2 * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: main.c,v 1.9.4.5 2007-06-01 09:37:22 zer0 Exp $
27 #include <sys/types.h>
32 #include <aversive/error.h>
35 #include <scheduler.h>
42 #include <control_system_manager.h>
43 #include <trajectory_manager.h>
44 #include <blocking_detection_manager.h>
45 #include <robot_system.h>
46 #include <position_manager.h>
47 #include <trajectory_manager_utils.h>
52 #include "../common/i2c_commands.h"
54 #include "strat_utils.h"
57 static int32_t l_pwm, r_pwm;
58 static int32_t l_enc, r_enc;
64 * (gdb) handle SIGUSR1 pass
65 * Signal Stop Print Pass to program Description
66 * SIGUSR1 Yes Yes Yes User defined signal 1
67 * (gdb) handle SIGUSR2 pass
68 * Signal Stop Print Pass to program Description
69 * SIGUSR2 Yes Yes Yes User defined signal 2
70 * (gdb) handle SIGUSR1 noprint
71 * Signal Stop Print Pass to program Description
72 * SIGUSR1 No No Yes User defined signal 1
73 * (gdb) handle SIGUSR2 noprint
78 #define FILTER2 (100-FILTER)
81 void robotsim_dump(void)
87 x = position_get_x_s16(&mainboard.pos);
88 y = position_get_y_s16(&mainboard.pos);
89 a = position_get_a_deg_s16(&mainboard.pos);
93 len = snprintf(buf, sizeof(buf), "pos=%d,%d,%d\n",
101 robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
106 ballboard.mode = cmd->mode;
107 len = snprintf(buf, sizeof(buf), "ballboard=%d\n", cmd->mode);
109 write(fdw, buf, len);
115 robotsim_i2c_cobboard_set_spickles(uint8_t side, uint8_t flags)
120 if (side == I2C_LEFT_SIDE) {
121 if (cobboard.lspickle == flags)
124 cobboard.lspickle = flags;
126 if (side == I2C_RIGHT_SIDE) {
127 if (cobboard.rspickle == flags)
130 cobboard.rspickle = flags;
133 len = snprintf(buf, sizeof(buf), "cobboard=%d,%d\n", side, flags);
135 write(fdw, buf, len);
141 robotsim_i2c_ballboard(uint8_t addr, uint8_t *buf, uint8_t size)
143 void *void_cmd = buf;
146 case I2C_CMD_BALLBOARD_SET_MODE:
148 struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
149 robotsim_i2c_ballboard_set_mode(cmd);
160 robotsim_i2c_cobboard(uint8_t addr, uint8_t *buf, uint8_t size)
162 // void *void_cmd = buf;
166 case I2C_CMD_COBBOARD_SET_MODE:
168 struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
169 robotsim_i2c_cobboard_set_mode(cmd);
180 robotsim_i2c(uint8_t addr, uint8_t *buf, uint8_t size)
182 if (addr == I2C_BALLBOARD_ADDR)
183 return robotsim_i2c_ballboard(addr, buf, size);
184 else if (addr == I2C_COBBOARD_ADDR)
185 return robotsim_i2c_cobboard(addr, buf, size);
189 /* must be called periodically */
190 void robotsim_update(void)
192 static int32_t l_pwm_shift[SHIFT];
193 static int32_t r_pwm_shift[SHIFT];
194 static int32_t l_speed, r_speed;
195 static unsigned i = 0;
196 static unsigned cpt = 0;
199 int32_t local_l_pwm, local_r_pwm;
200 double x, y, a, a2, d;
202 int n, pertl = 0, pertr = 0;
204 /* corners of the robot */
205 double xfl, yfl; /* front left */
206 double xrl, yrl; /* rear left */
207 double xrr, yrr; /* rear right */
208 double xfr, yfr; /* front right */
213 /* time shift the command */
214 l_pwm_shift[i] = l_pwm;
215 r_pwm_shift[i] = r_pwm;
218 local_l_pwm = l_pwm_shift[i];
219 local_r_pwm = r_pwm_shift[i];
222 if (((cpt ++) & 0x7) == 0) {
223 n = read(fdr, &cmd, BUFSIZ - 1);
232 else if (cmd[0] == 'r')
235 if (sscanf(cmd, "opp %d %d", &oppx, &oppy) == 2) {
236 abs_xy_to_rel_da(oppx, oppy, &oppd, &oppa);
238 beaconboard.oppx = oppx;
239 beaconboard.oppy = oppy;
240 beaconboard.oppa = DEG(oppa);
241 if (beaconboard.oppa < 0)
242 beaconboard.oppa += 360;
243 beaconboard.oppd = oppd;
248 x = position_get_x_double(&mainboard.pos);
249 y = position_get_y_double(&mainboard.pos);
250 a = position_get_a_rad_double(&mainboard.pos);
252 l_speed = ((l_speed * FILTER) / 100) +
253 ((local_l_pwm * 1000 * FILTER2)/1000);
254 r_speed = ((r_speed * FILTER) / 100) +
255 ((local_r_pwm * 1000 * FILTER2)/1000);
257 /* basic collision detection */
258 a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
259 d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
261 xfl = x + cos(a+a2) * d;
262 yfl = y + sin(a+a2) * d;
263 if (!is_in_area(xfl, yfl, 0) && l_speed > 0)
266 xrl = x + cos(a+M_PI-a2) * d;
267 yrl = y + sin(a+M_PI-a2) * d;
268 if (!is_in_area(xrl, yrl, 0) && l_speed < 0)
271 xrr = x + cos(a+M_PI+a2) * d;
272 yrr = y + sin(a+M_PI+a2) * d;
273 if (!is_in_area(xrr, yrr, 0) && r_speed < 0)
276 xfr = x + cos(a-a2) * d;
277 yfr = y + sin(a-a2) * d;
278 if (!is_in_area(xfr, yfr, 0) && r_speed > 0)
282 l_enc += 5000; /* push 1 cm */
284 r_enc += 5000; /* push 1 cm */
286 /* XXX should lock */
287 l_enc += (l_speed / 1000);
288 r_enc += (r_speed / 1000);
291 void robotsim_pwm(void *arg, int32_t val)
293 // printf("%p, %d\n", arg, val);
295 l_pwm = (val / 1.55);
296 else if (arg == RIGHT_PWM)
297 r_pwm = (val / 1.55);
300 int32_t robotsim_encoder_get(void *arg)
302 if (arg == LEFT_ENCODER)
304 else if (arg == RIGHT_ENCODER)
309 int robotsim_init(void)
311 mkfifo("/tmp/.robot_sim2dis", 0600);
312 mkfifo("/tmp/.robot_dis2sim", 0600);
313 fdw = open("/tmp/.robot_sim2dis", O_WRONLY, 0);
316 fdr = open("/tmp/.robot_dis2sim", O_RDONLY | O_NONBLOCK, 0);