#include <aversive/error.h>
#include <scheduler.h>
#include <vect2.h>
+#include <vect_base.h>
+#include <lines.h>
#include <position_manager.h>
#include <robot_system.h>
#define RESET_D 4
#define RESET_A 8
+static uint8_t evt_debug_cpt = 0;
+#define EVT_DEBUG(args...) do { \
+ if (((evt_debug_cpt ++) & 0x07) == 0) { \
+ DEBUG(args); \
+ } \
+ } while (0)
+
+
/**
* update angle and/or distance
* this function is not called directly by the user
case RUNNING_XY_B_ANGLE_OK:
/* process the command vector from current position to
- * absolute target, or to the center of the circle. */
+ * absolute target. */
v2cart_pos.x = traj->target.cart.x - x;
v2cart_pos.y = traj->target.cart.y - y;
vect2_cart2pol(&v2cart_pos, &v2pol_target);
}
}
- /* XXX circle */
-
/* If the robot is correctly oriented to start moving in distance */
/* here limit dist speed depending on v2pol_target.theta */
if (ABS(v2pol_target.theta) > traj->a_start_rad) // || ABS(v2pol_target.r) < traj->d_win)
q_a = traj->csm_angle->consign_filter_params;
/* if d_speed is not 0, we are in start_angle_win */
if (get_quadramp_distance_speed(traj)) {
- if(is_robot_in_xy_window(traj, traj->d_win)) {
+ if (is_robot_in_xy_window(traj, traj->d_win)) {
delete_event(traj);
}
/* ANGLE -> ANGLE_OK */
case RUNNING_XY_F_ANGLE_OK:
case RUNNING_XY_B_ANGLE_OK:
/* If we reached the destination */
- if(is_robot_in_xy_window(traj, traj->d_win)) {
+ if (is_robot_in_xy_window(traj, traj->d_win)) {
delete_event(traj);
}
break;
/* step 3 : send the processed commands to cs */
- DEBUG(E_TRAJECTORY, "EVENT XY cur=(%f,%f,%f) cart=(%f,%f) pol=(%f,%f)",
- x, y, a, v2cart_pos.x, v2cart_pos.y, v2pol_target.r, v2pol_target.theta);
-
- DEBUG(E_TRAJECTORY,"d_cur=%" PRIi32 ", d_consign=%" PRIi32 ", d_speed=%" PRIi32 ", "
+ EVT_DEBUG(E_TRAJECTORY,"EVENT XY d_cur=%" PRIi32 ", d_consign=%" PRIi32 ", d_speed=%" PRIi32 ", "
"a_cur=%" PRIi32 ", a_consign=%" PRIi32 ", a_speed=%" PRIi32,
rs_get_distance(traj->robot), d_consign, get_quadramp_distance_speed(traj),
rs_get_angle(traj->robot), a_consign, get_quadramp_angle_speed(traj));
cs_set_consign(traj->csm_distance, d_consign);
}
+/*
+ * 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)
+{
+ /* speed_d = coef * speed_a */
+ double coef;
+ double speed_d2, speed_a2;
+
+ coef = 2. * radius_mm / traj->position->phys.track_mm;
+
+ speed_d2 = traj->a_speed * coef;
+ if (speed_d2 < traj->d_speed) {
+ *speed_d = speed_d2;
+ *speed_a = traj->a_speed;
+ }
+ else {
+ speed_a2 = traj->d_speed / coef;
+ *speed_d = traj->d_speed;
+ *speed_a = speed_a2;
+ }
+}
+
/* trajectory event for circles */
+/* XXX static */
void trajectory_manager_circle_event(struct trajectory *traj)
{
-#if 0
+ double radius;
double x = position_get_x_double(traj->position);
double y = position_get_y_double(traj->position);
double a = position_get_a_rad_double(traj->position);
- int32_t d_consign=0, a_consign=0;
-#endif
+ int32_t d_consign = 0, a_consign = 0;
+ double angle_to_center_rad;
+ double coef_p, coef_d;
+ double d_speed, a_speed;
+
+ /* These vectors contain target position of the robot in
+ * its own coordinates */
+ vect2_cart v2cart_pos;
+ vect2_pol v2pol_target;
+
+ /* step 1 : process new commands to quadramps */
+
+ /* process the command vector from current position to the
+ * center of the circle. */
+ v2cart_pos.x = traj->target.circle.center.x - x;
