HIL 14
Dependencies: mbed MatrixMath Matrix
main.cpp
- Committer:
- aleksa98
- Date:
- 2021-04-11
- Revision:
- 0:19aa346c5a6a
File content as of revision 0:19aa346c5a6a:
#include "mbed.h" #include "Matrix.h" #include "MatrixMath.h" CAN can1(PD_0, PD_1); // rd, td Transmitter //Ticker tick1; //Ticker tick2; //Ticker tick3; const double Mn=9.8; //Nominalni moment const double mi_x=1.2l; //Koeficijent trenja gume po x osi const double mi_y=1.2l; //Koeficijent trenja gume po y osi const double g=9.81; const double m_sprung=1100; //sprung masa vozila const double m_unsprung=110; //unsprung masa vozila const double L=2.64; //Medjuosovinsko rastojanje const double lf=1.35; //Rastojanje centra mase do prednje osovine const double lr=L-lf; //Rastojanje centra mase do zadnje osovine const double Wfl=1.458/2; //Rastojanje levog tocka od centra prednje osovine const double Wfr=1.458/2; //Rastojanje desnog tocka od centra prednje osovine const double Wrl=1.455/2; //Rastojanje levog tocka od centra zadnje osovine const double Wrr=1.455/2; //Rastojanje desnog tocka od centra zadnje osovine const double h=0.507; //Visina centra mase const double Ixx=441; //Moment inercije oko x ose const double Iyy=1748; //Moment inercije oko y ose const double Izz=1945; //Moment inercije oko z ose const double Ixy=0; const double Iyz=0; const double Ixz=0; const double It=2; //Moment inercije tocka oko ose rotacije(uracunati i motor i planetarac) const double rt=0.3; //poluprecnik pneumatika const double Cv=1.14; //koeficijent otpora vazduha const double Ap=1.23; //ref. ceona povrs const double fo=0.011; //koef. kotrljanja staticki const double ro=1.2; //gustina vazduha const double kp=0.9; //Koeficijent efikasnosti planetarca PROVERITI const double sw_ratio=12.0; //Prenosni odnos volana const double N=12.3; //PROVERITI const double Ts=0.002; const double m[3]={m_sprung+m_unsprung, m_sprung+m_unsprung, m_sprung};// matrica mase const double I[3][3]={ {Ixx, Ixy, Ixz}, {Ixy, Iyy, Iyz}, {Ixz, Iyz, Izz} };// tenzor inercije double I_inv[3][3];// inverzija tenzora inercije const double Iw[4]={It, It, It, It};//momenti inercije tockova const double mi[2][4]={ {1.2, 1.2, 1.3, 1.3}, // flx frx rlx rrx {1.2, 1.2, 1.3, 1.3} //fly fry rly rry };//koeficijenti trenja gume po x i y osi za sve tockove const double in[2][4]={ {0.8, 0.8, 0.9, 0.9}, {0.8, 0.8, 0.9, 0.9} };// Coefficient of friction with infinite slip [no unit] const double C[2][4]={ {70000, 70000, 100000, 100000}, {70000, 70000, 100000, 100000} };//Cornering stiffness [x - N; y - N/rad] const double r[4]={rt, rt, rt, rt};// Matrica