/* models.host.c */ /* 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. * * }}} */ #define _GNU_SOURCE 1 /* Need ISO C99 features as well. */ #include "common.h" #include "modules/utils/utils.h" #include "io.h" #include "models.host.h" #include "simu.host.h" #include "aux.h" #include AC_ASSERV_CONTACTS_H #include #include #define NO_CORNER { { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 } } static int simu_table_test_guybrush (double p_x, double p_y); /* Guybrush, APBTeam 2012. */ static const struct robot_t guybrush_robot = { /* Main motors. */ &motor_model_def_faulhaber_2657_x9_7, /* Motors voltage (V). */ 24.0, /* Number of steps on the main motors encoders. */ 2500, /* Wheel radius (m). */ 0.065 / 2, /* Distance between the wheels (m). */ 0.16, /* Weight of the robot (kg). */ 10.0, /* Distance of the gravity center from the center of motors axis (m). */ 0.0, /* Whether the encoder is mounted on the main motor (false) or not (true). */ 1, /** Encoder wheel radius (m). */ 0.063 / 2, /** Distance between the encoders wheels (m). */ 0.28, /** No auxiliary motors. */ { }, { }, { }, /** Sensor update function. */ NULL, /** Table test function, return false if given robot point is not in * table. */ simu_table_test_guybrush, /** Robot corners, from front left, then clockwise. */ { { 150, 171.5 }, { 150, -171.5 }, { -134, -121.5 }, { -134, 121.5 }, { 150, 0 } }, /** Initialisation function. */ NULL, }; /* Table of models. */ static const struct { const char *name; const struct robot_t *robot; } models[] = { { "guybrush", &guybrush_robot }, { 0, 0 } }; /** Get a pointer to a model by name, or return 0. */ const struct robot_t * models_get (const char *name) { int i; for (i = 0; models[i].name; i++) { if (strcmp (models[i].name, name) == 0) return models[i].robot; } return 0; } /** Initialise simulation models. */ void models_init (const struct robot_t *robot, motor_model_t *main_motor_left, motor_model_t *main_motor_right, motor_model_t aux_motor[]) { int i; if (main_motor_left) { main_motor_left->m = *robot->main_motor; main_motor_left->m.J = robot->weight * robot->wheel_r * robot->wheel_r / 2; main_motor_left->h = ECHANT_PERIOD; main_motor_left->d = 1000; } if (main_motor_right) { main_motor_right->m = *robot->main_motor; main_motor_right->m.J = robot->weight * robot->wheel_r * robot->wheel_r / 2; main_motor_right->h = ECHANT_PERIOD; main_motor_right->d = 1000; } if (aux_motor) { for (i = 0; i < AC_ASSERV_AUX_NB; i++) { if (robot->aux_motor[i]) { aux_motor[i].m = *robot->aux_motor[i]; aux_motor[i].m.J = robot->aux_load[i]; aux_motor[i].h = ECHANT_PERIOD; aux_motor[i].d = 1000; } } } if (robot->init) robot->init (robot, main_motor_left, main_motor_right, aux_motor); } /* Table test for Guybrush. */ int simu_table_test_guybrush (double p_x, double p_y) { static const double table_width = 3000.0, table_height = 2000.0; double x, y; simu_compute_absolute_position (p_x, p_y, &x, &y); if (x < 0 || y < 0 || x >= table_width || y >= table_height) return 0; /* Totems. */ if (((x >= 1500 - 400 - 125 && x < 1500 - 400 + 125) || (x >= 1500 + 400 - 125 && x < 1500 + 400 + 125)) && (y >= 1000 - 125 && y < 1000 + 125)) return 0; /* Boats. */ double bx = 325 + (400 - 325) * y / 1500. + 22; if (((x >= bx - 40 && x < bx) || (x >= 3000 - bx && x < 3000 - bx + 40)) && y < 740) return 0; return 1; }