Prog_cate-Mbed - Reception de consigne à revoir -,,,
Dependencies: Asservissement Encoder_Nucleo_16_bits MYCRAC mbed
main.cpp@0:444ac4067b19, 2017-04-19 (annotated)
- Committer:
- Brand101
- Date:
- Wed Apr 19 17:50:19 2017 +0000
- Revision:
- 0:444ac4067b19
Dernier version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Brand101 | 0:444ac4067b19 | 1 | #include "mbed.h" |
Brand101 | 0:444ac4067b19 | 2 | #include "Nucleo_Encoder_16_bits.h" |
Brand101 | 0:444ac4067b19 | 3 | #include <math.h> |
Brand101 | 0:444ac4067b19 | 4 | #include "MYCRAC_utility.h" |
Brand101 | 0:444ac4067b19 | 5 | #include "Asservissement.h" |
Brand101 | 0:444ac4067b19 | 6 | #include "global.h" |
Brand101 | 0:444ac4067b19 | 7 | #include "MY_Asserv.h" |
Brand101 | 0:444ac4067b19 | 8 | #include "My_ident.h" |
Brand101 | 0:444ac4067b19 | 9 | |
Brand101 | 0:444ac4067b19 | 10 | //#include "CRAC_utility.h" |
Brand101 | 0:444ac4067b19 | 11 | |
Brand101 | 0:444ac4067b19 | 12 | //------------------------ prototypes de fcts ------------------------------------ |
Brand101 | 0:444ac4067b19 | 13 | |
Brand101 | 0:444ac4067b19 | 14 | void Asser_Pos_Mot1(double pcons_pos); |
Brand101 | 0:444ac4067b19 | 15 | void Asser_Pos_Mot2(double pcons_pos); |
Brand101 | 0:444ac4067b19 | 16 | |
Brand101 | 0:444ac4067b19 | 17 | void Avancer_ligne_droite(long pcons, short vmax, short amax, short dmax); |
Brand101 | 0:444ac4067b19 | 18 | void Avancer_ligne_droite_XYTheta(long pcons, short vmax, short amax, short dmax); |
Brand101 | 0:444ac4067b19 | 19 | void Rotation(long pcons, short vmax, short amax, short dmax); |
Brand101 | 0:444ac4067b19 | 20 | void Rotation_XYTheta(long pcons, short vmax, short amax, short dmax); |
Brand101 | 0:444ac4067b19 | 21 | void X_Y_Theta(long px, long py, long ptheta, long sens, short vmax, short amax); |
Brand101 | 0:444ac4067b19 | 22 | |
Brand101 | 0:444ac4067b19 | 23 | void Recalage(int pcons, short vmax, short amax, short dir, short nv_val); |
Brand101 | 0:444ac4067b19 | 24 | void Rayon_De_Courbure(short rayon, short theta, short vmax, short amax, short sens, short dmax); |
Brand101 | 0:444ac4067b19 | 25 | |
Brand101 | 0:444ac4067b19 | 26 | void Odometrie(void); // void Odometrie(void); |
Brand101 | 0:444ac4067b19 | 27 | void Ralentir(short nouvelle_vitesse); |
Brand101 | 0:444ac4067b19 | 28 | void Arret(void); |
Brand101 | 0:444ac4067b19 | 29 | |
Brand101 | 0:444ac4067b19 | 30 | void canProcessRx(void); |
Brand101 | 0:444ac4067b19 | 31 | |
Brand101 | 0:444ac4067b19 | 32 | void clacul_odo(); |
Brand101 | 0:444ac4067b19 | 33 | |
Brand101 | 0:444ac4067b19 | 34 | void canRx_ISR(); |
Brand101 | 0:444ac4067b19 | 35 | void MY_ISR(); |
Brand101 | 0:444ac4067b19 | 36 | |
Brand101 | 0:444ac4067b19 | 37 | |
Brand101 | 0:444ac4067b19 | 38 | Serial pc(SERIAL_TX, SERIAL_RX); |
Brand101 | 0:444ac4067b19 | 39 | |
Brand101 | 0:444ac4067b19 | 40 | |
Brand101 | 0:444ac4067b19 | 41 | CAN can1(PB_8, PB_9); |
Brand101 | 0:444ac4067b19 | 42 | |
Brand101 | 0:444ac4067b19 | 43 | CANMessage canmsg = CANMessage(); |
Brand101 | 0:444ac4067b19 | 44 | |
Brand101 | 0:444ac4067b19 | 45 | char message[8]= {0x00,0x01,0x10,0x11,0x00,0x01,0x10,0x11}; |
Brand101 | 0:444ac4067b19 | 46 | |
Brand101 | 0:444ac4067b19 | 47 | CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en r�ception pour le CAN |
Brand101 | 0:444ac4067b19 | 48 | unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN |
Brand101 | 0:444ac4067b19 | 49 | unsigned char FIFO_lecture=0;//Position du fifo de lecture des messages CAN |
Brand101 | 0:444ac4067b19 | 50 | |
Brand101 | 0:444ac4067b19 | 51 | Ticker timer; |
Brand101 | 0:444ac4067b19 | 52 | Ticker cal_odo; |
Brand101 | 0:444ac4067b19 | 53 | |
Brand101 | 0:444ac4067b19 | 54 | //------------------------ def de var globales ------------------------------------ |
Brand101 | 0:444ac4067b19 | 55 | |
Brand101 | 0:444ac4067b19 | 56 | PwmOut mot1(PA_8); |
Brand101 | 0:444ac4067b19 | 57 | PwmOut mot2(PA_5); |
Brand101 | 0:444ac4067b19 | 58 | |
Brand101 | 0:444ac4067b19 | 59 | DigitalOut INA_M2(PC_6); //p37 |
Brand101 | 0:444ac4067b19 | 60 | DigitalOut INB_M2(PC_7); //p38 |
Brand101 | 0:444ac4067b19 | 61 | DigitalOut INA_M1(PB_0); //P26 |
Brand101 | 0:444ac4067b19 | 62 | DigitalOut INB_M1(PB_1); //P27 |
Brand101 | 0:444ac4067b19 | 63 | |
Brand101 | 0:444ac4067b19 | 64 | Nucleo_Encoder_16_bits encoder1(TIM3, 0xffff, TIM_ENCODERMODE_TI12); |
Brand101 | 0:444ac4067b19 | 65 | Nucleo_Encoder_16_bits encoder2(TIM4, 0xffff, TIM_ENCODERMODE_TI12); |
Brand101 | 0:444ac4067b19 | 66 | |
Brand101 | 0:444ac4067b19 | 67 | double consigne_pos, consigne_vit, // Consignes de position et de vitesse dans les mouvements |
Brand101 | 0:444ac4067b19 | 68 | commande1, commande2, // Commande, aka duty cycle des PWM de chaque moteur |
Brand101 | 0:444ac4067b19 | 69 | last_pos1, last_pos2, pos1, pos2, // Valeurs des compteurs incr�mentaux aux instants t et t-1 |
Brand101 | 0:444ac4067b19 | 70 | ErreurPos1, ErreurPos2, last_ErreurPos1, last_ErreurPos2, // Valeurs des erreurs de position de la boucle d'asservissement |
Brand101 | 0:444ac4067b19 | 71 | Somme_ErreurPos1, Somme_ErreurPos2, // Valeurs des int�grales des erreurs |
Brand101 | 0:444ac4067b19 | 72 | Delta_ErreurPos1, Delta_ErreurPos2, // Valeurs des d�riv�es des erreurs |
Brand101 | 0:444ac4067b19 | 73 | Kpp1, Kip1, Kdp1, Kpp2, Kip2, Kdp2, // Valeurs des correcteurs d'asservissement pour les 2 moteurs |
Brand101 | 0:444ac4067b19 | 74 | Kpp1a, Kip1a, Kdp1a, Kpp2a, Kip2a, Kdp2a, // Valeurs des correcteurs d'asservissement pour les 2 moteurs |
Brand101 | 0:444ac4067b19 | 75 | VMAX, AMAX, DMAX, // Valeurs maximales d'acc�leration, d�c�l�ration et vitesse |
Brand101 | 0:444ac4067b19 | 76 | Odo_x, Odo_y, Odo_theta, Odo_val_pos_1, Odo_val_pos_2, Odo_last_val_pos_1, Odo_last_val_pos_2; // Variables de positions utilis�es pour l'odom�trie |
Brand101 | 0:444ac4067b19 | 77 | uint32_t roue_drt_init, roue_gch_init; // Valeur des compteurs (!= 0) quand on commence un nouveau mouvement |
Brand101 | 0:444ac4067b19 | 78 | short etat_automate, etat_automate_depl, new_message, |
Brand101 | 0:444ac4067b19 | 79 | xytheta_sens, next_move_xyt, next_move, i, cpt, stop, stop_receive, param_xytheta[3], |
Brand101 | 0:444ac4067b19 | 80 | etat_automate_xytheta, ralentare, recalage_debut, couleur_debut, recalage_debut_receive; |
Brand101 | 0:444ac4067b19 | 81 | char nb_ordres, vitesse_danger, Stop_Danger, cpt_ordre, asser_actif; |
Brand101 | 0:444ac4067b19 | 82 | struct Ordre_deplacement liste[200]; |
Brand101 | 0:444ac4067b19 | 83 | |
Brand101 | 0:444ac4067b19 | 84 | uint16_t ms_count = 0, // Compteur utilis� pour envoyer �chantillonner les positions et faire l'asservissement |
Brand101 | 0:444ac4067b19 | 85 | ms_count1 = 0, // Compteur utilis� pour envoyer la trame CAN d'odom�trie |
Brand101 | 0:444ac4067b19 | 86 | flag_odo, |
Brand101 | 0:444ac4067b19 | 87 | test3 = 0, |
Brand101 | 0:444ac4067b19 | 88 | test4 = 0, |
Brand101 | 0:444ac4067b19 | 89 | test5 = 0, |
Brand101 | 0:444ac4067b19 | 90 | test6 =0, |
Brand101 | 0:444ac4067b19 | 91 | test7 =0, |
Brand101 | 0:444ac4067b19 | 92 | test8 =0; |
Brand101 | 0:444ac4067b19 | 93 | |
Brand101 | 0:444ac4067b19 | 94 | |
Brand101 | 0:444ac4067b19 | 95 | |
Brand101 | 0:444ac4067b19 | 96 | double test1=0, |
Brand101 | 0:444ac4067b19 | 97 | test2=0; |
Brand101 | 0:444ac4067b19 | 98 | |
Brand101 | 0:444ac4067b19 | 99 | |
Brand101 | 0:444ac4067b19 | 100 | //------------------------ main ------------------------------------ |
Brand101 | 0:444ac4067b19 | 101 | |
Brand101 | 0:444ac4067b19 | 102 | int main() |
Brand101 | 0:444ac4067b19 | 103 | { |
Brand101 | 0:444ac4067b19 | 104 | pc.baud(230400); |
Brand101 | 0:444ac4067b19 | 105 | pc.printf("Debut du prog"); |
Brand101 | 0:444ac4067b19 | 106 | |
Brand101 | 0:444ac4067b19 | 107 | INA_M2 = 0; |
Brand101 | 0:444ac4067b19 | 108 | INB_M2 = 0; |
Brand101 | 0:444ac4067b19 | 109 | INA_M1 = 0; |
Brand101 | 0:444ac4067b19 | 110 | INB_M1 = 0; |
Brand101 | 0:444ac4067b19 | 111 | |
Brand101 | 0:444ac4067b19 | 112 | mot1.period(1./20000.); |
Brand101 | 0:444ac4067b19 | 113 | mot2.period(1./20000.); |
Brand101 | 0:444ac4067b19 | 114 | can1.frequency(1000000); |
Brand101 | 0:444ac4067b19 | 115 | |
Brand101 | 0:444ac4067b19 | 116 | consigne_pos = 0.0; |
Brand101 | 0:444ac4067b19 | 117 | next_move = 0; |
Brand101 | 0:444ac4067b19 | 118 | asser_actif=1; |
Brand101 | 0:444ac4067b19 | 119 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 120 | nb_ordres = 1; |
Brand101 | 0:444ac4067b19 | 121 | stop = 1; |
Brand101 | 0:444ac4067b19 | 122 | stop_receive = 1; |
Brand101 | 0:444ac4067b19 | 123 | ralentare = 0; |
Brand101 | 0:444ac4067b19 | 124 | recalage_debut_receive = 0; |
Brand101 | 0:444ac4067b19 | 125 | |
Brand101 | 0:444ac4067b19 | 126 | VMAX = 50; |
Brand101 | 0:444ac4067b19 | 127 | AMAX = 125; |
Brand101 | 0:444ac4067b19 | 128 | DMAX = 125; |
Brand101 | 0:444ac4067b19 | 129 | |
Brand101 | 0:444ac4067b19 | 130 | roue_drt_init = (encoder1.GetCounter() + 20000); |
Brand101 | 0:444ac4067b19 | 131 | roue_gch_init = COEF_ROUE_GAUCHE * ((double)encoder2.GetCounter() + 20000); |
Brand101 | 0:444ac4067b19 | 132 | |
Brand101 | 0:444ac4067b19 | 133 | liste[0] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 134 | TYPE_DEPLACEMENT_STOP,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 135 | }; |
Brand101 | 0:444ac4067b19 | 136 | |
Brand101 | 0:444ac4067b19 | 137 | |
Brand101 | 0:444ac4067b19 | 138 | timer.attach(&MY_ISR, 0.001); |
Brand101 | 0:444ac4067b19 | 139 | can1.attach(&canRx_ISR); // cr�ation de l'interrupt attach�e � la r�ception sur le CAN |
Brand101 | 0:444ac4067b19 | 140 | |
Brand101 | 0:444ac4067b19 | 141 | cal_odo.attach(&clacul_odo, 0.01); |
Brand101 | 0:444ac4067b19 | 142 | |
Brand101 | 0:444ac4067b19 | 143 | Kpp1 = 0.5; |
Brand101 | 0:444ac4067b19 | 144 | Kip1 = 0.0001; |
Brand101 | 0:444ac4067b19 | 145 | Kdp1 = 0.8; |
Brand101 | 0:444ac4067b19 | 146 | |
Brand101 | 0:444ac4067b19 | 147 | Kpp2 = 0.5; |
Brand101 | 0:444ac4067b19 | 148 | Kip2 = 0.0001; |
Brand101 | 0:444ac4067b19 | 149 | Kdp2 = 0.8; |
Brand101 | 0:444ac4067b19 | 150 | |
Brand101 | 0:444ac4067b19 | 151 | while(1) { |
Brand101 | 0:444ac4067b19 | 152 | //TEST |
Brand101 | 0:444ac4067b19 | 153 | //Asser_Pos_Mot1(0.0); |
Brand101 | 0:444ac4067b19 | 154 | //Asser_Pos_Mot2(0.0); |
Brand101 | 0:444ac4067b19 | 155 | //test3++; |
Brand101 | 0:444ac4067b19 | 156 | |
Brand101 | 0:444ac4067b19 | 157 | canProcessRx(); |
Brand101 | 0:444ac4067b19 | 158 | |
Brand101 | 0:444ac4067b19 | 159 | if(flag_odo) { |
Brand101 | 0:444ac4067b19 | 160 | flag_odo = 0; |
Brand101 | 0:444ac4067b19 | 161 | Odometrie(); |
Brand101 | 0:444ac4067b19 | 162 | } |
Brand101 | 0:444ac4067b19 | 163 | pc.printf("init_d:%d inti_g:%d dit:%hd t8:%d\n", roue_drt_init, roue_gch_init, liste[cpt_ordre].distance, test8); |
Brand101 | 0:444ac4067b19 | 164 | |
Brand101 | 0:444ac4067b19 | 165 | //pc.printf("com1=%f com2=%f ePos1=%f ePos2=%f enc2=%d enc1=%d\n",commande1, commande2, ErreurPos1, ErreurPos2, encoder2.GetCounter(), encoder1.GetCounter()); |
Brand101 | 0:444ac4067b19 | 166 | //wait(0.001); |
Brand101 | 0:444ac4067b19 | 167 | //pc.printf("t1=%d t2=%d t3=%d t4=%d t5=%d t6=%d t7=%d drt_init=%f g_init=%f \n", test1, test2, test3, test4, test5, test6, test7, roue_drt_init, roue_gch_init); |
Brand101 | 0:444ac4067b19 | 168 | /* |
Brand101 | 0:444ac4067b19 | 169 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 170 | if(ms_count==19) { |
Brand101 | 0:444ac4067b19 | 171 | test3++; |
Brand101 | 0:444ac4067b19 | 172 | } |
Brand101 | 0:444ac4067b19 | 173 | */ |
Brand101 | 0:444ac4067b19 | 174 | } |
Brand101 | 0:444ac4067b19 | 175 | } |
Brand101 | 0:444ac4067b19 | 176 | |
Brand101 | 0:444ac4067b19 | 177 | void clacul_odo() |
Brand101 | 0:444ac4067b19 | 178 | { |
Brand101 | 0:444ac4067b19 | 179 | flag_odo = 1; |
Brand101 | 0:444ac4067b19 | 180 | } |
Brand101 | 0:444ac4067b19 | 181 | |
Brand101 | 0:444ac4067b19 | 182 | void canRx_ISR() |
Brand101 | 0:444ac4067b19 | 183 | { |
Brand101 | 0:444ac4067b19 | 184 | if (can1.read(msgRxBuffer[FIFO_ecriture])) { |
Brand101 | 0:444ac4067b19 | 185 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Brand101 | 0:444ac4067b19 | 186 | /* |
Brand101 | 0:444ac4067b19 | 187 | if(msgRxBuffer[FIFO_ecriture].id==RESET_STRAT) mbed_reset(); |
Brand101 | 0:444ac4067b19 | 188 | else FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Brand101 | 0:444ac4067b19 | 189 | */ |
Brand101 | 0:444ac4067b19 | 190 | } |
Brand101 | 0:444ac4067b19 | 191 | } |
Brand101 | 0:444ac4067b19 | 192 | |
Brand101 | 0:444ac4067b19 | 193 | void canProcessRx(void) |
Brand101 | 0:444ac4067b19 | 194 | { |
Brand101 | 0:444ac4067b19 | 195 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
Brand101 | 0:444ac4067b19 | 196 | CANMessage msgTx=CANMessage(); |
Brand101 | 0:444ac4067b19 | 197 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
Brand101 | 0:444ac4067b19 | 198 | if(FIFO_occupation<0) |
Brand101 | 0:444ac4067b19 | 199 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
Brand101 | 0:444ac4067b19 | 200 | if(FIFO_max_occupation<FIFO_occupation) |
Brand101 | 0:444ac4067b19 | 201 | FIFO_max_occupation=FIFO_occupation; |
Brand101 | 0:444ac4067b19 | 202 | if(FIFO_occupation!=0) { |
Brand101 | 0:444ac4067b19 | 203 | |
Brand101 | 0:444ac4067b19 | 204 | switch(msgRxBuffer[FIFO_lecture].id) { |
Brand101 | 0:444ac4067b19 | 205 | case ASSERVISSEMENT_INFO_CONSIGNE: |
Brand101 | 0:444ac4067b19 | 206 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_INFO_CONSIGNE); |
Brand101 | 0:444ac4067b19 | 207 | Send_assev_info_comfig(); |
Brand101 | 0:444ac4067b19 | 208 | break; |
Brand101 | 0:444ac4067b19 | 209 | case ASSERVISSEMENT_CONFIG_KPP_DROITE: |
Brand101 | 0:444ac4067b19 | 210 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_CONFIG_KPP_DROITE); |
Brand101 | 0:444ac4067b19 | 211 | break; |
Brand101 | 0:444ac4067b19 | 212 | case ASSERVISSEMENT_CONFIG_KPI_DROITE: |
Brand101 | 0:444ac4067b19 | 213 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_CONFIG_KPI_DROITE); |
Brand101 | 0:444ac4067b19 | 214 | break; |
Brand101 | 0:444ac4067b19 | 215 | case ASSERVISSEMENT_CONFIG_KPD_DROITE: |
Brand101 | 0:444ac4067b19 | 216 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_CONFIG_KPD_DROITE); |
Brand101 | 0:444ac4067b19 | 217 | break; |
Brand101 | 0:444ac4067b19 | 218 | case ASSERVISSEMENT_CONFIG_KPP_GAUCHE: |
Brand101 | 0:444ac4067b19 | 219 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_CONFIG_KPP_GAUCHE); |
Brand101 | 0:444ac4067b19 | 220 | break; |
Brand101 | 0:444ac4067b19 | 221 | case ASSERVISSEMENT_CONFIG_KPI_GAUCHE: |
Brand101 | 0:444ac4067b19 | 222 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_CONFIG_KPI_GAUCHE); |
Brand101 | 0:444ac4067b19 | 223 | break; |
Brand101 | 0:444ac4067b19 | 224 | case ASSERVISSEMENT_CONFIG_KPD_GAUCHE: |
Brand101 | 0:444ac4067b19 | 225 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_CONFIG_KPD_GAUCHE); |
Brand101 | 0:444ac4067b19 | 226 | break; |
Brand101 | 0:444ac4067b19 | 227 | case ASSERVISSEMENT_ENABLE: |
Brand101 | 0:444ac4067b19 | 228 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_ENABLE); |
Brand101 | 0:444ac4067b19 | 229 | asser_actif = msgRxBuffer[FIFO_lecture].data[0]; |
Brand101 | 0:444ac4067b19 | 230 | break; |
Brand101 | 0:444ac4067b19 | 231 | /* |
Brand101 | 0:444ac4067b19 | 232 | case ODOMETRIE_SMALL_POSITION: |
Brand101 | 0:444ac4067b19 | 233 | SendAck(ACKNOWLEDGE_MOTEUR, ODOMETRIE_SMALL_POSITION); |
Brand101 | 0:444ac4067b19 | 234 | Odometrie(); // il envoie automatiquement d'odo apr�s calcule |
Brand101 | 0:444ac4067b19 | 235 | break; |
Brand101 | 0:444ac4067b19 | 236 | */ |
Brand101 | 0:444ac4067b19 | 237 | case ODOMETRIE_SMALL_VITESSE: |
Brand101 | 0:444ac4067b19 | 238 | SendAck(ACKNOWLEDGE_MOTEUR, ODOMETRIE_SMALL_VITESSE); |
Brand101 | 0:444ac4067b19 | 239 | SendSpeed(consigne_pos, 0); |
Brand101 | 0:444ac4067b19 | 240 | break; |
Brand101 | 0:444ac4067b19 | 241 | |
Brand101 | 0:444ac4067b19 | 242 | case ASSERVISSEMENT_STOP: |
Brand101 | 0:444ac4067b19 | 243 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_STOP); |
Brand101 | 0:444ac4067b19 | 244 | stop_receive = 1; |
Brand101 | 0:444ac4067b19 | 245 | liste[cpt_ordre].type = TYPE_DEPLACEMENT_STOP; |
Brand101 | 0:444ac4067b19 | 246 | break; |
Brand101 | 0:444ac4067b19 | 247 | |
Brand101 | 0:444ac4067b19 | 248 | case ASSERVISSEMENT_SPEED_DANGER: // |
Brand101 | 0:444ac4067b19 | 249 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_SPEED_DANGER); |
Brand101 | 0:444ac4067b19 | 250 | break; |
Brand101 | 0:444ac4067b19 | 251 | |
Brand101 | 0:444ac4067b19 | 252 | case ASSERVISSEMENT_XYT: |
Brand101 | 0:444ac4067b19 | 253 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_XYT); |
Brand101 | 0:444ac4067b19 | 254 | etat_automate_xytheta = 1; |
Brand101 | 0:444ac4067b19 | 255 | liste[cpt_ordre].type = TYPE_DEPLACEMENT_X_Y_THETA; |
Brand101 | 0:444ac4067b19 | 256 | liste[cpt_ordre].x = (msgRxBuffer[FIFO_lecture].data[0]) + (msgRxBuffer[FIFO_lecture].data[1] << 8); |
Brand101 | 0:444ac4067b19 | 257 | liste[cpt_ordre].y = (msgRxBuffer[FIFO_lecture].data[2]) + (msgRxBuffer[FIFO_lecture].data[3] << 8); |
Brand101 | 0:444ac4067b19 | 258 | liste[cpt_ordre].theta = (msgRxBuffer[FIFO_lecture].data[4]) + (msgRxBuffer[FIFO_lecture].data[5] << 8); |
Brand101 | 0:444ac4067b19 | 259 | liste[cpt_ordre].sens = msgRxBuffer[FIFO_lecture].data[6]; |
Brand101 | 0:444ac4067b19 | 260 | break; |
Brand101 | 0:444ac4067b19 | 261 | |
Brand101 | 0:444ac4067b19 | 262 | case ASSERVISSEMENT_COURBURE: |
Brand101 | 0:444ac4067b19 | 263 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_COURBURE); |
Brand101 | 0:444ac4067b19 | 264 | liste[cpt_ordre].type = TYPE_DEPLACEMENT_RAYON_COURBURE; |
Brand101 | 0:444ac4067b19 | 265 | liste[cpt_ordre].rayon = (msgRxBuffer[FIFO_lecture].data[0]) + (msgRxBuffer[FIFO_lecture].data[1] << 8); |
Brand101 | 0:444ac4067b19 | 266 | liste[cpt_ordre].theta_ray = (msgRxBuffer[FIFO_lecture].data[2]) + (msgRxBuffer[FIFO_lecture].data[3] << 8); |
Brand101 | 0:444ac4067b19 | 267 | liste[cpt_ordre].sens = msgRxBuffer[FIFO_lecture].data[4]; |
Brand101 | 0:444ac4067b19 | 268 | liste[cpt_ordre].enchainement = msgRxBuffer[FIFO_lecture].data[5]; |
Brand101 | 0:444ac4067b19 | 269 | break; |
Brand101 | 0:444ac4067b19 | 270 | |
Brand101 | 0:444ac4067b19 | 271 | case ASSERVISSEMENT_CONFIG: |
Brand101 | 0:444ac4067b19 | 272 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_CONFIG); |
Brand101 | 0:444ac4067b19 | 273 | VMAX = ((msgRxBuffer[FIFO_lecture].data[0]) + (msgRxBuffer[FIFO_lecture].data[1] << 8)); |
Brand101 | 0:444ac4067b19 | 274 | AMAX = ((msgRxBuffer[FIFO_lecture].data[2]) + (msgRxBuffer[FIFO_lecture].data[3] << 8)); |
Brand101 | 0:444ac4067b19 | 275 | ralentare = 1; |
Brand101 | 0:444ac4067b19 | 276 | break; |
Brand101 | 0:444ac4067b19 | 277 | |
Brand101 | 0:444ac4067b19 | 278 | case ASSERVISSEMENT_ROTATION: |
Brand101 | 0:444ac4067b19 | 279 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_ROTATION); |
