Georgios Tsamis / Mbed 2 deprecated OneFileToRuleThemAll

All the lab works are here!

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

main.cpp@34:128fc7aed957, 2017-05-04 (annotated)

Committer:
geotsam
Date:
Thu May 04 16:43:04 2017 +0000
Revision:
34:128fc7aed957
Parent:
33:78139f82ea74
Child:
35:c8f224ab153f
lowered speed, corrected pointers, tweaked xOrtho, yOrtho and X, Y that were causing problems; tried some constants but they are not good

Who changed what in which revision?

UserRevisionLine numberNew contents of line
geotsam 0:8bffb51cc345 1 #include "mbed.h"
geotsam 0:8bffb51cc345 2 #include "robot.h" // Initializes the robot. This include should be used in all main.cpp!
geotsam 0:8bffb51cc345 3 #include "math.h"
Ludwigfr 22:ebb37a249b5f 4
geotsam 34:128fc7aed957 5 using namespace std;
AurelienBernier 4:8c56c3ba6e54 6
Ludwigfr 22:ebb37a249b5f 7 //fill initialLogValues with the values we already know (here the bordurs)
Ludwigfr 22:ebb37a249b5f 8 void fill_initial_log_values();
Ludwigfr 22:ebb37a249b5f 9 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 22:ebb37a249b5f 10 void randomize_and_map();
geotsam 29:224e9e686f7b 11 //make the robot do a pi/2 flip
geotsam 29:224e9e686f7b 12 void do_half_flip();
Ludwigfr 22:ebb37a249b5f 13 //go the the given position while updating the map
Ludwigfr 22:ebb37a249b5f 14 void go_to_point_with_angle(float target_x, float target_y, float target_angle);
Ludwigfr 22:ebb37a249b5f 15 //Updates sonar values
geotsam 24:8f4b820d8de8 16 void update_sonar_values(float leftMm, float frontMm, float rightMm);
Ludwigfr 22:ebb37a249b5f 17 //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]
Ludwigfr 22:ebb37a249b5f 18 float compute_probability_t(float x, float y,float xs,float ys, float angleFromSonarPosition, float distanceObstacleDetected);
Ludwigfr 22:ebb37a249b5f 19 //print the map
Ludwigfr 22:ebb37a249b5f 20 void print_final_map();
Ludwigfr 25:572c9e9a8809 21 //print the map with the robot marked on it
Ludwigfr 25:572c9e9a8809 22 void print_final_map_with_robot_position();
geotsam 33:78139f82ea74 23 //go to a given line
geotsam 33:78139f82ea74 24 void go_to_line();
geotsam 33:78139f82ea74 25 //calculate virtual force field and move
geotsam 33:78139f82ea74 26 void vff();
geotsam 0:8bffb51cc345 27
Ludwigfr 22:ebb37a249b5f 28 //MATHS heavy functions
Ludwigfr 22:ebb37a249b5f 29 float dist(float robot_x, float robot_y, float target_x, float target_y);
Ludwigfr 22:ebb37a249b5f 30 //returns the probability [0,1] that the cell is occupied from the log value lt
Ludwigfr 22:ebb37a249b5f 31 float log_to_proba(float lt);
Ludwigfr 22:ebb37a249b5f 32 //returns the log value that the cell is occupied from the probability value [0,1]
Ludwigfr 22:ebb37a249b5f 33 float proba_to_log(float p);
Ludwigfr 22:ebb37a249b5f 34 //returns the new log value
Ludwigfr 22:ebb37a249b5f 35 float compute_log_estimation_lt(float previousLogValue,float currentProbability,float originalLogvalue );
Ludwigfr 22:ebb37a249b5f 36 //makes the angle inAngle between 0 and 2pi
Ludwigfr 22:ebb37a249b5f 37 float rad_angle_check(float inAngle);
Ludwigfr 22:ebb37a249b5f 38 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 22:ebb37a249b5f 39 float compute_angle_between_vectors(float x, float y,float xs,float ys);
Ludwigfr 25:572c9e9a8809 40 float robot_center_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 41 float robot_center_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 42 float robot_sonar_front_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 43 float robot_sonar_front_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 44 float robot_sonar_right_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 45 float robot_sonar_right_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 46 float robot_sonar_left_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 47 float robot_sonar_left_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 48 float estimated_width_indice_in_orthonormal_x(int i);
Ludwigfr 25:572c9e9a8809 49 float estimated_height_indice_in_orthonormal_y(int j);
Ludwigfr 27:07bde633af72 50 void compute_angles_and_distance(float target_x, float target_y, float target_angle);
Ludwigfr 27:07bde633af72 51 void compute_linear_angular_velocities();
Ludwigfr 32:d51928b58645 52 //update foceX and forceY if necessary
Ludwigfr 32:d51928b58645 53 void updateForce(int widthIndice, int heightIndice, float range, float* forceX, float* forceY, float xRobotOrtho, float yRobotOrtho );
Ludwigfr 32:d51928b58645 54 //compute the X and Y force
geotsam 34:128fc7aed957 55 void compute_forceX_and_forceY(float targetX, float targetY,float* forceX, float* forceY);
Ludwigfr 32:d51928b58645 56
AurelienBernier 8:109314be5b68 57
Ludwigfr 22:ebb37a249b5f 58 const float pi=3.14159;
Ludwigfr 32:d51928b58645 59
Ludwigfr 32:d51928b58645 60 //CONSTANT FORCE FIELD
geotsam 34:128fc7aed957 61 const float FORCE_CONSTANT_REPULSION=50;//TODO tweak it
Ludwigfr 32:d51928b58645 62 const float FORCE_CONSTANT_ATTRACTION=10;//TODO tweak it
Ludwigfr 32:d51928b58645 63 const float RANGE_FORCE=50;//TODO tweak it
Ludwigfr 32:d51928b58645 64
Ludwigfr 22:ebb37a249b5f 65 //spec of the sonar
Ludwigfr 22:ebb37a249b5f 66 //TODO MEASURE THE DISTANCE on X and Y of the robot frame, between each sonar and the center of the robot and add it to calculus in updateSonarValues
geotsam 24:8f4b820d8de8 67 const float RANGE_SONAR=50;//cm
geotsam 24:8f4b820d8de8 68 const float RANGE_SONAR_MIN=10;//Rmin cm
geotsam 24:8f4b820d8de8 69 const float INCERTITUDE_SONAR=10;//cm
geotsam 24:8f4b820d8de8 70 const float ANGLE_SONAR=pi/3;//Omega rad
Ludwigfr 22:ebb37a249b5f 71
Ludwigfr 27:07bde633af72 72 //those distance and angle are approximation in need of measurements, in the orthonormal frame
geotsam 24:8f4b820d8de8 73 const float ANGLE_FRONT_TO_LEFT=10*pi/36;//50 degrees
Ludwigfr 27:07bde633af72 74 const float DISTANCE_SONAR_LEFT_X=-4;
geotsam 24:8f4b820d8de8 75 const float DISTANCE_SONAR_LEFT_Y=4;
Ludwigfr 22:ebb37a249b5f 76
geotsam 24:8f4b820d8de8 77 const float ANGLE_FRONT_TO_RIGHT=-10*pi/36;//-50 degrees
Ludwigfr 27:07bde633af72 78 const float DISTANCE_SONAR_RIGHT_X=4;
geotsam 24:8f4b820d8de8 79 const float DISTANCE_SONAR_RIGHT_Y=4;
AurelienBernier 11:e641aa08c92e 80
Ludwigfr 22:ebb37a249b5f 81 const float ANGLE_FRONT_TO_FRONT=0;
Ludwigfr 22:ebb37a249b5f 82 const float DISTANCE_SONAR_FRONT_X=0;
Ludwigfr 22:ebb37a249b5f 83 const float DISTANCE_SONAR_FRONT_Y=5;
Ludwigfr 22:ebb37a249b5f 84
Ludwigfr 22:ebb37a249b5f 85 //TODO adjust the size of the map for computation time (25*25?)
