Marco De Silva
a
Diff: Rover.cpp
- Revision:
- 0:65943c77d1dc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Rover.cpp Mon Oct 04 12:52:17 2021 +0000
@@ -0,0 +1,397 @@
+#include "Rover.h"
+#include <iostream>
+
+Rover::Rover(){
+
+ pipeDir = 0;
+
+ S = Eigen::Matrix<float, 4, 3>::Zero();
+
+ ionMcFront = new IONMcMotors(frontBoardAddress,ionMcBoudRate, PB_9, PB_8, frontMotorGearBoxRatio, frontEncoderPulse, frontKt, frontKt);
+ ionMcRetro = new IONMcMotors(retroBoardAddress,ionMcBoudRate, PG_14, PG_9, retroMotorGearBoxRatio, retroEncoderPulse, retroKt, retroKt);
+
+ frontActuonix = new Servo(PE_11);
+ retroActuonix = new Servo(PE_9);
+ mpu = new MPU6050(PF_15, PF_14);
+
+ tofs = new TOFs();
+
+ enableCurv = 1;
+ g_x_old = 0.0;
+
+}
+
+void Rover::initializeTofs(){
+
+ tofs->TOFs_init();
+ ThisThread::sleep_for(1000);
+ //tofs->TOFs_offset();
+
+
+}
+
+void Rover::setParameters(Eigen::VectorXd roverParameters){
+ r_frontWheel = roverParameters(0);
+ r_retroWheel = roverParameters(1);
+ pipeCurve_I = roverParameters(2);
+ pipeCurve_E = roverParameters(3);
+ pipeCurve_M = roverParameters(4);
+ retroFrontCentralDistance = roverParameters(5);
+ wheelsCntactPointDistanceFromPipeCenter = roverParameters(6);
+
+}
+
+
+float Rover::computeStabilizationVel(float pitch_d, float pitch, float pitch_vel, float Kp, float Kd){
+
+ vels_a = -Kp*M_PI*(pitch_d-pitch)/180 -Kd*M_PI*(0-pitch_vel)/180;
+ return vels_a;
+
+}
+
+
+void Rover::acquireTofs(float &roverLaserFrontDx, float &roverLaserFrontSx, float &roverLaserRetroDx, float &roverLaserRetroSx, float &roverFrontDistance, float &roverRetroDistance){
+
+ tofs->TOFs_acquireFiltr();
+ roverLaserFrontDx = tofs->getLaserFrontDx();
+ roverLaserFrontSx = tofs->getLaserFrontSx();
+ roverLaserRetroDx = tofs->getLaserRetroDx();
+ roverLaserRetroSx = tofs->getLaserRetroSx();
+
+ roverFrontDistance = tofs->getFrontDistance();
+ roverRetroDistance = tofs->getRetroDistance();
+
+
+}
+
+void Rover::computeCentralJointsFromTofs(float &roverLaserFrontDx,float &roverLaserFrontSx,float &roverLaserRetroDx,float &roverLaserRetroSx){
+
+ float frontDistance;
+ float retroDistance;
+
+ acquireTofs(roverLaserFrontDx, roverLaserFrontSx, roverLaserRetroDx, roverLaserRetroSx, roverFrontDistance, roverRetroDistance);
+
+ frontDistance = roverFrontDistance;
+ retroDistance = roverRetroDistance;
+ float frontVel = 0.05*frontDistance;
+ float retroVel = -0.04*retroDistance;
+
+ if(enableCurv==1){
+ frontPos = frontPos + frontVel*0.02;
+ retroPos = retroPos + retroVel*0.02;
+ }else{
+ frontPos = 0.0;
+ retroPos = 0.0;
+ }
+
