Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

Processes/Motion/motion.cpp@85:b0858346d838, 2013-04-16 (annotated)

Committer:
madcowswe
Date:
Tue Apr 16 10:43:15 2013 +0000
Revision:
85:b0858346d838
Parent:
81:ef1ce4f5322b
Child:
88:8850373c3f0d
diff

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 69:4b7bb92916da 4 // Takes current state and motion command (set via accessors) and actuates it via motor layer calls
rsavitski 24:50805ef8c499 5 ////////////////////////////////////////////////////////////////////////////////
rsavitski 24:50805ef8c499 6
rsavitski 81:ef1ce4f5322b 7 //todo: check everything is properly initialised and not a race condition
rsavitski 81:ef1ce4f5322b 8
rsavitski 24:50805ef8c499 9 #include "motion.h"
rsavitski 57:d434ceab6892 10 #include "math.h"
rsavitski 57:d434ceab6892 11 #include "Kalman.h"
rsavitski 57:d434ceab6892 12 #include "MotorControl.h"
rsavitski 57:d434ceab6892 13 #include "supportfuncs.h"
madcowswe 66:f1d75e51398d 14 #include "AvoidDstSensor.h"
rsavitski 57:d434ceab6892 15
rsavitski 57:d434ceab6892 16 namespace motion
rsavitski 57:d434ceab6892 17 {
rsavitski 57:d434ceab6892 18 // private function prototypes
rsavitski 57:d434ceab6892 19
rsavitski 57:d434ceab6892 20 void setWaypointReached();
rsavitski 57:d434ceab6892 21 void clearMotionCmd();
rsavitski 57:d434ceab6892 22 void clearWaypoint();
rsavitski 57:d434ceab6892 23 }
rsavitski 38:c9058a401410 24
rsavitski 24:50805ef8c499 25 namespace motion
rsavitski 24:50805ef8c499 26 {
rsavitski 24:50805ef8c499 27
rsavitski 70:0da6ca845762 28 volatile int collavoiden = 0; // TODO: kill oskar's code
rsavitski 70:0da6ca845762 29 AvoidDstSensor ADS(P_FWD_DISTANCE_SENSOR); //TODO: kill oskar's hack
madcowswe 66:f1d75e51398d 30
rsavitski 57:d434ceab6892 31 // motion commands supported
rsavitski 57:d434ceab6892 32 enum motion_type_t { motion_waypoint };
rsavitski 57:d434ceab6892 33
rsavitski 57:d434ceab6892 34 struct motion_cmd
rsavitski 57:d434ceab6892 35 {
rsavitski 57:d434ceab6892 36 motion_type_t motion_type;
rsavitski 57:d434ceab6892 37 osThreadId setter_tid;
rsavitski 57:d434ceab6892 38
rsavitski 57:d434ceab6892 39 bool motion_done;
rsavitski 57:d434ceab6892 40
rsavitski 57:d434ceab6892 41 union
rsavitski 57:d434ceab6892 42 {
rsavitski 57:d434ceab6892 43 Waypoint *wp_ptr;
rsavitski 57:d434ceab6892 44 };
rsavitski 57:d434ceab6892 45
rsavitski 57:d434ceab6892 46 };
rsavitski 57:d434ceab6892 47
rsavitski 57:d434ceab6892 48 // local copy of the current active motion
rsavitski 76:532d9bc1d2aa 49 motion_cmd current_motion = {motion_waypoint, 0, false, NULL};
rsavitski 57:d434ceab6892 50
rsavitski 70:0da6ca845762 51 Waypoint target_waypoint = {0,0,0,0,0}; //local wp copy, TODO: fix and make a shared local memory pool for any movement cmd to be copied to
rsavitski 70:0da6ca845762 52
rsavitski 39:44d3dea4adcc 53 Mutex waypoint_flag_mutex;
rsavitski 39:44d3dea4adcc 54
rsavitski 57:d434ceab6892 55 // local to waypoint motion handler
