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[Krobot-commits] [SCM] krobot branch, master, updated. 6f13724d38ac3ed56ef1575dce5e68cb6f127bd2
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From: Xavier L. <Ba...@us...> - 2013-04-12 16:13:43
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- Log -----------------------------------------------------------------
commit 6f13724d38ac3ed56ef1575dce5e68cb6f127bd2
Author: Xavier Lagorce <Xav...@cr...>
Date: Fri Apr 12 18:15:07 2013 +0200
[info/krobot-mc-simulator] Several improvements
commit 64ffe837a0148b58e3afbe1122650a73252e5088
Author: Xavier Lagorce <Xav...@cr...>
Date: Fri Apr 12 18:14:42 2013 +0200
[info/Krobot_geom] Added a function to get the angle of a vector
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_geom.ml b/info/control2011/src/lib/krobot_geom.ml
index dfcd56d..cb4f683 100644
--- a/info/control2011/src/lib/krobot_geom.ml
+++ b/info/control2011/src/lib/krobot_geom.ml
@@ -64,6 +64,7 @@ let ( *| ) = mul
let ( /| ) = div
let norm v = sqrt (sqr v.vx +. sqr v.vy)
+let angle v = atan2 v.vy v.vx
(* +-----------------------------------------------------------------+
| Vertices |
diff --git a/info/control2011/src/lib/krobot_geom.mli b/info/control2011/src/lib/krobot_geom.mli
index 5a87c19..7e2355d 100644
--- a/info/control2011/src/lib/krobot_geom.mli
+++ b/info/control2011/src/lib/krobot_geom.mli
@@ -45,6 +45,7 @@ val vector_of_polar : norm : float -> angle : float -> vector
(** [vector_of_polar norm angle] *)
val norm : vector -> float
+val angle : vector -> float
val distance : vertice -> vertice -> float
val normalize : vector -> vector
diff --git a/info/control2011/src/tools/krobot_mc_simulator.ml b/info/control2011/src/tools/krobot_mc_simulator.ml
index d1bd8de..dd0dc88 100644
--- a/info/control2011/src/tools/krobot_mc_simulator.ml
+++ b/info/control2011/src/tools/krobot_mc_simulator.ml
@@ -17,6 +17,7 @@ open Krobot_message
open Krobot_geom
let section = Lwt_log.Section.make "krobot(mc_simulator)"
+let time_step = 0.001
(* +-----------------------------------------------------------------+
| Command-line arguments |
@@ -59,7 +60,7 @@ type command =
(* [Turn(t_acc, velocity)] *)
| Move of float * float
(* [Move(t_acc, velocity)] *)
- | Bezier of
+ | Bezier_cmd of
( float * float * float * float * float * float ) *
( float * float * float )
(** [Motor_bezier(x_end, y_end, d1, d2, theta_end, v_end)]
@@ -69,12 +70,20 @@ type command =
type simulator = {
mutable state : state;
(* The state of the robot. *)
+ mutable state_indep : state;
+ (* The state of the robot for second set of encoders. *)
mutable internal_state : internal_state;
(* The state of the wheels. *)
mutable velocity_l : float;
(* Velocity of the left motor. *)
mutable velocity_r : float;
(* Velocity of the right motor. *)
+ mutable ghost : state;
+ (* The state of the ghost. *)
+ mutable bezier_u : float;
+ (* position on the Bezier's curve*)
+ mutable bezier_curve : Bezier.curve option;
+ (* Bezier's curve currently being followed if existing *)
mutable time : float;
(* The current time. *)
mutable command : command;
@@ -119,35 +128,54 @@ velocities:
+-----------------------------------------------------------------+ *)
let velocities sim =
+ (* Put the robot into idle if the last command is terminated. *)
+ (match sim.command with
+ | Bezier_cmd _ -> ()
+ | _ -> if sim.time > sim.command_end then sim.command <- Idle);
match sim.command with
| Idle ->
- (0., 0.)
