All the lab works are here!
Dependencies: ISR_Mini-explorer mbed
Fork of VirtualForces by
main.cpp
- Committer:
- geotsam
- Date:
- 2017-05-29
- Revision:
- 46:e57ebcf747dc
- Parent:
- 45:fb07065a64a9
File content as of revision 46:e57ebcf747dc:
#include "mbed.h" #include "robot.h" // Initializes the robot. This include should be used in all main.cpp! #include "math.h" using namespace std; //makes the angle inAngle between pi and minus pi float rad_angle_check_pi_and_minus_pi(float inAngle); void initialise_parameters(); //fill initialLogValues with the values we already know (here the bordurs) void fill_initial_log_values(); //generate a position randomly and makes the robot go there while updating the map void randomize_and_map(); //make the robot do a pi/2 flip void do_half_flip(); //go the the given position while updating the map void go_to_point_with_angle(float target_x, float target_y, float target_angle); //Updates sonar values void update_sonar_values(float leftMm, float frontMm, float rightMm); //function that check if a cell A(x,y) is in the range of the front sonar S(xs,ys) (with an angle depending on the sonar used, front 0, left pi/3, right -pi/3) returns the probability it's occupied/empty [0;1] float compute_probability_t(float x, float y,float xs,float ys, float angleFromSonarPosition, float distanceObstacleDetected); //print the map void print_final_map(); //print the map with the robot marked on it void print_final_map_with_robot_position(); //print the map with the robot and the target marked on it void print_final_map_with_robot_position_and_target(); //go to a given line by updating angularLeft and angularRight void go_to_line(float* angularLeft,float* angularRight,float line_a, float line_b, float line_c); //calculate virtual force field and move void vff(bool* reached); void test_got_to_line(bool* reached); //MATHS heavy functions float dist(float robot_x, float robot_y, float target_x, float target_y); //returns the probability [0,1] that the cell is occupied from the log value lt float log_to_proba(float lt); //returns the log value that the cell is occupied from the probability value [0,1] float proba_to_log(float p); //returns the new log value float compute_log_estimation_lt(float previousLogValue,float currentProbability,float originalLogvalue ); //makes the angle inAngle between 0 and 2pi float rad_angle_check(float inAngle); //returns the angle between the vectors (x,y) and (xs,ys) float compute_angle_between_vectors(float x, float y,float xs,float ys); float x_robot_in_orthonormal_x(float x, float y); float y_robot_in_orthonormal_y(float x, float y); float robot_center_x_in_orthonormal_x(); float robot_center_y_in_orthonormal_y(); float robot_sonar_front_x_in_orthonormal_x(); float robot_sonar_front_y_in_orthonormal_y(); float robot_sonar_right_x_in_orthonormal_x(); float robot_sonar_right_y_in_orthonormal_y(); float robot_sonar_left_x_in_orthonormal_x(); float robot_sonar_left_y_in_orthonormal_y(); float estimated_width_indice_in_orthonormal_x(int i); float estimated_height_indice_in_orthonormal_y(int j); //update angleError,distanceFromTarget,d2, beta void compute_angles_and_distance(float target_x, float target_y, float target_angle,float dt,float* angleError,float* distanceFromTarget,float* d2,float* beta); //update angularLeft and angularRight void compute_linear_angular_velocities(float angleError,float distanceFromTarget,float beta, float* angularLeft, float* angularRight); //update foceX and forceY if necessary void update_force(int widthIndice, int heightIndice, float range, float* forceX, float* forceY, float xRobotOrtho, float yRobotOrtho ); //compute the X and Y force void compute_forceX_and_forceY(float* forceX, float* forceY); //robotX