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20160725
main.cpp
- Committer:
- liyi
- Date:
- 2016-07-25
- Revision:
- 1:a78e5f6154d3
- Parent:
- 0:926cd923a480
- Child:
- 2:388988e5733a
File content as of revision 1:a78e5f6154d3:
/* 版本說明: 可1~9任選,但scanf有問題 實驗說明: 利用運動學模型並以靜止的virtual leader當作輸入命令,達到point to point控制,來驗證里程計的正確性。 =八個方位的測試= 7 8 9 ↖ ↑ ↗ 4← . →6 ↙ ↓ ↘ 1 2 3 07/07測試結果: 實驗成功但略有誤差 */ #include "mbed.h" #include "math.h" #include "QEI.h" // definition #define pi 3.1416 #define pwm_period_us 500 #define r 0.05 // wheel radius [m] #define L 0.125 // distance between wheel center & geometric center [m] #define pulsesPerRev 1024 #define c0 0.06// control gain // initial pose #define x0 0 //[m] #define y0 0 //[m] #define theta0 0//[deg.] // desied pose #define xd 0.5 //[cm] #define yd 0.5 //[cm] #define thetad 0//[deg.] // error threshold #define ex 0.5 //[cm] #define ey 0.5 //[cm] #define etheta 1//[deg.] PwmOut pwm_1(D9); PwmOut pwm_2(D10); PwmOut pwm_3(D11); Timer t; // timer for printing QEI w1 (D2, D3, NC, pulsesPerRev, QEI::X4_ENCODING); QEI w2 (D4, D5, NC, pulsesPerRev, QEI::X4_ENCODING); QEI w3 (D14, D15, NC, pulsesPerRev, QEI::X4_ENCODING); // odomerty para. float c1 = r/(3*L); float c2 = 2*r/3; float Current_X[3] = {x0,y0,(theta0*pi/180)+pi/3}; // X[0] = x; X[1] = y; X[2] = theta; shift pi/3 : origin to new float Next_X[3] = {0,0,0}; double d_theta1,d_theta2,d_theta3,d_theta; int qei1_new, qei2_new, qei3_new; int qei1_old, qei2_old, qei3_old; // control law para. float f1[3] = {0}; // formation vector float X1[3],X1_b[3];// X1_b(X_BAR) is defined as X1-f1 float XL[3] = {xd,yd,(thetad*pi/180)+pi/3};// pose of virtual leader [m m rad.] float u[3] = {0};// control law float omg1,omg2,omg3;// velocity of wheels // PWM float pwm_w1,pwm_w2,pwm_w3; // Others DigitalIn mybutton(USER_BUTTON); DigitalOut myled(LED1); int c = 3; float err[3]= {0}; bool s0 = false; char dire; char c_for_get; char c_for_send; SPI spi(D11, D12, D13); // mosi, miso, sclk DigitalOut cs(D10); Serial pc(SERIAL_TX, SERIAL_RX); char *delim = " "; char *pch; float cha_L[3]; int main() { t.start(); pwm_1.period_us(pwm_period_us); pwm_2.period_us(pwm_period_us); pwm_3.period_us(pwm_period_us); pwm_1.write(0.50); pwm_2.write(0.50); pwm_3.write(0.50); qei1_old = 0; qei2_old = 0; qei3_old = 0; printf("===================Reset===================\n"); aa: { printf("Which direction to go?\n"); printf(" 7 8 9 \n"); printf(" | \n"); printf(" 4- 5 -6 \n"); printf(" | \n"); printf(" 1 2 3 \n"); myled = 1; } scanf("%c", &dire); switch (dire) { case '1': XL[0]=-0.4; XL[1]=-0.4; XL[2]=0+pi/3; break; case '2': XL[0]=0; XL[1]=-0.4; XL[2]=0+pi/3; break; case '3': XL[0]=0.4; XL[1]=-0.4; XL[2]=0+pi/3; break; case '4': XL[0]=-0.4; XL[1]=0; XL[2]=0+pi/3; break; case '5': XL[0]=0; XL[1]=0; XL[2]=0+pi/3; break; case '6': XL[0]=0.4; XL[1]=0; XL[2]=0+pi/3; break; case '7': XL[0]=-0.4; XL[1]=0.4; XL[2]=0+pi/3; break; case '8': XL[0]=0; XL[1]=0.4; XL[2]=0+pi/3; break; case '9': XL[0]=0.4; XL[1]=0.4; XL[2]=0+pi/3; break; } printf("PWM Reset: [%.2f(%%) %.2f(%%) %.2f(%%)]\n",pwm_1.read()*100,pwm_2.read()*100,pwm_3.read()*100); printf("Initial Pose : [% .1f(cm) % .1f(cm) % .1f(deg)]\n", Current_X[0]*100, Current_X[1]*100 ,Current_X[2]*180/pi-60); printf("Desired Pose : [% .1f(cm) % .1f(cm) % .1f(deg)]\n", XL[0]*100, XL[1]*100 ,XL[2]*180/pi-60); //printf("Press USER_BUTTON to START (Go to Direction '%c')\n", dire); printf("Go to Direction '%c')\n", dire); //while (mybutton == 1) {} while(c>0) { wait(1); printf("%d\n",c--); myled = !myled; } while(1) { cs = 0; for (const char *p = "32\n" ; c_for_get = *p; p++) { spi.write (c_for_get); } wait(0.1); float bb = spi.write (0x00); char