#include "strat.h"
#include "strat_utils.h"
#include "strat_base.h"
+#include "strat_corn.h"
#include "i2c_protocol.h"
#include "actuator.h"
float d_inter_mm;
};
-/**
- * do a superb curve joining line1 to line2 which is composed of:
- * - a clothoid starting from line1
- * - a circle
- * - another clothoid up to line2
- *
- * the function assumes that the initial linear speed is Vd and
- * angular speed is 0.
- *
- * - alpha: total angle
- * - beta: circular part of angle (lower than alpha)
- * - R: the radius of the circle (must be != 0)
- * - Vd: linear speed to use (in imp per cs period)
- * - Amax: maximum angular acceleration
- * - d_inter: distance in mm until the intersection of the
- * 2 lines
- *
- * return 0 on success: in this case these parameters are filled:
- * - Aa_out: the angular acceleration to configure in quadramp
- * - remain_d_mm_out: remaining distance before start to turn
- */
-uint8_t clitoid(double alpha_deg, double beta_deg, double R_mm,
- double Vd, double Amax, double d_inter_mm)
-{
- double Vd_mm_s;
- double Va, Va_rd_s;
- double t, d_mm, alpha_rad, beta_rad;
- double remain_d_mm;
- double Aa, Aa_rd_s2;
- line_t line1, line2;
- double x, y, a_rad;
- point_t robot, intersect, pt2, center, proj;
- vect_t v;
-
- /* param check */
- if (fabs(alpha_deg) <= fabs(beta_deg)) {
- DEBUG(E_USER_STRAT, "alpha is smaller than beta");
- return END_ERROR;
- }
-
- /* get angular speed Va */
- Vd_mm_s = Vd * (CS_HZ/DIST_IMP_MM);
- DEBUG(E_USER_STRAT, "Vd_mm_s=%2.2f", Vd_mm_s);
- Va_rd_s = Vd_mm_s / R_mm;
- Va = Va_rd_s * (DIST_IMP_MM * EXT_TRACK_MM / (2 * CS_HZ));
- DEBUG(E_USER_STRAT, "Va_rd_s=%2.2f Va=%2.2f", Va_rd_s, Va);
-
- /* process 't', the time in seconds that we will take to do
- * the first clothoid */
- alpha_rad = RAD(alpha_deg);
- beta_rad = RAD(beta_deg);
- t = fabs(((alpha_rad - beta_rad) * R_mm) / Vd_mm_s);
- DEBUG(E_USER_STRAT, "R_mm=%2.2f alpha_rad=%2.2f beta_rad=%2.2f t=%2.2f",
- R_mm, alpha_rad, beta_rad, t);
-
- /* process the angular acceleration */
- Aa_rd_s2 = Va_rd_s / t;
- Aa = Aa_rd_s2 * (DIST_IMP_MM * EXT_TRACK_MM /
- (2 * CS_HZ * CS_HZ));
- DEBUG(E_USER_STRAT, "Aa_rd_s2=%2.2f Aa=%2.2f", Aa_rd_s2, Aa);
-
- /* exit if the robot cannot physically do it */
- if (Aa > Amax) {
- DEBUG(E_USER_STRAT, "greater than max acceleration");
- return END_ERROR;
- }
-
- /* the robot position */
- x = position_get_x_double(&mainboard.pos);
- y = position_get_y_double(&mainboard.pos);
- a_rad = position_get_a_rad_double(&mainboard.pos);
-
- /* define line1 and line2 */
- robot.x = x;
- robot.y = y;
- intersect.x = x + cos(a_rad) * d_inter_mm;
- intersect.y = y + sin(a_rad) * d_inter_mm;
- pts2line(&robot, &intersect, &line1);
- pt2.x = intersect.x + cos(a_rad + alpha_rad);
- pt2.y = intersect.y + sin(a_rad + alpha_rad);
- pts2line(&intersect, &pt2, &line2);
- DEBUG(E_USER_STRAT, "intersect=(%2.2f, %2.2f)",
- intersect.x, intersect.y);
-
- /* the center of the circle is at (d_mm, d_mm) when we have to
- * start the clothoid */
- d_mm = R_mm * sqrt(fabs(alpha_rad - beta_rad)) *
- sqrt(M_PI) / 2.;
- DEBUG(E_USER_STRAT, "d_mm=%2.2f", d_mm);
-
- /* translate line1 */
- v.x = intersect.x - robot.x;
- v.y = intersect.y - robot.y;
- if (a_rad > 0)
- vect_rot_trigo(&v);
- else
- vect_rot_retro(&v);
- vect_resize(&v, d_mm);
