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WheelController.cpp
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WheelController.cpp
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#include "WheelController.h"
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/ini_parser.hpp>
#include <thread>
#define THREADLESS_WHEELS
cv::Mat wheelAngles = (cv::Mat_<double>(4, 3) <<
-sin(45.0 / 180 * CV_PI), cos(45.0 / 180 * CV_PI), 1,
-sin(135.0 / 180 * CV_PI), cos(135.0 / 180 * CV_PI), 1,
-sin(225.0 / 180 * CV_PI), cos(225.0 / 180 * CV_PI), 1,
-sin(315.0 / 180 * CV_PI), cos(315.0 / 180 * CV_PI), 1);
//#define LIMIT_ACCELERATION
WheelController::WheelController(ISerial *port, int iWheelCount/* = 3*/) : ThreadedClass("WheelController"),
m_iWheelCount(iWheelCount), m_pComPort(port)
{
targetSpeed = { 0, 0, 0 };
#ifndef THREADLESS_WHEELS
Start();
#endif
Drive(0);
};
void WheelController::DestroyWheels()
{
};
WheelController::~WheelController()
{
Stop();
WaitForStop();
}
void WheelController::Forward(int speed) {
DriveRotate(speed * 1.1547, 0, 0);
}
void WheelController::Rotate(bool direction, double speed)
{
DriveRotate(0,0, direction ? speed : -speed);
}
void WheelController::Drive(double velocity, double direction, double rotate)
{
DriveRotate(velocity, direction, rotate);
}
void WheelController::DriveRotate(double velocity, double direction, double rotate)
{
//std::cout << "DriveRotate: " << velocity << std::endl;
if (abs(velocity) > 190){
if (velocity > 0){
velocity = 190;
}
else{
velocity = -190;
}
}
if ((abs(rotate) + velocity) > 190){
if (rotate > 0){
velocity = velocity - rotate;
}
else{
velocity = velocity + rotate;
}
}
//double sign = (velocity > 0) - (velocity < 0);
//velocity = sign*std::min(190.0, abs(velocity + rotate)) - rotate;
targetSpeed.velocity = velocity; // sin(direction* PI / 180.0)* velocity + rotate;
targetSpeed.heading = direction; //cos(direction* PI / 180.0)* velocity + rotate,
targetSpeed.rotation = rotate;
targetSpeedXYW.at<double>(0) = sin(direction* CV_PI / 180.0)* velocity;
targetSpeedXYW.at<double>(1) = cos(direction* CV_PI / 180.0)* velocity;
targetSpeedXYW.at<double>(2) = rotate;
#ifdef THREADLESS_WHEELS
cv::Mat speeds = wheelAngles * targetSpeedXYW;
std::ostringstream oss;
for (auto i = 0; i < speeds.rows; i++) {
oss << (i + id_start) << ":sd" << (int)speeds.at<double>(i) << "\n";
}
//std::cout << oss.str() << std::endl;
m_pComPort->WriteString(oss.str());
#endif
directControl = false;
updateSpeed = true;
lastUpdate = boost::posix_time::microsec_clock::local_time();
/*return Drive(cv::Point2d(sin(direction* CV_PI / 180.0)* velocity,
cos(direction* CV_PI / 180.0)* velocity),
rotate);*/
}
void WheelController::Drive(const cv::Point2d &speed, double angularSpeed){
targetSpeedXYW.at<double>(0) = speed.x;
targetSpeedXYW.at<double>(1) = speed.y;
targetSpeedXYW.at<double>(2) = angularSpeed;
#ifdef THREADLESS_WHEELS
cv::Mat speeds = wheelAngles * targetSpeedXYW;
std::ostringstream oss;
for (auto i = 0; i < speeds.rows; i++) {
oss << (i + id_start) << ":sd" << (int)speeds.at<double>(i) << "\n";
}
//std::cout << oss.str() << std::endl;
m_pComPort->WriteString(oss.str());
#endif
/*cv::Mat speeds = wheelAngles * targetSpeedXYW;
//std::cout << targetSpeedXYW << std::endl;
std::ostringstream oss;
for (auto i = 0; i < speeds.rows; i++) {
oss << (i + id_start) << ":sd" << (int)speeds.at<double>(i) << "\n";
}
//std::cout << oss.str() << std::endl;
m_pComPort->WriteString(oss.str());*/
}
void WheelController::Stop()
{
Drive(0,0,0);
}
bool WheelController::IsStalled()
{
if (directControl) return false;
if (targetSpeed.velocity < 0.01 || actualSpeed.velocity > 90){
stallTime = boost::posix_time::microsec_clock::local_time();
return false;
}
boost::posix_time::ptime time = boost::posix_time::microsec_clock::local_time();