+ v2cart_pos.y = traj->target.circle.center.y - y;
+ vect2_cart2pol(&v2cart_pos, &v2pol_target);
+ v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
+
+ /* radius consign */
+ radius = traj->target.circle.radius;
+
+ coef_p = v2pol_target.r / radius;
+ coef_p = 1. * coef_p;
+
+ angle_to_center_rad = v2pol_target.theta - (M_PI / 2.);
+ angle_to_center_rad = simple_modulo_2pi(angle_to_center_rad);
+ if (angle_to_center_rad > 0.5)
+ angle_to_center_rad = 0.5;
+ if (angle_to_center_rad < -0.5)
+ angle_to_center_rad = -0.5;
+ coef_d = exp(5*angle_to_center_rad);
+ coef_d = coef_d;
+
+ circle_get_da_speed_from_radius(traj, radius / (coef_p * coef_d),
+ &d_speed, &a_speed);
+ set_quadramp_speed(traj, d_speed, a_speed);
+
+ EVT_DEBUG(E_TRAJECTORY, "angle=%2.2f radius=%2.2f r=%2.2f coef_p=%2.2f coef_d=%2.2f "
+ "d_speed=%2.2f a_speed=%2.2f",
+ angle_to_center_rad, radius, v2pol_target.r,
+ coef_p, coef_d, d_speed, a_speed);
+
+ /* XXX check flags */
+ d_consign = 400000 + rs_get_distance(traj->robot);
+ a_consign = 400000 + rs_get_angle(traj->robot);
+
+ /* angle consign */
+/* a_consign = (int32_t)(v2pol_target.theta * */
+/* (traj->position->phys.distance_imp_per_mm) * */
+/* (traj->position->phys.track_mm) / 2.0); */
+/* a_consign += rs_get_angle(traj->robot); */
+
+ /* step 2 : update state, or delete event if we reached the
+ * destination */
+
+/* /\* output angle -> delete event *\/ */
+/* if (a_consign >= traj->target.circle.dest_angle) { */
+/* a_consign = traj->target.circle.dest_angle; */
+/* delete_event(traj); */
+/* } */
+
+ /* step 3 : send the processed commands to cs */
+
+/* EVT_DEBUG(E_TRAJECTORY,"EVENT CIRCLE d_cur=%" PRIi32 ", d_consign=%" PRIi32 */
+/* ", d_speed=%" PRIi32 ", a_cur=%" PRIi32 ", a_consign=%" PRIi32 */
+/* ", a_speed=%" PRIi32 ", radius = %f", */
+/* rs_get_distance(traj->robot), d_consign, get_quadramp_distance_speed(traj), */
+/* rs_get_angle(traj->robot), a_consign, get_quadramp_angle_speed(traj), */
+/* radius); */
+
+ cs_set_consign(traj->csm_angle, a_consign);
+ cs_set_consign(traj->csm_distance, d_consign);
+}
+
+/* trajectory event for lines */
+static void trajectory_manager_line_event(struct trajectory *traj)
+{
+ double x = position_get_x_double(traj->position);
+ double y = position_get_y_double(traj->position);
+ double a = position_get_a_rad_double(traj->position);
+ double advance, dist_to_line;
+ point_t robot, proj, target_pt;
+ int32_t d_consign = 0, a_consign = 0;
+ vect2_cart v2cart_pos;
+ vect2_pol v2pol_target;
+
+ robot.x = x;
+ robot.y = y;
+
+ /* target point on the line is further on the line */
+ proj_pt_line(&robot, &traj->target.line.line, &proj);
+ dist_to_line = pt_norm(&robot, &proj);
+ if (dist_to_line > traj->target.line.advance)
+ advance = 0;
+ else
+ advance = traj->target.line.advance - dist_to_line;
+ target_pt.x = proj.x + advance * cos(traj->target.line.angle);
+ target_pt.y = proj.y + advance * sin(traj->target.line.angle);
+
+ /* target vector */
+ v2cart_pos.x = target_pt.x - x;
+ v2cart_pos.y = target_pt.y - y;
+ vect2_cart2pol(&v2cart_pos, &v2pol_target);
+ v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
+
+ /* If the robot is correctly oriented to start moving in distance */
+ /* here limit dist speed depending on v2pol_target.theta */