and robotY are from Odometria, calculate line_a, line_b and line_c void calculate_line(float forceX, float forceY, float robotX, float robotY,float *line_a, float *line_b, float *line_c); //return 1 if positiv, -1 if negativ float sign1(float value); //return 1 if positiv, 0 if negativ int sign2(float value); //set target in ortho space, in reference to the robot (so if the robot is in the middle, you want to him to go 10cm down and 15 right, set_target_to(15,-10) void set_target_to(float x, float y); void try_to_reach_target(); const float pi=3.14159; //spec of the sonar //TODO MEASURE THE DISTANCE on X and Y of the robot space, between each sonar and the center of the robot and add it to calculus in updateSonarValues const float RANGE_SONAR=50;//cm const float RANGE_SONAR_MIN=10;//Rmin cm const float INCERTITUDE_SONAR=10;//cm const float ANGLE_SONAR=pi/3;//Omega rad //those distance and angle are approximation in need of measurements, in the orthonormal space const float ANGLE_FRONT_TO_LEFT=10*pi/36;//50 degrees const float DISTANCE_SONAR_LEFT_X=-4; const float DISTANCE_SONAR_LEFT_Y=4; const float ANGLE_FRONT_TO_RIGHT=-10*pi/36;//-50 degrees const float DISTANCE_SONAR_RIGHT_X=4; const float DISTANCE_SONAR_RIGHT_Y=4; const float ANGLE_FRONT_TO_FRONT=0; const float DISTANCE_SONAR_FRONT_X=0; const float DISTANCE_SONAR_FRONT_Y=5; //TODO adjust the size of the map for computation time (25*25?) const float WIDTH_ARENA=120;//cm const float HEIGHT_ARENA=90;//cm //const int SIZE_MAP=25; const int NB_CELL_WIDTH=24; const int NB_CELL_HEIGHT=18; //position and orientation of the robot when put on the map (ODOMETRY doesn't know those) it's in the robot space //this configuration suppose that the robot is in the middle of the arena facing up (to be sure you can use print_final_map_with_robot_position //const float DEFAULT_X=HEIGHT_ARENA/2; //const float DEFAULT_Y=WIDTH_ARENA/2; const float DEFAULT_X=20;//lower right const float DEFAULT_Y=20;//lower right const float DEFAULT_THETA=0; //used to create the map 250 represent the 250cm of the square where the robot is tested //float sizeCell=250/(float)SIZE_MAP; float sizeCellWidth=WIDTH_ARENA/(float)NB_CELL_WIDTH; float sizeCellHeight=HEIGHT_ARENA/(float)NB_CELL_HEIGHT; float map[NB_CELL_WIDTH][NB_CELL_HEIGHT];//contains the log values for each cell float initialLogValues[NB_CELL_WIDTH][NB_CELL_HEIGHT]; //Diameter of a wheel and distance between the 2 const float RADIUS_WHEELS=3.25; const float DISTANCE_WHEELS=7.2; const int MAX_SPEED=200;//TODO TWEAK THE SPEED SO IT DOES NOT FUCK UP //TODO all those global variables are making me sad const float KRHO=12, KA=30, KB=-13, KV=150, KH=150; //Kappa values //CONSTANT FORCE FIELD const float FORCE_CONSTANT_REPULSION=80;//TODO tweak it const float FORCE_CONSTANT_ATTRACTION=25;//TODO tweak it const float RANGE_FORCE=50;//TODO tweak it //those target are in comparison to the robot (for exemple a robot in 50,50 with a taget of 0,0 would not need to move) float targetX;//this is in the robot space top left float targetY;//this is in the robot space top left float targetXOrtho; float targetYOrtho; bool direction; int main(){ initialise_parameters(); //try to reach the target set_target_to(0,50);//up right print_final_map_with_robot_position_and_target(); try_to_reach_target(); set_target_to(0,-50);//lower right print_final_map_with_robot_position_and_target(); try_to_reach_target(); set_target_to(-50,50);//up left print_final_map_with_robot_position_and_target(); try_to_reach_target(); //print the map forever while(1){ print_final_map_with_robot_position_and_target(); } } void try_to_reach_target(){ bool reached=false; int print=0; while (!reached) { vff(&reached); //test_got_to_line(&reached); if(print==10){ leftMotor(1,0); rightMotor(1,0); pc.printf("\r\n theta=%f", theta); pc.printf("\r\n IN ORTHO:"); pc.printf("\r\n X Robot=%f", robot_center_x_in_orthonormal_x()); pc.printf("\r\n Y Robot=%f", robot_center_y_in_orthonormal_y()); pc.printf("\r\n X Target=%f", targetXOrtho); pc.printf("\r\n Y Target=%f", targetYOrtho); print_final_map_with_robot_position_and_target(); print=0; }else print+=1; } //Stop at the end leftMotor(1,0); rightMotor(1,0); pc.printf("\r\n target reached"); } //target in ortho space void set_target_to(float x, float y){ targetX=y; targetY=-x; targetXOrtho=x_robot_in_orthonormal_x(targetX,targetY); targetYOrtho=y_robot_in_orthonormal_y(targetX,targetY); pc.printf("\r\nangletarget= %f", atan2(x,y)); float angleError = atan2(x,y)-theta; if(angleError>pi) angleError-=2*pi; if(angleError<-pi) angleError+=2*pi; if(angleError<(pi/2) && angleError>(-pi/2)) direction=true; else direction=false; pc.printf("\r\nangleError= %f", angleError); } void initialise_parameters(){ i2c1.frequency(100000); initRobot(); //Initializing the robot pc.baud(9600); // baud for the pc communication measure_always_on();//TODO check if needed wait(0.5); //fill the map with the initial log values fill_initial_log_values(); theta=DEFAULT_THETA; X=DEFAULT_X; Y=DEFAULT_Y; } //fill initialLogValues with the values we already know (here the bordurs) void fill_initial_log_values(){ //Fill map, we know the border are occupied for (int i = 0; i<NB_CELL_WIDTH; i++) { for (int j = 0; j<NB_CELL_HEIGHT; j++) { if(j==0 || j==NB_CELL_HEIGHT-1 || i==0 || i==NB_CELL_WIDTH-1) initialLogValues[i][j] = proba_to_log(1); else initialLogValues[i][j] = proba_to_log(0.5); } } } //generate a position randomly and makes the robot go there while updating the map void randomize_and_map() { //TODO check that it's aurelien's work float target_x = (rand()%(int)(HEIGHT_ARENA*10))/10;//for decimal precision float target_y = (rand()%(int)(WIDTH_ARENA*10))/10; float target_angle = 2*((float)(rand()%31416)-15708)/10000.0; go_to_point_with_angle(targetX, targetY, target_angle); } void do_half_flip(){ Odometria(); float theta_plus_h_pi=theta+pi/2;//theta is between -pi and pi if(theta_plus_h_pi > pi) theta_plus_h_pi=-(2*pi-theta_plus_h_pi); leftMotor(0,100); rightMotor(1,100); while(abs(theta_plus_h_pi-theta)>0.05){ Odometria(); // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta)); } leftMotor(1,0); rightMotor(1,0); } //go the the given position while updating the map //TODO clean this procedure it's ugly as hell and too long void go_to_point_with_angle(float target_x, float target_y, float target_angle) { set_target_to(target_x,target_y); Odometria(); float angleError = atan2((target_y-Y),(target_x-X))-theta; if(!cos(angleError)) angleError = atan(sin(angleError)/cos(angleError)); else angleError=pi/2; if(isnan(angleError)) pc.printf("\r\n nan line 264"); float distanceFromTarget = dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrtho,targetYOrtho); float beta = -angleError-theta+target_angle; //beta = atan(sin(beta)/cos(beta)); bool keep_going=true; float leftMm; float frontMm; float rightMm; float angularLeft=0; float angularRight=0; Timer t; float dt=0.5;//TODO better name please float d2;//TODO better name please do { //Timer stuff dt = t.read(); t.reset(); t.start(); //Updating X,Y and theta with the odometry values Odometria(); leftMm = get_distance_left_sensor(); frontMm = get_distance_front_sensor(); rightMm = get_distance_right_sensor(); //pc.printf("\n\r leftMm=%f", leftMm); //pc.printf("\n\r frontMm=%f", frontMm); //pc.printf("\n\r rightMm=%f", rightMm); //if in dangerzone if(frontMm < 120 || leftMm <120 || rightMm <120){ leftMotor(1,0); rightMotor(1,0); update_sonar_values(leftMm, frontMm, rightMm); //TODO