summaryrefslogtreecommitdiffhomepage
path: root/digital/asserv/src/asserv/traj.c
blob: bc95b39a56c3f317fb0cf65a255fc6c4e490f02b (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
/* 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 "modules/utils/utils.h"
#include "io.h"

#include <math.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,
    /* Go to position. */
    TRAJ_GOTO,
    /* Everything done. */
    TRAJ_DONE,
};

/** Traj mode. */
uint8_t traj_mode;

/** Epsilon, distance considered to be small enough. */
int16_t traj_eps = 500;

/** Go to position. */
static uint32_t traj_goto_x, traj_goto_y;

/** 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);
}

/** Go to position mode. */
static void
traj_goto (void)
{
    int32_t dx = traj_goto_x - postrack_x;
    int32_t dy = traj_goto_y - postrack_y;
    if (UTILS_ABS (dx) < ((int32_t) traj_eps) << 8
	&& UTILS_ABS (dy) < ((int32_t) traj_eps) << 8)
      {
	/* Near enough, stop, let speed terminate the movement. */
	state_main.mode = MODE_SPEED;
	traj_mode = TRAJ_DONE;
      }
    else
      {
	/* Projection of destination in robot base. */
	int32_t c = fixed_cos_f824 (postrack_a);
	int32_t s = fixed_sin_f824 (postrack_a);
	int32_t dt = fixed_mul_f824 (dx, c) + fixed_mul_f824 (dy, s);
	int32_t da = fixed_mul_f824 (dy, c) - fixed_mul_f824 (dx, s);
	/* Compute arc length. */
	int32_t arad = atan2 (da, dt) * (1L << 24);
	int32_t arc = fixed_mul_f824 (arad, postrack_footing);
	/* Compute consign. */
	speed_alpha.pos_cons = pos_alpha.cur;
	speed_alpha.pos_cons += arc;
	if (UTILS_ABS (arad) < 0.5 * M_PI * (1L << 24))
	  {
	    speed_theta.pos_cons = pos_theta.cur;
	    speed_theta.pos_cons += dt >> 8;
	  }
	else
	  {
	    speed_theta.pos_cons = pos_theta.cons;
	  }
      }
}

/** Start go to position mode (x, y: f24.8). */
void
traj_goto_start (uint32_t x, uint32_t y, uint8_t seq)
{
    state_main.mode = MODE_TRAJ;
    traj_mode = TRAJ_GOTO;
    traj_goto_x = x;
    traj_goto_y = y;
    speed_theta.use_pos = speed_alpha.use_pos = 1;
    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_GOTO:
	traj_goto ();
	break;
      case TRAJ_DONE:
	break;
      }
}