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@2:d8e1613dc38b, 2013-03-03 (annotated)
- Committer:
- chrigelburri
- Date:
- Sun Mar 03 16:26:47 2013 +0000
- Revision:
- 2:d8e1613dc38b
- Parent:
- 1:6cd533a712c6
- Child:
- 3:92ba0254af87
Viereck Fahren; Code aufger?umt und eine setter methode progammiert f?r sollwert
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 | 1:6cd533a712c6 | 5 | RobotControl::RobotControl(MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ float period) : Task(period) |
chrigelburri | 0:31f7be68e52d | 6 | { |
chrigelburri | 0:31f7be68e52d | 7 | /* get peripherals */ |
chrigelburri | 0:31f7be68e52d | 8 | this->motorControllerLeft = motorControllerLeft; |
chrigelburri | 0:31f7be68e52d | 9 | this->motorControllerRight = motorControllerRight; |
chrigelburri | 1:6cd533a712c6 | 10 | // this->compass = compass; |
chrigelburri | 0:31f7be68e52d | 11 | this->period = period; |
chrigelburri | 0:31f7be68e52d | 12 | |
chrigelburri | 0:31f7be68e52d | 13 | /* initialize peripherals */ |
chrigelburri | 0:31f7be68e52d | 14 | motorControllerLeft->enable(false); |
chrigelburri | 0:31f7be68e52d | 15 | motorControllerRight->enable(false); |
chrigelburri | 0:31f7be68e52d | 16 | |
chrigelburri | 0:31f7be68e52d | 17 | /* initialize remaining state values */ |
chrigelburri | 0:31f7be68e52d | 18 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 19 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 20 | |
chrigelburri | 0:31f7be68e52d | 21 | motorControllerLeft->setPulses(0); |
chrigelburri | 0:31f7be68e52d | 22 | motorControllerRight->setPulses(0); |
chrigelburri | 0:31f7be68e52d | 23 | |
chrigelburri | 0:31f7be68e52d | 24 | Desired.setAcceleration(ACCELERATION); |
chrigelburri | 0:31f7be68e52d | 25 | Desired.setThetaAcceleration(THETA_ACCELERATION); |
chrigelburri | 0:31f7be68e52d | 26 | } |
chrigelburri | 0:31f7be68e52d | 27 | |
chrigelburri | 1:6cd533a712c6 | 28 | RobotControl::~RobotControl() |
chrigelburri | 0:31f7be68e52d | 29 | { |
chrigelburri | 0:31f7be68e52d | 30 | |
chrigelburri | 0:31f7be68e52d | 31 | } |
chrigelburri | 0:31f7be68e52d | 32 | |
chrigelburri | 0:31f7be68e52d | 33 | void RobotControl::setEnable(bool enable) |
chrigelburri | 0:31f7be68e52d | 34 | { |
chrigelburri | 0:31f7be68e52d | 35 | motorControllerLeft->enable(enable); |
chrigelburri | 0:31f7be68e52d | 36 | motorControllerRight->enable(enable); |
chrigelburri | 0:31f7be68e52d | 37 | } |
chrigelburri | 0:31f7be68e52d | 38 | |
chrigelburri | 0:31f7be68e52d | 39 | bool RobotControl::isEnabled() |
chrigelburri | 0:31f7be68e52d | 40 | { |
chrigelburri | 0:31f7be68e52d | 41 | return (motorControllerLeft->isEnabled() && motorControllerRight->isEnabled()); |
chrigelburri | 0:31f7be68e52d | 42 | } |
chrigelburri | 0:31f7be68e52d | 43 | |
chrigelburri | 1:6cd533a712c6 | 44 | void RobotControl::setAcceleration(float acceleration) |
chrigelburri | 0:31f7be68e52d | 45 | { |
chrigelburri | 1:6cd533a712c6 | 46 | Desired.setAcceleration(acceleration); |
chrigelburri | 0:31f7be68e52d | 47 | } |
chrigelburri | 0:31f7be68e52d | 48 | |
chrigelburri | 1:6cd533a712c6 | 49 | void RobotControl::setThetaAcceleration(float acceleration) |