+ if(frontPos > 0.5) frontPos=0.5;
+ if(frontPos < -0.5) frontPos=-0.5;
+ if(retroPos > 0.5) retroPos=0.5;
+ if(retroPos < -0.5) retroPos=-0.5;
+
+ setCentralJointsAngle(frontPos,retroPos);
+
+}
+
+
+void Rover::initializeImu(){
+
+ printf("Initialize IMU \r\n");
+ //IMU
+
+ accBias[0] = 0.0;
+ accBias[1] = 0.0;
+ accBias[2] = 0.0;
+ gyroBias[0] = 0.0;
+ gyroBias[1] = 0.0;
+ gyroBias[2] = 0.0;
+
+ mpu->initialize();
+ bool mpu6050TestResult = mpu->testConnection();
+ if(mpu6050TestResult) {
+ printf("MPU6050 test passed \r\n");
+ } else {
+ printf("MPU6050 test failed \r\n");
+ }
+
+
+ calibrateImu();
+}
+
+void Rover::setRoverVelocity(float forward_speed, float stabilization_speed, float asset_correction_speed, float pipe_radius, float maxWheelAcceleration){
+
+ Eigen::Vector3f cartesianSpeed;
+ Eigen::Vector4f wheelsSpeed;
+
+ updateRoverKin(pipe_radius, pipeDir);
+
+ cartesianSpeed << forward_speed, stabilization_speed, asset_correction_speed;
+ wheelsSpeed = S*cartesianSpeed;
+ //std::cout << "des: " << wheelsSpeed.transpose() << std::endl;
+ ionMcFront->setSpeed(1, wheelsSpeed[0],maxWheelAcceleration);
+
+ ionMcFront->setSpeed(2, wheelsSpeed[1],maxWheelAcceleration);
+
+ ionMcRetro->setSpeed(1,wheelsSpeed[2],maxWheelAcceleration);
+
+ ionMcRetro->setSpeed(2,wheelsSpeed[3],maxWheelAcceleration);
+
+}
+
+
+
+void Rover::getRoverVelocity(float &forward_speed, float &stabilization_speed, float &asset_correction_speed, float pipe_radius){
+
+ Eigen::Vector3f cartesianSpeed;
+ Eigen::Vector4f wheelsSpeed;
+
+ float speedM1 = 0.0;
+ float speedM2 = 0.0;
+ float speedM3 = 0.0;
+ float speedM4 = 0.0;
+
+ updateRoverKin(pipe_radius, pipeDir);
+
+ getMotorsSpeed(speedM1, speedM2, speedM3, speedM4);
+
+ wheelsSpeed << speedM1, speedM2, speedM3, speedM4;
+
+ //td::cout << "mis: " << wheelsSpeed.transpose() << std::endl;
+
+
+ cartesianSpeed = S_inv*wheelsSpeed;
+
+ forward_speed = cartesianSpeed[0];
+ stabilization_speed = cartesianSpeed[1];
+ asset_correction_speed = cartesianSpeed[2];
+
+}
+
+void Rover::getRoverWheelsVelocity(float &front_dx, float &front_sx, float &retro_dx, float &retro_sx){
+
+ Eigen::Vector3f cartesianSpeed;
+ Eigen::Vector4f wheelsSpeed;
+
+ float speedM1 = 0.0;
+ float speedM2 = 0.0;
+ float speedM3 = 0.0;
+ float speedM4 = 0.0;
+
+ getMotorsSpeed(speedM1, speedM2, speedM3, speedM4);
+
+ front_dx = speedM1;
+ front_sx = speedM2;
+ retro_dx = speedM3;
+ retro_sx = speedM4;
+
+}
+
+void Rover::updateRoverKin(float pipe_radius, int pipeDir){
+ float rf = r_frontWheel;
+ float rr = r_retroWheel;
+ float l = retroFrontCentralDistance;
