#
-# Automatically generated by make menuconfig: don't edit
+# Automatically generated make config: don't edit
#
#
#
# Base modules
#
+
+#
+# Enable math library in generation options to see all modules
+#
CONFIG_MODULE_CIRBUF=y
# CONFIG_MODULE_CIRBUF_LARGE is not set
CONFIG_MODULE_FIXED_POINT=y
#
# 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_ENCODERS_SPI_CREATE_CONFIG=y
#
-# Robot specific modules
+# Robot specific modules (fixed point lib may be needed)
#
CONFIG_MODULE_ROBOT_SYSTEM=y
+# CONFIG_MODULE_ROBOT_SYSTEM_USE_F64 is not set
# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
CONFIG_MODULE_POSITION_MANAGER=y
CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE=y
# Control system modules
#
CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y
+
+#
+# Filters
+#
CONFIG_MODULE_PID=y
# CONFIG_MODULE_PID_CREATE_CONFIG is not set
# CONFIG_MODULE_RAMP 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
#
+
+#
+# Crypto modules depend on utils module
+#
# CONFIG_MODULE_AES is not set
# CONFIG_MODULE_AES_CTR is not set
# CONFIG_MODULE_MD5 is not set
#
# Encodings modules
#
+
+#
+# Encoding modules depend on utils module
+#
# CONFIG_MODULE_BASE64 is not set
# CONFIG_MODULE_HAMMING is not set
#
# Debug modules
#
+
+#
+# Debug modules depend on utils module
+#
CONFIG_MODULE_DIAGNOSTIC=y
CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG=y
CONFIG_MODULE_ERROR=y
#endif
/**********************************************************/
-/* Test */
+/* Circle_Radius */
-/* this structure is filled when cmd_test is parsed successfully */
-struct cmd_test_result {
+/* this structure is filled when cmd_circle_radius is parsed successfully */
+struct cmd_circle_radius_result {
fixed_string_t arg0;
int32_t radius;
};
double radius_mm,
double *speed_d,
double *speed_a);
-/* function called when cmd_test is parsed successfully */
-static void cmd_test_parsed(void *parsed_result, void *data)
+/* function called when cmd_circle_radius is parsed successfully */
+static void cmd_circle_radius_parsed(void *parsed_result, void *data)
{
- struct cmd_test_result *res = parsed_result;
+ struct cmd_circle_radius_result *res = parsed_result;
double d,a;
strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
printf_P(PSTR("d=%2.2f a=%2.2f\r\n"), d, a);
}
+prog_char str_circle_radius_arg0[] = "circle_radius";
+parse_pgm_token_string_t cmd_circle_radius_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_circle_radius_result, arg0, str_circle_radius_arg0);
+parse_pgm_token_num_t cmd_circle_radius_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_circle_radius_result, radius, INT32);
+
+prog_char help_circle_radius[] = "Circle_Radius function";
+parse_pgm_inst_t cmd_circle_radius = {
+ .f = cmd_circle_radius_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_circle_radius,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_circle_radius_arg0,
+ (prog_void *)&cmd_circle_radius_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Test */
+
+/* this structure is filled when cmd_test is parsed successfully */
+struct cmd_test_result {
+ fixed_string_t arg0;
+ uint32_t mask;
+};
+
+extern uint32_t encmask;
+
+/* function called when cmd_test is parsed successfully */
+static void cmd_test_parsed(void *parsed_result, void *data)
+{
+ struct cmd_test_result *res = parsed_result;
+ encmask = res->mask;
+}
+
prog_char str_test_arg0[] = "test";
parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
-parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
+parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, mask, UINT32);
prog_char help_test[] = "Test function";
parse_pgm_inst_t cmd_test = {
RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
}
printf_P(PSTR("rs_gains set "));
- f64_print(mainboard.rs.left_ext_gain);
+ //f64_print(mainboard.rs.left_ext_gain);
printf_P(PSTR(" "));
- f64_print(mainboard.rs.right_ext_gain);
+ //f64_print(mainboard.rs.right_ext_gain);
printf_P(PSTR("\r\n"));
}
cs_get_out(cs));
}
+uint32_t encmask = 0xFFFFFFFF;
+int32_t my_encoders_get_value(void *enc)
+{
+ int32_t tmp = encoders_spi_get_value(enc);
+ return tmp & encmask;
+}
+
void dump_pid(const char *name, struct pid_filter *pid)
{
printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
/* increase gain to decrease dist, increase left and it will turn more left */
- rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ rs_set_left_ext_encoder(&mainboard.rs, my_encoders_get_value,
LEFT_ENCODER, IMP_COEF * 1.0015);
- rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ rs_set_right_ext_encoder(&mainboard.rs, my_encoders_get_value,
RIGHT_ENCODER, IMP_COEF * -1.006);
/* rs will use external encoders */
rs_set_flags(&mainboard.rs, RS_USE_EXT);
return a;
}
-/** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] */
-double simple_modulo_2pi(double a)
-{
- if (a < -M_PI) {
- a += M_2PI;
- }
- else if (a > M_PI) {
- a -= M_2PI;
- }
- return a;
-}
-
/* return the distance to a point in the area */
int16_t angle_abs_to_rel(int16_t a_abs)
{
int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
int16_t distance_from_robot(int16_t x, int16_t y);
int16_t simple_modulo_360(int16_t a);
-double simple_modulo_2pi(double a);
int16_t angle_abs_to_rel(int16_t a_abs);
void rel_da_to_abs_xy(double d_rel, double a_rel_rad, double *x_abs, double *y_abs);
double norm(double x, double y);
git.droids-corp.org / aversive.git / commitdiff