Revision d7e1b0d8
Attempting to use Odometry. Added a better Odometry::wait, but all is not fixed yet.
scout/libscout/src/behaviors/Odometry.cpp | ||
---|---|---|
7 | 7 |
Odometry::Odometry(string scoutname, Sensors* sensors) |
8 | 8 |
: Behavior(scoutname, "odometry", sensors) |
9 | 9 |
{ |
10 |
name = scoutname; |
|
11 |
scout_pos = new pos; |
|
12 |
motor_fl_ticks = motor_fr_ticks = motor_bl_ticks = motor_br_ticks = 0; |
|
10 |
name = scoutname;
|
|
11 |
scout_pos = new pos;
|
|
12 |
motor_fl_ticks = motor_fr_ticks = motor_bl_ticks = motor_br_ticks = 0;
|
|
13 | 13 |
} |
14 | 14 |
|
15 | 15 |
/** Set up the odometry node and prepare communcations over ROS */ |
16 |
Odometry::Odometry(string scoutname, string behavior_name, Sensors* sensors) |
|
17 |
: Behavior(scoutname, behavior_name, sensors)
|
|
16 |
Odometry::Odometry(string scoutname, string behavior_name, Sensors* sensors)
|
|
17 |
: Behavior(scoutname, behavior_name, sensors) |
|
18 | 18 |
{ |
19 |
name = scoutname; |
|
20 |
scout_pos = new pos; |
|
21 |
motor_fl_ticks = motor_fr_ticks = motor_bl_ticks = motor_br_ticks = 0; |
|
19 |
name = scoutname; |
|
20 |
scout_pos = new pos; |
|
21 |
motor_fl_ticks = motor_fr_ticks = motor_bl_ticks = motor_br_ticks = 0; |
|
22 |
} |
|
23 |
|
|
24 |
void Odometry::wait(float duration) |
|
25 |
{ |
|
26 |
ros::Rate r(WAIT_HZ); |
|
27 |
int ticks = int(duration * WAIT_HZ); |
|
28 |
for (int i = 0; i < ticks; i++) |
|
29 |
{ |
|
30 |
get_position(); |
|
31 |
spinOnce(); |
|
32 |
r.sleep(); |
|
33 |
} |
|
22 | 34 |
} |
23 | 35 |
|
24 | 36 |
/** Query encoders and estimate position based on encoder reading */ |
25 | 37 |
void Odometry::get_position() |
26 | 38 |
{ |
27 |
float left_dist, right_dist, total_dist, theta; |
|
28 |
|
|
29 |
encoder_readings scout_enc = encoders->query(); |
|
30 |
motor_fl_dist = scout_enc.fl_ticks - motor_fl_ticks; |
|
31 |
motor_fr_dist = scout_enc.fr_ticks - motor_fr_ticks; |
|
32 |
motor_bl_dist = scout_enc.bl_ticks - motor_bl_ticks; |
|
33 |
motor_br_dist = scout_enc.br_ticks - motor_br_ticks; |
|
34 |
|
|
35 |
// Get Left and Right distance |
|
36 |
left_dist = DIST_PER_TICK*(((float)(motor_fl_dist))/2.0 + |
|
37 |
((float)(motor_bl_dist))/2.0);
|
|
38 |
right_dist = DIST_PER_TICK*(((float)(motor_fr_dist))/2.0 + |
|
39 |
((float)(motor_br_dist))/2.0);
|
|
40 |
|
|
41 |
total_dist = (left_dist)/2.0 + (right_dist)/2.0; |
|
42 |
theta = scout_pos->theta + atan2(right_dist - left_dist, WHEEL_BASE); |
|
43 |
|
|
44 |
//Use negative theta because we measure theta from 0 on the |
|
45 |
//right to 180 on the left counter-clock-wise, but this is |
|
46 |
//negative theta in the coordinate frame. |
|
47 |
//Also, subtract the delta from y because positive y is down. |
|
48 |