poluprecnika tockova [rfl rfr rrl rrr] const double cs[4]={26125, 26125, 26125, 26125};//Spring effective stiffness [N/m] const double ca[2]={12000, 15000};// Antiroll bar stiffnes [N/m] const double cd[4]={2000, 2000, 2000, 2000};//Damper effective dampening [N*s/m] const double p_init[3]={0, 0, h};// inital position of CM in global fixed coord sys [m] const double v_init[3]={0, 0, 0};// inital velocity in body fixed coord sys [m/s] const double pa_init[3]={0, 0, 0};// Initial roll pitch and yaw [rad] const double va_init[3]={0, 0, 0};// initial roll pitch and yaw velocities [rad/s] const double pw_init[3][4]={ {lf, lf, -lr, -lr}, //xfl xfr xrl xrr {Wfl, -Wfr, Wrl, -Wrr}, //yfl yfr yrl yrr {h, h, h, h} //zfl zfr zrl zrr };// initial wheel positions in body fixed coord sys const double w_init[4]={v_init[0]/rt, v_init[0]/rt, v_init[0]/rt, v_init[0]/rt} ;// Initial wheel angular speed around spin axis [rad/s] const double mg_unsprung[4]={lr/(lr+lf)*Wfl/(Wfl+Wfr)*m_unsprung*g, lr/(lr+lf)*Wfr/(Wfl+Wfr)*m_unsprung*g, lf/(lr+lf)*Wrl/(Wrl+Wrr)*m_unsprung*g, lf/(lr+lf)*Wrr/(Wrl+Wrr)*m_unsprung*g};//Static weight distribution force [N] [Ffl Ffr Frl Frr] const double mg_sprung[4]={m_sprung/m_unsprung*mg_unsprung[0], m_sprung/m_unsprung*mg_unsprung[1], m_sprung/m_unsprung*mg_unsprung[2], m_sprung/m_unsprung*mg_unsprung[3]}; //Static weight distribution force on acting on springs [N] const double h_spring[4]={mg_sprung[0]/cs[0]+h, mg_sprung[1]/cs[1]+h, mg_sprung[2]/cs[2]+h, mg_sprung[3]/cs[3]+h}; double p[3]; //position in global coordinate system double v[3]; //velocity in CM fixed coordinate system double pa[3]; //angular position - x and y are in vehicle local and z is in global coordinate system double va[3]; //angular velocity double pw[3][4]; //wheel contact patch position in CM fixed coordinate system double vw[3][4]; //wheel contact patch speed in CM fixed coordinate system double w[4]; //wheel angular speed double Fs[4]; //spring force from each wheel double Fa[4]; //antiroll bar force from each wheel double Fd[4]; //damper force from each wheel double Fi[3][4]; //force of each wheel in CM fixed coordinate system double FL[3]; double d=0; double T_1=0, T_2=0, T_3=0, T_4=0; double T_1p=0, T_2p=0, T_3p=0, T_4p=0; int cnt=0; volatile bool flag=0; int brojac=0; const unsigned int RX_ID = 0x0184; CANMessage messageOutVel1; CANMessage messageOutVel2; CANMessage messageOutVel3; CANMessage messageOutVel4; Serial pc(USBTX, USBRX); void initialize(){ Matrix I_mat(3,3); I_mat<<Ixx<<Ixy<<Ixz <<Ixy<<Iyy<<Iyz <<Ixz<<Iyz<<Izz; Matrix