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// motor.cc
// marvin - programme du robot 2006. {{{
//
// Copyright (C) 2006 Nicolas Schodet
//
// Robot APB Team/Efrei 2005.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// 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.
//
// }}}
#include "motor.hh"

#include <cmath>

/// Constructor.
Motor::Motor (void)
    : asserv_ (*this), seq_ (0), finish_ (true), blocked_ (false),
      x_ (0.0), y_ (0.0), a_ (0.0), log_ ("Motor")
{
}

/// Reset.
void
Motor::reset (void)
{
    finish_ = true;
    blocked_ = false;
    asserv_.reset ();
}

/// Linear and angular move. T(mm) is the linear distance.  A(mm) is the
/// angular distance which means the arc length.
void
Motor::move (double t, double a)
{
    nextSeq ();
    finish_ = false;
    blocked_ = false;
    asserv_.speedTo (t, a, seq_);
}

/// Rotate (rad).
void
Motor::rotate (double a)
{
    nextSeq ();
    finish_ = false;
    blocked_ = false;
    asserv_.speedAngle (a, seq_);
}

/// Find a hole.
void
Motor::findHole (void)
{
    nextSeq ();
    finish_ = false;
    blocked_ = false;
    asserv_.findHole (seq_);
}

void Motor::lockGoodHole (void)
{
    ///XXX VERIFIER LES COORDONNEES
    const int xGood = 2000;
    const int yGood = -1100;
    ///XXX VERIFIER LES CALCULS D'AILLEURS...
    double rotation = atan2((yGood - y_), (xGood - x_));
    rotate(rotation);
}

void Motor::lockBadHole (void)
{
    ///XXX VERIFIER LES COORDONNEES
    const int xGood = 600;
    const int yGood = -1100;
    ///XXX VERIFIER LES CALCULS D'AILLEURS...
    double rotation = atan2((yGood - y_), (xGood - x_));
    rotate(rotation);
}

/// Stop now.
void
Motor::stop (void)
{
    finish_ = true;
    blocked_ = false;
    asserv_.speed (0, 0);
}

/// get the file descriptor
int
Motor::getFd(void) const
{
    return asserv_.getFd();
}

/// get the position of robal
void
Motor::getPosition(double & x, double & y, double & a) const
{
    x = x_;
    y = y_;
    a = a_;
}

/// Next seq number.
void
Motor::nextSeq (void)
{
    seq_++;
    if (seq_ > 100)
	    seq_ = 1;
}

/// Implement Asserv::Receiver callbacks.
void
Motor::receiveAck (int seq)
{
    if ((seq & 0x7f) == seq_)
      {
	asserv_.ack (seq);
	finish_ = true;
	if (seq & 0x80)
	  {
	    blocked_ = true;
	  }
      }
}


void
Motor::receiveCounterStat (int l, int r)
{
}

void
Motor::receivePos (double x, double y, double a)
{
    x_ = x;
    y_ = y;
    a_ = a;
    log_ ("Pos") << "x " << x << " y " << y << " a " << a / (2 * M_PI) * 360;
}

///Do the super Crénaux
bool
docrenO(void)
{
    static bool place;
    return place;
}

void
Motor::receiveSpeedStat (int t, int a)
{
}

void
Motor::receivePosStat (int te, int ti, int ae, int ai)
{
}

void
Motor::receivePwmStat (int l, int r)
{
}

void
Motor::receiveTimerStat (const int *t, int tn)
{
}

void
Motor::receiveInPort (unsigned int port)
{
}