X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Frobotsim.c;fp=projects%2Fmicrob2010%2Fmainboard%2Frobotsim.c;h=15b107563e38e59085e6b8dbc40ab6f00d11e8b5;hp=0000000000000000000000000000000000000000;hb=ebfaaedd491e61696cc93b353471be15408d23e4;hpb=99768092f81d0e183b61682e832abd0263472d2d

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
new file mode 100644
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--- /dev/null
+++ b/projects/microb2010/mainboard/robotsim.c
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+/*  
+ *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ * 
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: main.c,v 1.9.4.5 2007-06-01 09:37:22 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <aversive.h>
+#include <aversive/error.h>
+
+#include <timer.h>
+#include <scheduler.h>
+#include <time.h>
+
+#include <ax12.h>
+#include <pwm_ng.h>
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <parse.h>
+#include <rdline.h>
+
+#include "strat.h"
+#include "strat_utils.h"
+#include "main.h"
+
+static int32_t l_pwm, r_pwm;
+static int32_t l_enc, r_enc;
+
+static int fdr, fdw;
+
+/* */
+#define FILTER  97
+#define FILTER2 (100-FILTER)
+#define SHIFT   4
+
+void robotsim_dump(void)
+{
+	char buf[BUFSIZ];
+	int len;
+
+	len = snprintf(buf, sizeof(buf), "%d %d %d\n",
+		      position_get_x_s16(&mainboard.pos),
+		      position_get_y_s16(&mainboard.pos),
+		      position_get_a_deg_s16(&mainboard.pos));
+	hostsim_lock();
+	write(fdw, buf, len);
+	hostsim_unlock();
+}
+
+/* must be called periodically */
+void robotsim_update(void)
+{
+	static int32_t l_pwm_shift[SHIFT];
+	static int32_t r_pwm_shift[SHIFT];
+	static int32_t l_speed, r_speed;
+	static unsigned i = 0;
+	static unsigned cpt = 0;
+	int32_t local_l_pwm, local_r_pwm;
+	double x, y, a, a2, d;
+	char cmd = 0;
+
+	/* corners of the robot */
+	double xfl, yfl; /* front left */
+	double xrl, yrl; /* rear left */
+	double xrr, yrr; /* rear right */
+	double xfr, yfr; /* front right */
+
+	/* time shift the command */
+	l_pwm_shift[i] = l_pwm;
+	r_pwm_shift[i] = r_pwm;
+	i ++;
+	i %= SHIFT;
+	local_l_pwm = l_pwm_shift[i];
+	local_r_pwm = r_pwm_shift[i];
+
+	/* read command */
+	if (((cpt ++) & 0x7) == 0) {
+		if (read(fdr, &cmd, 1) != 1)
+			cmd = 0;
+	}
+
+	x = position_get_x_double(&mainboard.pos);
+	y = position_get_y_double(&mainboard.pos);
+	a = position_get_a_rad_double(&mainboard.pos);
+
+	l_speed = ((l_speed * FILTER) / 100) +
+		((local_l_pwm * 1000 * FILTER2)/1000);
+	r_speed = ((r_speed * FILTER) / 100) +
+		((local_r_pwm * 1000 * FILTER2)/1000);
+
+	/* basic collision detection */
+	a2 = atan2(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
+	d = norm(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
+
+	xfl = x + cos(a+a2) * d;
+	yfl = y + sin(a+a2) * d;
+	if (!is_in_area(xfl, yfl, 0) && l_speed > 0)
+		l_speed = 0;
+
+	xrl = x + cos(a+M_PI-a2) * d;
+	yrl = y + sin(a+M_PI-a2) * d;
+	if (!is_in_area(xrl, yrl, 0) && l_speed < 0)
+		l_speed = 0;
+
+	xrr = x + cos(a+M_PI+a2) * d;
+	yrr = y + sin(a+M_PI+a2) * d;
+	if (!is_in_area(xrr, yrr, 0) && r_speed < 0)
+		r_speed = 0;
+
+	xfr = x + cos(a-a2) * d;
+	yfr = y + sin(a-a2) * d;
+	if (!is_in_area(xfr, yfr, 0) && r_speed > 0)
+		r_speed = 0;
+
+	/* perturbation */
+	if (cmd == 'l')
+		l_enc += 5000; /* push 1 cm */
+	if (cmd == 'r')
+		r_enc += 5000; /* push 1 cm */
+
+	/* XXX should lock */
+	l_enc += (l_speed / 1000);
+	r_enc += (r_speed / 1000);
+}
+
+void robotsim_pwm(void *arg, int32_t val)
+{
+	//	printf("%p, %d\n", arg, val);
+	if (arg == LEFT_PWM)
+		l_pwm = val;
+	else if (arg == RIGHT_PWM)
+		r_pwm = val;
+}
+
+int32_t robotsim_encoder_get(void *arg)
+{
+	if (arg == LEFT_ENCODER)
+		return l_enc;
+	else if (arg == RIGHT_ENCODER)
+		return r_enc;
+	return 0;
+}
+
+int robotsim_init(void)
+{
+	mkfifo("/tmp/.robot_sim2dis", 0600);
+	mkfifo("/tmp/.robot_dis2sim", 0600);
+	fdw = open("/tmp/.robot_sim2dis", O_WRONLY, 0);
+	if (fdw < 0)
+		return -1;
+	fdr = open("/tmp/.robot_dis2sim", O_RDONLY | O_NONBLOCK, 0);
+	if (fdr < 0) {
+		close(fdw);
+		return -1;
+	}
+	return 0;
+}