Romain Ame / Mbed 2 deprecated Robot2016_2-0_STATIC

Voili voilou

Dependencies:   RoboClaw StepperMotor mbed

Fork of Robot2016_2-0 by ARES

Odometry/Odometry.h@10:ae3178aa94e9, 2015-12-04 (annotated)

Committer:
sype
Date:
Fri Dec 04 11:18:13 2015 +0000
Revision:
10:ae3178aa94e9
Parent:
9:e39b218ab20d
Child:
14:d5e21f71c2a9
80% Motorisation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 0:ad9600df4a70 1 #ifndef ODOMETRY_H
sype 0:ad9600df4a70 2 #define ODOMETRY_H
sype 0:ad9600df4a70 3
sype 0:ad9600df4a70 4 #include "mbed.h"
sype 0:ad9600df4a70 5 #include "RoboClaw.h"
sype 0:ad9600df4a70 6
sype 0:ad9600df4a70 7 #define PI 3.1415926535897932384626433832795
sype 10:ae3178aa94e9 8 #define C 1.0
sype 10:ae3178aa94e9 9
sype 10:ae3178aa94e9 10 #define accel_angle 8000
sype 10:ae3178aa94e9 11 #define vitesse_angle 16000
sype 10:ae3178aa94e9 12 #define deccel_angle 8000
sype 10:ae3178aa94e9 13
sype 10:ae3178aa94e9 14 #define accel_dista 8000
sype 10:ae3178aa94e9 15 #define vitesse_dista 16000
sype 10:ae3178aa94e9 16 #define deccel_dista 8000
sype 0:ad9600df4a70 17
sype 0:ad9600df4a70 18 /*
sype 0:ad9600df4a70 19 * Author : Benjamin Bertelone, reworked by Simon Emarre
sype 0:ad9600df4a70 20 */
sype 0:ad9600df4a70 21
sype 2:abdf8c6823a1 22 extern Serial pc;
sype 10:ae3178aa94e9 23 extern DigitalOut led;
sype 2:abdf8c6823a1 24
IceTeam 9:e39b218ab20d 25 /** Permet la gestion de l'odometrie du robot **/
sype 0:ad9600df4a70 26 class Odometry
sype 0:ad9600df4a70 27 {
IceTeam 8:12d7123a500e 28 public:
sype 10:ae3178aa94e9 29 /** Constructeur standard
IceTeam 8:12d7123a500e 30 * @param diameter_right Definit le diametre de la roue droite
IceTeam 8:12d7123a500e 31 * @param diameter_left Definit le diametre de la roue gauche
IceTeam 8:12d7123a500e 32 * @param v Definit l'entraxe du robot
IceTeam 8:12d7123a500e 33 * @param rc Definit une reference vers l'objet permettant l'asserv des moteurs
sype 10:ae3178aa94e9 34 * @note Cet objet doit etre initialise en amont
IceTeam 8:12d7123a500e 35 */
sype 10:ae3178aa94e9 36 Odometry(double diameter_right, double diameter_left, double v, uint16_t quadrature, RoboClaw &rc);
IceTeam 8:12d7123a500e 37
IceTeam 8:12d7123a500e 38 /** Les fonctions suivantes permettent de reinitialiser les valeurs de position de l'odometrie.
IceTeam 8:12d7123a500e 39 */
IceTeam 8:12d7123a500e 40 void setPos(double x, double y, double theta);
IceTeam 8:12d7123a500e 41 void setX(double x);
IceTeam 8:12d7123a500e 42 void setY(double y);
IceTeam 8:12d7123a500e 43 void setTheta(double theta);
IceTeam 8:12d7123a500e 44
IceTeam 8:12d7123a500e 45 /** Les fonctions suivantes permettent de deplacer le robot vers une position ou un angle voulu
IceTeam 8:12d7123a500e 46 */
IceTeam 8:12d7123a500e 47 void GotoXYT(double x_goal, double y_goal, double theta_goal);
IceTeam 8:12d7123a500e 48 void GotoThet(double theta_);
IceTeam 8:12d7123a500e 49 void GotoDist(double distance);
IceTeam 8:12d7123a500e 50
IceTeam 8:12d7123a500e 51 double getX() {
IceTeam 8:12d7123a500e 52 return x;
IceTeam 8:12d7123a500e 53 }
IceTeam 8:12d7123a500e 54 double getY() {
IceTeam 8:12d7123a500e 55 return y;
