/// <summary>
/// Return the velocity of the wheel on the ground to do the rotation, based on the angular velocity required
/// </summary>
/// <param name="robot">robot parameters, notably width and length</param>
/// <param name="rv">the angular velocity in degrees per second</param>
/// <returns></returns>
private double RotationalToGround(RobotParams robot, double rv)
{
double diameter = Math.Sqrt(robot.Width * robot.Width + robot.Length * robot.Length);
double circum = diameter * Math.PI;
return(rv * circum / 360.0);
}
private double GroundToRotational(RobotParams robot, double gr)
{
double diameter = Math.Sqrt(robot.Width * robot.Width + robot.Length * robot.Length);
double circum = diameter * Math.PI;
return(gr * 360.0 / circum);
}
/// <summary>
/// Returns the rotational speed profile to rotate the robot
/// </summary>
/// <param name="robot"></param>
/// <param name="start"></param>
/// <param name="end"></param>
/// <returns></returns>
private TrapezoidalProfile CreateRotationProfile(RobotParams robot, double start, double end, double time, double vel)
{
double accel = GroundToRotational(robot, robot.MaxAcceleration);
double maxvel = GroundToRotational(robot, vel);
double diff = end - start;
if (diff > 180.0)
{
diff -= 360.0;
}
else if (diff <= -180.0)
{
diff += 360.0;
}
TrapezoidalProfile tp;
tp = new TrapezoidalProfile(accel, maxvel);
tp.Update(diff, 0.0, 0.0);
if (tp.TotalTime > time)
{
throw new SwerveDriveModifier.VelocitySplitException();
}
return(tp);
}
/// <summary>
/// Return a vector, perpendicular to the requested wheel (e.g. a rotational vector) with the
/// magnitude given.
/// </summary>
/// <param name="robot">robot parameters, provides the width and length of the robot</param>
/// <param name="w">the wheel of interest</param>
/// <param name="magnitude">the magintude of the vector</param>
/// <returns>vector perpendicular to the requested wheel</returns>
private XeroVector GetWheelPerpendicularVector(RobotParams robot, Wheel w, double magnitude)
{
double dx = 0.0, dy = 0.0;
switch (w)
{
case Wheel.FL:
dx = robot.Length / 2.0;
dy = robot.Width / 2.0;
break;
case Wheel.FR:
dx = robot.Length / 2.0;
dy = -robot.Width / 2.0;
break;
case Wheel.BL:
dx = -robot.Length / 2.0;
dy = robot.Width / 2.0;
break;
case Wheel.BR:
dx = -robot.Length / 2.0;
dy = -robot.Width / 2.0;
break;
}
return(new XeroVector(dx, dy).Normalize().Perpendicular().Scale(magnitude));
}
private void GenerateSegmentsForPath(RobotParams robot, RobotPath path)
{
PathSegment[] segs = null;
Dictionary <string, PathSegment[]> add = null; DriveModifier mod = null;
double rotpercent = 0.0;
bool running = true;
if (robot.DriveType == RobotParams.TankDriveType)
{
mod = new TankDriveModifier();
}
else if (robot.DriveType == RobotParams.SwerveDriveType)
{
mod = new SwerveDriveModifier();
}
while (running)
{
RobotParams nrobot = new RobotParams(robot);
nrobot.MaxVelocity = (1 - rotpercent) * robot.MaxVelocity;
segs = GenerateDetailedPath(nrobot, path);
try
{
add = mod.ModifyPath(robot, path, segs, rotpercent * robot.MaxVelocity);
running = false;
}
catch (DriveModifier.VelocitySplitException)
{
rotpercent += 0.05;
}
}
path.SetSegments(segs, add);
}
public RobotParams(RobotParams p)
{
Width = p.Width;
Length = p.Length;
MaxVelocity = p.MaxVelocity;
MaxAcceleration = p.MaxAcceleration;
MaxJerk = p.MaxJerk;
DriveType = p.DriveType;
LengthUnits = p.LengthUnits;
TimeStep = p.TimeStep;
}
public PathFile(PathFile pf)
{
Robot = new RobotParams(pf.Robot);
Groups = new PathGroup[pf.Groups.Length];
for (int i = 0; i < Groups.Length; i++)
{
Groups[i] = new PathGroup(pf.Groups[i]);
}
IsDirty = true;
m_filename = pf.m_filename;
}
public void GenerateSegments(RobotParams robot, RobotPath path)
{
PathGenerationStateChangeEvent args = null;
Tuple <RobotParams, RobotPath> entry = new Tuple <RobotParams, RobotPath>(robot, path);
lock (m_lock)
{
m_queue.Add(entry);
int running = m_active ? 1 : 0;
int queued = m_queue.Count;
args = new PathGenerationStateChangeEvent(running, queued);
}