- line_translate(&line1, &v);
-
- /* translate line2 */
- v.x = intersect.x - pt2.x;
- v.y = intersect.y - pt2.y;
- if (a_rad > 0)
- vect_rot_trigo(&v);
- else
- vect_rot_retro(&v);
- vect_resize(&v, d_mm);
- line_translate(&line2, &v);
-
- /* find the center of the circle, at the intersection of the
- * new translated lines */
- if (intersect_line(&line1, &line2, ¢er) != 1) {
- DEBUG(E_USER_STRAT, "cannot find circle center");
- return END_ERROR;
- }
- DEBUG(E_USER_STRAT, "center=(%2.2f,%2.2f)", center.x, center.y);
-
- /* project center of circle on line1 */
- proj_pt_line(¢er, &line1, &proj);
- DEBUG(E_USER_STRAT, "proj=(%2.2f,%2.2f)", proj.x, proj.y);
-
- /* process remaining distance before start turning */
- remain_d_mm = d_inter_mm - (pt_norm(&proj, &intersect) + d_mm);
- DEBUG(E_USER_STRAT, "remain_d=%2.2f", remain_d_mm);
- if (remain_d_mm < 0) {
- DEBUG(E_USER_STRAT, "too late, cannot turn");
- return END_ERROR;
- }
-
- return END_TRAJ;
-}
-
/* function called when cmd_test is parsed successfully */
static void cmd_clitoid_parsed(void *parsed_result, void *data)
{
int32_t dist;
};
+#define LINE_UP 0
+#define LINE_DOWN 1
+#define LINE_R_UP 2
+#define LINE_L_DOWN 3
+#define LINE_L_UP 4
+#define LINE_R_DOWN 5
+
+struct line_2pts {
+ point_t p1;
+ point_t p2;
+};
+
+static void num2line(struct line_2pts *l, uint8_t dir, uint8_t num)
+{
+ float n = num;
+
+ switch (dir) {
+
+ case LINE_UP:
+ l->p1.x = n * 450 + 375;
+ l->p1.y = COLOR_Y(0);
+ l->p2.x = n * 450 + 375;
+ l->p2.y = COLOR_Y(2100);
+ break;
+ case LINE_DOWN:
+ l->p1.x = n * 450 + 375;
+ l->p1.y = COLOR_Y(2100);
+ l->p2.x = n * 450 + 375;
+ l->p2.y = COLOR_Y(0);
+ break;
+ case LINE_R_UP:
+ l->p1.x = 150;
+ l->p1.y = COLOR_Y(-n * 500 + 1472);
+ l->p2.x = 2850;
+ l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
+ break;
+ case LINE_L_DOWN:
+ l->p1.x = 2850;
+ l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
+ l->p2.x = 150;
+ l->p2.y = COLOR_Y(-n * 500 + 1472);
+ break;
+ case LINE_L_UP:
+ l->p1.x = 2850;
+ l->p1.y = COLOR_Y(-n * 500 + 1472);
+ l->p2.x = 150;
+ l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
+ break;
+ case LINE_R_DOWN:
+ l->p1.x = 150;
+ l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
+ l->p2.x = 2850;
+ l->p2.y = COLOR_Y(-n * 500 + 1472);
+ break;
+ default:
+ break;
+ }
+}
+
+#if 0
+static void reverse_line(struct line_2pts *l)
+{
+ point_t tmp;
+
+ tmp.x = l->p1.x;
+ tmp.y = l->p1.y;
+ l->p1.x = l->p2.x;
+ l->p1.y = l->p2.y;
+ l->p2.x = tmp.x;
+ l->p2.y = tmp.y;
+}
+#endif
+
+/* return 1 if there is a corn near, and fill the index ptr */
+static uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
+{
+#define SENSOR_CORN_DIST 225
+#define SENSOR_CORN_ANGLE 90
+ double x = position_get_x_double(&mainboard.pos);
+ double y = position_get_y_double(&mainboard.pos);
+ double a_rad = position_get_a_rad_double(&mainboard.pos);
+ double x_corn, y_corn;
+ int16_t x_corn_int, y_corn_int;
+
+ if (side == I2C_LEFT_SIDE) {
+ x_corn = x + cos(a_rad + RAD(SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
+ y_corn = y + sin(a_rad + RAD(SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
+ }
+ else {
+ x_corn = x + cos(a_rad + RAD(-SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
+ y_corn = y + sin(a_rad + RAD(-SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
