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>
40 #include <control_system_manager.h>
41 #include <trajectory_manager.h>
42 #include <blocking_detection_manager.h>
43 #include <robot_system.h>
44 #include <position_manager.h>
50 #include "strat_utils.h"
53 static int32_t l_pwm, r_pwm;
54 static int32_t l_enc, r_enc;
60 #define FILTER2 (100-FILTER)
63 void robotsim_dump(void)
68 len = snprintf(buf, sizeof(buf), "%d %d %d\n",
69 position_get_x_s16(&mainboard.pos),
70 position_get_y_s16(&mainboard.pos),
71 position_get_a_deg_s16(&mainboard.pos));
77 /* must be called periodically */
78 void robotsim_update(void)
80 static int32_t l_pwm_shift[SHIFT];
81 static int32_t r_pwm_shift[SHIFT];
82 static int32_t l_speed, r_speed;
83 static unsigned i = 0;
84 static unsigned cpt = 0;
85 int32_t local_l_pwm, local_r_pwm;
86 double x, y, a, a2, d;
89 /* corners of the robot */
90 double xfl, yfl; /* front left */
91 double xrl, yrl; /* rear left */
92 double xrr, yrr; /* rear right */
93 double xfr, yfr; /* front right */
95 /* time shift the command */
96 l_pwm_shift[i] = l_pwm;
97 r_pwm_shift[i] = r_pwm;
100 local_l_pwm = l_pwm_shift[i];
101 local_r_pwm = r_pwm_shift[i];
104 if (((cpt ++) & 0x7) == 0) {
105 if (read(fdr, &cmd, 1) != 1)
109 x = position_get_x_double(&mainboard.pos);
110 y = position_get_y_double(&mainboard.pos);
111 a = position_get_a_rad_double(&mainboard.pos);
113 l_speed = ((l_speed * FILTER) / 100) +
114 ((local_l_pwm * 1000 * FILTER2)/1000);
115 r_speed = ((r_speed * FILTER) / 100) +
116 ((local_r_pwm * 1000 * FILTER2)/1000);
118 /* basic collision detection */
119 a2 = atan2(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
120 d = norm(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
122 xfl = x + cos(a+a2) * d;
123 yfl = y + sin(a+a2) * d;
124 if (!is_in_area(xfl, yfl, 0) && l_speed > 0)
127 xrl = x + cos(a+M_PI-a2) * d;
128 yrl = y + sin(a+M_PI-a2) * d;
129 if (!is_in_area(xrl, yrl, 0) && l_speed < 0)
132 xrr = x + cos(a+M_PI+a2) * d;
133 yrr = y + sin(a+M_PI+a2) * d;
134 if (!is_in_area(xrr, yrr, 0) && r_speed < 0)
137 xfr = x + cos(a-a2) * d;
138 yfr = y + sin(a-a2) * d;
139 if (!is_in_area(xfr, yfr, 0) && r_speed > 0)
144 l_enc += 5000; /* push 1 cm */
146 r_enc += 5000; /* push 1 cm */
148 /* XXX should lock */
149 l_enc += (l_speed / 1000);
150 r_enc += (r_speed / 1000);
153 void robotsim_pwm(void *arg, int32_t val)
155 // printf("%p, %d\n", arg, val);
158 else if (arg == RIGHT_PWM)
162 int32_t robotsim_encoder_get(void *arg)
164 if (arg == LEFT_ENCODER)
166 else if (arg == RIGHT_ENCODER)
171 int robotsim_init(void)
173 mkfifo("/tmp/.robot_sim2dis", 0600);
174 mkfifo("/tmp/.robot_dis2sim", 0600);
175 fdw = open("/tmp/.robot_sim2dis", O_WRONLY, 0);
178 fdr = open("/tmp/.robot_dis2sim", O_RDONLY | O_NONBLOCK, 0);