chrigelburri | 0:31f7be68e52d | 50 | { |
chrigelburri | 1:6cd533a712c6 | 51 | Desired.setThetaAcceleration(acceleration); |
chrigelburri | 0:31f7be68e52d | 52 | } |
chrigelburri | 0:31f7be68e52d | 53 | |
chrigelburri | 0:31f7be68e52d | 54 | void RobotControl::setDesiredSpeed(float speed) |
chrigelburri | 0:31f7be68e52d | 55 | { |
chrigelburri | 0:31f7be68e52d | 56 | this->speed = speed; |
chrigelburri | 0:31f7be68e52d | 57 | } |
chrigelburri | 0:31f7be68e52d | 58 | |
chrigelburri | 0:31f7be68e52d | 59 | void RobotControl::setDesiredOmega(float omega) |
chrigelburri | 0:31f7be68e52d | 60 | { |
chrigelburri | 0:31f7be68e52d | 61 | this->omega = omega; |
chrigelburri | 0:31f7be68e52d | 62 | } |
chrigelburri | 0:31f7be68e52d | 63 | |
chrigelburri | 1:6cd533a712c6 | 64 | void RobotControl::setxPosition(float xposition) |
chrigelburri | 0:31f7be68e52d | 65 | { |
chrigelburri | 1:6cd533a712c6 | 66 | Desired.xposition = xposition; |
chrigelburri | 0:31f7be68e52d | 67 | } |
chrigelburri | 0:31f7be68e52d | 68 | |
chrigelburri | 1:6cd533a712c6 | 69 | void RobotControl::setyPosition(float yposition) |
chrigelburri | 0:31f7be68e52d | 70 | { |
chrigelburri | 1:6cd533a712c6 | 71 | Desired.yposition = yposition; |
chrigelburri | 0:31f7be68e52d | 72 | } |
chrigelburri | 0:31f7be68e52d | 73 | |
chrigelburri | 0:31f7be68e52d | 74 | void RobotControl::setTheta(float theta) |
chrigelburri | 0:31f7be68e52d | 75 | { |
chrigelburri | 0:31f7be68e52d | 76 | Desired.theta = theta; |
chrigelburri | 0:31f7be68e52d | 77 | } |
chrigelburri | 0:31f7be68e52d | 78 | |
chrigelburri | 2:d8e1613dc38b | 79 | void RobotControl::setPositionAngle(float xposition, float yposition, float theta) |
chrigelburri | 2:d8e1613dc38b | 80 | { |
chrigelburri | 2:d8e1613dc38b | 81 | setxPosition(xposition); |
chrigelburri | 2:d8e1613dc38b | 82 | setyPosition(yposition); |
chrigelburri | 2:d8e1613dc38b | 83 | setTheta(theta); |
chrigelburri | 2:d8e1613dc38b | 84 | } |
chrigelburri | 2:d8e1613dc38b | 85 | |
chrigelburri | 1:6cd533a712c6 | 86 | float RobotControl::getTheta() |
chrigelburri | 1:6cd533a712c6 | 87 | { |
chrigelburri | 1:6cd533a712c6 | 88 | return Desired.theta; |
chrigelburri | 1:6cd533a712c6 | 89 | } |
chrigelburri | 1:6cd533a712c6 | 90 | |
chrigelburri | 0:31f7be68e52d | 91 | float RobotControl::getDesiredSpeed() |
chrigelburri | 0:31f7be68e52d | 92 | { |
chrigelburri | 0:31f7be68e52d | 93 | return speed; |
chrigelburri | 0:31f7be68e52d | 94 | } |
chrigelburri | 0:31f7be68e52d | 95 | |
chrigelburri | 0:31f7be68e52d | 96 | float RobotControl::getActualSpeed() |
chrigelburri | 0:31f7be68e52d | 97 | { |
chrigelburri | 0:31f7be68e52d | 98 | return Actual.speed; |
chrigelburri | 0:31f7be68e52d | 99 | } |
chrigelburri | 0:31f7be68e52d | 100 | |
chrigelburri | 0:31f7be68e52d | 101 | float RobotControl::getDesiredOmega() |
chrigelburri | 0:31f7be68e52d | 102 | { |
chrigelburri | 0:31f7be68e52d | 103 | return omega; |
chrigelburri | 0:31f7be68e52d | 104 | } |
chrigelburri | 0:31f7be68e52d | 105 | |
chrigelburri | 0:31f7be68e52d | 106 | float RobotControl::getActualOmega() |
chrigelburri | 0:31f7be68e52d | 107 | { |