OnJobStateChanged(args);
}
public void AddPath(RobotParams robot, string name)
{
RobotPath path = new RobotPath(name);
path.MaxVelocity = robot.MaxVelocity;
path.MaxAcceleration = robot.MaxAcceleration;
path.MaxJerk = robot.MaxJerk;
Array.Resize <RobotPath>(ref Paths, Paths.Length + 1);
Paths[Paths.Length - 1] = path;
double length = UnitConverter.Convert(100.0, "inches", robot.LengthUnits);
path.AddPoint(new WayPoint(0.0, 0.0, 0.0, 0.0));
path.AddPoint(new WayPoint(length, 0.0, 0.0, 0.0));
}
public void GenerateSegments(RobotParams robot, PathGenerator gen)
{
bool needgen = false;
lock (m_lock)
{
if (m_segments == null || m_segments_dirty)
{
needgen = true;
m_segments = null;
m_segments_dirty = false;
}
}
if (needgen)
{
gen.GenerateSegments(robot, this);
}
}
public static void Diff(RobotParams p1, RobotParams p2, List <string> diff)
{
if (p1.DriveType != p2.DriveType)
{
diff.Add("DriveType:p1 = " + p1.DriveType + ", p2 = " + p2.DriveType);
}
if (p1.LengthUnits != p2.LengthUnits)
{
diff.Add("Units: p1 = " + p1.LengthUnits + ", p2 = " + p2.LengthUnits);
}
if (Math.Abs(p1.Length - p2.Length) > kEpsilon)
{
diff.Add("Length: p1 = " + p1.Length.ToString() + ", p2 = " + p2.Length.ToString());
}
if (Math.Abs(p1.Width - p2.Width) > kEpsilon)
{
diff.Add("Width: p1 = " + p1.Width.ToString() + ", p2 = " + p2.Width.ToString());
}
if (Math.Abs(p1.MaxVelocity - p2.MaxVelocity) > kEpsilon)
{
diff.Add("MaxVelocity: p1 = " + p1.MaxVelocity.ToString() + ", p2 = " + p2.MaxVelocity.ToString());
}
if (Math.Abs(p1.MaxAcceleration - p2.MaxAcceleration) > kEpsilon)
{
diff.Add("MaxAcceleration: p1 = " + p1.MaxAcceleration.ToString() + ", p2 = " + p2.MaxAcceleration.ToString());
}
if (Math.Abs(p1.MaxJerk - p2.MaxJerk) > kEpsilon)
{
diff.Add("MaxJerk: p1 = " + p1.MaxJerk.ToString() + ", p2 = " + p2.MaxJerk.ToString());
}
if (Math.Abs(p1.TimeStep - p2.TimeStep) > kEpsilon)
{
diff.Add("TimeStep: p1 = " + p1.TimeStep.ToString() + ", p2 = " + p2.TimeStep.ToString());
}
}
protected bool GeneratePathFile(RobotParams robot, RobotPath path, string filename)
{
bool ret = true;
PathFile pf = new PathFile();
pf.Robot = robot;
pf.AddPathGroup("tmp");
pf.AddPath("tmp", path);
string json = JsonConvert.SerializeObject(pf);
try
{
File.WriteAllText(filename, json);
}
catch (Exception)
{
ret = false;
}
return(ret);
}
public PathFile()
{
Groups = new PathGroup[0];
Robot = new RobotParams(RobotParams.TankDriveType, "inches", "degrees", 0.02, 24.0, 32.0, 96.0, 96.0, 96.0);
}
public abstract Dictionary <string, PathSegment[]> ModifyPath(RobotParams robot, RobotPath path, PathSegment[] segs, double rotvel);
public override Dictionary <string, PathSegment[]> ModifyPath(RobotParams robot, RobotPath path, PathSegment[] segs, double rotvel)
{
Dictionary <string, PathSegment[]> result = new Dictionary <string, PathSegment[]>();
if (segs == null)
{
return(null);
}
double total = segs[segs.Length - 1].GetValue("time");
double rtime = total - path.FacingAngleStartDelay - path.FacingAngleEndDelay;
TrapezoidalProfile profile = CreateRotationProfile(robot, path.StartFacingAngle, path.EndFacingAngle, rtime, rotvel);
if (profile == null)
{
throw new DriveModifier.VelocitySplitException();
}
PathSegment[] fl = new PathSegment[segs.Length];
PathSegment[] fr = new PathSegment[segs.Length];
PathSegment[] bl = new PathSegment[segs.Length];
PathSegment[] br = new PathSegment[segs.Length];
result["fl"] = fl;
result["fr"] = fr;
result["bl"] = bl;
result["br"] = br;
for (int i = 0; i < segs.Length; i++)
{
//
// The time in the path
//
double time = segs[i].GetValue("time");
//
// The current facing angle based on the rotational trapezoidal profile
//
double current = XeroUtils.BoundDegrees(path.StartFacingAngle + profile.GetDistance(time - path.FacingAngleStartDelay));
//
// Get the required velocity to perform the rotation. This is the
// linear ground based velocity for the wheel that must be applied to
// each wheel in direction perpendicular to the vector from the center of
// the robot to the center of the wheel.
