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// 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 param�tres 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'arriv� (rad).
MovementRotation::MovementRotation (double a)
    : dA_ (a),
      ia_ (0.0), lea_ (0.0)
{
}

/// Controlle la vitesse, retourne faux si mouvement termin�.
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 int�grales satur�es.
    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 d�riv�e.
    lea_ = ea;
    return true;
}