Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Eurobot_shared/Motion/motion.cpp@26:0995f61cb7b8, 2012-10-17 (annotated)
- Committer:
- narshu
- Date:
- Wed Oct 17 22:22:47 2012 +0000
- Revision:
- 26:0995f61cb7b8
Eurobot 2012 Primary;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 26:0995f61cb7b8 | 1 | #include "motion.h" |
narshu | 26:0995f61cb7b8 | 2 | #include "geometryfuncs.h" |
narshu | 26:0995f61cb7b8 | 3 | #include "system.h" |
narshu | 26:0995f61cb7b8 | 4 | #include "PID.h" |
narshu | 26:0995f61cb7b8 | 5 | |
narshu | 26:0995f61cb7b8 | 6 | AnalogIn ObsAvoidPin(p20); |
narshu | 26:0995f61cb7b8 | 7 | |
narshu | 26:0995f61cb7b8 | 8 | Motion::Motion(Motors &motorsin, AI &aiin, Kalman &kalmanin): |
narshu | 26:0995f61cb7b8 | 9 | thr_motion(mtwrapper,this,osPriorityNormal,1024), |
narshu | 26:0995f61cb7b8 | 10 | motors(motorsin), |
narshu | 26:0995f61cb7b8 | 11 | ai(aiin), |
narshu | 26:0995f61cb7b8 | 12 | kalman(kalmanin) { } |
narshu | 26:0995f61cb7b8 | 13 | |
narshu | 26:0995f61cb7b8 | 14 | // motion control thread ------------------------ |
narshu | 26:0995f61cb7b8 | 15 | void Motion::motion_thread() { |
narshu | 26:0995f61cb7b8 | 16 | motors.resetEncoders(); |
narshu | 26:0995f61cb7b8 | 17 | motors.setSpeed(5,5); |
narshu | 26:0995f61cb7b8 | 18 | motors.stop(); |
narshu | 26:0995f61cb7b8 | 19 | // Thread::wait(1500); |
narshu | 26:0995f61cb7b8 | 20 | //ai.thr_AI.signal_set(0x01); |
narshu | 26:0995f61cb7b8 | 21 | |
narshu | 26:0995f61cb7b8 | 22 | //PID declare |
narshu | 26:0995f61cb7b8 | 23 | PID PIDControllerMotorTheta2(FWD_MOVE_P, FWD_MOVE_P/10.0f, 0.000005, MOTION_UPDATE_PERIOD/1000.0f); //Going forward |
narshu | 26:0995f61cb7b8 | 24 | PID PIDControllerMotorTheta(SPIN_MOVE_P, SPIN_MOVE_P/10.0f, 0.000005, MOTION_UPDATE_PERIOD/1000.0f); //Spinning on the spot |
narshu | 26:0995f61cb7b8 | 25 | |
narshu | 26:0995f61cb7b8 | 26 | //PID Initialisation |
narshu | 26:0995f61cb7b8 | 27 | PIDControllerMotorTheta2.setMode(MANUAL_MODE); |
narshu | 26:0995f61cb7b8 | 28 | PIDControllerMotorTheta.setMode(MANUAL_MODE); |
narshu | 26:0995f61cb7b8 | 29 | |
narshu | 26:0995f61cb7b8 | 30 | PIDControllerMotorTheta2.setBias(0); |
narshu | 26:0995f61cb7b8 | 31 | PIDControllerMotorTheta.setBias(0); |
narshu | 26:0995f61cb7b8 | 32 | |
narshu | 26:0995f61cb7b8 | 33 | PIDControllerMotorTheta2.setOutputLimits(-1, 1); |
narshu | 26:0995f61cb7b8 | 34 | PIDControllerMotorTheta.setOutputLimits(-1, 1); |
narshu | 26:0995f61cb7b8 | 35 | |
narshu | 26:0995f61cb7b8 | 36 | PIDControllerMotorTheta2.setInputLimits(-PI, PI); |
narshu | 26:0995f61cb7b8 | 37 | PIDControllerMotorTheta.setInputLimits(-PI, PI); |
narshu | 26:0995f61cb7b8 | 38 | |
narshu | 26:0995f61cb7b8 | 39 | PIDControllerMotorTheta.setSetPoint(0); |