IceTeam 8:12d7123a500e 56 }
IceTeam 8:12d7123a500e 57 double getTheta() {
IceTeam 8:12d7123a500e 58 return theta; // ]-PI;PI]
IceTeam 8:12d7123a500e 59 }
IceTeam 8:12d7123a500e 60 double getTheta_(double x, double y);
IceTeam 8:12d7123a500e 61
IceTeam 8:12d7123a500e 62 double abs_d(double x) {
IceTeam 8:12d7123a500e 63 if(x<0) return -x;
IceTeam 8:12d7123a500e 64 else return x;
IceTeam 8:12d7123a500e 65 }
IceTeam 7:961c1acdf753 66
sype 10:ae3178aa94e9 67 /* Les fonction suivantes sont actuellement inutilisables, elles pourraient buguer en cas d'utilisation. */
sype 10:ae3178aa94e9 68
IceTeam 8:12d7123a500e 69 double getVitLeft() {
IceTeam 8:12d7123a500e 70 return m_vitLeft;
IceTeam 8:12d7123a500e 71 }
IceTeam 8:12d7123a500e 72 double getVitRight() {
IceTeam 8:12d7123a500e 73 return m_vitRight;
IceTeam 8:12d7123a500e 74 }
IceTeam 8:12d7123a500e 75
IceTeam 8:12d7123a500e 76 double getDistLeft() {
IceTeam 8:12d7123a500e 77 return m_distLeft;
IceTeam 8:12d7123a500e 78 }
IceTeam 8:12d7123a500e 79 double getDistRight() {
IceTeam 8:12d7123a500e 80 return m_distRight;
IceTeam 8:12d7123a500e 81 }
IceTeam 8:12d7123a500e 82
IceTeam 8:12d7123a500e 83 void setDistLeft(double dist) {
IceTeam 8:12d7123a500e 84 m_distLeft = dist;
IceTeam 8:12d7123a500e 85 }
IceTeam 8:12d7123a500e 86 void setDistRight(double dist) {
IceTeam 8:12d7123a500e 87 m_distRight = dist;
IceTeam 8:12d7123a500e 88 }
IceTeam 8:12d7123a500e 89
IceTeam 8:12d7123a500e 90 double calcul_distance(double x, double y, double theta_goal);
IceTeam 8:12d7123a500e 91
IceTeam 8:12d7123a500e 92 int32_t getPulsesLeft(void) {
IceTeam 8:12d7123a500e 93 return m_pulses_left;
IceTeam 8:12d7123a500e 94 }
IceTeam 8:12d7123a500e 95 int32_t getPulsesRight(void) {
IceTeam 8:12d7123a500e 96 return m_pulses_right;
IceTeam 8:12d7123a500e 97 }
IceTeam 8:12d7123a500e 98 double carre(double a) {
IceTeam 8:12d7123a500e 99 return a*a;
IceTeam 8:12d7123a500e 100 }
IceTeam 8:12d7123a500e 101
IceTeam 8:12d7123a500e 102 /** La fonction retourne vraie quand le robot atteint l'angle voulu avec une marge d'erreur definie par la fonction
IceTeam 8:12d7123a500e 103 * @param theta_ valeur de l'angle devant etre atteint
IceTeam 8:12d7123a500e 104 */
sype 10:ae3178aa94e9 105 bool isArrived(void) {return arrived;}
IceTeam 8:12d7123a500e 106 /** Permet de mettre à jour les valeurs de l'odometrie
IceTeam 8:12d7123a500e 107 */
IceTeam 8:12d7123a500e 108 void update_odo(void);
IceTeam 8:12d7123a500e 109
IceTeam 8:12d7123a500e 110 private:
IceTeam 8:12d7123a500e 111 RoboClaw &roboclaw;
IceTeam 8:12d7123a500e 112 int32_t m_pulses_left;
IceTeam 8:12d7123a500e 113 int32_t m_pulses_right;
sype 10:ae3178aa94e9 114 uint8_t pos_prog;
IceTeam 8:12d7123a500e 115 double x, y, theta;
IceTeam 8:12d7123a500e 116 double m_vitLeft, m_vitRight;
IceTeam 8:12d7123a500e 117 double m_distLeft, m_distRight;
IceTeam 8:12d7123a500e 118
IceTeam 8:12d7123a500e 119 double m_distPerTick_left, m_distPerTick_right, m_v;
IceTeam 8:12d7123a500e 120
IceTeam 8:12d7123a500e 121 double erreur_ang;
sype 10:ae3178aa94e9 122 bool arrived;
sype 0:ad9600df4a70 123 };
sype 0:ad9600df4a70 124
sype 0:ad9600df4a70 125 #endif