Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Processes/Motion/motion.cpp@65:4709ff6c753c, 2013-04-14 (annotated)

Committer:
rsavitski
Date:
Sun Apr 14 17:57:12 2013 +0000
Revision:
65:4709ff6c753c
Parent:
57:d434ceab6892
Child:
67:be3ea5450cc7
rewrote arm code, pushes top layer with uber paddle

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 24:50805ef8c499 4 // Takes current state of the robot and target waypoint,
rsavitski 24:50805ef8c499 5 // calculates desired forward and angular velocities and requests those from the motor control layer.
rsavitski 24:50805ef8c499 6 ////////////////////////////////////////////////////////////////////////////////
rsavitski 24:50805ef8c499 7
rsavitski 24:50805ef8c499 8 #include "motion.h"
rsavitski 57:d434ceab6892 9 #include "math.h"
rsavitski 57:d434ceab6892 10 #include "Kalman.h"
rsavitski 57:d434ceab6892 11 #include "MotorControl.h"
rsavitski 57:d434ceab6892 12 #include "supportfuncs.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 57:d434ceab6892 26 // motion commands supported
rsavitski 57:d434ceab6892 27 enum motion_type_t { motion_waypoint };
rsavitski 57:d434ceab6892 28
rsavitski 57:d434ceab6892 29 struct motion_cmd
rsavitski 57:d434ceab6892 30 {
rsavitski 57:d434ceab6892 31 motion_type_t motion_type;
rsavitski 57:d434ceab6892 32 osThreadId setter_tid;
rsavitski 57:d434ceab6892 33
rsavitski 57:d434ceab6892 34 bool motion_done;
rsavitski 57:d434ceab6892 35
rsavitski 57:d434ceab6892 36 union
rsavitski 57:d434ceab6892 37 {
rsavitski 57:d434ceab6892 38 Waypoint *wp_ptr;
rsavitski 57:d434ceab6892 39 };
rsavitski 57:d434ceab6892 40
rsavitski 57:d434ceab6892 41 };
rsavitski 57:d434ceab6892 42
rsavitski 57:d434ceab6892 43 // local copy of the current active motion
rsavitski 57:d434ceab6892 44 motion_cmd current_motion;
rsavitski 57:d434ceab6892 45
rsavitski 39:44d3dea4adcc 46 Mutex waypoint_flag_mutex;
rsavitski 39:44d3dea4adcc 47
rsavitski 57:d434ceab6892 48 // local to waypoint motion handler
rsavitski 57:d434ceab6892 49 bool wp_d_reached = false;
rsavitski 57:d434ceab6892 50 bool wp_a_reached = false;
rsavitski 39:44d3dea4adcc 51
rsavitski 39:44d3dea4adcc 52
rsavitski 24:50805ef8c499 53 void motionlayer(void const *dummy)
rsavitski 57:d434ceab6892 54 {
rsavitski 57:d434ceab6892 55 switch (current_motion.motion_type)
rsavitski 57:d434ceab6892 56 {
rsavitski 57:d434ceab6892 57 case motion_waypoint:
rsavitski 57:d434ceab6892 58 waypoint_motion_handler();
rsavitski 57:d434ceab6892 59 break;
rsavitski 57:d434ceab6892 60 default:
rsavitski 57:d434ceab6892 61 break;
rsavitski 57:d434ceab6892 62 }
rsavitski 57:d434ceab6892 63 }
rsavitski 57:d434ceab6892 64
rsavitski 57:d434ceab6892 65 void waypoint_motion_handler()
rsavitski 57:d434ceab6892 66 {
rsavitski 39:44d3dea4adcc 67 // save target waypoint
rsavitski 57:d434ceab6892 68 Waypoint target_waypoint = *current_motion.wp_ptr;
rsavitski 24:50805ef8c499 69
rsavitski 24:50805ef8c499 70 // get current state from Kalman
rsavitski 24:50805ef8c499 71 State current_state = Kalman::getState();
rsavitski 24:50805ef8c499 72
rsavitski 24:50805ef8c499 73 float delta_x = target_waypoint.x - current_state.x;
rsavitski 24:50805ef8c499 74 float delta_y = target_waypoint.y - current_state.y;
rsavitski 24:50805ef8c499 75
madcowswe 25:b16f1045108f 76 //printf("motion sees deltax: %f deltay %f\r\n", delta_x, delta_y);
