// 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" #include "config/config.h" MovementGotoParam MovementGoto::param_; /// Constructeur, charge les paramètres depuis la Config. MovementGotoParam::MovementGotoParam (void) : eps_ (10.0), dist_ (0.0), kpl_ (1.0), kpa_ (1.0), kil_ (0.0), kia_ (0.0), is_ (1000.0), kdl_ (0.0), kda_ (0.0) { // Lit la conf. Config rc ("rc/movement/goto"); while (!rc.eof ()) { if (rc.isId ("epsilon")) { rc.getId (); rc >> eps_;; } else if (rc.isId ("distance")) { rc.getId (); rc >> dist_; } else if (rc.isId ("kpl")) { rc.getId (); rc >> kpl_; } else if (rc.isId ("kpa")) { rc.getId (); rc >> kpa_; } else if (rc.isId ("kil")) { rc.getId (); rc >> kil_; } else if (rc.isId ("kia")) { rc.getId (); rc >> kia_; } else if (rc.isId ("is")) { rc.getId (); rc >> is_; } else if (rc.isId ("kdl")) { rc.getId (); rc >> kdl_; } else if (rc.isId ("kda")) { rc.getId (); rc >> kda_; } else rc.noId (); } } // Constructeur. MovementGoto::MovementGoto (double x, double y) : dX_ (x), dY_ (y), 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, param_.eps_, param_.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_ > param_.is_) il_ = param_.is_; else if (il_ < -param_.is_) il_ = -param_.is_; ia_ += ea; if (ia_ > param_.is_) ia_ = param_.is_; else if (ia_ < -param_.is_) ia_ = -param_.is_; // Commande les moteurs. double l = param_.kpl_ * (el + param_.kil_ * il_ + param_.kdl_ * (el - lel_)); double a = param_.kpa_ * (ea + param_.kia_ * ia_ + param_.kda_ * (ea - lea_)); m_->speed (l - a, l + a); // Retiens l'erreur pour la dérivée. lel_ = el; lea_ = ea; return true; }