Francisco Santos
/
SRA_VFF
pepe
Robot.cpp
- Committer:
- PedroMartins96
- Date:
- 2019-05-22
- Revision:
- 1:2716ea33958b
- Parent:
- 0:a7324f51348d
- Child:
- 2:06b7789c7da0
File content as of revision 1:2716ea33958b:
#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=25, y=25, 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 = 200, yf = 200; // coordenadas finais float fcr = 1000; // Força Constante Repulsiva float fca = 14; // 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=50, Ks=20, Ki = 0.001; 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; if(Fr_x>15) Fr_x = 15; else if(Fr_x<-15) Fr_x = -15; if(Fr_y>15) Fr_y = 15; else if(Fr_y<-15) Fr_y = -15; 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>60) v = 60; else if(v < -60) v=-60; 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; aux_y = y/5; 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 - 1)*5 + 2.5; yc = (j - 1)*5 + 2.5; d = map.getNumber(i,j)*sqrt((x-xc)*(x-xc)+(y-yc)*(y-yc)); if(d < 20 ) fcr = fcr * 1.5; else fcr = 80; if(d == 0){ } else { 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)); } } } } } //////////////////////////////////////////////////// // 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; } //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("phi1=%f D=%f x=%f y=%f teta=%f\n", w,theta,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, 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