# CONFIG_MCU_ATMEGA645 is not set
# CONFIG_MCU_ATMEGA6450 is not set
CONFIG_MCU_ATMEGA128=y
+# CONFIG_MCU_ATMEGA1281 is not set
# CONFIG_MCU_AT90CAN128 is not set
# CONFIG_MCU_AT94K is not set
# CONFIG_MCU_AT90S1200 is not set
+# CONFIG_MCU_ATMEGA2560 is not set
+# CONFIG_MCU_ATMEGA256 is not set
CONFIG_QUARTZ=16000000
#
CONFIG_OPTM_S=y
CONFIG_MATH_LIB=y
# CONFIG_FDEVOPEN_COMPAT is not set
+# CONFIG_NO_PRINTF is not set
# CONFIG_MINIMAL_PRINTF is not set
# CONFIG_STANDARD_PRINTF is not set
CONFIG_ADVANCED_PRINTF=y
# CONFIG_MODULE_CIRBUF_LARGE is not set
CONFIG_MODULE_FIXED_POINT=y
# CONFIG_MODULE_VECT2 is not set
+# CONFIG_MODULE_GEOMETRY is not set
# CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_STATS is not set
# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
CONFIG_MODULE_SCHEDULER_TIMER0=y
# CONFIG_MODULE_SCHEDULER_MANUAL is not set
# CONFIG_MODULE_TIME is not set
# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIME_EXT is not set
+# CONFIG_MODULE_TIME_EXT_CREATE_CONFIG is not set
#
# Communication modules
# uart needs circular buffer, mf2 client may need scheduler
#
CONFIG_MODULE_UART=y
+# CONFIG_MODULE_UART_9BITS is not set
CONFIG_MODULE_UART_CREATE_CONFIG=y
+# CONFIG_MODULE_SPI is not set
+# CONFIG_MODULE_SPI_CREATE_CONFIG is not set
# CONFIG_MODULE_I2C is not set
# CONFIG_MODULE_I2C_MASTER is not set
# CONFIG_MODULE_I2C_MULTIMASTER is not set
# CONFIG_MODULE_TIMER_DYNAMIC is not set
# CONFIG_MODULE_PWM is not set
# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_PWM_NG is not set
# CONFIG_MODULE_ADC is not set
# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
# CONFIG_MODULE_RDLINE_KILL_BUF is not set
# CONFIG_MODULE_RDLINE_HISTORY is not set
# CONFIG_MODULE_PARSE is not set
+# CONFIG_MODULE_PARSE_NO_FLOAT is not set
#
# External devices modules
# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
# CONFIG_MODULE_MULTISERVO is not set
# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+# CONFIG_MODULE_AX12 is not set
+# CONFIG_MODULE_AX12_CREATE_CONFIG is not set
#
# Brushless motor drivers (you should enable pwm modules to see all)
# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
#
-# Encoders
+# Encoders (you need comm/spi for encoders_spi)
#
# CONFIG_MODULE_ENCODERS_MICROB is not set
# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
# CONFIG_MODULE_ENCODERS_EIRBOT is not set
# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_SPI is not set
+# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
#
-# Robot specific modules
+# Robot specific modules (fixed point lib may be needed)
#
# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_USE_F64 is not set
# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set
# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG is not set
#
# Control system modules
# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
# CONFIG_MODULE_BIQUAD is not set
+#
+# Radio devices
+#
+
+#
+# Some radio devices require SPI to be activated
+#
+# CONFIG_MODULE_CC2420 is not set
+# CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
+
#
# Crypto modules
#
# CONFIG_AVRDUDE_PROG_BSD is not set
# CONFIG_AVRDUDE_PROG_DAPA is not set
# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+# CONFIG_AVRDUDE_PROG_AVR109 is not set
CONFIG_AVRDUDE_PORT="/dev/parport0"
+CONFIG_AVRDUDE_BAUDRATE=19200
#
# Avarice
CONFIG_AVARICE_DEBUG_PORT=1234
CONFIG_AVARICE_PROG_MKI=y
# CONFIG_AVARICE_PROG_MKII is not set
+# CONFIG_AVRDUDE_CHECK_SIGNATURE is not set
RUNNING_CIRCLE,
};
+struct circle_target {
+ vect2_cart center; /**< center of the circle */
+ double radius; /**< radius of the circle */
+ int32_t dest_angle; /**< dst angle in inc */
+
+#define TRIGO 1 /* rotation is counterclockwise */
+#define FORWARD 2 /* go forward or backward */
+ uint8_t flags; /**< flags for this trajectory */
+};
struct trajectory {
enum trajectory_state state; /*<< describe the type of target, and if we reached the target */
union {
vect2_cart cart; /**<< target, if it is a x,y vector */
struct rs_polar pol; /**<< target, if it is a d,a vector */
