ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Odometry/Odometry.h@65:7bf11abfefc3, 2016-05-05 (annotated)

Committer:
IceTeam
Date:
Thu May 05 01:52:34 2016 +0200
Revision:
65:7bf11abfefc3
Parent:
51:1056dd73a748
Child:
66:47353c8122de
Tentative de correction du bug / Changement du init !

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 0:ad9600df4a70 1 #ifndef ODOMETRY_H
sype 0:ad9600df4a70 2 #define ODOMETRY_H
sype 0:ad9600df4a70 3
sype 0:ad9600df4a70 4 #include "mbed.h"
IceTeam 31:8bcc3a0bfa8a 5 #include "../RoboClaw/RoboClaw.h"
sype 0:ad9600df4a70 6
sype 0:ad9600df4a70 7 #define PI 3.1415926535897932384626433832795
sype 10:ae3178aa94e9 8 #define C 1.0
sype 10:ae3178aa94e9 9
IceTeam 31:8bcc3a0bfa8a 10 /* Vitesse d'acceleration d'angle reduite de 8000->4000 */
sype 51:1056dd73a748 11 #define accel_angle 4096
sype 51:1056dd73a748 12 #define vitesse_angle 4096
sype 51:1056dd73a748 13 #define deccel_angle 4096
sype 10:ae3178aa94e9 14
sype 51:1056dd73a748 15 #define accel_dista 4096
sype 51:1056dd73a748 16 #define vitesse_dista 4096
sype 51:1056dd73a748 17 #define deccel_dista 4096
IceTeam 39:309f38d1e49c 18
IceTeam 39:309f38d1e49c 19 /* Si le robot parcourt un trop grand angle, il diminuer l'entraxe, sinon l'augmenter */
IceTeam 39:309f38d1e49c 20 #define ENTRAXE 243.8
IceTeam 39:309f38d1e49c 21
sype 0:ad9600df4a70 22 /*
sype 0:ad9600df4a70 23 * Author : Benjamin Bertelone, reworked by Simon Emarre
sype 0:ad9600df4a70 24 */
sype 0:ad9600df4a70 25
sype 37:da3a2c781672 26 extern Serial logger;
sype 2:abdf8c6823a1 27
IceTeam 9:e39b218ab20d 28 /** Permet la gestion de l'odometrie du robot **/
sype 0:ad9600df4a70 29 class Odometry
sype 0:ad9600df4a70 30 {
IceTeam 8:12d7123a500e 31 public:
sype 10:ae3178aa94e9 32 /** Constructeur standard
IceTeam 8:12d7123a500e 33 * @param diameter_right Definit le diametre de la roue droite
IceTeam 8:12d7123a500e 34 * @param diameter_left Definit le diametre de la roue gauche
IceTeam 8:12d7123a500e 35 * @param v Definit l'entraxe du robot
IceTeam 8:12d7123a500e 36 * @param rc Definit une reference vers l'objet permettant l'asserv des moteurs
sype 10:ae3178aa94e9 37 * @note Cet objet doit etre initialise en amont
IceTeam 8:12d7123a500e 38 */
sype 10:ae3178aa94e9 39 Odometry(double diameter_right, double diameter_left, double v, uint16_t quadrature, RoboClaw &rc);
IceTeam 8:12d7123a500e 40
IceTeam 39:309f38d1e49c 41 /** Demande au robot d'effectuer un certain nombre de tour sur lui même */
IceTeam 35:4e3d9ab1b94b 42 void TestEntraxe(int i);
IceTeam 35:4e3d9ab1b94b 43
IceTeam 39:309f38d1e49c 44 /** Demande au robot d'effectuer un déplacement sur l'avant. Voir si l'on peut enlever la correction PID */
IceTeam 39:309f38d1e49c 45 void Forward(float i);
IceTeam 39:309f38d1e49c 46
IceTeam 8:12d7123a500e 47 /** Les fonctions suivantes permettent de reinitialiser les valeurs de position de l'odometrie.
