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ArduRover: latest rover code is in APMRover2 directory

This commit is contained in:
rmackay9 2012-08-14 00:31:12 +09:00
parent 4e7e78d091
commit 9edda1407a
5 changed files with 0 additions and 296 deletions
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25
ArduRover/ArduRover.pde
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// Libraries
#include <Wire.h>
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h>
#include <AP_RangeFinder.h>
#include <GCS_MAVLink.h>
#include <AP_ADC.h>
#include <AP_DCM.h>
#include <AP_Compass.h>
#include <Wire.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
#include <AP_AnalogSource.h>
#include <AP_InertialSensor.h>
// Vehicle Configuration
#include "CarStampede.h"
//#include "TankGeneric.h"
// ArduPilotOne Default Setup
#include "APO_DefaultSetup.h"

62
ArduRover/CarStampede.h
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/*
* CarStampede.h
*
* Created on: May 1, 2011
* Author: jgoppert
*
*/
#ifndef CARSTAMPEDE_H_
#define CARSTAMPEDE_H_
// vehicle options
using namespace apo;
static const AP_Board::options_t options = AP_Board::opt_gps | AP_Board::opt_baro | AP_Board::opt_compass;
static const MAV_TYPE vehicle = UGV_GROUND_ROVER;
//static const apo::AP_Board::mode_e boardMode = apo::AP_Board::MODE_HIL_CNTL;
static const apo::AP_Board::mode_e boardMode = apo::AP_Board::MODE_LIVE;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerCar
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS Navigator_Dcm
// hardware selection
//#define BOARD_TYPE Board_APM1
//#define BOARD_TYPE Board_APM1_2560
#define BOARD_TYPE Board_APM2
static const bool useForwardReverseSwitch = false;
// loop rates
static const float loopRate = 150; // attitude nav
static const float loop0Rate = 50; // controller
static const float loop1Rate = 5; // pos nav/ gcs fast
static const float loop2Rate = 1; // gcs slow
static const float loop3Rate = 0.1;
// gains
static const float steeringP = 0.1;
static const float steeringI = 0.0;
static const float steeringD = 0.1;
static const float steeringIMax = 0.0;
static const float steeringYMax = 1;
static const float steeringDFCut = 25.0;
static const float throttleP = 0.1;
static const float throttleI = 0.0;
static const float throttleD = 0.0;
static const float throttleIMax = 0.0;
static const float throttleYMax = 1;
static const float throttleDFCut = 0.0;
// guidance
static const float velCmd = 5;
static const float xt = 10;
static const float xtLim = 90;
#include "ControllerCar.h"
#endif /* CARSTAMPEDE_H_ */
// vim:ts=4:sw=4:expandtab

117
ArduRover/ControllerCar.h
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/*
* ControllerCar.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERCAR_H_
#define CONTROLLERCAR_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerCar: public AP_Controller {
public:
ControllerCar(AP_Navigator * nav, AP_Guide * guide,
AP_Board * board) :
AP_Controller(nav, guide, board,new AP_ArmingMechanism(board,this,ch_thrust,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,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut), _strCmd(0), _thrustCmd(0),
_rangeFinderFront()
{
_board->debug->println_P(PSTR("initializing car controller"));
_board->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), board->radio, 5, 1100,
1500, 1900, RC_MODE_IN, false));
_board->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), board->radio, 3, 1100, 1500,
1900, RC_MODE_INOUT, false));
_board->rc.push_back(
new AP_RcChannel(k_chThrust, PSTR("THR_"), board->radio, 2, 1100, 1500,
1900, RC_MODE_INOUT, false));
_board->rc.push_back(
new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), board->radio, 4, 1100, 1500,
1900, RC_MODE_IN, false));
for (uint8_t i = 0; i < _board->rangeFinders.getSize(); i++) {
RangeFinder * rF = _board->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 = _board->rc[ch_str]->getRadioPosition();
_thrustCmd = _board->rc[ch_thrust]->getRadioPosition();
if (useForwardReverseSwitch && _board->rc[ch_FwdRev]->getRadioPosition() < 0.0)
_thrustCmd = -_thrustCmd;
}
void autoLoop(const float dt) {
//_board->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_board->rc[ch_thrust]->getRadioPosition(), _board->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;
}
}
_strCmd = steering;
_thrustCmd = thrust;
}
void setMotors() {
_board->rc[ch_str]->setPosition(_strCmd);
_board->rc[ch_thrust]->setPosition(fabs(_thrustCmd) < 0.1 ? 0 : _thrustCmd);
}
void handleFailsafe() {
// turn off
setMode(MAV_MODE_LOCKED);
}
// attributes
enum {
ch_mode = 0, ch_str, ch_thrust, ch_FwdRev
};
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThrust, k_chFwdRev
};
enum {
k_pidStr = k_controllersStart, k_pidThrust
};
BlockPIDDfb pidStr;
BlockPID pidThrust;
float _strCmd, _thrustCmd;
RangeFinder * _rangeFinderFront;
};
} // namespace apo
#endif /* CONTROLLERCAR_H_ */
// vim:ts=4:sw=4:expandtab

91
ArduRover/ControllerTank.h
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/*
* ControllerTank.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERTANK_H_
#define CONTROLLERTANK_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerTank: public AP_Controller {
public:
ControllerTank(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal, new AP_ArmingMechanism(hal,ch_thrust,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),
pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut), _headingOutput(0), _throttleOutput(0) {
_hal->debug->println_P(PSTR("initializing tank controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100, 1500,
1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100, 1500,
1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1500,
1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900, RC_MODE_IN, false));
}
private:
// methods
void manualLoop(const float dt) {
setAllRadioChannelsManually();
_headingOutput = _hal->rc[ch_str]->getPosition();
_throttleOutput = _hal->rc[ch_thrust]->getPosition();
}
void autoLoop(const float dt) {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
_headingOutput = pidStr.update(headingError, -_nav->getYawRate(), dt);
_throttleOutput = pidThr.update(_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt);
}
void setMotorsActive() {
// turn all motors off if below 0.1 throttle
if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) {
setAllRadioChannelsToNeutral();
} else {
_hal->rc[ch_left]->setPosition(_throttleOutput + _headingOutput);
_hal->rc[ch_right]->setPosition(_throttleOutput - _headingOutput);
}
}
// attributes
enum {
k_chMode = k_radioChannelsStart, k_chLeft, k_chRight, k_chStr, k_chThr
};
enum {
k_pidStr = k_controllersStart, k_pidThr
};
enum {
ch_mode = 0, ch_left, ch_right, ch_str, ch_thrust
};
BlockPIDDfb pidStr;
BlockPID pidThr;
float _headingOutput;
float _throttleOutput;
};
} // namespace apo
#endif /* CONTROLLERTANK_H_ */
// vim:ts=4:sw=4:expandtab

1
ArduRover/Makefile
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include ../libraries/AP_Common/Arduino.mk