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car_pid.html
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>Matter.js Car Simulation</title>
<script src="https://cdnjs.cloudflare.com/ajax/libs/matter-js/0.20.0/matter.min.js"></script>
<script src="https://d3js.org/d3.v7.min.js"></script>
</head>
<style>
.grid-container {
display: grid;
grid-template-columns: repeat(2, 1fr);
padding: 10px;
}
.grid-item {
padding: 20px;
text-align: center;
}
</style>
<body>
<!-- Reset Button -->
<form id="ctrl">
<div class="grid-container">
<div>
<input type="reset" onclick="location.reload()">
</div>
<div></div>
<!-- Enable Control -->
<div>
<label for="enable">Enable:</label>
<input type="checkbox" id="enable">
</div>
<!-- Proportional Control -->
<div>
<label for="pid">PI Control:</label>
<input type="checkbox" id="pid">
</div>
<!-- Target Velocity -->
<div>
<label for="targetVelocity">Target Velocity:</label>
<input type="range" id="targetVelocity" min="0" max="6" value="4" step="0.1">
<span id="targetVelocityValue">4</span>
</div>
<!-- kP slider -->
<div>
<label for="kP">kP:</label>
<input type="range" id="kP" min="0" max="1" value="0.1" step="0.01">
<span id="kPValue">0.1</span>
</div>
<!-- Max torque -->
<div>
<label for="maxTorque">Max Torque:</label>
<input type="range" id="maxTorque" min="0" max="0.3" value="0.15" step="0.01">
<span id="maxTorqueValue">0.15</span>
</div>
<!-- kI slider -->
<div>
<label for="kI">kI:</label>
<input type="range" id="kI" min="0" max=".005" value="0.0" step="0.0001">
<span id="kIValue">0.0</span>
</div>
</div>
</form>
<div id="velocityChart"></div>
<script>
const enableCheckbox = document.getElementById("enable");
const velocitySlider = document.getElementById("targetVelocity");
const velocityOutput = document.getElementById("targetVelocityValue");
velocityOutput.textContent = velocitySlider.value;
velocitySlider.addEventListener("input", function () {
velocityOutput.textContent = velocitySlider.value;
});
const maxTorqueSlider = document.getElementById("maxTorque");
const maxTorqueOutput = document.getElementById("maxTorqueValue");
maxTorqueOutput.textContent = maxTorqueSlider.value;
maxTorqueSlider.addEventListener("input", function () {
maxTorqueOutput.textContent = maxTorqueSlider.value;
});
const pidCheckbox = document.getElementById("pid");
const kPSlider = document.getElementById("kP");
const kPOutput = document.getElementById("kPValue");
kPOutput.textContent = kPSlider.value;
kPSlider.addEventListener("input", function () {
kPOutput.textContent = kPSlider.value;
});
const kISlider = document.getElementById("kI");
const kIOutput = document.getElementById("kIValue");
kIOutput.textContent = kISlider.value;
kISlider.addEventListener("input", function () {
kIOutput.textContent = kISlider.value;
});
const margin = { top: 20, right: 30, bottom: 30, left: 40 },
width = 800 - margin.left - margin.right,
height = 200 - margin.top - margin.bottom;
const svg = d3.select("#velocityChart")
.append("svg")
.attr("width", width + margin.left + margin.right)
.attr("height", height + margin.top + margin.bottom)
.append("g")
.attr("transform", `translate(${margin.left},${margin.top})`);
// Set up scales for the x and y axes
const x = d3.scaleLinear().domain([0, 10]).range([0, 600]); // Time (seconds)
const y = d3.scaleLinear().domain([0, 7]).range([height, 0]); // Velocity (m/s)
// Add the x and y axes
svg.append("g")
.attr("transform", `translate(0,${height})`)
.call(d3.axisBottom(x));
svg.append("g")
.call(d3.axisLeft(y));
// Create a line generator
const line = d3.line()
