/*
* 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_traj.c,v 1.8 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 <hostsim.h>
#include <aversive/pgmspace.h>
#include <aversive/wait.h>
#include <aversive/error.h>
#include <quadramp.h>
#include <control_system_manager.h>
#include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
#include <vect_base.h>
#include <lines.h>
#include <polygon.h>
#include "strat_utils.h"
#include "strat_base.h"
#include "strat.h"
+#include "strat_db.h"
#include "../common/i2c_commands.h"
#include "i2c_protocol.h"
struct cmd_traj_speed_result {
fixed_string_t arg0;
fixed_string_t arg1;
- uint16_t s;
+ float s;
};
/* function called when cmd_traj_speed is parsed successfully */
static void cmd_traj_speed_parsed(void *parsed_result, void *data)
{
struct cmd_traj_speed_result * res = parsed_result;
-
+
if (!strcmp_P(res->arg1, PSTR("angle"))) {
trajectory_set_speed(&mainboard.traj, mainboard.traj.d_speed, res->s);
}
}
/* else it is a "show" */
- printf_P(PSTR("angle %u, distance %u\r\n"),
+ printf_P(PSTR("angle %2.2f, distance %2.2f\r\n"),
mainboard.traj.a_speed,
mainboard.traj.d_speed);
}
parse_pgm_token_string_t cmd_traj_speed_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg0, str_traj_speed_arg0);
prog_char str_traj_speed_arg1[] = "angle#distance";
parse_pgm_token_string_t cmd_traj_speed_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_arg1);
-parse_pgm_token_num_t cmd_traj_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_speed_result, s, UINT16);
+parse_pgm_token_num_t cmd_traj_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_speed_result, s, FLOAT);
prog_char help_traj_speed[] = "Set traj_speed values for trajectory manager";
parse_pgm_inst_t cmd_traj_speed = {
.data = NULL, /* 2nd arg of func */
.help_str = help_traj_speed,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_traj_speed_arg0,
- (prog_void *)&cmd_traj_speed_arg1,
- (prog_void *)&cmd_traj_speed_s,
+ (prog_void *)&cmd_traj_speed_arg0,
+ (prog_void *)&cmd_traj_speed_arg1,
+ (prog_void *)&cmd_traj_speed_s,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_traj_speed_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_traj_speed_arg0,
+ (prog_void *)&cmd_traj_speed_arg0,
(prog_void *)&cmd_traj_speed_show_arg,
NULL,
},
};
+/**********************************************************/
+/* Traj_Accs for trajectory_manager */
+
+/* this structure is filled when cmd_traj_acc is parsed successfully */
+struct cmd_traj_acc_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float s;
+};
+
+/* function called when cmd_traj_acc is parsed successfully */
+static void cmd_traj_acc_parsed(void *parsed_result, void *data)
+{
+ struct cmd_traj_acc_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("angle"))) {
+ trajectory_set_acc(&mainboard.traj, mainboard.traj.d_acc, res->s);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("distance"))) {
+ trajectory_set_acc(&mainboard.traj, res->s, mainboard.traj.a_acc);
+ }
+ /* else it is a "show" */
+
+ printf_P(PSTR("angle %2.2f, distance %2.2f\r\n"),
+ mainboard.traj.a_acc,
+ mainboard.traj.d_acc);
+}
+
+prog_char str_traj_acc_arg0[] = "traj_acc";
+parse_pgm_token_string_t cmd_traj_acc_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_acc_result, arg0, str_traj_acc_arg0);
+prog_char str_traj_acc_arg1[] = "angle#distance";
+parse_pgm_token_string_t cmd_traj_acc_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_acc_result, arg1, str_traj_acc_arg1);
