Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

RobotControl/RobotControl.h@2:d8e1613dc38b, 2013-03-03 (annotated)

Committer:
chrigelburri
Date:
Sun Mar 03 16:26:47 2013 +0000
Revision:
2:d8e1613dc38b
Parent:
1:6cd533a712c6
Child:
3:92ba0254af87
Viereck Fahren; Code aufger?umt und eine setter methode progammiert f?r sollwert

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 0:31f7be68e52d 1 #ifndef _ROBOT_CONTROL_H_
chrigelburri 0:31f7be68e52d 2 #define _ROBOT_CONTROL_H_
chrigelburri 0:31f7be68e52d 3
chrigelburri 0:31f7be68e52d 4 #include <cmath>
chrigelburri 0:31f7be68e52d 5 #include "mbed.h"
chrigelburri 0:31f7be68e52d 6 #include "MaxonESCON.h"
chrigelburri 0:31f7be68e52d 7 #include "MotionState.h"
chrigelburri 0:31f7be68e52d 8 #include "Task.h"
chrigelburri 0:31f7be68e52d 9 #include "HMC5883L.h"
chrigelburri 0:31f7be68e52d 10 #include "HMC6352.h"
chrigelburri 0:31f7be68e52d 11 #include "defines.h"
chrigelburri 0:31f7be68e52d 12
chrigelburri 0:31f7be68e52d 13 /**
chrigelburri 0:31f7be68e52d 14 * @author Christian Burri
chrigelburri 0:31f7be68e52d 15 *
chrigelburri 0:31f7be68e52d 16 * @section LICENSE
chrigelburri 0:31f7be68e52d 17 *
chrigelburri 1:6cd533a712c6 18 * Copyright &copy; 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 0:31f7be68e52d 19 * All rights reserved.
chrigelburri 0:31f7be68e52d 20 *
chrigelburri 0:31f7be68e52d 21 * @section DESCRIPTION
chrigelburri 0:31f7be68e52d 22 *
chrigelburri 0:31f7be68e52d 23 * This class controls the position and orientation of the robot. It has
chrigelburri 0:31f7be68e52d 24 * a run loop that is called periodically. This run loop reads the actual
chrigelburri 0:31f7be68e52d 25 * positions of the wheels, calculates the actual position and orientation
chrigelburri 0:31f7be68e52d 26 * of the robot, calculates to move the robot,
chrigelburri 0:31f7be68e52d 27 * and writes these velocity values to the motor servo drives.
chrigelburri 0:31f7be68e52d 28 * This class offers methods to enable or disable the controller, and to set
chrigelburri 0:31f7be68e52d 29 * the desired translational and rotational speed values of the robot.
chrigelburri 0:31f7be68e52d 30 */
chrigelburri 0:31f7be68e52d 31
chrigelburri 0:31f7be68e52d 32 class RobotControl : public Task
chrigelburri 0:31f7be68e52d 33 {
chrigelburri 0:31f7be68e52d 34
chrigelburri 0:31f7be68e52d 35 private:
chrigelburri 0:31f7be68e52d 36
chrigelburri 0:31f7be68e52d 37 MaxonESCON* motorControllerLeft;
chrigelburri 0:31f7be68e52d 38 MaxonESCON* motorControllerRight;
chrigelburri 1:6cd533a712c6 39 // HMC6352* compass;
chrigelburri 0:31f7be68e52d 40 AnalogIn* battery;
chrigelburri 0:31f7be68e52d 41 MotionState Desired;
chrigelburri 0:31f7be68e52d 42 MotionState Actual;
chrigelburri 0:31f7be68e52d 43 MotionState stateLeft;
chrigelburri 0:31f7be68e52d 44 MotionState stateRight;
chrigelburri 0:31f7be68e52d 45 float period;
chrigelburri 0:31f7be68e52d 46 float speed;
chrigelburri 0:31f7be68e52d 47 float omega;
chrigelburri 1:6cd533a712c6 48
chrigelburri 0:31f7be68e52d 49 public:
chrigelburri 0:31f7be68e52d 50
chrigelburri 0:31f7be68e52d 51 /**
chrigelburri 0:31f7be68e52d 52 * Creates a robot control object and initializes all private
chrigelburri 0:31f7be68e52d 53 * state variables.
