Jimmy Maingam
assert1
Dependencies: mbed X_NUCLEO_IHM02A1
Revision 2:977799d72329, committed 2019-02-23
- Comitter:
- Pierr
- Date:
- Sat Feb 23 16:30:08 2019 +0000
- Parent:
- 1:0690cf83f060
- Child:
- 3:06cbe2f6c494
- Commit message:
- A
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/chemin.cpp Sat Feb 23 16:30:08 2019 +0000
@@ -0,0 +1,387 @@
+#include "mbed.h"
+#include "chemin.h"
+#include "terrain_precalc.h"
+#include "odometrie.h"
+#include "tests_moteurs.h"
+
+
+/*
+L'origine du terrain est
+ y-----------------|
+ | | | |
+ | ¯¯¯¯¯¯¯¯¯¯¯¯¯ |
+ | |
+ 0-----------------|> x
+
+ Et l'origine des angles est de x vers y positif.
+*/
+
+
+// Function to Create A New Node
+Node* newNode(int x, int y, int distance, int p)
+{
+ Node* temp = (Node*)malloc(sizeof(Node));
+ temp->x = x;
+ temp->y = y;
+ temp->distance = distance;
+ temp->priority = p;
+ temp->next = NULL;
+
+ return temp;
+}
+
+// Return the value at head
+void peek(Node** head, int*x, int*y, int*distance)
+{
+ *x = (*head)->x;
+ *y = (*head)->y;
+ *distance = (*head)->distance;
+}
+
+// Removes the element with the
+// highest priority form the list
+void pop(Node** head)
+{
+ Node* temp = *head;
+ (*head) = (*head)->next;
+ free(temp);
+}
+
+
+
+// Function to push according to priority
+void push(Node** head, int x, int y, int distance, int p)
+{
+ Node* start = (*head);
+
+ // Create new Node
+ Node* temp = newNode(x, y,distance, p);
+
+ // Special Case: The head of list has lesser
+ // priority than new node. So insert new
+ // node before head node and change head node.
+ if ((*head)->priority > p) {
+
+ // Insert New Node before head
+ temp->next = *head;
+ (*head) = temp;
+ } else {
+
+ // Traverse the list and find a
+ // position to insert new node
+ while (start->next != NULL &&
+ start->next->priority < p) {
+ start = start->next;
+ }
+
+ // Either at the ends of the list
+ // or at required position
+ temp->next = start->next;
+ start->next = temp;
+ }
+}
+
+// Function to check is list is empty
+int isEmpty(Node** head)
+{
+ return (*head) == NULL;
+}
+
+
+void calc_distances(int ox, int oy, int gx, int gy)
+{
+ //Calcule la distance de chaque point du terrain à l'objectif (gx,gy)
+ //COmplexite en O(l*L)
+ printf("ok\n");
+
+ char visite[l][L] = {{0}}; //sauvegarde les points deja visites pour eviter de passer 2 fois dessus
+ int voisins[9][9] = {{0,1}, {-1,0}, {1,0}, {0,-1}, {1,1}, {-1,1}, {1,-1}, {-1,-1} }; //voisin d'un point
+ int distance = 0;
+ int px = gx;
+ int py = gy;
+ visite[gx][gy] = 1;
+ Node* pq = newNode(gx,gy,distance, 0);
+ printf("ok2\n");
+ while(!isEmpty(&pq)) { //Tant que l'on n'a pas parcouru tous les points TODO: optimiser pour arreter lorque (px,py) == (ox,oy) pour éviter de tout parcourir, sans que cela infule sur le choix du chemin
+
+ peek(&pq,&px,&py,&distance); //on recupere les infos du point
+ distances[px][py] = distance;
+ //printf("position tiree : %d , %d , de distance %d\n" , px,py,distance);
+
+
+ for(int i=0; i<9; i++) {
+ int vx = px+voisins[i][0];
+ int vy = py+voisins[i][1];
+
+ if( vx >= 0 && vx < l && vy >= 0 && vy < L && terrain[vx][vy] != 1 && visite[vx][vy] == 0) {
+ //printf("positions ajoutee : %d,%d,%d\n" , vx, vy,distance );
+ visite[vx][vy] = 1;
