Diff: Odometry/Odometry.cpp

Revision:

77:f19cc7f81f2a

Parent:

49:5e2f7323f280

Child:

78:c28bdbf29b6e

--- a/Odometry/Odometry.cpp	Wed May 04 16:15:13 2016 +0000
+++ b/Odometry/Odometry.cpp	Thu May 05 08:46:08 2016 +0000
@@ -92,7 +92,9 @@
     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)
@@ -110,7 +112,6 @@
     //pos_prog++;
     //logger.printf("Theta : %3.2f\n\r", theta_*180/PI);
     //arrived = false;
-
     int32_t distance_ticks_left;
     int32_t distance_ticks_right;
 
@@ -140,12 +141,17 @@
 
     //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((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left))
-        logger.printf ("[Thet] %d\t%d\n\r", m_pulses_right - distance_ticks_right, m_pulses_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);
+        }
+    }
+    //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);
-    setTheta(theta_);
+    theta = theta_;
     //arrived = true;
     //logger.printf("arrivey %d\n\r",pos_prog);
 }
@@ -160,12 +166,21 @@
 
     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;
-
-    roboclaw.SpeedAccelDeccelPositionM1M2(accel_dista, vitesse_dista, deccel_dista, distance_ticks_right, accel_dista, vitesse_dista, deccel_dista, distance_ticks_left, 1);
-
+    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((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);
+    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);
+    {  
+        if (SDevant && SHomologation) {
+            roboclaw.SpeedAccelM1M2(accel_dista, 0, 0);
+            while(1) ;
+        }
+    }
     wait(0.4);
     //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);