//
double rv = RotationalToGround(robot, profile.GetVelocity(time - path.FacingAngleStartDelay));
double ra = RotationalToGround(robot, profile.GetAcceleration(time - path.FacingAngleStartDelay));
//
// Get the velocity vector and acceleration vector relative to each of the
// wheels to rotate the robot based on the desired rotational velocity.
//
XeroVector rotflvel = GetWheelPerpendicularVector(robot, Wheel.FL, rv);
XeroVector rotfrvel = GetWheelPerpendicularVector(robot, Wheel.FR, rv);
XeroVector rotblvel = GetWheelPerpendicularVector(robot, Wheel.BL, rv);
XeroVector rotbrvel = GetWheelPerpendicularVector(robot, Wheel.BR, rv);
XeroVector rotflacc = GetWheelPerpendicularVector(robot, Wheel.FL, ra);
XeroVector rotfracc = GetWheelPerpendicularVector(robot, Wheel.FR, ra);
XeroVector rotblacc = GetWheelPerpendicularVector(robot, Wheel.BL, ra);
XeroVector rotbracc = GetWheelPerpendicularVector(robot, Wheel.BR, ra);
//
// Get the translational velocity vector to follow the path
//
XeroVector pathvel = XeroVector.FromDegreesMagnitude(segs[i].GetValue("heading"), segs[i].GetValue("velocity")).RotateDegrees(-current);
XeroVector pathacc = XeroVector.FromDegreesMagnitude(segs[i].GetValue("heading"), segs[i].GetValue("acceleration")).RotateDegrees(-current);
//
// For each wheel, the velocity vector is the sum of the rotational vector and the translational vector
//
XeroVector flv = rotflvel + pathvel;
XeroVector frv = rotfrvel + pathvel;
XeroVector blv = rotblvel + pathvel;
XeroVector brv = rotbrvel + pathvel;
XeroVector fla = rotflacc + pathvel;
XeroVector fra = rotfracc + pathvel;
XeroVector bla = rotblacc + pathvel;
XeroVector bra = rotbracc + pathvel;
//
// Now calculate the wheel positions based on the path position and the
// facing angle
//
XeroVector flpos = new XeroVector(robot.Length / 2.0, robot.Width / 2.0).RotateDegrees(current).Translate(segs[i].GetValue("x"), segs[i].GetValue("y"));
XeroVector frpos = new XeroVector(robot.Length / 2.0, -robot.Width / 2.0).RotateDegrees(current).Translate(segs[i].GetValue("x"), segs[i].GetValue("y"));
XeroVector blpos = new XeroVector(-robot.Length / 2.0, robot.Width / 2.0).RotateDegrees(current).Translate(segs[i].GetValue("x"), segs[i].GetValue("y"));
XeroVector brpos = new XeroVector(-robot.Length / 2.0, -robot.Width / 2.0).RotateDegrees(current).Translate(segs[i].GetValue("x"), segs[i].GetValue("y"));
PathSegment newseg = new PathSegment(segs[i]);
newseg.SetValue("x", flpos.X);
newseg.SetValue("y", flpos.Y);
newseg.SetValue("velocity", flv.Magnitude());
newseg.SetValue("heading", flv.AngleDegrees());
newseg.SetValue("acceleration", fla.Magnitude());
fl[i] = newseg;
newseg = new PathSegment(segs[i]);
newseg.SetValue("x", frpos.X);
newseg.SetValue("y", frpos.Y);
newseg.SetValue("velocity", frv.Magnitude());
newseg.SetValue("heading", frv.AngleDegrees());
newseg.SetValue("acceleration", fra.Magnitude());
fr[i] = newseg;
newseg = new PathSegment(segs[i]);