+ push(&pq, vx, vy, distance+1,distance+1); //on ajoute ses soivins s'ils sont dans le terrain, ne sont pas un mur, et n'ont pas été visités
+ }
+ }
+ pop(&pq); //on peut le pop puisqu'il a été visité
+
+ }
+}
+
+Node* trouver_chemin(int ox, int oy, int gx, int gy)
+{
+ //Trouve le meilleur chemin en se rapprochant de l'objectif
+ //Complexité en longueur du chemin (MAX= L*l)
+ int voisins[9][9] = {{0,1}, {-1,0}, {1,0}, {0,-1}, {1,1}, {-1,1}, {1,-1}, {-1,-1} };
+ int distance = 0;
+ Node* pq = newNode(ox,oy,distance, 0);
+ int px = ox;
+ int py = oy;
+
+ while(!(px==gx && py==gy)) {
+ distance++;
+ unsigned long long dmin = L*l;
+ int xmin = 0;
+ int ymin = 0;
+ for(int i=0; i<9; i++) {
+ int vx = px+voisins[i][0];
+ int vy = py+voisins[i][1];
+
+ if( vx >= 0 && vx < l && vy >= 0 && vy < L && terrain[vx][vy] != 1 && distances[vx][vy] < dmin) {
+ dmin = distances[vx][vy];
+ xmin = vx;
+ ymin = vy;
+ }
+ }
+ //printf("position ajoutee chemin : %d , %d , de distance %d\n" , px,py,distance);
+ push(&pq, xmin, ymin, distance,distance);
+ px = xmin;
+ py = ymin;
+
+ }
+ return pq;
+}
+
+
+Node* traduction_points_commandes(Node* pq)
+{
+ /*
+
+ y_____________
+ | 9 10 11|
+ | |
+ | -1 R 1|
+ | |
+ |-11 -10 -9|
+ ¯¯¯¯¯¯¯¯¯¯¯¯¯x
+ ||
+ \/
+ ___________
+ | 4 3 2 |
+ | 5 R 1 |
+ | 6 7 8 |
+ ¯¯¯¯¯¯¯¯¯¯¯
+ */
+ int i,px,py,distance,direction = 0;
+ peek(&pq,&px,&py,&distance); //on recupere les infos du point
+ pop(&pq);
+ Node* cmd = newNode(0,0,0,0);
+
+ int px_new,py_new,direction_new,_ =0;
+
+
+ while(!isEmpty(&pq)) {
+ peek(&pq,&px_new,&py_new,&_); //on recupere les infos du point
+ pop(&pq);
+ //printf("%d , %d , %d\n",px,py,px_new - px + 10*(py_new-py));
+ switch(px_new - px + 10*(py_new-py)) {
+ case 1:
+ direction_new=1;
+ distance+=100;
+ break;
+ case -1:
+ direction_new=5;
+ distance+=100;
+ break;
+ case 10:
+ direction_new=3;
+ distance+=100;
+ break;
+ case -10:
+ direction_new=7;
+ distance+=100;
+ break;
+ case 11:
+ direction_new=2;
+ distance+=141; //racine de 2, la diagonale d'un carré
+ break;
+ case 9:
+ direction_new=4;
+ distance+=141;
+ break;
+ case -9:
+ direction_new=8;
+ distance+=141;
+ break;
+ case -11:
+ direction_new=6;
+ distance+=141;
+ break;
+ }
+
+ if(direction_new != direction) {
+ if(direction ==0) {
+
+ push(&cmd,(int) direction_new, 0, 0, i);
+
+ } else {
+ int a = direction-direction_new;
+ if(direction == 8 && direction_new == 1) a = -1;
+ if(direction == 1 && direction_new == 8) a = 1;
+ printf("%d %d, %d,%d , %d \n", a, distance,direction, direction_new,(direction-direction_new));
+ push(&cmd,(int) 45*a, distance, 0, i);
+ }
+ distance = 0;
+ direction = direction_new;
+ i++;
+ }
+ px = px_new;
+ py = py_new;
+
+ }
+ printf("ok");
+ i++;
+ float a = (1+1)/(7-1);
+ float b = 1-a*7;
+ push(&cmd, 0, distance, 0,i);
+
+
+ return cmd;
+
+}
+
+void afficher_terrain()
+{
+ //Affiche le terrain sur le port serie
+ printf("Terrain avec murs: \n");
+ for(int j=0; j<=L; j++) printf("_");
+ printf("\n");
+ for(int i = 0; i < l; i++) {
+ printf("|");
+ for(int j=0; j<L; j++) {
+
+ if(terrain[i][j] ==0) {
+ printf(" ");
+ } else {
+ printf(".");
+
+ }
+ }
+ printf("|\n");
+ }
+ for(int j=0; j<=L; j++) printf("¯");
+ printf("\n\n");
+}
+
+
+void afficher_terrain(Node* points)
