146 lines
4.2 KiB
Matlab
146 lines
4.2 KiB
Matlab
clear -all
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graphics_toolkit('gnuplot')
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omni = omni = omnidirectional(0.94, 0.96, 0.01, 2.2, 1.5,0.099,0.1,1.5,0.025,30,0.035,19,0.00011,1.69,0.0059,0.0059,0.9,9.1,6,'./');
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang kene
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conRobot = [1 2 1;
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3 2 1;
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3 1 1;
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];
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length_d = .5;
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dRobot = [ 1;
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1;
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1;
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];
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corRobot = [1.5; 1.7;0;
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2; 2.5;0;
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2.5; 2.8;0;
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]; % xy xy xy
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robStateLen = size(omni.origin.A,1);
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B = [
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1 0; 0 1;
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0 0; 0 0;
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0 0; 0 0;
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];
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kp = 150;
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ki = 3;
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% fvref = fncSpeedRef('ysin',50,2,robStateLen);
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% fvref = fncSpeedRef('xsin',50,2,robStateLen);
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% fvref = fncSpeedRef('cw',-300,1,robStateLen);
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% fvref = fncSpeedRef('s',50,50,robStateLen);
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fvref = fncSpeedRef('s',0,0,robStateLen);
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h = .01;
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tspan = 1:h:10;
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sys = formationControl2ndBuilder(conRobot,robStateLen,kp,kp,ki,ki,length_d,1);
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% sys = formationControl2ndModelBuilder(conRobot,omni.origin,kp,kp,ki,ki,length_d,1);
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% sys = formationControl1stModelBuilder(conRobot,omni.origin,kp,kp,ki,ki,length_d,1);
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang nduwur
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[R,K,d] = rigidityMatrixFnc(conRobot,robStateLen);
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_zero = zeros(size(R(corRobot,K),1),1);
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sInit = [corRobot; _zero;];
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sAnsInit =[_zero; _zero;];
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s2ndInit = [corRobot; %x1
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zeros(length(corRobot),1); %x2
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zeros(length(corRobot),1); %xi1
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_zero;]; %xi2
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% _zero; zeros(length(corRobot),1);]; %x2*
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s1stInit = [corRobot; zeros(size(corRobot)); zeros(size(dRobot))];
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% state_init = sInit;
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state_init = s2ndInit;
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% state_init = s1stInit;
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start solving
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printf("Mulai memecakan masalah \n\n");
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startExe = tic;
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% continue
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% dydt = @(t, y) sys.ss(y,fvref(t));
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% [t,y] = ode45(dydt, tspan, state_init);
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% discrate taylor methode
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dydt = @(t, y) sys.dss(y, h, fvref(t))
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t(1,:) = tspan(1);
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y(1,:) = dydt(t(1), state_init);
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Dd(1,:) = [norm((K*y(1,1:9)')(1:3)) norm((K*y(1,1:9)')(4:6)) norm((K*y(1,1:9)')(7:9))]';
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for i = 2:length(tspan)
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t(i,:) = tspan(i);
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y(i,:) = dydt(t(i),y(i-1,:)');
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Dd(i,:) = [norm((K*y(i,1:9)')(1:3)) norm((K*y(i,1:9)')(4:6)) norm((K*y(i,1:9)')(7:9))]';
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endfor
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endExe = toc(startExe);
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printf("Membutuhkan waktu %i menit, %i detik \n untuk memecahkan masalah mu \n\n",
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floor(endExe/60), rem(endExe,60))
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% End Solving
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start plot it
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close all
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figure(1)
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% plot trayektori dari setiap robot
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str_tmp = "plot(";
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xi = 1:robStateLen:length(corRobot)-1
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yi = 2:robStateLen:length(corRobot)
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for i = 1:sys.n-1
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str_tmp = strcat(str_tmp,sprintf("y'(%i,:),y'(%i,:),",xi(i),yi(i)));
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endfor
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str_tmp = strcat(str_tmp,sprintf("y'(%i,:),y'(%i,:));",xi(i+1),yi(i+1)));
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eval(str_tmp);
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hold on
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% membuat fungsi plot robot di waktu
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% tertentu
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str_tmp = "@(t) plot( [";
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for i = 1:robStateLen:length(corRobot)
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str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
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endfor
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str_tmp = strcat( str_tmp, sprintf("], ["));
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for i = 2:robStateLen:length(corRobot)
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str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
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endfor
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str_tmp = strcat( str_tmp, sprintf("], \"^\");"));
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plot_rb = eval(str_tmp);
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xrb = 1:robStateLen:length(corRobot);
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yrb = 2:robStateLen:length(corRobot);
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% fungsi untuk plot coneksi di waktu
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% tertentu
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function plot_con (pltRb, yOut, conIn,xm,ym, time)
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pltRb(time);
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for i = 1:length(conIn)
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plot([yOut(xm(conIn(i, 1)),time), yOut(xm(conIn(i, 2)),time)],
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[yOut(ym(conIn(i,1)),time), yOut(ym(conIn(i,2)),time)], "r" )
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endfor
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endfunction
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plot_con(plot_rb, y', conRobot, xrb, yrb, 1);
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% plot_con(plot_rb, y', conRobot, xrb, yrb, round(length(tspan)/2));
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plot_con(plot_rb, y', conRobot, xrb, yrb, length(tspan));
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str_tmp = "legend(";
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for i = 1:numNodes(edgeL2adjL(conRobot))-1;
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str_tmp =strcat(str_tmp,sprintf("\"R%i \", ",i));
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endfor
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str_tmp =strcat(str_tmp,sprintf("\"R%i \" )",++i));
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eval(str_tmp)
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title("Motion dari Robot");
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figure(2)
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plot(t,Dd(:,1),t,Dd(:,2),t,Dd(:,3))
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title("distance error")
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legend()
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csvwrite("DataOutMotion.csv", [t y])
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% save DataOutMotion.data y
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% save DataErrorEdge.data yans
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