File content as of revision 24:be2b2be6907b:

/* #include */
#include "pins.h"

/* #define & constantes */
#define VMAXROT 0.020
#define VMAXLIN 0.040
#define entraxe 253 // (Valeur théorique = 255)
const double coeffGLong = 5.956, coeffDLong = 5.956; // tics/millimètre

/* Stratégie */
int indice = 0;
/*
int objEtape[NbObj] = {0,1,1,1,1,1,1,1,1,1,1,1,1}; // Stratégie côté bleu
double objX[NbObj] =  {110,645,645,468,645,336,189,200,645,468,645,371,215};
double objY[NbObj] =  {1085,1200,1490,1490,1490,1788,1032,1200,920,920,920,519,780};
int objRecule[NbObj]= {0,0,0,0,1,0,0,1,0,0,1,0,0};
*/

/*
int objEtape[NbObj] = {0,1,1,1,1,1,1,1,1,1,1,1,1}; // Stratégie côté bleu
double objX[NbObj] =  {110,645,645,200,645,336,189,200,645,468,645,371,215};
double objY[NbObj] =  {1085,1200,1400,1400,1400,1788,1032,1200,920,920,920,519,780};
int objRecule[NbObj]= {0,0,0,0,1,0,0,1,0,0,1,0,0};
*/


//int objEtape[NbObj] = {0,1,1,1}; // Stratégie côté bleu
int objEtape [4] = {0,1,1,1};
double objX[4] = {0,660, 660, 210};
double objY[4] = {0,1070,1650,1300};
int objRecule[NbObj]= {0,0,0,0};


/* Variable globale */
Ticker Ticker_asserv;

long comptG = 0, comptD = 0; // nb de tics comptés pour chaque codeur

///// INTERRUPTIONS CODEURS

void cdgaRise()
{
    if(cdgB) comptG--;
    else comptG++;
}

void cddaRise()
{
    if(cddB) comptD--;
    else comptD++;
}


const double coeffG = 0.16008537;
const double coeffD = 0.16059957;
double dDist = 0, dAngl = 0; // Distance moyenne du robot et orientation
double x = 110, y = 1070, O = 0;

void odo2()
{
    dDist = (double) ((comptG * coeffG) + (comptD * coeffD)) / 2.0f;
    dAngl = (double) ((comptD * coeffD) - (comptG * coeffG)) / entraxe;

    x += (double) dDist * cos(O);
    y += (double) dDist * sin(O);
    O += (double) dAngl;

    if (O > 3.1415) O = O - (2.0f * 3.1415f);
    if (O < -3.1415) O = O + (2.0f * 3.1415f);

    comptG = 0;
    comptD = 0;
}
//*/


double distanceCible = 0;
double xC = 0, yC = 0; // x = xR et y = yR
double consigneOrientation = 0;
int signe = 1;
double cmdD = 0, cmdG = 0;
double erreurAngle = 0;
double erreurPre = 0;
double deltaErreur = 0;
const double coeffPro = 0.020; // 0.023 de base
const double coeffDer = 0.010; // 0.023 de base

// Ligne droite
double erreurPreDist = 0;
double deltaErreurDist = 0;
const double coeffProDist = 0.0008; // 0.010 de base
const double coeffDerDist = 0.0008; // 0.010 de base

// NEW NEW NEW NEW
int fnc = 0;
bool acc = 1;
double distancePrecedente = 0;
bool stt = 0; // Dépassement du point

double OrientationMem = 0;
double OrPlusPi2 = 0, OrMoinsPi2 = 0;

// Controle dépassement cible
double distanceMem = 0;
double distancePlus = 0;

void asserv()
{
    // Odométrie
    odo2();

    // Calcul de la cible

    distanceCible = sqrt(((xC-x)*(xC-x))+((yC-y)*(yC-y)));

    if(y > yC) {
        signe = -1;
    } else {
        signe = 1;
    }

    if (xC >= x)
        consigneOrientation = signe * acos((abs(xC-x))/distanceCible);

    else
        consigneOrientation = signe * (3.1415 - acos((abs(xC-x))/distanceCible));