I_mat_inv(3,3); I_mat_inv=MatrixMath::Inv(I_mat); I_inv[0][0]=I_mat_inv(1,1); I_inv[0][1]=I_mat_inv(1,2); I_inv[0][2]=I_mat_inv(1,3); I_inv[1][0]=I_mat_inv(2,1); I_inv[1][1]=I_mat_inv(2,2); I_inv[1][2]=I_mat_inv(2,3); I_inv[2][0]=I_mat_inv(3,1); I_inv[2][1]=I_mat_inv(3,2); I_inv[2][2]=I_mat_inv(3,3); p[0]=p_init[0]; p[1]=p_init[1]; p[2]=p_init[2]; v[0]=v_init[0]; v[1]=v_init[1]; v[2]=v_init[2]; pa[0]=pa_init[0]; pa[1]=pa_init[1]; pa[2]=pa_init[2]; va[0]=va_init[0]; va[1]=va_init[1]; va[2]=va_init[2]; pw[0][0]=pw_init[0][0]; pw[0][1]=pw_init[0][1]; pw[0][2]=pw_init[0][2]; pw[0][3]=pw_init[0][3]; pw[1][0]=pw_init[1][0]; pw[1][1]=pw_init[1][1]; pw[1][2]=pw_init[1][2]; pw[1][3]=pw_init[1][3]; pw[2][0]=pw_init[2][0]; pw[2][1]=pw_init[2][1]; pw[2][2]=pw_init[2][2]; pw[2][3]=pw_init[2][3]; w[0]=w_init[0]; w[1]=w_init[1]; w[2]=w_init[2]; w[3]=w_init[3]; } void model(double Tfl, double Tfr, double Trl, double Trr, double Steering_angle){ double d=Steering_angle/sw_ratio; ////////////// pw[2][0]=-(p[2]+pw[1][0]*sin(pa[0])-pw[0][0]*sin(pa[1])); pw[2][1]=-(p[2]+pw[1][1]*sin(pa[0])-pw[0][1]*sin(pa[1])); pw[2][2]=-(p[2]+pw[1][2]*sin(pa[0])-pw[0][2]*sin(pa[1])); pw[2][3]=-(p[2]+pw[1][3]*sin(pa[0])-pw[0][3]*sin(pa[1])); //pc.printf("pw \n"); //pc.printf("%f %f %f %f\n",pw[0][0],pw[0][1],pw[0][2],pw[0][3]); //pc.printf("%f %f %f %f\n",pw[1][0],pw[1][1],pw[1][2],pw[1][3]); //pc.printf("%f %f %f %f\n",pw[2][0],pw[2][1],pw[2][2],pw[2][3]); //pc.printf("aaaaaaaa \n"); ///////////// vw[0][0]=v[0]-va[2]*pw[1][0]; vw[0][1]=v[0]-va[2]*pw[1][1]; vw[0][2]=v[0]-va[2]*pw[1][2]; vw[0][3]=v[0]-va[2]*pw[1][3]; vw[1][0]=v[1]+va[2]*pw[0][0]; vw[1][1]=v[1]+va[2]*pw[0][1]; vw[1][2]=v[1]+va[2]*pw[0][2]; vw[1][3]=v[1]+va[2]*pw[0][3]; vw[2][0]=v[2]+va[0]*pw[1][0]-va[1]*pw[0][0]; vw[2][1]=v[2]+va[0]*pw[1][1]-va[1]*pw[0][1]; vw[2][2]=v[2]+va[0]*pw[1][2]-va[1]*pw[0][2]; vw[2][3]=v[2]+va[0]*pw[1][3]-va[1]*pw[0][3]; //pc.printf("vw \n"); //pc.printf("%f %f %f %f\n",vw[0][0],vw[0][1],vw[0][2],vw[0][3]); //pc.printf("%f %f %f %f\n",vw[1][0],vw[1][1],vw[1][2],vw[1][3]); //pc.printf("%f %f %f %f\n",vw[2][0],vw[2][1],vw[2][2],vw[2][3]); //////////// double cosin=cos(d); double sinus=sin(d); double p1 = cosin*vw[0][0]+sinus*vw[1][0]; double p2 = cosin*vw[0][1]+sinus*vw[1][1]; double p3 = -sinus*vw[0][0]+cosin*vw[1][0]; double p4 = -sinus*vw[0][1]+cosin*vw[1][1]; vw[0][0]=p1; vw[0][1]=p2; vw[1][0]=p3; vw[1][1]=p4; //pc.printf("vw 2 put \n"); //pc.printf("%f %f %f %f\n",vw[0][0],vw[0][1],vw[0][2],vw[0][3]); //pc.printf("%f %f %f %f\n",vw[1][0],vw[1][1],vw[1][2],vw[1][3]); //pc.printf("%f %f %f %f\n",vw[2][0],vw[2][1],vw[2][2],vw[2][3]); //////////// double