This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of autonomous Robot Android by
RobotControl/RobotControl.cpp@11:775ebb69d5e1, 2013-04-05 (annotated)
- Committer:
- chrigelburri
- Date:
- Fri Apr 05 10:58:42 2013 +0000
- Revision:
- 11:775ebb69d5e1
- Parent:
- 8:696c2f9dfc62
- Child:
- 12:235e318a414f
doku soweit gut ohne android
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 0:31f7be68e52d | 1 | #include "RobotControl.h" |
chrigelburri | 0:31f7be68e52d | 2 | |
chrigelburri | 0:31f7be68e52d | 3 | using namespace std; |
chrigelburri | 0:31f7be68e52d | 4 | |
chrigelburri | 6:48eeb41188dd | 5 | RobotControl::RobotControl(MaxonESCON* motorControllerLeft, |
chrigelburri | 6:48eeb41188dd | 6 | MaxonESCON* motorControllerRight, |
chrigelburri | 6:48eeb41188dd | 7 | float period) : Task(period) |
chrigelburri | 0:31f7be68e52d | 8 | { |
chrigelburri | 0:31f7be68e52d | 9 | /* get peripherals */ |
chrigelburri | 0:31f7be68e52d | 10 | this->motorControllerLeft = motorControllerLeft; |
chrigelburri | 0:31f7be68e52d | 11 | this->motorControllerRight = motorControllerRight; |
chrigelburri | 0:31f7be68e52d | 12 | this->period = period; |
chrigelburri | 0:31f7be68e52d | 13 | |
chrigelburri | 0:31f7be68e52d | 14 | /* initialize peripherals */ |
chrigelburri | 0:31f7be68e52d | 15 | motorControllerLeft->enable(false); |
chrigelburri | 0:31f7be68e52d | 16 | motorControllerRight->enable(false); |
chrigelburri | 0:31f7be68e52d | 17 | |
chrigelburri | 0:31f7be68e52d | 18 | /* initialize remaining state values */ |
chrigelburri | 0:31f7be68e52d | 19 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 20 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 21 | |
chrigelburri | 0:31f7be68e52d | 22 | motorControllerLeft->setPulses(0); |
chrigelburri | 0:31f7be68e52d | 23 | motorControllerRight->setPulses(0); |
chrigelburri | 0:31f7be68e52d | 24 | |
chrigelburri | 8:696c2f9dfc62 | 25 | motorControllerLeft->setVelocity(0.0f); |
chrigelburri | 8:696c2f9dfc62 | 26 | motorControllerRight->setVelocity(0.0f); |
chrigelburri | 0:31f7be68e52d | 27 | } |
chrigelburri | 0:31f7be68e52d | 28 | |
chrigelburri | 1:6cd533a712c6 | 29 | RobotControl::~RobotControl() |
chrigelburri | 0:31f7be68e52d | 30 | { |
chrigelburri | 0:31f7be68e52d | 31 | |
chrigelburri | 0:31f7be68e52d | 32 | } |
chrigelburri | 0:31f7be68e52d | 33 | |
chrigelburri | 0:31f7be68e52d | 34 | void RobotControl::setEnable(bool enable) |
chrigelburri | 0:31f7be68e52d | 35 | { |
chrigelburri | 0:31f7be68e52d | 36 | motorControllerLeft->enable(enable); |
chrigelburri | 0:31f7be68e52d | 37 | motorControllerRight->enable(enable); |
chrigelburri | 0:31f7be68e52d | 38 | } |
chrigelburri | 0:31f7be68e52d | 39 | |
chrigelburri | 0:31f7be68e52d | 40 | bool RobotControl::isEnabled() |
chrigelburri | 0:31f7be68e52d | 41 | { |
chrigelburri | 0:31f7be68e52d | 42 | return (motorControllerLeft->isEnabled() && motorControllerRight->isEnabled()); |
chrigelburri | 0:31f7be68e52d | 43 | } |
chrigelburri | 0:31f7be68e52d | 44 | |
