Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

Fork of MPU6050_Example by Shundo Kishi

Controls/Dynamics.cpp@15:d88f10b3b5f8, 2015-12-10 (annotated)

Committer:
amandaghassaei
Date:
Thu Dec 10 09:46:56 2015 +0000
Revision:
15:d88f10b3b5f8
Parent:
14:d620415259b1
Child:
16:5b19be27f08a
obstacle avoidance ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 8:1a3a69fecedf 1 #include "Dynamics.h"
amandaghassaei 8:1a3a69fecedf 2 #include <math.h>
amandaghassaei 8:1a3a69fecedf 3 # define M_PI 3.14159265358979323846
amandaghassaei 8:1a3a69fecedf 4
amandaghassaei 12:49813131dd15 5 float calcTau(volatile float z[4], float p[10], Gains *gains, Target *target, Serial *pc){
amandaghassaei 8:1a3a69fecedf 6
amandaghassaei 8:1a3a69fecedf 7 float th1 = z[0];
amandaghassaei 8:1a3a69fecedf 8 float th2 = z[1];
amandaghassaei 8:1a3a69fecedf 9 float dth1 = z[2];
amandaghassaei 8:1a3a69fecedf 10 float dth2 = z[3];
amandaghassaei 8:1a3a69fecedf 11
amandaghassaei 11:711d3c207e8c 12 float A[2][2];
amandaghassaei 11:711d3c207e8c 13 getMassMatrix(A, z, p);
amandaghassaei 11:711d3c207e8c 14 float AHat = A[1][1]-A[1][0]*A[0][1]/A[0][0];
amandaghassaei 11:711d3c207e8c 15
amandaghassaei 11:711d3c207e8c 16 float corrCentripComp[2];
amandaghassaei 11:711d3c207e8c 17 getCoriolisCentrip(corrCentripComp, z, p);
amandaghassaei 11:711d3c207e8c 18 float corrCentripCompHat = corrCentripComp[1]-A[1][0]*corrCentripComp[0]/A[0][0];
amandaghassaei 11:711d3c207e8c 19
amandaghassaei 11:711d3c207e8c 20 float gravityComp[2];
amandaghassaei 11:711d3c207e8c 21 getGravity(gravityComp, z, p);
amandaghassaei 11:711d3c207e8c 22 float gravityCompHat = gravityComp[1]-A[1][0]*gravityComp[0]/A[0][0];
amandaghassaei 11:711d3c207e8c 23
amandaghassaei 9:1d9b24d7ac77 24 float K = gains->getSwingUpK();
amandaghassaei 9:1d9b24d7ac77 25 float D = gains->getSwingUpD();
amandaghassaei 8:1a3a69fecedf 26
amandaghassaei 15:d88f10b3b5f8 27 float force;
amandaghassaei 15:d88f10b3b5f8 28 if (getEnergy(z, p) > target->getTargetEnergy()) {
amandaghassaei 15:d88f10b3b5f8 29 float th2Des = target->getTheta2ForTarget(z);
amandaghassaei 15:d88f10b3b5f8 30 force = K*(th2Des - th2) - D*dth2;
amandaghassaei 15:d88f10b3b5f8 31 } else {
amandaghassaei 15:d88f10b3b5f8 32 float softLimit = 1.5;//2.5;//143 degrees
amandaghassaei 15:d88f10b3b5f8 33 float th2Des = thetaDesiredForSwingUp(-softLimit, softLimit, z);
amandaghassaei 15:d88f10b3b5f8 34 th2Des = obstacleAvoidance(z, p, th2Des);
amandaghassaei 15:d88f10b3b5f8 35 force = K*(th2Des - th2) - D*dth2;
amandaghassaei 15:d88f10b3b5f8 36 }
amandaghassaei 8:1a3a69fecedf 37
amandaghassaei 15:d88f10b3b5f8 38 return force;// + corrCentripCompHat + gravityCompHat;//gains->getDesiredThetaP()*AHat*
amandaghassaei 8:1a3a69fecedf 39 }
amandaghassaei 8:1a3a69fecedf 40
amandaghassaei 15:d88f10b3b5f8 41 float obstacleAvoidance(volatile float z[4], float p[10], float theta){
amandaghassaei 15:d88f10b3b5f8 42
amandaghassaei 15:d88f10b3b5f8 43 float armLength = p[0];
amandaghassaei 15:d88f10b3b5f8 44 float latticePitch = p[9];
amandaghassaei 15:d88f10b3b5f8 45
amandaghassaei 15:d88f10b3b5f8 46 float safeRad = 0.07;
amandaghassaei 15:d88f10b3b5f8 47 float th2MinMin = M_PI-2.0*asin((latticePitch-safeRad)/(2.0*armLength));
amandaghassaei 15:d88f10b3b5f8 48 float th2MinMax = M_PI-2.0*asin((latticePitch*sqrt(2.0)-safeRad)/(2.0*armLength));
amandaghassaei 15:d88f10b3b5f8 49
amandaghassaei 15:d88f10b3b5f8 50 float th2MinAvg = (th2MinMin+th2MinMax)/2.0;
amandaghassaei 15:d88f10b3b5f8 51 float th2MinAmp = (th2MinMin-th2MinAvg)/2.0;
amandaghassaei 15:d88f10b3b5f8 52
amandaghassaei 15:d88f10b3b5f8 53 float th1 = z[0];
amandaghassaei 15:d88f10b3b5f8 54 float th2 = z[1];
amandaghassaei 15:d88f10b3b5f8 55
amandaghassaei 15:d88f10b3b5f8 56 float direction = 1;
amandaghassaei 15:d88f10b3b5f8 57 if (th2<0) direction = -1;
amandaghassaei 15:d88f10b3b5f8 58
amandaghassaei 15:d88f10b3b5f8 59 float th2MinPhase = direction*th2MinMin;
amandaghassaei 15:d88f10b3b5f8 60 float th2Min = th2MinMin+th2MinAmp*cos(4.0*(th1+th2MinPhase));
amandaghassaei 15:d88f10b3b5f8 61
amandaghassaei 15:d88f10b3b5f8 62 if (direction*theta < th2Min) return direction*th2Min;
amandaghassaei 15:d88f10b3b5f8 63 return theta;
amandaghassaei 15:d88f10b3b5f8 64 }
amandaghassaei 12:49813131dd15 65
amandaghassaei 13:64d337c5114e 66 float thetaDesiredForSwingUp(float rangeMin, float rangeMax, volatile float z[4]){
amandaghassaei 12:49813131dd15 67
amandaghassaei 12:49813131dd15 68 float th1 = z[0];
amandaghassaei 12:49813131dd15 69 float dth1 = z[2];
amandaghassaei 8:1a3a69fecedf 70
amandaghassaei 11:711d3c207e8c 71 int numTurns = fix(th1/(2*M_PI));
amandaghassaei 11:711d3c207e8c 72 float th1Rel = th1-numTurns*2*M_PI;
amandaghassaei 8:1a3a69fecedf 73
amandaghassaei 13:64d337c5114e 74 if (dth1<0) return rangeMin*abs(cos(th1Rel/2.0));//-abs(th1Rel));//*cos(th1)
amandaghassaei 13:64d337c5114e 75 return rangeMax*abs(cos(th1Rel/2.0));
amandaghassaei 8:1a3a69fecedf 76 }
amandaghassaei 8:1a3a69fecedf 77
amandaghassaei 8:1a3a69fecedf 78 int fix(float val){//round toward zero
amandaghassaei 11:711d3c207e8c 79 return val > 0 ? floor(val) : ceil(val);
amandaghassaei 8:1a3a69fecedf 80 }