From bc38b408c53281ee985f6f9d67accc5733d99e37 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 28 Jan 2008 21:12:12 +0100 Subject: * digital/asserv/src/asserv: - imported old sources. - removed holes support (rule 2006). --- digital/asserv/src/asserv/simu.host.c | 185 ++++++++++++++++++++++++++++++++++ 1 file changed, 185 insertions(+) create mode 100644 digital/asserv/src/asserv/simu.host.c (limited to 'digital/asserv/src/asserv/simu.host.c') diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c new file mode 100644 index 00000000..beefafe2 --- /dev/null +++ b/digital/asserv/src/asserv/simu.host.c @@ -0,0 +1,185 @@ +/* simu.host.c */ +/* {{{ + * + * Copyright (C) 2006 Nicolas Schodet + * + * 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. + * + * Contact : + * Web: http://perso.efrei.fr/~schodet/ + * }}} */ +#include "common.h" +#include "modules/host/host.h" +#include "modules/utils/utils.h" +#include "simu.host.h" +#include "motor_model.host.h" +#include "models.host.h" + +#include +#include +#include + +/** Simulate some AVR regs. */ +uint8_t DDRD, PORTD, PORTA, PORTC, PINA, PINF; + +/** Overall counter values. */ +uint16_t counter_left, counter_right; +/** Counter differences since last update. + * Maximum of 9 significant bits, sign included. */ +int16_t counter_left_diff, counter_right_diff; + +/** PWM values, this is an error if absolute value is greater than the + * maximum. */ +int16_t pwm_left, pwm_right; +/** PWM reverse direction, only set pwm dir bits or you will get weird results + * on port B. */ +uint8_t pwm_dir; + +struct motor_t simu_left_model, simu_right_model; + +/** Computed simulated position (mm). */ +double simu_pos_x, simu_pos_y, simu_pos_a; + +/** Distance between wheels. */ +double simu_footing; + +/** Initialise simulation. */ +static void +simu_init (void) +{ + int argc; + char **argv; + const struct robot_t *m; + host_get_program_arguments (&argc, &argv); + if (argc != 1) + { + fprintf (stderr, "need model name as first argument\n"); + exit (1); + } + m = models_get (argv[0]); + if (!m) + { + fprintf (stderr, "unknown model name: %s\n", argv[0]); + exit (1); + } + simu_left_model = *m->motor; + simu_right_model = *m->motor; + simu_footing = m->footing; + simu_pos_x = simu_pos_y = 0; +} + +/** Update simulation position. */ +static void +simu_pos_update (double dl, double dr) +{ + double d = 0.5 * (dl + dr); + double da = (dr - dl) / simu_footing; + double na = simu_pos_a + da; + if (da < 0.0001 && da > -0.0001) + { + /* Avoid a division by zero when angle is too small. */ + double a = simu_pos_a + da * 0.5; + simu_pos_x += d * cos (a); + simu_pos_y += d * sin (a); + } + else + { + /* Radius of turn is d / da. */ + simu_pos_x += (sin (na) - sin (simu_pos_a)) * d / da; + simu_pos_y += (cos (simu_pos_a) - cos (na)) * d / da; + } + simu_pos_a = na; +} + +/** Do a simulation step. */ +static void +simu_step (void) +{ + double old_left_th, old_right_th; + /* Convert pwm value into voltage. */ + assert (pwm_left >= -PWM_MAX && pwm_left <= PWM_MAX); + assert (pwm_right >= -PWM_MAX && pwm_right <= PWM_MAX); + simu_left_model.u = (double) (pwm_left + 1) / (PWM_MAX + 1); + simu_right_model.u = (double) (pwm_right + 1) / (PWM_MAX + 1); + /* Make one step. */ + old_left_th = simu_left_model.th; + old_right_th = simu_right_model.th; + motor_model_step (&simu_left_model); + motor_model_step (&simu_right_model); + /* Modify counters. */ + counter_left_diff = (simu_left_model.th - old_left_th) / (2*M_PI) + * 500 * simu_left_model.i_G; + counter_left += counter_left_diff; + counter_right_diff = (simu_right_model.th - old_right_th) / (2*M_PI) + * 500 * simu_right_model.i_G; + counter_right += counter_right_diff; + /* Update position */ + simu_pos_update ((simu_left_model.th - old_left_th) + * simu_left_model.i_G * simu_left_model.w_r * 1000, + (simu_right_model.th - old_right_th) + * simu_right_model.i_G * simu_right_model.w_r * 1000); +} + +/** Initialise the timer. */ +void +timer_init (void) +{ + simu_init (); +} + +/** Wait for timer overflow. */ +void +timer_wait (void) +{ + simu_step (); +} + +/** Read timer value. Used for performance analysis. */ +uint8_t +timer_read (void) +{ + return 0; +} + +/** Initialize the counters. */ +void +counter_init (void) +{ +} + +/** Update overall counter values and compute diffs. */ +void +counter_update (void) +{ +} + +/** Restart counting. */ +void +counter_restart (void) +{ +} + +/** Initialise PWM generator. */ +void +pwm_init (void) +{ +} + +/** Update the hardware PWM values. */ +void +pwm_update (void) +{ +} + -- cgit v1.2.3