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#ifndef asserv_hh
#define asserv_hh
// asserv.hh
// 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 "utils/non_copyable.hh"
#include "config/config.hh"
#include "proto/proto.hh"
#include "log/log.hh"

/// Classe de dialogue avec la carte d'asservissement.
class Asserv : public NonCopyable, public Proto::Receiver
{
    /// Les clients de Asserv doivent d�river de Receiver.
    class Receiver
    {
	public:
	    /// Recoit un packet.
	    virtual void receiveCounter (double lMotor, double rMotor) = 0;
	    virtual void receivePosition (double command) = 0;
	    virtual void receivePosX (double xPos) = 0;
	    virtual void receivePosY (double yPos) = 0;
	    virtual void receivePosA (double aPos) = 0;
	    virtual void receiveMotor (int oldLSpeed_e, int LSpeed_int, int oldRSpeed_e, int RSpeed_int) = 0;
	    virtual void receivePwm (double leftPwm, double rightPwm) = 0;
	    virtual void receiveTiming (double motorTimer5, double motorTimer4,
		    			double motorTimer3, double motorTimer2, 
					double motorTimer1, 
					double motorTimer0 ) = 0;
	    virtual void receiveInPort (double command) = 0;
	    virtual void jaifini (void) = 0;
    };
    
    // Communication avec l'AVR
    Proto proto_;
    std::string ttyName_;
    Receiver & receiver_;
    // Param�tre de l'avr
    int16_t footing_;
    double epsilon_;
    double accel_;
    double kp_;
    double ki_;
    double kd_;
    double maxSpeed_;
    double maxPwn_;
    // Stat
    double pCounter_;
    double pPosition_;
    double pMotor_;
    double pPwm_;
    double pTiming_;
    double pStatInPort_;

    // Unit�s
    double mmPpas_;
    double sPperiod_;
    double pwmMax_;
    
    // Syst�me de log.
    Log log_;
  public:
    /// Constructeur.
    Asserv (const Config & config, Asserv::Receiver & receiver);
    /// Reset la carte et envois les param�tres.
    void reset (void);
    /// Essaie de purger la liste d'�mission et indique si elle est vide.
    bool sync (void);
    /// Attend que toute les �missions soit termin�es.
    bool wait (int timeout = -1);
    /// Commandes asservissement
    void linearMove(double distance);
    void angularMove(double angle);
    void goToPosition(double xPos, double  yPos);
    void fuckTheWall(double speed);
    void setSpeed(double xSpeed = 0, double ySpeed = 0);
    void setPwm(double leftPwm = 0, double rightPwm = 0);
    void finishAck(void); //met le param�tre F � 0
    /// Statistiques
    void statCounter(double period = 0);
    void statPosition(double period = 0);
    void statMotor(double period = 0);
    void statPwm(double period = 0);
    void statTiming(double period = 0);
    void statInPort(double period = 0);
    //@{
    /// Change les param�tres de la carte.
    void setXPos(double pos);
    void setYPos(double pos);
    void setAngle(double angle);
    void setFooting(int16_t dist);
    void setEpsilon(double e);
    void setKp (double kp);
    void setKi (double ki);
    void setKd (double kd);
    void setSpeedIntMax (int16_t maxInt);
    void setAccel (double accel);
    void setMaxSpeed(double maxSpeed);
    //@}

    /// impl�mentation du proto::Receiver
    void receive (char command, const Proto::Frame &frame);

  private:
    /// Charge les donn�es de la classe config 
    void loadConfig(const Config & config);
    /// Fonctions de conversion
    int mm2pasD(double dist); //Format 24/8
    int radTo256(double angle, bool format24eme = false); //Format 8 ou 8/24
    int mms2ppp(double vitesse); // Format 8
    int rCycl2Pwm(double rCycl); // Format 16
    int s2period(double period); // Format 8
    int mmps2ppperiod(double accel); //Format 8 (1 vitesse par x period)
};

#endif // asserv_h


// V�rifier le format finale des conversions
// V�rifier toutes les commandes pass� � l'AVR
// Faire la fonction receive