Ludwigfr 32:d51928b58645 86 const float WIDTH_ARENA=120;//cm
Ludwigfr 32:d51928b58645 87 const float HEIGHT_ARENA=90;//cm
geotsam 24:8f4b820d8de8 88
geotsam 24:8f4b820d8de8 89 //const int SIZE_MAP=25;
Ludwigfr 32:d51928b58645 90 const int NB_CELL_WIDTH=24;
Ludwigfr 32:d51928b58645 91 const int NB_CELL_HEIGHT=18;
Ludwigfr 22:ebb37a249b5f 92
Ludwigfr 27:07bde633af72 93 //position and orientation of the robot when put on the map (ODOMETRY doesn't know those) it's in the robot frame
Ludwigfr 31:352be78e1aad 94 //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
Ludwigfr 27:07bde633af72 95 const float DEFAULT_X=HEIGHT_ARENA/2;
Ludwigfr 27:07bde633af72 96 const float DEFAULT_Y=WIDTH_ARENA/2;
Ludwigfr 27:07bde633af72 97 const float DEFAULT_THETA=0;
Ludwigfr 22:ebb37a249b5f 98
geotsam 24:8f4b820d8de8 99 //used to create the map 250 represent the 250cm of the square where the robot is tested
geotsam 24:8f4b820d8de8 100 //float sizeCell=250/(float)SIZE_MAP;
Ludwigfr 27:07bde633af72 101 float sizeCellWidth=WIDTH_ARENA/(float)NB_CELL_WIDTH;
Ludwigfr 27:07bde633af72 102 float sizeCellHeight=HEIGHT_ARENA/(float)NB_CELL_HEIGHT;
geotsam 24:8f4b820d8de8 103
geotsam 24:8f4b820d8de8 104 float map[NB_CELL_WIDTH][NB_CELL_HEIGHT];//contains the log values for each cell
geotsam 24:8f4b820d8de8 105 float initialLogValues[NB_CELL_WIDTH][NB_CELL_HEIGHT];
Ludwigfr 22:ebb37a249b5f 106
Ludwigfr 22:ebb37a249b5f 107 //Diameter of a wheel and distance between the 2
Ludwigfr 22:ebb37a249b5f 108 const float RADIUS_WHEELS=3.25;
Ludwigfr 22:ebb37a249b5f 109 const float DISTANCE_WHEELS=7.2;
Ludwigfr 22:ebb37a249b5f 110
geotsam 34:128fc7aed957 111 const int MAX_SPEED=100;//TODO TWEAK THE SPEED SO IT DOES NOT FUCK UP
AurelienBernier 8:109314be5b68 112
geotsam 26:b020cf253059 113 float alpha; //angle error
geotsam 26:b020cf253059 114 float rho; //distance from target
geotsam 26:b020cf253059 115 float beta;
geotsam 33:78139f82ea74 116 float kRho=12, ka=30, kb=-13, kv=200, kh=200; //Kappa values //TODO check kv, kh for go_to_line
geotsam 26:b020cf253059 117 float linear, angular, angular_left, angular_right;
geotsam 26:b020cf253059 118 float dt=0.5;
geotsam 26:b020cf253059 119 float temp;
geotsam 26:b020cf253059 120 float d2;
geotsam 26:b020cf253059 121 Timer t;
geotsam 26:b020cf253059 122
geotsam 26:b020cf253059 123 int speed=MAX_SPEED; // Max speed at beggining of movement
geotsam 26:b020cf253059 124
geotsam 26:b020cf253059 125 float leftMm;
geotsam 26:b020cf253059 126 float frontMm;
geotsam 33:78139f82ea74 127 float rightMm;
geotsam 33:78139f82ea74 128
geotsam 33:78139f82ea74 129 float line_a;
geotsam 33:78139f82ea74 130 float line_b;
geotsam 33:78139f82ea74 131 float line_c;
geotsam 33:78139f82ea74 132
geotsam 34:128fc7aed957 133 float targetX=46.8;
geotsam 34:128fc7aed957 134 float targetY=78.6;
geotsam 33:78139f82ea74 135
geotsam 33:78139f82ea74 136 bool reached=false;
geotsam 26:b020cf253059 137
geotsam 0:8bffb51cc345 138 int main(){
geotsam 17:caf393b63e27 139
geotsam 13:41f75c132135 140 i2c1.frequency(100000);
AurelienBernier 2:ea61e801e81f 141 initRobot(); //Initializing the robot
geotsam 0:8bffb51cc345 142 pc.baud(9600); // baud for the pc communication
geotsam 0:8bffb51cc345 143
Ludwigfr 22:ebb37a249b5f 144 measure_always_on();//TODO check if needed
geotsam 24:8f4b820d8de8 145 wait(0.5);
AurelienBernier 19:dbc5fbad4975 146
Ludwigfr 22:ebb37a249b5f 147 fill_initial_log_values();
geotsam 13:41f75c132135 148
Ludwigfr 31:352be78e1aad 149 theta=DEFAULT_THETA;
geotsam 34:128fc7aed957 150 X=5;//DEFAULT_X;
geotsam 34:128fc7aed957 151 Y=5;//DEFAULT_Y;
geotsam 33:78139f82ea74 152
geotsam 33:78139f82ea74 153 while (!reached) {
geotsam 33:78139f82ea74 154 vff();
geotsam 29:224e9e686f7b 155 print_final_map_with_robot_position();
geotsam 17:caf393b63e27 156 }
geotsam 33:78139f82ea74 157
geotsam 33:78139f82ea74 158 //Stop at the end
geotsam 33:78139f82ea74 159 leftMotor(1,0);
geotsam 33:78139f82ea74 160 rightMotor(1,0);
geotsam 33:78139f82ea74 161
geotsam 33:78139f82ea74 162 while(1){
geotsam 33:78139f82ea74 163 print_final_map_with_robot_position();
geotsam 33:78139f82ea74 164 }
AurelienBernier 8:109314be5b68 165 }
AurelienBernier 8:109314be5b68 166
Ludwigfr 22:ebb37a249b5f 167 //fill initialLogValues with the values we already know (here the bordurs)
Ludwigfr 22:ebb37a249b5f 168 void fill_initial_log_values(){
Ludwigfr 31:352be78e1aad 169 //Fill map, we know the border are occupied
geotsam 24:8f4b820d8de8 170 for (int i = 0; i<NB_CELL_WIDTH; i++) {
geotsam 24:8f4b820d8de8 171 for (int j = 0; j<NB_CELL_HEIGHT; j++) {
