From 29deb702cc33283a5429b31cbbea6a873b00a3ec Mon Sep 17 00:00:00 2001 From: Wayne Glettig Date: Thu, 25 Jul 2019 09:28:32 +0200 Subject: [PATCH] added paramfile --- paramfile/Makefile | 12 ++ paramfile/README | 37 +++++ paramfile/Test.cpp | 82 ++++++++++ paramfile/readparamfile.h | 207 ++++++++++++++++++++++++ traj/Motion Calculation.pdf | Bin 210956 -> 0 bytes traj/Test.m | 16 -- traj/fastest_track_algorithm.m | 124 -------------- traj/fastest_track_function.m | 122 -------------- traj/min_jerk_xy_algorithm.m | 55 ------- traj/pathmotion_inc.m | 115 ------------- traj/pt.m | 25 --- traj/pt4.m | 52 ------ traj/pt4Test.m | 68 -------- traj/ptTest.m | 68 -------- traj/pvt.m | 21 --- traj/pvtTest.m | 70 -------- traj/pvt_polynomial_algorithm.m | 80 --------- traj/pvt_polynomial_algorithm_stretch.m | 103 ------------ traj/tmp.m | 15 -- traj/trajectory.py | 76 --------- 20 files changed, 338 insertions(+), 1010 deletions(-) create mode 100644 paramfile/Makefile create mode 100644 paramfile/README create mode 100644 paramfile/Test.cpp create mode 100644 paramfile/readparamfile.h delete mode 100644 traj/Motion Calculation.pdf delete mode 100644 traj/Test.m delete mode 100644 traj/fastest_track_algorithm.m delete mode 100644 traj/fastest_track_function.m delete mode 100644 traj/min_jerk_xy_algorithm.m delete mode 100644 traj/pathmotion_inc.m delete mode 100644 traj/pt.m delete mode 100644 traj/pt4.m delete mode 100644 traj/pt4Test.m delete mode 100644 traj/ptTest.m delete mode 100644 traj/pvt.m delete mode 100644 traj/pvtTest.m delete mode 100644 traj/pvt_polynomial_algorithm.m delete mode 100644 traj/pvt_polynomial_algorithm_stretch.m delete mode 100644 traj/tmp.m delete mode 100644 traj/trajectory.py diff --git a/paramfile/Makefile b/paramfile/Makefile new file mode 100644 index 0000000..6ee721c --- /dev/null +++ b/paramfile/Makefile @@ -0,0 +1,12 @@ +CC=g++ +CFLAGS=-I. -std=c++11 -g +FILES = Test.cpp +OUT_EXE = Test + +build: $(FILES) + $(CC) -o $(OUT_EXE) $(FILES) $(CFLAGS) + +clean: + rm -f *.o core + +rebuild: clean build diff --git a/paramfile/README b/paramfile/README new file mode 100644 index 0000000..790bc56 --- /dev/null +++ b/paramfile/README @@ -0,0 +1,37 @@ +24.5.2019 Wayne Glettig +--- + +When working on NUC, install DDD. DDD is great to debug simple c files. + + +To do: + +Implement C++ Class to use for motion control for SmarGon. + +What is missing: + +COMPONENTS: + +NewGon STATE CLASS, like an Object (as in Struct with methods) containing: + * Configuration PARAMETERS + * Current Operational STATUS +of NewGon. + + +NewGon TRAJECTORY Models: implement Trapezoidal & S-curve motion, or following mode. +That can be applied either to a physical axis or to a virtual axis. + + + + +QUESTIONS: + * How to implement Geometrical Models, IK etc.? + * + + + + + + + + diff --git a/paramfile/Test.cpp b/paramfile/Test.cpp new file mode 100644 index 0000000..abea4fc --- /dev/null +++ b/paramfile/Test.cpp @@ -0,0 +1,82 @@ +#include +#include "NewGon.h" + +int parse(std::string str, NewGon myGon) { + if (str[0]=='Q' || str[0]=='q') // Q: End program + return 0; + + if (str[0] == 'A' || str[0]== 'a') + if (str[1] == '1') + std::cout << "axis[1].name: " << myGon.axis[1].name << "\n"; + if (str[1] == '2') + std::cout << "axis[2].name: " << myGon.axis[2].name << "\n"; + if (str[1] == '3') + std::cout << "axis[3].name: " << myGon.axis[3].name << "\n"; + if (str[1] == '4') + std::cout << "axis[4].name: " << myGon.axis[4].name << "\n"; + if (str[1] == '5') + std::cout << "axis[5].name: " << myGon.axis[5].name << "\n"; + if (str[1] == '6') + std::cout << "axis[6].name: " << myGon.axis[6].name << "\n"; + if (str[0]== 