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controllerDuty.cpp
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controllerDuty.cpp
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//| This file is a part of the ERC ResiBots project.
//| Copyright 2015, ISIR / Universite Pierre et Marie Curie (UPMC)
//| Main contributor(s): Jean-Baptiste Mouret, [email protected]
//| Antoine Cully, [email protected]
//|
//| This software is governed by the CeCILL license under French law
//| and abiding by the rules of distribution of free software. You
//| can use, modify and/ or redistribute the software under the terms
//| of the CeCILL license as circulated by CEA, CNRS and INRIA at the
//| following URL "http://www.cecill.info".
//|
//| As a counterpart to the access to the source code and rights to
//| copy, modify and redistribute granted by the license, users are
//| provided only with a limited warranty and the software's author,
//| the holder of the economic rights, and the successive licensors
//| have only limited liability.
//|
//| In this respect, the user's attention is drawn to the risks
//| associated with loading, using, modifying and/or developing or
//| reproducing the software by the user in light of its specific
//| status of free software, that may mean that it is complicated to
//| manipulate, and that also therefore means that it is reserved for
//| developers and experienced professionals having in-depth computer
//| knowledge. Users are therefore encouraged to load and test the
//| software's suitability as regards their requirements in conditions
//| enabling the security of their systems and/or data to be ensured
//| and, more generally, to use and operate it in the same conditions
//| as regards security.
//|
//| The fact that you are presently reading this means that you have
//| had knowledge of the CeCILL license and that you accept its terms.
#include "controllerDuty.hpp"
#define RAD2DYNMX28 651.42
#define RAD2DYN 195.57
typedef boost::array<float,ARRAY_DIM> array_t;
array_t ControllerDuty::control_signal(float amplitude, float phase, float duty_cycle)
{
array_t temp;
int up_time=ARRAY_DIM*duty_cycle;
for(int i=0;i<up_time;i++)
temp[i]=amplitude;
for(int i=up_time;i<ARRAY_DIM;i++)
temp[i]=-amplitude;
// filtering
int kernel_size=ARRAY_DIM/10;
array_t command;
std::vector<float> kernel(2*kernel_size+1,0);
float sigma=kernel_size/3;
float sum=0;
for(int i=0;i<kernel.size();i++)
{
kernel[i]=exp(-(i-kernel_size)*(i-kernel_size)/(2*sigma*sigma))/(sigma*sqrt(M_PI));
sum+=kernel[i];
}
for(int i=0;i<ARRAY_DIM;i++)
{
command[i]=0;
for(int d=1;d<=kernel_size;d++)
{
if(i-d<0)
command[i]+=temp[ARRAY_DIM+i-d]*kernel[kernel_size-d];
else
command[i]+=temp[i-d]*kernel[kernel_size-d];
}
command[i]+=temp[i]*kernel[kernel_size];
for(int d=1;d<=kernel_size;d++)
{
if(i+d>=ARRAY_DIM)
command[i]+=temp[i+d-ARRAY_DIM]*kernel[kernel_size+d];
else
command[i]+=temp[i+d]*kernel[kernel_size+d];
}
command[i]/=sum;
}
/*
for(int i=0;i<ARRAY_DIM;i++)
{
command[i]=0;
for(int d=1;d<=kernel_size;d++)
{
if(i-d<0)
command[i]+=temp[ARRAY_DIM+i-d]*(kernel_size-d+1);
else
command[i]+=temp[i-d]*(kernel_size-d+1);
}
command[i]+=temp[i]*(kernel_size+1);
for(int d=1;d<=kernel_size;d++)
{
if(i+d>=ARRAY_DIM)
command[i]+=temp[i+d-ARRAY_DIM]*(kernel_size-d+1);
else
command[i]+=temp[i+d]*(kernel_size-d+1);
}
command[i]/=(kernel_size+1)*(kernel_size+1);
}
*/
// apply phase
array_t final_command;
int current=0;
int start=floor(ARRAY_DIM*phase);
for(int i=start;i<ARRAY_DIM;i++)
{
final_command[current]=command[i];
current++;
}
for(int i=0;i<start;i++)
{
final_command[current]=command[i];
current++;
}
return final_command;
}
void ControllerDuty::moveRobot(robot_t& robot, float t)
{
size_t leg = 0;
for (size_t i = 0; i < robot->servos().size(); i+=3)
{
// std::cout<<"dans move"<<std::endl;
for (int j=0;j<_brokenLegs.size();j++)
{
if (leg==_brokenLegs[j])
{
leg++;
if (_brokenLegs.size()>j+1 && _brokenLegs[j+1]!=leg)
break;
}
}
robot->servos()[i]->set_angle(0,M_PI/8*selector(leg)[0][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+1]->set_angle(0,M_PI/4*selector(leg)[1][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+2]->set_angle(0,-M_PI/4*selector(leg)[2][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
/*
switch(leg)
{
case 0:
robot->servos()[i]->set_angle(0,M_PI/8*_legs0commands[0][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+1]->set_angle(0,M_PI/4*_legs0commands[1][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+2]->set_angle(0,-M_PI/4*_legs0commands[2][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
break;
case 1:
