File content as of revision 72:b2a128486332:

#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)
{
    consigne_g = 0.0;
    consigne_d = 0.0;
    vitesse_g = 0;
    vitesse_d = 0;
    erreur_g = 0;
    erreur_d = 0;
    cmd_g = 0;
    cmd_d = 0;
    somme_erreur_g = 0;
    somme_erreur_d = 0;
    Kp = 0.02;
    
    
    state = 0; // Etat ou on 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)
{
    if(state == 1)
    {
        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 %.2f %.2f\r\n",m_odometry.getTheta()*180/PI,thetaGoal*180/PI,erreur_theta*180/PI);
        
        
        //! Pas bon coeff, mais c'est l'idée
        consigne_g = 0;//-erreur_theta*0.0001;
        consigne_d = 0;//erreur_theta*0.0001;
        
        control_speed();
    }
}

void aserv_planB::control_position()
{
    //position_g = m_odometry.getPosRight();
    //position_d = m_odometry.getPosLeft();
    
    erreur_position_g = consigne_position_g - position_g;
    cmd_g = erreur_position_g*Kp;
    
    erreur_position_d = consigne_position_d - position_d;
    cmd_d = erreur_position_d*Kp;
    
    m_motorL.setSpeed(cmd_g);
    m_motorR.setSpeed(cmd_d);
}