IceTeam 8:12d7123a500e 48 */
IceTeam 8:12d7123a500e 49 void setPos(double x, double y, double theta);
IceTeam 8:12d7123a500e 50 void setX(double x);
IceTeam 8:12d7123a500e 51 void setY(double y);
IceTeam 8:12d7123a500e 52 void setTheta(double theta);
IceTeam 8:12d7123a500e 53
IceTeam 8:12d7123a500e 54 /** Les fonctions suivantes permettent de deplacer le robot vers une position ou un angle voulu
IceTeam 8:12d7123a500e 55 */
sype 12:d5e21f71c2a9 56 void GotoXY(double x_goal, double y_goal);
IceTeam 8:12d7123a500e 57 void GotoXYT(double x_goal, double y_goal, double theta_goal);
IceTeam 8:12d7123a500e 58 void GotoThet(double theta_);
IceTeam 8:12d7123a500e 59 void GotoDist(double distance);
IceTeam 8:12d7123a500e 60
IceTeam 8:12d7123a500e 61 double getX() {
IceTeam 8:12d7123a500e 62 return x;
IceTeam 8:12d7123a500e 63 }
IceTeam 8:12d7123a500e 64 double getY() {
IceTeam 8:12d7123a500e 65 return y;
IceTeam 8:12d7123a500e 66 }
IceTeam 8:12d7123a500e 67 double getTheta() {
IceTeam 8:12d7123a500e 68 return theta; // ]-PI;PI]
IceTeam 8:12d7123a500e 69 }
IceTeam 8:12d7123a500e 70 double getTheta_(double x, double y);
IceTeam 8:12d7123a500e 71
IceTeam 8:12d7123a500e 72 double abs_d(double x) {
IceTeam 8:12d7123a500e 73 if(x<0) return -x;
IceTeam 8:12d7123a500e 74 else return x;
IceTeam 8:12d7123a500e 75 }
IceTeam 7:961c1acdf753 76
sype 10:ae3178aa94e9 77 /* Les fonction suivantes sont actuellement inutilisables, elles pourraient buguer en cas d'utilisation. */
sype 10:ae3178aa94e9 78
IceTeam 8:12d7123a500e 79 double getVitLeft() {
IceTeam 8:12d7123a500e 80 return m_vitLeft;
IceTeam 8:12d7123a500e 81 }
IceTeam 8:12d7123a500e 82 double getVitRight() {
IceTeam 8:12d7123a500e 83 return m_vitRight;
IceTeam 8:12d7123a500e 84 }
IceTeam 8:12d7123a500e 85
IceTeam 8:12d7123a500e 86 double getDistLeft() {
IceTeam 8:12d7123a500e 87 return m_distLeft;
IceTeam 8:12d7123a500e 88 }
IceTeam 8:12d7123a500e 89 double getDistRight() {
IceTeam 8:12d7123a500e 90 return m_distRight;
IceTeam 8:12d7123a500e 91 }
IceTeam 8:12d7123a500e 92
IceTeam 8:12d7123a500e 93 void setDistLeft(double dist) {
IceTeam 8:12d7123a500e 94 m_distLeft = dist;
IceTeam 8:12d7123a500e 95 }
IceTeam 8:12d7123a500e 96 void setDistRight(double dist) {
IceTeam 8:12d7123a500e 97 m_distRight = dist;
IceTeam 8:12d7123a500e 98 }
IceTeam 8:12d7123a500e 99
IceTeam 8:12d7123a500e 100 double calcul_distance(double x, double y, double theta_goal);
IceTeam 8:12d7123a500e 101
IceTeam 8:12d7123a500e 102 int32_t getPulsesLeft(void) {
IceTeam 8:12d7123a500e 103 return m_pulses_left;
IceTeam 8:12d7123a500e 104 }
IceTeam 8:12d7123a500e 105 int32_t getPulsesRight(void) {
IceTeam 8:12d7123a500e 106 return m_pulses_right;
IceTeam 8:12d7123a500e 107 }
IceTeam 8:12d7123a500e 108 double carre(double a) {
IceTeam 8:12d7123a500e 109 return a*a;
IceTeam 8:12d7123a500e 110 }
IceTeam 65:7bf11abfefc3 111 void Stop {
IceTeam 65:7bf11abfefc3 112 roboclaw.ForwardM1(0);
IceTeam 65:7bf11abfefc3 113 roboclaw.ForwardM2(0);
IceTeam 65:7bf11abfefc3 114 }
sype 12:d5e21f71c2a9 115
sype 12:d5e21f71c2a9 116 void getEnc();
sype 12:d5e21f71c2a9 117
IceTeam 8:12d7123a500e 118 /** La fonction retourne vraie quand le robot atteint l'angle voulu avec une marge d'erreur definie par la fonction
IceTeam 8:12d7123a500e 119 * @param theta_ valeur de l'angle devant etre atteint
IceTeam 8:12d7123a500e 120 */
sype 10:ae3178aa94e9 121 bool isArrived(void) {return arrived;}
IceTeam 8:12d7123a500e 122 /** Permet de mettre à jour les valeurs de l'odometrie
IceTeam 8:12d7123a500e 123 */
IceTeam 8:12d7123a500e 124 void update_odo(void);
IceTeam 8:12d7123a500e 125
IceTeam 8:12d7123a500e 126 private:
IceTeam 8:12d7123a500e 127 RoboClaw &roboclaw;
IceTeam 8:12d7123a500e 128 int32_t m_pulses_left;
IceTeam 8:12d7123a500e 129 int32_t m_pulses_right;
sype 10:ae3178aa94e9 130 uint8_t pos_prog;
IceTeam 8:12d7123a500e 131 double x, y, theta;
IceTeam 8:12d7123a500e 132 double m_vitLeft, m_vitRight;
IceTeam 8:12d7123a500e 133 double m_distLeft, m_distRight;
IceTeam 8:12d7123a500e 134
IceTeam 8:12d7123a500e 135 double m_distPerTick_left, m_distPerTick_right, m_v;
IceTeam 8:12d7123a500e 136
IceTeam 8:12d7123a500e 137 double erreur_ang;
sype 10:ae3178aa94e9 138 bool arrived;
sype 0:ad9600df4a70 139 };
sype 0:ad9600df4a70 140
sype 0:ad9600df4a70 141 #endif