/* 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, 12 and 13: find a hole. * 20, 21: we fuck the wall. */ uint8_t traj_mode; /** Holes filter. */ uint8_t traj_holes_filter; /** Holes ok filter. */ uint8_t traj_holes_ok; /* 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 avoir tous les capteurs * verts (afin de ne pas trouver le trou sur lequel on comence). Puis il * continue jusqu'à trouver un trou avec l'un des capteurs, 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; uint8_t in; speed_pos = 0; in = PINF; /* Change state if needed. */ if (traj_mode == 10) { /* Cruise mode until not over a hole. */ if ((in & 0xf) == 0) traj_holes_filter++; else traj_holes_filter = 0; if (traj_holes_filter >= 8) { traj_holes_filter = 0; traj_mode = 11; } } else if (traj_mode == 11) { /* Cruise mode until over a hole. */ if (in & 0xf) traj_holes_filter++; else traj_holes_filter = 0; if (traj_holes_filter >= 8) { traj_holes_filter = 255; traj_mode = 12; traj_holes_ok = 0; } } else if (traj_mode == 12) { /* Return to cruise mode if no hole for too long. */ if (!(in & 0xf)) traj_holes_filter--; if (traj_holes_filter == 0) traj_mode = 11; } /* Determine speed. */ if (traj_mode <= 11) { /* Cruise mode. */ speed = speed_theta_max; speed *= 256; speed_theta_cons = speed; speed_alpha_cons = 0; } else { speed = speed_theta_slow; speed *= 256; if ((in & 0xf) == 0xc || (in & 0x7) == 0x7) { traj_holes_ok++; if (traj_holes_ok >= 32) { /* Stop. */ speed_theta_cons = 0; speed_alpha_cons = 0; main_sequence_finish = main_sequence; traj_mode = 13; } } else { if (in & 1) { /* Left. */ speed_theta_cons = 0; speed_alpha_cons = speed; } else if (in & 2) { /* Right. */ speed_theta_cons = 0; speed_alpha_cons = -speed; } else if (in & 8) { /* Back. */ speed_theta_cons = -speed; speed_alpha_cons = 0; } else { /* Front. */ speed_theta_cons = speed; speed_alpha_cons = 0; } } } } /** We fuck the wall mode. */ void traj_ftw (void) { int16_t speed; speed = speed_theta_slow; speed *= 256; if (PINA & _BV (0) && PINA & _BV (7)) { speed_theta_cons = -speed; speed_alpha_cons = 0; } else if (PINA & _BV (0)) { speed_theta_cons = -speed / 2; speed_alpha_cons = speed / 2; } else if (PINA & _BV (7)) { speed_theta_cons = -speed / 2; speed_alpha_cons = -speed / 2; } else { speed_theta_cons = 0; speed_alpha_cons = 0; speed_theta_cur = 0; speed_alpha_cur = 0; main_sequence_finish = main_sequence; traj_mode = 21; } } /* Compute new speed according the defined trajectory. */ static void traj_update (void) { switch (traj_mode) { case 10: case 11: case 12: traj_holes (); case 13: break; case 20: traj_ftw (); case 21: break; } }