VehicleDifferential_ControllerTwistIdeal.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2024  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#include <mvsim/VehicleDynamics/VehicleDifferential.h>
 
using namespace mvsim;
 
DynamicsDifferential::ControllerTwistIdeal::ControllerTwistIdeal(DynamicsDifferential& veh)
        : ControllerBase(veh)
{
        // Get distance between wheels:
        // Warning: the controller *assumes* that both wheels are parallel (as it's
        // a rule in differential robots!!)
        distWheels_ = veh_.wheels_info_[0].y - veh_.wheels_info_[1].y;
        ASSERT_(distWheels_ > 0);
}
 
void DynamicsDifferential::ControllerTwistIdeal::control_step(
        [[maybe_unused]] const DynamicsDifferential::TControllerInput& ci,
        DynamicsDifferential::TControllerOutput& co)
{
        co.wheel_torque_l = 0;
        co.wheel_torque_r = 0;
}
 
void DynamicsDifferential::ControllerTwistIdeal::on_post_step(
        [[maybe_unused]] const TSimulContext& context)
{
        // Fake controller: just set the setpoint as state and we are done.
        const auto sp = setpoint();
        this->veh_.setTwist(sp);
}
 
void DynamicsDifferential::ControllerTwistIdeal::teleop_interface(
        const TeleopInput& in, TeleopOutput& out)
{
        ControllerBase::teleop_interface(in, out);
 
        auto lck = mrpt::lockHelper(setpointMtx_);
 
        switch (in.keycode)
        {
                case 'W':
                case 'w':
                        setpoint_.vx += 0.1;
                        break;
 
                case 'S':
                case 's':
                        setpoint_.vx -= 0.1;
                        break;
 
                case 'A':
                case 'a':
                        setpoint_.omega += 2.0 * M_PI / 180;
                        break;
 
                case 'D':
                case 'd':
                        setpoint_.omega -= 2.0 * M_PI / 180;
                        break;
 
                case ' ':
                {
                        setpoint_ = {0, 0, 0};
                }
                break;
        };
 
        out.append_gui_lines += "[Controller=" + std::string(class_name()) + "]";
 
        if (in.js && in.js->axes.size() >= 2)
        {
                const auto& js = in.js.value();
                const float js_x = js.axes[0];
                const float js_y = js.axes[1];
 
                setpoint_.vx = -js_y * joyMaxLinSpeed;
                setpoint_.omega = -js_x * joyMaxAngSpeed;
 
                if (js.buttons.size() >= 7)
                {
                        if (js.buttons[5]) joyMaxLinSpeed *= 1.01;
                        if (js.buttons[7]) joyMaxLinSpeed /= 1.01;
 
                        if (js.buttons[4]) joyMaxAngSpeed *= 1.01;
                        if (js.buttons[6]) joyMaxAngSpeed /= 1.01;
 
                        // brake
                        if (js.buttons[3]) setpoint_ = {0, 0, 0};
                }
 
                out.append_gui_lines += mrpt::format(
                        "Teleop joystick:\n"
                        "maxLinSpeed=%.03f m/s\n"
                        "maxAngSpeed=%.03f deg/s\n",
                        joyMaxLinSpeed, mrpt::RAD2DEG(joyMaxAngSpeed));
        }
        else
        {
                out.append_gui_lines +=
                        "Teleop keys:\n"
                        "w/s=forward/backward.\n"
                        "a/d=left/right.\n"
                        "spacebar=stop.\n";
        }
 
        out.append_gui_lines += mrpt::format(
                "setpoint: lin=%.03f ang=%.03f deg/s\n", setpoint_.vx, 180.0 / M_PI * setpoint_.omega);
}