Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Processes/Motion/motion.cpp@67:be3ea5450cc7, 2013-04-14 (annotated)

Committer:
madcowswe
Date:
Sun Apr 14 18:47:17 2013 +0000
Revision:
67:be3ea5450cc7
Parent:
66:f1d75e51398d
Parent:
65:4709ff6c753c
Child:
69:4b7bb92916da
Tuned merge. Testing needed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rsavitski 24:50805ef8c499 1 ////////////////////////////////////////////////////////////////////////////////
rsavitski 24:50805ef8c499 2 // Motion control unit
rsavitski 24:50805ef8c499 3 ////////////////////////////////////////////////////////////////////////////////
rsavitski 24:50805ef8c499 4 // Takes current state of the robot and target waypoint,
rsavitski 24:50805ef8c499 5 // calculates desired forward and angular velocities and requests those from the motor control layer.
rsavitski 24:50805ef8c499 6 ////////////////////////////////////////////////////////////////////////////////
rsavitski 24:50805ef8c499 7
rsavitski 24:50805ef8c499 8 #include "motion.h"
rsavitski 57:d434ceab6892 9 #include "math.h"
rsavitski 57:d434ceab6892 10 #include "Kalman.h"
rsavitski 57:d434ceab6892 11 #include "MotorControl.h"
rsavitski 57:d434ceab6892 12 #include "supportfuncs.h"
madcowswe 66:f1d75e51398d 13 #include "AvoidDstSensor.h"
rsavitski 57:d434ceab6892 14
rsavitski 57:d434ceab6892 15 namespace motion
rsavitski 57:d434ceab6892 16 {
rsavitski 57:d434ceab6892 17 // private function prototypes
rsavitski 57:d434ceab6892 18
rsavitski 57:d434ceab6892 19 void setWaypointReached();
rsavitski 57:d434ceab6892 20 void clearMotionCmd();
rsavitski 57:d434ceab6892 21 void clearWaypoint();
rsavitski 57:d434ceab6892 22 }
rsavitski 38:c9058a401410 23
rsavitski 24:50805ef8c499 24 namespace motion
rsavitski 24:50805ef8c499 25 {
rsavitski 24:50805ef8c499 26
madcowswe 66:f1d75e51398d 27 volatile int collavoiden = 0;
madcowswe 66:f1d75e51398d 28 AvoidDstSensor ADS(P_FWD_DISTANCE_SENSOR);
madcowswe 66:f1d75e51398d 29
rsavitski 57:d434ceab6892 30 // motion commands supported
rsavitski 57:d434ceab6892 31 enum motion_type_t { motion_waypoint };
rsavitski 57:d434ceab6892 32
rsavitski 57:d434ceab6892 33 struct motion_cmd
rsavitski 57:d434ceab6892 34 {
rsavitski 57:d434ceab6892 35 motion_type_t motion_type;
rsavitski 57:d434ceab6892 36 osThreadId setter_tid;
rsavitski 57:d434ceab6892 37
rsavitski 57:d434ceab6892 38 bool motion_done;
rsavitski 57:d434ceab6892 39
rsavitski 57:d434ceab6892 40 union
rsavitski 57:d434ceab6892 41 {
rsavitski 57:d434ceab6892 42 Waypoint *wp_ptr;
rsavitski 57:d434ceab6892 43 };
rsavitski 57:d434ceab6892 44
rsavitski 57:d434ceab6892 45 };
rsavitski 57:d434ceab6892 46
rsavitski 57:d434ceab6892 47 // local copy of the current active motion
rsavitski 57:d434ceab6892 48 motion_cmd current_motion;
rsavitski 57:d434ceab6892 49
rsavitski 39:44d3dea4adcc 50 Mutex waypoint_flag_mutex;
rsavitski 39:44d3dea4adcc 51