Brand101 | 0:444ac4067b19 | 280 | liste[cpt_ordre].type = TYPE_DEPLACEMENT_ROTATION; |
Brand101 | 0:444ac4067b19 | 281 | liste[cpt_ordre].angle = ((msgRxBuffer[FIFO_lecture].data[0]) + (msgRxBuffer[FIFO_lecture].data[1] << 8)); |
Brand101 | 0:444ac4067b19 | 282 | Rotate (Odo_theta); |
Brand101 | 0:444ac4067b19 | 283 | break; |
Brand101 | 0:444ac4067b19 | 284 | |
Brand101 | 0:444ac4067b19 | 285 | case ASSERVISSEMENT_RECALAGE: |
Brand101 | 0:444ac4067b19 | 286 | SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_RECALAGE); |
Brand101 | 0:444ac4067b19 | 287 | liste[cpt_ordre].type = TYPE_DEPLACEMENT_RECALAGE; |
Brand101 | 0:444ac4067b19 | 288 | liste[cpt_ordre].distance = ((msgRxBuffer[FIFO_lecture].data[0]) + (msgRxBuffer[FIFO_lecture].data[1] << 8)); |
Brand101 | 0:444ac4067b19 | 289 | liste[cpt_ordre].recalage = ((msgRxBuffer[FIFO_lecture].data[3]) + (msgRxBuffer[FIFO_lecture].data[4] << 8)); |
Brand101 | 0:444ac4067b19 | 290 | liste[cpt_ordre].val_recalage = msgRxBuffer[FIFO_lecture].data[2]; |
Brand101 | 0:444ac4067b19 | 291 | recalage_debut = 1; |
Brand101 | 0:444ac4067b19 | 292 | recalage_debut_receive = 1; |
Brand101 | 0:444ac4067b19 | 293 | break; |
Brand101 | 0:444ac4067b19 | 294 | |
Brand101 | 0:444ac4067b19 | 295 | case ASSERVISSEMENT_LIGNE_DROITE: // n'existe pas encore |
Brand101 | 0:444ac4067b19 | 296 | //SendAck(ACKNOWLEDGE_MOTEUR, ASSERVISSEMENT_LIGNE_DROITE); |
Brand101 | 0:444ac4067b19 | 297 | test8 = 10; |
Brand101 | 0:444ac4067b19 | 298 | if(msgRxBuffer[FIFO_lecture].data[2] == 0) { |
Brand101 | 0:444ac4067b19 | 299 | liste[cpt_ordre].type = TYPE_DEPLACEMENT_LIGNE_DROITE; |
Brand101 | 0:444ac4067b19 | 300 | } else { |
Brand101 | 0:444ac4067b19 | 301 | liste[cpt_ordre].type = TYPE_DEPLACEMENT_RECALAGE; |
Brand101 | 0:444ac4067b19 | 302 | liste[cpt_ordre].recalage = ((msgRxBuffer[FIFO_lecture].data[3]) + (msgRxBuffer[FIFO_lecture].data[4] << 8)); |
Brand101 | 0:444ac4067b19 | 303 | } |
Brand101 | 0:444ac4067b19 | 304 | recalage_debut_receive = msgRxBuffer[FIFO_lecture].data[2]; |
Brand101 | 0:444ac4067b19 | 305 | liste[cpt_ordre].distance = ((msgRxBuffer[FIFO_lecture].data[1] << 8) + (msgRxBuffer[FIFO_lecture].data[0])); |
Brand101 | 0:444ac4067b19 | 306 | liste[cpt_ordre].enchainement = msgRxBuffer[FIFO_lecture].data[5]; |
Brand101 | 0:444ac4067b19 | 307 | //GoStraight(); ///////////////////////////////// |
Brand101 | 0:444ac4067b19 | 308 | break; |
Brand101 | 0:444ac4067b19 | 309 | |
Brand101 | 0:444ac4067b19 | 310 | case MOTOR_IMOBILE: |
Brand101 | 0:444ac4067b19 | 311 | SendAck(ACKNOWLEDGE_MOTEUR, MOTOR_IMOBILE); |
Brand101 | 0:444ac4067b19 | 312 | liste[cpt_ordre].type = TYPE_DEPLACEMENT_IMMOBILE; |
Brand101 | 0:444ac4067b19 | 313 | break; |
Brand101 | 0:444ac4067b19 | 314 | |
Brand101 | 0:444ac4067b19 | 315 | } |
Brand101 | 0:444ac4067b19 | 316 | |
Brand101 | 0:444ac4067b19 | 317 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
Brand101 | 0:444ac4067b19 | 318 | } |
Brand101 | 0:444ac4067b19 | 319 | } |
Brand101 | 0:444ac4067b19 | 320 | |
Brand101 | 0:444ac4067b19 | 321 | |
Brand101 | 0:444ac4067b19 | 322 | void Asser_Pos_Mot1(double pcons_pos) |
Brand101 | 0:444ac4067b19 | 323 | { |
Brand101 | 0:444ac4067b19 | 324 | pos1 = (double)encoder1.GetCounter(); |
Brand101 | 0:444ac4067b19 | 325 | |
Brand101 | 0:444ac4067b19 | 326 | ErreurPos1 = pcons_pos - pos1; |
Brand101 | 0:444ac4067b19 | 327 | Delta_ErreurPos1 = ErreurPos1 - last_ErreurPos1; |
Brand101 | 0:444ac4067b19 | 328 | Somme_ErreurPos1 += ErreurPos1; |
Brand101 | 0:444ac4067b19 | 329 | |
Brand101 | 0:444ac4067b19 | 330 | if(Somme_ErreurPos1>1.0) { |
Brand101 | 0:444ac4067b19 | 331 | Somme_ErreurPos1=1.0; |
Brand101 | 0:444ac4067b19 | 332 | } else if(Somme_ErreurPos1<-1.0) { |
Brand101 | 0:444ac4067b19 | 333 | Somme_ErreurPos1=-1.0; |
Brand101 | 0:444ac4067b19 | 334 | } |
Brand101 | 0:444ac4067b19 | 335 | |
Brand101 | 0:444ac4067b19 | 336 | commande1 = (Kpp1 * ErreurPos1 + Kip1 * Somme_ErreurPos1 + Kdp1 * Delta_ErreurPos1); |
Brand101 | 0:444ac4067b19 | 337 | |
Brand101 | 0:444ac4067b19 | 338 | last_ErreurPos1 = ErreurPos1; |
Brand101 | 0:444ac4067b19 | 339 | last_pos1 = pos1; |
Brand101 | 0:444ac4067b19 | 340 | |
Brand101 | 0:444ac4067b19 | 341 | commande1=commande1/2500.; |
Brand101 | 0:444ac4067b19 | 342 | |
Brand101 | 0:444ac4067b19 | 343 | if(commande1>1.0) { |
Brand101 | 0:444ac4067b19 | 344 | commande1=1.0; |
Brand101 | 0:444ac4067b19 | 345 | } else if(commande1<-1.0) { |
Brand101 | 0:444ac4067b19 | 346 | commande1=-1.0; |
Brand101 | 0:444ac4067b19 | 347 | } |
Brand101 | 0:444ac4067b19 | 348 | |
Brand101 | 0:444ac4067b19 | 349 | //test5++; |
Brand101 | 0:444ac4067b19 | 350 | } |
Brand101 | 0:444ac4067b19 | 351 | |
Brand101 | 0:444ac4067b19 | 352 | void Asser_Pos_Mot2(double pcons_pos) |
Brand101 | 0:444ac4067b19 | 353 | { |
Brand101 | 0:444ac4067b19 | 354 | pos2 = (double)encoder2.GetCounter(); |
Brand101 | 0:444ac4067b19 | 355 | |
Brand101 | 0:444ac4067b19 | 356 | ErreurPos2 = pcons_pos - pos2; |
Brand101 | 0:444ac4067b19 | 357 | |
Brand101 | 0:444ac4067b19 | 358 | Delta_ErreurPos2 = ErreurPos2 - last_ErreurPos2; |
Brand101 | 0:444ac4067b19 | 359 | Somme_ErreurPos2 += ErreurPos2; |
Brand101 | 0:444ac4067b19 | 360 | |
Brand101 | 0:444ac4067b19 | 361 | if(Somme_ErreurPos2>1.0) |
Brand101 | 0:444ac4067b19 | 362 | Somme_ErreurPos2=1.0; |
Brand101 | 0:444ac4067b19 | 363 | else if(Somme_ErreurPos2<-1.0) |
Brand101 | 0:444ac4067b19 | 364 | Somme_ErreurPos2=-1.0; |
Brand101 | 0:444ac4067b19 | 365 | |
Brand101 | 0:444ac4067b19 | 366 | commande2 = (Kpp2 * ErreurPos2 + Kip2 * Somme_ErreurPos2 + Kdp2 * Delta_ErreurPos2); |
Brand101 | 0:444ac4067b19 | 367 | |
Brand101 | 0:444ac4067b19 | 368 | last_ErreurPos2 = ErreurPos2; |
Brand101 | 0:444ac4067b19 | 369 | last_pos2 = pos2; |
Brand101 | 0:444ac4067b19 | 370 | |
Brand101 | 0:444ac4067b19 | 371 | commande2=commande2/2500.; |
Brand101 | 0:444ac4067b19 | 372 | |
Brand101 | 0:444ac4067b19 | 373 | if(commande2>1.0) { |
Brand101 | 0:444ac4067b19 | 374 | commande2=1.0; |
Brand101 | 0:444ac4067b19 | 375 | } else if(commande2<-1.0) { |
Brand101 | 0:444ac4067b19 | 376 | commande2=-1.0; |
Brand101 | 0:444ac4067b19 | 377 | } |
Brand101 | 0:444ac4067b19 | 378 | |
Brand101 | 0:444ac4067b19 | 379 | test6++; |
Brand101 | 0:444ac4067b19 | 380 | } |
Brand101 | 0:444ac4067b19 | 381 | |
Brand101 | 0:444ac4067b19 | 382 | |
Brand101 | 0:444ac4067b19 | 383 | void Avancer_ligne_droite(long pcons, short vmax, short amax, short dmax) |
Brand101 | 0:444ac4067b19 | 384 | { |
Brand101 | 0:444ac4067b19 | 385 | //Declaration des variables |
Brand101 | 0:444ac4067b19 | 386 | static double tc, ta, td; //tc temps � vitesse constante, ta en acceleration, td en deceleration |
Brand101 | 0:444ac4067b19 | 387 | static double vmax_tri; //Vitesse maximale atteinte dans le cas d'un profil en triangle |
Brand101 | 0:444ac4067b19 | 388 | |
Brand101 | 0:444ac4067b19 | 389 | if(pcons >= 0) { //Mode avancer |
Brand101 | 0:444ac4067b19 | 390 | switch(etat_automate_depl) { //Automate de gestion du deplacement |
Brand101 | 0:444ac4067b19 | 391 | case INITIALISATION : //Etat d'initialisation et de calcul des variables |
Brand101 | 0:444ac4067b19 | 392 | //Remise a zero des variables car on effectue un nouveau deplacement |
Brand101 | 0:444ac4067b19 | 393 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 394 | consigne_vit = 0; |
Brand101 | 0:444ac4067b19 | 395 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 396 | |
Brand101 | 0:444ac4067b19 | 397 | //Elaboration du profil de vitesse |
Brand101 | 0:444ac4067b19 | 398 | //Calcul du temps � vitesse constante en fonction de l'acceleration |
Brand101 | 0:444ac4067b19 | 399 | tc = ((double)pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 400 | |
Brand101 | 0:444ac4067b19 | 401 | if (tc > 0) { //Resultat positif, il y a une phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 402 | etat_automate_depl = ACCELERATION_TRAPEZE; //Passage a l'etat ACCELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 403 | |
Brand101 | 0:444ac4067b19 | 404 | ta = (((double)vmax * 1000.0) / (double)amax); //Calcul du temps d'acceleration |
Brand101 | 0:444ac4067b19 | 405 | td = (((double)vmax * 1000.0) / (double)dmax); //Calcul du temps de deceleration |
Brand101 | 0:444ac4067b19 | 406 | } |
Brand101 | 0:444ac4067b19 | 407 | |
Brand101 | 0:444ac4067b19 | 408 | else if(tc < 0) { //Resultat negatif, il n'y a pas de phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 409 | // Le prochain �tat de l'automate sera l'�tat 5 |
Brand101 | 0:444ac4067b19 | 410 | etat_automate_depl = ACCELERATION_TRIANGLE; //Passage a l'etat ACCELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 411 | |
Brand101 | 0:444ac4067b19 | 412 | //Calcul de la vitesse maximale en profil triangle |
Brand101 | 0:444ac4067b19 | 413 | vmax_tri = sqrt((2 * pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 414 | } |
Brand101 | 0:444ac4067b19 | 415 | break; |
Brand101 | 0:444ac4067b19 | 416 | |
Brand101 | 0:444ac4067b19 | 417 | case ACCELERATION_TRAPEZE : //Etat d'acceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 418 | cpt ++; |
Brand101 | 0:444ac4067b19 | 419 | |
Brand101 | 0:444ac4067b19 | 420 | //Incrementation de la consigne de vitesse par la valeur de l'acceleration |
Brand101 | 0:444ac4067b19 | 421 | consigne_vit += amax; |
Brand101 | 0:444ac4067b19 | 422 | |
Brand101 | 0:444ac4067b19 | 423 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 424 | consigne_pos += ((double)consigne_vit / 1000.0); |
Brand101 | 0:444ac4067b19 | 425 | |
Brand101 | 0:444ac4067b19 | 426 | if(cpt >= ta) { //Condition pour quitter la phase d'acceleration |
Brand101 | 0:444ac4067b19 | 427 | etat_automate_depl = VITESSE_CONSTANTE_TRAPEZE; //Passage a l'etat VITESSE_CONSTANTE |
Brand101 | 0:444ac4067b19 | 428 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 429 | } |
Brand101 | 0:444ac4067b19 | 430 | break; |
Brand101 | 0:444ac4067b19 | 431 | |
Brand101 | 0:444ac4067b19 | 432 | case VITESSE_CONSTANTE_TRAPEZE : //Etat de vitesse constante en profil trapeze |
Brand101 | 0:444ac4067b19 | 433 | cpt ++; |
Brand101 | 0:444ac4067b19 | 434 | |
Brand101 | 0:444ac4067b19 | 435 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 436 | consigne_pos += vmax; |
Brand101 | 0:444ac4067b19 | 437 | |
Brand101 | 0:444ac4067b19 | 438 | //Si il n'y a pas d'enchainements |
Brand101 | 0:444ac4067b19 | 439 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { //Condition pour quitter la phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 440 | etat_automate_depl = DECELERATION_TRAPEZE; //Passage a l'etat DECELERATION |
Brand101 | 0:444ac4067b19 | 441 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 442 | } |
Brand101 | 0:444ac4067b19 | 443 | |
Brand101 | 0:444ac4067b19 | 444 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 445 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 446 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 447 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 448 | } |
Brand101 | 0:444ac4067b19 | 449 | break; |
Brand101 | 0:444ac4067b19 | 450 | |
Brand101 | 0:444ac4067b19 | 451 | case DECELERATION_TRAPEZE : //Etat de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 452 | cpt ++; |
Brand101 | 0:444ac4067b19 | 453 | |
Brand101 | 0:444ac4067b19 | 454 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 455 | consigne_pos += vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 456 | |
Brand101 | 0:444ac4067b19 | 457 | if(cpt >= td) { //Condition pour quitter la phase de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 458 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 459 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 460 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 461 | } |
Brand101 | 0:444ac4067b19 | 462 | break; |
Brand101 | 0:444ac4067b19 | 463 | |
Brand101 | 0:444ac4067b19 | 464 | case ARRET : //Etat d'arret |
Brand101 | 0:444ac4067b19 | 465 | if(cpt >= 20) { //Condition pour sortir de l'etat arret |
Brand101 | 0:444ac4067b19 | 466 | etat_automate_depl = INITIALISATION; //Passage a l'etat INITIALISATION |
Brand101 | 0:444ac4067b19 | 467 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 468 | } |
Brand101 | 0:444ac4067b19 | 469 | cpt ++; |
Brand101 | 0:444ac4067b19 | 470 | break; |
Brand101 | 0:444ac4067b19 | 471 | |
Brand101 | 0:444ac4067b19 | 472 | case ACCELERATION_TRIANGLE : //Etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 473 | cpt ++; |
Brand101 | 0:444ac4067b19 | 474 | |
Brand101 | 0:444ac4067b19 | 475 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 476 | consigne_pos += (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 477 | |
Brand101 | 0:444ac4067b19 | 478 | if((cpt * amax / 1000.0) >= vmax_tri) { //Condition pour sortir de l'etat acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 479 | etat_automate_depl = DECELERATION_TRIANGLE; //Passage a l'etat DECELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 480 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 481 | } |
Brand101 | 0:444ac4067b19 | 482 | break; |
Brand101 | 0:444ac4067b19 | 483 | |
Brand101 | 0:444ac4067b19 | 484 | case DECELERATION_TRIANGLE : //Etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 485 | cpt ++; |
Brand101 | 0:444ac4067b19 | 486 | |
Brand101 | 0:444ac4067b19 | 487 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 488 | consigne_pos += vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 489 | |
Brand101 | 0:444ac4067b19 | 490 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { //Condition pour sortir de l'etat deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 491 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 492 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 493 | } |
Brand101 | 0:444ac4067b19 | 494 | break; |
Brand101 | 0:444ac4067b19 | 495 | } |
Brand101 | 0:444ac4067b19 | 496 | } |
Brand101 | 0:444ac4067b19 | 497 | |
Brand101 | 0:444ac4067b19 | 498 | else if(pcons < 0) { //Mode reculer |
Brand101 | 0:444ac4067b19 | 499 | switch(etat_automate_depl) { //Automate de gestion du deplacement |
Brand101 | 0:444ac4067b19 | 500 | case INITIALISATION : //Etat d'initialisation et de calcul des variables |
Brand101 | 0:444ac4067b19 | 501 | //Remise a zero des variables car on effectue un nouveau deplacement |
Brand101 | 0:444ac4067b19 | 502 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 503 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 504 | |
Brand101 | 0:444ac4067b19 | 505 | //Elaboration du profil de vitesse |
Brand101 | 0:444ac4067b19 | 506 | //Calcul du temps � vitesse constante en fonction de l'acceleration |
Brand101 | 0:444ac4067b19 | 507 | tc = ((double)-pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 508 | |
Brand101 | 0:444ac4067b19 | 509 | if (tc > 0) { //Resultat positif, il y a une phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 510 | etat_automate_depl = ACCELERATION_TRAPEZE; //Passage a l'etat ACCELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 511 | |
Brand101 | 0:444ac4067b19 | 512 | ta = (((double)vmax * 1000.0) / (double)amax); //Calcul du temps d'acceleration |
Brand101 | 0:444ac4067b19 | 513 | td = (((double)vmax * 1000.0) / (double)dmax); //Calcul du temps de deceleration |
Brand101 | 0:444ac4067b19 | 514 | } |
Brand101 | 0:444ac4067b19 | 515 | |
Brand101 | 0:444ac4067b19 | 516 | else if(tc < 0) { //Resultat negatif, il n'y a pas de phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 517 | etat_automate_depl = ACCELERATION_TRIANGLE; //Passage a l'etat ACCELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 518 | |
Brand101 | 0:444ac4067b19 | 519 | //Calcul de la vitesse maximale en profil triangle |
Brand101 | 0:444ac4067b19 | 520 | vmax_tri = sqrt((2 * -pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 521 | } |
Brand101 | 0:444ac4067b19 | 522 | break; |
Brand101 | 0:444ac4067b19 | 523 | |
Brand101 | 0:444ac4067b19 | 524 | case ACCELERATION_TRAPEZE : //Etat d'acceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 525 | cpt ++; |
Brand101 | 0:444ac4067b19 | 526 | |
Brand101 | 0:444ac4067b19 | 527 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 528 | consigne_pos -= (double)(((double)cpt * (double)amax)/1000.0); |
Brand101 | 0:444ac4067b19 | 529 | |
Brand101 | 0:444ac4067b19 | 530 | if(cpt >= ta) { //Condition pour quitter la phase d'acceleration |
Brand101 | 0:444ac4067b19 | 531 | etat_automate_depl = VITESSE_CONSTANTE_TRAPEZE; //Passage a l'etat VITESSE_CONSTANTE_TRAPEZE |
Brand101 | 0:444ac4067b19 | 532 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 533 | } |
Brand101 | 0:444ac4067b19 | 534 | break; |
Brand101 | 0:444ac4067b19 | 535 | |
Brand101 | 0:444ac4067b19 | 536 | case VITESSE_CONSTANTE_TRAPEZE : //Etat de vitesse continue en profil trapeze |
Brand101 | 0:444ac4067b19 | 537 | cpt ++; |
Brand101 | 0:444ac4067b19 | 538 | |
Brand101 | 0:444ac4067b19 | 539 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 540 | consigne_pos -= vmax; |
Brand101 | 0:444ac4067b19 | 541 | |
Brand101 | 0:444ac4067b19 | 542 | //Si il n'y a pas d'enchainements |
Brand101 | 0:444ac4067b19 | 543 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { //Condition pour sortir de l'etat de vitesse constante en profil trapeze |
Brand101 | 0:444ac4067b19 | 544 | etat_automate_depl = DECELERATION_TRAPEZE; //Passage a l'etat de DECELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 545 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 546 | } |
Brand101 | 0:444ac4067b19 | 547 | |
Brand101 | 0:444ac4067b19 | 548 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 549 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 550 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 551 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 552 | } |
Brand101 | 0:444ac4067b19 | 553 | break; |
Brand101 | 0:444ac4067b19 | 554 | |
Brand101 | 0:444ac4067b19 | 555 | case DECELERATION_TRAPEZE : //Etat de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 556 | cpt ++; |
Brand101 | 0:444ac4067b19 | 557 | |
Brand101 | 0:444ac4067b19 | 558 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 559 | consigne_pos -= vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 560 | |
Brand101 | 0:444ac4067b19 | 561 | if(cpt >= td) { //Condition pour sortir de l'etat deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 562 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 563 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 564 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 565 | } |
Brand101 | 0:444ac4067b19 | 566 | break; |
Brand101 | 0:444ac4067b19 | 567 | |
Brand101 | 0:444ac4067b19 | 568 | case ARRET : //Etat d'arret |
Brand101 | 0:444ac4067b19 | 569 | if(cpt >= 20) { //Condition pour sortir de l'etat arret |
Brand101 | 0:444ac4067b19 | 570 | etat_automate_depl = INITIALISATION; //Passage a l'etat d'INITIALISATION |
Brand101 | 0:444ac4067b19 | 571 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 572 | } |
