This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
Fork of autonomousRobotAndroid by
RobotControl/RobotControl.h@12:235e318a414f, 2013-04-07 (annotated)
- Committer:
- chrigelburri
- Date:
- Sun Apr 07 08:31:51 2013 +0000
- Revision:
- 12:235e318a414f
- Parent:
- 11:775ebb69d5e1
- Child:
- 38:d76e488e725f
Kommentare nochmals verbessert android fehlt noch
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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chrigelburri | 0:31f7be68e52d | 1 | #ifndef _ROBOT_CONTROL_H_ |
chrigelburri | 0:31f7be68e52d | 2 | #define _ROBOT_CONTROL_H_ |
chrigelburri | 0:31f7be68e52d | 3 | |
chrigelburri | 0:31f7be68e52d | 4 | #include "MaxonESCON.h" |
chrigelburri | 0:31f7be68e52d | 5 | #include "MotionState.h" |
chrigelburri | 0:31f7be68e52d | 6 | #include "Task.h" |
chrigelburri | 0:31f7be68e52d | 7 | #include "defines.h" |
chrigelburri | 0:31f7be68e52d | 8 | |
chrigelburri | 0:31f7be68e52d | 9 | /** |
chrigelburri | 0:31f7be68e52d | 10 | * @author Christian Burri |
chrigelburri | 0:31f7be68e52d | 11 | * |
chrigelburri | 11:775ebb69d5e1 | 12 | * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 0:31f7be68e52d | 13 | * All rights reserved. |
chrigelburri | 0:31f7be68e52d | 14 | * |
chrigelburri | 11:775ebb69d5e1 | 15 | * @brief |
chrigelburri | 0:31f7be68e52d | 16 | * |
chrigelburri | 3:92ba0254af87 | 17 | * This class controls the position of the robot. It has |
chrigelburri | 0:31f7be68e52d | 18 | * a run loop that is called periodically. This run loop reads the actual |
chrigelburri | 0:31f7be68e52d | 19 | * positions of the wheels, calculates the actual position and orientation |
chrigelburri | 3:92ba0254af87 | 20 | * of the robot, calculates to move the robot |
chrigelburri | 0:31f7be68e52d | 21 | * and writes these velocity values to the motor servo drives. |
chrigelburri | 0:31f7be68e52d | 22 | * This class offers methods to enable or disable the controller, and to set |
chrigelburri | 3:92ba0254af87 | 23 | * the desired x- and y-postion and the θ values of the robot. |
chrigelburri | 12:235e318a414f | 24 | * |
chrigelburri | 0:31f7be68e52d | 25 | */ |
chrigelburri | 0:31f7be68e52d | 26 | |
chrigelburri | 0:31f7be68e52d | 27 | class RobotControl : public Task |
chrigelburri | 0:31f7be68e52d | 28 | { |
chrigelburri | 0:31f7be68e52d | 29 | |
chrigelburri | 0:31f7be68e52d | 30 | private: |
chrigelburri | 0:31f7be68e52d | 31 | |
chrigelburri | 0:31f7be68e52d | 32 | MaxonESCON* motorControllerLeft; |
chrigelburri | 0:31f7be68e52d | 33 | MaxonESCON* motorControllerRight; |
chrigelburri | 0:31f7be68e52d | 34 | MotionState Desired; |
chrigelburri | 0:31f7be68e52d | 35 | MotionState Actual; |
chrigelburri | 0:31f7be68e52d | 36 | MotionState stateLeft; |
chrigelburri | 0:31f7be68e52d | 37 | MotionState stateRight; |
chrigelburri | 0:31f7be68e52d | 38 | float period; |
chrigelburri | 0:31f7be68e52d | 39 | float speed; |
chrigelburri | 0:31f7be68e52d | 40 | float omega; |
chrigelburri | 1:6cd533a712c6 | 41 | |
chrigelburri | 6:48eeb41188dd | 42 | /** |
chrigelburri | 11:775ebb69d5e1 | 43 | * @brief Add ±2π when the range of |
chrigelburri | 6:48eeb41188dd | 44 | * the radian is over +π or under -π. |
