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@45:fb07065a64a9, 2017-05-29 (annotated)

Committer:
Ludwigfr
Date:
Mon May 29 12:59:51 2017 +0000
Revision:
45:fb07065a64a9
Parent:
44:e2bd06f94dc0
Child:
46:e57ebcf747dc
Child:
47:f0fe58571e4a
changed set_target so it is in ortho frame, relative to the robot (ex: if the robot is in the middle, you want to him to go 10cm down and 15 right, set_target_to(15,-10) )

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 45:fb07065a64a9 70 //set target in ortho space, in reference to the robot (so if the robot is in the middle, you want to him to go 10cm down and 15 right, set_target_to(15,-10)
Ludwigfr 43:ffd5a6d4dd48 71 void set_target_to(float x, float y);
Ludwigfr 44:e2bd06f94dc0 72 void try_to_reach_target();
AurelienBernier 8:109314be5b68 73
Ludwigfr 22:ebb37a249b5f 74 const float pi=3.14159;
Ludwigfr 32:d51928b58645 75
Ludwigfr 22:ebb37a249b5f 76 //spec of the sonar
Ludwigfr 44:e2bd06f94dc0 77 //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 78 const float RANGE_SONAR=50;//cm
geotsam 24:8f4b820d8de8 79 const float RANGE_SONAR_MIN=10;//Rmin cm
geotsam 24:8f4b820d8de8 80 const float INCERTITUDE_SONAR=10;//cm
geotsam 24:8f4b820d8de8 81 const float ANGLE_SONAR=pi/3;//Omega rad
Ludwigfr 22:ebb37a249b5f 82
Ludwigfr 44:e2bd06f94dc0 83 //those distance and angle are approximation in need of measurements, in the orthonormal space
geotsam 24:8f4b820d8de8 84 const float ANGLE_FRONT_TO_LEFT=10*pi/36;//50 degrees
Ludwigfr 27:07bde633af72 85 const float DISTANCE_SONAR_LEFT_X=-4;
geotsam 24:8f4b820d8de8 86 const float DISTANCE_SONAR_LEFT_Y=4;
Ludwigfr 22:ebb37a249b5f 87
geotsam 24:8f4b820d8de8 88 const float ANGLE_FRONT_TO_RIGHT=-10*pi/36;//-50 degrees
Ludwigfr 27:07bde633af72 89 const float DISTANCE_SONAR_RIGHT_X=4;
geotsam 24:8f4b820d8de8 90 const float DISTANCE_SONAR_RIGHT_Y=4;
AurelienBernier 11:e641aa08c92e 91
Ludwigfr 22:ebb37a249b5f 92 const float ANGLE_FRONT_TO_FRONT=0;
Ludwigfr 22:ebb37a249b5f 93 const float DISTANCE_SONAR_FRONT_X=0;
Ludwigfr 22:ebb37a249b5f 94 const float DISTANCE_SONAR_FRONT_Y=5;
Ludwigfr 22:ebb37a249b5f 95
Ludwigfr 22:ebb37a249b5f 96 //TODO adjust the size of the map for computation time (25*25?)
Ludwigfr 32:d51928b58645 97 const float WIDTH_ARENA=120;//cm
Ludwigfr 32:d51928b58645 98 const float HEIGHT_ARENA=90;//cm
geotsam 24:8f4b820d8de8 99
geotsam 24:8f4b820d8de8 100 //const int SIZE_MAP=25;
Ludwigfr 32:d51928b58645 101 const int NB_CELL_WIDTH=24;
Ludwigfr 32:d51928b58645 102 const int NB_CELL_HEIGHT=18;
Ludwigfr 22:ebb37a249b5f 103
Ludwigfr 44:e2bd06f94dc0 104 //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 105 //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 106 //const float DEFAULT_X=HEIGHT_ARENA/2;
Ludwigfr 35:c8f224ab153f 107 //const float DEFAULT_Y=WIDTH_ARENA/2;
Ludwigfr 40:f5e212d9f900 108 const float DEFAULT_X=20;//lower right
Ludwigfr 40:f5e212d9f900 109 const float DEFAULT_Y=20;//lower right
Ludwigfr 27:07bde633af72 110 const float DEFAULT_THETA=0;
Ludwigfr 22:ebb37a249b5f 111
geotsam 24:8f4b820d8de8 112 //used to create the map 250 represent the 250cm of the square where the robot is tested
geotsam 24:8f4b820d8de8 113 //float sizeCell=250/(float)SIZE_MAP;
Ludwigfr 27:07bde633af72 114 float sizeCellWidth=WIDTH_ARENA/(float)NB_CELL_WIDTH;
Ludwigfr 27:07bde633af72 115 float sizeCellHeight=HEIGHT_ARENA/(float)NB_CELL_HEIGHT;
geotsam 24:8f4b820d8de8 116
geotsam 24:8f4b820d8de8 117 float map[NB_CELL_WIDTH][NB_CELL_HEIGHT];//contains the log values for each cell
geotsam 24:8f4b820d8de8 118 float initialLogValues[NB_CELL_WIDTH][NB_CELL_HEIGHT];
Ludwigfr 22:ebb37a249b5f 119
Ludwigfr 22:ebb37a249b5f 120 //Diameter of a wheel and distance between the 2
Ludwigfr 22:ebb37a249b5f 121 const float RADIUS_WHEELS=3.25;
Ludwigfr 22:ebb37a249b5f 122 const float DISTANCE_WHEELS=7.2;
Ludwigfr 22:ebb37a249b5f 123
Ludwigfr 39:dd8326ec75ce 124 const int MAX_SPEED=200;//TODO TWEAK THE SPEED SO IT DOES NOT FUCK UP
Ludwigfr 39:dd8326ec75ce 125
Ludwigfr 39:dd8326ec75ce 126 //TODO all those global variables are making me sad
Ludwigfr 43:ffd5a6d4dd48 127 const float KRHO=12, KA=30, KB=-13, KV=300, KH=150; //Kappa values
Ludwigfr 43:ffd5a6d4dd48 128
Ludwigfr 43:ffd5a6d4dd48 129 //CONSTANT FORCE FIELD
Ludwigfr 43:ffd5a6d4dd48 130 const float FORCE_CONSTANT_REPULSION=50;//TODO tweak it
Ludwigfr 43:ffd5a6d4dd48 131 const float FORCE_CONSTANT_ATTRACTION=25;//TODO tweak it
Ludwigfr 43:ffd5a6d4dd48 132 const float RANGE_FORCE=50;//TODO tweak it
geotsam 33:78139f82ea74 133
Ludwigfr 39:dd8326ec75ce 134 //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 135 float targetX;//this is in the robot space top left
Ludwigfr 44:e2bd06f94dc0 136 float targetY;//this is in the robot space top left
Ludwigfr 43:ffd5a6d4dd48 137 float targetXOrhto;
Ludwigfr 43:ffd5a6d4dd48 138 float targetYOrhto;
geotsam 33:78139f82ea74 139
geotsam 0:8bffb51cc345 140 int main(){
Ludwigfr 44:e2bd06f94dc0 141 initialise_parameters();
Ludwigfr 44:e2bd06f94dc0 142 //try to reach the target
Ludwigfr 45:fb07065a64a9 143 set_target_to(0,50);//up right
Ludwigfr 44:e2bd06f94dc0 144 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 145 try_to_reach_target();
Ludwigfr 45:fb07065a64a9 146 set_target_to(0,-50);//lower right
Ludwigfr 44:e2bd06f94dc0 147 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 148 try_to_reach_target();
Ludwigfr 45:fb07065a64a9 149 set_target_to(-50,50);//up left
Ludwigfr 44:e2bd06f94dc0 150 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 151 try_to_reach_target();
Ludwigfr 44:e2bd06f94dc0 152 //print the map forever