Brand101 | 0:444ac4067b19 | 573 | cpt ++; |
Brand101 | 0:444ac4067b19 | 574 | break; |
Brand101 | 0:444ac4067b19 | 575 | |
Brand101 | 0:444ac4067b19 | 576 | case ACCELERATION_TRIANGLE : //Etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 577 | cpt ++; |
Brand101 | 0:444ac4067b19 | 578 | |
Brand101 | 0:444ac4067b19 | 579 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 580 | consigne_pos -= (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 581 | |
Brand101 | 0:444ac4067b19 | 582 | if((cpt * amax / 1000.0) >= vmax_tri) { //Condition pour sortir de l'etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 583 | etat_automate_depl = DECELERATION_TRIANGLE; //Passage a l'etat DECELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 584 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 585 | } |
Brand101 | 0:444ac4067b19 | 586 | break; |
Brand101 | 0:444ac4067b19 | 587 | |
Brand101 | 0:444ac4067b19 | 588 | case DECELERATION_TRIANGLE : //Etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 589 | cpt ++; |
Brand101 | 0:444ac4067b19 | 590 | |
Brand101 | 0:444ac4067b19 | 591 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 592 | consigne_pos -= vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 593 | |
Brand101 | 0:444ac4067b19 | 594 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { //Condition pour sortir de l'etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 595 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 596 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 597 | } |
Brand101 | 0:444ac4067b19 | 598 | break; |
Brand101 | 0:444ac4067b19 | 599 | } |
Brand101 | 0:444ac4067b19 | 600 | } |
Brand101 | 0:444ac4067b19 | 601 | |
Brand101 | 0:444ac4067b19 | 602 | |
Brand101 | 0:444ac4067b19 | 603 | //Calcul des commande 1 et 2 |
Brand101 | 0:444ac4067b19 | 604 | Asser_Pos_Mot1(roue_drt_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 605 | Asser_Pos_Mot2(roue_gch_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 606 | |
Brand101 | 0:444ac4067b19 | 607 | //Ecriture du PWM sur chaque modeur //*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/* |
Brand101 | 0:444ac4067b19 | 608 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 609 | write_PWM1(commande1); |
Brand101 | 0:444ac4067b19 | 610 | |
Brand101 | 0:444ac4067b19 | 611 | } |
Brand101 | 0:444ac4067b19 | 612 | |
Brand101 | 0:444ac4067b19 | 613 | |
Brand101 | 0:444ac4067b19 | 614 | void Avancer_ligne_droite_XYTheta(long pcons, short vmax, short amax, short dmax) |
Brand101 | 0:444ac4067b19 | 615 | { |
Brand101 | 0:444ac4067b19 | 616 | //Declaration des variables |
Brand101 | 0:444ac4067b19 | 617 | //char val1[8]; |
Brand101 | 0:444ac4067b19 | 618 | static double tc, ta, td; //tc temps � vitesse constante, ta en acceleration, td en deceleration |
Brand101 | 0:444ac4067b19 | 619 | static double vmax_tri; //Vitesse maximale atteinte dans le cas d'un profil en triangle |
Brand101 | 0:444ac4067b19 | 620 | |
Brand101 | 0:444ac4067b19 | 621 | if(pcons >= 0) { //Mode avancer |
Brand101 | 0:444ac4067b19 | 622 | switch(etat_automate_depl) { //Automate de gestion du deplacement |
Brand101 | 0:444ac4067b19 | 623 | case INITIALISATION : //Etat d'initialisation et de calcul des variables |
Brand101 | 0:444ac4067b19 | 624 | //remise a zero des variables car on effectue un nouveau deplacement |
Brand101 | 0:444ac4067b19 | 625 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 626 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 627 | |
Brand101 | 0:444ac4067b19 | 628 | //Elaboration du profil de vitesse |
Brand101 | 0:444ac4067b19 | 629 | //Calcul du temps a vitesse constante en fonction de l'acceleration |
Brand101 | 0:444ac4067b19 | 630 | tc = ((double)pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 631 | |
Brand101 | 0:444ac4067b19 | 632 | if (tc > 0) { //Resultat positif, il y a une phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 633 | etat_automate_depl = ACCELERATION_TRAPEZE; //Passage a l'etat ACCELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 634 | |
Brand101 | 0:444ac4067b19 | 635 | ta = (((double)vmax * 1000.0) / (double)amax); //Calcul du temps d'acceleration |
Brand101 | 0:444ac4067b19 | 636 | td = (((double)vmax * 1000.0) / (double)dmax); //Calcul du temps de deceleration |
Brand101 | 0:444ac4067b19 | 637 | } |
Brand101 | 0:444ac4067b19 | 638 | |
Brand101 | 0:444ac4067b19 | 639 | else if(tc < 0) { //Resultat negatif, il n'y a pas de phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 640 | etat_automate_depl = ACCELERATION_TRIANGLE; //Passage a l'etat ACCELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 641 | |
Brand101 | 0:444ac4067b19 | 642 | //Calcul de la vitesse maximale en profil triangle |
Brand101 | 0:444ac4067b19 | 643 | vmax_tri = sqrt((2 * pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 644 | } |
Brand101 | 0:444ac4067b19 | 645 | break; |
Brand101 | 0:444ac4067b19 | 646 | |
Brand101 | 0:444ac4067b19 | 647 | case ACCELERATION_TRAPEZE : //Etat d'acceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 648 | cpt ++; |
Brand101 | 0:444ac4067b19 | 649 | |
Brand101 | 0:444ac4067b19 | 650 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 651 | consigne_pos += (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 652 | |
Brand101 | 0:444ac4067b19 | 653 | if(cpt >= ta) { //Condition pour quitter la phase d'acceleration |
Brand101 | 0:444ac4067b19 | 654 | etat_automate_depl = VITESSE_CONSTANTE_TRAPEZE; //Passage a l'etat VITESSE_CONSTANTE_TRAPEZE |
Brand101 | 0:444ac4067b19 | 655 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 656 | } |
Brand101 | 0:444ac4067b19 | 657 | break; |
Brand101 | 0:444ac4067b19 | 658 | |
Brand101 | 0:444ac4067b19 | 659 | case VITESSE_CONSTANTE_TRAPEZE : //Etat de vitesse constante en profil trapeze |
Brand101 | 0:444ac4067b19 | 660 | cpt ++; |
Brand101 | 0:444ac4067b19 | 661 | |
Brand101 | 0:444ac4067b19 | 662 | //Incrementation de la consigne de vitesse par la valeur de l'acceleration |
Brand101 | 0:444ac4067b19 | 663 | consigne_pos += vmax; |
Brand101 | 0:444ac4067b19 | 664 | |
Brand101 | 0:444ac4067b19 | 665 | //Si il n'y a pas d'enchainements |
Brand101 | 0:444ac4067b19 | 666 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { //Condition pour quitter la phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 667 | etat_automate_depl = DECELERATION_TRAPEZE; //Passage a l'etat DECELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 668 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 669 | } |
Brand101 | 0:444ac4067b19 | 670 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 671 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 672 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 673 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 674 | } |
Brand101 | 0:444ac4067b19 | 675 | break; |
Brand101 | 0:444ac4067b19 | 676 | |
Brand101 | 0:444ac4067b19 | 677 | case DECELERATION_TRAPEZE : //Etat de vitesse constante en profil trapeze |
Brand101 | 0:444ac4067b19 | 678 | cpt ++; |
Brand101 | 0:444ac4067b19 | 679 | |
Brand101 | 0:444ac4067b19 | 680 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 681 | consigne_pos += vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 682 | |
Brand101 | 0:444ac4067b19 | 683 | if(cpt >= td) { //Condition pour quitter la phase de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 684 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 685 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 686 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 687 | } |
Brand101 | 0:444ac4067b19 | 688 | break; |
Brand101 | 0:444ac4067b19 | 689 | |
Brand101 | 0:444ac4067b19 | 690 | case ARRET : //Etat d'arret |
Brand101 | 0:444ac4067b19 | 691 | if(cpt >= 20) { |
Brand101 | 0:444ac4067b19 | 692 | etat_automate_depl = INITIALISATION; //Passage a l'etat d'INITIALISATION |
Brand101 | 0:444ac4067b19 | 693 | next_move_xyt = 1; |
Brand101 | 0:444ac4067b19 | 694 | |
Brand101 | 0:444ac4067b19 | 695 | } |
Brand101 | 0:444ac4067b19 | 696 | cpt ++; |
Brand101 | 0:444ac4067b19 | 697 | break; |
Brand101 | 0:444ac4067b19 | 698 | |
Brand101 | 0:444ac4067b19 | 699 | case ACCELERATION_TRIANGLE : //Etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 700 | cpt ++; |
Brand101 | 0:444ac4067b19 | 701 | |
Brand101 | 0:444ac4067b19 | 702 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 703 | consigne_pos += (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 704 | |
Brand101 | 0:444ac4067b19 | 705 | if((cpt * amax / 1000.0) >= vmax_tri) { //Condition pour sortir de la phase d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 706 | etat_automate_depl = DECELERATION_TRIANGLE; //Passage a l'etat DECELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 707 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 708 | } |
Brand101 | 0:444ac4067b19 | 709 | break; |
Brand101 | 0:444ac4067b19 | 710 | |
Brand101 | 0:444ac4067b19 | 711 | case DECELERATION_TRIANGLE : //Etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 712 | cpt ++; |
Brand101 | 0:444ac4067b19 | 713 | |
Brand101 | 0:444ac4067b19 | 714 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 715 | consigne_pos += vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 716 | |
Brand101 | 0:444ac4067b19 | 717 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { //Condition pour sortir de la phase de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 718 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 719 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 720 | } |
Brand101 | 0:444ac4067b19 | 721 | break; |
Brand101 | 0:444ac4067b19 | 722 | } |
Brand101 | 0:444ac4067b19 | 723 | } else if(pcons < 0) { //Mode reculer |
Brand101 | 0:444ac4067b19 | 724 | switch(etat_automate_depl) { //Automate de gestion du deplacement |
Brand101 | 0:444ac4067b19 | 725 | case INITIALISATION : //Etat d'initialisation et de calcul des variables |
Brand101 | 0:444ac4067b19 | 726 | //Remise a zero des variables car on effectue un nouveau deplacement |
Brand101 | 0:444ac4067b19 | 727 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 728 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 729 | |
Brand101 | 0:444ac4067b19 | 730 | //Elaboration du profil de vitesse |
Brand101 | 0:444ac4067b19 | 731 | //Calcul du temps � vitesse constante en fonction de l'acceleration |
Brand101 | 0:444ac4067b19 | 732 | tc = ((double)-pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 733 | |
Brand101 | 0:444ac4067b19 | 734 | if (tc > 0) { //Resultat positif, il y a une phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 735 | etat_automate_depl = ACCELERATION_TRAPEZE; //Passage a l'etat ACCELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 736 | |
Brand101 | 0:444ac4067b19 | 737 | ta = (((double)vmax * 1000.0) / (double)amax); //Calcul du temps d'acceleration |
Brand101 | 0:444ac4067b19 | 738 | td = (((double)vmax * 1000.0) / (double)dmax); //Calcul du temps de deceleration |
Brand101 | 0:444ac4067b19 | 739 | } else if(tc < 0) { //Resultat negatif, il n'y a pas de phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 740 | etat_automate_depl = ACCELERATION_TRIANGLE; //Passage a l'etat ACCELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 741 | |
Brand101 | 0:444ac4067b19 | 742 | //Calcul de la vitesse maximale en profil triangle |
Brand101 | 0:444ac4067b19 | 743 | vmax_tri = sqrt((2 * -pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 744 | } |
Brand101 | 0:444ac4067b19 | 745 | break; |
Brand101 | 0:444ac4067b19 | 746 | |
Brand101 | 0:444ac4067b19 | 747 | case ACCELERATION_TRAPEZE : //Etat d'acceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 748 | cpt ++; |
Brand101 | 0:444ac4067b19 | 749 | |
Brand101 | 0:444ac4067b19 | 750 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 751 | consigne_pos -= (double)(((double)cpt * (double)amax)/1000.0); |
Brand101 | 0:444ac4067b19 | 752 | |
Brand101 | 0:444ac4067b19 | 753 | if(cpt >= ta) { //Condition pour quitter la phase d'acceleration |
Brand101 | 0:444ac4067b19 | 754 | etat_automate_depl = VITESSE_CONSTANTE_TRAPEZE; //Passage a l'etat VITESSE_CONSTANTE_TRAPEZE |
Brand101 | 0:444ac4067b19 | 755 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 756 | } |
Brand101 | 0:444ac4067b19 | 757 | break; |
Brand101 | 0:444ac4067b19 | 758 | |
Brand101 | 0:444ac4067b19 | 759 | case VITESSE_CONSTANTE_TRAPEZE : //Etat de vitesse continue en profil trapeze |
Brand101 | 0:444ac4067b19 | 760 | cpt ++; |
Brand101 | 0:444ac4067b19 | 761 | |
Brand101 | 0:444ac4067b19 | 762 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 763 | consigne_pos -= vmax; |
Brand101 | 0:444ac4067b19 | 764 | |
Brand101 | 0:444ac4067b19 | 765 | //Si il n'y a pas d'enchainements |
Brand101 | 0:444ac4067b19 | 766 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { //Condition pour sortir de l'etat de vitesse constante en profil trapeze |
Brand101 | 0:444ac4067b19 | 767 | etat_automate_depl = DECELERATION_TRAPEZE; //Passage a l'etat de DECELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 768 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 769 | } |
Brand101 | 0:444ac4067b19 | 770 | |
Brand101 | 0:444ac4067b19 | 771 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 772 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 773 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 774 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 775 | } |
Brand101 | 0:444ac4067b19 | 776 | break; |
Brand101 | 0:444ac4067b19 | 777 | |
Brand101 | 0:444ac4067b19 | 778 | case DECELERATION_TRAPEZE : //Etat de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 779 | cpt ++; |
Brand101 | 0:444ac4067b19 | 780 | |
Brand101 | 0:444ac4067b19 | 781 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 782 | consigne_pos -= vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 783 | |
Brand101 | 0:444ac4067b19 | 784 | if(cpt >= td) { //Condition pour sortir de l'etat vitesse continue en profil trapeze |
Brand101 | 0:444ac4067b19 | 785 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 786 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 787 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 788 | } |
Brand101 | 0:444ac4067b19 | 789 | break; |
Brand101 | 0:444ac4067b19 | 790 | |
Brand101 | 0:444ac4067b19 | 791 | case ARRET : //Etat d'arret |
Brand101 | 0:444ac4067b19 | 792 | if(cpt >= 20) { |
Brand101 | 0:444ac4067b19 | 793 | etat_automate_depl = INITIALISATION; //Passage a l'etat INITIALISATION |
Brand101 | 0:444ac4067b19 | 794 | next_move_xyt = 1; |
Brand101 | 0:444ac4067b19 | 795 | } |
Brand101 | 0:444ac4067b19 | 796 | cpt ++; |
Brand101 | 0:444ac4067b19 | 797 | break; |
Brand101 | 0:444ac4067b19 | 798 | |
Brand101 | 0:444ac4067b19 | 799 | case ACCELERATION_TRIANGLE : //Etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 800 | cpt ++; |
Brand101 | 0:444ac4067b19 | 801 | |
Brand101 | 0:444ac4067b19 | 802 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 803 | consigne_pos -= (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 804 | |
Brand101 | 0:444ac4067b19 | 805 | if((cpt * amax / 1000.0) >= vmax_tri) { //Condition pour sortir de la phase d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 806 | etat_automate_depl = DECELERATION_TRIANGLE; //Passage a l'etat DECELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 807 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 808 | } |
Brand101 | 0:444ac4067b19 | 809 | break; |
Brand101 | 0:444ac4067b19 | 810 | |
Brand101 | 0:444ac4067b19 | 811 | case DECELERATION_TRIANGLE : //Etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 812 | cpt ++; |
Brand101 | 0:444ac4067b19 | 813 | |
Brand101 | 0:444ac4067b19 | 814 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 815 | consigne_pos -= vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 816 | |
Brand101 | 0:444ac4067b19 | 817 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { //Condition pour sortir de l'etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 818 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 819 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 820 | } |
Brand101 | 0:444ac4067b19 | 821 | break; |
Brand101 | 0:444ac4067b19 | 822 | } |
Brand101 | 0:444ac4067b19 | 823 | } |
Brand101 | 0:444ac4067b19 | 824 | |
Brand101 | 0:444ac4067b19 | 825 | //Calcul des commande 1 et 2 |
Brand101 | 0:444ac4067b19 | 826 | Asser_Pos_Mot1(roue_drt_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 827 | Asser_Pos_Mot2(roue_gch_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 828 | |
Brand101 | 0:444ac4067b19 | 829 | //Ecriture du PWM sur chaque modeur //*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/* |
Brand101 | 0:444ac4067b19 | 830 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 831 | write_PWM1(commande1); |
Brand101 | 0:444ac4067b19 | 832 | |
Brand101 | 0:444ac4067b19 | 833 | } |
Brand101 | 0:444ac4067b19 | 834 | |
Brand101 | 0:444ac4067b19 | 835 | |
Brand101 | 0:444ac4067b19 | 836 | void Rotation(long pcons, short vmax, short amax, short dmax) |
Brand101 | 0:444ac4067b19 | 837 | { |
Brand101 | 0:444ac4067b19 | 838 | //Declaration des variables |
Brand101 | 0:444ac4067b19 | 839 | //char val1[8]; |
Brand101 | 0:444ac4067b19 | 840 | static double tc, ta, td; //tc temps � vitesse constante, ta en acceleration, td en deceleration |
Brand101 | 0:444ac4067b19 | 841 | static double vmax_tri; //Vitesse maximale atteinte dans le cas d'un profil en triangle |
Brand101 | 0:444ac4067b19 | 842 | |
Brand101 | 0:444ac4067b19 | 843 | if(pcons >= 0) { //Mode avancer |
Brand101 | 0:444ac4067b19 | 844 | switch(etat_automate_depl) { //Automate de gestion de deplacement |
Brand101 | 0:444ac4067b19 | 845 | case INITIALISATION : //Etat d'initialisation et de calcul des variables |
Brand101 | 0:444ac4067b19 | 846 | //remise a zero des variables car on effectue un nouveau deplacement |
Brand101 | 0:444ac4067b19 | 847 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 848 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 849 | |
Brand101 | 0:444ac4067b19 | 850 | //Elaboration du profil de vitesse |
Brand101 | 0:444ac4067b19 | 851 | //Calcul du temps a vitesse constante en fonction de l'acceleration |
Brand101 | 0:444ac4067b19 | 852 | tc = ((double)pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 853 | |
Brand101 | 0:444ac4067b19 | 854 | if (tc > 0) { //Resultat positif, il y a une phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 855 | etat_automate_depl = ACCELERATION_TRAPEZE; //Passage a l'etat AACELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 856 | |
Brand101 | 0:444ac4067b19 | 857 | ta = (((double)vmax * 1000.0) / (double)amax); //Calcul du temps d'acceleration |
Brand101 | 0:444ac4067b19 | 858 | td = (((double)vmax * 1000.0) / (double)dmax); //Calcul du temps de deceleration |
Brand101 | 0:444ac4067b19 | 859 | } |
Brand101 | 0:444ac4067b19 | 860 | |