rsavitski 57:d434ceab6892 52 // local to waypoint motion handler
rsavitski 57:d434ceab6892 53 bool wp_d_reached = false;
rsavitski 57:d434ceab6892 54 bool wp_a_reached = false;
rsavitski 39:44d3dea4adcc 55
rsavitski 39:44d3dea4adcc 56
rsavitski 24:50805ef8c499 57 void motionlayer(void const *dummy)
rsavitski 57:d434ceab6892 58 {
rsavitski 57:d434ceab6892 59 switch (current_motion.motion_type)
rsavitski 57:d434ceab6892 60 {
rsavitski 57:d434ceab6892 61 case motion_waypoint:
rsavitski 57:d434ceab6892 62 waypoint_motion_handler();
rsavitski 57:d434ceab6892 63 break;
rsavitski 57:d434ceab6892 64 default:
rsavitski 57:d434ceab6892 65 break;
rsavitski 57:d434ceab6892 66 }
rsavitski 57:d434ceab6892 67 }
rsavitski 57:d434ceab6892 68
rsavitski 57:d434ceab6892 69 void waypoint_motion_handler()
rsavitski 57:d434ceab6892 70 {
rsavitski 39:44d3dea4adcc 71 // save target waypoint
rsavitski 57:d434ceab6892 72 Waypoint target_waypoint = *current_motion.wp_ptr;
rsavitski 24:50805ef8c499 73
rsavitski 24:50805ef8c499 74 // get current state from Kalman
rsavitski 24:50805ef8c499 75 State current_state = Kalman::getState();
rsavitski 24:50805ef8c499 76
rsavitski 24:50805ef8c499 77 float delta_x = target_waypoint.x - current_state.x;
rsavitski 24:50805ef8c499 78 float delta_y = target_waypoint.y - current_state.y;
rsavitski 24:50805ef8c499 79
madcowswe 25:b16f1045108f 80 //printf("motion sees deltax: %f deltay %f\r\n", delta_x, delta_y);
rsavitski 24:50805ef8c499 81
madcowswe 25:b16f1045108f 82 float distance_err = hypot(delta_x, delta_y);
madcowswe 25:b16f1045108f 83
madcowswe 25:b16f1045108f 84 float angle_err = constrainAngle(atan2(delta_y, delta_x) - current_state.theta);
rsavitski 24:50805ef8c499 85
rsavitski 57:d434ceab6892 86 // reversing if close to target and more optimal than forward movement
rsavitski 52:bffe5f7c39a3 87 bool reversing = false;
rsavitski 57:d434ceab6892 88 if ((abs(angle_err) > PI/2) && (distance_err < 0.2)) //TODO: parameterise and tune 0.2 meters hardcoded
rsavitski 52:bffe5f7c39a3 89 {
rsavitski 52:bffe5f7c39a3 90 reversing = true;
rsavitski 52:bffe5f7c39a3 91 angle_err = constrainAngle(angle_err + PI);
rsavitski 52:bffe5f7c39a3 92 distance_err = -distance_err;
rsavitski 52:bffe5f7c39a3 93 }
rsavitski 52:bffe5f7c39a3 94
rsavitski 52:bffe5f7c39a3 95 float angle_err_saved = angle_err; // actuated angle error can be overriden by the final turning code, but forward speed envelope should be controlled with the atan angle
rsavitski 52:bffe5f7c39a3 96
rsavitski 30:791739422122 97 // is the waypoint reached
rsavitski 57:d434ceab6892 98 waypoint_flag_mutex.lock(); //TODO: consider refactoring
rsavitski 57:d434ceab6892 99 if (abs(distance_err) < ((wp_d_reached) ? target_waypoint.pos_threshold+0.02 : target_waypoint.pos_threshold))
rsavitski 30:791739422122 100 {
rsavitski 57:d434ceab6892 101 wp_d_reached = true;
rsavitski 38:c9058a401410 102
