// movement_rotation.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_rotation.h" #include "tracker.h" #include "motor.h" #include "config/config.h" MovementRotationParam MovementRotation::param_; /// Constructeur, charge les paramètres depuis la Config. MovementRotationParam::MovementRotationParam (void) : eps_ (0.01), kpa_ (1.0), kia_ (0.0), is_ (20.0), kda_ (0.0) { // Lit la conf. Config rc ("rc/movement/rotation"); while (!rc.eof ()) { if (!( rc.get ("epsilon", eps_) || rc.get ("kpa", kpa_) || rc.get ("kia", kia_) || rc.get ("is", is_) || rc.get ("kda", kda_) )) rc.noId (); } } /// Constructeur. /// a : angle d'arrivé (rad). MovementRotation::MovementRotation (double a) : dA_ (a), ia_ (0.0), lea_ (0.0) { } /// Controlle la vitesse, retourne faux si mouvement terminé. bool MovementRotation::control (void) { // Calcule l'erreur. double ea; if (!t_->computeAngleError (dA_, ea, param_.eps_)) { return false; } std::cout << "movement rotation error " << ea << std::endl; // Calcule les intégrales saturées. ia_ += ea; if (ia_ > param_.is_) ia_ = param_.is_; else if (ia_ < -param_.is_) ia_ = -param_.is_; // Commande les moteurs. double a = param_.kpa_ * (ea + param_.kia_ * ia_ + param_.kda_ * (ea - lea_)); m_->rotate (-a, ea); // Retiens l'erreur pour la dérivée. lea_ = ea; return true; }