with class
Dependencies: ISR_Mini-explorer mbed
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MiniExplorerCoimbra.cpp
- Committer:
- Ludwigfr
- Date:
- 2017-06-15
- Revision:
- 38:5ed7c79fb724
- Parent:
- 37:b4c45e43ad29
- Child:
- 39:890439b495e3
File content as of revision 38:5ed7c79fb724:
#include "MiniExplorerCoimbra.hpp" #include "robot.h" #define PI 3.14159 MiniExplorerCoimbra::MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld):map(200,200,20,20),sonarLeft(10*PI/36,-4,4),sonarFront(0,0,5),sonarRight(-10*PI/36,4,4){ i2c1.frequency(100000); initRobot(); //Initializing the robot pc.baud(9600); // baud for the pc communication measure_always_on();//TODO check if needed this->setXYThetaAndXYThetaWorld(defaultXWorld,defaultYWorld,defaultThetaWorld); this->radiusWheels=3.25; this->distanceWheels=7.2; this->khro=12; this->ka=30; this->kb=-13; this->kv=200; this->kh=200; this->rangeForce=30; this->attractionConstantForce=10000; this->repulsionConstantForce=1; } void MiniExplorerCoimbra::setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld){ this->xWorld=defaultXWorld; this->yWorld=defaultYWorld; this->thetaWorld=defaultThetaWorld; X=defaultYWorld; Y=-defaultXWorld; if(defaultThetaWorld < -PI/2) theta=PI/2+PI-defaultThetaWorld; else theta=defaultThetaWorld-PI/2; } void MiniExplorerCoimbra::myOdometria(){ Odometria(); this->xWorld=-Y; this->yWorld=X; if(theta >PI/2) this->thetaWorld=-PI+(theta-PI/2); else this->thetaWorld=theta+PI/2; } //generate a position randomly and makes the robot go there while updating the map void MiniExplorerCoimbra::randomize_and_map() { //TODO check that it's aurelien's work float movementOnX=rand()%(int)(this->map.widthRealMap/2); float movementOnY=rand()%(int)(this->map.heightRealMap/2); float signOfX=rand()%2; if(signOfX < 1) signOfX=-1; float signOfY=rand()%2; if(signOfY < 1) signOfY=-1; float targetXWorld = movementOnX*signOfX; float targetYWorld = movementOnY*signOfY; float targetAngleWorld = 2*((float)(rand()%31416)-15708)/10000.0; this->go_to_point_with_angle(targetXWorld, targetYWorld, targetAngleWorld); } //move of targetXWorld and targetYWorld ending in a targetAngleWorld void MiniExplorerCoimbra::go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld) { bool keepGoing=true; float leftMm; float frontMm; float rightMm; float dt; Timer t; float distanceToTarget; do { //Timer stuff dt = t.read(); t.reset(); t.start(); //Updating X,Y and theta with the odometry values this->myOdometria(); leftMm = get_distance_left_sensor(); frontMm = get_distance_front_sensor(); rightMm = get_distance_right_sensor(); //if in dangerzone if((frontMm < 150 && frontMm > 0)|| (leftMm <150 && leftMm > 0) || (rightMm <150 && rightMm > 0) ){ leftMotor(1,0); rightMotor(1,0); this->update_sonar_values(leftMm, frontMm, rightMm); //TODO Giorgos maybe you can also test the do_half_flip() function this->myOdometria(); //do a flip TODO keepGoing=false; this->do_half_flip(); }else{ //if not in danger zone continue as usual this->update_sonar_values(leftMm, frontMm, rightMm); //Updating motor velocities distanceToTarget=this->update_angular_speed_wheels_go_to_point_with_angle(targetXWorld,targetYWorld,targetAngleWorld,dt); wait(0.2); //Timer stuff t.stop(); pc.printf("\n\r dist to target= %f",distanceToTarget); } } while(distanceToTarget>1 && (abs(targetAngleWorld-this->thetaWorld)>0.01) && keepGoing); //Stop at the end leftMotor(1,0); rightMotor(1,0); } float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt){ //compute_angles_and_distance //atan2 take the deplacement on x and the deplacement on y as parameters float angleToPoint = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld; angleToPoint = atan(sin(angleToPoint)/cos(angleToPoint)); //rho is the distance to the point of arrival float rho = dist(targetXWorld,targetYWorld,this->xWorld,this->yWorld); float distanceToTarget = rho; //TODO check that float beta = targetAngleWorld-angleToPoint-this->thetaWorld; //Computing angle error and distance towards the target value rho += dt*(-this->khro*cos(angleToPoint)*rho); float temp = angleToPoint; angleToPoint += dt*(this->khro*sin(angleToPoint)-this->ka*angleToPoint-this->kb*beta); beta += dt*(-this->khro*sin(temp)); //Computing linear and angular velocities float linear; float angular; if(angleToPoint>=-1.5708 && angleToPoint<=1.5708){ linear=this->khro*rho; angular=this->ka*angleToPoint+this->kb*beta; } else{ linear=-this->khro*rho; angular=-this->ka*angleToPoint-this->kb*beta; } float angular_left=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; float angular_right=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; //Normalize speed for motors if(angular_left>angular_right) { angular_right=this->speed*angular_right/angular_left; angular_left=this->speed; } else { angular_left=this->speed*angular_left/angular_right; angular_right=this->speed; } //compute_linear_angular_velocities leftMotor(1,angular_left); rightMotor(1,angular_right); return distanceToTarget; } void MiniExplorerCoimbra::update_sonar_values(float leftMm,float frontMm,float rightMm){ float xWorldCell; float yWorldCell; for(int i=0;i<this->map.nbCellWidth;i++){ for(int j=0;j<this->map.nbCellHeight;j++){ xWorldCell=this->map.cell_width_coordinate_to_world(i); yWorldCell=this->map.cell_height_coordinate_to_world(j); this->map.update_cell_value(i,j,this->sonarRight.compute_probability_t(rightMm/10,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld)); this->map.update_cell_value(i,j,this->sonarLeft.compute_probability_t(leftMm/10,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld)); this->map.update_cell_value(i,j,this->sonarFront.compute_probability_t(frontMm/10,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld)); } } } //Distance computation function float MiniExplorerCoimbra::dist(float x1, float y1, float x2, float y2){ return sqrt(pow(y2-y1,2) + pow(x2-x1,2)); } //use virtual force field void MiniExplorerCoimbra::try_to_reach_target(float targetXWorld,float targetYWorld){ //atan2 gives the angle beetween PI and -PI this->myOdometria(); /* float deplacementOnXWorld=targetXWorld-this->xWorld; float deplacementOnYWorld=targetYWorld-this->yWorld; */ float angleToTarget=atan2(targetYWorld-this->yWorld,targetXWorld-this->xWorld); turn_to_target(angleToTarget); bool reached=false; int print=0; while (!reached) { vff(&reached,targetXWorld,targetYWorld); //test_got_to_line(&reached); if(print==10){ leftMotor(1,0); rightMotor(1,0); this->print_map_with_robot_position_and_target(targetXWorld,targetYWorld); print=0; }else print+=1; } //Stop at the end leftMotor(1,0); rightMotor(1,0); pc.printf("\r\n target reached"); wait(3);// } void MiniExplorerCoimbra::vff(bool* reached, float targetXWorld, float targetYWorld){ float line_a; float line_b; float line_c; //Updating X,Y and theta with the odometry values float forceXWorld=0; float forceYWorld=0; //we update the odometrie this->myOdometria(); //we check the sensors float leftMm = get_distance_left_sensor(); float frontMm = get_distance_front_sensor(); float rightMm = get_distance_right_sensor(); //update the probabilities values this->update_sonar_values(leftMm, frontMm, rightMm); //we compute the force on X and Y this->compute_forceX_and_forceY(&forceXWorld, &forceYWorld,targetXWorld,targetYWorld); //we compute a new ine this->calculate_line(forceXWorld, forceYWorld, &line_a,&line_b,&line_c); //Updating motor velocities this->go_to_line(line_a,line_b,line_c,targetXWorld,targetYWorld); //wait(0.1); this->myOdometria(); if(dist(this->xWorld,this->yWorld,targetXWorld,targetYWorld)<10) *reached=true; } //compute the force on X and Y void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceXWorld, float* forceYWorld, float targetXWorld, float targetYWorld){ float forceRepulsionComputedX=0; float forceRepulsionComputedY=0; //for each cell of the map we compute a force of repulsion for(int i=0;i<this->map.nbCellWidth;i++){ for(int j=0;j<this->map.nbCellHeight;j++){ this->update_force(i,j,&forceRepulsionComputedX,&forceRepulsionComputedY); } } //update with attraction force *forceXWorld=+forceRepulsionComputedX; *forceYWorld=+forceRepulsionComputedY; float distanceTargetRobot=sqrt(pow(targetXWorld-this->xWorld,2)+pow(targetYWorld-this->yWorld,2)); if(distanceTargetRobot != 0){ *forceXWorld-=this->attractionConstantForce*(targetXWorld-this->xWorld)/distanceTargetRobot; *forceYWorld-=this->attractionConstantForce*(targetYWorld-this->yWorld)/distanceTargetRobot; } float amplitude=sqrt(pow(*forceXWorld,2)+pow(*forceYWorld,2)); if(amplitude!