Antoine Laurens / Mbed 2 deprecated DEMO22

version2

Dependencies:   BNO055_fusion mbed

Fork of DEMO2 by Antoine Laurens

LOCOMOTION.cpp@20:1da786e205eb, 2016-03-29 (annotated)

Committer:
alaurens
Date:
Tue Mar 29 22:49:05 2016 +0000
Revision:
20:1da786e205eb
Parent:
19:5832e34b7533 
should theoretically work

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 6:0602a9e8118b 1 #include "LOCOMOTION.h"
12104404 15:7729da55873a 2
12104404 15:7729da55873a 3 LOCOMOTION::LOCOMOTION (PinName motor1F, PinName motor1B, PinName motor2F, PinName motor2B, PinName forward1, PinName forward2):
12104404 16:d6f15a13c3aa 4 _m1f(motor1F), _m1b(motor1B), _m2f(motor2F), _m2b(motor2B), _m1dir(forward1), _m2dir(forward2)
12104404 15:7729da55873a 5 {
12104404 15:7729da55873a 6 _m1f=0;
12104404 15:7729da55873a 7 _m1b=0;
12104404 15:7729da55873a 8 _m2f=0;
12104404 15:7729da55873a 9 _m2b=0;
12104404 15:7729da55873a 10 _m1dir=0;
12104404 15:7729da55873a 11 _m2dir=0;
12104404 15:7729da55873a 12 }
12104404 15:7729da55873a 13
12104404 18:f9012e93edb8 14 bool LOCOMOTION::setXPos(int target, int current, int error, int angle)
12104404 17:2f89826b5679 15 {
12104404 17:2f89826b5679 16 //s = 0;
12104404 17:2f89826b5679 17 if(abs(current-target)<=error)
12104404 17:2f89826b5679 18 s=0.07;
12104404 17:2f89826b5679 19 else
12104404 17:2f89826b5679 20 s=((0.17-0.07)*abs(current-target)/FRAME_W)+0.07;
12104404 17:2f89826b5679 21 if(current>target+error) {
12104404 18:f9012e93edb8 22 if(angle==0) {
12104404 18:f9012e93edb8 23 _m1dir=1;
12104404 18:f9012e93edb8 24 _m2dir=1;
12104404 18:f9012e93edb8 25 } else {
12104404 18:f9012e93edb8 26 _m1dir=0;
12104404 18:f9012e93edb8 27 _m2dir=0;
12104404 18:f9012e93edb8 28 }
12104404 17:2f89826b5679 29 _m1f=s;
12104404 17:2f89826b5679 30 _m1b=s;
12104404 17:2f89826b5679 31 _m2f=s;
12104404 17:2f89826b5679 32 _m2b=s;
12104404 17:2f89826b5679 33 } else if(current<target-error) {
12104404 18:f9012e93edb8 34 if(angle==0) {
12104404 18:f9012e93edb8 35 _m1dir=0;
12104404 18:f9012e93edb8 36 _m2dir=0;
12104404 18:f9012e93edb8 37 } else {
12104404 18:f9012e93edb8 38 _m1dir=1;
12104404 18:f9012e93edb8 39 _m2dir=1;
12104404 18:f9012e93edb8 40 }
12104404 17:2f89826b5679 41 _m1f=s;
12104404 17:2f89826b5679 42 _m1b=s;
12104404 17:2f89826b5679 43 _m2f=s;
12104404 17:2f89826b5679 44 _m2b=s;
12104404 17:2f89826b5679 45 } else {
12104404 17:2f89826b5679 46 s=0;
12104404 17:2f89826b5679 47 _m1f=s;
12104404 17:2f89826b5679 48 _m1b=s;
12104404 17:2f89826b5679 49 _m2f=s;
12104404 17:2f89826b5679 50 _m2b=s;
12104404 17:2f89826b5679 51 return true;
12104404 17:2f89826b5679 52 }
12104404 17:2f89826b5679 53 return false;
12104404 17:2f89826b5679 54 }
12104404 17:2f89826b5679 55
12104404 18:f9012e93edb8 56 bool LOCOMOTION::setYPos(int target, int current, int error, int angle)
12104404 17:2f89826b5679 57 {
12104404 17:2f89826b5679 58 //float s = 0;
12104404 17:2f89826b5679 59 if(abs(current-target)<=error)
12104404 17:2f89826b5679 60 s=0.50;
12104404 17:2f89826b5679 61 else
