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 e2f8034..f18e272 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager.h
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager.h
@@ -44,8 +44,18 @@ enum trajectory_state {
        RUNNING_XY_B_START,
        RUNNING_XY_B_ANGLE,
        RUNNING_XY_B_ANGLE_OK,
+       RUNNING_CIRCLE,
 };
 
+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 trajectory {
        enum trajectory_state state; /*<< describe the type of target, and if we reached the target */
@@ -53,13 +63,15 @@ struct trajectory {
        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 */
        } 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 */
 
@@ -67,7 +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) */
-  
+
        int8_t scheduler_task;    /**<< id of current task (-1 if no running task) */
 };
 
@@ -97,6 +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);
 
+/**
+ * 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. */
@@ -159,4 +177,10 @@ void trajectory_goto_d_a_rel(struct trajectory *traj, double d, double a);
 /** 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);
+
 #endif //TRAJECTORY_MANAGER