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117 lines
4.1 KiB
117 lines
4.1 KiB
/* |
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* ControllerCar.h |
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* |
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* Created on: Jun 30, 2011 |
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* Author: jgoppert |
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*/ |
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#ifndef CONTROLLERCAR_H_ |
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#define CONTROLLERCAR_H_ |
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#include "../APO/AP_Controller.h" |
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namespace apo { |
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class ControllerCar: public AP_Controller { |
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public: |
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ControllerCar(AP_Navigator * nav, AP_Guide * guide, |
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AP_Board * board) : |
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AP_Controller(nav, guide, board,new AP_ArmingMechanism(board,this,ch_thrust,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl), |
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pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP, |
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steeringI, steeringD, steeringIMax, steeringYMax), |
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pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP, |
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throttleI, throttleD, throttleIMax, throttleYMax, |
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throttleDFCut), _strCmd(0), _thrustCmd(0), |
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_rangeFinderFront() |
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{ |
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_board->debug->println_P(PSTR("initializing car controller")); |
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_board->rc.push_back( |
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new AP_RcChannel(k_chMode, PSTR("MODE_"), board->radio, 5, 1100, |
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1500, 1900, RC_MODE_IN, false)); |
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_board->rc.push_back( |
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new AP_RcChannel(k_chStr, PSTR("STR_"), board->radio, 3, 1100, 1500, |
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1900, RC_MODE_INOUT, false)); |
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_board->rc.push_back( |
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new AP_RcChannel(k_chThrust, PSTR("THR_"), board->radio, 2, 1100, 1500, |
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1900, RC_MODE_INOUT, false)); |
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_board->rc.push_back( |
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new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), board->radio, 4, 1100, 1500, |
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1900, RC_MODE_IN, false)); |
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for (uint8_t i = 0; i < _board->rangeFinders.getSize(); i++) { |
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RangeFinder * rF = _board->rangeFinders[i]; |
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if (rF == NULL) |
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continue; |
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if (rF->orientation_x == 1 && rF->orientation_y == 0 |
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&& rF->orientation_z == 0) |
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_rangeFinderFront = rF; |
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} |
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} |
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private: |
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// methods |
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void manualLoop(const float dt) { |
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_strCmd = _board->rc[ch_str]->getRadioPosition(); |
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_thrustCmd = _board->rc[ch_thrust]->getRadioPosition(); |
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if (useForwardReverseSwitch && _board->rc[ch_FwdRev]->getRadioPosition() < 0.0) |
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_thrustCmd = -_thrustCmd; |
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} |
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void autoLoop(const float dt) { |
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//_board->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_board->rc[ch_thrust]->getRadioPosition(), _board->rc[ch_str]->getRadioPosition()); |
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// neglects heading command derivative |
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float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt); |
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float thrust = pidThrust.update( |
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_guide->getGroundSpeedCommand() |
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- _nav->getGroundSpeed(), dt); |
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// obstacle avoidance overrides |
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// try to drive around the obstacle in front. if this fails, stop |
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if (_rangeFinderFront) { |
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_rangeFinderFront->read(); |
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int distanceToObstacle = _rangeFinderFront->distance; |
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if (distanceToObstacle < 100) { |
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thrust = 0; // Avoidance didn't work out. Stopping |
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} |
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else if (distanceToObstacle < 650) { |
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// Deviating from the course. Deviation angle is inverse proportional |
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// to the distance to the obstacle, with 15 degrees min angle, 180 - max |
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steering += (15 + 165 * |
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(1 - ((float)(distanceToObstacle - 100)) / 550)) * deg2Rad; |
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} |
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} |
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_strCmd = steering; |
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_thrustCmd = thrust; |
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} |
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void setMotors() { |
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_board->rc[ch_str]->setPosition(_strCmd); |
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_board->rc[ch_thrust]->setPosition(fabs(_thrustCmd) < 0.1 ? 0 : _thrustCmd); |
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} |
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void handleFailsafe() { |
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// turn off |
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setMode(MAV_MODE_LOCKED); |
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} |
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// attributes |
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enum { |
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ch_mode = 0, ch_str, ch_thrust, ch_FwdRev |
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}; |
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enum { |
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k_chMode = k_radioChannelsStart, k_chStr, k_chThrust, k_chFwdRev |
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}; |
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enum { |
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k_pidStr = k_controllersStart, k_pidThrust |
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}; |
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BlockPIDDfb pidStr; |
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BlockPID pidThrust; |
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float _strCmd, _thrustCmd; |
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RangeFinder * _rangeFinderFront; |
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}; |
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} // namespace apo |
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#endif /* CONTROLLERCAR_H_ */ |
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// vim:ts=4:sw=4:expandtab
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