AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
odo_asserv.cpp
- Committer:
- Nanaud
- Date:
- 2020-10-06
- Revision:
- 17:176a1b4a2fa8
- Parent:
- 16:ae65ce77b1f9
- Child:
- 18:48246daf0c06
File content as of revision 17:176a1b4a2fa8:
//Nom du fichier : odo_asserv.cpp #include "pins.h" #define VMAX 50 ///// VARIABLES Ticker ticker_odo; Ticker ticker_asserv; // Coeff à définir empiriquement const double coeffGLong = 5.956, coeffDLong = 5.956; // constantes permettant la transformation tic/millimètre const double coeffGAngl = 737.447, coeffDAngl = 748.057; // constantes permettant la transformation tic/radian 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++; } /* // odo1() double dDist = 0, dAngl = 0; // Distance moyenne du robot et orientation double x = 0, y = 0, O = 0; void odo1() { dDist = ((comptG / coeffGLong) + (comptD / coeffDLong)) / 2; dAngl = ((comptD / coeffDAngl) - (comptG / coeffGAngl)); x += dDist * cos(dAngl); y += dDist * sin(dAngl); O += dAngl; comptG = 0; comptD = 0; } */ ///* // odo2() //#define diametre 51.45 // 51.45 théorique //#define N 1000 // 1000 théorique #define entraxe 253 // 255 théorique //const double coeffG = ((double)(diametre/2)/(double)N)*2.0f*3.1415f; //const double coeffD = ((double)(diametre/2)/(double)N)*2.0f*3.1415f; const double coeffG = 0.16008537; const double coeffD = 0.16059957; double dDist = 0, dAngl = 0; // Distance moyenne du robot et orientation double x = 0, y = 0, O = 0; double vitG = 0, vitD = 0; #define tpsTicker 0.020f void odo2() { vitG = (double) ((comptG * coeffG) / tpsTicker); vitD = (double) ((comptD * coeffD) / tpsTicker); 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; } //*/ /* // odo3() #define diametre 51.45 #define N 1000 #define entraxe 255 const double coeffG = 1/5.956; const double coeffD = 1/5.956; void odo3() { 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; comptG = 0; comptD = 0; } */ double distanceCible = 0; double xC = 0, yC = 0; // x = xR et y = yR double consigneOrientation = 0; //double consigneOrientation = (90*3.1415)/180; int signe = 1; int cmdD = 0, cmdG = 0; double erreurAngle = 0; double erreurPre = 0; double deltaErreur = 0; const double coeffPro = 25.0; // 5.0 de base const double coeffDer = 50.0; // 3.0 de base // NEW NEW NEW NEW int etape = 1; int acc = 1; 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; } consigneOrientation = signe * acos((xC-x)/((xC-x)*(xC-x)*(yC-y)*(yC-y))); // Switch de sélection de l'étape switch (etape) { case 0: // break; case 1: // Rotation // Asservissement en position angulaire erreurAngle = consigneOrientation - O; deltaErreur = erreurAngle - erreurPre; erreurPre = erreurAngle; int deltaCommande = coeffPro * erreurAngle + coeffDer * deltaErreur; if (deltaCommande < VMAX) { cmdG = deltaCommande; cmdD = cmdG; } else { cmdG = VMAX; cmdD = cmdG; } if(acc && cmdG <VMAX) { cmdG+=1; cmdD = cmdG; } else { acc = 0; } vitesseMotG(abs(cmdG)); vitesseMotD(abs(cmdD)); if (O > (consigneOrientation - (2*0.0174533)) && O < (consigneOrientation + (2*0.0174533))) { mot_dis(); //etape++; acc = 1; } break; case 2: // Avancer cmdD = abs((int)distanceCible); if(cmdD>VMAX) { cmdD = VMAX; } cmdG = cmdD; motGauche_fwd(); motDroite_fwd(); vitesseMotG(cmdG); vitesseMotD(cmdD); if (abs((int)distanceCible) < 1) mot_dis(); break; case 3: // Reculer break; default: mot_dis(); } }