svoe
Dependencies: mbed mbed-STM32F103C8T6 MPU6050_1
realtime.h
- Committer:
- dima285
- Date:
- 2019-02-24
- Revision:
- 19:2fe650d29823
- Parent:
- 17:bd6b6ac89e0e
- Child:
- 20:e73f49ba5001
File content as of revision 19:2fe650d29823:
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(){ float delta_s, v, a, delta_v; delta_s = target.path - current.path; 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 a = x_prop * (v - current.speed); if (a > max_accel) a = max_accel ; if (a < -max_accel) a = -max_accel; delta_v = (balance_prop*ax + balance_diff * gy + a) * t_step; //Balance PID v = current.speed - delta_v; set_motor_speed(v*(radius+half_axis)/radius, v*(radius-half_axis)/radius); //Set motor } 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); }