Ludwigfr 44:e2bd06f94dc0 153 while(1){
Ludwigfr 44:e2bd06f94dc0 154 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 155 }
Ludwigfr 44:e2bd06f94dc0 156 }
Ludwigfr 44:e2bd06f94dc0 157
Ludwigfr 44:e2bd06f94dc0 158 void try_to_reach_target(){
Ludwigfr 44:e2bd06f94dc0 159 bool reached=false;
Ludwigfr 44:e2bd06f94dc0 160 int print=0;
Ludwigfr 39:dd8326ec75ce 161 while (!reached) {
Ludwigfr 43:ffd5a6d4dd48 162 vff(&reached);
Ludwigfr 43:ffd5a6d4dd48 163 //test_got_to_line(&reached);
Ludwigfr 44:e2bd06f94dc0 164 if(print==10){
Ludwigfr 44:e2bd06f94dc0 165 leftMotor(1,0);
Ludwigfr 44:e2bd06f94dc0 166 rightMotor(1,0);
Ludwigfr 44:e2bd06f94dc0 167 pc.printf("\r\n theta=%f", theta);
Ludwigfr 44:e2bd06f94dc0 168 pc.printf("\r\n IN ORTHO:");
Ludwigfr 44:e2bd06f94dc0 169 pc.printf("\r\n X Robot=%f", robot_center_x_in_orthonormal_x());
Ludwigfr 44:e2bd06f94dc0 170 pc.printf("\r\n Y Robot=%f", robot_center_y_in_orthonormal_y());
Ludwigfr 44:e2bd06f94dc0 171 pc.printf("\r\n X Target=%f", targetXOrhto);
Ludwigfr 44:e2bd06f94dc0 172 pc.printf("\r\n Y Target=%f", targetYOrhto);
Ludwigfr 44:e2bd06f94dc0 173 print_final_map_with_robot_position_and_target();
Ludwigfr 44:e2bd06f94dc0 174 print=0;
Ludwigfr 44:e2bd06f94dc0 175 }else
Ludwigfr 44:e2bd06f94dc0 176 print+=1;
Ludwigfr 39:dd8326ec75ce 177 }
Ludwigfr 39:dd8326ec75ce 178 //Stop at the end
Ludwigfr 39:dd8326ec75ce 179 leftMotor(1,0);
Ludwigfr 39:dd8326ec75ce 180 rightMotor(1,0);
Ludwigfr 44:e2bd06f94dc0 181 pc.printf("\r\n target reached");
Ludwigfr 39:dd8326ec75ce 182 }
Ludwigfr 39:dd8326ec75ce 183
Ludwigfr 45:fb07065a64a9 184 //target in ortho space
Ludwigfr 43:ffd5a6d4dd48 185 void set_target_to(float x, float y){
Ludwigfr 45:fb07065a64a9 186 targetX=y;
Ludwigfr 45:fb07065a64a9 187 targetY=-x;
Ludwigfr 43:ffd5a6d4dd48 188 targetXOrhto=x_robot_in_orthonormal_x(targetX,targetY);
Ludwigfr 43:ffd5a6d4dd48 189 targetYOrhto=y_robot_in_orthonormal_y(targetX,targetY);
Ludwigfr 43:ffd5a6d4dd48 190 }
Ludwigfr 43:ffd5a6d4dd48 191
Ludwigfr 39:dd8326ec75ce 192 void initialise_parameters(){
geotsam 13:41f75c132135 193 i2c1.frequency(100000);
AurelienBernier 2:ea61e801e81f 194 initRobot(); //Initializing the robot
geotsam 0:8bffb51cc345 195 pc.baud(9600); // baud for the pc communication
geotsam 0:8bffb51cc345 196
Ludwigfr 22:ebb37a249b5f 197 measure_always_on();//TODO check if needed
geotsam 24:8f4b820d8de8 198 wait(0.5);
Ludwigfr 39:dd8326ec75ce 199 //fill the map with the initial log values
Ludwigfr 22:ebb37a249b5f 200 fill_initial_log_values();
geotsam 13:41f75c132135 201
Ludwigfr 31:352be78e1aad 202 theta=DEFAULT_THETA;
Ludwigfr 35:c8f224ab153f 203 X=DEFAULT_X;
Ludwigfr 35:c8f224ab153f 204 Y=DEFAULT_Y;
AurelienBernier 8:109314be5b68 205 }
AurelienBernier 8:109314be5b68 206
Ludwigfr 22:ebb37a249b5f 207 //fill initialLogValues with the values we already know (here the bordurs)
Ludwigfr 22:ebb37a249b5f 208 void fill_initial_log_values(){
Ludwigfr 31:352be78e1aad 209 //Fill map, we know the border are occupied
geotsam 24:8f4b820d8de8 210 for (int i = 0; i<NB_CELL_WIDTH; i++) {
geotsam 24:8f4b820d8de8 211 for (int j = 0; j<NB_CELL_HEIGHT; j++) {
geotsam 24:8f4b820d8de8 212 if(j==0 || j==NB_CELL_HEIGHT-1 || i==0 || i==NB_CELL_WIDTH-1)
Ludwigfr 22:ebb37a249b5f 213 initialLogValues[i][j] = proba_to_log(1);
Ludwigfr 22:ebb37a249b5f 214 else
Ludwigfr 22:ebb37a249b5f 215 initialLogValues[i][j] = proba_to_log(0.5);
AurelienBernier 21:62154d644531 216 }
Ludwigfr 22:ebb37a249b5f 217 }
AurelienBernier 8:109314be5b68 218 }
AurelienBernier 8:109314be5b68 219
Ludwigfr 22:ebb37a249b5f 220 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 22:ebb37a249b5f 221 void randomize_and_map() {
geotsam 24:8f4b820d8de8 222 //TODO check that it's aurelien's work
Ludwigfr 27:07bde633af72 223 float target_x = (rand()%(int)(HEIGHT_ARENA*10))/10;//for decimal precision
Ludwigfr 27:07bde633af72 224 float target_y = (rand()%(int)(WIDTH_ARENA*10))/10;
geotsam 30:95d8d3e2b81b 225 float target_angle = 2*((float)(rand()%31416)-15708)/10000.0;
geotsam 24:8f4b820d8de8 226
Ludwigfr 43:ffd5a6d4dd48 227 go_to_point_with_angle(targetX, targetY, target_angle);
AurelienBernier 19:dbc5fbad4975 228 }
AurelienBernier 19:dbc5fbad4975 229
geotsam 29:224e9e686f7b 230
geotsam 29:224e9e686f7b 231 void do_half_flip(){
Ludwigfr 28:f884979a02fa 232 Odometria();
geotsam 29:224e9e686f7b 233 float theta_plus_h_pi=theta+pi/2;//theta is between -pi and pi
geotsam 29:224e9e686f7b 234 if(theta_plus_h_pi > pi)
geotsam 29:224e9e686f7b 235 theta_plus_h_pi=-(2*pi-theta_plus_h_pi);
geotsam 29:224e9e686f7b 236 leftMotor(0,100);
geotsam 29:224e9e686f7b 237 rightMotor(1,100);
geotsam 29:224e9e686f7b 238 while(abs(theta_plus_h_pi-theta)>0.05){
Ludwigfr 28:f884979a02fa 239 Odometria();
geotsam 29:224e9e686f7b 240 // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
Ludwigfr 28:f884979a02fa 241 }
Ludwigfr 28:f884979a02fa 242 leftMotor(1,0);
Ludwigfr 28:f884979a02fa 243 rightMotor(1,0);
Ludwigfr 28:f884979a02fa 244 }
Ludwigfr 28:f884979a02fa 245
Ludwigfr 22:ebb37a249b5f 246 //go the the given position while updating the map
Ludwigfr 22:ebb37a249b5f 247 //TODO clean this procedure it's ugly as hell and too long
Ludwigfr 22:ebb37a249b5f 248 void go_to_point_with_angle(float target_x, float target_y, float target_angle) {
Ludwigfr 43:ffd5a6d4dd48 249 set_target_to(target_x,target_y);
Ludwigfr 28:f884979a02fa 250 Odometria();
Ludwigfr 42:ab25bffdc32b 251 float angleError = atan2((target_y-Y),(target_x-X))-theta;
Ludwigfr 42:ab25bffdc32b 252 angleError = atan(sin(angleError)/cos(angleError));
