Dima Dudin / Mbed 2 deprecated DD_Robot

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Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

realtime.h@13:789b451cc27d, 2018-11-11 (annotated)

Committer:
dima285
Date:
Sun Nov 11 09:20:35 2018 +0000
Revision:
13:789b451cc27d
Parent:
12:721a9ea55e91
Child:
14:e12d0fdc3a48
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stas285 0:e9488589a8ee 1 Ticker rt_ticker;
Stas285 4:904b737ef08a 2 bool realtime_flag;
dima285 12:721a9ea55e91 3 /*float balance_prop = 0.8;
dima285 12:721a9ea55e91 4 float balance_diff = 1.2;
dima285 12:721a9ea55e91 5 float x_prop = 40;
dima285 12:721a9ea55e91 6 float x_diff = 25;
dima285 12:721a9ea55e91 7 float azimuth_prop = 0.8;
dima285 12:721a9ea55e91 8 float azimuth_diff = 0.65;*/
Stas285 0:e9488589a8ee 9
dima285 12:721a9ea55e91 10 void balance()
dima285 12:721a9ea55e91 11 {
dima285 13:789b451cc27d 12 float a;
dima285 13:789b451cc27d 13 float eps;
dima285 13:789b451cc27d 14 float azimuth_to_target;
dima285 13:789b451cc27d 15 float normal_error;
dima285 13:789b451cc27d 16 float tan_error;
dima285 13:789b451cc27d 17
dima285 13:789b451cc27d 18 float delta_x = (target.x - current.x);
dima285 13:789b451cc27d 19 if (delta_x == 0) delta_x = 0.0001;
dima285 13:789b451cc27d 20 float delta_y = (target.y - current.y);
dima285 13:789b451cc27d 21 float delta_s = sqrt(delta_x*delta_x + delta_y*delta_y);
dima285 13:789b451cc27d 22 if (delta_x < 0) {delta_s = -delta_s;}
dima285 13:789b451cc27d 23
dima285 13:789b451cc27d 24 azimuth_to_target = atan(delta_y/delta_x);
dima285 13:789b451cc27d 25 float delta_phi_0 = azimuth_to_target - current.azimuth;
dima285 13:789b451cc27d 26 float delta_phi_1 = (target.azimuth - azimuth_to_target) ;//* (current.speed * t_step / delta_s);
dima285 13:789b451cc27d 27 float delta_phi = coord_accuracy/(delta_s + coord_accuracy) * delta_phi_1 + delta_s/(delta_s + coord_accuracy) * delta_phi_0; //ZNAK
dima285 12:721a9ea55e91 28
dima285 13:789b451cc27d 29 normal_error = delta_s * sin(delta_phi);
dima285 13:789b451cc27d 30 tan_error = delta_s * cos(delta_phi);
dima285 13:789b451cc27d 31
dima285 12:721a9ea55e91 32
dima285 13:789b451cc27d 33 if (abs(current.speed) > max_speed) a = 0 ; else a = x_prop * tan_error - x_diff * current.speed;
dima285 13:789b451cc27d 34 if (a > max_accel) a = max_accel ; if (a < -max_accel) a = -max_accel;
dima285 13:789b451cc27d 35 float delta_v = (balance_prop*ax + balance_diff * gy + a) * t_step;
dima285 13:789b451cc27d 36
dima285 13:789b451cc27d 37 if (abs(normal_error) < coord_accuracy) {eps = 0;current.omega = 0;} else eps = azimuth_prop * delta_phi - azimuth_diff * current.omega; //gz * azimuth_diff;
dima285 13:789b451cc27d 38 float delta_omega = eps * t_step;
dima285 13:789b451cc27d 39
dima285 13:789b451cc27d 40 set_motor_speed(motor_speed[0] - delta_v + delta_omega * half_axis, motor_speed[1] - delta_v - delta_omega * half_axis);
dima285 13:789b451cc27d 41
dima285 13:789b451cc27d 42 if ((abs(normal_error) < coord_accuracy) && (abs(tan_error) < coord_accuracy)) ready = 1; else ready = 0;
dima285 13:789b451cc27d 43
dima285 13:789b451cc27d 44 // wifi.printf("%.2f %.2f %.2f %.2f;",a,gy,ax,delta_v*100);
dima285 13:789b451cc27d 45 wifi.printf("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f;",current.x,target.x,delta_x,delta_s,current.speed,a,delta_v,ax,gy);
dima285 12:721a9ea55e91 46 }
dima285 12:721a9ea55e91 47
dima285 9:8f98b1c277a4 48
Stas285 4:904b737ef08a 49 void realtime(){ //35uS - (3.5mS @ 115200) - (500uS @ 921600) (w/o sin,cos)
dima285 12:721a9ea55e91 50 /* float path_error = target_path-current_path;
dima285 12:721a9ea55e91 51 float target_speed = 0.1*path_error;//1m/s at 10cm
dima285 12:721a9ea55e91 52 float linear_acceleration = 1*(target_speed-current_speed);*/
dima285 12:721a9ea55e91 53
Stas285 0:e9488589a8ee 54
dima285 12:721a9ea55e91 55 realtime_flag = 1;
dima285 12:721a9ea55e91 56 }
dima285 12:721a9ea55e91 57
dima285 12:721a9ea55e91 58 void realtime_init(){
dima285 12:721a9ea55e91 59 rt_ticker.attach(&realtime, t_step); }
dima285 12:721a9ea55e91 60
dima285 12:721a9ea55e91 61
Stas285 0:e9488589a8ee 62