+ }
+ x_corn_int = x_corn;
+ y_corn_int = y_corn;
+
+ *corn_idx = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
+ if (*corn_idx < 0)
+ return 0;
+ return 1;
+}
+
+/*
+ * - send the correct commands to the spickles
+ * - return 1 if we need to stop (cobboard is stucked)
+*/
+static uint8_t handle_spickles(void)
+{
+ int8_t corn_idx;
+
+ if (!corn_is_near(&corn_idx, I2C_LEFT_SIDE))
+ i2c_cobboard_mode_deploy(I2C_LEFT_SIDE);
+ else {
+ if (corn_table[corn_idx] == TYPE_WHITE_CORN)
+ i2c_cobboard_mode_harvest(I2C_LEFT_SIDE);
+ else
+ i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
+ }
+/* printf("%d %d\n", corn_idx, corn_table[corn_idx]); */
+/* time_wait_ms(100); */
+
+ if (!corn_is_near(&corn_idx, I2C_RIGHT_SIDE))
+ i2c_cobboard_mode_deploy(I2C_RIGHT_SIDE);
+ else {
+ if (corn_table[corn_idx] == TYPE_WHITE_CORN)
+ i2c_cobboard_mode_harvest(I2C_RIGHT_SIDE);
+ else
+ i2c_cobboard_mode_pack(I2C_RIGHT_SIDE);
+ }
+
+ return 0;
+}
+
+static void line2line(uint8_t dir1, uint8_t num1,
+ uint8_t dir2, uint8_t num2)
+{
+ double line1_a_rad, line1_a_deg, line2_a_rad;
+ double diff_a_deg, diff_a_deg_abs, beta_deg;
+ double radius;
+ struct line_2pts l1, l2;
+ line_t ll1, ll2;
+ point_t p;
+ uint8_t err;
+
+ /* convert to 2 points */
+ num2line(&l1, dir1, num1);
+ num2line(&l2, dir2, num2);
+
+ printf_P(PSTR("A2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
+ l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
+ printf_P(PSTR("B2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
+ l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
+
+ /* convert to line eq and find intersection */
+ pts2line(&l1.p1, &l1.p2, &ll1);
+ pts2line(&l2.p1, &l2.p2, &ll2);
+ intersect_line(&ll1, &ll2, &p);
+
+ line1_a_rad = atan2(l1.p2.y - l1.p1.y,
+ l1.p2.x - l1.p1.x);
+ line1_a_deg = DEG(line1_a_rad);
+ line2_a_rad = atan2(l2.p2.y - l2.p1.y,
+ l2.p2.x - l2.p1.x);
+ diff_a_deg = DEG(line2_a_rad - line1_a_rad);
+ diff_a_deg_abs = fabs(diff_a_deg);
+
+ if (diff_a_deg_abs < 70.) {
+ radius = 200;
+ if (diff_a_deg > 0)
+ beta_deg = 40;
+ else
+ beta_deg = -40;
+ }
+ else if (diff_a_deg_abs < 100.) {
+ radius = 100;
+ if (diff_a_deg > 0)
+ beta_deg = 40;
+ else
+ beta_deg = -40;
+ }
+ else {
+ radius = 120;
+ if (diff_a_deg > 0)
+ beta_deg = 60;
+ else
+ beta_deg = -60;
+ }
+
+ trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
+ line1_a_deg, 150., diff_a_deg, beta_deg,
+ radius, xy_norm(l1.p1.x, l1.p1.y,
+ p.x, p.y));
+ err = 0;
+ while (err == 0) {
+ err = WAIT_COND_OR_TRAJ_END(handle_spickles(), 0xFF);
+ if (err == 0) {
+ /* cobboard is stucked */
+ trajectory_hardstop(&mainboard.traj);
+ return; /* XXX do something */
+ }
+ err = test_traj_end(0xFF);
+ }
+ return;
+}
+
/* function called when cmd_test is parsed successfully */
static void cmd_test_parsed(void *parsed_result, void *data)
{
+#ifdef HOST_VERSION
+ strat_reset_pos(298.48, 309.21, 70.02);
+ mainboard.angle.on = 1;
+ mainboard.distance.on = 1;
+ strat_set_speed(250, SPEED_ANGLE_FAST);
+#endif
+ init_corn_table(0, 0);
+ time_wait_ms(100);
+
+ line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+ line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+ line2line(LINE_R_UP, 2, LINE_UP, 5);
+
trajectory_hardstop(&mainboard.traj);
}
git.droids-corp.org / aversive.git / blobdiff