ddest[3]; sprintf(ddest,"%.1f \n", bb); pc.printf(ddest); cs = 1;//須將ddest矩陣拆開成三個不同的數 int strtok_n = 0; pch = strtok(ddest,delim); while(pch != NULL) { cha_L[strtok_n] = atof(pch); //printf("%s\n",pch); pch = strtok(NULL, delim); strtok_n = strtok_n+1; } XL[0] = cha_L[0]; XL[1] = cha_L[1]; XL[2] = cha_L[2]; // myled = 0; X1[0] = Current_X[0]; X1[1] = Current_X[1]; X1[2] = Current_X[2]; // odometry beginning // qei1_new = w1.getPulses(); qei2_new = w2.getPulses(); qei3_new = w3.getPulses(); double qei1 = qei1_new - qei1_old; double qei2 = qei2_new - qei2_old; double qei3 = qei3_new - qei3_old; //wait_ms(50); d_theta1 = qei1*360*pi/(4096*6*180); //DEG to RAD d_theta2 = qei2*360*pi/(4096*6*180); d_theta3 = qei3*360*pi/(4096*6*180); d_theta = c1*( d_theta1 + d_theta2 + d_theta3 ); // compute theta Next_X[2] = Current_X[2] + d_theta; double theta = Current_X[2]; float c3 = Current_X[2] + d_theta/2; // compute y Next_X[1] = Current_X[1] + c2*(+d_theta1*cos(c3)-d_theta2*cos(pi/3-c3)-d_theta3*cos(pi/3+c3)); // compute x Next_X[0] = Current_X[0] + c2*(-d_theta1*sin(c3)-d_theta2*sin(pi/3-c3)+d_theta3*sin(pi/3+c3)); // transition Current_X[2] = Next_X[2]; Current_X[1] = Next_X[1]; Current_X[0] = Next_X[0]; qei1_old = qei1_new; qei2_old = qei2_new; qei3_old = qei3_new; // odometry end // // control law beginning // //#define r 0.05 //#define L 0.125 X1_b[0] = X1[0]-f1[0]; X1_b[1] = X1[1]-f1[1]; X1_b[2] = X1[2]-f1[2]; u[0] = -c0*(X1_b[0]-XL[0]); u[1] = -c0*(X1_b[1]-XL[1]); u[2] = -c0*(X1_b[2]-XL[2]); // omg1 = (5*u[2])/2 + 20*u[1]*cos(theta) - 20*u[0]*sin(theta); omg2 = (5*u[2])/2 - 20*u[1]*cos(pi/3 - theta) - 20*u[0]*sin(pi/3 - theta); omg3 = (5*u[2])/2 - 20*u[1]*cos(pi/3 + theta) + 20*u[0]*sin(pi/3 + theta); // control law end // //theta = theta + pi/3; // shift: origin to new // omega to PWM // pwm_w1 = 0.5 + omg1/2; pwm_w2 = 0.5 + omg2/2; pwm_w3 = 0.5 + omg3/2; pwm_1.write(pwm_w1); pwm_2.write(pwm_w2); pwm_3.write(pwm_w3); // END // // define error // not abs() yet err[0] = Current_X[0]-XL[0]; err[1] = Current_X[1]-XL[1]; err[2] = Current_X[2]-XL[2]; // END // char send_array[6]; sprintf(send_array, "%.1f %.1f %.1f\n", Current_X[0], Current_X[1], Current_X[2]); cs = 0; for (const char *p = send_array ; c = *p; p++) //尚未實測 { spi.write (c); } wait(0.1); cs = 1; if ( t.read_ms() > 200) { // print t.reset(); t.start(); if (s0 == true) printf ("=================Homing====================\n"); else printf ("===========================================\n"); printf ("Current Pose : [% .1f(cm) % .1f(cm) % .1f(deg)]\n", Current_X[0]*100, Current_X[1]*100, Current_X[2]*180/pi-60); printf ("Error : [% .1f(cm) % .1f(cm) % .1f(deg)]\n", (err[0])*100, (err[1])*100, (err[2])*180/pi); /* printf ("\nWheel[1] counts: %d | revolutions: % .2f", qei1_new, (float)qei1_new/(4096*6)); printf ("\nWheel[2] counts: %d | revolutions: % .2f", qei2_new, (float)qei2_new/(4096*6)); printf ("\nWheel[3] counts: %d | revolutions: % .2f", qei3_new, (float)qei3_new/(4096*6)); */ //printf("Wheel Vel. [%3.2f %3.2f %3.2f]\n",pwm_w1,pwm_w2,pwm_w3); printf("OMEGA: [%.2f %.2f %.2f]\n",omg1,omg2,omg3); printf("PWM: [%.2f(%%) %.2f(%%) %.2f(%%)]\n",pwm_1.read()*100,pwm_2.read()*100,pwm_3.read()*100); //printf("X: [%.3f] Y:[%.3f]\n",px,py); //printf("px+py=%.2f\n", px+py); } if ( abs(err[0])<=(ex/100) && abs(err[1])<=(ey/100) && abs(err[2])<=(etheta*pi/180) ) { printf("The robot Arrived!\n"); pwm_1.write(0.50); pwm_2.write(0.50); pwm_3.write(0.50); //s0 = true; c = 3; goto aa; /* printf("Press USER_BUTTON to go HOME\n"); while (mybutton == 1) { wait(0.25); myled = !myled; } while(c>0) { wait(1); printf("%d\n",c--); myled = !myled; } XL[0]=0; XL[1]=0; XL[2]=0+pi/3; */ } wait_ms(50);// 會有什麼影響? } }