Francisco Santos
pepe
Diff: Robot.cpp
- Revision:
- 1:2716ea33958b
- Parent:
- 0:a7324f51348d
- Child:
- 2:06b7789c7da0
diff -r a7324f51348d -r 2716ea33958b Robot.cpp
--- a/Robot.cpp Wed Mar 13 23:04:14 2019 +0000
+++ b/Robot.cpp Wed May 22 09:51:53 2019 +0000
@@ -1,148 +1,183 @@
#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;
-float De=0, Dd=0, pi=3.141529, Ldis=14.2, r=6.95/2, theta=0, teta=0, x=50, y=10, D=0, Wee=0, Wdd=0, v=0, w=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;
-////////////////////////////////////////
-// Movimento para uma pose arbitrária //
-////////////////////////////////////////
-void to_pos(float x2,float y2,float phi2)
+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(1){
- float alfa,beta,a=33,b=30;
- float Kp=0.7,Ka=5,Kb=-2;
- while(abs(x)<abs(x2)-1 || abs(y)<abs(y2)-1 || teta<=(phi2-0.05) || teta>=(phi2+0.05)) {// Condição de paragem
- // Controlo linear
- v=Kp*(sqrt(((x2-x)*(x2-x)+(y2-y)*(y2-y))));
-
- alfa=-teta+atan2(y2-y,x2-x);
+ 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(abs(v)<1){
- alfa=0;
- a=0;
- b=0;
- }
- // Verifica se o alpha pertence ao limite entre [-pi/2; pi/2], se não adiciona/remove pi e inverte a velocidade
- if(alfa<-pi/2){
- alfa=alfa+pi;
- v=-v;
- }
- else if(alfa>pi/2){
- alfa=alfa-pi;
- v=-v;
- }
+ if(Fr_y>15) Fr_y = 15;
+ else if(Fr_y<-15) Fr_y = -15;
- beta=-teta-alfa+phi2;
- w=Ka*alfa+Kb*beta;
-
- if(alfa==0){
- w=w+abs(w)/w*4;
- Kb=3;
+ 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;
}
- motion();
- setSpeeds(Wee+a*abs(v)/v,Wdd+b*abs(v)/v);
+ //Controlo proporcional
+ w=Ks*(aux);
+ if(w>5) w = 5;
+ else if(w<-5) w = -5;
+ //motion();
- //PC.printf("v=%f w=%f alfa=%f beta=%f teta=%f phi2=%f x=%f y=%f\n", v,w,alfa,beta,teta,phi2,x,y);
- PC.printf("%f %f\n", x,y);
- }
- setSpeeds(0,0); // A condição de paragem verifica-se e para-se o robo
+ //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);
}
-/////////////////////////////////
-// Movimento segundo uma linha //
-/////////////////////////////////
-void to_line(float a,float b,float c)
+////////////////////////////////////////////////////
+// Cria Mapa //
+////////////////////////////////////////////////////
+void mapa(int x3,int y3)
{
- float d=0,alfad=0,phi1=0,alfah=0;
- float Kd=0.45,Kh=15;
- while(1){
- while((abs(x) < 200)&&(abs(y)<200)) {
- v=100;
- d=(a*x+b*y+c)/sqrt(a*a+b*b);
+ 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");
+}
- //Controlo proporcional que roda a plataforma na direção da linha
- alfad=(-Kd)*d;
- if (abs(alfad)<0.3) alfad=alfad*3;
- phi1=atan2(-a,b);
-
- //Controlo proporcional que ajusta o ângulo de direcionamento
- alfah=Kh*(phi1-teta);
-
- w=alfad+alfah;
-
- if(w > 12) w = 12;
- else if(w<-12) w = -12;
-
- motion();
- setSpeeds(Wee,Wdd);
- //PC.printf("v=%f w=%f alfad=%f alfah=%f teta=%f x=%f y=%f\n", v,w,alfad,alfah,teta,x,y);
- PC.printf("%f %f\n", x,y);
+////////////////////////////////////////////////////
+// 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);
}
- setSpeeds(0,0);
}
}
-
-/////////////////////////////
-// Movimento para um ponto //
-/////////////////////////////
-void to_point(float x1,float y1)
+void print_map(int x3, int y3)
{
- while(1) {
- float phi1=0,aux=0;
- float Kv=1.5,Ks=30;
- while((abs(x)<abs(x1)-1)||(abs(y)<abs(y1)-1)||(abs(x)>abs(x1)+1)||(abs(y)>abs(y1)+1)) {
- v=Kv*(sqrt(((x1-x)*(x1-x)+((y1-y)*(y1-y))))); //Controlo de velocidade -- Quanto mais próximo do ponto objetivo, menor vai ser a velocidade
-
- phi1=atan2((y1-y),(x1-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 > 12) w = 12;
- else if(w<-12) w = -12;
-
- motion();
- setSpeeds(Wee+28,Wdd+25);
- //PC.printf("v=%f w=%f phi1=%f x=%f y=%f teta=%f\n", v,w,phi1,x,y,teta);
- PC.printf("%f %f %f %f\n", x,y,teta, w);
+ //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)));
}
- setSpeeds(0,0);
+ printf("\n");
}
-
}
-///////////////
-// Odometria //
-///////////////
+////////////////////////////////////////////////////
+// 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);
@@ -152,12 +187,12 @@
y = y + D*((sin(theta/2)/(theta/2))*sin(teta+theta/2));
teta=teta+theta;
}
-
+
//Limite entre [-2pi; 2pi]
- if (teta>=(2*pi)) {
+ if (teta>=(pi)) {
teta=teta-2*pi;
}
- if (teta<=(-2*pi)) {
+ if (teta<=(-pi)) {
teta=teta+2*pi;
}
@@ -221,4 +256,6 @@
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]));
-}
\ No newline at end of file
+}
+
+//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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