+{
+ char terrain_tmp[l][L] = {{0}};
+ for(int i = 0; i < l; i++) for(int j=0; j<L; j++) terrain_tmp[i][j] = terrain[i][j];
+
+ int i,px,py,_ = 0;
+ while(!isEmpty(&points)) {
+ peek(&points,&px,&py,&_); //on recupere les infos du point
+ pop(&points);
+ terrain_tmp[px][py] = 2;
+ }
+
+ //Affiche le terrain sur le port serie
+ printf("Terrain avec murs: \n");
+ for(int j=0; j<=L; j++) printf("_");
+ printf("\n");
+ for(int i = 0; i < l; i++) {
+ printf("|");
+ for(int j=0; j<L; j++) {
+
+ if(terrain_tmp[i][j] ==0) {
+ printf(" ");
+ } else if(terrain_tmp[i][j] == 2) {
+ printf("X");
+ } else {
+ printf(".");
+
+ }
+ }
+ printf("|\n");
+ }
+ for(int j=0; j<=L; j++) printf("¯");
+ printf("\n\n");
+}
+
+int conversion_codage_angles(int o)
+{
+
+ switch(o) {
+ case 1:
+ o = 0;
+ break;
+ case 2:
+ o = 45;
+ break;
+ case 3:
+ o = 90;
+ break;
+ case 4:
+ o = 135;
+ break;
+ case 5:
+ o = -180;
+ break;
+ case 6:
+ o = -225;
+ break;
+ case 7:
+ o = 270;
+ break;
+ case 8:
+ o = 315;
+ break;
+ }
+ return o;
+}
+
+void aller_a_point(int ox , int oy, int gx , int gy , int vitesse_deplacement){
+
+ double angle_absolut = get_angle();
+
+ calc_distances(ox,oy,gx,gy);
+ Node* cm = (Node*)malloc(sizeof(Node));
+ cm = traduction_points_commandes(trouver_chemin(ox,oy,gx,gy));
+
+ //afficher_terrain(trouver_chemin(ox,oy,gx,gy));
+
+ int o,d,_ = 0;
+ pop(&cm);
+ peek(&cm,&o,&d,&_); //on recupere les infos de direction
+ pop(&cm);
+ o = conversion_codage_angles(o);
+ printf("rotation %d, avancement de %d\n",o,d);
+ angle_absolut += o;
+
+ //test_rotation_abs(o,100);
+ wait(2);
+
+ while(!isEmpty(&cm)){
+ peek(&cm,&o,&d,&_); //on recupere les infos de direction
+ pop(&cm);
+ printf("rotation %d, avancement de %d\n",o,d);
+ if(d != 0 && o != 0) {
+ test_ligne_droite(10*d, -vitesse_deplacement);
+ wait(2);
+ angle_absolut += o;
+ test_rotation_abs(angle_absolut,50);
+ wait(2);
+ }
+ }
+ }
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/chemin.h Sat Feb 23 16:30:08 2019 +0000
@@ -0,0 +1,83 @@
+#ifndef CHEMIN_H
+#define CHEMIN_H
+// C code to implement Priority Queue
+// using Linked List
+// https://www.geeksforgeeks.org/priority-queue-using-linked-list/
+
+// C code for path fining
+// https://github.com/AtsushiSakai/PythonRobotics
+
+//Exemple:
+/*
+int vitesse_deplacement = 200;
+
+calc_distances(20,180,270,180); //x_départ , y_arrivée , x_arrivée, y_arrivée
+Node* commandes = (Node*)malloc(sizeof(Node));
+commandes = traduction_points_commandes(trouver_chemin(20,180,270,180));
+while(!isEmpty(&commandes)){
+ int angle,distance_avancement_cm,_ = 0;
+ peek(&commandes,&angle,&distance_avancement_cm,&_); //on recupere les infos du point
+ pop(&commandes);
+ printf("rotation %d, avancement de %d\n",angle,distance_avancement_cm);
+ if(distance_avancement_cm != 0 && angle != 0) {
+ test_ligne_droite(10*distance_avancement_cm, vitesse_deplacement);
+ test_rotation_rel(angle,vitesse_deplacement);
+ }
+}
+*/
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+
+
+
+
+// Node
+typedef struct node {
+ int x;
+ int y;
+ int distance;
+
+ // Lower values indicate higher priority
+ int priority;
+
+ struct node* next;
+
+} Node;
+
+// Function to Create A New Node
+Node* newNode(int x , int y, int distance, int p);