rsavitski 24:50805ef8c499 77
madcowswe 25:b16f1045108f 78 float distance_err = hypot(delta_x, delta_y);
madcowswe 25:b16f1045108f 79
madcowswe 25:b16f1045108f 80 float angle_err = constrainAngle(atan2(delta_y, delta_x) - current_state.theta);
rsavitski 24:50805ef8c499 81
rsavitski 57:d434ceab6892 82 // reversing if close to target and more optimal than forward movement
rsavitski 52:bffe5f7c39a3 83 bool reversing = false;
rsavitski 57:d434ceab6892 84 if ((abs(angle_err) > PI/2) && (distance_err < 0.2)) //TODO: parameterise and tune 0.2 meters hardcoded
rsavitski 52:bffe5f7c39a3 85 {
rsavitski 52:bffe5f7c39a3 86 reversing = true;
rsavitski 52:bffe5f7c39a3 87 angle_err = constrainAngle(angle_err + PI);
rsavitski 52:bffe5f7c39a3 88 distance_err = -distance_err;
rsavitski 52:bffe5f7c39a3 89 }
rsavitski 52:bffe5f7c39a3 90
rsavitski 52:bffe5f7c39a3 91 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 92
rsavitski 30:791739422122 93 // is the waypoint reached
rsavitski 57:d434ceab6892 94 waypoint_flag_mutex.lock(); //TODO: consider refactoring
rsavitski 57:d434ceab6892 95 if (abs(distance_err) < ((wp_d_reached) ? target_waypoint.pos_threshold+0.02 : target_waypoint.pos_threshold))
rsavitski 30:791739422122 96 {
rsavitski 57:d434ceab6892 97 wp_d_reached = true;
rsavitski 38:c9058a401410 98
rsavitski 52:bffe5f7c39a3 99 angle_err = constrainAngle(target_waypoint.theta - current_state.theta);
rsavitski 38:c9058a401410 100
rsavitski 38:c9058a401410 101 if (abs(angle_err) < target_waypoint.angle_threshold)
madcowswe 33:a49197572737 102 {
rsavitski 57:d434ceab6892 103 wp_a_reached = true;
madcowswe 33:a49197572737 104 }
rsavitski 35:f8e7f0a72a3d 105 }
rsavitski 65:4709ff6c753c 106 // 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 107 if (wp_d_reached && wp_a_reached)
rsavitski 30:791739422122 108 {
rsavitski 39:44d3dea4adcc 109 setWaypointReached();
rsavitski 30:791739422122 110 }
rsavitski 39:44d3dea4adcc 111 waypoint_flag_mutex.unlock();
rsavitski 24:50805ef8c499 112
rsavitski 24:50805ef8c499 113 // angular velocity controller
madcowswe 34:e1678450feec 114 const float p_gain_av = 0.5; //TODO: tune
rsavitski 24:50805ef8c499 115
madcowswe 33:a49197572737 116 const float max_av = 0.5*PI; // radians per sec //TODO: tune
rsavitski 24:50805ef8c499 117
rsavitski 24:50805ef8c499 118 // angle error [-pi, pi]
rsavitski 24:50805ef8c499 119 float angular_v = p_gain_av * angle_err;
rsavitski 24:50805ef8c499 120
rsavitski 24:50805ef8c499 121 // constrain range
rsavitski 24:50805ef8c499 122 if (angular_v > max_av)
rsavitski 24:50805ef8c499 123 angular_v = max_av;
rsavitski 24:50805ef8c499 124 else if (angular_v < -max_av)
rsavitski 24:50805ef8c499 125 angular_v = -max_av;
rsavitski 24:50805ef8c499 126
rsavitski 24:50805ef8c499 127
rsavitski 24:50805ef8c499 128 // forward velocity controller
rsavitski 54:99d3158c9207 129 const float p_gain_fv = 0.25; //TODO: tune
rsavitski 24:50805ef8c499 130
madcowswe 25:b16f1045108f 131 float max_fv = 0.2; // meters per sec //TODO: tune
rsavitski 52:bffe5f7c39a3 132 float max_fv_reverse = 0.05; //TODO: tune
rsavitski 57:d434ceab6892 133 const float angle_envelope_exponent = 32.0;//512; //8.0; //TODO: tune
rsavitski 24:50805ef8c499 134
rsavitski 24:50805ef8c499 135 // control, distance_err in meters
rsavitski 24:50805ef8c499 136 float forward_v = p_gain_fv * distance_err;
