Yo Fleyt / Mbed 2 deprecated VirtualForces_with_class

with class

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

main.cpp@12:3c0ca2350624, 2017-03-27 (annotated)

Committer:
geotsam
Date:
Mon Mar 27 16:40:11 2017 +0000
Revision:
12:3c0ca2350624
Parent:
11:e641aa08c92e
Child:
13:41f75c132135
corrected the inputs again :P

Who changed what in which revision?

UserRevisionLine numberNew contents of line
geotsam 0:8bffb51cc345 1 #include "mbed.h"
geotsam 0:8bffb51cc345 2 #include "robot.h" // Initializes the robot. This include should be used in all main.cpp!
geotsam 0:8bffb51cc345 3 #include "math.h"
AurelienBernier 6:afde4b08166b 4
AurelienBernier 6:afde4b08166b 5 Timer t;
AurelienBernier 4:8c56c3ba6e54 6
geotsam 0:8bffb51cc345 7 float dist(float robot_x, float robot_y, float target_x, float target_y);
geotsam 0:8bffb51cc345 8
geotsam 12:3c0ca2350624 9 int goToPointWithAngle(float target_x, float target_y, float target_angle);
AurelienBernier 8:109314be5b68 10
AurelienBernier 11:e641aa08c92e 11 int updateSonarValues();
AurelienBernier 11:e641aa08c92e 12
AurelienBernier 8:109314be5b68 13 float alpha; //angle error
AurelienBernier 8:109314be5b68 14 float rho; //distance from target
AurelienBernier 8:109314be5b68 15 float beta;
AurelienBernier 11:e641aa08c92e 16 float kRho=12, ka=30, kb=-13; //Kappa values
AurelienBernier 8:109314be5b68 17 float linear, angular, angular_left, angular_right;
AurelienBernier 8:109314be5b68 18 float dt=0.5;
AurelienBernier 8:109314be5b68 19 float temp;
AurelienBernier 8:109314be5b68 20 float d2;
AurelienBernier 8:109314be5b68 21
AurelienBernier 11:e641aa08c92e 22 bool tooClose = false;
AurelienBernier 11:e641aa08c92e 23
AurelienBernier 11:e641aa08c92e 24 int leftMm;
AurelienBernier 11:e641aa08c92e 25 int frontMm;
AurelienBernier 11:e641aa08c92e 26 int rightMm;
AurelienBernier 11:e641aa08c92e 27
AurelienBernier 8:109314be5b68 28 //Diameter of a wheel and distance between the 2
AurelienBernier 8:109314be5b68 29 float r=3.25, b=7.2;
AurelienBernier 8:109314be5b68 30
AurelienBernier 8:109314be5b68 31 int speed=999; // Max speed at beggining of movement
AurelienBernier 8:109314be5b68 32
AurelienBernier 8:109314be5b68 33 //Target example x,y values
AurelienBernier 8:109314be5b68 34 float target_x=46.8, target_y=78.6, target_angle=1.7;
AurelienBernier 8:109314be5b68 35
AurelienBernier 4:8c56c3ba6e54 36 //Timeout time;
geotsam 0:8bffb51cc345 37 int main(){
AurelienBernier 2:ea61e801e81f 38 initRobot(); //Initializing the robot
geotsam 0:8bffb51cc345 39 pc.baud(9600); // baud for the pc communication
geotsam 0:8bffb51cc345 40
AurelienBernier 2:ea61e801e81f 41 //Resetting coordinates before moving
AurelienBernier 2:ea61e801e81f 42 theta=0;
geotsam 0:8bffb51cc345 43 X=0;
geotsam 0:8bffb51cc345 44 Y=0;
