Georgios Tsamis / Mbed 2 deprecated VirtualForces_debug

Navigate to a given point using the OGM and virtual forces

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

main.cpp@7:c94070f9af78, 2017-03-24 (annotated)

Committer:
AurelienBernier
Date:
Fri Mar 24 18:02:57 2017 +0000
Revision:
7:c94070f9af78
Parent:
6:afde4b08166b
Child:
8:109314be5b68
Final values kappa;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
geotsam 0:8bffb51cc345 1 #include "mbed.h"
geotsam 0:8bffb51cc345 2 #include "robot.h" // Initializes the robot. This include should be used in all main.cpp!
geotsam 0:8bffb51cc345 3 #include "math.h"
AurelienBernier 6:afde4b08166b 4
AurelienBernier 6:afde4b08166b 5 Timer t;
AurelienBernier 4:8c56c3ba6e54 6
geotsam 0:8bffb51cc345 7 float dist(float robot_x, float robot_y, float target_x, float target_y);
geotsam 0:8bffb51cc345 8
AurelienBernier 4:8c56c3ba6e54 9 //Timeout time;
geotsam 0:8bffb51cc345 10 int main(){
AurelienBernier 2:ea61e801e81f 11 initRobot(); //Initializing the robot
geotsam 0:8bffb51cc345 12 pc.baud(9600); // baud for the pc communication
geotsam 0:8bffb51cc345 13
AurelienBernier 2:ea61e801e81f 14 //Target example x,y values
AurelienBernier 7:c94070f9af78 15 float target_x=46.8, target_y=78.6, target_angle=1.7;
geotsam 0:8bffb51cc345 16
AurelienBernier 4:8c56c3ba6e54 17 float alpha; //angle error
AurelienBernier 4:8c56c3ba6e54 18 float rho; //distance from target
geotsam 3:1e0f4cb93eda 19 float beta;
geotsam 3:1e0f4cb93eda 20 //float k_linear=10, k_angular=200;
AurelienBernier 7:c94070f9af78 21 //kb = -15 and ka = 30 tabom
AurelienBernier 7:c94070f9af78 22 float kRho=12, ka=30, kb=-13;
geotsam 0:8bffb51cc345 23 float linear, angular, angular_left, angular_right;
geotsam 3:1e0f4cb93eda 24 float dt=0.5;
geotsam 3:1e0f4cb93eda 25 float temp;
AurelienBernier 6:afde4b08166b 26 float d2;
geotsam 0:8bffb51cc345 27
AurelienBernier 2:ea61e801e81f 28 //Diameter of a wheel and distance between the 2
geotsam 0:8bffb51cc345 29 float r=3.25, b=7.2;
geotsam 0:8bffb51cc345 30
AurelienBernier 2:ea61e801e81f 31 int speed=999; // Max speed at beggining of movement
geotsam 0:8bffb51cc345 32
AurelienBernier 2:ea61e801e81f 33 //Resetting coordinates before moving
AurelienBernier 2:ea61e801e81f 34 theta=0;
geotsam 0:8bffb51cc345 35 X=0;
geotsam 0:8bffb51cc345 36 Y=0;
geotsam 0:8bffb51cc345 37
AurelienBernier 4:8c56c3ba6e54 38 alpha = atan2((target_y-Y),(target_x-X))-theta;
AurelienBernier 4:8c56c3ba6e54 39 alpha = atan(sin(alpha)/cos(alpha));
AurelienBernier 4:8c56c3ba6e54 40 rho = dist(X, Y, target_x, target_y);
AurelienBernier 6:afde4b08166b 41
AurelienBernier 4:8c56c3ba6e54 42 beta = -alpha-theta+target_angle;
AurelienBernier 6:afde4b08166b 43 //beta = atan(sin(beta)/cos(beta));
geotsam 3:1e0f4cb93eda 44
geotsam 0:8bffb51cc345 45 do {
geotsam 0:8bffb51cc345 46 pc.printf("\n\n\r entered while");
AurelienBernier 2:ea61e801e81f 47
AurelienBernier 6:afde4b08166b 48 //Timer stuff
AurelienBernier 6:afde4b08166b 49 dt = t.read();
AurelienBernier 6:afde4b08166b 50 t.reset();
AurelienBernier 6:afde4b08166b 51 t.start();
AurelienBernier 6:afde4b08166b 52
AurelienBernier 2:ea61e801e81f 53 //Updating X,Y and theta with the odometry values
geotsam 0:8bffb51cc345 54 Odometria();
geotsam 3:1e0f4cb93eda 55
AurelienBernier 4:8c56c3ba6e54 56 alpha = atan2((target_y-Y),(target_x-X))-theta;
AurelienBernier 4:8c56c3ba6e54 57 alpha = atan(sin(alpha)/cos(alpha));