Giorgos maybe you can also test the do_half_flip() function Odometria(); //do a flip TODO keep_going=false; do_half_flip(); }else{ //if not in danger zone continue as usual update_sonar_values(leftMm, frontMm, rightMm); compute_angles_and_distance(target_x, target_y, target_angle,dt,&angleError,&distanceFromTarget,&d2,&beta);//Compute the angles and the distance from target compute_linear_angular_velocities(angleError,distanceFromTarget,beta,&angularLeft,&angularRight); //Using the angles and distance, compute the velocities needed (linear & angular) //pc.printf("\n\r X=%f", X); //pc.printf("\n\r Y=%f", Y); //pc.printf("\n\r a_r=%f", angularRight); //pc.printf("\n\r a_l=%f", angularLeft); //Updating motor velocities leftMotor(sign2(angularLeft),abs(angularLeft)); rightMotor(sign2(angularRight),abs(angularRight)); wait(0.2); //Timer stuff t.stop(); } } while(d2>1 && (abs(target_angle-theta)>0.01) && keep_going); //Stop at the end leftMotor(1,0); rightMotor(1,0); } //Updates sonar values void update_sonar_values(float leftMm, float frontMm, float rightMm){ float currProba; float i_in_orthonormal; float j_in_orthonormal; for(int i=0;i<NB_CELL_WIDTH;i++){ for(int j=0;j<NB_CELL_HEIGHT;j++){ //check if the point A(x,y) in the world space is within the range of the sonar (which has the coordinates xs, ys in the world space) //check that again //compute for front sonar i_in_orthonormal=estimated_width_indice_in_orthonormal_x(i); j_in_orthonormal=estimated_height_indice_in_orthonormal_y(j); currProba=compute_probability_t(i_in_orthonormal,j_in_orthonormal,robot_sonar_front_x_in_orthonormal_x(),robot_sonar_front_y_in_orthonormal_y(),ANGLE_FRONT_TO_FRONT,frontMm/10); if(isnan(currProba)) pc.printf("\r\n currProba is nan"); map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];//map is filled as map[0][0] get the data for the point closest to the origin //compute for right sonar currProba=compute_probability_t(i_in_orthonormal,j_in_orthonormal,robot_sonar_right_x_in_orthonormal_x(),robot_sonar_right_y_in_orthonormal_y(),ANGLE_FRONT_TO_RIGHT,rightMm/10); map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j]; //compute for left sonar currProba=compute_probability_t(i_in_orthonormal,j_in_orthonormal,robot_sonar_left_x_in_orthonormal_x(),robot_sonar_left_y_in_orthonormal_y(),ANGLE_FRONT_TO_LEFT,leftMm/10); if(isnan(currProba)) pc.printf("\r\n nan line 354"); map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j]; if(isnan(proba_to_log(currProba))) pc.printf("\r\nnan in line 355"); } } } //makes the angle inAngle between pi and minus pi float rad_angle_check_pi_and_minus_pi(float inAngle){ //cout<<"before :"<<inAngle; if(inAngle > 0){ while(inAngle > (pi)) inAngle-=pi; }else{ while(inAngle < 0) inAngle+=pi; } //cout<<" after :"<<inAngle<<endl; return inAngle; } //ODOMETRIA MUST HAVE BEEN CALLED //function that check if a cell A(x,y) is in the range of the front sonar S(xs,ys) (with an angle depending on the sonar used, front 0, left pi/3, right -pi/3) returns the probability it's occupied/empty [0;1] float compute_probability_t(float x, float y,float xs,float ys, float angleFromSonarPosition, float distanceObstacleDetected){ float anglePointToSonar=compute_angle_between_vectors(x,y,xs,ys);//angle beetween the point and the sonar beam float alphaBeforeAdjustment=anglePointToSonar-theta-angleFromSonarPosition; anglePointToSonar=rad_angle_check(alphaBeforeAdjustment);//TODO I feel you don't need to do that but I m not sure alphaBeforeAdjustment=rad_angle_check_pi_and_minus_pi(alphaBeforeAdjustment); //if(abs(alphaBeforeAdjustment)>ANGLE_SONAR/2) pc.printf("\r\n it is!"); float distancePointToSonar=sqrt(pow(x-xs,2)+pow(y-ys,2)); //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS //check