move simulator into separate directory
haldean
3 years ago
| 0 | @echo off | |
| 1 | setlocal EnableDelayedExpansion | |
| 2 | ||
| 3 | set "LIBWIN=%cd%\libwin" | |
| 4 | if "!path:%LIBWIN%=!" equ "%path%" ( | |
| 5 | set "PATH=%PATH%;%cd%\libwin" | |
| 6 | ) | |
| 7 | nim compile --threads:on wb\main | |
| 8 | wb\main⏎ |
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| 0 | @echo off | |
| 1 | setlocal EnableDelayedExpansion | |
| 2 | ||
| 3 | set "LIBWIN=%cd%\libwin" | |
| 4 | if "!path:%LIBWIN%=!" equ "%path%" ( | |
| 5 | set "PATH=%PATH%;%cd%\libwin" | |
| 6 | ) | |
| 7 | nim compile --threads:on wb\main | |
| 8 | wb\main⏎ |
| 0 | import basic2d | |
| 1 | import csfml | |
| 2 | import deques | |
| 3 | import machine | |
| 4 | import math | |
| 5 | import os | |
| 6 | import position | |
| 7 | import strfmt | |
| 8 | import times | |
| 9 | ||
| 10 | const frameRate* = 30 | |
| 11 | ||
| 12 | let targetFrameTime = 1.0 / float(frameRate) | |
| 13 | const left = 40 | |
| 14 | const top = 160 | |
| 15 | const toothR = 30 | |
| 16 | const wheelR = 100 | |
| 17 | var w = 1800 | |
| 18 | var h = 900 | |
| 19 | ||
| 20 | let c0 = color(6, 12, 25) | |
| 21 | let c1 = color(230, 255, 255) | |
| 22 | let c2 = color(111, 195, 223) | |
| 23 | let c3 = color(223, 116, 12) | |
| 24 | let c4 = color(255, 230, 77) | |
| 25 | let c5 = color(40, 108, 150) | |
| 26 | ||
| 27 | type | |
| 28 | DisplayException* = object of Exception | |
| 29 | DisplayRequestType* = enum | |
| 30 | UPDATE, QUIT | |
| 31 | DisplayRequest* = object of RootObj | |
| 32 | case kind*: DisplayRequestType | |
| 33 | of UPDATE: | |
| 34 | newstate*: MachineState | |
| 35 | of QUIT: | |
| 36 | discard | |
| 37 | ControlRequest* = enum | |
| 38 | UserQuit, Stop, Run, XUp, XDown, YUp, YDown, RLUp, RLDown, RRUp, RRDown, | |
| 39 | MediaOn, MediaOff, RLOn, RLOff, RROn, RROff | |
| 40 | ||
| 41 | var displayChannel: Channel[DisplayRequest] | |
| 42 | var ctrlChannel: Channel[ControlRequest] | |
| 43 | displayChannel.open(0) | |
| 44 | ctrlChannel.open(0) | |
| 45 | ||
| 46 | proc drawWheel( | |
| 47 | window: RenderWindow, name: string, font: Font, x: int, y: int, | |
| 48 | enable: bool, dir: Dir, pos: float) = | |
| 49 | ||
| 50 | const thick = 30 | |
| 51 | var wheel = newCircleShape(wheelR - thick, 100) | |
| 52 | wheel.origin = vec2(wheelR - thick, wheelR - thick) | |
| 53 | wheel.outlineColor = if enable: c4 else: c3 | |
| 54 | wheel.outlineThickness = thick | |
| 55 | wheel.position = vec2(wheelR + x, wheelR + y) | |
| 56 | wheel.fillColor = Transparent | |
| 57 | window.draw(wheel) | |
| 58 | ||
| 59 | var tooth = newCircleShape(toothR) | |
| 60 | tooth.origin = vec2(toothR, toothR) | |
| 61 | tooth.fillColor = c0 | |
| 62 | for t in 0..6: | |
| 63 | let theta = float(t) * math.PI / 3 + pos | |
| 64 | let dx = int(math.sin(theta) * (wheelR - 0.5 * thick)) | |
| 65 | let dy = int(-math.cos(theta) * (wheelR - 0.5 * thick)) | |
| 66 | tooth.position = vec2(x + wheelR + dx, y + wheelR + dy) | |
| 67 | window.draw(tooth) | |
| 68 | ||
| 69 | var title = newText(name, font, 48) | |
| 70 | title.color = c2 | |
| 71 | title.position = vec2(x + wheelR - 14, y + wheelR - 30) | |
| 72 | window.draw(title) | |
| 73 | ||
| 74 | let tableOrigin = vec2(x + 10, y + 2 * wheelR + 10) | |
| 75 | ||
| 76 | var table = newText( | |
| 77 | "θ={0:+06.0f} Δ={1:> 3s}".fmt(180 * pos / math.PI, $dir), font, 20) | |
| 78 | table.color = c2 | |
| 79 | table.position = tableOrigin + vec2(wheelR - 108, 4) | |
| 80 | window.draw(table) | |
| 81 | ||
| 82 | proc drawPosition( | |
| 83 | window: RenderWindow, font: Font, x: int, y: int, w: int, h: int, | |
| 84 | wp: WallPosition, segment: Deque[Vector2d], trail: Deque[Deque[Vector2d]]) = | |
| 85 | # Padding on bounding box of scene, in meters | |
| 86 | const xpad = 1 | |
| 87 | const ypad = 0.5 | |
| 88 | ||
| 89 | var daspect = float(w) / float(h) | |
| 90 | ||
| 91 | var xmin = min(wp.pl.x, wp.pr.x) - xpad | |
| 92 | var ymin = -ypad | |
| 93 | var xmax = max(wp.pl.x, wp.pr.x) + xpad | |
| 94 | var ymax = max(wp.pl.y, wp.pr.y) + ypad | |
| 95 | var paspect = (xmax - xmin) / (ymax - ymin) | |
| 96 | ||
| 97 | if daspect < paspect: | |
| 98 | ymax = (xmax - xmin) / daspect | |
| 99 | else: | |
| 100 | let xrange = ymax * daspect | |
| 101 | let xcenter = 0.5 * (xmax + xmin) | |
| 102 | xmin = xcenter - xrange / 2 | |
| 103 | xmax = xcenter + xrange / 2 | |
| 104 | paspect = (xmax - xmin) / (ymax - ymin) | |
| 105 | ||
| 106 | let ppm = float(w) / (xmax - xmin) | |
| 107 | ||
| 108 | proc pixelX(m: float): int = return int(float(x) + w / 2 + ppm * m) | |
| 109 | proc pixelY(m: float): int = return int(float(y + h - 20) - ppm * m) | |
| 110 | proc pixel(m: Vector2d): Vector2f = return vec2(pixelX(m.x), pixelY(m.y)) | |
| 111 | ||
| 112 | var varr = newVertexArray() | |
| 113 | varr.append(Vertex(position: vec2(x, y), color: c1)) | |
| 114 | varr.append(Vertex(position: vec2(x + w, y), color: c1)) | |
| 115 | varr.append(Vertex(position: vec2(x + w, y), color: c1)) | |
| 116 | varr.append(Vertex(position: vec2(x + w, y + h), color: c1)) | |
| 117 | varr.append(Vertex(position: vec2(x + w, y + h), color: c1)) | |
| 118 | varr.append(Vertex(position: vec2(x, y + h), color: c1)) | |
| 119 | varr.append(Vertex(position: vec2(x, y + h), color: c1)) | |
| 120 | varr.append(Vertex(position: vec2(x, y), color: c1)) | |
| 121 | ||
| 122 | varr.append(Vertex(position: vec2(x + 1, pixelY(0)), color: c2)) | |
| 123 | varr.append(Vertex(position: vec2(x + w - 1, pixelY(0)), color: c2)) | |
| 124 | ||
| 125 | let xgridlo = int(math.floor(xmin - xpad)) | |
| 126 | let xgridhi = int(math.ceil(xmax + xpad)) | |
| 127 | for xm in xgridlo..xgridhi: | |
| 128 | let xp = pixelX(float(xm)) | |
| 129 | if xp < x or xp > x + w: | |
| 130 | continue | |
| 131 | varr.append(Vertex(position: vec2(xp, y + 1), color: c5)) | |
| 132 | varr.append(Vertex(position: vec2(xp, y + h - 1), color: c5)) | |
| 133 | ||
| 134 | let ygridlo = int(math.floor(ymin - ypad)) | |
| 135 | let ygridhi = int(math.ceil(ymax + ypad)) | |
| 136 | for ym in ygridlo..ygridhi: | |
| 137 | let yp = pixelY(float(ym)) | |
| 138 | if yp < y or yp > y + h: | |
| 139 | continue | |
| 140 | let color = if ym == 0: c2 else: c5 | |
| 141 | varr.append(Vertex(position: vec2(x + 1, yp), color: color)) | |
| 142 | varr.append(Vertex(position: vec2(x + w - 1, yp), color: color)) | |
| 143 | ||
| 144 | for tr in trail: | |
| 145 | for i in 0..(len(tr) - 2): | |
| 146 | varr.append(Vertex(position: pixel(tr[i + 0]), color: c4)) | |
| 147 | varr.append(Vertex(position: pixel(tr[i + 1]), color: c4)) | |
| 148 | for i in 0..(len(segment) - 2): | |
| 149 | varr.append(Vertex(position: pixel(segment[i + 0]), color: c4)) | |
| 150 | varr.append(Vertex(position: pixel(segment[i + 1]), color: c4)) | |
| 151 | ||
| 152 | varr.append(Vertex(position: pixel(wp.rpos), color: c2)) | |
| 153 | varr.append(Vertex(position: pixel(wp.mpos), color: c1)) | |
| 154 | varr.primitiveType = PrimitiveType.Lines | |
| 155 | window.draw(varr) | |
| 156 | ||
| 157 | proc rlabel(r: float, pos: Vector2d) = | |
| 158 | let s = newRectangleShape(size = vec2(60, 24)) | |
| 159 | s.position = pixel(pos) - vec2(32, 12) | |
| 160 | s.fillColor = c0 | |
| 161 | s.outlineColor = c2 | |
| 162 | s.outlineThickness = 1 | |
| 163 | window.draw(s) | |
| 164 | let t = newText(r.format("04.3f"), font, 18) | |
| 165 | t.position = pixel(pos) - vec2(30, 12) | |
| 166 | t.color = c2 | |
| 167 | window.draw(t) | |
| 168 | rlabel(wp.rl, 0.5 * (wp.pl + wp.rpos)) | |
| 169 | rlabel(wp.rr, 0.5 * (wp.pr + wp.rpos)) | |
| 170 | ||
| 171 | proc circle(pos: Vector2d, color: Color, labelColor: Color, showLabel = true) = | |
| 172 | let pc = newCircleShape(10) | |
| 173 | pc.origin = vec2(10, 10) | |
| 174 | pc.position = pixel(pos) | |
| 175 | pc.outlineColor = color | |
| 176 | pc.outlineThickness = 2 | |
| 177 | pc.fillColor = Transparent | |
| 178 | window.draw(pc) | |
| 179 | ||
| 180 | if showLabel: | |
| 181 | let label = newText("{0:+04.2f}\n{1:+04.2f}".fmt(pos.x, pos.y), font, 18) | |
| 182 | label.position = pc.position + vec2(10, 0) | |