pw_dif[2]={0.5*(pw[2][0]-pw[2][1]),0.5*(pw[2][2]-pw[2][3])}; //pc.printf("pw_dif \n"); //pc.printf("%f %f\n",pw_dif[0],pw_dif[1]); /////////// Fs[0]=cs[0]*(h_spring[0]+pw[2][0]); Fs[1]=cs[1]*(h_spring[1]+pw[2][1]); Fs[2]=cs[2]*(h_spring[2]+pw[2][2]); Fs[3]=cs[3]*(h_spring[3]+pw[2][3]); //pc.printf("Fs \n"); //pc.printf("%.20f %.20f %.20f %.20f\n",Fs[0],Fs[1],Fs[2],Fs[3]); /////////// Fa[0]=ca[0]*pw_dif[0]*1+ca[1]*pw_dif[1]*0; Fa[1]=ca[0]*pw_dif[0]*(-1)+ca[1]*pw_dif[1]*0; Fa[2]=ca[0]*pw_dif[0]*0+ca[1]*pw_dif[1]*1; Fa[3]=ca[0]*pw_dif[0]*0+ca[1]*pw_dif[1]*(-1); //pc.printf("Fa \n"); //pc.printf("%.20f %.20f %.20f %.20f\n",Fa[0],Fa[1],Fa[2],Fa[3]); ////////// Fd[0]=-cd[0]*vw[2][0]; Fd[1]=-cd[1]*vw[2][1]; Fd[2]=-cd[2]*vw[2][2]; Fd[3]=-cd[3]*vw[2][3]; //pc.printf("Fd \n"); //pc.printf("%.20f %.20f %.20f %.20f\n",Fd[0],Fd[1],Fd[2],Fd[3]); ////////// Fi[2][0]=Fs[0]+Fd[0]+Fa[0]-mg_sprung[0]; Fi[2][1]=Fs[1]+Fd[1]+Fa[1]-mg_sprung[1]; Fi[2][2]=Fs[2]+Fd[2]+Fa[2]-mg_sprung[2]; Fi[2][3]=Fs[3]+Fd[3]+Fa[3]-mg_sprung[3]; //pc.printf("mg_sprung \n"); //pc.printf("%.20f %.20f %.20f %.20f\n",mg_sprung[0],mg_sprung[1],mg_sprung[2],mg_sprung[3]); //pc.printf("Fi \n"); //pc.printf("%f %f %f %f\n",Fi[0][0],Fi[0][1],Fi[0][2],Fi[0][3]); //pc.printf("%f %f %f %f\n",Fi[1][0],Fi[1][1],Fi[1][2],Fi[1][3]); //pc.printf("%.20f %.20f %.20f %.20f\n",Fi[2][0],Fi[2][1],Fi[2][2],Fi[2][3]); ////////// // if dealing with vx = 0, vy = 0 state, use these two lines double sx[4]; sx[0]=(w[0]*r[0]-vw[0][0])/(abs(vw[0][0])+0.5); sx[1]=(w[1]*r[1]-vw[0][1])/(abs(vw[0][1])+0.5); sx[2]=(w[2]*r[2]-vw[0][2])/(abs(vw[0][2])+0.5); sx[3]=(w[3]*r[3]-vw[0][3])/(abs(vw[0][3])+0.5); //pc.printf("sx \n"); //pc.printf("%f %f %f %f\n",sx[0],sx[1],sx[2],sx[3]); ////////// double sy[4]; sy[0]=atan2(vw[1][0],(abs(vw[0][0])+0.5)); sy[1]=atan2(vw[1][1],(abs(vw[0][1])+0.5)); sy[2]=atan2(vw[1][2],(abs(vw[0][2])+0.5)); sy[3]=atan2(vw[1][3],(abs(vw[0][3])+0.5)); //pc.printf("sy \n"); //pc.printf("%f %f %f %f\n",sy[0],sy[1],sy[2],sy[3]); ////////// // if vx > e and e is larger than 0 use these // sx = w.*r./vw(1, :) - 1; // sy = atan2(vw(2, :), abs(vw(1, :))); ////////// double tempF[2][4]; tempF[0][0]=Fs[0]+Fd[0]+Fa[0]+mg_unsprung[0]; tempF[0][1]=Fs[1]+Fd[1]+Fa[1]+mg_unsprung[1]; tempF[0][2]=Fs[2]+Fd[2]+Fa[2]+mg_unsprung[2]; tempF[0][3]=Fs[3]+Fd[3]+Fa[3]+mg_unsprung[3]; tempF[1][0]=tempF[0][0]; tempF[1][1]=tempF[0][1]; tempF[1][2]=tempF[0][2]; tempF[1][3]=tempF[0][3]; for (int i = 0; i < 2; i++){ for (int j = 0; j < 4; j++){ if(tempF[i][j]<1){ tempF[i][j]=1; } } } //pc.printf("tempF \n"); //pc.printf("%f %f %f %f\n",tempF[0][0],tempF[0][1],tempF[0][2],tempF[0][3]); //pc.printf("%f %f %f %f\n",tempF[1][0],tempF[1][1],tempF[1][2],tempF[1][3]); //pc.printf("%f %f %f %f\n",tempF[2][0],tempF[2][1],tempF[2][2],tempF[2][3]); ////////// TM_easy_combined double sy_pom[4]; sy_pom[0]=sy[0]; sy_pom[1]=-sy[1]; sy_pom[2]=sy[2]; sy_pom[3]=-sy[3]; double K[2][4]; //Isto sto i F_max K[0][0]=mi[0][0]*tempF[0][0]; K[0][1]=mi[0][1]*tempF[0][1]; K[0][2]=mi[0][2]*tempF[0][2]; K[0][3]=mi[0][3]*tempF[0][3]; K[1][0]=mi[1][0]*tempF[1][0]; K[1][1]=mi[1][1]*tempF[1][1]; K[1][2]=mi[1][2]*tempF[1][2]; K[1][3]=mi[1][3]*tempF[1][3]; //pc.printf("K \n"); //pc.printf("%f %f %f %f\n",K[0][0],K[0][1],K[0][2],K[0][3]); //pc.printf("%f %f %f %f\n",K[1][0],K[1][1],K[1][2],K[1][3]); //pc.printf("%f %f %f %f\n",K[2][0],K[2][1],K[2][2],K[2][3]); double F_inf[2][4]; F_inf[0][0]=in[0][0]*tempF[0][0]; F_inf[0][1]=in[0][1]*tempF[0][1]; F_inf[0][2]=in[0][2]*tempF[0][2]; F_inf[0][3]=in[0][3]*tempF[0][3]; F_inf[1][0]=in[1][0]*tempF[1][0]; F_inf[1][1]=in[1][1]*tempF[1][1]; F_inf[1][2]=in[1][2]*tempF[1][2]; F_inf[1][3]=in[1][3]*tempF[1][3]; //pc.printf("F_inf \n"); //pc.printf("%f %f %f %f\n",F_inf[0][0],F_inf[0][1],F_inf[0][2],F_inf[0][3]); //pc.printf("%f %f %f %f\n",F_inf[1][0],F_inf[1][1],F_inf[1][2],F_inf[1][3]); //pc.printf("%f %f %f %f\n",F_inf[2][0],F_inf[2][1],F_inf[2][2],F_inf[2][3]); double B[2][4]; B[0][0]=3.14159265359-asin(F_inf[0][0]/K[0][0]); B[0][1]=3.14159265359-asin(F_inf[0][1]/K[0][1]); B[0][2]=3.14159265359-asin(F_inf[0][2]/K[0][2]); B[0][3]=3.14159265359-asin(F_inf[0][3]/K[0][3]); B[1][0]=3.14159265359-asin(F_inf[1][0]/K[1][0]); B[1][1]=3.14159265359-asin(F_inf[1][1]/K[1][1]); B[1][2]=3.14159265359-asin(F_inf[1][2]/K[1][2]); B[1][3]=3.14159265359-asin(F_inf[1][3]/K[1][3]); //pc.printf("B \n"); //pc.printf("%f %f %f %f\n",B[0][0],B[0][1],B[0][2],B[0][3]); //pc.printf("%f %f %f %f\n",B[1][0],B[1][1],B[1][2],B[1][3]); //pc.printf("%f %f %f %f\n",B[2][0],B[2][1],B[2][2],B[2][3]); double A[2][4]; A[0][0]=K[0][0]*B[0][0]/C[0][0]; A[0][1]=K[0][1]*B[0][1]/C[0][1]; A[0][2]=K[0][2]*B[0][2]/C[0][2]; A[0][3]=K[0][3]*B[0][3]/C[0][3]; A[1][0]=K[1][0]*B[1][0]/C[1][0]; A[1][1]=K[1][1]*B[1][1]/C[1][1]; A[1][2]=K[1][2]*B[1][2]/C[1][2]; A[1][3]=K[1][3]*B[1][3]/C[1][3]; //pc.printf("A \n"); //pc.printf("%f %f %f %f\n",A[0][0],A[0][1],A[0][2],A[0][3]); //pc.printf("%f %f %f %f\n",A[1][0],A[1][1],A[1][2],A[1][3]); //pc.printf("%f %f %f %f\n",A[2][0],A[2][1],A[2][2],A[2][3]); double G[4]; G[0]=(A[1][0]*K[0][0]*B[0][0])/(A[0][0]*K[1][0]*B[1][0]); G[1]=(A[1][1]*K[0][1]*B[0][1])/(A[0][1]*K[1][1]*B[1][1]); G[2]=(A[1][2]*K[0][2]*B[0][2])/(A[0][2]*K[1][2]*B[1][2]); G[3]=(A[1][3]*K[0][3]*B[0][3])/(A[0][3]*K[1][3]*B[1][3]); //p.printf("G \n"); //pc.printf("%f %f %f %f\n",G[0],G[1],G[2],G[3]); double s[2][4]; s[0][0]=sx[0]; s[0][1]=sx[1]; s[0][2]=sx[2]; s[0][3]=sx[3]; s[1][0]=-sy_pom[0]/G[0]; s[1][1]=-sy_pom[1]/G[1]; s[1][2]=-sy_pom[2]/G[2]; s[1][3]=-sy_pom[3]/G[3]; //%s_norm = sqrt(s(1, :).