geotsam 0:8bffb51cc345 45
AurelienBernier 4:8c56c3ba6e54 46 alpha = atan2((target_y-Y),(target_x-X))-theta;
AurelienBernier 4:8c56c3ba6e54 47 alpha = atan(sin(alpha)/cos(alpha));
AurelienBernier 4:8c56c3ba6e54 48 rho = dist(X, Y, target_x, target_y);
AurelienBernier 6:afde4b08166b 49
AurelienBernier 4:8c56c3ba6e54 50 beta = -alpha-theta+target_angle;
AurelienBernier 6:afde4b08166b 51 //beta = atan(sin(beta)/cos(beta));
AurelienBernier 8:109314be5b68 52
AurelienBernier 8:109314be5b68 53 goToPointWithAngle(target_x, target_y, target_angle);
AurelienBernier 8:109314be5b68 54
AurelienBernier 8:109314be5b68 55 //Stop at the end
AurelienBernier 8:109314be5b68 56 leftMotor(1,0);
AurelienBernier 8:109314be5b68 57 rightMotor(1,0);
AurelienBernier 8:109314be5b68 58
AurelienBernier 8:109314be5b68 59 pc.printf("\n\r %f -- arrived!", rho);
AurelienBernier 8:109314be5b68 60 }
AurelienBernier 8:109314be5b68 61
AurelienBernier 8:109314be5b68 62 //Distance computation function
AurelienBernier 8:109314be5b68 63 float dist(float robot_x, float robot_y, float target_x, float target_y){
AurelienBernier 8:109314be5b68 64 return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2));
AurelienBernier 8:109314be5b68 65 }
AurelienBernier 8:109314be5b68 66
AurelienBernier 11:e641aa08c92e 67 //Updates sonar values
AurelienBernier 11:e641aa08c92e 68 int updateSonarValues() {
AurelienBernier 11:e641aa08c92e 69 leftMm = get_distance_left_sensor();
AurelienBernier 11:e641aa08c92e 70 frontMm = get_distance_front_sensor();
AurelienBernier 11:e641aa08c92e 71 rightMm = get_distance_right_sensor();
AurelienBernier 11:e641aa08c92e 72 return 0;
AurelienBernier 11:e641aa08c92e 73 }
AurelienBernier 11:e641aa08c92e 74
geotsam 12:3c0ca2350624 75 int goToPointWithAngle(float target_x, float target_y, float target_angle) {
AurelienBernier 8:109314be5b68 76 do {
geotsam 0:8bffb51cc345 77 pc.printf("\n\n\r entered while");
AurelienBernier 2:ea61e801e81f 78
AurelienBernier 6:afde4b08166b 79 //Timer stuff
AurelienBernier 6:afde4b08166b 80 dt = t.read();
AurelienBernier 6:afde4b08166b 81 t.reset();
AurelienBernier 6:afde4b08166b 82 t.start();
AurelienBernier 6:afde4b08166b 83
AurelienBernier 11:e641aa08c92e 84 updateSonarValues();
AurelienBernier 11:e641aa08c92e 85 if (leftMm < 100 || frontMm < 100 || rightMm < 100) {
AurelienBernier 11:e641aa08c92e 86 tooClose = true;
AurelienBernier 11:e641aa08c92e 87 }
AurelienBernier 11:e641aa08c92e 88
AurelienBernier 2:ea61e801e81f 89 //Updating X,Y and theta with the odometry values
geotsam 0:8bffb51cc345 90 Odometria();
geotsam 3:1e0f4cb93eda 91
AurelienBernier 4:8c56c3ba6e54 92 alpha = atan2((target_y-Y),(target_x-X))-theta;
AurelienBernier 4:8c56c3ba6e54 93 alpha = atan(sin(alpha)/cos(alpha));
AurelienBernier 4:8c56c3ba6e54 94 rho = dist(X, Y, target_x, target_y);