+ float L = wheelsCntactPointDistanceFromPipeCenter;
+ float pr = pipe_radius;
+ float R_dx = 0.0;
+ float R_sx = 0.0;
+ float R_m = 0.0;
+ if(pipeDir ==0){
+ R_dx = 1.0;
+ R_sx = 1.0;
+ R_m = 1.0;
+ }else if(pipeDir == 1){
+ R_dx = pipeCurve_I;
+ R_sx = pipeCurve_E;
+ R_m = pipeCurve_M;
+ }else if(pipeDir == -1){
+ R_dx = pipeCurve_E;
+ R_sx = pipeCurve_I;
+ R_m = pipeCurve_M;
+
+ }
+ //AGGIORNARE la S
+ S << 1.0*R_dx/(rf*R_m), pr/rf, -(L+l)/rf,
+ -1.0*R_sx/(rf*R_m), pr/rf, -(L+l)/rf,
+ 1.0*R_dx/(rr*R_m), -pr/rr, -(L+l)/rr,
+ -1.0*R_sx/(rr*R_m), -pr/rr, -(L+l)/rr;
+
+
+ Eigen::FullPivLU<Matrix3f> Core_S(S.transpose()*S);
+ S_inv = Core_S.inverse()*S.transpose();
+
+ }
+
+void Rover::getMotorsTorque(float &torM1, float &torM2, float &torM3, float &torM4){
+
+
+ torM1 = ionMcFront->getMotorTorque(1);
+ torM2 = ionMcFront->getMotorTorque(2);
+ torM3 = ionMcRetro->getMotorTorque(1);
+ torM4 = ionMcRetro->getMotorTorque(2);
+}
+
+void Rover::getMotorsSpeed(float &speedM1, float &speedM2, float &speedM3, float &speedM4){
+
+ speedM1 = ionMcFront->getMotorSpeed(1);
+ speedM2 = ionMcFront->getMotorSpeed(2);
+ speedM3 = ionMcRetro->getMotorSpeed(1);
+ speedM4 = ionMcRetro->getMotorSpeed(2);
+
+}
+
+void Rover::setCentralJointsAngle(float jointFront, float jointRetro){
+
+ float LmRestPosFront = (9.0)/1000; //9
+ float LmRestPosRetro = (9.0-0.5)/1000; //9
+ float maxLenght = 0.02;
+
+ float LmFront = LmRestPosFront - centralJoint2actuonix(jointFront);
+ float LmRetro = LmRestPosRetro - centralJoint2actuonix(jointRetro);
+
+ frontActuonix->write(1.0 - LmFront/maxLenght);
+ retroActuonix->write(1.0 - LmRetro/maxLenght);
+
+ if (jointFront > 3.14*5/180){
+ pipeDir = -1;
+ }else if (jointFront < -3.14*5/180){
+ pipeDir = 1;
+ }else{
+ pipeDir = 0;
+ }
+
+ pipeDir = 0;/////////////////////////////////////////////////////////////
+
+
+}
+
+float Rover::centralJoint2actuonix(float jointAngle){
+
+ float alpha = deg2rad(34.4);
+ float L1 = 23.022/1000;
+ float L2 = 62.037/1000;
+ float L3 = 51.013/1000;
+ float L4 = 4.939/1000;
+
+ float l1 = L1*sin(alpha + jointAngle);
+ float l2 = L1*cos(alpha + jointAngle);
+ float h = sqrt( (L2 - l1)*(L2 - l1) + (l2 - L4)*(l2 - L4) );
+ return L3 - h;
+
+}
+
+
+float Rover::deg2rad(float deg) {
+ return deg * M_PI / 180.0;
+}
+
+
+
+void Rover::calcImuAngles(float& pitch, float& pitch_vel, float& roll, float dtImu)
+{
+ int16_t ax = 0;
+ int16_t ay = 0;
+ int16_t az = 0;
+ int16_t gx = 0;
+ int16_t gy = 0;
+ int16_t gz = 0;
+ float pitchAcc = 0.0;
+ float rollAcc = 0.0;
+ float pitchAcc_p = 0.0;
+ float rollAcc_p = 0.0;
+ float pitch_integrated = 0.0;
