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@8:696c2f9dfc62, 2013-03-30 (annotated)
- Committer:
- chrigelburri
- Date:
- Sat Mar 30 06:55:08 2013 +0000
- Revision:
- 8:696c2f9dfc62
- Parent:
- 6:48eeb41188dd
- Child:
- 11:775ebb69d5e1
vor dem tuning. nicht merh 50% duty cicle und 1.65V mitte
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 | /*HMC6352* compass,*/ |
chrigelburri | 6:48eeb41188dd | 8 | float period) : Task(period) |
chrigelburri | 0:31f7be68e52d | 9 | { |
chrigelburri | 0:31f7be68e52d | 10 | /* get peripherals */ |
chrigelburri | 0:31f7be68e52d | 11 | this->motorControllerLeft = motorControllerLeft; |
chrigelburri | 0:31f7be68e52d | 12 | this->motorControllerRight = motorControllerRight; |
chrigelburri | 1:6cd533a712c6 | 13 | // this->compass = compass; |
chrigelburri | 0:31f7be68e52d | 14 | this->period = period; |
chrigelburri | 0:31f7be68e52d | 15 | |
chrigelburri | 0:31f7be68e52d | 16 | /* initialize peripherals */ |
chrigelburri | 0:31f7be68e52d | 17 | motorControllerLeft->enable(false); |
chrigelburri | 0:31f7be68e52d | 18 | motorControllerRight->enable(false); |
chrigelburri | 0:31f7be68e52d | 19 | |
chrigelburri | 0:31f7be68e52d | 20 | /* initialize remaining state values */ |
chrigelburri | 0:31f7be68e52d | 21 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 22 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 23 | |
chrigelburri | 0:31f7be68e52d | 24 | motorControllerLeft->setPulses(0); |
chrigelburri | 0:31f7be68e52d | 25 | motorControllerRight->setPulses(0); |
chrigelburri | 0:31f7be68e52d | 26 | |
chrigelburri | 8:696c2f9dfc62 | 27 | motorControllerLeft->setVelocity(0.0f); |
chrigelburri | 8:696c2f9dfc62 | 28 | motorControllerRight->setVelocity(0.0f); |
chrigelburri | 8:696c2f9dfc62 | 29 | |
chrigelburri | 0:31f7be68e52d | 30 | Desired.setAcceleration(ACCELERATION); |
chrigelburri | 0:31f7be68e52d | 31 | Desired.setThetaAcceleration(THETA_ACCELERATION); |
chrigelburri | 0:31f7be68e52d | 32 | } |
chrigelburri | 0:31f7be68e52d | 33 | |
chrigelburri | 1:6cd533a712c6 | 34 | RobotControl::~RobotControl() |
chrigelburri | 0:31f7be68e52d | 35 | { |
chrigelburri | 0:31f7be68e52d | 36 | |
chrigelburri | 0:31f7be68e52d | 37 | } |
chrigelburri | 0:31f7be68e52d | 38 | |
chrigelburri | 0:31f7be68e52d | 39 | void RobotControl::setEnable(bool enable) |
chrigelburri | 0:31f7be68e52d | 40 | { |
chrigelburri | 0:31f7be68e52d | 41 | motorControllerLeft->enable(enable); |
chrigelburri | 0:31f7be68e52d | 42 | motorControllerRight->enable(enable); |
chrigelburri | 0:31f7be68e52d | 43 | } |
chrigelburri | 0:31f7be68e52d | 44 | |
chrigelburri | 0:31f7be68e52d | 45 | bool RobotControl::isEnabled() |
chrigelburri | 0:31f7be68e52d | 46 | { |
chrigelburri | 0:31f7be68e52d | 47 | return (motorControllerLeft->isEnabled() && motorControllerRight->isEnabled()); |
chrigelburri | 0:31f7be68e52d | 48 | } |
chrigelburri | 0:31f7be68e52d | 49 | |
chrigelburri | 1:6cd533a712c6 | 50 | void RobotControl::setAcceleration(float acceleration) |
chrigelburri | 0:31f7be68e52d | 51 | { |
chrigelburri | 1:6cd533a712c6 | 52 | Desired.setAcceleration(acceleration); |
chrigelburri | 0:31f7be68e52d | 53 | } |
chrigelburri | 0:31f7be68e52d | 54 | |
chrigelburri | 1:6cd533a712c6 | 55 | void RobotControl::setThetaAcceleration(float acceleration) |