^2 + s(2, :).^2); double angle[4]; angle[0]=atan2(s[1][0],s[0][0]); angle[1]=atan2(s[1][1],s[0][1]); angle[2]=atan2(s[1][2],s[0][2]); angle[3]=atan2(s[1][3],s[0][3]); double f[2][4]; f[0][0]=K[0][0]*sin(B[0][0]*(1-exp(-abs(s[0][0])/A[0][0]))); f[0][1]=K[0][1]*sin(B[0][1]*(1-exp(-abs(s[0][1])/A[0][1]))); f[0][2]=K[0][2]*sin(B[0][2]*(1-exp(-abs(s[0][2])/A[0][2]))); f[0][3]=K[0][3]*sin(B[0][3]*(1-exp(-abs(s[0][3])/A[0][3]))); f[1][0]=K[1][0]*sin(B[1][0]*(1-exp(-abs(s[1][0])/A[1][0]))); f[1][1]=K[1][1]*sin(B[1][1]*(1-exp(-abs(s[1][1])/A[1][1]))); f[1][2]=K[1][2]*sin(B[1][2]*(1-exp(-abs(s[1][2])/A[1][2]))); f[1][3]=K[1][3]*sin(B[1][3]*(1-exp(-abs(s[1][3])/A[1][3]))); double f_norm[4]; f_norm[0]=0.5*(f[0][0]+f[1][0]+(f[0][0]-f[1][0])*cos(2*angle[0])); f_norm[1]=0.5*(f[0][1]+f[1][1]+(f[0][1]-f[1][1])*cos(2*angle[1])); f_norm[2]=0.5*(f[0][2]+f[1][2]+(f[0][2]-f[1][2])*cos(2*angle[2])); f_norm[3]=0.5*(f[0][3]+f[1][3]+(f[0][3]-f[1][3])*cos(2*angle[3])); Fi[0][0]=f_norm[0]*cos(angle[0]); Fi[0][1]=f_norm[1]*cos(angle[1]); Fi[0][2]=f_norm[2]*cos(angle[2]); Fi[0][3]=f_norm[3]*cos(angle[3]); Fi[1][0]=f_norm[0]*sin(angle[0]); Fi[1][1]=f_norm[1]*sin(angle[1]); Fi[1][2]=f_norm[2]*sin(angle[2]); Fi[1][3]=f_norm[3]*sin(angle[3]); //////////// Fi[1][1]=-Fi[1][1]; Fi[1][3]=-Fi[1][3]; //pc.printf("Fi \n"); //pc.printf("%f %f %f %f\n",Fi[0][0],Fi[0][1],Fi[0][2],Fi[0][3]); //pc.printf("%f %f %f %f\n",Fi[1][0],Fi[1][1],Fi[1][2],Fi[1][3]); //pc.printf("%.20f %.20f %.20f %.20f\n",Fi[2][0],Fi[2][1],Fi[2][2],Fi[2][3]); // right wheel should have antisymmetric // characteristic compared to left -> right(x) = -left(-x) because generally // left and right wheels of same axle have same characteristic but // antisymmetric (implementation can be further optimized by calculating // only front and rear frictions and than just distributing those)\ double aw[4]; aw[0]=(Tfl-Fi[0][0]*r[0])/Iw[0]; aw[1]=(Tfr-Fi[0][1]*r[1])/Iw[1]; aw[2]=(Trl-Fi[0][2]*r[2])/Iw[2]; aw[3]=(Trr-Fi[0][3]*r[3])/Iw[3]; //pc.printf("aw \n"); //pc.printf("%f %f %f %f\n",aw[0],aw[1],aw[2],aw[3]); //////////// double FL[4]; FL[0]=Fi[0][0]; FL[1]=Fi[1][0]; FL[2]=tempF[0][0]; double FR[3]; FR[0]=Fi[0][1]; FR[1]=Fi[1][1]; FR[2]=tempF[0][1]; double