From cd336a84c4b4e6bff56e6961804ac4f5c2d865f9 Mon Sep 17 00:00:00 2001
From: Farid Alijani <farid.alijani@student.lut.fi>
Date: Sat, 20 Aug 2016 15:00:03 +0200
Subject: [PATCH] everything seems correct and data recorded for plot

---
 .../CamMark/camtomar/src/VisionControl.cpp    |   6 ++---
 .../CamMark/camtomar/src/VisionControl.cpp~   |  23 +++++++++---------
 .../{Pose.txt => Pose_negative_angle.txt}     |   0
 .../{Pose3.txt => Pose_positive_angle.txt}    |   0
 .../{Pose2.txt => Pose_zero_angle.txt}        |   0
 .../{Vel.txt => Velocity_negative_angle.txt}  |   0
 .../{Vel3.txt => Velocity_positive_angle.txt} |   0
 .../{Vel2.txt => Velocity_zero_angle.txt}     |   0
 MobileRobot/docking_data/try.bag              | Bin 83552 -> 0 bytes
 MobileRobot/docking_data/try2.bag             | Bin 100456 -> 0 bytes
 MobileRobot/docking_data/try3.bag             | Bin 109933 -> 0 bytes
 11 files changed, 14 insertions(+), 15 deletions(-)
 rename MobileRobot/docking_data/{Pose.txt => Pose_negative_angle.txt} (100%)
 rename MobileRobot/docking_data/{Pose3.txt => Pose_positive_angle.txt} (100%)
 rename MobileRobot/docking_data/{Pose2.txt => Pose_zero_angle.txt} (100%)
 rename MobileRobot/docking_data/{Vel.txt => Velocity_negative_angle.txt} (100%)
 rename MobileRobot/docking_data/{Vel3.txt => Velocity_positive_angle.txt} (100%)
 rename MobileRobot/docking_data/{Vel2.txt => Velocity_zero_angle.txt} (100%)
 delete mode 100644 MobileRobot/docking_data/try.bag
 delete mode 100644 MobileRobot/docking_data/try2.bag
 delete mode 100644 MobileRobot/docking_data/try3.bag

diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
index c68a8d85..777140c1 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
@@ -48,7 +48,7 @@ using namespace std;
 
 float PID4Docking::TheMarkerSize = .1; // Default marker size
 
-int PID4Docking::Thresh1_min = 25;
+int PID4Docking::Thresh1_min = 75;
 int PID4Docking::Thresh2_min = 10;
 
 int PID4Docking::Thresh1_max = 300;
@@ -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, 0.01923 /* Y_ref*/ , 0.201 /* X_ref*/ , -0.029 /* theta_ref*/}; 
+const double PID4Docking::RefPose[4] = {-.0957, 0.0199 /* Y_ref*/ , 0.201 /* X_ref*/ , -0.0335 /* theta_ref*/}; 
 
 // ----------------  PID gains---------------- //
 double PID4Docking::Kp_y = .38; //.4
 double PID4Docking::Ki_y = 0 ;// 0
 double PID4Docking::Kd_y = 0.02; //.1
 
-double PID4Docking::Kp_theta = .18;// .08
+double PID4Docking::Kp_theta = .25;// .18
 double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
 double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
 // ----------------  PID gains---------------- //
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
index 9fc4bba5..c68a8d85 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
@@ -48,7 +48,7 @@ using namespace std;
 
 float PID4Docking::TheMarkerSize = .1; // Default marker size
 
-int PID4Docking::Thresh1_min = 10;
+int PID4Docking::Thresh1_min = 25;
 int PID4Docking::Thresh2_min = 10;
 
 int PID4Docking::Thresh1_max = 300;
@@ -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, -0.004 /* Y_ref*/ , 0.6752 /* X_ref*/ , -0.036 /* theta_ref*/}; 
+const double PID4Docking::RefPose[4] = {-.0957, 0.01923 /* Y_ref*/ , 0.201 /* X_ref*/ , -0.029 /* theta_ref*/}; 
 
 // ----------------  PID gains---------------- //
-double PID4Docking::Kp_y = .51; //.4
+double PID4Docking::Kp_y = .38; //.4
 double PID4Docking::Ki_y = 0 ;// 0
-double PID4Docking::Kd_y = 0.1; //.15
+double PID4Docking::Kd_y = 0.02; //.1
 
-double PID4Docking::Kp_theta = .11;// .08
+double PID4Docking::Kp_theta = .18;// .08
 double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
 double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
 // ----------------  PID gains---------------- //
@@ -124,7 +124,7 @@ double PID4Docking::x_dock_thresh = .001;
 double PID4Docking::y_dock_thresh = .002; //.002
 double PID4Docking::theta_dock_thresh = (CV_PI/180) * .5; // .5 deg.
 