12104404 17:2f89826b5679 62 s=((1-0.50)*abs(current-target)/FRAME_H)+0.50;
12104404 17:2f89826b5679 63 if(current>target+error) {
12104404 18:f9012e93edb8 64 if(angle==0) {
12104404 18:f9012e93edb8 65 _m1f=_m1f*(1+s);
12104404 18:f9012e93edb8 66 _m1b=_m1b*(1+s);
12104404 18:f9012e93edb8 67 } else {
12104404 18:f9012e93edb8 68 _m2f=_m2f*(1+s);
12104404 18:f9012e93edb8 69 _m2b=_m2b*(1+s);
12104404 18:f9012e93edb8 70 }
12104404 17:2f89826b5679 71 } else if(current<target-error) {
12104404 18:f9012e93edb8 72 if(angle==0) {
12104404 18:f9012e93edb8 73 _m2f=_m2f*(1+s);
12104404 18:f9012e93edb8 74 _m2b=_m2b*(1+s);
12104404 18:f9012e93edb8 75 } else {
12104404 18:f9012e93edb8 76 _m1f=_m1f*(1+s);
12104404 18:f9012e93edb8 77 _m1b=_m1b*(1+s);
12104404 18:f9012e93edb8 78 }
12104404 17:2f89826b5679 79 } else {
12104404 17:2f89826b5679 80 s=0;
12104404 18:f9012e93edb8 81
12104404 17:2f89826b5679 82 return true;
12104404 17:2f89826b5679 83 }
12104404 17:2f89826b5679 84 return false;
12104404 17:2f89826b5679 85 }
12104404 17:2f89826b5679 86
12104404 15:7729da55873a 87 bool LOCOMOTION::setAngle(int target, int current, int error, int mode)
12104404 15:7729da55873a 88 {
12104404 17:2f89826b5679 89 s = 0;
12104404 15:7729da55873a 90 int diff = 0;
12104404 15:7729da55873a 91 diff = 180-wrap(target);
12104404 15:7729da55873a 92 if(abs(wrap(current+diff)-180)<=error)
12104404 15:7729da55873a 93 s=SPEED_TURN_MIN;
12104404 15:7729da55873a 94 else
12104404 15:7729da55873a 95 s=((SPEED_TURN_MAX-SPEED_TURN_MIN)*abs(wrap(current+diff)-180)/180)+SPEED_TURN_MIN;
12104404 15:7729da55873a 96 switch(mode) {
12104404 15:7729da55873a 97 case ANGLE_TURN:
12104404 16:d6f15a13c3aa 98 if(wrap(current+diff)>180+error) {
12104404 16:d6f15a13c3aa 99 _m1dir=1;
12104404 16:d6f15a13c3aa 100 _m2dir=0;
12104404 16:d6f15a13c3aa 101 _m1f=s;
12104404 16:d6f15a13c3aa 102 _m1b=s;
12104404 16:d6f15a13c3aa 103 _m2f=s;
12104404 16:d6f15a13c3aa 104 _m2b=s;
12104404 16:d6f15a13c3aa 105 } else if(wrap(current+diff)<180-error) {
12104404 16:d6f15a13c3aa 106 _m1dir=0;
12104404 16:d6f15a13c3aa 107 _m2dir=1;
12104404 16:d6f15a13c3aa 108 _m1f=s;
12104404 16:d6f15a13c3aa 109 _m1b=s;
12104404 16:d6f15a13c3aa 110 _m2f=s;
12104404 16:d6f15a13c3aa 111 _m2b=s;
12104404 16:d6f15a13c3aa 112 } else {
12104404 16:d6f15a13c3aa 113 s=0;
12104404 16:d6f15a13c3aa 114 _m1f=s;
12104404 16:d6f15a13c3aa 115 _m1b=s;
12104404 16:d6f15a13c3aa 116 _m2f=s;
12104404 16:d6f15a13c3aa 117 _m2b=s;
12104404 16:d6f15a13c3aa 118 return true;
12104404 16:d6f15a13c3aa 119 }
12104404 15:7729da55873a 120 break;
12104404 15:7729da55873a 121 case ANGLE_BIAS:
12104404 15:7729da55873a 122
12104404 15:7729da55873a 123 break;
12104404 15:7729da55873a 124 }
12104404 16:d6f15a13c3aa 125 return false;
12104404 15:7729da55873a 126 }
12104404 15:7729da55873a 127
12104404 15:7729da55873a 128 int LOCOMOTION::wrap(int num)
12104404 15:7729da55873a 129 {
12104404 15:7729da55873a 130 return num%360;
alaurens 19:5832e34b7533 131 }
alaurens 19:5832e34b7533 132 void LOCOMOTION::setXstate(int *xCurrState, int *xTarget,bool xGood,bool angleGood,int *angleGoal)
