Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

Processes/Motion/motion.cpp@70:0da6ca845762, 2013-04-14 (annotated)

Committer:
rsavitski
Date:
Sun Apr 14 22:02:21 2013 +0000
Revision:
70:0da6ca845762
Parent:
69:4b7bb92916da
Child:
72:7996aa8286ae
Child:
76:532d9bc1d2aa
top flipper pushing

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 24:50805ef8c499 7 #include "motion.h"
rsavitski 57:d434ceab6892 8 #include "math.h"
rsavitski 57:d434ceab6892 9 #include "Kalman.h"
rsavitski 57:d434ceab6892 10 #include "MotorControl.h"
rsavitski 57:d434ceab6892 11 #include "supportfuncs.h"
madcowswe 66:f1d75e51398d 12 #include "AvoidDstSensor.h"
rsavitski 57:d434ceab6892 13
rsavitski 57:d434ceab6892 14 namespace motion
rsavitski 57:d434ceab6892 15 {
rsavitski 57:d434ceab6892 16 // private function prototypes
rsavitski 57:d434ceab6892 17
rsavitski 57:d434ceab6892 18 void setWaypointReached();
rsavitski 57:d434ceab6892 19 void clearMotionCmd();
rsavitski 57:d434ceab6892 20 void clearWaypoint();
rsavitski 57:d434ceab6892 21 }
rsavitski 38:c9058a401410 22
rsavitski 24:50805ef8c499 23 namespace motion
rsavitski 24:50805ef8c499 24 {
rsavitski 24:50805ef8c499 25
rsavitski 70:0da6ca845762 26 volatile int collavoiden = 0; // TODO: kill oskar's code
rsavitski 70:0da6ca845762 27 AvoidDstSensor ADS(P_FWD_DISTANCE_SENSOR); //TODO: kill oskar's hack
madcowswe 66:f1d75e51398d 28
rsavitski 57:d434ceab6892 29 // motion commands supported
rsavitski 57:d434ceab6892 30 enum motion_type_t { motion_waypoint };
rsavitski 57:d434ceab6892 31
rsavitski 57:d434ceab6892 32 struct motion_cmd
rsavitski 57:d434ceab6892 33 {
rsavitski 57:d434ceab6892 34 motion_type_t motion_type;
rsavitski 57:d434ceab6892 35 osThreadId setter_tid;
rsavitski 57:d434ceab6892 36
rsavitski 57:d434ceab6892 37 bool motion_done;
rsavitski 57:d434ceab6892 38
rsavitski 57:d434ceab6892 39 union
rsavitski 57:d434ceab6892 40 {
rsavitski 57:d434ceab6892 41 Waypoint *wp_ptr;
rsavitski 57:d434ceab6892 42 };
rsavitski 57:d434ceab6892 43
rsavitski 57:d434ceab6892 44 };
rsavitski 57:d434ceab6892 45
rsavitski 57:d434ceab6892 46 // local copy of the current active motion
rsavitski 57:d434ceab6892 47 motion_cmd current_motion;
rsavitski 57:d434ceab6892 48
rsavitski 70:0da6ca845762 49 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 50
rsavitski 39:44d3dea4adcc 51 Mutex waypoint_flag_mutex;
rsavitski 39:44d3dea4adcc 52
rsavitski 57:d434ceab6892 53 // local to waypoint motion handler
rsavitski 57:d434ceab6892 54 bool wp_d_reached = false;
rsavitski 57:d434ceab6892 55 bool wp_a_reached = false;
rsavitski 39:44d3dea4adcc 56
rsavitski 39:44d3dea4adcc 57
rsavitski 24:50805ef8c499 58 void motionlayer(void const *dummy)
rsavitski 57:d434ceab6892 59 {
rsavitski 57:d434ceab6892 60 switch (current_motion.motion_type)
rsavitski 57:d434ceab6892 61 {
rsavitski 57:d434ceab6892 62 case motion_waypoint:
rsavitski 57:d434ceab6892 63 waypoint_motion_handler();
rsavitski 57:d434ceab6892 64 break;
rsavitski 57:d434ceab6892 65 default:
rsavitski 57:d434ceab6892 66 break;
rsavitski 57:d434ceab6892 67 }
rsavitski 57:d434ceab6892 68 }
rsavitski 57:d434ceab6892 69
rsavitski 57:d434ceab6892 70 void waypoint_motion_handler()
rsavitski 57:d434ceab6892 71 {
rsavitski 39:44d3dea4adcc 72 // save target waypoint
rsavitski 70:0da6ca845762 73 //Waypoint target_waypoint = *current_motion.wp_ptr;
rsavitski 70:0da6ca845762 74
rsavitski 24:50805ef8c499 75
rsavitski 24:50805ef8c499 76 // get current state from Kalman
rsavitski 24:50805ef8c499 77 State current_state = Kalman::getState();
rsavitski 24:50805ef8c499 78
rsavitski 24:50805ef8c499 79 float delta_x = target_waypoint.x - current_state.x;
rsavitski 24:50805ef8c499 80 float delta_y = target_waypoint.y - current_state.y;
