File content as of revision 0:65943c77d1dc:

#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

}