amiro-os / devices / DiWheelDrive / linefollow2.cpp @ 12463563
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1 | c76baf23 | Georg Alberding | #include "global.hpp" |
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2 | #include "linefollow2.hpp" |
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3 | 2330e415 | Georg Alberding | #include <cmath> |
4 | c76baf23 | Georg Alberding | |
5 | |||
6 | void LineFollow::printSensorData(){
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7 | chprintf((BaseSequentialStream*) &SD1, "Test!");
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8 | } |
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9 | |||
10 | 12463563 | galberding | LineFollow::LineFollow(Global *global){ |
11 | this->global = global;
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12 | } |
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13 | |||
14 | 25388c2f | Georg Alberding | // void LineFollow::followLine(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global){
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15 | 2330e415 | Georg Alberding | |
16 | 25388c2f | Georg Alberding | // chprintf((BaseSequentialStream*) &SD1, "SP: %d,\n", SetPoint);
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17 | 2330e415 | Georg Alberding | |
18 | 25388c2f | Georg Alberding | // // chprintf((BaseSequentialStream*) &SD1, "Proximity: WL:0x%04X FL:0x%04X FR:0x%04X WR:0x%04X\n",
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19 | // // vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT],
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20 | // // vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT],
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21 | // // vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT],
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22 | // // vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT]);
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23 | // // global->motorcontrol.printGains();
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24 | // // chprintf((BaseSequentialStream*) &SD1, "Speed -- Left: %d, Right: %d\n", global->motorcontrol.getCurrentRPMLeft(), global->motorcontrol.getCurrentRPMRight());
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25 | |||
26 | |||
27 | // // float speedL = global->motorcontrol.getCurrentRPMLeft();
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28 | // // float speedR = global->motorcontrol.getCurrentRPMRight();
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29 | // // chprintf((BaseSequentialStream*) &SD1, "After motor request SP: %f,\n", SetPoint);
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30 | // // Process value
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31 | // float processV = static_cast< float >((vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] + vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]));
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32 | // // chprintf((BaseSequentialStream*) &SD1, "PV: %f,\n", processV);
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33 | // // chprintf((BaseSequentialStream*) &SD1, "After PV SP: %f,\n", SetPoint);
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34 | // float error = SetPoint - processV;
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35 | // float d_term = old_error - error;
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36 | // // chprintf((BaseSequentialStream*) &SD1, "After Error SP: %f,\n", SetPoint);
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37 | // // chprintf((BaseSequentialStream*) &SD1, "Error: %f,\n", error);
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38 | // acc_sum = 0.5 * acc_sum + error;
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39 | // int correctionSpeed = static_cast< int >(Kp * error + Ki*acc_sum + Kd*d_term);
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40 | // old_error = error;
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41 | // chprintf((BaseSequentialStream*) &SD1, "Error: %f,\n", error);
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42 | // chprintf((BaseSequentialStream*) &SD1, "Dterm: %f,\n", d_term);
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43 | // chprintf((BaseSequentialStream*) &SD1, "Iterm: %f,\n", acc_sum);
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44 | // chprintf((BaseSequentialStream*) &SD1, "New Speed: %d,\n", correctionSpeed);
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45 | // // chprintf((BaseSequentialStream*) &SD1, "New Speed: %f, Sum: %f, SP: %f, processV: %f, K_p: %f, K_i: %f \n", correctionSpeed, acc_sum, SetPoint, processV, Kp, Ki);
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46 | |||
47 | // // int forward = 15;
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48 | // int speedL = global->rpmForward[constants::DiWheelDrive::LEFT_WHEEL] - correctionSpeed;
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49 | // int speedR = global->rpmForward[constants::DiWheelDrive::RIGHT_WHEEL] + correctionSpeed;
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50 | |||
51 | // // if (l_speed )
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52 | |||
53 | // rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL] = speedL;
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54 | // rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL] = speedR;
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55 | |||
56 | // chprintf((BaseSequentialStream*) &SD1, "Speed L: %d, R: %d\n", speedL, speedR);
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57 | |||
58 | // }
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59 | |||
60 | |||
61 | void LineFollow::stableFollow(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global){ |
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62 | int targetSensor = 0x38; |
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63 | b8085493 | Georg Alberding | int actualSensorL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] ;
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64 | int actualSensorR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] ;
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65 | 25388c2f | Georg Alberding | int targetSpeedL = global->rpmForward[constants::DiWheelDrive::LEFT_WHEEL];
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66 | int targetSpeedR = global->rpmForward[constants::DiWheelDrive::RIGHT_WHEEL];
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67 | |||
68 | b8085493 | Georg Alberding | |
69 | int diff = actualSensorR - actualSensorL;
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70 | 25388c2f | Georg Alberding | int error = targetSensor - (actualSensorL + actualSensorR);
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71 | |||
72 | accSum += error; |
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73 | int dTerm = error - oldError;
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74 | |||
75 | b8085493 | Georg Alberding | if (diff > biggestDiff){
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76 | biggestDiff = diff; |
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77 | } |
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78 | 25388c2f | Georg Alberding | int correctionSpeed = (int) (Kp * error + Ki * accSum + Kd * dTerm); |
79 | chprintf((BaseSequentialStream*) &SD1, "Correction Speed: %d\n", correctionSpeed);
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80 | rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL] = targetSpeedL + correctionSpeed; |
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81 | rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL] = targetSpeedR - correctionSpeed; |
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82 | 2330e415 | Georg Alberding | |
83 | b8085493 | Georg Alberding | chprintf((BaseSequentialStream*) &SD1, "Diff: %d, Biggest: %d\n", correctionSpeed, biggestDiff);
