svoe
Dependencies: mbed mbed-STM32F103C8T6 MPU6050_1
realtime.h
- Committer:
- dima285
- Date:
- 2019-07-23
- Branch:
- svoe
- Revision:
- 22:14e85f2068c7
- Parent:
- 20:e73f49ba5001
File content as of revision 22:14e85f2068c7:
Ticker rt_ticker; bool realtime_flag; void balance_coord(){ 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); //always positive //if (delta_x < 0) {delta_s = -delta_s;} 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;} float delta_phi_0 = azimuth_to_target - current.azimuth; //azimuth: target error if (delta_phi_0 < -pi) delta_phi_0 += 2*pi; if (delta_phi_0 > pi) delta_phi_0 -= 2*pi; float normal_error = delta_s * sin(delta_phi_0); float tan_error = delta_s * cos(delta_phi_0); float a = x_prop * tan_error - x_diff * current.speed; //Motion PID if ((current.speed > max.speed) && (a > 0)) a = max.accel * (2 - current.speed/max.speed); if ((current.speed < -max.speed) && (a < 0)) a = -max.accel * (2 + current.speed/max.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; //Balance PID float delta_phi_1 = (target.azimuth - current.azimuth);//* (current.speed * t_step / delta_s); //azimuth: sever error if (delta_phi_1 < -pi) delta_phi_1 += 2*pi; if (delta_phi_1 > pi) delta_phi_1 -= 2*pi; if (delta_phi_1 < -pi/2) delta_phi_1 = -pi/2; if (delta_phi_1 > pi/2) delta_phi_1 = pi/2; 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) // 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; 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 if (delta_phi > pi/2) delta_phi -= pi; if (delta_phi < -pi/2) delta_phi += pi; 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 float delta_omega = eps * t_step; //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); set_motor_speed(motor_speed[0] - delta_v + delta_omega * half_axis, motor_speed[1] - delta_v - delta_omega * half_axis); //Set motor if ((abs(normal_error) < coord_accuracy) && (abs(tan_error) < coord_accuracy/2) && (abs(target.azimuth - current.azimuth) < 0.1)) coord_ready = 1; else coord_ready = 0; } void balance_motion(){ int sign_da; //signum of da int sign_de; //eps switch(motion_mode){ case GO:{ sign_de = 0; if ((abs(theor.path) < max.speed*max.speed/max.accel) || (abs(target.path - theor.path) < max.speed*max.speed/max.accel)){ //if (abs(theor.speed) < max.speed/2) sign_da = 1; else sign_da = -1;} //Razgon/Tormoz if (abs(theor.path) < max.speed*max.speed/max.accel/6) sign_da = 1; else sign_da = -1; } else sign_da = 0; //ezda if (target.dir == 0) sign_da = -sign_da; theor.speed += (theor.accel + sign_da * da) * t_step; //for next step theor.path += theor.speed * t_step; if (((target.path < theor.path) && (target.dir == 1)) || ((target.path > theor.path) && (target.dir == 0))) {coord_ready = 1;sign_da = 0;} else coord_ready = 0; break;} case STOP:{ //float tma = x_prop * (target.path - current.path) - x_diff * current.speed; //Motion PID sign_da = 0;//tma/da; sign_de = 0; theor.speed = 0; theor.accel = 0; break; } case ROTATE:{ sign_da = 0; float tm_az = target.azimuth - current.azimuth; if (tm_az < - pi) tm_az += 2*pi; if (tm_az > pi) tm_az -= 2*pi; if (tm_az < delta.azimuth/2) sign_de = -1; else sign_de = 1; if (abs(tm_az) < 0.1) {coord_ready = 1;sign_de = 0; motor_speed[0] = (motor_speed[0] + motor_speed[1])/2; motor_speed[1] = motor_speed[0]; } else coord_ready = 0; break; } } theor.accel += sign_da * da; //wifi.printf("%d, %f\r\n",sign_da,da); balance_integral += ax; float delta_v = (balance_prop*ax + balance_diff * gy + theor.accel) * t_step; //Balance PID float delta_omega = max.eps * sign_de * t_step; set_motor_speed(motor_speed[0] - delta_v + delta_omega * half_axis, motor_speed[1] - delta_v - delta_omega * half_axis); //Set motor wifi.printf("%f, %f, %f, %f %f, %f\r\n",current.path,theor.path,theor.speed,theor.accel,target.path,motor_speed[0]); } void balance_motion_PID(){ float tma; int sign_de; //eps float tm_lim;//ogran skorosti (uskor ot skorosti) x_integral += (target.path - current.path); if (abs(current.speed) > 0.05) x_integral = 0; switch(motion_mode){ case GO:{ sign_de = 0; float path_error = (target.path - current.path); if (abs(path_error) < coord_accuracy) {coord_ready = 1;tma = 0;} else { //if (path_error > 0.04) path_error = 0.04; if (path_error < -0.04) path_error = -0.04; tma = x_prop * path_error - x_diff * current.speed + x_int * x_integral; if (current.speed * tma > 0) tm_lim = max.accel*(max.speed - abs(current.speed))/max.speed; else tm_lim = max.accel; //ogran skor tma = atan(tma/tm_lim*pi/2) * tm_lim * 2 / pi; //Motion PID coord_ready = 0;} break;} case STOP:{ tma = x_prop * (target.path - current.path) - x_diff * current.speed ;//+ x_int * x_integral; if (current.speed * tma > 0) tm_lim = max.accel*(max.speed - abs(current.speed))/max.speed; else tm_lim = max.accel; //ogran skor tma = atan(tma/tm_lim*pi/2) * tm_lim * 2 / pi; //ogran uskor //Motion PID sign_de = 0; break; } case ROTATE:{ float tm_az = target.azimuth - current.azimuth; if (tm_az < - pi) tm_az += 2*pi; if (tm_az > pi) tm_az -= 2*pi; if (tm_az < delta.azimuth/2) sign_de = -1; else sign_de = 1; if (abs(tm_az) < 0.1) {coord_ready = 1;sign_de = 0; motor_speed[0] = (motor_speed[0] + motor_speed[1])/2; motor_speed[1] = motor_speed[0]; } else coord_ready = 0; break; } } //wifi.printf("%d, %f\r\n",sign_da,da); float delta_v = (balance_prop * ax + balance_diff * gy + tma) * t_step; //Balance PID float delta_omega = max.eps * sign_de * t_step; set_motor_speed(motor_speed[0] - delta_v + delta_omega * half_axis, motor_speed[1] - delta_v - delta_omega * half_axis); //Set motor //wifi.printf("%f, %f, %f, %f %f, %f\r\n",current.path,theor.path,theor.speed,theor.accel,target.path,motor_speed[0]); wifi.printf("%f %f %f %f;",current.speed,tma,ax,gy); } void realtime(){ time_sec += t_step; fall_timer++; if(abs(ax)<3) fall_timer=0; if(fall_timer>50) fall_flag=1; else fall_flag=0; //fall check realtime_flag = 1; } void realtime_init(){ rt_ticker.attach(&realtime, t_step); }