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improve phase 1 controls #11

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Merged
merged 2 commits into from
Mar 17, 2023
Merged

improve phase 1 controls #11

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48e59d3
cleanup, add (untested) feedback loop on forward movement)
mikeferguson Mar 11, 2023
b20ff9d
stays in center of table, can visualize
mikeferguson Mar 17, 2023
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33 changes: 24 additions & 9 deletions projects/tablebot/behaviors.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,12 @@
#define PHASE1_TURN_IN_PLACE 2
#define PHASE1_RETURN_TO_START 3

// Distance to back up before making in-place 180 degree turn
#define PHASE1_BACKUP_DISTANCE 0.15f

// TODO: find this value with laser
#define TABLE_LENGTH 1.2192f

uint16_t behavior_id = 0;
uint8_t behavior_state = 0;

Expand Down Expand Up @@ -73,7 +79,7 @@ void run_behavior(uint16_t id, uint32_t stamp)

// Reset pose
__disable_irq();
system_state.pose_x = 0.0f;
system_state.pose_x = 0.15f; // We aren't right on the end of the table
system_state.pose_y = 0.0f;
system_state.pose_th = 0.0f;
__enable_irq();
Expand All @@ -97,20 +103,24 @@ void run_behavior(uint16_t id, uint32_t stamp)
behavior_state = PHASE1_BACK_UP_A_BIT;
set_motors(0, 0);
}
else if (system_state.pose_x > 0.7f * TABLE_LENGTH)
else if (system_state.pose_x > 0.8f * TABLE_LENGTH)
{
set_motors(SLOW_SPEED, SLOW_SPEED);
}
else
{
// Else drive forward at constant speed
// TODO: use odometry & maintain heading
set_motors(STANDARD_SPEED, STANDARD_SPEED);
// Else drive forward, keeping robot centered on table
// Error of 0.05m in Y axis generates ~max_adjustment
int16_t adjustment = system_state.pose_y * 600;
int16_t max_adjustment = STANDARD_SPEED * 0.2f;
if (adjustment > max_adjustment) adjustment = max_adjustment;
if (adjustment < -max_adjustment) adjustment = -max_adjustment;
set_motors(STANDARD_SPEED - adjustment, STANDARD_SPEED + adjustment);
}
}
else if (behavior_state == PHASE1_BACK_UP_A_BIT)
{
if ((last_pose_x - system_state.pose_x) > 0.15f)
if (abs(last_pose_x - system_state.pose_x) > PHASE1_BACKUP_DISTANCE)
{
// Done backing up - stop robot
set_motors(0, 0);
Expand All @@ -135,7 +145,7 @@ void run_behavior(uint16_t id, uint32_t stamp)
}
else
{
// Rotate based on error
// Rotate based on error - slow down as we approach goal angle
int16_t speed = angle_error * 75;
if (speed < 0) speed = -speed;
if (speed > SLOW_SPEED) speed = SLOW_SPEED;
Expand All @@ -159,8 +169,13 @@ void run_behavior(uint16_t id, uint32_t stamp)
}
else
{
// TODO: use odometery to follow straight line
set_motors(STANDARD_SPEED, STANDARD_SPEED);
// Else drive forward, keeping robot centered on table
// Error of 0.05m in Y axis generates ~max_adjustment
int16_t adjustment = system_state.pose_y * 600;
int16_t max_adjustment = STANDARD_SPEED * 0.2f;
if (adjustment > max_adjustment) adjustment = max_adjustment;
if (adjustment < -max_adjustment) adjustment = -max_adjustment;
set_motors(STANDARD_SPEED + adjustment, STANDARD_SPEED - adjustment);
}
}
}
Expand Down
3 changes: 0 additions & 3 deletions projects/tablebot/tablebot.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,4 @@ typedef struct
// TODO: should this be done with digital?
#define CLIFF_DETECTED 1500

