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@44:e2bd06f94dc0, 2017-05-29 (annotated)

Committer:
Ludwigfr
Date:
Mon May 29 11:52:56 2017 +0000
Revision:
44:e2bd06f94dc0
Parent:
43:ffd5a6d4dd48
Child:
45:fb07065a64a9
adjusted the main, tweaked calculate line

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 39:dd8326ec75ce 7 void initialise_parameters();
Ludwigfr 22:ebb37a249b5f 8 //fill initialLogValues with the values we already know (here the bordurs)
Ludwigfr 22:ebb37a249b5f 9 void fill_initial_log_values();
Ludwigfr 22:ebb37a249b5f 10 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 22:ebb37a249b5f 11 void randomize_and_map();
geotsam 29:224e9e686f7b 12 //make the robot do a pi/2 flip
geotsam 29:224e9e686f7b 13 void do_half_flip();
Ludwigfr 22:ebb37a249b5f 14 //go the the given position while updating the map
Ludwigfr 22:ebb37a249b5f 15 void go_to_point_with_angle(float target_x, float target_y, float target_angle);
Ludwigfr 43:ffd5a6d4dd48 16 //Updates sonar values
geotsam 24:8f4b820d8de8 17 void update_sonar_values(float leftMm, float frontMm, float rightMm);
Ludwigfr 22:ebb37a249b5f 18 //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 19 float compute_probability_t(float x, float y,float xs,float ys, float angleFromSonarPosition, float distanceObstacleDetected);
Ludwigfr 22:ebb37a249b5f 20 //print the map
Ludwigfr 22:ebb37a249b5f 21 void print_final_map();
Ludwigfr 25:572c9e9a8809 22 //print the map with the robot marked on it
Ludwigfr 25:572c9e9a8809 23 void print_final_map_with_robot_position();
Ludwigfr 39:dd8326ec75ce 24 //print the map with the robot and the target marked on it
Ludwigfr 39:dd8326ec75ce 25 void print_final_map_with_robot_position_and_target();
Ludwigfr 42:ab25bffdc32b 26 //go to a given line by updating angularLeft and angularRight
Ludwigfr 42:ab25bffdc32b 27 void go_to_line(float* angularLeft,float* angularRight,float line_a, float line_b, float line_c);
geotsam 33:78139f82ea74 28 //calculate virtual force field and move
Ludwigfr 42:ab25bffdc32b 29 void vff(bool* reached);
Ludwigfr 43:ffd5a6d4dd48 30 void test_got_to_line(bool* reached);
geotsam 0:8bffb51cc345 31
Ludwigfr 22:ebb37a249b5f 32 //MATHS heavy functions
Ludwigfr 22:ebb37a249b5f 33 float dist(float robot_x, float robot_y, float target_x, float target_y);
Ludwigfr 22:ebb37a249b5f 34 //returns the probability [0,1] that the cell is occupied from the log value lt
Ludwigfr 22:ebb37a249b5f 35 float log_to_proba(float lt);
Ludwigfr 22:ebb37a249b5f 36 //returns the log value that the cell is occupied from the probability value [0,1]
Ludwigfr 22:ebb37a249b5f 37 float proba_to_log(float p);
Ludwigfr 22:ebb37a249b5f 38 //returns the new log value
Ludwigfr 22:ebb37a249b5f 39 float compute_log_estimation_lt(float previousLogValue,float currentProbability,float originalLogvalue );
Ludwigfr 22:ebb37a249b5f 40 //makes the angle inAngle between 0 and 2pi
Ludwigfr 22:ebb37a249b5f 41 float rad_angle_check(float inAngle);
Ludwigfr 22:ebb37a249b5f 42 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 22:ebb37a249b5f 43 float compute_angle_between_vectors(float x, float y,float xs,float ys);
Ludwigfr 39:dd8326ec75ce 44 float x_robot_in_orthonormal_x(float x, float y);
Ludwigfr 39:dd8326ec75ce 45 float y_robot_in_orthonormal_y(float x, float y);
Ludwigfr 25:572c9e9a8809 46 float robot_center_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 47 float robot_center_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 48 float robot_sonar_front_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 49 float robot_sonar_front_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 50 float robot_sonar_right_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 51 float robot_sonar_right_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 52 float robot_sonar_left_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 53 float robot_sonar_left_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 54 float estimated_width_indice_in_orthonormal_x(int i);
Ludwigfr 25:572c9e9a8809 55 float estimated_height_indice_in_orthonormal_y(int j);
Ludwigfr 42:ab25bffdc32b 56 //update angleError,distanceFromTarget,d2, beta
Ludwigfr 42:ab25bffdc32b 57 void compute_angles_and_distance(float target_x, float target_y, float target_angle,float dt,float* angleError,float* distanceFromTarget,float* d2,float* beta);
Ludwigfr 42:ab25bffdc32b 58 //update angularLeft and angularRight
Ludwigfr 42:ab25bffdc32b 59 void compute_linear_angular_velocities(float angleError,float distanceFromTarget,float beta, float* angularLeft, float* angularRight);
Ludwigfr 32:d51928b58645 60 //update foceX and forceY if necessary
Ludwigfr 43:ffd5a6d4dd48 61 void update_force(int widthIndice, int heightIndice, float range, float* forceX, float* forceY, float xRobotOrtho, float yRobotOrtho );
Ludwigfr 32:d51928b58645 62 //compute the X and Y force
Ludwigfr 39:dd8326ec75ce 63 void compute_forceX_and_forceY(float* forceX, float* forceY);
Ludwigfr 42:ab25bffdc32b 64 //robotX and robotY are from Odometria, calculate line_a, line_b and line_c
Ludwigfr 42:ab25bffdc32b 65 void calculate_line(float forceX, float forceY, float robotX, float robotY,float *line_a, float *line_b, float *line_c);
Ludwigfr 43:ffd5a6d4dd48 66 //return 1 if positiv, -1 if negativ
Ludwigfr 43:ffd5a6d4dd48 67 float sign1(float value);
Ludwigfr 43:ffd5a6d4dd48 68 //return 1 if positiv, 0 if negativ
Ludwigfr 43:ffd5a6d4dd48 69 int sign2(float value);
Ludwigfr 43:ffd5a6d4dd48 70 void set_target_to(float x, float y);
Ludwigfr 44:e2bd06f94dc0 71 void try_to_reach_target();
AurelienBernier 8:109314be5b68 72
Ludwigfr 22:ebb37a249b5f 73 const float pi=3.14159;
Ludwigfr 32:d51928b58645 74
Ludwigfr 22:ebb37a249b5f 75 //spec of the sonar
Ludwigfr 44:e2bd06f94dc0 76 //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
geotsam 24:8f4b820d8de8 77 const float RANGE_SONAR=50;//cm
geotsam 24:8f4b820d8de8 78 const float RANGE_SONAR_MIN=10;//Rmin cm
geotsam 24:8f4b820d8de8 79 const float INCERTITUDE_SONAR=10;//cm
geotsam 24:8f4b820d8de8 80 const float ANGLE_SONAR=pi/3;//Omega rad
Ludwigfr 22:ebb37a249b5f 81
Ludwigfr 44:e2bd06f94dc0 82 //those distance and angle are approximation in need of measurements, in the orthonormal space
geotsam 24:8f4b820d8de8 83 const float ANGLE_FRONT_TO_LEFT=10*pi/36;//50 degrees
Ludwigfr 27:07bde633af72 84 const float DISTANCE_SONAR_LEFT_X=-4;
geotsam 24:8f4b820d8de8 85 const float DISTANCE_SONAR_LEFT_Y=4;
Ludwigfr 22:ebb37a249b5f 86
geotsam 24:8f4b820d8de8 87 const float ANGLE_FRONT_TO_RIGHT=-10*pi/36;//-50 degrees
Ludwigfr 27:07bde633af72 88 const float DISTANCE_SONAR_RIGHT_X=4;
geotsam 24:8f4b820d8de8 89 const float DISTANCE_SONAR_RIGHT_Y=4;
AurelienBernier 11:e641aa08c92e 90
Ludwigfr 22:ebb37a249b5f 91 const float ANGLE_FRONT_TO_FRONT=0;
Ludwigfr 22:ebb37a249b5f 92 const float DISTANCE_SONAR_FRONT_X=0;
Ludwigfr 22:ebb37a249b5f 93 const float DISTANCE_SONAR_FRONT_Y=5;
Ludwigfr 22:ebb37a249b5f 94
Ludwigfr 22:ebb37a249b5f 95 //TODO adjust the size of the map for computation time (25*25?)