Brand101 | 0:444ac4067b19 | 861 | else if(tc < 0) { //Resultat negatif, il n'y a pas de phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 862 | etat_automate_depl = ACCELERATION_TRIANGLE; //Passage a l'etat ACCELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 863 | |
Brand101 | 0:444ac4067b19 | 864 | //Calcul de la vitesse maximale en profil triangle |
Brand101 | 0:444ac4067b19 | 865 | vmax_tri = sqrt((2 * pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 866 | } |
Brand101 | 0:444ac4067b19 | 867 | break; |
Brand101 | 0:444ac4067b19 | 868 | |
Brand101 | 0:444ac4067b19 | 869 | case ACCELERATION_TRAPEZE : //Etat d'acceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 870 | cpt ++; |
Brand101 | 0:444ac4067b19 | 871 | |
Brand101 | 0:444ac4067b19 | 872 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 873 | consigne_pos += (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 874 | |
Brand101 | 0:444ac4067b19 | 875 | if(cpt >= ta) { //Condition pour quitter la phase d'acceleration |
Brand101 | 0:444ac4067b19 | 876 | etat_automate_depl = VITESSE_CONSTANTE_TRAPEZE; //Passage a l'etat VITESSE_CONSTANTE_TRAPEZE |
Brand101 | 0:444ac4067b19 | 877 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 878 | } |
Brand101 | 0:444ac4067b19 | 879 | break; |
Brand101 | 0:444ac4067b19 | 880 | |
Brand101 | 0:444ac4067b19 | 881 | case VITESSE_CONSTANTE_TRAPEZE : //Etat de vitesse constante en profil trapeze |
Brand101 | 0:444ac4067b19 | 882 | cpt ++; |
Brand101 | 0:444ac4067b19 | 883 | |
Brand101 | 0:444ac4067b19 | 884 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 885 | consigne_pos += vmax; |
Brand101 | 0:444ac4067b19 | 886 | |
Brand101 | 0:444ac4067b19 | 887 | //Si il n'y a pas d'enchainements |
Brand101 | 0:444ac4067b19 | 888 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { |
Brand101 | 0:444ac4067b19 | 889 | etat_automate_depl = DECELERATION_TRAPEZE; //Passage a l'etat DECELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 890 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 891 | } |
Brand101 | 0:444ac4067b19 | 892 | |
Brand101 | 0:444ac4067b19 | 893 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 894 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 895 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 896 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 897 | } |
Brand101 | 0:444ac4067b19 | 898 | break; |
Brand101 | 0:444ac4067b19 | 899 | |
Brand101 | 0:444ac4067b19 | 900 | case DECELERATION_TRAPEZE : //Etat de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 901 | cpt ++; |
Brand101 | 0:444ac4067b19 | 902 | |
Brand101 | 0:444ac4067b19 | 903 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 904 | consigne_pos += vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 905 | |
Brand101 | 0:444ac4067b19 | 906 | if(cpt >= td) { //Condition pour quitter la phase de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 907 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 908 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 909 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 910 | } |
Brand101 | 0:444ac4067b19 | 911 | break; |
Brand101 | 0:444ac4067b19 | 912 | |
Brand101 | 0:444ac4067b19 | 913 | case ARRET : //Etat d'arret |
Brand101 | 0:444ac4067b19 | 914 | if(cpt >= 20) { |
Brand101 | 0:444ac4067b19 | 915 | etat_automate_depl = INITIALISATION; //Passage a l'etat INITIALISATION |
Brand101 | 0:444ac4067b19 | 916 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 917 | } |
Brand101 | 0:444ac4067b19 | 918 | cpt ++; |
Brand101 | 0:444ac4067b19 | 919 | break; |
Brand101 | 0:444ac4067b19 | 920 | |
Brand101 | 0:444ac4067b19 | 921 | case ACCELERATION_TRIANGLE : //Etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 922 | cpt ++; |
Brand101 | 0:444ac4067b19 | 923 | |
Brand101 | 0:444ac4067b19 | 924 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 925 | consigne_pos += (((double)cpt * (double)amax) / 1000.0); //Condition pour sortir de la phase d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 926 | |
Brand101 | 0:444ac4067b19 | 927 | if((cpt * amax / 1000.0) >= vmax_tri) { |
Brand101 | 0:444ac4067b19 | 928 | etat_automate_depl = DECELERATION_TRIANGLE; //Passage a l'etat DECELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 929 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 930 | } |
Brand101 | 0:444ac4067b19 | 931 | break; |
Brand101 | 0:444ac4067b19 | 932 | |
Brand101 | 0:444ac4067b19 | 933 | case DECELERATION_TRIANGLE : //Etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 934 | cpt ++; |
Brand101 | 0:444ac4067b19 | 935 | |
Brand101 | 0:444ac4067b19 | 936 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 937 | consigne_pos += vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 938 | |
Brand101 | 0:444ac4067b19 | 939 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { //Condition pour sortir de la phase de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 940 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 941 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 942 | } |
Brand101 | 0:444ac4067b19 | 943 | break; |
Brand101 | 0:444ac4067b19 | 944 | } |
Brand101 | 0:444ac4067b19 | 945 | } else if(pcons < 0) { //Mode reculer |
Brand101 | 0:444ac4067b19 | 946 | switch(etat_automate_depl) { //Automate de gestion du deplacement |
Brand101 | 0:444ac4067b19 | 947 | case INITIALISATION : //Etat d'initialisation et de calcul des variables |
Brand101 | 0:444ac4067b19 | 948 | //Remise a zero des variables car on effectue un nouveau deplacement |
Brand101 | 0:444ac4067b19 | 949 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 950 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 951 | |
Brand101 | 0:444ac4067b19 | 952 | //Elaboration du profil de vitesse |
Brand101 | 0:444ac4067b19 | 953 | //Calcul du temps � vitesse constante en fonction de l'acceleration |
Brand101 | 0:444ac4067b19 | 954 | tc = ((double)-pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 955 | |
Brand101 | 0:444ac4067b19 | 956 | if (tc > 0) { //Resultat positif, il y a une phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 957 | etat_automate_depl = ACCELERATION_TRAPEZE; //Passage a l'etat ACCELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 958 | |
Brand101 | 0:444ac4067b19 | 959 | ta = (((double)vmax * 1000.0) / (double)amax); //Calcul du temps d'acceleration |
Brand101 | 0:444ac4067b19 | 960 | td = (((double)vmax * 1000.0) / (double)dmax); //Calcul du temps de deceleration |
Brand101 | 0:444ac4067b19 | 961 | } |
Brand101 | 0:444ac4067b19 | 962 | |
Brand101 | 0:444ac4067b19 | 963 | else if(tc < 0) { //Resultat negatif, il n'y a pas de phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 964 | etat_automate_depl = ACCELERATION_TRIANGLE; //Passage a l'etat ACCELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 965 | |
Brand101 | 0:444ac4067b19 | 966 | //Calcul de la vitesse maximale en profil triangle |
Brand101 | 0:444ac4067b19 | 967 | vmax_tri = sqrt((2 * -pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 968 | } |
Brand101 | 0:444ac4067b19 | 969 | break; |
Brand101 | 0:444ac4067b19 | 970 | |
Brand101 | 0:444ac4067b19 | 971 | case ACCELERATION_TRAPEZE : //Etat d'acceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 972 | cpt ++; |
Brand101 | 0:444ac4067b19 | 973 | |
Brand101 | 0:444ac4067b19 | 974 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 975 | consigne_pos -= (double)(((double)cpt * (double)amax)/1000.0); |
Brand101 | 0:444ac4067b19 | 976 | |
Brand101 | 0:444ac4067b19 | 977 | if(cpt >= ta) { //Condition pour quitter la phase d'acceleration |
Brand101 | 0:444ac4067b19 | 978 | etat_automate_depl = VITESSE_CONSTANTE_TRAPEZE; //Passage a l'etat VITESSE_CONSTANTE_TRAPEZE |
Brand101 | 0:444ac4067b19 | 979 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 980 | } |
Brand101 | 0:444ac4067b19 | 981 | break; |
Brand101 | 0:444ac4067b19 | 982 | |
Brand101 | 0:444ac4067b19 | 983 | case VITESSE_CONSTANTE_TRAPEZE : //Etat de vitesse continue en profil trapeze |
Brand101 | 0:444ac4067b19 | 984 | cpt ++; |
Brand101 | 0:444ac4067b19 | 985 | |
Brand101 | 0:444ac4067b19 | 986 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 987 | consigne_pos -= vmax; |
Brand101 | 0:444ac4067b19 | 988 | |
Brand101 | 0:444ac4067b19 | 989 | //Si il n'y a pas d'enchainements |
Brand101 | 0:444ac4067b19 | 990 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { |
Brand101 | 0:444ac4067b19 | 991 | etat_automate_depl = DECELERATION_TRAPEZE; //Passage a l'etat de DECELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 992 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 993 | } |
Brand101 | 0:444ac4067b19 | 994 | |
Brand101 | 0:444ac4067b19 | 995 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 996 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 997 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 998 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 999 | } |
Brand101 | 0:444ac4067b19 | 1000 | break; |
Brand101 | 0:444ac4067b19 | 1001 | |
Brand101 | 0:444ac4067b19 | 1002 | case DECELERATION_TRAPEZE : //Etat de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 1003 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1004 | |
Brand101 | 0:444ac4067b19 | 1005 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1006 | consigne_pos -= vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1007 | |
Brand101 | 0:444ac4067b19 | 1008 | if(cpt >= td) { //Condition pour sortir de l'etat vitesse continue en profil trapeze |
Brand101 | 0:444ac4067b19 | 1009 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 1010 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 1011 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1012 | } |
Brand101 | 0:444ac4067b19 | 1013 | break; |
Brand101 | 0:444ac4067b19 | 1014 | |
Brand101 | 0:444ac4067b19 | 1015 | case ARRET : //Etat d'arret |
Brand101 | 0:444ac4067b19 | 1016 | if(cpt >= 20) { |
Brand101 | 0:444ac4067b19 | 1017 | etat_automate_depl = INITIALISATION; //Passage a l'etat INITIALISATION |
Brand101 | 0:444ac4067b19 | 1018 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 1019 | } |
Brand101 | 0:444ac4067b19 | 1020 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1021 | break; |
Brand101 | 0:444ac4067b19 | 1022 | |
Brand101 | 0:444ac4067b19 | 1023 | case ACCELERATION_TRIANGLE : //Etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1024 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1025 | |
Brand101 | 0:444ac4067b19 | 1026 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1027 | consigne_pos -= (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1028 | |
Brand101 | 0:444ac4067b19 | 1029 | if((cpt * amax / 1000.0) >= vmax_tri) { //Condition pour sortir de la phase d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1030 | etat_automate_depl = DECELERATION_TRIANGLE; //Passage a l'etat DECELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 1031 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1032 | } |
Brand101 | 0:444ac4067b19 | 1033 | break; |
Brand101 | 0:444ac4067b19 | 1034 | |
Brand101 | 0:444ac4067b19 | 1035 | case DECELERATION_TRIANGLE : //Etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1036 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1037 | |
Brand101 | 0:444ac4067b19 | 1038 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1039 | consigne_pos -= vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1040 | |
Brand101 | 0:444ac4067b19 | 1041 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { //Condition pour sortir de l'etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1042 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 1043 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1044 | } |
Brand101 | 0:444ac4067b19 | 1045 | break; |
Brand101 | 0:444ac4067b19 | 1046 | } |
Brand101 | 0:444ac4067b19 | 1047 | } |
Brand101 | 0:444ac4067b19 | 1048 | |
Brand101 | 0:444ac4067b19 | 1049 | //Calcul des commande 1 et 2 |
Brand101 | 0:444ac4067b19 | 1050 | Asser_Pos_Mot1(roue_drt_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 1051 | Asser_Pos_Mot2(roue_gch_init - consigne_pos); |
Brand101 | 0:444ac4067b19 | 1052 | |
Brand101 | 0:444ac4067b19 | 1053 | //Ecriture du PWM sur chaque modeur /*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/* |
Brand101 | 0:444ac4067b19 | 1054 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 1055 | write_PWM1(commande1); |
Brand101 | 0:444ac4067b19 | 1056 | } |
Brand101 | 0:444ac4067b19 | 1057 | |
Brand101 | 0:444ac4067b19 | 1058 | void Rotation_XYTheta(long pcons, short vmax, short amax, short dmax) |
Brand101 | 0:444ac4067b19 | 1059 | { |
Brand101 | 0:444ac4067b19 | 1060 | //Declaration des variables |
Brand101 | 0:444ac4067b19 | 1061 | //char val1[8]; |
Brand101 | 0:444ac4067b19 | 1062 | static double tc, ta, td; //tc temps � vitesse constante, ta en acceleration, td en deceleration |
Brand101 | 0:444ac4067b19 | 1063 | static double vmax_tri; //Vitesse maximale atteinte dans le cas d'un profil en triangle |
Brand101 | 0:444ac4067b19 | 1064 | |
Brand101 | 0:444ac4067b19 | 1065 | if(pcons >= 0) { //Mode avancer |
Brand101 | 0:444ac4067b19 | 1066 | switch(etat_automate_depl) { //Automate de gestion de deplacement |
Brand101 | 0:444ac4067b19 | 1067 | case INITIALISATION : //Etat d'initialisation et de calcul des variables |
Brand101 | 0:444ac4067b19 | 1068 | //remise a zero des variables car on effectue un nouveau deplacement |
Brand101 | 0:444ac4067b19 | 1069 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 1070 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1071 | |
Brand101 | 0:444ac4067b19 | 1072 | //Elaboration du profil de vitesse |
Brand101 | 0:444ac4067b19 | 1073 | //Calcul du temps a vitesse constante en fonction de l'acceleration |
Brand101 | 0:444ac4067b19 | 1074 | tc = ((double)pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 1075 | |
Brand101 | 0:444ac4067b19 | 1076 | if (tc > 0) { //Resultat positif, il y a une phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 1077 | etat_automate_depl = ACCELERATION_TRAPEZE; //Passage a l'etat AACELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 1078 | |
Brand101 | 0:444ac4067b19 | 1079 | ta = (((double)vmax * 1000.0) / (double)amax); //Calcul du temps d'acceleration |
Brand101 | 0:444ac4067b19 | 1080 | td = (((double)vmax * 1000.0) / (double)dmax); //Calcul du temps de deceleration |
Brand101 | 0:444ac4067b19 | 1081 | } |
Brand101 | 0:444ac4067b19 | 1082 | |
Brand101 | 0:444ac4067b19 | 1083 | else if(tc < 0) { //Resultat negatif, il n'y a pas de phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 1084 | etat_automate_depl = ACCELERATION_TRIANGLE; //Passage a l'etat ACCELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 1085 | |
Brand101 | 0:444ac4067b19 | 1086 | //Calcul de la vitesse maximale en profil triangle |
Brand101 | 0:444ac4067b19 | 1087 | vmax_tri = sqrt((2 * pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 1088 | } |
Brand101 | 0:444ac4067b19 | 1089 | break; |
Brand101 | 0:444ac4067b19 | 1090 | |
Brand101 | 0:444ac4067b19 | 1091 | case ACCELERATION_TRAPEZE : //Etat d'acceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 1092 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1093 | |
Brand101 | 0:444ac4067b19 | 1094 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1095 | consigne_pos += (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1096 | |
Brand101 | 0:444ac4067b19 | 1097 | if(cpt >= ta) { //Condition pour quitter la phase d'acceleration |
Brand101 | 0:444ac4067b19 | 1098 | etat_automate_depl = VITESSE_CONSTANTE_TRAPEZE; //Passage a l'etat VITESSE_CONSTANTE_TRAPEZE |
Brand101 | 0:444ac4067b19 | 1099 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1100 | } |
Brand101 | 0:444ac4067b19 | 1101 | break; |
Brand101 | 0:444ac4067b19 | 1102 | |
Brand101 | 0:444ac4067b19 | 1103 | case VITESSE_CONSTANTE_TRAPEZE : //Etat de vitesse constante en profil trapeze |
Brand101 | 0:444ac4067b19 | 1104 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1105 | |
Brand101 | 0:444ac4067b19 | 1106 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1107 | consigne_pos += vmax; |
Brand101 | 0:444ac4067b19 | 1108 | |
Brand101 | 0:444ac4067b19 | 1109 | //Si il n'y a pas d'enchainements |
Brand101 | 0:444ac4067b19 | 1110 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { |
Brand101 | 0:444ac4067b19 | 1111 | etat_automate_depl = DECELERATION_TRAPEZE; //Passage a l'etat DECELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 1112 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1113 | } |
Brand101 | 0:444ac4067b19 | 1114 | |
Brand101 | 0:444ac4067b19 | 1115 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 1116 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 1117 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 1118 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 1119 | } |
Brand101 | 0:444ac4067b19 | 1120 | break; |
Brand101 | 0:444ac4067b19 | 1121 | |
Brand101 | 0:444ac4067b19 | 1122 | case DECELERATION_TRAPEZE : //Etat de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 1123 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1124 | |
Brand101 | 0:444ac4067b19 | 1125 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1126 | consigne_pos += vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1127 | |
Brand101 | 0:444ac4067b19 | 1128 | if(cpt >= td) { //Condition pour quitter la phase de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 1129 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 1130 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 1131 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1132 | } |
Brand101 | 0:444ac4067b19 | 1133 | break; |
Brand101 | 0:444ac4067b19 | 1134 | |
Brand101 | 0:444ac4067b19 | 1135 | case ARRET : //Etat d'arret |
Brand101 | 0:444ac4067b19 | 1136 | if(cpt >= 20) { |
Brand101 | 0:444ac4067b19 | 1137 | etat_automate_depl = INITIALISATION; //Passage a l'etat INITIALISATION |
Brand101 | 0:444ac4067b19 | 1138 | next_move_xyt = 1; |
Brand101 | 0:444ac4067b19 | 1139 | } |
Brand101 | 0:444ac4067b19 | 1140 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1141 | break; |
Brand101 | 0:444ac4067b19 | 1142 | |
Brand101 | 0:444ac4067b19 | 1143 | case ACCELERATION_TRIANGLE : //Etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1144 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1145 | |
Brand101 | 0:444ac4067b19 | 1146 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1147 | consigne_pos += (((double)cpt * (double)amax) / 1000.0); //Condition pour sortir de la phase d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1148 | |
Brand101 | 0:444ac4067b19 | 1149 | if((cpt * amax / 1000.0) >= vmax_tri) { |
Brand101 | 0:444ac4067b19 | 1150 | etat_automate_depl = DECELERATION_TRIANGLE; //Passage a l'etat DECELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 1151 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1152 | } |
Brand101 | 0:444ac4067b19 | 1153 | break; |
Brand101 | 0:444ac4067b19 | 1154 | |