chrigelburri | 0:31f7be68e52d | 56 | { |
chrigelburri | 1:6cd533a712c6 | 57 | Desired.setThetaAcceleration(acceleration); |
chrigelburri | 0:31f7be68e52d | 58 | } |
chrigelburri | 0:31f7be68e52d | 59 | |
chrigelburri | 0:31f7be68e52d | 60 | void RobotControl::setDesiredSpeed(float speed) |
chrigelburri | 0:31f7be68e52d | 61 | { |
chrigelburri | 0:31f7be68e52d | 62 | this->speed = speed; |
chrigelburri | 0:31f7be68e52d | 63 | } |
chrigelburri | 0:31f7be68e52d | 64 | |
chrigelburri | 0:31f7be68e52d | 65 | void RobotControl::setDesiredOmega(float omega) |
chrigelburri | 0:31f7be68e52d | 66 | { |
chrigelburri | 0:31f7be68e52d | 67 | this->omega = omega; |
chrigelburri | 0:31f7be68e52d | 68 | } |
chrigelburri | 0:31f7be68e52d | 69 | |
chrigelburri | 5:48a258f6335e | 70 | void RobotControl::setDesiredxPosition(float xposition) |
chrigelburri | 0:31f7be68e52d | 71 | { |
chrigelburri | 1:6cd533a712c6 | 72 | Desired.xposition = xposition; |
chrigelburri | 0:31f7be68e52d | 73 | } |
chrigelburri | 0:31f7be68e52d | 74 | |
chrigelburri | 5:48a258f6335e | 75 | void RobotControl::setDesiredyPosition(float yposition) |
chrigelburri | 0:31f7be68e52d | 76 | { |
chrigelburri | 1:6cd533a712c6 | 77 | Desired.yposition = yposition; |
chrigelburri | 0:31f7be68e52d | 78 | } |
chrigelburri | 0:31f7be68e52d | 79 | |
chrigelburri | 5:48a258f6335e | 80 | void RobotControl::setDesiredTheta(float theta) |
chrigelburri | 0:31f7be68e52d | 81 | { |
chrigelburri | 0:31f7be68e52d | 82 | Desired.theta = theta; |
chrigelburri | 0:31f7be68e52d | 83 | } |
chrigelburri | 0:31f7be68e52d | 84 | |
chrigelburri | 5:48a258f6335e | 85 | float RobotControl::getDesiredxPosition() |
chrigelburri | 5:48a258f6335e | 86 | { |
chrigelburri | 5:48a258f6335e | 87 | return Desired.xposition; |
chrigelburri | 5:48a258f6335e | 88 | } |
chrigelburri | 5:48a258f6335e | 89 | |
chrigelburri | 5:48a258f6335e | 90 | float RobotControl::getDesiredyPosition() |
chrigelburri | 2:d8e1613dc38b | 91 | { |
chrigelburri | 5:48a258f6335e | 92 | return Desired.yposition; |
chrigelburri | 5:48a258f6335e | 93 | } |
chrigelburri | 5:48a258f6335e | 94 | |
chrigelburri | 5:48a258f6335e | 95 | float RobotControl::getDesiredTheta() |
chrigelburri | 5:48a258f6335e | 96 | { |
chrigelburri | 5:48a258f6335e | 97 | return Desired.theta; |
chrigelburri | 5:48a258f6335e | 98 | } |
chrigelburri | 5:48a258f6335e | 99 | |
chrigelburri | 6:48eeb41188dd | 100 | void RobotControl::setDesiredPositionAndAngle(float xposition, |
chrigelburri | 6:48eeb41188dd | 101 | float yposition, |
chrigelburri | 6:48eeb41188dd | 102 | float theta) |
chrigelburri | 5:48a258f6335e | 103 | { |
chrigelburri | 5:48a258f6335e | 104 | setDesiredxPosition(xposition); |
chrigelburri | 5:48a258f6335e | 105 | setDesiredyPosition(yposition); |
chrigelburri | 5:48a258f6335e | 106 | setDesiredTheta(theta); |
chrigelburri | 2:d8e1613dc38b | 107 | } |
chrigelburri | 2:d8e1613dc38b | 108 | |
chrigelburri | 1:6cd533a712c6 | 109 | float RobotControl::getTheta() |
chrigelburri | 1:6cd533a712c6 | 110 | { |
chrigelburri | 1:6cd533a712c6 | 111 | return Desired.theta; |
chrigelburri | 1:6cd533a712c6 | 112 | } |
chrigelburri | 1:6cd533a712c6 | 113 | |
chrigelburri | 0:31f7be68e52d | 114 | float RobotControl::getDesiredSpeed() |
