diff options
| author | Abel Tim <git@abeltim.com> | 2025-04-24 09:46:06 +0200 |
|---|---|---|
| committer | Abel Tim <git@abeltim.com> | 2025-04-24 09:46:06 +0200 |
| commit | 5dcc582c358a39e8dbfbe3b3d16b62aed9009569 (patch) | |
| tree | 05dbe9606d069cd9bd5aee91cbe8e9efe6d495ea | |
| parent | ee54d9bcb67ab1e487d886f2372773e946afb9ae (diff) | |
| download | robotica-5dcc582c358a39e8dbfbe3b3d16b62aed9009569.tar.gz robotica-5dcc582c358a39e8dbfbe3b3d16b62aed9009569.zip | |
sim for omni drive
Signed-off-by: Abel Tim <git@abeltim.com>
| -rw-r--r-- | code/debug/communication/rx/rx_decode_teensy/src/main.cpp | 6 | ||||
| -rw-r--r-- | nutige-bronnen.txt | 4 | ||||
| -rw-r--r-- | simulation/3dfiles/Soccer Field 2021 draft v2.step | 3555 | ||||
| m--------- | simulation/Kinematic-Omniwheels-in-Webots | 0 | ||||
| -rw-r--r-- | simulation/controllers/OMHI_test/OMHI_test.py | 84 | ||||
| -rw-r--r-- | simulation/controllers/Soccer_Ball/Soccer_Ball.py | 18 | ||||
| -rw-r--r-- | simulation/credit | 3 | ||||
| -rw-r--r-- | simulation/protos/Ball.proto | 51 | ||||
| -rw-r--r-- | simulation/protos/BallCandy.proto | 38 | ||||
| -rw-r--r-- | simulation/protos/MyProto.proto | 10 | ||||
| -rw-r--r-- | simulation/protos/icons/Ball.png | bin | 13627 -> 0 bytes | |||
| -rw-r--r-- | simulation/protos/icons/BallCandy.png | bin | 10445 -> 0 bytes | |||
| -rw-r--r-- | simulation/protos/soccer_ball.proto | 29 | ||||
| -rw-r--r-- | simulation/protos/soccerballrbc.proto | 16 | ||||
| -rw-r--r-- | simulation/protos/three_omniwheel.proto | 770 | ||||
| -rw-r--r-- | simulation/test.c | 53 | ||||
| -rw-r--r-- | simulation/worlds/.soccer.jpg | bin | 106131 -> 0 bytes | |||
| -rw-r--r-- | simulation/worlds/.soccer.wbproj | 10 | ||||
| -rw-r--r-- | simulation/worlds/soccer.wbt | 33 |
19 files changed, 59 insertions, 4621 deletions
diff --git a/code/debug/communication/rx/rx_decode_teensy/src/main.cpp b/code/debug/communication/rx/rx_decode_teensy/src/main.cpp index e0a8b9b..07639ce 100644 --- a/code/debug/communication/rx/rx_decode_teensy/src/main.cpp +++ b/code/debug/communication/rx/rx_decode_teensy/src/main.cpp @@ -43,6 +43,6 @@ void loop() { Serial.print(ir4); Serial.print(ir5); Serial.print(ir6); - - delay(10); -}
\ No newline at end of file + + delayMicroseconds(1); +} diff --git a/nutige-bronnen.txt b/nutige-bronnen.txt index 6011172..e115d32 100644 --- a/nutige-bronnen.txt +++ b/nutige-bronnen.txt @@ -56,6 +56,7 @@ specifieke dingen: PID: https://pidexplained.com/pid-controller-explained/ https://docs.arduino.cc/libraries/pid/ + https://pknessness.github.io/pid_sim/pid.html ohmi wheel: https://robotics.stackexchange.com/questions/7829/how-to-program-a-three-wheel-omni @@ -69,6 +70,7 @@ specifieke dingen: https://www.pjrc.com/teensy/pins.html https://www.pjrc.com/teensy/prescaler.html https://www.pjrc.com/teensy/troubleshoot.html - + omni wheels: + http://files.andymark.com/2008CON-Omni-Baker-McKenzie.pdf diff --git a/simulation/3dfiles/Soccer Field 2021 draft v2.step b/simulation/3dfiles/Soccer Field 2021 draft v2.step deleted file mode 100644 index 7715399..0000000 --- a/simulation/3dfiles/Soccer Field 2021 draft v2.step +++ /dev/null @@ -1,3555 +0,0 @@ -ISO-10303-21;
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diff --git a/simulation/Kinematic-Omniwheels-in-Webots b/simulation/Kinematic-Omniwheels-in-Webots deleted file mode 160000 -Subproject c394fccce28a4d46588e52b2f0d22c4830992db diff --git a/simulation/controllers/OMHI_test/OMHI_test.py b/simulation/controllers/OMHI_test/OMHI_test.py deleted file mode 100644 index ca8db64..0000000 --- a/simulation/controllers/OMHI_test/OMHI_test.py +++ /dev/null @@ -1,84 +0,0 @@ -from controller import Robot -import math - -# Create the Robot instance. -robot = Robot() - -# Get the time