rsavitski 24:50805ef8c499 81
madcowswe 25:b16f1045108f 82 //printf("motion sees deltax: %f deltay %f\r\n", delta_x, delta_y);
rsavitski 24:50805ef8c499 83
madcowswe 25:b16f1045108f 84 float distance_err = hypot(delta_x, delta_y);
madcowswe 25:b16f1045108f 85
madcowswe 25:b16f1045108f 86 float angle_err = constrainAngle(atan2(delta_y, delta_x) - current_state.theta);
rsavitski 24:50805ef8c499 87
rsavitski 57:d434ceab6892 88 // reversing if close to target and more optimal than forward movement
rsavitski 52:bffe5f7c39a3 89 bool reversing = false;
rsavitski 57:d434ceab6892 90 if ((abs(angle_err) > PI/2) && (distance_err < 0.2)) //TODO: parameterise and tune 0.2 meters hardcoded
rsavitski 52:bffe5f7c39a3 91 {
rsavitski 52:bffe5f7c39a3 92 reversing = true;
rsavitski 52:bffe5f7c39a3 93 angle_err = constrainAngle(angle_err + PI);
rsavitski 52:bffe5f7c39a3 94 distance_err = -distance_err;
rsavitski 52:bffe5f7c39a3 95 }
rsavitski 52:bffe5f7c39a3 96
rsavitski 52:bffe5f7c39a3 97 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 98
rsavitski 30:791739422122 99 // is the waypoint reached
rsavitski 57:d434ceab6892 100 waypoint_flag_mutex.lock(); //TODO: consider refactoring
rsavitski 57:d434ceab6892 101 if (abs(distance_err) < ((wp_d_reached) ? target_waypoint.pos_threshold+0.02 : target_waypoint.pos_threshold))
rsavitski 30:791739422122 102 {
rsavitski 57:d434ceab6892 103 wp_d_reached = true;
rsavitski 38:c9058a401410 104
rsavitski 52:bffe5f7c39a3 105 angle_err = constrainAngle(target_waypoint.theta - current_state.theta);
rsavitski 38:c9058a401410 106
rsavitski 38:c9058a401410 107 if (abs(angle_err) < target_waypoint.angle_threshold)
madcowswe 33:a49197572737 108 {
rsavitski 57:d434ceab6892 109 wp_a_reached = true;
madcowswe 33:a49197572737 110 }
rsavitski 35:f8e7f0a72a3d 111 }
rsavitski 65:4709ff6c753c 112 // 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 113 if (wp_d_reached && wp_a_reached)
rsavitski 30:791739422122 114 {
rsavitski 39:44d3dea4adcc 115 setWaypointReached();
rsavitski 30:791739422122 116 }
rsavitski 39:44d3dea4adcc 117 waypoint_flag_mutex.unlock();
rsavitski 24:50805ef8c499 118
rsavitski 24:50805ef8c499 119 // angular velocity controller
rsavitski 70:0da6ca845762 120 const float p_gain_av = 1;//0.7; //TODO: tune
rsavitski 24:50805ef8c499 121
rsavitski 70:0da6ca845762 122 const float max_av = 1;//0.5; // radians per sec //TODO: tune
rsavitski 24:50805ef8c499 123
rsavitski 24:50805ef8c499 124 // angle error [-pi, pi]
rsavitski 24:50805ef8c499 125 float angular_v = p_gain_av * angle_err;
rsavitski 24:50805ef8c499 126
rsavitski 24:50805ef8c499 127 // constrain range
rsavitski 24:50805ef8c499 128 if (angular_v > max_av)
rsavitski 24:50805ef8c499 129 angular_v = max_av;
rsavitski 24:50805ef8c499 130 else if (angular_v < -max_av)
rsavitski 24:50805ef8c499 131 angular_v = -max_av;
rsavitski 24:50805ef8c499 132
rsavitski 24:50805ef8c499 133
rsavitski 24:50805ef8c499 134 // forward velocity controller
rsavitski 70:0da6ca845762 135 const float p_gain_fv = 1;//0.7; //TODO: tune
rsavitski 24:50805ef8c499 136
rsavitski 70:0da6ca845762 137 float max_fv = 0.3;//0.2; // meters per sec //TODO: tune
rsavitski 52:bffe5f7c39a3 138 float max_fv_reverse = 0.05; //TODO: tune
madcowswe 67:be3ea5450cc7 139 const float angle_envelope_exponent = 32;//512; //8.0; //TODO: tune
rsavitski 24:50805ef8c499 140
rsavitski 24:50805ef8c499 141 // control, distance_err in meters
rsavitski 24:50805ef8c499 142 float forward_v = p_gain_fv * distance_err;
rsavitski 24:50805ef8c499 143
rsavitski 52:bffe5f7c39a3 144 // if reversing, robot is less stable hence a different cap is used
rsavitski 52:bffe5f7c39a3 145 if (reversing)
rsavitski 52:bffe5f7c39a3 146 max_fv = max_fv_reverse;
