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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" � gauche, on tourne �
 * 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 � l'avant et � l'arri�re.
 * Le robot commence par avancer � vive allure jusqu'� trouver un trou avec le
 * capteur avant, puis il ralenti et passe dans le mode ou il avance s'il voit
 * du "pas vert" � l'avant et il recule s'il voit du "pas-vert" � l'arri�re.
 * Enfin, il s'arr�te.
 */
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;
      }
}