.x((d, i) => x(i / 60)) // Assuming 60 FPS, adjust as needed
.y(d => y(d));
// Data storage for velocity values
let target_velocity = [];
let real_velocity = [];
let rear_wheel_velocity = [];
let front_wheel_velocity = [];
let torque = [];
// Append the path element to the SVG that will hold the line
const target_velocity_path = svg.append("path")
.datum(target_velocity)
.attr("fill", "none")
.attr("stroke", "black")
.attr("stroke-width", 1.5)
.attr("d", line);
const real_velocity_path = svg.append("path")
.datum(real_velocity)
.attr("fill", "none")
.attr("stroke", "blue")
.attr("stroke-width", 1.5)
.attr("d", line);
const rear_wheel_velocity_path = svg.append("path")
.datum(rear_wheel_velocity)
.attr("fill", "none")
.attr("stroke", "red")
.attr("stroke-width", 1.5)
.attr("d", line);
const front_wheel_velocity_path = svg.append("path")
.datum(front_wheel_velocity)
.attr("fill", "none")
.attr("stroke", "green")
.attr("stroke-width", 1.5)
.attr("d", line);
const torque_path = svg.append("path")
.datum(front_wheel_velocity)
.attr("fill", "none")
.attr("stroke", "pink")
.attr("stroke-width", 1.5)
.attr("d", line);
const legend = svg.append("g")
.attr("class", "legend")
.attr("transform", "translate(20, 20)"); // Position the legend
const categories = [
{ name: "Target Velocity", color: "black" },
{ name: "Real Velocity", color: "blue" },
{ name: "Rear Wheel Velocity", color: "red" },
{ name: "Front Wheel Velocity", color: "green" },
{ name: "Torque", color: "pink" }
];
// Add legend items
const legendItem = legend.selectAll(".legend-item")
.data(categories)
.enter()
.append("g")
.attr("class", "legend-item")
.attr("transform", (d, i) => `translate(600, ${i * 20})`); // Space the items
// Add rectangles (or circles) as legend keys
legendItem.append("rect")
.attr("x", 0)
.attr("y", 0)
.attr("width", 15)
.attr("height", 15)
.attr("fill", d => d.color); // Set the color for each category
// Add text labels to the right of the rectangles
legendItem.append("text")
.attr("x", 20)
.attr("y", 12) // Vertically center the text relative to the rectangle
.text(d => d.name)
.style("font-size", "12px");
var Example = Example || {};
Example.car = function () {
var Engine = Matter.Engine,
Render = Matter.Render,
Runner = Matter.Runner,
Composites = Matter.Composites,
Composite = Matter.Composite,
Bodies = Matter.Bodies,
Events = Matter.Events,
Body = Matter.Body;
// create engine
var engine = Engine.create(),
world = engine.world;
// create renderer
var render = Render.create({
element: document.body,
engine: engine,
options: {
width: 800,
height: 300,
showAngleIndicator: true,
showCollisions: true
}
});
Render.run(render);
// create runner
var runner = Runner.create();
Runner.run(runner, engine);
// add bodies
Composite.add(world, [
Bodies.rectangle(400, 300, 1000, 50, { isStatic: true }),
]);
// see car function defined later in this file
var car = Example.car.car(150, 100, 150, 30, 30);
Composite.add(world, car);
// fit the render viewport to the scene
Render.lookAt(render, {
min: { x: 0, y: 0 },
max: { x: 800, y: 300 }
});
function userUpdate() {
// Loop around the screen: if the car reaches the right edge, teleport it to the left
if (car.position().x > 800) {
car.reset();
}
let t = car.control() * 10;
if (enableCheckbox.checked) {
torque.push(t);
// Add the new velocity to the data array
target_velocity.push(parseFloat(velocitySlider.value));
real_velocity.push(car.real_velocity());
rear_wheel_velocity.push(car.rear_wheel_velocity());
front_wheel_velocity.push(car.front_wheel_velocity());
// Limit the number of data points (e.g., to the last 100 points)