narshu | 26:0995f61cb7b8 | 40 | PIDControllerMotorTheta2.setSetPoint(0); |
narshu | 26:0995f61cb7b8 | 41 | |
narshu | 26:0995f61cb7b8 | 42 | float currX, currY,currTheta; |
narshu | 26:0995f61cb7b8 | 43 | float speedL,speedR; |
narshu | 26:0995f61cb7b8 | 44 | float diffDir; |
narshu | 26:0995f61cb7b8 | 45 | float xBuffer, yBuffer; |
narshu | 26:0995f61cb7b8 | 46 | float xOriginalBuffer = 0, yOriginalBuffer = 0; |
narshu | 26:0995f61cb7b8 | 47 | int initiateFlag = 1; |
narshu | 26:0995f61cb7b8 | 48 | int dontSpinFlag = 0; |
narshu | 26:0995f61cb7b8 | 49 | int atTargetFlag = 0; |
narshu | 26:0995f61cb7b8 | 50 | int atTargetDirectionFlag = 0; |
narshu | 26:0995f61cb7b8 | 51 | |
narshu | 26:0995f61cb7b8 | 52 | while (1) { |
narshu | 26:0995f61cb7b8 | 53 | //kalman.statelock.lock(); |
narshu | 26:0995f61cb7b8 | 54 | if (ai.flag_terminate) { |
narshu | 26:0995f61cb7b8 | 55 | // stops motors and teminates the thread |
narshu | 26:0995f61cb7b8 | 56 | motors.stop(); |
narshu | 26:0995f61cb7b8 | 57 | //motors.coastStop(); |
narshu | 26:0995f61cb7b8 | 58 | terminate(); |
narshu | 26:0995f61cb7b8 | 59 | } |
narshu | 26:0995f61cb7b8 | 60 | |
narshu | 26:0995f61cb7b8 | 61 | // stops motor |
narshu | 26:0995f61cb7b8 | 62 | if ((ai.flag_motorStop) || (ObsAvoidPin > 0.4)) { |
narshu | 26:0995f61cb7b8 | 63 | motors.stop(); |
narshu | 26:0995f61cb7b8 | 64 | } else if (ai.flag_manOverride) { |
narshu | 26:0995f61cb7b8 | 65 | |
narshu | 26:0995f61cb7b8 | 66 | } else { |
narshu | 26:0995f61cb7b8 | 67 | |
narshu | 26:0995f61cb7b8 | 68 | |
narshu | 26:0995f61cb7b8 | 69 | // get kalman localization estimate ------------------------ |
narshu | 26:0995f61cb7b8 | 70 | kalman.statelock.lock(); |
narshu | 26:0995f61cb7b8 | 71 | currX = kalman.X(0)*1000.0f; |
narshu | 26:0995f61cb7b8 | 72 | currY = kalman.X(1)*1000.0f; |
narshu | 26:0995f61cb7b8 | 73 | currTheta = kalman.X(2); |
narshu | 26:0995f61cb7b8 | 74 | kalman.statelock.unlock(); |
narshu | 26:0995f61cb7b8 | 75 | |
narshu | 26:0995f61cb7b8 | 76 | // make a local copy of the target |
narshu | 26:0995f61cb7b8 | 77 | ai.targetlock.lock(); |
narshu | 26:0995f61cb7b8 | 78 | AI::Target loctarget = ai.gettarget(); |
narshu | 26:0995f61cb7b8 | 79 | ai.targetlock.unlock(); |
narshu | 26:0995f61cb7b8 | 80 | /* |
narshu | 26:0995f61cb7b8 | 81 | //PID Tuning Code |
narshu | 26:0995f61cb7b8 | 82 | if (pc.readable() == 1) { |
narshu | 26:0995f61cb7b8 | 83 | float cmd; |
narshu | 26:0995f61cb7b8 | 84 | pc.scanf("%f", &cmd); |
narshu | 26:0995f61cb7b8 | 85 | //Tune PID referece |
narshu | 26:0995f61cb7b8 | 86 | PIDControllerMotorTheta2.setTunings(cmd, 0, 0); |
narshu | 26:0995f61cb7b8 | 87 | } |
narshu | 26:0995f61cb7b8 | 88 | */ |
narshu | 26:0995f61cb7b8 | 89 | |
narshu | 26:0995f61cb7b8 | 90 | |
narshu | 26:0995f61cb7b8 | 91 | if (initiateFlag == 1) { |