chrigelburri | 0:31f7be68e52d | 115 | { |
chrigelburri | 0:31f7be68e52d | 116 | return speed; |
chrigelburri | 0:31f7be68e52d | 117 | } |
chrigelburri | 0:31f7be68e52d | 118 | |
chrigelburri | 0:31f7be68e52d | 119 | float RobotControl::getActualSpeed() |
chrigelburri | 0:31f7be68e52d | 120 | { |
chrigelburri | 0:31f7be68e52d | 121 | return Actual.speed; |
chrigelburri | 0:31f7be68e52d | 122 | } |
chrigelburri | 0:31f7be68e52d | 123 | |
chrigelburri | 0:31f7be68e52d | 124 | float RobotControl::getDesiredOmega() |
chrigelburri | 0:31f7be68e52d | 125 | { |
chrigelburri | 0:31f7be68e52d | 126 | return omega; |
chrigelburri | 0:31f7be68e52d | 127 | } |
chrigelburri | 0:31f7be68e52d | 128 | |
chrigelburri | 0:31f7be68e52d | 129 | float RobotControl::getActualOmega() |
chrigelburri | 0:31f7be68e52d | 130 | { |
chrigelburri | 0:31f7be68e52d | 131 | return Actual.omega; |
chrigelburri | 0:31f7be68e52d | 132 | } |
chrigelburri | 0:31f7be68e52d | 133 | |
chrigelburri | 0:31f7be68e52d | 134 | float RobotControl::getxActualPosition() |
chrigelburri | 0:31f7be68e52d | 135 | { |
chrigelburri | 0:31f7be68e52d | 136 | return Actual.getxPosition(); |
chrigelburri | 0:31f7be68e52d | 137 | } |
chrigelburri | 0:31f7be68e52d | 138 | |
chrigelburri | 0:31f7be68e52d | 139 | float RobotControl::getxPositionError() |
chrigelburri | 0:31f7be68e52d | 140 | { |
chrigelburri | 0:31f7be68e52d | 141 | return Desired.getxPosition()-Actual.getxPosition(); |
chrigelburri | 0:31f7be68e52d | 142 | } |
chrigelburri | 0:31f7be68e52d | 143 | |
chrigelburri | 0:31f7be68e52d | 144 | float RobotControl::getyActualPosition() |
chrigelburri | 0:31f7be68e52d | 145 | { |
chrigelburri | 0:31f7be68e52d | 146 | return Actual.getyPosition(); |
chrigelburri | 0:31f7be68e52d | 147 | } |
chrigelburri | 0:31f7be68e52d | 148 | |
chrigelburri | 0:31f7be68e52d | 149 | float RobotControl::getyPositionError() |
chrigelburri | 0:31f7be68e52d | 150 | { |
chrigelburri | 0:31f7be68e52d | 151 | return Desired.getyPosition()-Actual.getyPosition(); |
chrigelburri | 0:31f7be68e52d | 152 | } |
chrigelburri | 0:31f7be68e52d | 153 | |
chrigelburri | 0:31f7be68e52d | 154 | float RobotControl::getActualTheta() |
chrigelburri | 0:31f7be68e52d | 155 | { |
chrigelburri | 0:31f7be68e52d | 156 | return Actual.getTheta(); |
chrigelburri | 0:31f7be68e52d | 157 | } |
chrigelburri | 0:31f7be68e52d | 158 | |
chrigelburri | 0:31f7be68e52d | 159 | float RobotControl::getThetaError() |
chrigelburri | 0:31f7be68e52d | 160 | { |
chrigelburri | 0:31f7be68e52d | 161 | return Desired.getTheta()-Actual.getTheta(); |
chrigelburri | 0:31f7be68e52d | 162 | } |
chrigelburri | 0:31f7be68e52d | 163 | |
chrigelburri | 1:6cd533a712c6 | 164 | float RobotControl::getDistanceError() |
chrigelburri | 1:6cd533a712c6 | 165 | { |
chrigelburri | 1:6cd533a712c6 | 166 | return sqrt( ( getxPositionError() * getxPositionError() ) + (getyPositionError() * getyPositionError() ) ); |
chrigelburri | 1:6cd533a712c6 | 167 | } |
chrigelburri | 1:6cd533a712c6 | 168 | |
chrigelburri | 1:6cd533a712c6 | 169 | float RobotControl::getThetaErrorToGoal() |
chrigelburri | 0:31f7be68e52d | 170 | { |
chrigelburri | 3:92ba0254af87 | 171 | return PiRange(atan2(getyPositionError(),getxPositionError()) - getActualTheta()); |