Ludwigfr 43:ffd5a6d4dd48 253 float distanceFromTarget = dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto);
Ludwigfr 42:ab25bffdc32b 254 float beta = -angleError-theta+target_angle;
geotsam 24:8f4b820d8de8 255 //beta = atan(sin(beta)/cos(beta));
Ludwigfr 27:07bde633af72 256 bool keep_going=true;
Ludwigfr 40:f5e212d9f900 257 float leftMm;
Ludwigfr 40:f5e212d9f900 258 float frontMm;
Ludwigfr 40:f5e212d9f900 259 float rightMm;
Ludwigfr 42:ab25bffdc32b 260 float angularLeft=0;
Ludwigfr 42:ab25bffdc32b 261 float angularRight=0;
Ludwigfr 42:ab25bffdc32b 262 Timer t;
Ludwigfr 42:ab25bffdc32b 263 float dt=0.5;//TODO better name please
Ludwigfr 42:ab25bffdc32b 264 float d2;//TODO better name please
geotsam 24:8f4b820d8de8 265 do {
AurelienBernier 6:afde4b08166b 266 //Timer stuff
AurelienBernier 6:afde4b08166b 267 dt = t.read();
AurelienBernier 6:afde4b08166b 268 t.reset();
AurelienBernier 6:afde4b08166b 269 t.start();
AurelienBernier 6:afde4b08166b 270
geotsam 14:d58f2bdbf42e 271 //Updating X,Y and theta with the odometry values
geotsam 14:d58f2bdbf42e 272 Odometria();
geotsam 24:8f4b820d8de8 273 leftMm = get_distance_left_sensor();
geotsam 24:8f4b820d8de8 274 frontMm = get_distance_front_sensor();
geotsam 24:8f4b820d8de8 275 rightMm = get_distance_right_sensor();
geotsam 24:8f4b820d8de8 276
geotsam 24:8f4b820d8de8 277 //pc.printf("\n\r leftMm=%f", leftMm);
geotsam 24:8f4b820d8de8 278 //pc.printf("\n\r frontMm=%f", frontMm);
geotsam 24:8f4b820d8de8 279 //pc.printf("\n\r rightMm=%f", rightMm);
Ludwigfr 27:07bde633af72 280
Ludwigfr 27:07bde633af72 281 //if in dangerzone
geotsam 29:224e9e686f7b 282 if(frontMm < 120 || leftMm <120 || rightMm <120){
geotsam 24:8f4b820d8de8 283 leftMotor(1,0);
geotsam 24:8f4b820d8de8 284 rightMotor(1,0);
Ludwigfr 27:07bde633af72 285 update_sonar_values(leftMm, frontMm, rightMm);
geotsam 29:224e9e686f7b 286 //TODO Giorgos maybe you can also test the do_half_flip() function
geotsam 24:8f4b820d8de8 287 Odometria();
Ludwigfr 27:07bde633af72 288 //do a flip TODO
Ludwigfr 27:07bde633af72 289 keep_going=false;
geotsam 29:224e9e686f7b 290 do_half_flip();
Ludwigfr 27:07bde633af72 291 }else{
Ludwigfr 27:07bde633af72 292 //if not in danger zone continue as usual
Ludwigfr 27:07bde633af72 293 update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 42:ab25bffdc32b 294 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 295 compute_linear_angular_velocities(angleError,distanceFromTarget,beta,&angularLeft,&angularRight); //Using the angles and distance, compute the velocities needed (linear & angular)
Ludwigfr 42:ab25bffdc32b 296
Ludwigfr 27:07bde633af72 297 //pc.printf("\n\r X=%f", X);
Ludwigfr 27:07bde633af72 298 //pc.printf("\n\r Y=%f", Y);
Ludwigfr 27:07bde633af72 299
Ludwigfr 42:ab25bffdc32b 300 //pc.printf("\n\r a_r=%f", angularRight);
Ludwigfr 42:ab25bffdc32b 301 //pc.printf("\n\r a_l=%f", angularLeft);
Ludwigfr 27:07bde633af72 302
Ludwigfr 27:07bde633af72 303 //Updating motor velocities
Ludwigfr 43:ffd5a6d4dd48 304 leftMotor(sign2(angularLeft),abs(angularLeft));
Ludwigfr 43:ffd5a6d4dd48 305 rightMotor(sign2(angularRight),abs(angularRight));
Ludwigfr 27:07bde633af72 306
Ludwigfr 27:07bde633af72 307 wait(0.2);
Ludwigfr 27:07bde633af72 308 //Timer stuff
Ludwigfr 27:07bde633af72 309 t.stop();
AurelienBernier 11:e641aa08c92e 310 }
Ludwigfr 27:07bde633af72 311 } while(d2>1 && (abs(target_angle-theta)>0.01) && keep_going);
geotsam 24:8f4b820d8de8 312
geotsam 24:8f4b820d8de8 313 //Stop at the end
geotsam 24:8f4b820d8de8 314 leftMotor(1,0);
geotsam 24:8f4b820d8de8 315 rightMotor(1,0);
Ludwigfr 22:ebb37a249b5f 316 }
Ludwigfr 22:ebb37a249b5f 317
Ludwigfr 22:ebb37a249b5f 318 //Updates sonar values
geotsam 24:8f4b820d8de8 319 void update_sonar_values(float leftMm, float frontMm, float rightMm){
Ludwigfr 22:ebb37a249b5f 320 float currProba;
Ludwigfr 25:572c9e9a8809 321 float i_in_orthonormal;
Ludwigfr 25:572c9e9a8809 322 float j_in_orthonormal;
geotsam 24:8f4b820d8de8 323 for(int i=0;i<NB_CELL_WIDTH;i++){
geotsam 24:8f4b820d8de8 324 for(int j=0;j<NB_CELL_HEIGHT;j++){
Ludwigfr 44:e2bd06f94dc0 325 //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 326 //check that again
Ludwigfr 22:ebb37a249b5f 327 //compute for front sonar
Ludwigfr 25:572c9e9a8809 328 i_in_orthonormal=estimated_width_indice_in_orthonormal_x(i);
Ludwigfr 25:572c9e9a8809 329 j_in_orthonormal=estimated_height_indice_in_orthonormal_y(j);
Ludwigfr 25:572c9e9a8809 330
Ludwigfr 25:572c9e9a8809 331 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 332 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 333 //compute for right sonar
Ludwigfr 25:572c9e9a8809 334 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 335 map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];
Ludwigfr 22:ebb37a249b5f 336 //compute for left sonar
Ludwigfr 25:572c9e9a8809 337 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 338 map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];
Ludwigfr 22:ebb37a249b5f 339 }
Ludwigfr 22:ebb37a249b5f 340 }
Ludwigfr 22:ebb37a249b5f 341 }
Ludwigfr 22:ebb37a249b5f 342
Ludwigfr 25:572c9e9a8809 343 //ODOMETRIA MUST HAVE BEEN CALLED
Ludwigfr 22:ebb37a249b5f 344 //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 345 float compute_probability_t(float x, float y,float xs,float ys, float angleFromSonarPosition, float distanceObstacleDetected){
Ludwigfr 22:ebb37a249b5f 346
Ludwigfr 42:ab25bffdc32b 347 float anglePointToSonar=compute_angle_between_vectors(x,y,xs,ys);//angle beetween the point and the sonar beam