+parse_pgm_token_num_t cmd_traj_acc_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_acc_result, s, FLOAT);
+
+prog_char help_traj_acc[] = "Set traj_acc values for trajectory manager";
+parse_pgm_inst_t cmd_traj_acc = {
+ .f = cmd_traj_acc_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_traj_acc,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_traj_acc_arg0,
+ (prog_void *)&cmd_traj_acc_arg1,
+ (prog_void *)&cmd_traj_acc_s,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_traj_acc_show_arg[] = "show";
+parse_pgm_token_string_t cmd_traj_acc_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_traj_acc_result, arg1, str_traj_acc_show_arg);
+
+prog_char help_traj_acc_show[] = "Show traj_acc values for trajectory manager";
+parse_pgm_inst_t cmd_traj_acc_show = {
+ .f = cmd_traj_acc_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_traj_acc_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_traj_acc_arg0,
+ (prog_void *)&cmd_traj_acc_show_arg,
+ NULL,
+ },
+};
+
/**********************************************************/
/* circle coef configuration */
trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
}
- printf_P(PSTR("circle_coef %2.2f\r\n"), mainboard.traj.circle_coef);
+ printf_P(PSTR("circle_coef set %2.2f\r\n"), mainboard.traj.circle_coef);
}
prog_char str_circle_coef_arg0[] = "circle_coef";
.data = NULL, /* 2nd arg of func */
.help_str = help_circle_coef_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_circle_coef_arg0,
+ (prog_void *)&cmd_circle_coef_arg0,
(prog_void *)&cmd_circle_coef_show_arg,
NULL,
},
static void cmd_trajectory_parsed(void * parsed_result, void * data)
{
struct cmd_trajectory_result * res = parsed_result;
-
+
if (!strcmp_P(res->arg1, PSTR("set"))) {
trajectory_set_windows(&mainboard.traj, res->d_win,
res->a_win, res->a_start);
.data = NULL, /* 2nd arg of func */
.help_str = help_trajectory,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_trajectory_arg0,
- (prog_void *)&cmd_trajectory_arg1,
- (prog_void *)&cmd_trajectory_d,
- (prog_void *)&cmd_trajectory_a,
- (prog_void *)&cmd_trajectory_as,
+ (prog_void *)&cmd_trajectory_arg0,
+ (prog_void *)&cmd_trajectory_arg1,
+ (prog_void *)&cmd_trajectory_d,
+ (prog_void *)&cmd_trajectory_a,
+ (prog_void *)&cmd_trajectory_as,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_trajectory_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_trajectory_arg0,
+ (prog_void *)&cmd_trajectory_arg0,
(prog_void *)&cmd_trajectory_show_arg,
NULL,
},
/* function called when cmd_rs_gains is parsed successfully */
static void cmd_rs_gains_parsed(void * parsed_result, void * data)
{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
struct cmd_rs_gains_result * res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("set"))) {
- rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
LEFT_ENCODER, res->left); // en augmentant on tourne à gauche
- rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
}
printf_P(PSTR("rs_gains set %2.2f %2.2f\r\n"),
mainboard.rs.left_ext_gain, mainboard.rs.right_ext_gain);
+#endif
}
prog_char str_rs_gains_arg0[] = "rs_gains";
.data = NULL, /* 2nd arg of func */
.help_str = help_rs_gains,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_rs_gains_arg0,
- (prog_void *)&cmd_rs_gains_arg1,
- (prog_void *)&cmd_rs_gains_l,
- (prog_void *)&cmd_rs_gains_r,
+ (prog_void *)&cmd_rs_gains_arg0,
