#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>
}
}
- /* 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)
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)
{
- double coef = 1.0;
+ 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;
double angle_to_center_rad;
- static int32_t d_prev, a_prev;
- int32_t d_speed, a_speed;
- int32_t d_pos, a_pos;
-
- d_pos = rs_get_distance(traj->robot);
- a_pos = rs_get_angle(traj->robot);
- d_speed = d_pos - d_prev;
- a_speed = a_pos - a_prev;
- d_prev = d_pos;
- a_prev = a_pos;
+ 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;
- int32_t delta_d, delta_a;
- double coef_deriv = traj->circle_coef;
- double new_radius;
- struct quadramp_filter * q_d, * q_a;
-
- q_d = traj->csm_distance->consign_filter_params;
- q_a = traj->csm_angle->consign_filter_params;
- delta_a = a_speed;//q_a->previous_var;
- delta_d = d_speed;//q_d->previous_var;
-
/* step 1 : process new commands to quadramps */
/* process the command vector from current position to the
vect2_cart2pol(&v2cart_pos, &v2pol_target);
v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
- /* pas trop mal, mais oscille */
- //new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv;
- if (v2pol_target.r > traj->target.circle.radius/2)
- new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv * traj->target.circle.radius / v2pol_target.r;
- else
- new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv ;
+ /* radius consign */
+ radius = traj->target.circle.radius;
- /* oscille a mort */
- //new_radius = traj->target.circle.radius - traj->target.circle.radius * delta_a * delta_a * coef_deriv;
+ coef_p = v2pol_target.r / radius;
+ coef_p = 1. * coef_p;
- /* ? */
- //new_radius = traj->target.circle.radius - traj->target.circle.radius * delta_a * coef_deriv;
+ 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);
- /* wanted direction of center of circle:
- * if we are far, go in the center direction,
- * if we are at radius, we want to see the center at 90°
- * if we are nearer than radius, angle to center is > 90° */
- if (v2pol_target.r > new_radius) {
- angle_to_center_rad = new_radius / v2pol_target.r;
- angle_to_center_rad *= (M_PI / 2);
- }
- else {
- angle_to_center_rad = 1. - (v2pol_target.r /
- (2 * new_radius));
- angle_to_center_rad *= M_PI;
- }
+ 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 */
- v2pol_target.theta -= angle_to_center_rad;
+ 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)
+ 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);
}
- /* XXX check flags */
- d_consign = 40000 + rs_get_distance(traj->robot);
+ /* 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) / 2.0);
+ (traj->position->phys.track_mm) / 2.2);
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),
- new_radius);
+ 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;
}
schedule_event(traj);
}
-/*
- * 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)
-{
- /* 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;
- }
-}
-
/* return the distance in millimeters that corresponds to an angle in
* degree and a radius in mm */
/* static */double circle_get_dist_from_degrees(double radius_mm, double a_deg)
{
}
+
+/*********** *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