step of the current world. -timestep = int(robot.getBasicTimeStep()) - -# Print all available device names for debugging -device_count = robot.getNumberOfDevices() -print("Number of devices:", device_count) -for i in range(device_count): - device = robot.getDeviceByIndex(i) - print("Device", i, ":", device.getName()) - -# Get the wheel motors -wheel_1 = robot.getDevice("wheel1") -wheel_2 = robot.getDevice("wheel2") -wheel_3 = robot.getDevice("wheel3") - -# Check if the devices are found -if wheel_1 is None: - print("Device 'wheel1' not found") -if wheel_2 is None: - print("Device 'wheel2' not found") -if wheel_3 is None: - print("Device 'wheel3' not found") - -# Set the position to infinity to control velocity -wheel_1.setPosition(float('inf')) -wheel_2.setPosition(float('inf')) -wheel_3.setPosition(float('inf')) - -# Set the initial velocity to 0 -wheel_1.setVelocity(0) -wheel_2.setVelocity(0) -wheel_3.setVelocity(0) - - -def set_wheel_velocities(velocity1, velocity2, velocity3): - wheel_1.setVelocity(velocity1) - wheel_2.setVelocity(velocity2) - wheel_3.setVelocity(velocity3) - - -def omhidrive(V, D, R, radius): - """ - Calculate the speeds of three motors for a three-wheeled omnidirectional robot. - - :param V: Linear velocity magnitude - :param D: Direction of the velocity in degrees - :param R: Angular velocity (rotation speed) - :param radius: Distance from the center of the robot to the wheels - :return: Speeds of the three motors - """ - # Convert direction to radians - dirrad = math.radians(D) - - # Calculate the components of the velocity - V_x = V * math.cos(dirrad) - V_y = V * math.sin(dirrad) - print(f"V x speed: {V_x}") - print(f"V y speed: {V_y}") - - # Wheel angles (in radians) - angles = [math.radians(0), math.radians(120), math.radians(240)] - - # Calculate motor speeds using the provided formulas - spdeA = V_x * math.cos(angles[0]) + V_y * math.sin(angles[0]) + R * radius - spdeB = V_x * math.cos(angles[1]) + V_y * math.sin(angles[1]) + R * radius - spdeC = V_x * math.cos(angles[2]) + V_y * math.sin(angles[2]) + R * radius - - print(f"Motor A speed: {spdeA}") - print(f"Motor B speed: {spdeB}") - print(f"Motor C speed: {spdeC}") - - # Assuming set_wheel_velocities is a function to set the speeds of the motors - set_wheel_velocities(spdeA, spdeB, spdeC) - -# Main loop: -while robot.step(timestep) != -1: - - omhidrive(5, 0, 0, 0.188)
\ No newline at end of file diff --git a/simulation/controllers/Soccer_Ball/Soccer_Ball.py b/simulation/controllers/Soccer_Ball/Soccer_Ball.py deleted file mode 100644 index 70a26d7..0000000 --- a/simulation/controllers/Soccer_Ball/Soccer_Ball.py +++ /dev/null @@ -1,18 +0,0 @@ -from controller import Robot, Emitter -import time - -robot = Robot() -emitter = robot.getDevice("emitter") - -# Time step of the simulation -timestep = int(robot.getBasicTimeStep()) - -# Pulse emission interval (e.g., 1 pulse per second) -pulse_interval = 1.0 - -# Main loop -while robot.step(timestep) != -1: - current_time = robot.getTime() - if int(current_time) % pulse_interval == 0: - emitter.send(b'\x01') # Emit a single byte pulse - time.sleep(1.0 / pulse_interval) diff --git a/simulation/credit b/simulation/credit deleted file mode 100644 index cff3303..0000000 --- a/simulation/credit +++ /dev/null @@ -1,3 +0,0 @@ -Webots -https://github.com/MasdikaAliman/Kinematic-Omniwheels-in-Webots/tree/master -https://repositorium.sdum.uminho.pt/bitstream/1822/3293/1/46%20paper%20for%20control%202004%20-%20formatado.pdf diff --git a/simulation/protos/Ball.proto b/simulation/protos/Ball.proto deleted file mode 100644 index 14726f1..0000000 --- a/simulation/protos/Ball.proto +++ /dev/null @@ -1,51 +0,0 @@ -#VRML_SIM R2023b utf8 -# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. -# license