if absolute difference between the angles is no more than Omega/2 if( distancePointToSonar < (RANGE_SONAR)&& (anglePointToSonar <= ANGLE_SONAR/2 || anglePointToSonar >= rad_angle_check(-ANGLE_SONAR/2))){ if( distancePointToSonar < (distanceObstacleDetected - INCERTITUDE_SONAR)){ //point before obstacle, probably empty /*****************************************************************************/ float Ea=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2); float Er; if(distancePointToSonar < RANGE_SONAR_MIN){ //point before minimum sonar range Er=0.f; }else{ //point after minimum sonar range Er=1.f-pow((distancePointToSonar-RANGE_SONAR_MIN)/(distanceObstacleDetected-INCERTITUDE_SONAR-RANGE_SONAR_MIN),2); } /*****************************************************************************/ if((1.f-Er*Ea)/2.f>1) pc.printf("\r\n E>1"); if((1.f-Er*Ea)/2.f<0) pc.printf("\r\n E<0"); return (1.f-Er*Ea)/2.f; }else{ //probably occupied /*****************************************************************************/ float Oa=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2); float Or; if( distancePointToSonar <= (distanceObstacleDetected + INCERTITUDE_SONAR)){ //point between distanceObstacleDetected +- INCERTITUDE_SONAR Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(INCERTITUDE_SONAR),2); }else{ //point after in range of the sonar but after the zone detected Or=0; } /*****************************************************************************/ if((1+Or*Oa)/2>1) pc.printf("\r\n O>1"); if((1+Or*Oa)/2<0) pc.printf("\r\n O<0"); return (1+Or*Oa)/2; } } //not checked by the sonar return 0.5; } void print_final_map() { float currProba; pc.printf("\n\r"); for (int y = NB_CELL_HEIGHT -1; y>-1; y--) { for (int x= 0; x<NB_CELL_WIDTH; x++) { currProba=log_to_proba(map[x][y]); if ( currProba < 0.5) { pc.printf(" "); } else { if(currProba==0.5) pc.printf(" . "); else pc.printf(" X "); } } pc.printf("\n\r"); } } void print_final_map_with_robot_position() { float currProba; Odometria(); float Xrobot=robot_center_x_in_orthonormal_x(); float Yrobot=robot_center_y_in_orthonormal_y(); float heightIndiceInOrthonormal; float widthIndiceInOrthonormal; float widthMalus=-(3*sizeCellWidth/2); float widthBonus=sizeCellWidth/2; float heightMalus=-(3*sizeCellHeight/2); float heightBonus=sizeCellHeight/2; pc.printf("\n\r"); for (int y = NB_CELL_HEIGHT -1; y>-1; y--) { for (int x= 0; x<NB_CELL_WIDTH; x++) { heightIndiceInOrthonormal=estimated_height_indice_in_orthonormal_y(y); widthIndiceInOrthonormal=estimated_width_indice_in_orthonormal_x(x); if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus)) pc.printf(" R "); else{ currProba=log_to_proba(map[x][y]); if ( currProba < 0.5) pc.printf(" "); else{ if(currProba==0.5) pc.printf(" . "); else pc.printf(" X "); } } } pc.printf("\n\r"); } } void print_final_map_with_robot_position_and_target() { float currProba; Odometria(); float Xrobot=robot_center_x_in_orthonormal_x(); float Yrobot=robot_center_y_in_orthonormal_y(); float heightIndiceInOrthonormal; float widthIndiceInOrthonormal; float widthMalus=-(3*sizeCellWidth/2); float widthBonus=sizeCellWidth/2; float heightMalus=-(3*sizeCellHeight/2); float heightBonus=sizeCellHeight/2; pc.printf("\n\r"); for (int y = NB_CELL_HEIGHT -1; y>-1; y--) { for (int x= 0; x<NB_CELL_WIDTH; x++) { heightIndiceInOrthonormal=estimated_height_indice_in_orthonormal_y(y); widthIndiceInOrthonormal=estimated_width_indice_in_orthonormal_x(x); if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus)) pc.printf(" R "); else{ if(targetYOrtho >= (heightIndiceInOrthonormal+heightMalus) && targetYOrtho <= (heightIndiceInOrthonormal+heightBonus) && targetXOrtho >= (widthIndiceInOrthonormal+widthMalus) && targetXOrtho <= (widthIndiceInOrthonormal+widthBonus)) pc.printf(" T "); else{ currProba=log_to_proba(map[x][y]); if ( currProba < 0.5) pc.printf(" "); else{ if(currProba==0.5) pc.printf(" . "); else pc.printf(" X "); } } } } pc.printf("\n\r"); } } //MATHS heavy functions /**********************************************************************/ //Distance computation function float dist(float robot_x, float robot_y, float target_x, float target_y){ return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2)); } //returns the probability [0,1] that the cell is occupied from the log value lt float log_to_proba(float lt){ float temp=1-1/(1+exp(lt)); if(isnan(temp)){ //pc.printf("\r\n nan in line 514"); //pc.printf("\r\nlt= %f, 1+exp(lt)= %f", lt, 1+exp(lt)); } return temp; } //returns the log value that the cell is occupied from the probability value [0,1] float proba_to_log(float p){ float temp; if(p==1) temp=log(0.99/(1-0.99)); else temp=log(p/(1-p)); if(isnan(temp)) pc.printf("\r\n temp=%f, p=%f", temp,p); return temp; } //returns the new log value float compute_log_estimation_lt(float previousLogValue,float currentProbability,float originalLogvalue ){ return previousLogValue+proba_to_log(currentProbability)-originalLogvalue; } //makes the angle inAngle between 0 and 2pi float rad_angle_check(float inAngle){ //cout<<"before :"<<inAngle; if(inAngle > 0){ while(inAngle > (2*pi)) inAngle-=2*pi; }else{ while(inAngle < 0) inAngle+=2*pi; } //cout<<" after :"<<inAngle<<endl; return inAngle; } //returns the angle between the vectors (x,y) and (xs,ys) float compute_angle_between_vectors(float x, float y,float xs,float ys){ //alpha angle between ->x and ->SA //vector S to A ->SA float vSAx=x-xs; float vSAy=y-ys; //norme SA float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2)); //vector ->x (1,0) float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;; //vector ->y (0,1) float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx; if (sinAlpha < 0) return -acos(cosAlpha); else return acos(cosAlpha); } /* Robot space: orthonormal space: ^ ^ |x |y <- R O -> y x */ //Odometria must bu up to date float x_robot_in_orthonormal_x(float x, float y){ return robot_center_x_in_orthonormal_x()-y; } //Odometria must bu up to date float y_robot_in_orthonormal_y(float x, float y){ return robot_center_y_in_orthonormal_y()+x; } float robot_center_x_in_orthonormal_x(){ return NB_CELL_WIDTH*sizeCellWidth-Y; } float robot_center_y_in_orthonormal_y(){ return X; } float robot_sonar_front_x_in_orthonormal_x(){ return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_FRONT_X; } float robot_sonar_front_y_in_orthonormal_y(){ return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_FRONT_Y; } float robot_sonar_right_x_in_orthonormal_x(){ return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_RIGHT_X; } float robot_sonar_right_y_in_orthonormal_y(){ return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_RIGHT_Y; } float robot_sonar_left_x_in_orthonormal_x(){ return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_LEFT_X; } float robot_sonar_left_y_in_orthonormal_y(){ return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_LEFT_Y; } float estimated_width_indice_in_orthonormal_x(int i){ return sizeCellWidth/2+i*sizeCellWidth; } float estimated_height_indice_in_orthonormal_y(int j){ return sizeCellHeight/2+j*sizeCellHeight; } //update angleError,distanceFromTarget,d2, beta void compute_angles_and_distance(float target_x, float target_y, float target_angle,float dt,float* angleError,float* distanceFromTarget,float* d2,float* beta){ *angleError = atan2((target_y-Y),(target_x-X))-theta; if(!cos(*angleError)) *angleError = atan(sin(*angleError)/cos(*angleError)); else *angleError=pi/2; if(isnan(*angleError)) pc.printf("\r\n