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feat: 実機ロボット制御挙動の再現機能を追加 #9

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feat: 実機ロボット制御挙動の再現機能を追加 #9

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43 changes: 43 additions & 0 deletions config/Orion.ini
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Original file line number Diff line number Diff line change
@@ -0,0 +1,43 @@
[Geometery]
CenterFromKicker= 0.073
Radius = 0.080
Height = 0.147
RobotBottomZValue = 0.02
KickerZValue = 0.005
KickerThickness = 0.005
KickerWidth = 0.08
KickerHeight = 0.04
WheelRadius = 0.028
WheelThickness = 0.005
Wheel1Angle = 30
Wheel2Angle = 315
Wheel3Angle = 225
Wheel4Angle = 150

[Physics]
Bodymass = 2
Wheelmass = 0.2
Kickermass =0.02
KickerDampFactor = 0.2
RollerTorqueFactor = 0.06
RollerPerpendicularTorqueFactor = 0.005
KickerFriction = 0.8
WheelTangentFriction = 0.8
WheelPerpendicularFriction = 0.05
WheelMotorMaximumApplyingTorque= 0.2

MaxLinearKickSpeed=10
MaxChipKickSpeed=10
AccSpeedupAbsoluteMax=4
AccSpeedupAngularMax=50
AccBrakeAbsoluteMax=4
AccBrakeAngularMax=50
VelAbsoluteMax=7.0
VelAngularMax=20

[AdvancedControl]
AccelDeccelRatio = 1.8
AccelBackSideRatio = 0.7
SlipCorrectionX = 1.1
SlipCorrectionY = 1.3
KinematicsMode = 1
6 changes: 6 additions & 0 deletions include/configwidget.h
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Expand Up @@ -126,6 +126,12 @@ class RobotSettings {
double AccBrakeAngularMax;
double VelAbsoluteMax;
double VelAngularMax;
//advanced control settings
double AccelDeccelRatio; // Deceleration acceleration ratio (default: 1.0)
double AccelBackSideRatio; // Backward acceleration ratio (default: 1.0)
double SlipCorrectionX; // X-axis slip correction (default: 1.0)
double SlipCorrectionY; // Y-axis slip correction (default: 1.0)
int KinematicsMode; // Kinematics mode (0:standard, 1:Orion) (default: 0)
};


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6 changes: 6 additions & 0 deletions src/configwidget.cpp
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Expand Up @@ -281,4 +281,10 @@ void ConfigWidget::loadRobotSettings(QString team)
robotSettings.AccBrakeAngularMax = robot_settings->value("Physics/AccBrakeAngularMax", 50).toDouble();
robotSettings.VelAbsoluteMax = robot_settings->value("Physics/VelAbsoluteMax", 5).toDouble();
robotSettings.VelAngularMax = robot_settings->value("Physics/VelAngularMax", 20).toDouble();

robotSettings.AccelDeccelRatio = robot_settings->value("AdvancedControl/AccelDeccelRatio", 1.0).toDouble();
robotSettings.AccelBackSideRatio = robot_settings->value("AdvancedControl/AccelBackSideRatio", 1.0).toDouble();
robotSettings.SlipCorrectionX = robot_settings->value("AdvancedControl/SlipCorrectionX", 1.0).toDouble();
robotSettings.SlipCorrectionY = robot_settings->value("AdvancedControl/SlipCorrectionY", 1.0).toDouble();
robotSettings.KinematicsMode = robot_settings->value("AdvancedControl/KinematicsMode", 0).toInt();
}
77 changes: 63 additions & 14 deletions src/robot.cpp
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Expand Up @@ -474,26 +474,61 @@ void Robot::setSpeed(dReal vx, dReal vy, dReal vw)
{
dReal _DEG2RAD = M_PI / 180.0;

dReal v = sqrt(vx * vx + vy * vy);
// Apply slip correction
dReal corrected_vx = vx * cfg->robotSettings.SlipCorrectionX;
dReal corrected_vy = vy * cfg->robotSettings.SlipCorrectionY;

dReal v = sqrt(corrected_vx * corrected_vx + corrected_vy * corrected_vy);
if (v > VelAbsoluteMax) {
vx *= VelAbsoluteMax / v;
vy *= VelAbsoluteMax / v;
corrected_vx *= VelAbsoluteMax / v;
corrected_vy *= VelAbsoluteMax / v;
v = VelAbsoluteMax;
}
if (abs(vw) > VelAngularMax) {
vw = copysign(VelAngularMax, vw);
}

const dReal* cvv = dBodyGetLinearVel(chassis->body);
dReal cv = sqrt(cvv[0]*cvv[0]+cvv[1]*cvv[1]);
dReal a = (v - cv) / cfg->DeltaTime() / 2;

// Direction-dependent acceleration control
dReal aLimit = a > 0 ? AccSpeedupAbsoluteMax : AccBrakeAbsoluteMax;

// Apply backward acceleration limit (clipping, not scaling)
// This matches the real robot behavior in control_speed.c:46-48
if (a < 0 && corrected_vx < 0) {
dReal backwardLimit = AccSpeedupAbsoluteMax * cfg->robotSettings.AccelBackSideRatio;
if (fabs(a) > backwardLimit) {
aLimit = backwardLimit;
}
}