'S'|| str[0]=='s') + { + myGon.runstep(); + std::cout << "axis[1].x: " << myGon.axis[1].pos << "\n"; + } + + return 1; +} + +int main () +{ + int ret; + //Define Goniometer + NewGon myGon; //create Goniometer object + + //Configure Goniometer + myGon.setName("Wayne's NewGon"); + myGon.axis[1].setName("s1"); + myGon.axis[2].setName("s2"); + myGon.axis[3].setName("s3"); + myGon.axis[4].setName("s4"); + myGon.axis[5].setName("s5"); + myGon.axis[6].setName("s6"); + myGon.axis[1].setUnitUsr("mm"); + myGon.axis[1].setUnitCtr("nm"); + + + //User Feedback + std::cout << "=============================" << "\n"; + std::cout << "PROGRAM TO DEBUG NewGon class" << "\n"; + std::cout << "-----------------------------" << "\n"; + std::cout << "myGon.name : '" << myGon.name << "'\n"; + std::cout << "myGon.MODE : " << myGon.MODE << "\n"; + std::cout << "myGon.naxes: " << myGon.naxes << "\n"; +/* for (int i=1; i<=myGon.naxes; i++) { + std::cout << "---------------------------------" << "\n"; + std::cout << "myGon.axis["< "; + std::cin >> strCommand; + loop = parse(strCommand, myGon); + } + return 0; +} + + diff --git a/paramfile/readparamfile.h b/paramfile/readparamfile.h new file mode 100644 index 0000000..38446ac --- /dev/null +++ b/paramfile/readparamfile.h @@ -0,0 +1,207 @@ +#include + +class Trajectory +{ + public: + double t = 0; //current time + double x = 0; //current position + double v = 0; //current velocity + double a = 0; //current acceleration + + double xT = 0; //target position + double xdb=0.0001; //position loop deadband. + + //parameters + double vmax = 0; //maximum velocity + double amax = 0; //maximum acceleration + + double dt = 0.001; //time step + + int set_target(double target); + int runstep (); + private: + +}; + + +int Trajectory::set_target(double target) +{ + xT = target; + return 0; +} + +int Trajectory::runstep() +{ + t += dt; //increment by time step + double xrem = xT-x; //remaining path + if (fabs(xrem) < xdb) return 1; //if in deadband, don't do anythhing + + double xsgn = xrem<0?-1:1; //sgn(xrem) + double bremsweg = v*v/2/amax; //bremsweg (based on current speed) + double asgn = fabs(xrem) vmax) {v = vmax; a=0;} //bound v + if (v<-vmax) {v = -vmax; a=0;} + x = x + v*dt + 0.5*a*dt*dt; //calculate new x + return 1; +} + + +/////////////////////////////////////////////////////////////////////////////// +class AxisDef +{ + public: + static const int NAMELENGTH = 8; + //Axis Parameters + char name[NAMELENGTH+1]; //axis name + char unit_usr[NAMELENGTH+1]; //user unit name (string) + char unit_ctr[NAMELENGTH+1]; //control unit name (string) + double scale = 1.; // + double offset = 0.; //UserUnits = (ControlUnits * scale) + offset + //All limit in User Units: + double LimNeg = 0.; + double LimPos = 0.; + double maxSpeed = 0.; + double minSpeed = 0.; + double maxJogSpeed = 0.; + double minJogSpeed = 0.; + //Nominal speeds: + double moveSpeed = 0.; + double jogSpeed = 0.; + + + Trajectory traj; + //AXIS STATUS: + double timestamp = 0.; + int state_init = 0; + int state_motion = 0; + double pos = 0.; + double v = 0.; + double a = 0.; + + double targetpos = 0.; + + //Default Constructor: + AxisDef(); + + //Methods: + int setName(const char * newname); + int setUnitUsr(const char * newname); + int setUnitCtr(const char * newname); + int setStr(const char * setstring, char * targetstring); +}; + +AxisDef::AxisDef() +{ + //initialize strings to "" (to avoid crap upon creation) + setName(""); + setUnitUsr(""); + setUnitCtr(""); +} + +int AxisDef::setName(const char * newname) +{ + return setStr(newname, name); +} + +int AxisDef::setUnitUsr(const char * newname) +{ + return setStr(newname, unit_usr); +} + +int