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Fixed sailboat setup.

This commit is contained in:
Jason Kemmerling 2011-12-05 12:32:34 -05:00
parent 0696efe0dc
commit 9da193f66c
1 changed files with 14 additions and 51 deletions
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65
ArduBoat/ControllerSailboat.h
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@ -16,13 +16,12 @@ class ControllerSailboat: public AP_Controller {
public:
ControllerSailboat(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_thrust,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_sail,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
pidsail(new AP_Var_group(k_pidsail, PSTR("SAIL_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut), _strCmd(0), _thrustCmd(0),
_rangeFinderFront()
throttleDFCut), _strCmd(0), _sailCmd(0)
{
_hal->debug->println_P(PSTR("initializing sailboat controller"));
@ -33,61 +32,27 @@ public:
new AP_RcChannel(k_chStr, PSTR("STR_"), hal->radio, 3, 1100, 1500,
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThrust, PSTR("THR_"), hal->radio, 2, 1100, 1500,
new AP_RcChannel(k_chsail, PSTR("SAIL_"), hal->radio, 2, 1100, 1500,
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), hal->radio, 4, 1100, 1500,
1900, RC_MODE_IN, false));
for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++) {
RangeFinder * rF = _hal->rangeFinders[i];
if (rF == NULL)
continue;
if (rF->orientation_x == 1 && rF->orientation_y == 0
&& rF->orientation_z == 0)
_rangeFinderFront = rF;
}
}
private:
// methods
void manualLoop(const float dt) {
_strCmd = _hal->rc[ch_str]->getRadioPosition();
_thrustCmd = _hal->rc[ch_thrust]->getRadioPosition();
if (useForwardReverseSwitch && _hal->rc[ch_FwdRev]->getRadioPosition() < 0.0)
_thrustCmd = -_thrustCmd;
_sailCmd = _hal->rc[ch_sail]->getRadioPosition();
}
void autoLoop(const float dt) {
//_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_thrust]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
//_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_sail]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
// neglects heading command derivative
float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
float thrust = pidThrust.update(
_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt);
// obstacle avoidance overrides
// try to drive around the obstacle in front. if this fails, stop
if (_rangeFinderFront) {
_rangeFinderFront->read();
int distanceToObstacle = _rangeFinderFront->distance;
if (distanceToObstacle < 100) {
thrust = 0; // Avoidance didn't work out. Stopping
}
else if (distanceToObstacle < 650) {
// Deviating from the course. Deviation angle is inverse proportional
// to the distance to the obstacle, with 15 degrees min angle, 180 - max
steering += (15 + 165 *
(1 - ((float)(distanceToObstacle - 100)) / 550)) * deg2Rad;
}
}
float sail = 0;
_strCmd = steering;
_thrustCmd = thrust;
_sailCmd = sail;
}
void setMotors() {
_hal->rc[ch_str]->setPosition(_strCmd);
_hal->rc[ch_thrust]->setPosition(fabs(_thrustCmd) < 0.1 ? 0 : _thrustCmd);
_hal->rc[ch_sail]->setPosition(fabs(_sailCmd) < 0.1 ? 0 : _sailCmd);
}
void handleFailsafe() {
// turn off
@ -96,19 +61,17 @@ private:
// attributes
enum {
ch_mode = 0, ch_str, ch_thrust, ch_FwdRev
ch_mode = 0, ch_str, ch_sail
};
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThrust, k_chFwdRev
k_chMode = k_radioChannelsStart, k_chStr, k_chsail
};
enum {
k_pidStr = k_controllersStart, k_pidThrust
k_pidStr = k_controllersStart, k_pidsail
};
BlockPIDDfb pidStr;
BlockPID pidThrust;
float _strCmd, _thrustCmd;
RangeFinder * _rangeFinderFront;
BlockPID pidsail;
float _strCmd, _sailCmd;
};
} // namespace apo