float bSplineMotionComputeAlphaAndThetaDiff(Point* robotPoint, Point* normalPoint, float normalAlpha) {
// Angle between the robot and the point where it should be
float angleRealAndNormalOrientation = angleOfVector(robotPoint, normalPoint);
// Computes the real thetaError by managing different angles
/* TODO : Check if necessary
if (curve->backward) {
angleRealAndNormalOrientation += PI;
}
*/
float alphaAndThetaDiff = angleRealAndNormalOrientation - normalAlpha;
// restriction to [-PI, PI]
alphaAndThetaDiff = mod2PI(alphaAndThetaDiff);
return alphaAndThetaDiff;
}
void bSplineMotionUCompute(void) {
PidMotion* pidMotion = getPidMotion();
PidComputationValues* computationValues = &(pidMotion->computationValues);
PidMotionDefinition* motionDefinition = &(pidMotion->currentMotionDefinition);
BSplineCurve* curve = &(motionDefinition->curve);
float pidTime = computationValues->pidTime;
MotionInstruction* thetaInst = &(motionDefinition->inst[THETA]);
float normalPosition = computeNormalPosition(thetaInst, pidTime);
// Computes the time of the bSpline in [0.00, 1.00]
float bSplineTime = computeBSplineTimeAtDistance(curve, normalPosition);
Point normalPoint;
// Computes the normal Point where the robot must be
computeBSplinePoint(curve, bSplineTime, &normalPoint);
// Convert normalPoint into mm space
RobotKinematics* robotKinematics = getRobotKinematics();
float wheelAverageLength = robotKinematics->wheelAverageLengthForOnePulse;
normalPoint.x = normalPoint.x * wheelAverageLength;
normalPoint.y = normalPoint.y * wheelAverageLength;
Position* robotPosition = getPosition();
Point robotPoint = robotPosition->pos;
// GET PID
unsigned pidIndex = getIndexOfPid(THETA, thetaInst->pidType);
unsigned char rollingTestMode = getRollingTestMode();
PidParameter* pidParameter = getPidParameter(pidIndex, rollingTestMode);
// ALPHA
PidMotionError* alphaMotionError = &(computationValues->errors[ALPHA]);
float normalAlpha = computeBSplineOrientationWithDerivative(curve, bSplineTime);
float realAlpha = robotPosition->orientation;
// backward management
if (curve->backward) {
realAlpha += PI;
}
float alphaError = (normalAlpha - realAlpha);
// restriction to [-PI, PI]
alphaError = mod2PI(alphaError);
// Convert angleError into pulse equivalent
float wheelsDistanceFromCenter = getWheelsDistanceFromCenter(robotKinematics);
float alphaPulseError = (-wheelsDistanceFromCenter * alphaError) / wheelAverageLength;
// THETA
PidMotionError* thetaMotionError = &(computationValues->errors[THETA]);
// thetaError must be in Pulse and not in MM
float thetaError = distanceBetweenPoints(&robotPoint, &normalPoint) / wheelAverageLength;
float thetaAngle = angleOfVector(&robotPoint, &normalPoint);
if (curve->backward) {
thetaAngle += PI;
}
float alphaAndThetaDiff = thetaAngle - normalAlpha;
// restriction to [-PI, PI]
alphaAndThetaDiff = mod2PI(alphaAndThetaDiff);
float cosAlphaAndThetaDiff = cosf(alphaAndThetaDiff);
float thetaErrorWithCos = thetaError * cosAlphaAndThetaDiff;
float normalSpeed = computeNormalSpeed(thetaInst, pidTime);
float thetaU = computePidCorrection(thetaMotionError, pidParameter, normalSpeed, thetaErrorWithCos);
PidCurrentValues* thetaCurrentValues = &(computationValues->currentValues[THETA]);
thetaCurrentValues->u = thetaU;
// ALPHA CORRECTION
alphaPulseError *= 5.0f;
float alphaCorrection = -0.00050f * normalSpeed * thetaError * (alphaAndThetaDiff);
// float alphaCorrection = 0.0f;
alphaPulseError += alphaCorrection;
float alphaU = computePidCorrection(alphaMotionError, pidParameter, 0, alphaPulseError);
PidCurrentValues* alphaCurrentValues = &(computationValues->currentValues[ALPHA]);
alphaCurrentValues->u = alphaU;
// LOG
OutputStream* out = getDebugOutputStreamLogger();
// appendStringAndDecf(out, "pt=", pidTime);
appendStringAndDecf(out, ",t=", bSplineTime);
// Normal Position
appendStringAndDecf(out, ",nx=", normalPoint.x);
appendStringAndDecf(out, ",ny=", normalPoint.y);
appendStringAndDecf(out, ",na=", normalAlpha);
// Real position
appendStringAndDecf(out, ",rx=", robotPoint.x);
appendStringAndDecf(out, ",ry=", robotPoint.y);
appendStringAndDecf(out, ",ra=", realAlpha);
// ALPHA
appendStringAndDecf(out, ",ta=", thetaAngle);
appendStringAndDecf(out, ",ae=", alphaError);
//appendStringAndDecf(out, ",atdiff=", alphaAndThetaDiff);
//appendStringAndDecf(out, ",catdiff=", cosAlphaAndThetaDiff);
appendStringAndDecf(out, ",au=", alphaU);
appendStringAndDecf(out, ",ac=", alphaCorrection);
// THETA
// appendString(out, ",np=");
// appendDecf(out, normalPosition);
appendStringAndDecf(out, ",te=", thetaError);
appendStringAndDecf(out, ",tec=", thetaErrorWithCos);
appendStringAndDecf(out, ",tu=", thetaU);
appendCRLF(out);
}
