File content as of revision 9:1b54bac6d9a7:

#include "sm_servo.h"

PwmOut pwm_Servo(PE_9);

// declaration des entrées analogiques
AnalogIn front(PA_5);
AnalogIn ana_left_90(PA_4);
AnalogIn ana_right_90(PF_10);
AnalogIn ana_left_45(PC_0);
AnalogIn ana_right_45(PF_4);
AnalogIn ana_left_5(PF_9);
AnalogIn ana_right_5(PA_6);

AnalogIn analog_value_PF3(PF_3);

E_STATE_SERVO e_stateServo;
bool directionCheck = false;
int pulsewidth = SERVO_PULSE_MIDDLE_US;//SERVO_PULSE_MAX_US;

double d_last_odom_asservissement = 0;

double d_prev_dist_left_90;
double d_prev_dist_right_90;
double d_dist_left_90;
double d_dist_right_90;

double d_prev_dist_left_45;
double d_prev_dist_right_45;
double d_dist_left_45;
double d_dist_right_45;

double d_positionOnTrack;

double coef_positionnement;
double coef_angle_correction_bordure;
double angle_correction_final ;
double angle_correction_position;
double angle_correction_bordure;
double distance_parcourue;

double ponderation_angle[6];
double d_mediane;
double distCapt;

void init_sm_servo()
{
    e_stateServo = SERVO_INIT;
}

double pwmFromAngle(double angleDeg)
{
    //on a une regression linéaire entre l'angle et la pwm on centre sur 0 puis on applique
    pulsewidth = (d_CHASSIS_inversion*angleDeg * 11.0) + SERVO_PULSE_MIDDLE_US;
    //rs_LOG_pc.printf("pulsewidth = %d =(%f * 11.0) + 1500\r\n",pulsewidth,angleDeg);
    if(pulsewidth > SERVO_PULSE_MAX_US) {
        pulsewidth =  SERVO_PULSE_MAX_US;
    } else if(pulsewidth < SERVO_PULSE_MIN_US) {
        pulsewidth = SERVO_PULSE_MIN_US;
    }
    s_LOG_history[i_LOG_index_data].pwm_dir = pulsewidth;
    return pulsewidth;
}



double getDistCapteur(AnalogIn* p)
{
    distCapt = 0.182/(double)p->read() ;
    if (distCapt > 1.5) {
        distCapt = 1.5 ;
    }
    return distCapt ;
}

//renvoie un double entre 0 et 1 avec 0 position extrème gauche et 1 extrème droite
double positionOnTrack()
{
    d_positionOnTrack = 0.25*(3*(d_dist_left_90/(d_dist_left_90 + d_dist_right_90)) + (d_dist_left_45/(d_dist_left_45 + d_dist_right_45) ));

    return d_positionOnTrack;
}

double compute_angle_correction(double consignePos)
{
    //aquisition
    coef_positionnement = 0.1;//0.05
    coef_angle_correction_bordure = 1.0;
    d_dist_left_90 = getDistCapteur(&ana_left_90) + 0.016;
    d_dist_right_90 = getDistCapteur(&ana_right_90) + 0.016;
    d_dist_left_45 = getDistCapteur(&ana_left_45) + 0.042;
    d_dist_right_45 = getDistCapteur(&ana_right_45) + 0.042;


    angle_correction_final = 0.0;
    angle_correction_position = 0.0;
    angle_correction_bordure = 0.0;

    update_speed();

    distance_parcourue = d_ODOM_computed_pos_m - d_last_odom_asservissement ;

    //left 90
    ponderation_angle[0] = atan2( (d_prev_dist_left_90 - d_dist_left_90), distance_parcourue)*57.296 ;
    //right 90
    ponderation_angle[1] = -atan2( (d_prev_dist_right_90 - d_dist_right_90), distance_parcourue)*57.296 ;
    //left 45
    ponderation_angle[2] = atan2( ((d_prev_dist_left_45 - d_dist_left_45)*0.7071), distance_parcourue)*57.296 ;
    //right 45
    ponderation_angle[3] = -atan2( ((d_prev_dist_right_45 - d_dist_right_45)*0.7071), distance_parcourue)*57.296 ;

    //angle detecte entre le 45 et le 90 gauche
    ponderation_angle[4] = atan(1.4142*(d_prev_dist_left_90/d_prev_dist_left_45) - 1)*57.296;
    //rs_LOG_pc.printf("d_prev_dist_left_90:%f,d_prev_dist_left_45:%f;angle cote gauche = %f;angle 90 gauche: %f\n\r",d_prev_dist_left_90,d_prev_dist_left_45,ponderation_angle[4],ponderation_angle[0]);

