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+#ifndef asserv_hh
+#define asserv_hh
+// 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 "i2c_queue.hh"
+#include "defs.hh"
+#include "motor.hh"
+
+/// Interface to asserv board.
+class Asserv : public I2cQueue::Slave
+{
+ public:
+ /// No support for auxiliary motors for the moment.
+ static const int aux_nb = 0;
+ public:
+ /// Direction consigns, can be or'ed together.
+ enum DirectionConsign
+ {
+ /// Use forward movements.
+ FORWARD = 0,
+ /// Use backward movements.
+ BACKWARD = 1,
+ /// Authorise to reverse the direction consign
+ REVERT_OK = 2,
+ /// Combination.
+ BACKWARD_REVERT_OK = BACKWARD | REVERT_OK,
+ };
+ public:
+ /// Constructor.
+ Asserv (I2cQueue &queue, float scale);
+ /// See I2cQueue::Slave::recv_status.
+ void recv_status (const uint8_t *status);
+ /// Get status of last command.
+ Motor::Status get_status () const;
+ /// Get current moving direction (or NONE).
+ Direction get_moving_direction () const;
+ /// Get last moving direction.
+ Direction get_last_moving_direction () const;
+ /// Get current position.
+ void get_position (Position &position) const;
+ /// Release motors (zero torque).
+ void free ();
+ /// Stop moving, applying acceleration constraints.
+ void stop ();
+ /// Move linearly on a given distance (mm).
+ void move_distance (int distance);
+ /// Move angularly by a given angle.
+ void move_angle (int16_t angle);
+ /// Face an absolute angle.
+ void goto_angle (uint16_t angle);
+ /// Go to an absolute position and angle.
+ void goto_xya (const Position &pos,
+ DirectionConsign direction_consign = FORWARD);
+ /// Go to an absolute position, any angle.
+ void goto_xy (const vect_t &vect,
+ DirectionConsign direction_consign = FORWARD);
+ /// Push the wall and initialise position. Use -1 for coordinates to keep
+ /// unchanged.
+ void push_wall (DirectionConsign direction_consign,
+ int init_x, int init_y, int16_t init_a);
+ /// Set movement speeds.
+ void set_speed (uint16_t linear_hi, uint16_t angular_hi,
+ uint16_t linear_lo, uint16_t angular_lo);
+ /// Set acceleration.
+ void set_acceleration (uint16_t linear, uint16_t angular);
+ private:
+ uint8_t status_flag_;
+ uint8_t input_port_;
+ int position_x_, position_y_;
+ uint16_t position_a_;
+ Direction last_moving_direction_;
+ float scale_, scale_inv_;
+};
+
+inline Motor::Status
+Asserv::get_status () const
+{
+ if (status_flag_ & 1)
+ return Motor::SUCCESS;
+ else if (status_flag_ & 2)
+ return Motor::FAILURE;
+ else
+ return Motor::RUNNING;
+}
+
+inline Direction
+Asserv::get_moving_direction () const
+{
+ if (status_flag_ & 4)
+ return DIRECTION_FORWARD;
+ else if (status_flag_ & 8)
+ return DIRECTION_BACKWARD;
+ else
+ return DIRECTION_NONE;
+}
+
+inline Direction
+Asserv::get_last_moving_direction () const
+{
+ return last_moving_direction_;
+}
+
+#endif // asserv_hh