| 183 | label.color = labelColor | |
| 184 | window.draw(label) | |
| 185 | ||
| 186 | circle(wp.pl, c3, c2) | |
| 187 | circle(wp.pr, c3, c2) | |
| 188 | circle(wp.rpos, c2, c1, false) | |
| 189 | circle(wp.mpos, c4, c1) | |
| 190 | ||
| 191 | let ccc = newCircleShape(2) | |
| 192 | ccc.origin = vec2(1, 1) | |
| 193 | ccc.fillColor = White | |
| 194 | for p in wp.pivots: | |
| 195 | ccc.position = pixel(p) | |
| 196 | window.draw(ccc) | |
| 197 | ||
| 198 | varr.clear() | |
| 199 | varr.primitiveType = PrimitiveType.LinesStrip | |
| 200 | for p in wp.pivots: | |
| 201 | varr.append(Vertex(position: pixel(p), color: c2)) | |
| 202 | window.draw(varr) | |
| 203 | ||
| 204 | proc pushKey(key: KeyEvent) = | |
| 205 | case key.code | |
| 206 | of KeyCode.Space: | |
| 207 | ctrlChannel.send(ControlRequest.Stop) | |
| 208 | of KeyCode.Tilde: | |
| 209 | ctrlChannel.send(ControlRequest.Run) | |
| 210 | of KeyCode.Right: | |
| 211 | ctrlChannel.send(ControlRequest.XUp) | |
| 212 | of KeyCode.Left: | |
| 213 | ctrlChannel.send(ControlRequest.XDown) | |
| 214 | of KeyCode.Up: | |
| 215 | ctrlChannel.send(ControlRequest.YUp) | |
| 216 | of KeyCode.Down: | |
| 217 | ctrlChannel.send(ControlRequest.YDown) | |
| 218 | of KeyCode.W: | |
| 219 | ctrlChannel.send(ControlRequest.RLUp) | |
| 220 | of KeyCode.S: | |
| 221 | ctrlChannel.send(ControlRequest.RLDown) | |
| 222 | of KeyCode.E: | |
| 223 | ctrlChannel.send(ControlRequest.RRUp) | |
| 224 | of KeyCode.D: | |
| 225 | ctrlChannel.send(ControlRequest.RRDown) | |
| 226 | of KeyCode.M: | |
| 227 | ctrlChannel.send(ControlRequest.MediaOn) | |
| 228 | of KeyCode.N: | |
| 229 | ctrlChannel.send(ControlRequest.MediaOff) | |
| 230 | of KeyCode.Q: | |
| 231 | ctrlChannel.send(ControlRequest.RLOn) | |
| 232 | of KeyCode.A: | |
| 233 | ctrlChannel.send(ControlRequest.RLOff) | |
| 234 | of KeyCode.R: | |
| 235 | ctrlChannel.send(ControlRequest.RROn) | |
| 236 | of KeyCode.F: | |
| 237 | ctrlChannel.send(ControlRequest.RROff) | |
| 238 | else: | |
| 239 | discard | |
| 240 | ||
| 241 | proc displayRun*(startPos: WallPosition) {.thread.} = | |
| 242 | var csettings = csfml.contextSettings(antialiasing = 1) | |
| 243 | let mode = videoMode_getFullscreenModes()[0] | |
| 244 | let window = csfml.newRenderWindow( | |
| 245 | mode, "Wallplot Display", WindowStyle.None, csettings) | |
| 246 | w = mode.width | |
| 247 | h = mode.height | |
| 248 | ||
| 249 | let font = newFont("resources/InputMono-Regular.ttf") | |
| 250 | var header = newText("WALLBOT CONTROLLER", font, 48) | |
| 251 | header.color = c0 | |
| 252 | header.position = vec2(left, top - 100) | |
| 253 | ||
| 254 | var wp = startPos | |
| 255 | ||
| 256 | var current: MachineState | |
| 257 | block findFirstState: | |
| 258 | while true: | |
| 259 | let req = displayChannel.recv() | |
| 260 | case req.kind | |
| 261 | of UPDATE: | |
| 262 | current = req.newstate | |
| 263 | break findFirstState | |
| 264 | of QUIT: | |
| 265 | return | |
| 266 | wp = wp.update(current) | |
| 267 | ||
| 268 | # Each element of the trail is a fully-connected polyline. We start a new | |
| 269 | # polyline every time we lift the pen. | |
| 270 | var segment = initDeque[Vector2d]() | |
| 271 | var trail = initDeque[Deque[Vector2d]]() | |
| 272 | ||
| 273 | let loopStart = epochTime() | |
| 274 | block mainLoop: | |
| 275 | while true: | |
| 276 | let frameStart = epochTime() | |
| 277 | var event: csfml.Event | |
| 278 | while window.pollEvent(event): | |
| 279 | case event.kind | |
| 280 | of EventType.Closed: | |
| 281 | break mainLoop | |
| 282 | of EventType.KeyPressed: | |
| 283 | pushKey(event.key) | |
| 284 | else: | |
| 285 | discard | |
| 286 | ||
| 287 | let (avail, req) = displayChannel.tryRecv() | |
| 288 | if avail: | |
| 289 | case req.kind | |
| 290 | of QUIT: | |
| 291 | break | |
| 292 | of UPDATE: | |
| 293 | current = req.newstate | |
| 294 | wp = wp.update(current) | |
| 295 | ||
| 296 | if wp.media == Active: | |
| 297 | if segment.len == 0 or segment.peekFirst != wp.mpos: | |
| 298 | segment.addFirst(wp.mpos) | |
| 299 | elif segment.len != 0: | |
| 300 | trail.addFirst(segment) | |
| 301 | while segment.len != 0: | |
| 302 | segment.popLast() | |
| 303 | ||
| 304 | window.clear(c5) | |
| 305 | ||
| 306 | var inset = newRectangleShape(size = window.size() - vec2(0, top - 40)) | |
| 307 | inset.fillColor = c0 | |
| 308 | inset.position = vec2(0, top - 40) | |
| 309 | window.draw(inset) | |
| 310 | ||
| 311 | window.draw(header) | |
| 312 | ||
| 313 | window.drawWheel( | |
| 314 | "L", font, left, top, current.lenable, current.ldir, current.lpos) | |
| 315 | window.drawWheel( | |
| 316 | "R", font, left, top + 2 * wheelR + 90, current.renable, | |
| 317 | current.rdir, current.rpos) | |
| 318 | ||
| 319 | var mediaLabel = newText("MEDIA:", font, 20) | |
| 320 | mediaLabel.color = c2 | |
| 321 | mediaLabel.position = vec2(left, top + 4 * wheelR + 180) | |
| 322 | window.draw(mediaLabel) | |
| 323 | ||
| 324 | var media = newText(if wp.media == Active: "ACTIVE" else: "INACTIVE", font, 20) | |
| 325 | media.color = if wp.media == Active: c4 else: c3 | |
| 326 | media.position = mediaLabel.position + vec2(if wp.media == Active: 126 else: 100, 0) | |
| 327 | window.draw(media) | |
| 328 | ||
| 329 | let posLeft = 2 * left + 2 * wheelR | |
| 330 | window.drawPosition( | |
| 331 | font, posLeft, top, w - posLeft - left, h - top - 40, wp, | |
| 332 | segment, trail) | |
| 333 | ||
| 334 | let totalTime = epochTime() - loopStart | |
| 335 | var timeDisplay = newText(totalTime.format("+07.2f"), font, 18) | |
| 336 | timeDisplay.color = c2 | |
| 337 | timeDisplay.position = vec2(w - 115, h - 32) | |
| 338 | window.draw(timeDisplay) | |
| 339 | ||
| 340 | window.display() | |
| 341 | let frameTime = epochTime() - frameStart | |
| 342 | if frameTime < targetFrameTime: | |
| 343 | sleep(int(1000 * (targetFrameTime - frameTime))) | |
| 344 | ||
| 345 | ctrlChannel.send(ControlRequest.UserQuit) | |
| 346 | window.close() | |
| 347 | ||
| 348 | var displayThread: system.Thread[WallPosition] | |
| 349 | proc displayStart*(wp: WallPosition) = | |
| 350 | displayThread.createThread(displayRun, wp) | |
| 351 | ||
| 352 | proc displayPush*(req: DisplayRequest) = | |
| 353 | displayChannel.send(req) | |
| 354 | ||
| 355 | proc controlRequest*(): ControlRequest = | |
| 356 | return ctrlChannel.recv() | |
| 357 | ||
| 358 | proc displayWait*() = | |
| 359 | displayThread.joinThread() | |
| 360 | ||
| 361 | proc displayEnd*() = | |
| 362 | displayChannel.send(DisplayRequest(kind: QUIT)) | |
| 363 | displayWait() |
| 0 | import display | |
| 1 | import machine | |
| 2 | import math | |
| 3 | ||
| 4 | proc initHal*(stepdeg: float): Hal = | |
| 5 | return Hal( | |
| 6 | kind: Simulated, | |
| 7 | steprads: stepdeg / 360 * math.PI, | |
| 8 | current: MachineState( | |
| 9 | lpos: 0, rpos: 0, ldir: CCW, rdir: CCW, lenable: false, renable: false, | |
| 10 | media: Inactive)) | |
| 11 | ||
| 12 | proc enable*(hal: var Hal, left: bool, right: bool) = | |
| 13 | case hal.kind | |
| 14 | of Simulated: | |
| 15 | hal.current.lenable = left | |
| 16 | hal.current.renable = right | |
| 17 | displayPush(DisplayRequest(kind: UPDATE, newstate: hal.current)) | |
| 18 | of Actual: | |
| 19 | discard | |
| 20 | ||
| 21 | proc direction*(hal: var Hal, left: Dir, right: Dir) = | |
| 22 | case hal.kind | |
| 23 | of Simulated: | |
| 24 | hal.current.ldir = left | |
| 25 | hal.current.rdir = right | |
| 26 | displayPush(DisplayRequest(kind: UPDATE, newstate: hal.current)) | |
| 27 | of Actual: | |
| 28 | discard | |
| 29 | ||
| 30 | proc media*(hal: var Hal, media: MediaState) = | |
| 31 | case hal.kind | |
| 32 | of Simulated: | |
| 33 | if media != hal.current.media: | |
| 34 | hal.current.media = media | |
| 35 | displayPush(DisplayRequest(kind: UPDATE, newstate: hal.current)) | |
| 36 | of Actual: | |
| 37 | discard | |
| 38 | ||
| 39 | proc sendMotion*(hal: var Hal, m: Motion): MachineState = | |
| 40 | if m.ldir != hal.current.ldir or m.rdir != hal.current.rdir: | |
| 41 | hal.direction(m.ldir, m.rdir) | |