geotsam 24:8f4b820d8de8 172 if(j==0 || j==NB_CELL_HEIGHT-1 || i==0 || i==NB_CELL_WIDTH-1)
Ludwigfr 22:ebb37a249b5f 173 initialLogValues[i][j] = proba_to_log(1);
Ludwigfr 22:ebb37a249b5f 174 else
Ludwigfr 22:ebb37a249b5f 175 initialLogValues[i][j] = proba_to_log(0.5);
AurelienBernier 21:62154d644531 176 }
Ludwigfr 22:ebb37a249b5f 177 }
AurelienBernier 8:109314be5b68 178 }
AurelienBernier 8:109314be5b68 179
Ludwigfr 22:ebb37a249b5f 180 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 22:ebb37a249b5f 181 void randomize_and_map() {
geotsam 24:8f4b820d8de8 182 //TODO check that it's aurelien's work
Ludwigfr 27:07bde633af72 183 float target_x = (rand()%(int)(HEIGHT_ARENA*10))/10;//for decimal precision
Ludwigfr 27:07bde633af72 184 float target_y = (rand()%(int)(WIDTH_ARENA*10))/10;
geotsam 30:95d8d3e2b81b 185 float target_angle = 2*((float)(rand()%31416)-15708)/10000.0;
geotsam 24:8f4b820d8de8 186
geotsam 24:8f4b820d8de8 187 //TODO comment that
geotsam 24:8f4b820d8de8 188 //pc.printf("\n\r targ_X=%f", target_x);
geotsam 24:8f4b820d8de8 189 //pc.printf("\n\r targ_Y=%f", target_y);
geotsam 24:8f4b820d8de8 190 //pc.printf("\n\r targ_Angle=%f", target_angle);
geotsam 24:8f4b820d8de8 191
Ludwigfr 22:ebb37a249b5f 192 go_to_point_with_angle(target_x, target_y, target_angle);
AurelienBernier 19:dbc5fbad4975 193 }
AurelienBernier 19:dbc5fbad4975 194
geotsam 29:224e9e686f7b 195
geotsam 29:224e9e686f7b 196 void do_half_flip(){
Ludwigfr 28:f884979a02fa 197 Odometria();
geotsam 29:224e9e686f7b 198 float theta_plus_h_pi=theta+pi/2;//theta is between -pi and pi
geotsam 29:224e9e686f7b 199 if(theta_plus_h_pi > pi)
geotsam 29:224e9e686f7b 200 theta_plus_h_pi=-(2*pi-theta_plus_h_pi);
geotsam 29:224e9e686f7b 201 leftMotor(0,100);
geotsam 29:224e9e686f7b 202 rightMotor(1,100);
geotsam 29:224e9e686f7b 203 while(abs(theta_plus_h_pi-theta)>0.05){
Ludwigfr 28:f884979a02fa 204 Odometria();
geotsam 29:224e9e686f7b 205 // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
Ludwigfr 28:f884979a02fa 206 }
Ludwigfr 28:f884979a02fa 207 leftMotor(1,0);
Ludwigfr 28:f884979a02fa 208 rightMotor(1,0);
Ludwigfr 28:f884979a02fa 209 }
Ludwigfr 28:f884979a02fa 210
Ludwigfr 22:ebb37a249b5f 211 //go the the given position while updating the map
Ludwigfr 22:ebb37a249b5f 212 //TODO clean this procedure it's ugly as hell and too long
Ludwigfr 22:ebb37a249b5f 213 void go_to_point_with_angle(float target_x, float target_y, float target_angle) {
Ludwigfr 28:f884979a02fa 214 Odometria();
geotsam 24:8f4b820d8de8 215 alpha = atan2((target_y-Y),(target_x-X))-theta;
geotsam 24:8f4b820d8de8 216 alpha = atan(sin(alpha)/cos(alpha));
geotsam 24:8f4b820d8de8 217 rho = dist(X, Y, target_x, target_y);
geotsam 24:8f4b820d8de8 218 beta = -alpha-theta+target_angle;
geotsam 24:8f4b820d8de8 219 //beta = atan(sin(beta)/cos(beta));
Ludwigfr 27:07bde633af72 220 bool keep_going=true;
geotsam 24:8f4b820d8de8 221 do {
AurelienBernier 6:afde4b08166b 222 //Timer stuff
AurelienBernier 6:afde4b08166b 223 dt = t.read();
AurelienBernier 6:afde4b08166b 224 t.reset();
AurelienBernier 6:afde4b08166b 225 t.start();
AurelienBernier 6:afde4b08166b 226
geotsam 14:d58f2bdbf42e 227 //Updating X,Y and theta with the odometry values
geotsam 14:d58f2bdbf42e 228 Odometria();
geotsam 24:8f4b820d8de8 229 leftMm = get_distance_left_sensor();
geotsam 24:8f4b820d8de8 230 frontMm = get_distance_front_sensor();
geotsam 24:8f4b820d8de8 231 rightMm = get_distance_right_sensor();
geotsam 24:8f4b820d8de8 232
geotsam 24:8f4b820d8de8 233 //pc.printf("\n\r leftMm=%f", leftMm);
geotsam 24:8f4b820d8de8 234 //pc.printf("\n\r frontMm=%f", frontMm);
geotsam 24:8f4b820d8de8 235 //pc.printf("\n\r rightMm=%f", rightMm);
Ludwigfr 27:07bde633af72 236
Ludwigfr 27:07bde633af72 237 //if in dangerzone
geotsam 29:224e9e686f7b 238 if(frontMm < 120 || leftMm <120 || rightMm <120){
geotsam 24:8f4b820d8de8 239 leftMotor(1,0);
geotsam 24:8f4b820d8de8 240 rightMotor(1,0);
Ludwigfr 27:07bde633af72 241 update_sonar_values(leftMm, frontMm, rightMm);
geotsam 29:224e9e686f7b 242 //TODO Giorgos maybe you can also test the do_half_flip() function
geotsam 24:8f4b820d8de8 243 Odometria();
Ludwigfr 27:07bde633af72 244 //do a flip TODO
Ludwigfr 27:07bde633af72 245 keep_going=false;
geotsam 29:224e9e686f7b 246 do_half_flip();
Ludwigfr 27:07bde633af72 247 }else{
Ludwigfr 27:07bde633af72 248 //if not in danger zone continue as usual
Ludwigfr 27:07bde633af72 249 update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 27:07bde633af72 250 compute_angles_and_distance(target_x, target_y, target_angle); //Compute the angles and the distance from target