+ (prog_void *)&cmd_rs_gains_arg1,
+ (prog_void *)&cmd_rs_gains_l,
+ (prog_void *)&cmd_rs_gains_r,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_rs_gains_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_rs_gains_arg0,
+ (prog_void *)&cmd_rs_gains_arg0,
(prog_void *)&cmd_rs_gains_show_arg,
NULL,
},
.data = NULL, /* 2nd arg of func */
.help_str = help_track,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_track_arg0,
- (prog_void *)&cmd_track_arg1,
- (prog_void *)&cmd_track_val,
+ (prog_void *)&cmd_track_arg0,
+ (prog_void *)&cmd_track_arg1,
+ (prog_void *)&cmd_track_val,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_track_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_track_arg0,
+ (prog_void *)&cmd_track_arg0,
(prog_void *)&cmd_track_show_arg,
NULL,
},
{
struct cmd_pt_list_result * res = parsed_result;
uint8_t i, why=0;
-
- if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
- printf_P(PSTR("not implemented\r\n"));
- return;
- }
if (!strcmp_P(res->arg1, PSTR("append"))) {
res->arg2 = pt_list_len;
}
+ if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
+ printf_P(PSTR("removed\r\n"));
+ return;
+ }
if (!strcmp_P(res->arg1, PSTR("insert")) ||
!strcmp_P(res->arg1, PSTR("append"))) {
printf_P(PSTR("List is too large\r\n"));
return;
}
- memmove(&pt_list[res->arg2+1], &pt_list[res->arg2],
+ memmove(&pt_list[res->arg2+1], &pt_list[res->arg2],
PT_LIST_SIZE-1-res->arg2);
pt_list[res->arg2].x = res->arg3;
pt_list[res->arg2].y = res->arg4;
printf_P(PSTR("Index too large\r\n"));
return;
}
- memmove(&pt_list[res->arg2], &pt_list[res->arg2+1],
+ memmove(&pt_list[res->arg2], &pt_list[res->arg2+1],
(PT_LIST_SIZE-1-res->arg2)*sizeof(struct xy_point));
pt_list_len--;
}
else if (!strcmp_P(res->arg1, PSTR("reset"))) {
pt_list_len = 0;
}
-
+
/* else it is a "show" or a "start" */
if (pt_list_len == 0) {
printf_P(PSTR("List empty\r\n"));
return;
}
+ restart:
for (i=0 ; i<pt_list_len ; i++) {
printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
if (!strcmp_P(res->arg1, PSTR("start"))) {
trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
why = wait_traj_end(0xFF); /* all */
}
+ else if (!strcmp_P(res->arg1, PSTR("loop_start"))) {
+ trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
+ why = wait_traj_end(0xFF); /* all */
+ }
#if 0
else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
while (1) {
#endif
if (why & (~(END_TRAJ | END_NEAR)))
trajectory_stop(&mainboard.traj);
+ if (why & END_INTR)
+ break;
}
+ if (why & END_INTR)
+ return;
+ if (!strcmp_P(res->arg1, PSTR("loop_start")))
+ goto restart;
}
prog_char str_pt_list_arg0[] = "pt_list";
.data = NULL, /* 2nd arg of func */
.help_str = help_pt_list,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_pt_list_arg0,
- (prog_void *)&cmd_pt_list_arg1,
- (prog_void *)&cmd_pt_list_arg2,
- (prog_void *)&cmd_pt_list_arg3,
- (prog_void *)&cmd_pt_list_arg4,
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_arg1,
+ (prog_void *)&cmd_pt_list_arg2,
+ (prog_void *)&cmd_pt_list_arg3,
+ (prog_void *)&cmd_pt_list_arg4,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_pt_list_append,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_pt_list_arg0,
- (prog_void *)&cmd_pt_list_arg1_append,
- (prog_void *)&cmd_pt_list_arg3,
- (prog_void *)&cmd_pt_list_arg4,
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_arg1_append,
+ (prog_void *)&cmd_pt_list_arg3,