| 42 | let ltime = float(m.ln) / max(float(m.lhz), 1) | |
| 43 | let rtime = float(m.rn) / max(float(m.rhz), 1) | |
| 44 | let time = max(ltime, rtime) | |
| 45 | let frames = int(ceil(time * frameRate)) | |
| 46 | let s = hal.current | |
| 47 | ||
| 48 | case hal.kind | |
| 49 | of Simulated: | |
| 50 | for frame in 0..frames: | |
| 51 | let t = frame / frameRate | |
| 52 | let lticks = if s.lenable: min(m.ln, uint32(t * float(m.lhz))) else: 0 | |
| 53 | let rticks = if s.renable: min(m.rn, uint32(t * float(m.rhz))) else: 0 | |
| 54 | let ldist = (if s.ldir == CCW: 1.0 else: -1.0) * hal.steprads * float(lticks) | |
| 55 | let rdist = (if s.rdir == CCW: 1.0 else: -1.0) * hal.steprads * float(rticks) | |
| 56 | ||
| 57 | let step = MachineState( | |
| 58 | lpos: s.lpos + ldist, rpos: s.rpos + rdist, | |
| 59 | ldir: s.ldir, rdir: s.rdir, | |
| 60 | lenable: s.lenable, renable: s.renable, media: s.media) | |
| 61 | displayPush(DisplayRequest(kind: UPDATE, newstate: step)) | |
| 62 | hal.current = step | |
| 63 | of Actual: | |
| 64 | discard | |
| 65 | return hal.current |
| 0 | import math | |
| 1 | import strfmt | |
| 2 | ||
| 3 | # The amount of chain that is moved through one full rotation, in meters | |
| 4 | const gearCircumference* = math.PI * 0.10 | |
| 5 | ||
| 6 | type | |
| 7 | Dir* = enum | |
| 8 | CW, CCW | |
| 9 | ||
| 10 | MediaState* = enum | |
| 11 | Active | |
| 12 | Inactive | |
| 13 | ||
| 14 | MachineState* = object of RootObj | |
| 15 | lpos*: float | |
| 16 | rpos*: float | |
| 17 | ldir*: Dir | |
| 18 | rdir*: Dir | |
| 19 | lenable*: bool | |
| 20 | renable*: bool | |
| 21 | media*: MediaState | |
| 22 | ||
| 23 | HalType* = enum | |
| 24 | Simulated | |
| 25 | Actual | |
| 26 | ||
| 27 | Hal* = object of RootObj | |
| 28 | case kind*: HalType | |
| 29 | of Simulated: | |
| 30 | steprads*: float | |
| 31 | current*: MachineState | |
| 32 | of Actual: | |
| 33 | discard | |
| 34 | ||
| 35 | Motion* = object of RootObj | |
| 36 | ln*: uint32 | |
| 37 | lhz*: uint32 | |
| 38 | rn*: uint32 | |
| 39 | rhz*: uint32 | |
| 40 | ldir*: Dir | |
| 41 | rdir*: Dir | |
| 42 | ||
| 43 | proc writeformat*(o: var Writer, x: Dir, fmt: Format) = | |
| 44 | writeformat(o, $x, fmt) | |
| 45 | ||
| 46 | proc `$`*(m: Motion): string = | |
| 47 | "[left {0.ln}@{0.lhz}hz, right {0.rn}@{0.rhz}hz]".fmt(m) | |
| 48 | proc `$`*(ms: MachineState): string = | |
| 49 | return ("[left p={0.lpos} d={0.ldir} e={0.lenable} " & | |
| 50 | "right p={0.rpos} d={0.rdir} e={0.renable}]").fmt(ms) |
| 0 | import basic2d | |
| 1 | import display | |
| 2 | import hal | |
| 3 | import machine | |
| 4 | import math | |
| 5 | import plan | |
| 6 | import position | |
| 7 | ||
| 8 | var mp = initMotionPlanner( | |
| 9 | initHal(stepdeg = 0.42), | |
| 10 | WallPosition( | |
| 11 | rl: 4, rr: 4, rl_zero: 4, rr_zero: 4, rpos: vector2d(0, 0), | |
| 12 | pl: vector2d(-4.0, 5.0), pr: vector2d(2.0, 4.0))) | |
| 13 | ||
| 14 | displayStart(mp.position) | |
| 15 | ||
| 16 | mp.enable(left = TurnOn, right = TurnOn) | |
| 17 | ||
| 18 | let step = 0.1 | |
| 19 | let vel = 0.25 | |
| 20 | ||
| 21 | while true: | |
| 22 | let req = controlRequest() | |
| 23 | case req | |
| 24 | of UserQuit: | |
| 25 | break; | |
| 26 | of XUp: | |
| 27 | mp.relR2(vector2d(step, 0), vel) | |
| 28 | of XDown: | |
| 29 | mp.relR2(vector2d(-step, 0), vel) | |
| 30 | of YUp: | |
| 31 | mp.relR2(vector2d(0, step), vel) | |
| 32 | of YDown: | |
| 33 | mp.relR2(vector2d(0, -step), vel) | |
| 34 | of RLUp: | |
| 35 | mp.relQ(vector2d(step, 0), step / vel) | |
| 36 | of RLDown: | |
| 37 | mp.relQ(vector2d(-step, 0), step / vel) | |
| 38 | of RRUp: | |
| 39 | mp.relQ(vector2d(0, step), step / vel) | |
| 40 | of RRDown: | |
| 41 | mp.relQ(vector2d(0, -step), step / vel) | |
| 42 | of MediaOn: | |
| 43 | mp.media(Active) | |
| 44 | of MediaOff: | |
| 45 | mp.media(Inactive) | |
| 46 | of RLOn: | |
| 47 | mp.enable(left = TurnOn, right = NoChange) | |
| 48 | of RLOff: | |
| 49 | mp.enable(left = TurnOff, right = NoChange) | |
| 50 | of RROn: | |
| 51 | mp.enable(left = NoChange, right = TurnOn) | |
| 52 | of RROff: | |
| 53 | mp.enable(left = NoChange, right = TurnOff) | |
| 54 | else: | |
| 55 | discard | |
| 56 | ||
| 57 | displayWait() |
| 0 | import basic2d | |
| 1 | import hal | |
| 2 | import machine | |
| 3 | import math | |
| 4 | import position | |
| 5 | ||
| 6 | type | |
| 7 | ChangeEnable* = enum | |
| 8 | TurnOn, TurnOff, NoChange | |
| 9 | MotionPlanner* = object of RootObj | |
| 10 | current: WallPosition | |
| 11 | hal: Hal | |
| 12 | ||
| 13 | proc initMotionPlanner*(hal: Hal, start: WallPosition): MotionPlanner = | |
| 14 | return MotionPlanner(current: start.update(hal.current), hal: hal) | |
| 15 | ||
| 16 | proc position*(mp: MotionPlanner): WallPosition = mp.current | |
| 17 | ||
| 18 | proc enable*(mp: var MotionPlanner, left, right: ChangeEnable) = | |
| 19 | let lb = case left | |
| 20 | of TurnOn: true | |
| 21 | of TurnOff: false | |
| 22 | of NoChange: mp.hal.current.lenable | |
| 23 | let rb = case right | |
| 24 | of TurnOn: true | |
| 25 | of TurnOff: false | |
| 26 | of NoChange: mp.hal.current.renable | |
| 27 | mp.hal.enable(lb, rb) | |
| 28 | ||
| 29 | proc media*(mp: var MotionPlanner, state: MediaState) = | |
| 30 | mp.hal.media(state) | |
| 31 | ||
| 32 | proc absQ*(mp: var MotionPlanner, r: Vector2d, time: float) = | |
| 33 | ## An absolute move in configuration space. Expressed against the | |
| 34 | ## currently-configured zero, so may be a bit dangerous before calibration has | |
| 35 | ## run. Speed is expressed as the amount of time that the move should take, | |
| 36 | ## and both chains are moved such that their motions end concurrently. | |
| 37 | let m = radiusInterpolate(mp.current, r, time, mp.hal) | |
| 38 | let ms = mp.hal.sendMotion(m) | |
| 39 | mp.current = mp.current.update(ms) | |
| 40 | ||
| 41 | proc relQ*(mp: var MotionPlanner, dR: Vector2d, time: float) = | |
| 42 | ## A relative move in configuration space. Speed is expressed as the amount of | |
| 43 | ## time that the move should take, and both chains are moved such that their | |
| 44 | ## motions end concurrently. | |
| 45 | let targetR = vector2d(mp.current.rl, mp.current.rr) + dR | |
| 46 | mp.absQ(targetR, time) | |
| 47 | ||
| 48 | proc relR2*(mp: var MotionPlanner, xy: Vector2d, vel: float) = | |
| 49 | ## A relative move along a vector in cartesian space | |
| 50 | let dist = xy.len | |
| 51 | let steps = math.ceil(dist / 0.10) | |
| 52 | let start = mp.current.rpos | |
| 53 | let target = mp.current.rpos + xy | |
| 54 | let time = (mp.current.rpos - target).len / vel / steps | |
| 55 | ||
| 56 | for i in 1..int(steps): | |
| 57 | let t = float(i) / steps | |
| 58 | let p = start * (1 - t) + target * t | |
| 59 | let r = vector2d(len(mp.current.pl - p), len(mp.current.pr - p)) | |
| 60 | mp.absQ(r, time) | |
| 61 | ||
| 62 | proc absR2*(mp: var MotionPlanner, xy: Vector2d, vel: float) = | |
| 63 | ## An absolute move to a position in cartesian space | |
| 64 | relR2(mp, xy - mp.current.rpos, vel) |
| 0 | import basic2d | |
| 1 | import basic3d | |
| 2 | import deques | |
| 3 | import machine | |
| 4 | import math | |
| 5 | ||
| 6 | const chainLinkDist = 0.05 # m | |
| 7 | const chainLinkMass = 0.000833 # kg | |
| 8 | const robotMass = 10.0000 | |
| 9 | ||
| 10 | # The distance between the left and right gear centers. TODO: model the way the | |
| 11 | # chain wraps around the sprockets | |
| 12 | const robotPivotDist = 0.15 # m | |
| 13 | const mediaTDist = 0.20 # m | |
| 14 | ||
| 15 | type | |
| 16 | Vec = Vector2d | |
| 17 | WallPosition* = object of RootObj | |
| 18 | rl*: float | |
| 19 | rr*: float | |
| 20 | rl_zero*: float | |
| 21 | rr_zero*: float | |
| 22 | # Position of the robot for control purposes: the midpoint between the two | |
| 23 | # robot pivots | |
| 24 | rpos*: Vec | |
| 25 | # The position of the media, as calculated based on rpos and the robot's | |
| 26 | # orientation | |
| 27 | mpos*: Vec | |
| 28 | # Positions of the two anchor points | |
| 29 | pl*: Vec | |
| 30 | pr*: Vec | |
| 31 | media*: MediaState | |