Ludwigfr 27:07bde633af72 251 compute_linear_angular_velocities(); //Using the angles and distance, compute the velocities needed (linear & angular)
Ludwigfr 27:07bde633af72 252
Ludwigfr 27:07bde633af72 253 //pc.printf("\n\r X=%f", X);
Ludwigfr 27:07bde633af72 254 //pc.printf("\n\r Y=%f", Y);
Ludwigfr 27:07bde633af72 255
Ludwigfr 27:07bde633af72 256 //pc.printf("\n\r a_r=%f", angular_right);
Ludwigfr 27:07bde633af72 257 //pc.printf("\n\r a_l=%f", angular_left);
Ludwigfr 27:07bde633af72 258
Ludwigfr 27:07bde633af72 259 //Updating motor velocities
Ludwigfr 27:07bde633af72 260 leftMotor(1,angular_left);
Ludwigfr 27:07bde633af72 261 rightMotor(1,angular_right);
Ludwigfr 27:07bde633af72 262
Ludwigfr 27:07bde633af72 263 wait(0.2);
Ludwigfr 27:07bde633af72 264 //Timer stuff
Ludwigfr 27:07bde633af72 265 t.stop();
AurelienBernier 11:e641aa08c92e 266 }
Ludwigfr 27:07bde633af72 267 } while(d2>1 && (abs(target_angle-theta)>0.01) && keep_going);
geotsam 24:8f4b820d8de8 268
geotsam 24:8f4b820d8de8 269 //Stop at the end
geotsam 24:8f4b820d8de8 270 leftMotor(1,0);
geotsam 24:8f4b820d8de8 271 rightMotor(1,0);
Ludwigfr 22:ebb37a249b5f 272 }
Ludwigfr 22:ebb37a249b5f 273
Ludwigfr 22:ebb37a249b5f 274 //Updates sonar values
geotsam 24:8f4b820d8de8 275 void update_sonar_values(float leftMm, float frontMm, float rightMm){
Ludwigfr 22:ebb37a249b5f 276 float currProba;
Ludwigfr 25:572c9e9a8809 277 float i_in_orthonormal;
Ludwigfr 25:572c9e9a8809 278 float j_in_orthonormal;
geotsam 24:8f4b820d8de8 279 for(int i=0;i<NB_CELL_WIDTH;i++){
geotsam 24:8f4b820d8de8 280 for(int j=0;j<NB_CELL_HEIGHT;j++){
geotsam 24:8f4b820d8de8 281 //check if the point A(x,y) in the world frame is within the range of the sonar (which has the coordinates xs, ys in the world frame)
geotsam 24:8f4b820d8de8 282 //check that again
Ludwigfr 22:ebb37a249b5f 283 //compute for front sonar
Ludwigfr 25:572c9e9a8809 284 i_in_orthonormal=estimated_width_indice_in_orthonormal_x(i);
Ludwigfr 25:572c9e9a8809 285 j_in_orthonormal=estimated_height_indice_in_orthonormal_y(j);
Ludwigfr 25:572c9e9a8809 286
Ludwigfr 25:572c9e9a8809 287 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);
Ludwigfr 22:ebb37a249b5f 288 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
Ludwigfr 22:ebb37a249b5f 289 //compute for right sonar
Ludwigfr 25:572c9e9a8809 290 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);
Ludwigfr 22:ebb37a249b5f 291 map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];
Ludwigfr 22:ebb37a249b5f 292 //compute for left sonar
Ludwigfr 25:572c9e9a8809 293 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);
Ludwigfr 22:ebb37a249b5f 294 map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];
Ludwigfr 22:ebb37a249b5f 295 }
Ludwigfr 22:ebb37a249b5f 296 }
Ludwigfr 22:ebb37a249b5f 297 }
Ludwigfr 22:ebb37a249b5f 298
Ludwigfr 25:572c9e9a8809 299 //ODOMETRIA MUST HAVE BEEN CALLED
Ludwigfr 22:ebb37a249b5f 300 //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]
Ludwigfr 22:ebb37a249b5f 301 float compute_probability_t(float x, float y,float xs,float ys, float angleFromSonarPosition, float distanceObstacleDetected){
Ludwigfr 22:ebb37a249b5f 302
Ludwigfr 22:ebb37a249b5f 303 float alpha=compute_angle_between_vectors(x,y,xs,ys);//angle beetween the point and the sonar beam
geotsam 24:8f4b820d8de8 304 float alphaBeforeAdjustment=alpha-theta-angleFromSonarPosition;
Ludwigfr 22:ebb37a249b5f 305 alpha=rad_angle_check(alphaBeforeAdjustment);//TODO I feel you don't need to do that but I m not sure
Ludwigfr 22:ebb37a249b5f 306 float distancePointToSonar=sqrt(pow(x-xs,2)+pow(y-ys,2));
Ludwigfr 22:ebb37a249b5f 307
Ludwigfr 22:ebb37a249b5f 308 //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS
Ludwigfr 22:ebb37a249b5f 309 //check if absolute difference between the angles is no more than Omega/2
Ludwigfr 22:ebb37a249b5f 310 if( distancePointToSonar < (RANGE_SONAR)&& (alpha <= ANGLE_SONAR/2 || alpha >= rad_angle_check(-ANGLE_SONAR/2))){
Ludwigfr 22:ebb37a249b5f 311 if( distancePointToSonar < (distanceObstacleDetected - INCERTITUDE_SONAR)){
Ludwigfr 22:ebb37a249b5f 312 //point before obstacle, probably empty
Ludwigfr 22:ebb37a249b5f 313 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 314 float Ea=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2);
Ludwigfr 22:ebb37a249b5f 315 float Er;
Ludwigfr 22:ebb37a249b5f 316 if(distancePointToSonar < RANGE_SONAR_MIN){
Ludwigfr 22:ebb37a249b5f 317 //point before minimum sonar range
Ludwigfr 22:ebb37a249b5f 318 Er=0.f;
Ludwigfr 22:ebb37a249b5f 319 }else{
