Diff: realtime.h

Revision:

13:789b451cc27d

Parent:

12:721a9ea55e91

Child:

14:e12d0fdc3a48

--- a/realtime.h	Sat Nov 03 11:43:03 2018 +0000
+++ b/realtime.h	Sun Nov 11 09:20:35 2018 +0000
@@ -9,13 +9,40 @@
 
 void balance()
 {
-    float a = x_prop * (current.x - target.x) + x_diff * current.speed;
-    if (a > max_accel) a = max_accel ; if (a < -max_accel) a = -max_accel;
-    float delta_v = (2*balance_prop*ax + balance_diff*5.73*gy - a) * t_step; 
+    float a;
+    float eps;
+    float azimuth_to_target;
+    float normal_error;
+    float tan_error;
+    
+    float delta_x = (target.x - current.x);
+    if (delta_x == 0) delta_x = 0.0001;
+    float delta_y = (target.y - current.y);
+    float delta_s = sqrt(delta_x*delta_x + delta_y*delta_y);
+    if (delta_x < 0) {delta_s = -delta_s;}
+    
+    azimuth_to_target = atan(delta_y/delta_x);
+    float delta_phi_0 = azimuth_to_target - current.azimuth;
+    float delta_phi_1 = (target.azimuth - azimuth_to_target) ;//* (current.speed * t_step / delta_s);
+    float delta_phi = coord_accuracy/(delta_s + coord_accuracy) * delta_phi_1 + delta_s/(delta_s + coord_accuracy) * delta_phi_0;  //ZNAK 
     
-    set_motor_speed(motor_speed[0] - delta_v, motor_speed[1] - delta_v);
+    normal_error  = delta_s * sin(delta_phi);
+    tan_error = delta_s * cos(delta_phi);
+    
     
-    wifi.printf("%.2f %.2f %.2f %.2f;",a,gy,ax,delta_v*100);
+    if (abs(current.speed) > max_speed) a = 0 ; else  a = x_prop * tan_error - x_diff * current.speed; 
+    if (a > max_accel) a = max_accel ; if (a < -max_accel) a = -max_accel;
+    float delta_v = (balance_prop*ax + balance_diff * gy + a) * t_step; 
+       
+    if (abs(normal_error) < coord_accuracy) {eps = 0;current.omega = 0;} else eps = azimuth_prop * delta_phi - azimuth_diff * current.omega; //gz * azimuth_diff;
+    float delta_omega = eps * t_step;
+    
+    set_motor_speed(motor_speed[0] - delta_v + delta_omega * half_axis, motor_speed[1] - delta_v - delta_omega * half_axis);
+    
+    if ((abs(normal_error) < coord_accuracy) && (abs(tan_error) < coord_accuracy))  ready = 1; else ready = 0;
+    
+   // wifi.printf("%.2f %.2f %.2f %.2f;",a,gy,ax,delta_v*100);
+   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);
 }