chrigelburri | 6:48eeb41188dd | 45 | * @param theta to check the value |
chrigelburri | 6:48eeb41188dd | 46 | * @return the value in the range from -π to +π |
chrigelburri | 6:48eeb41188dd | 47 | */ |
chrigelburri | 6:48eeb41188dd | 48 | float PiRange(float theta); |
chrigelburri | 6:48eeb41188dd | 49 | |
chrigelburri | 0:31f7be68e52d | 50 | public: |
chrigelburri | 0:31f7be68e52d | 51 | |
chrigelburri | 0:31f7be68e52d | 52 | /** |
chrigelburri | 11:775ebb69d5e1 | 53 | * @brief Creates a <code>Robot Control</code> object and |
chrigelburri | 6:48eeb41188dd | 54 | * initializes all private state variables. |
chrigelburri | 6:48eeb41188dd | 55 | * @param motorControllerLeft a reference to the servo |
chrigelburri | 6:48eeb41188dd | 56 | * drive for the left motor |
chrigelburri | 6:48eeb41188dd | 57 | * @param motorControllerRight a reference to the servo |
chrigelburri | 6:48eeb41188dd | 58 | * drive for the right motor |
chrigelburri | 11:775ebb69d5e1 | 59 | * @param period the sampling period of the run loop of |
chrigelburri | 6:48eeb41188dd | 60 | * this controller, given in [s] |
chrigelburri | 0:31f7be68e52d | 61 | */ |
chrigelburri | 6:48eeb41188dd | 62 | RobotControl(MaxonESCON* motorControllerLeft, |
chrigelburri | 11:775ebb69d5e1 | 63 | MaxonESCON* motorControllerRight, |
chrigelburri | 6:48eeb41188dd | 64 | float period); |
chrigelburri | 0:31f7be68e52d | 65 | |
chrigelburri | 0:31f7be68e52d | 66 | /** |
chrigelburri | 11:775ebb69d5e1 | 67 | * @brief Destructor of the Object to destroy the Object. |
chrigelburri | 6:48eeb41188dd | 68 | **/ |
chrigelburri | 0:31f7be68e52d | 69 | virtual ~RobotControl(); |
chrigelburri | 0:31f7be68e52d | 70 | |
chrigelburri | 0:31f7be68e52d | 71 | /** |
chrigelburri | 11:775ebb69d5e1 | 72 | * @brief Enables or disables the servo drives of the motors. |
chrigelburri | 6:48eeb41188dd | 73 | * @param enable if <code>true</code> enables the drives, |
chrigelburri | 6:48eeb41188dd | 74 | * <code>false</code> otherwise |
chrigelburri | 6:48eeb41188dd | 75 | * the servo drives are shut down. |
chrigelburri | 6:48eeb41188dd | 76 | */ |
chrigelburri | 0:31f7be68e52d | 77 | void setEnable(bool enable); |
chrigelburri | 0:31f7be68e52d | 78 | |
chrigelburri | 0:31f7be68e52d | 79 | /** |
chrigelburri | 11:775ebb69d5e1 | 80 | * @brief Tests if the servo drives of the motors are enabled. |
chrigelburri | 6:48eeb41188dd | 81 | * @return <code>true</code> if the drives are enabled, |
chrigelburri | 6:48eeb41188dd | 82 | * <code>false</code> otherwise |
chrigelburri | 6:48eeb41188dd | 83 | */ |
chrigelburri | 0:31f7be68e52d | 84 | bool isEnabled(); |
chrigelburri | 0:31f7be68e52d | 85 | |
chrigelburri | 0:31f7be68e52d | 86 | /** |
chrigelburri | 11:775ebb69d5e1 | 87 | * @brief Sets the desired translational speed of the robot. |
chrigelburri | 6:48eeb41188dd | 88 | * @param speed the desired speed, given in [m/s] |
chrigelburri | 6:48eeb41188dd | 89 | */ |
chrigelburri | 0:31f7be68e52d | 90 | void setDesiredSpeed(float speed); |
chrigelburri | 0:31f7be68e52d | 91 | |
chrigelburri | 0:31f7be68e52d | 92 | /** |
chrigelburri | 11:775ebb69d5e1 | 93 | * @brief Sets the desired rotational speed of the robot. |