+
+// Return the value at head
+void peek(Node** head, int*x, int*y, int*distance);
+
+// Removes the element with the
+// highest priority form the list
+void pop(Node** head);
+
+// Function to push according to priority
+void push(Node** head, int x, int y, int distance, int p);
+
+// Function to check is list is empty
+int isEmpty(Node** head);
+
+
+void calc_distances(int ox, int oy, int gx , int gy); //ogigine, goal
+
+Node* trouver_chemin(int ox, int oy, int gx , int gy); //retourne une suite de points , du point de départ au point d'arrivé en évitant les obstacles
+
+Node* traduction_points_commandes(Node* pq);
+
+void afficher_terrain();
+void afficher_terrain(Node* commandes);
+
+int conversion_codage_angles(int o);
+
+
+void aller_a_point(int ox , int oy, int gx , int gy , int vitesse_deplacement = 100);
+
+#endif
+
+
--- a/hardware.cpp Wed Dec 12 20:03:07 2018 +0000
+++ b/hardware.cpp Sat Feb 23 16:30:08 2019 +0000
@@ -8,20 +8,22 @@
// PWM_MAX est définit dans réglage;
bool moteurs_arret = false;
+DigitalIn tirette(D9);
+
XNucleoIHM02A1 *x_nucleo_ihm02a1; //Création d'une entité pour la carte de contôle des pas à pas
L6470_init_t init[L6470DAISYCHAINSIZE] = {
/* First Motor. */
- {
- 9.0, /* Motor supply voltage in V. */
+ {
+ 12.0, /* Motor supply voltage in V. */
400, /* Min number of steps per revolution for the motor. */
- 1.7, /* Max motor phase voltage in A. */
- 3.06, /* Max motor phase voltage in V. */
+ 7.5, /* Max motor phase voltage in A. */
+ 7.06, /* Max motor phase voltage in V. */
300.0, /* Motor initial speed [step/s]. */
500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
- 1500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
- 992.0, /* Motor maximum speed [step/s]. */
- 0.0, /* Motor minimum speed [step/s]. */
+ 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ PWM_MAX, /* Motor maximum speed [step/s]. */
+ PWM_MIN, /* Motor minimum speed [step/s]. */
602.7, /* Motor full-step speed threshold [step/s]. */
3.06, /* Holding kval [V]. */
3.06, /* Constant speed kval [V]. */
@@ -33,7 +35,7 @@
643.1372e-6, /* Deceleration final slope [s/step]. */
0, /* Thermal compensation factor (range [0, 15]). */
3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
- 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ 32, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
0xFF, /* Alarm conditions enable. */
0x2E88 /* Ic configuration. */
@@ -41,15 +43,15 @@
/* Second Motor. */
{
- 9.0, /* Motor supply voltage in V. */
+ 12.0, /* Motor supply voltage in V. */
400, /* Min number of steps per revolution for the motor. */
- 1.7, /* Max motor phase voltage in A. */
- 3.06, /* Max motor phase voltage in V. */
+ 7.5, /* Max motor phase voltage in A. */
+ 7.06, /* Max motor phase voltage in V. */
300.0, /* Motor initial speed [step/s]. */
500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
- 1500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
- 992.0, /* Motor maximum speed [step/s]. */
- 0.0, /* Motor minimum speed [step/s]. */
+ 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ PWM_MAX, /* Motor maximum speed [step/s]. */
+ PWM_MIN, /* Motor minimum speed [step/s]. */
602.7, /* Motor full-step speed threshold [step/s]. */
