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eDivide.c
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eDivide.c
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#include <math.h>
#include "RP6RobotBaseLib.h"
#include "trajectory.h"
// Function Prototypes
void fancyled(uint8_t *runningLight);
void Odometry();
void reInitOdom();
void CalculateSpherical(int16_t spherical[3]);
void Controller(int16_t spherical[3]);
void mainloop();
double source[3] = {0,0,0};
double destination[3] = {50,50,0};
double destinationarray[][3] = {{50,20,0},{80,0,0},{50,-20,0},{80,10,0},{0,-10,0},{0,0,0}};
int16_t spherical[3] = {0,0,0};
static uint8_t motioncomplete;
static double robot_old_x = 0,robot_old_y=0,robot_old_theta=0,old_beta=0;
void fancyled(uint8_t *runningLight)
{
setLEDs(*runningLight);
*runningLight <<= 1;
if(*runningLight > 32)
*runningLight = 1;
}
//ODOMETRY NEEDS TO BE IMPROVED A LOT> IT IS BUGGY >>> :-(
void Odometry()
{
double robot_x,robot_y,robot_theta,beta;
double temp;
//robot_theta= (((getLeftDistance()-getRightDistance()))/(uint32_t)(ROTATION_FACTOR));
if (getLeftDistance() > getRightDistance())
robot_theta = (double)((uint32_t)(100)*(getLeftDistance()-getRightDistance())/(uint32_t)(2*ROTATION_FACTOR));
else
robot_theta = -(double)((uint32_t)(100)*(getRightDistance()-getLeftDistance())/(uint32_t)(2*ROTATION_FACTOR));
robot_theta = (abs(robot_theta) <=359 && abs(robot_theta) > 0) ? robot_theta : 0.0;
/*temp = cos(robot_theta);
if (mleft_dir != mright_dir)
robot_x = (M_PI*25*temp*(getRightDistance()+getLeftDistance()))/625;
else{
if (mleft_dir != 0)
robot_x = -(M_PI*25*temp*(getRightDistance()+getLeftDistance()))/625;
else
robot_x = (M_PI*25*temp*(getRightDistance()+getLeftDistance()))/625;
}
robot_x = (M_PI*25*temp*(getRightDistance()+getLeftDistance()))/625;
temp = sin(beta);
robot_y = (M_PI*25*temp*(getRightDistance()+getLeftDistance()))/625;
temp = (robot_x-robot_old_x);
robot_old_x = robot_x;
source[0] = source[0]+temp;
source[1] = robot_y/10;*/
double temp_theta,temp_x,temp_y;
temp_theta= robot_theta - robot_old_theta;
source[2] = source[2]+temp_theta;
if (abs(source[2]) >180)
source[2] = (source[2] < 0)? (360+source[2]):(source[2]-360);
robot_x = (M_PI*25*cos((robot_theta*M_PI)/180)*(getRightDistance()+getLeftDistance()))/625;
robot_y = (M_PI*25*sin((robot_theta*M_PI)/180)*(getRightDistance()+getLeftDistance()))/625;
temp_x = robot_x - robot_old_x;
temp_y = robot_y - robot_old_y;
source[0] = source[0]+temp_x;
source[1] = source[1]+temp_y;
robot_old_x = robot_x;
robot_old_y = robot_y;
robot_old_theta = robot_theta;
}
void reInitOdom()
{
//ENCODERS RESET TO ZERO
}
void OpenLoopController(int16_t alpha,uint16_t pho, int16_t beta)
{
motioncomplete = 1;
uint8_t dir;
uint16_t angle = 0;
if (abs(alpha) > 0){
dir = alpha < 0 ? LEFT : RIGHT;
angle = abs(alpha);
rotate(60, dir,angle, true);
}
writeIntegerLength(pho, DEC,16);
move(80, FWD, DIST_MM(pho*10),true);
beta = -alpha;
if (abs(beta) > 0){
dir = beta < 0 ? LEFT : RIGHT;
angle = abs(beta);
rotate(60, dir, angle, true);
}
//VERY VERY BAD AS IT IS A OPEN LOOP CONTROLLER
motioncomplete = 0;
}
void SiegwartController(double alpha,uint16_t pho, int16_t beta)
{
if ((destination[0]-source[0])<10){
motioncomplete = 0;
writeString("Goal Reached\n");
}
else{
uint8_t linear_speed = 2*(pho/20);
uint8_t angular_speed = 24*alpha;
//uint8_t angular_speed = 0;
uint8_t v_right = (linear_speed) + (10 * angular_speed);
uint8_t v_left = (linear_speed) - (10 * angular_speed);
//uint8_t v_right = (linear_speed) + (10*angular_speed);
//uint8_t v_left = (linear_speed) - (10*angular_speed);
moveAtSpeedDirection(v_left,v_right);
}
}
void mainloopClosed()
{
motioncomplete = 1;
while(motioncomplete == 1){
double delta_x=0.0, delta_y=0.0,pho=0.0;
Odometry();
delta_x = destination[0] - source[0];
delta_y = destination[1] - source[1];
pho = sqrt(pow(delta_x,2)+pow(delta_y,2));
double alpha = atan2(delta_y,delta_x);
/*if (abs(alpha*100) > 0){
alpha = (alpha*180)/M_PI;
}*/
task_RP6System();
SiegwartController(alpha,pho,0);
task_RP6System();
task_motionControl();
mSleep(200);
}
}
void mainloopOpen()
{
motioncomplete=1;
while(motioncomplete == 1) {
double delta_x=0.0, delta_y=0.0,pho=0.0;
//Odometry(); //should comment for open loop controller
delta_x = destination[0] - source[0];
delta_y = destination[1] - source[1];
pho = sqrt(pow(delta_x,2)+pow(delta_y,2));
double alpha = atan2(delta_y,delta_x);
if (abs(alpha*100) > 0){
alpha = (alpha*180)/M_PI;
//alpha = (alpha < 0 ? -(alpha +180):alpha);
}
/*writeIntegerLength((int16_t)delta_y, DEC,16);
writeString("\n");
writeIntegerLength((int16_t)delta_x, DEC,16);
writeString("\n");
writeIntegerLength((int16_t)alpha, DEC,16);
writeString("\n");*/
task_RP6System();
/*REPLACE THIS CONTROLLER*/
OpenLoopController((int16_t)alpha,pho,0);
//SiegwartController(alpha,pho,0);
task_RP6System();
//motioncomplete=0; //debug ... do not forget to remove :-)
mSleep(200);
}
}
int16_t main(void)
{
initRobotBase();
powerON();
setLEDs(0b111111);
mSleep(1000);
setLEDs(0b000000);
mSleep(500);
uint8_t runningLight = 1;
for (uint8_t i = 0; i < 6; i++){
for (uint8_t j = 0; j< 3;j++)
destination[j] = destinationarray[i][j];
//mainloopOpen();
mainloopClosed();
fancyled(&runningLight);
/*for (uint8_t j = 0; j< 3;j++)
source[j] = destination[j];*/
mSleep(2000);
}
task_RP6System();
while(true)
{
fancyled(&runningLight);
if (motioncomplete == 0)
moveAtSpeed(0,0);
mSleep(200);
task_RP6System();
}
return 0;
}