svoe
Dependencies: mbed mbed-STM32F103C8T6 MPU6050_1
Diff: realtime.h
- Revision:
- 15:960b922433d1
- Parent:
- 14:e12d0fdc3a48
- Child:
- 17:bd6b6ac89e0e
diff -r e12d0fdc3a48 -r 960b922433d1 realtime.h --- a/realtime.h Sun Nov 18 13:33:28 2018 +0000 +++ b/realtime.h Sat Dec 01 14:25:04 2018 +0000 @@ -1,63 +1,60 @@ Ticker rt_ticker; bool realtime_flag; -/*float balance_prop = 0.8; -float balance_diff = 1.2; -float x_prop = 40; -float x_diff = 25; -float azimuth_prop = 0.8; -float azimuth_diff = 0.65;*/ -void balance() -{ - 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; +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); - if (delta_x < 0) {delta_s = -delta_s;} + 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;} - 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; //target error - float delta_phi_1 = (target.azimuth - current.azimuth);//* (current.speed * t_step / delta_s); //sever error - float delta_phi = coord_accuracy/(delta_s + coord_accuracy) * 0.3 * delta_phi_1 + delta_s/(delta_s + coord_accuracy) * delta_phi_0; //ZNAK + 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); - normal_error = delta_s * sin(delta_phi); - tan_error = delta_s * cos(delta_phi); - - - if (abs(current.speed) > max_speed) a = 0 ; else a = x_prop * tan_error - x_diff * current.speed; + float a = x_prop * tan_error - x_diff * current.speed; //Motion PID + if ((current.speed > max_speed) && (a > 0)) a = 0 ; if ((current.speed < -max_speed) && (a < 0)) a = 0 ; 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; + + float delta_v = (balance_prop*ax + balance_diff * gy + a) * t_step; //Balance PID - //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_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); + //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); - if ((abs(normal_error) < coord_accuracy) && (abs(tan_error) < coord_accuracy)) ready = 1; else ready = 0; + 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("%.2f %.2f %.2f %.2f;",a,gy,ax,delta_v*100); - + if ((abs(normal_error) < coord_accuracy) && (abs(tan_error) < coord_accuracy/5)) 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(){ //35uS - (3.5mS @ 115200) - (500uS @ 921600) (w/o sin,cos) -/* float path_error = target_path-current_path; - float target_speed = 0.1*path_error;//1m/s at 10cm - float linear_acceleration = 1*(target_speed-current_speed);*/ - +void realtime(){ + static int fall_timer; - realtime_flag = 1; -} + time_sec += t_step; + fall_timer++; if(abs(ax)<1) 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); }