url: https://cyberbotics.com/webots_assets_license -# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/objects/balls/protos/Ball.proto -# keywords: exterior/sport -# The Ball's size, mass and color correspond to the soccer ball used in the Robocup SPL. -# You can change the centerOfMass to [0 0 0] to avoid the random rolling effect. - -PROTO Ball [ - field SFVec3f translation 0 0 0.1625 - field SFRotation rotation 0 0 1 0 - field SFString name "ball" - field SFColor color 1.0 0.54 0.08 # Defines the color of the ball. - field SFFloat radius 0.0325 # Defines the radius of the ball. - field SFFloat mass 0.055 # Defines the mass of the ball. - field MFVec3f centerOfMass [0 0 -0.0001] # Defines the center of mass of the ball. - field SFFloat linearDamping 0.17 # Defines the linear damping of the ball. - field SFFloat angularDamping 0.33 # Defines the angular damping of the ball. - field SFString contactMaterial "default" # Is `Solid.contactMaterial`. -] -Robot { - translation IS translation - rotation IS rotation - DEF BALL_SHAPE Shape { - appearance PBRAppearance { - baseColor IS color - roughness 0.3 - metalness 0 - } - geometry Sphere { - radius IS radius - subdivision 4 - } - } - ] - contactMaterial IS contactMaterial - boundingObject USE BALL_SHAPE - physics Physics { - density -1 - mass IS mass - centerOfMass IS centerOfMass - inertiaMatrix [ 0.000023 0.000023 0.000023, 0 0 0 ] - damping Damping { - linear IS linearDamping - angular IS angularDamping - } - } - name IS name - model "ball" - } -} diff --git a/simulation/protos/BallCandy.proto b/simulation/protos/BallCandy.proto deleted file mode 100644 index 08438fc..0000000 --- a/simulation/protos/BallCandy.proto +++ /dev/null @@ -1,38 +0,0 @@ -#VRML_SIM R2024a utf8 -# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. -# license url: https://cyberbotics.com/webots_assets_license -# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/softbank/nao/protos/BallCandy.proto -# keywords: robot/accessory - -PROTO BallCandy [ - field SFVec3f translation 0 0 0.0162 - field SFRotation rotation 0 0 1 0 - field SFString name "ball candy" - field SFColor color 0.9 0.1 0.1 -] -{ -Solid { - translation IS translation - rotation IS rotation - children [ - Shape { - appearance PBRAppearance { - baseColor IS color - roughness 0.3 - metalness 0 - } - geometry DEF CANDY_BALL_SHAPE Sphere { - radius 0.0325 - subdivision 3 - } - } - ] - name IS name - model "ball candy" - boundingObject USE CANDY_BALL_SHAPE - physics Physics { - density -1 - mass 0.16 - } -} -} diff --git a/simulation/protos/MyProto.proto b/simulation/protos/MyProto.proto deleted file mode 100644 index eb2a299..0000000 --- a/simulation/protos/MyProto.proto +++ /dev/null @@ -1,10 +0,0 @@ -#VRML_SIM R2023b utf8 -# Describe the functionality of your PROTO here. - - -PROTO MyProto [ - -] -{ - -} diff --git a/simulation/protos/icons/Ball.png b/simulation/protos/icons/Ball.png Binary files differdeleted file mode 100644 index e58ddd8..0000000 --- a/simulation/protos/icons/Ball.png +++ /dev/null diff --git a/simulation/protos/icons/BallCandy.png b/simulation/protos/icons/BallCandy.png Binary files differdeleted file mode 100644 index 6a3a0a1..0000000 --- a/simulation/protos/icons/BallCandy.png +++ /dev/null diff --git a/simulation/protos/soccer_ball.proto b/simulation/protos/soccer_ball.proto deleted file mode 100644 index 629df1a..0000000 --- a/simulation/protos/soccer_ball.proto +++ /dev/null @@ -1,29 +0,0 @@ -#VRML_SIM R2024a utf8 -# Describe the functionality of your PROTO here. - -EXTERNPROTO "/home/abel/Documents/robotica/simulation/protos/Ball.proto" - -PROTO soccer_ball [ - field SFVec3f translation 0 0 0.1625 - field SFRotation rotation 0 0 1 0 - field SFString name "soccer_ball" - field SFString