chrigelburri 0:31f7be68e52d 54 * @param motorControllerLeft a reference to the servo drive for the left motor.
chrigelburri 0:31f7be68e52d 55 * @param motorControllerRight a reference to the servo drive for the right motor.
chrigelburri 0:31f7be68e52d 56 * @param compass Modul HMC5883L
chrigelburri 0:31f7be68e52d 57 * @param period the sampling period of the run loop of this controller, given in [s].
chrigelburri 0:31f7be68e52d 58 */
chrigelburri 1:6cd533a712c6 59 RobotControl(MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ float period);
chrigelburri 0:31f7be68e52d 60
chrigelburri 0:31f7be68e52d 61 /**
chrigelburri 0:31f7be68e52d 62 * Destructor of the Object to destroy the Object.
chrigelburri 0:31f7be68e52d 63 **/
chrigelburri 0:31f7be68e52d 64 virtual ~RobotControl();
chrigelburri 0:31f7be68e52d 65
chrigelburri 0:31f7be68e52d 66 /**
chrigelburri 0:31f7be68e52d 67 * Enables or disables the servo drives of the motors.
chrigelburri 0:31f7be68e52d 68 * @param enable if <code>true</code> enables the drives, <code>false</code> otherwise
chrigelburri 0:31f7be68e52d 69 * the servo drives are shut down.
chrigelburri 0:31f7be68e52d 70 */
chrigelburri 0:31f7be68e52d 71 void setEnable(bool enable);
chrigelburri 0:31f7be68e52d 72
chrigelburri 0:31f7be68e52d 73 /**
chrigelburri 0:31f7be68e52d 74 * Tests if the servo drives of the motors are enabled.
chrigelburri 0:31f7be68e52d 75 * @return <code>true</code> if the drives are enabled, <code>false</code> otherwise.
chrigelburri 0:31f7be68e52d 76 */
chrigelburri 0:31f7be68e52d 77 bool isEnabled();
chrigelburri 0:31f7be68e52d 78
chrigelburri 0:31f7be68e52d 79 /**
chrigelburri 0:31f7be68e52d 80 * Sets the maximum acceleration value.
chrigelburri 1:6cd533a712c6 81 * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>].
chrigelburri 0:31f7be68e52d 82 */
chrigelburri 1:6cd533a712c6 83 void setAcceleration(float acceleration);
chrigelburri 0:31f7be68e52d 84
chrigelburri 0:31f7be68e52d 85 /**
chrigelburri 0:31f7be68e52d 86 * Sets the maximum acceleration value of rotation.
chrigelburri 1:6cd533a712c6 87 * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [rad/s<SUP>2</SUP>].
chrigelburri 0:31f7be68e52d 88 */
chrigelburri 1:6cd533a712c6 89 void setThetaAcceleration(float acceleration);
chrigelburri 0:31f7be68e52d 90
chrigelburri 0:31f7be68e52d 91 /**
chrigelburri 0:31f7be68e52d 92 * Sets the desired translational speed of the robot.
chrigelburri 0:31f7be68e52d 93 * @param speed the desired speed, given in [m/s].
chrigelburri 0:31f7be68e52d 94 */
chrigelburri 0:31f7be68e52d 95 void setDesiredSpeed(float speed);
chrigelburri 0:31f7be68e52d 96
chrigelburri 0:31f7be68e52d 97 /**
chrigelburri 0:31f7be68e52d 98 * Sets the desired rotational speed of the robot.
chrigelburri 1:6cd533a712c6 99 * @param omega the desired rotational speed, given in [rad/s].
chrigelburri 0:31f7be68e52d 100 */
chrigelburri 0:31f7be68e52d 101 void setDesiredOmega(float omega);
chrigelburri 0:31f7be68e52d 102
chrigelburri 0:31f7be68e52d 103 /**
chrigelburri 2:d8e1613dc38b 104 * Sets the desired X-position of the robot.
chrigelburri 1:6cd533a712c6 105 * @param xposition the desired position, given in [m].
chrigelburri 0:31f7be68e52d 106 */
chrigelburri 1:6cd533a712c6 107 void setxPosition(float xposition);
chrigelburri 0:31f7be68e52d 108
chrigelburri 0:31f7be68e52d 109 /**
chrigelburri 0:31f7be68e52d 110 * Sets the desired Y-position of the robot.
