ARES / Mbed 2 deprecated Robot2016_2-0

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Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Files at this revision

API Documentation at this revision

Revision 35:4e3d9ab1b94b, committed 2016-01-26

Comitter:
IceTeam
Date:
Tue Jan 26 17:21:11 2016 +0000
Parent:
33:7f8c29ddee61
Child:
36:2d7357a385bc
Commit message:
Test entraxe;

Changed in this revision

Odometry/Odometry.cpp Show annotated file Show diff for this revision Revisions of this file
Odometry/Odometry.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Odometry/Odometry.cpp	Tue Jan 26 17:14:54 2016 +0000
+++ b/Odometry/Odometry.cpp	Tue Jan 26 17:21:11 2016 +0000
@@ -172,3 +172,24 @@
     //pc.printf("arrivey %d\n\r",pos_prog);
     //pc.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", getX(), getY(), getTheta()*180/PI);
 }
+
+void Odometry::TestEntraxe(int i) {
+    int32_t distance_ticks_left;
+    int32_t distance_ticks_right;
+
+    int32_t pos_initiale_right = m_pulses_right, pos_initiale_left = m_pulses_left;
+
+    double erreur_theta = 2*PI*i - getTheta();
+    if(erreur_theta < 0) {
+        distance_ticks_left = (int32_t) pos_initiale_left + (erreur_theta*m_v/2)/m_distPerTick_left;
+        distance_ticks_right = (int32_t) pos_initiale_right - (erreur_theta*m_v/2)/m_distPerTick_right;
+    } else {
+        distance_ticks_left = (int32_t) pos_initiale_left + (erreur_theta*m_v/2)/m_distPerTick_left;
+        distance_ticks_right = (int32_t) pos_initiale_right - (erreur_theta*m_v/2)/m_distPerTick_right;
+    }
+    
+    roboclaw.SpeedAccelDeccelPositionM1M2(ADR, accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
+    
+    while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left)); 
+    wait(0.4);
+}

--- a/Odometry/Odometry.h	Tue Jan 26 17:14:54 2016 +0000
+++ b/Odometry/Odometry.h	Tue Jan 26 17:21:11 2016 +0000
@@ -36,6 +36,8 @@
     */
     Odometry(double diameter_right, double diameter_left, double v, uint16_t quadrature, RoboClaw &rc);
 
+    void TestEntraxe(int i);
+
     /** Les fonctions suivantes permettent de reinitialiser les valeurs de position de l'odometrie.
     */
     void setPos(double x, double y, double theta);