/*
* Copyright Droids Corporation (2009)
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
*
* Revision : $Id: commands_mainboard.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $
*
- * Olivier MATZ <zer0@droids-corp.org>
+ * Olivier MATZ <zer0@droids-corp.org>
*/
#include <stdio.h>
#include <string.h>
+#include <math.h>
#include <hostsim.h>
#include <aversive/pgmspace.h>
#include <quadramp.h>
#include <control_system_manager.h>
#include <trajectory_manager.h>
+#include <trajectory_manager_core.h>
+#include <trajectory_manager_utils.h>
#include <vect_base.h>
#include <lines.h>
#include <polygon.h>
u08 bit=0;
struct cmd_event_result * res = parsed_result;
-
+
if (!strcmp_P(res->arg1, PSTR("all"))) {
- bit = DO_ENCODERS | DO_CS | DO_RS | DO_POS |
- DO_BD | DO_TIMER | DO_POWER;
+ bit = 0xFF;
if (!strcmp_P(res->arg2, PSTR("on")))
mainboard.flags |= bit;
else if (!strcmp_P(res->arg2, PSTR("off")))
mainboard.flags &= bit;
else { /* show */
- printf_P(PSTR("encoders is %s\r\n"),
+ printf_P(PSTR("encoders is %s\r\n"),
(DO_ENCODERS & mainboard.flags) ? "on":"off");
- printf_P(PSTR("cs is %s\r\n"),
+ printf_P(PSTR("cs is %s\r\n"),
(DO_CS & mainboard.flags) ? "on":"off");
- printf_P(PSTR("rs is %s\r\n"),
+ printf_P(PSTR("rs is %s\r\n"),
(DO_RS & mainboard.flags) ? "on":"off");
- printf_P(PSTR("pos is %s\r\n"),
+ printf_P(PSTR("pos is %s\r\n"),
(DO_POS & mainboard.flags) ? "on":"off");
- printf_P(PSTR("bd is %s\r\n"),
+ printf_P(PSTR("bd is %s\r\n"),
(DO_BD & mainboard.flags) ? "on":"off");
- printf_P(PSTR("timer is %s\r\n"),
+ printf_P(PSTR("timer is %s\r\n"),
(DO_TIMER & mainboard.flags) ? "on":"off");
- printf_P(PSTR("power is %s\r\n"),
+ printf_P(PSTR("power is %s\r\n"),
(DO_POWER & mainboard.flags) ? "on":"off");
+ printf_P(PSTR("errblock is %s\r\n"),
+ (DO_ERRBLOCKING & mainboard.flags) ? "on":"off");
}
return;
}
}
else if (!strcmp_P(res->arg1, PSTR("power")))
bit = DO_POWER;
+ else if (!strcmp_P(res->arg1, PSTR("errblock")))
+ bit = DO_ERRBLOCKING;
if (!strcmp_P(res->arg2, PSTR("on")))
mainboard.flags |= bit;
}
mainboard.flags &= (~bit);
}
- printf_P(PSTR("%s is %s\r\n"), res->arg1,
+ printf_P(PSTR("%s is %s\r\n"), res->arg1,
(bit & mainboard.flags) ? "on":"off");
}
prog_char str_event_arg0[] = "event";
parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0);
-prog_char str_event_arg1[] = "all#encoders#cs#rs#pos#bd#timer#power";
+prog_char str_event_arg1[] = "all#encoders#cs#rs#pos#bd#timer#power#errblock";
parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1);
prog_char str_event_arg2[] = "on#off#show";
parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2);
.data = NULL, /* 2nd arg of func */
.help_str = help_event,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_event_arg0,
- (prog_void *)&cmd_event_arg1,
- (prog_void *)&cmd_event_arg2,
+ (prog_void *)&cmd_event_arg0,
+ (prog_void *)&cmd_event_arg1,
+ (prog_void *)&cmd_event_arg2,
NULL,
},
};
printf("not implemented\n");
#else
uint16_t i = 0, ret = 0, ret2 = 0;
-
+
if (mainboard.flags & DO_ENCODERS) {
printf_P(PSTR("Disable encoder event first\r\n"));
return;
.data = NULL, /* 2nd arg of func */
.help_str = help_spi_test,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_spi_test_arg0,
+ (prog_void *)&cmd_spi_test_arg0,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_opponent,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_opponent_arg0,
- (prog_void *)&cmd_opponent_arg1,
+ (prog_void *)&cmd_opponent_arg0,
+ (prog_void *)&cmd_opponent_arg1,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_opponent_set,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_opponent_arg0,
+ (prog_void *)&cmd_opponent_arg0,
(prog_void *)&cmd_opponent_arg1_set,
- (prog_void *)&cmd_opponent_arg2,
- (prog_void *)&cmd_opponent_arg3,
+ (prog_void *)&cmd_opponent_arg2,
