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=85b2e576f24f7b4687fbf61ab8a884175667810a;hp=cc2a58af368ea9df97bf4597c99f1ea53a5c1842;hb=e0908eab4d4b00cf19083f91a9921b3e8d0cae63;hpb=966d2c97e5fda37297568c5e8ed66271e986bcdd;ds=sidebyside

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index cc2a58a..85b2e57 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -485,12 +485,32 @@ void trajectory_manager_circle_event(struct trajectory *traj)
 	double a = position_get_a_rad_double(traj->position);
 	int32_t d_consign = 0, a_consign = 0;
 	double angle_to_center_rad;
+	static int32_t d_prev, a_prev;
+	int32_t d_speed, a_speed;
+	int32_t d_pos, a_pos;
+
+	d_pos = rs_get_distance(traj->robot);
+	a_pos = rs_get_angle(traj->robot);
+	d_speed = d_pos - d_prev;
+	a_speed = a_pos - a_prev;
+	d_prev = d_pos;
+	a_prev = a_pos;
 
 	/* These vectors contain target position of the robot in
 	 * its own coordinates */
 	vect2_cart v2cart_pos;
 	vect2_pol v2pol_target;
 
+	int32_t delta_d, delta_a;
+	double coef_deriv = traj->circle_coef;
+	double new_radius;
+	struct  quadramp_filter * q_d, * q_a;
+
+	q_d = traj->csm_distance->consign_filter_params;
+	q_a = traj->csm_angle->consign_filter_params;
+	delta_a = a_speed;//q_a->previous_var;
+	delta_d = d_speed;//q_d->previous_var;
+
 	/* step 1 : process new commands to quadramps */
 
 	/* process the command vector from current position to the
@@ -500,17 +520,31 @@ void trajectory_manager_circle_event(struct trajectory *traj)
 	vect2_cart2pol(&v2cart_pos, &v2pol_target);
 	v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
 
+	/* pas trop mal, mais oscille */
+	//new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv;
+	if (v2pol_target.r > traj->target.circle.radius/2)
+		new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv * traj->target.circle.radius / v2pol_target.r;
+	else
+		new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv ;
+
+	/* oscille a mort */
+	//new_radius = traj->target.circle.radius - traj->target.circle.radius   * delta_a * delta_a * coef_deriv;
+
+	/* ? */
+	//new_radius = traj->target.circle.radius - traj->target.circle.radius   * delta_a * coef_deriv;
+
+
 	/* wanted direction of center of circle:
 	 * if we are far, go in the center direction,
 	 * if we are at radius, we want to see the center at 90°
 	 * if we are nearer than radius, angle to center is > 90° */
-	if (v2pol_target.r > traj->target.circle.radius) {
-		angle_to_center_rad = traj->target.circle.radius / v2pol_target.r;
+	if (v2pol_target.r > new_radius) {
+		angle_to_center_rad = new_radius / v2pol_target.r;
 		angle_to_center_rad *= (M_PI / 2);
 	}
 	else {
 		angle_to_center_rad = 1. - (v2pol_target.r /
-					    (2 * traj->target.circle.radius));
+					    (2 * new_radius));
 		angle_to_center_rad *= M_PI;
 	}
 
@@ -548,9 +582,10 @@ void trajectory_manager_circle_event(struct trajectory *traj)
 
 	EVT_DEBUG(E_TRAJECTORY,"EVENT CIRCLE d_cur=%" PRIi32 ", d_consign=%" PRIi32
 		  ", d_speed=%" PRIi32 ", a_cur=%" PRIi32 ", a_consign=%" PRIi32
-		  ", a_speed=%" PRIi32,
-	      rs_get_distance(traj->robot), d_consign, get_quadramp_distance_speed(traj),
-	      rs_get_angle(traj->robot), a_consign, get_quadramp_angle_speed(traj));
+		  ", a_speed=%" PRIi32 "radius = %f",
+		  rs_get_distance(traj->robot), d_consign, get_quadramp_distance_speed(traj),
+		  rs_get_angle(traj->robot), a_consign, get_quadramp_angle_speed(traj),
+		  new_radius);
 
 	cs_set_consign(traj->csm_angle, a_consign);
 	cs_set_consign(traj->csm_distance, d_consign);