Ignore:
Timestamp:
Jul 7, 2021, 2:12:52 PM (5 months ago)
Author:
Sanahuja Guillaume
Message:

good setup for sumo

Location:
trunk/demos/TwoWheelRobotCircleFollower/ugv
Files:
2 edited

Legend:

Unmodified
Added
Removed
  • trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/setup_sumo.xml

    r378 r430  
    1515        <Tab name="Reglages">
    1616          <GroupBox name="post rotation 1">
    17             <DoubleSpinBox name="value" value="0"/>
    18             <ComboBox name="axis" value="0"/>
     17            <DoubleSpinBox name="value" value="90"/>
     18            <ComboBox name="axis" value="1"/>
    1919          </GroupBox>
    2020          <GroupBox name="post rotation 2">
    21             <DoubleSpinBox name="value" value="0"/>
     21            <DoubleSpinBox name="value" value="90"/>
    2222            <ComboBox name="axis" value="0"/>
    2323          </GroupBox>
    2424          <GroupBox name="ugv_0 Passe bas">
    25             <DoubleSpinBox name="period, 0 for auto" value="0"/>
    26             <DoubleSpinBox name="cutoff frequency" value="1"/>
     25            <DoubleSpinBox name="period, 0 for auto" value="0.01"/>
     26            <DoubleSpinBox name="cutoff frequency" value="2"/>
    2727          </GroupBox>
    2828          <GroupBox name="ugv_0_euler">
    29             <DoubleSpinBox name="period, 0 for auto:" value="0"/>
     29            <DoubleSpinBox name="period, 0 for auto:" value="0.01"/>
    3030            <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
    3131          </GroupBox>
    3232          <GroupBox name="target Passe bas">
    33             <DoubleSpinBox name="period, 0 for auto" value="0"/>
    34             <DoubleSpinBox name="cutoff frequency" value="1"/>
     33            <DoubleSpinBox name="period, 0 for auto" value="0.01"/>
     34            <DoubleSpinBox name="cutoff frequency" value="2"/>
    3535          </GroupBox>
    3636          <GroupBox name="target_euler">
    37             <DoubleSpinBox name="period, 0 for auto:" value="0"/>
     37            <DoubleSpinBox name="period, 0 for auto:" value="0.01"/>
    3838            <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
    3939          </GroupBox>
    4040          <GroupBox name="circle">
    4141            <DoubleSpinBox name="period, 0 for auto" value="0"/>
    42             <DoubleSpinBox name="R" value="0"/>
    43             <DoubleSpinBox name="velocity" value="0"/>
    44             <DoubleSpinBox name="acceleration (absolute)" value="0"/>
     42            <DoubleSpinBox name="R" value="2"/>
     43            <DoubleSpinBox name="velocity" value="1.0"/>
     44            <DoubleSpinBox name="acceleration (absolute)" value="0.2"/>
    4545          </GroupBox>
    4646        </Tab>
    4747        <Tab name="Mesures ugv_0">
    4848          <DataPlot1D name="x" period="100" enabled="1"/>
    49           <DataPlot1D name="y" period="100" enabled="0"/>
     49          <DataPlot1D name="y" period="100" enabled="1"/>
    5050          <DataPlot1D name="z" period="100" enabled="0"/>
    51           <DataPlot1D name="vx" period="100" enabled="0"/>
    52           <DataPlot1D name="vy" period="100" enabled="0"/>
     51          <DataPlot1D name="vx" period="100" enabled="1"/>
     52          <DataPlot1D name="vy" period="100" enabled="1"/>
    5353          <DataPlot1D name="vz" period="100" enabled="0"/>
    5454        </Tab>
     
    7272      <GridLayout name="buttons">
    7373        <PushButton name="kill"/>
    74         <PushButton name="start_circle"/>
    75         <PushButton name="stop_circle"/>
     74        <PushButton name="start_circle" value="1"/>
     75        <PushButton name="stop_circle" value="1"/>
    7676      </GridLayout>
    7777    </Tab>
    78   </TabWidget>
     78  <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>
    7979  <PushButton name="save config on target (ugv_0)" value="1"/>
    8080</root>
  • trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp

    r389 r430  
    182182  ugvVrpn->GetQuaternion(vrpnQuaternion);
    183183  float yaw=vrpnQuaternion.ToEuler().yaw;
    184   float L=1;
    185184  float v= cosf(yaw)*uX->Output() + sinf(yaw)*uY->Output();
    186185  float w = -sinf(yaw)/l->Value()*uX->Output() + cosf(yaw)/l->Value()*uY->Output();
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