Ludwigfr 22:ebb37a249b5f 320 //point after minimum sonar range
Ludwigfr 22:ebb37a249b5f 321 Er=1.f-pow((distancePointToSonar-RANGE_SONAR_MIN)/(distanceObstacleDetected-INCERTITUDE_SONAR-RANGE_SONAR_MIN),2);
Ludwigfr 22:ebb37a249b5f 322 }
Ludwigfr 22:ebb37a249b5f 323 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 324 return (1.f-Er*Ea)/2.f;
Ludwigfr 22:ebb37a249b5f 325 }else{
Ludwigfr 22:ebb37a249b5f 326 //probably occupied
Ludwigfr 22:ebb37a249b5f 327 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 328 float Oa=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2);
Ludwigfr 22:ebb37a249b5f 329 float Or;
Ludwigfr 22:ebb37a249b5f 330 if( distancePointToSonar <= (distanceObstacleDetected + INCERTITUDE_SONAR)){
Ludwigfr 22:ebb37a249b5f 331 //point between distanceObstacleDetected +- INCERTITUDE_SONAR
Ludwigfr 22:ebb37a249b5f 332 Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(INCERTITUDE_SONAR),2);
Ludwigfr 22:ebb37a249b5f 333 }else{
Ludwigfr 22:ebb37a249b5f 334 //point after in range of the sonar but after the zone detected
Ludwigfr 22:ebb37a249b5f 335 Or=0;
Ludwigfr 22:ebb37a249b5f 336 }
Ludwigfr 22:ebb37a249b5f 337 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 338 return (1+Or*Oa)/2;
Ludwigfr 22:ebb37a249b5f 339 }
Ludwigfr 22:ebb37a249b5f 340 }else{
Ludwigfr 25:572c9e9a8809 341 //not checked by the sonar
Ludwigfr 22:ebb37a249b5f 342 return 0.5;
AurelienBernier 19:dbc5fbad4975 343 }
Ludwigfr 22:ebb37a249b5f 344 }
Ludwigfr 22:ebb37a249b5f 345
Ludwigfr 25:572c9e9a8809 346 void print_final_map() {
Ludwigfr 22:ebb37a249b5f 347 float currProba;
geotsam 24:8f4b820d8de8 348 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 349 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
geotsam 24:8f4b820d8de8 350 for (int x= 0; x<NB_CELL_WIDTH; x++) {
geotsam 24:8f4b820d8de8 351 currProba=log_to_proba(map[x][y]);
geotsam 24:8f4b820d8de8 352 if ( currProba < 0.5) {
geotsam 29:224e9e686f7b 353 pc.printf(" ");
Ludwigfr 22:ebb37a249b5f 354 } else {
Ludwigfr 22:ebb37a249b5f 355 if(currProba==0.5)
geotsam 24:8f4b820d8de8 356 pc.printf(" . ");
Ludwigfr 22:ebb37a249b5f 357 else
geotsam 29:224e9e686f7b 358 pc.printf(" X ");
Ludwigfr 22:ebb37a249b5f 359 }
Ludwigfr 22:ebb37a249b5f 360 }
geotsam 24:8f4b820d8de8 361 pc.printf("\n\r");
Ludwigfr 22:ebb37a249b5f 362 }
Ludwigfr 22:ebb37a249b5f 363 }
Ludwigfr 22:ebb37a249b5f 364
Ludwigfr 25:572c9e9a8809 365 void print_final_map_with_robot_position() {
geotsam 24:8f4b820d8de8 366 float currProba;
Ludwigfr 25:572c9e9a8809 367 Odometria();
Ludwigfr 25:572c9e9a8809 368 float Xrobot=robot_center_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 369 float Yrobot=robot_center_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 370
Ludwigfr 25:572c9e9a8809 371 float heightIndiceInOrthonormal;
Ludwigfr 25:572c9e9a8809 372 float widthIndiceInOrthonormal;
Ludwigfr 25:572c9e9a8809 373
Ludwigfr 27:07bde633af72 374 float widthMalus=-(3*sizeCellWidth/2);
Ludwigfr 27:07bde633af72 375 float widthBonus=sizeCellWidth/2;
Ludwigfr 25:572c9e9a8809 376
Ludwigfr 27:07bde633af72 377 float heightMalus=-(3*sizeCellHeight/2);
Ludwigfr 27:07bde633af72 378 float heightBonus=sizeCellHeight/2;
Ludwigfr 25:572c9e9a8809 379
geotsam 24:8f4b820d8de8 380 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 381 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
geotsam 24:8f4b820d8de8 382 for (int x= 0; x<NB_CELL_WIDTH; x++) {
Ludwigfr 25:572c9e9a8809 383 heightIndiceInOrthonormal=estimated_height_indice_in_orthonormal_y(y);
Ludwigfr 25:572c9e9a8809 384 widthIndiceInOrthonormal=estimated_width_indice_in_orthonormal_x(x);
Ludwigfr 27:07bde633af72 385 if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 27:07bde633af72 386 pc.printf(" R ");
Ludwigfr 25:572c9e9a8809 387 else{
Ludwigfr 25:572c9e9a8809 388 currProba=log_to_proba(map[x][y]);
Ludwigfr 25:572c9e9a8809 389 if ( currProba < 0.5)
geotsam 29:224e9e686f7b 390 pc.printf(" ");
Ludwigfr 25:572c9e9a8809 391 else{
Ludwigfr 25:572c9e9a8809 392 if(currProba==0.5)
Ludwigfr 27:07bde633af72 393 pc.printf(" . ");
Ludwigfr 25:572c9e9a8809 394 else
geotsam 29:224e9e686f7b 395 pc.printf(" X ");
Ludwigfr 25:572c9e9a8809 396 }
geotsam 24:8f4b820d8de8 397 }
geotsam 24:8f4b820d8de8 398 }
geotsam 24:8f4b820d8de8 399 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 400 }
geotsam 24:8f4b820d8de8 401 }
Ludwigfr 22:ebb37a249b5f 402
Ludwigfr 22:ebb37a249b5f 403 //MATHS heavy functions
Ludwigfr 22:ebb37a249b5f 404 /**********************************************************************/
Ludwigfr 22:ebb37a249b5f 405 //Distance computation function
