File content as of revision 86:2fbe5db2627f:

#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_angle = 1.2; //Fixed à 0.436 pour 180 deg
    Kd_angle = 4.455;
    cmd = 0;
    cmd_g = 0, cmd_d = 0;
    N = 0;
    done = false;
    state = 0; // Etat ou l'on ne fait rien
    distance_g = 0;
    distance_d = 0;
    Kp_distance = 0.0075;
    Ki_distance = 0;
    Kd_distance = 0;
}

void aserv_planB::setGoal(float x, float y, float theta)
{
    m_goalX = x;
    m_goalY = y;
    m_goalTheta = theta;
    thetaGoal = atan2(m_goalY-m_odometry.getY(),m_goalX-m_odometry.getX());
    distance_g = sqrt(carre(m_goalY-m_odometry.getY())+carre(m_goalX-m_odometry.getX()));
    distance_d = distance_g;
    state = 2; // 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 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_angle + (erreur_theta-erreur_precedente)*Kd_angle;
        erreur_precedente = erreur_theta;
        
        m_motorL.setSpeed(-cmd);
        m_motorR.setSpeed(cmd);

        N++;
        if(N==100) // && (abs(erreur_theta)<=2.0)
        {   
            state = 2;
            logger.printf("%.2f %.2f\r\n", erreur_theta*180/PI, thetaGoal*180/PI);
            m_odometry.setDistLeft(0);
            m_odometry.setDistRight(0);
            memo_g = m_odometry.getDistLeft();
            memo_d = m_odometry.getDistRight();
        }
    }
    
    // Etat 2 : Parcours du robot jusqu'au point M(x,y)
    if(state == 2)
    {
        float erreur_distance_g = distance_g-(m_odometry.getDistLeft()-memo_g); //- distance parcourue par la roue gauche depuis l'état 2
        float erreur_distance_d = distance_d-(m_odometry.getDistRight()-memo_d);
        cmd_g = erreur_distance_g*Kp_distance;
        cmd_d = erreur_distance_d*Kp_distance;
        
        m_motorL.setSpeed(0);
        m_motorR.setSpeed(0);
        
        logger.printf("%.2f %.2f\r\n", m_odometry.getDistLeft(), m_odometry.getDistRight());
        
        //N++;
        if(N==100) state = 2;
    }
    
    // Etat 3 : Placement au bon angle Phi souhaité au point M(x,y)
    if(state == 3)
    {
        m_motorL.setSpeed(0);
        m_motorR.setSpeed(0);
    }
}