chrigelburri | 6:48eeb41188dd | 94 | * @param omega the desired rotational speed, given in [rad/s] |
chrigelburri | 6:48eeb41188dd | 95 | */ |
chrigelburri | 0:31f7be68e52d | 96 | void setDesiredOmega(float omega); |
chrigelburri | 0:31f7be68e52d | 97 | |
chrigelburri | 0:31f7be68e52d | 98 | /** |
chrigelburri | 11:775ebb69d5e1 | 99 | * @brief Sets the desired X-position of the robot. |
chrigelburri | 6:48eeb41188dd | 100 | * @param xposition the desired position, given in [m] |
chrigelburri | 6:48eeb41188dd | 101 | */ |
chrigelburri | 5:48a258f6335e | 102 | void setDesiredxPosition(float xposition); |
chrigelburri | 0:31f7be68e52d | 103 | |
chrigelburri | 0:31f7be68e52d | 104 | /** |
chrigelburri | 11:775ebb69d5e1 | 105 | * @brief Sets the desired Y-position of the robot. |
chrigelburri | 6:48eeb41188dd | 106 | * @param yposition the desired position, given in [m] |
chrigelburri | 6:48eeb41188dd | 107 | */ |
chrigelburri | 5:48a258f6335e | 108 | void setDesiredyPosition(float yposition); |
chrigelburri | 0:31f7be68e52d | 109 | |
chrigelburri | 0:31f7be68e52d | 110 | /** |
chrigelburri | 11:775ebb69d5e1 | 111 | * @brief Sets the desired θ of the robot. |
chrigelburri | 6:48eeb41188dd | 112 | * @param theta the desired θ, given in [rad] |
chrigelburri | 6:48eeb41188dd | 113 | */ |
chrigelburri | 5:48a258f6335e | 114 | void setDesiredTheta(float theta); |
chrigelburri | 6:48eeb41188dd | 115 | |
chrigelburri | 6:48eeb41188dd | 116 | /** |
chrigelburri | 11:775ebb69d5e1 | 117 | * @brief Get the desired X-position of the robot. |
chrigelburri | 6:48eeb41188dd | 118 | * @return xposition the desired position, given in [m] |
chrigelburri | 6:48eeb41188dd | 119 | */ |
chrigelburri | 5:48a258f6335e | 120 | float getDesiredxPosition(); |
chrigelburri | 5:48a258f6335e | 121 | |
chrigelburri | 5:48a258f6335e | 122 | /** |
chrigelburri | 11:775ebb69d5e1 | 123 | * @brief Get the desired Y-position of the robot. |
chrigelburri | 6:48eeb41188dd | 124 | * @return yposition the desired position, given in [m] |
chrigelburri | 6:48eeb41188dd | 125 | */ |
chrigelburri | 5:48a258f6335e | 126 | float getDesiredyPosition(); |
chrigelburri | 5:48a258f6335e | 127 | |
chrigelburri | 5:48a258f6335e | 128 | /** |
chrigelburri | 11:775ebb69d5e1 | 129 | * @brief Get the desired θ of the robot. |
chrigelburri | 6:48eeb41188dd | 130 | * @return theta the desired θ, given in [rad] |
chrigelburri | 6:48eeb41188dd | 131 | */ |
chrigelburri | 5:48a258f6335e | 132 | float getDesiredTheta(); |
chrigelburri | 3:92ba0254af87 | 133 | |
chrigelburri | 1:6cd533a712c6 | 134 | /** |
chrigelburri | 11:775ebb69d5e1 | 135 | * @brief Sets the desired Position and θ. |
chrigelburri | 6:48eeb41188dd | 136 | * @param xposition the desired position, given in [m] |
chrigelburri | 6:48eeb41188dd | 137 | * @param yposition the desired position, given in [m] |
chrigelburri | 6:48eeb41188dd | 138 | * @param theta the desired θ, given in [rad] |
chrigelburri | 6:48eeb41188dd | 139 | */ |
chrigelburri | 6:48eeb41188dd | 140 | void setDesiredPositionAndAngle(float xposition, |
chrigelburri | 6:48eeb41188dd | 141 | float yposition, |
chrigelburri | 6:48eeb41188dd | 142 | float theta); |
chrigelburri | 2:d8e1613dc38b | 143 | |
chrigelburri | 2:d8e1613dc38b | 144 | /** |
