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authorNicolas Schodet2013-03-21 00:35:55 +0100
committerNicolas Schodet2013-03-21 00:35:55 +0100
commitc9f14499885b3c087aa5b107156cc91b48917a7c (patch)
tree6748851c34f13f8c70a8edde481ab285f8b52fce /digital/io-hub/src/common-cc/asserv.cc
parent32c28a77698a34f7fb5f0499553db05321afa9b5 (diff)
digital/io-hub/src/apbirthday: add first I2C slave
Diffstat (limited to 'digital/io-hub/src/common-cc/asserv.cc')
-rw-r--r--digital/io-hub/src/common-cc/asserv.cc193
1 files changed, 193 insertions, 0 deletions
diff --git a/digital/io-hub/src/common-cc/asserv.cc b/digital/io-hub/src/common-cc/asserv.cc
new file mode 100644
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+++ b/digital/io-hub/src/common-cc/asserv.cc
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+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// 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.
+//
+// }}}
+#include "asserv.hh"
+
+#include "ucoolib/utils/bytes.hh"
+
+Asserv::Asserv (I2cQueue &queue, float scale)
+ : I2cQueue::Slave (queue, 0x04, 10 + aux_nb * 2),
+ status_flag_ (0),
+ input_port_ (0),
+ position_x_ (0), position_y_ (0), position_a_ (0),
+ last_moving_direction_ (DIRECTION_NONE),
+ scale_ (scale), scale_inv_ (1 / scale)
+{
+}
+
+void
+Asserv::recv_status (const uint8_t *status)
+{
+ status_flag_ = status[0];
+ input_port_ = status[1];
+ position_x_ = ucoo::bytes_pack (0, status[2], status[3], status[4]);
+ position_y_ = ucoo::bytes_pack (0, status[5], status[6], status[7]);
+ position_a_ = ucoo::bytes_pack (status[8], status[9]);
+ Direction d = get_moving_direction ();
+ if (d != DIRECTION_NONE)
+ last_moving_direction_ = d;
+}
+
+void
+Asserv::get_position (Position &position) const
+{
+ position.v.x = position_x_ * scale_;
+ position.v.y = position_y_ * scale_;
+ position.a = position_a_;
+}
+
+void
+Asserv::free ()
+{
+ uint8_t buf[] = { 'w' };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::stop ()
+{
+ uint8_t buf[] = { 's' };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::move_distance (int distance)
+{
+ distance *= scale_inv_;
+ uint8_t buf[] = { 'l',
+ ucoo::bytes_unpack (distance, 2),
+ ucoo::bytes_unpack (distance, 1),
+ ucoo::bytes_unpack (distance, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::move_angle (int16_t angle)
+{
+ uint8_t buf[] = { 'a',
+ ucoo::bytes_unpack (angle, 1),
+ ucoo::bytes_unpack (angle, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::goto_angle (uint16_t angle)
+{
+ uint8_t buf[] = { 'y',
+ ucoo::bytes_unpack (angle, 1),
+ ucoo::bytes_unpack (angle, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::goto_xya (const Position &pos,
+ DirectionConsign direction_consign)
+{
+ int x = pos.v.x * scale_inv_;
+ int y = pos.v.y * scale_inv_;
+ uint8_t buf[] = { 'X',
+ ucoo::bytes_unpack (x, 2),
+ ucoo::bytes_unpack (x, 1),
+ ucoo::bytes_unpack (x, 0),
+ ucoo::bytes_unpack (y, 2),
+ ucoo::bytes_unpack (y, 1),
+ ucoo::bytes_unpack (y, 0),
+ ucoo::bytes_unpack (pos.a, 1),
+ ucoo::bytes_unpack (pos.a, 0),
+ direction_consign,
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::goto_xy (const vect_t &vect,
+ DirectionConsign direction_consign)
+{
+ int x = vect.x * scale_inv_;
+ int y = vect.y * scale_inv_;
+ uint8_t buf[] = { 'x',
+ ucoo::bytes_unpack (x, 2),
+ ucoo::bytes_unpack (x, 1),
+ ucoo::bytes_unpack (x, 0),
+ ucoo::bytes_unpack (y, 2),
+ ucoo::bytes_unpack (y, 1),
+ ucoo::bytes_unpack (y, 0),
+ direction_consign,
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::push_wall (DirectionConsign direction_consign, int init_x, int init_y,
+ int16_t init_a)
+{
+ if (init_x != -1)
+ init_x *= scale_inv_;
+ if (init_y != -1)
+ init_y *= scale_inv_;
+ uint8_t buf[] = { 'G',
+ direction_consign,
+ ucoo::bytes_unpack (init_x, 2),
+ ucoo::bytes_unpack (init_x, 1),
+ ucoo::bytes_unpack (init_x, 0),
+ ucoo::bytes_unpack (init_y, 2),
+ ucoo::bytes_unpack (init_y, 1),
+ ucoo::bytes_unpack (init_y, 0),
+ ucoo::bytes_unpack (init_a, 1),
+ ucoo::bytes_unpack (init_a, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::set_speed (uint16_t linear_hi, uint16_t angular_hi, uint16_t
+ linear_lo, uint16_t angular_lo)
+{
+ uint8_t buf[] = { 'p', 's',
+ ucoo::bytes_unpack (linear_hi, 1),
+ ucoo::bytes_unpack (linear_hi, 0),
+ ucoo::bytes_unpack (angular_hi, 1),
+ ucoo::bytes_unpack (angular_hi, 0),
+ ucoo::bytes_unpack (linear_lo, 1),
+ ucoo::bytes_unpack (linear_lo, 0),
+ ucoo::bytes_unpack (angular_lo, 1),
+ ucoo::bytes_unpack (angular_lo, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::set_acceleration (uint16_t linear, uint16_t angular)
+{
+ uint8_t buf[] = { 'p', 'a',
+ ucoo::bytes_unpack (linear, 1),
+ ucoo::bytes_unpack (linear, 0),
+ ucoo::bytes_unpack (angular, 1),
+ ucoo::bytes_unpack (angular, 0),
+ };
+ send (buf, sizeof (buf));
+}
+