Brand101 | 0:444ac4067b19 | 1155 | case DECELERATION_TRIANGLE : //Etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1156 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1157 | |
Brand101 | 0:444ac4067b19 | 1158 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1159 | consigne_pos += vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1160 | |
Brand101 | 0:444ac4067b19 | 1161 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { //Condition pour sortir de la phase de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1162 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 1163 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1164 | } |
Brand101 | 0:444ac4067b19 | 1165 | break; |
Brand101 | 0:444ac4067b19 | 1166 | } |
Brand101 | 0:444ac4067b19 | 1167 | } else if(pcons < 0) { //Mode reculer |
Brand101 | 0:444ac4067b19 | 1168 | switch(etat_automate_depl) { //Automate de gestion du deplacement |
Brand101 | 0:444ac4067b19 | 1169 | case INITIALISATION : //Etat d'initialisation et de calcul des variables |
Brand101 | 0:444ac4067b19 | 1170 | //Remise a zero des variables car on effectue un nouveau deplacement |
Brand101 | 0:444ac4067b19 | 1171 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 1172 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1173 | |
Brand101 | 0:444ac4067b19 | 1174 | //Elaboration du profil de vitesse |
Brand101 | 0:444ac4067b19 | 1175 | //Calcul du temps � vitesse constante en fonction de l'acceleration |
Brand101 | 0:444ac4067b19 | 1176 | tc = ((double)-pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 1177 | |
Brand101 | 0:444ac4067b19 | 1178 | if (tc > 0) { //Resultat positif, il y a une phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 1179 | etat_automate_depl = ACCELERATION_TRAPEZE; //Passage a l'etat ACCELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 1180 | |
Brand101 | 0:444ac4067b19 | 1181 | ta = (((double)vmax * 1000.0) / (double)amax); //Calcul du temps d'acceleration |
Brand101 | 0:444ac4067b19 | 1182 | td = (((double)vmax * 1000.0) / (double)dmax); //Calcul du temps de deceleration |
Brand101 | 0:444ac4067b19 | 1183 | } |
Brand101 | 0:444ac4067b19 | 1184 | |
Brand101 | 0:444ac4067b19 | 1185 | else if(tc < 0) { //Resultat negatif, il n'y a pas de phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 1186 | etat_automate_depl = ACCELERATION_TRIANGLE; //Passage a l'etat ACCELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 1187 | |
Brand101 | 0:444ac4067b19 | 1188 | //Calcul de la vitesse maximale en profil triangle |
Brand101 | 0:444ac4067b19 | 1189 | vmax_tri = sqrt((2 * -pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 1190 | } |
Brand101 | 0:444ac4067b19 | 1191 | break; |
Brand101 | 0:444ac4067b19 | 1192 | |
Brand101 | 0:444ac4067b19 | 1193 | case ACCELERATION_TRAPEZE : //Etat d'acceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 1194 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1195 | |
Brand101 | 0:444ac4067b19 | 1196 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1197 | consigne_pos -= (double)(((double)cpt * (double)amax)/1000.0); |
Brand101 | 0:444ac4067b19 | 1198 | |
Brand101 | 0:444ac4067b19 | 1199 | if(cpt >= ta) { //Condition pour quitter la phase d'acceleration |
Brand101 | 0:444ac4067b19 | 1200 | etat_automate_depl = VITESSE_CONSTANTE_TRAPEZE; //Passage a l'etat VITESSE_CONSTANTE_TRAPEZE |
Brand101 | 0:444ac4067b19 | 1201 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1202 | } |
Brand101 | 0:444ac4067b19 | 1203 | break; |
Brand101 | 0:444ac4067b19 | 1204 | |
Brand101 | 0:444ac4067b19 | 1205 | case VITESSE_CONSTANTE_TRAPEZE : //Etat de vitesse continue en profil trapeze |
Brand101 | 0:444ac4067b19 | 1206 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1207 | |
Brand101 | 0:444ac4067b19 | 1208 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1209 | consigne_pos -= vmax; |
Brand101 | 0:444ac4067b19 | 1210 | |
Brand101 | 0:444ac4067b19 | 1211 | //Si il n'y a pas d'enchainements |
Brand101 | 0:444ac4067b19 | 1212 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { |
Brand101 | 0:444ac4067b19 | 1213 | etat_automate_depl = DECELERATION_TRAPEZE; //Passage a l'etat de DECELERATION_TRAPEZE |
Brand101 | 0:444ac4067b19 | 1214 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1215 | } |
Brand101 | 0:444ac4067b19 | 1216 | |
Brand101 | 0:444ac4067b19 | 1217 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 1218 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 1219 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 1220 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 1221 | } |
Brand101 | 0:444ac4067b19 | 1222 | break; |
Brand101 | 0:444ac4067b19 | 1223 | |
Brand101 | 0:444ac4067b19 | 1224 | case DECELERATION_TRAPEZE : //Etat de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 1225 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1226 | |
Brand101 | 0:444ac4067b19 | 1227 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1228 | consigne_pos -= vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1229 | |
Brand101 | 0:444ac4067b19 | 1230 | if(cpt >= td) { //Condition pour sortir de l'etat vitesse continue en profil trapeze |
Brand101 | 0:444ac4067b19 | 1231 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 1232 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 1233 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1234 | } |
Brand101 | 0:444ac4067b19 | 1235 | break; |
Brand101 | 0:444ac4067b19 | 1236 | |
Brand101 | 0:444ac4067b19 | 1237 | case ARRET : //Etat d'arret |
Brand101 | 0:444ac4067b19 | 1238 | if(cpt >= 20) { |
Brand101 | 0:444ac4067b19 | 1239 | etat_automate_depl = INITIALISATION; //Passage a l'etat INITIALISATION |
Brand101 | 0:444ac4067b19 | 1240 | next_move_xyt = 1; |
Brand101 | 0:444ac4067b19 | 1241 | } |
Brand101 | 0:444ac4067b19 | 1242 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1243 | break; |
Brand101 | 0:444ac4067b19 | 1244 | |
Brand101 | 0:444ac4067b19 | 1245 | case ACCELERATION_TRIANGLE : //Etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1246 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1247 | |
Brand101 | 0:444ac4067b19 | 1248 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1249 | consigne_pos -= (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1250 | |
Brand101 | 0:444ac4067b19 | 1251 | if((cpt * amax / 1000.0) >= vmax_tri) { //Condition pour sortir de la phase d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1252 | etat_automate_depl = DECELERATION_TRIANGLE; //Passage a l'etat DECELERATION_TRIANGLE |
Brand101 | 0:444ac4067b19 | 1253 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1254 | } |
Brand101 | 0:444ac4067b19 | 1255 | break; |
Brand101 | 0:444ac4067b19 | 1256 | |
Brand101 | 0:444ac4067b19 | 1257 | case DECELERATION_TRIANGLE : //Etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1258 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1259 | |
Brand101 | 0:444ac4067b19 | 1260 | //Decrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1261 | consigne_pos -= vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1262 | |
Brand101 | 0:444ac4067b19 | 1263 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { //Condition pour sortir de l'etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1264 | etat_automate_depl = ARRET; //Passage a l'etat ARRET |
Brand101 | 0:444ac4067b19 | 1265 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1266 | } |
Brand101 | 0:444ac4067b19 | 1267 | break; |
Brand101 | 0:444ac4067b19 | 1268 | } |
Brand101 | 0:444ac4067b19 | 1269 | } |
Brand101 | 0:444ac4067b19 | 1270 | |
Brand101 | 0:444ac4067b19 | 1271 | //Calcul des commande 1 et 2 |
Brand101 | 0:444ac4067b19 | 1272 | Asser_Pos_Mot1(roue_drt_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 1273 | Asser_Pos_Mot2(roue_gch_init - consigne_pos); |
Brand101 | 0:444ac4067b19 | 1274 | |
Brand101 | 0:444ac4067b19 | 1275 | //Ecriture du PWM sur chaque modeur //*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/*/* |
Brand101 | 0:444ac4067b19 | 1276 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 1277 | write_PWM1(commande1); |
Brand101 | 0:444ac4067b19 | 1278 | |
Brand101 | 0:444ac4067b19 | 1279 | } |
Brand101 | 0:444ac4067b19 | 1280 | |
Brand101 | 0:444ac4067b19 | 1281 | void X_Y_Theta(long px, long py, long ptheta, long sens, short vmax, short amax) |
Brand101 | 0:444ac4067b19 | 1282 | { |
Brand101 | 0:444ac4067b19 | 1283 | //Variables pr�sentes Odo_x, Odo_y : position de d�part |
Brand101 | 0:444ac4067b19 | 1284 | //Declaration des variables |
Brand101 | 0:444ac4067b19 | 1285 | static short dist = 0, ang1 = 0, ang2 = 0; |
Brand101 | 0:444ac4067b19 | 1286 | //shar val[4]; |
Brand101 | 0:444ac4067b19 | 1287 | |
Brand101 | 0:444ac4067b19 | 1288 | switch(etat_automate_xytheta) { |
Brand101 | 0:444ac4067b19 | 1289 | case INIT_X_Y_THETA : //etat INIT_X_Y_THETA |
Brand101 | 0:444ac4067b19 | 1290 | //Mode Avancer |
Brand101 | 0:444ac4067b19 | 1291 | if(sens >= 0) { |
Brand101 | 0:444ac4067b19 | 1292 | /*pour avancer, on tourne dans le sens horaire//MOI*\*/ |
Brand101 | 0:444ac4067b19 | 1293 | |
Brand101 | 0:444ac4067b19 | 1294 | // Son hypoth�nuse correspond � la distance � parcourir |
Brand101 | 0:444ac4067b19 | 1295 | dist = (short)sqrt((px - Odo_x)*(px - Odo_x)+(py - Odo_y)*(py - Odo_y)); |
Brand101 | 0:444ac4067b19 | 1296 | |
Brand101 | 0:444ac4067b19 | 1297 | // la 1ere rotation correspond � l'angle du triangle, moins l'angle de la position de d�part |
Brand101 | 0:444ac4067b19 | 1298 | // C'est-�-dire la tangente du c�t� oppos� sur l'angle adjacent |
Brand101 | 0:444ac4067b19 | 1299 | // La fonction atan2 fait le calcul de la tangente en radians, entre Pi et -Pi |
Brand101 | 0:444ac4067b19 | 1300 | // On rajoute des coefficients pour passer en degr�s |
Brand101 | 0:444ac4067b19 | 1301 | // On ajoute 7200 dixi�mes de degr�s pour �tre s�rs que le r�sultat soit positif |
Brand101 | 0:444ac4067b19 | 1302 | ang1 = (short)((atan2((double)(py - Odo_y), (double)(px - Odo_x)) * 1800 / PI) - Odo_theta + 7200) % 3600; |
Brand101 | 0:444ac4067b19 | 1303 | |
Brand101 | 0:444ac4067b19 | 1304 | // On passe le r�sultat entre -1800 et 1800 |
Brand101 | 0:444ac4067b19 | 1305 | if(ang1 > 1800) ang1 = (ang1 - 3600); |
Brand101 | 0:444ac4067b19 | 1306 | |
Brand101 | 0:444ac4067b19 | 1307 | // La 2� rotation correspond � l'angle de destination, moins l'angle � la fin de la ligne droite, |
Brand101 | 0:444ac4067b19 | 1308 | // donc le m�me qu'� la fin de la 1�re rotation, donc l'angle de d�part plus la premi�re rotation |
Brand101 | 0:444ac4067b19 | 1309 | // On ajoute 3600 pour �tre s�r d'avoir un r�sultat positif |
Brand101 | 0:444ac4067b19 | 1310 | ang2 = (short)(ptheta - ang1 - Odo_theta + 3600) % 3600; |
Brand101 | 0:444ac4067b19 | 1311 | |
Brand101 | 0:444ac4067b19 | 1312 | // On passe le r�sultat entre -1800 et 1800 |
Brand101 | 0:444ac4067b19 | 1313 | if(ang2 > 1800) ang2 = (ang2 - 3600); |
Brand101 | 0:444ac4067b19 | 1314 | |
Brand101 | 0:444ac4067b19 | 1315 | // On transforme les r�sultats en distance et angles utilisables avec les fonctions d�j� d�finies |
Brand101 | 0:444ac4067b19 | 1316 | dist = dist * RESOLUTION_ROUE_CODEUSE / PERIMETRE_ROUE_CODEUSE; |
Brand101 | 0:444ac4067b19 | 1317 | ang1 = LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE * ang1 / (3600 * PERIMETRE_ROUE_CODEUSE); |
Brand101 | 0:444ac4067b19 | 1318 | ang2 = LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE * ang2 / (3600 * PERIMETRE_ROUE_CODEUSE); |
Brand101 | 0:444ac4067b19 | 1319 | } |
Brand101 | 0:444ac4067b19 | 1320 | |
Brand101 | 0:444ac4067b19 | 1321 | //Mode Reculer |
Brand101 | 0:444ac4067b19 | 1322 | else if(sens < 0) { |
Brand101 | 0:444ac4067b19 | 1323 | |
Brand101 | 0:444ac4067b19 | 1324 | /*pour avancer, on tourne dans le sens anti-horaire//MOI*\*/ |
Brand101 | 0:444ac4067b19 | 1325 | |
Brand101 | 0:444ac4067b19 | 1326 | // Idem qu'au-dessus, mais laligne droite doit �tre faite en marche arri�re |
Brand101 | 0:444ac4067b19 | 1327 | // La distance est l'oppos� de celle calcul�e au dessus |
Brand101 | 0:444ac4067b19 | 1328 | // Les angles sont les m�mes � 1800 pr�s |
Brand101 | 0:444ac4067b19 | 1329 | dist = -(short)sqrt((px-Odo_x)*(px-Odo_x)+(py-Odo_y)*(py-Odo_y)); |
Brand101 | 0:444ac4067b19 | 1330 | |
Brand101 | 0:444ac4067b19 | 1331 | //Premiere rotation |
Brand101 | 0:444ac4067b19 | 1332 | ang1 = (short)(((atan2((double)(py - Odo_y), (double)(px - Odo_x)) * 1800 / PI) - Odo_theta) + 5400) % 3600; |
Brand101 | 0:444ac4067b19 | 1333 | if(ang1 > 1800) ang1 = (ang1 - 3600); |
Brand101 | 0:444ac4067b19 | 1334 | |
Brand101 | 0:444ac4067b19 | 1335 | //Deuxieme rotation |
Brand101 | 0:444ac4067b19 | 1336 | ang2 = (short)(ptheta - ang1 - Odo_theta + 3600) % 3600; |
Brand101 | 0:444ac4067b19 | 1337 | if(ang2 > 1800) ang2 = (ang2 - 3600); |
Brand101 | 0:444ac4067b19 | 1338 | |
Brand101 | 0:444ac4067b19 | 1339 | // On transforme les r�sultats en distance et angles utilisables avec les fonctions d�j� d�finies |
Brand101 | 0:444ac4067b19 | 1340 | dist = dist * RESOLUTION_ROUE_CODEUSE / PERIMETRE_ROUE_CODEUSE; |
Brand101 | 0:444ac4067b19 | 1341 | ang1 = LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE * ang1 / (3600 * PERIMETRE_ROUE_CODEUSE); |
Brand101 | 0:444ac4067b19 | 1342 | ang2 = LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE * ang2 / (3600 * PERIMETRE_ROUE_CODEUSE); |
Brand101 | 0:444ac4067b19 | 1343 | } |
Brand101 | 0:444ac4067b19 | 1344 | |
Brand101 | 0:444ac4067b19 | 1345 | param_xytheta[0] = ang1; |
Brand101 | 0:444ac4067b19 | 1346 | param_xytheta[1] = dist; |
Brand101 | 0:444ac4067b19 | 1347 | param_xytheta[2] = ang2; |
Brand101 | 0:444ac4067b19 | 1348 | |
Brand101 | 0:444ac4067b19 | 1349 | // La fonction xyth�ta utilise un automate propre, similaire � l'automate g�n�ral |
Brand101 | 0:444ac4067b19 | 1350 | etat_automate_xytheta = 1; |
Brand101 | 0:444ac4067b19 | 1351 | etat_automate_depl = ROTATION_X_Y_THETA_1; //Passage a l'etat ROTATION_X_Y_THETA_1 |
Brand101 | 0:444ac4067b19 | 1352 | break; |
Brand101 | 0:444ac4067b19 | 1353 | |
Brand101 | 0:444ac4067b19 | 1354 | case ROTATION_X_Y_THETA_1 : //etat ROTATION_X_Y_THETA_1 |
Brand101 | 0:444ac4067b19 | 1355 | //Execution de la fonction de rotation pour la fonction de deplacement X_Y_THETA |
Brand101 | 0:444ac4067b19 | 1356 | Rotation_XYTheta(ang1, vmax, amax, DMAX); |
Brand101 | 0:444ac4067b19 | 1357 | |
Brand101 | 0:444ac4067b19 | 1358 | if(next_move_xyt) { |
Brand101 | 0:444ac4067b19 | 1359 | roue_drt_init = encoder1.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1360 | |
Brand101 | 0:444ac4067b19 | 1361 | //#elif GROS_ROB == 0 |
Brand101 | 0:444ac4067b19 | 1362 | roue_gch_init = COEF_ROUE_GAUCHE * (double)encoder2.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1363 | //#endif |
Brand101 | 0:444ac4067b19 | 1364 | |
Brand101 | 0:444ac4067b19 | 1365 | next_move_xyt = 0; |
Brand101 | 0:444ac4067b19 | 1366 | etat_automate_xytheta = LIGNE_DROITE_X_Y_THETA; //Passage a l'etat LIGNE_DROITE_X_Y_THETA |
Brand101 | 0:444ac4067b19 | 1367 | } |
Brand101 | 0:444ac4067b19 | 1368 | break; |
Brand101 | 0:444ac4067b19 | 1369 | |
Brand101 | 0:444ac4067b19 | 1370 | case LIGNE_DROITE_X_Y_THETA : //etat LIGNE_DROITE_X_Y_THETA_1 |
Brand101 | 0:444ac4067b19 | 1371 | //Execution de la fonction de ligne droite pour la fonction de deplacement X_Y_THETA |
Brand101 | 0:444ac4067b19 | 1372 | Avancer_ligne_droite_XYTheta(dist, vmax, amax, DMAX); |
Brand101 | 0:444ac4067b19 | 1373 | |
Brand101 | 0:444ac4067b19 | 1374 | if(next_move_xyt) { |
Brand101 | 0:444ac4067b19 | 1375 | roue_drt_init = encoder1.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1376 | |
Brand101 | 0:444ac4067b19 | 1377 | //#elif GROS_ROB == 0 |
Brand101 | 0:444ac4067b19 | 1378 | roue_gch_init = COEF_ROUE_GAUCHE * (double)encoder2.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1379 | //#endif |
Brand101 | 0:444ac4067b19 | 1380 | next_move_xyt = 0; |
Brand101 | 0:444ac4067b19 | 1381 | etat_automate_xytheta = ROTATION_X_Y_THETA_2; //Passage a l'etat ROTATION_X_Y_THETA_2 |
Brand101 | 0:444ac4067b19 | 1382 | } |
Brand101 | 0:444ac4067b19 | 1383 | break; |
Brand101 | 0:444ac4067b19 | 1384 | |
Brand101 | 0:444ac4067b19 | 1385 | case ROTATION_X_Y_THETA_2 : //etat ROTATION_X_Y_THETA_2 |
Brand101 | 0:444ac4067b19 | 1386 | //Execution de la fonction de rotation pour la fonction de deplacement X_Y_THETA |
Brand101 | 0:444ac4067b19 | 1387 | Rotation_XYTheta(ang2, vmax, amax, DMAX); |
Brand101 | 0:444ac4067b19 | 1388 | if(next_move_xyt) { |
Brand101 | 0:444ac4067b19 | 1389 | roue_drt_init = encoder1.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1390 | |
Brand101 | 0:444ac4067b19 | 1391 | //#elif GROS_ROB == 0 |
Brand101 | 0:444ac4067b19 | 1392 | roue_gch_init = COEF_ROUE_GAUCHE * (double)encoder2.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1393 | //#endif |
Brand101 | 0:444ac4067b19 | 1394 | |
Brand101 | 0:444ac4067b19 | 1395 | next_move_xyt = 0; |
Brand101 | 0:444ac4067b19 | 1396 | etat_automate_xytheta = INIT_X_Y_THETA; //Passage a l'etat INIT_X_Y_THETA |
Brand101 | 0:444ac4067b19 | 1397 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 1398 | } |
Brand101 | 0:444ac4067b19 | 1399 | break; |
Brand101 | 0:444ac4067b19 | 1400 | |
Brand101 | 0:444ac4067b19 | 1401 | default : //Etat par defaut, on fait la meme chose que dans l'etat d'initialisation |
Brand101 | 0:444ac4067b19 | 1402 | //Mode Avancer |
Brand101 | 0:444ac4067b19 | 1403 | if(sens >= 0) { |
Brand101 | 0:444ac4067b19 | 1404 | /*pour avancer, on tourne dans le sens horaire//MOI*\*/ |
Brand101 | 0:444ac4067b19 | 1405 | |
Brand101 | 0:444ac4067b19 | 1406 | dist = (short)sqrt((px - Odo_x)*(px - Odo_x)+(py - Odo_y)*(py - Odo_y)); |
Brand101 | 0:444ac4067b19 | 1407 | ang1 = (short)((atan2((double)(py - Odo_y), (double)(px - Odo_x)) * 1800 / PI) - Odo_theta + 7200) % 3600; |
Brand101 | 0:444ac4067b19 | 1408 | if(ang1 > 1800) |
Brand101 | 0:444ac4067b19 | 1409 | ang1 = (ang1 - 3600); |
Brand101 | 0:444ac4067b19 | 1410 | ang2 = (short)(ptheta - ang1 - Odo_theta + 3600) % 3600; |
Brand101 | 0:444ac4067b19 | 1411 | if(ang2 > 1800) |
Brand101 | 0:444ac4067b19 | 1412 | ang2 = (ang2 - 3600); |
Brand101 | 0:444ac4067b19 | 1413 | |
Brand101 | 0:444ac4067b19 | 1414 | dist = dist * RESOLUTION_ROUE_CODEUSE / PERIMETRE_ROUE_CODEUSE; |
Brand101 | 0:444ac4067b19 | 1415 | ang1 = LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE * ang1 / (3600 * PERIMETRE_ROUE_CODEUSE); |
Brand101 | 0:444ac4067b19 | 1416 | ang2 = LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE * ang2 / (3600 * PERIMETRE_ROUE_CODEUSE); |
Brand101 | 0:444ac4067b19 | 1417 | } |
Brand101 | 0:444ac4067b19 | 1418 | |
Brand101 | 0:444ac4067b19 | 1419 | //Mode Reculer |
Brand101 | 0:444ac4067b19 | 1420 | else if(sens < 0) { |
Brand101 | 0:444ac4067b19 | 1421 | /*pour avancer, on tourne dans le sens anti-horaire//MOI*\*/ |
Brand101 | 0:444ac4067b19 | 1422 | dist = -(short)sqrt((px-Odo_x)*(px-Odo_x)+(py-Odo_y)*(py-Odo_y)); |
