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=e3afa27c91c45469530a08a2a5f16bee9f09b146;hp=5197300791efbb25b73229f049ea53c969fef8b8;hb=580718729e72aa18b9e247b8647b188ee195eabf;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index 5197300..e3afa27 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -186,16 +186,21 @@ void trajectory_d_a_rel(struct trajectory *traj, double d_mm, double a_deg)
 /** set relative angle and distance consign to 0 */
 void trajectory_stop(struct trajectory *traj)
 {
+	DEBUG(E_TRAJECTORY, "stop");
 	__trajectory_goto_d_a_rel(traj, 0, 0, READY,
 				  UPDATE_A | UPDATE_D | RESET_D | RESET_A);
 }
 
+#include <stackdump.h>
+
 /** set relative angle and distance consign to 0, and break any
  * deceleration ramp in quadramp filter */
 void trajectory_hardstop(struct trajectory *traj)
 {
 	struct quadramp_filter *q_d, *q_a;
 
+	DEBUG(E_TRAJECTORY, "hardstop");
+
 	q_d = traj->csm_distance->consign_filter_params;
 	q_a = traj->csm_angle->consign_filter_params;
 	__trajectory_goto_d_a_rel(traj, 0, 0, READY,
@@ -882,8 +887,8 @@ static int8_t calc_clitoid(struct trajectory *traj,
 	alpha_rad = RAD(alpha_deg);
 	beta_rad = RAD(beta_deg);
 	t = fabs(((alpha_rad - beta_rad) * R_mm) / Vd_mm_s);
-	DEBUG(E_TRAJECTORY, "R_mm=%2.2f alpha_rad=%2.2f beta_rad=%2.2f t=%2.2f",
-	      R_mm, alpha_rad, beta_rad, t);
+	DEBUG(E_TRAJECTORY, "R_mm=%2.2f a_rad=%2.2f alpha_rad=%2.2f beta_rad=%2.2f t=%2.2f",
+	      R_mm, a_rad, alpha_rad, beta_rad, t);
 
 	/* process the angular acceleration */
 	Aa_rd_s2 = Va_rd_s / t;
@@ -966,8 +971,14 @@ static int8_t calc_clitoid(struct trajectory *traj,
 	DEBUG(E_TRAJECTORY, "center=(%2.2f,%2.2f)", center.x, center.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;
+	if (alpha_rad < 0) {
+		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;
+	}
+	else {
+		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 */
@@ -998,15 +1009,15 @@ static void start_clitoid(struct trajectory *traj)
 	double R_mm = traj->target.line.R;
 	double d;
 
-	delete_event(traj);
 	DEBUG(E_TRAJECTORY, "%s() Va=%2.2f Aa=%2.2f",
 	      __FUNCTION__, Va, Aa);
-	traj->state = RUNNING_CLITOID_CURVE;
+	delete_event(traj);
 	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);
+	traj->state = RUNNING_CLITOID_CURVE;
 }
 
 
@@ -1020,7 +1031,7 @@ static void start_clitoid(struct trajectory *traj)
  * the function assumes that the initial linear speed is Vd and
  * angular speed is 0.
  *
- * - x,y,a: starting position
+ * - x,y,a_deg: starting position
  * - advance: parameter for line following
  * - alpha: total angle
  * - beta: circular part of angle (lower than alpha)
@@ -1034,22 +1045,25 @@ static void start_clitoid(struct trajectory *traj)
  * background.
  */
 int8_t trajectory_clitoid(struct trajectory *traj,
-			  double x, double y, double a, double advance,
+			  double x, double y, double a_deg, double advance,
 			  double alpha_deg, double beta_deg, double R_mm,
 			  double d_inter_mm)
 {
 	double remain = 0, Aa = 0, Va = 0, Vd;
 	double turnx, turny;
+	double a_rad = RAD(a_deg);
 
 	Vd = traj->d_speed;
-	if (calc_clitoid(traj, x, y, a, alpha_deg, beta_deg, R_mm,
+	if (calc_clitoid(traj, x, y, a_rad, alpha_deg, beta_deg, R_mm,
 			 Vd, traj->a_acc, d_inter_mm,
-			 &Aa, &Va, &remain) < 0)
+			 &Aa, &Va, &remain) < 0) {
+		DEBUG(E_TRAJECTORY, "%s() calc_clitoid returned an error");
 		return -1;
+	}
 
 	delete_event(traj);
-	turnx = x + cos(a) * remain;
-	turny = y + sin(a) * remain;
+	turnx = x + cos(a_rad) * remain;
+	turny = y + sin(a_rad) * remain;
 	traj->target.line.Aa = Aa;
 	traj->target.line.Va = Va;
 	traj->target.line.alpha = RAD(alpha_deg);