From ca1374119f2b7a9a86912e52c6d2dfa9bfcc9003 Mon Sep 17 00:00:00 2001
From: Farid Alijani <farid.alijani@student.lut.fi>
Date: Mon, 10 Oct 2016 19:02:39 +0200
Subject: [PATCH] x_dot adjus

---
 MobileRobot/docking_data/CAM_x_dot_.1.txt  | 879 ++++++++++---------
 MobileRobot/docking_data/CAM_x_dot_.1.txt~ | 938 ++++++++++-----------
 MobileRobot/docking_data/back_up_old.cpp   |  20 +-
 MobileRobot/docking_data/back_up_old.cpp~  |  12 +-
 MobileRobot/docking_data/x_dot_.1.txt      | 877 ++++++++++---------
 MobileRobot/docking_data/x_dot_.1.txt~     | 936 ++++++++++----------
 6 files changed, 1772 insertions(+), 1890 deletions(-)

diff --git a/MobileRobot/docking_data/CAM_x_dot_.1.txt b/MobileRobot/docking_data/CAM_x_dot_.1.txt
index 50fb78af..f8a3a019 100644
--- a/MobileRobot/docking_data/CAM_x_dot_.1.txt
+++ b/MobileRobot/docking_data/CAM_x_dot_.1.txt
@@ -1,455 +1,426 @@
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diff --git a/MobileRobot/docking_data/CAM_x_dot_.1.txt~ b/MobileRobot/docking_data/CAM_x_dot_.1.txt~
index 4a90f20b..50fb78af 100644
--- a/MobileRobot/docking_data/CAM_x_dot_.1.txt~
+++ b/MobileRobot/docking_data/CAM_x_dot_.1.txt~
@@ -1,485 +1,455 @@
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diff --git a/MobileRobot/docking_data/back_up_old.cpp b/MobileRobot/docking_data/back_up_old.cpp
index 94372895..0d9c8da5 100644
--- a/MobileRobot/docking_data/back_up_old.cpp
+++ b/MobileRobot/docking_data/back_up_old.cpp
@@ -92,14 +92,14 @@ double PID4Docking::control_signalX, PID4Docking::control_signalY, PID4Docking::
 //const double PID4Docking::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ ,  0.308857 /* X_ref*/ , 0.17 /* theta_ref*/}; 
 
 // ---- Ref. Values for Logitech Camera ---- //
-const double PID4Docking::RefPose[4] = {-.0957, -0.0188 /* Y_ref*/ , -0.20007 /* X_ref*/ , -0.05 /* theta_ref*/}; 
+const double PID4Docking::RefPose[4] = {-.0957, -0.0188 /* Y_ref*/ , -0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; 
 
 //const double PID4Docking::RefPose[4] = {-.0957, 0.0185 /* Y_ref*/ , 0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; 
 
 // ----------------  PID gains---------------- //
-double PID4Docking::Kp_y = .28; //.4
+double PID4Docking::Kp_y = .25; //.4
 double PID4Docking::Ki_y = 0 ;// 0
-double PID4Docking::Kd_y = 0.006; //.1
+double PID4Docking::Kd_y = 0; //.1
 
 double PID4Docking::Kp_theta = .25;// .18
 double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
@@ -535,9 +535,9 @@ void PID4Docking::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) // su
 			{
 				ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n");
 
-				/*speed_reducer_X = .06; // for x_dot = .1 =>.06*/
-				speed_reducer_X = .04; // for x_dot = .15 =>.04  ---- optimal docking time and Y-axis offset ----
-				/*speed_reducer_X = .0375; // for x_dot = .16 =>.0375*/
+				speed_reducer_X = .06; // for x_dot = .1 =>.06
+				//speed_reducer_X = .04; // for x_dot = .15 =>.04  ---- optimal docking time and Y-axis offset ----
+				//speed_reducer_X = .0375; // for x_dot = .16 =>.0375
 