+ (prog_void *)&cmd_pt_list_arg4,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_pt_list_del,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_pt_list_arg0,
- (prog_void *)&cmd_pt_list_del_arg,
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_del_arg,
(prog_void *)&cmd_pt_list_arg2,
NULL,
},
};
/* show */
-prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start";
+prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start#loop_start";
parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
prog_char help_pt_list_show[] = "Show, start or reset pt_list";
.data = NULL, /* 2nd arg of func */
.help_str = help_pt_list_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_arg0,
(prog_void *)&cmd_pt_list_show_arg,
NULL,
},
.data = NULL, /* 2nd arg of func */
.help_str = help_goto1,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_goto_arg0,
- (prog_void *)&cmd_goto_arg1_a,
- (prog_void *)&cmd_goto_arg2,
+ (prog_void *)&cmd_goto_arg0,
+ (prog_void *)&cmd_goto_arg1_a,
+ (prog_void *)&cmd_goto_arg2,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_goto2,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_goto_arg0,
- (prog_void *)&cmd_goto_arg1_b,
+ (prog_void *)&cmd_goto_arg0,
+ (prog_void *)&cmd_goto_arg1_b,
(prog_void *)&cmd_goto_arg2,
- (prog_void *)&cmd_goto_arg3,
+ (prog_void *)&cmd_goto_arg3,
NULL,
},
};
strat_get_speed(&old_spdd, &old_spda);
strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
- trajectory_d_rel(&mainboard.traj, -300);
- err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
+ err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
goto intr;
- wait_ms(100);
- strat_reset_pos(ROBOT_LENGTH/2, 0, 0);
+ strat_reset_pos(ROBOT_WIDTH/2 + 100,
+ COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
+ COLOR_A(-90));
+ strat_hardstop();
- trajectory_d_rel(&mainboard.traj, 120);
+ trajectory_d_rel(&mainboard.traj, -180);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- trajectory_a_rel(&mainboard.traj, COLOR_A(90));
+ trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- trajectory_d_rel(&mainboard.traj, -300);
- err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
+ err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
goto intr;
- wait_ms(100);
- strat_reset_pos(DO_NOT_SET_POS, COLOR_Y(ROBOT_LENGTH/2),
- COLOR_A(90));
+ strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
+ DO_NOT_SET_POS,
+ 180);
+ strat_hardstop();
- trajectory_d_rel(&mainboard.traj, 120);
+ trajectory_d_rel(&mainboard.traj, -170);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
wait_ms(100);
-
- trajectory_a_rel(&mainboard.traj, COLOR_A(-40));
+
+ trajectory_a_rel(&mainboard.traj, COLOR_A(-110));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
wait_ms(100);
-
+
strat_set_speed(old_spdd, old_spda);
return;
static void cmd_position_parsed(void * parsed_result, void * data)
{
struct cmd_position_result * res = parsed_result;
-
+
/* display raw position values */
if (!strcmp_P(res->arg1, PSTR("reset"))) {
position_set(&mainboard.pos, 0, 0, 0);
}
else if (!strcmp_P(res->arg1, PSTR("autoset_blue"))) {
mainboard.our_color = I2C_COLOR_BLUE;
+#ifndef HOST_VERSION
i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
+#endif
auto_position();
}
- else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
+ else if (!strcmp_P(res->arg1, PSTR("autoset_yellow"))) {
mainboard.our_color = I2C_COLOR_YELLOW;
+#ifndef HOST_VERSION
i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
+#endif
