File content as of revision 41:53d5990ff99d:

#include "Odometry.h"

// M1 = Moteur droit, M2 = Moteur gauche

Odometry::Odometry(double diameter_right, double diameter_left, double v, uint16_t quadrature, RoboClaw &rc) : roboclaw(rc)
{
    m_v = v;
    m_distPerTick_left = diameter_left*PI/quadrature;
    m_distPerTick_right = diameter_right*PI/quadrature;

    roboclaw.ForwardM1(ADR, 0);
    roboclaw.ForwardM2(ADR, 0);
    roboclaw.ResetEnc(ADR);
    // Erreur autorisée sur le déplacement en angle
    erreur_ang = 0.01;

    m_pulses_right = 0;
    m_pulses_left = 0;
    pos_prog = 0;
    wait_ms(100);
}

void Odometry::setPos(double x, double y, double theta)
{
    this->x = x;
    this->y = y;
    this->theta = theta;
}
void Odometry::getEnc()
{
    logger.printf("EncM1 : %d\tEncM2 : %d\n\r", roboclaw.ReadEncM1(ADR), roboclaw.ReadEncM2(ADR));
}

void Odometry::setX(double x)
{
    this->x = x;
}

void Odometry::setY(double y)
{
    this->y = y;
}

void Odometry::setTheta(double theta)
{
    this->theta = theta;
}

void Odometry::update_odo(void)
{
    int32_t roboclawENCM1 = roboclaw.ReadEncM1(ADR); 
    int32_t roboclawENCM2 = roboclaw.ReadEncM2(ADR); 
    int32_t delta_right = roboclawENCM1 - m_pulses_right;
    m_pulses_right = roboclawENCM1;
    int32_t delta_left = roboclawENCM2 - m_pulses_left;
    m_pulses_left = roboclawENCM2;
    
    double deltaS = (m_distPerTick_left*delta_left + m_distPerTick_right*delta_right)*C / 2.0f;
    // deltaTheta = (m_distPerTick_left*delta_left - m_distPerTick_right*delta_right)*C / m_v;
    double deltaTheta = (m_distPerTick_right*delta_right - m_distPerTick_left*delta_left)*C / m_v;

    /*double R = deltaS/deltaTheta;

    double xO = x - R*sin(theta);
    double yO = y + R*cos(theta);

    theta += deltaTheta;

    if(deltaTheta == 0) {
        x = x + deltaS*cos(theta);
        y = y + deltaS*sin(theta);
    }
    else {
        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;
    // theta = (theta%(2*PI))-PI; 
    while(theta > PI) theta -= 2*PI;
    while(theta <= -PI) theta += 2*PI;
    
}

void Odometry::GotoXY(double x_goal, double y_goal)
{
    double theta_;
    if (x_goal-x != 0)
        theta_ = atan2(y_goal-y, x_goal-x);
    else
        if (y_goal - y >= 0)
            theta_ = PI/2;
        else
            theta_ = -PI/2;
            
    double dist_ = sqrt(carre(x_goal-x)+carre(y_goal-y));
    GotoThet(theta_);
    GotoDist(dist_);
}

void Odometry::GotoXYT(double x_goal, double y_goal, double theta_goal)
{
    double theta_ = atan2(y_goal-y, x_goal-x);
    double dist_ = sqrt(carre(x_goal-x)+carre(y_goal-y));
    //logger.printf("Dist : %3.2f\tTheta : %3.2f\n\r", dist_, theta_*180/PI);
    GotoThet(theta_);
    GotoDist(dist_);
    GotoThet(theta_goal);
}

void Odometry::GotoThet(double theta_)
{
    led = 0;
    //pos_prog++;
    //logger.printf("Theta : %3.2f\n\r", theta_*180/PI);
    //arrived = false;
    int32_t distance_ticks_left;
    int32_t distance_ticks_right;

    int32_t pos_initiale_right = m_pulses_right, pos_initiale_left = m_pulses_left;

