summaryrefslogtreecommitdiff
path: root/n
diff options
context:
space:
mode:
authorschodet2006-04-01 17:58:15 +0000
committerschodet2006-04-01 17:58:15 +0000
commite7d3f72a1b83a67cd9ac5b366de6fb2be0437166 (patch)
tree034cb7d3cbc15561f6db371c78ab2ce001a1e8b7 /n
parenta995bb9ff446a514ce99064ad9fc6c2f8c773eba (diff)
Ajout du calcul de position absolu.
Diffstat (limited to 'n')
-rw-r--r--n/asserv/src/asserv/eeprom.avr.c6
-rw-r--r--n/asserv/src/asserv/main.c47
-rw-r--r--n/asserv/src/asserv/postrack.c115
3 files changed, 168 insertions, 0 deletions
diff --git a/n/asserv/src/asserv/eeprom.avr.c b/n/asserv/src/asserv/eeprom.avr.c
index 34770bb..cefea42 100644
--- a/n/asserv/src/asserv/eeprom.avr.c
+++ b/n/asserv/src/asserv/eeprom.avr.c
@@ -39,6 +39,9 @@ eeprom_read_params (void)
return;
pwm_dir = eeprom_read_byte (p8++);
p16 = (uint16_t *) p8;
+ postrack_set_footing (eeprom_read_word (p16++));
+ speed_theta_acc = eeprom_read_word (p16++);
+ speed_alpha_acc = eeprom_read_word (p16++);
pos_theta_kp = eeprom_read_word (p16++);
pos_alpha_kp = eeprom_read_word (p16++);
pos_theta_ki = eeprom_read_word (p16++);
@@ -58,6 +61,9 @@ eeprom_write_params (void)
eeprom_write_byte (p8++, EEPROM_KEY);
eeprom_write_byte (p8++, pwm_dir);
p16 = (uint16_t *) p8;
+ eeprom_write_word (p16++, postrack_footing);
+ eeprom_write_word (p16++, speed_theta_acc);
+ eeprom_write_word (p16++, speed_alpha_acc);
eeprom_write_word (p16++, pos_theta_kp);
eeprom_write_word (p16++, pos_alpha_kp);
eeprom_write_word (p16++, pos_theta_ki);
diff --git a/n/asserv/src/asserv/main.c b/n/asserv/src/asserv/main.c
index 11ef09a..c74f786 100644
--- a/n/asserv/src/asserv/main.c
+++ b/n/asserv/src/asserv/main.c
@@ -42,6 +42,7 @@
#endif
#include "pos.c"
#include "speed.c"
+#include "postrack.c"
#ifndef HOST
# include "eeprom.avr.c"
#endif
@@ -56,6 +57,9 @@ int8_t main_mode;
/** Report of counters. */
uint8_t main_stat_counter, main_stat_counter_cpt;
+/** Report of position. */
+uint8_t main_stat_postrack, main_stat_postrack_cpt;
+
/** Statistics about speed control. */
uint8_t main_stat_speed, main_stat_speed_cpt;
@@ -121,6 +125,8 @@ main_loop (void)
/* Pwm setup. */
pwm_update ();
main_timer_2 = timer_read ();
+ /* Compute absolute position. */
+ postrack_update ();
/* Speed control. */
if (main_mode >= 2)
speed_update ();
@@ -131,6 +137,11 @@ main_loop (void)
proto_send2w ('C', counter_left, counter_right);
main_stat_counter_cpt = main_stat_counter;
}
+ if (main_stat_postrack && !--main_stat_postrack_cpt)
+ {
+ proto_send3d ('X', postrack_x, postrack_y, postrack_a);
+ main_stat_postrack_cpt = main_stat_postrack;
+ }
if (main_stat_speed && !--main_stat_speed_cpt)
{
proto_send2b ('S', speed_theta_cur >> 8, speed_alpha_cur >> 8);
@@ -172,6 +183,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
switch (c (cmd, size))
{
case c ('z', 0):
+ /* Reset. */
utils_reset ();
break;
/* Commands. */
@@ -240,6 +252,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Counter stats. */
main_stat_counter_cpt = main_stat_counter = args[0];
break;
+ case c ('X', 1):
+ /* Position stats. */
+ main_stat_postrack_cpt = main_stat_postrack = args[0];
+ break;
case c ('S', 1):
/* Motor speed control stats. */
main_stat_speed_cpt = main_stat_speed = args[0];
@@ -266,7 +282,36 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
{
switch (c (args[0], size))
{
+ case c ('X', 1):
+ /* Reset position. */
+ postrack_x = 0;
+ postrack_y = 0;
+ postrack_a = 0;
+ break;
+ case c ('X', 5):
+ /* Set current x position.
+ * - d: x position. */
+ postrack_x = v8_to_v32 (args[1], args[2], args[3], args[4]);
+ break;
+ case c ('Y', 5):
+ /* Set current y position.
+ * - d: y position. */
+ postrack_y = v8_to_v32 (args[1], args[2], args[3], args[4]);
+ break;
+ case c ('A', 5):
+ /* Set current angle.
