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 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