auto_position();
}
/* else it's just a "show" */
- printf_P(PSTR("x=%.2f y=%.2f a=%.2f\r\n"),
+ printf_P(PSTR("x=%.2f y=%.2f a=%.2f\r\n"),
position_get_x_double(&mainboard.pos),
position_get_y_double(&mainboard.pos),
DEG(position_get_a_rad_double(&mainboard.pos)));
prog_char str_position_arg0[] = "position";
parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0);
-prog_char str_position_arg1[] = "show#reset#autoset_blue#autoset_red";
+prog_char str_position_arg1[] = "show#reset#autoset_blue#autoset_yellow";
parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1);
prog_char help_position[] = "Show/reset (x,y,a) position";
.data = NULL, /* 2nd arg of func */
.help_str = help_position,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_position_arg0,
- (prog_void *)&cmd_position_arg1,
+ (prog_void *)&cmd_position_arg0,
+ (prog_void *)&cmd_position_arg1,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_position_set,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_position_arg0,
- (prog_void *)&cmd_position_arg1_set,
- (prog_void *)&cmd_position_arg2,
- (prog_void *)&cmd_position_arg3,
- (prog_void *)&cmd_position_arg4,
+ (prog_void *)&cmd_position_arg0,
+ (prog_void *)&cmd_position_arg1_set,
+ (prog_void *)&cmd_position_arg2,
+ (prog_void *)&cmd_position_arg3,
+ (prog_void *)&cmd_position_arg4,
NULL,
},
};
/**********************************************************/
/* strat configuration */
-/* this structure is filled when cmd_strat_infos is parsed successfully */
-struct cmd_strat_infos_result {
+/* this structure is filled when cmd_strat_db is parsed successfully */
+struct cmd_strat_db_result {
fixed_string_t arg0;
fixed_string_t arg1;
};
-/* function called when cmd_strat_infos is parsed successfully */
-static void cmd_strat_infos_parsed(void *parsed_result, void *data)
+/* function called when cmd_strat_db is parsed successfully */
+static void cmd_strat_db_parsed(void *parsed_result, void *data)
{
- struct cmd_strat_infos_result *res = parsed_result;
+ struct cmd_strat_db_result *res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("reset"))) {
- strat_reset_infos();
+ strat_db_init();
}
- strat_infos.dump_enabled = 1;
- strat_dump_infos(__FUNCTION__);
+ strat_db.dump_enabled = 1;
+ strat_db_dump(__FUNCTION__);
}
-prog_char str_strat_infos_arg0[] = "strat_infos";
-parse_pgm_token_string_t cmd_strat_infos_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg0, str_strat_infos_arg0);
-prog_char str_strat_infos_arg1[] = "show#reset";
-parse_pgm_token_string_t cmd_strat_infos_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg1, str_strat_infos_arg1);
+prog_char str_strat_db_arg0[] = "strat_db";
+parse_pgm_token_string_t cmd_strat_db_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_db_result, arg0, str_strat_db_arg0);
+prog_char str_strat_db_arg1[] = "show#reset";
+parse_pgm_token_string_t cmd_strat_db_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_db_result, arg1, str_strat_db_arg1);
-prog_char help_strat_infos[] = "reset/show strat_infos";
-parse_pgm_inst_t cmd_strat_infos = {
- .f = cmd_strat_infos_parsed, /* function to call */
+prog_char help_strat_db[] = "reset/show strat_db";
+parse_pgm_inst_t cmd_strat_db = {
+ .f = cmd_strat_db_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
- .help_str = help_strat_infos,
+ .help_str = help_strat_db,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_strat_infos_arg0,