RL[3]; RL[0]=Fi[0][2]; RL[1]=Fi[1][2]; RL[2]=tempF[0][2]; double RR[3]; RR[0]=Fi[0][3]; RR[1]=Fi[1][3]; RR[2]=tempF[0][3]; //////////// cosin=cos(-d); sinus=sin(-d); p1 = cosin*Fi[0][0]+sinus*Fi[1][0]; p2 = cosin*Fi[0][1]+sinus*Fi[1][1]; p3 = -sinus*Fi[0][0]+cosin*Fi[1][0]; p4 = -sinus*Fi[0][1]+cosin*Fi[1][1]; Fi[0][0]=p1; Fi[0][1]=p2; Fi[1][0]=p3; Fi[1][1]=p4; //pc.printf("Fi 2 put \n"); //pc.printf("%f %f %f %f\n",Fi[0][0],Fi[0][1],Fi[0][2],Fi[0][3]); //pc.printf("%f %f %f %f\n",Fi[1][0],Fi[1][1],Fi[1][2],Fi[1][3]); //pc.printf("%.20f %.20f %.20f %.20f\n",Fi[2][0],Fi[2][1],Fi[2][2],Fi[2][3]); /////////// double Mi[3][4]; Mi[0][0]=pw[1][0]*Fi[2][0]-pw[2][0]*Fi[1][0]; Mi[1][0]=pw[0][0]*Fi[2][0]-pw[2][0]*Fi[0][0]; Mi[2][0]=pw[0][0]*Fi[1][0]-pw[1][0]*Fi[0][0]; Mi[0][1]=pw[1][1]*Fi[2][1]-pw[2][1]*Fi[1][1]; Mi[1][1]=pw[0][1]*Fi[2][1]-pw[2][1]*Fi[0][1]; Mi[2][1]=pw[0][1]*Fi[1][1]-pw[1][1]*Fi[0][1]; Mi[0][2]=pw[1][2]*Fi[2][2]-pw[2][2]*Fi[1][2]; Mi[1][2]=pw[0][2]*Fi[2][2]-pw[2][2]*Fi[0][2]; Mi[2][2]=pw[0][2]*Fi[1][2]-pw[1][2]*Fi[0][2]; Mi[0][3]=pw[1][3]*Fi[2][3]-pw[2][3]*Fi[1][3]; Mi[1][3]=pw[0][3]*Fi[2][3]-pw[2][3]*Fi[0][3]; Mi[2][3]=pw[0][3]*Fi[1][3]-pw[1][3]*Fi[0][3]; //pc.printf("Mi \n"); //pc.printf("%f %f %f %f\n",Mi[0][0],Mi[0][1],Mi[0][2],Mi[0][3]); //pc.printf("%f %f %f %f\n",Mi[1][0],Mi[1][1],Mi[1][2],Mi[1][3]); //pc.printf("%f %f %f %f\n",Mi[2][0],Mi[2][1],Mi[2][2],Mi[2][3]); /////////// double F[3]; F[0]=Fi[0][0]+Fi[0][1]+Fi[0][2]+Fi[0][3]; F[1]=Fi[1][0]+Fi[1][1]+Fi[1][2]+Fi[1][3]; F[2]=Fi[2][0]+Fi[2][1]+Fi[2][2]+Fi[2][3]; //pc.printf("F \n"); //pc.printf("%f %f %f\n",F[0],F[1],F[2]); /////////// double M[3]; M[0]=Mi[0][0]+Mi[0][1]+Mi[0][2]+Mi[0][3]; M[1]=Mi[1][0]+Mi[1][1]+Mi[1][2]+Mi[1][3]; M[2]=Mi[2][0]+Mi[2][1]+Mi[2][2]+Mi[2][3]; //pc.printf("M \n"); //pc.printf("%f %f %f\n",M[0],M[1],M[2]); /////////// double acp[3]; acp[0]=va[1]*v[2]-va[2]*v[1]; acp[1]=va[0]*v[2]-va[2]*v[0]; acp[2]=va[0]*v[1]-va[1]*v[0]; //pc.printf("acp \n"); //pc.printf("%f %f %f\n",acp[0],acp[1],acp[2]); /////////// double a[3]; a[0]=F[0]/m[0]-acp[0]; a[1]=F[1]/m[1]-acp[1]; a[2]=F[2]/m[2]-acp[2]; //pc.printf("a \n"); //pc.printf("%f %f %f\n",a[0],a[1],a[2]); /////////// /////////// aa = I_inv * (M - cross(va, I*va)); % Euler's equation double pom1[3]; pom1[0]=I[0][0]*va[0]+I[0][1]*va[1]+I[0][2]*va[2]; pom1[1]=I[1][0]*va[0]+I[1][1]*va[1]+I[1][2]*va[2]; pom1[2]=I[2][0]*va[0]+I[2][1]*va[1]+I[2][2]*va[2]; double pom2[3]; pom2[0]=va[1]*pom1[2]-va[2]*pom1[1]; pom2[1]=va[0]*pom1[2]-va[2]*pom1[0]; pom2[2]=va[0]*pom1[1]-va[1]*pom1[0]; double pom3[3]; pom3[0]=M[0]-pom2[0]; pom3[1]=M[1]-pom2[1]; pom3[2]=M[2]-pom2[2]; double