Francisco Santos / Mbed 2 deprecated SRA_VFF

pepe

Dependencies:   mbed Matrix

Robot.cpp

Committer:
FJMS
Date:
2019-11-24
Revision:
2:06b7789c7da0
Parent:
1:2716ea33958b

File content as of revision 2:06b7789c7da0:

#include "Robot.h"
#include "mbed.h"
#include "Matrix.h"

Serial PC(SERIAL_TX, SERIAL_RX);
I2C i2c(I2C_SDA, I2C_SCL );
const int addr8bit = 20 << 1; // 7bit I2C address is 20; 8bit I2C address is 40 (decimal).
Matrix map(80,80);
int16_t countsLeft = 0;
int16_t countsRight = 0;
int i, j;

float De=0, Dd=0, pi=3.141529, Ldis=14.2, r=6.95/2, theta=0, teta=0, teta_=0, x=20, y=20, D=0, Wee=0, Wdd=0, v=0, w=0;
float xc, yc; // coordenadas da célula
float x_obj = 0, y_obj = 0;
float xf = 100, yf = 20; // coordenadas finais

float fcr = 500; // Força Constante Repulsiva
float fca = 30; // Força Constante Atrativa
float fre_x = 0, fre_y = 0, fa_x = 0, fa_y = 0, Fr_x = 0, Fr_y = 0;


float d = 0, dt = 0;
float P = 0, I = 0;
float phi1=0,aux=0;
float Kv=5, Ks=10, Ki = 0.01;
float erro = 0;
int aux_x = 0, aux_y = 0;


//PC.baud(9600);
////////////////////////////////////////////////////
//            Seguimento de um percurso           //
////////////////////////////////////////////////////
void VFF()
{
    while((abs(x)<abs(xf)-2)||(abs(y)<abs(yf)-2)||(abs(x)>abs(xf)+2)||(abs(y)>abs(yf)+2)) {
        motion();
        f_repulsiva();
        f_atrativa();
        Fr_x = fre_x + fa_x;
        Fr_y = fre_y + fa_y;
        //PC.printf("Fr_x=%f                      Fr_y=%f\n",Fr_x,Fr_y);
        //if(Fr_x<8) Fr_x=8;
        //if(Fr_y<8) Fr_y=8;
        x_obj = x + Fr_x;
        y_obj = y + Fr_y;

        erro = sqrt((x_obj-x)*(x_obj-x)+(y_obj-y)*(y_obj-y)) - 9;

        P = Kv*erro;
        I += erro;
        v = P + Ki*I;
        if(v>25) v = 25;
        else if(v < -25) v=-25;

        phi1=atan2((y_obj-y),(x_obj-x)); // Ângulo entre a posição final e a posição atual
        aux = phi1-teta;
        //Verifica se a diferença dos angulos pertence ao limite entre [-pi;pi]
        if(aux<-pi) {
            aux=aux+2*pi;
        } else if(aux>pi) {
            aux=aux-2*pi;
        }

        //Controlo proporcional
        w=Ks*(aux);
        if(w>5) w = 5;
        else if(w<-5) w = -5;
        motion();

        //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);
        //PC.printf("%f %f %f\n",erro, x,y);
        setSpeeds(Wee+33*abs(v)/v,Wdd+30*abs(v)/v);
    }
    setSpeeds(0,0);
}


////////////////////////////////////////////////////
//                   Cria Mapa                    //
////////////////////////////////////////////////////
void mapa(int x3,int y3)
{
    for(i=1; i<=x3; i++) {
        for(j=1; j<=y3; j++) {
            if(i==1 || i==80 || j==1 || j==80) map.add(i,j,1);
            else map.add(i,j,0);
            //PC.printf("%d ", int(map.getNumber(i,j)));
        }
        //printf("\n");
        //PC.printf("%d ", map.getNumber(i,-5));
    }
    PC.printf("I'm Ready\n");
}

////////////////////////////////////////////////////
//                  Cria objeto                   //
////////////////////////////////////////////////////
void cria_obj(int c, int l, int p[])
{
    int k = p[0]/5;
    int m = p[1]/5;
    c = (c/5)/2;
    l = (l/5)/2;
    for(i=k-c+1; i<=k+c; i++)
    {
        for(j=m-l+1; j<=m+l; j++) {
            if((i==(k-c+1)) || (i==(k+c)) || (j==(m-l+1)) || (j==(m+l))) map.add(i,j,1);
            else map.add(i,j, 0);
        }
    }
}

void print_map(int x3, int y3)
{
    //map.add(8, 16, 4);
    for(i=1; i<=x3; i++) {
        for(j=1; j<=y3; j++) {
            //PC.printf("%d ", int(map.getNumber(i,j)));
        }
        printf("\n");
    }
}

