ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Odometry/Odometry.h@38:a17f8a61bc0d, 2016-02-06 (annotated)

Committer:
IceTeam
Date:
Sat Feb 06 10:13:13 2016 +0000
Revision:
38:a17f8a61bc0d
Parent:
36:2d7357a385bc 
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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 */
IceTeam 36:2d7357a385bc 11 #define accel_angle 8000
sype 10:ae3178aa94e9 12 #define vitesse_angle 16000
IceTeam 36:2d7357a385bc 13 #define deccel_angle 8000
sype 10:ae3178aa94e9 14
IceTeam 38:a17f8a61bc0d 15 #define accel_dista 12000
IceTeam 38:a17f8a61bc0d 16 #define vitesse_dista 22000
IceTeam 38:a17f8a61bc0d 17 #define deccel_dista 12000
sype 0:ad9600df4a70 18
sype 0:ad9600df4a70 19 /*
sype 0:ad9600df4a70 20 * Author : Benjamin Bertelone, reworked by Simon Emarre
sype 0:ad9600df4a70 21 */
sype 0:ad9600df4a70 22
sype 2:abdf8c6823a1 23 extern Serial pc;
sype 10:ae3178aa94e9 24 extern DigitalOut led;
sype 2:abdf8c6823a1 25
IceTeam 9:e39b218ab20d 26 /** Permet la gestion de l'odometrie du robot **/
sype 0:ad9600df4a70 27 class Odometry
sype 0:ad9600df4a70 28 {
IceTeam 8:12d7123a500e 29 public:
sype 10:ae3178aa94e9 30 /** Constructeur standard
IceTeam 8:12d7123a500e 31 * @param diameter_right Definit le diametre de la roue droite
IceTeam 8:12d7123a500e 32 * @param diameter_left Definit le diametre de la roue gauche
IceTeam 8:12d7123a500e 33 * @param v Definit l'entraxe du robot
IceTeam 8:12d7123a500e 34 * @param rc Definit une reference vers l'objet permettant l'asserv des moteurs
sype 10:ae3178aa94e9 35 * @note Cet objet doit etre initialise en amont
IceTeam 8:12d7123a500e 36 */
sype 10:ae3178aa94e9 37 Odometry(double diameter_right, double diameter_left, double v, uint16_t quadrature, RoboClaw &rc);
IceTeam 8:12d7123a500e 38
IceTeam 35:4e3d9ab1b94b 39 void TestEntraxe(int i);
IceTeam 35:4e3d9ab1b94b 40
IceTeam 8:12d7123a500e 41 /** Les fonctions suivantes permettent de reinitialiser les valeurs de position de l'odometrie.
IceTeam 8:12d7123a500e 42 */
IceTeam 8:12d7123a500e 43 void setPos(double x, double y, double theta);
IceTeam 8:12d7123a500e 44 void setX(double x);
IceTeam 8:12d7123a500e 45 void setY(double y);
IceTeam 8:12d7123a500e 46 void setTheta(double theta);
IceTeam 8:12d7123a500e 47
IceTeam 8:12d7123a500e 48 /** Les fonctions suivantes permettent de deplacer le robot vers une position ou un angle voulu
IceTeam 8:12d7123a500e 49 */
sype 12:d5e21f71c2a9 50 void GotoXY(double x_goal, double y_goal);
IceTeam 8:12d7123a500e 51 void GotoXYT(double x_goal, double y_goal, double theta_goal);
IceTeam 8:12d7123a500e 52 void GotoThet(double theta_);
IceTeam 8:12d7123a500e 53 void GotoDist(double distance);
IceTeam 8:12d7123a500e 54
IceTeam 8:12d7123a500e 55 double getX() {
IceTeam 8:12d7123a500e 56 return x;
IceTeam 8:12d7123a500e 57 }
IceTeam 8:12d7123a500e 58 double getY() {
IceTeam 8:12d7123a500e 59 return y;
IceTeam 8:12d7123a500e 60 }
IceTeam 8:12d7123a500e 61 double getTheta() {
IceTeam 8:12d7123a500e 62 return theta; // ]-PI;PI]
IceTeam 8:12d7123a500e 63 }