// TODO: find this value with laser
#define TABLE_LENGTH 1.2192f

#endif // __TABLEBOT_HPP__
81 changes: 64 additions & 17 deletions projects/tablebot/tablebot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,12 @@ class TableBotGUI:

run_state = 0

pose_x = 0
pose_y = 0
pose_th = 0
pose_x = list()
pose_y = list()
pose_th = list()

TABLE_LENGTH = 1.2192
TABLE_WIDTH = TABLE_LENGTH / 2.0

laser_data = [0 for i in range(450)] # millimeters
laser_angle = [0 for i in range(450)] # 0.01 degree steps
Expand Down Expand Up @@ -180,11 +183,18 @@ def update(self):
self.run_state = struct.unpack_from("<H", packet, 56)[0]
# 58 is unused

self.pose_x = struct.unpack_from("<f", packet, 60)[0]
self.pose_y = struct.unpack_from("<f", packet, 64)[0]
self.pose_th = struct.unpack_from("<f", packet, 68)[0]
pose_x = struct.unpack_from("<f", packet, 60)[0]
pose_y = -struct.unpack_from("<f", packet, 64)[0]
pose_th = struct.unpack_from("<f", packet, 68)[0]

print(self.pose_x, self.pose_y, self.pose_th)
if len(self.pose_x) == 0 or \
abs(pose_x - self.pose_x[-1]) > 0.01 or \
abs(pose_y - self.pose_y[-1]) > 0.01 or \
abs(pose_th - self.pose_th[-1]) > 0.1:
print(pose_x, pose_y, pose_th)
self.pose_x.append(pose_x)
self.pose_y.append(pose_y)
self.pose_th.append(pose_th)

return;

Expand All @@ -199,7 +209,54 @@ def update(self):
break

def refresh(self):
self.time_value.setText("%i" % self.system_time)
self.voltage_value.setText("%.3f" % self.system_voltage)
self.current_value.setText("%.3f" % self.system_current)
self.run_state_value.setText(self.getRunStateValue(self.run_state))
self.left_cliff.setText(self.getCliffValue(self.cliff_left))
self.center_cliff.setText(self.getCliffValue(self.cliff_center))
self.right_cliff.setText(self.getCliffValue(self.cliff_right))

#self.drawLidarScan()
self.drawPoseGraph()

self.window.update()

def drawPoseGraph(self):
if len(self.pose_x) == 0:
# Can't draw anything yet
return

# Convert meters to pixels
SCALE = 600.0 / (self.TABLE_LENGTH * 1.5)

pen = QtGui.QPen()
pen.setWidth(4)
pen.setBrush(QtCore.Qt.red)

paint = QtGui.QPainter(self.map.pixmap())

# Draw poses
paint.setPen(pen)
offset_x = 300 + self.TABLE_LENGTH * SCALE / 2.0
for i in range(len(self.pose_x)):
x = int(SCALE * self.pose_x[i])
y = int(SCALE * self.pose_y[i])
paint.drawPoint(300 - y, offset_x - x)

# Draw table
table_pen = QtGui.QPen()
pen.setWidth(4)
pen.setBrush(QtCore.Qt.green)
paint.setPen(pen)
x = self.TABLE_LENGTH * SCALE / 2.0
y = self.TABLE_WIDTH * SCALE / 2.0
paint.drawRect(300 - y, 300 - x, 2 * y, 2 * x)

paint.end()


def drawLidarScan(self):
# Convert millimeters to pixels
SCALE = 0.2

Expand All @@ -216,16 +273,6 @@ def refresh(self):
paint.drawPoint(300 + x, 300 - y)
paint.end()

self.time_value.setText("%i" % self.system_time)
self.voltage_value.setText("%.3f" % self.system_voltage)
self.current_value.setText("%.3f" % self.system_current)
self.run_state_value.setText(self.getRunStateValue(self.run_state))
self.left_cliff.setText(self.getCliffValue(self.cliff_left))
self.center_cliff.setText(self.getCliffValue(self.cliff_center))
self.right_cliff.setText(self.getCliffValue(self.cliff_right))

self.window.update()

def getCliffValue(self, value):
if value < 1500:
# Table is there
Expand Down