3.06, /* Holding kval [V]. */
3.06, /* Constant speed kval [V]. */
@@ -61,7 +63,7 @@
643.1372e-6, /* Deceleration final slope [s/step]. */
0, /* Thermal compensation factor (range [0, 15]). */
3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
- 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ 32, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
0xFF, /* Alarm conditions enable. */
0x2E88 /* Ic configuration. */
@@ -72,7 +74,7 @@
DigitalOut led(LED2);
Serial pc(USBTX, USBRX); // tx, rx
-DevSPI dev_spi(D11, D12, D3);
+DevSPI dev_spi(D11, D12, D13); //pour la F746ZG, connecter D13 et D3 par un fil
//Connections codeuses
--- a/hardware.h Wed Dec 12 20:03:07 2018 +0000 +++ b/hardware.h Sat Feb 23 16:30:08 2019 +0000 @@ -1,6 +1,7 @@ #ifndef HARDWARE_H #define HARDWARE_H +extern DigitalIn tirette; void init_hardware(void); void set_PWM_moteur_D(int PWM);
--- a/main.cpp Wed Dec 12 20:03:07 2018 +0000
+++ b/main.cpp Sat Feb 23 16:30:08 2019 +0000
@@ -4,19 +4,29 @@
#include "odometrie.h"
#include "reglages.h"
#include "tests_moteurs.h"
+#include "chemin.h"
int main()
{
//init
+ printf("I'm waking up...\n");
init_odometrie();
init_hardware();
-
+ printf("I'm waked up after init...\n");
+ while(tirette) ; while(!tirette) ;
+ while(tirette) ;
+ //wait(1);
- wait(3);
+ printf("tirette passee\n");
+
- test_ligne_droite(162000, 600);
- test_rotation_rel(90,100);
- test_ligne_droite(74000,300);
+ /*test_ligne_droite(150000, -100);
+ test_rotation_rel(180,50);
+ test_ligne_droite(150000,-100);
+ test_rotation_rel(180,50);*/
+ //test_ligne_droite(20000,-100);
+ //test_rotation_rel(-90,50);
+
/*while(1)
{
@@ -35,7 +45,16 @@
}
test_rotation_abs(0,100);
}*/
-
+
+ //init_terrain();
+ //afficher_terrain();
+
+
+ aller_a_point(20,180,270,180);
+
+ aller_a_point(270,180,20,180);
+
+ test_rotation_rel(180,100);
return 0;
}
--- a/odometrie.cpp Wed Dec 12 20:03:07 2018 +0000
+++ b/odometrie.cpp Sat Feb 23 16:30:08 2019 +0000
@@ -16,7 +16,7 @@
{
x_actuel=X_INIT;
y_actuel=Y_INIT;
- angle=0;
+ angle=THETA_INIT;
nbr_tick_D_prec=0;
nbr_tick_G_prec=0;
}
@@ -75,8 +75,9 @@
x_actuel += (int) (dep_roue_G * cos(angle) + 0.5);
y_actuel += (int) (dep_roue_D * sin(angle) + 0.5);
}
-
+ #ifdef DEBUG_POSITION
printf("tick d : %d, tick g : %d, x : %d, y : %d. angle : %lf\n", nbr_tick_D, nbr_tick_G, x_actuel, y_actuel, angle*180/PI);
+ #endif
}
long int get_x_actuel()
--- a/reglages.h Wed Dec 12 20:03:07 2018 +0000 +++ b/reglages.h Sat Feb 23 16:30:08 2019 +0000 @@ -1,10 +1,13 @@ +//définition du debug +//#define DEBUG_POSITION + //position initiale du robot #define X_INIT 0 #define Y_INIT 0 #define THETA_INIT 0 //propre a chaque robot -#define ECART_ROUE 31800 // a augmenter si l'angle reel est plus grand que l'angle vise +#define ECART_ROUE 30000 // a augmenter si l'angle reel est plus grand que l'angle vise #define DIAMETRE_ROUE 8410 #define DISTANCE_PAR_TICK_D 100000/11600 #define DISTANCE_PAR_TICK_G 100000/11600 @@ -21,4 +24,5 @@ //contraintes mecaniques #define PWM_MAX 900 //PWM maximal, à cette valeur le robot est à sa vitesse maximale admissible +#define PWM_MIN 0 //PWM minimal
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/terrain_precalc.h Sat Feb 23 16:30:08 2019 +0000
@@ -0,0 +1,5 @@
+#define L 200 //Précision au cm