Ludwigfr 42:ab25bffdc32b 348 float alphaBeforeAdjustment=anglePointToSonar-theta-angleFromSonarPosition;
Ludwigfr 42:ab25bffdc32b 349 anglePointToSonar=rad_angle_check(alphaBeforeAdjustment);//TODO I feel you don't need to do that but I m not sure
Ludwigfr 22:ebb37a249b5f 350 float distancePointToSonar=sqrt(pow(x-xs,2)+pow(y-ys,2));
Ludwigfr 22:ebb37a249b5f 351
Ludwigfr 22:ebb37a249b5f 352 //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS
Ludwigfr 22:ebb37a249b5f 353 //check if absolute difference between the angles is no more than Omega/2
Ludwigfr 42:ab25bffdc32b 354 if( distancePointToSonar < (RANGE_SONAR)&& (anglePointToSonar <= ANGLE_SONAR/2 || anglePointToSonar >= rad_angle_check(-ANGLE_SONAR/2))){
Ludwigfr 22:ebb37a249b5f 355 if( distancePointToSonar < (distanceObstacleDetected - INCERTITUDE_SONAR)){
Ludwigfr 22:ebb37a249b5f 356 //point before obstacle, probably empty
Ludwigfr 22:ebb37a249b5f 357 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 358 float Ea=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2);
Ludwigfr 22:ebb37a249b5f 359 float Er;
Ludwigfr 22:ebb37a249b5f 360 if(distancePointToSonar < RANGE_SONAR_MIN){
Ludwigfr 22:ebb37a249b5f 361 //point before minimum sonar range
Ludwigfr 22:ebb37a249b5f 362 Er=0.f;
Ludwigfr 22:ebb37a249b5f 363 }else{
Ludwigfr 22:ebb37a249b5f 364 //point after minimum sonar range
Ludwigfr 22:ebb37a249b5f 365 Er=1.f-pow((distancePointToSonar-RANGE_SONAR_MIN)/(distanceObstacleDetected-INCERTITUDE_SONAR-RANGE_SONAR_MIN),2);
Ludwigfr 22:ebb37a249b5f 366 }
Ludwigfr 22:ebb37a249b5f 367 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 368 return (1.f-Er*Ea)/2.f;
Ludwigfr 22:ebb37a249b5f 369 }else{
Ludwigfr 22:ebb37a249b5f 370 //probably occupied
Ludwigfr 22:ebb37a249b5f 371 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 372 float Oa=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2);
Ludwigfr 22:ebb37a249b5f 373 float Or;
Ludwigfr 22:ebb37a249b5f 374 if( distancePointToSonar <= (distanceObstacleDetected + INCERTITUDE_SONAR)){
Ludwigfr 22:ebb37a249b5f 375 //point between distanceObstacleDetected +- INCERTITUDE_SONAR
Ludwigfr 22:ebb37a249b5f 376 Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(INCERTITUDE_SONAR),2);
Ludwigfr 22:ebb37a249b5f 377 }else{
Ludwigfr 22:ebb37a249b5f 378 //point after in range of the sonar but after the zone detected
Ludwigfr 22:ebb37a249b5f 379 Or=0;
Ludwigfr 22:ebb37a249b5f 380 }
Ludwigfr 22:ebb37a249b5f 381 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 382 return (1+Or*Oa)/2;
Ludwigfr 22:ebb37a249b5f 383 }
Ludwigfr 22:ebb37a249b5f 384 }else{
Ludwigfr 25:572c9e9a8809 385 //not checked by the sonar
Ludwigfr 22:ebb37a249b5f 386 return 0.5;
AurelienBernier 19:dbc5fbad4975 387 }
Ludwigfr 22:ebb37a249b5f 388 }
Ludwigfr 22:ebb37a249b5f 389
Ludwigfr 25:572c9e9a8809 390 void print_final_map() {
Ludwigfr 22:ebb37a249b5f 391 float currProba;
geotsam 24:8f4b820d8de8 392 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 393 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
geotsam 24:8f4b820d8de8 394 for (int x= 0; x<NB_CELL_WIDTH; x++) {
geotsam 24:8f4b820d8de8 395 currProba=log_to_proba(map[x][y]);
geotsam 24:8f4b820d8de8 396 if ( currProba < 0.5) {
geotsam 29:224e9e686f7b 397 pc.printf(" ");
Ludwigfr 22:ebb37a249b5f 398 } else {
Ludwigfr 22:ebb37a249b5f 399 if(currProba==0.5)
geotsam 24:8f4b820d8de8 400 pc.printf(" . ");
Ludwigfr 22:ebb37a249b5f 401 else
geotsam 29:224e9e686f7b 402 pc.printf(" X ");
Ludwigfr 22:ebb37a249b5f 403 }
Ludwigfr 22:ebb37a249b5f 404 }
geotsam 24:8f4b820d8de8 405 pc.printf("\n\r");
Ludwigfr 22:ebb37a249b5f 406 }
Ludwigfr 22:ebb37a249b5f 407 }
Ludwigfr 22:ebb37a249b5f 408
Ludwigfr 25:572c9e9a8809 409 void print_final_map_with_robot_position() {
geotsam 24:8f4b820d8de8 410 float currProba;
Ludwigfr 25:572c9e9a8809 411 Odometria();
Ludwigfr 25:572c9e9a8809 412 float Xrobot=robot_center_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 413 float Yrobot=robot_center_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 414
Ludwigfr 25:572c9e9a8809 415 float heightIndiceInOrthonormal;
Ludwigfr 25:572c9e9a8809 416 float widthIndiceInOrthonormal;
Ludwigfr 25:572c9e9a8809 417
Ludwigfr 27:07bde633af72 418 float widthMalus=-(3*sizeCellWidth/2);
Ludwigfr 27:07bde633af72 419 float widthBonus=sizeCellWidth/2;
Ludwigfr 25:572c9e9a8809 420
Ludwigfr 27:07bde633af72 421 float heightMalus=-(3*sizeCellHeight/2);
Ludwigfr 27:07bde633af72 422 float heightBonus=sizeCellHeight/2;
Ludwigfr 25:572c9e9a8809 423
geotsam 24:8f4b820d8de8 424 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 425 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
geotsam 24:8f4b820d8de8 426 for (int x= 0; x<NB_CELL_WIDTH; x++) {
Ludwigfr 25:572c9e9a8809 427 heightIndiceInOrthonormal=estimated_height_indice_in_orthonormal_y(y);
Ludwigfr 25:572c9e9a8809 428 widthIndiceInOrthonormal=estimated_width_indice_in_orthonormal_x(x);
Ludwigfr 27:07bde633af72 429 if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 27:07bde633af72 430 pc.printf(" R ");
Ludwigfr 25:572c9e9a8809 431 else{
Ludwigfr 25:572c9e9a8809 432 currProba=log_to_proba(map[x][y]);
Ludwigfr 25:572c9e9a8809 433 if ( currProba < 0.5)
geotsam 29:224e9e686f7b 434 pc.printf(" ");
Ludwigfr 25:572c9e9a8809 435 else{
Ludwigfr 25:572c9e9a8809 436 if(currProba==0.5)
Ludwigfr 27:07bde633af72 437 pc.printf(" . ");
Ludwigfr 25:572c9e9a8809 438 else
geotsam 29:224e9e686f7b 439 pc.printf(" X ");
Ludwigfr 25:572c9e9a8809 440 }
geotsam 24:8f4b820d8de8 441 }
geotsam 24:8f4b820d8de8 442 }
geotsam 24:8f4b820d8de8 443 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 444 }