Ludwigfr 32:d51928b58645 96 const float WIDTH_ARENA=120;//cm
Ludwigfr 32:d51928b58645 97 const float HEIGHT_ARENA=90;//cm
geotsam 24:8f4b820d8de8 98
geotsam 24:8f4b820d8de8 99 //const int SIZE_MAP=25;
Ludwigfr 32:d51928b58645 100 const int NB_CELL_WIDTH=24;
Ludwigfr 32:d51928b58645 101 const int NB_CELL_HEIGHT=18;
Ludwigfr 22:ebb37a249b5f 102
Ludwigfr 44:e2bd06f94dc0 103 //position and orientation of the robot when put on the map (ODOMETRY doesn't know those) it's in the robot space
Ludwigfr 31:352be78e1aad 104 //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 35:c8f224ab153f 105 //const float DEFAULT_X=HEIGHT_ARENA/2;
Ludwigfr 35:c8f224ab153f 106 //const float DEFAULT_Y=WIDTH_ARENA/2;
Ludwigfr 40:f5e212d9f900 107 const float DEFAULT_X=20;//lower right
Ludwigfr 40:f5e212d9f900 108 const float DEFAULT_Y=20;//lower right
Ludwigfr 27:07bde633af72 109 const float DEFAULT_THETA=0;
Ludwigfr 22:ebb37a249b5f 110
geotsam 24:8f4b820d8de8 111 //used to create the map 250 represent the 250cm of the square where the robot is tested
geotsam 24:8f4b820d8de8 112 //float sizeCell=250/(float)SIZE_MAP;
Ludwigfr 27:07bde633af72 113 float sizeCellWidth=WIDTH_ARENA/(float)NB_CELL_WIDTH;
Ludwigfr 27:07bde633af72 114 float sizeCellHeight=HEIGHT_ARENA/(float)NB_CELL_HEIGHT;
geotsam 24:8f4b820d8de8 115
geotsam 24:8f4b820d8de8 116 float map[NB_CELL_WIDTH][NB_CELL_HEIGHT];//contains the log values for each cell
geotsam 24:8f4b820d8de8 117 float initialLogValues[NB_CELL_WIDTH][NB_CELL_HEIGHT];
Ludwigfr 22:ebb37a249b5f 118
Ludwigfr 22:ebb37a249b5f 119 //Diameter of a wheel and distance between the 2
Ludwigfr 22:ebb37a249b5f 120 const float RADIUS_WHEELS=3.25;
Ludwigfr 22:ebb37a249b5f 121 const float DISTANCE_WHEELS=7.2;
Ludwigfr 22:ebb37a249b5f 122
Ludwigfr 39:dd8326ec75ce 123 const int MAX_SPEED=200;//TODO TWEAK THE SPEED SO IT DOES NOT FUCK UP
Ludwigfr 39:dd8326ec75ce 124
Ludwigfr 39:dd8326ec75ce 125 //TODO all those global variables are making me sad
Ludwigfr 43:ffd5a6d4dd48 126 const float KRHO=12, KA=30, KB=-13, KV=300, KH=150; //Kappa values
Ludwigfr 43:ffd5a6d4dd48 127
Ludwigfr 43:ffd5a6d4dd48 128 //CONSTANT FORCE FIELD
Ludwigfr 43:ffd5a6d4dd48 129 const float FORCE_CONSTANT_REPULSION=50;//TODO tweak it
Ludwigfr 43:ffd5a6d4dd48 130 const float FORCE_CONSTANT_ATTRACTION=25;//TODO tweak it
Ludwigfr 43:ffd5a6d4dd48 131 const float RANGE_FORCE=50;//TODO tweak it
geotsam 33:78139f82ea74 132
Ludwigfr 39:dd8326ec75ce 133 //those target are in comparaison to the robot (for exemple a robot in 50,50 with a taget of 0,0 would not need to move)
Ludwigfr 44:e2bd06f94dc0 134 float targetX;//this is in the robot space top left
Ludwigfr 44:e2bd06f94dc0 135 float targetY;//this is in the robot space top left
Ludwigfr 43:ffd5a6d4dd48 136 float targetXOrhto;
Ludwigfr 43:ffd5a6d4dd48 137 float targetYOrhto;
geotsam 33:78139f82ea74 138
geotsam 0:8bffb51cc345 139 int main(){
Ludwigfr 44:e2bd06f94dc0 140 initialise_parameters();
Ludwigfr 44:e2bd06f94dc0 141 //try to reach the target
Ludwigfr 44:e2bd06f94dc0 142 set_target_to(50,0);//up right
Ludwigfr 44:e2bd06f94dc0 143 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 144 try_to_reach_target();
Ludwigfr 44:e2bd06f94dc0 145 set_target_to(-50,0);//lower right
Ludwigfr 44:e2bd06f94dc0 146 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 147 try_to_reach_target();
Ludwigfr 44:e2bd06f94dc0 148 set_target_to(50,50);//up left
Ludwigfr 44:e2bd06f94dc0 149 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 150 try_to_reach_target();
Ludwigfr 44:e2bd06f94dc0 151 //print the map forever
Ludwigfr 44:e2bd06f94dc0 152 while(1){
Ludwigfr 44:e2bd06f94dc0 153 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 154 }
Ludwigfr 44:e2bd06f94dc0 155 }
Ludwigfr 44:e2bd06f94dc0 156
Ludwigfr 44:e2bd06f94dc0 157 void try_to_reach_target(){
Ludwigfr 44:e2bd06f94dc0 158 bool reached=false;
Ludwigfr 44:e2bd06f94dc0 159 int print=0;
Ludwigfr 39:dd8326ec75ce 160 while (!reached) {
Ludwigfr 43:ffd5a6d4dd48 161 vff(&reached);
Ludwigfr 43:ffd5a6d4dd48 162 //test_got_to_line(&reached);
Ludwigfr 44:e2bd06f94dc0 163 if(print==10){
Ludwigfr 44:e2bd06f94dc0 164 leftMotor(1,0);
Ludwigfr 44:e2bd06f94dc0 165 rightMotor(1,0);
Ludwigfr 44:e2bd06f94dc0 166 pc.printf("\r\n theta=%f", theta);
Ludwigfr 44:e2bd06f94dc0 167 pc.printf("\r\n IN ORTHO:");
Ludwigfr 44:e2bd06f94dc0 168 pc.printf("\r\n X Robot=%f", robot_center_x_in_orthonormal_x());
Ludwigfr 44:e2bd06f94dc0 169 pc.printf("\r\n Y Robot=%f", robot_center_y_in_orthonormal_y());
Ludwigfr 44:e2bd06f94dc0 170 pc.printf("\r\n X Target=%f", targetXOrhto);
Ludwigfr 44:e2bd06f94dc0 171 pc.printf("\r\n Y Target=%f", targetYOrhto);
Ludwigfr 44:e2bd06f94dc0 172 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 173 print=0;
Ludwigfr 44:e2bd06f94dc0 174 }else
Ludwigfr 44:e2bd06f94dc0 175 print+=1;
Ludwigfr 39:dd8326ec75ce 176 }
Ludwigfr 39:dd8326ec75ce 177 //Stop at the end
Ludwigfr 39:dd8326ec75ce 178 leftMotor(1,0);
Ludwigfr 39:dd8326ec75ce 179 rightMotor(1,0);
Ludwigfr 44:e2bd06f94dc0 180 pc.printf("\r\n target reached");
Ludwigfr 39:dd8326ec75ce 181 }
Ludwigfr 39:dd8326ec75ce 182
Ludwigfr 43:ffd5a6d4dd48 183 void set_target_to(float x, float y){
Ludwigfr 43:ffd5a6d4dd48 184 targetX=x;
Ludwigfr 43:ffd5a6d4dd48 185 targetY=y;
Ludwigfr 43:ffd5a6d4dd48 186 targetXOrhto=x_robot_in_orthonormal_x(targetX,targetY);
Ludwigfr 43:ffd5a6d4dd48 187 targetYOrhto=y_robot_in_orthonormal_y(targetX,targetY);
Ludwigfr 43:ffd5a6d4dd48 188 }
Ludwigfr 43:ffd5a6d4dd48 189
Ludwigfr 39:dd8326ec75ce 190 void initialise_parameters(){
geotsam 13:41f75c132135 191 i2c1.frequency(100000);
AurelienBernier 2:ea61e801e81f 192 initRobot(); //Initializing the robot
geotsam 0:8bffb51cc345 193 pc.baud(9600); // baud for the pc communication
geotsam 0:8bffb51cc345 194
Ludwigfr 22:ebb37a249b5f 195 measure_always_on();//TODO check if needed
geotsam 24:8f4b820d8de8 196 wait(0.5);
Ludwigfr 39:dd8326ec75ce 197 //fill the map with the initial log values
Ludwigfr 22:ebb37a249b5f 198 fill_initial_log_values();
geotsam 13:41f75c132135 199
Ludwigfr 31:352be78e1aad 200 theta=DEFAULT_THETA;
