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authorNicolas Schodet2012-04-06 23:20:37 +0200
committerNicolas Schodet2012-04-06 23:55:26 +0200
commit872dfd49752b0fe5b7d4e8588c0abaac3829b7dc (patch)
tree598ee24c4abeb1c5c5a85efac2943f759a649eb2 /digital/mimot/src/asserv/models.host.c
parent73572af1cc60e1513d73b2b6b47cbdfb154fab73 (diff)
digital/mimot: add asserv based program without aux motors
Diffstat (limited to 'digital/mimot/src/asserv/models.host.c')
-rw-r--r--digital/mimot/src/asserv/models.host.c165
1 files changed, 165 insertions, 0 deletions
diff --git a/digital/mimot/src/asserv/models.host.c b/digital/mimot/src/asserv/models.host.c
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+/* models.host.c */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2006 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.
+ *
+ * }}} */
+#define _GNU_SOURCE 1 /* Need ISO C99 features as well. */
+#include "common.h"
+
+#include "modules/utils/utils.h"
+
+#include "io.h"
+
+#include "models.host.h"
+#include "simu.host.h"
+
+#include "aux.h"
+
+#include AC_ASSERV_CONTACTS_H
+
+#include <math.h>
+#include <string.h>
+
+#define NO_CORNER { { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 } }
+
+static int
+simu_table_test_guybrush (double p_x, double p_y);
+
+/* Guybrush, APBTeam 2012. */
+static const struct robot_t guybrush_robot =
+{
+ /* Main motors. */
+ &motor_model_def_faulhaber_2657_x9_7,
+ /* Motors voltage (V). */
+ 24.0,
+ /* Number of steps on the main motors encoders. */
+ 2500,
+ /* Wheel radius (m). */
+ 0.065 / 2,
+ /* Distance between the wheels (m). */
+ 0.16,
+ /* Weight of the robot (kg). */
+ 10.0,
+ /* Distance of the gravity center from the center of motors axis (m). */
+ 0.0,
+ /* Whether the encoder is mounted on the main motor (false) or not (true). */
+ 1,
+ /** Encoder wheel radius (m). */
+ 0.063 / 2,
+ /** Distance between the encoders wheels (m). */
+ 0.28,
+ /** No auxiliary motors. */
+ { }, { }, { },
+ /** Sensor update function. */
+ NULL,
+ /** Table test function, return false if given robot point is not in
+ * table. */
+ simu_table_test_guybrush,
+ /** Robot corners, from front left, then clockwise. */
+ { { 150, 171.5 }, { 150, -171.5 }, { -130, -121.5 }, { -130, 121.5 } },
+ /** Initialisation function. */
+ NULL,
+};
+
+/* Table of models. */
+static const struct
+{
+ const char *name;
+ const struct robot_t *robot;
+} models[] = {
+ { "guybrush", &guybrush_robot },
+ { 0, 0 }
+};
+
+/** Get a pointer to a model by name, or return 0. */
+const struct robot_t *
+models_get (const char *name)
+{
+ int i;
+ for (i = 0; models[i].name; i++)
+ {
+ if (strcmp (models[i].name, name) == 0)
+ return models[i].robot;
+ }
+ return 0;
+}
+
+/** Initialise simulation models. */
+void
+models_init (const struct robot_t *robot, motor_model_t *main_motor_left,
+ motor_model_t *main_motor_right, motor_model_t aux_motor[])
+{
+ int i;
+ if (main_motor_left)
+ {
+ main_motor_left->m = *robot->main_motor;
+ main_motor_left->m.J = robot->weight * robot->wheel_r
+ * robot->wheel_r / 2;
+ main_motor_left->h = ECHANT_PERIOD;
+ main_motor_left->d = 1000;
+ }
+ if (main_motor_right)
+ {
+ main_motor_right->m = *robot->main_motor;
+ main_motor_right->m.J = robot->weight * robot->wheel_r
+ * robot->wheel_r / 2;
+ main_motor_right->h = ECHANT_PERIOD;
+ main_motor_right->d = 1000;
+ }
+ if (aux_motor)
+ {
+ for (i = 0; i < AC_ASSERV_AUX_NB; i++)
+ {
+ if (robot->aux_motor[i])
+ {
+ aux_motor[i].m = *robot->aux_motor[i];
+ aux_motor[i].m.J = robot->aux_load[i];
+ aux_motor[i].h = ECHANT_PERIOD;
+ aux_motor[i].d = 1000;
+ }
+ }
+ }
+ if (robot->init)
+ robot->init (robot, main_motor_left, main_motor_right, aux_motor);
+}
+
+/* Table test for Guybrush. */
+int
+simu_table_test_guybrush (double p_x, double p_y)
+{
+ static const double table_width = 3000.0, table_height = 2000.0;
+ double x, y;
+ simu_compute_absolute_position (p_x, p_y, &x, &y);
+ if (x < 0 || y < 0 || x >= table_width || y >= table_height)
+ return 0;
+ /* Totems. */
+ if (((x >= 1500 - 400 - 125 && x < 1500 - 400 + 125)
+ || (x >= 1500 + 400 - 125 && x < 1500 + 400 + 125))
+ && (y >= 1000 - 125 && y < 1000 + 125))
+ return 0;
+ /* Boats. */
+ double bx = 325 + (400 - 325) * y / 1500. + 22;
+ if ((x < bx || x >= 3000 - bx) && y < 740)
+ return 0;
+ return 1;
+}
+