scout_pos->x += total_dist*cos(-theta); |
|
49 |
scout_pos->y -= total_dist*sin(-theta); |
|
50 |
scout_pos->theta = fmod(theta, (float)(2*M_PI)); |
|
51 |
|
|
52 |
//Save state for next time in. |
|
53 |
motor_fl_ticks = scout_enc.fl_ticks; |
|
54 |
motor_fr_ticks = scout_enc.fr_ticks; |
|
55 |
motor_bl_ticks = scout_enc.bl_ticks; |
|
56 |
motor_br_ticks = scout_enc.br_ticks; |
|
57 |
|
|
58 |
|
|
59 |
return; |
|
39 |
float left_dist, right_dist, total_dist, theta;
|
|
40 |
|
|
41 |
encoder_readings scout_enc = encoders->query();
|
|
42 |
motor_fl_dist = scout_enc.fl_ticks - motor_fl_ticks;
|
|
43 |
motor_fr_dist = scout_enc.fr_ticks - motor_fr_ticks;
|
|
44 |
motor_bl_dist = scout_enc.bl_ticks - motor_bl_ticks;
|
|
45 |
motor_br_dist = scout_enc.br_ticks - motor_br_ticks;
|
|
46 |
|
|
47 |
// Get Left and Right distance
|
|
48 |
left_dist = DIST_PER_TICK*(((float)(motor_fl_dist))/2.0 +
|
|
49 |
((float)(motor_bl_dist))/2.0); |
|
50 |
right_dist = DIST_PER_TICK*(((float)(motor_fr_dist))/2.0 +
|
|
51 |
((float)(motor_br_dist))/2.0); |
|
52 |
|
|
53 |
total_dist = (left_dist)/2.0 + (right_dist)/2.0;
|
|
54 |
theta = scout_pos->theta + atan2(right_dist - left_dist, WHEEL_BASE);
|
|
55 |
|
|
56 |
//Use negative theta because we measure theta from 0 on the
|
|
57 |
//right to 180 on the left counter-clock-wise, but this is
|
|
58 |
//negative theta in the coordinate frame.
|
|
59 |
//Also, subtract the delta from y because positive y is down.
|
|
60 |
scout_pos->x += total_dist*cos(-theta);
|
|
61 |
scout_pos->y -= total_dist*sin(-theta);
|
|
62 |
scout_pos->theta = fmod(theta, (float)(2*M_PI));
|
|
63 |
|
|
64 |
//Save state for next time in.
|
|
65 |
motor_fl_ticks = scout_enc.fl_ticks;
|
|
66 |
motor_fr_ticks = scout_enc.fr_ticks;
|
|
67 |
motor_bl_ticks = scout_enc.bl_ticks;
|
|
68 |
motor_br_ticks = scout_enc.br_ticks;
|
|
69 |
|
|
70 |
|
|
71 |
return;
|
|
60 | 72 |
} |
61 | 73 |
|
62 | 74 |
void Odometry::run() |
63 | 75 |
{ |
64 |
scout_position = node.advertise< ::messages::ScoutPosition>(name+"/position", 1000); |
|
65 |
|
|
66 |
while(ok()) |
|
67 |
{ |
|
68 |
get_position(); |
|
69 |
|
|
70 |
position.name = name; |
|
71 |
position.x = scout_pos->x; |
|
72 |
position.y = scout_pos->y; |
|
73 |
position.theta = scout_pos->theta; |
|
74 |
scout_position.publish(position); |
|
75 |
} |
|
76 |
scout_position = node.advertise< ::messages::ScoutPosition>(name+"/position", 1000);
|
|
77 |
|
|
78 |
while(ok())
|
|
79 |
{
|
|
80 |
get_position();
|
|
81 |
|
|
82 |
position.name = name;
|
|
83 |
position.x = scout_pos->x;
|
|
84 |
position.y = scout_pos->y;
|
|
85 |
position.theta = scout_pos->theta;
|
|
86 |
scout_position.publish(position);
|
|
87 |
}
|
|
76 | 88 |
} |
Also available in: Unified diff