Ludwigfr 35:c8f224ab153f 201 X=DEFAULT_X;
Ludwigfr 35:c8f224ab153f 202 Y=DEFAULT_Y;
AurelienBernier 8:109314be5b68 203 }
AurelienBernier 8:109314be5b68 204
Ludwigfr 22:ebb37a249b5f 205 //fill initialLogValues with the values we already know (here the bordurs)
Ludwigfr 22:ebb37a249b5f 206 void fill_initial_log_values(){
Ludwigfr 31:352be78e1aad 207 //Fill map, we know the border are occupied
geotsam 24:8f4b820d8de8 208 for (int i = 0; i<NB_CELL_WIDTH; i++) {
geotsam 24:8f4b820d8de8 209 for (int j = 0; j<NB_CELL_HEIGHT; j++) {
geotsam 24:8f4b820d8de8 210 if(j==0 || j==NB_CELL_HEIGHT-1 || i==0 || i==NB_CELL_WIDTH-1)
Ludwigfr 22:ebb37a249b5f 211 initialLogValues[i][j] = proba_to_log(1);
Ludwigfr 22:ebb37a249b5f 212 else
Ludwigfr 22:ebb37a249b5f 213 initialLogValues[i][j] = proba_to_log(0.5);
AurelienBernier 21:62154d644531 214 }
Ludwigfr 22:ebb37a249b5f 215 }
AurelienBernier 8:109314be5b68 216 }
AurelienBernier 8:109314be5b68 217
Ludwigfr 22:ebb37a249b5f 218 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 22:ebb37a249b5f 219 void randomize_and_map() {
geotsam 24:8f4b820d8de8 220 //TODO check that it's aurelien's work
Ludwigfr 27:07bde633af72 221 float target_x = (rand()%(int)(HEIGHT_ARENA*10))/10;//for decimal precision
Ludwigfr 27:07bde633af72 222 float target_y = (rand()%(int)(WIDTH_ARENA*10))/10;
geotsam 30:95d8d3e2b81b 223 float target_angle = 2*((float)(rand()%31416)-15708)/10000.0;
geotsam 24:8f4b820d8de8 224
Ludwigfr 43:ffd5a6d4dd48 225 go_to_point_with_angle(targetX, targetY, target_angle);
AurelienBernier 19:dbc5fbad4975 226 }
AurelienBernier 19:dbc5fbad4975 227
geotsam 29:224e9e686f7b 228
geotsam 29:224e9e686f7b 229 void do_half_flip(){
Ludwigfr 28:f884979a02fa 230 Odometria();
geotsam 29:224e9e686f7b 231 float theta_plus_h_pi=theta+pi/2;//theta is between -pi and pi
geotsam 29:224e9e686f7b 232 if(theta_plus_h_pi > pi)
geotsam 29:224e9e686f7b 233 theta_plus_h_pi=-(2*pi-theta_plus_h_pi);
geotsam 29:224e9e686f7b 234 leftMotor(0,100);
geotsam 29:224e9e686f7b 235 rightMotor(1,100);
geotsam 29:224e9e686f7b 236 while(abs(theta_plus_h_pi-theta)>0.05){
Ludwigfr 28:f884979a02fa 237 Odometria();
geotsam 29:224e9e686f7b 238 // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
Ludwigfr 28:f884979a02fa 239 }
Ludwigfr 28:f884979a02fa 240 leftMotor(1,0);
Ludwigfr 28:f884979a02fa 241 rightMotor(1,0);
Ludwigfr 28:f884979a02fa 242 }
Ludwigfr 28:f884979a02fa 243
Ludwigfr 22:ebb37a249b5f 244 //go the the given position while updating the map
Ludwigfr 22:ebb37a249b5f 245 //TODO clean this procedure it's ugly as hell and too long
Ludwigfr 22:ebb37a249b5f 246 void go_to_point_with_angle(float target_x, float target_y, float target_angle) {
Ludwigfr 43:ffd5a6d4dd48 247 set_target_to(target_x,target_y);
Ludwigfr 28:f884979a02fa 248 Odometria();
Ludwigfr 42:ab25bffdc32b 249 float angleError = atan2((target_y-Y),(target_x-X))-theta;
Ludwigfr 42:ab25bffdc32b 250 angleError = atan(sin(angleError)/cos(angleError));
Ludwigfr 43:ffd5a6d4dd48 251 float distanceFromTarget = dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto);
Ludwigfr 42:ab25bffdc32b 252 float beta = -angleError-theta+target_angle;
geotsam 24:8f4b820d8de8 253 //beta = atan(sin(beta)/cos(beta));
Ludwigfr 27:07bde633af72 254 bool keep_going=true;
Ludwigfr 40:f5e212d9f900 255 float leftMm;
Ludwigfr 40:f5e212d9f900 256 float frontMm;
Ludwigfr 40:f5e212d9f900 257 float rightMm;
Ludwigfr 42:ab25bffdc32b 258 float angularLeft=0;
Ludwigfr 42:ab25bffdc32b 259 float angularRight=0;
Ludwigfr 42:ab25bffdc32b 260 Timer t;
Ludwigfr 42:ab25bffdc32b 261 float dt=0.5;//TODO better name please
Ludwigfr 42:ab25bffdc32b 262 float d2;//TODO better name please
geotsam 24:8f4b820d8de8 263 do {
AurelienBernier 6:afde4b08166b 264 //Timer stuff
AurelienBernier 6:afde4b08166b 265 dt = t.read();
AurelienBernier 6:afde4b08166b 266 t.reset();
AurelienBernier 6:afde4b08166b 267 t.start();
AurelienBernier 6:afde4b08166b 268
geotsam 14:d58f2bdbf42e 269 //Updating X,Y and theta with the odometry values
geotsam 14:d58f2bdbf42e 270 Odometria();
geotsam 24:8f4b820d8de8 271 leftMm = get_distance_left_sensor();
geotsam 24:8f4b820d8de8 272 frontMm = get_distance_front_sensor();
geotsam 24:8f4b820d8de8 273 rightMm = get_distance_right_sensor();
geotsam 24:8f4b820d8de8 274
geotsam 24:8f4b820d8de8 275 //pc.printf("\n\r leftMm=%f", leftMm);
geotsam 24:8f4b820d8de8 276 //pc.printf("\n\r frontMm=%f", frontMm);
geotsam 24:8f4b820d8de8 277 //pc.printf("\n\r rightMm=%f", rightMm);
Ludwigfr 27:07bde633af72 278
Ludwigfr 27:07bde633af72 279 //if in dangerzone
geotsam 29:224e9e686f7b 280 if(frontMm < 120 || leftMm <120 || rightMm <120){
geotsam 24:8f4b820d8de8 281 leftMotor(1,0);
geotsam 24:8f4b820d8de8 282 rightMotor(1,0);
Ludwigfr 27:07bde633af72 283 update_sonar_values(leftMm, frontMm, rightMm);
geotsam 29:224e9e686f7b 284 //TODO Giorgos maybe you can also test the do_half_flip() function
geotsam 24:8f4b820d8de8 285 Odometria();
Ludwigfr 27:07bde633af72 286 //do a flip TODO
Ludwigfr 27:07bde633af72 287 keep_going=false;
geotsam 29:224e9e686f7b 288 do_half_flip();
Ludwigfr 27:07bde633af72 289 }else{
Ludwigfr 27:07bde633af72 290 //if not in danger zone continue as usual
Ludwigfr 27:07bde633af72 291 update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 42:ab25bffdc32b 292 compute_angles_and_distance(target_x, target_y, target_angle,dt,&angleError,&distanceFromTarget,&d2,&beta);//Compute the angles and the distance from target
Ludwigfr 42:ab25bffdc32b 293 compute_linear_angular_velocities(angleError,distanceFromTarget,beta,&angularLeft,&angularRight); //Using the angles and distance, compute the velocities needed (linear & angular)
Ludwigfr 42:ab25bffdc32b 294
Ludwigfr 27:07bde633af72 295 //pc.printf("\n\r X=%f", X);
Ludwigfr 27:07bde633af72 296 //pc.printf("\n\r Y=%f", Y);
Ludwigfr 27:07bde633af72 297
Ludwigfr 42:ab25bffdc32b 298 //pc.printf("\n\r a_r=%f", angularRight);
Ludwigfr 42:ab25bffdc32b 299 //pc.printf("\n\r a_l=%f", angularLeft);
Ludwigfr 27:07bde633af72 300
Ludwigfr 27:07bde633af72 301 //Updating motor velocities
Ludwigfr 43:ffd5a6d4dd48 302 leftMotor(sign2(angularLeft),abs(angularLeft));
