/* traj.c - Trajectories. */ /* asserv - Position & speed motor control on AVR. {{{ * * Copyright (C) 2006 Nicolas Schodet * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * 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 "common.h" #include "traj.h" #include "modules/math/fixed/fixed.h" #include "modules/math/math.h" #include "io.h" #include "state.h" #include "pos.h" #include "speed.h" #include "postrack.h" #ifdef HOST # include "simu.host.h" #endif /* This file provides high level trajectories commands. */ /** Traj mode enum. */ enum { /* Go to the wall. */ TRAJ_FTW, /* Go to the dispenser. */ TRAJ_GTD, /* Everything done. */ TRAJ_DONE, }; /** Traj mode. */ uint8_t traj_mode; /** Angle offset. Directly handled to speed layer. */ void traj_angle_offset_start (int32_t angle, uint8_t seq) { int32_t a = fixed_mul_f824 (angle, 2 * M_PI * (1L << 24)); uint32_t f = postrack_footing; int32_t arc = fixed_mul_f824 (f, a); state_main.mode = MODE_SPEED; speed_theta.use_pos = speed_alpha.use_pos = 1; speed_theta.pos_cons = pos_theta.cons; speed_alpha.pos_cons = pos_alpha.cons; speed_alpha.pos_cons += arc; state_start (&state_main, seq); } /** Go to the wall mode. */ static void traj_ftw (void) { int16_t speed; speed = speed_theta.slow; speed *= 256; speed_theta.use_pos = speed_alpha.use_pos = 0; if (PINC & _BV (0) && PINC & _BV (1)) { speed_theta.cons = -speed; speed_alpha.cons = 0; } else if (PINC & _BV (0)) { speed_theta.cons = -speed / 2; speed_alpha.cons = speed / 2; } else if (PINC & _BV (1)) { speed_theta.cons = -speed / 2; speed_alpha.cons = -speed / 2; } else { speed_theta.cons = 0; speed_alpha.cons = 0; speed_theta.cur = 0; speed_alpha.cur = 0; state_finish (&state_main); traj_mode = TRAJ_DONE; } } /** Start go to the wall mode. */ void traj_ftw_start (uint8_t seq) { state_main.mode = MODE_TRAJ; traj_mode = TRAJ_FTW; state_start (&state_main, seq); } /** Go to the dispenser mode. */ static void traj_gtd (void) { int16_t speed; speed = speed_theta.slow; speed *= 256; speed_theta.use_pos = speed_alpha.use_pos = 0; if (PINC & _BV (2)) { speed_theta.cons = speed; speed_alpha.cons = 0; } else { speed_theta.cons = 0; speed_alpha.cons = 0; speed_theta.cur = 0; speed_alpha.cur = 0; state_finish (&state_main); traj_mode = TRAJ_DONE; } } /** Start go to the dispenser mode. */ void traj_gtd_start (uint8_t seq) { state_main.mode = MODE_TRAJ; traj_mode = TRAJ_GTD; state_start (&state_main, seq); } /* Compute new speed according the defined trajectory. */ void traj_update (void) { switch (traj_mode) { case TRAJ_FTW: traj_ftw (); break; case TRAJ_GTD: traj_gtd (); break; case TRAJ_DONE: break; } }