chrigelburri 1:6cd533a712c6 111 * @param yposition the desired position, given in [m].
chrigelburri 0:31f7be68e52d 112 */
chrigelburri 1:6cd533a712c6 113 void setyPosition(float yposition);
chrigelburri 0:31f7be68e52d 114
chrigelburri 0:31f7be68e52d 115 /**
chrigelburri 2:d8e1613dc38b 116 * Sets the desired angle of the robot.
chrigelburri 0:31f7be68e52d 117 * @param theta the desired angle, given in [rad].
chrigelburri 0:31f7be68e52d 118 */
chrigelburri 0:31f7be68e52d 119 void setTheta(float theta);
chrigelburri 1:6cd533a712c6 120
chrigelburri 1:6cd533a712c6 121 /**
chrigelburri 2:d8e1613dc38b 122 * Sets the desired Position and angle.
chrigelburri 2:d8e1613dc38b 123 * @param xposition the desired position, given in [m].
chrigelburri 2:d8e1613dc38b 124 * @param yposition the desired position, given in [m].
chrigelburri 2:d8e1613dc38b 125 * @param theta the desired angle, given in [rad].
chrigelburri 2:d8e1613dc38b 126 */
chrigelburri 2:d8e1613dc38b 127 void setPositionAngle(float xposition, float yposition, float theta);
chrigelburri 2:d8e1613dc38b 128
chrigelburri 2:d8e1613dc38b 129 /**
chrigelburri 1:6cd533a712c6 130 * Gets the desired Theta. Angle of the goal Point.
chrigelburri 1:6cd533a712c6 131 * @return the desired Theta, given in [rad].
chrigelburri 1:6cd533a712c6 132 */
chrigelburri 1:6cd533a712c6 133 float getTheta();
chrigelburri 0:31f7be68e52d 134
chrigelburri 0:31f7be68e52d 135 /**
chrigelburri 0:31f7be68e52d 136 * Gets the desired translational speed of the robot.
chrigelburri 0:31f7be68e52d 137 * @return the desired speed, given in [m/s].
chrigelburri 0:31f7be68e52d 138 */
chrigelburri 0:31f7be68e52d 139 float getDesiredSpeed();
chrigelburri 0:31f7be68e52d 140
chrigelburri 0:31f7be68e52d 141 /**
chrigelburri 0:31f7be68e52d 142 * Gets the actual translational speed of the robot.
chrigelburri 0:31f7be68e52d 143 * @return the desired speed, given in [m/s].
chrigelburri 0:31f7be68e52d 144 */
chrigelburri 0:31f7be68e52d 145 float getActualSpeed();
chrigelburri 0:31f7be68e52d 146
chrigelburri 0:31f7be68e52d 147 /**
chrigelburri 0:31f7be68e52d 148 * Gets the desired rotational speed of the robot.
chrigelburri 0:31f7be68e52d 149 * @return the desired speed, given in [rad/s].
chrigelburri 0:31f7be68e52d 150 */
chrigelburri 0:31f7be68e52d 151 float getDesiredOmega();
chrigelburri 0:31f7be68e52d 152
chrigelburri 0:31f7be68e52d 153 /**
chrigelburri 0:31f7be68e52d 154 * Gets the actual rotational speed of the robot.
chrigelburri 0:31f7be68e52d 155 * @return the desired speed, given in [rad/s].
chrigelburri 0:31f7be68e52d 156 */
chrigelburri 0:31f7be68e52d 157 float getActualOmega();
chrigelburri 0:31f7be68e52d 158
chrigelburri 0:31f7be68e52d 159 /**
chrigelburri 0:31f7be68e52d 160 * Gets the actual translational X-position of the robot.
chrigelburri 0:31f7be68e52d 161 * @return the actual position, given in [m].
chrigelburri 0:31f7be68e52d 162 */
chrigelburri 0:31f7be68e52d 163 float getxActualPosition();
chrigelburri 0:31f7be68e52d 164
chrigelburri 0:31f7be68e52d 165 /**
chrigelburri 0:31f7be68e52d 166 * Gets the X-position following error of the robot.