AxisDef::setUnitCtr(const char * newname) +{ + return setStr(newname, unit_ctr); +} + +int AxisDef::setStr(const char * setstring, char * targetstring) +// use: newgon.setName("Name") +// only the first NAMELENTH charaters will be used. +// if the given string is longer than NAMELENGTH, return 1 +// if all goes well return 0 +{ + for (int i=0; i3Ebye;I}6gbakX1{UxFcY$Hu;}pd z!5iBc{i=%apFemQ7AE%pZbR7E(ALOUUf;pm5zwNLt(CL2jUyo|y}X05k-4Fhtpgz= z6CWSFsJWGsu>-xRmA;elU$4+h2y5}MFtf1=aEP+7a0s%oh_Y}Bum}o>Fp6-92s1J= z2#GTB@vyVA3$Ta?32-uVaIkW+un91+vNEtU3bP4u2nhP=+!xY`c0n{j|_LXm~al`@xBB_;_I4>2o+!&n^1eQ-AL->LDQc zjhISEo3RnM)nx^lg~LcFIC^L+ zF27Km50=Mvh^25fmce;m5`S?HstWUVt0%)u!RO{M$o$#O3Br-9jcJ*vym+4dULL^l zLtq$4S3ncqem^7;bjj1a1R>9qL8Lmw78nBP@e<1~c*+PY~m&;ecmBsNAS zz&|@D;9rMc%)!>#4q)TI>jDhe$Xx$_EDInuK#%@wXo|*;w$2WQ#(#62t%H)CzM=6i z;!|P(VBvRf0ZJ5ca}rZ>0#F^`iP-Nazx)4-2LVF_+*DQu6leZD2tb|@kpD~D%F0ZD 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zjAWe}o5gopd7v~`L*bz6tF!!&Pk~(BBh#!M3(55n*|sL39q(TEQmMB&JQ`k^{p1?W z+nZ6|86e;ry6nvHiUQ`XW9KyV3@4v92a-K|GbR^H^aSmdXCl4m1fGC7X?J!vLt0x5 zanFX`8h1TL5>mhPFyszw>yt%TAmIpg7|PyRR1_$Kv~#t0K(CVk)zJe8o4xT20Q`qj z$P{IbMEM{B{8B>le0)OE0(|m(!cu(FQgUE9Avswv7$hUlD=sQ1C@94zCnF^c5fb7T z<`av;1^LBIfQk;5NB~6eD?Q~0p8*8aL?Y3<%mlv?8Eh^i&|ieU zmNI=!ge6eV2n>J#z$QN@sH_KPx;P1?r6`*h6Epn)kKdZ{>*K@^V>RUu%wQ2aNON5e z889#JwWsz6;yh*g{AO9u*uOV`^LfCTpu`B_Mp)AnIcHea35yxEFxMR@|I#P8LEP;m zn+HDHFH$zcZAHgIMH5%XxgRu~rCtb7-c=KMdfMUTF!jd-$p?C4gIdY*C{7JgI8@O`_D@ zd$Se7LIZWEFG?Sm&pekwlNW}sgLw|o9(oo5<>G-tSdtKe!2%?NtgLbuvmax) and -% deccelerate (vmax->vT): -s_acc = v0*(vmax-v0)/amax + (vmax-v0)^2/2/amax; -s_decc = vmax*(vT-vmax)/dmax + (vT-vmax)^2/2/dmax; - -% Let's see if s_acc and s_decc fit within the required displacement xT-x0. -if (abs(xT-x0) t1 --vconst--> t2 --deceleration--> t3 -% t_acc t_vconst t_decc -% -t_acc = (vlim-v0)/amax; -t_decc = (vT-vlim)/dmax; -t_vconst = s_vconst/vlim; - -t1 = t0 + t_acc; -t2 = t1 + t_vconst; -t3 = t2 + t_decc; - - - -%% STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE: -%Vectors for results -T = t0:dt:t3; -X = zeros(length(T),1); -V = zeros(length(T),1); -A = zeros(length(T),1); - -for (i = 1:length(T)) - t = T(i); - if (t < t1) %acceleration phase - a= amax; - v= v0 + a*(t-t0); - x= x0 + v0*(t-t0) + 1/2*a*(t-t0)^2; - elseif (t < t2) %constant v phase - a= 0; - v= vlim; - x= x0 + s_acc + v*(t-t1); - elseif (t < t3) %deceleration phase - a=dmax; - v= vlim + a*(t-t2); - x= x0 + s_acc + s_vconst + vlim*(t-t2) +1/2*a *(t-t2)^2; - end - %Write to vectors - X(i)=x; - V(i)=v; - A(i)=a; -end - - -%% PLOT CURVES: -subplot (3,1,1); -plot(T, X,'r+-'); -hold on; -grid on; -ylabel('x(t)[m]'); - -subplot (3,1,2); -plot(T, V,'g+-'); -hold on; -grid on; -ylabel('v(t)[m/s]'); - -subplot (3,1,3); -plot(T, A,'b+-'); -hold on; -grid on; -ylabel('a(t)[m/s^2]'); -xlabel('t[s]'); diff --git a/traj/fastest_track_function.m b/traj/fastest_track_function.m deleted file mode 100644 index c1a88d0..0000000 --- a/traj/fastest_track_function.m +++ /dev/null @@ -1,122 +0,0 @@ -function [ T X V A ] = fastest_track_function(x0,v0,xT,vT,vmax,amax,dmax,t0,dt) - - -%UNTITLED Summary of this function goes here -% Detailed explanation goes here -% Implementation of a fastest track motion algorithm. -% 23.8.2018, Wayne Glettig -% Fastest track from x0 to xT, with the following given constraints: -% vmax: maximum speed of travel -% amax: maximum acceleration -% dmax: maximum deceleration -% The algorithm also takes in account start and end velocities v0 & vT -% And plots the result in (x,t), (v,t) and (a,t) plots. - - -%% INPUT PARAMETERS: -% x0=0; %Start position -% v0=-1; %Start velocity -% -% xT=-10; %Target position -% vT=-1; %Target velocity -% -% vmax=2; %Maxium allowed velocity -% amax=1; %Maximum acceleration -% dmax=-amax; %Maximum deceleration -% -% t0=0; %Start time -% dt=0.01; %time step - -%% CALCULATE PROFILE: -% First, we set the motion direction, depending on start and end positions. -% Here we also make the algorithm immune to vmax, amax & dmax signs. -dir=sign(xT-x0); -amax = dir*abs(amax); -dmax = -dir*abs(dmax); -vmax = dir*abs(vmax); - -% The motion profile is comprised of three phases: -% 1) Acceleration phase with full amax acceleration -% 2) Constant velocity phase with vmax -% 3) Deceleration phase with full dmax deceleration - -% Now if the distance is too short to be able to accelerate up to vmax, -% there is no constant velocity phase (phase 2). -% Let's calculate the displacement required to accelerate (v0->vmax) and -% deccelerate (vmax->vT): -s_acc = v0*(vmax-v0)/amax + (vmax-v0)^2/2/amax; -s_decc = vmax*(vT-vmax)/dmax + (vT-vmax)^2/2/dmax; - -% Let's see if s_acc and s_decc fit within the required displacement xT-x0. -if (abs(xT-x0) t1 --vconst--> t2 --deceleration--> t3 -% t_acc t_vconst t_decc -% -t_acc = (vlim-v0)/amax; -t_decc = (vT-vlim)/dmax; -t_vconst = s_vconst/vlim; - -t1 = t0 + t_acc; -t2 = t1 + t_vconst; -t3 = t2 + t_decc; - - - -%% STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE: -%Vectors for results -T = t0:dt:t3; -X = zeros(length(T),1); -V = zeros(length(T),1); -A = zeros(length(T),1); - -for (i = 1:length(T)) - t = T(i); - if (t < t1) %acceleration phase - a= amax; - v= v0 + a*(t-t0); - x= x0 + v0*(t-t0) + 1/2*a*(t-t0)^2; - elseif (t < t2) %constant v phase - a= 0; - v= vlim; - x= x0 + s_acc + v*(t-t1); - elseif (t < t3) %deceleration phase - a=dmax; - v= vlim + a*(t-t2); - x= x0 + s_acc + s_vconst + vlim*(t-t2) +1/2*a *(t-t2)^2; - end - %Write to vectors - X(i)=x; - V(i)=v; - A(i)=a; -end - -end - -% %% PLOT CURVES: -% subplot (3,1,1); -% plot(T, X,'+-'); -% hold on; -% -% subplot (3,1,2); -% plot(T, V,'+-'); -% hold on; -% -% subplot (3,1,3); -% plot(T, A,'+-'); -% hold on; \ No newline at end of file diff --git a/traj/min_jerk_xy_algorithm.m b/traj/min_jerk_xy_algorithm.m deleted file mode 100644 index 5b1ef40..0000000 --- a/traj/min_jerk_xy_algorithm.m +++ /dev/null @@ -1,55 +0,0 @@ -% Implementation of a minimum jerk motion algorithm, based on Flash & -% Hogan (1985) -% 23.8.2018, Wayne Glettig -% Path from (x0, y0) to (xT, yT) with the minimum jerk: -% (x0, y0) : Start position in x-y plane -% (xT, yT) : End position in x-y plane -% The algorithm also takes in account start and end velocities v0 & vT -% And plots the result in (x,t), (v,t) and (a,t) plots. - - -%% INPUT PARAMETERS: -x0=0; %Start position in x -y0=0; %Start position in y - -xT=-10; %Target position in x -yT=-10; %Target position in y - -t0=0; %Start time -dt=0.01; %time step -tT=1; %End time -%% CALCULATE PROFILE: STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE: -%Vectors for results -T = t0:dt:tT; -X = zeros(length(T),1); -Y = zeros(length(T),1); - -for (i = 1:length(T)) - t = T(i); - - x = x0 + (x0-xT)*(15*t^4-6*t^5-10*t^3); - y = y0 + (y0-yT)*(15*t^4-6*t^5-10*t^3); - - %Write to vectors - X(i)=x; - Y(i)=y; -end - - -%% PLOT CURVES: -plot (X,Y,'r+'); -% subplot (3,1,1); -% plot(T, X,'r+-'); -% hold on; -% ylabel('x(t)[m]'); -% -% subplot (3,1,2); -% plot(T, V,'g+-'); -% hold on; -% ylabel('v(t)[m/s]'); -% -% subplot (3,1,3); -% plot(T, A,'b+-'); -% hold on; -% ylabel('a(t)[m/s^2]'); -% xlabel('t[s]'); diff --git a/traj/pathmotion_inc.m b/traj/pathmotion_inc.m deleted file mode 100644 index 0ec1597..0000000 --- a/traj/pathmotion_inc.m +++ /dev/null @@ -1,115 +0,0 @@ - - - - -% List of Points at time (one point = one line in matrix) -% Each Line: t, x, y, z -P = [0, 0,0,0;... - 1, 1,1,1;... - 2, 0,1,1;... - 3, 2,3,1]; - -% For each dimension: - -% subplot(1,2,1); -% plot(P(:,2), P(:,3)); -% xlabel('x'); -% ylabel('y'); -% subplot(1,2,2); -% plot(P(:,1), P(:,2)); -% xlabel('t'); -% ylabel('x'); - - - -%Points(t, x,y,z) = pt(P) -%Look at each dimension separately -%Boundary conditions: - % maxaccel = 0.1 - -% From the PMAC Documentation for PVT Motion profiles: -% From the specified parameters for the move piece, and the beginning -% position and velocity (from the end of the previous piece), PMAC -% computes the only third-order position trajectory path to meet the -% constraints. This results in linearly changing acceleration, a parabolic -% velocity profile, and a cubic position profile for the piece. - -% Command: -% PVT300 -% X5:50 -% Axis X, t=300, p=5, v=50 -clf -%Vectors of results -T=[]; -X=[]; -V=[]; -A=[]; -%Input Parameters -x0=0; -v0=0; -a0=0; - -xT=7; - - -vmax=1; -amax=1; -dt=0.001; -errorband=0.0001; - -%Start values -x=x0; -v=v0; -a=a0; - - -t=0; -loop =1; -asign = 1; -while (loop) - t=t+dt; - %bremsweg s = v0^2/2/a - %if (xT-x < v^2/2/amax) %check bremsweg. if smaller, decel full. - xrem = xT-x; %remaining x - %if (abs(xrem) < abs(v*dt - 0.5*amax*dt^2))%check bremsweg. if smaller, decel full. - if (abs(xT-x) < abs(v^2/2/amax))%check bremsweg. if smaller, decel full. - %a=-sign(xT-x)*amax; - asign =-1; - %disp(['deccelerating t=', num2str(t),' a=',num2str(a)]) - else - asign = 1; - end - - a=sign(xT-x)*asign*amax; %calculate new a - v=v+a*dt; %calculate new v - if abs(v)>vmax %limit velocity - v=sign(v)*vmax; - a=0; - end - x=x + v*dt + 0.5*a*dt^2; %calculate new x - if (abs(xT-x) 10) %if reached target or loopcounter = 1000 - loop=0; - end -% if (abs(xT-x) > abs(xT-x0)) -% disp('target couldnt be reached'); -% loop =0; -% end - T=[T,t]; - X=[X,x]; - V=[V,v]; - A=[A,a]; -end -subplot (3,1,1); -plot(T, X,'r+'); -ylabel('x(t)[m]'); - -subplot (3,1,2); -plot(T, V,'g+'); -ylabel('v(t)[m/s]'); - -subplot (3,1,3); -plot(T, A,'b+'); -ylabel('a(t)[m/s^2]'); -xlabel('t[s]'); - -hold on; \ No newline at end of file diff --git a/traj/pt.m b/traj/pt.m deleted file mode 100644 index 26baf43..0000000 --- a/traj/pt.m +++ /dev/null @@ -1,25 +0,0 @@ -function [c1 c2 c3 c4 v1 a1] = pt(x0,x1,t0,t1, v0,a0) -%PVT Summary of this function goes here -% Detailed explanation goes here - -A= [t0^3, t0^2, t0, 1,0,0; ... - t1^3, t1^2, t1, 1,0,0; ... - 3*t0^2, 2*t0, 1, 0,0,0; ... - 3*t1^2, 2*t1, 1, 0,-1,0; ... - 6*t0, 2, 0, 0,0,0; ... - 6*t1 , 2, 0, 0,0,-1]; - -b = [x0;x1;v0;0;a0;0] ; - -x= A\b; - -c1=x(1); -c2=x(2); -c3=x(3); -c4=x(4); -v1=x(5); -a1=x(6); - - -end - diff --git a/traj/pt4.m b/traj/pt4.m deleted file mode 100644 index 18283fb..0000000 --- a/traj/pt4.m +++ /dev/null @@ -1,52 +0,0 @@ -function [c1 c2 c3 c4 c5 v1 a1] = pt(x0,x1,t0,t1, v0,a0) - -%PVT Summary of this function goes here -% Detailed explanation goes here - -A= [ t0^4, t0^3, t0^2, t0, 1,0,0; ... - t1^4, t1^3, t1^2, t1, 1,0,0; ... - 4*t0^3, 3*t0^2, 2*t0 , 1, 0,0,0; ... - 4*t1^3, 3*t1^2, 2*t1 , 1, 0,-1,0; ... - 12*t0^2, 6*t0 , 2 , 0, 0,0,0 ; ... - 12*t1^2, 6*t1 , 2 , 0, 0,0,-1]; - -b = [x0;x1;v0;0;a0;0] ; - -x= A\b; - -c1=x(1); -c2=x(2); -c3=x(3); -c4=x(4); -c5=x(5); -v1=x(6); -a1=x(7); - - -end - -% -% %PVT Summary of this function goes here -% % Detailed explanation goes here -% -% A= [t0^3, t0^2, t0, 1,0,0; ... -% t1^3, t1^2, t1, 1,0,0; ... -% 3*t0^2, 2*t0, 1, 0,0,0; ... -% 3*t1^2, 2*t1, 1, 0,-1,0; ... -% 6*t0, 2, 0, 0,0,0; ... -% 6*t1 , 2, 0, 0,0,-1]; -% -% b = [x0;x1;v0;0;a0;0] ; -% -% x= A\b; -% -% c1=x(1); -% c2=x(2); -% c3=x(3); -% c4=x(4); -% v1=x(5); -% a1=x(6); -% -% -% end -% diff --git a/traj/pt4Test.m b/traj/pt4Test.m deleted file mode 100644 index 04bf0a7..0000000 --- a/traj/pt4Test.m +++ /dev/null @@ -1,68 +0,0 @@ -clear all; -%% INPUT PARAMETERS: - xT=[0, 1, -2, 4, 5, -1]; %positions - tT=[0, 1, 2, 3, 4, 5]; %times -% v=[0, -1, 3/2, -1, -1, 0]; %velocities -vcurr=0; -acurr=0; - -for i = 1:(numel(tT)-1) - - dt=0.01; - - [c1, c2, c3, c4, c5, v1, a1] = pt4(xT(i),xT(i+1),tT(i),tT(i+1), vcurr, acurr); - vcurr=v1; - acurr=a1; - %% STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE: - %Vectors for results - T = tT(i):dt:tT(i+1); - X = zeros(length(T),1); - V = zeros(length(T),1); - A = zeros(length(T),1); - J = zeros(length(T),1); - - for (ii = 1:length(T)) - t = T(ii); - j= 24*c1*t + 6*c2; - a= 12*c1*t^2 + 6*c2*t + 2*c3; - v= 4*c1*t^3 + 3*c2*t^2 + 2*c3*t + c4; - x= c1*t^4 + c2*t^3 + c3*t^2 + c4*t + c5; -% j= 6*c1; -% a= 6*c1*t + 2*c2; -% v= 3*c1*t^2 + 2*c2*t + c3; -% x= c1*t^3 + c2*t^2 + c3*t + c4; - %Write to vectors - X(ii)=x; - V(ii)=v; - A(ii)=a; - J(ii)=j; - end - - - %% PLOT CURVES: - subplot (4,1,1); - plot(T, X,'r-'); - hold on; - ylabel('x(t)[m]'); - - subplot (4,1,2); - plot(T, V,'g-'); - hold on; - ylabel('v(t)[m/s]'); - - subplot (4,1,3); - plot(T, A,'b-'); - hold on; - ylabel('a(t)[m/s^2]'); - - subplot (4,1,4); - plot(T, J,'k-'); - hold on; - ylabel('j(t)[m/s^3]'); - xlabel('t[s]'); -end - - subplot (4,1,1); - stem(tT,xT); - hold on; - \ No newline at end of file diff --git a/traj/ptTest.m b/traj/ptTest.m deleted file mode 100644 index ca639c5..0000000 --- a/traj/ptTest.m +++ /dev/null @@ -1,68 +0,0 @@ -clear all; -%% INPUT PARAMETERS: -% xT=[0, 1, -2, 4, 5, -1]; %positions -% tT=[0, 1, 2, 3, 4, 5]; %times -n =5 -tT=linspace(0,10,n); -xT=rand(n,1); - -% v=[0, -1, 3/2, -1, -1, 0]; %velocities -vcurr=0; -acurr=0; - -for i = 1:(numel(tT)-1) - - dt=0.01; - - [c1, c2, c3, c4,v1, a1] = pt(xT(i),xT(i+1),tT(i),tT(i+1), vcurr, acurr); - vcurr=v1; - acurr=a1; - %% STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE: - %Vectors for results - T = tT(i):dt:tT(i+1); - X = zeros(length(T),1); - V = zeros(length(T),1); - A = zeros(length(T),1); - J = zeros(length(T),1); - - for (ii = 1:length(T)) - t = T(ii); - j= 6*c1; - a= 6*c1*t + 2*c2; - v= 3*c1*t^2 + 2*c2*t + c3; - x= c1*t^3 + c2*t^2 + c3*t + c4; - %Write to vectors - X(ii)=x; - V(ii)=v; - A(ii)=a; - J(ii)=j; - end - - - %% PLOT CURVES: - subplot (4,1,1); - plot(T, X,'r-'); - hold on; - ylabel('x(t)[m]'); - - subplot (4,1,2); - plot(T, V,'g-'); - hold on; - ylabel('v(t)[m/s]'); - - subplot (4,1,3); - plot(T, A,'b-'); - hold on; - ylabel('a(t)[m/s^2]'); - - subplot (4,1,4); - plot(T, J,'k-'); - hold on; - ylabel('j(t)[m/s^3]'); - xlabel('t[s]'); -end - - subplot (4,1,1); - stem(tT,xT); - hold on; - \ No newline at end of file diff --git a/traj/pvt.m b/traj/pvt.m deleted file mode 100644 index a5c423d..0000000 --- a/traj/pvt.m +++ /dev/null @@ -1,21 +0,0 @@ -function [c1 c2 c3 c4 ] = pvt(x0,x1,v0,v1,t0,t1) -%PVT Summary of this function goes here -% Detailed explanation goes here - -A= [t0^3, t0^2, t0, 1; ... - t1^3, t1^2, t1, 1; ... - 3*t0^2, 2*t0, 1, 0; ... - 3*t1^2, 2*t1, 1, 0]; - -b = [x0;x1;v0;v1] ; - -x= A\b; - -c1=x(1); -c2=x(2); -c3=x(3); -c4=x(4); - - -end - diff --git a/traj/pvtTest.m b/traj/pvtTest.m deleted file mode 100644 index 5a8ebca..0000000 --- a/traj/pvtTest.m +++ /dev/null @@ -1,70 +0,0 @@ -clear all; -%% INPUT PARAMETERS: -% tT=[0, 1, 2, 3, 4, 5]; %times -% xT=[0, 1, -2, 4, 5, -1]; %positions -% vT=[0, 0, 0, 0, 0, 0 ]; %velocities -n=10 -tT=linspace(0,10,n); -xT=rand(n,1); -vT=zeros(n,1); -for