rsavitski 57:d434ceab6892 56 bool wp_d_reached = false;
rsavitski 57:d434ceab6892 57 bool wp_a_reached = false;
rsavitski 39:44d3dea4adcc 58
rsavitski 39:44d3dea4adcc 59
rsavitski 24:50805ef8c499 60 void motionlayer(void const *dummy)
rsavitski 57:d434ceab6892 61 {
rsavitski 57:d434ceab6892 62 switch (current_motion.motion_type)
rsavitski 57:d434ceab6892 63 {
rsavitski 57:d434ceab6892 64 case motion_waypoint:
rsavitski 57:d434ceab6892 65 waypoint_motion_handler();
rsavitski 57:d434ceab6892 66 break;
rsavitski 57:d434ceab6892 67 default:
rsavitski 57:d434ceab6892 68 break;
rsavitski 57:d434ceab6892 69 }
rsavitski 57:d434ceab6892 70 }
rsavitski 57:d434ceab6892 71
rsavitski 57:d434ceab6892 72 void waypoint_motion_handler()
rsavitski 57:d434ceab6892 73 {
rsavitski 39:44d3dea4adcc 74 // save target waypoint
rsavitski 70:0da6ca845762 75 //Waypoint target_waypoint = *current_motion.wp_ptr;
rsavitski 70:0da6ca845762 76
rsavitski 24:50805ef8c499 77
rsavitski 24:50805ef8c499 78 // get current state from Kalman
rsavitski 24:50805ef8c499 79 State current_state = Kalman::getState();
rsavitski 24:50805ef8c499 80
rsavitski 24:50805ef8c499 81 float delta_x = target_waypoint.x - current_state.x;
rsavitski 24:50805ef8c499 82 float delta_y = target_waypoint.y - current_state.y;
rsavitski 24:50805ef8c499 83
madcowswe 25:b16f1045108f 84 //printf("motion sees deltax: %f deltay %f\r\n", delta_x, delta_y);
rsavitski 24:50805ef8c499 85
madcowswe 25:b16f1045108f 86 float distance_err = hypot(delta_x, delta_y);
madcowswe 25:b16f1045108f 87
madcowswe 25:b16f1045108f 88 float angle_err = constrainAngle(atan2(delta_y, delta_x) - current_state.theta);
rsavitski 24:50805ef8c499 89
rsavitski 57:d434ceab6892 90 // reversing if close to target and more optimal than forward movement
rsavitski 52:bffe5f7c39a3 91 bool reversing = false;
rsavitski 57:d434ceab6892 92 if ((abs(angle_err) > PI/2) && (distance_err < 0.2)) //TODO: parameterise and tune 0.2 meters hardcoded
rsavitski 52:bffe5f7c39a3 93 {
rsavitski 52:bffe5f7c39a3 94 reversing = true;
rsavitski 52:bffe5f7c39a3 95 angle_err = constrainAngle(angle_err + PI);
rsavitski 52:bffe5f7c39a3 96 distance_err = -distance_err;
rsavitski 52:bffe5f7c39a3 97 }
rsavitski 52:bffe5f7c39a3 98
rsavitski 52:bffe5f7c39a3 99 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 100
rsavitski 30:791739422122 101 // is the waypoint reached
rsavitski 81:ef1ce4f5322b 102 waypoint_flag_mutex.lock(); //TODO: consider refactoring, mutexes suck, switch to semaphore style or more contained mutexes (think of several producers as well); race conditions not checked atm either
rsavitski 57:d434ceab6892 103 if (abs(distance_err) < ((wp_d_reached) ? target_waypoint.pos_threshold+0.02 : target_waypoint.pos_threshold))
rsavitski 30:791739422122 104 {
rsavitski 57:d434ceab6892 105 wp_d_reached = true;
rsavitski 38:c9058a401410 106