-double PID4Docking::safety_margin_X = .17; // safety margin X axis in docking process : 18 cm
+double PID4Docking::safety_margin_X = .16; // safety margin X axis in docking process : 18 cm
 
 // ------ offsets X, Y, theta for Undocking ---------
 double PID4Docking::x_thresh_undock = .02;
@@ -462,8 +462,7 @@ camPose[5] = CamFB->pose.orientation.z; //  Robot yaw
 	ROS_INFO_STREAM(" X_mar = " << x_robINmar_coor << " vs. X_ref = " << RefPose[2] << " \n");
         ROS_INFO_STREAM(" Y_mar = " << y_robINmar_coor << " vs. Y_ref = " << RefPose[1] << " \n");
 	
-        ROS_INFO_STREAM(" y_t = " << camPose[1] << " \n");
-	ROS_INFO_STREAM(" x_t = " << camPose[2] << " \n");
+        ROS_INFO_STREAM(" y_t = " << camPose[1] << " , x_t = " << camPose[2] << "\n");
 
 	ROS_INFO_STREAM("------------------------------------------------------  \n ");
 
@@ -615,14 +614,14 @@ ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_term
 		control_signalYAW = 0;	
 	}
 
-        /* --- */   
+        /* ---   
 	ROS_INFO_STREAM("Control signalX = " << control_signalX <<"\n");
 	ROS_INFO_STREAM("Control signalY = " << control_signalY << "\n");
 	ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<"\n");
-	
+	*/ 
 
 	ROS_INFO_STREAM(" ---------------------- Controller ended ----------------------- \n");	
-	//dock(control_signalX, control_signalY, control_signalYAW);
+	dock(control_signalX, control_signalY, control_signalYAW);
 }
 
 void PID4Docking::dock(double VelX, double VelY, double omegaZ)
@@ -636,7 +635,7 @@ void PID4Docking::dock(double VelX, double VelY, double omegaZ)
 	
 	commandPub.publish(msg);
 	
-	ROS_INFO_STREAM(" Current speed of robot: \n" << msg << ".\n");
+	ROS_INFO_STREAM(" Current speed of robot: \n" << msg << "");
 }
 
 void PID4Docking::move2docking(double VelX_est, double VelY_est, double omegaZ_est)
diff --git a/MobileRobot/docking_data/Pose.txt b/MobileRobot/docking_data/Pose_negative_angle.txt
similarity index 100%
rename from MobileRobot/docking_data/Pose.txt
rename to MobileRobot/docking_data/Pose_negative_angle.txt
diff --git a/MobileRobot/docking_data/Pose3.txt b/MobileRobot/docking_data/Pose_positive_angle.txt
similarity index 100%
rename from MobileRobot/docking_data/Pose3.txt
rename to MobileRobot/docking_data/Pose_positive_angle.txt
diff --git a/MobileRobot/docking_data/Pose2.txt b/MobileRobot/docking_data/Pose_zero_angle.txt
similarity index 100%
rename from MobileRobot/docking_data/Pose2.txt
rename to MobileRobot/docking_data/Pose_zero_angle.txt
diff --git a/MobileRobot/docking_data/Vel.txt b/MobileRobot/docking_data/Velocity_negative_angle.txt
similarity index 100%
rename from MobileRobot/docking_data/Vel.txt
rename to MobileRobot/docking_data/Velocity_negative_angle.txt
diff --git a/MobileRobot/docking_data/Vel3.txt b/MobileRobot/docking_data/Velocity_positive_angle.txt
similarity index 100%
rename from MobileRobot/docking_data/Vel3.txt
rename to MobileRobot/docking_data/Velocity_positive_angle.txt
diff --git a/MobileRobot/docking_data/Vel2.txt b/MobileRobot/docking_data/Velocity_zero_angle.txt
similarity index 100%
rename from MobileRobot/docking_data/Vel2.txt
rename to MobileRobot/docking_data/Velocity_zero_angle.txt
diff --git a/MobileRobot/docking_data/try.bag b/MobileRobot/docking_data/try.bag
deleted file mode 100644
index fe0167e5a62b178f12c75dada59bc392d6661c8c..0000000000000000000000000000000000000000
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