source: flair-src/trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp@ 379

Last change on this file since 379 was 379, checked in by Sanahuja Guillaume, 2 years ago

modifs ugv

  • Property svn:eol-style set to native
File size: 6.3 KB
Line 
1// created: 2020/12/09
2// filename: CircleFollower.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo cercle avec optitrack
10//
11//
12/*********************************************************************/
13
14#include "CircleFollower.h"
15#include <TargetController.h>
16#include <GridLayout.h>
17#include <PushButton.h>
18#include <DataPlot1D.h>
19#include <DataPlot2D.h>
20#include <FrameworkManager.h>
21#include <VrpnClient.h>
22#include <MetaVrpnObject.h>
23#include <TrajectoryGenerator2DCircle.h>
24#include <Matrix.h>
25#include <Tab.h>
26#include <TabWidget.h>
27#include <DoubleSpinBox.h>
28#include <Pid.h>
29#include <Quaternion.h>
30#include <Euler.h>
31#include <Ugv.h>
32#include <UgvControls.h>
33#include <math.h>
34
35using namespace std;
36using namespace flair::core;
37using namespace flair::gui;
38using namespace flair::sensor;
39using namespace flair::filter;
40using namespace flair::meta;
41using namespace flair::actuator;
42
43CircleFollower::CircleFollower(string name,TargetController *controller): Thread(getFrameworkManager(),"CircleFollower",50), behaviourMode(BehaviourMode_t::Manual), vrpnLost(false) {
44 this->controller=controller;
45 controller->Start();
46
47 Ugv* ugv=GetUgv();
48 ugv->UseDefaultPlot();
49
50 VrpnClient* vrpnclient=new VrpnClient("vrpn", ugv->GetDefaultVrpnAddress(),80);
51
52 if(vrpnclient->ConnectionType()==VrpnClient::Xbee) {
53 ugvVrpn = new MetaVrpnObject(name,(uint8_t)0);
54 targetVrpn=new MetaVrpnObject("target",1);
55 } else if (vrpnclient->ConnectionType()==VrpnClient::Vrpn) {
56 ugvVrpn = new MetaVrpnObject(name);
57 targetVrpn=new MetaVrpnObject("target");
58 }
59
60 getFrameworkManager()->AddDeviceToLog(ugvVrpn);
61 getFrameworkManager()->AddDeviceToLog(targetVrpn);
62 vrpnclient->Start();
63
64 Tab *ugvTab = new Tab(getFrameworkManager()->GetTabWidget(), "ugv", 0);
65 GridLayout* buttonslayout = new GridLayout(ugvTab->NewRow(), "buttons");
66 button_kill = new PushButton(buttonslayout->NewRow(), "kill");
67 startCircle=new PushButton(buttonslayout->NewRow(),"start_circle");
68 stopCircle=new PushButton(buttonslayout->LastRowLastCol(),"stop_circle");
69
70 circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
71 ugvVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
72 ugvVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
73 ugvVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
74 ugvVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
75 ugvVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
76
77 Tab *lawTab = new Tab(getFrameworkManager()->GetTabWidget(), "control laws");
78 TabWidget *tabWidget = new TabWidget(lawTab->NewRow(), "laws");
79 Tab *setupLawTab = new Tab(tabWidget, "Setup");
80 Tab *graphLawTab = new Tab(tabWidget, "Graphes");
81 uX=new Pid(setupLawTab->At(1,0),"u_x");
82 uX->UseDefaultPlot(graphLawTab->NewRow());
83 uY=new Pid(setupLawTab->At(1,1),"u_y");
84 uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
85