narshu | 26:0995f61cb7b8 | 92 | xOriginalBuffer = currX; |
narshu | 26:0995f61cb7b8 | 93 | yOriginalBuffer = currY; |
narshu | 26:0995f61cb7b8 | 94 | |
narshu | 26:0995f61cb7b8 | 95 | xBuffer = ai.gettarget().x; |
narshu | 26:0995f61cb7b8 | 96 | yBuffer = ai.gettarget().y; |
narshu | 26:0995f61cb7b8 | 97 | |
narshu | 26:0995f61cb7b8 | 98 | initiateFlag = 0; |
narshu | 26:0995f61cb7b8 | 99 | } |
narshu | 26:0995f61cb7b8 | 100 | |
narshu | 26:0995f61cb7b8 | 101 | if (xBuffer != loctarget.x || yBuffer != loctarget.y) { |
narshu | 26:0995f61cb7b8 | 102 | //target changed |
narshu | 26:0995f61cb7b8 | 103 | //update xOriginal and yOriginal buffers |
narshu | 26:0995f61cb7b8 | 104 | xOriginalBuffer = currX; |
narshu | 26:0995f61cb7b8 | 105 | yOriginalBuffer = currY; |
narshu | 26:0995f61cb7b8 | 106 | |
narshu | 26:0995f61cb7b8 | 107 | xBuffer = loctarget.x; |
narshu | 26:0995f61cb7b8 | 108 | yBuffer = loctarget.y; |
narshu | 26:0995f61cb7b8 | 109 | |
narshu | 26:0995f61cb7b8 | 110 | atTargetFlag = 0; |
narshu | 26:0995f61cb7b8 | 111 | atTargetDirectionFlag = 0; |
narshu | 26:0995f61cb7b8 | 112 | |
narshu | 26:0995f61cb7b8 | 113 | } |
narshu | 26:0995f61cb7b8 | 114 | |
narshu | 26:0995f61cb7b8 | 115 | // check if target reached ---------------------------------- |
narshu | 26:0995f61cb7b8 | 116 | if (atTargetFlag || hypot(currX - loctarget.x, currY - loctarget.y) < POSITION_TOR) { |
narshu | 26:0995f61cb7b8 | 117 | |
narshu | 26:0995f61cb7b8 | 118 | if (atTargetFlag == 0) { |
narshu | 26:0995f61cb7b8 | 119 | motors.stop(); |
narshu | 26:0995f61cb7b8 | 120 | Thread::wait(100); |
narshu | 26:0995f61cb7b8 | 121 | } |
narshu | 26:0995f61cb7b8 | 122 | |
narshu | 26:0995f61cb7b8 | 123 | |
narshu | 26:0995f61cb7b8 | 124 | if (hypot(currX - loctarget.x, currY - loctarget.y) < POSITION_TOR) { |
narshu | 26:0995f61cb7b8 | 125 | atTargetFlag = 1; |
narshu | 26:0995f61cb7b8 | 126 | } |
narshu | 26:0995f61cb7b8 | 127 | OLED4 = 1; |
narshu | 26:0995f61cb7b8 | 128 | |
narshu | 26:0995f61cb7b8 | 129 | diffDir = rectifyAng(currTheta - loctarget.theta); |
narshu | 26:0995f61cb7b8 | 130 | //diffSpeed = diffDir / PI; |
narshu | 26:0995f61cb7b8 | 131 | |
narshu | 26:0995f61cb7b8 | 132 | PIDControllerMotorTheta.setProcessValue(diffDir); |
narshu | 26:0995f61cb7b8 | 133 | float tempPidVar = PIDControllerMotorTheta.compute(); |
narshu | 26:0995f61cb7b8 | 134 | motors.setSpeed( -int(tempPidVar*MOVE_SPEED), int(tempPidVar*MOVE_SPEED)); |
narshu | 26:0995f61cb7b8 | 135 | |
narshu | 26:0995f61cb7b8 | 136 | if (abs(diffDir) < ANGLE_TOR) { |
narshu | 26:0995f61cb7b8 | 137 | |
narshu | 26:0995f61cb7b8 | 138 | if (atTargetDirectionFlag == 0) { |
narshu | 26:0995f61cb7b8 | 139 | ai.thr_AI.signal_set(0x01); |
narshu | 26:0995f61cb7b8 | 140 | atTargetDirectionFlag = 1; |
