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@20:6a9062d54eb0, 2017-04-03 (annotated)

Committer:
AurelienBernier
Date:
Mon Apr 03 17:07:37 2017 +0000
Revision:
20:6a9062d54eb0
Parent:
19:dbc5fbad4975
Parent:
17:caf393b63e27
Child:
21:62154d644531
testAfterMerge

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"
AurelienBernier 6:afde4b08166b 4
AurelienBernier 6:afde4b08166b 5 Timer t;
AurelienBernier 4:8c56c3ba6e54 6
geotsam 0:8bffb51cc345 7 float dist(float robot_x, float robot_y, float target_x, float target_y);
geotsam 0:8bffb51cc345 8
geotsam 12:3c0ca2350624 9 int goToPointWithAngle(float target_x, float target_y, float target_angle);
AurelienBernier 8:109314be5b68 10
AurelienBernier 19:dbc5fbad4975 11 int randomizeAndMap();
AurelienBernier 11:e641aa08c92e 12 int updateSonarValues();
AurelienBernier 19:dbc5fbad4975 13 int computeObstacle();
AurelienBernier 11:e641aa08c92e 14
AurelienBernier 19:dbc5fbad4975 15 bool map[25][25];
AurelienBernier 8:109314be5b68 16 float alpha; //angle error
AurelienBernier 8:109314be5b68 17 float rho; //distance from target
AurelienBernier 8:109314be5b68 18 float beta;
AurelienBernier 11:e641aa08c92e 19 float kRho=12, ka=30, kb=-13; //Kappa values
AurelienBernier 8:109314be5b68 20 float linear, angular, angular_left, angular_right;
AurelienBernier 8:109314be5b68 21 float dt=0.5;
AurelienBernier 8:109314be5b68 22 float temp;
AurelienBernier 8:109314be5b68 23 float d2;
AurelienBernier 8:109314be5b68 24
geotsam 14:d58f2bdbf42e 25 //bool tooClose = false;
AurelienBernier 11:e641aa08c92e 26
AurelienBernier 11:e641aa08c92e 27 int leftMm;
AurelienBernier 11:e641aa08c92e 28 int frontMm;
AurelienBernier 11:e641aa08c92e 29 int rightMm;
AurelienBernier 11:e641aa08c92e 30
AurelienBernier 19:dbc5fbad4975 31
AurelienBernier 8:109314be5b68 32 //Diameter of a wheel and distance between the 2
AurelienBernier 8:109314be5b68 33 float r=3.25, b=7.2;
AurelienBernier 8:109314be5b68 34
AurelienBernier 8:109314be5b68 35 int speed=999; // Max speed at beggining of movement
AurelienBernier 8:109314be5b68 36
AurelienBernier 20:6a9062d54eb0 37 //target exemple x y theta
AurelienBernier 19:dbc5fbad4975 38 float target_x=46.8, target_y=78.6, target_angle=1.57;
AurelienBernier 8:109314be5b68 39
AurelienBernier 8:109314be5b68 40
AurelienBernier 4:8c56c3ba6e54 41 //Timeout time;
geotsam 0:8bffb51cc345 42 int main(){
geotsam 17:caf393b63e27 43 target_x=200*rand();
geotsam 17:caf393b63e27 44 target_y=200*rand();
geotsam 17:caf393b63e27 45 target_angle=3.1416*2*rand()-3.1416;
geotsam 17:caf393b63e27 46
geotsam 13:41f75c132135 47 i2c1.frequency(100000);
AurelienBernier 2:ea61e801e81f 48 initRobot(); //Initializing the robot
geotsam 0:8bffb51cc345 49 pc.baud(9600); // baud for the pc communication
geotsam 0:8bffb51cc345 50
geotsam 13:41f75c132135 51 measure_always_on();
geotsam 13:41f75c132135 52 wait_ms(50);
AurelienBernier 19:dbc5fbad4975 53
AurelienBernier 19:dbc5fbad4975 54 //Fill map
AurelienBernier 19:dbc5fbad4975 55 for (int i = 0; i<25; i++) {
AurelienBernier 19:dbc5fbad4975 56 for (int j = 0; j<25; j++) {
AurelienBernier 19:dbc5fbad4975 57 map[i][j] = false;
AurelienBernier 19:dbc5fbad4975 58 }
AurelienBernier 19:dbc5fbad4975 59 }
geotsam 13:41f75c132135 60
AurelienBernier 2:ea61e801e81f 61 //Resetting coordinates before moving
AurelienBernier 2:ea61e801e81f 62 theta=0;
geotsam 0:8bffb51cc345 63 X=0;
geotsam 0:8bffb51cc345 64 Y=0;
geotsam 0:8bffb51cc345 65
AurelienBernier 19:dbc5fbad4975 66 /*alpha = atan2((target_y-Y),(target_x-X))-theta;
AurelienBernier 4:8c56c3ba6e54 67 alpha = atan(sin(alpha)/cos(alpha));