aa[3]; aa[0]=I_inv[0][0]*pom3[0]+I_inv[0][1]*pom3[1]+I_inv[0][2]*pom3[2]; aa[1]=I_inv[1][0]*pom3[0]+I_inv[1][1]*pom3[1]+I_inv[1][2]*pom3[2]; aa[2]=I_inv[2][0]*pom3[0]+I_inv[2][1]*pom3[1]+I_inv[2][2]*pom3[2]; //pc.printf("aa \n"); //pc.printf("%f %f %f\n",aa[0],aa[1],aa[2]); //////////// v[0]=v[0]+a[0]*Ts; v[1]=v[1]+a[1]*Ts; v[2]=v[2]+a[2]*Ts; //pc.printf("v \n"); //pc.printf("%f %f %f\n",v[0],v[1],v[2]); //////////// va[0]=va[0]+aa[0]*Ts; va[1]=va[1]+aa[1]*Ts; va[2]=va[2]+aa[2]*Ts; //pc.printf("va \n"); //pc.printf("%f %f %f\n",va[0],va[1],va[2]); //////////// w[0]=w[0]+aw[0]*Ts; w[1]=w[1]+aw[1]*Ts; w[2]=w[2]+aw[2]*Ts; w[3]=w[3]+aw[3]*Ts; //pc.printf("w \n"); //pc.printf("%f %f %f %f\n",w[0],w[1],w[2],w[3]); //////////// R3D_xyz (Rx=I, Ry=I) double Rz[3][3]={ {cos(pa[2]), -sin(pa[2]), 0}, {sin(pa[2]), cos(pa[2]), 0}, {0, 0, 1} }; p[0]=p[0]+(Rz[0][0]*v[0]+Rz[0][1]*v[1]+Rz[0][2]*v[2])*Ts; p[1]=p[1]+(Rz[1][0]*v[0]+Rz[1][1]*v[1]+Rz[1][2]*v[2])*Ts; p[2]=p[2]+(Rz[2][0]*v[0]+Rz[2][1]*v[1]+Rz[2][2]*v[2])*Ts; //pc.printf("p \n"); pc.printf("%f %f %f\n",p[0],p[1],p[2]); ///////////// pa[0]=pa[0]+va[0]*Ts; pa[1]=pa[1]+va[1]*Ts; pa[2]=pa[2]+va[2]*Ts; //pc.printf("pa \n"); //pc.printf("%f %f %f\n",pa[0],pa[1],pa[2]); } CANMessage msg; void callbackCAN(){ flag=1; can1.read(msg); if(msg.id==0x0184){ T_1=(double)((int16_t)((msg.data[4]<<8)+msg.data[5]))*Mn/1000; } else if(msg.id==0x0185){ T_2=(double)((int16_t)((msg.data[4]<<8)+msg.data[5]))*Mn/1000; } else if(msg.id==0x0188){ T_3=(double)((int16_t)((msg.data[4]<<8)+msg.data[5]))*Mn/1000; } else if(msg.id==0x0189){ T_4=(double)((int16_t)((msg.data[4]<<8)+msg.data[5]))*Mn/1000; } cnt++; } Timer t; int main() { initialize(); //can1.filter(RX_ID, 0x03F0,CANStandard, 0); //messageOutVel1.id = 0x282; //messageOutVel2.id = 0x283; //messageOutVel3.id = 0x287; //messageOutVel4.id = 0x288; //messageOut2.format = CANStandard;// or CANExtended; // standard or extended ID (can be skipped for standard) // messageOut2.len = 1;//length in bytes (1 to 8); //messageOut1.format = CANStandard;// or CANExtended; // standard or extended ID (can be skipped for standard) //messageOut1.len = 1;//length in bytes (1 to 8); //can1.frequency(500000); // tick1.attach(&send, 0.0005); //can1.attach(callbackCAN); //while(1){ // while(!flag); // pc.printf("V: %f",v*3.6); // pc.printf(" T1: %f",T_1); // pc.printf(" T2: %f",T_2); // pc.printf(" T3: %f",T_3); // pc.printf(" T4: %f",T_4); // pc.printf(" Cnt: %d",cnt); // pc.printf("\n"); // // flag=0; //} //t.start(); while(1){ model(450,450,450,450,0); wait(0.01); } }