Yo Fleyt / Mbed 2 deprecated VirtualForces_with_class

with class

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

MiniExplorerCoimbra.hpp@33:814bcd7d3cfe, 2017-06-09 (annotated)

Committer:
Ludwigfr
Date:
Fri Jun 09 00:28:32 2017 +0000
Revision:
33:814bcd7d3cfe
Child:
34:c208497dd079
version with class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ludwigfr 33:814bcd7d3cfe 1 #ifndef MINIEXPLORERCOIMBRA_HPP
Ludwigfr 33:814bcd7d3cfe 2 #define MINIEXPLORERCOIMBRA_HPP
Ludwigfr 33:814bcd7d3cfe 3
Ludwigfr 33:814bcd7d3cfe 4 #include "Map.hpp"
Ludwigfr 33:814bcd7d3cfe 5 #include "Sonar.hpp"
Ludwigfr 33:814bcd7d3cfe 6 #include "robot.h"
Ludwigfr 33:814bcd7d3cfe 7 #include "mbed.h"
Ludwigfr 33:814bcd7d3cfe 8 #include "math.h"
Ludwigfr 33:814bcd7d3cfe 9
Ludwigfr 33:814bcd7d3cfe 10 /*
Ludwigfr 33:814bcd7d3cfe 11 Robot coordinate system: World coordinate system:
Ludwigfr 33:814bcd7d3cfe 12 ^ ^
Ludwigfr 33:814bcd7d3cfe 13 |x |y
Ludwigfr 33:814bcd7d3cfe 14 <--R O-->
Ludwigfr 33:814bcd7d3cfe 15 y x
Ludwigfr 33:814bcd7d3cfe 16 */
Ludwigfr 33:814bcd7d3cfe 17
Ludwigfr 33:814bcd7d3cfe 18 class MiniExplorerCoimbra {
Ludwigfr 33:814bcd7d3cfe 19
Ludwigfr 33:814bcd7d3cfe 20 public:
Ludwigfr 33:814bcd7d3cfe 21
Ludwigfr 33:814bcd7d3cfe 22 Map map;
Ludwigfr 33:814bcd7d3cfe 23 Sonar sonarLeft;
Ludwigfr 33:814bcd7d3cfe 24 Sonar sonarFront;
Ludwigfr 33:814bcd7d3cfe 25 Sonar sonarRight;
Ludwigfr 33:814bcd7d3cfe 26 float speed;
Ludwigfr 33:814bcd7d3cfe 27 float radiusWheels;
Ludwigfr 33:814bcd7d3cfe 28 float distanceWheels;
Ludwigfr 33:814bcd7d3cfe 29 float khro;
Ludwigfr 33:814bcd7d3cfe 30 float ka;
Ludwigfr 33:814bcd7d3cfe 31 float kb;
Ludwigfr 33:814bcd7d3cfe 32 float kv;
Ludwigfr 33:814bcd7d3cfe 33 float kh;
Ludwigfr 33:814bcd7d3cfe 34
Ludwigfr 33:814bcd7d3cfe 35 float rangeForce;
Ludwigfr 33:814bcd7d3cfe 36 float attractionConstantForce;
Ludwigfr 33:814bcd7d3cfe 37 float repulsionConstantForce;
Ludwigfr 33:814bcd7d3cfe 38
Ludwigfr 33:814bcd7d3cfe 39 MiniExplorerCoimbra(float defaultX, float defaultY, float defaultTheta);
Ludwigfr 33:814bcd7d3cfe 40
Ludwigfr 33:814bcd7d3cfe 41 void setXYTheta(float x, float y, float theta);
Ludwigfr 33:814bcd7d3cfe 42
Ludwigfr 33:814bcd7d3cfe 43 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 33:814bcd7d3cfe 44 void randomize_and_map();
Ludwigfr 33:814bcd7d3cfe 45
Ludwigfr 33:814bcd7d3cfe 46 //go the the given position while updating the map
Ludwigfr 33:814bcd7d3cfe 47 void go_to_point_with_angle(float targetX, float targetY, float targetAngle);
Ludwigfr 33:814bcd7d3cfe 48