geotsam 24:8f4b820d8de8 445 }
Ludwigfr 22:ebb37a249b5f 446
Ludwigfr 39:dd8326ec75ce 447 void print_final_map_with_robot_position_and_target() {
Ludwigfr 39:dd8326ec75ce 448 float currProba;
Ludwigfr 39:dd8326ec75ce 449 Odometria();
Ludwigfr 39:dd8326ec75ce 450 float Xrobot=robot_center_x_in_orthonormal_x();
Ludwigfr 39:dd8326ec75ce 451 float Yrobot=robot_center_y_in_orthonormal_y();
Ludwigfr 39:dd8326ec75ce 452
Ludwigfr 39:dd8326ec75ce 453 float heightIndiceInOrthonormal;
Ludwigfr 39:dd8326ec75ce 454 float widthIndiceInOrthonormal;
Ludwigfr 39:dd8326ec75ce 455
Ludwigfr 39:dd8326ec75ce 456 float widthMalus=-(3*sizeCellWidth/2);
Ludwigfr 39:dd8326ec75ce 457 float widthBonus=sizeCellWidth/2;
Ludwigfr 39:dd8326ec75ce 458
Ludwigfr 39:dd8326ec75ce 459 float heightMalus=-(3*sizeCellHeight/2);
Ludwigfr 39:dd8326ec75ce 460 float heightBonus=sizeCellHeight/2;
Ludwigfr 39:dd8326ec75ce 461
Ludwigfr 39:dd8326ec75ce 462 pc.printf("\n\r");
Ludwigfr 39:dd8326ec75ce 463 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
Ludwigfr 39:dd8326ec75ce 464 for (int x= 0; x<NB_CELL_WIDTH; x++) {
Ludwigfr 39:dd8326ec75ce 465 heightIndiceInOrthonormal=estimated_height_indice_in_orthonormal_y(y);
Ludwigfr 39:dd8326ec75ce 466 widthIndiceInOrthonormal=estimated_width_indice_in_orthonormal_x(x);
Ludwigfr 39:dd8326ec75ce 467 if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 39:dd8326ec75ce 468 pc.printf(" R ");
Ludwigfr 39:dd8326ec75ce 469 else{
Ludwigfr 43:ffd5a6d4dd48 470 if(targetYOrhto >= (heightIndiceInOrthonormal+heightMalus) && targetYOrhto <= (heightIndiceInOrthonormal+heightBonus) && targetXOrhto >= (widthIndiceInOrthonormal+widthMalus) && targetXOrhto <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 39:dd8326ec75ce 471 pc.printf(" T ");
Ludwigfr 39:dd8326ec75ce 472 else{
Ludwigfr 39:dd8326ec75ce 473 currProba=log_to_proba(map[x][y]);
Ludwigfr 39:dd8326ec75ce 474 if ( currProba < 0.5)
Ludwigfr 39:dd8326ec75ce 475 pc.printf(" ");
Ludwigfr 39:dd8326ec75ce 476 else{
Ludwigfr 39:dd8326ec75ce 477 if(currProba==0.5)
Ludwigfr 39:dd8326ec75ce 478 pc.printf(" . ");
Ludwigfr 39:dd8326ec75ce 479 else
Ludwigfr 39:dd8326ec75ce 480 pc.printf(" X ");
Ludwigfr 39:dd8326ec75ce 481 }
Ludwigfr 39:dd8326ec75ce 482 }
Ludwigfr 39:dd8326ec75ce 483 }
Ludwigfr 39:dd8326ec75ce 484 }
Ludwigfr 39:dd8326ec75ce 485 pc.printf("\n\r");
Ludwigfr 39:dd8326ec75ce 486 }
Ludwigfr 39:dd8326ec75ce 487 }
Ludwigfr 39:dd8326ec75ce 488
Ludwigfr 22:ebb37a249b5f 489 //MATHS heavy functions
Ludwigfr 22:ebb37a249b5f 490 /**********************************************************************/
Ludwigfr 22:ebb37a249b5f 491 //Distance computation function
Ludwigfr 22:ebb37a249b5f 492 float dist(float robot_x, float robot_y, float target_x, float target_y){
Ludwigfr 22:ebb37a249b5f 493 return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2));
Ludwigfr 22:ebb37a249b5f 494 }
Ludwigfr 22:ebb37a249b5f 495
geotsam 24:8f4b820d8de8 496 //returns the probability [0,1] that the cell is occupied from the log valAue lt
Ludwigfr 22:ebb37a249b5f 497 float log_to_proba(float lt){
Ludwigfr 22:ebb37a249b5f 498 return 1-1/(1+exp(lt));
Ludwigfr 22:ebb37a249b5f 499 }
Ludwigfr 22:ebb37a249b5f 500
Ludwigfr 22:ebb37a249b5f 501 //returns the log value that the cell is occupied from the probability value [0,1]
Ludwigfr 22:ebb37a249b5f 502 float proba_to_log(float p){
Ludwigfr 22:ebb37a249b5f 503 return log(p/(1-p));
Ludwigfr 22:ebb37a249b5f 504 }
Ludwigfr 22:ebb37a249b5f 505
Ludwigfr 22:ebb37a249b5f 506 //returns the new log value
Ludwigfr 22:ebb37a249b5f 507 float compute_log_estimation_lt(float previousLogValue,float currentProbability,float originalLogvalue ){
Ludwigfr 22:ebb37a249b5f 508 return previousLogValue+proba_to_log(currentProbability)-originalLogvalue;
Ludwigfr 22:ebb37a249b5f 509 }
Ludwigfr 22:ebb37a249b5f 510
Ludwigfr 22:ebb37a249b5f 511 //makes the angle inAngle between 0 and 2pi
Ludwigfr 22:ebb37a249b5f 512 float rad_angle_check(float inAngle){
Ludwigfr 22:ebb37a249b5f 513 //cout<<"before :"<<inAngle;
Ludwigfr 22:ebb37a249b5f 514 if(inAngle > 0){
Ludwigfr 22:ebb37a249b5f 515 while(inAngle > (2*pi))
Ludwigfr 22:ebb37a249b5f 516 inAngle-=2*pi;
Ludwigfr 22:ebb37a249b5f 517 }else{
Ludwigfr 22:ebb37a249b5f 518 while(inAngle < 0)
Ludwigfr 22:ebb37a249b5f 519 inAngle+=2*pi;
Ludwigfr 22:ebb37a249b5f 520 }
Ludwigfr 22:ebb37a249b5f 521 //cout<<" after :"<<inAngle<<endl;
Ludwigfr 22:ebb37a249b5f 522 return inAngle;
Ludwigfr 22:ebb37a249b5f 523 }
Ludwigfr 22:ebb37a249b5f 524
Ludwigfr 22:ebb37a249b5f 525 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 22:ebb37a249b5f 526 float compute_angle_between_vectors(float x, float y,float xs,float ys){
Ludwigfr 22:ebb37a249b5f 527 //alpha angle between ->x and ->SA
Ludwigfr 22:ebb37a249b5f 528 //vector S to A ->SA
Ludwigfr 22:ebb37a249b5f 529 float vSAx=x-xs;
Ludwigfr 22:ebb37a249b5f 530 float vSAy=y-ys;
Ludwigfr 22:ebb37a249b5f 531 //norme SA
Ludwigfr 22:ebb37a249b5f 532 float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2));
Ludwigfr 22:ebb37a249b5f 533 //vector ->x (1,0)
Ludwigfr 22:ebb37a249b5f 534 float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;;
Ludwigfr 22:ebb37a249b5f 535 //vector ->y (0,1)
Ludwigfr 22:ebb37a249b5f 536 float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx;
Ludwigfr 22:ebb37a249b5f 537 if (sinAlpha < 0)
Ludwigfr 22:ebb37a249b5f 538 return -acos(cosAlpha);
Ludwigfr 22:ebb37a249b5f 539 else
Ludwigfr 22:ebb37a249b5f 540 return acos(cosAlpha);
Ludwigfr 25:572c9e9a8809 541 }
Ludwigfr 38:3c9f8cbf5250 542 /*
Ludwigfr 25:572c9e9a8809 543
