root / branches / simulator / projects / simulator / libsim / move.c @ 1007
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1 | 941 | bcoltin | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | |||
27 | /**
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28 | * @file move.c
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29 | * @brief Functions for moving
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30 | *
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31 | * Implementation of functions for moving the robot.
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | **/
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35 | |||
36 | #include "dragonfly_lib.h" |
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37 | |||
38 | #include "move.h" |
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39 | #include "rangefinder.h" |
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40 | |||
41 | |||
42 | // Internal prototypes
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43 | void translateAngulartoLinear (int velocity, int omega, int* vl, int* vr); |
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44 | |||
45 | // global varaibles for move_avoid
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46 | int d1, d2, d3, d4, d5;
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47 | |||
48 | void move (int velocity, int omega) { |
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49 | int vl = 0; |
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50 | int vr = 0; |
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51 | translateAngulartoLinear(velocity, omega, &vl , &vr ); |
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52 | //
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53 | |||
54 | if (vl < 0) { |
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55 | motor1_set(BACKWARD, -vl); |
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56 | } else {
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57 | motor1_set(FORWARD, vl); |
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58 | } |
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59 | if (vr < 0) { |
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60 | motor2_set(BACKWARD, -vr); |
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61 | } else {
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62 | motor2_set(FORWARD, vr); |
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63 | } |
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64 | } |
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65 | |||
66 | |||
67 | void move_avoid(int velocity, int omega, int strength) { |
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68 | int pControl;
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69 | int vl = 0; |
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70 | int vr = 0; |
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71 | int temp;
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72 | |||
73 | temp=range_read_distance(IR1); |
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74 | d1 = (temp == -1) ? d1 : temp;
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75 | |||
76 | temp=range_read_distance(IR2); |
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77 | d2=(temp == -1) ? d2 : temp;
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78 | |||
79 | temp=range_read_distance(IR3); |
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80 | d3=(temp == -1) ? d3 : temp;
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81 | |||
82 | temp=range_read_distance(IR4); |
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83 | d4=(temp == -1) ? d4 : temp;
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84 | |||
85 | temp=range_read_distance(IR5); |
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86 | d5=(temp == -1) ? d5 : temp;
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87 | |||
88 | /* Avoid obstacles ahead
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89 | if(d2>170)
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90 | v*=-1;
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91 | |||
92 | Naturally slow down if there is something in the way.
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93 | if(d2>150 || d1>180 || d3>180){
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94 | v>>=1;
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95 | */
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96 | |||
97 | //pControl= (((d3-d1) + (d4-d5))*strength)/100;
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98 | pControl= (((d5-d4))*strength)/100;
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99 | omega = (omega*(100-strength))/100 + pControl; |
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100 | translateAngulartoLinear(velocity, omega, &vl , &vr ); |
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101 | |||
102 | if (vl < 0) { |
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103 | motor1_set(BACKWARD, -vl); |
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104 | } else {
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105 | motor1_set(FORWARD, vl); |
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106 | } |
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107 | if (vr < 0) { |
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108 | motor2_set(BACKWARD, -vr); |
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109 | } else {
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110 | motor2_set(FORWARD, vr); |
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111 | } |
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112 | } |
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113 | |||
114 | void translateAngulartoLinear (int velocity, int omega, int* vl, int* vr) { |
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115 | //omega: angle measure, positive couter-clockwise from front.
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116 | // -180 <= omega <= 180
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117 | //velocity: -255 <= velocity <= 255
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118 | |||
119 | long int vltemp, vrtemp; |
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120 | |||
121 | //make sure values are in bounds
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122 | if (velocity < -255 || velocity >255 || omega < -255 || omega > 255) return; |
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123 | |||
124 | //compute
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125 | vrtemp = velocity + omega * 3;
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126 | vltemp = velocity - omega * 3;
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127 | |||
128 | //check to see if max linear velocities have been exceeded.
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129 | if (vrtemp > 255) { |
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130 | vltemp = 255 * vltemp / vrtemp;
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131 | vrtemp = 255;
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132 | } |
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133 | if (vltemp > 255) { |
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134 | vrtemp = 255 * vrtemp / vltemp;
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135 | vltemp = 255;
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136 | } |
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137 | if (vrtemp < -255) { |
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138 | vltemp = -255 * vltemp / vrtemp;
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139 | vrtemp = -255;
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140 | } |
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141 | if (vltemp < -255) { |
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142 | vrtemp = -255 * vrtemp / vltemp;
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143 | vltemp = -255;
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144 | } |
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145 | |||
146 | *vr = (int)vrtemp;
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147 | *vl = (int)vltemp;
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148 | } |