Revision 3db79f25
ID | 3db79f259e8820845822e6176be5c3b81a405021 |
Fixed Odometry behavior so that it now works and then added a get readings functionality to sonarcontrol.
scout/libscout/src/behaviors/Odometry.cpp | ||
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Odometry::Odometry(string scoutname):Behavior(scoutname, "odometry") |
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{ |
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scout_pos = new pos; |
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motor_fl_ticks = motor_fr_ticks = motor_bl_ticks = motor_br_ticks = 0; |
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} |
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/** Query encoders and estimate position based on encoder reading */ |
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void Odometry::get_position() |
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{ |
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float left_dist, right_dist, total_dist, theta; |
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// float left_vel, right_vel; |
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|
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/* TODO: Get current encoder ticks */ |
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encoder_readings scout_enc = encoders->query(); |
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motor_fl_dist = scout_enc.fl_ticks; |
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motor_fr_dist = scout_enc.fr_ticks; |
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motor_bl_dist = scout_enc.bl_ticks; |
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motor_br_dist = scout_enc.br_ticks; |
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/** |
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motor_fl_dist = scout_enc.fl_ticks - motor_fl_ticks; |
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motor_fr_dist = scout_enc.fr_ticks - motor_fr_ticks; |
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motor_bl_dist = scout_enc.bl_ticks - motor_bl_ticks; |
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motor_br_dist = scout_enc.br_ticks - motor_br_ticks; |
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**/ |
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left_dist = DIST_PER_TICK*(motor_fl_dist + motor_bl_dist)/2; |
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right_dist = DIST_PER_TICK*(motor_fr_dist + motor_br_dist)/2; |
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ROS_INFO("fl %d fr %d bl %d br %d", scout_enc.fl_ticks, scout_enc.fr_ticks, scout_enc.bl_ticks, scout_enc.br_ticks); |
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ROS_INFO("fl %d fr %d bl %d br %d", motor_fl_ticks, motor_fr_ticks, motor_bl_ticks, motor_br_ticks); |
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ROS_INFO("fl %d fr %d bl %d br %d", motor_fl_dist, motor_fr_dist, motor_bl_dist, motor_br_dist); |
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total_dist = (left_dist+right_dist)/2; |
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theta = (right_dist - left_dist)/WHEEL_BASE; |
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// Get Left and Right distance |
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left_dist = DIST_PER_TICK*(((float)(motor_fl_dist))/2.0 + |
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((float)(motor_bl_dist))/2.0); |
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right_dist = DIST_PER_TICK*(((float)(motor_fr_dist))/2.0 + |
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((float)(motor_br_dist))/2.0); |
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scout_pos->x = total_dist*sin(theta); |
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scout_pos->y = total_dist*cos(theta); |
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scout_pos->theta = theta; |
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total_dist = (left_dist)/2.0 + (right_dist)/2.0; |
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theta = scout_pos->theta + atan2(left_dist - right_dist, WHEEL_BASE); |
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ROS_INFO("l: %f r: %f theta: %f", left_dist, right_dist, theta); |
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scout_pos->x += total_dist*sin(theta); |
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scout_pos->y += total_dist*cos(theta); |
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scout_pos->theta = fmod(theta, 2*M_PI); |
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/** |
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//Save state for next time in. |
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motor_fl_ticks = scout_enc.fl_ticks; |
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motor_fr_ticks = scout_enc.fr_ticks; |
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motor_bl_ticks = scout_enc.bl_ticks; |
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motor_br_ticks = scout_enc.br_ticks; |
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**/ |
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return; |
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} |
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