2 * Copyright Droids, Microb Technology (2010)
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: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
30 #include <aversive/error.h>
31 #include <aversive/pgmspace.h>
36 #include <clock_time.h>
41 #include <control_system_manager.h>
42 #include <trajectory_manager.h>
43 #include <trajectory_manager_utils.h>
44 #include <trajectory_manager_core.h>
45 #include <vect_base.h>
48 #include <obstacle_avoidance.h>
49 #include <blocking_detection_manager.h>
50 #include <robot_system.h>
51 #include <position_manager.h>
53 #include <diagnostic.h>
58 #include "../common/i2c_commands.h"
59 #include "i2c_protocol.h"
63 #include "strat_base.h"
64 #include "strat_corn.h"
65 #include "strat_utils.h"
69 /* return 1 if there is a corn near, and fill the index ptr */
70 int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
72 /* XXX to be checked */
73 #define SENSOR_CORN_DIST 225
74 #define SENSOR_CORN_ANGLE 90
75 double x = position_get_x_double(&mainboard.pos);
76 double y = position_get_y_double(&mainboard.pos);
77 double a_rad = position_get_a_rad_double(&mainboard.pos);
78 double x_corn, y_corn;
79 int16_t x_corn_int, y_corn_int;
80 struct waypoint_db *wp;
82 if (side == I2C_LEFT_SIDE) {
83 x_corn = x + cos(a_rad + RAD(SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
84 y_corn = y + sin(a_rad + RAD(SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
87 x_corn = x + cos(a_rad + RAD(-SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
88 y_corn = y + sin(a_rad + RAD(-SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
93 wp = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
96 *corn_idx = wp->corn.idx;
101 * return true if clitoid started
103 static uint8_t clitoid_started(void)
105 return trajectory_get_state(&mainboard.traj) == RUNNING_CLITOID_CURVE;
108 /* XXX passer les flags de traj */
109 uint8_t line2line(uint8_t num1, uint8_t dir1,
110 uint8_t num2, uint8_t dir2)
112 double line1_a_rad, line1_a_deg, line2_a_rad;
113 double diff_a_deg, diff_a_deg_abs, beta_deg;
115 struct line_2pts l1, l2;
121 /* convert to 2 points */
122 num2line(&l1, dir1, num1);
123 num2line(&l2, dir2, num2);
125 DEBUG(E_USER_STRAT, "line1: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
126 l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
127 DEBUG(E_USER_STRAT, "line2: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
128 l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
130 /* convert to line eq and find intersection */
131 pts2line(&l1.p1, &l1.p2, &ll1);
132 pts2line(&l2.p1, &l2.p2, &ll2);
133 intersect_line(&ll1, &ll2, &p);
135 line1_a_rad = atan2(l1.p2.y - l1.p1.y,
137 line1_a_deg = DEG(line1_a_rad);
138 line2_a_rad = atan2(l2.p2.y - l2.p1.y,
140 diff_a_deg = DEG(line2_a_rad - line1_a_rad);
141 if (diff_a_deg < -180) {
144 else if (diff_a_deg > 180) {
147 diff_a_deg_abs = fabs(diff_a_deg);
149 /* printf_P(PSTR("diff_a_deg=%2.2f\r\n"), diff_a_deg_abs); */
150 /* printf_P(PSTR("inter=%2.2f,%2.2f\r\n"), p.x, p.y); */
152 /* small angle, 60 deg */
153 if (diff_a_deg_abs < 70.) {
160 /* double 90 deg for half turn -- not used */
161 else if (diff_a_deg_abs < 100.) {
168 /* hard turn, 120 deg */
177 /* XXX check return value !! */
178 ret = trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
179 line1_a_deg, 150., diff_a_deg, beta_deg,
180 radius, xy_norm(l1.p1.x, l1.p1.y,
183 DEBUG(E_USER_STRAT, "clitoid failed");
185 /* XXX what to do if cobboard is stucked */
187 err = WAIT_COND_OR_TRAJ_END(clitoid_started(), 0xFF);
188 DEBUG(E_USER_STRAT, "clitoid started err=%d diff_a_deg_abs=%2.2f diff_a_deg=%2.2f",
189 err, diff_a_deg_abs, diff_a_deg);
191 /* when clitoid starts and angle is 60 deg, pack external
193 if (diff_a_deg_abs < 70. && err == 0) {
200 err = wait_traj_end(0xFF);
202 DEBUG(E_USER_STRAT, "clitoid finished");
204 /* XXX 600 -> cste */
205 /* XXX does not work, do better */
206 /* if (err == 0 && d_speed < 600 && */
207 /* mainboard.traj.state == RUNNING_CLITOID_LINE) */
208 /* strat_set_speed(600, SPEED_ANGLE_FAST); */
215 void num2line(struct line_2pts *l, uint8_t dir, uint8_t num)
222 l->p1.x = n * 450 + 375;
223 l->p1.y = COLOR_Y(0);
224 l->p2.x = n * 450 + 375;
225 l->p2.y = COLOR_Y(2100);
228 l->p1.x = n * 450 + 375;
229 l->p1.y = COLOR_Y(2100);
230 l->p2.x = n * 450 + 375;
231 l->p2.y = COLOR_Y(0);
235 l->p1.y = COLOR_Y(-n * 500 + 1472);
237 l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
241 l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
243 l->p2.y = COLOR_Y(-n * 500 + 1472);
247 l->p1.y = COLOR_Y(-n * 500 + 1472);
249 l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
253 l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
255 l->p2.y = COLOR_Y(-n * 500 + 1472);