+ (prog_void *)&cmd_opponent_arg3,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_start,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_start_arg0,
- (prog_void *)&cmd_start_color,
- (prog_void *)&cmd_start_debug,
+ (prog_void *)&cmd_start_arg0,
+ (prog_void *)&cmd_start_color,
+ (prog_void *)&cmd_start_debug,
NULL,
},
};
static void print_cs(void)
{
printf_P(PSTR("cons_d=% .8"PRIi32" cons_a=% .8"PRIi32" fil_d=% .8"PRIi32" fil_a=% .8"PRIi32" "
- "err_d=% .8"PRIi32" err_a=% .8"PRIi32" out_d=% .8"PRIi32" out_a=% .8"PRIi32"\r\n"),
+ "err_d=% .8"PRIi32" err_a=% .8"PRIi32" out_d=% .8"PRIi32" out_a=% .8"PRIi32"\r\n"),
cs_get_consign(&mainboard.distance.cs),
cs_get_consign(&mainboard.angle.cs),
cs_get_filtered_consign(&mainboard.distance.cs),
static void print_pos(void)
{
- printf_P(PSTR("x=% .8d y=% .8d a=% .8d\r\n"),
+ printf_P(PSTR("x=% .8d y=% .8d a=% .8d\r\n"),
position_get_x_s16(&mainboard.pos),
position_get_y_s16(&mainboard.pos),
position_get_a_deg_s16(&mainboard.pos));
wait_ms(10);
continue;
}
-
+
if (cmd == -1) {
switch(c) {
case '1': print ^= PRINT_POS; break;
case '5': print ^= PRINT_TIME; break;
case '6': print ^= PRINT_BLOCKING; break;
- case 'q':
+ case 'q':
if (mainboard.flags & DO_CS)
strat_hardstop();
pwm_set_and_save(LEFT_PWM, 0);
pwm_set_and_save(LEFT_PWM, 0);
pwm_set_and_save(RIGHT_PWM, 0);
break;
- default:
+ default:
break;
}
}
else {
switch(cmd) {
- case KEY_UP_ARR:
+ case KEY_UP_ARR:
pwm_set_and_save(LEFT_PWM, 1200);
pwm_set_and_save(RIGHT_PWM, 1200);
break;
- case KEY_LEFT_ARR:
+ case KEY_LEFT_ARR:
pwm_set_and_save(LEFT_PWM, -1200);
pwm_set_and_save(RIGHT_PWM, 1200);
break;
- case KEY_DOWN_ARR:
+ case KEY_DOWN_ARR:
pwm_set_and_save(LEFT_PWM, -1200);
pwm_set_and_save(RIGHT_PWM, -1200);
break;
.data = NULL, /* 2nd arg of func */
.help_str = help_interact,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_interact_arg0,
+ (prog_void *)&cmd_interact_arg0,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_color,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_color_arg0,
- (prog_void *)&cmd_color_color,
+ (prog_void *)&cmd_color_arg0,
+ (prog_void *)&cmd_color_color,
NULL,
},
};
{
// struct cmd_rs_result *res = parsed_result;
do {
- printf_P(PSTR("angle cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
+ printf_P(PSTR("angle cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
cs_get_consign(&mainboard.angle.cs),
cs_get_filtered_feedback(&mainboard.angle.cs),
cs_get_out(&mainboard.angle.cs));
- printf_P(PSTR("distance cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
+ printf_P(PSTR("distance cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
cs_get_consign(&mainboard.distance.cs),
cs_get_filtered_feedback(&mainboard.distance.cs),
cs_get_out(&mainboard.distance.cs));
.data = NULL, /* 2nd arg of func */
.help_str = help_rs,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_rs_arg0,
- (prog_void *)&cmd_rs_arg1,
+ (prog_void *)&cmd_rs_arg0,
+ (prog_void *)&cmd_rs_arg1,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_i2cdebug,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_i2cdebug_arg0,
+ (prog_void *)&cmd_i2cdebug_arg0,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_cobboard_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_cobboard_show_arg0,
- (prog_void *)&cmd_cobboard_show_arg1,
+ (prog_void *)&cmd_cobboard_show_arg0,
+ (prog_void *)&cmd_cobboard_show_arg1,
NULL,
},
};
/* function called when cmd_cobboard_setmode1 is parsed successfully */
static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
{
-#ifdef HOST_VERSION
- printf("not implemented\n");
-#else
struct cmd_cobboard_setmode1_result *res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("init")))
i2c_cobboard_mode_init();
else if (!strcmp_P(res->arg1, PSTR("eject")))
i2c_cobboard_mode_eject();
-#endif
}
prog_char str_cobboard_setmode1_arg0[] = "cobboard";
