File content as of revision 34:c208497dd079:

#include "MiniExplorerCoimbra.hpp"
#include "robot.h"

#define PI 3.14159

MiniExplorerCoimbra::MiniExplorerCoimbra(float defaultX, float defaultY, float defaultTheta):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->setXYTheta(defaultX,defaultY,defaultTheta);
    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::setXYTheta(float x, float y, float theta){
    X=x;
    Y=y;
    theta=theta;
}

//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 targetX = movementOnX*signOfX;
    float targetY = movementOnY*signOfY;
    float targetAngle = 2*((float)(rand()%31416)-15708)/10000.0;
    this->go_to_point_with_angle(targetX, targetY, targetAngle);
}

//go the the given position while updating the map
void MiniExplorerCoimbra::go_to_point_with_angle(float targetX, float targetY, float targetAngle) {
    bool keep_going=true;
    float leftMm;
    float frontMm; 
    float rightMm;
    float dt;
    Timer t;
    float d2;
    do {
        //Timer stuff
        dt = t.read();
        t.reset();
        t.start();
        
        //Updating X,Y and theta with the odometry values
        Odometria();
       	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
            Odometria();
            //do a flip TODO
            keep_going=false;
            this->do_half_flip();   
        }else{
            //if not in danger zone continue as usual
            this->update_sonar_values(leftMm, frontMm, rightMm);

        	//Updating motor velocities
            d2=this->update_angular_speed_wheels_go_to_point_with_angle(targetX,targetY,targetAngle,dt);
    
            wait(0.2);
            //Timer stuff
            t.stop();
            pc.printf("\n\r dist to target= %f",d2);
        }
    } while(d2>1 && (abs(targetAngle-theta)>0.01) && keep_going);

    //Stop at the end
    leftMotor(1,0);
    rightMotor(1,0);
}

void MiniExplorerCoimbra::update_sonar_values(float leftMm,float frontMm,float rightMm){
    float xWorldCell;
    float yWorldCell;
    float xRobotWorld=this->get_converted_robot_X_into_world();
    float yRobotWorld=this->get_converted_robot_Y_into_world();
    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);
            //compute_probability_t(float distanceObstacleDetected, float x, float y, float[2] robotCoordinatesInWorld)
        	this->map.update_cell_value(i,j,this->sonarRight.compute_probability_t(rightMm,xWorldCell,yWorldCell,xRobotWorld,yRobotWorld,theta));
        	this->map.update_cell_value(i,j,this->sonarLeft.compute_probability_t(leftMm,xWorldCell,yWorldCell,xRobotWorld,yWorldCell,theta));
        	this->map.update_cell_value(i,j,this->sonarFront.compute_probability_t(frontMm,xWorldCell,yWorldCell,xRobotWorld,yWorldCell,theta));

       	}
    }
}

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;
}

void MiniExplorerCoimbra::do_half_flip(){
    Odometria();
    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){
        Odometria();
       // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
    }
    leftMotor(1,0);
    rightMotor(1,0);    
}

//Distance computation function
float MiniExplorerCoimbra::dist(float robotX, float robotY, float targetX, float targetY){
    //pc.printf("%f, %f, %f, %f",robotX,robotY,targetX,targetY);
    return sqrt(pow(targetY-robotY,2) + pow(targetX-robotX,2));
}

float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetX, float targetY, float targetAngle, float dt){
    //compute_angles_and_distance
    float alpha = atan2((targetY-Y),(targetX-X))-theta;
    alpha = atan(sin(alpha)/cos(alpha));
    float rho = this->dist(X, Y, targetX, targetY);
    float d2 = rho;
    float beta = -alpha-theta+targetAngle;        
    
    //Computing angle error and distance towards the target value
    rho += dt*(-this->khro*cos(alpha)*rho);
    float temp = alpha;
    alpha += dt*(this->khro*sin(alpha)-this->ka*alpha-this->kb*beta);
    beta += dt*(-this->khro*sin(temp));

    //Computing linear and angular velocities
    float linear;
    float angular;
    if(alpha>=-1.5708 && alpha<=1.5708){
        linear=this->khro*rho;
        angular=this->ka*alpha+this->kb*beta;
    }
    else{
        linear=-this->khro*rho;
        angular=-this->ka*alpha-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 d2;
}

void MiniExplorerCoimbra::try_to_reach_target(float targetXWorld,float targetYWorld){
    //atan2 gives the angle beetween PI and -PI
    float angleToTarget=atan2(targetXWorld,targetYWorld);
    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);
            /*
            pc.printf("\r\n theta=%f", theta);
            pc.printf("\r\n IN ORTHO:");
            pc.printf("\r\n X Robot=%f", this->get_converted_robot_X_into_world());
            pc.printf("\r\n Y Robot=%f", this->get_converted_robot_Y_into_world());
            pc.printf("\r\n X Target=%f", targetXWorld);
            pc.printf("\r\n Y Target=%f", targetYWorld);
            */
            this->print_final_map_with_robot_position_and_target(X,Y,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 forceX=0;
    float forceY=0;
    //we update the odometrie
    Odometria();
    //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(&forceX, &forceY,targetXWorld,targetYWorld);
    //we compute a new ine
    this->calculate_line(forceX, forceY, &line_a,&line_b,&line_c);
    //Updating motor velocities
    this->go_to_line(line_a,line_b,line_c,targetXWorld,targetYWorld);

