version2
Dependencies: BNO055_fusion mbed
Fork of DEMO2 by
LOCOMOTION.cpp
- Committer:
- alaurens
- Date:
- 2016-03-29
- Revision:
- 20:1da786e205eb
- Parent:
- 19:5832e34b7533
File content as of revision 20:1da786e205eb:
#include "LOCOMOTION.h" LOCOMOTION::LOCOMOTION (PinName motor1F, PinName motor1B, PinName motor2F, PinName motor2B, PinName forward1, PinName forward2): _m1f(motor1F), _m1b(motor1B), _m2f(motor2F), _m2b(motor2B), _m1dir(forward1), _m2dir(forward2) { _m1f=0; _m1b=0; _m2f=0; _m2b=0; _m1dir=0; _m2dir=0; } bool LOCOMOTION::setXPos(int target, int current, int error, int angle) { //s = 0; if(abs(current-target)<=error) s=0.07; else s=((0.17-0.07)*abs(current-target)/FRAME_W)+0.07; if(current>target+error) { if(angle==0) { _m1dir=1; _m2dir=1; } else { _m1dir=0; _m2dir=0; } _m1f=s; _m1b=s; _m2f=s; _m2b=s; } else if(current<target-error) { if(angle==0) { _m1dir=0; _m2dir=0; } else { _m1dir=1; _m2dir=1; } _m1f=s; _m1b=s; _m2f=s; _m2b=s; } else { s=0; _m1f=s; _m1b=s; _m2f=s; _m2b=s; return true; } return false; } bool LOCOMOTION::setYPos(int target, int current, int error, int angle) { //float s = 0; if(abs(current-target)<=error) s=0.50; else s=((1-0.50)*abs(current-target)/FRAME_H)+0.50; if(current>target+error) { if(angle==0) { _m1f=_m1f*(1+s); _m1b=_m1b*(1+s); } else { _m2f=_m2f*(1+s); _m2b=_m2b*(1+s); } } else if(current<target-error) { if(angle==0) { _m2f=_m2f*(1+s); _m2b=_m2b*(1+s); } else { _m1f=_m1f*(1+s); _m1b=_m1b*(1+s); } } else { s=0; return true; } return false; } bool LOCOMOTION::setAngle(int target, int current, int error, int mode) { s = 0; int diff = 0; diff = 180-wrap(target); if(abs(wrap(current+diff)-180)<=error) s=SPEED_TURN_MIN; else s=((SPEED_TURN_MAX-SPEED_TURN_MIN)*abs(wrap(current+diff)-180)/180)+SPEED_TURN_MIN; switch(mode) { case ANGLE_TURN: if(wrap(current+diff)>180+error) { _m1dir=1; _m2dir=0; _m1f=s; _m1b=s; _m2f=s; _m2b=s; } else if(wrap(current+diff)<180-error) { _m1dir=0; _m2dir=1; _m1f=s; _m1b=s; _m2f=s; _m2b=s; } else { s=0; _m1f=s; _m1b=s; _m2f=s; _m2b=s; return true; } break; case ANGLE_BIAS: break; } return false; } int LOCOMOTION::wrap(int num) { return num%360; } void LOCOMOTION::setXstate(int *xCurrState, int *xTarget,bool xGood,bool angleGood,int *angleGoal) { if (*xCurrState==X_INCREASE|| *xCurrState==X_DECREASE) { if(angleGood && xGood) { *xCurrState=X_BACKWARDS; } } if(*xCurrState==X_BACKWARDS) { if(xGood && angleGood) { if(*angleGoal==0) { *xCurrState=X_INCREASE; } else { *xCurrState=X_DECREASE; } } } switch(*xCurrState) { case X_INCREASE: *angleGoal=180; *xTarget=X_FAR_GOAL; _m1dir=1; _m2dir=1; break; case X_DECREASE: *angleGoal=0; *xTarget=X_NEAR_GOAL; _m1dir=1; _m2dir=1; break; case X_BACKWARDS: if (*angleGoal==0) { *xTarget=X_NEAR_GOAL+BACKOFF; } else { *xTarget=X_FAR_GOAL-BACKOFF; } _m1dir=0; _m2dir=0; break; } } void LOCOMOTION::setAngleTol(int *angleTol,bool yGood, bool xGood) { if (xGood||yGood) { *angleTol=2; } else { *angleTol=10; } } void LOCOMOTION::setYgoal(bool xGood,bool angleGood,bool yGood,int *yTarget) { if (xGood && angleGood && yGood) { *yTarget+=Y_INCREMENT; } } 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) { *xGood=abs(xya.x-xGoal)<xErr; *yGood=abs(xya.y-yGoal)<yErr; *angleGood=abs(xya.a-angleGoal)<yErr; }