ARES
/
Robot2016_2-0
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Dependencies: RoboClaw mbed StepperMotor
Fork of
RoboClaw
by 
Simon Emarre
Revision 36:2d7357a385bc, committed 2016-01-31
- Comitter:
- IceTeam
- Date:
- Sun Jan 31 16:11:32 2016 +0000
- Parent:
- 35:4e3d9ab1b94b
- Child:
- 37:da3a2c781672
- Child:
- 38:a17f8a61bc0d
- Commit message:
- sauvegarde
Changed in this revision
--- a/Map/Map.cpp Tue Jan 26 17:21:11 2016 +0000
+++ b/Map/Map.cpp Sun Jan 31 16:11:32 2016 +0000
@@ -68,7 +68,9 @@
obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P13,1750,3000-90,30));// P13
obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P14,1850,3000-90,30));// P14
obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P15,1770,3000-1100,30));// P15*/
- obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P16,700,1000,1));// P16
+ obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P16,700,1000,30));// P16
+ obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P15,1100,600,30));// P16
+ obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P15,900,800,50));// P16
}
int Map::getHeight(float x, float y)
--- a/Odometry/Odometry.cpp Tue Jan 26 17:21:11 2016 +0000
+++ b/Odometry/Odometry.cpp Sun Jan 31 16:11:32 2016 +0000
@@ -73,18 +73,18 @@
x = xO + R*sin(theta);
y = yO - R*cos(theta);
}*/
+
+
+
+ double dx = deltaS*cos(theta+deltaTheta/2);
+ double dy = deltaS*sin(theta+deltaTheta/2);
+ x += dx;
+ y += dy;
+
theta += deltaTheta;
while(theta > PI) theta -= 2*PI;
while(theta <= -PI) theta += 2*PI;
-
- double dx = deltaS*cos(theta-deltaTheta/2);
- double dy = deltaS*sin(theta-deltaTheta/2);
- x += dx;
- y += dy;
-
-
-
}
void Odometry::GotoXY(double x_goal, double y_goal)
--- a/Odometry/Odometry.h Tue Jan 26 17:21:11 2016 +0000 +++ b/Odometry/Odometry.h Sun Jan 31 16:11:32 2016 +0000 @@ -8,9 +8,9 @@ #define C 1.0 /* Vitesse d'acceleration d'angle reduite de 8000->4000 */ -#define accel_angle 4000 +#define accel_angle 8000 #define vitesse_angle 16000 -#define deccel_angle 4000 +#define deccel_angle 8000 #define accel_dista 8000 #define vitesse_dista 16000
--- a/main.cpp Tue Jan 26 17:21:11 2016 +0000
+++ b/main.cpp Sun Jan 31 16:11:32 2016 +0000
@@ -5,6 +5,7 @@
#define ATTENTE 0
#define GO 1
#define STOP 2
+#define ENTRAXE 248.25
InterruptIn mybutton(USER_BUTTON);
DigitalIn button(USER_BUTTON);
@@ -15,7 +16,7 @@
Serial logger (PA_9, PA_10);
RoboClaw roboclaw(460800, PA_11, PA_12);
/* Changement entraxe : 252->253 */
-Odometry odo(63.2, 63.3, 253, 4096, roboclaw);
+Odometry odo(63.2, 63.3, ENTRAXE, 4096, roboclaw);
int i = 0;
@@ -34,9 +35,9 @@
init();
//Construction des obstacles
- //map.build();
+ map.build();
- /*float x=odo.getX();
+ float x=odo.getX();
float y=odo.getY();
float the = 0;
@@ -56,13 +57,14 @@
odo.GotoXYT(path[i].x, path[i].y, the);
}
- odo.GotoThet(PI);
+ //odo.GotoThet(PI);
+ odo.GotoThet(0);
+ //odo.TestEntraxe(3);
+ /*
+ odo.GotoXYT(1000, 1000, 0);
+ odo.GotoXYT(0, 1000, PI);
odo.GotoThet(0);*/
- odo.GotoXYT(1000, 1000, 0);
- odo.GotoXYT(0, 1000, PI);
- odo.GotoThet(0);
-
//odo.GotoThet(-PI/2);
wait(2000);
//odo.GotoXYT(2250,500,0);