AurelienBernier 4:8c56c3ba6e54 68 rho = dist(X, Y, target_x, target_y);
AurelienBernier 19:dbc5fbad4975 69 beta = -alpha-theta+target_angle;*/
AurelienBernier 19:dbc5fbad4975 70 for (int i = 0; i<10; i++) {
AurelienBernier 19:dbc5fbad4975 71 randomizeAndMap();
geotsam 17:caf393b63e27 72 }
AurelienBernier 8:109314be5b68 73 //Stop at the end
AurelienBernier 8:109314be5b68 74 leftMotor(1,0);
AurelienBernier 8:109314be5b68 75 rightMotor(1,0);
AurelienBernier 8:109314be5b68 76
AurelienBernier 8:109314be5b68 77 pc.printf("\n\r %f -- arrived!", rho);
AurelienBernier 8:109314be5b68 78 }
AurelienBernier 8:109314be5b68 79
AurelienBernier 8:109314be5b68 80 //Distance computation function
AurelienBernier 8:109314be5b68 81 float dist(float robot_x, float robot_y, float target_x, float target_y){
AurelienBernier 8:109314be5b68 82 return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2));
AurelienBernier 8:109314be5b68 83 }
AurelienBernier 8:109314be5b68 84
AurelienBernier 11:e641aa08c92e 85 //Updates sonar values
AurelienBernier 11:e641aa08c92e 86 int updateSonarValues() {
AurelienBernier 11:e641aa08c92e 87 leftMm = get_distance_left_sensor();
AurelienBernier 11:e641aa08c92e 88 frontMm = get_distance_front_sensor();
AurelienBernier 11:e641aa08c92e 89 rightMm = get_distance_right_sensor();
AurelienBernier 11:e641aa08c92e 90 return 0;
AurelienBernier 11:e641aa08c92e 91 }
AurelienBernier 11:e641aa08c92e 92
AurelienBernier 19:dbc5fbad4975 93 int randomizeAndMap() {
AurelienBernier 19:dbc5fbad4975 94 target_x = (rand()%2500)/10;//for decimal precision
AurelienBernier 19:dbc5fbad4975 95 target_y = (rand()%2500)/10;
AurelienBernier 19:dbc5fbad4975 96 target_angle = ((rand()%31416)-15708)/1000;
AurelienBernier 19:dbc5fbad4975 97 pc.printf("\n\r targ_X=%f", target_x);
AurelienBernier 19:dbc5fbad4975 98 pc.printf("\n\r targ_Y=%f", target_y);
AurelienBernier 19:dbc5fbad4975 99 pc.printf("\n\r targ_Angle=%f", target_angle);
AurelienBernier 19:dbc5fbad4975 100 goToPointWithAngle(target_x, target_y, target_angle);
AurelienBernier 19:dbc5fbad4975 101 return 0;
AurelienBernier 19:dbc5fbad4975 102 }
AurelienBernier 19:dbc5fbad4975 103
AurelienBernier 19:dbc5fbad4975 104 int computeObstacle() {
AurelienBernier 19:dbc5fbad4975 105 //get the sensor values
AurelienBernier 19:dbc5fbad4975 106 //compute the probabilistic shit of empty/non-empty in the direction of the sensor below 10 cm
AurelienBernier 19:dbc5fbad4975 107 //update the map object with true where it's likely to be obstacled
AurelienBernier 19:dbc5fbad4975 108 int xObstacle, yObstacle;
AurelienBernier 19:dbc5fbad4975 109 if (leftMm < 10) {
AurelienBernier 19:dbc5fbad4975 110
AurelienBernier 19:dbc5fbad4975 111 } else if (frontMm < 10) {
AurelienBernier 19:dbc5fbad4975 112
AurelienBernier 19:dbc5fbad4975 113 } else if (rightMm < 10) {
AurelienBernier 19:dbc5fbad4975 114
AurelienBernier 19:dbc5fbad4975 115 }
AurelienBernier 19:dbc5fbad4975 116
AurelienBernier 19:dbc5fbad4975 117 map[xObstacle][yObstacle] = true;
AurelienBernier 19:dbc5fbad4975 118 return 0;
AurelienBernier 19:dbc5fbad4975 119 }
AurelienBernier 19:dbc5fbad4975 120
geotsam 12:3c0ca2350624 121 int goToPointWithAngle(float target_x, float target_y, float target_angle) {
AurelienBernier 8:109314be5b68 122 do {
geotsam 0:8bffb51cc345 123 pc.printf("\n\n\r entered while");
AurelienBernier 2:ea61e801e81f 124
AurelienBernier 6:afde4b08166b 125 //Timer stuff
AurelienBernier 6:afde4b08166b 126 dt = t.read();
AurelienBernier 6:afde4b08166b 127 t.reset();
AurelienBernier 6:afde4b08166b 128 t.start();
AurelienBernier 6:afde4b08166b 129