i = 2:(numel(tT)-1) - vT(i)=(xT(i+1)-xT(i-1))/tT(2) - -end - - -dt=0.01; - -for i = 1:(numel(tT)-1) - [c1, c2, c3, c4 ] = pvt(xT(i),xT(i+1), vT(i),vT(i+1), tT(i),tT(i+1)); - - %% STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE: - %Vectors for results - T = tT(i):dt:tT(i+1); - X = zeros(length(T),1); - V = zeros(length(T),1); - A = zeros(length(T),1); - J = zeros(length(T),1); - - for (ii = 1:length(T)) - t = T(ii); - j= 6*c1; - a= 6*c1*t + 2*c2; - v= 3*c1*t^2 + 2*c2*t + c3; - x= c1*t^3 + c2*t^2 + c3*t + c4; - %Write to vectors - X(ii)=x; - V(ii)=v; - A(ii)=a; - J(ii)=j; - end - - - %% PLOT CURVES: - subplot (4,1,1); - plot(T, X,'r-'); - hold on; - ylabel('x(t)[m]'); - - subplot (4,1,2); - plot(T, V,'g-'); - hold on; - ylabel('v(t)[m/s]'); - - subplot (4,1,3); - plot(T, A,'b-'); - hold on; - ylabel('a(t)[m/s^2]'); - - subplot (4,1,4); - plot(T, J,'k-'); - hold on; - ylabel('j(t)[m/s^3]'); - xlabel('t[s]'); -end - - - subplot (4,1,1); - stem(tT,xT); - hold on; - \ No newline at end of file diff --git a/traj/pvt_polynomial_algorithm.m b/traj/pvt_polynomial_algorithm.m deleted file mode 100644 index e90bab9..0000000 --- a/traj/pvt_polynomial_algorithm.m +++ /dev/null @@ -1,80 +0,0 @@ -% Implementation of a PVT motion algorithm. -% 23.8.2018, Wayne Glettig -% Fastest track from x0 to xT, with the following given constraints: -% vmax: maximum speed of travel -% amax: maximum acceleration -% dmax: maximum deceleration -% The algorithm also takes in account start and end velocities v0 & vT -% And plots the result in (x,t), (v,t) and (a,t) plots. - - -%% INPUT PARAMETERS: -x0=0; %Start position -v0=1; %Start velocity - -xT=-5; %Target position -vT=0; %Target velocity - -vmax=0.5; %Maxium allowed velocity -amax=0.4; %Maximum acceleration -dmax=-amax; %Maximum deceleration - -t0=0; %Start time -tT=20; %End Time -dt=0.01; %time step - -%% CALCULATE PROFILE: - - -A= [t0^3, t0^2, t0, 1; ... - tT^3, tT^2, tT, 1; ... - 3*t0^2, 2*t0, 1, 0; ... - 3*tT^2, 2*tT, 1, 0]; -b= [x0;xT;v0;vT] ; - -x= A\b; - -c1=x(1); -c2=x(2); -c3=x(3); -c4=x(4); - - - - -%% STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE: -%Vectors for results -T = t0:dt:tT; -X = zeros(length(T),1); -V = zeros(length(T),1); -A = zeros(length(T),1); -J = zeros(length(T),1); - -for (i = 1:length(T)) - t = T(i); - a= 6*c1*t + 2*c2; - v= 3*c1*t^2 + 2*c2*t + c3; - x= c1*t^3 + c2*t^2 + c3*t + c4; - %Write to vectors - X(i)=x; - V(i)=v; - A(i)=a; -end - - -%% PLOT CURVES: -subplot (3,1,1); -plot(T, X,'r+-'); -hold on; -ylabel('x(t)[m]'); - -subplot (3,1,2); -plot(T, V,'g+-'); -hold on; -ylabel('v(t)[m/s]'); - -subplot (3,1,3); -plot(T, A,'b+-'); -hold on; -ylabel('a(t)[m/s^2]'); -xlabel('t[s]'); diff --git a/traj/pvt_polynomial_algorithm_stretch.m b/traj/pvt_polynomial_algorithm_stretch.m deleted file mode 100644 index 4dc440e..0000000 --- a/traj/pvt_polynomial_algorithm_stretch.m +++ /dev/null @@ -1,103 +0,0 @@ -% Implementation of a PVT motion algorithm. -% Using variable amax to stretch out time. -% Regognizes if motion can't be completed in requested time. -% (checks if (tT-t0) < t_fastest) and sets time to fastest possible. -% 23.8.2018, Wayne Glettig -% Fastest track from x0 to xT, with the following given constraints: -% vmax: maximum speed of travel -% amax: maximum acceleration -% dmax: maximum deceleration -% The algorithm also takes in account start and end velocities v0 & vT -% And plots the result in (x,t), (v,t) and (a,t) plots. - - -%% INPUT PARAMETERS: -x0=0; %Start position -v0=-1; %Start velocity - -xT=-10; %Target position -vT=0; %Target velocity - -t0=0; %Start time -tT=20; %End Time -dt=0.01; %time step - -vmax=0.5; %Maxium