Ludwigfr 38:3c9f8cbf5250 544
Ludwigfr 44:e2bd06f94dc0 545 Robot space: orthonormal space:
Ludwigfr 38:3c9f8cbf5250 546 ^ ^
Ludwigfr 38:3c9f8cbf5250 547 |x |y
Ludwigfr 38:3c9f8cbf5250 548 <- R O ->
Ludwigfr 38:3c9f8cbf5250 549 y x
Ludwigfr 38:3c9f8cbf5250 550 */
Ludwigfr 38:3c9f8cbf5250 551 //Odometria must bu up to date
Ludwigfr 36:c806c568720a 552 float x_robot_in_orthonormal_x(float x, float y){
Ludwigfr 38:3c9f8cbf5250 553 return robot_center_x_in_orthonormal_x()-y;
Ludwigfr 36:c806c568720a 554 }
Ludwigfr 36:c806c568720a 555
Ludwigfr 38:3c9f8cbf5250 556 //Odometria must bu up to date
Ludwigfr 36:c806c568720a 557 float y_robot_in_orthonormal_y(float x, float y){
Ludwigfr 38:3c9f8cbf5250 558 return robot_center_y_in_orthonormal_y()+x;
Ludwigfr 36:c806c568720a 559 }
Ludwigfr 36:c806c568720a 560
Ludwigfr 25:572c9e9a8809 561 float robot_center_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 562 return NB_CELL_WIDTH*sizeCellWidth-Y;
Ludwigfr 25:572c9e9a8809 563 }
Ludwigfr 25:572c9e9a8809 564
Ludwigfr 25:572c9e9a8809 565 float robot_center_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 566 return X;
Ludwigfr 25:572c9e9a8809 567 }
Ludwigfr 25:572c9e9a8809 568
Ludwigfr 25:572c9e9a8809 569 float robot_sonar_front_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 570 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_FRONT_X;
Ludwigfr 25:572c9e9a8809 571 }
Ludwigfr 25:572c9e9a8809 572 float robot_sonar_front_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 573 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_FRONT_Y;
Ludwigfr 25:572c9e9a8809 574 }
Ludwigfr 25:572c9e9a8809 575
Ludwigfr 25:572c9e9a8809 576 float robot_sonar_right_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 577 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_RIGHT_X;
Ludwigfr 25:572c9e9a8809 578 }
Ludwigfr 25:572c9e9a8809 579 float robot_sonar_right_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 580 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_RIGHT_Y;
Ludwigfr 25:572c9e9a8809 581 }
Ludwigfr 25:572c9e9a8809 582
Ludwigfr 25:572c9e9a8809 583 float robot_sonar_left_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 584 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_LEFT_X;
Ludwigfr 25:572c9e9a8809 585 }
Ludwigfr 25:572c9e9a8809 586 float robot_sonar_left_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 587 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_LEFT_Y;
Ludwigfr 25:572c9e9a8809 588 }
Ludwigfr 25:572c9e9a8809 589
Ludwigfr 25:572c9e9a8809 590 float estimated_width_indice_in_orthonormal_x(int i){
Ludwigfr 27:07bde633af72 591 return sizeCellWidth/2+i*sizeCellWidth;
Ludwigfr 25:572c9e9a8809 592 }
Ludwigfr 25:572c9e9a8809 593 float estimated_height_indice_in_orthonormal_y(int j){
Ludwigfr 27:07bde633af72 594 return sizeCellHeight/2+j*sizeCellHeight;
geotsam 26:b020cf253059 595 }
geotsam 26:b020cf253059 596
Ludwigfr 42:ab25bffdc32b 597 //update angleError,distanceFromTarget,d2, beta
Ludwigfr 42:ab25bffdc32b 598 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 599 *angleError = atan2((target_y-Y),(target_x-X))-theta;
Ludwigfr 42:ab25bffdc32b 600 *angleError = atan(sin(*angleError)/cos(*angleError));
Ludwigfr 43:ffd5a6d4dd48 601 *distanceFromTarget = dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto);
Ludwigfr 42:ab25bffdc32b 602 *d2 = *distanceFromTarget;
Ludwigfr 42:ab25bffdc32b 603 *beta = -*angleError-theta+target_angle;
geotsam 26:b020cf253059 604
geotsam 26:b020cf253059 605 //Computing angle error and distance towards the target value
Ludwigfr 42:ab25bffdc32b 606 *distanceFromTarget += dt*(-KRHO*cos(*angleError)**distanceFromTarget);
Ludwigfr 42:ab25bffdc32b 607 float temp = *angleError;
Ludwigfr 42:ab25bffdc32b 608 *angleError += dt*(KRHO*sin(*angleError)-KA**angleError-KB**beta);
Ludwigfr 42:ab25bffdc32b 609 *beta += dt*(-KRHO*sin(temp));
Ludwigfr 27:07bde633af72 610 //pc.printf("\n\r d2=%f", d2);
Ludwigfr 27:07bde633af72 611 //pc.printf("\n\r dt=%f", dt);
geotsam 26:b020cf253059 612 }
geotsam 26:b020cf253059 613
Ludwigfr 42:ab25bffdc32b 614 //update angularLeft and angularRight
Ludwigfr 42:ab25bffdc32b 615 void compute_linear_angular_velocities(float angleError,float distanceFromTarget,float beta,float* angularLeft, float* angularRight){
geotsam 26:b020cf253059 616 //Computing linear and angular velocities
Ludwigfr 42:ab25bffdc32b 617 float linear;
Ludwigfr 42:ab25bffdc32b 618 float angular;
Ludwigfr 42:ab25bffdc32b 619 if(angleError>=-1.5708 && angleError<=1.5708){
Ludwigfr 42:ab25bffdc32b 620 linear=KRHO*distanceFromTarget;
Ludwigfr 42:ab25bffdc32b 621 angular=KA*angleError+KB*beta;
geotsam 26:b020cf253059 622 }
geotsam 26:b020cf253059 623 else{
Ludwigfr 42:ab25bffdc32b 624 linear=-KRHO*distanceFromTarget;
Ludwigfr 42:ab25bffdc32b 625 angular=-KA*angleError-KB*beta;
geotsam 26:b020cf253059 626 }
Ludwigfr 43:ffd5a6d4dd48 627 //TODO check those signs
Ludwigfr 42:ab25bffdc32b 628 *angularLeft=(linear-0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
Ludwigfr 42:ab25bffdc32b 629 *angularRight=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
Ludwigfr 43:ffd5a6d4dd48 630
Ludwigfr 43:ffd5a6d4dd48 631 float aL=*angularLeft;
Ludwigfr 43:ffd5a6d4dd48 632 float aR=*angularRight;
Ludwigfr 43:ffd5a6d4dd48 633 //Normalize speed for motors
Ludwigfr 43:ffd5a6d4dd48 634 if(abs(*angularLeft)>abs(*angularRight)) {
Ludwigfr 43:ffd5a6d4dd48 635 *angularRight=MAX_SPEED*abs(aR/aL)*sign1(aR);
Ludwigfr 43:ffd5a6d4dd48 636 *angularLeft=MAX_SPEED*sign1(aL);
Ludwigfr 43:ffd5a6d4dd48 637 }
Ludwigfr 43:ffd5a6d4dd48 638 else {
