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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 < (int)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)
{
/// t /= 2;// JBM test
int leg = 0;
for (size_t i = 0; i < robot->servos().size(); i += 3) {
// std::cout<<"dans move"<<std::endl;
for (size_t j = 0; j < _brokenLegs.size(); j++) {
if (leg == _brokenLegs[j]) {
leg++;
if (_brokenLegs.size() > j + 1 && _brokenLegs[j + 1] != leg)
break;
}
}
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<int> ControllerDuty::get_pos_dyna(float t)
{
std::vector<int> pos;
//std::cout<<"debut move"<<std::endl;
int leg = 0;
for (size_t i = 0; i < 24; i += 4) {
// std::cout<<"dans move"<<std::endl;
for (size_t 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));// original version
pos.push_back(2048 - 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)); // original version
pos.push_back(2048 + RAD2DYNMX28 * (theta1)); // JBM version
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)); // original version
pos.push_back(2048 + RAD2DYNMX28 * (theta1)); // JbM
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));// original version
pos.push_back(2048 + RAD2DYNMX28 * (theta1)); // JBM version
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;
}
/*
float ControllerPhase::delayedPhase(float t, float phi)
{
return tanh(sin(2*M_PI*t+phi*2*M_PI)*4);
}
*/