AurelienBernier 4:8c56c3ba6e54 58 rho = dist(X, Y, target_x, target_y);
AurelienBernier 6:afde4b08166b 59 d2 = rho;
AurelienBernier 5:dea05b8f30d0 60 //beta = -alpha-theta;
AurelienBernier 5:dea05b8f30d0 61 beta = -alpha-theta+target_angle;
AurelienBernier 6:afde4b08166b 62 //beta = atan(sin(beta)/cos(beta));
AurelienBernier 6:afde4b08166b 63
AurelienBernier 6:afde4b08166b 64
AurelienBernier 2:ea61e801e81f 65 //Computing angle error and distance towards the target value
AurelienBernier 4:8c56c3ba6e54 66 rho += dt*(-kRho*cos(alpha)*rho);
AurelienBernier 4:8c56c3ba6e54 67 temp = alpha;
AurelienBernier 6:afde4b08166b 68 alpha += dt*(kRho*sin(alpha)-ka*alpha-kb*beta);
AurelienBernier 6:afde4b08166b 69 beta += dt*(-kRho*sin(temp));
AurelienBernier 6:afde4b08166b 70 pc.printf("\n\r d2=%f", d2);
AurelienBernier 6:afde4b08166b 71 pc.printf("\n\r dt=%f", dt);
geotsam 0:8bffb51cc345 72
AurelienBernier 2:ea61e801e81f 73 //Computing linear and angular velocities
AurelienBernier 4:8c56c3ba6e54 74 if(alpha>=-1.5708 && alpha<=1.5708){
AurelienBernier 4:8c56c3ba6e54 75 linear=kRho*rho;
AurelienBernier 4:8c56c3ba6e54 76 angular=ka*alpha+kb*beta;
geotsam 3:1e0f4cb93eda 77 }
geotsam 3:1e0f4cb93eda 78 else{
AurelienBernier 4:8c56c3ba6e54 79 linear=-kRho*rho;
AurelienBernier 4:8c56c3ba6e54 80 angular=-ka*alpha-kb*beta;
geotsam 3:1e0f4cb93eda 81 }
geotsam 0:8bffb51cc345 82 angular_left=(linear-0.5*b*angular)/r;
geotsam 0:8bffb51cc345 83 angular_right=(linear+0.5*b*angular)/r;
geotsam 0:8bffb51cc345 84
AurelienBernier 2:ea61e801e81f 85 //Slowing down at the end for more precision
AurelienBernier 6:afde4b08166b 86 if (d2<25) {
AurelienBernier 6:afde4b08166b 87 speed = d2*30;
geotsam 0:8bffb51cc345 88 }
AurelienBernier 2:ea61e801e81f 89
AurelienBernier 2:ea61e801e81f 90 //Normalize speed for motors
geotsam 0:8bffb51cc345 91 if(angular_left>angular_right) {
geotsam 0:8bffb51cc345 92 angular_right=speed*angular_right/angular_left;
geotsam 0:8bffb51cc345 93 angular_left=speed;
geotsam 0:8bffb51cc345 94 } else {
geotsam 0:8bffb51cc345 95 angular_left=speed*angular_left/angular_right;
geotsam 0:8bffb51cc345 96 angular_right=speed;
geotsam 0:8bffb51cc345 97 }
geotsam 0:8bffb51cc345 98
geotsam 0:8bffb51cc345 99 pc.printf("\n\r X=%f", X);
geotsam 0:8bffb51cc345 100 pc.printf("\n\r Y=%f", Y);
geotsam 0:8bffb51cc345 101
AurelienBernier 2:ea61e801e81f 102 //Updating motor velocities
AurelienBernier 1:f0807d5c5a4b 103 leftMotor(1,angular_left);
AurelienBernier 1:f0807d5c5a4b 104 rightMotor(1,angular_right);
geotsam 0:8bffb51cc345 105
AurelienBernier 7:c94070f9af78 106 wait(0.2);
AurelienBernier 6:afde4b08166b 107 //Timer stuff
AurelienBernier 6:afde4b08166b 108 t.stop();
AurelienBernier 7:c94070f9af78 109 } while(d2>1);
geotsam 0:8bffb51cc345 110
AurelienBernier 2:ea61e801e81f 111 //Stop at the end
geotsam 0:8bffb51cc345 112 leftMotor(1,0);
geotsam 0:8bffb51cc345 113 rightMotor(1,0);
geotsam 0:8bffb51cc345 114
AurelienBernier 4:8c56c3ba6e54 115 pc.printf("\n\r %f -- arrived!", rho);
geotsam 0:8bffb51cc345 116 }
geotsam 0:8bffb51cc345 117
AurelienBernier 2:ea61e801e81f 118 //Distance computation function
geotsam 0:8bffb51cc345 119 float dist(float robot_x, float robot_y, float target_x, float target_y){
geotsam 0:8bffb51cc345 120 return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2));
AurelienBernier 6:afde4b08166b 121 }