rsavitski 24:50805ef8c499 137
rsavitski 52:bffe5f7c39a3 138 // if reversing, robot is less stable hence a different cap is used
rsavitski 52:bffe5f7c39a3 139 if (reversing)
rsavitski 52:bffe5f7c39a3 140 max_fv = max_fv_reverse;
rsavitski 52:bffe5f7c39a3 141
rsavitski 24:50805ef8c499 142 // control the forward velocity envelope based on angular error
rsavitski 52:bffe5f7c39a3 143 max_fv = max_fv * pow(cos(angle_err_saved/2), angle_envelope_exponent);
rsavitski 24:50805ef8c499 144
rsavitski 24:50805ef8c499 145 // constrain range
rsavitski 24:50805ef8c499 146 if (forward_v > max_fv)
rsavitski 24:50805ef8c499 147 forward_v = max_fv;
rsavitski 24:50805ef8c499 148 else if (forward_v < -max_fv)
rsavitski 24:50805ef8c499 149 forward_v = -max_fv;
madcowswe 25:b16f1045108f 150
madcowswe 25:b16f1045108f 151 //printf("fwd: %f, omega: %f\r\n", forward_v, angular_v);
rsavitski 24:50805ef8c499 152
rsavitski 30:791739422122 153 // pass values to the motor control
rsavitski 24:50805ef8c499 154 MotorControl::set_fwdcmd(forward_v);
madcowswe 25:b16f1045108f 155 MotorControl::set_omegacmd(angular_v);
rsavitski 24:50805ef8c499 156 }
rsavitski 24:50805ef8c499 157
rsavitski 57:d434ceab6892 158
rsavitski 57:d434ceab6892 159 bool checkMotionStatus()
rsavitski 57:d434ceab6892 160 {
rsavitski 57:d434ceab6892 161 return current_motion.motion_done;
rsavitski 57:d434ceab6892 162 }
rsavitski 57:d434ceab6892 163
rsavitski 57:d434ceab6892 164
rsavitski 57:d434ceab6892 165 void setNewWaypoint(osThreadId setter_tid_in, Waypoint *new_wp)
rsavitski 39:44d3dea4adcc 166 {
rsavitski 57:d434ceab6892 167 clearMotionCmd();
rsavitski 57:d434ceab6892 168
rsavitski 57:d434ceab6892 169 current_motion.setter_tid = setter_tid_in;
rsavitski 57:d434ceab6892 170 current_motion.motion_type = motion_waypoint;
rsavitski 57:d434ceab6892 171
rsavitski 57:d434ceab6892 172 current_motion.wp_ptr = new_wp;
rsavitski 39:44d3dea4adcc 173 }
rsavitski 39:44d3dea4adcc 174
rsavitski 57:d434ceab6892 175
rsavitski 39:44d3dea4adcc 176 void setWaypointReached()
rsavitski 39:44d3dea4adcc 177 {
rsavitski 57:d434ceab6892 178 current_motion.motion_done = true;
rsavitski 57:d434ceab6892 179 osSignalSet(current_motion.setter_tid,0x1);
rsavitski 39:44d3dea4adcc 180 }
rsavitski 39:44d3dea4adcc 181
rsavitski 57:d434ceab6892 182
rsavitski 57:d434ceab6892 183 void clearMotionCmd()
rsavitski 39:44d3dea4adcc 184 {
rsavitski 57:d434ceab6892 185 current_motion.motion_done = false;
rsavitski 57:d434ceab6892 186 osSignalClear(current_motion.setter_tid, 0x1);
rsavitski 57:d434ceab6892 187
rsavitski 57:d434ceab6892 188 switch (current_motion.motion_type)
rsavitski 57:d434ceab6892 189 {
rsavitski 57:d434ceab6892 190 case motion_waypoint:
rsavitski 57:d434ceab6892 191 clearWaypoint();
rsavitski 57:d434ceab6892 192 break;
rsavitski 57:d434ceab6892 193
rsavitski 57:d434ceab6892 194 default:
rsavitski 57:d434ceab6892 195 break;
rsavitski 57:d434ceab6892 196 }
rsavitski 39:44d3dea4adcc 197 }
rsavitski 39:44d3dea4adcc 198
rsavitski 57:d434ceab6892 199
rsavitski 57:d434ceab6892 200 void clearWaypoint()
rsavitski 39:44d3dea4adcc 201 {
rsavitski 57:d434ceab6892 202 wp_d_reached = false;
rsavitski 57:d434ceab6892 203 wp_a_reached = false;
rsavitski 39:44d3dea4adcc 204 }
rsavitski 39:44d3dea4adcc 205
rsavitski 24:50805ef8c499 206 } //namespace