ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Odometry/Odometry.h@77:f19cc7f81f2a, 2016-05-05 (annotated)

Committer:
sype
Date:
Thu May 05 08:46:08 2016 +0000
Revision:
77:f19cc7f81f2a
Parent:
51:1056dd73a748 
commit homologation

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 77:f19cc7f81f2a 4 #include "DefinesSharps.h"
sype 0:ad9600df4a70 5 #include "mbed.h"
IceTeam 31:8bcc3a0bfa8a 6 #include "../RoboClaw/RoboClaw.h"
sype 0:ad9600df4a70 7
sype 0:ad9600df4a70 8 #define PI 3.1415926535897932384626433832795
sype 10:ae3178aa94e9 9 #define C 1.0
sype 10:ae3178aa94e9 10
IceTeam 31:8bcc3a0bfa8a 11 /* Vitesse d'acceleration d'angle reduite de 8000->4000 */
sype 77:f19cc7f81f2a 12 #define accel_angle 12000
sype 77:f19cc7f81f2a 13 #define vitesse_angle 10000
sype 77:f19cc7f81f2a 14 #define deccel_angle 12000
sype 10:ae3178aa94e9 15
sype 77:f19cc7f81f2a 16 #define accel_dista 12000
sype 77:f19cc7f81f2a 17 #define vitesse_dista 12000
sype 77:f19cc7f81f2a 18 #define deccel_dista 12000
IceTeam 39:309f38d1e49c 19
IceTeam 39:309f38d1e49c 20 /* Si le robot parcourt un trop grand angle, il diminuer l'entraxe, sinon l'augmenter */
IceTeam 39:309f38d1e49c 21 #define ENTRAXE 243.8
IceTeam 39:309f38d1e49c 22
sype 0:ad9600df4a70 23 /*
sype 0:ad9600df4a70 24 * Author : Benjamin Bertelone, reworked by Simon Emarre
sype 0:ad9600df4a70 25 */
sype 0:ad9600df4a70 26
sype 37:da3a2c781672 27 extern Serial logger;
sype 2:abdf8c6823a1 28
IceTeam 9:e39b218ab20d 29 /** Permet la gestion de l'odometrie du robot **/
sype 0:ad9600df4a70 30 class Odometry
sype 0:ad9600df4a70 31 {
IceTeam 8:12d7123a500e 32 public:
sype 10:ae3178aa94e9 33 /** Constructeur standard
IceTeam 8:12d7123a500e 34 * @param diameter_right Definit le diametre de la roue droite
IceTeam 8:12d7123a500e 35 * @param diameter_left Definit le diametre de la roue gauche
IceTeam 8:12d7123a500e 36 * @param v Definit l'entraxe du robot
IceTeam 8:12d7123a500e 37 * @param rc Definit une reference vers l'objet permettant l'asserv des moteurs
sype 10:ae3178aa94e9 38 * @note Cet objet doit etre initialise en amont
IceTeam 8:12d7123a500e 39 */
sype 10:ae3178aa94e9 40 Odometry(double diameter_right, double diameter_left, double v, uint16_t quadrature, RoboClaw &rc);
IceTeam 8:12d7123a500e 41
IceTeam 39:309f38d1e49c 42 /** Demande au robot d'effectuer un certain nombre de tour sur lui même */
IceTeam 35:4e3d9ab1b94b 43 void TestEntraxe(int i);
IceTeam 35:4e3d9ab1b94b 44
IceTeam 39:309f38d1e49c 45 /** Demande au robot d'effectuer un déplacement sur l'avant. Voir si l'on peut enlever la correction PID */
IceTeam 39:309f38d1e49c 46 void Forward(float i);
IceTeam 39:309f38d1e49c 47
IceTeam 8:12d7123a500e 48 /** Les fonctions suivantes permettent de reinitialiser les valeurs de position de l'odometrie.