chrigelburri | 0:31f7be68e52d | 108 | return Actual.omega; |
chrigelburri | 0:31f7be68e52d | 109 | } |
chrigelburri | 0:31f7be68e52d | 110 | |
chrigelburri | 0:31f7be68e52d | 111 | float RobotControl::getxActualPosition() |
chrigelburri | 0:31f7be68e52d | 112 | { |
chrigelburri | 0:31f7be68e52d | 113 | return Actual.getxPosition(); |
chrigelburri | 0:31f7be68e52d | 114 | } |
chrigelburri | 0:31f7be68e52d | 115 | |
chrigelburri | 0:31f7be68e52d | 116 | float RobotControl::getxPositionError() |
chrigelburri | 0:31f7be68e52d | 117 | { |
chrigelburri | 0:31f7be68e52d | 118 | return Desired.getxPosition()-Actual.getxPosition(); |
chrigelburri | 0:31f7be68e52d | 119 | } |
chrigelburri | 0:31f7be68e52d | 120 | |
chrigelburri | 0:31f7be68e52d | 121 | float RobotControl::getyActualPosition() |
chrigelburri | 0:31f7be68e52d | 122 | { |
chrigelburri | 0:31f7be68e52d | 123 | return Actual.getyPosition(); |
chrigelburri | 0:31f7be68e52d | 124 | } |
chrigelburri | 0:31f7be68e52d | 125 | |
chrigelburri | 0:31f7be68e52d | 126 | float RobotControl::getyPositionError() |
chrigelburri | 0:31f7be68e52d | 127 | { |
chrigelburri | 0:31f7be68e52d | 128 | return Desired.getyPosition()-Actual.getyPosition(); |
chrigelburri | 0:31f7be68e52d | 129 | } |
chrigelburri | 0:31f7be68e52d | 130 | |
chrigelburri | 0:31f7be68e52d | 131 | float RobotControl::getActualTheta() |
chrigelburri | 0:31f7be68e52d | 132 | { |
chrigelburri | 0:31f7be68e52d | 133 | return Actual.getTheta(); |
chrigelburri | 0:31f7be68e52d | 134 | } |
chrigelburri | 0:31f7be68e52d | 135 | |
chrigelburri | 0:31f7be68e52d | 136 | float RobotControl::getThetaError() |
chrigelburri | 0:31f7be68e52d | 137 | { |
chrigelburri | 0:31f7be68e52d | 138 | return Desired.getTheta()-Actual.getTheta(); |
chrigelburri | 0:31f7be68e52d | 139 | } |
chrigelburri | 0:31f7be68e52d | 140 | |
chrigelburri | 1:6cd533a712c6 | 141 | float RobotControl::getDistanceError() |
chrigelburri | 1:6cd533a712c6 | 142 | { |
chrigelburri | 1:6cd533a712c6 | 143 | return sqrt( ( getxPositionError() * getxPositionError() ) + (getyPositionError() * getyPositionError() ) ); |
chrigelburri | 1:6cd533a712c6 | 144 | } |
chrigelburri | 1:6cd533a712c6 | 145 | |
chrigelburri | 1:6cd533a712c6 | 146 | float RobotControl::getThetaErrorToGoal() |
chrigelburri | 0:31f7be68e52d | 147 | { |
chrigelburri | 2:d8e1613dc38b | 148 | float temp; |
chrigelburri | 2:d8e1613dc38b | 149 | temp = atan2(getyPositionError(),getxPositionError()) - getActualTheta(); |
chrigelburri | 2:d8e1613dc38b | 150 | |
chrigelburri | 2:d8e1613dc38b | 151 | if(temp <= -PI) { |
chrigelburri | 2:d8e1613dc38b | 152 | temp += 2* PI; |
chrigelburri | 2:d8e1613dc38b | 153 | } else if (temp > PI) { |
chrigelburri | 2:d8e1613dc38b | 154 | temp -= 2* PI; |
chrigelburri | 2:d8e1613dc38b | 155 | } else { |
chrigelburri | 2:d8e1613dc38b | 156 | //nothing |
chrigelburri | 2:d8e1613dc38b | 157 | } |
chrigelburri | 2:d8e1613dc38b | 158 | return temp; |
chrigelburri | 1:6cd533a712c6 | 159 | } |
chrigelburri | 1:6cd533a712c6 | 160 | |
chrigelburri | 1:6cd533a712c6 | 161 | float RobotControl::getThetaGoal() |
chrigelburri | 1:6cd533a712c6 | 162 | { |