+ float roll_integrated = 0.0;
+ mpu->getMotion6(ax, ay, az, gx, gy, gz); //acquisisco i dati dal sensore
+ float a_x=float(ax)/FS_a - accBias[0]; //li converto in float, (CALCOLI EVITABILE SE INSTANZIASSI LE VARIABILI SUBITO COME FLOAT)
+ float a_y=float(ay)/FS_a - accBias[1];
+ float a_z=float(az)/FS_a;
+ float g_x=float(gx)/FS_g - gyroBias[0];
+ float g_y=float(gy)/FS_g - gyroBias[1];
+ float g_z=float(gz)/FS_g - gyroBias[2];
+ if(abs(g_x) > 100.0){
+ pitch_vel = 0;
+ }else{
+ pitch_vel = g_x;
+ }
+ /*g_x_old = g_x;*/
+ //pitch_vel = g_x;
+
+
+ pitch_integrated = g_x * dtImu; // Angle around the X-axis // Integrate the gyro data(deg/s) over time to get angle, usato g_x perchè movimento attorno all'asse x
+ roll_integrated = g_y * dtImu; // Angle around the Y-axis //uso g_y perchè ho il rollio ruotando atttorno all'asse y
+
+ pitchAcc = atan2f(a_y, sqrt(a_z*a_z + a_x*a_x))*180/M_PI; //considerare formule paper, calcolo i contrubiti dovuti dall'accelerometro
+ rollAcc = -atan2f(a_x, sqrt(a_y*a_y + a_z*a_z))*180/M_PI; //
+
+ if ( abs( pitchAcc - pitchAcc_p ) > 10){
+ pitchAcc = pitch;
+ }
+
+ if ( abs( rollAcc - rollAcc_p ) > 10){
+ rollAcc = roll;
+ }
+
+ // Apply Complementary Filter
+ pitch = 0.95f*( pitch + pitch_integrated) + 0.05f*pitchAcc;
+ roll = 0.95f*( roll + roll_integrated) + 0.05f*(rollAcc);
+
+ pitchAcc_p = pitchAcc;
+ rollAcc_p = rollAcc;
+
+
+}
+
+void Rover::calibrateImu()
+{
+
+ //Imu variables
+ int16_t ax = 0;
+ int16_t ay = 0;
+ int16_t az = 0;
+ int16_t gx = 0;
+ int16_t gy = 0;
+ int16_t gz = 0;
+ float a_x,a_y,a_z;
+ float g_x, g_y, g_z;
+
+ const int CALIBRATION = 500;
+
+ for(int i=0;i<50;i++)
+ {
+ mpu->getMotion6(ax, ay, az, gx, gy, gz);
+ }
+
+
+ printf(" START CALIBRATION \r\n");
+
+
+ for(int i=0;i<CALIBRATION;i++)
+ {
+ mpu->getMotion6(ax, ay, az, gx, gy, gz); //acquisisco i dati dal sensore
+ a_x=(float)ax/FS_a; //li converto in float, (CALCOLI EVITABILE SE INSTANZIASSI LE VARIABILI SUBITO COME FLOAT)
+ a_y=(float)ay/FS_a;
+ //a_z=(float)az/FS_a;
+ g_x=(float)gx/FS_g;
+ g_y=(float)gy/FS_g;;
+ g_z=(float)gz/FS_g;;
+
+ accBias[0] += a_x;
+ accBias[1] += a_y;
+ gyroBias[0] += g_x;
+ gyroBias[1] += g_y;
+ gyroBias[2] += g_z;
+
+ }
+
+ //BIAS
+ accBias[0] = accBias[0]/CALIBRATION;
+ accBias[1] = accBias[1]/CALIBRATION;
+ gyroBias[0] = gyroBias[0]/CALIBRATION;
+ gyroBias[1] = gyroBias[1]/CALIBRATION;
+ gyroBias[2] = gyroBias[2]/CALIBRATION;
+
+
+ printf(" END CALIBRATION \r\n");
+
+ //printf("%f\t %f\t %f\t %f\t %f\t \r\n", accBias[0], accBias[1], gyroBias[0],gyroBias[1],gyroBias[2]); //stampo le misure
+
+}