chrigelburri | 11:775ebb69d5e1 | 145 | * @brief Gets the desired θ of the goal point. |
chrigelburri | 3:92ba0254af87 | 146 | * @return the desired θ, given in [rad] |
chrigelburri | 1:6cd533a712c6 | 147 | */ |
chrigelburri | 1:6cd533a712c6 | 148 | float getTheta(); |
chrigelburri | 0:31f7be68e52d | 149 | |
chrigelburri | 0:31f7be68e52d | 150 | /** |
chrigelburri | 11:775ebb69d5e1 | 151 | * @brief Gets the desired translational speed of the robot. |
chrigelburri | 3:92ba0254af87 | 152 | * @return the desired speed, given in [m/s] |
chrigelburri | 0:31f7be68e52d | 153 | */ |
chrigelburri | 0:31f7be68e52d | 154 | float getDesiredSpeed(); |
chrigelburri | 0:31f7be68e52d | 155 | |
chrigelburri | 0:31f7be68e52d | 156 | /** |
chrigelburri | 11:775ebb69d5e1 | 157 | * @brief Gets the actual translational speed of the robot. |
chrigelburri | 3:92ba0254af87 | 158 | * @return the desired speed, given in [m/s] |
chrigelburri | 0:31f7be68e52d | 159 | */ |
chrigelburri | 0:31f7be68e52d | 160 | float getActualSpeed(); |
chrigelburri | 0:31f7be68e52d | 161 | |
chrigelburri | 0:31f7be68e52d | 162 | /** |
chrigelburri | 11:775ebb69d5e1 | 163 | * @brief Gets the desired rotational speed of the robot. |
chrigelburri | 6:48eeb41188dd | 164 | * @return the desired speed, given in [rad/s] |
chrigelburri | 6:48eeb41188dd | 165 | */ |
chrigelburri | 0:31f7be68e52d | 166 | float getDesiredOmega(); |
chrigelburri | 0:31f7be68e52d | 167 | |
chrigelburri | 0:31f7be68e52d | 168 | /** |
chrigelburri | 11:775ebb69d5e1 | 169 | * @brief Gets the actual rotational speed of the robot. |
chrigelburri | 6:48eeb41188dd | 170 | * @return the desired speed, given in [rad/s] |
chrigelburri | 6:48eeb41188dd | 171 | */ |
chrigelburri | 0:31f7be68e52d | 172 | float getActualOmega(); |
chrigelburri | 0:31f7be68e52d | 173 | |
chrigelburri | 0:31f7be68e52d | 174 | /** |
chrigelburri | 11:775ebb69d5e1 | 175 | * @brief Gets the actual translational X-position of the robot. |
chrigelburri | 6:48eeb41188dd | 176 | * @return the actual position, given in [m] |
chrigelburri | 6:48eeb41188dd | 177 | */ |
chrigelburri | 0:31f7be68e52d | 178 | float getxActualPosition(); |
chrigelburri | 0:31f7be68e52d | 179 | |
chrigelburri | 0:31f7be68e52d | 180 | /** |
chrigelburri | 11:775ebb69d5e1 | 181 | * @brief Gets the X-position following error of the robot. |
chrigelburri | 6:48eeb41188dd | 182 | * @return the position following error, given in [m] |
chrigelburri | 6:48eeb41188dd | 183 | */ |
chrigelburri | 0:31f7be68e52d | 184 | float getxPositionError(); |
chrigelburri | 0:31f7be68e52d | 185 | |
chrigelburri | 0:31f7be68e52d | 186 | /** |
chrigelburri | 11:775ebb69d5e1 | 187 | * @brief Gets the actual translational Y-position of the robot. |
chrigelburri | 6:48eeb41188dd | 188 | * @return the actual position, given in [m] |
chrigelburri | 6:48eeb41188dd | 189 | */ |
chrigelburri | 0:31f7be68e52d | 190 | float getyActualPosition(); |
chrigelburri | 0:31f7be68e52d | 191 | |
chrigelburri | 0:31f7be68e52d | 192 | /** |
chrigelburri | 11:775ebb69d5e1 | 193 | * @brief Gets the Y-position following error of the robot. |
chrigelburri | 6:48eeb41188dd | 194 | * @return the position following error, given in [m] |
