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authorschodet2005-02-11 14:36:33 +0000
committerschodet2005-02-11 14:36:33 +0000
commite4589d3099a11723b3cd017c9c8c97b070455ea9 (patch)
treefe3db349538cac3fcb52ead0b5cbeb5887edbc1b /n/asserv/src/goto.c
parentc1e2d98380a352117a1e361dc09376b2195fd0db (diff)
Ajout de la première version d'asservissement en position.
Diffstat (limited to 'n/asserv/src/goto.c')
-rw-r--r--n/asserv/src/goto.c50
1 files changed, 50 insertions, 0 deletions
diff --git a/n/asserv/src/goto.c b/n/asserv/src/goto.c
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+++ b/n/asserv/src/goto.c
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+/* goto.c */
+/* asserv - Position & speed motor control on a ATmega128. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * 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.
+ *
+ * }}} */
+
+/** Destination position, f24.8. */
+int32_t goto_x, goto_y;
+/** Destination angle, f8.24. */
+int32_t goto_a;
+
+/* +AutoDec */
+/* -AutoDec */
+
+/** Update the speed according to the desired destination. */
+static inline void
+goto_update (void)
+{
+ int32_t dx, dy, c, s, dl, da;
+ /* Project in the robot base. */
+ dx = goto_x - postrack_x; /* f24.8 */
+ dy = goto_y - postrack_y;
+ c = dsp_cos (postrack_a);
+ s = dsp_sin (postrack_a);
+ dl = dsp_mul_f824 (dx, c) + dsp_mul_f824 (dy, s);
+ da = dsp_mul_f824 (dy, c) - dsp_mul_f824 (dx, s);
+ /* Convert da into a arc. This is a rough aproximation. */
+ da = da * postrack_footing / 2 / (dl >> 8);
+ speed_distance (dl, da);
+}
+