rsavitski 52:bffe5f7c39a3 147
rsavitski 24:50805ef8c499 148 // control the forward velocity envelope based on angular error
rsavitski 52:bffe5f7c39a3 149 max_fv = max_fv * pow(cos(angle_err_saved/2), angle_envelope_exponent);
rsavitski 24:50805ef8c499 150
rsavitski 24:50805ef8c499 151 // constrain range
rsavitski 24:50805ef8c499 152 if (forward_v > max_fv)
rsavitski 24:50805ef8c499 153 forward_v = max_fv;
rsavitski 24:50805ef8c499 154 else if (forward_v < -max_fv)
rsavitski 24:50805ef8c499 155 forward_v = -max_fv;
madcowswe 25:b16f1045108f 156
madcowswe 25:b16f1045108f 157 //printf("fwd: %f, omega: %f\r\n", forward_v, angular_v);
rsavitski 24:50805ef8c499 158
rsavitski 69:4b7bb92916da 159 //TODO: remove oskar's avoidance hack
rsavitski 69:4b7bb92916da 160 if(collavoiden)
rsavitski 69:4b7bb92916da 161 {
madcowswe 66:f1d75e51398d 162 float d = ADS.Distanceincm();
rsavitski 69:4b7bb92916da 163 if(d > 10)
rsavitski 69:4b7bb92916da 164 {
madcowswe 66:f1d75e51398d 165 forward_v *= max(min((d-15)*(1.0f/20.0f),1.0f),-0.1f);
madcowswe 66:f1d75e51398d 166 }
madcowswe 66:f1d75e51398d 167 }
rsavitski 69:4b7bb92916da 168 // end of Oskar hack
madcowswe 66:f1d75e51398d 169
rsavitski 30:791739422122 170 // pass values to the motor control
rsavitski 24:50805ef8c499 171 MotorControl::set_fwdcmd(forward_v);
madcowswe 25:b16f1045108f 172 MotorControl::set_omegacmd(angular_v);
rsavitski 24:50805ef8c499 173 }
rsavitski 24:50805ef8c499 174
rsavitski 57:d434ceab6892 175
rsavitski 57:d434ceab6892 176 bool checkMotionStatus()
rsavitski 57:d434ceab6892 177 {
rsavitski 57:d434ceab6892 178 return current_motion.motion_done;
rsavitski 57:d434ceab6892 179 }
rsavitski 57:d434ceab6892 180
rsavitski 57:d434ceab6892 181
rsavitski 57:d434ceab6892 182 void setNewWaypoint(osThreadId setter_tid_in, Waypoint *new_wp)
rsavitski 39:44d3dea4adcc 183 {
rsavitski 57:d434ceab6892 184 clearMotionCmd();
rsavitski 57:d434ceab6892 185
rsavitski 57:d434ceab6892 186 current_motion.setter_tid = setter_tid_in;
rsavitski 57:d434ceab6892 187 current_motion.motion_type = motion_waypoint;
rsavitski 57:d434ceab6892 188
rsavitski 70:0da6ca845762 189 //current_motion.wp_ptr = new_wp; //TODO: need to make local copy or edits to mem ptr contents screw motion over
rsavitski 70:0da6ca845762 190 target_waypoint = *new_wp;
rsavitski 39:44d3dea4adcc 191 }
rsavitski 39:44d3dea4adcc 192
rsavitski 57:d434ceab6892 193
rsavitski 39:44d3dea4adcc 194 void setWaypointReached()
rsavitski 39:44d3dea4adcc 195 {
rsavitski 57:d434ceab6892 196 current_motion.motion_done = true;
rsavitski 57:d434ceab6892 197 osSignalSet(current_motion.setter_tid,0x1);
rsavitski 39:44d3dea4adcc 198 }
rsavitski 39:44d3dea4adcc 199
rsavitski 57:d434ceab6892 200
rsavitski 57:d434ceab6892 201 void clearMotionCmd()
rsavitski 39:44d3dea4adcc 202 {
rsavitski 57:d434ceab6892 203 current_motion.motion_done = false;
rsavitski 57:d434ceab6892 204 osSignalClear(current_motion.setter_tid, 0x1);
rsavitski 57:d434ceab6892 205
rsavitski 57:d434ceab6892 206 switch (current_motion.motion_type)
rsavitski 57:d434ceab6892 207 {
rsavitski 57:d434ceab6892 208 case motion_waypoint:
rsavitski 57:d434ceab6892 209 clearWaypoint();
rsavitski 57:d434ceab6892 210 break;
rsavitski 57:d434ceab6892 211
rsavitski 57:d434ceab6892 212 default:
rsavitski 57:d434ceab6892 213 break;
rsavitski 57:d434ceab6892 214 }
rsavitski 39:44d3dea4adcc 215 }
rsavitski 39:44d3dea4adcc 216
rsavitski 57:d434ceab6892 217
rsavitski 57:d434ceab6892 218 void clearWaypoint()
rsavitski 39:44d3dea4adcc 219 {
rsavitski 57:d434ceab6892 220 wp_d_reached = false;
rsavitski 57:d434ceab6892 221 wp_a_reached = false;
rsavitski 39:44d3dea4adcc 222 }
rsavitski 39:44d3dea4adcc 223
rsavitski 24:50805ef8c499 224 } //namespace