// Apply deceleration ratio when velocity and acceleration have opposite signs
// This matches the real robot behavior in control_speed.c:52-54
dReal angle = getDir() * M_PI / 180.0;
dReal local_vx = cvv[0]*cos(angle) + cvv[1]*sin(angle);
dReal local_vy = -cvv[0]*sin(angle) + cvv[1]*cos(angle);

// Calculate acceleration in local frame
dReal accel_x = corrected_vx - local_vx;
dReal accel_y = corrected_vy - local_vy;

// Check if decelerating (velocity and acceleration have opposite signs)
// In X or Y direction
bool decelerating_x = (local_vx * accel_x <= 0) && (fabs(local_vx) > 0.01);
bool decelerating_y = (local_vy * accel_y <= 0) && (fabs(local_vy) > 0.01);

if (decelerating_x || decelerating_y) {
aLimit *= cfg->robotSettings.AccelDeccelRatio;
}

if (abs(a) > aLimit) {
a = copysign(aLimit, a);
dReal new_v = cv + a * cfg->DeltaTime() * 2;
if (v > 0) {
vx *= new_v / v;
vy *= new_v / v;
corrected_vx *= new_v / v;
corrected_vy *= new_v / v;
} else {
// convert global to local
dReal angle;
Expand All @@ -502,8 +537,8 @@ void Robot::setSpeed(dReal vx, dReal vy, dReal vw)
dReal cvx = cvv[0]*cos(angle) + cvv[1]*sin(angle);
dReal cvy = -cvv[0]*sin(angle) + cvv[1]*cos(angle);

vx = cvx * (new_v / cv);
vy = cvy * (new_v / cv);
corrected_vx = cvx * (new_v / cv);
corrected_vy = cvy * (new_v / cv);
}
}

Expand All @@ -515,14 +550,28 @@ void Robot::setSpeed(dReal vx, dReal vy, dReal vw)
aw = copysign(awLimit, aw);
vw = cvw + aw * cfg->DeltaTime() * 2;
}
// Calculate Motor Speeds

// Calculate Motor Speeds based on kinematics mode
dReal motorAlpha[4] = {cfg->robotSettings.Wheel1Angle * _DEG2RAD, cfg->robotSettings.Wheel2Angle * _DEG2RAD, cfg->robotSettings.Wheel3Angle * _DEG2RAD, cfg->robotSettings.Wheel4Angle * _DEG2RAD};

dReal dw1 = (1.0 / cfg->robotSettings.WheelRadius) * (( (cfg->robotSettings.RobotRadius * vw) - (vx * sin(motorAlpha[0])) + (vy * cos(motorAlpha[0]))) );
dReal dw2 = (1.0 / cfg->robotSettings.WheelRadius) * (( (cfg->robotSettings.RobotRadius * vw) - (vx * sin(motorAlpha[1])) + (vy * cos(motorAlpha[1]))) );
dReal dw3 = (1.0 / cfg->robotSettings.WheelRadius) * (( (cfg->robotSettings.RobotRadius * vw) - (vx * sin(motorAlpha[2])) + (vy * cos(motorAlpha[2]))) );
dReal dw4 = (1.0 / cfg->robotSettings.WheelRadius) * (( (cfg->robotSettings.RobotRadius * vw) - (vx * sin(motorAlpha[3])) + (vy * cos(motorAlpha[3]))) );
dReal dw1, dw2, dw3, dw4;

if (cfg->robotSettings.KinematicsMode == 1) {
// Orion mode: (vy*sin(α) + vx*cos(α) + R*ω) / (π*D)
dReal wheel_diameter = cfg->robotSettings.WheelRadius * 2.0;
dReal robot_radius = cfg->robotSettings.RobotRadius;

dw1 = (corrected_vy * sin(motorAlpha[0]) + corrected_vx * cos(motorAlpha[0]) + robot_radius * vw) / (M_PI * wheel_diameter);
dw2 = (corrected_vy * sin(motorAlpha[1]) + corrected_vx * cos(motorAlpha[1]) + robot_radius * vw) / (M_PI * wheel_diameter);
dw3 = (corrected_vy * sin(motorAlpha[2]) + corrected_vx * cos(motorAlpha[2]) + robot_radius * vw) / (M_PI * wheel_diameter);
dw4 = (corrected_vy * sin(motorAlpha[3]) + corrected_vx * cos(motorAlpha[3]) + robot_radius * vw) / (M_PI * wheel_diameter);
} else {
// Standard mode: (R*ω - vx*sin(α) + vy*cos(α)) / R_wheel
dw1 = (1.0 / cfg->robotSettings.WheelRadius) * ((cfg->robotSettings.RobotRadius * vw) - (corrected_vx * sin(motorAlpha[0])) + (corrected_vy * cos(motorAlpha[0])));
dw2 = (1.0 / cfg->robotSettings.WheelRadius) * ((cfg->robotSettings.RobotRadius * vw) - (corrected_vx * sin(motorAlpha[1])) + (corrected_vy * cos(motorAlpha[1])));
dw3 = (1.0 / cfg->robotSettings.WheelRadius) * ((cfg->robotSettings.RobotRadius * vw) - (corrected_vx * sin(motorAlpha[2])) + (corrected_vy * cos(motorAlpha[2])));
dw4 = (1.0 / cfg->robotSettings.WheelRadius) * ((cfg->robotSettings.RobotRadius * vw) - (corrected_vx * sin(motorAlpha[3])) + (corrected_vy * cos(motorAlpha[3])));
}

setSpeed(0 , dw1);
setSpeed(1 , dw2);
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