boost::posix_time::time_duration::tick_type stallDuration = (time - stallTime).total_milliseconds();
//std::cout << "stall? " << velocity << ", " << velocity2 << "t: " << stallDuration << std::endl;
if (abs(actualSpeed.velocity - targetSpeed.velocity) < 10) {
// reset timer
stallTime = boost::posix_time::microsec_clock::local_time();
}else {
//std::cout << "stall? " << velocity << ", " << velocity2 << "t: " << stallDuration << std::endl;
return stallDuration > 600;
}
return false;
//return w_left->IsStalled() || w_right->IsStalled() || w_back->IsStalled();
}
bool WheelController::HasError()
{
return false;// w_left->HasError() || w_right->HasError() || w_back->HasError();
}
std::vector<double> WheelController::GetWheelSpeeds()
{
std::vector<double> speeds = std::vector<double>(m_iWheelCount);
for (auto i = 0; i < m_iWheelCount; i++) {
//TODO:FIXME speeds[i] = GetWheelTargetSpeed();
}
return speeds; //cv::Point3d(w_left->GetSpeed(), w_right->GetSpeed(), w_back->GetSpeed());
}
const Speed & WheelController::GetTargetSpeed()
{
return targetSpeed;
}
const Speed & WheelController::GetActualSpeed()
{
return actualSpeed;
}
std::string WheelController::GetDebugInfo(){
std::ostringstream oss;
oss.precision(4);
oss << "[WheelController] target: " << "velocity: " << targetSpeed.velocity << ", heading: " << targetSpeed.heading << ", rotate: " << targetSpeed.rotation << "|";
oss << "[WheelController] target: " << "vx: " << targetSpeedXYW.at<double>(0) << ", vy: " << targetSpeedXYW.at<double>(1) << ", rotate: " << targetSpeedXYW.at<double>(2) << "|";
/*
cv::Point3d speeds = GetWheelSpeeds();
auto speeds2 = CalculateWheelSpeeds(targetSpeed.velocity, targetSpeed.heading, targetSpeed.rotation);
oss << "[Wheels] target: " << "left : " << speeds2.x << ", right: " << speeds2.y << ", back: " << speeds2.z << "|";
oss << "[Wheels] actual: " << "left : " << speeds.x << ", right: " << speeds.y << ", back: " << speeds.x << "|";
*/
//oss << "[WheelController] pos: " << "x: " << robotPos.x << ", y: " << robotPos.y << ", r: " << robotPos.z;
return oss.str();
}
void WheelController::Run()
{
if (m_pComPort == NULL) return;
while (!stop_thread) {
//return;
#ifdef LIMIT_ACCELERATION
CalculateRobotSpeed();
boost::posix_time::ptime now = boost::posix_time::microsec_clock::local_time();
if (!updateSpeed && (now - lastUpdate).total_milliseconds() > 500) {
targetSpeed = {0,0,0};
}
updateSpeed = false;
Speed speed = targetSpeed;
double dt = (double)(now - lastStep).total_milliseconds() / 1000.0;
if (dt < 0.0000001) continue;
if (abs(actualSpeed.velocity) > 1000) {
std::cout << "to big actual velocity: " << actualSpeed.velocity << "wheel speeds: " << GetWheelSpeeds() << std::endl;
actualSpeed.velocity = 0;
}
double dv = targetSpeed.velocity - actualSpeed.velocity;
double sign = (dv > 0) - (dv < 0);
double acc = dv / dt;
acc = sign * std::min(fabs(acc), 500.0);
speed.velocity = acc*dt + actualSpeed.velocity;
auto speeds = CalculateWheelSpeeds(speed.velocity, speed.heading, speed.rotation);
//std::cout << "wheel speeds, left: " << speeds.x << ", right: " << speeds.y << ", back: " << speeds.z << std::endl;
w_left->SetSpeed(speeds.x);
w_right->SetSpeed(speeds.y);
w_back->SetSpeed(speeds.z);
lastStep = now;
#else
//auto speeds = CalculateWheelSpeeds(targetSpeed.velocity, targetSpeed.heading, targetSpeed.rotation);
cv::Mat speeds = wheelAngles * targetSpeedXYW;
std::ostringstream oss;
for (auto i = 0; i < speeds.rows; i++) {
oss << (i + id_start) << ":sd" << (int)speeds.at<double>(i) << "\n";
}
//std::cout << oss.str() << std::endl;
m_pComPort->WriteString(oss.str());
#endif
std::this_thread::sleep_for(std::chrono::milliseconds(100)); // do not poll serial to fast
}
std::cout << "WheelController stoping" << std::endl;
}