- (prog_void *)&cmd_strat_infos_arg1,
+ (prog_void *)&cmd_strat_db_arg0,
+ (prog_void *)&cmd_strat_db_arg1,
NULL,
},
};
static void cmd_strat_conf_parsed(void *parsed_result, void *data)
{
// struct cmd_strat_conf_result *res = parsed_result;
-
- strat_infos.dump_enabled = 1;
- strat_dump_conf();
+ strat_conf.dump_enabled = 1;
+ strat_conf_dump(__FUNCTION__);
}
prog_char str_strat_conf_arg0[] = "strat_conf";
.data = NULL, /* 2nd arg of func */
.help_str = help_strat_conf,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_strat_conf_arg0,
- (prog_void *)&cmd_strat_conf_arg1,
+ (prog_void *)&cmd_strat_conf_arg0,
+ (prog_void *)&cmd_strat_conf_arg1,
NULL,
},
};
on = 1;
else
on = 0;
-
+
#if 0
if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc")))
bit = STRAT_CONF_ONLY_ONE_ON_DISC;
#endif
if (on)
- strat_infos.conf.flags |= bit;
+ strat_conf.flags |= bit;
else
- strat_infos.conf.flags &= (~bit);
+ strat_conf.flags &= (~bit);
- strat_infos.dump_enabled = 1;
- strat_dump_conf();
+ strat_conf.dump_enabled = 1;
+ strat_conf_dump(__FUNCTION__);
}
prog_char str_strat_conf2_arg0[] = "strat_conf";
.data = NULL, /* 2nd arg of func */
.help_str = help_strat_conf2,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_strat_conf2_arg0,
- (prog_void *)&cmd_strat_conf2_arg1,
- (prog_void *)&cmd_strat_conf2_arg2,
+ (prog_void *)&cmd_strat_conf2_arg0,
+ (prog_void *)&cmd_strat_conf2_arg1,
+ (prog_void *)&cmd_strat_conf2_arg2,
NULL,
},
};
if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
if (res->arg2 > 90)
res->arg2 = 90;
- strat_infos.conf.scan_opp_min_time = res->arg2;
+ strat_conf.scan_opp_min_time = res->arg2;
}
else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
if (res->arg2 > 90)
res->arg2 = 90;
- strat_infos.conf.delay_between_opp_scan = res->arg2;
+ strat_conf.delay_between_opp_scan = res->arg2;
}
else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
if (res->arg2 > 90)
res->arg2 = 90;
- strat_infos.conf.scan_our_min_time = res->arg2;
+ strat_conf.scan_our_min_time = res->arg2;
}
else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
if (res->arg2 > 90)
res->arg2 = 90;
- strat_infos.conf.delay_between_our_scan = res->arg2;
+ strat_conf.delay_between_our_scan = res->arg2;
}
else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {
- strat_infos.conf.wait_opponent = res->arg2;
+ strat_conf.wait_opponent = res->arg2;
}
else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
- strat_infos.conf.lintel_min_time = res->arg2;
+ strat_conf.lintel_min_time = res->arg2;
}
#endif
- strat_infos.dump_enabled = 1;
- strat_dump_conf();
+ strat_conf.dump_enabled = 1;
+ strat_conf_dump(__FUNCTION__);
}
prog_char str_strat_conf3_arg0[] = "strat_conf";
.data = NULL, /* 2nd arg of func */
.help_str = help_strat_conf3,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_strat_conf3_arg0,
- (prog_void *)&cmd_strat_conf3_arg1,
- (prog_void *)&cmd_strat_conf3_arg2,
+ (prog_void *)&cmd_strat_conf3_arg0,
+ (prog_void *)&cmd_strat_conf3_arg1,
+ (prog_void *)&cmd_strat_conf3_arg2,
NULL,
},
};
/**********************************************************/
/* Subtraj */
+//////////////////////
+
+// 500 -- 5
+// 400 -- 3
+#define TEST_SPEED 400
+#define TEST_ACC 3
+
+static void line2line(double line1x1, double line1y1,
+ double line1x2, double line1y2,
+ double line2x1, double line2y1,
+ double line2x2, double line2y2,
+ double radius, double dist)
+{
+ uint8_t err;
+ double speed_d, speed_a;
