w = np.dot( j_inv, s, out=None) motor_spd_vec = w # ~ print(vm) ######################################################## commanded RPM wheel1RPM = motor_spd_vec[0] # motor 2 speed [rpm] wheel0RPM = motor_spd_vec[1] # motor 1 speed [rpm] wheel2RPM = motor_spd_vec[2] # motor 3 speed [rpm] c_rpm1 = float(wheel0RPM) c_rpm2 = float(wheel1RPM) c_rpm3 = float(wheel2RPM) # ~ print(str(c_rpm1)+" , "+str(c_rpm2)+" , "+str(c_rpm3)) ######################################################## Sending input RPM to Arduino robot.motor_rpm(int(wheel0RPM),int(wheel1RPM),int(wheel2RPM)) ######################################################## reading actual RPM m1_rpm = robot.rpm(0) m2_rpm = robot.rpm(1) m3_rpm = robot.rpm(2) data_rpm = str(m1_rpm)+' , ' +str(m2_rpm)+ ' , ' +str(m3_rpm) # ~ print(data_rpm) ######################################################## odometry using encoder pose = odometryCalc(xc,yc,thetac) pos = odometry_RealSense() # ~ current_x = pose.item(0) # ~ current_y = pose.item(1) # ~ current_theta = pose.item(2)
def path_f(xd, yd, thetad, b, a, R, step):
global current_x
global current_y
global current_theta
delta_min = 0.1
vr = 0.1
k = 5
Kx = k
Ky = k
Kz = k
file = open(
save_folder + "Circle" + "_vr_" + str(vr) + "_K_" + str(k) +
"_delta_" + str(delta_min) + '_R_' + str(R) + '_step_' + str(step) +
".txt", "a")
# ~ file = open(save_folder2 + "Circle"+"_vr_"+str(vr)+"_K_"+str(Kx)+"_"+str(Ky)+"_"+str(Kz)+"_delta_"+str(delta_min)+".txt","a")
while True:
xc = current_x
yc = current_y
thetac = current_theta
if (a - xd == 0):
x_dot_d = vr
y_dot_d = 0
theta_dot_d = 0.1
if (yd - b == 0):
x_dot_d = 0
y_dot_d = vr
theta_dot_d = 0.1
else:
dydx = (a - xd) / (yd - b)
x_dot_d = vr / np.sqrt(1 + dydx * dydx)
y_dot_d = dydx * x_dot_d
theta_dot_d = 0.1
q_dot_d = np.array([x_dot_d, y_dot_d, theta_dot_d]).reshape(3, 1)
j = (2 * np.pi * 0.03 / 60) * np.array(
[(2 / 3) * np.sin(thetad + np.pi / 3), (-2 / 3) * np.sin(thetad),
(2 / 3) * np.sin(thetad - np.pi / 3),
(-2 / 3) * np.cos(thetad + np.pi / 3), (2 / 3) * np.cos(thetad),
(-2 / 3) * np.cos(thetad - np.pi / 3), -1 / (3 * 0.19), -1 /
(3 * 0.19), -1 / (3 * 0.19)]).reshape(3, 3)
j_inv = np.linalg.inv(j).reshape(3, 3)
K = np.array([Kx, 0, 0, 0, Ky, 0, 0, 0, Kz]).reshape(3, 3)
e = np.array([(xc - xd), (yc - yd), (thetac - thetad)]).reshape(3, 1)
s = np.dot(-K, e, out=None) + q_dot_d
######################################################## Input W (RPM)
w = np.dot(j_inv, s, out=None)
motor_spd_vec = w
# ~ print(vm)
######################################################## commanded RPM
wheel1RPM = motor_spd_vec[0] # motor 2 speed [rpm]
wheel0RPM = motor_spd_vec[1] # motor 1 speed [rpm]
wheel2RPM = motor_spd_vec[2] # motor 3 speed [rpm]
c_rpm1 = float(wheel0RPM)
c_rpm2 = float(wheel1RPM)
c_rpm3 = float(wheel2RPM)
robot.motor_rpm(int(wheel0RPM), int(wheel1RPM), int(wheel2RPM))
pose = odometryCalc(xc, yc, thetac)
pos = odometry_RealSense()
current_x = pose.item(0)
current_y = pose.item(1)
current_theta = pose.item(2)
#use RealSense as feedback
# ~ current_x = pos_x
# ~ current_y = pos_y
# ~ current_theta = theta_rs
vel = np.sqrt(vel_x * vel_x + vel_y * vel_y + vel_z * vel_z)
# ~ vel = str(vel_x)+" , "+str(vel_y)
# ~ print(vel)
delta = np.sqrt(((xd - current_x)**2) + ((yd - current_y)**2))
# ~ print(delta)
m1_rpm = robot.rpm(0)
m2_rpm = robot.rpm(1)
m3_rpm = robot.rpm(2)
data_rpm = str(m1_rpm) + ' , ' + str(m2_rpm) + ' , ' + str(m3_rpm)
# ~ print(data_rpm)
# ~ start = time.time()
time_running = time.time()
# ~ print(time_running)
data_pose = "x: " + str(pose[0][0]) + " y: " + str(
pose[1][0]) + " theta: " + str(pose[2][0])
print(data_pose)
# ~ file.writelines(str(pose[0][0])+" , "+str(pose[1][0])+" , "+str(pose[2][0])+" , "+str(pos_x)+" , "+str(pos_y)+" , "+str(m1_rpm)+" , "+str(m2_rpm)+" , "+str(m3_rpm)+" , "+str(time_running)+ "\n")
# ~ file.writelines(str(pose[0][0])+" , "+str(pose[1][0])+" , "+str(pose[2][0])+" , "+str(pos_x)+" , "+str(pos_y)+" , "+str(m1_rpm)+" , "+str(m2_rpm)+" , "+str(m3_rpm)+" , "+str(vel_x)+" , "+str(vel_y)+" , "+str(vel)+" , "+str(time_running)+ "\n")
file.writelines(
str(pose[0][0]) + " , " + str(pose[1][0]) + " , " +
str(pose[2][0]) + " , " + str(pos_x) + " , " + str(pos_y) + " , " +
str(m1_rpm) + " , " + str(m2_rpm) + " , " + str(m3_rpm) + " , " +
str(c_rpm1) + " , " + str(c_rpm2) + " , " + str(c_rpm3) + " , " +
str(vel_x) + " , " + str(vel_y) + " , " + str(vel) + " , " +
str(time_running) + "\n")
if delta < delta_min:
file.close()
robot.stop()
break