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fix debug trajectory
[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
..
e4f2df6
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)
{
/** 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);
}
__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;
{
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,
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;
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);
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));
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);
set_quadramp_acc(traj, traj->d_acc, Aa);
set_quadramp_speed(traj, traj->d_speed, Va);
+ traj->state = RUNNING_CLITOID_CURVE;
}
}
@@
-1051,8
+1054,11
@@
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,
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",
+ __FUNCTION__);
return -1;
return -1;
+ }
delete_event(traj);
turnx = x + cos(a_rad) * remain;
delete_event(traj);
turnx = x + cos(a_rad) * remain;