chrigelburri | 0:31f7be68e52d | 45 | void RobotControl::setDesiredSpeed(float speed) |
chrigelburri | 0:31f7be68e52d | 46 | { |
chrigelburri | 0:31f7be68e52d | 47 | this->speed = speed; |
chrigelburri | 0:31f7be68e52d | 48 | } |
chrigelburri | 0:31f7be68e52d | 49 | |
chrigelburri | 0:31f7be68e52d | 50 | void RobotControl::setDesiredOmega(float omega) |
chrigelburri | 0:31f7be68e52d | 51 | { |
chrigelburri | 0:31f7be68e52d | 52 | this->omega = omega; |
chrigelburri | 0:31f7be68e52d | 53 | } |
chrigelburri | 0:31f7be68e52d | 54 | |
chrigelburri | 5:48a258f6335e | 55 | void RobotControl::setDesiredxPosition(float xposition) |
chrigelburri | 0:31f7be68e52d | 56 | { |
chrigelburri | 1:6cd533a712c6 | 57 | Desired.xposition = xposition; |
chrigelburri | 0:31f7be68e52d | 58 | } |
chrigelburri | 0:31f7be68e52d | 59 | |
chrigelburri | 5:48a258f6335e | 60 | void RobotControl::setDesiredyPosition(float yposition) |
chrigelburri | 0:31f7be68e52d | 61 | { |
chrigelburri | 1:6cd533a712c6 | 62 | Desired.yposition = yposition; |
chrigelburri | 0:31f7be68e52d | 63 | } |
chrigelburri | 0:31f7be68e52d | 64 | |
chrigelburri | 5:48a258f6335e | 65 | void RobotControl::setDesiredTheta(float theta) |
chrigelburri | 0:31f7be68e52d | 66 | { |
chrigelburri | 0:31f7be68e52d | 67 | Desired.theta = theta; |
chrigelburri | 0:31f7be68e52d | 68 | } |
chrigelburri | 0:31f7be68e52d | 69 | |
chrigelburri | 5:48a258f6335e | 70 | float RobotControl::getDesiredxPosition() |
chrigelburri | 5:48a258f6335e | 71 | { |
chrigelburri | 5:48a258f6335e | 72 | return Desired.xposition; |
chrigelburri | 5:48a258f6335e | 73 | } |
chrigelburri | 5:48a258f6335e | 74 | |
chrigelburri | 5:48a258f6335e | 75 | float RobotControl::getDesiredyPosition() |
chrigelburri | 2:d8e1613dc38b | 76 | { |
chrigelburri | 5:48a258f6335e | 77 | return Desired.yposition; |
chrigelburri | 5:48a258f6335e | 78 | } |
chrigelburri | 5:48a258f6335e | 79 | |
chrigelburri | 5:48a258f6335e | 80 | float RobotControl::getDesiredTheta() |
chrigelburri | 5:48a258f6335e | 81 | { |
chrigelburri | 5:48a258f6335e | 82 | return Desired.theta; |
chrigelburri | 5:48a258f6335e | 83 | } |
chrigelburri | 5:48a258f6335e | 84 | |
chrigelburri | 6:48eeb41188dd | 85 | void RobotControl::setDesiredPositionAndAngle(float xposition, |
chrigelburri | 6:48eeb41188dd | 86 | float yposition, |
chrigelburri | 6:48eeb41188dd | 87 | float theta) |
chrigelburri | 5:48a258f6335e | 88 | { |
chrigelburri | 5:48a258f6335e | 89 | setDesiredxPosition(xposition); |
chrigelburri | 5:48a258f6335e | 90 | setDesiredyPosition(yposition); |
chrigelburri | 5:48a258f6335e | 91 | setDesiredTheta(theta); |
chrigelburri | 2:d8e1613dc38b | 92 | } |
chrigelburri | 2:d8e1613dc38b | 93 | |
chrigelburri | 1:6cd533a712c6 | 94 | float RobotControl::getTheta() |
chrigelburri | 1:6cd533a712c6 | 95 | { |
chrigelburri | 1:6cd533a712c6 | 96 | return Desired.theta; |
chrigelburri | 1:6cd533a712c6 | 97 | } |
chrigelburri | 1:6cd533a712c6 | 98 | |
