/* 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; /** Holes filter. */ uint8_t traj_holes_filter; /* 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; uint8_t in; speed_pos = 0; in = PINF; /* Change state if needed. */ if (traj_mode == 10) { if (in & 0xf) traj_holes_filter++; else traj_holes_filter = 0; if (traj_holes_filter >= 8) { traj_holes_filter = 255; traj_mode = 11; } } else if (traj_mode == 11) { /* Return to cruise mode if no hole for too long. */ if (!(in & 0xf)) traj_holes_filter--; if (traj_holes_filter == 0) traj_mode = 10; } /* Determine speed. */ speed = traj_mode == 10 ? speed_theta_max : speed_theta_slow; speed *= 256; if ((in & 0xf) == 0xc) { /* Stop. */ speed_theta_cons = 0; speed_alpha_cons = 0; main_sequence_finish = main_sequence; traj_mode = 12; } 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; } } /* Compute new speed according the defined trajectory. */ static void traj_update (void) { switch (traj_mode) { case 10: case 11: traj_holes (); case 12: break; } }