Brand101 | 0:444ac4067b19 | 1423 | ang1 = (short)(((atan2((double)(py - Odo_y), (double)(px - Odo_x)) * 1800 / PI) - Odo_theta) + 5400) % 3600; |
Brand101 | 0:444ac4067b19 | 1424 | if(ang1 > 1800) |
Brand101 | 0:444ac4067b19 | 1425 | |
Brand101 | 0:444ac4067b19 | 1426 | ang1 = (ang1 - 3600); |
Brand101 | 0:444ac4067b19 | 1427 | ang2 = (short)(ptheta - ang1 - Odo_theta + 3600) % 3600; |
Brand101 | 0:444ac4067b19 | 1428 | if(ang2 > 1800) |
Brand101 | 0:444ac4067b19 | 1429 | ang2 = (ang2 - 3600); |
Brand101 | 0:444ac4067b19 | 1430 | |
Brand101 | 0:444ac4067b19 | 1431 | dist = dist * RESOLUTION_ROUE_CODEUSE / PERIMETRE_ROUE_CODEUSE; |
Brand101 | 0:444ac4067b19 | 1432 | ang1 = LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE * ang1 / (3600 * PERIMETRE_ROUE_CODEUSE); |
Brand101 | 0:444ac4067b19 | 1433 | ang2 = LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE * ang2 / (3600 * PERIMETRE_ROUE_CODEUSE); |
Brand101 | 0:444ac4067b19 | 1434 | } |
Brand101 | 0:444ac4067b19 | 1435 | |
Brand101 | 0:444ac4067b19 | 1436 | param_xytheta[0] = ang1; |
Brand101 | 0:444ac4067b19 | 1437 | param_xytheta[1] = dist; |
Brand101 | 0:444ac4067b19 | 1438 | param_xytheta[2] = ang2; |
Brand101 | 0:444ac4067b19 | 1439 | |
Brand101 | 0:444ac4067b19 | 1440 | etat_automate_xytheta = 1; |
Brand101 | 0:444ac4067b19 | 1441 | etat_automate_depl = INIT_X_Y_THETA; |
Brand101 | 0:444ac4067b19 | 1442 | break; |
Brand101 | 0:444ac4067b19 | 1443 | } |
Brand101 | 0:444ac4067b19 | 1444 | } |
Brand101 | 0:444ac4067b19 | 1445 | |
Brand101 | 0:444ac4067b19 | 1446 | void Odometrie(void) //void Odometrie(void) |
Brand101 | 0:444ac4067b19 | 1447 | { |
Brand101 | 0:444ac4067b19 | 1448 | //Declaration des variables |
Brand101 | 0:444ac4067b19 | 1449 | //char val1[8]; |
Brand101 | 0:444ac4067b19 | 1450 | double dist, ang; //distance, angle |
Brand101 | 0:444ac4067b19 | 1451 | |
Brand101 | 0:444ac4067b19 | 1452 | //Recuperation des valeurs des compteurs des encodeurs |
Brand101 | 0:444ac4067b19 | 1453 | Odo_val_pos_1 = (double)encoder1.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1454 | |
Brand101 | 0:444ac4067b19 | 1455 | /* MOI*\ |
Brand101 | 0:444ac4067b19 | 1456 | //#elif GROS_ROB == 0 |
Brand101 | 0:444ac4067b19 | 1457 | Odo_val_pos_2 = COEF_ROUE_GAUCHE * (double)encoder2.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1458 | //#endif |
Brand101 | 0:444ac4067b19 | 1459 | */ |
Brand101 | 0:444ac4067b19 | 1460 | Odo_val_pos_2 = COEF_ROUE_GAUCHE * (double)encoder2.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1461 | |
Brand101 | 0:444ac4067b19 | 1462 | |
Brand101 | 0:444ac4067b19 | 1463 | //Calcul de la distance parcourue |
Brand101 | 0:444ac4067b19 | 1464 | dist = 0.5*((Odo_val_pos_1 - Odo_last_val_pos_1) + (Odo_val_pos_2 - Odo_last_val_pos_2)); |
Brand101 | 0:444ac4067b19 | 1465 | |
Brand101 | 0:444ac4067b19 | 1466 | //Calcul de la valeur de l'angle parcouru |
Brand101 | 0:444ac4067b19 | 1467 | ang = ((Odo_val_pos_1 - Odo_last_val_pos_1) -(Odo_val_pos_2 - Odo_last_val_pos_2))*1800.0*PERIMETRE_ROUE_CODEUSE/(LARGEUR_ROBOT*PI*RESOLUTION_ROUE_CODEUSE); |
Brand101 | 0:444ac4067b19 | 1468 | |
Brand101 | 0:444ac4067b19 | 1469 | //Determination de la position sur le terrain en X, Y, Theta |
Brand101 | 0:444ac4067b19 | 1470 | Odo_theta += ang; |
Brand101 | 0:444ac4067b19 | 1471 | Odo_x += dist*cos((double)(Odo_theta*PI/1800.0))*PERIMETRE_ROUE_CODEUSE/RESOLUTION_ROUE_CODEUSE; |
Brand101 | 0:444ac4067b19 | 1472 | Odo_y += dist*sin((double)(Odo_theta*PI/1800.0))*PERIMETRE_ROUE_CODEUSE/RESOLUTION_ROUE_CODEUSE; |
Brand101 | 0:444ac4067b19 | 1473 | |
Brand101 | 0:444ac4067b19 | 1474 | //Stockage de la derniere valeur de l'odometrie |
Brand101 | 0:444ac4067b19 | 1475 | Odo_last_val_pos_1 = Odo_val_pos_1; |
Brand101 | 0:444ac4067b19 | 1476 | Odo_last_val_pos_2 = Odo_val_pos_2; |
Brand101 | 0:444ac4067b19 | 1477 | |
Brand101 | 0:444ac4067b19 | 1478 | |
Brand101 | 0:444ac4067b19 | 1479 | //Condition d'envoi des informations de l'odometrie par CAN |
Brand101 | 0:444ac4067b19 | 1480 | Send_odometrie(); |
Brand101 | 0:444ac4067b19 | 1481 | |
Brand101 | 0:444ac4067b19 | 1482 | /****************************************/ |
Brand101 | 0:444ac4067b19 | 1483 | /****************************************/ |
Brand101 | 0:444ac4067b19 | 1484 | /* <DEBUG> */ |
Brand101 | 0:444ac4067b19 | 1485 | /****************************************/ |
Brand101 | 0:444ac4067b19 | 1486 | /****************************************/ |
Brand101 | 0:444ac4067b19 | 1487 | |
Brand101 | 0:444ac4067b19 | 1488 | Debug_Asserv(); |
Brand101 | 0:444ac4067b19 | 1489 | |
Brand101 | 0:444ac4067b19 | 1490 | /****************************************/ |
Brand101 | 0:444ac4067b19 | 1491 | /****************************************/ |
Brand101 | 0:444ac4067b19 | 1492 | /* <DEBUG> */ |
Brand101 | 0:444ac4067b19 | 1493 | /****************************************/ |
Brand101 | 0:444ac4067b19 | 1494 | /****************************************/ |
Brand101 | 0:444ac4067b19 | 1495 | |
Brand101 | 0:444ac4067b19 | 1496 | |
Brand101 | 0:444ac4067b19 | 1497 | } |
Brand101 | 0:444ac4067b19 | 1498 | |
Brand101 | 0:444ac4067b19 | 1499 | |
Brand101 | 0:444ac4067b19 | 1500 | void Ralentir(short nouvelle_vitesse) |
Brand101 | 0:444ac4067b19 | 1501 | { |
Brand101 | 0:444ac4067b19 | 1502 | //Si on allait en avant (cpt >= 0), on decremente cpt jusqu'a la nouvelle vitesse |
Brand101 | 0:444ac4067b19 | 1503 | if(cpt >= 0) { |
Brand101 | 0:444ac4067b19 | 1504 | cpt --; |
Brand101 | 0:444ac4067b19 | 1505 | if(cpt <= ((double)nouvelle_vitesse / ((double)AMAX/1000.0))) { //La vitesse souhaitait est atteinte |
Brand101 | 0:444ac4067b19 | 1506 | cpt = (short)((double)nouvelle_vitesse / ((double)AMAX/1000.0)); |
Brand101 | 0:444ac4067b19 | 1507 | ralentare = 0; |
Brand101 | 0:444ac4067b19 | 1508 | } |
Brand101 | 0:444ac4067b19 | 1509 | } |
Brand101 | 0:444ac4067b19 | 1510 | |
Brand101 | 0:444ac4067b19 | 1511 | //Si on allait en arri�re (cpt < 0), on incr�mente cpt jusqu'a la nouvelle vitesse |
Brand101 | 0:444ac4067b19 | 1512 | else if(cpt < 0) { |
Brand101 | 0:444ac4067b19 | 1513 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1514 | if(cpt >= -((double)nouvelle_vitesse / ((double)AMAX/1000.0))) { //La vitesse souhaitait est atteinte |
Brand101 | 0:444ac4067b19 | 1515 | cpt = (short)-((double)nouvelle_vitesse / ((double)AMAX/1000.0)); |
Brand101 | 0:444ac4067b19 | 1516 | ralentare = 0; |
Brand101 | 0:444ac4067b19 | 1517 | } |
Brand101 | 0:444ac4067b19 | 1518 | } |
Brand101 | 0:444ac4067b19 | 1519 | |
Brand101 | 0:444ac4067b19 | 1520 | //Ralentir fonctionne comme une acc�l�ration standard, donc on modifie la consigne de position |
Brand101 | 0:444ac4067b19 | 1521 | consigne_pos += (double)(((double)cpt * (double)AMAX)/1000.0); |
Brand101 | 0:444ac4067b19 | 1522 | |
Brand101 | 0:444ac4067b19 | 1523 | //Calcul de la valeur de commande 1 et 2 |
Brand101 | 0:444ac4067b19 | 1524 | Asser_Pos_Mot1(roue_drt_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 1525 | Asser_Pos_Mot2(roue_gch_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 1526 | |
Brand101 | 0:444ac4067b19 | 1527 | //Ecriture de la valeur de la commande souhait�e |
Brand101 | 0:444ac4067b19 | 1528 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 1529 | write_PWM1(commande1); |
Brand101 | 0:444ac4067b19 | 1530 | |
Brand101 | 0:444ac4067b19 | 1531 | } |
Brand101 | 0:444ac4067b19 | 1532 | |
Brand101 | 0:444ac4067b19 | 1533 | void Arret(void) |
Brand101 | 0:444ac4067b19 | 1534 | { |
Brand101 | 0:444ac4067b19 | 1535 | //Recuperation de la valeur de l'odometrie de la roue de droite et de gauche |
Brand101 | 0:444ac4067b19 | 1536 | roue_drt_init = (double)encoder1.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1537 | |
Brand101 | 0:444ac4067b19 | 1538 | /* MOI*\ |
Brand101 | 0:444ac4067b19 | 1539 | //#elif GROS_ROB == 0 |
Brand101 | 0:444ac4067b19 | 1540 | roue_gch_init = COEF_ROUE_GAUCHE * (double)encoder2.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1541 | //#endif |
Brand101 | 0:444ac4067b19 | 1542 | */ |
Brand101 | 0:444ac4067b19 | 1543 | roue_gch_init = COEF_ROUE_GAUCHE * (double)encoder2.GetCounter(); |
Brand101 | 0:444ac4067b19 | 1544 | |
Brand101 | 0:444ac4067b19 | 1545 | |
Brand101 | 0:444ac4067b19 | 1546 | //Calcul de la valeur des commandes 1 et 2 |
Brand101 | 0:444ac4067b19 | 1547 | Asser_Pos_Mot1(roue_drt_init); |
Brand101 | 0:444ac4067b19 | 1548 | Asser_Pos_Mot2(roue_gch_init); |
Brand101 | 0:444ac4067b19 | 1549 | |
Brand101 | 0:444ac4067b19 | 1550 | //Ecrire un PWM egal a 0 |
Brand101 | 0:444ac4067b19 | 1551 | write_PWM2(0.0); |
Brand101 | 0:444ac4067b19 | 1552 | write_PWM1(0.0); |
Brand101 | 0:444ac4067b19 | 1553 | |
Brand101 | 0:444ac4067b19 | 1554 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 1555 | |
Brand101 | 0:444ac4067b19 | 1556 | } |
Brand101 | 0:444ac4067b19 | 1557 | |
Brand101 | 0:444ac4067b19 | 1558 | void Recalage(int pcons, short vmax, short amax, short dir, short nv_val) |
Brand101 | 0:444ac4067b19 | 1559 | { |
Brand101 | 0:444ac4067b19 | 1560 | //char val1[8]; |
Brand101 | 0:444ac4067b19 | 1561 | |
Brand101 | 0:444ac4067b19 | 1562 | //Mode AVANCER |
Brand101 | 0:444ac4067b19 | 1563 | if(pcons >= 0) { |
Brand101 | 0:444ac4067b19 | 1564 | switch(etat_automate_depl) { |
Brand101 | 0:444ac4067b19 | 1565 | case INIT_RECALAGE : //etat INIT_RECELAGE |
Brand101 | 0:444ac4067b19 | 1566 | etat_automate_depl = ACCELERATION_RECALAGE; //Passage a l'etat ACCELERATION_RECALAGE |
Brand101 | 0:444ac4067b19 | 1567 | consigne_pos = 0; //Initialisation des differentes variables |
Brand101 | 0:444ac4067b19 | 1568 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1569 | break; |
Brand101 | 0:444ac4067b19 | 1570 | |
Brand101 | 0:444ac4067b19 | 1571 | case ACCELERATION_RECALAGE : //etat ACCELERATION_RECALAGE |
Brand101 | 0:444ac4067b19 | 1572 | // Phase d'acc�leration comme si on faisait une ligne droite |
Brand101 | 0:444ac4067b19 | 1573 | |
Brand101 | 0:444ac4067b19 | 1574 | if(consigne_pos >= pcons/2) etat_automate_depl = FIN_RECALAGE; //Passage a l'etat FIN_RECALAGE |
Brand101 | 0:444ac4067b19 | 1575 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1576 | |
Brand101 | 0:444ac4067b19 | 1577 | //Calcul de la consigne de position |
Brand101 | 0:444ac4067b19 | 1578 | consigne_pos += (((double)cpt * (double)amax)/1000.0); |
Brand101 | 0:444ac4067b19 | 1579 | |
Brand101 | 0:444ac4067b19 | 1580 | if(cpt >= ((double)vmax / ((double)amax/1000.0))) { |
Brand101 | 0:444ac4067b19 | 1581 | etat_automate_depl = VITESSE_CONSTANTE_RECALAGE; //Passage a l'etat VITESSE_CONSTANTE_RECALAGE |
Brand101 | 0:444ac4067b19 | 1582 | } |
Brand101 | 0:444ac4067b19 | 1583 | |
Brand101 | 0:444ac4067b19 | 1584 | // Si les 2 erreurs sont sup�rieures � un seuil d�fini, on a fini le recalage |
Brand101 | 0:444ac4067b19 | 1585 | if(ErreurPos1 >= RECALAGE_TH && ErreurPos2 >= RECALAGE_TH) { |
Brand101 | 0:444ac4067b19 | 1586 | etat_automate_depl = FIN_RECALAGE; //Passage a l'etat FIN_RECALAGE |
Brand101 | 0:444ac4067b19 | 1587 | commande1 = 0.0; //Remise a zero des valeurs des commandes |
Brand101 | 0:444ac4067b19 | 1588 | commande2 = 0.0; |
Brand101 | 0:444ac4067b19 | 1589 | } |
Brand101 | 0:444ac4067b19 | 1590 | // Si on d�tecte une augmentation d'erreur sur une roue, on l'arr�te pour �viter de patiner |
Brand101 | 0:444ac4067b19 | 1591 | else if(ErreurPos1 >= RECALAGE_TH) commande1 = 0.0; |
Brand101 | 0:444ac4067b19 | 1592 | else if(ErreurPos2 >= RECALAGE_TH) commande2 = 0.0; |
Brand101 | 0:444ac4067b19 | 1593 | break; |
Brand101 | 0:444ac4067b19 | 1594 | |
Brand101 | 0:444ac4067b19 | 1595 | case VITESSE_CONSTANTE_RECALAGE : //etat VITESSE_CONSTANTE_RECALAGE |
Brand101 | 0:444ac4067b19 | 1596 | // Phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 1597 | consigne_pos += vmax; |
Brand101 | 0:444ac4067b19 | 1598 | |
Brand101 | 0:444ac4067b19 | 1599 | // Idem que plus haut, on surveille les erreurs des 2 roues |
Brand101 | 0:444ac4067b19 | 1600 | if(ErreurPos1 >= RECALAGE_TH && ErreurPos2 >= RECALAGE_TH) { |
Brand101 | 0:444ac4067b19 | 1601 | etat_automate_depl = FIN_RECALAGE; //Passage a l'etat FIN_RECALAGE |
Brand101 | 0:444ac4067b19 | 1602 | commande1 = 0.0; //Remise a zero des valeurs des commandes |
Brand101 | 0:444ac4067b19 | 1603 | commande2 = 0.0; |
Brand101 | 0:444ac4067b19 | 1604 | } else if(ErreurPos1 >= RECALAGE_TH) commande1 = 0.0; //Mise a zero de la commande 1 |
Brand101 | 0:444ac4067b19 | 1605 | else if(ErreurPos2 >= RECALAGE_TH) commande2 = 0.0; //Mise a zero de la commande 2 |
Brand101 | 0:444ac4067b19 | 1606 | break; |
Brand101 | 0:444ac4067b19 | 1607 | |
Brand101 | 0:444ac4067b19 | 1608 | case FIN_RECALAGE : //etat FIN_RECALAGE |
Brand101 | 0:444ac4067b19 | 1609 | // Fin du recalage, on met � jour les donn�es de position |
Brand101 | 0:444ac4067b19 | 1610 | if(cpt >=20) { |
Brand101 | 0:444ac4067b19 | 1611 | //Recalage de x |
Brand101 | 0:444ac4067b19 | 1612 | if(dir == 1) { |
Brand101 | 0:444ac4067b19 | 1613 | Odo_x = nv_val; |
Brand101 | 0:444ac4067b19 | 1614 | // On met l'angle � jour en fonction de la position sur le terrain |
Brand101 | 0:444ac4067b19 | 1615 | // Si on est dans la partie haute ( > la moiti�), on est dans un sens, |
Brand101 | 0:444ac4067b19 | 1616 | // Si on est dans la partie basse, on met � jour dans l'autre sens |
Brand101 | 0:444ac4067b19 | 1617 | // On prend aussi en compte le sens dans lequel on a fait la ligne droite |
Brand101 | 0:444ac4067b19 | 1618 | |
Brand101 | 0:444ac4067b19 | 1619 | if(nv_val > 1000) { |
Brand101 | 0:444ac4067b19 | 1620 | if(pcons >=0) |
Brand101 | 0:444ac4067b19 | 1621 | Odo_theta = 0; |
Brand101 | 0:444ac4067b19 | 1622 | else |
Brand101 | 0:444ac4067b19 | 1623 | Odo_theta = 1800; |
Brand101 | 0:444ac4067b19 | 1624 | } |
Brand101 | 0:444ac4067b19 | 1625 | |
Brand101 | 0:444ac4067b19 | 1626 | else { |
Brand101 | 0:444ac4067b19 | 1627 | if(pcons >= 0) |
Brand101 | 0:444ac4067b19 | 1628 | Odo_theta = 1800; |
Brand101 | 0:444ac4067b19 | 1629 | else |
Brand101 | 0:444ac4067b19 | 1630 | Odo_theta = 0; |
Brand101 | 0:444ac4067b19 | 1631 | } |
Brand101 | 0:444ac4067b19 | 1632 | } |
Brand101 | 0:444ac4067b19 | 1633 | |
Brand101 | 0:444ac4067b19 | 1634 | //Recalage de y |
Brand101 | 0:444ac4067b19 | 1635 | else { |
Brand101 | 0:444ac4067b19 | 1636 | Odo_y = nv_val; |
Brand101 | 0:444ac4067b19 | 1637 | |
Brand101 | 0:444ac4067b19 | 1638 | if(nv_val > 1500) { |
Brand101 | 0:444ac4067b19 | 1639 | if(pcons >=0) |
Brand101 | 0:444ac4067b19 | 1640 | Odo_theta = 900; |
Brand101 | 0:444ac4067b19 | 1641 | else |
Brand101 | 0:444ac4067b19 | 1642 | Odo_theta = -900; |
Brand101 | 0:444ac4067b19 | 1643 | } |
Brand101 | 0:444ac4067b19 | 1644 | |
Brand101 | 0:444ac4067b19 | 1645 | else { |
Brand101 | 0:444ac4067b19 | 1646 | if(pcons >= 0) |
Brand101 | 0:444ac4067b19 | 1647 | Odo_theta = -900; |
Brand101 | 0:444ac4067b19 | 1648 | else |
Brand101 | 0:444ac4067b19 | 1649 | Odo_theta = 900; |
Brand101 | 0:444ac4067b19 | 1650 | } |
Brand101 | 0:444ac4067b19 | 1651 | } |
Brand101 | 0:444ac4067b19 | 1652 | |
Brand101 | 0:444ac4067b19 | 1653 | etat_automate_depl = INIT_RECALAGE; |
Brand101 | 0:444ac4067b19 | 1654 | |
Brand101 | 0:444ac4067b19 | 1655 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 1656 | |
Brand101 | 0:444ac4067b19 | 1657 | //Mise a zero des commandes et des moteurs; |
Brand101 | 0:444ac4067b19 | 1658 | commande1 = 0.0; |
Brand101 | 0:444ac4067b19 | 1659 | commande2 = 0.0; |
Brand101 | 0:444ac4067b19 | 1660 | write_PWM1(0.0); |
Brand101 | 0:444ac4067b19 | 1661 | write_PWM2(0.0); |
Brand101 | 0:444ac4067b19 | 1662 | } |
Brand101 | 0:444ac4067b19 | 1663 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1664 | break; |
Brand101 | 0:444ac4067b19 | 1665 | } |
Brand101 | 0:444ac4067b19 | 1666 | } |
Brand101 | 0:444ac4067b19 | 1667 | |
Brand101 | 0:444ac4067b19 | 1668 | //Mode RECULER |
Brand101 | 0:444ac4067b19 | 1669 | else if(pcons < 0) { |
Brand101 | 0:444ac4067b19 | 1670 | switch(etat_automate_depl) { |
Brand101 | 0:444ac4067b19 | 1671 | case INIT_RECALAGE : //etat INIT_RECELAGE |
Brand101 | 0:444ac4067b19 | 1672 | etat_automate_depl = ACCELERATION_RECALAGE; //Passage a l'etat ACCELERATION_RECALAGE |
Brand101 | 0:444ac4067b19 | 1673 | consigne_pos = 0; //Initialisation des diff�rentes variables |
Brand101 | 0:444ac4067b19 | 1674 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1675 | break; |
Brand101 | 0:444ac4067b19 | 1676 | |
Brand101 | 0:444ac4067b19 | 1677 | case ACCELERATION_RECALAGE : //etat ACCELERATION_RECALAGE |
Brand101 | 0:444ac4067b19 | 1678 | // Phase d'acc�leration comme si on faisait une ligne droite |
Brand101 | 0:444ac4067b19 | 1679 | if(consigne_pos <= pcons/2) etat_automate_depl = FIN_RECALAGE; //Passage a l'etat FIN_RECALAGE |
Brand101 | 0:444ac4067b19 | 1680 | |
Brand101 | 0:444ac4067b19 | 1681 | cpt --; |
Brand101 | 0:444ac4067b19 | 1682 | consigne_pos += (double)(((double)cpt * (double)amax)/1000.0); |
Brand101 | 0:444ac4067b19 | 1683 | |
Brand101 | 0:444ac4067b19 | 1684 | if(cpt <= -((double)vmax / ((double)amax/1000.0))) { |
Brand101 | 0:444ac4067b19 | 1685 | etat_automate_depl = VITESSE_CONSTANTE_RECALAGE; //Passage a l'etat VITESSE_CONSTANTE_RECALAGE |
Brand101 | 0:444ac4067b19 | 1686 | } |
Brand101 | 0:444ac4067b19 | 1687 | |
Brand101 | 0:444ac4067b19 | 1688 | // Si les 2 erreurs sont inf�rieures � un seuil d�fini, on a fini le recalage |
Brand101 | 0:444ac4067b19 | 1689 | if(ErreurPos1 <= -RECALAGE_TH && ErreurPos2 <= -RECALAGE_TH) { |
Brand101 | 0:444ac4067b19 | 1690 | etat_automate_depl = FIN_RECALAGE; //Passage a l'etat FIN_RECALAGE |
Brand101 | 0:444ac4067b19 | 1691 | commande1 = 0.0; |
Brand101 | 0:444ac4067b19 | 1692 | commande2 = 0.0; |
Brand101 | 0:444ac4067b19 | 1693 | } |
Brand101 | 0:444ac4067b19 | 1694 | // Si on d�tecte une augmentation d'erreur sur une roue, on l'arr�te pour �viter de patiner |
Brand101 | 0:444ac4067b19 | 1695 | else if(ErreurPos1 <= -RECALAGE_TH) commande1 = 0.0; |
Brand101 | 0:444ac4067b19 | 1696 | else if(ErreurPos2 <= -RECALAGE_TH) commande2 = 0.0; |
Brand101 | 0:444ac4067b19 | 1697 | break; |
Brand101 | 0:444ac4067b19 | 1698 | |
Brand101 | 0:444ac4067b19 | 1699 | case VITESSE_CONSTANTE_RECALAGE : //etat VITESSE_CONSTANTE_RECALAGE |
Brand101 | 0:444ac4067b19 | 1700 | // Phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 1701 | consigne_pos -= vmax; |
Brand101 | 0:444ac4067b19 | 1702 | |
Brand101 | 0:444ac4067b19 | 1703 | // Idem que plus haut, on surveille les erreurs des 2 roues |
Brand101 | 0:444ac4067b19 | 1704 | if(ErreurPos1 <= -RECALAGE_TH && ErreurPos2 <= -RECALAGE_TH) { |
Brand101 | 0:444ac4067b19 | 1705 | etat_automate_depl = FIN_RECALAGE; //Passage a l'etat FIN_RECALAGE |
Brand101 | 0:444ac4067b19 | 1706 | commande1 = 0.0; |
Brand101 | 0:444ac4067b19 | 1707 | commande2 = 0.0; |
Brand101 | 0:444ac4067b19 | 1708 | } else if(ErreurPos1 <= -RECALAGE_TH) commande1 = 0.0; |
Brand101 | 0:444ac4067b19 | 1709 | else if(ErreurPos2 <= -RECALAGE_TH)commande2 = 0.0; |
Brand101 | 0:444ac4067b19 | 1710 | break; |