rsavitski 52:bffe5f7c39a3 103 angle_err = constrainAngle(target_waypoint.theta - current_state.theta);
rsavitski 38:c9058a401410 104
rsavitski 38:c9058a401410 105 if (abs(angle_err) < target_waypoint.angle_threshold)
madcowswe 33:a49197572737 106 {
rsavitski 57:d434ceab6892 107 wp_a_reached = true;
madcowswe 33:a49197572737 108 }
rsavitski 35:f8e7f0a72a3d 109 }
rsavitski 65:4709ff6c753c 110 // proper way would be to construct a function to evaluate the condition and pass the function pointer to a conditional setter function for reached flag
rsavitski 57:d434ceab6892 111 if (wp_d_reached && wp_a_reached)
rsavitski 30:791739422122 112 {
rsavitski 39:44d3dea4adcc 113 setWaypointReached();
rsavitski 30:791739422122 114 }
rsavitski 39:44d3dea4adcc 115 waypoint_flag_mutex.unlock();
rsavitski 24:50805ef8c499 116
rsavitski 24:50805ef8c499 117 // angular velocity controller
madcowswe 67:be3ea5450cc7 118 const float p_gain_av = 0.7; //TODO: tune
rsavitski 24:50805ef8c499 119
madcowswe 64:c979fb1cd3b5 120 const float max_av = 0.5; // radians per sec //TODO: tune
rsavitski 24:50805ef8c499 121
rsavitski 24:50805ef8c499 122 // angle error [-pi, pi]
rsavitski 24:50805ef8c499 123 float angular_v = p_gain_av * angle_err;
rsavitski 24:50805ef8c499 124
rsavitski 24:50805ef8c499 125 // constrain range
rsavitski 24:50805ef8c499 126 if (angular_v > max_av)
rsavitski 24:50805ef8c499 127 angular_v = max_av;
rsavitski 24:50805ef8c499 128 else if (angular_v < -max_av)
rsavitski 24:50805ef8c499 129 angular_v = -max_av;
rsavitski 24:50805ef8c499 130
rsavitski 24:50805ef8c499 131
rsavitski 24:50805ef8c499 132 // forward velocity controller
madcowswe 67:be3ea5450cc7 133 const float p_gain_fv = 0.7; //TODO: tune
rsavitski 24:50805ef8c499 134
madcowswe 25:b16f1045108f 135 float max_fv = 0.2; // meters per sec //TODO: tune
rsavitski 52:bffe5f7c39a3 136 float max_fv_reverse = 0.05; //TODO: tune
madcowswe 67:be3ea5450cc7 137 const float angle_envelope_exponent = 32;//512; //8.0; //TODO: tune
rsavitski 24:50805ef8c499 138
rsavitski 24:50805ef8c499 139 // control, distance_err in meters
rsavitski 24:50805ef8c499 140 float forward_v = p_gain_fv * distance_err;
rsavitski 24:50805ef8c499 141
rsavitski 52:bffe5f7c39a3 142 // if reversing, robot is less stable hence a different cap is used
rsavitski 52:bffe5f7c39a3 143 if (reversing)
rsavitski 52:bffe5f7c39a3 144 max_fv = max_fv_reverse;
rsavitski 52:bffe5f7c39a3 145
rsavitski 24:50805ef8c499 146 // control the forward velocity envelope based on angular error
rsavitski 52:bffe5f7c39a3 147 max_fv = max_fv * pow(cos(angle_err_saved/2), angle_envelope_exponent);
rsavitski 24:50805ef8c499 148
rsavitski 24:50805ef8c499 149 // constrain range
rsavitski 24:50805ef8c499 150 if (forward_v > max_fv)
rsavitski 24:50805ef8c499 151 forward_v = max_fv;
rsavitski 24:50805ef8c499 152 else if (forward_v < -max_fv)
rsavitski 24:50805ef8c499 153 forward_v = -max_fv;
