X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager_core.c;h=5197300791efbb25b73229f049ea53c969fef8b8;hp=524628559f49f914fe79f422d71d434b4a88e1b5;hb=6914527de2ecfef9d790740c71739e7418246b96;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c index 5246285..5197300 100644 --- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c +++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c @@ -643,13 +643,11 @@ static void trajectory_manager_line_event(struct trajectory *traj) } /* position consign is infinite */ - d_consign = (int32_t)(v2pol_target.r * (traj->position->phys.distance_imp_per_mm)); + d_consign = pos_mm2imp(traj, v2pol_target.r); d_consign += rs_get_distance(traj->robot); - /* angle consign */ - a_consign = (int32_t)(v2pol_target.theta * - (traj->position->phys.distance_imp_per_mm) * - (traj->position->phys.track_mm) / 2.2); + /* angle consign (1.1 to avoid oscillations) */ + a_consign = pos_rd2imp(traj, v2pol_target.theta) / 1.1; a_consign += rs_get_angle(traj->robot); EVT_DEBUG(E_TRAJECTORY, "target.x=%2.2f target.y=%2.2f " @@ -849,7 +847,7 @@ void trajectory_line_abs(struct trajectory *traj, * - Va_out: the angular speed to configure in quadramp * - remain_d_mm_out: remaining distance before start to turn */ -static uint8_t calc_clitoid(struct trajectory *traj, +static int8_t calc_clitoid(struct trajectory *traj, double x, double y, double a_rad, double alpha_deg, double beta_deg, double R_mm, double Vd, double Amax, double d_inter_mm, @@ -857,12 +855,14 @@ static uint8_t calc_clitoid(struct trajectory *traj, { double Vd_mm_s; double Va, Va_rd_s; - double t, d_mm, alpha_rad, beta_rad; + double t, tau, d_mm, alpha_rad, beta_rad; double remain_d_mm; double Aa, Aa_rd_s2; line_t line1, line2; - point_t robot, intersect, pt2, center, proj; + line_t line1_int, line2_int; + point_t robot, intersect, pt2, center, proj, M; vect_t v; + double xm, ym, L, A; /* param check */ if (fabs(alpha_deg) <= fabs(beta_deg)) { @@ -896,11 +896,6 @@ static uint8_t calc_clitoid(struct trajectory *traj, return -1; } - /* 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; @@ -913,46 +908,74 @@ static uint8_t calc_clitoid(struct trajectory *traj, DEBUG(E_TRAJECTORY, "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.; + /* L and A are the parameters of the clothoid, xm and ym are + * the relative coords (starting from the beginning of + * clothoid) of the crossing point between the clothoid and + * the circle. */ + L = Vd_mm_s * t; + A = R_mm * sqrt(fabs(alpha_rad - beta_rad)); + xm = + L + - (pow(L, 5) / (40. * pow(A, 4))) + + (pow(L, 9) / (3456. * pow(A, 8))) + - (pow(L, 13) / (599040. * pow(A, 12))); + ym = + (pow(L, 3) / (6. * pow(A, 2))) + - (pow(L, 7) / (336. * pow(A, 6))) + + (pow(L, 11) / (42240. * pow(A, 10))) + - (pow(L, 15) / (9676800. * pow(A, 14))); + DEBUG(E_TRAJECTORY, "relative xm,ym = (%2.2f, %2.2f)", + xm, ym); + + /* the center of the circle is at d_mm when we have to start + * the clothoid */ + tau = (alpha_rad - beta_rad) / 2.; + d_mm = ym + (R_mm * cos(tau)); DEBUG(E_TRAJECTORY, "d_mm=%2.2f", d_mm); /* translate line1 */ + memcpy(&line1_int, &line1, sizeof(line1_int)); + memcpy(&line2_int, &line2, sizeof(line2_int)); v.x = intersect.x - robot.x; v.y = intersect.y - robot.y; - if (a_rad > 0) + if (alpha_rad > 0) vect_rot_trigo(&v); else vect_rot_retro(&v); vect_resize(&v, d_mm); - line_translate(&line1, &v); + line_translate(&line1_int, &v); + DEBUG(E_TRAJECTORY, "translate line1 by %2.2f,%2.2f", v.x, v.y); - /* translate line2 */ + /* translate line2_int */ v.x = intersect.x - pt2.x; v.y = intersect.y - pt2.y; - if (a_rad > 0) + if (alpha_rad < 0) vect_rot_trigo(&v); else vect_rot_retro(&v); vect_resize(&v, d_mm); - line_translate(&line2, &v); + line_translate(&line2_int, &v); + DEBUG(E_TRAJECTORY, "translate line2 by %2.2f,%2.2f", v.x, v.y); /* find the center of the circle, at the intersection of the * new translated lines */ - if (intersect_line(&line1, &line2, ¢er) != 1) { + if (intersect_line(&line1_int, &line2_int, ¢er) != 1) { DEBUG(E_TRAJECTORY, "cannot find circle center"); return -1; } DEBUG(E_TRAJECTORY, "center=(%2.2f,%2.2f)", center.x, center.y); - /* project center of circle on line1 */ - proj_pt_line(¢er, &line1, &proj); - DEBUG(E_TRAJECTORY, "proj=(%2.2f,%2.2f)", proj.x, proj.y); + /* M is the same point than xm, ym but in absolute coords */ + M.x = center.x + cos(a_rad - M_PI/2 + tau) * R_mm; + M.y = center.y + sin(a_rad - M_PI/2 + tau) * R_mm; + DEBUG(E_TRAJECTORY, "absolute M = (%2.2f, %2.2f)", M.x, M.y); + + /* project M on line 1 */ + proj_pt_line(&M, &line1, &proj); + DEBUG(E_TRAJECTORY, "proj M = (%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); + remain_d_mm = d_inter_mm - (pt_norm(&proj, &intersect) + xm); DEBUG(E_TRAJECTORY, "remain_d=%2.2f", remain_d_mm); if (remain_d_mm < 0) { DEBUG(E_TRAJECTORY, "too late, cannot turn"); @@ -966,6 +989,7 @@ static uint8_t calc_clitoid(struct trajectory *traj, return 0; } +/* after the line, start the clothoid */ static void start_clitoid(struct trajectory *traj) { double Aa = traj->target.line.Aa; @@ -975,12 +999,14 @@ static void start_clitoid(struct trajectory *traj) double d; delete_event(traj); + DEBUG(E_TRAJECTORY, "%s() Va=%2.2f Aa=%2.2f", + __FUNCTION__, Va, Aa); traj->state = RUNNING_CLITOID_CURVE; - set_quadramp_acc(traj, Aa, Aa); - set_quadramp_speed(traj, Va, Va); - d = R_mm * a_rad; - d *= 2.; /* margin to avoid deceleration */ + d = fabs(R_mm * a_rad); + d *= 3.; /* margin to avoid deceleration */ trajectory_d_a_rel(traj, d, DEG(a_rad)); + set_quadramp_acc(traj, traj->d_acc, Aa); + set_quadramp_speed(traj, traj->d_speed, Va); } @@ -1010,11 +1036,12 @@ static void start_clitoid(struct trajectory *traj) int8_t trajectory_clitoid(struct trajectory *traj, double x, double y, double a, double advance, double alpha_deg, double beta_deg, double R_mm, - double Vd, double d_inter_mm) + double d_inter_mm) { - double remain = 0, Aa = 0, Va = 0; + double remain = 0, Aa = 0, Va = 0, Vd; double turnx, turny; + Vd = traj->d_speed; if (calc_clitoid(traj, x, y, a, alpha_deg, beta_deg, R_mm, Vd, traj->a_acc, d_inter_mm, &Aa, &Va, &remain) < 0) @@ -1029,6 +1056,9 @@ int8_t trajectory_clitoid(struct trajectory *traj, traj->target.line.R = R_mm; traj->target.line.turn_pt.x = turnx; traj->target.line.turn_pt.y = turny; + DEBUG(E_TRAJECTORY, "%s() turn_pt=%2.2f,%2.2f", + __FUNCTION__, turnx, turny); + __trajectory_line_abs(traj, x, y, turnx, turny, advance); traj->state = RUNNING_CLITOID_LINE;