| 32 | pivots*: seq[Vec] | |
| 33 | ||
| 34 | proc runLinkSim(wp: var WallPosition) = | |
| 35 | # There are links and pivots in a chain. Links connect pivots to each other, | |
| 36 | # and a pivot can either be fixed or free. Because of the fixed points at the | |
| 37 | # end, there is one more pivot than link. | |
| 38 | # | |
| 39 | # link ID 0 1 2 3 4 5 6 7 | |
| 40 | # pivot ID 0 1 2 3 4 5 6 7 8 | |
| 41 | # PL --- L0 --- L1 --- L2 --- BL --- BR --- R1 --- R0 --- PR | |
| 42 | # ^ ^ ^ ^ | |
| 43 | # | | | | | |
| 44 | # | | | +- shortened link = lln - 1 | |
| 45 | # | | +- pivot 1 | |
| 46 | # | + link 0 | |
| 47 | # + fixed point (as is PR) | |
| 48 | # | |
| 49 | # In this example: | |
| 50 | # lln is 4 | |
| 51 | # lpn is 3 | |
| 52 | # rln is 3 | |
| 53 | # rpn is 2 | |
| 54 | # ln is 8 | |
| 55 | # pn is 9 | |
| 56 | # | |
| 57 | # The robot is modelled as a pair of pivots with a custom link distance | |
| 58 | # between them. | |
| 59 | ||
| 60 | # The number of links for the left and right chains | |
| 61 | let lln = int(math.ceil(wp.rl / chainLinkDist)) - 1 | |
| 62 | let rln = int(math.ceil(wp.rr / chainLinkDist)) - 1 | |
| 63 | let lpn = lln - 1 | |
| 64 | let rpn = rln - 1 | |
| 65 | ||
| 66 | # Number of links and pivots. The extra link here is for the link between the | |
| 67 | # left and right robot pivots. | |
| 68 | let ln = lln + rln + 1 | |
| 69 | let pn = ln + 1 | |
| 70 | ||
| 71 | # The index of the left robot pivot | |
| 72 | let rpli = lpn + 1 | |
| 73 | # The index of the right robot pivot | |
| 74 | let rpri = lpn + 2 | |
| 75 | # The index of the robot link | |
| 76 | let rli = lln | |
| 77 | ||
| 78 | # L[i] is the length of the i'th link. Because we might have fractional chain | |
| 79 | # links let out, not all links that represent chain pivot-to-pivot have the | |
| 80 | # same length | |
| 81 | var L: seq[float] | |
| 82 | ||
| 83 | # The position of each of the pivots | |
| 84 | var x: seq[Vec] | |
| 85 | ||
| 86 | newSeq(L, ln) | |
| 87 | newSeq(x, pn) | |
| 88 | ||
| 89 | # Create initial guess for chain location based on previous rpos position | |
| 90 | let guessRobotL = wp.rpos - vector2d(robotPivotDist / 2, 0) | |
| 91 | let guessRobotR = wp.rpos + vector2d(robotPivotDist / 2, 0) | |
| 92 | var ld = guessRobotL - wp.pl | |
| 93 | var rd = guessRobotR - wp.pr | |
| 94 | ld.normalize() | |
| 95 | rd.normalize() | |
| 96 | ||
| 97 | # Endpoints are fixed | |
| 98 | x[0] = wp.pl | |
| 99 | x[pn - 1] = wp.pr | |
| 100 | ||
| 101 | # First lln - 1 links are all a fixed length | |
| 102 | for i in 0..(lln - 2): | |
| 103 | L[i] = chainLinkDist | |
| 104 | # The last link is however long is needed to make up the distance from the robot to | |
| 105 | # the last chain link that we placed | |
| 106 | L[lln - 1] = wp.rl - float(lln) * chainLinkDist | |
| 107 | for i in 1..lpn: | |
| 108 | x[i] = ld * L[i - 1] + x[i - 1] | |
| 109 | ||
| 110 | # The next link is the one between the robot pivots | |
| 111 | L[rli] = robotPivotDist | |
| 112 | # ...whose initial guess is to the left and right of the previous robot position | |
| 113 | x[rpli] = guessRobotL | |
| 114 | x[rpri] = guessRobotR | |
| 115 | ||
| 116 | L[rli + 1] = wp.rr - float(rln) * chainLinkDist | |
| 117 | for i in (rli + 2)..(ln - 1): | |
| 118 | L[i] = chainLinkDist | |
| 119 | for i in (rpri + 1)..(pn - 2): | |
| 120 | x[i] = -rd * L[i - 1] + x[i - 1] | |
| 121 | ||
| 122 | # Okay, now we're ready to start simulating. First step on each iteration is | |
| 123 | # to calculate the force on each link | |
| 124 | var F = newSeq[Vec](ln) | |
| 125 | for i in 1..(ln - 1): | |
| 126 | let m = | |
| 127 | if i == rli: robotMass | |
| 128 | else: chainLinkMass | |
| 129 | F[i].x = 0 | |
| 130 | F[i].y = -m | |
| 131 | ||
| 132 | # Copy result into the WallPosition struct | |
| 133 | setlen(wp.pivots, pn) | |
| 134 | for i in 0..(pn - 1): | |
| 135 | wp.pivots[i] = x[i] | |
| 136 | ||
| 137 | let robotL = x[lpn + 1] | |
| 138 | let robotR = x[lpn + 2] | |
| 139 | var edge = robotR - robotL | |
| 140 | edge.normalize() | |
| 141 | wp.rpos = robotL + 0.5 * robotPivotDist * edge | |
| 142 | ||
| 143 | let edge3d = vector3d(edge.x, edge.y, 0) | |
| 144 | let medge = edge3d.cross(vector3d(0, 0, 1)) | |
| 145 | wp.mpos = wp.rpos + mediaTDist * vector2d(medge.x, medge.y) | |
| 146 | ||
| 147 | proc evalRpos(wp: WallPosition): tuple[f: float64, df: Vec, ddf: float64] = | |
| 148 | let lv = wp.pl - wp.rpos | |
| 149 | let rv = wp.pr - wp.rpos | |
| 150 | let lerr = lv.len - wp.rl | |
| 151 | let rerr = rv.len - wp.rr | |
| 152 | let f = pow(lerr, 2) + pow(rerr, 2) | |
| 153 | let df = -lerr * lv / lv.len - rerr * rv / rv.len | |
| 154 | let ddf = lv.len + rv.len / 8 | |
| 155 | return (f: f, df: df, ddf: ddf) | |
| 156 | ||
| 157 | proc update*(wp: WallPosition, ms: MachineState): WallPosition = | |
| 158 | let rl = wp.rl_zero + gearCircumference * (ms.lpos / (2 * math.PI)) | |
| 159 | let rr = wp.rr_zero + gearCircumference * (ms.rpos / (2 * math.PI)) | |
| 160 | var res = WallPosition( | |
| 161 | rl: rl, rr: rr, rl_zero: wp.rl_zero, rr_zero: wp.rr_zero, | |
| 162 | rpos: wp.rpos, pl: wp.pl, pr: wp.pr, media: ms.media, | |
| 163 | pivots: @[]) | |
| 164 | var (f, df, ddf) = evalRpos(res) | |
| 165 | var iter = 10000 | |
| 166 | while f > 1e-7 and iter > 0: | |
| 167 | res.rpos = res.rpos - df / ddf | |
| 168 | (f, df, ddf) = evalRpos(res) | |
| 169 | iter -= 1 | |
| 170 | runLinkSim(res) | |
| 171 | return res | |
| 172 | ||
| 173 | proc radiusInterpolate*(wp: WallPosition, targetR: Vec, time: float, hal: Hal): Motion = | |
| 174 | ## Move to the target radial position in the given amount of time | |
| 175 | var dR = targetR - vector2d(wp.rl, wp.rr) | |
| 176 | # number of circumferences = delta-radius / circumference | |
| 177 | # number of ticks = number of circumferences * number of ticks per circumference | |
| 178 | let ticks = dR * (1.0/ gearCircumference * (2 * math.PI / hal.steprads)) | |
| 179 | let ldir = if ticks.x > 0: CCW else: CW | |
| 180 | let rdir = if ticks.y > 0: CCW else: CW | |
| 181 | let lhz = uint32(abs(ticks.x / time)) | |
| 182 | let rhz = uint32(abs(ticks.y / time)) | |
| 183 | return Motion( | |
| 184 | ln: uint32(abs(ticks.x)), | |
| 185 | lhz: lhz, | |
| 186 | ldir: ldir, | |
| 187 | rn: uint32(abs(ticks.y)), | |
| 188 | rhz: rhz, | |
| 189 | rdir: rdir, | |
| 190 | ) |
| 0 | import machine | |
| 1 | import math | |
| 2 | import neo | |
| 3 | import position | |
| 4 | import unittest | |
| 5 | ||
| 6 | suite "forward position solver tests": | |
| 7 | test "initial guess is perfect": | |
| 8 | let rl = math.sqrt(float64(17)) | |
| 9 | let rr = math.sqrt(float64(34)) | |
| 10 | let initial = WallPosition( | |
| 11 | rl: rl, rr: rr, rl_zero: rl, rr_zero: rr, | |
| 12 | rpos: vector(0.0, 1.0), | |
| 13 | pl: vector(-1.0, 5.0), | |
| 14 | pr: vector(3.0, 6.0)) | |
| 15 | let result = initial.update(MachineState( | |
| 16 | lpos: 0, rpos: 0, ldir: CW, rdir: CW, lenable: true, renable: true)) | |
| 17 | check(result.rpos[0] == initial.rpos[0]) | |
| 18 | check(result.rpos[1] == initial.rpos[1]) | |
| 19 | ||
| 20 | test "initial guess is zero": | |
| 21 | let rl = math.sqrt(float64(17)) | |
| 22 | let rr = math.sqrt(float64(34)) | |
| 23 | let initial = WallPosition( | |
| 24 | rl: rl, rr: rr, rl_zero: rl, rr_zero: rr, | |
| 25 | rpos: vector(0.0, 0.0), | |
| 26 | pl: vector(-1.0, 5.0), | |
| 27 | pr: vector(3.0, 6.0)) | |
| 28 | let result = initial.update(MachineState( | |
| 29 | lpos: 0, rpos: 0, ldir: CW, rdir: CW, lenable: true, renable: true)) | |
| 30 | check(abs(result.rpos[0] - 0.0) < 1e-3) | |
| 31 | check(abs(result.rpos[1] - 1.0) < 1e-3) | |
| 32 | ||
| 33 | test "initial guess is far away": | |
| 34 | let rl = 6 * math.sqrt(float64(74)) | |
| 35 | let rr = math.sqrt(float64(797)) | |
| 36 | let initial = WallPosition( | |
| 37 | rl: rl, rr: rr, rl_zero: rl, rr_zero: rr, | |
| 38 | rpos: vector(0.0, 0.0), | |
| 39 | pl: vector(-10.0, 52.0), | |
| 40 | pr: vector(31.0, 36.0)) | |
| 41 | let result = initial.update(MachineState( | |
| 42 | lpos: 0, rpos: 0, ldir: CW, rdir: CW, lenable: true, renable: true)) | |
