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=f5e0add261f5e221f8863fe7deb15e2db3c8e5a9;hb=6a52faca525c864950204424e699c15b23137a51;hpb=450875fb3d6f1f6966e1b0f79af0572126eea3d3;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 f5e0add..85b2e57 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -504,17 +504,12 @@ void trajectory_manager_circle_event(struct trajectory *traj)
 	int32_t delta_d, delta_a;
 	double coef_deriv = traj->circle_coef;
 	double new_radius;
-	double new_angle;
 	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;
-	*/
-	delta_a = q_a->previous_var;
-	delta_d = q_d->previous_var;
 
 	/* step 1 : process new commands to quadramps */
 
@@ -525,7 +520,6 @@ void trajectory_manager_circle_event(struct trajectory *traj)
 	vect2_cart2pol(&v2cart_pos, &v2pol_target);
 	v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
 
-#if 0
 	/* 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)
@@ -575,53 +569,6 @@ void trajectory_manager_circle_event(struct trajectory *traj)
 			      (traj->position->phys.track_mm) / 2.0);
 	a_consign += rs_get_angle(traj->robot);
 
-#endif
-
-	d_speed/=100;
-	if (d_speed > v2pol_target.r)
-		d_speed = v2pol_target.r/2;
-	if (d_speed == 0)
-		d_speed = v2pol_target.r/2;
-	new_angle = (d_speed * d_speed);
-	new_angle += (v2pol_target.r * v2pol_target.r);
-	new_angle -= (traj->target.circle.radius * traj->target.circle.radius);
-	new_angle /= 2 * d_speed * v2pol_target.r;
-
-	printf("robot %f %f dspeed %d polr %f pola %f cnewa %f\n",
-	       x, y,
-	       d_speed,
-	       v2pol_target.r, v2pol_target.theta * 180 / M_PI,
-	       new_angle);
-
-	if (new_angle < -1)
-		new_angle = -1;
-
-	if (new_angle > 1)
-		new_angle = 1;
-
-
-	new_angle = acos(new_angle);
-	printf("new_a: %f\n", new_angle*180/M_PI);
-
-	new_angle = v2pol_target.theta - new_angle;
-	a_consign = (int32_t)(new_angle *
-			      (traj->position->phys.distance_imp_per_mm) *
-			      (traj->position->phys.track_mm) / 2.0);
-	a_consign += rs_get_angle(traj->robot);
-
-
-	/* XXX check flags */
-	d_consign = 40000 + rs_get_distance(traj->robot);
-
-
-
-
-
-
-
-
-
-
 	/* step 2 : update state, or delete event if we reached the
 	 * destination */