narshu | 26:0995f61cb7b8 | 141 | } |
narshu | 26:0995f61cb7b8 | 142 | |
narshu | 26:0995f61cb7b8 | 143 | /* |
narshu | 26:0995f61cb7b8 | 144 | if (!loctarget.reached) { |
narshu | 26:0995f61cb7b8 | 145 | static int counter = 10; |
narshu | 26:0995f61cb7b8 | 146 | // guarding counter for reaching target |
narshu | 26:0995f61cb7b8 | 147 | if (counter-- == 0) { |
narshu | 26:0995f61cb7b8 | 148 | counter = 10; |
narshu | 26:0995f61cb7b8 | 149 | ai.target.reached = true; |
narshu | 26:0995f61cb7b8 | 150 | ai.thr_AI.signal_set(0x01); |
narshu | 26:0995f61cb7b8 | 151 | |
narshu | 26:0995f61cb7b8 | 152 | } |
narshu | 26:0995f61cb7b8 | 153 | } |
narshu | 26:0995f61cb7b8 | 154 | */ |
narshu | 26:0995f61cb7b8 | 155 | } |
narshu | 26:0995f61cb7b8 | 156 | } |
narshu | 26:0995f61cb7b8 | 157 | |
narshu | 26:0995f61cb7b8 | 158 | // adjust motion to reach target ---------------------------- |
narshu | 26:0995f61cb7b8 | 159 | else { |
narshu | 26:0995f61cb7b8 | 160 | |
narshu | 26:0995f61cb7b8 | 161 | OLED3 = 1; |
narshu | 26:0995f61cb7b8 | 162 | |
narshu | 26:0995f61cb7b8 | 163 | /* |
narshu | 26:0995f61cb7b8 | 164 | if ((hypot(xOriginalBuffer - loctarget.x, yOriginalBuffer - loctarget.y) - hypot(xOriginalBuffer - currX, yOriginalBuffer - currY)) < 0) { |
narshu | 26:0995f61cb7b8 | 165 | loctarget.facing = !loctarget.facing; |
narshu | 26:0995f61cb7b8 | 166 | dontSpinFlag = 1; |
narshu | 26:0995f61cb7b8 | 167 | } else { |
narshu | 26:0995f61cb7b8 | 168 | dontSpinFlag = 0; |
narshu | 26:0995f61cb7b8 | 169 | } |
narshu | 26:0995f61cb7b8 | 170 | */ |
narshu | 26:0995f61cb7b8 | 171 | |
narshu | 26:0995f61cb7b8 | 172 | // calc direction to target |
narshu | 26:0995f61cb7b8 | 173 | float targetDir = atan2(loctarget.y - currY, loctarget.x - currX); |
narshu | 26:0995f61cb7b8 | 174 | if (!loctarget.facing) targetDir = targetDir + PI; |
narshu | 26:0995f61cb7b8 | 175 | |
narshu | 26:0995f61cb7b8 | 176 | //Angle differene in -PI to PI |
narshu | 26:0995f61cb7b8 | 177 | diffDir = rectifyAng(currTheta - targetDir); |
narshu | 26:0995f61cb7b8 | 178 | |
narshu | 26:0995f61cb7b8 | 179 | //Set PID process variable |
narshu | 26:0995f61cb7b8 | 180 | PIDControllerMotorTheta.setProcessValue(diffDir); |
narshu | 26:0995f61cb7b8 | 181 | PIDControllerMotorTheta2.setProcessValue(diffDir); |
narshu | 26:0995f61cb7b8 | 182 | |
narshu | 26:0995f61cb7b8 | 183 | //if diffDIr is neg, spin right |
narshu | 26:0995f61cb7b8 | 184 | //if diffDir is pos, spin left |
narshu | 26:0995f61cb7b8 | 185 | |
narshu | 26:0995f61cb7b8 | 186 | if ((abs(diffDir) > ANGLE_TOR*4) && (dontSpinFlag == 0)) { //roughly 32 degrees |
narshu | 26:0995f61cb7b8 | 187 | //ANGLE_TOR*4 |
narshu | 26:0995f61cb7b8 | 188 | float tempPidVar = PIDControllerMotorTheta.compute(); |