| 43 | check(abs(result.rpos[0] - 20.0) < 1e-3) | |
| 44 | check(abs(result.rpos[1] - 10.0) < 1e-3) |
| 0 | # Package | |
| 1 | ||
| 2 | version = "0.1.0" | |
| 3 | author = "haldean" | |
| 4 | description = "Controller for the wallbot robotic system" | |
| 5 | license = "GPLv3" | |
| 6 | bin = @["wb/main"] | |
| 7 | ||
| 8 | # Dependencies | |
| 9 | ||
| 10 | requires "nim >= 0.17.2" | |
| 11 | requires "strfmt >= 0.8.5" | |
| 12 | requires "csfml >= 2.3.0" |
| 0 | import basic2d | |
| 1 | import csfml | |
| 2 | import deques | |
| 3 | import machine | |
| 4 | import math | |
| 5 | import os | |
| 6 | import position | |
| 7 | import strfmt | |
| 8 | import times | |
| 9 | ||
| 10 | const frameRate* = 30 | |
| 11 | ||
| 12 | let targetFrameTime = 1.0 / float(frameRate) | |
| 13 | const left = 40 | |
| 14 | const top = 160 | |
| 15 | const toothR = 30 | |
| 16 | const wheelR = 100 | |
| 17 | var w = 1800 | |
| 18 | var h = 900 | |
| 19 | ||
| 20 | let c0 = color(6, 12, 25) | |
| 21 | let c1 = color(230, 255, 255) | |
| 22 | let c2 = color(111, 195, 223) | |
| 23 | let c3 = color(223, 116, 12) | |
| 24 | let c4 = color(255, 230, 77) | |
| 25 | let c5 = color(40, 108, 150) | |
| 26 | ||
| 27 | type | |
| 28 | DisplayException* = object of Exception | |
| 29 | DisplayRequestType* = enum | |
| 30 | UPDATE, QUIT | |
| 31 | DisplayRequest* = object of RootObj | |
| 32 | case kind*: DisplayRequestType | |
| 33 | of UPDATE: | |
| 34 | newstate*: MachineState | |
| 35 | of QUIT: | |
| 36 | discard | |
| 37 | ControlRequest* = enum | |
| 38 | UserQuit, Stop, Run, XUp, XDown, YUp, YDown, RLUp, RLDown, RRUp, RRDown, | |
| 39 | MediaOn, MediaOff, RLOn, RLOff, RROn, RROff | |
| 40 | ||
| 41 | var displayChannel: Channel[DisplayRequest] | |
| 42 | var ctrlChannel: Channel[ControlRequest] | |
| 43 | displayChannel.open(0) | |
| 44 | ctrlChannel.open(0) | |
| 45 | ||
| 46 | proc drawWheel( | |
| 47 | window: RenderWindow, name: string, font: Font, x: int, y: int, | |
| 48 | enable: bool, dir: Dir, pos: float) = | |
| 49 | ||
| 50 | const thick = 30 | |
| 51 | var wheel = newCircleShape(wheelR - thick, 100) | |
| 52 | wheel.origin = vec2(wheelR - thick, wheelR - thick) | |
| 53 | wheel.outlineColor = if enable: c4 else: c3 | |
| 54 | wheel.outlineThickness = thick | |
| 55 | wheel.position = vec2(wheelR + x, wheelR + y) | |
| 56 | wheel.fillColor = Transparent | |
| 57 | window.draw(wheel) | |
| 58 | ||
| 59 | var tooth = newCircleShape(toothR) | |
| 60 | tooth.origin = vec2(toothR, toothR) | |
| 61 | tooth.fillColor = c0 | |
| 62 | for t in 0..6: | |
| 63 | let theta = float(t) * math.PI / 3 + pos | |
| 64 | let dx = int(math.sin(theta) * (wheelR - 0.5 * thick)) | |
| 65 | let dy = int(-math.cos(theta) * (wheelR - 0.5 * thick)) | |
| 66 | tooth.position = vec2(x + wheelR + dx, y + wheelR + dy) | |
| 67 | window.draw(tooth) | |
| 68 | ||
| 69 | var title = newText(name, font, 48) | |
| 70 | title.color = c2 | |
| 71 | title.position = vec2(x + wheelR - 14, y + wheelR - 30) | |
| 72 | window.draw(title) | |
| 73 | ||
| 74 | let tableOrigin = vec2(x + 10, y + 2 * wheelR + 10) | |
| 75 | ||
| 76 | var table = newText( | |
| 77 | "θ={0:+06.0f} Δ={1:> 3s}".fmt(180 * pos / math.PI, $dir), font, 20) | |
| 78 | table.color = c2 | |
| 79 | table.position = tableOrigin + vec2(wheelR - 108, 4) | |
| 80 | window.draw(table) | |
| 81 | ||
| 82 | proc drawPosition( | |
| 83 | window: RenderWindow, font: Font, x: int, y: int, w: int, h: int, | |
| 84 | wp: WallPosition, segment: Deque[Vector2d], trail: Deque[Deque[Vector2d]]) = | |
| 85 | # Padding on bounding box of scene, in meters | |
| 86 | const xpad = 1 | |
| 87 | const ypad = 0.5 | |
| 88 | ||
| 89 | var daspect = float(w) / float(h) | |
| 90 | ||
| 91 | var xmin = min(wp.pl.x, wp.pr.x) - xpad | |
| 92 | var ymin = -ypad | |
| 93 | var xmax = max(wp.pl.x, wp.pr.x) + xpad | |
| 94 | var ymax = max(wp.pl.y, wp.pr.y) + ypad | |
| 95 | var paspect = (xmax - xmin) / (ymax - ymin) | |
| 96 | ||
| 97 | if daspect < paspect: | |
| 98 | ymax = (xmax - xmin) / daspect | |
| 99 | else: | |
| 100 | let xrange = ymax * daspect | |
| 101 | let xcenter = 0.5 * (xmax + xmin) | |
| 102 | xmin = xcenter - xrange / 2 | |
| 103 | xmax = xcenter + xrange / 2 | |
| 104 | paspect = (xmax - xmin) / (ymax - ymin) | |
| 105 | ||
| 106 | let ppm = float(w) / (xmax - xmin) | |
| 107 | ||
| 108 | proc pixelX(m: float): int = return int(float(x) + w / 2 + ppm * m) | |
| 109 | proc pixelY(m: float): int = return int(float(y + h - 20) - ppm * m) | |
| 110 | proc pixel(m: Vector2d): Vector2f = return vec2(pixelX(m.x), pixelY(m.y)) | |
| 111 | ||
| 112 | var varr = newVertexArray() | |
| 113 | varr.append(Vertex(position: vec2(x, y), color: c1)) | |
| 114 | varr.append(Vertex(position: vec2(x + w, y), color: c1)) | |
| 115 | varr.append(Vertex(position: vec2(x + w, y), color: c1)) | |
| 116 | varr.append(Vertex(position: vec2(x + w, y + h), color: c1)) | |
| 117 | varr.append(Vertex(position: vec2(x + w, y + h), color: c1)) | |
| 118 | varr.append(Vertex(position: vec2(x, y + h), color: c1)) | |
| 119 | varr.append(Vertex(position: vec2(x, y + h), color: c1)) | |
| 120 | varr.append(Vertex(position: vec2(x, y), color: c1)) | |
| 121 | ||
| 122 | varr.append(Vertex(position: vec2(x + 1, pixelY(0)), color: c2)) | |
| 123 | varr.append(Vertex(position: vec2(x + w - 1, pixelY(0)), color: c2)) | |
| 124 | ||
| 125 | let xgridlo = int(math.floor(xmin - xpad)) | |
| 126 | let xgridhi = int(math.ceil(xmax + xpad)) | |
| 127 | for xm in xgridlo..xgridhi: | |
| 128 | let xp = pixelX(float(xm)) | |
| 129 | if xp < x or xp > x + w: | |
| 130 | continue | |
| 131 | varr.append(Vertex(position: vec2(xp, y + 1), color: c5)) | |
| 132 | varr.append(Vertex(position: vec2(xp, y + h - 1), color: c5)) | |
| 133 | ||
| 134 | let ygridlo = int(math.floor(ymin - ypad)) | |
| 135 | let ygridhi = int(math.ceil(ymax + ypad)) | |
| 136 | for ym in ygridlo..ygridhi: | |
| 137 | let yp = pixelY(float(ym)) | |
| 138 | if yp < y or yp > y + h: | |
| 139 | continue | |
| 140 | let color = if ym == 0: c2 else: c5 | |
| 141 | varr.append(Vertex(position: vec2(x + 1, yp), color: color)) | |
| 142 | varr.append(Vertex(position: vec2(x + w - 1, yp), color: color)) | |
| 143 | ||
| 144 | for tr in trail: | |
| 145 | for i in 0..(len(tr) - 2): | |
| 146 | varr.append(Vertex(position: pixel(tr[i + 0]), color: c4)) | |
| 147 | varr.append(Vertex(position: pixel(tr[i + 1]), color: c4)) | |
| 148 | for i in 0..(len(segment) - 2): | |
| 149 | varr.append(Vertex(position: pixel(segment[i + 0]), color: c4)) | |
| 150 | varr.append(Vertex(position: pixel(segment[i + 1]), color: c4)) | |
| 151 | ||
| 152 | varr.append(Vertex(position: pixel(wp.rpos), color: c2)) | |
| 153 | varr.append(Vertex(position: pixel(wp.mpos), color: c1)) | |
| 154 | varr.primitiveType = PrimitiveType.Lines | |
| 155 | window.draw(varr) | |
| 156 | ||
| 157 | proc rlabel(r: float, pos: Vector2d) = | |
| 158 | let s = newRectangleShape(size = vec2(60, 24)) | |
| 159 | s.position = pixel(pos) - vec2(32, 12) | |
| 160 | s.fillColor = c0 | |
| 161 | s.outlineColor = c2 | |
| 162 | s.outlineThickness = 1 | |
| 163 | window.draw(s) | |
| 164 | let t = newText(r.format("04.3f"), font, 18) | |
| 165 | t.position = pixel(pos) - vec2(30, 12) | |
| 166 | t.color = c2 | |
| 167 | window.draw(t) | |
| 168 | rlabel(wp.rl, 0.5 * (wp.pl + wp.rpos)) | |
| 169 | rlabel(wp.rr, 0.5 * (wp.pr + wp.rpos)) | |
| 170 | ||
| 171 | proc circle(pos: Vector2d, color: Color, labelColor: Color, showLabel = true) = | |
| 172 | let pc = newCircleShape(10) | |
| 173 | pc.origin = vec2(10, 10) | |
| 174 | pc.position = pixel(pos) | |
| 175 | pc.outlineColor = color | |
| 176 | pc.outlineThickness = 2 | |
| 177 | pc.fillColor = Transparent | |
| 178 | window.draw(pc) | |
| 179 | ||
| 180 | if showLabel: | |
| 181 | let label = newText("{0:+04.2f}\n{1:+04.2f}".fmt(pos.x, pos.y), font, 18) | |
| 182 | label.position = pc.position + vec2(10, 0) | |
| 183 | label.color = labelColor | |
| 184 | window.draw(label) | |
| 185 | ||
| 186 | circle(wp.pl, c3, c2) | |