+ double distance, angle;
+ double line1_angle = atan2(line1y2-line1y1, line1x2-line1x1);
+ double line2_angle = atan2(line2y2-line2y1, line2x2-line2x1);
+
+ printf_P(PSTR("%s()\r\n"), __FUNCTION__);
+
+ strat_set_speed(TEST_SPEED, TEST_SPEED);
+ quadramp_set_2nd_order_vars(&mainboard.angle.qr, TEST_ACC, TEST_ACC);
+
+ circle_get_da_speed_from_radius(&mainboard.traj, radius,
+ &speed_d, &speed_a);
+ trajectory_line_abs(&mainboard.traj,
+ line1x1, line1y1,
+ line1x2, line1y2, 150.);
+ err = WAIT_COND_OR_TRAJ_END(distance_from_robot(line1x2, line1y2) <
+ dist, TRAJ_FLAGS_NO_NEAR);
+ /* circle */
+ strat_set_speed(speed_d, speed_a);
+ angle = line2_angle - line1_angle;
+ distance = angle * radius;
+ if (distance < 0)
+ distance = -distance;
+ angle = simple_modulo_2pi(angle);
+ angle = DEG(angle);
+ printf_P(PSTR("(%d,%d,%d) "),
+ position_get_x_s16(&mainboard.pos),
+ position_get_y_s16(&mainboard.pos),
+ position_get_a_deg_s16(&mainboard.pos));
+ printf_P(PSTR("circle distance=%2.2f angle=%2.2f\r\n"),
+ distance, angle);
+
+ /* take some margin on dist to avoid deceleration */
+ trajectory_d_a_rel(&mainboard.traj, distance + 250, angle);
+
+ /* circle exit condition */
+ err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+ TRAJ_FLAGS_NO_NEAR);
+
+ strat_set_speed(500, 500);
+ printf_P(PSTR("(%d,%d,%d) "),
+ position_get_x_s16(&mainboard.pos),
+ position_get_y_s16(&mainboard.pos),
+ position_get_a_deg_s16(&mainboard.pos));
+ printf_P(PSTR("line\r\n"));
+ trajectory_line_abs(&mainboard.traj,
+ line2x1, line2y1,
+ line2x2, line2y2, 150.);
+}
+
+static void halfturn(double line1x1, double line1y1,
+ double line1x2, double line1y2,
+ double line2x1, double line2y1,
+ double line2x2, double line2y2,
+ double radius, double dist, double dir)
+{
+ uint8_t err;
+ double speed_d, speed_a;
+ double distance, angle;
+
+ printf_P(PSTR("%s()\r\n"), __FUNCTION__);
+
+ strat_set_speed(TEST_SPEED, TEST_SPEED);
+ quadramp_set_2nd_order_vars(&mainboard.angle.qr, TEST_ACC, TEST_ACC);
+
+ circle_get_da_speed_from_radius(&mainboard.traj, radius,
+ &speed_d, &speed_a);
+ trajectory_line_abs(&mainboard.traj,
+ line1x1, line1y1,
+ line1x2, line1y2, 150.);
+ err = WAIT_COND_OR_TRAJ_END(distance_from_robot(line1x2, line1y2) <
+ dist, TRAJ_FLAGS_NO_NEAR);
+ /* circle */
+ strat_set_speed(speed_d, speed_a);
+ angle = dir * M_PI/2.;
+ distance = angle * radius;
+ if (distance < 0)
+ distance = -distance;
+ angle = simple_modulo_2pi(angle);
+ angle = DEG(angle);
+
+ /* take some margin on dist to avoid deceleration */
+ DEBUG(E_USER_STRAT, "circle1 distance=%2.2f angle=%2.2f",
+ distance, angle);
+ trajectory_d_a_rel(&mainboard.traj, distance + 500, angle);
+
+ /* circle exit condition */
+ err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+ TRAJ_FLAGS_NO_NEAR);
+
+ DEBUG(E_USER_STRAT, "miniline");
+ err = WAIT_COND_OR_TRAJ_END(distance_from_robot(line2x1, line2y1) <
+ dist, TRAJ_FLAGS_NO_NEAR);
+ DEBUG(E_USER_STRAT, "circle2");
+ /* take some margin on dist to avoid deceleration */
+ trajectory_d_a_rel(&mainboard.traj, distance + 500, angle);
+
+ err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+ TRAJ_FLAGS_NO_NEAR);
+
+ strat_set_speed(500, 500);
+ DEBUG(E_USER_STRAT, "line");
+ trajectory_line_abs(&mainboard.traj,
+ line2x1, line2y1,
+ line2x2, line2y2, 150.);
+}
+
+
+/* function called when cmd_test is parsed successfully */
+static void subtraj_test(void)
+{
+#ifdef HOST_VERSION
