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authorhaller2005-04-12 23:02:09 +0000
committerhaller2005-04-12 23:02:09 +0000
commitd2dd07c7622f4ca6d01e6013c76d771fbb897fca (patch)
tree87e5d358a56a46a58a86d3ba6282fb30eb5b699b /2005/i/robert/src/asserv/asserv.cc
parentffcb12c84b3bc9838f10840e300811b452aa4893 (diff)
Début de l'implémentation de la classe asserv
Modification de la déclaration de asserv
Diffstat (limited to '2005/i/robert/src/asserv/asserv.cc')
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diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc
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+// asserv.cc
+// robert - programme du robot 2005 {{{
+//
+// Copyright (C) 2005 Nicolas Haller
+//
+// Robot APB Team/Efrei 2005.
+// 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 "asserv.hh"
+
+/// Constructeur
+Asserv::Asserv (const Config & config, Receiver & receiver)
+ :proto_(*this), log("asserv")
+{
+ // Rechargement des paramtres
+ loadConfig();
+ //Ouverture du port srie
+ proto.open(ttyName_);
+ //Initialisation de l'AVR
+ reset();
+}
+
+/// Destructeur XXX Voir si il sert quelque chose
+sserv::~Asserv(void)
+{
+}
+
+/// Reset de l'AVR
+Asserv::reset(void)
+{
+ // Reset AVR
+ proto_.send()
+ // Envoie des donnes de conf sur l'AVR
+ setFooting(footing_);
+ setEpsilon(epsilon_);
+ setAccel(accel_);
+ setKp(kp_);
+ setKi(ki_);
+ setKd(kd_);
+ setMaxSpeed(maxSpeed_);
+
+ // XXX Envoie un stop
+ setSpeed();
+}
+
+/// XXX Essaie de purger la liste d'mission et indique si elle est vide.
+bool Asserv::sync(void)
+{
+ return proto_.sync();
+}
+
+/// Attend que toute les missions soit termines
+bool Asserv::wait(int timeout)
+{
+ return proto_.wait(timeout);
+}
+
+/// Commandes d'asservissement
+void Asserv::linearMove(double distance)
+{
+ // Conversion mm->PasW
+ int distPas = mm2pasW(distance);
+ // On envoie la commande l'AVR
+ proto_.send('l', "w", distPas);
+}
+
+void Asserv::angularMove(double angle)
+{
+ // Conversion radian->256me
+ int a = radTo256(angle);
+ // Envopie vers avr
+ proto_.send('a',"b", a);
+}
+
+void Asserv::goToPosition(double xPos, double yPos)
+{
+ // Convertion mm->PasD
+ int x = mm2pasD(xPos);
+ int y = mm2pasD(yPos);
+ // Envoie vers l'AVR
+ proto_.send('g', "dd", x, y);
+}
+
+void Asserv::fuckTheWall(double speed)
+{
+ // Conversion mm/s->Pas/Period
+ int v = mms2ppp(speed);
+ // Envoie vers l'AVR
+ proto_.send('f',"b", v);
+}
+
+void Asserv::setSpeed(double xSpeed, double, ySpeed)
+{
+ // Conversion mm/s->Pas/Period
+ int vx = mms2ppp(xSpeed);
+ int vy = mms2ppp(ySpeed);
+ // Envoie vers l'AVR
+ proto_.send('s',"bb", xSpeed, ySpeed);
+}
+
+// XXX Faut mettre le format en config
+void Asserv::setPwm(double xPwm, double yPwm)
+{
+ // Conversion rCycl->Pwm
+ int xp = rCycl2Pwm(xPwm);
+ int yp = rCycl2Pwm(yPwm);
+ // Envoie sur l'AVR
+ proto_.send('w',"ww",xPwm, yPwm);
+}
+
+