSpeed));
PedroMartins96 0:a7324f51348d 211
PedroMartins96 0:a7324f51348d 212 i2c.write(addr8bit, buffer, 5); // 5 bytes
PedroMartins96 0:a7324f51348d 213 }
PedroMartins96 0:a7324f51348d 214
PedroMartins96 0:a7324f51348d 215 void setLeftSpeed(int16_t speed)
PedroMartins96 0:a7324f51348d 216 {
PedroMartins96 0:a7324f51348d 217 char buffer[3];
PedroMartins96 0:a7324f51348d 218
PedroMartins96 0:a7324f51348d 219 buffer[0] = 0xA2;
PedroMartins96 0:a7324f51348d 220 memcpy(&buffer[1], &speed, sizeof(speed));
PedroMartins96 0:a7324f51348d 221
PedroMartins96 0:a7324f51348d 222 i2c.write(addr8bit, buffer, 3); // 3 bytes
PedroMartins96 0:a7324f51348d 223 }
PedroMartins96 0:a7324f51348d 224
PedroMartins96 0:a7324f51348d 225 void setRightSpeed(int16_t speed)
PedroMartins96 0:a7324f51348d 226 {
PedroMartins96 0:a7324f51348d 227 char buffer[3];
PedroMartins96 0:a7324f51348d 228
PedroMartins96 0:a7324f51348d 229 buffer[0] = 0xA3;
PedroMartins96 0:a7324f51348d 230 memcpy(&buffer[1], &speed, sizeof(speed));
PedroMartins96 0:a7324f51348d 231
PedroMartins96 0:a7324f51348d 232 i2c.write(addr8bit, buffer, 3); // 3 bytes
PedroMartins96 0:a7324f51348d 233 }
PedroMartins96 0:a7324f51348d 234
PedroMartins96 0:a7324f51348d 235 void getCounts()
PedroMartins96 0:a7324f51348d 236 {
PedroMartins96 0:a7324f51348d 237 char write_buffer[2];
PedroMartins96 0:a7324f51348d 238 char read_buffer[4];
PedroMartins96 0:a7324f51348d 239
PedroMartins96 0:a7324f51348d 240 write_buffer[0] = 0xA0;
PedroMartins96 0:a7324f51348d 241 i2c.write(addr8bit, write_buffer, 1);
PedroMartins96 0:a7324f51348d 242 wait_us(100);
PedroMartins96 0:a7324f51348d 243 i2c.read( addr8bit, read_buffer, 4);
PedroMartins96 0:a7324f51348d 244 countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
PedroMartins96 0:a7324f51348d 245 countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
PedroMartins96 0:a7324f51348d 246 }
PedroMartins96 0:a7324f51348d 247
PedroMartins96 0:a7324f51348d 248 void getCountsAndReset()
PedroMartins96 0:a7324f51348d 249 {
PedroMartins96 0:a7324f51348d 250 char write_buffer[2];
PedroMartins96 0:a7324f51348d 251 char read_buffer[4];
PedroMartins96 0:a7324f51348d 252
PedroMartins96 0:a7324f51348d 253 write_buffer[0] = 0xA4;
PedroMartins96 0:a7324f51348d 254 i2c.write(addr8bit, write_buffer, 1);
PedroMartins96 0:a7324f51348d 255 wait_us(100);
PedroMartins96 0:a7324f51348d 256 i2c.read( addr8bit, read_buffer, 4);
PedroMartins96 0:a7324f51348d 257 countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
PedroMartins96 0:a7324f51348d 258 countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
PedroMartins96 1:2716ea33958b 259 }
PedroMartins96 1:2716ea33958b 260
PedroMartins96 1:2716ea33958b 261 //int mapa[80][80] = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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