////////////////////////////////////////////////////
//                Força Repulsiva                 //
////////////////////////////////////////////////////
void f_repulsiva()
{
    fre_x = 0;
    fre_y = 0;
    aux_x = x/5 + 1;
    aux_y = y/5 + 1;
    for(i=aux_x-5; i<=aux_x+5; i++) {
        for(j=aux_y-5; j<=aux_y+5; j++) {
            if(i<=0 || i>80 || j<=0 || j>80 || (i == aux_x && j == aux_y)) {
                // do nothing
            } else {
                xc = i*5 - 2.5;
                yc = j*5 - 2.5;
                d = sqrt((x-xc)*(x-xc)+(y-yc)*(y-yc));
                
                fre_x = fre_x + ((fcr*map.getNumber(i,j)*(x-xc))/(d*d*d));
                fre_y = fre_y + ((fcr*map.getNumber(i,j)*(y-yc))/(d*d*d));
                //PC.printf("fre_x=%f                        fre_y=%f \n", fre_x,fre_y);
            }
        }
    }
}

////////////////////////////////////////////////////
//                 Força Atrativa                 //
////////////////////////////////////////////////////
void f_atrativa()
{
    dt = sqrt((xf-x)*(xf-x)+(yf-y)*(yf-y));
    fa_x = fca*((xf-x)/dt);
    fa_y = fca*((yf-y)/dt);
}

////////////////////////////////////////////////////
//                   Odometria                    //
////////////////////////////////////////////////////
void motion()
{
    getCountsAndReset();
    De=((2*pi*r)*countsLeft)/1440;
    Dd=((2*pi*r)*countsRight)/1440;
    theta=(Dd-De)/Ldis;

    D=(De+Dd)/2;

    if(theta==0) {
        x=x+D*cos(teta);
        y=y+D*sin(teta);
        teta=teta;
    } else {
        x = x + D*((sin(theta/2)/(theta/2))*cos(teta+theta/2));
        y = y + D*((sin(theta/2)/(theta/2))*sin(teta+theta/2));
        teta=teta+theta;
    }

    teta=atan2(sin(teta),cos(teta));
    //Limite entre [-2pi; 2pi]
    //if (teta>=(pi)) {
      //  teta=teta-2*pi;
    //}
    //if (teta<=(-pi)) {
      //  teta=teta+2*pi;
    //}

    Wee=(v-(Ldis/2)*w);
    Wdd=(v+(Ldis/2)*w);
    PC.printf("De=%f Dd=%f x=%f y=%f teta=%f\n", De,Dd,x,y,teta);
}

void setSpeeds(int16_t leftSpeed, int16_t rightSpeed)
{
    char buffer[5];

    buffer[0] = 0xA1;
    memcpy(&buffer[1], &leftSpeed, sizeof(leftSpeed));
    memcpy(&buffer[3], &rightSpeed, sizeof(rightSpeed));

    i2c.write(addr8bit, buffer, 5); // 5 bytes
}

void setLeftSpeed(int16_t speed)
{
    char buffer[3];

    buffer[0] = 0xA2;
    memcpy(&buffer[1], &speed, sizeof(speed));

    i2c.write(addr8bit, buffer, 3); // 3 bytes
}

void setRightSpeed(int16_t speed)
{
    char buffer[3];

    buffer[0] = 0xA3;
    memcpy(&buffer[1], &speed, sizeof(speed));

    i2c.write(addr8bit, buffer, 3); // 3 bytes
}

void getCounts()
{
    char write_buffer[2];
    char read_buffer[4];

    write_buffer[0] = 0xA0;
    i2c.write(addr8bit, write_buffer, 1);
    wait_us(100);
    i2c.read( addr8bit, read_buffer, 4);
    countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
    countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
}

void getCountsAndReset()
{
    char write_buffer[2];
    char read_buffer[4];

    write_buffer[0] = 0xA4;
    i2c.write(addr8bit, write_buffer, 1);
    wait_us(100);
    i2c.read( addr8bit, read_buffer, 4);
    countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
    countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
}

//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, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 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