chrigelburri | 0:31f7be68e52d | 99 | float RobotControl::getDesiredSpeed() |
chrigelburri | 0:31f7be68e52d | 100 | { |
chrigelburri | 0:31f7be68e52d | 101 | return speed; |
chrigelburri | 0:31f7be68e52d | 102 | } |
chrigelburri | 0:31f7be68e52d | 103 | |
chrigelburri | 0:31f7be68e52d | 104 | float RobotControl::getActualSpeed() |
chrigelburri | 0:31f7be68e52d | 105 | { |
chrigelburri | 0:31f7be68e52d | 106 | return Actual.speed; |
chrigelburri | 0:31f7be68e52d | 107 | } |
chrigelburri | 0:31f7be68e52d | 108 | |
chrigelburri | 0:31f7be68e52d | 109 | float RobotControl::getDesiredOmega() |
chrigelburri | 0:31f7be68e52d | 110 | { |
chrigelburri | 0:31f7be68e52d | 111 | return omega; |
chrigelburri | 0:31f7be68e52d | 112 | } |
chrigelburri | 0:31f7be68e52d | 113 | |
chrigelburri | 0:31f7be68e52d | 114 | float RobotControl::getActualOmega() |
chrigelburri | 0:31f7be68e52d | 115 | { |
chrigelburri | 0:31f7be68e52d | 116 | return Actual.omega; |
chrigelburri | 0:31f7be68e52d | 117 | } |
chrigelburri | 0:31f7be68e52d | 118 | |
chrigelburri | 0:31f7be68e52d | 119 | float RobotControl::getxActualPosition() |
chrigelburri | 0:31f7be68e52d | 120 | { |
chrigelburri | 0:31f7be68e52d | 121 | return Actual.getxPosition(); |
chrigelburri | 0:31f7be68e52d | 122 | } |
chrigelburri | 0:31f7be68e52d | 123 | |
chrigelburri | 0:31f7be68e52d | 124 | float RobotControl::getxPositionError() |
chrigelburri | 0:31f7be68e52d | 125 | { |
chrigelburri | 0:31f7be68e52d | 126 | return Desired.getxPosition()-Actual.getxPosition(); |
chrigelburri | 0:31f7be68e52d | 127 | } |
chrigelburri | 0:31f7be68e52d | 128 | |
chrigelburri | 0:31f7be68e52d | 129 | float RobotControl::getyActualPosition() |
chrigelburri | 0:31f7be68e52d | 130 | { |
chrigelburri | 0:31f7be68e52d | 131 | return Actual.getyPosition(); |
chrigelburri | 0:31f7be68e52d | 132 | } |
chrigelburri | 0:31f7be68e52d | 133 | |
chrigelburri | 0:31f7be68e52d | 134 | float RobotControl::getyPositionError() |
chrigelburri | 0:31f7be68e52d | 135 | { |
chrigelburri | 0:31f7be68e52d | 136 | return Desired.getyPosition()-Actual.getyPosition(); |
chrigelburri | 0:31f7be68e52d | 137 | } |
chrigelburri | 0:31f7be68e52d | 138 | |
chrigelburri | 0:31f7be68e52d | 139 | float RobotControl::getActualTheta() |
chrigelburri | 0:31f7be68e52d | 140 | { |
chrigelburri | 0:31f7be68e52d | 141 | return Actual.getTheta(); |
chrigelburri | 0:31f7be68e52d | 142 | } |
chrigelburri | 0:31f7be68e52d | 143 | |
chrigelburri | 0:31f7be68e52d | 144 | float RobotControl::getThetaError() |
chrigelburri | 0:31f7be68e52d | 145 | { |
chrigelburri | 0:31f7be68e52d | 146 | return Desired.getTheta()-Actual.getTheta(); |
chrigelburri | 0:31f7be68e52d | 147 | } |
chrigelburri | 0:31f7be68e52d | 148 | |
chrigelburri | 1:6cd533a712c6 | 149 | float RobotControl::getDistanceError() |
chrigelburri | 1:6cd533a712c6 | 150 | { |
chrigelburri | 1:6cd533a712c6 | 151 | return sqrt( ( getxPositionError() * getxPositionError() ) + (getyPositionError() * getyPositionError() ) ); |