rsavitski 52:bffe5f7c39a3 107 angle_err = constrainAngle(target_waypoint.theta - current_state.theta);
rsavitski 38:c9058a401410 108
rsavitski 38:c9058a401410 109 if (abs(angle_err) < target_waypoint.angle_threshold)
madcowswe 33:a49197572737 110 {
rsavitski 57:d434ceab6892 111 wp_a_reached = true;
madcowswe 33:a49197572737 112 }
rsavitski 35:f8e7f0a72a3d 113 }
rsavitski 65:4709ff6c753c 114 // 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 115 if (wp_d_reached && wp_a_reached)
rsavitski 30:791739422122 116 {
rsavitski 39:44d3dea4adcc 117 setWaypointReached();
rsavitski 30:791739422122 118 }
rsavitski 39:44d3dea4adcc 119 waypoint_flag_mutex.unlock();
rsavitski 24:50805ef8c499 120
rsavitski 24:50805ef8c499 121 // angular velocity controller
rsavitski 70:0da6ca845762 122 const float p_gain_av = 1;//0.7; //TODO: tune
rsavitski 24:50805ef8c499 123
rsavitski 70:0da6ca845762 124 const float max_av = 1;//0.5; // radians per sec //TODO: tune
rsavitski 24:50805ef8c499 125
rsavitski 24:50805ef8c499 126 // angle error [-pi, pi]
rsavitski 24:50805ef8c499 127 float angular_v = p_gain_av * angle_err;
rsavitski 24:50805ef8c499 128
rsavitski 24:50805ef8c499 129 // constrain range
rsavitski 24:50805ef8c499 130 if (angular_v > max_av)
rsavitski 24:50805ef8c499 131 angular_v = max_av;
rsavitski 24:50805ef8c499 132 else if (angular_v < -max_av)
rsavitski 24:50805ef8c499 133 angular_v = -max_av;
rsavitski 24:50805ef8c499 134
rsavitski 24:50805ef8c499 135
rsavitski 24:50805ef8c499 136 // forward velocity controller
madcowswe 85:b0858346d838 137 const float p_gain_fv = 0.85;//0.7; //TODO: tune
rsavitski 24:50805ef8c499 138
rsavitski 70:0da6ca845762 139 float max_fv = 0.3;//0.2; // meters per sec //TODO: tune
rsavitski 77:8d83a0c00e66 140 float max_fv_reverse = 0.03; //TODO: tune
madcowswe 67:be3ea5450cc7 141 const float angle_envelope_exponent = 32;//512; //8.0; //TODO: tune
rsavitski 24:50805ef8c499 142
rsavitski 24:50805ef8c499 143 // control, distance_err in meters
rsavitski 24:50805ef8c499 144 float forward_v = p_gain_fv * distance_err;
rsavitski 24:50805ef8c499 145
rsavitski 52:bffe5f7c39a3 146 // if reversing, robot is less stable hence a different cap is used
rsavitski 52:bffe5f7c39a3 147 if (reversing)
rsavitski 52:bffe5f7c39a3 148 max_fv = max_fv_reverse;
rsavitski 52:bffe5f7c39a3 149
rsavitski 24:50805ef8c499 150 // control the forward velocity envelope based on angular error
rsavitski 77:8d83a0c00e66 151 max_fv = max_fv * pow(cos(angle_err_saved/2), /*angle_envelope_exponent*/target_waypoint.angle_exponent); //temp hack
rsavitski 24:50805ef8c499 152
rsavitski 24:50805ef8c499 153 // constrain range
rsavitski 24:50805ef8c499 154 if (forward_v > max_fv)
rsavitski 24:50805ef8c499 155 forward_v = max_fv;
rsavitski 24:50805ef8c499 156 else if (forward_v < -max_fv)
rsavitski 24:50805ef8c499 157 forward_v = -max_fv;
madcowswe 25:b16f1045108f 158
madcowswe 25:b16f1045108f 159 //printf("fwd: %f, omega: %f\r\n", forward_v, angular_v);