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84 | |||
85 | c76baf23 | Georg Alberding | } |
86 | 25388c2f | Georg Alberding | |
87 | 12463563 | galberding | int calculateError(){
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88 | |||
89 | } |
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90 | |||
91 | void calibrateZiegler(int (&rpmFuzzyCtrl)[2], Global *global){ |
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92 | |||
93 | } |
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94 | 25388c2f | Georg Alberding | |
95 | // void LineFollow::followLineSeperateSensors2(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global){
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96 | |||
97 | // chprintf((BaseSequentialStream*) &SD1, "SP: %d,\n", SetPoint);
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98 | // int targetSensorL = 0x10;
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99 | // int targetSensorR = 0x28;
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100 | |||
101 | // float actualSpeedL = 20;
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102 | // float actualSpeedR = 20;
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103 | |||
104 | // // if(actualSpeedL == 0){
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105 | // // actualSpeedL = 1;
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106 | // // }
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107 | // // if(actualSpeedR == 0){
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108 | // // actualSpeedR = 1;
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109 | // // }
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110 | |||
111 | // // Shift sensor values to prevent overflow in following calculation
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112 | // int actualSensorL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] >> 8;
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113 | // int actualSensorR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] >> 8;
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114 | // chprintf((BaseSequentialStream*) &SD1, "Sensor L: %d, R: %d\n", actualSensorL, actualSensorR);
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115 | |||
116 | // int targetSpeedL = global->rpmForward[constants::DiWheelDrive::LEFT_WHEEL];
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117 | // int targetSpeedR = global->rpmForward[constants::DiWheelDrive::RIGHT_WHEEL];
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118 | |||
119 | // int setPointL = targetSensorL;
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120 | // int setPointR = targetSensorR;
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121 | // chprintf((BaseSequentialStream*) &SD1, "SetPoint L: %d, R: %d\n",setPointL, setPointR );
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122 | |||
123 | // int processValueL = actualSensorL;
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124 | // int processValueR = actualSensorR;
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125 | // chprintf((BaseSequentialStream*) &SD1, "ProcessValue L: %d, R: %d\n",processValueL, processValueR );
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126 | |||
127 | // int errorL = setPointL - processValueL;
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128 | // int errorR = setPointR - processValueR;
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129 | |||
130 | // // This will howfully decrease the overall speed when sensors deviate much
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131 | // // errorL /= targetSensorL+actualSensorL;
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132 | // // errorR /= targetSensorR+actualSensorR;
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133 | // chprintf((BaseSequentialStream*) &SD1, "Error L: %d, R: %d\n",errorL, errorR);
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134 | |||
135 | // // int newSpeedL =
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136 | // rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL] = errorL;
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137 | // rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL] = errorR;
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138 | |||
139 | // int correction_speedL = (int) (Kp * errorL);
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140 | // int correction_speedR = (int) (Kp * errorR);
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141 | // chprintf((BaseSequentialStream*) &SD1, "Speed L: %d, R: %d\n",correction_speedL, correction_speedR);
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142 | |||
143 | // // // chprintf((BaseSequentialStream*) &SD1, "After motor request SP: %f,\n", SetPoint);
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144 | // // // Process value
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145 | // // float processV = static_cast< float >((vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] + vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]));
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146 | // // // chprintf((BaseSequentialStream*) &SD1, "PV: %f,\n", processV);
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147 | // // // chprintf((BaseSequentialStream*) &SD1, "After PV SP: %f,\n", SetPoint);
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148 | // // float error = SetPoint - processV;
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149 | // // float d_term = old_error - error;
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150 | // // // chprintf((BaseSequentialStream*) &SD1, "After Error SP: %f,\n", SetPoint);
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151 | // // // chprintf((BaseSequentialStream*) &SD1, "Error: %f,\n", error);
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152 | // // acc_sum = 0.5 * acc_sum + error;
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153 | // // int new_speed = static_cast< int >(Kp * error + Ki*acc_sum + Kd*d_term);
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154 | // // old_error = error;
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155 | // // chprintf((BaseSequentialStream*) &SD1, "Error: %f,\n", error);
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156 | // // chprintf((BaseSequentialStream*) &SD1, "Dterm: %f,\n", d_term);
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157 | // // chprintf((BaseSequentialStream*) &SD1, "Iterm: %f,\n", acc_sum);
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158 | // // chprintf((BaseSequentialStream*) &SD1, "New Speed: %d,\n", new_speed);
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159 | // // // chprintf((BaseSequentialStream*) &SD1, "New Speed: %f, Sum: %f, SP: %f, processV: %f, K_p: %f, K_i: %f \n", new_speed, acc_sum, SetPoint, processV, Kp, Ki);
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160 | |||
161 | // // // int forward = 15;
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162 | // // // int l_speed = forward - new_speed;
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163 | // // // int r_speed = forward + new_speed;
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164 | |||
165 | // // // if (l_speed )
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166 | |||
167 | // rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL] = targetSpeedL + correction_speedL;
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168 | // rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL] = targetSpeedR + correction_speedR;
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169 | |||
170 | // // chprintf((BaseSequentialStream*) &SD1, "Speed L: %d, R: %d\n", rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL], rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL]);
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171 | |||
172 | // } |