chrigelburri | 6:48eeb41188dd | 195 | */ |
chrigelburri | 0:31f7be68e52d | 196 | float getyPositionError(); |
chrigelburri | 0:31f7be68e52d | 197 | |
chrigelburri | 0:31f7be68e52d | 198 | /** |
chrigelburri | 11:775ebb69d5e1 | 199 | * @brief Gets the actual orientation of the robot. |
chrigelburri | 6:48eeb41188dd | 200 | * @return the orientation, given in [rad] |
chrigelburri | 6:48eeb41188dd | 201 | */ |
chrigelburri | 0:31f7be68e52d | 202 | float getActualTheta(); |
chrigelburri | 0:31f7be68e52d | 203 | |
chrigelburri | 0:31f7be68e52d | 204 | /** |
chrigelburri | 11:775ebb69d5e1 | 205 | * @brief Gets the orientation following error of the robot. |
chrigelburri | 6:48eeb41188dd | 206 | * @return the orientation following error, given in [rad] |
chrigelburri | 6:48eeb41188dd | 207 | */ |
chrigelburri | 0:31f7be68e52d | 208 | float getThetaError(); |
chrigelburri | 3:92ba0254af87 | 209 | |
chrigelburri | 1:6cd533a712c6 | 210 | /** |
chrigelburri | 11:775ebb69d5e1 | 211 | * @brief Gets the distance to disired point. Calculate with pythagoras. |
chrigelburri | 6:48eeb41188dd | 212 | * @return distance to goal, given in [m] |
chrigelburri | 6:48eeb41188dd | 213 | */ |
chrigelburri | 1:6cd533a712c6 | 214 | float getDistanceError(); |
chrigelburri | 3:92ba0254af87 | 215 | |
chrigelburri | 1:6cd533a712c6 | 216 | /** |
chrigelburri | 11:775ebb69d5e1 | 217 | * @brief Gets the θ ot the pointing vector to the goal right |
chrigelburri | 6:48eeb41188dd | 218 | * the unicycle axis from actual point. |
chrigelburri | 6:48eeb41188dd | 219 | * @return theta to goal, given in [rad] |
chrigelburri | 6:48eeb41188dd | 220 | */ |
chrigelburri | 1:6cd533a712c6 | 221 | float getThetaErrorToGoal(); |
chrigelburri | 3:92ba0254af87 | 222 | |
chrigelburri | 1:6cd533a712c6 | 223 | /** |
chrigelburri | 11:775ebb69d5e1 | 224 | * @brief Gets the θ ot the pointing vector to the goal right the unicycle main axis. |
chrigelburri | 6:48eeb41188dd | 225 | * @return theta from the goal, given in [rad] |
chrigelburri | 6:48eeb41188dd | 226 | */ |
chrigelburri | 1:6cd533a712c6 | 227 | float getThetaGoal(); |
chrigelburri | 1:6cd533a712c6 | 228 | |
chrigelburri | 0:31f7be68e52d | 229 | /** |
chrigelburri | 11:775ebb69d5e1 | 230 | * @brief Set all state to zero, except the X-position, y-position and θ. |
chrigelburri | 6:48eeb41188dd | 231 | * @param xZeroPos Sets the start X-position, given in [m] |
chrigelburri | 6:48eeb41188dd | 232 | * @param yZeroPos Sets the start y-position, given in [m] |
chrigelburri | 6:48eeb41188dd | 233 | * @param theta Sets the start θ, given in [rad] |
chrigelburri | 6:48eeb41188dd | 234 | */ |
chrigelburri | 6:48eeb41188dd | 235 | void setAllToZero(float xZeroPos, |
chrigelburri | 6:48eeb41188dd | 236 | float yZeroPos, |
chrigelburri | 6:48eeb41188dd | 237 | float theta); |
chrigelburri | 0:31f7be68e52d | 238 | |
chrigelburri | 11:775ebb69d5e1 | 239 | /** |
chrigelburri | 11:775ebb69d5e1 | 240 | * @brief Run method actualize every period. |
chrigelburri | 11:775ebb69d5e1 | 241 | */ |
chrigelburri | 0:31f7be68e52d | 242 | void run(); |
chrigelburri | 0:31f7be68e52d | 243 | }; |
chrigelburri | 0:31f7be68e52d | 244 | |
chrigelburri | 0:31f7be68e52d | 245 | #endif |