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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
parent4daa2c76c2a028e4b2c8ab379e7d1e0f535a0a31 (diff)
Création de chuck, le programme du robot 2007.
Diffstat (limited to 'i/chuck/src/motor')
-rw-r--r--i/chuck/src/motor/Makefile.defs5
-rw-r--r--i/chuck/src/motor/motor.cc183
-rw-r--r--i/chuck/src/motor/motor.hh86
-rw-r--r--i/chuck/src/motor/test_motor.cc99
4 files changed, 373 insertions, 0 deletions
diff --git a/i/chuck/src/motor/Makefile.defs b/i/chuck/src/motor/Makefile.defs
new file mode 100644
index 0000000..ce79e10
--- /dev/null
+++ b/i/chuck/src/motor/Makefile.defs
@@ -0,0 +1,5 @@
+PROGRAMS += test_motor
+
+motor_OBJECTS = motor.o $(asserv_OBJECTS) $(log_OBJECTS)
+
+test_motor_OBJECTS = test_motor.o $(motor_OBJECTS) $(tester_OBJECTS)
diff --git a/i/chuck/src/motor/motor.cc b/i/chuck/src/motor/motor.cc
new file mode 100644
index 0000000..32d94eb
--- /dev/null
+++ b/i/chuck/src/motor/motor.cc
@@ -0,0 +1,183 @@
+// 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)
+{
+}
+
diff --git a/i/chuck/src/motor/motor.hh b/i/chuck/src/motor/motor.hh
new file mode 100644
index 0000000..548c7bd
--- /dev/null
+++ b/i/chuck/src/motor/motor.hh
@@ -0,0 +1,86 @@
+#ifndef motor_hh
+#define motor_hh
+// motor.hh
+// 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 "asserv/asserv.hh"
+#include "log/log.hh"
+
+/// Handle movements.
+class Motor : public Asserv::Receiver
+{
+ private:
+ Asserv asserv_;
+ int seq_;
+ bool finish_;
+ bool blocked_;
+ double x_, y_, a_;
+ Log log_;
+ public:
+ /// Constructor.
+ Motor (void);
+ /// Try to empty emission queue, return true if empty.
+ bool sync (void) { return asserv_.sync (); }
+ /// Wait until emission queue is empty or timed out.
+ bool wait (int timeout = -1) { return asserv_.wait (timeout); }
+ /// Get asserv reference to change parameters.
+ Asserv &getAsserv (void) { return asserv_; }
+ /// True if last long move is finished.
+ bool finish (void) const { return finish_; }
+ /// True if blocked.
+ bool blocked (void) const { return blocked_; }
+ /// Linear and angular move. T(mm) is the linear distance. A(mm) is the
+ /// angular distance which means the arc length.
+ void move (double t, double a);
+ /// Rotate (rad).
+ void rotate (double a);
+ /// Find a hole.
+ void findHole (void);
+ /// Lock good hole (approximatively...)
+ void lockGoodHole(void);
+ /// Lock ennemy hole (non pas son cul)
+ void lockBadHole(void);
+ /// Stop now.
+ void stop (void);
+ /// get the file descriptor
+ int getFd(void) const;
+ /// Reset.
+ void reset (void);
+ /// get the position of robal
+ void getPosition(double & x, double & y, double & a) const;
+ private:
+ /// Next seq number.
+ inline void nextSeq (void);
+ /// Implement Asserv::Receiver callbacks.
+ void receiveAck (int seq);
+ void receiveCounterStat (int l, int r);
+ void receivePos (double x, double y, double a);
+ void receiveSpeedStat (int t, int a);
+ void receivePosStat (int te, int ti, int ae, int ai);
+ void receivePwmStat (int l, int r);
+ void receiveTimerStat (const int *t, int tn);
+ void receiveInPort (unsigned int port);
+};
+
+#endif // motor_hh
diff --git a/i/chuck/src/motor/test_motor.cc b/i/chuck/src/motor/test_motor.cc
new file mode 100644
index 0000000..760dfd6
--- /dev/null
+++ b/i/chuck/src/motor/test_motor.cc
@@ -0,0 +1,99 @@
+// test_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 "tester/tester.hh"
+#include "timer/timer.hh"
+
+#include <iostream>
+#include <exception>
+#include <iomanip>
+
+class TestMotor : public Tester
+{
+ private:
+ Motor motor_;
+ public:
+ /// Constructor.
+ TestMotor (int argc, char **argv)
+ : Tester (argc, argv)
+ { }
+ /// Wait.
+ void wait (int ms)
+ {
+ int t, stop;
+ t = Timer::getProgramTime ();
+ stop = t + ms;
+ while (t < stop)
+ {
+ motor_.wait (stop - t);
+ t = Timer::getProgramTime ();
+ }
+ }
+ /// Called after each command called.
+ void postcall (void)
+ {
+ while (!motor_.wait () || !motor_.finish ())
+ ;
+ }
+ /// Executed before checking/running commands. Good place to add command
+ /// to the interpreter.
+ void preRun (void)
+ {
+ Interpreter &i = getInterpreter ();
+ i.add ("wait", Interpreter::memFunc (*this, &TestMotor::wait),
+ "wait MS\nwait for a delay in millisecond");
+ i.add ("move", Interpreter::memFunc (motor_, &Motor::move),
+ "move T(mm) A(mm)\n"
+ "linear and angular move");
+ i.add ("rotate", Interpreter::memFunc (motor_, &Motor::rotate),
+ "rotate A(rad)\n"
+ "rotate round axis center");
+ i.add ("findHole", Interpreter::memFunc (motor_, &Motor::findHole),
+ "findHole\nfind a hole");
+ i.add ("stop", Interpreter::memFunc (motor_, &Motor::stop),
+ "stop\nguess what");
+ i.add ("_postcall",
+ Interpreter::memFunc (*this, &TestMotor::postcall));
+ }
+ /// Executed after running commands.
+ void postRun (void)
+ {
+ motor_.getAsserv ().reset ();
+ }
+};
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ TestMotor tm (argc, argv);
+ tm.run ();
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ }
+}