add climb fct

[aversive.git] / modules / devices / robot / trajectory_manager / trajectory_manager_core.c

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index 18f5c90..8ea3bd8 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -186,6 +186,7 @@ void trajectory_d_a_rel(struct trajectory *traj, double d_mm, double a_deg)
 /** set relative angle and distance consign to 0 */
 void trajectory_stop(struct trajectory *traj)
 {
+       DEBUG(E_TRAJECTORY, "stop");
        __trajectory_goto_d_a_rel(traj, 0, 0, READY,
                                  UPDATE_A | UPDATE_D | RESET_D | RESET_A);
 }
@@ -196,6 +197,8 @@ void trajectory_hardstop(struct trajectory *traj)
 {
        struct quadramp_filter *q_d, *q_a;
 
+       DEBUG(E_TRAJECTORY, "hardstop");
+
        q_d = traj->csm_distance->consign_filter_params;
        q_a = traj->csm_angle->consign_filter_params;
        __trajectory_goto_d_a_rel(traj, 0, 0, READY,
@@ -1004,15 +1007,15 @@ static void start_clitoid(struct trajectory *traj)
        double R_mm = traj->target.line.R;
        double d;
 
-       delete_event(traj);
        DEBUG(E_TRAJECTORY, "%s() Va=%2.2f Aa=%2.2f",
              __FUNCTION__, Va, Aa);
+       delete_event(traj);
        d = fabs(R_mm * a_rad);
        d *= 3.; /* margin to avoid deceleration */
        trajectory_d_a_rel(traj, d, DEG(a_rad));
-       traj->state = RUNNING_CLITOID_CURVE;
        set_quadramp_acc(traj, traj->d_acc, Aa);
        set_quadramp_speed(traj, traj->d_speed, Va);
+       traj->state = RUNNING_CLITOID_CURVE;
 }
 
 
@@ -1051,8 +1054,10 @@ int8_t trajectory_clitoid(struct trajectory *traj,
        Vd = traj->d_speed;
        if (calc_clitoid(traj, x, y, a_rad, alpha_deg, beta_deg, R_mm,
                         Vd, traj->a_acc, d_inter_mm,
-                        &Aa, &Va, &remain) < 0)
+                        &Aa, &Va, &remain) < 0) {
+               DEBUG(E_TRAJECTORY, "%s() calc_clitoid returned an error");
                return -1;
+       }
 
        delete_event(traj);
        turnx = x + cos(a_rad) * remain;