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authorhaller2005-04-12 23:02:09 +0000
committerhaller2005-04-12 23:02:09 +0000
commitd2dd07c7622f4ca6d01e6013c76d771fbb897fca (patch)
tree87e5d358a56a46a58a86d3ba6282fb30eb5b699b /2005/i
parentffcb12c84b3bc9838f10840e300811b452aa4893 (diff)
Début de l'implémentation de la classe asserv
Modification de la déclaration de asserv
Diffstat (limited to '2005/i')
-rw-r--r--2005/i/robert/src/asserv/asserv.cc128
-rw-r--r--2005/i/robert/src/asserv/asserv.hh84
2 files changed, 186 insertions, 26 deletions
diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc
new file mode 100644
index 0000000..2489235
--- /dev/null
+++ b/2005/i/robert/src/asserv/asserv.cc
@@ -0,0 +1,128 @@
+// 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);
+}
+
+
diff --git a/2005/i/robert/src/asserv/asserv.hh b/2005/i/robert/src/asserv/asserv.hh
index b2cca59..08b8aa0 100644
--- a/2005/i/robert/src/asserv/asserv.hh
+++ b/2005/i/robert/src/asserv/asserv.hh
@@ -32,49 +32,81 @@
/// Classe de dialogue avec la carte d'asservissement.
class Asserv : public NonCopyable, public Proto::Receiver
{
+ /// Les clients de Asserv doivent driver de Receiver.
+ class Receiver
+ {
+ public:
+ /// Recoit un packet.
+ virtual void receive (char command, const Frame &frame) = 0;
+ };
// Communication avec l'AVR
Proto proto_;
- // Paramtres.
- int accel_, kp_, ki_, kd_;
- int statMotor_;
- int counter_;
- bool posAsserv_;
- int gpiDelay_;
- bool asserv_;
- int zeroEps_;
- bool noSetParam_;
- // Ancienne valeur des compteur.
- bool firstCounter_;
- int countLeft_, countRight_;
- int countLeftSum_, countRightSum_;
- // Valeurs GPIO.
- unsigned int gpi_;
- unsigned int gpo_;
+ std::string ttyName_;
+ // Paramtre de l'avr
+ double footing_;
+ double epsilon_;
+ double accel_;
+ double kp_;
+ double ki_;
+ double kd_;
+ double maxSpeed_;
+
// Systme de log.
Log log_;
public:
/// Constructeur.
- Asserv (const Config & config);
- /// Destructeur. XXX Y'a besoin du destructeur?
+ Asserv (const Config & config, Receiver & receiver);
+ /// Destructeur.
~Asserv (void);
/// Reset la carte et envois les paramtres.
void reset (void);
- /// Teste si l'mission est termine.
- bool ok (void);
+ /// Essaie de purger la liste d'mission et indique si elle est vide.
+ bool sync (void);
/// Attend que toute les missions soit termines.
- void waitOk (void);
+ bool wait (int timeout = -1);
+ /// Commandes asservissement
+ void linearMove(double distance);
+ void angularMove(int8_t angle);
+ void goToPosition(int32_t xPos, int32_t yPos);
+ void fuckTheWall(int8_t speed);
+ void setSpeed(int8_t xSpeed = 0, int8_t ySpeed = 0);
+ void setPwm(int16_t leftPwm = 0, int16_t rightPwm = 0);
+ /// Statistiques
+ void statCounter(int8_t period = 0);
+ void statPosition(int8_t period = 0);
+ void statMotor(int8_t period = 0);
+ void statPwm(int8_t period = 0);
+ void statTimer(int8_t period = 0);
+ void statInPort(int8_t period = 0);
//@{
/// Change les paramtres de la carte.
+ void setXPos(int32_t pos);
+ void setYPos(int32_t pos);
+ void setAngle(int32_t angle);
+ void setFooting(int32_t dist);
+ void setEpsilon(int32_t e);
void setAccel (int accel);
void setKp (int kp);
void setKi (int ki);
void setKd (int kd);
- void setStatMotor (int delay);
- void setCounter (int delay);
- void setPosAsserv (bool fl = true);
- void setGpiDelay (int delay);
- void setAsserv (bool fl = true);
+ void setMaxSpeed(int16_t);
//@}
+
+ /// implmentation du proto::Receiver
+ void receive (char command, const Frame &frame);
+
+ private:
+ /// Charge les donnes de la classe config
+ void loadConfig(void);
+ /// Fonctions de conversion
+ int mm2pasW(double dist);
+ int mm2pasD(double dist);
+ int radTo256(double angle);
+ int mms2ppp(double vitesse);
+ int rCycl2Pwm(double rCycl);
+
+
+
};
#endif // asserv_h