Ludwigfr 43:ffd5a6d4dd48 303 rightMotor(sign2(angularRight),abs(angularRight));
Ludwigfr 27:07bde633af72 304
Ludwigfr 27:07bde633af72 305 wait(0.2);
Ludwigfr 27:07bde633af72 306 //Timer stuff
Ludwigfr 27:07bde633af72 307 t.stop();
AurelienBernier 11:e641aa08c92e 308 }
Ludwigfr 27:07bde633af72 309 } while(d2>1 && (abs(target_angle-theta)>0.01) && keep_going);
geotsam 24:8f4b820d8de8 310
geotsam 24:8f4b820d8de8 311 //Stop at the end
geotsam 24:8f4b820d8de8 312 leftMotor(1,0);
geotsam 24:8f4b820d8de8 313 rightMotor(1,0);
Ludwigfr 22:ebb37a249b5f 314 }
Ludwigfr 22:ebb37a249b5f 315
Ludwigfr 22:ebb37a249b5f 316 //Updates sonar values
geotsam 24:8f4b820d8de8 317 void update_sonar_values(float leftMm, float frontMm, float rightMm){
Ludwigfr 22:ebb37a249b5f 318 float currProba;
Ludwigfr 25:572c9e9a8809 319 float i_in_orthonormal;
Ludwigfr 25:572c9e9a8809 320 float j_in_orthonormal;
geotsam 24:8f4b820d8de8 321 for(int i=0;i<NB_CELL_WIDTH;i++){
geotsam 24:8f4b820d8de8 322 for(int j=0;j<NB_CELL_HEIGHT;j++){
Ludwigfr 44:e2bd06f94dc0 323 //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)
geotsam 24:8f4b820d8de8 324 //check that again
Ludwigfr 22:ebb37a249b5f 325 //compute for front sonar
Ludwigfr 25:572c9e9a8809 326 i_in_orthonormal=estimated_width_indice_in_orthonormal_x(i);
Ludwigfr 25:572c9e9a8809 327 j_in_orthonormal=estimated_height_indice_in_orthonormal_y(j);
Ludwigfr 25:572c9e9a8809 328
Ludwigfr 25:572c9e9a8809 329 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 330 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 331 //compute for right sonar
Ludwigfr 25:572c9e9a8809 332 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 333 map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];
Ludwigfr 22:ebb37a249b5f 334 //compute for left sonar
Ludwigfr 25:572c9e9a8809 335 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 336 map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];
Ludwigfr 22:ebb37a249b5f 337 }
Ludwigfr 22:ebb37a249b5f 338 }
Ludwigfr 22:ebb37a249b5f 339 }
Ludwigfr 22:ebb37a249b5f 340
Ludwigfr 25:572c9e9a8809 341 //ODOMETRIA MUST HAVE BEEN CALLED
Ludwigfr 22:ebb37a249b5f 342 //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 343 float compute_probability_t(float x, float y,float xs,float ys, float angleFromSonarPosition, float distanceObstacleDetected){
Ludwigfr 22:ebb37a249b5f 344
Ludwigfr 42:ab25bffdc32b 345 float anglePointToSonar=compute_angle_between_vectors(x,y,xs,ys);//angle beetween the point and the sonar beam
Ludwigfr 42:ab25bffdc32b 346 float alphaBeforeAdjustment=anglePointToSonar-theta-angleFromSonarPosition;
Ludwigfr 42:ab25bffdc32b 347 anglePointToSonar=rad_angle_check(alphaBeforeAdjustment);//TODO I feel you don't need to do that but I m not sure
Ludwigfr 22:ebb37a249b5f 348 float distancePointToSonar=sqrt(pow(x-xs,2)+pow(y-ys,2));
Ludwigfr 22:ebb37a249b5f 349
Ludwigfr 22:ebb37a249b5f 350 //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS
Ludwigfr 22:ebb37a249b5f 351 //check if absolute difference between the angles is no more than Omega/2
Ludwigfr 42:ab25bffdc32b 352 if( distancePointToSonar < (RANGE_SONAR)&& (anglePointToSonar <= ANGLE_SONAR/2 || anglePointToSonar >= rad_angle_check(-ANGLE_SONAR/2))){
Ludwigfr 22:ebb37a249b5f 353 if( distancePointToSonar < (distanceObstacleDetected - INCERTITUDE_SONAR)){
Ludwigfr 22:ebb37a249b5f 354 //point before obstacle, probably empty
Ludwigfr 22:ebb37a249b5f 355 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 356 float Ea=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2);
Ludwigfr 22:ebb37a249b5f 357 float Er;
Ludwigfr 22:ebb37a249b5f 358 if(distancePointToSonar < RANGE_SONAR_MIN){
Ludwigfr 22:ebb37a249b5f 359 //point before minimum sonar range
Ludwigfr 22:ebb37a249b5f 360 Er=0.f;
Ludwigfr 22:ebb37a249b5f 361 }else{
Ludwigfr 22:ebb37a249b5f 362 //point after minimum sonar range
Ludwigfr 22:ebb37a249b5f 363 Er=1.f-pow((distancePointToSonar-RANGE_SONAR_MIN)/(distanceObstacleDetected-INCERTITUDE_SONAR-RANGE_SONAR_MIN),2);
Ludwigfr 22:ebb37a249b5f 364 }
Ludwigfr 22:ebb37a249b5f 365 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 366 return (1.f-Er*Ea)/2.f;
Ludwigfr 22:ebb37a249b5f 367 }else{
Ludwigfr 22:ebb37a249b5f 368 //probably occupied
Ludwigfr 22:ebb37a249b5f 369 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 370 float Oa=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2);
Ludwigfr 22:ebb37a249b5f 371 float Or;
Ludwigfr 22:ebb37a249b5f 372 if( distancePointToSonar <= (distanceObstacleDetected + INCERTITUDE_SONAR)){
Ludwigfr 22:ebb37a249b5f 373 //point between distanceObstacleDetected +- INCERTITUDE_SONAR
Ludwigfr 22:ebb37a249b5f 374 Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(INCERTITUDE_SONAR),2);
Ludwigfr 22:ebb37a249b5f 375 }else{
Ludwigfr 22:ebb37a249b5f 376 //point after in range of the sonar but after the zone detected
Ludwigfr 22:ebb37a249b5f 377 Or=0;
Ludwigfr 22:ebb37a249b5f 378 }
Ludwigfr 22:ebb37a249b5f 379 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 380 return (1+Or*Oa)/2;
Ludwigfr 22:ebb37a249b5f 381 }
Ludwigfr 22:ebb37a249b5f 382 }else{
Ludwigfr 25:572c9e9a8809 383 //not checked by the sonar
Ludwigfr 22:ebb37a249b5f 384 return 0.5;
AurelienBernier 19:dbc5fbad4975 385 }
Ludwigfr 22:ebb37a249b5f 386 }
Ludwigfr 22:ebb37a249b5f 387
Ludwigfr 25:572c9e9a8809 388 void print_final_map() {
Ludwigfr 22:ebb37a249b5f 389 float currProba;
geotsam 24:8f4b820d8de8 390 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 391 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
geotsam 24:8f4b820d8de8 392 for (int x= 0; x<NB_CELL_WIDTH; x++) {
geotsam 24:8f4b820d8de8 393 currProba=log_to_proba(map[x][y]);
geotsam 24:8f4b820d8de8 394 if ( currProba < 0.5) {
geotsam 29:224e9e686f7b 395 pc.printf(" ");
Ludwigfr 22:ebb37a249b5f 396 } else {
Ludwigfr 22:ebb37a249b5f 397 if(currProba==0.5)
geotsam 24:8f4b820d8de8 398 pc.printf(" . ");
Ludwigfr 22:ebb37a249b5f 399 else
geotsam 29:224e9e686f7b 400 pc.printf(" X ");
Ludwigfr 22:ebb37a249b5f 401 }
Ludwigfr 22:ebb37a249b5f 402 }
geotsam 24:8f4b820d8de8 403 pc.printf("\n\r");