Ludwigfr 43:ffd5a6d4dd48 639 *angularLeft=MAX_SPEED*abs(aL/aR)*sign1(aL);
Ludwigfr 43:ffd5a6d4dd48 640 *angularRight=MAX_SPEED*sign1(aR);
Ludwigfr 43:ffd5a6d4dd48 641 }
Ludwigfr 32:d51928b58645 642 }
Ludwigfr 32:d51928b58645 643
Ludwigfr 43:ffd5a6d4dd48 644 void update_force(int widthIndice, int heightIndice, float range, float* forceX, float* forceY, float xRobotOrtho, float yRobotOrtho ){
Ludwigfr 44:e2bd06f94dc0 645 //get the coordonate of the map and the robot in the ortonormal space
Ludwigfr 32:d51928b58645 646 float xCenterCell=estimated_width_indice_in_orthonormal_x(widthIndice);
Ludwigfr 32:d51928b58645 647 float yCenterCell=estimated_height_indice_in_orthonormal_y(heightIndice);
Ludwigfr 32:d51928b58645 648 //compute the distance beetween the cell and the robot
Ludwigfr 32:d51928b58645 649 float distanceCellToRobot=sqrt(pow(xCenterCell-xRobotOrtho,2)+pow(yCenterCell-yRobotOrtho,2));
Ludwigfr 32:d51928b58645 650 //check if the cell is in range
Ludwigfr 43:ffd5a6d4dd48 651 if(distanceCellToRobot <= range) {
Ludwigfr 32:d51928b58645 652 float probaCell=log_to_proba(map[widthIndice][heightIndice]);
Ludwigfr 32:d51928b58645 653 float xForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(xCenterCell-xRobotOrtho)/pow(distanceCellToRobot,3);
Ludwigfr 32:d51928b58645 654 float yForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(yCenterCell-yRobotOrtho)/pow(distanceCellToRobot,3);
Ludwigfr 32:d51928b58645 655 *forceX+=xForceComputed;
Ludwigfr 32:d51928b58645 656 *forceY+=yForceComputed;
Ludwigfr 32:d51928b58645 657 }
Ludwigfr 32:d51928b58645 658 }
Ludwigfr 32:d51928b58645 659
Ludwigfr 38:3c9f8cbf5250 660 //compute the force on X and Y
Ludwigfr 39:dd8326ec75ce 661 void compute_forceX_and_forceY(float* forceX, float* forceY){
Ludwigfr 44:e2bd06f94dc0 662 //we put the position of the robot in an orthonormal space
Ludwigfr 32:d51928b58645 663 float xRobotOrtho=robot_center_x_in_orthonormal_x();
Ludwigfr 32:d51928b58645 664 float yRobotOrtho=robot_center_y_in_orthonormal_y();
Ludwigfr 39:dd8326ec75ce 665
geotsam 37:462d19bb221f 666 float forceRepulsionComputedX=0;
geotsam 37:462d19bb221f 667 float forceRepulsionComputedY=0;
Ludwigfr 38:3c9f8cbf5250 668 //for each cell of the map we compute a force of repulsion
Ludwigfr 32:d51928b58645 669 for(int i=0;i<NB_CELL_WIDTH;i++){
Ludwigfr 32:d51928b58645 670 for(int j=0;j<NB_CELL_HEIGHT;j++){
Ludwigfr 43:ffd5a6d4dd48 671 update_force(i,j,RANGE_FORCE,&forceRepulsionComputedX,&forceRepulsionComputedY,xRobotOrtho,yRobotOrtho);
Ludwigfr 32:d51928b58645 672 }
Ludwigfr 32:d51928b58645 673 }
geotsam 34:128fc7aed957 674 //update with attraction force
geotsam 37:462d19bb221f 675 *forceX=-forceRepulsionComputedX;
geotsam 37:462d19bb221f 676 *forceY=-forceRepulsionComputedY;
Ludwigfr 43:ffd5a6d4dd48 677 float distanceTargetRobot=sqrt(pow(targetXOrhto-xRobotOrtho,2)+pow(targetYOrhto-yRobotOrtho,2));
Ludwigfr 40:f5e212d9f900 678 if(distanceTargetRobot != 0){
Ludwigfr 43:ffd5a6d4dd48 679 *forceX+=FORCE_CONSTANT_ATTRACTION*(targetXOrhto-xRobotOrtho)/distanceTargetRobot;
Ludwigfr 43:ffd5a6d4dd48 680 *forceY+=FORCE_CONSTANT_ATTRACTION*(targetYOrhto-yRobotOrtho)/distanceTargetRobot;
Ludwigfr 40:f5e212d9f900 681 }
geotsam 34:128fc7aed957 682 float amplitude=sqrt(pow(*forceX,2)+pow(*forceY,2));
Ludwigfr 40:f5e212d9f900 683 if(amplitude!=0){//avoid division by 0 if forceX and forceY == 0
Ludwigfr 36:c806c568720a 684 *forceX=*forceX/amplitude;
Ludwigfr 36:c806c568720a 685 *forceY=*forceY/amplitude;
Ludwigfr 36:c806c568720a 686 }
geotsam 33:78139f82ea74 687 }
geotsam 33:78139f82ea74 688
Ludwigfr 43:ffd5a6d4dd48 689 void test_got_to_line(bool* reached){
Ludwigfr 43:ffd5a6d4dd48 690 float line_a=1;
Ludwigfr 43:ffd5a6d4dd48 691 float line_b=2;
Ludwigfr 43:ffd5a6d4dd48 692 float line_c=-140;
Ludwigfr 43:ffd5a6d4dd48 693 //we update the odometrie
Ludwigfr 43:ffd5a6d4dd48 694 Odometria();
Ludwigfr 43:ffd5a6d4dd48 695 float angularRight=0;
Ludwigfr 43:ffd5a6d4dd48 696 float angularLeft=0;
Ludwigfr 43:ffd5a6d4dd48 697
Ludwigfr 43:ffd5a6d4dd48 698 go_to_line(&angularLeft,&angularRight,line_a,line_b,line_c);
Ludwigfr 43:ffd5a6d4dd48 699 pc.printf("\r\n line: %f x + %f y + %f =0", line_a, line_b, line_c);
Ludwigfr 43:ffd5a6d4dd48 700
Ludwigfr 43:ffd5a6d4dd48 701 leftMotor(sign2(angularLeft),abs(angularLeft));
Ludwigfr 43:ffd5a6d4dd48 702 rightMotor(sign2(angularRight),abs(angularRight));
Ludwigfr 43:ffd5a6d4dd48 703
Ludwigfr 43:ffd5a6d4dd48 704 pc.printf("\r\n dist=%f", dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto));
Ludwigfr 43:ffd5a6d4dd48 705
Ludwigfr 43:ffd5a6d4dd48 706 //wait(0.1);
Ludwigfr 43:ffd5a6d4dd48 707 Odometria();
Ludwigfr 43:ffd5a6d4dd48 708 if(dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto)<10)
Ludwigfr 43:ffd5a6d4dd48 709 *reached=true;
Ludwigfr 43:ffd5a6d4dd48 710 }
Ludwigfr 42:ab25bffdc32b 711 void vff(bool* reached){
Ludwigfr 42:ab25bffdc32b 712 float line_a;
Ludwigfr 42:ab25bffdc32b 713 float line_b;
Ludwigfr 42:ab25bffdc32b 714 float line_c;
geotsam 33:78139f82ea74 715 //Updating X,Y and theta with the odometry values
geotsam 37:462d19bb221f 716 float forceX=0;
geotsam 37:462d19bb221f 717 float forceY=0;
Ludwigfr 38:3c9f8cbf5250 718 //we update the odometrie
geotsam 33:78139f82ea74 719 Odometria();
Ludwigfr 38:3c9f8cbf5250 720 //we check the sensors
Ludwigfr 40:f5e212d9f900 721 float leftMm = get_distance_left_sensor();
Ludwigfr 40:f5e212d9f900 722 float frontMm = get_distance_front_sensor();
Ludwigfr 40:f5e212d9f900 723 float rightMm = get_distance_right_sensor();
Ludwigfr 42:ab25bffdc32b 724 float angularRight=0;