allowed velocity -if (v0 > vmax) - v0 = vmax; -end -if (v0 < -vmax) - v0 = -vmax; -end -%amax=0.4; %Maximum acceleration -%dmax=-amax; %Maximum deceleration - -%% CALCULATE PROFILE: - - -A= [t0^3, t0^2, t0, 1; ... - tT^3, tT^2, tT, 1; ... - 3*t0^2, 2*t0, 1, 0; ... - 3*tT^2, 2*tT, 1, 0]; -b= [x0;xT;v0;vT] ; - -x= A\b; - -c1=x(1); -c2=x(2); -c3=x(3); -c4=x(4); - -t_vmax = -2*c2/6/c1; -if (t_vmax < t0) %minima/maxima before t0 - vmax= 3*c1*t0^2 + 2*c2*t0 + c3; -elseif (t_vmax > tT) %minima/maxima after tT - vmax= 3*c1*tT^2 + 2*c2*tT + c3; -else - vmax= 3*c1*t_vmax^2 + 2*c2*t_vmax + c3; -end - -if (abs(v0) > abs(vmax)) - vmax = v0; -end - -vmax - - - -%% STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE: -%Vectors for results -T = t0:dt:tT; -X = zeros(length(T),1); -V = zeros(length(T),1); -A = zeros(length(T),1); -J = zeros(length(T),1); - -for (i = 1:length(T)) - t = T(i); - a= 6*c1*t + 2*c2; - v= 3*c1*t^2 + 2*c2*t + c3; - x= c1*t^3 + c2*t^2 + c3*t + c4; - %Write to vectors - X(i)=x; - V(i)=v; - A(i)=a; -end - - -%% PLOT CURVES: -subplot (3,1,1); -plot(T, X,'r+-'); -hold on; -ylabel('x(t)[m]'); - -subplot (3,1,2); -plot(T, V,'g+-'); -hold on; -ylabel('v(t)[m/s]'); - -subplot (3,1,3); -plot(T, A,'b+-'); -hold on; -ylabel('a(t)[m/s^2]'); -xlabel('t[s]'); diff --git a/traj/tmp.m b/traj/tmp.m deleted file mode 100644 index b0aa9ab..0000000 --- a/traj/tmp.m +++ /dev/null @@ -1,15 +0,0 @@ -clear all; -syms xT x0 v0 vT t0 t1 t2 t3 tT vmax amax dmax attn s_acc s_decc; - -% area under the v-t curve must be xT-x0 -% solve( xT-x0==attn*amax*(t1-t0)/2 + attn*dmax*(t3-t1)/2, attn) - -%s_acc == v0*(vmax-v0)/attn*amax + (vmax-v0)^2/2/attn*amax; -%s_decc == vmax*(vT-vmax)/attn*dmax + (vT-vmax)^2/2/attn*dmax; -%xT-x0 == s_acc + s_decc; -%solve(xT-x0 == v0*(vmax-v0)/attn*amax + (vmax-v0)^2/2/attn*amax + vmax*(vT-vmax)/attn*dmax + (vT-vmax)^2/2/attn*dmax, attn) -solve(xT-x0 == v0*((tT-t0)-(vT-vmax)/(attn*dmax)) + (vmax-v0)^2/2/(attn*amax) + vmax*(vT-vmax)/(attn*dmax) + (vT-vmax)^2/2/(attn*dmax),attn) - - -%xT-x0 == v0*((tT-t0)-(vT-vmax)/(attn*dmax)) + (vmax-v0)^2/2/(attn*amax) + vmax*(vT-vmax)/(attn*dmax) + (vT-vmax)^2/2/(attn*dmax); -%(tT-t0)-(vT-vmax)/(attn*dmax) = (vmax-v0)/(attn*amax); \ No newline at end of file diff --git a/traj/trajectory.py b/traj/trajectory.py deleted file mode 100644 index 761bfb8..0000000 --- a/traj/trajectory.py +++ /dev/null @@ -1,76 +0,0 @@ -# -*- coding: utf-8 -*- -""" -Spyder Editor - -This is a temporary script file. -""" -#import numpy as np -import matplotlib.pyplot as plt - - -class traj: - t = 0. - x = 0. - v = 0. - a = 0. - t_step =0.01 - x_target = 10. - # parameters - v_max = 0. - a_max = 1. - - def set (self, t, x_current, v_current): - return - def set_step (self, time): - self.t_step = time - return - def run (self, step_t): - #based on current position wrt target position - #check if with current position and velocity, we - offdist = self.x_target-self.x - brakedist = -self.v*self.v/-(2*self.a_max) - - if (offdist > brakedist): - a_sign = 1 - else: - a_sign = -1 - - #reset motion equations - self.a = a_sign*self.a_max - self.v = self.v + self.a*step_t - self.x = self.x + self.v*step_t - return - def runstep (self): - self.t = self.t+self.t_step - self.run(self.t) - return - - -#Create Object -tr = traj(); - -#initialize List -T = [tr.t] -X = [tr.x] -V = [tr.v] -A = [tr.a] -#initialize trajectory -tr.set(0, 0, 0) - -#step though trajectory -for i in range (0,50): - tr.runstep() - T.append(tr.t) - X.append(tr.x) - V.append(tr.v) - A.append(tr.a) - -#plot curves -plt.plot(T,X,'-+') -plt.plot(T,V) -plt.plot(T,A) -plt.title("Title") -plt.xlabel('t[s]') -plt.ylabel('x[m]') - -