+ * - d: angle. */
+ postrack_a = v8_to_v32 (args[1], args[2], args[3], args[4]);
+ break;
+ case c ('f', 3):
+ /* Set footing.
+ * - w: footing. */
+ postrack_set_footing (v8_to_v16 (args[1], args[2]));
+ break;
case c ('a', 5):
+ /* Set acceleration.
+ * - w: theta.
+ * - w: alpha. */
speed_theta_acc = v8_to_v16 (args[1], args[2]);
speed_alpha_acc = v8_to_v16 (args[3], args[4]);
break;
@@ -316,6 +361,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
case c ('P', 1):
/* Print current settings. */
proto_send1b ('E', EEPROM_KEY);
+ proto_send1w ('f', postrack_footing);
+ proto_send2w ('a', speed_theta_acc, speed_alpha_acc);
proto_send2w ('p', pos_theta_kp, pos_alpha_kp);
proto_send2w ('i', pos_theta_ki, pos_alpha_ki);
proto_send2w ('d', pos_theta_kd, pos_alpha_kd);
diff --git a/n/asserv/src/asserv/postrack.c b/n/asserv/src/asserv/postrack.c
new file mode 100644
index 0000000..ae13ec9
--- /dev/null
+++ b/n/asserv/src/asserv/postrack.c
@@ -0,0 +1,115 @@
+/* postrack.c */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * 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.
+ *
+ * }}} */
+
+/** Current position, f24.8. */
+int32_t postrack_x, postrack_y;
+/** Current angle, f8.24. */
+int32_t postrack_a;
+/** Distance between the weels, u16. */
+uint16_t postrack_footing;
+/** Precomputed footing factor, f8.24.
+ * postrack_footing_factor = (1/2pi * 256) / postrack_footing
+ * Explanations:
+ * - Angles are between 0 and 1, corresponding to 0 and 2pi, therefore we
+ * must divide by 2pi to convert unit (Arc=Angle * Radius only works for
+ * radians).
+ * - dd (see postrack_update) is in f11.16 format, we multiply by 256 to have
+ * a angle in f8.24 format.
+ * - this factor is in f8.24 format, therefore, 1 is writen (1L << 24). */
+int32_t postrack_footing_factor;
+
+/* +AutoDec */
+
+/** Initialise the position tracker. */
+static inline void
+postrack_init (void);
+
+/** Update the current position. */
+static inline void
+postrack_update (void);
+
+/** Change the footing value. */
+static inline void
+postrack_set_footing (uint16_t footing);
+
+/* -AutoDec */
+
+/** Initialise the position tracker. */
+static inline void
+postrack_init (void)
+{
+ /* Prevent division by 0 by providing a default large value. */
+ postrack_set_footing (0x1000);
+}
+
+#define M_PI 3.14159265358979323846 /* pi */
+
+/** Update the current position. */
+static inline void
+postrack_update (void)
+{
+ int32_t d, dd, da, na, dsc;
+ d = counter_right_diff + counter_left_diff; /* 10b */
+ d <<= 16; /* 10.16b */
+ if (counter_right_diff == counter_left_diff)
+ {
+ /* Line. */
+ postrack_x += fixed_mul_f824 (d, fixed_cos_f824 (postrack_a)) >> 8;
+ postrack_y += fixed_mul_f824 (d, fixed_sin_f824 (postrack_a)) >> 8;
+ }
+ else
+ {
+ /* Arc. */
+ dd = counter_right_diff - counter_left_diff; /* 10b */
+ dd <<= 16; /* 10.16b */
+ da = fixed_mul_f824 (dd, postrack_footing_factor);/* 8.24b */
+ /* New angle. */
+ na = postrack_a + da;
+ /* Compute da in radians. */
+ da = fixed_mul_f824 (da, 2 * M_PI * (1L << 24));
+ /* X increment. */
+ dsc = fixed_sin_f824 (na) - fixed_sin_f824 (postrack_a); /* 8.24b */
+ dsc = fixed_div_f824 (dsc, da); /* 8.24b < 1 */
+ postrack_x += fixed_mul_f824 (d, dsc) >> 8; /* 24.8b */
+ /* Y increment. */
+ dsc = fixed_cos_f824 (postrack_a) - fixed_cos_f824 (na); /* 8.24b */
+ dsc = fixed_div_f824 (dsc, da); /* 8.24b < 1 */
+ postrack_y += fixed_mul_f824 (d, dsc) >> 8; /* 24.8b */
+ /* Angle update. */
+ postrack_a = na;
+ postrack_a &= 0x00ffffff;
+ }
+}
+
+#define M_1_PI 0.31830988618379067154 /* 1/pi */
+
+/** Change the footing value. */
+static inline void
+postrack_set_footing (uint16_t footing)
+{
+ postrack_footing = footing;
+ postrack_footing_factor =
+ (int32_t) (0.5 * M_1_PI * (1L << 8) * (1L << 24)) / footing;
+}