//绘制合速度图像
void ResultantVelCurveDrawing()
{
//数据读取
StreamReader pathFile = File.OpenText(VelInf);
List <string> tempString = new List <string>();
while (!pathFile.EndOfStream)
{
tempString.Add(pathFile.ReadLine());
}
pathFile.Close();
//如果点数小于2，不能规划出轨迹
if (tempString.Count() < 2)
{
return;
}
Graphics myGra = VelDisplay.CreateGraphics();
Pen myPen = new Pen(Color.Red, 1);
PointF[] velWheel1 = new PointF[tempString.Count()];
PointF[] velWheel2 = new PointF[tempString.Count()];
PointF[] velWheel3 = new PointF[tempString.Count()];
PointF[] targetVelWheel1 = new PointF[tempString.Count()];
PointF[] targetVelWheel2 = new PointF[tempString.Count()];
PointF[] targetVelWheel3 = new PointF[tempString.Count()];
float[] zAngle = new float[tempString.Count()];
int i = 0;
foreach (string str in tempString)
{
string[] sArray = str.Split(',');
velWheel1[i].X = velWheel2[i].X = velWheel3[i].X
= targetVelWheel1[i].X = targetVelWheel2[i].X = targetVelWheel3[i].X
= float.Parse(sArray[0]);
velWheel1[i].Y = float.Parse(sArray[1]);
velWheel2[i].Y = float.Parse(sArray[2]);
velWheel3[i].Y = float.Parse(sArray[3]);
targetVelWheel1[i].Y = float.Parse(sArray[4]);
targetVelWheel2[i].Y = float.Parse(sArray[5]);
targetVelWheel3[i].Y = float.Parse(sArray[6]);
i++;
}
PointF[] trueVel = new PointF[tempString.Count()];
PointF[] targetVel = new PointF[tempString.Count()];
PointF[] trueDir = new PointF[tempString.Count()];
PointF[] targetDir = new PointF[tempString.Count()];
PointF[] trueRotateVel = new PointF[tempString.Count()];
PointF[] targetRotateVel = new PointF[tempString.Count()];
PointF[] DirectionErr = new PointF[tempString.Count()];
PointF[] binaryzation = new PointF[tempString.Count()];
//由三个轮子的速度计算合成速度
for (int j = 0; j < targetVelWheel1.Count(); j++)
{
Calculate.TriWheelVel2_t tempVel;
tempVel = Calculate.TriWheelVel2ResultantVel(velWheel1[j].Y, velWheel2[j].Y, velWheel3[j].Y, zAngle[j]);
trueVel[j].Y = tempVel.speed;
trueVel[j].X = velWheel1[j].X;
trueDir[j].Y = tempVel.direction;
trueDir[j].X = velWheel1[j].X;
trueRotateVel[j].Y = tempVel.rotationVel;
trueRotateVel[j].X = velWheel1[j].X;
tempVel = Calculate.TriWheelVel2ResultantVel(targetVelWheel1[j].Y, targetVelWheel2[j].Y, targetVelWheel3[j].Y, zAngle[j]);
targetVel[j].Y = tempVel.speed;
targetVel[j].X = targetVelWheel1[j].X;
targetDir[j].Y = tempVel.direction;
targetDir[j].X = targetVelWheel1[j].X;
targetRotateVel[j].Y = tempVel.rotationVel;
targetRotateVel[j].X = targetVelWheel1[j].X;
}
pathMax = FindMaxAbs(targetDir).X;
zoom = (float)(VelDisplay.Bottom / 2) / FindMaxAbs(targetDir).Y;
//设置滚动条最大值
hScrollBar1.Maximum = (int)(PERCENT * pathMax / (VelDisplay.Right / zoomL)) + 1;
for (int j = 0; j < targetVelWheel1.Count(); j++)
{
DirectionErr[j].X = targetDir[j].X;
DirectionErr[j].Y = Math.Abs(targetDir[j].Y - trueDir[j].Y);
if (DirectionErr[j].Y > 180)
{
DirectionErr[j].Y = 360 - DirectionErr[j].Y;
}
else if (DirectionErr[j].Y < -180)
{
DirectionErr[j].Y = 360 + DirectionErr[j].Y;
}
}
//进行滤波处理
for (int m = 0; m < 4; m++)
{
for (int j = 1; j < DirectionErr.Count() - 1; j++)
{
DirectionErr[j].Y = (DirectionErr[j - 1].Y + DirectionErr[j + 1].Y) / 2;
}
}
//进行阈值判断，二值化
for (int j = 0; j < DirectionErr.Count(); j++)
{
if (DirectionErr[j].Y < 8)
{
binaryzation[j].Y = 0;
binaryzation[j].X = DirectionErr[j].X;
}
else
{
binaryzation[j].Y = DirectionErr[j].Y;
binaryzation[j].X = DirectionErr[j].X;
}
}
//将二值化的文件存入txt文档中
StreamWriter SpeedFile = new StreamWriter(SpeedReplanInfo, false);
for (int m = 0; m < binaryzation.Count(); m++)