IceTeam 8:12d7123a500e 49 */
IceTeam 8:12d7123a500e 50 void setPos(double x, double y, double theta);
IceTeam 8:12d7123a500e 51 void setX(double x);
IceTeam 8:12d7123a500e 52 void setY(double y);
IceTeam 8:12d7123a500e 53 void setTheta(double theta);
IceTeam 8:12d7123a500e 54
IceTeam 8:12d7123a500e 55 /** Les fonctions suivantes permettent de deplacer le robot vers une position ou un angle voulu
IceTeam 8:12d7123a500e 56 */
sype 12:d5e21f71c2a9 57 void GotoXY(double x_goal, double y_goal);
IceTeam 8:12d7123a500e 58 void GotoXYT(double x_goal, double y_goal, double theta_goal);
IceTeam 8:12d7123a500e 59 void GotoThet(double theta_);
IceTeam 8:12d7123a500e 60 void GotoDist(double distance);
IceTeam 8:12d7123a500e 61
IceTeam 8:12d7123a500e 62 double getX() {
IceTeam 8:12d7123a500e 63 return x;
IceTeam 8:12d7123a500e 64 }
IceTeam 8:12d7123a500e 65 double getY() {
IceTeam 8:12d7123a500e 66 return y;
IceTeam 8:12d7123a500e 67 }
IceTeam 8:12d7123a500e 68 double getTheta() {
IceTeam 8:12d7123a500e 69 return theta; // ]-PI;PI]
IceTeam 8:12d7123a500e 70 }
IceTeam 8:12d7123a500e 71 double getTheta_(double x, double y);
IceTeam 8:12d7123a500e 72
IceTeam 8:12d7123a500e 73 double abs_d(double x) {
IceTeam 8:12d7123a500e 74 if(x<0) return -x;
IceTeam 8:12d7123a500e 75 else return x;
IceTeam 8:12d7123a500e 76 }
IceTeam 7:961c1acdf753 77
sype 10:ae3178aa94e9 78 /* Les fonction suivantes sont actuellement inutilisables, elles pourraient buguer en cas d'utilisation. */
sype 10:ae3178aa94e9 79
IceTeam 8:12d7123a500e 80 double getVitLeft() {
IceTeam 8:12d7123a500e 81 return m_vitLeft;
IceTeam 8:12d7123a500e 82 }
IceTeam 8:12d7123a500e 83 double getVitRight() {
IceTeam 8:12d7123a500e 84 return m_vitRight;
IceTeam 8:12d7123a500e 85 }
IceTeam 8:12d7123a500e 86
IceTeam 8:12d7123a500e 87 double getDistLeft() {
IceTeam 8:12d7123a500e 88 return m_distLeft;
IceTeam 8:12d7123a500e 89 }
IceTeam 8:12d7123a500e 90 double getDistRight() {
IceTeam 8:12d7123a500e 91 return m_distRight;
IceTeam 8:12d7123a500e 92 }
IceTeam 8:12d7123a500e 93
IceTeam 8:12d7123a500e 94 void setDistLeft(double dist) {
IceTeam 8:12d7123a500e 95 m_distLeft = dist;
IceTeam 8:12d7123a500e 96 }
IceTeam 8:12d7123a500e 97 void setDistRight(double dist) {
IceTeam 8:12d7123a500e 98 m_distRight = dist;
IceTeam 8:12d7123a500e 99 }
IceTeam 8:12d7123a500e 100
IceTeam 8:12d7123a500e 101 double calcul_distance(double x, double y, double theta_goal);
IceTeam 8:12d7123a500e 102
IceTeam 8:12d7123a500e 103 int32_t getPulsesLeft(void) {
IceTeam 8:12d7123a500e 104 return m_pulses_left;
IceTeam 8:12d7123a500e 105 }
IceTeam 8:12d7123a500e 106 int32_t getPulsesRight(void) {
IceTeam 8:12d7123a500e 107 return m_pulses_right;
IceTeam 8:12d7123a500e 108 }
IceTeam 8:12d7123a500e 109 double carre(double a) {
IceTeam 8:12d7123a500e 110 return a*a;
IceTeam 8:12d7123a500e 111 }
sype 12:d5e21f71c2a9 112
sype 12:d5e21f71c2a9 113 void getEnc();
sype 12:d5e21f71c2a9 114
IceTeam 8:12d7123a500e 115 /** La fonction retourne vraie quand le robot atteint l'angle voulu avec une marge d'erreur definie par la fonction
IceTeam 8:12d7123a500e 116 * @param theta_ valeur de l'angle devant etre atteint
IceTeam 8:12d7123a500e 117 */
sype 10:ae3178aa94e9 118 bool isArrived(void) {return arrived;}
IceTeam 8:12d7123a500e 119 /** Permet de mettre à jour les valeurs de l'odometrie
IceTeam 8:12d7123a500e 120 */
IceTeam 8:12d7123a500e 121 void update_odo(void);
IceTeam 8:12d7123a500e 122
IceTeam 8:12d7123a500e 123 private:
IceTeam 8:12d7123a500e 124 RoboClaw &roboclaw;
IceTeam 8:12d7123a500e 125 int32_t m_pulses_left;
IceTeam 8:12d7123a500e 126 int32_t m_pulses_right;
sype 10:ae3178aa94e9 127 uint8_t pos_prog;
IceTeam 8:12d7123a500e 128 double x, y, theta;
IceTeam 8:12d7123a500e 129 double m_vitLeft, m_vitRight;
IceTeam 8:12d7123a500e 130 double m_distLeft, m_distRight;
IceTeam 8:12d7123a500e 131
IceTeam 8:12d7123a500e 132 double m_distPerTick_left, m_distPerTick_right, m_v;
IceTeam 8:12d7123a500e 133
IceTeam 8:12d7123a500e 134 double erreur_ang;
sype 10:ae3178aa94e9 135 bool arrived;
sype 0:ad9600df4a70 136 };
sype 0:ad9600df4a70 137
sype 0:ad9600df4a70 138 #endif