 				Controller(RefPose[2], camPose[2], RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1);
 			}
@@ -575,8 +575,8 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
         	control_signalX = p_termX + i_termX + d_termX;
         	prev_errorX = curr_errorX;*/
 		
-		//control_signalX = speed_reducer_X * 0.1;
-		control_signalX = speed_reducer_X * 0.15;
+		control_signalX = speed_reducer_X * 0.1;
+		//control_signalX = speed_reducer_X * 0.15;
 		//control_signalX = speed_reducer_X * 0.16;        
         } else
 	{
@@ -656,11 +656,11 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
 		keepMoving = false;	
 	}
 
-        /* ---*/
+        /* ---
 	ROS_INFO_STREAM("Control signalX = " << control_signalX <<"\n");
 	ROS_INFO_STREAM("Control signalY = " << control_signalY << "\n");
 	ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<"\n");
-	//   dock(control_signalX, control_signalY, control_signalYAW);
+	//  */ dock(control_signalX, control_signalY, control_signalYAW);
 }
 
 void PID4Docking::dock(double VelX, double VelY, double omegaZ)
diff --git a/MobileRobot/docking_data/back_up_old.cpp~ b/MobileRobot/docking_data/back_up_old.cpp~
index ecca6c12..94372895 100644
--- a/MobileRobot/docking_data/back_up_old.cpp~
+++ b/MobileRobot/docking_data/back_up_old.cpp~
@@ -92,14 +92,14 @@ double PID4Docking::control_signalX, PID4Docking::control_signalY, PID4Docking::
 //const double PID4Docking::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ ,  0.308857 /* X_ref*/ , 0.17 /* theta_ref*/}; 
 
 // ---- Ref. Values for Logitech Camera ---- //
-const double PID4Docking::RefPose[4] = {-.0957, -0.0185 /* Y_ref*/ , -0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; 
+const double PID4Docking::RefPose[4] = {-.0957, -0.0188 /* Y_ref*/ , -0.20007 /* X_ref*/ , -0.05 /* theta_ref*/}; 
 
 //const double PID4Docking::RefPose[4] = {-.0957, 0.0185 /* Y_ref*/ , 0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; 
 
 // ----------------  PID gains---------------- //
-double PID4Docking::Kp_y = .266; //.4
-double PID4Docking::Ki_y = 0.0003 ;// 0
-double PID4Docking::Kd_y = 0.014; //.1
+double PID4Docking::Kp_y = .28; //.4
+double PID4Docking::Ki_y = 0 ;// 0
+double PID4Docking::Kd_y = 0.006; //.1
 
 double PID4Docking::Kp_theta = .25;// .18
 double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
@@ -656,11 +656,11 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
 		keepMoving = false;	
 	}
 
-        /* ---
+        /* ---*/
 	ROS_INFO_STREAM("Control signalX = " << control_signalX <<"\n");
 	ROS_INFO_STREAM("Control signalY = " << control_signalY << "\n");
 	ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<"\n");
-	//  */ dock(control_signalX, control_signalY, control_signalYAW);
+	//   dock(control_signalX, control_signalY, control_signalYAW);
 }
 
 void PID4Docking::dock(double VelX, double VelY, double omegaZ)
diff --git a/MobileRobot/docking_data/x_dot_.1.txt b/MobileRobot/docking_data/x_dot_.1.txt
index 9b0dcbe2..6e6a0929 100644
--- a/MobileRobot/docking_data/x_dot_.1.txt
+++ b/MobileRobot/docking_data/x_dot_.1.txt
@@ -1,454 +1,425 @@
 %time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
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diff --git a/MobileRobot/docking_data/x_dot_.1.txt~ b/MobileRobot/docking_data/x_dot_.1.txt~
index 11369af1..9b0dcbe2 100644
--- a/MobileRobot/docking_data/x_dot_.1.txt~
+++ b/MobileRobot/docking_data/x_dot_.1.txt~
@@ -1,484 +1,454 @@
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GitLab