    //wait(0.1);
    Odometria();
    if(dist(this->get_converted_robot_X_into_world(),this->get_converted_robot_Y_into_world(),targetXWorld,targetYWorld)<10)
        *reached=true;
}

//compute the force on X and Y
void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceX, float* forceY, float targetXWorld, float targetYWorld){
     float xRobotWorld=this->get_converted_robot_X_into_world();
     float yRobotWorld=this->get_converted_robot_Y_into_world();

     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,xRobotWorld,yRobotWorld);
        }
    }
    //update with attraction force
    *forceX=+forceRepulsionComputedX;
    *forceY=+forceRepulsionComputedY;
    float distanceTargetRobot=sqrt(pow(targetXWorld-xRobotWorld,2)+pow(targetYWorld-yRobotWorld,2));
    if(distanceTargetRobot != 0){
        *forceX-=this->attractionConstantForce*(targetXWorld-xRobotWorld)/distanceTargetRobot;
        *forceY-=this->attractionConstantForce*(targetYWorld-yRobotWorld)/distanceTargetRobot;
    }
    float amplitude=sqrt(pow(*forceX,2)+pow(*forceY,2));
    if(amplitude!=0){//avoid division by 0 if forceX and forceY  == 0
        *forceX=*forceX/amplitude;
        *forceY=*forceY/amplitude;
    }
}

void MiniExplorerCoimbra::update_force(int widthIndice, int heightIndice, float* forceX, float* forceY, float xRobotWorld, float yRobotWorld ){
    //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-xRobotWorld,2)+pow(yWorldCell-yRobotWorld,2));
    //check if the cell is in range
    if(distanceCellToRobot <= this->rangeForce) {
        float probaCell=this->map.get_proba_cell(widthIndice,heightIndice);
        float xForceComputed=this->repulsionConstantForce*probaCell*(xWorldCell-xRobotWorld)/pow(distanceCellToRobot,3);
        float yForceComputed=this->repulsionConstantForce*probaCell*(yWorldCell-yRobotWorld)/pow(distanceCellToRobot,3);
        *forceX+=xForceComputed;
        *forceY+=yForceComputed;
    }
}

//robotX and robotY are from Odometria, 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:      orthonormal 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*yRobotWorld+forceY*xRobotWorld;    
    *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; 
    
    bool direction=true;
    
    //take as parameter how much the robot is supposed to move on x and y (world)
    float angleToTarget=atan2(targetXWorld-this->get_converted_robot_X_into_world(),targetYWorld-this->get_converted_robot_Y_into_world());
    bool inFront=true;
    if(angleToTarget < 0)//the target is in front
        inFront=false;

    if(theta > 0){
        //the robot is oriented to the left
        if(theta > PI/2){
            //the robot is oriented lower left
            if(inFront)
                direction=false;//robot and target not oriented the same way
        }else{
            //the robot is oriented upper left
            if(!inFront)
                direction=false;//robot and target not oriented the same way
        }
    }else{
        //the robot is oriented to the right
        if(theta < -PI/2){
            //the robot is oriented lower right
            if(inFront)
                direction=false;//robot and target not oriented the same way
        }else{ 
            //the robot is oriented upper right
            if(!inFront)
                direction=false;//robot and target not oriented the same way
        }
    }
    //pc.printf("\r\n Target is in front");
    
     if(line_b!=0){
        if(!direction)
            lineAngle=atan(-line_a/line_b);
        else
            lineAngle=atan(line_a/-line_b);
    }
    else{
        lineAngle=1.5708;
    }
    
    //Computing angle error
    angleError = lineAngle-theta;
    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));
}

//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;
}

/*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){
    Odometria();
    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){
        Odometria();
        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);    
}


/*
//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;
}
*/


void MiniExplorerCoimbra::print_final_map_with_robot_position(float robot_x,float robot_y) {
    float currProba;
    float Xrobot=this->map.robot_x_coordinate_in_world(robot_x,robot_y);
    float Yrobot=this->map.robot_y_coordinate_in_world(robot_x,robot_y);
    
    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(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (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_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWorld, float targetYWorld) {
    float currProba;
    float Xrobot=this->map.robot_x_coordinate_in_world(robot_x,robot_y);
    float Yrobot=this->map.robot_y_coordinate_in_world(robot_x,robot_y);
    
    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(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (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_final_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");
    }
}