Ludwigfr 22:ebb37a249b5f 406 float dist(float robot_x, float robot_y, float target_x, float target_y){
Ludwigfr 22:ebb37a249b5f 407 return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2));
Ludwigfr 22:ebb37a249b5f 408 }
Ludwigfr 22:ebb37a249b5f 409
geotsam 24:8f4b820d8de8 410 //returns the probability [0,1] that the cell is occupied from the log valAue lt
Ludwigfr 22:ebb37a249b5f 411 float log_to_proba(float lt){
Ludwigfr 22:ebb37a249b5f 412 return 1-1/(1+exp(lt));
Ludwigfr 22:ebb37a249b5f 413 }
Ludwigfr 22:ebb37a249b5f 414
Ludwigfr 22:ebb37a249b5f 415 //returns the log value that the cell is occupied from the probability value [0,1]
Ludwigfr 22:ebb37a249b5f 416 float proba_to_log(float p){
Ludwigfr 22:ebb37a249b5f 417 return log(p/(1-p));
Ludwigfr 22:ebb37a249b5f 418 }
Ludwigfr 22:ebb37a249b5f 419
Ludwigfr 22:ebb37a249b5f 420 //returns the new log value
Ludwigfr 22:ebb37a249b5f 421 float compute_log_estimation_lt(float previousLogValue,float currentProbability,float originalLogvalue ){
Ludwigfr 22:ebb37a249b5f 422 return previousLogValue+proba_to_log(currentProbability)-originalLogvalue;
Ludwigfr 22:ebb37a249b5f 423 }
Ludwigfr 22:ebb37a249b5f 424
Ludwigfr 22:ebb37a249b5f 425 //makes the angle inAngle between 0 and 2pi
Ludwigfr 22:ebb37a249b5f 426 float rad_angle_check(float inAngle){
Ludwigfr 22:ebb37a249b5f 427 //cout<<"before :"<<inAngle;
Ludwigfr 22:ebb37a249b5f 428 if(inAngle > 0){
Ludwigfr 22:ebb37a249b5f 429 while(inAngle > (2*pi))
Ludwigfr 22:ebb37a249b5f 430 inAngle-=2*pi;
Ludwigfr 22:ebb37a249b5f 431 }else{
Ludwigfr 22:ebb37a249b5f 432 while(inAngle < 0)
Ludwigfr 22:ebb37a249b5f 433 inAngle+=2*pi;
Ludwigfr 22:ebb37a249b5f 434 }
Ludwigfr 22:ebb37a249b5f 435 //cout<<" after :"<<inAngle<<endl;
Ludwigfr 22:ebb37a249b5f 436 return inAngle;
Ludwigfr 22:ebb37a249b5f 437 }
Ludwigfr 22:ebb37a249b5f 438
Ludwigfr 22:ebb37a249b5f 439 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 22:ebb37a249b5f 440 float compute_angle_between_vectors(float x, float y,float xs,float ys){
Ludwigfr 22:ebb37a249b5f 441 //alpha angle between ->x and ->SA
Ludwigfr 22:ebb37a249b5f 442 //vector S to A ->SA
Ludwigfr 22:ebb37a249b5f 443 float vSAx=x-xs;
Ludwigfr 22:ebb37a249b5f 444 float vSAy=y-ys;
Ludwigfr 22:ebb37a249b5f 445 //norme SA
Ludwigfr 22:ebb37a249b5f 446 float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2));
Ludwigfr 22:ebb37a249b5f 447 //vector ->x (1,0)
Ludwigfr 22:ebb37a249b5f 448 float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;;
Ludwigfr 22:ebb37a249b5f 449 //vector ->y (0,1)
Ludwigfr 22:ebb37a249b5f 450 float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx;
Ludwigfr 22:ebb37a249b5f 451 if (sinAlpha < 0)
Ludwigfr 22:ebb37a249b5f 452 return -acos(cosAlpha);
Ludwigfr 22:ebb37a249b5f 453 else
Ludwigfr 22:ebb37a249b5f 454 return acos(cosAlpha);
Ludwigfr 25:572c9e9a8809 455 }
Ludwigfr 25:572c9e9a8809 456
Ludwigfr 25:572c9e9a8809 457 float robot_center_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 458 return NB_CELL_WIDTH*sizeCellWidth-Y;
Ludwigfr 25:572c9e9a8809 459 }
Ludwigfr 25:572c9e9a8809 460
Ludwigfr 25:572c9e9a8809 461 float robot_center_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 462 return X;
Ludwigfr 25:572c9e9a8809 463 }
Ludwigfr 25:572c9e9a8809 464
Ludwigfr 25:572c9e9a8809 465 float robot_sonar_front_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 466 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_FRONT_X;
Ludwigfr 25:572c9e9a8809 467 }
Ludwigfr 25:572c9e9a8809 468 float robot_sonar_front_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 469 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_FRONT_Y;
Ludwigfr 25:572c9e9a8809 470 }
Ludwigfr 25:572c9e9a8809 471
Ludwigfr 25:572c9e9a8809 472 float robot_sonar_right_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 473 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_RIGHT_X;
Ludwigfr 25:572c9e9a8809 474 }
Ludwigfr 25:572c9e9a8809 475 float robot_sonar_right_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 476 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_RIGHT_Y;
Ludwigfr 25:572c9e9a8809 477 }
Ludwigfr 25:572c9e9a8809 478
Ludwigfr 25:572c9e9a8809 479 float robot_sonar_left_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 480 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_LEFT_X;
Ludwigfr 25:572c9e9a8809 481 }
Ludwigfr 25:572c9e9a8809 482 float robot_sonar_left_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 483 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_LEFT_Y;
Ludwigfr 25:572c9e9a8809 484 }
Ludwigfr 25:572c9e9a8809 485