chrigelburri | 1:6cd533a712c6 | 152 | } |
chrigelburri | 1:6cd533a712c6 | 153 | |
chrigelburri | 1:6cd533a712c6 | 154 | float RobotControl::getThetaErrorToGoal() |
chrigelburri | 0:31f7be68e52d | 155 | { |
chrigelburri | 3:92ba0254af87 | 156 | return PiRange(atan2(getyPositionError(),getxPositionError()) - getActualTheta()); |
chrigelburri | 1:6cd533a712c6 | 157 | } |
chrigelburri | 1:6cd533a712c6 | 158 | |
chrigelburri | 1:6cd533a712c6 | 159 | float RobotControl::getThetaGoal() |
chrigelburri | 1:6cd533a712c6 | 160 | { |
chrigelburri | 3:92ba0254af87 | 161 | return PiRange(atan2(getyPositionError(),getxPositionError()) - getTheta()); |
chrigelburri | 1:6cd533a712c6 | 162 | } |
chrigelburri | 1:6cd533a712c6 | 163 | |
chrigelburri | 6:48eeb41188dd | 164 | void RobotControl::setAllToZero(float xZeroPos, |
chrigelburri | 6:48eeb41188dd | 165 | float yZeroPos, |
chrigelburri | 6:48eeb41188dd | 166 | float theta) |
chrigelburri | 1:6cd533a712c6 | 167 | { |
chrigelburri | 1:6cd533a712c6 | 168 | Actual.setState(xZeroPos, yZeroPos, theta, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 169 | Desired.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 170 | stateLeft.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 171 | stateRight.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 172 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 173 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 174 | } |
chrigelburri | 0:31f7be68e52d | 175 | |
chrigelburri | 0:31f7be68e52d | 176 | void RobotControl::run() |
chrigelburri | 0:31f7be68e52d | 177 | { |
chrigelburri | 11:775ebb69d5e1 | 178 | // kann glaub wegggggg |
chrigelburri | 0:31f7be68e52d | 179 | if (isEnabled()) { |
chrigelburri | 0:31f7be68e52d | 180 | } else { |
chrigelburri | 0:31f7be68e52d | 181 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 182 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 183 | Desired.setState(&Actual); |
chrigelburri | 0:31f7be68e52d | 184 | } |
chrigelburri | 11:775ebb69d5e1 | 185 | ////bis hieerrrrr |
chrigelburri | 0:31f7be68e52d | 186 | |
chrigelburri | 0:31f7be68e52d | 187 | /* position calculation */ |
chrigelburri | 0:31f7be68e52d | 188 | |
chrigelburri | 0:31f7be68e52d | 189 | /* Set the state of speed from Left und Right Wheel*/ |
chrigelburri | 6:48eeb41188dd | 190 | stateLeft.speed = motorControllerLeft->getActualSpeed() * |
chrigelburri | 6:48eeb41188dd | 191 | 2.0f * WHEEL_RADIUS_LEFT * PI * GEAR; |
chrigelburri | 6:48eeb41188dd | 192 | stateRight.speed = - motorControllerRight->getActualSpeed() * |
chrigelburri | 8:696c2f9dfc62 | 193 | 2.0f * WHEEL_RADIUS_RIGHT * PI * GEAR ; |
chrigelburri | 0:31f7be68e52d | 194 | |
chrigelburri | 0:31f7be68e52d | 195 | /* translational speed of the Robot (average) */ |
chrigelburri | 8:696c2f9dfc62 | 196 | Actual.speed = (stateRight.speed + stateLeft.speed) / 2.0f; |
chrigelburri | 0:31f7be68e52d | 197 | |
chrigelburri | 0:31f7be68e52d | 198 | /* rotational speed of the Robot */ |