    // Switch de sélection de l'étape

    switch (fnc) {
        case 0: // Stand-by
            mot_dis();
            break;

        case 1: // Rotation
            mot_en();

            // Si on doit reculer
            if (objRecule[indice]==1) {
                consigneOrientation += 3.1415;

                if(consigneOrientation>3.1415) consigneOrientation-=2*3.1415;
                if(consigneOrientation<-3.1415) consigneOrientation+=2*3.1415;
            }

            // Choix du sens de rotation

            double Osens = 0;
            if (O<0) Osens = O + (2.0f*3.1415f);
            else Osens = O;

            double consigneSens = 0;
            if (consigneOrientation<0) consigneSens = consigneOrientation + (2.0f*3.1415f);
            else consigneSens = consigneOrientation;

            double choixSens = consigneSens - Osens;

            if ((choixSens > 0) && (choixSens <= 3.1415) || (choixSens<(-3.1415))) {
                motGauche_bck();
                motDroite_fwd();
            } else {
                motGauche_fwd();
                motDroite_bck();
            }

            // Asservissement en position angulaire
            erreurAngle =  consigneOrientation - O;

            deltaErreur = erreurAngle - erreurPre;

            erreurPre  = erreurAngle;

            double deltaCommande = (abs(coeffPro * erreurAngle) + abs(coeffDer * deltaErreur));

            if(acc) {
                cmdG = cmdG + 0.0008; // +0.0008
                cmdD = cmdG;

                if (cmdG >= VMAXROT) acc = 0;
            } else {
                //acc = 0;

                if (deltaCommande < VMAXROT) {
                    cmdG = deltaCommande;
                    cmdD = cmdG;
                } else {
                    cmdG = VMAXROT;
                    cmdD = cmdG;
                }
            }

            vitesseMotG(abs(cmdG));
            vitesseMotD(abs(cmdD));

            if (O > (consigneOrientation - (1*0.0174533)) && O < (consigneOrientation + (1*0.0174533))) {
                fnc++;
                rebooted = 1;
                acc = 1;
                //azerty();
                distanceMem = distanceCible;
                distancePlus = 0;
                break;
            }

            break;

        case 2: // Avancer

            if (rebooted == 1 && wtt==1) {
                cmdG = 0;
                cmdD = 0;
                rebooted = 0;
                acc=1;
                mot_en();
            }

            deltaErreurDist = distanceCible - erreurPreDist;

            erreurPreDist  = distanceCible;

            double deltaCommande2 = (abs(coeffProDist * distanceCible) + abs(coeffDerDist * deltaErreurDist));

            if(acc) {
                cmdG = cmdG + 0.0006; // +0.0008
                cmdD = cmdG;

                if (cmdG >= VMAXLIN) {
                    acc = 0;
                }
            } else {

                if (deltaCommande2 < VMAXLIN) {
                    cmdG = deltaCommande2;
                    cmdD = cmdG;
                } else {
                    cmdG = VMAXLIN;
                    cmdD = cmdG;
                }
            }

            distancePlus += abs(dDist);

            if ((distanceCible < 10) || (distancePlus >= distanceMem)) {
                acc = 1;
                indice++;

                if (indice>=(int)NbObj) {
                    fnc = 0;
                } else {
                    fnc = objEtape[indice];
                    xC = objX[indice];
                    yC = objY[indice];
                }

                distancePrecedente = 0;
                break;

            }

            if (objRecule[indice] == 0) {
                motGauche_fwd();
                motDroite_fwd();
            } else {
                motGauche_bck();
                motDroite_bck();
            }

            vitesseMotG(cmdG);
            vitesseMotD(cmdD);

            distancePrecedente = distanceCible;
            break;


        default:
            mot_dis();
    }
}