Ludwigfr 22:ebb37a249b5f 404 }
Ludwigfr 22:ebb37a249b5f 405 }
Ludwigfr 22:ebb37a249b5f 406
Ludwigfr 25:572c9e9a8809 407 void print_final_map_with_robot_position() {
geotsam 24:8f4b820d8de8 408 float currProba;
Ludwigfr 25:572c9e9a8809 409 Odometria();
Ludwigfr 25:572c9e9a8809 410 float Xrobot=robot_center_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 411 float Yrobot=robot_center_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 412
Ludwigfr 25:572c9e9a8809 413 float heightIndiceInOrthonormal;
Ludwigfr 25:572c9e9a8809 414 float widthIndiceInOrthonormal;
Ludwigfr 25:572c9e9a8809 415
Ludwigfr 27:07bde633af72 416 float widthMalus=-(3*sizeCellWidth/2);
Ludwigfr 27:07bde633af72 417 float widthBonus=sizeCellWidth/2;
Ludwigfr 25:572c9e9a8809 418
Ludwigfr 27:07bde633af72 419 float heightMalus=-(3*sizeCellHeight/2);
Ludwigfr 27:07bde633af72 420 float heightBonus=sizeCellHeight/2;
Ludwigfr 25:572c9e9a8809 421
geotsam 24:8f4b820d8de8 422 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 423 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
geotsam 24:8f4b820d8de8 424 for (int x= 0; x<NB_CELL_WIDTH; x++) {
Ludwigfr 25:572c9e9a8809 425 heightIndiceInOrthonormal=estimated_height_indice_in_orthonormal_y(y);
Ludwigfr 25:572c9e9a8809 426 widthIndiceInOrthonormal=estimated_width_indice_in_orthonormal_x(x);
Ludwigfr 27:07bde633af72 427 if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 27:07bde633af72 428 pc.printf(" R ");
Ludwigfr 25:572c9e9a8809 429 else{
Ludwigfr 25:572c9e9a8809 430 currProba=log_to_proba(map[x][y]);
Ludwigfr 25:572c9e9a8809 431 if ( currProba < 0.5)
geotsam 29:224e9e686f7b 432 pc.printf(" ");
Ludwigfr 25:572c9e9a8809 433 else{
Ludwigfr 25:572c9e9a8809 434 if(currProba==0.5)
Ludwigfr 27:07bde633af72 435 pc.printf(" . ");
Ludwigfr 25:572c9e9a8809 436 else
geotsam 29:224e9e686f7b 437 pc.printf(" X ");
Ludwigfr 25:572c9e9a8809 438 }
geotsam 24:8f4b820d8de8 439 }
geotsam 24:8f4b820d8de8 440 }
geotsam 24:8f4b820d8de8 441 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 442 }
geotsam 24:8f4b820d8de8 443 }
Ludwigfr 22:ebb37a249b5f 444
Ludwigfr 39:dd8326ec75ce 445 void print_final_map_with_robot_position_and_target() {
Ludwigfr 39:dd8326ec75ce 446 float currProba;
Ludwigfr 39:dd8326ec75ce 447 Odometria();
Ludwigfr 39:dd8326ec75ce 448 float Xrobot=robot_center_x_in_orthonormal_x();
Ludwigfr 39:dd8326ec75ce 449 float Yrobot=robot_center_y_in_orthonormal_y();
Ludwigfr 39:dd8326ec75ce 450
Ludwigfr 39:dd8326ec75ce 451 float heightIndiceInOrthonormal;
Ludwigfr 39:dd8326ec75ce 452 float widthIndiceInOrthonormal;
Ludwigfr 39:dd8326ec75ce 453
Ludwigfr 39:dd8326ec75ce 454 float widthMalus=-(3*sizeCellWidth/2);
Ludwigfr 39:dd8326ec75ce 455 float widthBonus=sizeCellWidth/2;
Ludwigfr 39:dd8326ec75ce 456
Ludwigfr 39:dd8326ec75ce 457 float heightMalus=-(3*sizeCellHeight/2);
Ludwigfr 39:dd8326ec75ce 458 float heightBonus=sizeCellHeight/2;
Ludwigfr 39:dd8326ec75ce 459
Ludwigfr 39:dd8326ec75ce 460 pc.printf("\n\r");
Ludwigfr 39:dd8326ec75ce 461 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
Ludwigfr 39:dd8326ec75ce 462 for (int x= 0; x<NB_CELL_WIDTH; x++) {
Ludwigfr 39:dd8326ec75ce 463 heightIndiceInOrthonormal=estimated_height_indice_in_orthonormal_y(y);
Ludwigfr 39:dd8326ec75ce 464 widthIndiceInOrthonormal=estimated_width_indice_in_orthonormal_x(x);
Ludwigfr 39:dd8326ec75ce 465 if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 39:dd8326ec75ce 466 pc.printf(" R ");
Ludwigfr 39:dd8326ec75ce 467 else{
Ludwigfr 43:ffd5a6d4dd48 468 if(targetYOrhto >= (heightIndiceInOrthonormal+heightMalus) && targetYOrhto <= (heightIndiceInOrthonormal+heightBonus) && targetXOrhto >= (widthIndiceInOrthonormal+widthMalus) && targetXOrhto <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 39:dd8326ec75ce 469 pc.printf(" T ");
Ludwigfr 39:dd8326ec75ce 470 else{
Ludwigfr 39:dd8326ec75ce 471 currProba=log_to_proba(map[x][y]);
Ludwigfr 39:dd8326ec75ce 472 if ( currProba < 0.5)
Ludwigfr 39:dd8326ec75ce 473 pc.printf(" ");
Ludwigfr 39:dd8326ec75ce 474 else{
Ludwigfr 39:dd8326ec75ce 475 if(currProba==0.5)
Ludwigfr 39:dd8326ec75ce 476 pc.printf(" . ");
Ludwigfr 39:dd8326ec75ce 477 else
Ludwigfr 39:dd8326ec75ce 478 pc.printf(" X ");
Ludwigfr 39:dd8326ec75ce 479 }
Ludwigfr 39:dd8326ec75ce 480 }
Ludwigfr 39:dd8326ec75ce 481 }
Ludwigfr 39:dd8326ec75ce 482 }
Ludwigfr 39:dd8326ec75ce 483 pc.printf("\n\r");
Ludwigfr 39:dd8326ec75ce 484 }
Ludwigfr 39:dd8326ec75ce 485 }
Ludwigfr 39:dd8326ec75ce 486
Ludwigfr 22:ebb37a249b5f 487 //MATHS heavy functions
Ludwigfr 22:ebb37a249b5f 488 /**********************************************************************/
Ludwigfr 22:ebb37a249b5f 489 //Distance computation function
Ludwigfr 22:ebb37a249b5f 490 float dist(float robot_x, float robot_y, float target_x, float target_y){
Ludwigfr 22:ebb37a249b5f 491 return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2));
Ludwigfr 22:ebb37a249b5f 492 }
Ludwigfr 22:ebb37a249b5f 493
geotsam 24:8f4b820d8de8 494 //returns the probability [0,1] that the cell is occupied from the log valAue lt
Ludwigfr 22:ebb37a249b5f 495 float log_to_proba(float lt){
Ludwigfr 22:ebb37a249b5f 496 return 1-1/(1+exp(lt));
Ludwigfr 22:ebb37a249b5f 497 }
Ludwigfr 22:ebb37a249b5f 498
Ludwigfr 22:ebb37a249b5f 499 //returns the log value that the cell is occupied from the probability value [0,1]
Ludwigfr 22:ebb37a249b5f 500 float proba_to_log(float p){
Ludwigfr 22:ebb37a249b5f 501 return log(p/(1-p));
Ludwigfr 22:ebb37a249b5f 502 }
Ludwigfr 22:ebb37a249b5f 503
Ludwigfr 22:ebb37a249b5f 504 //returns the new log value
Ludwigfr 22:ebb37a249b5f 505 float compute_log_estimation_lt(float previousLogValue,float currentProbability,float originalLogvalue ){
Ludwigfr 22:ebb37a249b5f 506 return previousLogValue+proba_to_log(currentProbability)-originalLogvalue;
Ludwigfr 22:ebb37a249b5f 507 }
Ludwigfr 22:ebb37a249b5f 508
Ludwigfr 22:ebb37a249b5f 509 //makes the angle inAngle between 0 and 2pi
Ludwigfr 22:ebb37a249b5f 510 float rad_angle_check(float inAngle){
Ludwigfr 22:ebb37a249b5f 511 //cout<<"before :"<<inAngle;
Ludwigfr 22:ebb37a249b5f 512 if(inAngle > 0){