chrigelburri | 8:696c2f9dfc62 | 199 | Actual.omega = (stateRight.speed - stateLeft.speed) / WHEEL_DISTANCE; |
chrigelburri | 0:31f7be68e52d | 200 | |
chrigelburri | 1:6cd533a712c6 | 201 | /* rotational theta of the Robot integrate the omega with the time*/ |
chrigelburri | 0:31f7be68e52d | 202 | Actual.theta += Actual.omega * period; |
chrigelburri | 3:92ba0254af87 | 203 | Actual.theta = PiRange(Actual.theta); |
chrigelburri | 6:48eeb41188dd | 204 | |
chrigelburri | 1:6cd533a712c6 | 205 | /* translational X and Y Position. integrate the speed with the time */ |
chrigelburri | 1:6cd533a712c6 | 206 | Actual.xposition += (Actual.speed * period * cos(Actual.theta)); |
chrigelburri | 1:6cd533a712c6 | 207 | Actual.yposition += (Actual.speed * period * sin(Actual.theta)); |
chrigelburri | 0:31f7be68e52d | 208 | |
chrigelburri | 1:6cd533a712c6 | 209 | /* motor control */ |
chrigelburri | 1:6cd533a712c6 | 210 | if ( isEnabled() && ( getDistanceError() >= MIN_DISTANCE_ERROR ) ) { |
chrigelburri | 0:31f7be68e52d | 211 | |
chrigelburri | 1:6cd533a712c6 | 212 | /* postition control */ |
chrigelburri | 2:d8e1613dc38b | 213 | |
chrigelburri | 1:6cd533a712c6 | 214 | speed = K1 * getDistanceError() * cos( getThetaErrorToGoal() ); |
chrigelburri | 2:d8e1613dc38b | 215 | omega = K2 * getThetaErrorToGoal() + |
chrigelburri | 6:48eeb41188dd | 216 | K1 * ( ( sin(getThetaErrorToGoal()) * cos(getThetaErrorToGoal()) ) / |
chrigelburri | 6:48eeb41188dd | 217 | (getThetaErrorToGoal()) ) * ( getThetaErrorToGoal() + K3 * getThetaGoal() ); |
chrigelburri | 0:31f7be68e52d | 218 | |
chrigelburri | 6:48eeb41188dd | 219 | motorControllerLeft->setVelocity( ( ( (2 * speed) - (WHEEL_DISTANCE * omega) ) / 2 ) / |
chrigelburri | 6:48eeb41188dd | 220 | (2 * WHEEL_RADIUS_LEFT * PI * GEAR) ); |
chrigelburri | 6:48eeb41188dd | 221 | motorControllerRight->setVelocity(-( ( (2 * speed) + (WHEEL_DISTANCE * omega) ) / 2) / |
chrigelburri | 6:48eeb41188dd | 222 | (2 * WHEEL_RADIUS_RIGHT * PI * GEAR) ); |
chrigelburri | 0:31f7be68e52d | 223 | |
chrigelburri | 0:31f7be68e52d | 224 | } else { |
chrigelburri | 0:31f7be68e52d | 225 | |
chrigelburri | 0:31f7be68e52d | 226 | motorControllerLeft->setVelocity(0.0f); |
chrigelburri | 0:31f7be68e52d | 227 | motorControllerRight->setVelocity(0.0f); |
chrigelburri | 0:31f7be68e52d | 228 | |
chrigelburri | 1:6cd533a712c6 | 229 | } |
chrigelburri | 0:31f7be68e52d | 230 | } |
chrigelburri | 3:92ba0254af87 | 231 | |
chrigelburri | 3:92ba0254af87 | 232 | float RobotControl::PiRange(float theta) |
chrigelburri | 3:92ba0254af87 | 233 | { |
chrigelburri | 3:92ba0254af87 | 234 | if(theta <= -PI) { |
chrigelburri | 3:92ba0254af87 | 235 | return theta += 2*PI; |
chrigelburri | 3:92ba0254af87 | 236 | } else if (theta > PI) { |
chrigelburri | 3:92ba0254af87 | 237 | return theta -= 2*PI; |
chrigelburri | 3:92ba0254af87 | 238 | } else { |
chrigelburri | 3:92ba0254af87 | 239 | return theta; |
chrigelburri | 3:92ba0254af87 | 240 | } |
chrigelburri | 3:92ba0254af87 | 241 | } |