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Main.m
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Main.m
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%% Clean
clc;
close all;
%% Check List:
% 1.Power on Robot Dog
% 2.Connect Robot Dog Wifi: Unitree_Go393319A
% 3.Open Virtual Machine
% 4.Running /Desktop/unitree_matlab/build/udp_link press Enter to begin
% 5.Open Motive Check Broadcast and Network Interface
% 6.You are good for running
%% Robot Dog Network Parameters
% this IP is the vm ip
Robot_Dog_IP = '192.168.12.184';
Robot_Dog_Port = 1145;
%% Robot Dog Command Initialized
Control_Command = zeros(1,11,'single');
%velocity walking
Control_Command(1)=2;
%% Feedback Control Parameters
K_P = 0.6; % Porportional constant on velocity action
K_I = 1; % Integral
K_D = 1;
% constant on velocity action
K_Y = pi/180; % Proportional constant on angle action
%% Control Setting
% wall wall wall wall wall
% 0
% ^ z
% |
% |
% 90 x <----O 270
%
% 180
%
% wall computer wall
%% MODE
% Mode 1: Dog will go to Target_point.
% Mode 2: Dog will follow Way_Points.
Control_Mode=1;
%% Target Point
%[x,z]
Target_Point=[0 -2.8];
%% YAW
% [0,360)
% -1: Disable yaw control
yaw_set = -1;
%% THRESHOLD
% Distance Threshold to switch to next way point
Distance_Threshold = 0.1;
% Cricel way points 18
Way_Points_center =[0,0];
Way_Points_radius =1.65;
Way_Points_theta = linspace(0,2*pi,18);
Way_Points_x=Way_Points_center(1)+Way_Points_radius*cos(Way_Points_theta);
Way_Points_z=Way_Points_center(2)+Way_Points_radius*sin(Way_Points_theta);
%% Instantiate client object to run Motive API commands
% Check list:
% 1.Broadcast Frame Date
% 2.Network Interface: Local Loopback
% https://optitrack.com/software/natnet-sdk/
% Create Motive client object
dllPath = fullfile('d:','StDroneControl','NatNetSDK','lib','x64','NatNetML.dll');
assemblyInfo = NET.addAssembly(dllPath); % Add API function calls
theClient = NatNetML.NatNetClientML(0);
% Create connection to localhost, data is now being streamed through client object
HostIP = '127.0.0.1';
theClient.Initialize(HostIP, HostIP);
Dog_ID = 1; % Rigid body ID of the drone from Motive
%% figure for movtion track
fig = figure();
ax = axes('Parent',fig);
arrow_length=0.2;
%circle for draw
circle_center =[0,0];
circle_radius =1.65;
circle_theta = linspace(0,2*pi,100);
circle_x=circle_center(1)+circle_radius*cos(circle_theta);
circle_y=circle_center(2)+circle_radius*sin(circle_theta);
%% Robot dog command
% Control_Command()
%
% +(11) +(9) -(11)
% |
% +(10) dog -(10)
% |
% -(9)
%
%% Motive coordiate frame
% wall wall wall wall wall
% ^ z
% |
% |
% x <----O y(pointing up)
% wall computer wall
%% Init
Way_Point_index=1;
%% Loop
while true
% get position from camera
[Dog_Pos] = Get_Dog_Postion(theClient, Dog_ID); %[time, z, x, yaw]
if Control_Mode == 2
Target_Point = [Way_Points_x(Way_Point_index) Way_Points_z(Way_Point_index)];
end
%% Feedback control
% Calculate Distance
Point_Dog = [Dog_Pos(2) Dog_Pos(3)]; %[x,z]
Vector_PD_TP = Target_Point-Point_Dog;
Norm_Vector = norm(Vector_PD_TP);
Rotation_matrix = [cosd(Dog_Pos(4)), -sind(Dog_Pos(4)) ; sind(Dog_Pos(4)),cosd(Dog_Pos(4)) ];
if Norm_Vector > Distance_Threshold %Distance > 0.20M
%% Mode 1
if yaw_set == -1
error_yaw_command=0;
elseif yaw_set >=0 && yaw_set<360
error_yaw = yaw_set-Dog_Pos(4);
if abs(error_yaw)>180
error_yaw_command=(360+error_yaw);
else
error_yaw_command=error_yaw;
end
end
Vector_rotated = Rotation_matrix*Vector_PD_TP';
Control_Command(11) = error_yaw_command*K_Y;
Control_Command(10) = Vector_rotated(1)*K_P; %x
Control_Command(9) = Vector_rotated(2)*K_P; %z
% %% Mode2
% if Control_Mode == 2
% Point_Dog = [Dog_Pos(2) Dog_Pos(3)];
% Vector_PD_TP = Target_Point-Point_Dog;
% Norm_Vector = norm(Vector_PD_TP);
% if(Norm_Vector>0.5)
% angle_r = atan2(-Vector_PD_TP(1),Vector_PD_TP(2));
% yaw_set = rad2deg(angle_r);
% if yaw_set >= -90
% yaw_set = yaw_set+90;
% else
% yaw_set = 360+(yaw_set+90);
% end
% end
%
% error_yaw = yaw_set-Dog_Pos(4);
% if abs(error_yaw)>180
% error_yaw_command=(360+error_yaw);
% else
% error_yaw_command=error_yaw;
% end
% error_Z = Target_Point(1)-Dog_Pos(2);
%
% error_Z_rotated = error_Z*cosd(Dog_Pos(4))-error_X*sind(Dog_Pos(4));
%
%
% Control_Command(11) = error_yaw_command*K_Y;
% Control_Command(10) = error_Z_rotated*K_P;
% Control_Command(10) = 0;
%
% end
else
% finished stop running
if Control_Mode == 1
Control_Command(11) = 0;
Control_Command(10) = 0; %x
Control_Command(9) = 0; %z
Robot_Dog(Robot_Dog_IP,Robot_Dog_Port,Control_Command);
break;
elseif Control_Mode == 2
% go to next way point
if length(Way_Points_z)>Way_Point_index
Way_Point_index=Way_Point_index+1;
else
%finished stop running
Control_Command(11) = 0;
Control_Command(10) = 0; %x
Control_Command(9) = 0; %z
Robot_Dog(Robot_Dog_IP,Robot_Dog_Port,Control_Command);
break;
end
end
end
%print command
disp(Control_Command);
Robot_Dog(Robot_Dog_IP,Robot_Dog_Port,Control_Command);
%% draw
plot(ax,circle_x,circle_y,'b-');
xlabel('X')
ylabel('Z')
hold on;
plot(ax,0,0,'.');
plot(ax,Target_Point(1),Target_Point(2),'.','Color','r','MarkerSize',20);
plot(ax,Way_Points_x,Way_Points_z,'o');
ax.DataAspectRatio=[1 1 1];
dy=arrow_length*cosd(Dog_Pos(4));
dx=arrow_length*sind(Dog_Pos(4));
quiver(Dog_Pos(2),Dog_Pos(3),dx,dy,'r','LineWidth',0.2,'MaxHeadSize',2);
set(gca,'XDir','reverse');
xlim(ax,[-3,3]);
ylim(ax,[-2,2]);
hold off;
drawnow;
%% 50Hz
pause(0.02);
end