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 $
25 #include <sys/types.h>
31 #include <aversive/error.h>
34 #include <scheduler.h>
39 #include <control_system_manager.h>
40 #include <trajectory_manager.h>
41 #include <blocking_detection_manager.h>
42 #include <robot_system.h>
43 #include <position_manager.h>
49 #include "strat_utils.h"
52 static int32_t l_pwm, r_pwm;
53 static int32_t l_enc, r_enc;
59 #define FILTER2 (100-FILTER)
61 /* must be called periodically */
62 void robotsim_update(void)
64 static int32_t l_speed, r_speed;
65 double x, y, a, a2, d;
67 /* corners of the robot */
68 double xfl, yfl; /* front left */
69 double xrl, yrl; /* rear left */
70 double xrr, yrr; /* rear right */
71 double xfr, yfr; /* front right */
73 x = position_get_x_double(&mainboard.pos);
74 y = position_get_y_double(&mainboard.pos);
75 a = position_get_a_rad_double(&mainboard.pos);
77 l_speed = ((l_speed * FILTER) / 100) + ((l_pwm * 1000 * FILTER2)/1000);
78 r_speed = ((r_speed * FILTER) / 100) + ((r_pwm * 1000 * FILTER2)/1000);
80 /* basic collision detection */
81 a2 = atan2(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
82 d = norm(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
84 xfl = x + cos(a+a2) * d;
85 yfl = y + sin(a+a2) * d;
86 if (!is_in_area(xfl, yfl, 0) && l_speed > 0)
89 xrl = x + cos(a+M_PI-a2) * d;
90 yrl = y + sin(a+M_PI-a2) * d;
91 if (!is_in_area(xrl, yrl, 0) && l_speed < 0)
94 xrr = x + cos(a+M_PI+a2) * d;
95 yrr = y + sin(a+M_PI+a2) * d;
96 if (!is_in_area(xrr, yrr, 0) && r_speed < 0)
99 xfr = x + cos(a-a2) * d;
100 yfr = y + sin(a-a2) * d;
101 if (!is_in_area(xfr, yfr, 0) && r_speed > 0)
104 /* XXX should lock */
105 l_enc += (l_speed / 1000);
106 r_enc += (r_speed / 1000);
109 void robotsim_dump(void)
114 len =snprintf(buf, sizeof(buf), "%d %d %d\n",
115 position_get_x_s16(&mainboard.pos),
116 position_get_y_s16(&mainboard.pos),
117 position_get_a_deg_s16(&mainboard.pos));
121 void robotsim_pwm(void *arg, int32_t val)
123 // printf("%p, %d\n", arg, val);
126 else if (arg == RIGHT_PWM)
130 int32_t robotsim_encoder_get(void *arg)
132 if (arg == LEFT_ENCODER)
134 else if (arg == RIGHT_ENCODER)
139 int robotsim_init(void)
141 mkfifo("/tmp/.robot", 0600);
142 fd = open("/tmp/.robot", O_WRONLY, 0);