    //angle detecte entre le 45 et le 90 droite
    ponderation_angle[5] = -atan(1.4142*(d_prev_dist_right_90/d_prev_dist_right_45) - 1)*57.296;
    //rs_LOG_pc.printf("angle cote droit = %f\n\r",ponderation_angle[5] );


    //votation
    bubbleSort(ponderation_angle,6);
    d_mediane = (ponderation_angle[2] + ponderation_angle[3])*0.5;
    //si la valeur la plus extreme est le min, on prend juste les 5 dernières valeurs
    /*if((d_mediane - ponderation_angle[0]) > (ponderation_angle[5] - d_mediane)) {
        for(int i=1; i<6; i++) {
            angle_correction_bordure = ponderation_angle[i];
        }
    } else {
        for(int i=0; i<5; i++) {
            angle_correction_bordure = ponderation_angle[i];
        }
    }
    */
    angle_correction_bordure = d_mediane;


    angle_correction_position = atan2((consignePos - positionOnTrack()), (0.04*d_ODOM_speed_mps))*57.296;

    //rs_LOG_pc.printf("distance_parcourue = %f = %f - %f + 0.001 \n\r",distance_parcourue,d_ODOM_computed_pos_m,d_last_odom_asservissement );
    //rs_LOG_pc.printf("angle_correction_bordure = %f = -atan((%f - %f)/ %f) \n\r",angle_correction_bordure,d_prev_dist_left_90,d_dist_left_90,distance_parcourue) ;
    //rs_LOG_pc.printf("angle_correction_position = %f = atan((%f - %f)/ (0.04* %f ))*57.296,##### TIME: %d\r\n",angle_correction_position,consignePos,d_dist_left_90,d_ODOM_speed_mps,t_utils_timerSinceStart.read_ms());

    angle_correction_final = angle_correction_position * coef_positionnement + angle_correction_bordure*coef_angle_correction_bordure ;
    rs_LOG_pc.printf("angle correction: %f;angle correction bordure: %f ;angle correction position: %f\r\n",angle_correction_final,angle_correction_bordure,angle_correction_position);

    d_last_odom_asservissement = d_ODOM_computed_pos_m;
    d_prev_dist_left_90 = d_dist_left_90;
    d_prev_dist_right_90 = d_dist_right_90;
    d_prev_dist_left_45 = d_dist_left_45;
    d_prev_dist_right_45 = d_dist_right_45;

    //logging
    s_LOG_history[i_LOG_index_data].left_90 = d_dist_left_90;
    s_LOG_history[i_LOG_index_data].right_90 = d_dist_right_90;
    s_LOG_history[i_LOG_index_data].left_45 = d_dist_left_45;
    s_LOG_history[i_LOG_index_data].right_45 = d_dist_right_45;
    s_LOG_history[i_LOG_index_data].odom = d_ODOM_distFromGlobalStart_m;
    s_LOG_history[i_LOG_index_data].speed = d_ODOM_speed_mps;
    
    log_check();

    return  angle_correction_final;
}


void update_sm_servo()
{
    E_STATE_SERVO next_state = e_stateServo;

    switch(e_stateServo) {
        case SERVO_INIT:
            if(directionCheck) {
                next_state = SERVO_COMMAND;
            }
            break;
        case SERVO_COMMAND:
            //si on detecte une nouvelle acquisition, on traite le signal
            d_dist_left_90 = getDistCapteur(&ana_left_90);
            //rs_LOG_pc.printf("d_dist_left_90 : %f;d_dist_right_90 : %f;d_positionOnTrack: %f\r\n",d_dist_left_90,d_dist_right_90,d_positionOnTrack);
            if(d_dist_left_90 != d_prev_dist_left_90) {

                //rs_LOG_pc.printf("compute angle et updateSpeed\r\n");
                pulsewidth = pwmFromAngle( compute_angle_correction(s_UTILS_currentSection->consigne_position) );

                d_prev_dist_left_90 = d_dist_left_90;

            }


            break;
        default:
            break;
    }

    e_stateServo = next_state;
    return;
}

void output_sm_servo()
{
    switch(e_stateServo) {
        case SERVO_INIT:
            rs_LOG_pc.printf("init servo with pulse %d us\r\n",SERVO_PULSE_MIDDLE_US);
            pwm_Servo.period_ms(SERVO_PERIOD_DURATION_MS);
            pwm_Servo.pulsewidth_us(SERVO_PULSE_MIDDLE_US);
            directionCheck = true;
            break;
        case SERVO_COMMAND:
            //pwm_Servo.pulsewidth_us(pulsewidth);
            pwm_Servo.pulsewidth_us(SERVO_PULSE_MIDDLE_US);

            break;
        default:
            break;
    }
    return;
}