| 187 | circle(wp.pr, c3, c2) | |
| 188 | circle(wp.rpos, c2, c1, false) | |
| 189 | circle(wp.mpos, c4, c1) | |
| 190 | ||
| 191 | let ccc = newCircleShape(2) | |
| 192 | ccc.origin = vec2(1, 1) | |
| 193 | ccc.fillColor = White | |
| 194 | for p in wp.pivots: | |
| 195 | ccc.position = pixel(p) | |
| 196 | window.draw(ccc) | |
| 197 | ||
| 198 | varr.clear() | |
| 199 | varr.primitiveType = PrimitiveType.LinesStrip | |
| 200 | for p in wp.pivots: | |
| 201 | varr.append(Vertex(position: pixel(p), color: c2)) | |
| 202 | window.draw(varr) | |
| 203 | ||
| 204 | proc pushKey(key: KeyEvent) = | |
| 205 | case key.code | |
| 206 | of KeyCode.Space: | |
| 207 | ctrlChannel.send(ControlRequest.Stop) | |
| 208 | of KeyCode.Tilde: | |
| 209 | ctrlChannel.send(ControlRequest.Run) | |
| 210 | of KeyCode.Right: | |
| 211 | ctrlChannel.send(ControlRequest.XUp) | |
| 212 | of KeyCode.Left: | |
| 213 | ctrlChannel.send(ControlRequest.XDown) | |
| 214 | of KeyCode.Up: | |
| 215 | ctrlChannel.send(ControlRequest.YUp) | |
| 216 | of KeyCode.Down: | |
| 217 | ctrlChannel.send(ControlRequest.YDown) | |
| 218 | of KeyCode.W: | |
| 219 | ctrlChannel.send(ControlRequest.RLUp) | |
| 220 | of KeyCode.S: | |
| 221 | ctrlChannel.send(ControlRequest.RLDown) | |
| 222 | of KeyCode.E: | |
| 223 | ctrlChannel.send(ControlRequest.RRUp) | |
| 224 | of KeyCode.D: | |
| 225 | ctrlChannel.send(ControlRequest.RRDown) | |
| 226 | of KeyCode.M: | |
| 227 | ctrlChannel.send(ControlRequest.MediaOn) | |
| 228 | of KeyCode.N: | |
| 229 | ctrlChannel.send(ControlRequest.MediaOff) | |
| 230 | of KeyCode.Q: | |
| 231 | ctrlChannel.send(ControlRequest.RLOn) | |
| 232 | of KeyCode.A: | |
| 233 | ctrlChannel.send(ControlRequest.RLOff) | |
| 234 | of KeyCode.R: | |
| 235 | ctrlChannel.send(ControlRequest.RROn) | |
| 236 | of KeyCode.F: | |
| 237 | ctrlChannel.send(ControlRequest.RROff) | |
| 238 | else: | |
| 239 | discard | |
| 240 | ||
| 241 | proc displayRun*(startPos: WallPosition) {.thread.} = | |
| 242 | var csettings = csfml.contextSettings(antialiasing = 1) | |
| 243 | let mode = videoMode_getFullscreenModes()[0] | |
| 244 | let window = csfml.newRenderWindow( | |
| 245 | mode, "Wallplot Display", WindowStyle.None, csettings) | |
| 246 | w = mode.width | |
| 247 | h = mode.height | |
| 248 | ||
| 249 | let font = newFont("resources/InputMono-Regular.ttf") | |
| 250 | var header = newText("WALLBOT CONTROLLER", font, 48) | |
| 251 | header.color = c0 | |
| 252 | header.position = vec2(left, top - 100) | |
| 253 | ||
| 254 | var wp = startPos | |
| 255 | ||
| 256 | var current: MachineState | |
| 257 | block findFirstState: | |
| 258 | while true: | |
| 259 | let req = displayChannel.recv() | |
| 260 | case req.kind | |
| 261 | of UPDATE: | |
| 262 | current = req.newstate | |
| 263 | break findFirstState | |
| 264 | of QUIT: | |
| 265 | return | |
| 266 | wp = wp.update(current) | |
| 267 | ||
| 268 | # Each element of the trail is a fully-connected polyline. We start a new | |
| 269 | # polyline every time we lift the pen. | |
| 270 | var segment = initDeque[Vector2d]() | |
| 271 | var trail = initDeque[Deque[Vector2d]]() | |
| 272 | ||
| 273 | let loopStart = epochTime() | |
| 274 | block mainLoop: | |
| 275 | while true: | |
| 276 | let frameStart = epochTime() | |
| 277 | var event: csfml.Event | |
| 278 | while window.pollEvent(event): | |
| 279 | case event.kind | |
| 280 | of EventType.Closed: | |
| 281 | break mainLoop | |
| 282 | of EventType.KeyPressed: | |
| 283 | pushKey(event.key) | |
| 284 | else: | |
| 285 | discard | |
| 286 | ||
| 287 | let (avail, req) = displayChannel.tryRecv() | |
| 288 | if avail: | |
| 289 | case req.kind | |
| 290 | of QUIT: | |
| 291 | break | |
| 292 | of UPDATE: | |
| 293 | current = req.newstate | |
| 294 | wp = wp.update(current) | |
| 295 | ||
| 296 | if wp.media == Active: | |
| 297 | if segment.len == 0 or segment.peekFirst != wp.mpos: | |
| 298 | segment.addFirst(wp.mpos) | |
| 299 | elif segment.len != 0: | |
| 300 | trail.addFirst(segment) | |
| 301 | while segment.len != 0: | |
| 302 | segment.popLast() | |
| 303 | ||
| 304 | window.clear(c5) | |
| 305 | ||
| 306 | var inset = newRectangleShape(size = window.size() - vec2(0, top - 40)) | |
| 307 | inset.fillColor = c0 | |
| 308 | inset.position = vec2(0, top - 40) | |
| 309 | window.draw(inset) | |
| 310 | ||
| 311 | window.draw(header) | |
| 312 | ||
| 313 | window.drawWheel( | |
| 314 | "L", font, left, top, current.lenable, current.ldir, current.lpos) | |
| 315 | window.drawWheel( | |
| 316 | "R", font, left, top + 2 * wheelR + 90, current.renable, | |
| 317 | current.rdir, current.rpos) | |
| 318 | ||
| 319 | var mediaLabel = newText("MEDIA:", font, 20) | |
| 320 | mediaLabel.color = c2 | |
| 321 | mediaLabel.position = vec2(left, top + 4 * wheelR + 180) | |
| 322 | window.draw(mediaLabel) | |
| 323 | ||
| 324 | var media = newText(if wp.media == Active: "ACTIVE" else: "INACTIVE", font, 20) | |
| 325 | media.color = if wp.media == Active: c4 else: c3 | |
| 326 | media.position = mediaLabel.position + vec2(if wp.media == Active: 126 else: 100, 0) | |
| 327 | window.draw(media) | |
| 328 | ||
| 329 | let posLeft = 2 * left + 2 * wheelR | |
| 330 | window.drawPosition( | |
| 331 | font, posLeft, top, w - posLeft - left, h - top - 40, wp, | |
| 332 | segment, trail) | |
| 333 | ||
| 334 | let totalTime = epochTime() - loopStart | |
| 335 | var timeDisplay = newText(totalTime.format("+07.2f"), font, 18) | |
| 336 | timeDisplay.color = c2 | |
| 337 | timeDisplay.position = vec2(w - 115, h - 32) | |
| 338 | window.draw(timeDisplay) | |
| 339 | ||
| 340 | window.display() | |
| 341 | let frameTime = epochTime() - frameStart | |
| 342 | if frameTime < targetFrameTime: | |
| 343 | sleep(int(1000 * (targetFrameTime - frameTime))) | |
| 344 | ||
| 345 | ctrlChannel.send(ControlRequest.UserQuit) | |
| 346 | window.close() | |
| 347 | ||
| 348 | var displayThread: system.Thread[WallPosition] | |
| 349 | proc displayStart*(wp: WallPosition) = | |
| 350 | displayThread.createThread(displayRun, wp) | |
| 351 | ||
| 352 | proc displayPush*(req: DisplayRequest) = | |
| 353 | displayChannel.send(req) | |
| 354 | ||
| 355 | proc controlRequest*(): ControlRequest = | |
| 356 | return ctrlChannel.recv() | |
| 357 | ||
| 358 | proc displayWait*() = | |
| 359 | displayThread.joinThread() | |
| 360 | ||
| 361 | proc displayEnd*() = | |
| 362 | displayChannel.send(DisplayRequest(kind: QUIT)) | |
| 363 | displayWait() |
| 0 | import display | |
| 1 | import machine | |
| 2 | import math | |
| 3 | ||
| 4 | proc initHal*(stepdeg: float): Hal = | |
| 5 | return Hal( | |
| 6 | kind: Simulated, | |
| 7 | steprads: stepdeg / 360 * math.PI, | |
| 8 | current: MachineState( | |
| 9 | lpos: 0, rpos: 0, ldir: CCW, rdir: CCW, lenable: false, renable: false, | |
| 10 | media: Inactive)) | |
| 11 | ||
| 12 | proc enable*(hal: var Hal, left: bool, right: bool) = | |
| 13 | case hal.kind | |
| 14 | of Simulated: | |
| 15 | hal.current.lenable = left | |
| 16 | hal.current.renable = right | |
| 17 | displayPush(DisplayRequest(kind: UPDATE, newstate: hal.current)) | |
| 18 | of Actual: | |
| 19 | discard | |
| 20 | ||
| 21 | proc direction*(hal: var Hal, left: Dir, right: Dir) = | |
| 22 | case hal.kind | |
| 23 | of Simulated: | |
| 24 | hal.current.ldir = left | |
| 25 | hal.current.rdir = right | |
| 26 | displayPush(DisplayRequest(kind: UPDATE, newstate: hal.current)) | |
| 27 | of Actual: | |
| 28 | discard | |
| 29 | ||
| 30 | proc media*(hal: var Hal, media: MediaState) = | |
| 31 | case hal.kind | |
| 32 | of Simulated: | |
| 33 | if media != hal.current.media: | |
| 34 | hal.current.media = media | |
| 35 | displayPush(DisplayRequest(kind: UPDATE, newstate: hal.current)) | |
| 36 | of Actual: | |
| 37 | discard | |
| 38 | ||
| 39 | proc sendMotion*(hal: var Hal, m: Motion): MachineState = | |
| 40 | if m.ldir != hal.current.ldir or m.rdir != hal.current.rdir: | |
| 41 | hal.direction(m.ldir, m.rdir) | |
| 42 | let ltime = float(m.ln) / max(float(m.lhz), 1) | |
| 43 | let rtime = float(m.rn) / max(float(m.rhz), 1) | |
| 44 | let time = max(ltime, rtime) | |