Ludwigfr 22:ebb37a249b5f 513 while(inAngle > (2*pi))
Ludwigfr 22:ebb37a249b5f 514 inAngle-=2*pi;
Ludwigfr 22:ebb37a249b5f 515 }else{
Ludwigfr 22:ebb37a249b5f 516 while(inAngle < 0)
Ludwigfr 22:ebb37a249b5f 517 inAngle+=2*pi;
Ludwigfr 22:ebb37a249b5f 518 }
Ludwigfr 22:ebb37a249b5f 519 //cout<<" after :"<<inAngle<<endl;
Ludwigfr 22:ebb37a249b5f 520 return inAngle;
Ludwigfr 22:ebb37a249b5f 521 }
Ludwigfr 22:ebb37a249b5f 522
Ludwigfr 22:ebb37a249b5f 523 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 22:ebb37a249b5f 524 float compute_angle_between_vectors(float x, float y,float xs,float ys){
Ludwigfr 22:ebb37a249b5f 525 //alpha angle between ->x and ->SA
Ludwigfr 22:ebb37a249b5f 526 //vector S to A ->SA
Ludwigfr 22:ebb37a249b5f 527 float vSAx=x-xs;
Ludwigfr 22:ebb37a249b5f 528 float vSAy=y-ys;
Ludwigfr 22:ebb37a249b5f 529 //norme SA
Ludwigfr 22:ebb37a249b5f 530 float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2));
Ludwigfr 22:ebb37a249b5f 531 //vector ->x (1,0)
Ludwigfr 22:ebb37a249b5f 532 float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;;
Ludwigfr 22:ebb37a249b5f 533 //vector ->y (0,1)
Ludwigfr 22:ebb37a249b5f 534 float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx;
Ludwigfr 22:ebb37a249b5f 535 if (sinAlpha < 0)
Ludwigfr 22:ebb37a249b5f 536 return -acos(cosAlpha);
Ludwigfr 22:ebb37a249b5f 537 else
Ludwigfr 22:ebb37a249b5f 538 return acos(cosAlpha);
Ludwigfr 25:572c9e9a8809 539 }
Ludwigfr 38:3c9f8cbf5250 540 /*
Ludwigfr 25:572c9e9a8809 541
Ludwigfr 38:3c9f8cbf5250 542
Ludwigfr 44:e2bd06f94dc0 543 Robot space: orthonormal space:
Ludwigfr 38:3c9f8cbf5250 544 ^ ^
Ludwigfr 38:3c9f8cbf5250 545 |x |y
Ludwigfr 38:3c9f8cbf5250 546 <- R O ->
Ludwigfr 38:3c9f8cbf5250 547 y x
Ludwigfr 38:3c9f8cbf5250 548 */
Ludwigfr 38:3c9f8cbf5250 549 //Odometria must bu up to date
Ludwigfr 36:c806c568720a 550 float x_robot_in_orthonormal_x(float x, float y){
Ludwigfr 38:3c9f8cbf5250 551 return robot_center_x_in_orthonormal_x()-y;
Ludwigfr 36:c806c568720a 552 }
Ludwigfr 36:c806c568720a 553
Ludwigfr 38:3c9f8cbf5250 554 //Odometria must bu up to date
Ludwigfr 36:c806c568720a 555 float y_robot_in_orthonormal_y(float x, float y){
Ludwigfr 38:3c9f8cbf5250 556 return robot_center_y_in_orthonormal_y()+x;
Ludwigfr 36:c806c568720a 557 }
Ludwigfr 36:c806c568720a 558
Ludwigfr 25:572c9e9a8809 559 float robot_center_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 560 return NB_CELL_WIDTH*sizeCellWidth-Y;
Ludwigfr 25:572c9e9a8809 561 }
Ludwigfr 25:572c9e9a8809 562
Ludwigfr 25:572c9e9a8809 563 float robot_center_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 564 return X;
Ludwigfr 25:572c9e9a8809 565 }
Ludwigfr 25:572c9e9a8809 566
Ludwigfr 25:572c9e9a8809 567 float robot_sonar_front_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 568 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_FRONT_X;
Ludwigfr 25:572c9e9a8809 569 }
Ludwigfr 25:572c9e9a8809 570 float robot_sonar_front_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 571 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_FRONT_Y;
Ludwigfr 25:572c9e9a8809 572 }
Ludwigfr 25:572c9e9a8809 573
Ludwigfr 25:572c9e9a8809 574 float robot_sonar_right_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 575 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_RIGHT_X;
Ludwigfr 25:572c9e9a8809 576 }
Ludwigfr 25:572c9e9a8809 577 float robot_sonar_right_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 578 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_RIGHT_Y;
Ludwigfr 25:572c9e9a8809 579 }
Ludwigfr 25:572c9e9a8809 580
Ludwigfr 25:572c9e9a8809 581 float robot_sonar_left_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 582 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_LEFT_X;
Ludwigfr 25:572c9e9a8809 583 }
Ludwigfr 25:572c9e9a8809 584 float robot_sonar_left_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 585 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_LEFT_Y;
Ludwigfr 25:572c9e9a8809 586 }
Ludwigfr 25:572c9e9a8809 587
Ludwigfr 25:572c9e9a8809 588 float estimated_width_indice_in_orthonormal_x(int i){
Ludwigfr 27:07bde633af72 589 return sizeCellWidth/2+i*sizeCellWidth;
Ludwigfr 25:572c9e9a8809 590 }
Ludwigfr 25:572c9e9a8809 591 float estimated_height_indice_in_orthonormal_y(int j){
Ludwigfr 27:07bde633af72 592 return sizeCellHeight/2+j*sizeCellHeight;
geotsam 26:b020cf253059 593 }
geotsam 26:b020cf253059 594
Ludwigfr 42:ab25bffdc32b 595 //update angleError,distanceFromTarget,d2, beta
Ludwigfr 42:ab25bffdc32b 596 void compute_angles_and_distance(float target_x, float target_y, float target_angle,float dt,float* angleError,float* distanceFromTarget,float* d2,float* beta){
Ludwigfr 42:ab25bffdc32b 597 *angleError = atan2((target_y-Y),(target_x-X))-theta;
Ludwigfr 42:ab25bffdc32b 598 *angleError = atan(sin(*angleError)/cos(*angleError));
Ludwigfr 43:ffd5a6d4dd48 599 *distanceFromTarget = dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto);
Ludwigfr 42:ab25bffdc32b 600 *d2 = *distanceFromTarget;
Ludwigfr 42:ab25bffdc32b 601 *beta = -*angleError-theta+target_angle;
geotsam 26:b020cf253059 602
geotsam 26:b020cf253059 603 //Computing angle error and distance towards the target value
Ludwigfr 42:ab25bffdc32b 604 *distanceFromTarget += dt*(-KRHO*cos(*angleError)**distanceFromTarget);
Ludwigfr 42:ab25bffdc32b 605 float temp = *angleError;
Ludwigfr 42:ab25bffdc32b 606 *angleError += dt*(KRHO*sin(*angleError)-KA**angleError-KB**beta);
Ludwigfr 42:ab25bffdc32b 607 *beta += dt*(-KRHO*sin(temp));
Ludwigfr 27:07bde633af72 608 //pc.printf("\n\r d2=%f", d2);
Ludwigfr 27:07bde633af72 609 //pc.printf("\n\r dt=%f", dt);
geotsam 26:b020cf253059 610 }
geotsam 26:b020cf253059 611
Ludwigfr 42:ab25bffdc32b 612 //update angularLeft and angularRight
Ludwigfr 42:ab25bffdc32b 613 void compute_linear_angular_velocities(float angleError,float distanceFromTarget,float beta,float* angularLeft, float* angularRight){
geotsam 26:b020cf253059 614 //Computing linear and angular velocities
Ludwigfr 42:ab25bffdc32b 615 float linear;
Ludwigfr 42:ab25bffdc32b 616 float angular;
Ludwigfr 42:ab25bffdc32b 617 if(angleError>=-1.5708 && angleError<=1.5708){
