File content as of revision 8:f23601373e8b:

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


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 = (angleDeg * 10.0) + SERVO_PULSE_MIDDLE_US;
    //rs_UTILS_pc.printf("pulsewidth = %d =(%f * 10.0) + 1500\r\n",pulsewidth,angleDeg);
    rs_UTILS_pc.printf("TIME: %d\r\n",t_utils_timerSinceStart.read_ms());
    if(pulsewidth > SERVO_PULSE_MAX_US) {
        pulsewidth =  SERVO_PULSE_MAX_US;
    } else if(pulsewidth < SERVO_PULSE_MIN_US) {
        pulsewidth = SERVO_PULSE_MIN_US;
    }
    
    return pulsewidth;
}



double distcapteur;

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



double compute_angle_correction(double consignePos)
{
    //aquisition
    coef_positionnement = 0.01;
    coef_angle_correction_bordure = 1.0;
    d_dist_left_90 = getDistCapteur(&ana_left_90);
    d_dist_right_90 = getDistCapteur(&ana_right_90);

    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 + 0.001;
    //rs_UTILS_pc.printf("distance_parcourue = %f = %f - %f + 0.001 \n\r",distance_parcourue,d_ODOM_computed_pos_m,d_last_odom_asservissement );
    angle_correction_bordure = atan((d_prev_dist_left_90 - d_dist_left_90)/ distance_parcourue)*57.296;
    //rs_UTILS_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) ;
    angle_correction_position = atan((consignePos - d_dist_left_90)/ (0.04*d_ODOM_speed_mps))*57.296;
    //rs_UTILS_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_UTILS_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;
    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_UTILS_pc.printf("d_dist_left_90 : %f\r\n",d_dist_left_90);
            if(d_dist_left_90 != d_prev_dist_left_90) {

                //rs_UTILS_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_UTILS_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);

            break;
        default:
            break;
    }
    return;
}