rsavitski 24:50805ef8c499 160
rsavitski 69:4b7bb92916da 161 //TODO: remove oskar's avoidance hack
rsavitski 69:4b7bb92916da 162 if(collavoiden)
rsavitski 69:4b7bb92916da 163 {
madcowswe 66:f1d75e51398d 164 float d = ADS.Distanceincm();
rsavitski 69:4b7bb92916da 165 if(d > 10)
rsavitski 69:4b7bb92916da 166 {
madcowswe 72:7996aa8286ae 167 forward_v *= max(min((d-15)*(1.0f/25.0f),1.0f),-0.1f);
madcowswe 66:f1d75e51398d 168 }
madcowswe 66:f1d75e51398d 169 }
rsavitski 69:4b7bb92916da 170 // end of Oskar hack
madcowswe 66:f1d75e51398d 171
rsavitski 30:791739422122 172 // pass values to the motor control
rsavitski 24:50805ef8c499 173 MotorControl::set_fwdcmd(forward_v);
madcowswe 25:b16f1045108f 174 MotorControl::set_omegacmd(angular_v);
rsavitski 24:50805ef8c499 175 }
rsavitski 24:50805ef8c499 176
rsavitski 57:d434ceab6892 177
rsavitski 57:d434ceab6892 178 bool checkMotionStatus()
rsavitski 57:d434ceab6892 179 {
rsavitski 57:d434ceab6892 180 return current_motion.motion_done;
rsavitski 57:d434ceab6892 181 }
rsavitski 57:d434ceab6892 182
rsavitski 57:d434ceab6892 183
rsavitski 57:d434ceab6892 184 void setNewWaypoint(osThreadId setter_tid_in, Waypoint *new_wp)
rsavitski 39:44d3dea4adcc 185 {
rsavitski 57:d434ceab6892 186 clearMotionCmd();
rsavitski 57:d434ceab6892 187
rsavitski 57:d434ceab6892 188 current_motion.setter_tid = setter_tid_in;
rsavitski 57:d434ceab6892 189 current_motion.motion_type = motion_waypoint;
rsavitski 57:d434ceab6892 190
rsavitski 70:0da6ca845762 191 target_waypoint = *new_wp;
rsavitski 39:44d3dea4adcc 192 }
rsavitski 39:44d3dea4adcc 193
rsavitski 57:d434ceab6892 194
rsavitski 39:44d3dea4adcc 195 void setWaypointReached()
rsavitski 39:44d3dea4adcc 196 {
rsavitski 57:d434ceab6892 197 current_motion.motion_done = true;
rsavitski 57:d434ceab6892 198 osSignalSet(current_motion.setter_tid,0x1);
rsavitski 39:44d3dea4adcc 199 }
rsavitski 39:44d3dea4adcc 200
rsavitski 57:d434ceab6892 201
rsavitski 57:d434ceab6892 202 void clearMotionCmd()
rsavitski 39:44d3dea4adcc 203 {
rsavitski 57:d434ceab6892 204 current_motion.motion_done = false;
rsavitski 57:d434ceab6892 205 osSignalClear(current_motion.setter_tid, 0x1);
rsavitski 57:d434ceab6892 206
rsavitski 57:d434ceab6892 207 switch (current_motion.motion_type)
rsavitski 57:d434ceab6892 208 {
rsavitski 57:d434ceab6892 209 case motion_waypoint:
rsavitski 57:d434ceab6892 210 clearWaypoint();
rsavitski 57:d434ceab6892 211 break;
rsavitski 57:d434ceab6892 212
rsavitski 57:d434ceab6892 213 default:
rsavitski 57:d434ceab6892 214 break;
rsavitski 57:d434ceab6892 215 }
rsavitski 39:44d3dea4adcc 216 }
rsavitski 39:44d3dea4adcc 217
rsavitski 57:d434ceab6892 218
rsavitski 57:d434ceab6892 219 void clearWaypoint()
rsavitski 39:44d3dea4adcc 220 {
rsavitski 57:d434ceab6892 221 wp_d_reached = false;
rsavitski 57:d434ceab6892 222 wp_a_reached = false;
rsavitski 39:44d3dea4adcc 223 }
rsavitski 39:44d3dea4adcc 224
rsavitski 24:50805ef8c499 225 } //namespace