86 l=new DoubleSpinBox(setupLawTab->NewRow(),"L", " m", 0, 10, 0.1, 1,1);
87}
88
89CircleFollower::~CircleFollower() {
90}
91
92void CircleFollower::Run(void) {
93 WarnUponSwitches(true);
94 SetPeriodMS(100);
95
96 if (getFrameworkManager()->ErrorOccured() == true) {
97 SafeStop();
98 }
99
100 while (!ToBeStopped()) {
101 if(behaviourMode==BehaviourMode_t::Manual) ComputeManualControls();
102 if(behaviourMode==BehaviourMode_t::Circle) ComputeCircleControls();
103
104 if (startCircle->Clicked() == true)
105 StartCircle();
106
107 if (stopCircle->Clicked() == true)
108 StopCircle();
109
110 //R1 and Circle
111 if(controller->IsButtonPressed(9) && controller->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
112 StartCircle();
113 }
114
115 //R1 and Cross
116 if(controller->IsButtonPressed(9) && controller->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
117 StopCircle();
118 }
119
120 if (button_kill->Clicked() == true)
121 SafeStop();
122
123 WaitPeriod();
124 }
125}
126
127void CircleFollower::ComputeManualControls(void) {
128 float speed=-controller->GetAxisValue(3);
129 float turn=controller->GetAxisValue(0);
130 GetUgv()->GetUgvControls()->SetControls(speed,turn);
131}
132
133void CircleFollower::ComputeCircleControls(void) {
134
135 Vector3Df ugv_pos,ugv_vel,target_pos; // in VRPN coordinate system
136 Vector2Df ugv_2Dpos,ugv_2Dvel,target_2Dpos; // in VRPN coordinate system
137 Vector2Df pos_error,vel_error;
138 Vector2Df circle_pos,circle_vel;
139
140 ugvVrpn->GetPosition(ugv_pos);
141 ugvVrpn->GetSpeed(ugv_vel);
142
143 ugv_pos.To2Dxy(ugv_2Dpos);
144 ugv_vel.To2Dxy(ugv_2Dvel);
145
146 targetVrpn->GetPosition(target_pos);
147 target_pos.To2Dxy(target_2Dpos);
148 circle->SetCenter(target_2Dpos);
149
150 //circle reference
151 circle->Update(GetTime());
152 circle->GetPosition(circle_pos);
153 circle->GetSpeed(circle_vel);
154
155 //error in optitrack frame
156 pos_error=ugv_2Dpos-circle_pos;
157 vel_error=ugv_2Dvel-circle_vel;
158
159 uX->SetValues(pos_error.x, vel_error.x);
160 uX->Update(GetTime());
161 uY->SetValues(pos_error.y, vel_error.y);
162 uY->Update(GetTime());
163
164 //get yaw from vrpn
165 Quaternion vrpnQuaternion;
166 ugvVrpn->GetQuaternion(vrpnQuaternion);
167 float yaw=vrpnQuaternion.ToEuler().yaw;
168 float L=1;
169 float v= cosf(yaw)*uX->Output() + sinf(yaw)*uY->Output();
170 float w = -sinf(yaw)/l->Value()*uX->Output() + cosf(yaw)/l->Value()*uY->Output();
171 GetUgv()->GetUgvControls()->SetControls(-v,-w);
172}
173
174
175void CircleFollower::StartCircle(void) {
176 Vector3Df ugv_pos,target_pos;
177 Vector2Df ugv_2Dpos,target_2Dpos;
178
179 targetVrpn->GetPosition(target_pos);
180 target_pos.To2Dxy(target_2Dpos);
181 circle->SetCenter(target_2Dpos);
182
183 ugvVrpn->GetPosition(ugv_pos);
184 ugv_pos.To2Dxy(ugv_2Dpos);
185 circle->StartTraj(ugv_2Dpos);
186
187 uX->Reset();
188 uY->Reset();
189 behaviourMode=BehaviourMode_t::Circle;
190 Thread::Info("CircleFollower: start circle\n");
191}
192
193void CircleFollower::StopCircle(void) {
194
195 circle->FinishTraj();
196 //GetJoystick()->Rumble(0x70);
197 behaviourMode=BehaviourMode_t::Manual;
198 Thread::Info("CircleFollower: finishing circle\n");
199}
200
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