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Implement chained(thru) boomerang motion #36

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merged 6 commits into from
Jan 10, 2024
Merged

Implement chained(thru) boomerang motion #36

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3c131c3
Add chainedExecutable in voltage command struct
Rocky14683 Dec 8, 2023
113704c
Apply chainExecutable
Rocky14683 Dec 8, 2023
0b9ae77
Create "chained" chassisCommand
Rocky14683 Dec 9, 2023
cf54075
apply "chained" chassisCommand to diffDrive execute function
Rocky14683 Dec 9, 2023
12fa6bb
Apply chained chassisCommand
Rocky14683 Dec 9, 2023
e0bf084
Fix a small logic error
Rocky14683 Dec 9, 2023
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6 changes: 5 additions & 1 deletion include/VOSS/chassis/ChassisCommand.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,12 @@ struct Voltages {
double left;
double right;
};
struct Chained {
double left;
double right;
};

using ChassisCommand = std::variant<Stop, Voltages>;
using ChassisCommand = std::variant<Stop, Voltages, Chained>;

template <class... Ts> struct overload : Ts... {
using Ts::operator()...;
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20 changes: 19 additions & 1 deletion src/VOSS/chassis/DiffChassis.cpp
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Expand Up @@ -71,7 +71,25 @@ bool DiffChassis::execute(ChassisCommand cmd, double max) {
this->prev_voltages = v;

return false;
}},
},
[this, max](Chained& v){
if (fabs(v.left) > max) {
v.left = max * ((v.left < 0) ? -1 : 1);
}
if (fabs(v.right) > max) {
v.right = max * ((v.right < 0) ? -1 : 1);
}

v.left = slew(v.left, true);
v.right = slew(v.right, false);

this->left_motors->move_voltage(120 * v.left);
this->right_motors->move_voltage(120 * v.right);

this->prev_voltages = {v.left, v.right};

return true;
}},
cmd);
}

Expand Down
37 changes: 22 additions & 15 deletions src/VOSS/controller/PIDController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ PIDController::PIDController(std::shared_ptr<localizer::AbstractLocalizer> l)

chassis::ChassisCommand PIDController::get_command(bool reverse, bool thru) {
Point current_pos = this->l->get_position();

bool chainedExecutable = false;
bool noPose = this->target.theta == 361;

double dx = target.x - current_pos.x;
Expand All @@ -29,23 +29,26 @@ chassis::ChassisCommand PIDController::get_command(bool reverse, bool thru) {

angle_error = voss::norm_delta(angle_error);

if (distance_error <= exit_error || (distance_error < min_error && fabs(cos(angle_error)) <= 0.1)) {
total_lin_err = 0;
close += 10;
} else {
close = 0;
}
double lin_speed;



if (distance_error <= exit_error || (distance_error < min_error && fabs(cos(angle_error)) <= 0.1)) {
if(thru) {
chainedExecutable = true;
} else {
total_lin_err = 0;
close += 10;
}
} else {
close = 0;
}

if (close > settle_time) {
return chassis::ChassisCommand{chassis::Stop{}};
}

double lin_speed;
if (thru) {
lin_speed = 100;
} else {
lin_speed = linear_pid(distance_error) * (reverse ? -1 : 1);
}
lin_speed = thru ? 100.0 : (linear_pid(distance_error) * (reverse ? -1 : 1));

double ang_speed;
if (distance_error < min_error) {
Expand Down Expand Up @@ -74,9 +77,13 @@ chassis::ChassisCommand PIDController::get_command(bool reverse, bool thru) {

ang_speed = angular_pid(angle_error);
}
if(chainedExecutable){
return chassis::ChassisCommand{
chassis::Chained{100.0 - ang_speed, 100.0 + ang_speed}};
}

return chassis::ChassisCommand{
chassis::Voltages{lin_speed - ang_speed, lin_speed + ang_speed}};
return chassis::ChassisCommand{
chassis::Voltages{lin_speed - ang_speed, lin_speed + ang_speed}};
}

chassis::ChassisCommand PIDController::get_angular_command(bool reverse,
Expand Down