File content as of revision 84:24d727006218:

#include "planB.h"
#include "defines.h"

extern Serial logger;

aserv_planB::aserv_planB(Odometry2 &odometry,Motor &motorL,Motor &motorR) : m_odometry(odometry), m_motorL(motorL), m_motorR(motorR)
{
    erreur_precedente = 0;
    Kp = 0.436; //Fixed à 0.436
    Ki = 0.0;  //Limite a 0.03
    Kd = 0.0;
    cmd = 0;
    N = 0;
    moyenne = 0;
    limite = 0;
    done = false;
    state = 0; // Etat ou l'on ne fait rien
}

void aserv_planB::setGoal(float x, float y, float theta)
{
    m_goalX = x;
    m_goalY = y;
    m_goalTheta = theta;

    state = 1; // Etat de rotation 1
}

void aserv_planB::control_speed()
{
    vitesse_d = m_odometry.getVitRight();
    vitesse_g = m_odometry.getVitLeft();

    erreur_g = consigne_g - vitesse_g;
    cmd_g = erreur_g*Kp;
    erreur_d = consigne_d - vitesse_d;
    cmd_d = erreur_d*Kp;

    m_motorL.setSpeed(cmd_g);
    m_motorR.setSpeed(cmd_d);
}

void aserv_planB::update(float dt)
{
    // Etat 1 : Angle theta pour viser dans la direction du point M(x,y)
    if(state == 1 && N < 100)
    {
        float thetaGoal = atan2(m_goalY-m_odometry.getY(),m_goalX-m_odometry.getX());
        
        float erreur_theta = thetaGoal-m_odometry.getTheta();
        if(erreur_theta <= PI) erreur_theta += 2.0*PI;
        if(erreur_theta >= PI) erreur_theta -= 2.0*PI;
        
        logger.printf("%.2f\r\n",erreur_theta*180/PI);
        
        cmd = erreur_theta*Kp + (erreur_theta-erreur_precedente)*Kd;
        erreur_precedente = erreur_theta;
        
        m_motorL.setSpeed(-cmd);
        m_motorR.setSpeed(cmd);

        N++;
        if((N==100) && (abs(erreur_theta)<=1.0)) logger.printf("%.2f\r\n",abs(erreur_theta)*180/PI);
    }
    if(state == 2)
    {
        
    }
}