Ludwigfr 42:ab25bffdc32b 618 linear=KRHO*distanceFromTarget;
Ludwigfr 42:ab25bffdc32b 619 angular=KA*angleError+KB*beta;
geotsam 26:b020cf253059 620 }
geotsam 26:b020cf253059 621 else{
Ludwigfr 42:ab25bffdc32b 622 linear=-KRHO*distanceFromTarget;
Ludwigfr 42:ab25bffdc32b 623 angular=-KA*angleError-KB*beta;
geotsam 26:b020cf253059 624 }
Ludwigfr 43:ffd5a6d4dd48 625 //TODO check those signs
Ludwigfr 42:ab25bffdc32b 626 *angularLeft=(linear-0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
Ludwigfr 42:ab25bffdc32b 627 *angularRight=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
Ludwigfr 43:ffd5a6d4dd48 628
Ludwigfr 43:ffd5a6d4dd48 629 float aL=*angularLeft;
Ludwigfr 43:ffd5a6d4dd48 630 float aR=*angularRight;
Ludwigfr 43:ffd5a6d4dd48 631 //Normalize speed for motors
Ludwigfr 43:ffd5a6d4dd48 632 if(abs(*angularLeft)>abs(*angularRight)) {
Ludwigfr 43:ffd5a6d4dd48 633 *angularRight=MAX_SPEED*abs(aR/aL)*sign1(aR);
Ludwigfr 43:ffd5a6d4dd48 634 *angularLeft=MAX_SPEED*sign1(aL);
Ludwigfr 43:ffd5a6d4dd48 635 }
Ludwigfr 43:ffd5a6d4dd48 636 else {
Ludwigfr 43:ffd5a6d4dd48 637 *angularLeft=MAX_SPEED*abs(aL/aR)*sign1(aL);
Ludwigfr 43:ffd5a6d4dd48 638 *angularRight=MAX_SPEED*sign1(aR);
Ludwigfr 43:ffd5a6d4dd48 639 }
Ludwigfr 32:d51928b58645 640 }
Ludwigfr 32:d51928b58645 641
Ludwigfr 43:ffd5a6d4dd48 642 void update_force(int widthIndice, int heightIndice, float range, float* forceX, float* forceY, float xRobotOrtho, float yRobotOrtho ){
Ludwigfr 44:e2bd06f94dc0 643 //get the coordonate of the map and the robot in the ortonormal space
Ludwigfr 32:d51928b58645 644 float xCenterCell=estimated_width_indice_in_orthonormal_x(widthIndice);
Ludwigfr 32:d51928b58645 645 float yCenterCell=estimated_height_indice_in_orthonormal_y(heightIndice);
Ludwigfr 32:d51928b58645 646 //compute the distance beetween the cell and the robot
Ludwigfr 32:d51928b58645 647 float distanceCellToRobot=sqrt(pow(xCenterCell-xRobotOrtho,2)+pow(yCenterCell-yRobotOrtho,2));
Ludwigfr 32:d51928b58645 648 //check if the cell is in range
Ludwigfr 43:ffd5a6d4dd48 649 if(distanceCellToRobot <= range) {
Ludwigfr 32:d51928b58645 650 float probaCell=log_to_proba(map[widthIndice][heightIndice]);
Ludwigfr 32:d51928b58645 651 float xForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(xCenterCell-xRobotOrtho)/pow(distanceCellToRobot,3);
Ludwigfr 32:d51928b58645 652 float yForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(yCenterCell-yRobotOrtho)/pow(distanceCellToRobot,3);
Ludwigfr 32:d51928b58645 653 *forceX+=xForceComputed;
Ludwigfr 32:d51928b58645 654 *forceY+=yForceComputed;
Ludwigfr 32:d51928b58645 655 }
Ludwigfr 32:d51928b58645 656 }
Ludwigfr 32:d51928b58645 657
Ludwigfr 38:3c9f8cbf5250 658 //compute the force on X and Y
Ludwigfr 39:dd8326ec75ce 659 void compute_forceX_and_forceY(float* forceX, float* forceY){
Ludwigfr 44:e2bd06f94dc0 660 //we put the position of the robot in an orthonormal space
Ludwigfr 32:d51928b58645 661 float xRobotOrtho=robot_center_x_in_orthonormal_x();
Ludwigfr 32:d51928b58645 662 float yRobotOrtho=robot_center_y_in_orthonormal_y();
Ludwigfr 39:dd8326ec75ce 663
geotsam 37:462d19bb221f 664 float forceRepulsionComputedX=0;
geotsam 37:462d19bb221f 665 float forceRepulsionComputedY=0;
Ludwigfr 38:3c9f8cbf5250 666 //for each cell of the map we compute a force of repulsion
Ludwigfr 32:d51928b58645 667 for(int i=0;i<NB_CELL_WIDTH;i++){
Ludwigfr 32:d51928b58645 668 for(int j=0;j<NB_CELL_HEIGHT;j++){
Ludwigfr 43:ffd5a6d4dd48 669 update_force(i,j,RANGE_FORCE,&forceRepulsionComputedX,&forceRepulsionComputedY,xRobotOrtho,yRobotOrtho);
Ludwigfr 32:d51928b58645 670 }
Ludwigfr 32:d51928b58645 671 }
geotsam 34:128fc7aed957 672 //update with attraction force
geotsam 37:462d19bb221f 673 *forceX=-forceRepulsionComputedX;
geotsam 37:462d19bb221f 674 *forceY=-forceRepulsionComputedY;
Ludwigfr 43:ffd5a6d4dd48 675 float distanceTargetRobot=sqrt(pow(targetXOrhto-xRobotOrtho,2)+pow(targetYOrhto-yRobotOrtho,2));
Ludwigfr 40:f5e212d9f900 676 if(distanceTargetRobot != 0){
Ludwigfr 43:ffd5a6d4dd48 677 *forceX+=FORCE_CONSTANT_ATTRACTION*(targetXOrhto-xRobotOrtho)/distanceTargetRobot;
Ludwigfr 43:ffd5a6d4dd48 678 *forceY+=FORCE_CONSTANT_ATTRACTION*(targetYOrhto-yRobotOrtho)/distanceTargetRobot;
Ludwigfr 40:f5e212d9f900 679 }
geotsam 34:128fc7aed957 680 float amplitude=sqrt(pow(*forceX,2)+pow(*forceY,2));
Ludwigfr 40:f5e212d9f900 681 if(amplitude!=0){//avoid division by 0 if forceX and forceY == 0
Ludwigfr 36:c806c568720a 682 *forceX=*forceX/amplitude;
Ludwigfr 36:c806c568720a 683 *forceY=*forceY/amplitude;
Ludwigfr 36:c806c568720a 684 }
geotsam 33:78139f82ea74 685 }
geotsam 33:78139f82ea74 686
Ludwigfr 43:ffd5a6d4dd48 687 void test_got_to_line(bool* reached){
Ludwigfr 43:ffd5a6d4dd48 688 float line_a=1;
Ludwigfr 43:ffd5a6d4dd48 689 float line_b=2;
Ludwigfr 43:ffd5a6d4dd48 690 float line_c=-140;
Ludwigfr 43:ffd5a6d4dd48 691 //we update the odometrie
Ludwigfr 43:ffd5a6d4dd48 692 Odometria();
Ludwigfr 43:ffd5a6d4dd48 693 float angularRight=0;
Ludwigfr 43:ffd5a6d4dd48 694 float angularLeft=0;
Ludwigfr 43:ffd5a6d4dd48 695
Ludwigfr 43:ffd5a6d4dd48 696 go_to_line(&angularLeft,&angularRight,line_a,line_b,line_c);
Ludwigfr 43:ffd5a6d4dd48 697 pc.printf("\r\n line: %f x + %f y + %f =0", line_a, line_b, line_c);
Ludwigfr 43:ffd5a6d4dd48 698
Ludwigfr 43:ffd5a6d4dd48 699 leftMotor(sign2(angularLeft),abs(angularLeft));
Ludwigfr 43:ffd5a6d4dd48 700 rightMotor(sign2(angularRight),abs(angularRight));
Ludwigfr 43:ffd5a6d4dd48 701
Ludwigfr 43:ffd5a6d4dd48 702 pc.printf("\r\n dist=%f", dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto));
Ludwigfr 43:ffd5a6d4dd48 703
Ludwigfr 43:ffd5a6d4dd48 704 //wait(0.1);
Ludwigfr 43:ffd5a6d4dd48 705 Odometria();
Ludwigfr 43:ffd5a6d4dd48 706 if(dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto)<10)
Ludwigfr 43:ffd5a6d4dd48 707 *reached=true;
Ludwigfr 43:ffd5a6d4dd48 708 }
Ludwigfr 42:ab25bffdc32b 709 void vff(bool* reached){
Ludwigfr 42:ab25bffdc32b 710 float line_a;
Ludwigfr 42:ab25bffdc32b 711 float line_b;
Ludwigfr 42:ab25bffdc32b 712 float line_c;