+ if (ABS(v2pol_target.theta) > traj->a_start_rad) // || ABS(v2pol_target.r) < traj->d_win)
+ set_quadramp_speed(traj, 0, traj->a_speed);
+ else {
+ double coef;
+ coef = (traj->a_start_rad - ABS(v2pol_target.theta)) / traj->a_start_rad;
+ set_quadramp_speed(traj, traj->d_speed * coef, traj->a_speed);
+ }
+
+ /* position consign is infinite */
+ d_consign = (int32_t)(v2pol_target.r * (traj->position->phys.distance_imp_per_mm));
+ d_consign += rs_get_distance(traj->robot);
+
+ /* angle consign */
+ a_consign = (int32_t)(v2pol_target.theta *
+ (traj->position->phys.distance_imp_per_mm) *
+ (traj->position->phys.track_mm) / 2.2);
+ a_consign += rs_get_angle(traj->robot);
+
+ EVT_DEBUG(E_TRAJECTORY, "target.x=%2.2f target.y=%2.2f "
+ "a_consign=%"PRIi32" d_consign=%"PRIi32,
+ target_pt.x, target_pt.y, a_consign, d_consign);
+
+ cs_set_consign(traj->csm_angle, a_consign);
+ cs_set_consign(traj->csm_distance, d_consign);
}
+
/* trajectory event */
void trajectory_manager_event(void * param)
{
trajectory_manager_circle_event(traj);
break;
+ case RUNNING_LINE:
+ trajectory_manager_line_event(traj);
+ break;
+
default:
break;
}
/*********** *CIRCLE */
-/*
- * Compute the fastest distance and angle speeds matching the radius
- * from current traj_speed
- */
-/* static */void circle_get_da_speed_from_radius(struct trajectory *traj,
- double radius_mm,
- double *speed_d,
- double *speed_a)
+/* 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)
{
- /* speed_d = coef * speed_a */
- double coef;
- double speed_d2, speed_a2;
+ double dst_angle;
- coef = 2. * radius_mm / traj->position->phys.track_mm;
+ delete_event(traj);
- speed_d2 = traj->a_speed * coef;
- if (speed_d2 < traj->d_speed) {
- *speed_d = speed_d2;
- *speed_a = traj->a_speed;
- }
- else {
- speed_a2 = traj->d_speed / coef;
- *speed_d = traj->d_speed;
- *speed_a = speed_a2;
- }
+ traj->target.circle.center.x = x;
+ traj->target.circle.center.y = y;
+ traj->target.circle.radius = radius_mm;
+ traj->target.circle.flags = flags;
+
+ /* convert in steps */
+ dst_angle = RAD(rel_a_deg) *
+ (traj->position->phys.distance_imp_per_mm) *
+ (traj->position->phys.track_mm) / 2.0;
+
+ traj->target.circle.dest_angle = rs_get_angle(traj->robot);
+ traj->target.circle.dest_angle += dst_angle;
+
+ DEBUG(E_TRAJECTORY, "Circle rel (x,y)=%2.2f,%2.2f r=%2.2f flags=%x dst_angle=%"PRIi32"",
+ x, y, radius_mm, flags, traj->target.circle.dest_angle);
+
+ traj->state = RUNNING_CIRCLE;
+ trajectory_manager_event(traj);
+ schedule_event(traj);
}
/* return the distance in millimeters that corresponds to an angle in
{
}
+
+/*********** *LINE */
+
+/* Follow a line */
+void trajectory_line_abs(struct trajectory *traj,
+ double x1, double y1,
+ double x2, double y2,
+ double advance)
+{
+ point_t p1, p2;
+
+ delete_event(traj);
+
+ /* find the line EQ */
+ p1.x = x1;
+ p1.y = y1;
+ p2.x = x2;
+ p2.y = y2;
+ pts2line(&p1, &p2, &traj->target.line.line);
+
+ /* find the line angle */
+ traj->target.line.angle = atan2(y2-y1, x2-x1);
+ traj->target.line.advance = advance;
+
+ DEBUG(E_TRAJECTORY, "Line rel (a,b,c)=%2.2f,%2.2f,%2.2f",
+ traj->target.line.line.a,
+ traj->target.line.line.b,
+ traj->target.line.line.c,
+ traj->target.line.angle);
+
+ traj->state = RUNNING_LINE;
+ trajectory_manager_event(traj);
+ schedule_event(traj);
+}
+
git.droids-corp.org / aversive.git / blobdiff