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authorschodet2004-02-07 16:55:41 +0000
committerschodet2004-02-07 16:55:41 +0000
commit9fdd6704947174fae292dfc6e14cc1029a7f7a6c (patch)
tree40a4fe775845ececdaf27e82d99d6a06f6b3803e /2004/i/nono/src/motor/movement_goto.cc
parentb673946d76e436c067d24e535b1e0a167b9dfc47 (diff)
Initial revision
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+// movement_goto.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// 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 "movement_goto.h"
+#include "tracker.h"
+#include "motor.h"
+
+// Constructeur.
+MovementGoTo::MovementGoTo (double x, double y, double eps, double dist,
+ double kpl, double kpa, double kil, double kia,
+ double kdl, double kda)
+ : dX_ (x), dY_ (y), eps_ (eps), dist_ (dist),
+ kpl_ (kpl), kpa_ (kpa), kil_ (kil), kia_ (kia), kdl_ (kdl), kda_ (kda),
+ il_ (0.0), ia_ (0.0), lel_ (0.0), lea_ (0.0)
+{
+}
+
+// Controlle la vitesse, retourne faux si mouvement terminé.
+bool
+MovementGoTo::control (void)
+{
+ // Calcule l'erreur.
+ double el, ea;
+ if (!t_->computeError (dX_, dY_, el, ea, eps_, dist_))
+ {
+ return false;
+ }
+ // Pas de marche arrière.
+ if (el < 0.0) el = 0.0;
+std::cout << "movement goto error " << el << ' ' << ea << std::endl;
+ // Calcule les intégrales saturées.
+ il_ += el;
+ if (il_ > 1000) il_ = 1000;
+ else if (il_ < -1000) il_ = -1000;
+ ia_ += ea;
+ if (ia_ > 1000) ia_ = 1000;
+ else if (ia_ < -1000) ia_ = -1000;
+ // Commande les moteurs.
+ double l = kpl_ * (el + kil_ * il_ + kdl_ * (el - lel_));
+ double a = kpa_ * (ea + kia_ * ia_ + kda_ * (ea - lea_));
+ m_->speed (l - a, l + a);
+ // Retiens l'erreur pour la dérivée.
+ lel_ = el;
+ lea_ = ea;
+ return true;
+}
+