Ludwigfr 33:814bcd7d3cfe 49 void update_sonar_values(float leftMm,float frontMm,float rightMm);
Ludwigfr 33:814bcd7d3cfe 50
Ludwigfr 33:814bcd7d3cfe 51 float get_converted_robot_X_into_world();
Ludwigfr 33:814bcd7d3cfe 52
Ludwigfr 33:814bcd7d3cfe 53 float get_converted_robot_Y_into_world();
Ludwigfr 33:814bcd7d3cfe 54
Ludwigfr 33:814bcd7d3cfe 55 void do_half_flip();
Ludwigfr 33:814bcd7d3cfe 56
Ludwigfr 33:814bcd7d3cfe 57 //Distance computation function
Ludwigfr 33:814bcd7d3cfe 58 float dist(float robotX, float robotY, float targetX, float targetY);
Ludwigfr 33:814bcd7d3cfe 59
Ludwigfr 33:814bcd7d3cfe 60 float update_angular_speed_wheels_go_to_point_with_angle(float targetX, float targetY, float targetAngle, float dt);
Ludwigfr 33:814bcd7d3cfe 61
Ludwigfr 33:814bcd7d3cfe 62 void try_to_reach_target(float targetXWorld,float targetYWorld);
Ludwigfr 33:814bcd7d3cfe 63
Ludwigfr 33:814bcd7d3cfe 64 void vff(bool* reached, float targetXWorld, float targetYWorld);
Ludwigfr 33:814bcd7d3cfe 65
Ludwigfr 33:814bcd7d3cfe 66 //compute the force on X and Y
Ludwigfr 33:814bcd7d3cfe 67 void compute_forceX_and_forceY(float* forceX, float* forceY, float targetXWorld, float targetYWorld);
Ludwigfr 33:814bcd7d3cfe 68
Ludwigfr 33:814bcd7d3cfe 69 void update_force(int widthIndice, int heightIndice, float* forceX, float* forceY, float xRobotWorld, float yRobotWorld );
Ludwigfr 33:814bcd7d3cfe 70
Ludwigfr 33:814bcd7d3cfe 71 //robotX and robotY are from Odometria, calculate line_a, line_b and line_c
Ludwigfr 33:814bcd7d3cfe 72 void calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c);
Ludwigfr 33:814bcd7d3cfe 73
Ludwigfr 33:814bcd7d3cfe 74 //currently line_c is not used
Ludwigfr 33:814bcd7d3cfe 75 void go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld);
Ludwigfr 33:814bcd7d3cfe 76
Ludwigfr 33:814bcd7d3cfe 77 //return 1 if positiv, -1 if negativ
Ludwigfr 33:814bcd7d3cfe 78 float sign1(float value);
Ludwigfr 33:814bcd7d3cfe 79
Ludwigfr 33:814bcd7d3cfe 80 //return 1 if positiv, 0 if negativ
Ludwigfr 33:814bcd7d3cfe 81 int sign2(float value);
Ludwigfr 33:814bcd7d3cfe 82
Ludwigfr 33:814bcd7d3cfe 83 /*angleToTarget is obtained through atan2 so it s:
Ludwigfr 33:814bcd7d3cfe 84 < 0 if the angle is bettween PI and 2pi on a trigo circle
Ludwigfr 33:814bcd7d3cfe 85 > 0 if it is between 0 and PI
Ludwigfr 33:814bcd7d3cfe 86 */
Ludwigfr 33:814bcd7d3cfe 87 void turn_to_target(float angleToTarget);
Ludwigfr 33:814bcd7d3cfe 88 };
Ludwigfr 33:814bcd7d3cfe 89
Ludwigfr 33:814bcd7d3cfe 90 #endif
Ludwigfr 33:814bcd7d3cfe 91