Ludwigfr 25:572c9e9a8809 486 float estimated_width_indice_in_orthonormal_x(int i){
Ludwigfr 27:07bde633af72 487 return sizeCellWidth/2+i*sizeCellWidth;
Ludwigfr 25:572c9e9a8809 488 }
Ludwigfr 25:572c9e9a8809 489 float estimated_height_indice_in_orthonormal_y(int j){
Ludwigfr 27:07bde633af72 490 return sizeCellHeight/2+j*sizeCellHeight;
geotsam 26:b020cf253059 491 }
geotsam 26:b020cf253059 492
geotsam 26:b020cf253059 493 void compute_angles_and_distance(float target_x, float target_y, float target_angle){
geotsam 26:b020cf253059 494 alpha = atan2((target_y-Y),(target_x-X))-theta;
geotsam 26:b020cf253059 495 alpha = atan(sin(alpha)/cos(alpha));
geotsam 26:b020cf253059 496 rho = dist(X, Y, target_x, target_y);
geotsam 26:b020cf253059 497 d2 = rho;
geotsam 26:b020cf253059 498 beta = -alpha-theta+target_angle;
geotsam 26:b020cf253059 499
geotsam 26:b020cf253059 500 //Computing angle error and distance towards the target value
geotsam 26:b020cf253059 501 rho += dt*(-kRho*cos(alpha)*rho);
geotsam 26:b020cf253059 502 temp = alpha;
geotsam 26:b020cf253059 503 alpha += dt*(kRho*sin(alpha)-ka*alpha-kb*beta);
geotsam 26:b020cf253059 504 beta += dt*(-kRho*sin(temp));
Ludwigfr 27:07bde633af72 505 //pc.printf("\n\r d2=%f", d2);
Ludwigfr 27:07bde633af72 506 //pc.printf("\n\r dt=%f", dt);
geotsam 26:b020cf253059 507 }
geotsam 26:b020cf253059 508
geotsam 26:b020cf253059 509 void compute_linear_angular_velocities(){
geotsam 26:b020cf253059 510 //Computing linear and angular velocities
geotsam 26:b020cf253059 511 if(alpha>=-1.5708 && alpha<=1.5708){
geotsam 26:b020cf253059 512 linear=kRho*rho;
geotsam 26:b020cf253059 513 angular=ka*alpha+kb*beta;
geotsam 26:b020cf253059 514 }
geotsam 26:b020cf253059 515 else{
geotsam 26:b020cf253059 516 linear=-kRho*rho;
geotsam 26:b020cf253059 517 angular=-ka*alpha-kb*beta;
geotsam 26:b020cf253059 518 }
geotsam 26:b020cf253059 519 angular_left=(linear-0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
geotsam 26:b020cf253059 520 angular_right=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
geotsam 26:b020cf253059 521
geotsam 26:b020cf253059 522 //Slowing down at the end for more precision
geotsam 26:b020cf253059 523 // if (d2<25) {
geotsam 26:b020cf253059 524 // speed = d2*30;
geotsam 26:b020cf253059 525 // }
geotsam 26:b020cf253059 526
geotsam 26:b020cf253059 527 //Normalize speed for motors
geotsam 26:b020cf253059 528 if(angular_left>angular_right) {
geotsam 26:b020cf253059 529 angular_right=speed*angular_right/angular_left;
geotsam 26:b020cf253059 530 angular_left=speed;
geotsam 26:b020cf253059 531 } else {
geotsam 26:b020cf253059 532 angular_left=speed*angular_left/angular_right;
geotsam 26:b020cf253059 533 angular_right=speed;
geotsam 26:b020cf253059 534 }
Ludwigfr 32:d51928b58645 535 }
Ludwigfr 32:d51928b58645 536
Ludwigfr 32:d51928b58645 537
Ludwigfr 32:d51928b58645 538 void updateForce(int widthIndice, int heightIndice, float range, float* forceX, float* forceY, float xRobotOrtho, float yRobotOrtho ){
Ludwigfr 32:d51928b58645 539
Ludwigfr 32:d51928b58645 540 //get the coordonate of the map and the robot in the ortonormal frame
Ludwigfr 32:d51928b58645 541 float xCenterCell=estimated_width_indice_in_orthonormal_x(widthIndice);
Ludwigfr 32:d51928b58645 542 float yCenterCell=estimated_height_indice_in_orthonormal_y(heightIndice);
Ludwigfr 32:d51928b58645 543 //compute the distance beetween the cell and the robot
Ludwigfr 32:d51928b58645 544 float distanceCellToRobot=sqrt(pow(xCenterCell-xRobotOrtho,2)+pow(yCenterCell-yRobotOrtho,2));
Ludwigfr 32:d51928b58645 545 //check if the cell is in range
Ludwigfr 32:d51928b58645 546 if(distanceCellToRobot <= (range)) {
Ludwigfr 32:d51928b58645 547 float probaCell=log_to_proba(map[widthIndice][heightIndice]);
Ludwigfr 32:d51928b58645 548 float xForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(xCenterCell-xRobotOrtho)/pow(distanceCellToRobot,3);
Ludwigfr 32:d51928b58645 549 float yForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(yCenterCell-yRobotOrtho)/pow(distanceCellToRobot,3);
Ludwigfr 32:d51928b58645 550 *forceX+=xForceComputed;
Ludwigfr 32:d51928b58645 551 *forceY+=yForceComputed;
Ludwigfr 32:d51928b58645 552 }
Ludwigfr 32:d51928b58645 553 }
Ludwigfr 32:d51928b58645 554
geotsam 34:128fc7aed957 555 void compute_forceX_and_forceY(float targetX, float targetY,float* forceX, float* forceY){
Ludwigfr 32:d51928b58645 556 float xRobotOrtho=robot_center_x_in_orthonormal_x();
Ludwigfr 32:d51928b58645 557 float yRobotOrtho=robot_center_y_in_orthonormal_y();
Ludwigfr 32:d51928b58645 558 for(int i=0;i<NB_CELL_WIDTH;i++){
