Diff: Odometry/Odometry.cpp

Revision:

78:c28bdbf29b6e

Parent:

77:f19cc7f81f2a

--- a/Odometry/Odometry.cpp	Thu May 05 08:46:08 2016 +0000
+++ b/Odometry/Odometry.cpp	Thu May 05 13:17:00 2016 +0000
@@ -17,6 +17,12 @@
     m_pulses_right = 0;
     m_pulses_left = 0;
     pos_prog = 0;
+    
+    paused = false;
+    
+    timer.stop();
+    timer.reset();
+    
     wait_ms(100);
 }
 
@@ -88,20 +94,29 @@
 
 void Odometry::GotoXY(double x_goal, double y_goal)
 {
+    saved_x_goal = x_goal;
+    saved_y_goal = y_goal;
+    
+    currentStep = STEP_D;
+    currentMainFunction = MAIN_FCT_XY;
+    
     double theta_ = atan2(y_goal-y, x_goal-x);
     double dist_ = sqrt(carre(x_goal-x)+carre(y_goal-y));
-    logger.printf("Dist : %3.2f\tTheta : %3.2f\n\r", dist_, theta_*180/PI);
     GotoThet(theta_);
-    logger.printf("J'ai fais theta je suis pas trop un fdp\n\r");
     GotoDist(dist_);
-    logger.printf("J'ai fais Dist je suis pas trop un fdp\n\r");
 }
 
 void Odometry::GotoXYT(double x_goal, double y_goal, double theta_goal)
 {
+    saved_x_goal = x_goal;
+    saved_y_goal = y_goal;
+    saved_theta_goal = theta_goal;
+    
+    currentStep = STEP_D;
+    currentMainFunction = MAIN_FCT_XYT;
+    
     double theta_ = atan2(y_goal-y, x_goal-x);
     double dist_ = sqrt(carre(x_goal-x)+carre(y_goal-y));
-    logger.printf("Dist : %3.2f\tTheta : %3.2f\n\r", dist_, theta_*180/PI);
     GotoThet(theta_);
     GotoDist(dist_);
     GotoThet(theta_goal);
@@ -109,6 +124,8 @@
 
 void Odometry::GotoThet(double theta_)
 {
+    saved_theta_goal = theta_;
+    currentStep = STEP_T;
     //pos_prog++;
     //logger.printf("Theta : %3.2f\n\r", theta_*180/PI);
     //arrived = false;
@@ -123,8 +140,6 @@
     while(erreur_theta >= PI) erreur_theta -= 2*PI;
     while(erreur_theta < -PI) erreur_theta += 2*PI;
     
-    logger.printf("ET : %3.2f\n\r", erreur_theta*180/PI);
-    
     if(erreur_theta < 0) {
         distance_ticks_left = (int32_t) pos_initiale_left + (erreur_theta*m_v/2)/m_distPerTick_left;
         distance_ticks_right = (int32_t) pos_initiale_right - (erreur_theta*m_v/2)/m_distPerTick_right;
@@ -141,23 +156,33 @@
 
     //logger.printf("IniR:%6d\tDistR:%6d\tIniL:%6d\tDistL:%6d\n\r", pos_initiale_right, distance_ticks_right, pos_initiale_left, distance_ticks_left);
 
-    while(abs(m_pulses_right - distance_ticks_right) >= 1 && abs(m_pulses_left - distance_ticks_left) >= 1) {   
-        if (SDevant && SHomologation) {
-            roboclaw.SpeedAccelM1M2(accel_dista, 0, 0);
-            while(1);
-        }
+    //while(abs(m_pulses_right - distance_ticks_right) >= 1 && abs(m_pulses_left - distance_ticks_left) >= 1) wait(0.001);
+    
+    while(abs(erreur_theta) > 2.f*PI/180.f)
+    {
+        wait(0.001);
+        
+        erreur_theta = theta_ - getTheta();
+        while(erreur_theta >= PI) erreur_theta -= 2*PI;
+        while(erreur_theta < -PI) erreur_theta += 2*PI;
     }
+    
     //logger.printf ("[Thet] %d\t%d\n\r", m_pulses_right - distance_ticks_right, m_pulses_left - distance_ticks_left); 
     //logger.printf("%6d\t%6d\t%6d\t%6d\t%6d\n\r",m_pulses_right - pos_initiale_right, distance_ticks_right, m_pulses_left - pos_initiale_left, distance_ticks_left);
     