Brand101 | 0:444ac4067b19 | 1711 | |
Brand101 | 0:444ac4067b19 | 1712 | case FIN_RECALAGE : //etat FIN_RECALAGE |
Brand101 | 0:444ac4067b19 | 1713 | if(cpt >=20) { |
Brand101 | 0:444ac4067b19 | 1714 | //Recalage de x |
Brand101 | 0:444ac4067b19 | 1715 | if(dir == 1) { |
Brand101 | 0:444ac4067b19 | 1716 | Odo_x = nv_val; |
Brand101 | 0:444ac4067b19 | 1717 | |
Brand101 | 0:444ac4067b19 | 1718 | if(nv_val > 1000) { |
Brand101 | 0:444ac4067b19 | 1719 | if(pcons >=0) |
Brand101 | 0:444ac4067b19 | 1720 | Odo_theta = 0; |
Brand101 | 0:444ac4067b19 | 1721 | else |
Brand101 | 0:444ac4067b19 | 1722 | Odo_theta = 1800; |
Brand101 | 0:444ac4067b19 | 1723 | } |
Brand101 | 0:444ac4067b19 | 1724 | |
Brand101 | 0:444ac4067b19 | 1725 | else { |
Brand101 | 0:444ac4067b19 | 1726 | if(pcons >= 0) |
Brand101 | 0:444ac4067b19 | 1727 | Odo_theta = 1800; |
Brand101 | 0:444ac4067b19 | 1728 | else |
Brand101 | 0:444ac4067b19 | 1729 | Odo_theta = 0; |
Brand101 | 0:444ac4067b19 | 1730 | } |
Brand101 | 0:444ac4067b19 | 1731 | } |
Brand101 | 0:444ac4067b19 | 1732 | |
Brand101 | 0:444ac4067b19 | 1733 | //Recalage de y |
Brand101 | 0:444ac4067b19 | 1734 | else { |
Brand101 | 0:444ac4067b19 | 1735 | Odo_y = nv_val; |
Brand101 | 0:444ac4067b19 | 1736 | |
Brand101 | 0:444ac4067b19 | 1737 | if(nv_val > 1500) { |
Brand101 | 0:444ac4067b19 | 1738 | if(pcons >=0) |
Brand101 | 0:444ac4067b19 | 1739 | Odo_theta = 900; |
Brand101 | 0:444ac4067b19 | 1740 | else |
Brand101 | 0:444ac4067b19 | 1741 | Odo_theta = -900; |
Brand101 | 0:444ac4067b19 | 1742 | } |
Brand101 | 0:444ac4067b19 | 1743 | |
Brand101 | 0:444ac4067b19 | 1744 | else { |
Brand101 | 0:444ac4067b19 | 1745 | if(pcons >= 0) |
Brand101 | 0:444ac4067b19 | 1746 | Odo_theta = -900; |
Brand101 | 0:444ac4067b19 | 1747 | else |
Brand101 | 0:444ac4067b19 | 1748 | Odo_theta = 900; |
Brand101 | 0:444ac4067b19 | 1749 | } |
Brand101 | 0:444ac4067b19 | 1750 | } |
Brand101 | 0:444ac4067b19 | 1751 | |
Brand101 | 0:444ac4067b19 | 1752 | etat_automate_depl = 0; |
Brand101 | 0:444ac4067b19 | 1753 | |
Brand101 | 0:444ac4067b19 | 1754 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 1755 | |
Brand101 | 0:444ac4067b19 | 1756 | //Mise a zero des commandes et des moteurs |
Brand101 | 0:444ac4067b19 | 1757 | commande1 = 0.0; |
Brand101 | 0:444ac4067b19 | 1758 | commande2 = 0.0; |
Brand101 | 0:444ac4067b19 | 1759 | write_PWM1(0.0); |
Brand101 | 0:444ac4067b19 | 1760 | write_PWM2(0.0); |
Brand101 | 0:444ac4067b19 | 1761 | } |
Brand101 | 0:444ac4067b19 | 1762 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1763 | break; |
Brand101 | 0:444ac4067b19 | 1764 | } |
Brand101 | 0:444ac4067b19 | 1765 | } |
Brand101 | 0:444ac4067b19 | 1766 | |
Brand101 | 0:444ac4067b19 | 1767 | //Calcul des correcteurs a apporter aux moteurs |
Brand101 | 0:444ac4067b19 | 1768 | Asser_Pos_Mot1(roue_drt_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 1769 | Asser_Pos_Mot2(roue_gch_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 1770 | |
Brand101 | 0:444ac4067b19 | 1771 | //Envoi de la nouvelle valeur de commande aux PWM |
Brand101 | 0:444ac4067b19 | 1772 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 1773 | write_PWM1(commande1); |
Brand101 | 0:444ac4067b19 | 1774 | |
Brand101 | 0:444ac4067b19 | 1775 | } |
Brand101 | 0:444ac4067b19 | 1776 | |
Brand101 | 0:444ac4067b19 | 1777 | |
Brand101 | 0:444ac4067b19 | 1778 | void Rayon_De_Courbure(short rayon, short theta, short vmax, short amax, short sens, short dmax) |
Brand101 | 0:444ac4067b19 | 1779 | { |
Brand101 | 0:444ac4067b19 | 1780 | //Declaration des variables |
Brand101 | 0:444ac4067b19 | 1781 | //char val1[8]; |
Brand101 | 0:444ac4067b19 | 1782 | static double tc, ta, td, vmax_tri, pcons; |
Brand101 | 0:444ac4067b19 | 1783 | |
Brand101 | 0:444ac4067b19 | 1784 | //Si l'angle a parcourir est positif |
Brand101 | 0:444ac4067b19 | 1785 | if(theta >= 0) { |
Brand101 | 0:444ac4067b19 | 1786 | switch(etat_automate_depl) { |
Brand101 | 0:444ac4067b19 | 1787 | case INIT_RAYON_COURBURE : //etat d'initialisation |
Brand101 | 0:444ac4067b19 | 1788 | etat_automate_depl = ACCELERATION_TRAPEZE_RAYON_COURBURE; //Passage a l'etat ACCELERATION_TRAPEZE_RAYON_COURBURE |
Brand101 | 0:444ac4067b19 | 1789 | |
Brand101 | 0:444ac4067b19 | 1790 | //Mise a zero des variables car on effectue un nouveau deplacement |
Brand101 | 0:444ac4067b19 | 1791 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 1792 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1793 | |
Brand101 | 0:444ac4067b19 | 1794 | //Calcul de la position voulue |
Brand101 | 0:444ac4067b19 | 1795 | pcons = ((rayon + LARGEUR_ROBOT/2) * 2 * PI * theta / 3600) * RESOLUTION_ROUE_CODEUSE / PERIMETRE_ROUE_CODEUSE; |
Brand101 | 0:444ac4067b19 | 1796 | |
Brand101 | 0:444ac4067b19 | 1797 | //Elaboration du profil de vitesse |
Brand101 | 0:444ac4067b19 | 1798 | //Calcul du temps a vitesse constante |
Brand101 | 0:444ac4067b19 | 1799 | tc = ((double)pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 1800 | |
Brand101 | 0:444ac4067b19 | 1801 | if (tc > 0) { //Resultat positif, il y a une phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 1802 | etat_automate_depl = ACCELERATION_TRAPEZE_RAYON_COURBURE; //Passage a l'etat ACCELERATION_TRAPEZE_RAYON_COURBURE |
Brand101 | 0:444ac4067b19 | 1803 | ta = (((double)vmax * 1000.0) / (double)amax); //Calcul du temps d'acceleration |
Brand101 | 0:444ac4067b19 | 1804 | td = (((double)vmax * 1000.0) / (double)dmax); //Calcul du temps de deceleration |
Brand101 | 0:444ac4067b19 | 1805 | |
Brand101 | 0:444ac4067b19 | 1806 | canmsg.id = 0x7F1; |
Brand101 | 0:444ac4067b19 | 1807 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1808 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1809 | |
Brand101 | 0:444ac4067b19 | 1810 | } |
Brand101 | 0:444ac4067b19 | 1811 | |
Brand101 | 0:444ac4067b19 | 1812 | //Temps a vitesse constant inexistant |
Brand101 | 0:444ac4067b19 | 1813 | else if(tc < 0) { //Resultat negatif, il n'y a pas de phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 1814 | etat_automate_depl = ACCELERATION_TRIANGLE_RAYON_COURBURE; //Passage a l'etat ACCELERATION_TRIANGLE_RAYON_COURBURE |
Brand101 | 0:444ac4067b19 | 1815 | |
Brand101 | 0:444ac4067b19 | 1816 | //Calcul de la vitesse maximale en profil triangle |
Brand101 | 0:444ac4067b19 | 1817 | vmax_tri = sqrt((2 * pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 1818 | |
Brand101 | 0:444ac4067b19 | 1819 | canmsg.id = 0x7F5; |
Brand101 | 0:444ac4067b19 | 1820 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1821 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1822 | |
Brand101 | 0:444ac4067b19 | 1823 | } |
Brand101 | 0:444ac4067b19 | 1824 | break; |
Brand101 | 0:444ac4067b19 | 1825 | |
Brand101 | 0:444ac4067b19 | 1826 | case ACCELERATION_TRAPEZE_RAYON_COURBURE : //Etat d'acceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 1827 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1828 | |
Brand101 | 0:444ac4067b19 | 1829 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1830 | consigne_pos += (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1831 | |
Brand101 | 0:444ac4067b19 | 1832 | if(cpt >= ta) { //Condition pour quitter la phase d'acceleration |
Brand101 | 0:444ac4067b19 | 1833 | etat_automate_depl = VITESSE_CONSTANTE_TRAPEZE_RAYON_COURBURE; //Passage a l'etat VITESSE_CONSTANTE_TRAPEZE_RAYON_COURBURE |
Brand101 | 0:444ac4067b19 | 1834 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1835 | |
Brand101 | 0:444ac4067b19 | 1836 | canmsg.id = 0x7F2; |
Brand101 | 0:444ac4067b19 | 1837 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1838 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1839 | |
Brand101 | 0:444ac4067b19 | 1840 | } |
Brand101 | 0:444ac4067b19 | 1841 | break; |
Brand101 | 0:444ac4067b19 | 1842 | |
Brand101 | 0:444ac4067b19 | 1843 | case VITESSE_CONSTANTE_TRAPEZE_RAYON_COURBURE : //Etat de vitesse constante en profil trapeze |
Brand101 | 0:444ac4067b19 | 1844 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1845 | |
Brand101 | 0:444ac4067b19 | 1846 | //Incrementation de la consigne de vitesse par la valeur de la vitesse |
Brand101 | 0:444ac4067b19 | 1847 | consigne_pos += vmax; |
Brand101 | 0:444ac4067b19 | 1848 | |
Brand101 | 0:444ac4067b19 | 1849 | //Si il n'y a pas d'enchainements |
Brand101 | 0:444ac4067b19 | 1850 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { //Condition pour quitter la phase de vitesse constante |
Brand101 | 0:444ac4067b19 | 1851 | etat_automate_depl = DECELERATION_TRAPEZE_RAYON_COURBURE; //Passage a l'etat DECELERATION_TRAPEZE_RAYON_COURBURE |
Brand101 | 0:444ac4067b19 | 1852 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1853 | |
Brand101 | 0:444ac4067b19 | 1854 | canmsg.id = 0x7F3; |
Brand101 | 0:444ac4067b19 | 1855 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1856 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1857 | |
Brand101 | 0:444ac4067b19 | 1858 | } |
Brand101 | 0:444ac4067b19 | 1859 | |
Brand101 | 0:444ac4067b19 | 1860 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 1861 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 1862 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 1863 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 1864 | } |
Brand101 | 0:444ac4067b19 | 1865 | break; |
Brand101 | 0:444ac4067b19 | 1866 | |
Brand101 | 0:444ac4067b19 | 1867 | case DECELERATION_TRAPEZE_RAYON_COURBURE : //Etat de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 1868 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1869 | |
Brand101 | 0:444ac4067b19 | 1870 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1871 | consigne_pos += vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1872 | |
Brand101 | 0:444ac4067b19 | 1873 | if(cpt >= td) { //Condition pour quitter la phase de deceleration en profil trapeze |
Brand101 | 0:444ac4067b19 | 1874 | etat_automate_depl = ARRET_RAYON_COURBURE; //Passage a l'etat ARRET_RAYON_COURBURE |
Brand101 | 0:444ac4067b19 | 1875 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 1876 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1877 | |
Brand101 | 0:444ac4067b19 | 1878 | canmsg.id = 0x7F4; |
Brand101 | 0:444ac4067b19 | 1879 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1880 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1881 | |
Brand101 | 0:444ac4067b19 | 1882 | } |
Brand101 | 0:444ac4067b19 | 1883 | break; |
Brand101 | 0:444ac4067b19 | 1884 | |
Brand101 | 0:444ac4067b19 | 1885 | case ARRET_RAYON_COURBURE : //Etat d'arret |
Brand101 | 0:444ac4067b19 | 1886 | if(cpt >= 20) { |
Brand101 | 0:444ac4067b19 | 1887 | etat_automate_depl = INIT_RAYON_COURBURE; //Passage a l'etat d'INIT_RAYON_COURBURE |
Brand101 | 0:444ac4067b19 | 1888 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 1889 | |
Brand101 | 0:444ac4067b19 | 1890 | } |
Brand101 | 0:444ac4067b19 | 1891 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1892 | break; |
Brand101 | 0:444ac4067b19 | 1893 | |
Brand101 | 0:444ac4067b19 | 1894 | case ACCELERATION_TRIANGLE_RAYON_COURBURE : //Etat d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1895 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1896 | |
Brand101 | 0:444ac4067b19 | 1897 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1898 | consigne_pos += (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1899 | |
Brand101 | 0:444ac4067b19 | 1900 | if((cpt * amax / 1000.0) >= vmax_tri) { //Condition pour sortir de la phase d'acceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1901 | etat_automate_depl = DECELERATION_TRIANGLE_RAYON_COURBURE; //Passage a l'etat DECELERATION_TRIANGLE_RAYON_COURBURE |
Brand101 | 0:444ac4067b19 | 1902 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1903 | |
Brand101 | 0:444ac4067b19 | 1904 | canmsg.id = 0x7F6; |
Brand101 | 0:444ac4067b19 | 1905 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1906 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1907 | |
Brand101 | 0:444ac4067b19 | 1908 | } |
Brand101 | 0:444ac4067b19 | 1909 | break; |
Brand101 | 0:444ac4067b19 | 1910 | |
Brand101 | 0:444ac4067b19 | 1911 | case DECELERATION_TRIANGLE_RAYON_COURBURE : //Etat de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1912 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1913 | |
Brand101 | 0:444ac4067b19 | 1914 | //Incrementation de la consigne de position |
Brand101 | 0:444ac4067b19 | 1915 | consigne_pos += vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1916 | |
Brand101 | 0:444ac4067b19 | 1917 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { //Condition pour sortir de la phase de deceleration en profil triangle |
Brand101 | 0:444ac4067b19 | 1918 | etat_automate_depl = ARRET_RAYON_COURBURE; |
Brand101 | 0:444ac4067b19 | 1919 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1920 | |
Brand101 | 0:444ac4067b19 | 1921 | canmsg.id = 0x7F4; |
Brand101 | 0:444ac4067b19 | 1922 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1923 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1924 | |
Brand101 | 0:444ac4067b19 | 1925 | } |
Brand101 | 0:444ac4067b19 | 1926 | break; |
Brand101 | 0:444ac4067b19 | 1927 | } |
Brand101 | 0:444ac4067b19 | 1928 | } |
Brand101 | 0:444ac4067b19 | 1929 | |
Brand101 | 0:444ac4067b19 | 1930 | //Si l'angle a parcourir est negatif |
Brand101 | 0:444ac4067b19 | 1931 | else if(theta < 0) { |
Brand101 | 0:444ac4067b19 | 1932 | switch(etat_automate_depl) { |
Brand101 | 0:444ac4067b19 | 1933 | case 0 : |
Brand101 | 0:444ac4067b19 | 1934 | etat_automate_depl++; |
Brand101 | 0:444ac4067b19 | 1935 | consigne_pos = 0; |
Brand101 | 0:444ac4067b19 | 1936 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1937 | pcons = ((rayon + LARGEUR_ROBOT/2) * 2 * PI * theta / 3600) * RESOLUTION_ROUE_CODEUSE / PERIMETRE_ROUE_CODEUSE; |
Brand101 | 0:444ac4067b19 | 1938 | tc = ((double)pcons / (double)vmax) - (((double)vmax * 500.0) / (double)amax) - (((double)vmax * 500.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 1939 | if (tc > 0) { |
Brand101 | 0:444ac4067b19 | 1940 | etat_automate_depl++; |
Brand101 | 0:444ac4067b19 | 1941 | ta = (((double)vmax * 1000.0) / (double)amax); |
Brand101 | 0:444ac4067b19 | 1942 | td = (((double)vmax * 1000.0) / (double)dmax); |
Brand101 | 0:444ac4067b19 | 1943 | |
Brand101 | 0:444ac4067b19 | 1944 | canmsg.id = 0x7F1; |
Brand101 | 0:444ac4067b19 | 1945 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1946 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1947 | |
Brand101 | 0:444ac4067b19 | 1948 | } else if(tc < 0) { |
Brand101 | 0:444ac4067b19 | 1949 | etat_automate_depl = 5; |
Brand101 | 0:444ac4067b19 | 1950 | vmax_tri = sqrt((2 * -pcons) / ((1000.0 / (double)amax) + (1000.0 / (double)dmax))); |
Brand101 | 0:444ac4067b19 | 1951 | |
Brand101 | 0:444ac4067b19 | 1952 | canmsg.id = 0x7F5; |
Brand101 | 0:444ac4067b19 | 1953 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1954 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1955 | |
Brand101 | 0:444ac4067b19 | 1956 | } |
Brand101 | 0:444ac4067b19 | 1957 | break; |
Brand101 | 0:444ac4067b19 | 1958 | case 1 : |
Brand101 | 0:444ac4067b19 | 1959 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1960 | consigne_pos -= (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1961 | if(cpt >= ta) { |
Brand101 | 0:444ac4067b19 | 1962 | etat_automate_depl ++; |
Brand101 | 0:444ac4067b19 | 1963 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1964 | |
Brand101 | 0:444ac4067b19 | 1965 | canmsg.id = 0x7F2; |
Brand101 | 0:444ac4067b19 | 1966 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1967 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1968 | |
Brand101 | 0:444ac4067b19 | 1969 | } |
Brand101 | 0:444ac4067b19 | 1970 | break; |
Brand101 | 0:444ac4067b19 | 1971 | case 2 : |
Brand101 | 0:444ac4067b19 | 1972 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1973 | consigne_pos -= vmax; |
Brand101 | 0:444ac4067b19 | 1974 | if(cpt >= tc && liste[cpt_ordre].enchainement != 1) { |
Brand101 | 0:444ac4067b19 | 1975 | etat_automate_depl ++; |
Brand101 | 0:444ac4067b19 | 1976 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1977 | |
Brand101 | 0:444ac4067b19 | 1978 | canmsg.id = 0x7F3; |
Brand101 | 0:444ac4067b19 | 1979 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1980 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 1981 | |
Brand101 | 0:444ac4067b19 | 1982 | } |
Brand101 | 0:444ac4067b19 | 1983 | //Si on est dans un enchainement, on passe � l'instruction suivante |
Brand101 | 0:444ac4067b19 | 1984 | else if(consigne_pos >= pcons && liste[cpt_ordre].enchainement == 1) { |
Brand101 | 0:444ac4067b19 | 1985 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 1986 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 1987 | } |
Brand101 | 0:444ac4067b19 | 1988 | break; |
Brand101 | 0:444ac4067b19 | 1989 | case 3 : |
Brand101 | 0:444ac4067b19 | 1990 | cpt ++; |
Brand101 | 0:444ac4067b19 | 1991 | consigne_pos -= vmax - (double)(((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 1992 | if(cpt >= td) { |
Brand101 | 0:444ac4067b19 | 1993 | etat_automate_depl ++; |
Brand101 | 0:444ac4067b19 | 1994 | consigne_pos = pcons; |
Brand101 | 0:444ac4067b19 | 1995 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 1996 | |
Brand101 | 0:444ac4067b19 | 1997 | canmsg.id = 0x7F4; |
Brand101 | 0:444ac4067b19 | 1998 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 1999 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 2000 | |
Brand101 | 0:444ac4067b19 | 2001 | } |
Brand101 | 0:444ac4067b19 | 2002 | break; |
Brand101 | 0:444ac4067b19 | 2003 | case 4 : |
Brand101 | 0:444ac4067b19 | 2004 | if(cpt >= 20) { |
Brand101 | 0:444ac4067b19 | 2005 | etat_automate_depl = 0; |
Brand101 | 0:444ac4067b19 | 2006 | next_move = 1; |
Brand101 | 0:444ac4067b19 | 2007 | |
Brand101 | 0:444ac4067b19 | 2008 | } |
Brand101 | 0:444ac4067b19 | 2009 | cpt ++; |
Brand101 | 0:444ac4067b19 | 2010 | break; |
Brand101 | 0:444ac4067b19 | 2011 | case 5 : |
Brand101 | 0:444ac4067b19 | 2012 | cpt ++; |
Brand101 | 0:444ac4067b19 | 2013 | consigne_pos -= (((double)cpt * (double)amax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 2014 | if((cpt * amax / 1000.0) >= vmax_tri) { |
Brand101 | 0:444ac4067b19 | 2015 | etat_automate_depl ++; |
Brand101 | 0:444ac4067b19 | 2016 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 2017 | |
Brand101 | 0:444ac4067b19 | 2018 | canmsg.id = 0x7F6; |
Brand101 | 0:444ac4067b19 | 2019 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 2020 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 2021 | |
Brand101 | 0:444ac4067b19 | 2022 | } |
Brand101 | 0:444ac4067b19 | 2023 | break; |
Brand101 | 0:444ac4067b19 | 2024 | case 6 : |
Brand101 | 0:444ac4067b19 | 2025 | cpt ++; |
Brand101 | 0:444ac4067b19 | 2026 | consigne_pos -= vmax_tri - (((double)cpt * (double)dmax) / 1000.0); |
Brand101 | 0:444ac4067b19 | 2027 | if(((double)vmax_tri - (((double)cpt * (double)dmax)) / 1000.0) <= 0) { |
