git.droids-corp.org
/
aversive.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
command circle set coef
[aversive.git]
/
modules
/
devices
/
robot
/
trajectory_manager
/
trajectory_manager.h
diff --git
a/modules/devices/robot/trajectory_manager/trajectory_manager.h
b/modules/devices/robot/trajectory_manager/trajectory_manager.h
index
3ebd586
..
f18e272
100644
(file)
--- a/
modules/devices/robot/trajectory_manager/trajectory_manager.h
+++ b/
modules/devices/robot/trajectory_manager/trajectory_manager.h
@@
-70,7
+70,8
@@
struct trajectory {
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 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 */
uint16_t d_speed; /**<< distance speed consign */
uint16_t a_speed; /**<< angle speed consign */
@@
-78,7
+79,7
@@
struct trajectory {
struct robot_system *robot; /**<< associated robot_system */
struct cs *csm_angle; /**<< associated control system (angle) */
struct cs *csm_distance; /**<< associated control system (distance) */
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) */
};
int8_t scheduler_task; /**<< id of current task (-1 if no running task) */
};
@@
-108,6
+109,12
@@
void trajectory_set_speed(struct trajectory *traj, int16_t d_speed, int16_t a_sp
void trajectory_set_windows(struct trajectory *traj, double d_win,
double a_win_deg, double a_start_deg);
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. */
/** return true if the position consign is equal to the filtered
* position consign (after quadramp filter), for angle and
* distance. */