{
SpeedFile.WriteLine("{0:f0},{1:f0}", binaryzation[m].X, binaryzation[m].Y);
}
SpeedFile.Close();
//进行阈值判断，二值化
for (int j = 0; j < DirectionErr.Count(); j++)
{
binaryzation[j] = GetPanelAxes(binaryzation[j].X, binaryzation[j].Y);
}
myPen.Color = Color.Black;
myGra.DrawLines(myPen, binaryzation);
}
//通过配置的轮子最大加速度进行降速
//适当比例的降速，算完后记得把最新速度数据放在ringbuffer里
//wheelOne 一号轮速度数组首地址
//wheelTwo 二号轮速度数组首地址
//wheelThree 三号轮速度数组首地址
static public void DynamicalAjusting(float[] wheelOne, float[] wheelTwo, float[] wheelThree)
{
float time = 0.0f;
int n = PointsInfo.pnts.Count();
float tempAcc = 0.0f;
//每次加速度降低至上次的百分值
float percent = 0.9f;
//先正向削减速度
for (int i = 2; i < n + 1; i++)
{
//粗略计算每两示教点之间的运动的时间
time = (PointsInfo.pnts[i - 1].length - PointsInfo.pnts[i - 2].length) / (PointsInfo.pnts[i - 1].velMax + PointsInfo.pnts[i - 2].velMax) * 2;
//轮1
//只处理速度同向的情况
if (wheelOne[i - 1] * wheelOne[i - 2] > 0)
{
tempAcc = (Math.Abs(wheelOne[i - 1]) - Math.Abs(wheelOne[i - 2])) / time;
}
else
{
tempAcc = 0.0f;
}
if (tempAcc > MotionCardParameter.GetAccMax())
{
//每次削减0.05的加速度
wheelOne[i - 1] = wheelOne[i - 1] > 0 ? wheelOne[i - 2] + tempAcc * percent * time : wheelOne[i - 2] - tempAcc * percent * time;
}
//轮2
//只处理速度同向的情况
if (wheelTwo[i - 1] * wheelTwo[i - 2] > 0)
{
tempAcc = (Math.Abs(wheelTwo[i - 1]) - Math.Abs(wheelTwo[i - 2])) / time;
}
else
{
tempAcc = 0.0f;
}
if (tempAcc > MotionCardParameter.GetAccMax())
{
//每次削减0.05的加速度
wheelTwo[i - 1] = wheelTwo[i - 1] > 0 ? wheelTwo[i - 2] + tempAcc * percent * time : wheelTwo[i - 2] - tempAcc * percent * time;
}
//轮3
//只处理速度同向的情况
if (wheelThree[i - 1] * wheelThree[i - 2] > 0)
{
tempAcc = (Math.Abs(wheelThree[i - 1]) - Math.Abs(wheelThree[i - 2])) / time;
}
else
{
tempAcc = 0.0f;
}
if (tempAcc > MotionCardParameter.GetAccMax())
{
//每次削减0.05的加速度
wheelThree[i - 1] = wheelThree[i - 1] > 0 ? wheelThree[i - 2] + tempAcc * percent * time : wheelThree[i - 2] - tempAcc * percent * time;
}
}
//反向削减速度
for (int i = n; i > 1; i--)
{
//粗略计算每两示教点之间的运动的时间
time = (PointsInfo.pnts[i - 1].length - PointsInfo.pnts[i - 2].length) / (PointsInfo.pnts[i - 1].velMax + PointsInfo.pnts[i - 2].velMax) * 2;
//轮1
//只处理速度同向的情况
if (wheelOne[i - 1] * wheelOne[i - 2] > 0)
{
tempAcc = (Math.Abs(wheelOne[i - 1]) - Math.Abs(wheelOne[i - 2])) / time;
}
else
{
tempAcc = 0.0f;
}
if (tempAcc < -MotionCardParameter.GetAccMax())
{
//每次削减0.05的加速度
wheelOne[i - 2] = wheelOne[i - 2] > 0 ? wheelOne[i - 1] - tempAcc * percent * time : wheelOne[i - 1] + tempAcc * percent * time;
}
//轮2
//只处理速度同向的情况
if (wheelTwo[i - 1] * wheelTwo[i - 2] > 0)
{
tempAcc = (Math.Abs(wheelTwo[i - 1]) - Math.Abs(wheelTwo[i - 2])) / time;
}
else
{
tempAcc = 0.0f;
}
if (tempAcc < -MotionCardParameter.GetAccMax())
{
//每次削减0.05的加速度
wheelTwo[i - 2] = wheelTwo[i - 2] > 0 ? wheelTwo[i - 1] - tempAcc * percent * time : wheelTwo[i - 1] + tempAcc * percent * time;
}
//轮3
//只处理速度同向的情况
if (wheelThree[i - 1] * wheelThree[i - 2] > 0)
{
tempAcc = (Math.Abs(wheelThree[i - 1]) - Math.Abs(wheelThree[i - 2])) / time;
}
else
{
tempAcc = 0.0f;
}
if (tempAcc < -MotionCardParameter.GetAccMax())
{
//每次削减0.05的加速度
wheelThree[i - 2] = wheelThree[i - 2] > 0 ? wheelThree[i - 1] - tempAcc * percent * time : wheelThree[i - 1] + tempAcc * percent * time;
}
}
for (int i = 0; i < n - 1; i++)
{
Calculate.TriWheelVel2_t tempVel2;
tempVel2 = Calculate.TriWheelVel2ResultantVel(wheelOne[i], wheelTwo[i], wheelThree[i], PointsInfo.pnts[i].posAngle);
//存入新计算的速度
PointsInfo.pnts[i].velMax = tempVel2.speed;
}
}