madcowswe 25:b16f1045108f 154
madcowswe 25:b16f1045108f 155 //printf("fwd: %f, omega: %f\r\n", forward_v, angular_v);
rsavitski 24:50805ef8c499 156
madcowswe 66:f1d75e51398d 157 if(collavoiden){
madcowswe 66:f1d75e51398d 158 float d = ADS.Distanceincm();
madcowswe 66:f1d75e51398d 159 if(d > 10){
madcowswe 66:f1d75e51398d 160 forward_v *= max(min((d-15)*(1.0f/20.0f),1.0f),-0.1f);
madcowswe 66:f1d75e51398d 161 }
madcowswe 66:f1d75e51398d 162 }
madcowswe 66:f1d75e51398d 163
rsavitski 30:791739422122 164 // pass values to the motor control
rsavitski 24:50805ef8c499 165 MotorControl::set_fwdcmd(forward_v);
madcowswe 25:b16f1045108f 166 MotorControl::set_omegacmd(angular_v);
rsavitski 24:50805ef8c499 167 }
rsavitski 24:50805ef8c499 168
rsavitski 57:d434ceab6892 169
rsavitski 57:d434ceab6892 170 bool checkMotionStatus()
rsavitski 57:d434ceab6892 171 {
rsavitski 57:d434ceab6892 172 return current_motion.motion_done;
rsavitski 57:d434ceab6892 173 }
rsavitski 57:d434ceab6892 174
rsavitski 57:d434ceab6892 175
rsavitski 57:d434ceab6892 176 void setNewWaypoint(osThreadId setter_tid_in, Waypoint *new_wp)
rsavitski 39:44d3dea4adcc 177 {
rsavitski 57:d434ceab6892 178 clearMotionCmd();
rsavitski 57:d434ceab6892 179
rsavitski 57:d434ceab6892 180 current_motion.setter_tid = setter_tid_in;
rsavitski 57:d434ceab6892 181 current_motion.motion_type = motion_waypoint;
rsavitski 57:d434ceab6892 182
rsavitski 57:d434ceab6892 183 current_motion.wp_ptr = new_wp;
rsavitski 39:44d3dea4adcc 184 }
rsavitski 39:44d3dea4adcc 185
rsavitski 57:d434ceab6892 186
rsavitski 39:44d3dea4adcc 187 void setWaypointReached()
rsavitski 39:44d3dea4adcc 188 {
rsavitski 57:d434ceab6892 189 current_motion.motion_done = true;
rsavitski 57:d434ceab6892 190 osSignalSet(current_motion.setter_tid,0x1);
rsavitski 39:44d3dea4adcc 191 }
rsavitski 39:44d3dea4adcc 192
rsavitski 57:d434ceab6892 193
rsavitski 57:d434ceab6892 194 void clearMotionCmd()
rsavitski 39:44d3dea4adcc 195 {
rsavitski 57:d434ceab6892 196 current_motion.motion_done = false;
rsavitski 57:d434ceab6892 197 osSignalClear(current_motion.setter_tid, 0x1);
rsavitski 57:d434ceab6892 198
rsavitski 57:d434ceab6892 199 switch (current_motion.motion_type)
rsavitski 57:d434ceab6892 200 {
rsavitski 57:d434ceab6892 201 case motion_waypoint:
rsavitski 57:d434ceab6892 202 clearWaypoint();
rsavitski 57:d434ceab6892 203 break;
rsavitski 57:d434ceab6892 204
rsavitski 57:d434ceab6892 205 default:
rsavitski 57:d434ceab6892 206 break;
rsavitski 57:d434ceab6892 207 }
rsavitski 39:44d3dea4adcc 208 }
rsavitski 39:44d3dea4adcc 209
rsavitski 57:d434ceab6892 210
rsavitski 57:d434ceab6892 211 void clearWaypoint()
rsavitski 39:44d3dea4adcc 212 {
rsavitski 57:d434ceab6892 213 wp_d_reached = false;
rsavitski 57:d434ceab6892 214 wp_a_reached = false;
rsavitski 39:44d3dea4adcc 215 }
rsavitski 39:44d3dea4adcc 216
rsavitski 24:50805ef8c499 217 } //namespace