.data = NULL, /* 2nd arg of func */
.help_str = help_cobboard_setmode1,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_cobboard_setmode1_arg0,
- (prog_void *)&cmd_cobboard_setmode1_arg1,
+ (prog_void *)&cmd_cobboard_setmode1_arg0,
+ (prog_void *)&cmd_cobboard_setmode1_arg1,
NULL,
},
};
/* function called when cmd_cobboard_setmode2 is parsed successfully */
static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data)
{
-#ifdef HOST_VERSION
- printf("not implemented\n");
-#else
struct cmd_cobboard_setmode2_result *res = parsed_result;
uint8_t side = I2C_LEFT_SIDE;
i2c_cobboard_mode_harvest(side);
else if (!strcmp_P(res->arg1, PSTR("pack")))
i2c_cobboard_mode_pack(side);
-#endif
}
prog_char str_cobboard_setmode2_arg0[] = "cobboard";
.data = NULL, /* 2nd arg of func */
.help_str = help_cobboard_setmode2,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_cobboard_setmode2_arg0,
- (prog_void *)&cmd_cobboard_setmode2_arg1,
- (prog_void *)&cmd_cobboard_setmode2_arg2,
+ (prog_void *)&cmd_cobboard_setmode2_arg0,
+ (prog_void *)&cmd_cobboard_setmode2_arg1,
+ (prog_void *)&cmd_cobboard_setmode2_arg2,
NULL,
},
};
/* function called when cmd_cobboard_setmode3 is parsed successfully */
static void cmd_cobboard_setmode3_parsed(void *parsed_result, void *data)
{
-#ifdef HOST_VERSION
- printf("not implemented\n");
-#else
struct cmd_cobboard_setmode3_result *res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("xxx")))
printf("faux\r\n");
-#endif
}
prog_char str_cobboard_setmode3_arg0[] = "cobboard";
.data = NULL, /* 2nd arg of func */
.help_str = help_cobboard_setmode3,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_cobboard_setmode3_arg0,
- (prog_void *)&cmd_cobboard_setmode3_arg1,
- (prog_void *)&cmd_cobboard_setmode3_arg2,
+ (prog_void *)&cmd_cobboard_setmode3_arg0,
+ (prog_void *)&cmd_cobboard_setmode3_arg1,
+ (prog_void *)&cmd_cobboard_setmode3_arg2,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_ballboard_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_ballboard_show_arg0,
- (prog_void *)&cmd_ballboard_show_arg1,
+ (prog_void *)&cmd_ballboard_show_arg0,
+ (prog_void *)&cmd_ballboard_show_arg1,
NULL,
},
};
/* function called when cmd_ballboard_setmode1 is parsed successfully */
static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data)
{
-#ifdef HOST_VERSION
- printf("not implemented\n");
-#else
struct cmd_ballboard_setmode1_result *res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("init")))
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
/* other commands */
-#endif
}
prog_char str_ballboard_setmode1_arg0[] = "ballboard";
.data = NULL, /* 2nd arg of func */
.help_str = help_ballboard_setmode1,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_ballboard_setmode1_arg0,
- (prog_void *)&cmd_ballboard_setmode1_arg1,
+ (prog_void *)&cmd_ballboard_setmode1_arg0,
+ (prog_void *)&cmd_ballboard_setmode1_arg1,
NULL,
},
};
/* function called when cmd_ballboard_setmode2 is parsed successfully */
static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data)
{
-#ifdef HOST_VERSION
- printf("not implemented\n");
-#else
struct cmd_ballboard_setmode2_result *res = parsed_result;
uint8_t mode = I2C_BALLBOARD_MODE_INIT;
mode = I2C_BALLBOARD_MODE_TAKE_R_FORK;
}
i2c_ballboard_set_mode(mode);
-#endif
}
prog_char str_ballboard_setmode2_arg0[] = "ballboard";
.data = NULL, /* 2nd arg of func */
.help_str = help_ballboard_setmode2,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_ballboard_setmode2_arg0,
- (prog_void *)&cmd_ballboard_setmode2_arg1,
- (prog_void *)&cmd_ballboard_setmode2_arg2,
+ (prog_void *)&cmd_ballboard_setmode2_arg0,
+ (prog_void *)&cmd_ballboard_setmode2_arg1,
+ (prog_void *)&cmd_ballboard_setmode2_arg2,
NULL,
},
};
/* function called when cmd_ballboard_setmode3 is parsed successfully */