+ strat_reset_pos(400, 400, 90);
+ mainboard.angle.on = 1;
+ mainboard.distance.on = 1;
+#endif
+ printf_P(PSTR("%s()\r\n"), __FUNCTION__);
+ while (!cmdline_keypressed()) {
+ /****** PASS1 */
+
+#define DIST_HARD_TURN 260
+#define RADIUS_HARD_TURN 100
+#define DIST_EASY_TURN 190
+#define RADIUS_EASY_TURN 190
+#define DIST_HALF_TURN 225
+#define RADIUS_HALF_TURN 130
+
+ /* hard turn */
+ line2line(375, 597, 375, 1847,
+ 375, 1847, 1050, 1472,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /* easy left and easy right !*/
+ line2line(825, 1596, 1050, 1472,
+ 1050, 1472, 1500, 1722,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+ line2line(1050, 1472, 1500, 1722,
+ 1500, 1722, 2175, 1347,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+ line2line(1500, 1722, 2175, 1347,
+ 2175, 1347, 2175, 847,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+
+ /* half turns */
+ halfturn(2175, 1347, 2175, 722,
+ 2625, 722, 2625, 1597,
+ RADIUS_HALF_TURN, DIST_HALF_TURN, 1.);
+ halfturn(2625, 847, 2625, 1722,
+ 2175, 1722, 2175, 1097,
+ RADIUS_HALF_TURN, DIST_HALF_TURN, 1.);
+
+ /* easy turns */
+ line2line(2175, 1597, 2175, 1097,
+ 2175, 1097, 1500, 722,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+ line2line(2175, 1097, 1500, 722,
+ 1500, 722, 1050, 972,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+ line2line(1500, 722, 1050, 972,
+ 1050, 972, 375, 597,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+
+ /* hard turn */
+ line2line(1050, 972, 375, 597,
+ 375, 597, 375, 1097,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /****** PASS2 */
+
+ /* easy turn */
+ line2line(375, 597, 375, 1097,
+ 375, 1097, 1050, 1472,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+
+ /* hard turn */
+ line2line(375, 1097, 1050, 1472,
+ 1050, 1472, 375, 1847,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /* hard turn */
+ line2line(1050, 1472, 375, 1847,
+ 375, 1847, 375, 1347,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /* easy turn */
+ line2line(375, 1847, 375, 1347,
+ 375, 1347, 1050, 972,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+
+ /* hard turn */
+ line2line(375, 1347, 1050, 972,
+ 1050, 972, 375, 597,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /* hard turn */
+ line2line(1050, 972, 375, 597,
+ 375, 597, 375, 1847,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ }
+ trajectory_hardstop(&mainboard.traj);
+}
+
+
/* this structure is filled when cmd_subtraj is parsed successfully */
struct cmd_subtraj_result {
fixed_string_t arg0;
/* function called when cmd_subtraj is parsed successfully */
static void cmd_subtraj_parsed(void *parsed_result, void *data)
{
-/* struct cmd_subtraj_result *res = parsed_result; */
+ struct cmd_subtraj_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("test")))
+ subtraj_test();
- printf_P(PSTR("TODO\r\n"));
trajectory_hardstop(&mainboard.traj);
}
.data = NULL, /* 2nd arg of func */
.help_str = help_subtraj,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_subtraj_arg0,
- (prog_void *)&cmd_subtraj_arg1,
- (prog_void *)&cmd_subtraj_arg2,
- (prog_void *)&cmd_subtraj_arg3,
- (prog_void *)&cmd_subtraj_arg4,
- (prog_void *)&cmd_subtraj_arg5,
+ (prog_void *)&cmd_subtraj_arg0,
+ (prog_void *)&cmd_subtraj_arg1,
+ (prog_void *)&cmd_subtraj_arg2,
+ (prog_void *)&cmd_subtraj_arg3,
+ (prog_void *)&cmd_subtraj_arg4,
+ (prog_void *)&cmd_subtraj_arg5,
NULL,
},
};
+
git.droids-corp.org / aversive.git / blobdiff