=0){//avoid division by 0 if forceX and forceY == 0 *forceXWorld=*forceXWorld/amplitude; *forceYWorld=*forceYWorld/amplitude; } } void MiniExplorerCoimbra::update_force(int widthIndice, int heightIndice, float* forceRepulsionComputedX, float* forceRepulsionComputedY ){ //get the coordonate of the map and the robot in the ortonormal space float xWorldCell=this->map.cell_width_coordinate_to_world(widthIndice); float yWorldCell=this->map.cell_height_coordinate_to_world(heightIndice); //compute the distance beetween the cell and the robot float distanceCellToRobot=sqrt(pow(xWorldCell-this->xWorld,2)+pow(yWorldCell-this->yWorld,2)); //check if the cell is in range if(distanceCellToRobot <= this->rangeForce) { float probaCell=this->map.get_proba_cell(widthIndice,heightIndice); *forceRepulsionComputedX+=this->repulsionConstantForce*probaCell*(xWorldCell-this->xWorld)/pow(distanceCellToRobot,3); *forceRepulsionComputedY+=this->repulsionConstantForce*probaCell*(yWorldCell-this->yWorld)/pow(distanceCellToRobot,3); } } //robotX and robotY are from this->myOdometria(), calculate line_a, line_b and line_c void MiniExplorerCoimbra::calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c){ /* in the teachers maths it is *line_a=forceY; *line_b=-forceX; because a*x+b*y+c=0 a impact the vertical and b the horizontal and he has to put them like this because Robot space: World space: ^ ^ |x |y <- R O -> y x but since our forceX, forceY are already computed in the orthonormal space I m not sure we need to */ *line_a=forceX; *line_b=forceY; //because the line computed always pass by the robot center we dont need lince_c //*line_c=forceX*this->yWorld+forceY*this->xWorld; *line_c=0; } //currently line_c is not used void MiniExplorerCoimbra::go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld){ float lineAngle; float angleError; float linear; float angular; //atan2 use the deplacement on X and the deplacement on Y float angleToTarget=atan2(targetYWorld-this->yWorld,targetXWorld-this->xWorld); bool aligned=false; //this condition is passed if the target is in the same direction as the robot orientation if((angleToTarget>0 && this->thetaWorld > 0) || (angleToTarget<0 && this->thetaWorld <0)) aligned=true; //line angle is beetween pi/2 and -pi/2 /* ax+by+c=0 (here c==0) y=x*-a/b if a*b > 0, the robot is going down if a*b <0, the robot is going up */ if(line_b!=0){ if(!aligned) lineAngle=atan(-line_a/line_b); else lineAngle=atan(line_a/-line_b); } else{ lineAngle=1.5708; } //Computing angle error angleError = lineAngle-this->thetaWorld;//TODO that I m not sure angleError = atan(sin(angleError)/cos(angleError)); //Calculating velocities linear=this->kv*(3.1416); angular=this->kh*angleError; float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; //Normalize speed for motors if(abs(angularLeft)>abs(angularRight)) { angularRight=this->speed*abs(angularRight/angularLeft)*this->sign1(angularRight); angularLeft=this->speed*this->sign1(angularLeft); } else { angularLeft=this->speed*abs(angularLeft/angularRight)*this->sign1(angularLeft); angularRight=this->speed*this->sign1(angularRight); } leftMotor(this->sign2(angularLeft),abs(angularLeft)); rightMotor(this->sign2(angularRight),abs(angularRight)); } /*angleToTarget is obtained through atan2 so it s: < 0 if the angle is bettween PI and 2pi on a trigo circle > 0 if it is between 0 and PI */ void MiniExplorerCoimbra::turn_to_target(float angleToTarget){ this->myOdometria(); float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI if(theta_plus_h_pi > PI) theta_plus_h_pi=-(2*PI-theta_plus_h_pi); if(angleToTarget>0){ leftMotor(0,1); rightMotor(1,1); }else{ leftMotor(1,1); rightMotor(0,1); } while(abs(angleToTarget-theta_plus_h_pi)>0.05){ this->myOdometria(); theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI if(theta_plus_h_pi > PI) theta_plus_h_pi=-(2*PI-theta_plus_h_pi); //pc.printf("\n\r diff=%f", abs(angleToTarget-theta_plus_h_pi)); } leftMotor(1,0); rightMotor(1,0); } void MiniExplorerCoimbra::do_half_flip(){ this->myOdometria(); float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI if(theta_plus_h_pi > PI) theta_plus_h_pi=-(2*PI-theta_plus_h_pi); leftMotor(0,100); rightMotor(1,100); while(abs(theta_plus_h_pi-theta)>0.05){ this->myOdometria(); // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta)); } leftMotor(1,0); rightMotor(1,0); } void MiniExplorerCoimbra::print_map_with_robot_position() { float currProba; float heightIndiceInOrthonormal; float widthIndiceInOrthonormal; float widthMalus=-(3*this->map.sizeCellWidth/2); float widthBonus=this->map.sizeCellWidth/2; float heightMalus=-(3*this->map.sizeCellHeight/2); float heightBonus=this->map.sizeCellHeight/2; pc.printf("\n\r"); for (int y = this->map.nbCellHeight -1; y>-1; y--) { for (int x= 0; x<this->map.nbCellWidth; x++) { heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y); widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x); if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus)) pc.printf(" R "); else{ currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]); if ( currProba < 0.5) pc.printf(" "); else{ if(currProba==0.5) pc.printf(" . "); else pc.printf(" X "); } } } pc.printf("\n\r"); } } void MiniExplorerCoimbra::print_map_with_robot_position_and_target(float targetXWorld, float targetYWorld) { float currProba; float heightIndiceInOrthonormal; float widthIndiceInOrthonormal; float widthMalus=-(3*this->map.sizeCellWidth/2); float widthBonus=this->map.sizeCellWidth/2; float heightMalus=-(3*this->map.sizeCellHeight/2); float heightBonus=this->map.sizeCellHeight/2; pc.printf("\n\r"); for (int y = this->map.nbCellHeight -1; y>-1; y--) { for (int x= 0; x<this->map.nbCellWidth; x++) { heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y); widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x); if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus)) pc.printf(" R "); else{ if(targetYWorld >= (heightIndiceInOrthonormal+heightMalus) && targetYWorld <= (heightIndiceInOrthonormal+heightBonus) && targetXWorld >= (widthIndiceInOrthonormal+widthMalus) && targetXWorld <= (widthIndiceInOrthonormal+widthBonus)) pc.printf(" T "); else{ currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]); if ( currProba < 0.5) pc.printf(" "); else{ if(currProba==0.5) pc.printf(" . "); else pc.printf(" X "); } } } } pc.printf("\n\r"); } } void MiniExplorerCoimbra::print_map() { float currProba; pc.printf("\n\r"); for (int y = this->map.nbCellHeight -1; y>-1; y--) { for (int x= 0; x<this->map.nbCellWidth; x++) { currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]); if ( currProba < 0.5) { pc.printf(" "); } else { if(currProba==0.5) pc.printf(" . "); else pc.printf(" X "); } } pc.printf("\n\r"); } } //return 1 if positiv, -1 if negativ float MiniExplorerCoimbra::sign1(float value){ if(value>=0) return 1; else return -1; } //return 1 if positiv, 0 if negativ int MiniExplorerCoimbra::sign2(float value){ if(value>=0) return 1; else return 0; } /*UNUSED float MiniExplorerCoimbra::get_converted_robot_X_into_world(){ //x world coordinate return this->map.nbCellWidth*this->map.sizeCellWidth-Y; } float MiniExplorerCoimbra::get_converted_robot_Y_into_world(){ //y worldcoordinate return X; } //x and y passed are TargetNotMap float get_error_angles(float x, float y,float theta){ float angleBeetweenRobotAndTarget=atan2(y,x); if(y > 0){ if(angleBeetweenRobotAndTarget < PI/2)//up right angleBeetweenRobotAndTarget=-PI/2+angleBeetweenRobotAndTarget; else//up right angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2; }else{ if(angleBeetweenRobotAndTarget > -PI/2)//lower right angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2; else//lower left angleBeetweenRobotAndTarget=2*PI+angleBeetweenRobotAndTarget-PI/2; } return angleBeetweenRobotAndTarget-theta; } */