alaurens 19:5832e34b7533 133 {
alaurens 20:1da786e205eb 134 if (*xCurrState==X_INCREASE|| *xCurrState==X_DECREASE) {
alaurens 19:5832e34b7533 135 if(angleGood && xGood) {
alaurens 20:1da786e205eb 136 *xCurrState=X_BACKWARDS;
alaurens 19:5832e34b7533 137
alaurens 19:5832e34b7533 138 }
alaurens 19:5832e34b7533 139 }
alaurens 19:5832e34b7533 140
alaurens 20:1da786e205eb 141 if(*xCurrState==X_BACKWARDS) {
alaurens 19:5832e34b7533 142 if(xGood && angleGood) {
alaurens 19:5832e34b7533 143 if(*angleGoal==0) {
alaurens 20:1da786e205eb 144 *xCurrState=X_INCREASE;
alaurens 19:5832e34b7533 145 } else {
alaurens 20:1da786e205eb 146 *xCurrState=X_DECREASE;
alaurens 19:5832e34b7533 147 }
alaurens 19:5832e34b7533 148 }
alaurens 19:5832e34b7533 149 }
alaurens 19:5832e34b7533 150 switch(*xCurrState) {
alaurens 20:1da786e205eb 151 case X_INCREASE:
alaurens 19:5832e34b7533 152 *angleGoal=180;
alaurens 20:1da786e205eb 153 *xTarget=X_FAR_GOAL;
alaurens 19:5832e34b7533 154 _m1dir=1;
alaurens 19:5832e34b7533 155 _m2dir=1;
alaurens 19:5832e34b7533 156 break;
alaurens 19:5832e34b7533 157
alaurens 20:1da786e205eb 158 case X_DECREASE:
alaurens 19:5832e34b7533 159 *angleGoal=0;
alaurens 20:1da786e205eb 160 *xTarget=X_NEAR_GOAL;
alaurens 19:5832e34b7533 161 _m1dir=1;
alaurens 19:5832e34b7533 162 _m2dir=1;
alaurens 19:5832e34b7533 163 break;
alaurens 19:5832e34b7533 164
alaurens 20:1da786e205eb 165 case X_BACKWARDS:
alaurens 19:5832e34b7533 166 if (*angleGoal==0) {
alaurens 20:1da786e205eb 167 *xTarget=X_NEAR_GOAL+BACKOFF;
alaurens 19:5832e34b7533 168 } else {
alaurens 20:1da786e205eb 169 *xTarget=X_FAR_GOAL-BACKOFF;
alaurens 19:5832e34b7533 170 }
alaurens 19:5832e34b7533 171 _m1dir=0;
alaurens 19:5832e34b7533 172 _m2dir=0;
alaurens 19:5832e34b7533 173 break;
alaurens 19:5832e34b7533 174 }
alaurens 19:5832e34b7533 175 }
alaurens 19:5832e34b7533 176
alaurens 19:5832e34b7533 177 void LOCOMOTION::setAngleTol(int *angleTol,bool yGood, bool xGood)
alaurens 19:5832e34b7533 178 {
alaurens 20:1da786e205eb 179 if (xGood||yGood) {
alaurens 19:5832e34b7533 180 *angleTol=2;
alaurens 19:5832e34b7533 181 } else {
alaurens 19:5832e34b7533 182 *angleTol=10;
alaurens 19:5832e34b7533 183 }
alaurens 19:5832e34b7533 184 }
alaurens 19:5832e34b7533 185
alaurens 19:5832e34b7533 186 void LOCOMOTION::setYgoal(bool xGood,bool angleGood,bool yGood,int *yTarget)
alaurens 19:5832e34b7533 187 {
alaurens 19:5832e34b7533 188 if (xGood && angleGood && yGood) {
alaurens 20:1da786e205eb 189 *yTarget+=Y_INCREMENT;
alaurens 19:5832e34b7533 190 }
alaurens 19:5832e34b7533 191 }
alaurens 19:5832e34b7533 192
alaurens 19:5832e34b7533 193 void LOCOMOTION::check_xya(bool *xGood,bool *yGood,bool *angleGood, int xGoal,int angleGoal,int yGoal,LOCALIZE_xya xya,int xErr, int yErr,int angleErr)
alaurens 19:5832e34b7533 194 {
alaurens 19:5832e34b7533 195 *xGood=abs(xya.x-xGoal)<xErr;
alaurens 19:5832e34b7533 196 *yGood=abs(xya.y-yGoal)<yErr;
alaurens 19:5832e34b7533 197 *angleGood=abs(xya.a-angleGoal)<yErr;
12104404 17:2f89826b5679 198 }