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RobotControllerScript.m
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RobotControllerScript.m
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my_mu = [0 0];
sigma = [my_sd my_sd];
noise = mvnrnd(my_mu,sigma.^2)';
if noise(1) > 1
noise = [1 noise(2)]';
end
if noise(2) > 1
noise = [noise(1) 1]';
end
% q = q + noise;
if my_pull
%% pull
A = A_lst(:,:,my_traj_count);
B = B_lst(:,:,my_traj_count);
F = F_lst(:,:,my_traj_count);
K = K_lst(:,:,my_traj_count);
k1 = K1_lst(:,:,my_traj_count);
k2 = K2_lst(:,:,my_traj_count);
U_op = Tss_lst(:,:,my_traj_count)';
q_op = [my_traj_angles(my_traj_count,1) 0 my_traj_angles(my_traj_count,2) 0]';
my_delta_xhat = (my_delta_xhat) + ( (A-F*C)*(my_delta_xhat) ...
+ B*(U-U_op) + F*(q - my_traj_angles(my_traj_count,:)') ) * 0.001;
% state estimate
% U = -K * (my_delta_xhat) + U_op;
% regulator
my_error = my_error + (q - my_traj_angles(my_traj_count,:)') * 0.001;
delta_U = -k1 * my_delta_xhat - k2 * my_error;
U = delta_U + U_op;
cur_pos = my_delta_xhat + q_op;
X_pred = l1 * cos(cur_pos(1)) + l2 * cos(cur_pos(1) + cur_pos(3)); % compute x coordinates
Y_pred = l1 * sin(cur_pos(1)) + l2 * sin(cur_pos(1) + cur_pos(3));
X = l1 * cos(my_traj_angles(my_traj_count,1)) + l2 * cos(my_traj_angles(my_traj_count,1) +...
my_traj_angles(my_traj_count,2));
Y = l1 * sin(my_traj_angles(my_traj_count,1)) + l2 * sin(my_traj_angles(my_traj_count,1) + ...
my_traj_angles(my_traj_count,2));
if (sqrt((X_pred - X)^2 + (Y_pred - Y)^2) <= 0.004)
if my_wait
if my_milestone_ctr <= length(milestones) && ...
sqrt((X_pred - milestones(my_milestone_ctr, 1))^2 +...
(Y_pred - milestones(my_milestone_ctr, 2))^2) < 0.004
if ~recordedMilestoneStartTime
milestoneStartTime = t;
recordedMilestoneStartTime = 1;
disp('Start time: ')
t
return
elseif recordedMilestoneStartTime
if (t - milestoneStartTime >= 0.6)
% Set up future check for next milestone
my_milestone_ctr = my_milestone_ctr + 1
% Reset variable and go do the torque of the next
% point
recordedMilestoneStartTime = 0;
elseif (t - milestoneStartTime < 0.6)
% Output the same torque as last time
% and exit the script to avoid
% outputting torque of the next point in traj
U = U_op;
return
end
end
end
end
my_traj_count = my_traj_count+1;
if (my_traj_count == length(my_traj_angles)+1)
my_traj_count = length(my_traj_angles);
U = U_op;
return
else
my_delta_xhat = [my_traj_angles(my_traj_count-1,1) 0 my_traj_angles(my_traj_count-1,2) 0]' - ...
[my_traj_angles(my_traj_count,1) 0 my_traj_angles(my_traj_count,2) 0]';
end
else
if recordedMilestoneStartTime == 1
% You left the 0.004 after you entered it
milestoneStartTime = 0;
recordedMilestoneStartTime = 0;
end
end
else
%% push
A = A_lst(:,:,my_traj_count-1);
B = B_lst(:,:,my_traj_count-1);
F = F_lst(:,:,my_traj_count-1);
K = K_lst(:,:,my_traj_count-1);
k1 = K1_lst(:,:,my_traj_count-1);
k2 = K2_lst(:,:,my_traj_count-1);
U_op = Tss_lst(:,:,my_traj_count-1)';
q_op = [my_traj_angles(my_traj_count-1,1) 0 my_traj_angles(my_traj_count-1,2) 0]';
q_dest = [my_traj_angles(my_traj_count,1) 0 my_traj_angles(my_traj_count,2) 0]';
my_delta_xhat = (my_delta_xhat) + ( (A-F*C)*(my_delta_xhat) ...
+ B*(U-U_op) + F*(q - q_op([1,3],:)) )*0.001;
my_error = my_error + (q - q_dest([1,3],:)) * 0.001;
delta_U = -k1 * (my_delta_xhat) - k2 * my_error;
U = delta_U + U_op;
cur_pos = my_delta_xhat + q_op;
X_pred = l1 * cos(cur_pos(1)) + l2 * cos(cur_pos(1) + cur_pos(3)); % compute x coordinates
Y_pred = l1 * sin(cur_pos(1)) + l2 * sin(cur_pos(1) + cur_pos(3));
X = l1 * cos(my_traj_angles(my_traj_count,1)) + l2 * cos(my_traj_angles(my_traj_count,1) +...
my_traj_angles(my_traj_count,2));
Y = l1 * sin(my_traj_angles(my_traj_count,1)) + l2 * sin(my_traj_angles(my_traj_count,1) +...
my_traj_angles(my_traj_count,2));
if (sqrt((X_pred - X)^2 + (Y_pred - Y)^2) <= 0.004)
if my_wait
if my_milestone_ctr <= length(milestones) && ...
sqrt((X_pred - milestones(my_milestone_ctr, 1))^2 +...
(Y_pred - milestones(my_milestone_ctr, 2))^2) < 0.004
if ~recordedMilestoneStartTime
milestoneStartTime = t;
recordedMilestoneStartTime = 1;
disp('Start time: ')
t
return
elseif recordedMilestoneStartTime
if (t - milestoneStartTime >= 0.6)
% Set up future check for next milestone
my_milestone_ctr = my_milestone_ctr + 1
% Reset variable and go do the torque of the next
% point
recordedMilestoneStartTime = 0;
elseif (t - milestoneStartTime < 0.6)
% Output the same torque as last time
% and exit the script to avoid
% outputting torque of the next point in traj
U = U_op;
return
end
end
end
end
my_traj_count = my_traj_count+1;
if (my_traj_count == length(my_traj_angles)+1)
my_traj_count = length(my_traj_angles);
U = U_op;
return
else
my_delta_xhat = [my_traj_angles(my_traj_count-1,1) 0 my_traj_angles(my_traj_count-1,2) 0]' - ...
[my_traj_angles(my_traj_count,1) 0 my_traj_angles(my_traj_count,2) 0]';
end
else
if recordedMilestoneStartTime == 1
% You left the 0.004 after you entered it
milestoneStartTime = 0;
recordedMilestoneStartTime = 0;
end
end
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% ENERGY CALCULATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
my_energy = my_energy + U'*U*0.001;