    // Le calcul d'erreur est bon (testé), tu peux le vérifier par dessin
    double erreur_theta = theta_ - getTheta();

    while(erreur_theta >= PI) erreur_theta -= 2*PI;
    while(erreur_theta < -PI) erreur_theta += 2*PI;
    
    //logger.printf("ET : %3.2f\n\r", erreur_theta*180/PI);
    
    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;
    }

    //logger.printf("TV %3.2f\tTh %3.2f\tET %3.2f\n\r",theta_*180/PI,getTheta()*180/PI,erreur_theta*180/PI);
    //logger.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", getX(), getY(), getTheta()*180/PI);
    //logger.printf("M1 %6d\tM2 %6d\n\r",distance_ticks_right, distance_ticks_left);

    roboclaw.SpeedAccelDeccelPositionM1M2(ADR, accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
    
    //logger.printf("IniR:%6d\tDistR:%6d\tIniL:%6d\tDistL:%6d\n\r", pos_initiale_right, distance_ticks_right, pos_initiale_left, distance_ticks_left);
    
    /*while ((m_pulses_right - distance_ticks_right > 0 ? m_pulses_right - distance_ticks_right : distance_ticks_right - m_pulses_right) > 1 &&
           (m_pulses_left - distance_ticks_left > 0 ? m_pulses_left - distance_ticks_left : distance_ticks_left - m_pulses_left) > 1)
         logger.printf("%6d\t%6d\t%6d\t%6d\t%6d\n\r",m_pulses_right - pos_initiale_right, distance_ticks_right, m_pulses_left - pos_initiale_left, distance_ticks_left);
         
    while(((m_pulses_right < distance_ticks_right-1) || (m_pulses_left > distance_ticks_left+1)) && sens ||
          ((m_pulses_right > distance_ticks_right+1) || (m_pulses_left < distance_ticks_left-1)) && (!sens))
        logger.printf("%6d\t%6d\t%6d\t%6d\t%6d\n\r",m_pulses_right - pos_initiale_right, distance_ticks_right, m_pulses_left - pos_initiale_left, distance_ticks_left);
    */
    
    while (m_pulses_right != distance_ticks_right && m_pulses_left != distance_ticks_left);
        //logger.printf("[%f-%f] Theta : %f (theta %f-%f)\n\r", x, y, theta, m_pulses_right-distance_ticks_right, m_pulses_left-distance_ticks_left);
           
    wait(0.4);
    //setTheta(theta_);
    led = 1;
    //arrived = true;
    //logger.printf("arrivey %d\n\r",pos_prog);
}

void Odometry::GotoDist(double distance)
{
    led = 0;
    //pos_prog++;
    //logger.printf("Dist : %3.2f\n\r", distance);
    //arrived = false;

    int32_t pos_initiale_right = m_pulses_right, pos_initiale_left = m_pulses_left;

    int32_t distance_ticks_right = (int32_t) distance/m_distPerTick_right + pos_initiale_right;
    int32_t distance_ticks_left = (int32_t) distance/m_distPerTick_left + pos_initiale_left;

    roboclaw.SpeedAccelDeccelPositionM1M2(ADR, accel_dista, vitesse_dista, deccel_dista, distance_ticks_right, accel_dista, vitesse_dista, deccel_dista, distance_ticks_left, 1);

    //logger.printf("IniR:%6d\tDistR:%6d\tIniL:%6d\tDistL:%6d\n\r", pos_initiale_right, distance_ticks_right, pos_initiale_left, distance_ticks_left);
    
    while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left));
        //logger.printf("[%f-%f] Theta : %f (dist %f-%f)\n\r", x, y, theta, m_pulses_right-distance_ticks_right, m_pulses_left-distance_ticks_left);
        
    wait(0.4);
    led = 1;
    //logger.printf("arrivey %d\n\r",pos_prog);
    //logger.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);
}