geotsam 33:78139f82ea74 713 //Updating X,Y and theta with the odometry values
geotsam 37:462d19bb221f 714 float forceX=0;
geotsam 37:462d19bb221f 715 float forceY=0;
Ludwigfr 38:3c9f8cbf5250 716 //we update the odometrie
geotsam 33:78139f82ea74 717 Odometria();
Ludwigfr 38:3c9f8cbf5250 718 //we check the sensors
Ludwigfr 40:f5e212d9f900 719 float leftMm = get_distance_left_sensor();
Ludwigfr 40:f5e212d9f900 720 float frontMm = get_distance_front_sensor();
Ludwigfr 40:f5e212d9f900 721 float rightMm = get_distance_right_sensor();
Ludwigfr 42:ab25bffdc32b 722 float angularRight=0;
Ludwigfr 42:ab25bffdc32b 723 float angularLeft=0;
Ludwigfr 38:3c9f8cbf5250 724 //update the probabilities values
geotsam 33:78139f82ea74 725 update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 38:3c9f8cbf5250 726 //we compute the force on X and Y
Ludwigfr 39:dd8326ec75ce 727 compute_forceX_and_forceY(&forceX, &forceY);
Ludwigfr 38:3c9f8cbf5250 728 //we compute a new ine
Ludwigfr 42:ab25bffdc32b 729 calculate_line(forceX, forceY, X, Y,&line_a,&line_b,&line_c);
Ludwigfr 42:ab25bffdc32b 730 go_to_line(&angularLeft,&angularRight,line_a,line_b,line_c);
geotsam 33:78139f82ea74 731
geotsam 33:78139f82ea74 732 //Updating motor velocities
Ludwigfr 43:ffd5a6d4dd48 733
Ludwigfr 43:ffd5a6d4dd48 734 leftMotor(sign2(angularLeft),abs(angularLeft));
Ludwigfr 43:ffd5a6d4dd48 735 rightMotor(sign2(angularRight),abs(angularRight));
geotsam 33:78139f82ea74 736
Ludwigfr 40:f5e212d9f900 737 //wait(0.1);
geotsam 33:78139f82ea74 738 Odometria();
Ludwigfr 43:ffd5a6d4dd48 739 if(dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto)<10)
Ludwigfr 42:ab25bffdc32b 740 *reached=true;
geotsam 33:78139f82ea74 741 }
geotsam 33:78139f82ea74 742
Ludwigfr 44:e2bd06f94dc0 743 //return 1 if positiv, -1 if negativ
Ludwigfr 44:e2bd06f94dc0 744 float sign1(float value){
Ludwigfr 44:e2bd06f94dc0 745 if(value>=0)
Ludwigfr 44:e2bd06f94dc0 746 return 1;
Ludwigfr 44:e2bd06f94dc0 747 else
Ludwigfr 44:e2bd06f94dc0 748 return -1;
Ludwigfr 44:e2bd06f94dc0 749 }
Ludwigfr 44:e2bd06f94dc0 750
Ludwigfr 44:e2bd06f94dc0 751 //return 1 if positiv, 0 if negativ
Ludwigfr 44:e2bd06f94dc0 752 int sign2(float value){
Ludwigfr 44:e2bd06f94dc0 753 if(value>=0)
Ludwigfr 44:e2bd06f94dc0 754 return 1;
Ludwigfr 44:e2bd06f94dc0 755 else
Ludwigfr 44:e2bd06f94dc0 756 return 0;
Ludwigfr 44:e2bd06f94dc0 757 }
Ludwigfr 44:e2bd06f94dc0 758
Ludwigfr 44:e2bd06f94dc0 759 //currently line_c is not used
Ludwigfr 42:ab25bffdc32b 760 void go_to_line(float* angularLeft,float* angularRight,float line_a, float line_b, float line_c){
Ludwigfr 42:ab25bffdc32b 761 float lineAngle;
Ludwigfr 42:ab25bffdc32b 762 float angleError;
Ludwigfr 42:ab25bffdc32b 763 float linear;
Ludwigfr 42:ab25bffdc32b 764 float angular;
geotsam 33:78139f82ea74 765 if(line_b!=0){
Ludwigfr 42:ab25bffdc32b 766 lineAngle=atan(-line_a/line_b);
geotsam 33:78139f82ea74 767 }
geotsam 33:78139f82ea74 768 else{
Ludwigfr 42:ab25bffdc32b 769 lineAngle=1.5708;
geotsam 33:78139f82ea74 770 }
Ludwigfr 43:ffd5a6d4dd48 771
geotsam 33:78139f82ea74 772 //Computing angle error
Ludwigfr 42:ab25bffdc32b 773 angleError = lineAngle-theta;
Ludwigfr 42:ab25bffdc32b 774 angleError = atan(sin(angleError)/cos(angleError));
geotsam 33:78139f82ea74 775
geotsam 33:78139f82ea74 776 //Calculating velocities
Ludwigfr 42:ab25bffdc32b 777 linear=KV*(3.1416);
Ludwigfr 42:ab25bffdc32b 778 angular=KH*angleError;
Ludwigfr 43:ffd5a6d4dd48 779 //TODO if we put it like the poly says it fails, if we switch the plus and minus it works ...
Ludwigfr 44:e2bd06f94dc0 780 *angularLeft=(linear-0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
Ludwigfr 44:e2bd06f94dc0 781 *angularRight=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
Ludwigfr 43:ffd5a6d4dd48 782
Ludwigfr 43:ffd5a6d4dd48 783 float aL=*angularLeft;
Ludwigfr 43:ffd5a6d4dd48 784 float aR=*angularRight;
Ludwigfr 43:ffd5a6d4dd48 785 //Normalize speed for motors
Ludwigfr 43:ffd5a6d4dd48 786 if(abs(*angularLeft)>abs(*angularRight)) {
Ludwigfr 43:ffd5a6d4dd48 787 *angularRight=MAX_SPEED*abs(aR/aL)*sign1(aR);
Ludwigfr 43:ffd5a6d4dd48 788 *angularLeft=MAX_SPEED*sign1(aL);
Ludwigfr 43:ffd5a6d4dd48 789 }
Ludwigfr 43:ffd5a6d4dd48 790 else {
Ludwigfr 43:ffd5a6d4dd48 791 *angularLeft=MAX_SPEED*abs(aL/aR)*sign1(aL);
Ludwigfr 43:ffd5a6d4dd48 792 *angularRight=MAX_SPEED*sign1(aR);
Ludwigfr 43:ffd5a6d4dd48 793 }
Ludwigfr 44:e2bd06f94dc0 794 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());
Ludwigfr 43:ffd5a6d4dd48 795 }
Ludwigfr 43:ffd5a6d4dd48 796
Ludwigfr 44:e2bd06f94dc0 797 //robotX and robotY are from Odometria, calculate line_a, line_b and line_c
Ludwigfr 44:e2bd06f94dc0 798 void calculate_line(float forceX, float forceY, float robotX, float robotY,float *line_a, float *line_b, float *line_c){
Ludwigfr 44:e2bd06f94dc0 799 /*
Ludwigfr 44:e2bd06f94dc0 800 in the teachers maths it is
Ludwigfr 44:e2bd06f94dc0 801
Ludwigfr 44:e2bd06f94dc0 802 *line_a=forceY;
Ludwigfr 44:e2bd06f94dc0 803 *line_b=-forceX;
Ludwigfr 44:e2bd06f94dc0 804
Ludwigfr 44:e2bd06f94dc0 805 because a*x+b*y+c=0
Ludwigfr 44:e2bd06f94dc0 806 a impact the vertical and b the horizontal
Ludwigfr 44:e2bd06f94dc0 807 and he has to put them like this because
Ludwigfr 44:e2bd06f94dc0 808 Robot space: orthonormal space:
Ludwigfr 44:e2bd06f94dc0 809 ^ ^
Ludwigfr 44:e2bd06f94dc0 810 |x |y
Ludwigfr 44:e2bd06f94dc0 811 <- R O ->
Ludwigfr 44:e2bd06f94dc0 812 y x
Ludwigfr 44:e2bd06f94dc0 813 but since our forceX, forceY are already computed in the orthonormal space I m not sure we need to
Ludwigfr 44:e2bd06f94dc0 814 */
Ludwigfr 44:e2bd06f94dc0 815 *line_a=forceX;
Ludwigfr 44:e2bd06f94dc0 816 *line_b=forceY;
Ludwigfr 44:e2bd06f94dc0 817 //TODO check that
Ludwigfr 44:e2bd06f94dc0 818 //because the line computed always pass by the robot center we dont need lince_c
Ludwigfr 44:e2bd06f94dc0 819 //float xRobotOrtho=robot_center_x_in_orthonormal_x();
Ludwigfr 44:e2bd06f94dc0 820 //float yRobotOrtho=robot_center_y_in_orthonormal_y();
Ludwigfr 44:e2bd06f94dc0 821 //*line_c=forceX*yRobotOrtho+forceY*xRobotOrtho;
Ludwigfr 44:e2bd06f94dc0 822 *line_c=0;
geotsam 24:8f4b820d8de8 823 }