nan line 613"); *distanceFromTarget = dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrtho,targetYOrtho); *d2 = *distanceFromTarget; *beta = -*angleError-theta+target_angle; //Computing angle error and distance towards the target value *distanceFromTarget += dt*(-KRHO*cos(*angleError)**distanceFromTarget); float temp = *angleError; *angleError += dt*(KRHO*sin(*angleError)-KA**angleError-KB**beta); *beta += dt*(-KRHO*sin(temp)); //pc.printf("\n\r d2=%f", d2); //pc.printf("\n\r dt=%f", dt); } //update angularLeft and angularRight void compute_linear_angular_velocities(float angleError,float distanceFromTarget,float beta,float* angularLeft, float* angularRight){ //Computing linear and angular velocities float linear; float angular; if(angleError>=-1.5708 && angleError<=1.5708){ linear=KRHO*distanceFromTarget; angular=KA*angleError+KB*beta; } else{ linear=-KRHO*distanceFromTarget; angular=-KA*angleError-KB*beta; } //TODO check those signs *angularLeft=(linear-0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS; *angularRight=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS; float aL=*angularLeft; float aR=*angularRight; //Normalize speed for motors if(abs(*angularLeft)>abs(*angularRight)) { *angularRight=MAX_SPEED*abs(aR/aL)*sign1(aR); *angularLeft=MAX_SPEED*sign1(aL); } else { *angularLeft=MAX_SPEED*abs(aL/aR)*sign1(aL); *angularRight=MAX_SPEED*sign1(aR); } } void update_force(int widthIndice, int heightIndice, float range, float* forceX, float* forceY, float xRobotOrtho, float yRobotOrtho ){ //get the coordonate of the map and the robot in the ortonormal space float xCenterCell=estimated_width_indice_in_orthonormal_x(widthIndice); float yCenterCell=estimated_height_indice_in_orthonormal_y(heightIndice); //compute the distance beetween the cell and the robot float distanceCellToRobot=sqrt(pow(xCenterCell-xRobotOrtho,2)+pow(yCenterCell-yRobotOrtho,2)); //check if the cell is in range if(distanceCellToRobot <= range) { float probaCell=log_to_proba(map[widthIndice][heightIndice]); //if(isnan(probaCell)) pc.printf("\r\nnan in probaCell"); float xForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(xCenterCell-xRobotOrtho)/pow(distanceCellToRobot,3); //if(isnan(xForceComputed)) pc.printf("\r\nnan in line 673"); float yForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(yCenterCell-yRobotOrtho)/pow(distanceCellToRobot,3); //if(isnan(yForceComputed)) pc.printf("\r\nnan in line 675"); *forceX+=xForceComputed; *forceY+=yForceComputed; } } //compute the force on X and Y void compute_forceX_and_forceY(float* forceX, float* forceY){ //we put the position of the robot in an orthonormal space float xRobotOrtho=robot_center_x_in_orthonormal_x(); float yRobotOrtho=robot_center_y_in_orthonormal_y(); float forceRepulsionComputedX=0; float forceRepulsionComputedY=0; //for each cell of the map we compute a force of repulsion for(int i=0;i<NB_CELL_WIDTH;i++){ for(int j=0;j<NB_CELL_HEIGHT;j++){ update_force(i,j,RANGE_FORCE,&forceRepulsionComputedX,&forceRepulsionComputedY,xRobotOrtho,yRobotOrtho); } } //update with attraction force *forceX=-forceRepulsionComputedX; *forceY=-forceRepulsionComputedY; float distanceTargetRobot=sqrt(pow(targetXOrtho-xRobotOrtho,2)+pow(targetYOrtho-yRobotOrtho,2)); if(distanceTargetRobot != 0){ *forceX+=FORCE_CONSTANT_ATTRACTION*(targetXOrtho-xRobotOrtho)/distanceTargetRobot; *forceY+=FORCE_CONSTANT_ATTRACTION*(targetYOrtho-yRobotOrtho)/distanceTargetRobot; } float amplitude=sqrt(pow(*forceX,2)+pow(*forceY,2)); if(amplitude!