#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)
* 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)
+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;
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;
}
{
}
+
+/*********** *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);
+}
+