+ struct circle_target circle; /**<< target, if it is a circle */
} target;
double d_win; /**<< distance window (for END_NEAR) */
/** go forward to a x,y relative point, using a trajectory event */
void trajectory_goto_xy_rel(struct trajectory *traj, double x_rel_mm, double y_rel_mm);
+/** make the robot orbiting around (x,y) on a circle whose radius is
+ * radius_mm, and exit when relative destination angle is reached. The
+ * flags set if we go forward or backwards, and CW/CCW. */
+void trajectory_circle_rel(struct trajectory *traj, double x, double y,
+ double radius_mm, double rel_a_deg, uint8_t flags);
+
#endif //TRAJECTORY_MANAGER
#define RESET_D 4
#define RESET_A 8
+static uint8_t evt_debug_cpt = 0;
+#define EVT_DEBUG(args...) do { \
+ if (((evt_debug_cpt ++) & 0x07) == 0) { \
+ DEBUG(args); \
+ } \
+ } while (0)
+
+
/**
* update angle and/or distance
* this function is not called directly by the user
case RUNNING_XY_B_ANGLE_OK:
/* process the command vector from current position to
- * absolute target, or to the center of the circle. */
+ * absolute target. */
v2cart_pos.x = traj->target.cart.x - x;
v2cart_pos.y = traj->target.cart.y - y;
vect2_cart2pol(&v2cart_pos, &v2pol_target);
q_a = traj->csm_angle->consign_filter_params;
/* if d_speed is not 0, we are in start_angle_win */
if (get_quadramp_distance_speed(traj)) {
- if(is_robot_in_xy_window(traj, traj->d_win)) {
+ if (is_robot_in_xy_window(traj, traj->d_win)) {
delete_event(traj);
}
/* ANGLE -> ANGLE_OK */
case RUNNING_XY_F_ANGLE_OK:
case RUNNING_XY_B_ANGLE_OK:
/* If we reached the destination */
- if(is_robot_in_xy_window(traj, traj->d_win)) {
+ if (is_robot_in_xy_window(traj, traj->d_win)) {
delete_event(traj);
}
break;
/* step 3 : send the processed commands to cs */
- DEBUG(E_TRAJECTORY, "EVENT XY cur=(%f,%f,%f) cart=(%f,%f) pol=(%f,%f)",
- x, y, a, v2cart_pos.x, v2cart_pos.y, v2pol_target.r, v2pol_target.theta);
-
- DEBUG(E_TRAJECTORY,"d_cur=%" PRIi32 ", d_consign=%" PRIi32 ", d_speed=%" PRIi32 ", "
+ EVT_DEBUG(E_TRAJECTORY,"EVENT XY d_cur=%" PRIi32 ", d_consign=%" PRIi32 ", d_speed=%" PRIi32 ", "
"a_cur=%" PRIi32 ", a_consign=%" PRIi32 ", a_speed=%" PRIi32,
rs_get_distance(traj->robot), d_consign, get_quadramp_distance_speed(traj),
rs_get_angle(traj->robot), a_consign, get_quadramp_angle_speed(traj));
}
/* trajectory event for circles */
+/* XXX static */
void trajectory_manager_circle_event(struct trajectory *traj)
{
-#if 0
+ double coef = 1.0;
double x = position_get_x_double(traj->position);
double y = position_get_y_double(traj->position);
double a = position_get_a_rad_double(traj->position);
- int32_t d_consign=0, a_consign=0;
-#endif
+ int32_t d_consign = 0, a_consign = 0;
+ double angle_to_center_rad;
+
+ /* These vectors contain target position of the robot in
+ * its own coordinates */
+ vect2_cart v2cart_pos;
+ vect2_pol v2pol_target;
+
+ /* step 1 : process new commands to quadramps */
+
+ /* process the command vector from current position to the
+ * center of the circle. */
+ v2cart_pos.x = traj->target.circle.center.x - x;
+ v2cart_pos.y = traj->target.circle.center.y - y;
+ vect2_cart2pol(&v2cart_pos, &v2pol_target);
+ v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
+
+ /* wanted direction of center of circle:
+ * if we are far, go in the center direction,
+ * if we are at radius, we want to see the center at 90°
+ * if we are nearer than radius, angle to center is > 90° */
+ if (v2pol_target.r > traj->target.circle.radius * 2)
+ angle_to_center_rad = 0;
+ else {
+ angle_to_center_rad = 1. - (v2pol_target.r /
+ (2 * traj->target.circle.radius));
+ angle_to_center_rad *= M_PI;
+ }
+
+ /* XXX check flags */
+ v2pol_target.theta -= angle_to_center_rad;
+
+ /* If the robot is correctly oriented to start moving in distance */
+ /* here limit dist speed depending on v2pol_target.theta */
+ if (ABS(v2pol_target.theta) > traj->a_start_rad)
+ set_quadramp_speed(traj, 0, traj->a_speed);
+ else {
+ coef = (traj->a_start_rad - ABS(v2pol_target.theta)) / traj->a_start_rad;
+ set_quadramp_speed(traj, traj->d_speed * coef, traj->a_speed);
+ }