controller "" -] -{ - Ball { - translation IS translation - rotation IS rotation - name IS name - children [ - Emitter { - channel 1 # Assign an appropriate channel number - range -1 # Setting range to -1 makes it unlimited - aperture 6.28319 # 2 * PI radians for omnidirectional - beamWidth 6.28319 # 2 * PI radians for omnidirectional - dataSize 1 # Size of the data packet - dataRate 1 # Rate of data emission in bits per second - } - ] - controller IS controller - } -} diff --git a/simulation/protos/soccerballrbc.proto b/simulation/protos/soccerballrbc.proto deleted file mode 100644 index 7a744d0..0000000 --- a/simulation/protos/soccerballrbc.proto +++ /dev/null @@ -1,16 +0,0 @@ -#VRML_SIM R2024a utf8 -# Describe the functionality of your PROTO here. - - -PROTO soccerballrbc [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 0 1 0 - field SFString name "emitter" -] -{ - Emitter { - translation IS translation - rotation IS rotation - name IS name - } -} diff --git a/simulation/protos/three_omniwheel.proto b/simulation/protos/three_omniwheel.proto deleted file mode 100644 index 7643587..0000000 --- a/simulation/protos/three_omniwheel.proto +++ /dev/null @@ -1,770 +0,0 @@ -#VRML_SIM R2023b utf8 -# Describe the functionality of your PROTO here. - - -PROTO three_omniwheel [ - field SFVec3f translation 0 0 0.0694759 - field SFRotation rotation 0 0 1 0 - field SFBool supervisor FALSE - field SFString controller "omni_robot_test" - field SFString wheel_1 "wheel1" - field SFString wheel_2 "wheel2" - field SFString wheel_3 "wheel3" - - field SFString enc_1 "pw1" - field SFString enc_2 "pw2" - field SFString enc_3 "pw3" - - field SFString imu "IMU" - -] -{ -DEF OMNI_WHEELS Robot { - translation IS translation - rotation IS rotation - children [ - GPS { - } - InertialUnit { - name IS imu - } - DEF SOLID1 Solid { - children [ - DEF WHEEL1 HingeJoint { - jointParameters HingeJointParameters { - position 2.1643615637298633e-06 - anchor -0.1 0 0 - } - device [ - RotationalMotor { - name IS wheel_2 - maxVelocity 40 - } - PositionSensor { - name IS enc_2 - } - ] - endPoint Solid { - translation -0.18800000000000022 0 0 - rotation 1 0 0 2.1643135136802424e-06 - children [ - DEF sr1 HingeJoint { - jointParameters HingeJointParameters { - position 57.8185179862605 - axis 0 1 0 - anchor -0.02 0 0.05 - } - endPoint Solid { - translation -0.02 0 0.05 - rotation 0 -1 0 5.0133350855353624 - children [ - DEF r1 Pose { - rotation -1 0 0 1.5708 - children [ - DEF SMALL_WHEEL_SHAPE Shape { - appearance PBRAppearance { - baseColor 1 0.752941 0.796078 - roughness 1 - metalness 0 - } - geometry Cylinder { - height 0.02 - radius 0.01 - } - } - ] - } - ] - name "sr1" - boundingObject USE r1 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr2 HingeJoint { - jointParameters HingeJointParameters { - position -72.87950575726012 - axis 0 -0.707107 0.707107 - anchor -0.02 0.03535 0.03535 - } - endPoint Solid { - translation -0.02 0.03535 0.03535 - rotation 0 -0.7071067811865475 0.7071067811865475 2.5187179288949184 - children [ - DEF r2 Pose { - rotation -1 0 0 2.27 - children [ - USE SMALL_WHEEL_SHAPE - ] - } - ] - name "sr2" - boundingObject USE r2 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr3 HingeJoint { - jointParameters HingeJointParameters { - position 254.08525159893895 - axis 0 1 0 - anchor -0.02 0 -0.05 - } - endPoint Solid { - translation -0.02 0 -0.05 - rotation 0 0.9999999999999999 0 2.757839311755494 - children [ - DEF r3 Pose { - rotation -1 0 0 1.5708 - children [ - USE SMALL_WHEEL_SHAPE - ] - } - ] - name "sr3" - boundingObject USE r3 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr4 HingeJoint { - jointParameters HingeJointParameters { - position -91.5154893085253 - axis 0 -0.707107 0.707107 - anchor -0.02 -0.03535 -0.03535 - } - endPoint Solid { - translation -0.02 -0.03535 -0.03535 - rotation 0 0.7071067811865476 -0.7071067811865476 3.550895008011093 - children [ - DEF r4 Pose { - rotation -1 0 0 2.27 - children [ - USE SMALL_WHEEL_SHAPE - ] - } - ] - name "sr4" - boundingObject USE r4 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr5 HingeJoint { - jointParameters HingeJointParameters { - position -57.77216958013899 - axis 0 0 1 - anchor -0.02 0.05 0 - } - endPoint Solid { - translation -0.02 0.05 0 - rotation 0 0 1 5.059683491656872 - children [ - DEF r5 Pose { - children [ - USE SMALL_WHEEL_SHAPE - ] - } - ] - name "sr5" - boundingObject USE r5 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr6 HingeJoint { - jointParameters HingeJointParameters { - position 29.313352597901943 - axis 0 0 1 - anchor -0.02 -0.05 0 - } - endPoint Solid { - translation -0.02 -0.05 0 - rotation 0 0 1 4.180611369183597 - children [ - DEF r6 Pose { - children [ - USE SMALL_WHEEL_SHAPE - ] - } - ] - name "sr6" - boundingObject USE r6 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr7 HingeJoint { - jointParameters HingeJointParameters { - position -30.271672667590778 - axis 0 0.707107 0.707107 - anchor -0.02 0.03535 -0.03535 - } - endPoint Solid { - translation -0.02 0.03535 -0.03535 - rotation 0 -0.7071067811865476 -0.7071067811865476 5.138931438872432 - children [ - DEF r7 Pose { - rotation -1 0 0 0.76 - children [ - USE SMALL_WHEEL_SHAPE - ] - } - ] - name "sr7" - boundingObject USE r7 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr8 HingeJoint { - jointParameters HingeJointParameters { - position 43.759922240170496 - axis 0 0.707107 0.707107 - anchor -0.02 -0.03535 0.03535 - } - endPoint Solid { - translation -0.02 -0.03535 0.03535 - rotation 0 0.7071067811865475 0.7071067811865475 6.060810397092978 - children [ - DEF r8 Pose { - rotation -1 0 0 0.76 - children [ - USE SMALL_WHEEL_SHAPE - ] - } - ] - name "sr8" - boundingObject USE r8 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF WHEEL_TRANS Pose { - translation -0.02 0 0 - rotation 0 -1 0 1.5708 - children [ - DEF WHEEL_SHAPE Shape { - appearance PBRAppearance { - baseColor 0.678431 0.847059 0.901961 - roughness 1 - metalness 0 - } - geometry Cylinder { - height 0.02 - radius 0.05 - subdivision 20 - } - } - ] - } - ] - boundingObject Pose { - translation -0.02 0 0 - rotation 0 -1 0 1.5708 - children [ - DEF wheel1 Shape { - appearance PBRAppearance { - baseColor 0.8 0.8 0.8 - transparency 0.12999999523162842 - roughness 1 - metalness 0 - emissiveColor 0 1 0 - } - geometry Cylinder { - height 0.02 - radius 0.05 - } - } - ] - } - physics Physics { - } - } - } - ] - name "wheel 1" - boundingObject DEF DUMMY Sphere { - radius 0.01 - } - physics Physics { - } - } - DEF SOLID2 Solid { - rotation 0 0 1 2.09 - children [ - DEF WHEEL2 HingeJoint { - jointParameters HingeJointParameters { - position 2.147203700564652e-06 - anchor -0.1 0 0 - } - device [ - RotationalMotor { - name IS wheel_3 - maxVelocity 40 - } - PositionSensor { - name IS enc_3 - } - ] - endPoint Solid { - translation -0.18800000000000022 0 0 - rotation -1 0 0 0.0024036627866462442 - children [ - DEF sr1 HingeJoint { - jointParameters HingeJointParameters { - position 201.28591247298849 - axis 0 1 0 - anchor -0.02 0 0.05 - } - endPoint Solid { - translation -0.02 0 0.05 - rotation 0 1 0 0.22398264324171874 - children [ - USE r1 - ] - name "sr1" - boundingObject USE r1 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr2 HingeJoint { - jointParameters HingeJointParameters { - position -547.5899169781771 - axis 0 -0.707107 0.707107 - anchor -0.02 0.03535 0.03535 - } - endPoint Solid { - translation -0.02 0.03535 0.03535 - rotation 0 -0.7071067811865477 0.7071067811865477 5.330390053626466 - children [ - USE r2 - ] - name "sr2" - boundingObject USE r2 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr3 HingeJoint { - jointParameters HingeJointParameters { - position -206.92828017054742 - axis 0 1 0 - anchor -0.02 0 -0.05 - } - endPoint Solid { - translation -0.02 0 -0.05 - rotation 0 -1 0 5.866350340800657 - children [ - USE r3 - ] - name "sr3" - boundingObject USE r3 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr4 HingeJoint { - jointParameters HingeJointParameters { - position 420.37627206700927 - axis 0 -0.707107 0.707107 - anchor -0.02 -0.03535 -0.03535 - } - endPoint Solid { - translation -0.02 -0.03535 -0.03535 - rotation 0 -0.7071067811865476 0.7071067811865476 5.68604179315656 - children [ - USE r4 - ] - name "sr4" - boundingObject USE r4 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr5 HingeJoint { - jointParameters HingeJointParameters { - position -222.66482730239827 - axis 0 0 1 - anchor -0.02 0.05 0 - } - endPoint Solid { - translation -0.02 0.05 0 - rotation 0 0 1 3.529843756066848 - children [ - USE r5 - ] - name "sr5" - boundingObject USE r5 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr6 HingeJoint { - jointParameters HingeJointParameters { - position 512.1259858934077 - axis 0 0 1 - anchor -0.02 -0.05 0 - } - endPoint Solid { - translation -0.02 -0.05 0 - rotation 0 0 -1 3.0952092953184036 - children [ - USE r6 - ] - name "sr6" - boundingObject USE r6 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr7 HingeJoint { - jointParameters HingeJointParameters { - position -594.2001560064724 - axis 0 0.707107 0.707107 - anchor -0.02 0.03535 -0.03535 - } - endPoint Solid { - translation -0.02 0.03535 -0.03535 - rotation 0 -0.7071067811865476 -0.7071067811865476 3.580737131591283 - children [ - USE r7 - ] - name "sr7" - boundingObject USE r7 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr8 HingeJoint { - jointParameters HingeJointParameters { - position 368.1888428392369 - axis 0 0.707107 0.707107 - anchor -0.02 -0.03535 0.03535 - } - endPoint Solid { - translation -0.02 -0.03535 0.03535 - rotation 0 0.7071067811865475 0.7071067811865475 3.764095022820868 - children [ - USE r8 - ] - name "sr8" - boundingObject USE r8 - physics Physics { - density -1 - mass 0.1 - } - } - } - USE WHEEL_TRANS - ] - boundingObject Pose { - translation -0.02 0 0 - rotation 0 -1 0 1.5708 - children [ - DEF wheel1 Shape { - appearance PBRAppearance { - baseColor 0.8 0.8 0.8 - transparency 0.12999999523162842 - roughness 1 - metalness 0 - emissiveColor 0 1 0 - } - geometry Cylinder { - height 0.02 - radius 0.05 - } - } - ] - } - physics Physics { - } - } - } - ] - name "wheel 2" - boundingObject USE DUMMY - physics Physics { - } - } - DEF SOLID3 Solid { - rotation 0 0 1 4.18 - children [ - DEF WHEEL3 HingeJoint { - jointParameters HingeJointParameters { - position 2.1651704619267438e-06 - anchor -0.1 0 0 - } - device [ - PositionSensor { - name IS enc_1 - } - RotationalMotor { - name IS wheel_1 - maxVelocity 40 - } - ] - endPoint Solid { - translation -0.188 0 0 - rotation -1 0 0 0.003907274705380449 - children [ - DEF sr1 HingeJoint { - jointParameters HingeJointParameters { - position 108.70539791483581 - axis 0 1 0 - anchor -0.02 0 0.05 - } - endPoint Solid { - translation -0.02 0 0.05 - rotation 0 -1 0 4.391937614396743 - children [ - USE r1 - ] - name "sr1" - boundingObject USE r1 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr2 HingeJoint { - jointParameters HingeJointParameters { - position -411.60744599975556 - axis 0 -0.707107 0.707107 - anchor -0.02 0.03535 0.03535 - } - endPoint Solid { - translation -0.02 0.03535 0.03535 - rotation 0 -0.7071067811865476 0.7071067811865476 3.0827842740971523 - children [ - USE r2 - ] - name "sr2" - boundingObject