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// 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"

// Constructeur.
MovementGoTo::MovementGoTo (double x, double y, double eps, double dist,
			    double kpl, double kpa, double kil, double kia,
			    double kdl, double kda)
    : dX_ (x), dY_ (y), eps_ (eps), dist_ (dist),
      kpl_ (kpl), kpa_ (kpa), kil_ (kil), kia_ (kia), kdl_ (kdl), kda_ (kda),
      il_ (0.0), ia_ (0.0), lel_ (0.0), lea_ (0.0)
{
}

// Controlle la vitesse, retourne faux si mouvement termin�.
bool
MovementGoTo::control (void)
{
    // Calcule l'erreur.
    double el, ea;
    if (!t_->computeError (dX_, dY_, el, ea, eps_, dist_))
      {
	return false;
      }
    // Pas de marche arri�re.
    if (el < 0.0) el = 0.0;
std::cout << "movement goto error " << el << ' ' << ea << std::endl;
    // Calcule les int�grales satur�es.
    il_ += el;
    if (il_ > 1000) il_ = 1000;
    else if (il_ < -1000) il_ = -1000;
    ia_ += ea;
    if (ia_ > 1000) ia_ = 1000;
    else if (ia_ < -1000) ia_ = -1000;
    // Commande les moteurs.
    double l = kpl_ * (el + kil_ * il_ + kdl_ * (el - lel_));
    double a = kpa_ * (ea + kia_ * ia_ + kda_ * (ea - lea_));
    m_->speed (l - a, l + a);
    // Retiens l'erreur pour la d�riv�e.
    lel_ = el;
    lea_ = ea;
    return true;
}