newseg.SetValue("x", blpos.X);
newseg.SetValue("y", blpos.Y);
newseg.SetValue("velocity", blv.Magnitude());
newseg.SetValue("heading", blv.AngleDegrees());
newseg.SetValue("acceleration", bla.Magnitude());
bl[i] = newseg;
newseg = new PathSegment(segs[i]);
newseg.SetValue("x", brpos.X);
newseg.SetValue("y", brpos.Y);
newseg.SetValue("velocity", brv.Magnitude());
newseg.SetValue("heading", brv.AngleDegrees());
newseg.SetValue("acceleration", bra.Magnitude());
br[i] = newseg;
}
return(result);
}
public override Dictionary <string, PathSegment[]> ModifyPath(RobotParams robot, RobotPath path, PathSegment[] segs, double rotvel)
{
Dictionary <string, PathSegment[]> result = new Dictionary <string, PathSegment[]>();
if (segs == null)
{
return(null);
}
double lvel, lacc, ljerk, lpos = 0.0;
double rvel, racc, rjerk, rpos = 0.0;
double plx = 0.0, ply = 0.0;
double prx = 0.0, pry = 0.0;
double plvel = 0.0, prvel = 0.0;
double placc = 0.0, pracc = 0.0;
PathSegment[] lsegs = new PathSegment[segs.Length];
PathSegment[] rsegs = new PathSegment[segs.Length];
result["left"] = lsegs;
result["right"] = rsegs;
for (int i = 0; i < segs.Length; i++)
{
double time = segs[i].GetValue("time");
double heading = XeroUtils.DegreesToRadians(segs[i].GetValue("heading"));
double ca = Math.Cos(heading);
double sa = Math.Sin(heading);
double px = segs[i].GetValue("x");
double py = segs[i].GetValue("y");
double lx = px - robot.Width * sa / 2.0;
double ly = py + robot.Width * ca / 2.0;
double rx = px + robot.Width * sa / 2.0;
double ry = py - robot.Width * ca / 2.0;
if (i == 0)
{
lvel = 0.0;
lacc = 0.0;
lpos = 0.0;
ljerk = 0.0;
rvel = 0.0;
racc = 0.0;
rpos = 0.0;
rjerk = 0.0;
}
else
{
double dt = segs[i].GetValue("time") - segs[i - 1].GetValue("time");
double ldist = Math.Sqrt((lx - plx) * (lx - plx) + (ly - ply) * (ly - ply));
double rdist = Math.Sqrt((rx - prx) * (rx - prx) + (ry - pry) * (ry - pry));
lvel = ldist / dt;
rvel = rdist / dt;
lacc = (lvel - plvel) / dt;
racc = (rvel - prvel) / dt;
ljerk = (lacc - placc) / dt;
rjerk = (racc - pracc) / dt;
lpos += ldist;
rpos += rdist;
}
PathSegment left = new PathSegment();
left.SetValue("time", time);
left.SetValue("x", lx);
left.SetValue("y", ly);
left.SetValue("heading", segs[i].GetValue("heading"));
left.SetValue("position", lpos);
left.SetValue("velocity", lvel);
left.SetValue("acceleration", lacc);
left.SetValue("jerk", ljerk);
lsegs[i] = left;
PathSegment right = new PathSegment();
right.SetValue("time", segs[i].GetValue("time"));
right.SetValue("x", rx);
right.SetValue("y", ry);
right.SetValue("heading", segs[i].GetValue("heading"));
right.SetValue("position", rpos);
right.SetValue("velocity", rvel);
right.SetValue("acceleration", racc);
right.SetValue("jerk", rjerk);
rsegs[i] = right;
plx = lx;
ply = ly;
prx = rx;
pry = ry;
plvel = lvel;
prvel = rvel;
placc = lacc;
pracc = racc;
}
return(result);
}
public abstract PathSegment[] GenerateDetailedPath(RobotParams robot, RobotPath path);