USE r2 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr3 HingeJoint { - jointParameters HingeJointParameters { - position -175.16445331775438 - axis 0 1 0 - anchor -0.02 0 -0.05 - } - endPoint Solid { - translation -0.02 0 -0.05 - rotation 0 1 0 0.7647352832740422 - children [ - USE r3 - ] - name "sr3" - boundingObject USE r3 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr4 HingeJoint { - jointParameters HingeJointParameters { - position 604.8094183337004 - axis 0 -0.707107 0.707107 - anchor -0.02 -0.03535 -0.03535 - } - endPoint Solid { - translation -0.02 -0.03535 -0.03535 - rotation 0 -0.7071067811865476 0.7071067811865476 1.6236288444600624 - children [ - USE r4 - ] - name "sr4" - boundingObject USE r4 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr5 HingeJoint { - jointParameters HingeJointParameters { - position -72.1547326648585 - axis 0 0 1 - anchor -0.02 0.05 0 - } - endPoint Solid { - translation -0.02 0.05 0 - rotation 0 0 0.9999999999999999 3.243491021296538 - children [ - USE r5 - ] - name "sr5" - boundingObject USE r5 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr6 HingeJoint { - jointParameters HingeJointParameters { - position 135.00475088700045 - axis 0 0 1 - anchor -0.02 -0.05 0 - } - endPoint Solid { - translation -0.02 -0.05 0 - rotation 0 0 -1 3.2253258709504475 - children [ - USE r6 - ] - name "sr6" - boundingObject USE r6 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr7 HingeJoint { - jointParameters HingeJointParameters { - position -236.81899650662353 - axis 0 0.707107 0.707107 - anchor -0.02 0.03535 -0.03535 - } - endPoint Solid { - translation -0.02 0.03535 -0.03535 - rotation 0 0.7071067811865476 0.7071067811865476 1.9420451662007516 - children [ - USE r7 - ] - name "sr7" - boundingObject USE r7 - physics Physics { - density -1 - mass 0.1 - } - } - } - DEF sr8 HingeJoint { - jointParameters HingeJointParameters { - position 203.55589624475382 - axis 0 0.707107 0.707107 - anchor -0.02 -0.03535 0.03535 - } - endPoint Solid { - translation -0.02 -0.03535 0.03535 - rotation 0 0.7071067811865476 0.7071067811865476 2.4939664150070575 - children [ - USE r8 - ] - name "sr8" - boundingObject USE r8 - physics Physics { - density -1 - mass 0.1 - } - } - } - USE WHEEL_TRANS - ] - boundingObject Pose { - translation -0.02 0 0 - rotation 0 -1 0 1.5708 - children [ - DEF wheel1 Shape { - appearance PBRAppearance { - baseColor 0.8 0.8 0.8 - transparency 0.12999999523162842 - roughness 1 - metalness 0 - emissiveColor 0 1 0 - } - geometry Cylinder { - height 0.02 - radius 0.05 - } - } - ] - } - physics Physics { - } - } - } - ] - name "wheel 3" - boundingObject USE DUMMY - physics Physics { - } - } - Camera { - translation 0 0 2 - fieldOfView 0.5 - width 640 - height 480 - exposure 1.0 - projection "planar" - } - DEF BODY_TRANS Pose { - translation 0 0 0.03 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.564706 0.933333 0.564706 - roughness 1 - metalness 0 - } - geometry Cylinder { - height 0.15 - radius 0.18 - subdivision 18 - } - } - ] - } - ] - boundingObject USE BODY_TRANS - physics Physics { - } - recognitionColors [ - 0 0 0 - ] - controller IS controller - supervisor IS supervisor -} - - -} diff --git a/simulation/test.c b/simulation/test.c new file mode 100644 index 0000000..eb8ab3d --- /dev/null +++ b/simulation/test.c @@ -0,0 +1,53 @@ +//controller code for the webots exampkle omni wheels +#include <stdio.h> +#include <webots/motor.h> +#include <webots/robot.h> + +static WbDeviceTag wheels[3]; + +int main() { + int i; + + const double angle = 0.5*3.14; //the angle [rad] + const double sped = 0; //the speed [?] + const double angulairspeed = 3.14; //angulair speed [?