/* traj.c - Trajectories. */ /* 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. * * }}} */ #include "common.h" #include "traj.h" #include "io.h" #include "speed.h" #include "state.h" #ifdef HOST # include "simu.host.h" #endif /* This file provides high level trajectories commands. */ /** Traj mode: * 10, 11: go to the wall. */ uint8_t traj_mode; /** Go to the wall mode. */ static void traj_ftw (void) { int16_t speed; speed = speed_theta_slow; speed *= 256; if (PINC & _BV (0) && PINC & _BV (1)) { speed_theta_cons = -speed; speed_alpha_cons = 0; } else if (PINC & _BV (0)) { speed_theta_cons = -speed / 2; speed_alpha_cons = speed / 2; } else if (PINC & _BV (1)) { speed_theta_cons = -speed / 2; speed_alpha_cons = -speed / 2; } else { speed_theta_cons = 0; speed_alpha_cons = 0; speed_theta_cur = 0; speed_alpha_cur = 0; state_finish (&state_main); traj_mode = 11; } } /* Compute new speed according the defined trajectory. */ void traj_update (void) { switch (traj_mode) { case 10: traj_ftw (); case 11: break; } }