chrigelburri | 1:6cd533a712c6 | 172 | } |
chrigelburri | 1:6cd533a712c6 | 173 | |
chrigelburri | 1:6cd533a712c6 | 174 | float RobotControl::getThetaGoal() |
chrigelburri | 1:6cd533a712c6 | 175 | { |
chrigelburri | 3:92ba0254af87 | 176 | return PiRange(atan2(getyPositionError(),getxPositionError()) - getTheta()); |
chrigelburri | 1:6cd533a712c6 | 177 | } |
chrigelburri | 1:6cd533a712c6 | 178 | |
chrigelburri | 6:48eeb41188dd | 179 | void RobotControl::setAllToZero(float xZeroPos, |
chrigelburri | 6:48eeb41188dd | 180 | float yZeroPos, |
chrigelburri | 6:48eeb41188dd | 181 | float theta) |
chrigelburri | 1:6cd533a712c6 | 182 | { |
chrigelburri | 1:6cd533a712c6 | 183 | Actual.setState(xZeroPos, yZeroPos, theta, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 184 | Desired.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 185 | stateLeft.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 186 | stateRight.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 187 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 188 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 189 | } |
chrigelburri | 0:31f7be68e52d | 190 | |
chrigelburri | 0:31f7be68e52d | 191 | void RobotControl::run() |
chrigelburri | 0:31f7be68e52d | 192 | { |
chrigelburri | 1:6cd533a712c6 | 193 | ///// DAs kan glaub raus ab hier |
chrigelburri | 2:d8e1613dc38b | 194 | /////////////////////////////////////////////////////////7 |
chrigelburri | 0:31f7be68e52d | 195 | /* motion planning */ |
chrigelburri | 0:31f7be68e52d | 196 | if (isEnabled()) { |
chrigelburri | 1:6cd533a712c6 | 197 | ///// DAs kan glaub raus bis hier |
chrigelburri | 0:31f7be68e52d | 198 | Desired.increment(speed, omega, period); |
chrigelburri | 1:6cd533a712c6 | 199 | |
chrigelburri | 2:d8e1613dc38b | 200 | ///// DAs kan glaub raus bis hier |
chrigelburri | 1:6cd533a712c6 | 201 | |
chrigelburri | 0:31f7be68e52d | 202 | } else { |
chrigelburri | 0:31f7be68e52d | 203 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 204 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 205 | Desired.setState(&Actual); |
chrigelburri | 0:31f7be68e52d | 206 | } |
chrigelburri | 0:31f7be68e52d | 207 | |
chrigelburri | 0:31f7be68e52d | 208 | /* position calculation */ |
chrigelburri | 0:31f7be68e52d | 209 | |
chrigelburri | 0:31f7be68e52d | 210 | /* Set the state of speed from Left und Right Wheel*/ |
chrigelburri | 6:48eeb41188dd | 211 | stateLeft.speed = motorControllerLeft->getActualSpeed() * |
chrigelburri | 6:48eeb41188dd | 212 | 2.0f * WHEEL_RADIUS_LEFT * PI * GEAR; |
chrigelburri | 6:48eeb41188dd | 213 | stateRight.speed = - motorControllerRight->getActualSpeed() * |
chrigelburri | 8:696c2f9dfc62 | 214 | 2.0f * WHEEL_RADIUS_RIGHT * PI * GEAR ; |
chrigelburri | 0:31f7be68e52d | 215 | |
chrigelburri | 0:31f7be68e52d | 216 | /* translational speed of the Robot (average) */ |
chrigelburri | 8:696c2f9dfc62 | 217 | Actual.speed = (stateRight.speed + stateLeft.speed) / 2.0f; |
chrigelburri | 0:31f7be68e52d | 218 | |
chrigelburri | 0:31f7be68e52d | 219 | /* rotational speed of the Robot */ |
chrigelburri | 8:696c2f9dfc62 | 220 | Actual.omega = (stateRight.speed - stateLeft.speed) / WHEEL_DISTANCE; |
chrigelburri | 0:31f7be68e52d | 221 | |
chrigelburri | 1:6cd533a712c6 | 222 | /* rotational theta of the Robot integrate the omega with the time*/ |