/s] + + // Initialize Webots + wb_robot_init(); + + //start motors + for (i = 0; i < 3; i++) { + char name[64]; + sprintf(name, "wheel%d", i + 1); + wheels[i] = wb_robot_get_device(name); + wb_motor_set_position(wheels[i], INFINITY); // Set wheels to initial position + } + + //calculate needed speeds per wheel + const double sx = sin(angle)*sped; //convert angle and speed vector lengt to X-speed vector + const double sy = cos(angle)*sped; //convert angle and speed vector lengt to Y-speed vector + const double a = (0.5*sx) - (0.8660254*sy) + angulairspeed; //convert X and Y speed vecors + angulair speed to the desired speed for wheel A + const double b = -sx + angulairspeed; //convert X and Y speed vecors + angulair speed to the desired speed for wheel B + const double c = (0.5*sx) + (0.8660254*sy) + angulairspeed; //convert X and Y speed vecors + angulair speed to the desired speed for wheel C + //print values for debuging. + printf("val a %f\n", a); + printf("val b %f\n", b); + printf("val c %f\n", c); + printf("val speed X %f\n", sx); + printf("val speed Y %f\n", sy); + + //enter calculated speeds into robot + const double wheel_speeds[] = {b, a, c}; + while (1) { + for (i = 0; i < 3; i++) { + double speed = wheel_speeds[i]; + wb_motor_set_velocity(wheels[i], speed); + + // After setting the speed, move to next step + wb_robot_step(8); + } + } + + return 0; +} + diff --git a/simulation/worlds/.soccer.jpg b/simulation/worlds/.soccer.jpg Binary files differdeleted file mode 100644 index 06e82b2..0000000 --- a/simulation/worlds/.soccer.jpg +++ /dev/null diff --git a/simulation/worlds/.soccer.wbproj b/simulation/worlds/.soccer.wbproj deleted file mode 100644 index 0f1697c..0000000 --- a/simulation/worlds/.soccer.wbproj +++ /dev/null @@ -1,10 +0,0 @@ -Webots Project File version R2024a -perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e000000000000000014000000000000000000000001000001f400000391fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000003910000008900ffffff0000000300000780000000d5fc0100000002fb0000000e0043006f006e0073006f006c00650100000000000005660000000000000000fc00000000000007800000006900fffffffa000000000100000002fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000ffffffff0000006900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000ffffffff00000000000000000000058a0000039100000001000000020000000100000008fc00000000 -simulationViewPerspectives: 000000ff000000010000000200000100000003480100000002010000000100 -sceneTreePerspectives: 000000ff00000001000000030000001f000000c0000000fa0100000002010000000200 -maximizedDockId: -1 -centralWidgetVisible: 1 -orthographicViewHeight: 1 -textFiles: 2 "controllers/OMHI_test/OMHI_test.py" "protos/three_omniwheel.proto" "protos/Ball.proto" -consoles: Console:All:All -renderingDevicePerspectives: robot:camera;1;0.564583;0;0 diff --git a/simulation/worlds/soccer.wbt b/simulation/worlds/soccer.wbt deleted file mode 100644 index af3ec77..0000000 --- a/simulation/worlds/soccer.wbt +++ /dev/null @@ -1,33 +0,0 @@ -#VRML_SIM R2024a utf8 - -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" -EXTERNPROTO "../protos/three_omniwheel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/samples/contests/robocup/protos/RobocupSoccerField.proto" - -WorldInfo { -} -Viewpoint { - orientation 0.2328975714773309 -0.7440385747903977 -0.6262310439636758 5.334957372457696 - position -0.6838588961447356 -0.458946565376689 0.9090251685961268 -} -TexturedBackground { - texture "stadium_dry" -} -TexturedBackgroundLight { - texture "stadium" -} -DEF Robot three_omniwheel { - translation 0.273203 -0.0732043 0.169476 - rotation 0 0 -1 -0.7854153071795862 - controller "OMHI_test" -} -PointLight { - attenuation 0 0 1 - intensity 20 - location 0 0.3 20 -} -RobocupSoccerField { - translation -0.031783 -0.00794585 -1.82077e-14 - rotation 0 0 -1 0.0850848 -} |