static void cmd_ballboard_setmode3_parsed(void *parsed_result, void *data)
{
-#ifdef HOST_VERSION
- printf("not implemented\n");
-#else
struct cmd_ballboard_setmode3_result *res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("xxx")))
printf("faux\r\n");
-#endif
}
prog_char str_ballboard_setmode3_arg0[] = "ballboard";
.data = NULL, /* 2nd arg of func */
.help_str = help_ballboard_setmode3,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_ballboard_setmode3_arg0,
- (prog_void *)&cmd_ballboard_setmode3_arg1,
- (prog_void *)&cmd_ballboard_setmode3_arg2,
+ (prog_void *)&cmd_ballboard_setmode3_arg0,
+ (prog_void *)&cmd_ballboard_setmode3_arg1,
+ (prog_void *)&cmd_ballboard_setmode3_arg2,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_servo_balls,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_servo_balls_arg0,
- (prog_void *)&cmd_servo_balls_arg1,
+ (prog_void *)&cmd_servo_balls_arg0,
+ (prog_void *)&cmd_servo_balls_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Clitoid */
+
+/* this structure is filled when cmd_clitoid is parsed successfully */
+struct cmd_clitoid_result {
+ fixed_string_t arg0;
+ float alpha_deg;
+ float beta_deg;
+ float R_mm;
+ float Vd;
+ float Amax;
+ 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)
+{
+ struct cmd_clitoid_result *res = parsed_result;
+/* clitoid(res->alpha_deg, res->beta_deg, res->R_mm, */
+/* res->Vd, res->Amax, res->d_inter_mm); */
+ double x = position_get_x_double(&mainboard.pos);
+ double y = position_get_y_double(&mainboard.pos);
+ double a = position_get_a_rad_double(&mainboard.pos);
+
+ strat_set_speed(res->Vd, SPEED_ANGLE_FAST);
+ trajectory_clitoid(&mainboard.traj, x, y, a, 150.,
+ res->alpha_deg, res->beta_deg, res->R_mm,
+ res->d_inter_mm);
+}
+
+prog_char str_clitoid_arg0[] = "clitoid";
+parse_pgm_token_string_t cmd_clitoid_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_clitoid_result,
+ arg0, str_clitoid_arg0);
+parse_pgm_token_num_t cmd_clitoid_alpha_deg =
+ TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
+ alpha_deg, FLOAT);
+parse_pgm_token_num_t cmd_clitoid_beta_deg =
+ TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
+ beta_deg, FLOAT);
+parse_pgm_token_num_t cmd_clitoid_R_mm =
+ TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
+ R_mm, FLOAT);
+parse_pgm_token_num_t cmd_clitoid_Vd =
+ TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
+ Vd, FLOAT);
+parse_pgm_token_num_t cmd_clitoid_Amax =
+ TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
+ Amax, FLOAT);
+parse_pgm_token_num_t cmd_clitoid_d_inter_mm =
+ TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
+ d_inter_mm, FLOAT);
+
+prog_char help_clitoid[] = "do a clitoid (alpha, beta, R, Vd, Amax, d_inter)";
+parse_pgm_inst_t cmd_clitoid = {
+ .f = cmd_clitoid_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_clitoid,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_clitoid_arg0,
+ (prog_void *)&cmd_clitoid_alpha_deg,
+ (prog_void *)&cmd_clitoid_beta_deg,
+ (prog_void *)&cmd_clitoid_R_mm,
+ (prog_void *)&cmd_clitoid_Vd,
+ (prog_void *)&cmd_clitoid_Amax,
+ (prog_void *)&cmd_clitoid_d_inter_mm,
NULL,
},
};
struct cmd_test_result {
fixed_string_t arg0;
int32_t radius;
+ int32_t dist;
};
/* function called when cmd_test is parsed successfully */
static void cmd_test_parsed(void *parsed_result, void *data)
{
+ trajectory_hardstop(&mainboard.traj);
}
prog_char str_test_arg0[] = "test";
parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
+parse_pgm_token_num_t cmd_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, dist, INT32);
prog_char help_test[] = "Test function";
parse_pgm_inst_t cmd_test = {
.help_str = help_test,
.tokens = { /* token list, NULL terminated */
(prog_void *)&cmd_test_arg0,
- (prog_void *)&cmd_test_arg1,
NULL,
},
};
git.droids-corp.org / aversive.git / blobdiff