chrigelburri 0:31f7be68e52d 167 * @return the position following error, given in [m].
chrigelburri 0:31f7be68e52d 168 */
chrigelburri 0:31f7be68e52d 169 float getxPositionError();
chrigelburri 0:31f7be68e52d 170
chrigelburri 0:31f7be68e52d 171 /**
chrigelburri 0:31f7be68e52d 172 * Gets the actual translational Y-position of the robot.
chrigelburri 0:31f7be68e52d 173 * @return the actual position, given in [m].
chrigelburri 0:31f7be68e52d 174 */
chrigelburri 0:31f7be68e52d 175 float getyActualPosition();
chrigelburri 0:31f7be68e52d 176
chrigelburri 0:31f7be68e52d 177 /**
chrigelburri 0:31f7be68e52d 178 * Gets the Y-position following error of the robot.
chrigelburri 0:31f7be68e52d 179 * @return the position following error, given in [m].
chrigelburri 0:31f7be68e52d 180 */
chrigelburri 0:31f7be68e52d 181 float getyPositionError();
chrigelburri 0:31f7be68e52d 182
chrigelburri 0:31f7be68e52d 183 /**
chrigelburri 0:31f7be68e52d 184 * Gets the actual orientation of the robot.
chrigelburri 0:31f7be68e52d 185 * @return the orientation, given in [rad].
chrigelburri 0:31f7be68e52d 186 */
chrigelburri 0:31f7be68e52d 187 float getActualTheta();
chrigelburri 0:31f7be68e52d 188
chrigelburri 0:31f7be68e52d 189 /**
chrigelburri 0:31f7be68e52d 190 * Gets the orientation following error of the robot.
chrigelburri 0:31f7be68e52d 191 * @return the orientation following error, given in [rad].
chrigelburri 0:31f7be68e52d 192 */
chrigelburri 0:31f7be68e52d 193 float getThetaError();
chrigelburri 1:6cd533a712c6 194
chrigelburri 1:6cd533a712c6 195 /**
chrigelburri 1:6cd533a712c6 196 * Gets the Distance to Disired point. Calculate witch pythagoras
chrigelburri 1:6cd533a712c6 197 * @return distance to goal, given in [m].
chrigelburri 1:6cd533a712c6 198 */
chrigelburri 1:6cd533a712c6 199 float getDistanceError();
chrigelburri 1:6cd533a712c6 200
chrigelburri 1:6cd533a712c6 201 /**
chrigelburri 1:6cd533a712c6 202 * Gets the Angle ot the pointing vector to the goal right the unicycle axis from actual point
chrigelburri 1:6cd533a712c6 203 * @return theta to goal, given in [rad].
chrigelburri 1:6cd533a712c6 204 */
chrigelburri 1:6cd533a712c6 205 float getThetaErrorToGoal();
chrigelburri 1:6cd533a712c6 206
chrigelburri 1:6cd533a712c6 207 /**
chrigelburri 1:6cd533a712c6 208 * Gets the Angle ot the pointing vector to the goal right the unicycle main axis
chrigelburri 1:6cd533a712c6 209 * @return theta from the goal, given in [rad].
chrigelburri 1:6cd533a712c6 210 */
chrigelburri 1:6cd533a712c6 211 float getThetaGoal();
chrigelburri 1:6cd533a712c6 212
chrigelburri 0:31f7be68e52d 213 /**
chrigelburri 0:31f7be68e52d 214 * Set all state to zero
chrigelburri 1:6cd533a712c6 215 * @param xZeroPos Sets the start X-position [m].
chrigelburri 1:6cd533a712c6 216 * @param yZeroPos Sets the start y-position [m].
chrigelburri 1:6cd533a712c6 217 * @param theta Sets the start angle [rad].
chrigelburri 0:31f7be68e52d 218 */
chrigelburri 1:6cd533a712c6 219 void setAllToZero(float xZeroPos, float yZeroPos, float theta);
chrigelburri 0:31f7be68e52d 220
chrigelburri 0:31f7be68e52d 221 void run();
chrigelburri 0:31f7be68e52d 222 };
chrigelburri 0:31f7be68e52d 223
chrigelburri 0:31f7be68e52d 224 #endif