geotsam 14:d58f2bdbf42e 130 //Updating X,Y and theta with the odometry values
geotsam 14:d58f2bdbf42e 131 Odometria();
geotsam 14:d58f2bdbf42e 132
AurelienBernier 11:e641aa08c92e 133 updateSonarValues();
AurelienBernier 11:e641aa08c92e 134 if (leftMm < 100 || frontMm < 100 || rightMm < 100) {
geotsam 14:d58f2bdbf42e 135 break;
AurelienBernier 11:e641aa08c92e 136 }
AurelienBernier 11:e641aa08c92e 137
AurelienBernier 4:8c56c3ba6e54 138 alpha = atan2((target_y-Y),(target_x-X))-theta;
AurelienBernier 4:8c56c3ba6e54 139 alpha = atan(sin(alpha)/cos(alpha));
AurelienBernier 4:8c56c3ba6e54 140 rho = dist(X, Y, target_x, target_y);
AurelienBernier 6:afde4b08166b 141 d2 = rho;
AurelienBernier 19:dbc5fbad4975 142 beta = -alpha-theta+target_angle;
AurelienBernier 6:afde4b08166b 143
AurelienBernier 2:ea61e801e81f 144 //Computing angle error and distance towards the target value
AurelienBernier 4:8c56c3ba6e54 145 rho += dt*(-kRho*cos(alpha)*rho);
AurelienBernier 4:8c56c3ba6e54 146 temp = alpha;
AurelienBernier 6:afde4b08166b 147 alpha += dt*(kRho*sin(alpha)-ka*alpha-kb*beta);
AurelienBernier 6:afde4b08166b 148 beta += dt*(-kRho*sin(temp));
AurelienBernier 6:afde4b08166b 149 pc.printf("\n\r d2=%f", d2);
AurelienBernier 6:afde4b08166b 150 pc.printf("\n\r dt=%f", dt);
geotsam 0:8bffb51cc345 151
AurelienBernier 2:ea61e801e81f 152 //Computing linear and angular velocities
AurelienBernier 4:8c56c3ba6e54 153 if(alpha>=-1.5708 && alpha<=1.5708){
AurelienBernier 4:8c56c3ba6e54 154 linear=kRho*rho;
AurelienBernier 4:8c56c3ba6e54 155 angular=ka*alpha+kb*beta;
geotsam 3:1e0f4cb93eda 156 }
geotsam 3:1e0f4cb93eda 157 else{
AurelienBernier 4:8c56c3ba6e54 158 linear=-kRho*rho;
AurelienBernier 4:8c56c3ba6e54 159 angular=-ka*alpha-kb*beta;
geotsam 3:1e0f4cb93eda 160 }
geotsam 0:8bffb51cc345 161 angular_left=(linear-0.5*b*angular)/r;
geotsam 0:8bffb51cc345 162 angular_right=(linear+0.5*b*angular)/r;
geotsam 0:8bffb51cc345 163
AurelienBernier 2:ea61e801e81f 164 //Slowing down at the end for more precision
AurelienBernier 6:afde4b08166b 165 if (d2<25) {
AurelienBernier 6:afde4b08166b 166 speed = d2*30;
geotsam 0:8bffb51cc345 167 }
AurelienBernier 2:ea61e801e81f 168
AurelienBernier 2:ea61e801e81f 169 //Normalize speed for motors
geotsam 0:8bffb51cc345 170 if(angular_left>angular_right) {
geotsam 0:8bffb51cc345 171 angular_right=speed*angular_right/angular_left;
geotsam 0:8bffb51cc345 172 angular_left=speed;
geotsam 0:8bffb51cc345 173 } else {
geotsam 0:8bffb51cc345 174 angular_left=speed*angular_left/angular_right;
geotsam 0:8bffb51cc345 175 angular_right=speed;
geotsam 0:8bffb51cc345 176 }
geotsam 0:8bffb51cc345 177
geotsam 0:8bffb51cc345 178 pc.printf("\n\r X=%f", X);
geotsam 0:8bffb51cc345 179 pc.printf("\n\r Y=%f", Y);
AurelienBernier 15:44ab4626f1ad 180 pc.printf("\n\r leftMm=%f", leftMm);
AurelienBernier 15:44ab4626f1ad 181 pc.printf("\n\r frontMm=%f", frontMm);
AurelienBernier 15:44ab4626f1ad 182 pc.printf("\n\r rightMm=%f", rightMm);
geotsam 0:8bffb51cc345 183
AurelienBernier 2:ea61e801e81f 184 //Updating motor velocities
AurelienBernier 1:f0807d5c5a4b 185 leftMotor(1,angular_left);
AurelienBernier 1:f0807d5c5a4b 186 rightMotor(1,angular_right);
geotsam 0:8bffb51cc345 187
AurelienBernier 7:c94070f9af78 188 wait(0.2);
AurelienBernier 6:afde4b08166b 189 //Timer stuff
AurelienBernier 6:afde4b08166b 190 t.stop();
geotsam 14:d58f2bdbf42e 191 } while(d2>1);
AurelienBernier 8:109314be5b68 192
AurelienBernier 19:dbc5fbad4975 193 if (tooClose) {
AurelienBernier 19:dbc5fbad4975 194 computeObstacle();
AurelienBernier 19:dbc5fbad4975 195 }
AurelienBernier 8:109314be5b68 196 return 0;
AurelienBernier 6:afde4b08166b 197 }