AurelienBernier 6:afde4b08166b 95 d2 = rho;
AurelienBernier 5:dea05b8f30d0 96 beta = -alpha-theta+target_angle;
AurelienBernier 6:afde4b08166b 97 //beta = atan(sin(beta)/cos(beta));
AurelienBernier 6:afde4b08166b 98
AurelienBernier 6:afde4b08166b 99
AurelienBernier 2:ea61e801e81f 100 //Computing angle error and distance towards the target value
AurelienBernier 4:8c56c3ba6e54 101 rho += dt*(-kRho*cos(alpha)*rho);
AurelienBernier 4:8c56c3ba6e54 102 temp = alpha;
AurelienBernier 6:afde4b08166b 103 alpha += dt*(kRho*sin(alpha)-ka*alpha-kb*beta);
AurelienBernier 6:afde4b08166b 104 beta += dt*(-kRho*sin(temp));
AurelienBernier 6:afde4b08166b 105 pc.printf("\n\r d2=%f", d2);
AurelienBernier 6:afde4b08166b 106 pc.printf("\n\r dt=%f", dt);
geotsam 0:8bffb51cc345 107
AurelienBernier 2:ea61e801e81f 108 //Computing linear and angular velocities
AurelienBernier 4:8c56c3ba6e54 109 if(alpha>=-1.5708 && alpha<=1.5708){
AurelienBernier 4:8c56c3ba6e54 110 linear=kRho*rho;
AurelienBernier 4:8c56c3ba6e54 111 angular=ka*alpha+kb*beta;
geotsam 3:1e0f4cb93eda 112 }
geotsam 3:1e0f4cb93eda 113 else{
AurelienBernier 4:8c56c3ba6e54 114 linear=-kRho*rho;
AurelienBernier 4:8c56c3ba6e54 115 angular=-ka*alpha-kb*beta;
geotsam 3:1e0f4cb93eda 116 }
geotsam 0:8bffb51cc345 117 angular_left=(linear-0.5*b*angular)/r;
geotsam 0:8bffb51cc345 118 angular_right=(linear+0.5*b*angular)/r;
geotsam 0:8bffb51cc345 119
AurelienBernier 2:ea61e801e81f 120 //Slowing down at the end for more precision
AurelienBernier 6:afde4b08166b 121 if (d2<25) {
AurelienBernier 6:afde4b08166b 122 speed = d2*30;
geotsam 0:8bffb51cc345 123 }
AurelienBernier 2:ea61e801e81f 124
AurelienBernier 2:ea61e801e81f 125 //Normalize speed for motors
geotsam 0:8bffb51cc345 126 if(angular_left>angular_right) {
geotsam 0:8bffb51cc345 127 angular_right=speed*angular_right/angular_left;
geotsam 0:8bffb51cc345 128 angular_left=speed;
geotsam 0:8bffb51cc345 129 } else {
geotsam 0:8bffb51cc345 130 angular_left=speed*angular_left/angular_right;
geotsam 0:8bffb51cc345 131 angular_right=speed;
geotsam 0:8bffb51cc345 132 }
geotsam 0:8bffb51cc345 133
geotsam 0:8bffb51cc345 134 pc.printf("\n\r X=%f", X);
geotsam 0:8bffb51cc345 135 pc.printf("\n\r Y=%f", Y);
geotsam 0:8bffb51cc345 136
AurelienBernier 2:ea61e801e81f 137 //Updating motor velocities
AurelienBernier 1:f0807d5c5a4b 138 leftMotor(1,angular_left);
AurelienBernier 1:f0807d5c5a4b 139 rightMotor(1,angular_right);
geotsam 0:8bffb51cc345 140
AurelienBernier 7:c94070f9af78 141 wait(0.2);
AurelienBernier 6:afde4b08166b 142 //Timer stuff
AurelienBernier 6:afde4b08166b 143 t.stop();
AurelienBernier 11:e641aa08c92e 144 } while(d2>1 & !tooClose);
AurelienBernier 8:109314be5b68 145
AurelienBernier 8:109314be5b68 146 return 0;
AurelienBernier 6:afde4b08166b 147 }