Brand101 | 0:444ac4067b19 | 2028 | etat_automate_depl = 4; |
Brand101 | 0:444ac4067b19 | 2029 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 2030 | |
Brand101 | 0:444ac4067b19 | 2031 | canmsg.id = 0x7F4; |
Brand101 | 0:444ac4067b19 | 2032 | canmsg.len = 0; |
Brand101 | 0:444ac4067b19 | 2033 | can1.write(canmsg); |
Brand101 | 0:444ac4067b19 | 2034 | |
Brand101 | 0:444ac4067b19 | 2035 | } |
Brand101 | 0:444ac4067b19 | 2036 | break; |
Brand101 | 0:444ac4067b19 | 2037 | } |
Brand101 | 0:444ac4067b19 | 2038 | } |
Brand101 | 0:444ac4067b19 | 2039 | |
Brand101 | 0:444ac4067b19 | 2040 | //Determination des commandes en fonction de la direction de deplacement du robot |
Brand101 | 0:444ac4067b19 | 2041 | if(sens >= 0) { |
Brand101 | 0:444ac4067b19 | 2042 | |
Brand101 | 0:444ac4067b19 | 2043 | Asser_Pos_Mot1(roue_drt_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 2044 | Asser_Pos_Mot2(roue_gch_init + (consigne_pos * ((2 * rayon) - LARGEUR_ROBOT)/((2 * rayon) + LARGEUR_ROBOT))); |
Brand101 | 0:444ac4067b19 | 2045 | } else if(sens < 0) { |
Brand101 | 0:444ac4067b19 | 2046 | |
Brand101 | 0:444ac4067b19 | 2047 | Asser_Pos_Mot1(roue_drt_init + (consigne_pos * ((2 * rayon) - LARGEUR_ROBOT)/((2 * rayon) + LARGEUR_ROBOT))); |
Brand101 | 0:444ac4067b19 | 2048 | Asser_Pos_Mot2(roue_gch_init + consigne_pos); |
Brand101 | 0:444ac4067b19 | 2049 | } |
Brand101 | 0:444ac4067b19 | 2050 | |
Brand101 | 0:444ac4067b19 | 2051 | //Envoi de la vitesse aux moteurs |
Brand101 | 0:444ac4067b19 | 2052 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 2053 | write_PWM1(commande1); |
Brand101 | 0:444ac4067b19 | 2054 | } |
Brand101 | 0:444ac4067b19 | 2055 | |
Brand101 | 0:444ac4067b19 | 2056 | |
Brand101 | 0:444ac4067b19 | 2057 | void MY_ISR() |
Brand101 | 0:444ac4067b19 | 2058 | { |
Brand101 | 0:444ac4067b19 | 2059 | char val1[8]; |
Brand101 | 0:444ac4067b19 | 2060 | if(ms_count == 20) { |
Brand101 | 0:444ac4067b19 | 2061 | //pc.printf("vit1=%f vit2=%f\n", test1, test2); |
Brand101 | 0:444ac4067b19 | 2062 | if(asser_actif) { |
Brand101 | 0:444ac4067b19 | 2063 | //Si on a re�u l'instruction de stop... |
Brand101 | 0:444ac4067b19 | 2064 | if(stop_receive) { |
Brand101 | 0:444ac4067b19 | 2065 | stop_receive = 0; |
Brand101 | 0:444ac4067b19 | 2066 | ErreurPos1 = 0; |
Brand101 | 0:444ac4067b19 | 2067 | ErreurPos2 = 0; |
Brand101 | 0:444ac4067b19 | 2068 | Somme_ErreurPos1 = 0; |
Brand101 | 0:444ac4067b19 | 2069 | Somme_ErreurPos2 = 0; |
Brand101 | 0:444ac4067b19 | 2070 | Delta_ErreurPos1 = 0; |
Brand101 | 0:444ac4067b19 | 2071 | Delta_ErreurPos2 = 0; |
Brand101 | 0:444ac4067b19 | 2072 | //On poursuit l'action si on est en rotation |
Brand101 | 0:444ac4067b19 | 2073 | if(liste[cpt_ordre].type == TYPE_DEPLACEMENT_ROTATION); |
Brand101 | 0:444ac4067b19 | 2074 | //On s'arr�te tout de suite si on est en ligne droite |
Brand101 | 0:444ac4067b19 | 2075 | else if(liste[cpt_ordre].type == TYPE_DEPLACEMENT_IMMOBILE || liste[cpt_ordre].type == TYPE_DEPLACEMENT_LIGNE_DROITE || liste[cpt_ordre].type == TYPE_DEPLACEMENT_RAYON_COURBURE) { |
Brand101 | 0:444ac4067b19 | 2076 | //On vide le buffer de mouvements et on pr�voit de s'asservir sur la position atteinte |
Brand101 | 0:444ac4067b19 | 2077 | for(i = 0; i<nb_ordres; i++) liste[i] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2078 | 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2079 | }; |
Brand101 | 0:444ac4067b19 | 2080 | liste[0] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2081 | TYPE_DEPLACEMENT_STOP,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2082 | }; |
Brand101 | 0:444ac4067b19 | 2083 | nb_ordres = 0; |
Brand101 | 0:444ac4067b19 | 2084 | etat_automate_depl = 0; |
Brand101 | 0:444ac4067b19 | 2085 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 2086 | } |
Brand101 | 0:444ac4067b19 | 2087 | //Si on est en X_Y_Theta, on poursuit la rotation, ou on arr�te la ligne droite |
Brand101 | 0:444ac4067b19 | 2088 | else if(liste[cpt_ordre].type == TYPE_DEPLACEMENT_X_Y_THETA) { |
Brand101 | 0:444ac4067b19 | 2089 | if(etat_automate_xytheta == 2) { |
Brand101 | 0:444ac4067b19 | 2090 | //On vide le buffer de mouvements et on pr�voit de s'asservir sur la position atteinte |
Brand101 | 0:444ac4067b19 | 2091 | for(i = 0; i<nb_ordres; i++) liste[i] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2092 | 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2093 | }; |
Brand101 | 0:444ac4067b19 | 2094 | liste[0] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2095 | TYPE_DEPLACEMENT_STOP,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2096 | }; |
Brand101 | 0:444ac4067b19 | 2097 | nb_ordres = 0; |
Brand101 | 0:444ac4067b19 | 2098 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 2099 | } |
Brand101 | 0:444ac4067b19 | 2100 | } |
Brand101 | 0:444ac4067b19 | 2101 | } |
Brand101 | 0:444ac4067b19 | 2102 | //Si on a re�u un changement de vitesse... |
Brand101 | 0:444ac4067b19 | 2103 | else if(ralentare) { |
Brand101 | 0:444ac4067b19 | 2104 | Ralentir(VMAX); |
Brand101 | 0:444ac4067b19 | 2105 | for(i = 0; i<nb_ordres; i++) { |
Brand101 | 0:444ac4067b19 | 2106 | liste[i].vmax = VMAX; |
Brand101 | 0:444ac4067b19 | 2107 | liste[i].amax = AMAX; |
Brand101 | 0:444ac4067b19 | 2108 | } |
Brand101 | 0:444ac4067b19 | 2109 | } |
Brand101 | 0:444ac4067b19 | 2110 | |
Brand101 | 0:444ac4067b19 | 2111 | else if(recalage_debut_receive) { |
Brand101 | 0:444ac4067b19 | 2112 | if(couleur_debut == 1) { |
Brand101 | 0:444ac4067b19 | 2113 | |
Brand101 | 0:444ac4067b19 | 2114 | //#if GROS_ROB == 0 |
Brand101 | 0:444ac4067b19 | 2115 | Odo_x = 1961; |
Brand101 | 0:444ac4067b19 | 2116 | Odo_y = 2800; |
Brand101 | 0:444ac4067b19 | 2117 | Odo_theta = 1800; |
Brand101 | 0:444ac4067b19 | 2118 | liste[0] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2119 | TYPE_DEPLACEMENT_LIGNE_DROITE,0,30,500,(971 * RESOLUTION_ROUE_CODEUSE) / PERIMETRE_ROUE_CODEUSE,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2120 | }; |
Brand101 | 0:444ac4067b19 | 2121 | liste[1] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2122 | TYPE_DEPLACEMENT_ROTATION,0,30,500,0,0,0,900 * LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE / (3600 * PERIMETRE_ROUE_CODEUSE),0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2123 | }; |
Brand101 | 0:444ac4067b19 | 2124 | liste[2] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2125 | TYPE_DEPLACEMENT_RECALAGE,0,30,500,(-1000 * RESOLUTION_ROUE_CODEUSE) / PERIMETRE_ROUE_CODEUSE,2,2961,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2126 | }; |
Brand101 | 0:444ac4067b19 | 2127 | liste[3] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2128 | TYPE_DEPLACEMENT_LIGNE_DROITE,0,30,500,(111 * RESOLUTION_ROUE_CODEUSE) / PERIMETRE_ROUE_CODEUSE,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2129 | }; |
Brand101 | 0:444ac4067b19 | 2130 | liste[4] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2131 | TYPE_DEPLACEMENT_ROTATION,0,30,500,0,0,0,900 * LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE / (3600 * PERIMETRE_ROUE_CODEUSE),0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2132 | }; |
Brand101 | 0:444ac4067b19 | 2133 | |
Brand101 | 0:444ac4067b19 | 2134 | recalage_debut_receive = 0; |
Brand101 | 0:444ac4067b19 | 2135 | } else if(couleur_debut == 0) { |
Brand101 | 0:444ac4067b19 | 2136 | |
Brand101 | 0:444ac4067b19 | 2137 | |
Brand101 | 0:444ac4067b19 | 2138 | //#if GROS_ROB == 0 |
Brand101 | 0:444ac4067b19 | 2139 | Odo_x = 1961; |
Brand101 | 0:444ac4067b19 | 2140 | Odo_y = 200; |
Brand101 | 0:444ac4067b19 | 2141 | Odo_theta = 1800; |
Brand101 | 0:444ac4067b19 | 2142 | liste[0] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2143 | TYPE_DEPLACEMENT_LIGNE_DROITE,0,30,500,(971 * RESOLUTION_ROUE_CODEUSE) / PERIMETRE_ROUE_CODEUSE,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2144 | }; |
Brand101 | 0:444ac4067b19 | 2145 | liste[1] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2146 | TYPE_DEPLACEMENT_ROTATION,0,30,500,0,0,0,-900 * LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE / (3600 * PERIMETRE_ROUE_CODEUSE),0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2147 | }; |
Brand101 | 0:444ac4067b19 | 2148 | liste[2] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2149 | TYPE_DEPLACEMENT_RECALAGE,0,30,500,(-1000 * RESOLUTION_ROUE_CODEUSE) / PERIMETRE_ROUE_CODEUSE,2,39,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2150 | }; |
Brand101 | 0:444ac4067b19 | 2151 | liste[3] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2152 | TYPE_DEPLACEMENT_LIGNE_DROITE,0,30,500,(111 * RESOLUTION_ROUE_CODEUSE) / PERIMETRE_ROUE_CODEUSE,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2153 | }; |
Brand101 | 0:444ac4067b19 | 2154 | liste[4] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2155 | TYPE_DEPLACEMENT_ROTATION,0,30,500,0,0,0,-900 * LARGEUR_ROBOT * PI * RESOLUTION_ROUE_CODEUSE / (3600 * PERIMETRE_ROUE_CODEUSE),0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2156 | }; |
Brand101 | 0:444ac4067b19 | 2157 | |
Brand101 | 0:444ac4067b19 | 2158 | recalage_debut_receive = 0; |
Brand101 | 0:444ac4067b19 | 2159 | } |
Brand101 | 0:444ac4067b19 | 2160 | } |
Brand101 | 0:444ac4067b19 | 2161 | |
Brand101 | 0:444ac4067b19 | 2162 | //Si on vient de finir un mouvement... |
Brand101 | 0:444ac4067b19 | 2163 | else if(next_move) { |
Brand101 | 0:444ac4067b19 | 2164 | |
Brand101 | 0:444ac4067b19 | 2165 | ErreurPos1 = 0; |
Brand101 | 0:444ac4067b19 | 2166 | ErreurPos2 = 0; |
Brand101 | 0:444ac4067b19 | 2167 | Somme_ErreurPos1 = 0; |
Brand101 | 0:444ac4067b19 | 2168 | Somme_ErreurPos2 = 0; |
Brand101 | 0:444ac4067b19 | 2169 | Delta_ErreurPos1 = 0; |
Brand101 | 0:444ac4067b19 | 2170 | Delta_ErreurPos2 = 0; |
Brand101 | 0:444ac4067b19 | 2171 | //Si on devait s'arr�ter... |
Brand101 | 0:444ac4067b19 | 2172 | if(stop) { |
Brand101 | 0:444ac4067b19 | 2173 | //On vide le buffer de mouvements et on pr�voit de s'asservir sur la position atteinte |
Brand101 | 0:444ac4067b19 | 2174 | for(i = 0; i<nb_ordres; i++) liste[i] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2175 | 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2176 | }; |
Brand101 | 0:444ac4067b19 | 2177 | liste[0] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2178 | TYPE_DEPLACEMENT_IMMOBILE,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2179 | }; |
Brand101 | 0:444ac4067b19 | 2180 | nb_ordres = 0; |
Brand101 | 0:444ac4067b19 | 2181 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 2182 | stop = 0; |
Brand101 | 0:444ac4067b19 | 2183 | next_move = 0; |
Brand101 | 0:444ac4067b19 | 2184 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 2185 | |
Brand101 | 0:444ac4067b19 | 2186 | //On pr�vient qu'on s'est arr�t� |
Brand101 | 0:444ac4067b19 | 2187 | motor_of(); |
Brand101 | 0:444ac4067b19 | 2188 | |
Brand101 | 0:444ac4067b19 | 2189 | } |
Brand101 | 0:444ac4067b19 | 2190 | //Sinon... |
Brand101 | 0:444ac4067b19 | 2191 | else if(!stop) { |
Brand101 | 0:444ac4067b19 | 2192 | next_move = 0; |
Brand101 | 0:444ac4067b19 | 2193 | //On conserve la position du robot pour la prochaine action |
Brand101 | 0:444ac4067b19 | 2194 | roue_drt_init = encoder1.GetCounter(); |
Brand101 | 0:444ac4067b19 | 2195 | |
Brand101 | 0:444ac4067b19 | 2196 | //MOI*\*/ // bug Edouard |
Brand101 | 0:444ac4067b19 | 2197 | //#elif GROS_ROB == 0 |
Brand101 | 0:444ac4067b19 | 2198 | roue_gch_init = COEF_ROUE_GAUCHE * (double)encoder2.GetCounter(); |
Brand101 | 0:444ac4067b19 | 2199 | //#endif |
Brand101 | 0:444ac4067b19 | 2200 | |
Brand101 | 0:444ac4067b19 | 2201 | cpt_ordre++; |
Brand101 | 0:444ac4067b19 | 2202 | |
Brand101 | 0:444ac4067b19 | 2203 | if(recalage_debut == 1) { |
Brand101 | 0:444ac4067b19 | 2204 | |
Brand101 | 0:444ac4067b19 | 2205 | if(cpt_ordre >= 5) { |
Brand101 | 0:444ac4067b19 | 2206 | recalage_debut = 2; |
Brand101 | 0:444ac4067b19 | 2207 | //On vide le buffer de mouvements et on pr�voit de s'asservir sur la position atteinte |
Brand101 | 0:444ac4067b19 | 2208 | for(i = 0; i<nb_ordres; i++) liste[i] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2209 | 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2210 | }; |
Brand101 | 0:444ac4067b19 | 2211 | liste[0] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2212 | TYPE_DEPLACEMENT_IMMOBILE,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2213 | }; |
Brand101 | 0:444ac4067b19 | 2214 | nb_ordres = 0; |
Brand101 | 0:444ac4067b19 | 2215 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 2216 | } |
Brand101 | 0:444ac4067b19 | 2217 | } |
Brand101 | 0:444ac4067b19 | 2218 | //Si on n'est pas dans un enchainement... |
Brand101 | 0:444ac4067b19 | 2219 | else if(liste[cpt_ordre].enchainement != 1) { |
Brand101 | 0:444ac4067b19 | 2220 | //On envoie le flag de fin d'instruction correspondant sur CAN |
Brand101 | 0:444ac4067b19 | 2221 | switch(liste[cpt_ordre].type) { |
Brand101 | 0:444ac4067b19 | 2222 | case TYPE_DEPLACEMENT_LIGNE_DROITE : |
Brand101 | 0:444ac4067b19 | 2223 | val1[0] = ASSERVISSEMENT_RECALAGE; |
Brand101 | 0:444ac4067b19 | 2224 | break; |
Brand101 | 0:444ac4067b19 | 2225 | case TYPE_DEPLACEMENT_ROTATION : |
Brand101 | 0:444ac4067b19 | 2226 | val1[0] = ASSERVISSEMENT_ROTATION; |
Brand101 | 0:444ac4067b19 | 2227 | break; |
Brand101 | 0:444ac4067b19 | 2228 | case TYPE_DEPLACEMENT_X_Y_THETA : |
Brand101 | 0:444ac4067b19 | 2229 | val1[0] = ASSERVISSEMENT_XYT; |
Brand101 | 0:444ac4067b19 | 2230 | break; |
Brand101 | 0:444ac4067b19 | 2231 | case TYPE_DEPLACEMENT_RAYON_COURBURE : |
Brand101 | 0:444ac4067b19 | 2232 | val1[0] = ASSERVISSEMENT_COURBURE; |
Brand101 | 0:444ac4067b19 | 2233 | break; |
Brand101 | 0:444ac4067b19 | 2234 | case TYPE_DEPLACEMENT_RECALAGE : |
Brand101 | 0:444ac4067b19 | 2235 | val1[0] = ASSERVISSEMENT_RECALAGE; |
Brand101 | 0:444ac4067b19 | 2236 | break; |
Brand101 | 0:444ac4067b19 | 2237 | default : |
Brand101 | 0:444ac4067b19 | 2238 | val1[0] = 0; |
Brand101 | 0:444ac4067b19 | 2239 | break; |
Brand101 | 0:444ac4067b19 | 2240 | } |
Brand101 | 0:444ac4067b19 | 2241 | |
Brand101 | 0:444ac4067b19 | 2242 | //On vide le buffer de mouvements et on pr�voit de s'asservir sur la position atteinte |
Brand101 | 0:444ac4067b19 | 2243 | for(i = 0; i<nb_ordres; i++) liste[i] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2244 | 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2245 | }; |
Brand101 | 0:444ac4067b19 | 2246 | liste[0] = (struct Ordre_deplacement) { |
Brand101 | 0:444ac4067b19 | 2247 | TYPE_DEPLACEMENT_IMMOBILE,0,0,0,0,0,0,0,0,0,0,0,0,0,0 |
Brand101 | 0:444ac4067b19 | 2248 | }; |
Brand101 | 0:444ac4067b19 | 2249 | nb_ordres = 0; |
Brand101 | 0:444ac4067b19 | 2250 | cpt_ordre = 0; |
Brand101 | 0:444ac4067b19 | 2251 | cpt = 0; |
Brand101 | 0:444ac4067b19 | 2252 | |
Brand101 | 0:444ac4067b19 | 2253 | //On pr�vient qu'on s'est arr�t� |
Brand101 | 0:444ac4067b19 | 2254 | motor_of(); |
Brand101 | 0:444ac4067b19 | 2255 | } |
Brand101 | 0:444ac4067b19 | 2256 | } |
Brand101 | 0:444ac4067b19 | 2257 | } else { //On v�rifie le type d'action � effectuer, en fonction du buffer d'instructions |
Brand101 | 0:444ac4067b19 | 2258 | test3++; |
Brand101 | 0:444ac4067b19 | 2259 | switch(liste[cpt_ordre].type) { |
Brand101 | 0:444ac4067b19 | 2260 | case TYPE_DEPLACEMENT_STOP : |
Brand101 | 0:444ac4067b19 | 2261 | Arret(); |
Brand101 | 0:444ac4067b19 | 2262 | break; |
Brand101 | 0:444ac4067b19 | 2263 | |
Brand101 | 0:444ac4067b19 | 2264 | case TYPE_DEPLACEMENT_IMMOBILE: |
Brand101 | 0:444ac4067b19 | 2265 | test4++; |
Brand101 | 0:444ac4067b19 | 2266 | Asser_Pos_Mot1(roue_drt_init); |
Brand101 | 0:444ac4067b19 | 2267 | Asser_Pos_Mot2(roue_gch_init); |
Brand101 | 0:444ac4067b19 | 2268 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 2269 | write_PWM1(commande1); |
Brand101 | 0:444ac4067b19 | 2270 | break; |
Brand101 | 0:444ac4067b19 | 2271 | |
Brand101 | 0:444ac4067b19 | 2272 | case TYPE_DEPLACEMENT_LIGNE_DROITE: |
Brand101 | 0:444ac4067b19 | 2273 | Avancer_ligne_droite(liste[cpt_ordre].distance, VMAX, AMAX, DMAX); |
Brand101 | 0:444ac4067b19 | 2274 | break; |
Brand101 | 0:444ac4067b19 | 2275 | |
Brand101 | 0:444ac4067b19 | 2276 | case TYPE_DEPLACEMENT_ROTATION: |
Brand101 | 0:444ac4067b19 | 2277 | Rotation(liste[cpt_ordre].angle, VMAX, AMAX, DMAX); |
Brand101 | 0:444ac4067b19 | 2278 | break; |
Brand101 | 0:444ac4067b19 | 2279 | |
Brand101 | 0:444ac4067b19 | 2280 | case TYPE_DEPLACEMENT_X_Y_THETA: |
Brand101 | 0:444ac4067b19 | 2281 | X_Y_Theta(liste[cpt_ordre].x, liste[cpt_ordre].y, liste[cpt_ordre].theta, |
Brand101 | 0:444ac4067b19 | 2282 | liste[cpt_ordre].sens, VMAX, AMAX); |
Brand101 | 0:444ac4067b19 | 2283 | break; |
Brand101 | 0:444ac4067b19 | 2284 | |
Brand101 | 0:444ac4067b19 | 2285 | case TYPE_DEPLACEMENT_RAYON_COURBURE : |
Brand101 | 0:444ac4067b19 | 2286 | Rayon_De_Courbure(liste[cpt_ordre].rayon, liste[cpt_ordre].theta_ray, VMAX, |
Brand101 | 0:444ac4067b19 | 2287 | AMAX, liste[cpt_ordre].sens, DMAX); |
Brand101 | 0:444ac4067b19 | 2288 | break; |
Brand101 | 0:444ac4067b19 | 2289 | |
Brand101 | 0:444ac4067b19 | 2290 | case TYPE_DEPLACEMENT_RECALAGE : |
Brand101 | 0:444ac4067b19 | 2291 | Recalage(liste[cpt_ordre].distance, 10, 500, liste[cpt_ordre].recalage, liste[cpt_ordre].val_recalage); |
Brand101 | 0:444ac4067b19 | 2292 | break; |
Brand101 | 0:444ac4067b19 | 2293 | |
Brand101 | 0:444ac4067b19 | 2294 | default : |
Brand101 | 0:444ac4067b19 | 2295 | Asser_Pos_Mot1(roue_drt_init); |
Brand101 | 0:444ac4067b19 | 2296 | Asser_Pos_Mot2(roue_gch_init); |
Brand101 | 0:444ac4067b19 | 2297 | write_PWM2(commande2); |
Brand101 | 0:444ac4067b19 | 2298 | write_PWM1(commande1); |
Brand101 | 0:444ac4067b19 | 2299 | test7++; |
Brand101 | 0:444ac4067b19 | 2300 | break; |
Brand101 | 0:444ac4067b19 | 2301 | |
Brand101 | 0:444ac4067b19 | 2302 | } |
Brand101 | 0:444ac4067b19 | 2303 | } |
Brand101 | 0:444ac4067b19 | 2304 | //On calcule l'odom�trie � chaque tour de boucle |
Brand101 | 0:444ac4067b19 | 2305 | |
Brand101 | 0:444ac4067b19 | 2306 | //MOI*\ |
Brand101 | 0:444ac4067b19 | 2307 | ms_count = 0; // reset ms counter |
Brand101 | 0:444ac4067b19 | 2308 | ms_count1 ++; |
Brand101 | 0:444ac4067b19 | 2309 | //Odometrie(); |
Brand101 | 0:444ac4067b19 | 2310 | if(ms_count1 == 5) |
Brand101 | 0:444ac4067b19 | 2311 | ms_count1 = 0; |
Brand101 | 0:444ac4067b19 | 2312 | } else { |
Brand101 | 0:444ac4067b19 | 2313 | ms_count = 0; // reset ms counter |
Brand101 | 0:444ac4067b19 | 2314 | ms_count1 ++; |
Brand101 | 0:444ac4067b19 | 2315 | //Odometrie(); |
Brand101 | 0:444ac4067b19 | 2316 | if(ms_count1 == 5) |
Brand101 | 0:444ac4067b19 | 2317 | ms_count1 = 0; |
Brand101 | 0:444ac4067b19 | 2318 | } |
Brand101 | 0:444ac4067b19 | 2319 | |
Brand101 | 0:444ac4067b19 | 2320 | } else { |
Brand101 | 0:444ac4067b19 | 2321 | ms_count ++; |
Brand101 | 0:444ac4067b19 | 2322 | } /*else if(ms_count % 10 == 0) { |
Brand101 | 0:444ac4067b19 | 2323 | Odometrie(); |
Brand101 | 0:444ac4067b19 | 2324 | |
Brand101 | 0:444ac4067b19 | 2325 | } |
Brand101 | 0:444ac4067b19 | 2326 | */ |
Brand101 | 0:444ac4067b19 | 2327 | } |