| 45 | let frames = int(ceil(time * frameRate)) | |
| 46 | let s = hal.current | |
| 47 | ||
| 48 | case hal.kind | |
| 49 | of Simulated: | |
| 50 | for frame in 0..frames: | |
| 51 | let t = frame / frameRate | |
| 52 | let lticks = if s.lenable: min(m.ln, uint32(t * float(m.lhz))) else: 0 | |
| 53 | let rticks = if s.renable: min(m.rn, uint32(t * float(m.rhz))) else: 0 | |
| 54 | let ldist = (if s.ldir == CCW: 1.0 else: -1.0) * hal.steprads * float(lticks) | |
| 55 | let rdist = (if s.rdir == CCW: 1.0 else: -1.0) * hal.steprads * float(rticks) | |
| 56 | ||
| 57 | let step = MachineState( | |
| 58 | lpos: s.lpos + ldist, rpos: s.rpos + rdist, | |
| 59 | ldir: s.ldir, rdir: s.rdir, | |
| 60 | lenable: s.lenable, renable: s.renable, media: s.media) | |
| 61 | displayPush(DisplayRequest(kind: UPDATE, newstate: step)) | |
| 62 | hal.current = step | |
| 63 | of Actual: | |
| 64 | discard | |
| 65 | return hal.current |
| 0 | import math | |
| 1 | import strfmt | |
| 2 | ||
| 3 | # The amount of chain that is moved through one full rotation, in meters | |
| 4 | const gearCircumference* = math.PI * 0.10 | |
| 5 | ||
| 6 | type | |
| 7 | Dir* = enum | |
| 8 | CW, CCW | |
| 9 | ||
| 10 | MediaState* = enum | |
| 11 | Active | |
| 12 | Inactive | |
| 13 | ||
| 14 | MachineState* = object of RootObj | |
| 15 | lpos*: float | |
| 16 | rpos*: float | |
| 17 | ldir*: Dir | |
| 18 | rdir*: Dir | |
| 19 | lenable*: bool | |
| 20 | renable*: bool | |
| 21 | media*: MediaState | |
| 22 | ||
| 23 | HalType* = enum | |
| 24 | Simulated | |
| 25 | Actual | |
| 26 | ||
| 27 | Hal* = object of RootObj | |
| 28 | case kind*: HalType | |
| 29 | of Simulated: | |
| 30 | steprads*: float | |
| 31 | current*: MachineState | |
| 32 | of Actual: | |
| 33 | discard | |
| 34 | ||
| 35 | Motion* = object of RootObj | |
| 36 | ln*: uint32 | |
| 37 | lhz*: uint32 | |
| 38 | rn*: uint32 | |
| 39 | rhz*: uint32 | |
| 40 | ldir*: Dir | |
| 41 | rdir*: Dir | |
| 42 | ||
| 43 | proc writeformat*(o: var Writer, x: Dir, fmt: Format) = | |
| 44 | writeformat(o, $x, fmt) | |
| 45 | ||
| 46 | proc `$`*(m: Motion): string = | |
| 47 | "[left {0.ln}@{0.lhz}hz, right {0.rn}@{0.rhz}hz]".fmt(m) | |
| 48 | proc `$`*(ms: MachineState): string = | |
| 49 | return ("[left p={0.lpos} d={0.ldir} e={0.lenable} " & | |
| 50 | "right p={0.rpos} d={0.rdir} e={0.renable}]").fmt(ms) |
| 0 | import basic2d | |
| 1 | import display | |
| 2 | import hal | |
| 3 | import machine | |
| 4 | import math | |
| 5 | import plan | |
| 6 | import position | |
| 7 | ||
| 8 | var mp = initMotionPlanner( | |
| 9 | initHal(stepdeg = 0.42), | |
| 10 | WallPosition( | |
| 11 | rl: 4, rr: 4, rl_zero: 4, rr_zero: 4, rpos: vector2d(0, 0), | |
| 12 | pl: vector2d(-4.0, 5.0), pr: vector2d(2.0, 4.0))) | |
| 13 | ||
| 14 | displayStart(mp.position) | |
| 15 | ||
| 16 | mp.enable(left = TurnOn, right = TurnOn) | |
| 17 | ||
| 18 | let step = 0.1 | |
| 19 | let vel = 0.25 | |
| 20 | ||
| 21 | while true: | |
| 22 | let req = controlRequest() | |
| 23 | case req | |
| 24 | of UserQuit: | |
| 25 | break; | |
| 26 | of XUp: | |
| 27 | mp.relR2(vector2d(step, 0), vel) | |
| 28 | of XDown: | |
| 29 | mp.relR2(vector2d(-step, 0), vel) | |
| 30 | of YUp: | |
| 31 | mp.relR2(vector2d(0, step), vel) | |
| 32 | of YDown: | |
| 33 | mp.relR2(vector2d(0, -step), vel) | |
| 34 | of RLUp: | |
| 35 | mp.relQ(vector2d(step, 0), step / vel) | |
| 36 | of RLDown: | |
| 37 | mp.relQ(vector2d(-step, 0), step / vel) | |
| 38 | of RRUp: | |
| 39 | mp.relQ(vector2d(0, step), step / vel) | |
| 40 | of RRDown: | |
| 41 | mp.relQ(vector2d(0, -step), step / vel) | |
| 42 | of MediaOn: | |
| 43 | mp.media(Active) | |
| 44 | of MediaOff: | |
| 45 | mp.media(Inactive) | |
| 46 | of RLOn: | |
| 47 | mp.enable(left = TurnOn, right = NoChange) | |
| 48 | of RLOff: | |
| 49 | mp.enable(left = TurnOff, right = NoChange) | |
| 50 | of RROn: | |
| 51 | mp.enable(left = NoChange, right = TurnOn) | |
| 52 | of RROff: | |
| 53 | mp.enable(left = NoChange, right = TurnOff) | |
| 54 | else: | |
| 55 | discard | |
| 56 | ||
| 57 | displayWait() |
| 0 | import basic2d | |
| 1 | import hal | |
| 2 | import machine | |
| 3 | import math | |
| 4 | import position | |
| 5 | ||
| 6 | type | |
| 7 | ChangeEnable* = enum | |
| 8 | TurnOn, TurnOff, NoChange | |
| 9 | MotionPlanner* = object of RootObj | |
| 10 | current: WallPosition | |
| 11 | hal: Hal | |
| 12 | ||
| 13 | proc initMotionPlanner*(hal: Hal, start: WallPosition): MotionPlanner = | |
| 14 | return MotionPlanner(current: start.update(hal.current), hal: hal) | |
| 15 | ||
| 16 | proc position*(mp: MotionPlanner): WallPosition = mp.current | |
| 17 | ||
| 18 | proc enable*(mp: var MotionPlanner, left, right: ChangeEnable) = | |
| 19 | let lb = case left | |
| 20 | of TurnOn: true | |
| 21 | of TurnOff: false | |
| 22 | of NoChange: mp.hal.current.lenable | |
| 23 | let rb = case right | |
| 24 | of TurnOn: true | |
| 25 | of TurnOff: false | |
| 26 | of NoChange: mp.hal.current.renable | |
| 27 | mp.hal.enable(lb, rb) | |
| 28 | ||
| 29 | proc media*(mp: var MotionPlanner, state: MediaState) = | |
| 30 | mp.hal.media(state) | |
| 31 | ||
| 32 | proc absQ*(mp: var MotionPlanner, r: Vector2d, time: float) = | |
| 33 | ## An absolute move in configuration space. Expressed against the | |
| 34 | ## currently-configured zero, so may be a bit dangerous before calibration has | |
| 35 | ## run. Speed is expressed as the amount of time that the move should take, | |
| 36 | ## and both chains are moved such that their motions end concurrently. | |
| 37 | let m = radiusInterpolate(mp.current, r, time, mp.hal) | |
| 38 | let ms = mp.hal.sendMotion(m) | |
| 39 | mp.current = mp.current.update(ms) | |
| 40 | ||
| 41 | proc relQ*(mp: var MotionPlanner, dR: Vector2d, time: float) = | |
| 42 | ## A relative move in configuration space. Speed is expressed as the amount of | |
| 43 | ## time that the move should take, and both chains are moved such that their | |
| 44 | ## motions end concurrently. | |
| 45 | let targetR = vector2d(mp.current.rl, mp.current.rr) + dR | |
| 46 | mp.absQ(targetR, time) | |
| 47 | ||
| 48 | proc relR2*(mp: var MotionPlanner, xy: Vector2d, vel: float) = | |
| 49 | ## A relative move along a vector in cartesian space | |
| 50 | let dist = xy.len | |
| 51 | let steps = math.ceil(dist / 0.10) | |
| 52 | let start = mp.current.rpos | |
| 53 | let target = mp.current.rpos + xy | |
| 54 | let time = (mp.current.rpos - target).len / vel / steps | |
| 55 | ||
| 56 | for i in 1..int(steps): | |
| 57 | let t = float(i) / steps | |
| 58 | let p = start * (1 - t) + target * t | |
| 59 | let r = vector2d(len(mp.current.pl - p), len(mp.current.pr - p)) | |
| 60 | mp.absQ(r, time) | |
| 61 | ||
| 62 | proc absR2*(mp: var MotionPlanner, xy: Vector2d, vel: float) = | |
| 63 | ## An absolute move to a position in cartesian space | |
| 64 | relR2(mp, xy - mp.current.rpos, vel) |
| 0 | import basic2d | |
| 1 | import basic3d | |
| 2 | import deques | |
| 3 | import machine | |
| 4 | import math | |
| 5 | ||
| 6 | const chainLinkDist = 0.05 # m | |
| 7 | const chainLinkMass = 0.000833 # kg | |
| 8 | const robotMass = 10.0000 | |
| 9 | ||
| 10 | # The distance between the left and right gear centers. TODO: model the way the | |
| 11 | # chain wraps around the sprockets | |
| 12 | const robotPivotDist = 0.15 # m | |
| 13 | const mediaTDist = 0.20 # m | |
| 14 | ||
| 15 | type | |
| 16 | Vec = Vector2d | |
| 17 | WallPosition* = object of RootObj | |
| 18 | rl*: float | |
| 19 | rr*: float | |
| 20 | rl_zero*: float | |
| 21 | rr_zero*: float | |
| 22 | # Position of the robot for control purposes: the midpoint between the two | |
| 23 | # robot pivots | |
| 24 | rpos*: Vec | |
| 25 | # The position of the media, as calculated based on rpos and the robot's | |
| 26 | # orientation | |
| 27 | mpos*: Vec | |
| 28 | # Positions of the two anchor points | |
| 29 | pl*: Vec | |
| 30 | pr*: Vec | |
| 31 | media*: MediaState | |
| 32 | pivots*: seq[Vec] | |
| 33 | ||
| 34 | proc runLinkSim(wp: var WallPosition) = | |
| 35 | # There are links and pivots in a chain. Links connect pivots to each other, | |