IceTeam 8:12d7123a500e 64 double getTheta_(double x, double y);
IceTeam 8:12d7123a500e 65
IceTeam 8:12d7123a500e 66 double abs_d(double x) {
IceTeam 8:12d7123a500e 67 if(x<0) return -x;
IceTeam 8:12d7123a500e 68 else return x;
IceTeam 8:12d7123a500e 69 }
IceTeam 7:961c1acdf753 70
sype 10:ae3178aa94e9 71 /* Les fonction suivantes sont actuellement inutilisables, elles pourraient buguer en cas d'utilisation. */
sype 10:ae3178aa94e9 72
IceTeam 8:12d7123a500e 73 double getVitLeft() {
IceTeam 8:12d7123a500e 74 return m_vitLeft;
IceTeam 8:12d7123a500e 75 }
IceTeam 8:12d7123a500e 76 double getVitRight() {
IceTeam 8:12d7123a500e 77 return m_vitRight;
IceTeam 8:12d7123a500e 78 }
IceTeam 8:12d7123a500e 79
IceTeam 8:12d7123a500e 80 double getDistLeft() {
IceTeam 8:12d7123a500e 81 return m_distLeft;
IceTeam 8:12d7123a500e 82 }
IceTeam 8:12d7123a500e 83 double getDistRight() {
IceTeam 8:12d7123a500e 84 return m_distRight;
IceTeam 8:12d7123a500e 85 }
IceTeam 8:12d7123a500e 86
IceTeam 8:12d7123a500e 87 void setDistLeft(double dist) {
IceTeam 8:12d7123a500e 88 m_distLeft = dist;
IceTeam 8:12d7123a500e 89 }
IceTeam 8:12d7123a500e 90 void setDistRight(double dist) {
IceTeam 8:12d7123a500e 91 m_distRight = dist;
IceTeam 8:12d7123a500e 92 }
IceTeam 8:12d7123a500e 93
IceTeam 8:12d7123a500e 94 double calcul_distance(double x, double y, double theta_goal);
IceTeam 8:12d7123a500e 95
IceTeam 8:12d7123a500e 96 int32_t getPulsesLeft(void) {
IceTeam 8:12d7123a500e 97 return m_pulses_left;
IceTeam 8:12d7123a500e 98 }
IceTeam 8:12d7123a500e 99 int32_t getPulsesRight(void) {
IceTeam 8:12d7123a500e 100 return m_pulses_right;
IceTeam 8:12d7123a500e 101 }
IceTeam 8:12d7123a500e 102 double carre(double a) {
IceTeam 8:12d7123a500e 103 return a*a;
IceTeam 8:12d7123a500e 104 }
sype 12:d5e21f71c2a9 105
sype 12:d5e21f71c2a9 106 void getEnc();
sype 12:d5e21f71c2a9 107
IceTeam 8:12d7123a500e 108 /** La fonction retourne vraie quand le robot atteint l'angle voulu avec une marge d'erreur definie par la fonction
IceTeam 8:12d7123a500e 109 * @param theta_ valeur de l'angle devant etre atteint
IceTeam 8:12d7123a500e 110 */
sype 10:ae3178aa94e9 111 bool isArrived(void) {return arrived;}
IceTeam 8:12d7123a500e 112 /** Permet de mettre à jour les valeurs de l'odometrie
IceTeam 8:12d7123a500e 113 */
IceTeam 8:12d7123a500e 114 void update_odo(void);
IceTeam 8:12d7123a500e 115
IceTeam 8:12d7123a500e 116 private:
IceTeam 8:12d7123a500e 117 RoboClaw &roboclaw;
IceTeam 8:12d7123a500e 118 int32_t m_pulses_left;
IceTeam 8:12d7123a500e 119 int32_t m_pulses_right;
sype 10:ae3178aa94e9 120 uint8_t pos_prog;
IceTeam 8:12d7123a500e 121 double x, y, theta;
IceTeam 8:12d7123a500e 122 double m_vitLeft, m_vitRight;
IceTeam 8:12d7123a500e 123 double m_distLeft, m_distRight;
IceTeam 8:12d7123a500e 124
IceTeam 8:12d7123a500e 125 double m_distPerTick_left, m_distPerTick_right, m_v;
IceTeam 8:12d7123a500e 126
IceTeam 8:12d7123a500e 127 double erreur_ang;
sype 10:ae3178aa94e9 128 bool arrived;
sype 0:ad9600df4a70 129 };
sype 0:ad9600df4a70 130
sype 0:ad9600df4a70 131 #endif