-/*
+/*
* Copyright Droids Corporation, Microb Technology, Eirbot (2005)
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
#include <aversive.h>
#include <vect2.h>
#include <robot_system.h>
+#include <vect_base.h>
+#include <lines.h>
enum trajectory_state {
READY,
RUNNING_XY_B_START,
RUNNING_XY_B_ANGLE,
RUNNING_XY_B_ANGLE_OK,
+
+ /* circle */
+ RUNNING_CIRCLE,
+
+ /* line */
+ RUNNING_LINE,
};
+struct circle_target {
+ vect2_cart center; /**< center of the circle */
+ double radius; /**< radius of the circle */
+ int32_t dest_angle; /**< dst angle in inc */
+
+#define TRIGO 1 /* rotation is counterclockwise */
+#define FORWARD 2 /* go forward or backward */
+ uint8_t flags; /**< flags for this trajectory */
+};
+
+struct line_target {
+ line_t line;
+ double angle;
+ double advance;
+};
struct trajectory {
enum trajectory_state state; /*<< describe the type of target, and if we reached the target */
union {
vect2_cart cart; /**<< target, if it is a x,y vector */
struct rs_polar pol; /**<< target, if it is a d,a vector */
+ struct circle_target circle; /**<< target, if it is a circle */
+ struct line_target line; /**<< target, if it is a line */
} target;
double d_win; /**<< distance window (for END_NEAR) */
double a_win_rad; /**<< angle window (for END_NEAR) */
double a_start_rad;/**<< in xy consigns, start to move in distance
* when a_target < a_start */
-
+ double circle_coef;/**<< corrective circle coef */
+
uint16_t d_speed; /**<< distance speed consign */
uint16_t a_speed; /**<< angle speed consign */
struct robot_system *robot; /**<< associated robot_system */
struct cs *csm_angle; /**<< associated control system (angle) */
struct cs *csm_distance; /**<< associated control system (distance) */
-
+
int8_t scheduler_task; /**<< id of current task (-1 if no running task) */
};
void trajectory_init(struct trajectory *traj);
/** structure initialization */
-void trajectory_set_cs(struct trajectory *traj, struct cs *cs_d,
+void trajectory_set_cs(struct trajectory *traj, struct cs *cs_d,
struct cs * cs_a);
/** structure initialization */
-void trajectory_set_robot_params(struct trajectory *traj,
- struct robot_system *rs,
+void trajectory_set_robot_params(struct trajectory *traj,
+ struct robot_system *rs,
struct robot_position *pos) ;
/** set speed consign */
void trajectory_set_speed(struct trajectory *traj, int16_t d_speed, int16_t a_speed);
-/**
- * set windows for trajectory.
+/**
+ * set windows for trajectory.
* params: distance window, angle window: we the robot enters this
- * position window, we deletes the event and the last consign is
+ * position window, we deletes the event and the last consign is
* used.
- * a_start_deg used in xy consigns (start to move in distance when
+ * a_start_deg used in xy consigns (start to move in distance when
* a_target < a_start)
*/
-void trajectory_set_windows(struct trajectory *traj, double d_win,
+void trajectory_set_windows(struct trajectory *traj, double d_win,
double a_win_deg, double a_start_deg);
+/**
+ * Set coef for circle trajectory. The objective of this value is to
+ * fix the radius of the circle which is not correctly what we asked.
+ */
+void trajectory_set_circle_coef(struct trajectory *traj, double coef);
+
/** return true if the position consign is equal to the filtered
* position consign (after quadramp filter), for angle and
* distance. */
/** go to angle 'a' in degrees */
void trajectory_a_abs(struct trajectory *traj, double a_deg);
-/** turn the robot until the point x,y is in front of us */
+/** turn the robot until the point x,y is in front of us */
void trajectory_turnto_xy(struct trajectory*traj, double x_abs_mm, double y_abs_mm);
-/** turn the robot until the point x,y is behind us */
+/** turn the robot until the point x,y is behind us */
void trajectory_turnto_xy_behind(struct trajectory*traj, double x_abs_mm, double y_abs_mm);
/** update angle consign without changing distance consign */
/** go forward to a x,y relative point, using a trajectory event */
void trajectory_goto_xy_rel(struct trajectory *traj, double x_rel_mm, double y_rel_mm);
+/** make the robot orbiting around (x,y) on a circle whose radius is
+ * radius_mm, and exit when relative destination angle is reached. The
+ * flags set if we go forward or backwards, and CW/CCW. */
+void trajectory_circle_rel(struct trajectory *traj, double x, double y,
+ double radius_mm, double rel_a_deg, uint8_t flags);
+
+/*
+ * Compute the fastest distance and angle speeds matching the radius
+ * from current traj_speed
+ */
+void circle_get_da_speed_from_radius(struct trajectory *traj,
+ double radius_mm,
+ double *speed_d,
+ double *speed_a);
+
+/* do a line */
+void trajectory_line_abs(struct trajectory *traj, double x1, double y1,
+ double x2, double y2, double advance);
+
#endif //TRAJECTORY_MANAGER
git.droids-corp.org / aversive.git / blobdiff