     wait(0.4);
-    theta = theta_;
+    
+    /*roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);*/
+    
+    //theta = theta_;
     //arrived = true;
     //logger.printf("arrivey %d\n\r",pos_prog);
 }
 
 void Odometry::GotoDist(double distance)
 {
+    currentStep = STEP_D;
     //pos_prog++;
     //logger.printf("Dist : %3.2f\n\r", distance);
     //arrived = false;
@@ -166,22 +191,28 @@
 
     int32_t distance_ticks_right = (int32_t) distance/m_distPerTick_right + pos_initiale_right;
     int32_t distance_ticks_left = (int32_t) distance/m_distPerTick_left + pos_initiale_left;
-    logger.printf("Je suis un fdp a l'envoi d'une commande 1 !\n\r");
     if (distance >= 0)
         roboclaw.SpeedAccelDeccelPositionM1M2(accel_dista, vitesse_dista, deccel_dista, distance_ticks_right, accel_dista, vitesse_dista, deccel_dista, distance_ticks_left, 1);
     else
         roboclaw.SpeedAccelDeccelPositionM1M2(accel_dista, -vitesse_dista, deccel_dista, distance_ticks_right, accel_dista, -vitesse_dista, deccel_dista, distance_ticks_left, 1);   
-    logger.printf("J'suis un fdp 2\n\r");
     //logger.printf("IniR:%6d\tDistR:%6d\tIniL:%6d\tDistL:%6d\n\r", pos_initiale_right, distance_ticks_right, pos_initiale_left, distance_ticks_left);
     
-    while(abs(m_pulses_right - distance_ticks_right) >= 1 && abs(m_pulses_left - distance_ticks_left) >= 1) //logger.printf("PR:%6d\tIR:%6d\tDR:%6d\tPL:%6d\tIL:%6d\tDL:%6d\n\r",m_pulses_right, pos_initiale_right, distance_ticks_right, m_pulses_left, pos_initiale_left, distance_ticks_left);
+    while(abs(m_pulses_right - distance_ticks_right) >= 30 || abs(m_pulses_left - distance_ticks_left) >= 30) //logger.printf("PR:%6d\tIR:%6d\tDR:%6d\tPL:%6d\tIL:%6d\tDL:%6d\n\r",m_pulses_right, pos_initiale_right, distance_ticks_right, m_pulses_left, pos_initiale_left, distance_ticks_left);
     {  
-        if (SDevant && SHomologation) {
-            roboclaw.SpeedAccelM1M2(accel_dista, 0, 0);
-            while(1) ;
-        }
+        wait(0.1);
     }
+    
+    /*while( carre(x-saved_x_goal) + carre(y-saved_y_goal) > 4*4)
+    {
+        wait(0.1);
+        logger.printf("Dist error : %f  (%f,%f -> %f,%f)\r\n", sqrt(carre(x-saved_x_goal) + carre(y-saved_y_goal)),x,y,saved_x_goal,saved_y_goal);
+    }*/
+    
     wait(0.4);
+    
+    /*roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);*/
+    
     //logger.printf("arrivey %d\n\r",pos_prog);
     //logger.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", getX(), getY(), getTheta()*180/PI);
 }
@@ -203,8 +234,7 @@
     
     roboclaw.SpeedAccelDeccelPositionM1M2(accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
     
-    while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left))
-        logger.printf ("[Dist] %d\t%d\n\r", m_pulses_right - distance_ticks_right, m_pulses_left - distance_ticks_left);
+    while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left));
         
     wait(0.4);
 }
@@ -221,4 +251,37 @@
     
     while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left)); //logger.printf("PR:%6d\tIR:%6d\tDR:%6d\tPL:%6d\tIL:%6d\tDL:%6d\n\r",m_pulses_right, pos_initiale_right, distance_ticks_right, m_pulses_left, pos_initiale_left, distance_ticks_left);
     wait(0.4);
+}
+
+void Odometry::stop() { 
+    paused = false; 
+    timer.stop();
+    timer.reset();
+    
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
+}
+
+void Odometry::pause() { 
+    timer.start();
+    timer.reset();
+    paused = true;
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
+}
+
+void Odometry::resume() {    
+    if(paused && timer.read() > 0.5f)
+    {
+        paused = false;
+        timer.stop();
+        timer.reset();
+        
+        if(currentMainFunction == MAIN_FCT_XY)
+            GotoXY(saved_x_goal,saved_y_goal);
+        else
+            GotoXYT(saved_x_goal,saved_y_goal,saved_theta_goal);
+            
+        
+    }
 }
\ No newline at end of file