Changeset 430 in flair-src for trunk/demos/TwoWheelRobotCircleFollower/ugv

Timestamp:

Jul 7, 2021, 2:12:52 PM (3 years ago)

Author:

Sanahuja Guillaume

Message:

good setup for sumo

Location:

trunk/demos/TwoWheelRobotCircleFollower/ugv

Files:

• resources/core2-64/setup_sumo.xml (modified) (2 diffs)
• src/CircleFollower.cpp (modified) (1 diff)

trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/setup_sumo.xml

@@ -15 +15 @@
         <Tab name="Reglages">
           <GroupBox name="post rotation 1">
-            <DoubleSpinBox name="value" value="0"/>
-            <ComboBox name="axis" value="0"/>
+            <DoubleSpinBox name="value" value="90"/>
+            <ComboBox name="axis" value="1"/>
           </GroupBox>
           <GroupBox name="post rotation 2">
-            <DoubleSpinBox name="value" value="0"/>
+            <DoubleSpinBox name="value" value="90"/>
             <ComboBox name="axis" value="0"/>
           </GroupBox>
           <GroupBox name="ugv_0 Passe bas">
-            <DoubleSpinBox name="period, 0 for auto" value="0"/>
-            <DoubleSpinBox name="cutoff frequency" value="1"/>
+            <DoubleSpinBox name="period, 0 for auto" value="0.01"/>
+            <DoubleSpinBox name="cutoff frequency" value="2"/>
           </GroupBox>
           <GroupBox name="ugv_0_euler">
-            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+            <DoubleSpinBox name="period, 0 for auto:" value="0.01"/>
             <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
           </GroupBox>
           <GroupBox name="target Passe bas">
-            <DoubleSpinBox name="period, 0 for auto" value="0"/>
-            <DoubleSpinBox name="cutoff frequency" value="1"/>
+            <DoubleSpinBox name="period, 0 for auto" value="0.01"/>
+            <DoubleSpinBox name="cutoff frequency" value="2"/>
           </GroupBox>
           <GroupBox name="target_euler">
-            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+            <DoubleSpinBox name="period, 0 for auto:" value="0.01"/>
             <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
           </GroupBox>
           <GroupBox name="circle">
             <DoubleSpinBox name="period, 0 for auto" value="0"/>
-            <DoubleSpinBox name="R" value="0"/>
-            <DoubleSpinBox name="velocity" value="0"/>
-            <DoubleSpinBox name="acceleration (absolute)" value="0"/>
+            <DoubleSpinBox name="R" value="2"/>
+            <DoubleSpinBox name="velocity" value="1.0"/>
+            <DoubleSpinBox name="acceleration (absolute)" value="0.2"/>
           </GroupBox>
         </Tab>
         <Tab name="Mesures ugv_0">
           <DataPlot1D name="x" period="100" enabled="1"/>
-          <DataPlot1D name="y" period="100" enabled="0"/>
+          <DataPlot1D name="y" period="100" enabled="1"/>
           <DataPlot1D name="z" period="100" enabled="0"/>
-          <DataPlot1D name="vx" period="100" enabled="0"/>
-          <DataPlot1D name="vy" period="100" enabled="0"/>
+          <DataPlot1D name="vx" period="100" enabled="1"/>
+          <DataPlot1D name="vy" period="100" enabled="1"/>
           <DataPlot1D name="vz" period="100" enabled="0"/>
         </Tab>
@@ -72 +72 @@
       <GridLayout name="buttons">
         <PushButton name="kill"/>
-        <PushButton name="start_circle"/>
-        <PushButton name="stop_circle"/>
+        <PushButton name="start_circle" value="1"/>
+        <PushButton name="stop_circle" value="1"/>
       </GridLayout>
     </Tab>
-  </TabWidget>
+  <Tab name="control laws"><TabWidget name="laws"><Tab name="Setup"><GroupBox name="u_x"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="kp:" value="0.2"/><DoubleSpinBox name="ki:" value="0"/><DoubleSpinBox name="sat i:" value="0"/><DoubleSpinBox name="kd:" value="0.0008"/><DoubleSpinBox name="sat:" value="1"/></GroupBox><GroupBox name="u_y"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="kp:" value="0.2"/><DoubleSpinBox name="ki:" value="0"/><DoubleSpinBox name="sat i:" value="0"/><DoubleSpinBox name="kd:" value="0.0008"/><DoubleSpinBox name="sat:" value="1"/></GroupBox><DoubleSpinBox name="L" value="0.8"/></Tab><Tab name="Graphes"><DataPlot1D name="u_x" period="100" enabled="0"/><DataPlot1D name="u_y" period="100" enabled="0"/></Tab></TabWidget></Tab></TabWidget>
   <PushButton name="save config on target (ugv_0)" value="1"/>
 </root>

trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp

@@ -182 +182 @@
   ugvVrpn->GetQuaternion(vrpnQuaternion);
   float yaw=vrpnQuaternion.ToEuler().yaw;
-  float L=1;
   float v= cosf(yaw)*uX->Output() + sinf(yaw)*uY->Output();
   float w = -sinf(yaw)/l->Value()*uX->Output() + cosf(yaw)/l->Value()*uY->Output();