+#define l 300
+
+short distances[l][L] __attribute__ ((aligned (16))); //contient les distances de tous les points du terrain à l'objectif
+const short terrain[l][L] = {{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,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--- a/tests_moteurs.cpp Wed Dec 12 20:03:07 2018 +0000
+++ b/tests_moteurs.cpp Sat Feb 23 16:30:08 2019 +0000
@@ -8,41 +8,43 @@
#include "odometrie.h"
-void test_ligne_droite(long int distance, int vitesse)
+void test_ligne_droite(double distance, int vitesse, double angle_vise)
{
// le robot avance en ligne droite sur une distance donnée, à la vitesse voulue (entre 0 et 900)
motors_on();
- long int x_ini = get_x_actuel();
- long int y_ini = get_y_actuel();
+ double x_ini = get_x_actuel();
+ double y_ini = get_y_actuel();
- long int x_actuel = get_x_actuel();
- long int y_actuel = get_y_actuel();
+ double x_actuel = get_x_actuel();
+ double y_actuel = get_y_actuel();
int vitesse_D = vitesse;
int vitesse_G = vitesse;
double angle = get_angle();
- double angle_vise = get_angle();
+ if(angle_vise == 0.00001) angle_vise = get_angle(); // si on n'a pas passé d'argument pour l'angle, on prend maintient l'angle de départ
- while (pow((double) (x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel), 0.5) < distance) // a revoir : utilisation de sqrt
+ while ((x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel) < distance*distance) // a revoir : utilisation de sqrt
{
angle = get_angle();
- vitesse_G = (int) (vitesse * (1 - 0.05*diff_angle(angle_vise,angle))); // petit asser en angle
- vitesse_D = (int) (vitesse * (1 + 0.05*diff_angle(angle_vise,angle)));
+ vitesse_G = (int) (vitesse * (1 + 0.05*diff_angle(angle_vise,angle))); // petit asser en angle
+ vitesse_D = (int) (vitesse * (1 - 0.05*diff_angle(angle_vise,angle)));
set_PWM_moteur_D(vitesse_D);
set_PWM_moteur_G(vitesse_G);
actualise_position();
x_actuel = get_x_actuel();
y_actuel = get_y_actuel();
- printf("x recu : %ld", x_actuel);// sqrt((x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel)), y_actuel, (x_actuel - x_ini)*(x_actuel - x_ini) + (y_actuel - y_ini)*(y_actuel - y_ini));
-
+ //printf("x recu : %lf xinit : %lf , distance : %lf\n", x_actuel,x_ini,distance);// sqrt((x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel)), y_actuel, (x_actuel - x_ini)*(x_actuel - x_ini) + (y_actuel - y_ini)*(y_actuel - y_ini));
+ //printf("y recu : %lf yinit : %lf , distance : %lf\n\n", y_actuel,y_ini,(x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel), 0.5);
+ //printf("vd : %d , vg : %d\n",vitesse_D,vitesse_G);
+
}
set_PWM_moteur_D(0);
set_PWM_moteur_G(0);
- wait(0.5);
+ //wait(0.5);
motors_stop();
}
@@ -84,7 +86,7 @@
set_PWM_moteur_D(0);
set_PWM_moteur_G(0);
- wait(0.5);
+ //wait(0.5);
motors_stop();
}
--- a/tests_moteurs.h Wed Dec 12 20:03:07 2018 +0000 +++ b/tests_moteurs.h Sat Feb 23 16:30:08 2019 +0000 @@ -4,7 +4,7 @@ //fonctions de débug et de calibrage du robot -void test_ligne_droite(long int distance, int vitesse); +void test_ligne_droite(double distance, int vitesse, double angle_vise=0.00001); void test_rotation_rel(double angle_vise, int vitesse, int nombre = 0); void test_rotation_abs(double angle_vise, int vitesse, int nombre = 0);