chrigelburri | 2:d8e1613dc38b | 163 | float temp; |
chrigelburri | 2:d8e1613dc38b | 164 | temp = atan2(getyPositionError(),getxPositionError()) - getTheta(); |
chrigelburri | 2:d8e1613dc38b | 165 | |
chrigelburri | 2:d8e1613dc38b | 166 | if(temp <= -PI) { |
chrigelburri | 2:d8e1613dc38b | 167 | temp += 2* PI; |
chrigelburri | 2:d8e1613dc38b | 168 | } else if (temp > PI) { |
chrigelburri | 2:d8e1613dc38b | 169 | temp -= 2* PI; |
chrigelburri | 2:d8e1613dc38b | 170 | } else { |
chrigelburri | 2:d8e1613dc38b | 171 | //nothing |
chrigelburri | 2:d8e1613dc38b | 172 | } |
chrigelburri | 2:d8e1613dc38b | 173 | return temp; |
chrigelburri | 1:6cd533a712c6 | 174 | } |
chrigelburri | 1:6cd533a712c6 | 175 | |
chrigelburri | 1:6cd533a712c6 | 176 | void RobotControl::setAllToZero(float xZeroPos, float yZeroPos, float theta) |
chrigelburri | 1:6cd533a712c6 | 177 | { |
chrigelburri | 1:6cd533a712c6 | 178 | Actual.setState(xZeroPos, yZeroPos, theta, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 179 | Desired.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 180 | stateLeft.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 181 | stateRight.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 182 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 183 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 184 | } |
chrigelburri | 0:31f7be68e52d | 185 | |
chrigelburri | 0:31f7be68e52d | 186 | void RobotControl::run() |
chrigelburri | 0:31f7be68e52d | 187 | { |
chrigelburri | 1:6cd533a712c6 | 188 | ///// DAs kan glaub raus ab hier |
chrigelburri | 2:d8e1613dc38b | 189 | /////////////////////////////////////////////////////////7 |
chrigelburri | 0:31f7be68e52d | 190 | /* motion planning */ |
chrigelburri | 0:31f7be68e52d | 191 | if (isEnabled()) { |
chrigelburri | 1:6cd533a712c6 | 192 | ///// DAs kan glaub raus bis hier |
chrigelburri | 0:31f7be68e52d | 193 | Desired.increment(speed, omega, period); |
chrigelburri | 1:6cd533a712c6 | 194 | |
chrigelburri | 2:d8e1613dc38b | 195 | ///// DAs kan glaub raus bis hier |
chrigelburri | 1:6cd533a712c6 | 196 | |
chrigelburri | 0:31f7be68e52d | 197 | } else { |
chrigelburri | 0:31f7be68e52d | 198 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 199 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 200 | Desired.setState(&Actual); |
chrigelburri | 0:31f7be68e52d | 201 | } |
chrigelburri | 0:31f7be68e52d | 202 | |
chrigelburri | 0:31f7be68e52d | 203 | /* position calculation */ |
chrigelburri | 0:31f7be68e52d | 204 | |
chrigelburri | 0:31f7be68e52d | 205 | /* Set the state of speed from Left und Right Wheel*/ |
chrigelburri | 1:6cd533a712c6 | 206 | stateLeft.speed = motorControllerLeft->getActualSpeed() * 2.0f * WHEEL_RADIUS * PI * GEAR; |
chrigelburri | 1:6cd533a712c6 | 207 | stateRight.speed = - motorControllerRight->getActualSpeed() * 2.0f * WHEEL_RADIUS * PI * GEAR; |
chrigelburri | 0:31f7be68e52d | 208 | |
chrigelburri | 0:31f7be68e52d | 209 | /* translational speed of the Robot (average) */ |
chrigelburri | 0:31f7be68e52d | 210 | Actual.speed = ( stateRight.speed + stateLeft.speed ) / 2.0f; |
chrigelburri | 0:31f7be68e52d | 211 | |