=0){//avoid division by 0 if forceX and forceY == 0 *forceX=*forceX/amplitude; *forceY=*forceY/amplitude; } } void test_got_to_line(bool* reached){ float line_a=1; float line_b=2; float line_c=-140; //we update the odometrie Odometria(); float angularRight=0; float angularLeft=0; go_to_line(&angularLeft,&angularRight,line_a,line_b,line_c); pc.printf("\r\n line: %f x + %f y + %f =0", line_a, line_b, line_c); leftMotor(sign2(angularLeft),abs(angularLeft)); rightMotor(sign2(angularRight),abs(angularRight)); pc.printf("\r\n dist=%f", dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrtho,targetYOrtho)); //wait(0.1); Odometria(); if(dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrtho,targetYOrtho)<10) *reached=true; } void vff(bool* reached){ float line_a=0; float line_b=0; float line_c=0; //Updating X,Y and theta with the odometry values float forceX=0; float forceY=0; //we update the odometrie Odometria(); //we check the sensors float leftMm = get_distance_left_sensor(); float frontMm = get_distance_front_sensor(); float rightMm = get_distance_right_sensor(); float angularRight=0; float angularLeft=0; //update the probabilities values update_sonar_values(leftMm, frontMm, rightMm); //we compute the force on X and Y compute_forceX_and_forceY(&forceX, &forceY); //we compute a new ine calculate_line(forceX, forceY, X, Y,&line_a,&line_b,&line_c); go_to_line(&angularLeft,&angularRight,line_a,line_b,line_c); //Updating motor velocities leftMotor(sign2(angularLeft),abs(angularLeft)); rightMotor(sign2(angularRight),abs(angularRight)); //wait(0.1); Odometria(); if(dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrtho,targetYOrtho)<10) *reached=true; } //return 1 if positiv, -1 if negativ float sign1(float value){ if(value>=0) return 1; else return -1; } //return 1 if positiv, 0 if negativ int sign2(float value){ if(value>=0) return 1; else return 0; } //currently line_c is not used void go_to_line(float* angularLeft,float* angularRight,float line_a, float line_b, float line_c){ float lineAngle; float angleError; float linear; float angular; if(line_b!=0){ if(direction) lineAngle=atan(-line_a/line_b); else lineAngle=atan(line_a/-line_b); } else{ lineAngle=1.5708; } //Computing angle error angleError = lineAngle-theta; if(!cos(angleError)) angleError = atan(sin(angleError)/cos(angleError)); else angleError=pi/2; if(isnan(angleError)) pc.printf("\r\n nan line 794"); //Calculating velocities linear=KV*(3.1416); angular=KH*angleError; //TODO if we put it like the poly says it fails, if we switch the plus and minus it works ... *angularLeft=(linear-0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS; *angularRight=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS; float aL=*angularLeft; float aR=*angularRight; //Normalize speed for motors if(abs(*angularLeft)>abs(*angularRight)) { *angularRight=MAX_SPEED*abs(aR/aL)*sign1(aR); *angularLeft=MAX_SPEED*sign1(aL); } else { *angularLeft=MAX_SPEED*abs(aL/aR)*sign1(aL); *angularRight=MAX_SPEED*sign1(aR); } pc.printf("\r\n line: %f x + %f y + %f =0 , X=%f; Y=%f", line_a, line_b, line_c,robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y()); } //robotX and robotY are from Odometria, calculate line_a, line_b and line_c void calculate_line(float forceX, float forceY, float robotX, float robotY,float *line_a, float *line_b, float *line_c){ /* in the teachers maths it is *line_a=forceY; *line_b=-forceX; because a*x+b*y+c=0 a impact the vertical and b the horizontal and he has to put them like this because Robot space: orthonormal space: ^ ^ |x |y <- R O -> y x but since our forceX, forceY are already computed in the orthonormal space I m not sure we need to */ *line_a=forceX; *line_b=forceY; //TODO check that //because the line computed always pass by the robot center we dont need lince_c //float xRobotOrtho=robot_center_x_in_orthonormal_x(); //float yRobotOrtho=robot_center_y_in_orthonormal_y(); //*line_c=forceX*yRobotOrtho+forceY*xRobotOrtho; *line_c=0; }