| 36 | # and a pivot can either be fixed or free. Because of the fixed points at the | |
| 37 | # end, there is one more pivot than link. | |
| 38 | # | |
| 39 | # link ID 0 1 2 3 4 5 6 7 | |
| 40 | # pivot ID 0 1 2 3 4 5 6 7 8 | |
| 41 | # PL --- L0 --- L1 --- L2 --- BL --- BR --- R1 --- R0 --- PR | |
| 42 | # ^ ^ ^ ^ | |
| 43 | # | | | | | |
| 44 | # | | | +- shortened link = lln - 1 | |
| 45 | # | | +- pivot 1 | |
| 46 | # | + link 0 | |
| 47 | # + fixed point (as is PR) | |
| 48 | # | |
| 49 | # In this example: | |
| 50 | # lln is 4 | |
| 51 | # lpn is 3 | |
| 52 | # rln is 3 | |
| 53 | # rpn is 2 | |
| 54 | # ln is 8 | |
| 55 | # pn is 9 | |
| 56 | # | |
| 57 | # The robot is modelled as a pair of pivots with a custom link distance | |
| 58 | # between them. | |
| 59 | ||
| 60 | # The number of links for the left and right chains | |
| 61 | let lln = int(math.ceil(wp.rl / chainLinkDist)) - 1 | |
| 62 | let rln = int(math.ceil(wp.rr / chainLinkDist)) - 1 | |
| 63 | let lpn = lln - 1 | |
| 64 | let rpn = rln - 1 | |
| 65 | ||
| 66 | # Number of links and pivots. The extra link here is for the link between the | |
| 67 | # left and right robot pivots. | |
| 68 | let ln = lln + rln + 1 | |
| 69 | let pn = ln + 1 | |
| 70 | ||
| 71 | # The index of the left robot pivot | |
| 72 | let rpli = lpn + 1 | |
| 73 | # The index of the right robot pivot | |
| 74 | let rpri = lpn + 2 | |
| 75 | # The index of the robot link | |
| 76 | let rli = lln | |
| 77 | ||
| 78 | # L[i] is the length of the i'th link. Because we might have fractional chain | |
| 79 | # links let out, not all links that represent chain pivot-to-pivot have the | |
| 80 | # same length | |
| 81 | var L: seq[float] | |
| 82 | ||
| 83 | # The position of each of the pivots | |
| 84 | var x: seq[Vec] | |
| 85 | ||
| 86 | newSeq(L, ln) | |
| 87 | newSeq(x, pn) | |
| 88 | ||
| 89 | # Create initial guess for chain location based on previous rpos position | |
| 90 | let guessRobotL = wp.rpos - vector2d(robotPivotDist / 2, 0) | |
| 91 | let guessRobotR = wp.rpos + vector2d(robotPivotDist / 2, 0) | |
| 92 | var ld = guessRobotL - wp.pl | |
| 93 | var rd = guessRobotR - wp.pr | |
| 94 | ld.normalize() | |
| 95 | rd.normalize() | |
| 96 | ||
| 97 | # Endpoints are fixed | |
| 98 | x[0] = wp.pl | |
| 99 | x[pn - 1] = wp.pr | |
| 100 | ||
| 101 | # First lln - 1 links are all a fixed length | |
| 102 | for i in 0..(lln - 2): | |
| 103 | L[i] = chainLinkDist | |
| 104 | # The last link is however long is needed to make up the distance from the robot to | |
| 105 | # the last chain link that we placed | |
| 106 | L[lln - 1] = wp.rl - float(lln) * chainLinkDist | |
| 107 | for i in 1..lpn: | |
| 108 | x[i] = ld * L[i - 1] + x[i - 1] | |
| 109 | ||
| 110 | # The next link is the one between the robot pivots | |
| 111 | L[rli] = robotPivotDist | |
| 112 | # ...whose initial guess is to the left and right of the previous robot position | |
| 113 | x[rpli] = guessRobotL | |
| 114 | x[rpri] = guessRobotR | |
| 115 | ||
| 116 | L[rli + 1] = wp.rr - float(rln) * chainLinkDist | |
| 117 | for i in (rli + 2)..(ln - 1): | |
| 118 | L[i] = chainLinkDist | |
| 119 | for i in (rpri + 1)..(pn - 2): | |
| 120 | x[i] = -rd * L[i - 1] + x[i - 1] | |
| 121 | ||
| 122 | # Okay, now we're ready to start simulating. First step on each iteration is | |
| 123 | # to calculate the force on each link | |
| 124 | var F = newSeq[Vec](ln) | |
| 125 | for i in 1..(ln - 1): | |
| 126 | let m = | |
| 127 | if i == rli: robotMass | |
| 128 | else: chainLinkMass | |
| 129 | F[i].x = 0 | |
| 130 | F[i].y = -m | |
| 131 | ||
| 132 | # Copy result into the WallPosition struct | |
| 133 | setlen(wp.pivots, pn) | |
| 134 | for i in 0..(pn - 1): | |
| 135 | wp.pivots[i] = x[i] | |
| 136 | ||
| 137 | let robotL = x[lpn + 1] | |
| 138 | let robotR = x[lpn + 2] | |
| 139 | var edge = robotR - robotL | |
| 140 | edge.normalize() | |
| 141 | wp.rpos = robotL + 0.5 * robotPivotDist * edge | |
| 142 | ||
| 143 | let edge3d = vector3d(edge.x, edge.y, 0) | |
| 144 | let medge = edge3d.cross(vector3d(0, 0, 1)) | |
| 145 | wp.mpos = wp.rpos + mediaTDist * vector2d(medge.x, medge.y) | |
| 146 | ||
| 147 | proc evalRpos(wp: WallPosition): tuple[f: float64, df: Vec, ddf: float64] = | |
| 148 | let lv = wp.pl - wp.rpos | |
| 149 | let rv = wp.pr - wp.rpos | |
| 150 | let lerr = lv.len - wp.rl | |
| 151 | let rerr = rv.len - wp.rr | |
| 152 | let f = pow(lerr, 2) + pow(rerr, 2) | |
| 153 | let df = -lerr * lv / lv.len - rerr * rv / rv.len | |
| 154 | let ddf = lv.len + rv.len / 8 | |
| 155 | return (f: f, df: df, ddf: ddf) | |
| 156 | ||
| 157 | proc update*(wp: WallPosition, ms: MachineState): WallPosition = | |
| 158 | let rl = wp.rl_zero + gearCircumference * (ms.lpos / (2 * math.PI)) | |
| 159 | let rr = wp.rr_zero + gearCircumference * (ms.rpos / (2 * math.PI)) | |
| 160 | var res = WallPosition( | |
| 161 | rl: rl, rr: rr, rl_zero: wp.rl_zero, rr_zero: wp.rr_zero, | |
| 162 | rpos: wp.rpos, pl: wp.pl, pr: wp.pr, media: ms.media, | |
| 163 | pivots: @[]) | |
| 164 | var (f, df, ddf) = evalRpos(res) | |
| 165 | var iter = 10000 | |
| 166 | while f > 1e-7 and iter > 0: | |
| 167 | res.rpos = res.rpos - df / ddf | |
| 168 | (f, df, ddf) = evalRpos(res) | |
| 169 | iter -= 1 | |
| 170 | runLinkSim(res) | |
| 171 | return res | |
| 172 | ||
| 173 | proc radiusInterpolate*(wp: WallPosition, targetR: Vec, time: float, hal: Hal): Motion = | |
| 174 | ## Move to the target radial position in the given amount of time | |
| 175 | var dR = targetR - vector2d(wp.rl, wp.rr) | |
| 176 | # number of circumferences = delta-radius / circumference | |
| 177 | # number of ticks = number of circumferences * number of ticks per circumference | |
| 178 | let ticks = dR * (1.0/ gearCircumference * (2 * math.PI / hal.steprads)) | |
| 179 | let ldir = if ticks.x > 0: CCW else: CW | |
| 180 | let rdir = if ticks.y > 0: CCW else: CW | |
| 181 | let lhz = uint32(abs(ticks.x / time)) | |
| 182 | let rhz = uint32(abs(ticks.y / time)) | |
| 183 | return Motion( | |
| 184 | ln: uint32(abs(ticks.x)), | |
| 185 | lhz: lhz, | |
| 186 | ldir: ldir, | |
| 187 | rn: uint32(abs(ticks.y)), | |
| 188 | rhz: rhz, | |
| 189 | rdir: rdir, | |
| 190 | ) |
| 0 | import machine | |
| 1 | import math | |
| 2 | import neo | |
| 3 | import position | |
| 4 | import unittest | |
| 5 | ||
| 6 | suite "forward position solver tests": | |
| 7 | test "initial guess is perfect": | |
| 8 | let rl = math.sqrt(float64(17)) | |
| 9 | let rr = math.sqrt(float64(34)) | |
| 10 | let initial = WallPosition( | |
| 11 | rl: rl, rr: rr, rl_zero: rl, rr_zero: rr, | |
| 12 | rpos: vector(0.0, 1.0), | |
| 13 | pl: vector(-1.0, 5.0), | |
| 14 | pr: vector(3.0, 6.0)) | |
| 15 | let result = initial.update(MachineState( | |
| 16 | lpos: 0, rpos: 0, ldir: CW, rdir: CW, lenable: true, renable: true)) | |
| 17 | check(result.rpos[0] == initial.rpos[0]) | |
| 18 | check(result.rpos[1] == initial.rpos[1]) | |
| 19 | ||
| 20 | test "initial guess is zero": | |
| 21 | let rl = math.sqrt(float64(17)) | |
| 22 | let rr = math.sqrt(float64(34)) | |
| 23 | let initial = WallPosition( | |
| 24 | rl: rl, rr: rr, rl_zero: rl, rr_zero: rr, | |
| 25 | rpos: vector(0.0, 0.0), | |
| 26 | pl: vector(-1.0, 5.0), | |
| 27 | pr: vector(3.0, 6.0)) | |
| 28 | let result = initial.update(MachineState( | |
| 29 | lpos: 0, rpos: 0, ldir: CW, rdir: CW, lenable: true, renable: true)) | |
| 30 | check(abs(result.rpos[0] - 0.0) < 1e-3) | |
| 31 | check(abs(result.rpos[1] - 1.0) < 1e-3) | |
| 32 | ||
| 33 | test "initial guess is far away": | |
| 34 | let rl = 6 * math.sqrt(float64(74)) | |
| 35 | let rr = math.sqrt(float64(797)) | |
| 36 | let initial = WallPosition( | |
| 37 | rl: rl, rr: rr, rl_zero: rl, rr_zero: rr, | |
| 38 | rpos: vector(0.0, 0.0), | |
| 39 | pl: vector(-10.0, 52.0), | |
| 40 | pr: vector(31.0, 36.0)) | |
| 41 | let result = initial.update(MachineState( | |
| 42 | lpos: 0, rpos: 0, ldir: CW, rdir: CW, lenable: true, renable: true)) | |
| 43 | check(abs(result.rpos[0] - 20.0) < 1e-3) | |
| 44 | check(abs(result.rpos[1] - 10.0) < 1e-3) |