chrigelburri | 0:31f7be68e52d | 212 | /* rotational speed of the Robot */ |
chrigelburri | 0:31f7be68e52d | 213 | Actual.omega = ( stateRight.speed - stateLeft.speed ) / WHEEL_DISTANCE; |
chrigelburri | 0:31f7be68e52d | 214 | |
chrigelburri | 1:6cd533a712c6 | 215 | /* rotational theta of the Robot integrate the omega with the time*/ |
chrigelburri | 0:31f7be68e52d | 216 | Actual.theta += Actual.omega * period; |
chrigelburri | 0:31f7be68e52d | 217 | if(Actual.theta <= -PI) { |
chrigelburri | 0:31f7be68e52d | 218 | Actual.theta += 2* PI; |
chrigelburri | 0:31f7be68e52d | 219 | } else if (Actual.theta > PI) { |
chrigelburri | 0:31f7be68e52d | 220 | Actual.theta -= 2* PI; |
chrigelburri | 0:31f7be68e52d | 221 | } else { |
chrigelburri | 0:31f7be68e52d | 222 | //nothing |
chrigelburri | 0:31f7be68e52d | 223 | } |
chrigelburri | 1:6cd533a712c6 | 224 | |
chrigelburri | 1:6cd533a712c6 | 225 | /* translational X and Y Position. integrate the speed with the time */ |
chrigelburri | 1:6cd533a712c6 | 226 | Actual.xposition += (Actual.speed * period * cos(Actual.theta)); |
chrigelburri | 1:6cd533a712c6 | 227 | Actual.yposition += (Actual.speed * period * sin(Actual.theta)); |
chrigelburri | 0:31f7be68e52d | 228 | |
chrigelburri | 1:6cd533a712c6 | 229 | // Actual.thetaCompass = compass->getFilteredAngle(); |
chrigelburri | 1:6cd533a712c6 | 230 | /* translational X and Y Position. integrate the speed with the time theta from compass */ |
chrigelburri | 1:6cd533a712c6 | 231 | // Actual.xposition += - (Actual.speed * period * cos(Actual.thetaCompass)); |
chrigelburri | 1:6cd533a712c6 | 232 | // Actual.yposition += (Actual.speed * period * sin(Actual.thetaCompass)); |
chrigelburri | 2:d8e1613dc38b | 233 | |
chrigelburri | 1:6cd533a712c6 | 234 | /* motor control */ |
chrigelburri | 1:6cd533a712c6 | 235 | if ( isEnabled() && ( getDistanceError() >= MIN_DISTANCE_ERROR ) ) { |
chrigelburri | 0:31f7be68e52d | 236 | |
chrigelburri | 1:6cd533a712c6 | 237 | /* postition control */ |
chrigelburri | 2:d8e1613dc38b | 238 | |
chrigelburri | 1:6cd533a712c6 | 239 | speed = K1 * getDistanceError() * cos( getThetaErrorToGoal() ); |
chrigelburri | 2:d8e1613dc38b | 240 | omega = K2 * getThetaErrorToGoal() + |
chrigelburri | 2:d8e1613dc38b | 241 | K1 * ( ( sin(getThetaErrorToGoal()) * cos(getThetaErrorToGoal()) ) / (getThetaErrorToGoal()) ) * ( getThetaErrorToGoal() + K3 * getThetaGoal() ); |
chrigelburri | 0:31f7be68e52d | 242 | |
chrigelburri | 1:6cd533a712c6 | 243 | motorControllerLeft->setVelocity( ( ( (2 * speed) - (WHEEL_DISTANCE * omega) ) / 2 ) / (2 * WHEEL_RADIUS * PI) * GEAR ); |
chrigelburri | 1:6cd533a712c6 | 244 | motorControllerRight->setVelocity(-( ( (2 * speed) + (WHEEL_DISTANCE * omega) ) / 2) / (2 * WHEEL_RADIUS * PI) * GEAR ); |
chrigelburri | 0:31f7be68e52d | 245 | |
chrigelburri | 0:31f7be68e52d | 246 | } else { |
chrigelburri | 0:31f7be68e52d | 247 | |
chrigelburri | 0:31f7be68e52d | 248 | motorControllerLeft->setVelocity(0.0f); |
chrigelburri | 0:31f7be68e52d | 249 | motorControllerRight->setVelocity(0.0f); |
chrigelburri | 0:31f7be68e52d | 250 | |
chrigelburri | 1:6cd533a712c6 | 251 | } |
chrigelburri | 0:31f7be68e52d | 252 | } |