#!/usr/bin/python
import sys, math
+import matplotlib.pyplot as plt
-RPS = 10.
-LASER_RADIUS = 25. # mm
+
+#RPS = 10.
+RPS = 20.
+#RPS = 40.
+#TIMER_FREQ = 2000000.
+TIMER_FREQ = 16000000.
+
+LASER_RADIUS = 20. # mm
MIN = 200.
MAX = 3500.
STEPS = (1 << 9)
k = math.pow(MAX/MIN, 1./STEPS)
+def mm_to_frame(mm):
+ d = mm
+ d -= MIN
+ d /= (MAX-MIN)
+ d *= 512
+ return d
+
+def frame_to_mm(d):
+ d /= 512.
+ d *= (MAX-MIN)
+ d += MIN
+ return d
+
# t is in us, result is 9 bits
-def time_to_frame(t):
+def us_to_frame(t):
# process angle from t
a = (t / (1000000./RPS)) * 2. * math.pi
# process d from a (between 20cm and 350cm)
d = LASER_RADIUS / math.sin(a/2)
-
- frame = math.log(d/MIN)/math.log(k)
- if frame >= 512:
- frame = 511
- else:
- frame = int(frame)
- print frame
+ frame = int(mm_to_frame(d))
return frame
-# frame is integer 9 bits, result is distance
-def frame_to_distance(frame):
- d = MIN*(math.pow(k, frame))
- print d
- return d
+# frame is integer 9 bits, result is laserdiff time in us
+def frame_to_us(frame):
+ d = frame_to_mm(frame)
+ a = 2 * math.asin(LASER_RADIUS/d)
+ t = (a * (1000000./RPS)) / (2. * math.pi)
+ return t
+
+# theorical: laser timediff to robot distance
+def us_to_mm(us):
+ return frame_to_mm(us_to_frame(us))
+
+# theorical: robot distance to laserdiff
+def mm_to_us(mm):
+ return frame_to_us(mm_to_frame(mm))
+
+def time_us_to_tick(us):
+ return (us / 1000000.) * TIMER_FREQ
+
+def time_tick_to_us(t):
+ return (t * 1000000.) / TIMER_FREQ
+
+
+##################
+
+# linear correction: distance_mm, time_us
+# must be ordered
+samples = [
+ (330., 15681./16),
+ (778., 6437./16),
+ (1180., 4351./16),
+ (1608., 3221./16),
+ (2045., 2583./16),
+ (2487., 2167./16),
+ ]
+
+dist_mm = map(frame_to_mm, range(512))
+
+# theorical curve
+theorical = [0] * 512
+for i in range(512):
+ theorical[i] = frame_to_us(i)
+
+# find offset and update theorical curve
+off = samples[-1][1] - mm_to_us(3000.)
+#print "offset=%f"%(off)
+theo_off = [0] * 512
+for i in range(512):
+ mm = frame_to_mm(i)
+ theo_off[i] = mm_to_us(mm) + off
+
+final = [0] * 512
+for i in range(512):
+ mm = frame_to_mm(i)
+
+ # find between which samples we are
+ smp = 0
+ while smp < (len(samples) - 2):
+ if samples[smp+1][0] >= mm:
+ break
+ smp += 1
+
+ mm_start = us_to_mm(samples[smp][1] - off)
+ mm_end = us_to_mm(samples[smp+1][1] - off)
+
+ # interpolation
+ ratio = (mm - samples[smp][0]) / (samples[smp+1][0] - samples[smp][0])
+ mm_new = mm_start + ratio * (mm_end - mm_start)
+
+ if mm_new < 0:
+ mm_new = 1.
+ final[i] = mm_to_us(mm_new) + off
+
+
+plt.plot(
+ dist_mm, theorical, "r-",
+ dist_mm, theo_off, "b-",
+ dist_mm, final, "g-",
+ map(lambda x:x[0], samples), map(lambda x:x[1], samples), "g^",
+ )
+plt.show()
-x = time_to_frame(float(sys.argv[1]))
-frame_to_distance(x)
+print "#include <aversive.h>"
+print "#include <aversive/pgmspace.h>"
+print "prog_uint16_t framedist_table[] = {"
+for i in range(512):
+ if (i % 8) == 0:
+ print " ",
+ print "%d,"%(int(time_us_to_tick(final[i]))),
+ if (i % 8 == 7):
+ print
+print "};"