chrigelburri | 0:31f7be68e52d | 223 | Actual.theta += Actual.omega * period; |
chrigelburri | 3:92ba0254af87 | 224 | Actual.theta = PiRange(Actual.theta); |
chrigelburri | 6:48eeb41188dd | 225 | |
chrigelburri | 1:6cd533a712c6 | 226 | /* translational X and Y Position. integrate the speed with the time */ |
chrigelburri | 1:6cd533a712c6 | 227 | Actual.xposition += (Actual.speed * period * cos(Actual.theta)); |
chrigelburri | 1:6cd533a712c6 | 228 | Actual.yposition += (Actual.speed * period * sin(Actual.theta)); |
chrigelburri | 0:31f7be68e52d | 229 | |
chrigelburri | 1:6cd533a712c6 | 230 | // Actual.thetaCompass = compass->getFilteredAngle(); |
chrigelburri | 1:6cd533a712c6 | 231 | /* translational X and Y Position. integrate the speed with the time theta from compass */ |
chrigelburri | 1:6cd533a712c6 | 232 | // Actual.xposition += - (Actual.speed * period * cos(Actual.thetaCompass)); |
chrigelburri | 1:6cd533a712c6 | 233 | // Actual.yposition += (Actual.speed * period * sin(Actual.thetaCompass)); |
chrigelburri | 2:d8e1613dc38b | 234 | |
chrigelburri | 1:6cd533a712c6 | 235 | /* motor control */ |
chrigelburri | 1:6cd533a712c6 | 236 | if ( isEnabled() && ( getDistanceError() >= MIN_DISTANCE_ERROR ) ) { |
chrigelburri | 0:31f7be68e52d | 237 | |
chrigelburri | 1:6cd533a712c6 | 238 | /* postition control */ |
chrigelburri | 2:d8e1613dc38b | 239 | |
chrigelburri | 1:6cd533a712c6 | 240 | speed = K1 * getDistanceError() * cos( getThetaErrorToGoal() ); |
chrigelburri | 2:d8e1613dc38b | 241 | omega = K2 * getThetaErrorToGoal() + |
chrigelburri | 6:48eeb41188dd | 242 | K1 * ( ( sin(getThetaErrorToGoal()) * cos(getThetaErrorToGoal()) ) / |
chrigelburri | 6:48eeb41188dd | 243 | (getThetaErrorToGoal()) ) * ( getThetaErrorToGoal() + K3 * getThetaGoal() ); |
chrigelburri | 0:31f7be68e52d | 244 | |
chrigelburri | 6:48eeb41188dd | 245 | motorControllerLeft->setVelocity( ( ( (2 * speed) - (WHEEL_DISTANCE * omega) ) / 2 ) / |
chrigelburri | 6:48eeb41188dd | 246 | (2 * WHEEL_RADIUS_LEFT * PI * GEAR) ); |
chrigelburri | 6:48eeb41188dd | 247 | motorControllerRight->setVelocity(-( ( (2 * speed) + (WHEEL_DISTANCE * omega) ) / 2) / |
chrigelburri | 6:48eeb41188dd | 248 | (2 * WHEEL_RADIUS_RIGHT * PI * GEAR) ); |
chrigelburri | 0:31f7be68e52d | 249 | |
chrigelburri | 0:31f7be68e52d | 250 | } else { |
chrigelburri | 0:31f7be68e52d | 251 | |
chrigelburri | 0:31f7be68e52d | 252 | motorControllerLeft->setVelocity(0.0f); |
chrigelburri | 0:31f7be68e52d | 253 | motorControllerRight->setVelocity(0.0f); |
chrigelburri | 0:31f7be68e52d | 254 | |
chrigelburri | 1:6cd533a712c6 | 255 | } |
chrigelburri | 0:31f7be68e52d | 256 | } |
chrigelburri | 3:92ba0254af87 | 257 | |
chrigelburri | 3:92ba0254af87 | 258 | float RobotControl::PiRange(float theta) |
chrigelburri | 3:92ba0254af87 | 259 | { |
chrigelburri | 3:92ba0254af87 | 260 | if(theta <= -PI) { |
chrigelburri | 3:92ba0254af87 | 261 | return theta += 2*PI; |
chrigelburri | 3:92ba0254af87 | 262 | } else if (theta > PI) { |
chrigelburri | 3:92ba0254af87 | 263 | return theta -= 2*PI; |
chrigelburri | 3:92ba0254af87 | 264 | } else { |
chrigelburri | 3:92ba0254af87 | 265 | return theta; |
chrigelburri | 3:92ba0254af87 | 266 | } |
chrigelburri | 3:92ba0254af87 | 267 | } |