Dima Dudin / Mbed 2 deprecated DD_Robot

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Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

realtime.h@15:960b922433d1, 2018-12-01 (annotated)

Committer:
Stas285
Date:
Sat Dec 01 14:25:04 2018 +0000
Revision:
15:960b922433d1
Parent:
14:e12d0fdc3a48
Child:
17:bd6b6ac89e0e
coord_ready

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;
Stas285 0:e9488589a8ee 3
Stas285 15:960b922433d1 4 void balance_coord(){
Stas285 15:960b922433d1 5 float delta_x = (target.x - current.x); if (delta_x == 0) delta_x = 0.0001;
dima285 13:789b451cc27d 6 float delta_y = (target.y - current.y);
Stas285 15:960b922433d1 7 float delta_s = sqrt(delta_x*delta_x + delta_y*delta_y); //always positive //if (delta_x < 0) {delta_s = -delta_s;}
Stas285 15:960b922433d1 8 float azimuth_to_target = atan(delta_y/delta_x); if (delta_x < 0){if (delta_y > 0) azimuth_to_target += pi; else azimuth_to_target -= pi;}
dima285 13:789b451cc27d 9
Stas285 15:960b922433d1 10 float delta_phi_0 = azimuth_to_target - current.azimuth; //azimuth: target error
Stas285 15:960b922433d1 11 if (delta_phi_0 < -pi) delta_phi_0 += 2*pi; if (delta_phi_0 > pi) delta_phi_0 -= 2*pi;
Stas285 15:960b922433d1 12
Stas285 15:960b922433d1 13 float normal_error = delta_s * sin(delta_phi_0);
Stas285 15:960b922433d1 14 float tan_error = delta_s * cos(delta_phi_0);
dima285 12:721a9ea55e91 15
Stas285 15:960b922433d1 16 float a = x_prop * tan_error - x_diff * current.speed; //Motion PID
Stas285 15:960b922433d1 17 if ((current.speed > max_speed) && (a > 0)) a = 0 ; if ((current.speed < -max_speed) && (a < 0)) a = 0 ;
dima285 13:789b451cc27d 18 if (a > max_accel) a = max_accel ; if (a < -max_accel) a = -max_accel;
Stas285 15:960b922433d1 19
Stas285 15:960b922433d1 20 float delta_v = (balance_prop*ax + balance_diff * gy + a) * t_step; //Balance PID
dima285 13:789b451cc27d 21
Stas285 15:960b922433d1 22 float delta_phi_1 = (target.azimuth - current.azimuth);//* (current.speed * t_step / delta_s); //azimuth: sever error
Stas285 15:960b922433d1 23 if (delta_phi_1 < -pi) delta_phi_1 += 2*pi; if (delta_phi_1 > pi) delta_phi_1 -= 2*pi;
Stas285 15:960b922433d1 24 if (delta_phi_1 < -pi/2) delta_phi_1 = -pi/2; if (delta_phi_1 > pi/2) delta_phi_1 = pi/2;
Stas285 15:960b922433d1 25
Stas285 15:960b922433d1 26 if (delta_phi_0 < -pi/2) delta_phi_0 += pi; if (delta_phi_0 > pi/2) delta_phi_0 -= pi; //Normalization [-pi/2; pi/2] - (zadom/peredom)
Stas285 15:960b922433d1 27 // float delta_phi = cos(delta_s/coord_accuracy) * coord_accuracy/(delta_s + coord_accuracy) * 1.0 * delta_phi_1 + abs(tan_error) /*delta_s*/ /(delta_s + coord_accuracy) * delta_phi_0;
Stas285 15:960b922433d1 28 float delta_phi = cos(delta_s/coord_accuracy) * exp(-delta_s/coord_accuracy) * delta_phi_1 + (1-exp(-delta_s/coord_accuracy)) * abs(tan_error) /(coord_accuracy) * delta_phi_0; //fusion of delta_phi_0 and delta_phi_1 + uprezhdenie
Stas285 15:960b922433d1 29 if (delta_phi > pi/2) delta_phi -= pi; if (delta_phi < -pi/2) delta_phi += pi;
Stas285 15:960b922433d1 30
Stas285 15:960b922433d1 31 float eps = azimuth_prop * delta_phi - azimuth_diff * current.omega; if (eps > max_eps) eps = max_eps; if (eps < -max_eps) eps = -max_eps; //Azimuth PID
dima285 13:789b451cc27d 32 float delta_omega = eps * t_step;
dima285 13:789b451cc27d 33
Stas285 15:960b922433d1 34 //wifi.printf("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f;\r\n",current.x*100, current.y*100, current.azimuth, target.x*100, azimuth_to_target, eps, delta_omega, delta_phi_0, delta_phi_1, delta_phi);
dima285 13:789b451cc27d 35
Stas285 15:960b922433d1 36 set_motor_speed(motor_speed[0] - delta_v + delta_omega * half_axis, motor_speed[1] - delta_v - delta_omega * half_axis); //Set motor
dima285 13:789b451cc27d 37
Stas285 15:960b922433d1 38 if ((abs(normal_error) < coord_accuracy) && (abs(tan_error) < coord_accuracy/5)) coord_ready = 1; else coord_ready = 0;
dima285 12:721a9ea55e91 39 }
dima285 12:721a9ea55e91 40
Stas285 15:960b922433d1 41 void balance_motion(){
Stas285 15:960b922433d1 42 float delta_s, v, a, delta_v;
Stas285 15:960b922433d1 43
Stas285 15:960b922433d1 44 delta_s = target.path - current.path;
Stas285 15:960b922433d1 45 if(delta_s>0){v=sqrt(2*max_accel*delta_s); if(v>max_speed) v=max_speed;} else {v=-sqrt(-2*max_accel*delta_s); if(v<-max_speed) v=-max_speed;} //Canonic trajectory with brake
Stas285 15:960b922433d1 46 a = x_prop * (v - current.speed); if (a > max_accel) a = max_accel ; if (a < -max_accel) a = -max_accel;
Stas285 15:960b922433d1 47 delta_v = (balance_prop*ax + balance_diff * gy + a) * t_step; //Balance PID
Stas285 15:960b922433d1 48 v = current.speed - delta_v;
Stas285 15:960b922433d1 49 set_motor_speed(v*(radius+half_axis)/radius, v*(radius-half_axis)/radius); //Set motor
Stas285 15:960b922433d1 50 }
dima285 9:8f98b1c277a4 51
Stas285 15:960b922433d1 52 void realtime(){
Stas285 15:960b922433d1 53 static int fall_timer;
Stas285 0:e9488589a8ee 54
Stas285 15:960b922433d1 55 time_sec += t_step;
Stas285 15:960b922433d1 56 fall_timer++; if(abs(ax)<1) fall_timer=0; if(fall_timer>50) fall_flag=1; else fall_flag=0; //fall check
Stas285 15:960b922433d1 57 realtime_flag = 1; }
dima285 12:721a9ea55e91 58
dima285 12:721a9ea55e91 59 void realtime_init(){
dima285 12:721a9ea55e91 60 rt_ticker.attach(&realtime, t_step); }
dima285 12:721a9ea55e91 61
dima285 12:721a9ea55e91 62
Stas285 0:e9488589a8ee 63