+
+ /* XXX check flags */
+ d_consign = 40000 + rs_get_distance(traj->robot);
+
+ /* angle consign */
+ a_consign = (int32_t)(v2pol_target.theta *
+ (traj->position->phys.distance_imp_per_mm) *
+ (traj->position->phys.track_mm) / 2.0);
+ a_consign += rs_get_angle(traj->robot);
+
+ /* step 2 : update state, or delete event if we reached the
+ * destination */
+
+ /* output angle -> delete event */
+ if (a_consign >= traj->target.circle.dest_angle) {
+ a_consign = traj->target.circle.dest_angle;
+ delete_event(traj);
+ }
+
+ /* step 3 : send the processed commands to cs */
+
+ EVT_DEBUG(E_TRAJECTORY,"EVENT CIRCLE d_cur=%" PRIi32 ", d_consign=%" PRIi32
+ ", d_speed=%" PRIi32 ", a_cur=%" PRIi32 ", a_consign=%" PRIi32
+ ", a_speed=%" PRIi32,
+ rs_get_distance(traj->robot), d_consign, get_quadramp_distance_speed(traj),
+ rs_get_angle(traj->robot), a_consign, get_quadramp_angle_speed(traj));
+
+ cs_set_consign(traj->csm_angle, a_consign);
+ cs_set_consign(traj->csm_distance, d_consign);
}
/* trajectory event */
/*********** *CIRCLE */
+/* make the robot orbiting around (x,y) on a circle whose radius is
+ * radius_mm, and exit when relative destination angle is reached. The
+ * flags set if we go forward or backwards, and CW/CCW. */
+void trajectory_circle_rel(struct trajectory *traj,
+ double x, double y,
+ double radius_mm,
+ double rel_a_deg,
+ uint8_t flags)
+{
+ double dst_angle;
+
+ delete_event(traj);
+
+ traj->target.circle.center.x = x;
+ traj->target.circle.center.y = y;
+ traj->target.circle.radius = radius_mm;
+ traj->target.circle.flags = flags;
+
+ /* convert in steps */
+ dst_angle = RAD(rel_a_deg) *
+ (traj->position->phys.distance_imp_per_mm) *
+ (traj->position->phys.track_mm) / 2.0;
+
+ traj->target.circle.dest_angle = rs_get_angle(traj->robot);
+ traj->target.circle.dest_angle += dst_angle;
+
+ DEBUG(E_TRAJECTORY, "Circle rel (x,y)=%2.2f,%2.2f r=%2.2f flags=%x dst_angle=%"PRIi32"",
+ x, y, radius_mm, flags, traj->target.circle.dest_angle);
+
+ traj->state = RUNNING_CIRCLE;
+ trajectory_manager_event(traj);
+ schedule_event(traj);
+}
+
/*
* Compute the fastest distance and angle speeds matching the radius
* from current traj_speed
extern parse_pgm_inst_t cmd_goto1;
extern parse_pgm_inst_t cmd_goto2;
extern parse_pgm_inst_t cmd_goto3;
+extern parse_pgm_inst_t cmd_goto4;
extern parse_pgm_inst_t cmd_position;
extern parse_pgm_inst_t cmd_position_set;
extern parse_pgm_inst_t cmd_strat_infos;
(parse_pgm_inst_t *)&cmd_pt_list_show,
(parse_pgm_inst_t *)&cmd_goto1,
(parse_pgm_inst_t *)&cmd_goto2,
+ (parse_pgm_inst_t *)&cmd_goto4,
(parse_pgm_inst_t *)&cmd_position,
(parse_pgm_inst_t *)&cmd_position_set,
(parse_pgm_inst_t *)&cmd_strat_infos,
int32_t arg2;
int32_t arg3;
int32_t arg4;
+ int32_t arg5;
};
/* function called when cmd_goto is parsed successfully */
else if (!strcmp_P(res->arg1, PSTR("da_rel"))) {
trajectory_d_a_rel(&mainboard.traj, res->arg2, res->arg3);
}
+ else if (!strcmp_P(res->arg1, PSTR("circle_rel"))) {
+ trajectory_circle_rel(&mainboard.traj, res->arg2, res->arg3,
+ res->arg4, res->arg5, 0);
+ return; /* XXX */
+ }
t1 = time_get_us2();
while ((err = test_traj_end(0xFF)) == 0) {
t2 = time_get_us2();
},
};
+prog_char str_goto_arg1_c[] = "circle_rel";
+parse_pgm_token_string_t cmd_goto_arg1_c = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_c);
+parse_pgm_token_num_t cmd_goto_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg4, INT32);
+parse_pgm_token_num_t cmd_goto_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg5, INT32);
+
+/* 4 params */
+prog_char help_goto4[] = "Do a circle: (x,y, radius, angle)";
+parse_pgm_inst_t cmd_goto4 = {
+ .f = cmd_goto_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_goto4,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_goto_arg0,
+ (prog_void *)&cmd_goto_arg1_c,
+ (prog_void *)&cmd_goto_arg2,
+ (prog_void *)&cmd_goto_arg3,
+ (prog_void *)&cmd_goto_arg4,
+ (prog_void *)&cmd_goto_arg5,
+ NULL,
+ },
+};
+
/**********************************************************/
/* Position tests */
git.droids-corp.org / aversive.git / commitdiff