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: main.c,v 1.9.4.5 2007-06-01 09:37:22 zer0 Exp $
26 #include <sys/types.h>
30 #include <aversive/error.h>
33 #include <scheduler.h>
38 #include <control_system_manager.h>
39 #include <trajectory_manager.h>
40 #include <blocking_detection_manager.h>
41 #include <robot_system.h>
42 #include <position_manager.h>
49 static int32_t l_pwm, r_pwm;
50 static int32_t l_enc, r_enc;
56 #define FILTER2 (100-FILTER)
58 /* must be called periodically */
59 void robotsim_update(void)
61 static int32_t l_speed, r_speed;
64 l_speed = ((l_speed * FILTER) / 100) + ((l_pwm * 1000 * FILTER2)/1000);
65 l_enc += (l_speed / 1000);
66 r_speed = ((r_speed * FILTER) / 100) + ((r_pwm * 1000 * FILTER2)/1000);
67 r_enc += (r_speed / 1000);
70 void robotsim_dump(void)
75 len =snprintf(buf, sizeof(buf), "%d %d %d\n",
76 position_get_x_s16(&mainboard.pos),
77 position_get_y_s16(&mainboard.pos),
78 position_get_a_deg_s16(&mainboard.pos));
82 void robotsim_pwm(void *arg, int32_t val)
84 // printf("%p, %d\n", arg, val);
87 else if (arg == RIGHT_PWM)
91 int32_t robotsim_encoder_get(void *arg)
93 if (arg == LEFT_ENCODER)
95 else if (arg == RIGHT_ENCODER)
100 int robotsim_init(void)
102 mkfifo("/tmp/.robot", 0600);
103 fd = open("/tmp/.robot", O_WRONLY, 0);