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+/* traj.c - Trajectories. */
+/* 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.
+ *
+ * }}} */
+
+/** Traj mode:
+ * 10, 11 and 12: find a hole.
+ */
+uint8_t traj_mode;
+
+/* Find a hole in the table.
+ * French: On avance, et si on voit un "pas vert" à gauche, on tourne à
+ * gauche. Pareil pour la droite. Au final, on centre le "pas vert" entre deux
+ * capteurs, c'est le trou. Il y a aussi les capteurs à l'avant et à l'arrière.
+ * Le robot commence par avancer à vive allure jusqu'à trouver un trou avec le
+ * capteur avant, puis il ralenti et passe dans le mode ou il avance s'il voit
+ * du "pas vert" à l'avant et il recule s'il voit du "pas-vert" à l'arrière.
+ * Enfin, il s'arrète.
+ */
+static void
+traj_holes (void)
+{
+ int16_t speed;
+ speed_pos = 0;
+ /* Change state if needed. */
+ if (traj_mode == 10 && (PINF & 0xf))
+ traj_mode++;
+ else if (traj_mode == 11 && (PINF & 0xf) == 0)
+ traj_mode++;
+ /* Determine speed. */
+ speed = traj_mode == 10 ? speed_theta_max : speed_theta_max / 2;
+ speed *= 256;
+ /* Left or right. */
+ if (PINF & 1)
+ {
+ speed_theta_cons = speed / 2;
+ speed_alpha_cons = speed / 2;
+ }
+ else if (PINF & 2)
+ {
+ speed_theta_cons = speed / 2;
+ speed_alpha_cons = -speed / 2;
+ }
+ else if (PINF & 8)
+ {
+ speed_theta_cons = -speed;
+ speed_alpha_cons = 0;
+ }
+ else
+ {
+ speed_theta_cons = speed;
+ speed_alpha_cons = 0;
+ }
+}
+
+/* Compute new speed according the defined trajectory. */
+static void
+traj_update (void)
+{
+ switch (traj_mode)
+ {
+ case 10:
+ case 11:
+ traj_holes ();
+ case 12:
+ break;
+ }
+}
+