Ludwigfr 42:ab25bffdc32b 725 float angularLeft=0;
Ludwigfr 38:3c9f8cbf5250 726 //update the probabilities values
geotsam 33:78139f82ea74 727 update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 38:3c9f8cbf5250 728 //we compute the force on X and Y
Ludwigfr 39:dd8326ec75ce 729 compute_forceX_and_forceY(&forceX, &forceY);
Ludwigfr 38:3c9f8cbf5250 730 //we compute a new ine
Ludwigfr 42:ab25bffdc32b 731 calculate_line(forceX, forceY, X, Y,&line_a,&line_b,&line_c);
Ludwigfr 42:ab25bffdc32b 732 go_to_line(&angularLeft,&angularRight,line_a,line_b,line_c);
geotsam 33:78139f82ea74 733
geotsam 33:78139f82ea74 734 //Updating motor velocities
Ludwigfr 43:ffd5a6d4dd48 735
Ludwigfr 43:ffd5a6d4dd48 736 leftMotor(sign2(angularLeft),abs(angularLeft));
Ludwigfr 43:ffd5a6d4dd48 737 rightMotor(sign2(angularRight),abs(angularRight));
geotsam 33:78139f82ea74 738
Ludwigfr 40:f5e212d9f900 739 //wait(0.1);
geotsam 33:78139f82ea74 740 Odometria();
Ludwigfr 43:ffd5a6d4dd48 741 if(dist(robot_center_x_in_orthonormal_x(),robot_center_y_in_orthonormal_y(),targetXOrhto,targetYOrhto)<10)
Ludwigfr 42:ab25bffdc32b 742 *reached=true;
geotsam 33:78139f82ea74 743 }
geotsam 33:78139f82ea74 744
Ludwigfr 44:e2bd06f94dc0 745 //return 1 if positiv, -1 if negativ
Ludwigfr 44:e2bd06f94dc0 746 float sign1(float value){
Ludwigfr 44:e2bd06f94dc0 747 if(value>=0)
Ludwigfr 44:e2bd06f94dc0 748 return 1;
Ludwigfr 44:e2bd06f94dc0 749 else
Ludwigfr 44:e2bd06f94dc0 750 return -1;
Ludwigfr 44:e2bd06f94dc0 751 }
Ludwigfr 44:e2bd06f94dc0 752
Ludwigfr 44:e2bd06f94dc0 753 //return 1 if positiv, 0 if negativ
Ludwigfr 44:e2bd06f94dc0 754 int sign2(float value){
Ludwigfr 44:e2bd06f94dc0 755 if(value>=0)
Ludwigfr 44:e2bd06f94dc0 756 return 1;
Ludwigfr 44:e2bd06f94dc0 757 else
Ludwigfr 44:e2bd06f94dc0 758 return 0;
Ludwigfr 44:e2bd06f94dc0 759 }
Ludwigfr 44:e2bd06f94dc0 760
Ludwigfr 44:e2bd06f94dc0 761 //currently line_c is not used
Ludwigfr 42:ab25bffdc32b 762 void go_to_line(float* angularLeft,float* angularRight,float line_a, float line_b, float line_c){
Ludwigfr 42:ab25bffdc32b 763 float lineAngle;
Ludwigfr 42:ab25bffdc32b 764 float angleError;
Ludwigfr 42:ab25bffdc32b 765 float linear;
Ludwigfr 42:ab25bffdc32b 766 float angular;
geotsam 33:78139f82ea74 767 if(line_b!=0){
Ludwigfr 42:ab25bffdc32b 768 lineAngle=atan(-line_a/line_b);
geotsam 33:78139f82ea74 769 }
geotsam 33:78139f82ea74 770 else{
Ludwigfr 42:ab25bffdc32b 771 lineAngle=1.5708;
geotsam 33:78139f82ea74 772 }
Ludwigfr 43:ffd5a6d4dd48 773
geotsam 33:78139f82ea74 774 //Computing angle error
Ludwigfr 42:ab25bffdc32b 775 angleError = lineAngle-theta;
Ludwigfr 42:ab25bffdc32b 776 angleError = atan(sin(angleError)/cos(angleError));
geotsam 33:78139f82ea74 777
geotsam 33:78139f82ea74 778 //Calculating velocities
Ludwigfr 42:ab25bffdc32b 779 linear=KV*(3.1416);
Ludwigfr 42:ab25bffdc32b 780 angular=KH*angleError;
Ludwigfr 43:ffd5a6d4dd48 781 //TODO if we put it like the poly says it fails, if we switch the plus and minus it works ...
Ludwigfr 44:e2bd06f94dc0 782 *angularLeft=(linear-0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
Ludwigfr 44:e2bd06f94dc0 783 *angularRight=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
Ludwigfr 43:ffd5a6d4dd48 784
Ludwigfr 43:ffd5a6d4dd48 785 float aL=*angularLeft;
Ludwigfr 43:ffd5a6d4dd48 786 float aR=*angularRight;
Ludwigfr 43:ffd5a6d4dd48 787 //Normalize speed for motors
Ludwigfr 43:ffd5a6d4dd48 788 if(abs(*angularLeft)>abs(*angularRight)) {
Ludwigfr 43:ffd5a6d4dd48 789 *angularRight=MAX_SPEED*abs(aR/aL)*sign1(aR);
Ludwigfr 43:ffd5a6d4dd48 790 *angularLeft=MAX_SPEED*sign1(aL);
Ludwigfr 43:ffd5a6d4dd48 791 }
Ludwigfr 43:ffd5a6d4dd48 792 else {
Ludwigfr 43:ffd5a6d4dd48 793 *angularLeft=MAX_SPEED*abs(aL/aR)*sign1(aL);
Ludwigfr 43:ffd5a6d4dd48 794 *angularRight=MAX_SPEED*sign1(aR);
Ludwigfr 43:ffd5a6d4dd48 795 }
Ludwigfr 44:e2bd06f94dc0 796 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 797 }
Ludwigfr 43:ffd5a6d4dd48 798
Ludwigfr 44:e2bd06f94dc0 799 //robotX and robotY are from Odometria, calculate line_a, line_b and line_c
Ludwigfr 44:e2bd06f94dc0 800 void calculate_line(float forceX, float forceY, float robotX, float robotY,float *line_a, float *line_b, float *line_c){
Ludwigfr 44:e2bd06f94dc0 801 /*
Ludwigfr 44:e2bd06f94dc0 802 in the teachers maths it is
Ludwigfr 44:e2bd06f94dc0 803
Ludwigfr 44:e2bd06f94dc0 804 *line_a=forceY;
Ludwigfr 44:e2bd06f94dc0 805 *line_b=-forceX;
Ludwigfr 44:e2bd06f94dc0 806
Ludwigfr 44:e2bd06f94dc0 807 because a*x+b*y+c=0
Ludwigfr 44:e2bd06f94dc0 808 a impact the vertical and b the horizontal
Ludwigfr 44:e2bd06f94dc0 809 and he has to put them like this because
Ludwigfr 44:e2bd06f94dc0 810 Robot space: orthonormal space:
Ludwigfr 44:e2bd06f94dc0 811 ^ ^
Ludwigfr 44:e2bd06f94dc0 812 |x |y
Ludwigfr 44:e2bd06f94dc0 813 <- R O ->
Ludwigfr 44:e2bd06f94dc0 814 y x
Ludwigfr 44:e2bd06f94dc0 815 but since our forceX, forceY are already computed in the orthonormal space I m not sure we need to
Ludwigfr 44:e2bd06f94dc0 816 */
Ludwigfr 44:e2bd06f94dc0 817 *line_a=forceX;
Ludwigfr 44:e2bd06f94dc0 818 *line_b=forceY;
Ludwigfr 44:e2bd06f94dc0 819 //TODO check that
Ludwigfr 44:e2bd06f94dc0 820 //because the line computed always pass by the robot center we dont need lince_c
Ludwigfr 44:e2bd06f94dc0 821 //float xRobotOrtho=robot_center_x_in_orthonormal_x();
Ludwigfr 44:e2bd06f94dc0 822 //float yRobotOrtho=robot_center_y_in_orthonormal_y();
Ludwigfr 44:e2bd06f94dc0 823 //*line_c=forceX*yRobotOrtho+forceY*xRobotOrtho;
Ludwigfr 44:e2bd06f94dc0 824 *line_c=0;
geotsam 24:8f4b820d8de8 825 }