Ludwigfr 32:d51928b58645 559 for(int j=0;j<NB_CELL_HEIGHT;j++){
geotsam 34:128fc7aed957 560 updateForce(i,j,RANGE_FORCE,forceX,forceY,xRobotOrtho,yRobotOrtho);
Ludwigfr 32:d51928b58645 561 }
Ludwigfr 32:d51928b58645 562 }
geotsam 34:128fc7aed957 563 //update with attraction force
geotsam 34:128fc7aed957 564 *forceX=-*forceX;
geotsam 34:128fc7aed957 565 *forceY=-*forceY;
geotsam 34:128fc7aed957 566 *forceX+=FORCE_CONSTANT_ATTRACTION*(targetX-X)/sqrt(pow(targetX-X,2)+pow(targetY-Y,2));
geotsam 34:128fc7aed957 567 *forceY+=FORCE_CONSTANT_ATTRACTION*(targetY-Y)/sqrt(pow(targetX-X,2)+pow(targetY-Y,2));
geotsam 34:128fc7aed957 568 float amplitude=sqrt(pow(*forceX,2)+pow(*forceY,2));
geotsam 34:128fc7aed957 569 *forceX=*forceX/amplitude;
geotsam 34:128fc7aed957 570 *forceY=*forceY/amplitude;
geotsam 33:78139f82ea74 571 }
geotsam 33:78139f82ea74 572
geotsam 33:78139f82ea74 573 void calculate_line(float forceX, float forceY, float robotX, float robotY){
geotsam 33:78139f82ea74 574 line_a=forceY;
geotsam 33:78139f82ea74 575 line_b=-forceX;
geotsam 33:78139f82ea74 576 line_c=forceX*robotY-forceY*robotX;
geotsam 33:78139f82ea74 577 }
geotsam 33:78139f82ea74 578
geotsam 33:78139f82ea74 579 void vff(){
geotsam 33:78139f82ea74 580 //Updating X,Y and theta with the odometry values
geotsam 33:78139f82ea74 581 float forceX, forceY;
geotsam 33:78139f82ea74 582 Odometria();
geotsam 33:78139f82ea74 583
geotsam 33:78139f82ea74 584 leftMm = get_distance_left_sensor();
geotsam 33:78139f82ea74 585 frontMm = get_distance_front_sensor();
geotsam 33:78139f82ea74 586 rightMm = get_distance_right_sensor();
geotsam 33:78139f82ea74 587 update_sonar_values(leftMm, frontMm, rightMm);
geotsam 33:78139f82ea74 588
geotsam 34:128fc7aed957 589 updateForce(WIDTH_ARENA, HEIGHT_ARENA, RANGE_FORCE, &forceX, &forceY, robot_center_x_in_orthonormal_x(), robot_center_y_in_orthonormal_y()); //TODO check range value, I randomly put 20
geotsam 34:128fc7aed957 590 compute_forceX_and_forceY(targetX, targetY,&forceX, &forceY);
geotsam 33:78139f82ea74 591 calculate_line(forceX, forceY, X, Y);
geotsam 34:128fc7aed957 592 go_to_line();
geotsam 34:128fc7aed957 593 pc.printf("\r\n forceX=%f", forceX);
geotsam 34:128fc7aed957 594 pc.printf("\r\n forceY=%f", forceY);
geotsam 34:128fc7aed957 595 pc.printf("\r\n line: %f x + %f y + %f =0", line_a, line_b, line_c);
geotsam 33:78139f82ea74 596
geotsam 33:78139f82ea74 597 //Updating motor velocities
geotsam 33:78139f82ea74 598 leftMotor(1,angular_left);
geotsam 33:78139f82ea74 599 rightMotor(1,angular_right);
geotsam 34:128fc7aed957 600
geotsam 34:128fc7aed957 601 pc.printf("\r\n angR=%f", angular_right);
geotsam 34:128fc7aed957 602 pc.printf("\r\n angL=%f", angular_left);
geotsam 34:128fc7aed957 603 pc.printf("\r\n dist=%f", dist(X,Y,targetX,targetY));
geotsam 33:78139f82ea74 604
geotsam 34:128fc7aed957 605
geotsam 34:128fc7aed957 606 wait(0.1);
geotsam 33:78139f82ea74 607 Odometria();
geotsam 34:128fc7aed957 608 if(dist(X,Y,targetX,targetY)<10)
geotsam 33:78139f82ea74 609 reached=true;
geotsam 33:78139f82ea74 610 }
geotsam 33:78139f82ea74 611
geotsam 33:78139f82ea74 612 void go_to_line(){
geotsam 33:78139f82ea74 613 float line_angle, angle_error;
geotsam 33:78139f82ea74 614 if(line_b!=0){
geotsam 33:78139f82ea74 615 line_angle=atan(-line_a/line_b);
geotsam 33:78139f82ea74 616 }
geotsam 33:78139f82ea74 617 else{
geotsam 33:78139f82ea74 618 line_angle=1.5708;
geotsam 33:78139f82ea74 619 }
geotsam 33:78139f82ea74 620
geotsam 33:78139f82ea74 621 //Computing angle error
geotsam 33:78139f82ea74 622 angle_error = line_angle-theta;
geotsam 33:78139f82ea74 623 angle_error = atan(sin(angle_error)/cos(angle_error));
geotsam 33:78139f82ea74 624
geotsam 33:78139f82ea74 625 //Calculating velocities
geotsam 33:78139f82ea74 626 linear=kv*(3.1416);
geotsam 33:78139f82ea74 627 angular=kh*angle_error;
geotsam 33:78139f82ea74 628 angular_left=(linear-0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
geotsam 33:78139f82ea74 629 angular_right=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
geotsam 33:78139f82ea74 630
geotsam 33:78139f82ea74 631 //Normalize speed for motors
geotsam 33:78139f82ea74 632 if(angular_left>angular_right) {
geotsam 33:78139f82ea74 633 angular_right=speed*angular_right/angular_left;
geotsam 33:78139f82ea74 634 angular_left=speed;
geotsam 33:78139f82ea74 635 }
geotsam 33:78139f82ea74 636 else {
geotsam 33:78139f82ea74 637 angular_left=speed*angular_left/angular_right;
geotsam 33:78139f82ea74 638 angular_right=speed;
geotsam 33:78139f82ea74 639 }
geotsam 24:8f4b820d8de8 640 }