2 * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: trajectory_manager.h,v 1.4.4.10 2009-05-02 10:03:04 zer0 Exp $
22 #ifndef TRAJECTORY_MANAGER
23 #define TRAJECTORY_MANAGER
27 #include <robot_system.h>
29 enum trajectory_state {
32 /* simple trajectories */
37 /* trajectories using events */
43 RUNNING_XY_F_ANGLE_OK,
46 RUNNING_XY_B_ANGLE_OK,
51 enum trajectory_state state; /*<< describe the type of target, and if we reached the target */
54 vect2_cart cart; /**<< target, if it is a x,y vector */
55 struct rs_polar pol; /**<< target, if it is a d,a vector */
58 double d_win; /**<< distance window (for END_NEAR) */
59 double a_win_rad; /**<< angle window (for END_NEAR) */
60 double a_start_rad;/**<< in xy consigns, start to move in distance
61 * when a_target < a_start */
63 uint16_t d_speed; /**<< distance speed consign */
64 uint16_t a_speed; /**<< angle speed consign */
66 struct robot_position *position; /**<< associated robot_position */
67 struct robot_system *robot; /**<< associated robot_system */
68 struct cs *csm_angle; /**<< associated control system (angle) */
69 struct cs *csm_distance; /**<< associated control system (distance) */
71 int8_t scheduler_task; /**<< id of current task (-1 if no running task) */
74 /** structure initialization */
75 void trajectory_init(struct trajectory *traj);
77 /** structure initialization */
78 void trajectory_set_cs(struct trajectory *traj, struct cs *cs_d,
81 /** structure initialization */
82 void trajectory_set_robot_params(struct trajectory *traj,
83 struct robot_system *rs,
84 struct robot_position *pos) ;
86 /** set speed consign */
87 void trajectory_set_speed(struct trajectory *traj, int16_t d_speed, int16_t a_speed);
90 * set windows for trajectory.
91 * params: distance window, angle window: we the robot enters this
92 * position window, we deletes the event and the last consign is
94 * a_start_deg used in xy consigns (start to move in distance when
97 void trajectory_set_windows(struct trajectory *traj, double d_win,
98 double a_win_deg, double a_start_deg);
100 /** return true if the position consign is equal to the filtered
101 * position consign (after quadramp filter), for angle and
103 uint8_t trajectory_finished(struct trajectory *traj);
105 /** return true if traj is nearly finished depending on specified
107 uint8_t trajectory_in_window(struct trajectory *traj, double d_win, double a_win_rad);
109 /* simple commands */
111 /** set relative angle and distance consign to 0 */
112 void trajectory_stop(struct trajectory *traj);
114 /** set relative angle and distance consign to 0, and break any
115 * deceleration ramp in quadramp filter */
116 void trajectory_hardstop(struct trajectory *traj);
118 /** go straight forward (d is in mm) */
119 void trajectory_d_rel(struct trajectory *traj, double d_mm);
121 /** update distance consign without changing angle consign */
122 void trajectory_only_d_rel(struct trajectory *traj, double d_mm);
124 /** turn by 'a' degrees */
125 void trajectory_a_rel(struct trajectory *traj, double a_deg);
127 /** go to angle 'a' in degrees */
128 void trajectory_a_abs(struct trajectory *traj, double a_deg);
130 /** turn the robot until the point x,y is in front of us */
131 void trajectory_turnto_xy(struct trajectory*traj, double x_abs_mm, double y_abs_mm);
133 /** turn the robot until the point x,y is behind us */
134 void trajectory_turnto_xy_behind(struct trajectory*traj, double x_abs_mm, double y_abs_mm);
136 /** update angle consign without changing distance consign */
137 void trajectory_only_a_rel(struct trajectory *traj, double a_deg);
139 /** update angle consign without changing distance consign */
140 void trajectory_only_a_abs(struct trajectory *traj, double a_deg);
142 /** turn by 'a' degrees and go by 'd' mm */
143 void trajectory_d_a_rel(struct trajectory *traj, double d_mm, double a_deg);
145 /* commands using events */
147 /** goto a x,y point, using a trajectory event */
148 void trajectory_goto_xy_abs(struct trajectory *traj, double x_abs_mm, double y_abs_mm);
150 /** go forward to a x,y point, using a trajectory event */
151 void trajectory_goto_forward_xy_abs(struct trajectory *traj, double x_abs_mm, double y_abs_mm);
153 /** go backward to a x,y point, using a trajectory event */
154 void trajectory_goto_backward_xy_abs(struct trajectory *traj, double x_abs_mm, double y_abs_mm);
156 /** go forward to a d,a point, using a trajectory event */
157 void trajectory_goto_d_a_rel(struct trajectory *traj, double d, double a);
159 /** go forward to a x,y relative point, using a trajectory event */
160 void trajectory_goto_xy_rel(struct trajectory *traj, double x_rel_mm, double y_rel_mm);
162 #endif //TRAJECTORY_MANAGER