+ (0., 0.)
| Speed(l_v, r_v) ->
- ((l_v +. r_v) *. wheels_diameter /. 4., (l_v -. r_v) *. wheels_diameter /. wheels_distance)
+ ((l_v +. r_v) *. wheels_diameter /. 4., (l_v -. r_v) *. wheels_diameter /. wheels_distance)
| Turn(t_acc, vel) ->
- if sim.time < (sim.command_start +. t_acc) then
- (0., vel *. (sim.time -. sim.command_start) /. t_acc)
- else if sim.time < (sim.command_end -. t_acc) then
- (0., vel)
- else
- (0., vel *. (sim.command_end -. sim.time) /. t_acc)
+ if sim.time < (sim.command_start +. t_acc) then
+ (0., vel *. (sim.time -. sim.command_start) /. t_acc)
+ else if sim.time < (sim.command_end -. t_acc) then
+ (0., vel)
+ else
+ (0., vel *. (sim.command_end -. sim.time) /. t_acc)
| Move(t_acc, vel) ->
- if sim.time < (sim.command_start +. t_acc) then
- (vel *. (sim.time -. sim.command_start) /. t_acc, 0.)
- else if sim.time < (sim.command_end -. t_acc) then
- (vel, 0.)
- else
- (vel *. (sim.command_end -. sim.time) /. t_acc, 0.)
- | Bezier(_,_) -> failwith "todo"
+ if sim.time < (sim.command_start +. t_acc) then
+ (vel *. (sim.time -. sim.command_start) /. t_acc, 0.)
+ else if sim.time < (sim.command_end -. t_acc) then
+ (vel, 0.)
+ else
+ (vel *. (sim.command_end -. sim.time) /. t_acc, 0.)
+ | Bezier_cmd(_,_) ->
+ sim.command <- Idle;
+ sim.bezier_curve <- None;
+ (0., 0.)
+
+(* val of_vertices : vertice -> vertice -> vertice -> vertice -> curve
+ (** [of_vertices p q r s] creates a bezier curve from the given
+ four control points. [p] and [s] are the first and end point
+ of the curve. *)*)
let bezier sim (x_end, y_end, d1, d2, theta_end, v_end) =
- assert false
-(*
- sim.command <- Bezier((x_end, y_end, d1, d2, theta_end, v_end),
- sim.bezier_limits);
- sim.command_start <- sim.time;
- sim.command_end <- sim.time +. t_end
-*)
+ sim.bezier_u <- 0.;
+ let p,theta_start = match sim.bezier_curve with
+ | None ->
+ {Krobot_geom.x = sim.state.x; Krobot_geom.y = sim.state.y},
+ sim.state.theta
+ | Some curve ->
+ let p,_,r,s = Bezier.pqrs curve in
+ s,
+ (angle (vector r s))
+ in
+ let s = {Krobot_geom.x = x_end; Krobot_geom.y = y_end} in
+ let q = translate p (vector_of_polar d1 theta_start) in
+ let r = translate s (vector_of_polar (-.d2) theta_end) in
+ sim.bezier_curve <- Some (Bezier.of_vertices p q r s)
let move sim distance velocity acceleration =
if distance <> 0. && velocity > 0. && acceleration > 0. then begin
@@ -215,7 +243,7 @@ let get_encoders sim =
(* +-----------------------------------------------------------------+
- | Main loop |
+ | Main loops |
+-----------------------------------------------------------------+ *)
let sim = ref None
@@ -226,21 +254,6 @@ let loop bus sim =
let delta = time -. sim.time in
sim.time <- time;
- (* Put the robot into idle if the last command is terminated. *)
- if sim.time > sim.command_end then sim.command <- Idle;
-
- (* Sends the state of the robot. *)
- lwt () = Krobot_message.send bus (sim.time, Odometry(sim.state.x, sim.state.y, sim.state.theta)) in
- lwt () = Krobot_message.send bus (sim.time, Odometry_indep(sim.state.x, sim.state.y, sim.state.theta)) in
- (* Sends the state of the motors. *)
- lwt () = match sim.command with
- | Turn(a, b) ->
- Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, true, false, false))
- | Move(a, b) ->
- Krobot_message.send bus (Unix.gettimeofday (), Motor_status(true, false, false, false))
- | _ ->
- Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, false, false, false))
- in
lwt () = print sim in
let u1, u2 = if !hil then
@@ -261,7 +274,36 @@ let loop bus sim =
theta_l = sim.internal_state.theta_l +. delta *. (u1 *. 4. +. u2 *. wheels_distance) /. (2. *. wheels_diameter);
theta_r = sim.internal_state.theta_r +. delta *. (u1 *. 4. -. u2 *. wheels_distance) /. (2. *. wheels_diameter);
};
- lwt () = Lwt_unix.sleep 0.01 in
+ lwt () = Lwt_unix.sleep time_step in
+ aux () in
+ aux ()
+
+let send_CAN_messages sim bus =
+ let rec aux () =
+ (* Sends the state of the robot. *)
+ lwt () = Krobot_message.send bus (sim.time, Odometry(sim.state.x, sim.state.y, sim.state.theta)) in
+ lwt () = Krobot_message.send bus (sim.time, Odometry_indep(sim.state.x, sim.state.y, sim.state.theta)) in
+ (* Wait before next batch of packets (emulate the electronic board behavior) *)
+ lwt () = Lwt_unix.sleep 0.005 in
+ (* Sends the state of the ghost. *)
+ lwt () = Krobot_message.send bus (sim.time,
+ Odometry_ghost(sim.ghost.x,
+ sim.ghost.y,
+ sim.ghost.theta,
+ int_of_float (255. *. sim.bezier_u),
+ match sim.command with Bezier_cmd _ -> true | _ -> false)) in
+ (* Sends the state of the motors. *)
+ lwt () = match sim.command with
+ | Turn(a, b) ->
+ Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, true, false, false))
+ | Move(a, b) ->
+ Krobot_message.send bus (Unix.gettimeofday (), Motor_status(true, false, false, false))
+ | Bezier_cmd _ ->
+ (* Motor State to be verifyed on the real Motor Controller card *)
+ Krobot_message.send bus (Unix.gettimeofday (), Motor_status(true, true, false, false))
+ | _ ->
+ Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, false, false, false)) in
+ lwt () = Lwt_unix.sleep 0.005 in
aux () in
aux ()
@@ -302,18 +344,8 @@ let handle_message bus (timestamp, message) =
turn sim angle speed acc
| Motor_stop(lin_acc, rot_acc) ->
sim.command <- Idle
- | Req_motor_status ->
- begin
- Lwt_unix.run (match sim.command with
- | Turn(a, b) ->
- Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, true, false, false))
- | Move(a, b) ->
- Krobot_message.send bus (Unix.gettimeofday (), Motor_status(true, false, false, false))
- | _ ->
- Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, false, false, false)))
- end
| Set_odometry(x, y, theta) ->
- sim.state <- { x; y; theta }
+ sim.state_indep <- { x; y; theta }
| Set_odometry_indep(x, y, theta) ->
sim.state <- { x; y; theta }
| Motor_bezier_limits(v_max, a_tan_max, a_rad_max) ->
@@ -355,14 +387,18 @@ lwt () =
(* Set the motor_controller card in HIL mode if necessary *)
if !hil then
- Lwt_unix.run (Krobot_message.send bus (Unix.gettimeofday (), Set_controller_mode true)) ;
+ ignore (Krobot_message.send bus (Unix.gettimeofday (), Set_controller_mode true)) ;
(* Initial state of the simulator *)
let local_sim = {
state = { x = 0.; y = 0.; theta = 0. };
+ state_indep = { x = 0.; y = 0.; theta = 0. };
internal_state = { theta_l = 0.; theta_r = 0. };
velocity_l = 0.;
velocity_r = 0.;
+ ghost = { x = 0.; y = 0.; theta = 0. };
+ bezier_u = 0.;
+ bezier_curve = None;
command = Idle;
command_start = 0.;
command_end = 0.;
@@ -371,5 +407,7 @@ lwt () =
} in
sim := Some local_sim;
+ ignore(send_CAN_messages local_sim bus);
+
(* Loop forever. *)
- loop bus local_sim
+ Lwt_unix.run (loop bus local_sim)
hooks/post-receive
--
krobot
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