root / mikrokopter / mikrokopter / src / CoordToPID.cpp @ 98711613
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#include "nav_lib.h" 

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#include <geometry_msgs/Point.h> 
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#include <math.h> 
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#include "pid_control.h" 
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#include <time.h> 
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class CoordToPID 
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{ 
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public:

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CoordToPID(); 
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void mainLoop();

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void pointCallback(const geometry_msgs::Point::ConstPtr& p); 
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private:

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MikrokopterControl control; 
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PID_control pidanglecontrol; 
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PID_control pidvelcontrol; 
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ros::Publisher pub; 
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ros::NodeHandle n; 
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ros::Subscriber sub; 
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int goaldistance;

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}; 
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CoordToPID::CoordToPID():pidanglecontrol(0.4,0.01,0.4,0),pidvelcontrol(0.4,0.01,0.4,1) 
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{ 
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//pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100);

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sub = n.subscribe<geometry_msgs::Point>("/v2v3_converter/target_3d", 100, 
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&CoordToPID::pointCallback, this);

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//Sets Goal values for the PID

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//Goal angle is 0 degrees

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float p = 0.4; 
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float d = 0.01; 
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float i = 0.4; 
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PID_control pidanglecontrol = PID_control(p,d,i,0);

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//pdi values for velocity

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p = 0.4; 
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d = 0.01; 
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i = 0.4; 
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//Target distance to stay from target

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goaldistance = 100; //What units this in? 
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PID_control pidvelcontrol = PID_control(p,d,i,goaldistance); 
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} 
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void CoordToPID::mainLoop()

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{ 
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/*ros::Rate loop_rate(25);

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while(ros::ok())

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{

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ros::spinOnce();

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control.publish_on(pub);

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loop_rate.sleep();

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}*/

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control.main_loop(); 
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} 
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void CoordToPID::pointCallback(const geometry_msgs::Point::ConstPtr& p) 
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{ 
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//call on Priya's PID

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/* Initializes the PID controller

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PID_control(int p_term, int d_term, int i_term, float goal);

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Initializes the PID controller without goal term

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PID_control(int p_term, int d_term, int i_term);

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Reset the I term error and change the goal value

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void change_goal(float goal);

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Given an input, get the PID controlled output

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float pid(float input)*/

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// angle going CCW from forward in horizontal plane

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float angle = atan2(p>x, p>z); // TODO not sure if these axes are correct 
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// should be from [100, 100]

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float distance = sqrt(pow(p>x,2)+pow(p>y,2)); 
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//Updates pid with current value and gets pid output

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float pidangle = pidanglecontrol.pid(angle,(double)time(NULL)); 
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float pidvelocity = pidvelcontrol.pid(distance,(double)time(NULL)); 
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//ROS_INFO("angle %g, pidangle %g, distance %g, piddistance %g",angle,pidangle,distance,pidvelocity);

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//sets pid output

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control.set_yaw(pidangle*100/M_PI);

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control.velocity_control(pidvelocity,0);

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//controls.set_thrust() //between [0,1]

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} 
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int main(int argc, char **argv) { 
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ros::init(argc, argv, "CoordToPID");

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CoordToPID ctp = CoordToPID(); 
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ctp.mainLoop(); 
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return 0; 
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} 