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// asserv.cc
// robert - programme du robot 2005 {{{
//
// Copyright (C) 2005 Nicolas Haller
//
// Robot APB Team/Efrei 2005.
//        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 "asserv.hh"

/// Constructeur
Asserv::Asserv (const Config & config, Receiver & receiver)
    :proto_(*this), log("asserv")
{
    // Rechargement des param�tres
    loadConfig();
    //Ouverture du port s�rie
    proto.open(ttyName_);
    //Initialisation de l'AVR
    reset();
}

/// Destructeur XXX Voir si il sert � quelque chose
sserv::~Asserv(void)
{
}

/// Reset de l'AVR
Asserv::reset(void)
{
    // Reset AVR
    proto_.send()
    // Envoie des donn�es de conf sur l'AVR
    setFooting(footing_);
    setEpsilon(epsilon_);
    setAccel(accel_);
    setKp(kp_);
    setKi(ki_);
    setKd(kd_);
    setMaxSpeed(maxSpeed_);

    // XXX Envoie un stop
    setSpeed();
}

/// XXX Essaie de purger la liste d'�mission et indique si elle est vide.
bool Asserv::sync(void)
{
    return proto_.sync();
}

/// Attend que toute les �missions soit termin�es
bool Asserv::wait(int timeout)
{
    return proto_.wait(timeout);
}

/// Commandes d'asservissement
void Asserv::linearMove(double distance)
{
    // Conversion mm->PasW
   int distPas = mm2pasW(distance); 
    // On envoie la commande � l'AVR
    proto_.send('l', "w", distPas);
}

void Asserv::angularMove(double angle)
{
    // Conversion radian->256�me
    int a = radTo256(angle);
    // Envopie vers avr
    proto_.send('a',"b", a);
}

void Asserv::goToPosition(double xPos, double yPos)
{
    // Convertion mm->PasD
    int x = mm2pasD(xPos);
    int y = mm2pasD(yPos);
    // Envoie vers l'AVR
    proto_.send('g', "dd", x, y);
}

void Asserv::fuckTheWall(double speed)
{
    // Conversion mm/s->Pas/Period
    int v = mms2ppp(speed);
    // Envoie vers l'AVR
    proto_.send('f',"b", v);
}

void Asserv::setSpeed(double xSpeed, double, ySpeed)
{
    // Conversion mm/s->Pas/Period
    int vx = mms2ppp(xSpeed);
    int vy = mms2ppp(ySpeed);
    // Envoie vers l'AVR
    proto_.send('s',"bb", xSpeed, ySpeed);
}

// XXX Faut mettre le format en config
void Asserv::setPwm(double xPwm, double yPwm)
{
    // Conversion rCycl->Pwm
    int xp = rCycl2Pwm(xPwm);
    int yp = rCycl2Pwm(yPwm);
    // Envoie sur l'AVR
    proto_.send('w',"ww",xPwm, yPwm);
}