narshu | 26:0995f61cb7b8 | 189 | motors.setSpeed( -int(tempPidVar*MOVE_SPEED), int(tempPidVar*MOVE_SPEED)); |
narshu | 26:0995f61cb7b8 | 190 | //pc.printf("spin,%f\n",diffDir); |
narshu | 26:0995f61cb7b8 | 191 | |
narshu | 26:0995f61cb7b8 | 192 | } else { |
narshu | 26:0995f61cb7b8 | 193 | |
narshu | 26:0995f61cb7b8 | 194 | float tempPidVar = PIDControllerMotorTheta2.compute(); |
narshu | 26:0995f61cb7b8 | 195 | float MoveSpeedLimiter = 1; |
narshu | 26:0995f61cb7b8 | 196 | //pc.printf("turn,%f\n",diffDir); |
narshu | 26:0995f61cb7b8 | 197 | |
narshu | 26:0995f61cb7b8 | 198 | float distanceToX = (float)abs(currX - loctarget.x); |
narshu | 26:0995f61cb7b8 | 199 | float distanceToY = (float)abs(currY - loctarget.y); |
narshu | 26:0995f61cb7b8 | 200 | |
narshu | 26:0995f61cb7b8 | 201 | float distanceToTarget = hypot(distanceToX, distanceToY); |
narshu | 26:0995f61cb7b8 | 202 | |
narshu | 26:0995f61cb7b8 | 203 | if ((distanceToTarget < 400) && (distanceToTarget > 200) && motors.accelerationRegister == 1) { |
narshu | 26:0995f61cb7b8 | 204 | MoveSpeedLimiter = (distanceToTarget)/400; |
narshu | 26:0995f61cb7b8 | 205 | } else if (distanceToTarget <= 200) { |
narshu | 26:0995f61cb7b8 | 206 | MoveSpeedLimiter = 0.5; |
narshu | 26:0995f61cb7b8 | 207 | } |
narshu | 26:0995f61cb7b8 | 208 | |
narshu | 26:0995f61cb7b8 | 209 | |
narshu | 26:0995f61cb7b8 | 210 | |
narshu | 26:0995f61cb7b8 | 211 | |
narshu | 26:0995f61cb7b8 | 212 | // calculte the motor speeds |
narshu | 26:0995f61cb7b8 | 213 | if (tempPidVar >= 0) { |
narshu | 26:0995f61cb7b8 | 214 | //turn left |
narshu | 26:0995f61cb7b8 | 215 | speedL = (1-abs(tempPidVar))*MOVE_SPEED*MoveSpeedLimiter; |
narshu | 26:0995f61cb7b8 | 216 | speedR = MOVE_SPEED*MoveSpeedLimiter; |
narshu | 26:0995f61cb7b8 | 217 | |
narshu | 26:0995f61cb7b8 | 218 | } else { |
narshu | 26:0995f61cb7b8 | 219 | //turn right |
narshu | 26:0995f61cb7b8 | 220 | speedR = (1-abs(tempPidVar))*MOVE_SPEED*MoveSpeedLimiter; |
narshu | 26:0995f61cb7b8 | 221 | speedL = MOVE_SPEED*MoveSpeedLimiter; |
narshu | 26:0995f61cb7b8 | 222 | } |
narshu | 26:0995f61cb7b8 | 223 | |
narshu | 26:0995f61cb7b8 | 224 | |
narshu | 26:0995f61cb7b8 | 225 | |
narshu | 26:0995f61cb7b8 | 226 | |
narshu | 26:0995f61cb7b8 | 227 | if (loctarget.facing) motors.setSpeed( int(speedL), int(speedR)); |
narshu | 26:0995f61cb7b8 | 228 | else motors.setSpeed( -int(speedR), -int(speedL)); |
narshu | 26:0995f61cb7b8 | 229 | |
narshu | 26:0995f61cb7b8 | 230 | } |
narshu | 26:0995f61cb7b8 | 231 | } |
narshu | 26:0995f61cb7b8 | 232 | } |
narshu | 26:0995f61cb7b8 | 233 | //kalman.statelock.unlock(); |
narshu | 26:0995f61cb7b8 | 234 | // wait |
narshu | 26:0995f61cb7b8 | 235 | Thread::wait(MOTION_UPDATE_PERIOD); |
narshu | 26:0995f61cb7b8 | 236 | } |
narshu | 26:0995f61cb7b8 | 237 | } |