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authorbecquet2007-05-10 18:49:20 +0000
committerbecquet2007-05-10 18:49:20 +0000
commit8f486613be58ced269db1d437e560c16558604e8 (patch)
tree41e94b2122a118cb06abf6fc2a0038cd1dfbec4a /i/chuck/src/motor/motor.cc
parent4daa2c76c2a028e4b2c8ab379e7d1e0f535a0a31 (diff)
Création de chuck, le programme du robot 2007.
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+// motor.cc
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Nicolas Schodet
+//
+// 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 "motor.hh"
+
+#include <cmath>
+
+/// Constructor.
+Motor::Motor (void)
+ : asserv_ (*this), seq_ (0), finish_ (true), blocked_ (false),
+ x_ (0.0), y_ (0.0), a_ (0.0), log_ ("Motor")
+{
+}
+
+/// Reset.
+void
+Motor::reset (void)
+{
+ finish_ = true;
+ blocked_ = false;
+ asserv_.reset ();
+}
+
+/// Linear and angular move. T(mm) is the linear distance. A(mm) is the
+/// angular distance which means the arc length.
+void
+Motor::move (double t, double a)
+{
+ nextSeq ();
+ finish_ = false;
+ blocked_ = false;
+ asserv_.speedTo (t, a, seq_);
+}
+
+/// Rotate (rad).
+void
+Motor::rotate (double a)
+{
+ nextSeq ();
+ finish_ = false;
+ blocked_ = false;
+ asserv_.speedAngle (a, seq_);
+}
+
+/// Find a hole.
+void
+Motor::findHole (void)
+{
+ nextSeq ();
+ finish_ = false;
+ blocked_ = false;
+ asserv_.findHole (seq_);
+}
+
+void Motor::lockGoodHole (void)
+{
+ ///XXX VERIFIER LES COORDONNEES
+ const int xGood = 2000;
+ const int yGood = -1100;
+ ///XXX VERIFIER LES CALCULS D'AILLEURS...
+ double rotation = atan2((yGood - y_), (xGood - x_));
+ rotate(rotation);
+}
+
+void Motor::lockBadHole (void)
+{
+ ///XXX VERIFIER LES COORDONNEES
+ const int xGood = 600;
+ const int yGood = -1100;
+ ///XXX VERIFIER LES CALCULS D'AILLEURS...
+ double rotation = atan2((yGood - y_), (xGood - x_));
+ rotate(rotation);
+}
+
+/// Stop now.
+void
+Motor::stop (void)
+{
+ finish_ = true;
+ blocked_ = false;
+ asserv_.speed (0, 0);
+}
+
+/// get the file descriptor
+int
+Motor::getFd(void) const
+{
+ return asserv_.getFd();
+}
+
+/// get the position of robal
+void
+Motor::getPosition(double & x, double & y, double & a) const
+{
+ x = x_;
+ y = y_;
+ a = a_;
+}
+
+/// Next seq number.
+void
+Motor::nextSeq (void)
+{
+ seq_++;
+ if (seq_ > 100)
+ seq_ = 1;
+}
+
+/// Implement Asserv::Receiver callbacks.
+void
+Motor::receiveAck (int seq)
+{
+ if ((seq & 0x7f) == seq_)
+ {
+ asserv_.ack (seq);
+ finish_ = true;
+ if (seq & 0x80)
+ {
+ blocked_ = true;
+ }
+ }
+}
+
+void
+Motor::receiveCounterStat (int l, int r)
+{
+}
+
+void
+Motor::receivePos (double x, double y, double a)
+{
+ x_ = x;
+ y_ = y;
+ a_ = a;
+ log_ ("Pos") << "x " << x << " y " << y << " a " << a / (2 * M_PI) * 360;
+}
+
+void
+Motor::receiveSpeedStat (int t, int a)
+{
+}
+
+void
+Motor::receivePosStat (int te, int ti, int ae, int ai)
+{
+}
+
+void
+Motor::receivePwmStat (int l, int r)
+{
+}
+
+void
+Motor::receiveTimerStat (const int *t, int tn)
+{
+}
+
+void
+Motor::receiveInPort (unsigned int port)
+{
+}
+