robot->servos()[i]->set_angle(0,M_PI/8*_legs1commands[0][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+1]->set_angle(0,M_PI/4*_legs1commands[1][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+2]->set_angle(0,-M_PI/4*_legs1commands[2][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
break;
case 2:
robot->servos()[i]->set_angle(0,M_PI/8*_legs2commands[0][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+1]->set_angle(0,M_PI/4*_legs2commands[1][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+2]->set_angle(0,-M_PI/4*_legs2commands[2][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
break;
case 3:
robot->servos()[i]->set_angle(0,M_PI/8*_legs3commands[0][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+1]->set_angle(0,M_PI/4*_legs3commands[1][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+2]->set_angle(0,-M_PI/4*_legs3commands[2][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
break;
case 4:
robot->servos()[i]->set_angle(0,M_PI/8*_legs4commands[0][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+1]->set_angle(0,M_PI/4*_legs4commands[1][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+2]->set_angle(0,-M_PI/4*_legs4commands[2][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
break;
case 5:
robot->servos()[i]->set_angle(0,M_PI/8*_legs5commands[0][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+1]->set_angle(0,M_PI/4*_legs5commands[1][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
robot->servos()[i+2]->set_angle(0,-M_PI/4*_legs5commands[2][((int)floor(t*100))%100]); // marche que pour ARRAY_DIM =100
break;
}
*/
++leg;
}
}
std::vector<array_t >& ControllerDuty::selector(int leg)
{
switch(leg)
{
case 0:
return _legs0commands;
break;
case 1:
return _legs1commands;
break;
case 2:
return _legs2commands;
break;
case 3:
return _legs3commands;
break;
case 4:
return _legs4commands;
break;
case 5:
return _legs5commands;
break;
}
}
std::vector<int> ControllerDuty::get_pos_dyna(float t)
{
std::vector<int> pos;
//std::cout<<"debut move"<<std::endl;
size_t leg = 0;
for (size_t i = 0; i < 24; i+=4)
{
//std::cout<<"dans move"<<std::endl;
for (int j=0;j<_brokenLegs.size();j++)
{
if (leg==_brokenLegs[j])
{
leg++;
if (_brokenLegs.size()>j+1 && _brokenLegs[j+1]!=leg)
break;
}
}
float theta0;
float theta1;
float theta2;
switch(leg)
{
case 0:
theta0= M_PI/8*_legs0commands[0][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta1= M_PI/4*_legs0commands[1][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta2= M_PI/4*_legs0commands[2][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
pos.push_back(512-64-RAD2DYN*(theta0));
pos.push_back(2048+RAD2DYNMX28*(theta1));
pos.push_back(2048-300-RAD2DYNMX28*(-theta2));
break;
case 1:
theta0= M_PI/8*_legs1commands[0][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta1= M_PI/4*_legs1commands[1][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta2= M_PI/4*_legs1commands[2][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
pos.push_back(512-RAD2DYN*(theta0));
pos.push_back(2048-200+RAD2DYNMX28*(theta1));
pos.push_back(2048-RAD2DYNMX28*(-theta2));
break;
case 2:
theta0= M_PI/8*_legs2commands[0][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta1= M_PI/4*_legs2commands[1][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta2= M_PI/4*_legs2commands[2][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
pos.push_back(512+64-RAD2DYN*(theta0));
pos.push_back(2048+50+RAD2DYNMX28*(theta1));
pos.push_back(2048-RAD2DYNMX28*(-theta2));
break;
case 3:
theta0= M_PI/8*_legs3commands[0][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta1= M_PI/4*_legs3commands[1][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta2= M_PI/4*_legs3commands[2][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
pos.push_back(512-64-RAD2DYN*(theta0));
pos.push_back(2048-150+RAD2DYNMX28*(theta1));
pos.push_back(2048-RAD2DYNMX28*(-theta2));
break;
case 4:
theta0= M_PI/8*_legs4commands[0][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta1= M_PI/4*_legs4commands[1][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta2= M_PI/4*_legs4commands[2][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
pos.push_back(512-RAD2DYN*(theta0));
pos.push_back(2048+RAD2DYNMX28*(theta1));
pos.push_back(2048-RAD2DYNMX28*(-theta2));
break;
case 5:
theta0= M_PI/8*_legs5commands[0][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta1= M_PI/4*_legs5commands[1][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
theta2= M_PI/4*_legs5commands[2][((int)floor(t*100))%100]; // marche que pour ARRAY_DIM =100
pos.push_back(512+64-RAD2DYN*(theta0));
pos.push_back(2048+RAD2DYNMX28*(theta1));
pos.push_back(2048-RAD2DYNMX28*(-theta2));
break;
}
++leg;
}
return pos;
}