if (real_velocity.length > 500) {
target_velocity.shift();
real_velocity.shift();
rear_wheel_velocity.shift();
front_wheel_velocity.shift();
torque.shift();
}
// Update the scales
x.domain([0, real_velocity.length / 60]); // Adjust the x-axis based on time (assumed 60 FPS)
// Update the path with the new data
target_velocity_path.datum(target_velocity)
.attr("d", line);
real_velocity_path.datum(real_velocity)
.attr("d", line);
rear_wheel_velocity_path.datum(rear_wheel_velocity)
.attr("d", line);
front_wheel_velocity_path.datum(front_wheel_velocity)
.attr("d", line);
torque_path.datum(torque)
.attr("d", line);
}
}
Events.on(engine, 'afterUpdate', function () {
userUpdate();
});
// context for MatterTools.Demo
return {
engine: engine,
runner: runner,
render: render,
canvas: render.canvas,
stop: function () {
Matter.Render.stop(render);
Matter.Runner.stop(runner);
}
};
};
Example.car.title = 'Car';
Example.car.for = '>=0.14.2';
Example.car.car = function (xx, yy, width, height, wheelSize) {
var Body = Matter.Body,
Bodies = Matter.Bodies,
Composite = Matter.Composite,
Constraint = Matter.Constraint;
var group = Body.nextGroup(true),
wheelBase = 20,
wheelAOffset = -width * 0.5 + wheelBase,
wheelBOffset = width * 0.5 - wheelBase,
wheelYOffset = 0;
var car = Composite.create({ label: 'Car' });
var body = Bodies.rectangle(xx, yy, width, height, {
collisionFilter: {
group: group
},
chamfer: {
radius: height * 0.5
},
density: 0.0002,
frictionAir: 0.05
});
var wheelA = Bodies.circle(xx + wheelAOffset, yy + wheelYOffset, wheelSize, {
collisionFilter: {
group: group
},
friction: 0.8
});
var wheelB = Bodies.circle(xx + wheelBOffset, yy + wheelYOffset, wheelSize, {
collisionFilter: {
group: group
},
friction: 0.8
});
var axelA = Constraint.create({
bodyB: body,
pointB: { x: wheelAOffset, y: wheelYOffset },
bodyA: wheelA,
stiffness: 1,
length: 0
});
var axelB = Constraint.create({
bodyB: body,
pointB: { x: wheelBOffset, y: wheelYOffset },
bodyA: wheelB,
stiffness: 1,
length: 0
});
Composite.addBody(car, body);
Composite.addBody(car, wheelA);
Composite.addBody(car, wheelB);
Composite.addConstraint(car, axelA);
Composite.addConstraint(car, axelB);
car.position = function () {
return body.position;
};
car.reset = function (position) {
Composite.translate(car, { x: -800, y: 0 });
};
var integral = 0;
var lastKI = 0;
var lastTargetVel = 0;
car.control = function () {
const target_vel = parseFloat(velocitySlider.value);
const max_torque = parseFloat(maxTorqueSlider.value);
// Reset integral when changing set points
if (target_vel != lastTargetVel || kISlider.value != lastKI) {
integral = 0;
}
lastKI = kISlider.value;
lastTargetVel = target_vel;
var enabled = enableCheckbox.checked;
if (enabled) {
if (pidCheckbox.checked) {
const kP = parseFloat(kPSlider.value);
const kI = parseFloat(kISlider.value);
const error = target_vel - car.front_wheel_velocity();
integral += error;
const torque = Math.max(Math.min(kP * error + kI * integral, max_torque), -max_torque);
console.log(error.toPrecision(3), (error * kP).toPrecision(3), integral.toPrecision(3), (integral * kI).toPrecision(3), torque.toPrecision(3));
wheelA.torque = torque;
return torque;
} else {
wheelA.torque = max_torque;
integral = 0;
return max_torque;
}
} else {
integral = 0;
return 0;
}
}
car.real_velocity = function () {
return body.velocity.x;
}
car.rear_wheel_velocity = function () {
return wheelA.angularVelocity * wheelSize;
}
car.front_wheel_velocity = function () {
return wheelB.angularVelocity * wheelSize;
}
return car;
};
Example.car();
</script>
</body>
</html>