From 18570afbe14ef0bcc12ddb6c39fc6047190e052e Mon Sep 17 00:00:00 2001 From: schodet Date: Thu, 13 May 2004 20:08:24 +0000 Subject: Ajout de GotoTracker. Correction minaures. --- 2004/i/nono/src/motor/Makefile.defs | 7 +-- 2004/i/nono/src/motor/goto_hermite.h | 3 +- 2004/i/nono/src/motor/goto_tracker.cc | 82 +++++++++++++++++++++++++++++++++++ 2004/i/nono/src/motor/goto_tracker.h | 53 ++++++++++++++++++++++ 4 files changed, 140 insertions(+), 5 deletions(-) create mode 100644 2004/i/nono/src/motor/goto_tracker.cc create mode 100644 2004/i/nono/src/motor/goto_tracker.h (limited to '2004/i/nono/src') diff --git a/2004/i/nono/src/motor/Makefile.defs b/2004/i/nono/src/motor/Makefile.defs index 2453e0d..6002fd8 100644 --- a/2004/i/nono/src/motor/Makefile.defs +++ b/2004/i/nono/src/motor/Makefile.defs @@ -1,7 +1,7 @@ TARGETS += test_motor test_asserv test_tracker test_goto_hermite LIBS += motor.a -test_motor_SOURCES = test_motor.cc motor_cmd.cc motor.a serial.a erreur.a \ - config.a date.a utils.a logger.a +test_motor_SOURCES = test_motor.cc motor_cmd.cc motor.a serial.a \ + config.a date.a utils.a logger.a erreur.a test_asserv_SOURCES = test_asserv.cc motor.a serial.a erreur.a config.a \ date.a utils.a logger.a test_tracker_SOURCES = test_tracker.cc motor.a serial.a erreur.a config.a \ @@ -9,7 +9,8 @@ test_tracker_SOURCES = test_tracker.cc motor.a serial.a erreur.a config.a \ motor_a_SOURCES = asserv.cc tracker.cc motor.cc \ movement_basic.cc movement_goto.cc movement_rotation.cc \ movement_round_cruise.cc \ - goto_simple.cc goto_circle.cc goto_hermite.cc + goto_simple.cc goto_circle.cc goto_hermite.cc \ + goto_tracker.cc test_goto_hermite_SOURCES = goto_hermite.cc test_goto_hermite.cc tracker.cc \ config.a logger.a erreur.a diff --git a/2004/i/nono/src/motor/goto_hermite.h b/2004/i/nono/src/motor/goto_hermite.h index 8815e12..aae6637 100644 --- a/2004/i/nono/src/motor/goto_hermite.h +++ b/2004/i/nono/src/motor/goto_hermite.h @@ -28,8 +28,7 @@ #include "utils/point.h" #include - -namespace std { class ostream; } +#include /// Goto suivant une courbe d'hermite. class GotoHermite : public Goto diff --git a/2004/i/nono/src/motor/goto_tracker.cc b/2004/i/nono/src/motor/goto_tracker.cc new file mode 100644 index 0000000..adc7c36 --- /dev/null +++ b/2004/i/nono/src/motor/goto_tracker.cc @@ -0,0 +1,82 @@ +// goto_tracker.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 "goto_tracker.h" + +/// Constructeur. +GotoTracker::GotoTracker (void) + : track_ (false), changed_ (true), + x_ (0.0), y_ (0.0), dx_ (0.0), dy_ (0.0) +{ +} + +/// Initialise le Goto, appelé au début de la trajectoire. +void +GotoTracker::init (const Tracker &t) +{ +} + +/// Fournit la distance au point final (mm), le point le plus loin à moins +/// de distmax (mm) et renvois false si le Goto est fini. +/// eps : distance (mm) en dessous de laquelle on considère que la +/// destination est atteinte. +/// distmax : distance (mm) maximale du point. +/// dist : distance (mm) au point final. +/// (x, y) : point intermédiaire (mm). +bool +GotoTracker::get (const Tracker &t, double distmax, double eps, double &dist, + double &x, double &y) +{ + if (changed_) + { + if (!track_) + { + x_ = t.getX (); + y_ = t.getY (); + } + else + { + x_ = t.getX () + dx_ * cos (t.getAngle ()); + y_ = t.getY () + dx_ * sin (t.getAngle ()); + } + changed_ = false; + } + x = x_; + y = y_; + double dx = x_ - t.getX (); + double dy = y_ - t.getY (); + dist = sqrt (dx * dx + dy * dy); + return true; +} + +/// Change la position de la cible. +void +GotoTracker::setTracked (bool track, double x, double y) +{ + changed_ = true; + track_ = track; + dx_ = x; + dy_ = y; +} + diff --git a/2004/i/nono/src/motor/goto_tracker.h b/2004/i/nono/src/motor/goto_tracker.h new file mode 100644 index 0000000..049ae73 --- /dev/null +++ b/2004/i/nono/src/motor/goto_tracker.h @@ -0,0 +1,53 @@ +#ifndef goto_tracker_h +#define goto_tracker_h +// goto_tracker.h +// 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 "goto.h" + +/// Goto suivant une balle. +class GotoTracker : public Goto +{ + bool track_, changed_; + double x_, y_, dx_, dy_; + public: + /// Constructeur. + GotoTracker (void); + /// Initialise le Goto, appelé au début de la trajectoire. + void init (const Tracker &t); + /// Fournit la distance au point final (mm), le point le plus loin à moins + /// de distmax (mm) et renvois false si le Goto est fini. + /// eps : distance (mm) en dessous de laquelle on considère que la + /// destination est atteinte. + /// distmax : distance (mm) maximale du point. + /// dist : distance (mm) au point final. + /// (x, y) : point intermédiaire (mm). + bool get (const Tracker &t, double distmax, double eps, + double &dist, double &x, double &y); + /// Change la position de la cible. + void setTracked (bool track, double x, double y); +}; + +#endif // goto_tracker_h -- cgit v1.2.3