root / branches / simulator / projects / simulator / simulator / core / motion.c @ 1046
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1 | 1006 | bcoltin | #include <stdio.h> |
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2 | 1027 | chihsiuh | #include <stdlib.h> |
3 | 1006 | bcoltin | #include <math.h> |
4 | |||
5 | #include "motion.h" |
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6 | |||
7 | 1010 | bcoltin | #include "robot.h" |
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9 | 1027 | chihsiuh | #define CUTOFF 120 |
10 | #define TIME 1 /*sec*/ |
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11 | 1006 | bcoltin | #define ROBOT_WIDTH 131 /*mm*/ |
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13 | 1020 | bcoltin | #define MOTOR_CONVERSION_FACTOR 10.0 |
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15 | 1027 | chihsiuh | /** move_robot will move a robot from its initial position, (x,y), and theta (in radians) to a new position given speed.
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16 | * (x,y) and theta will be updated by the move_robot function instead of returning a value
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17 | * (x,y) is some kind of absolute position in the "world", (0,0) is the top left of the "world"
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18 | * theta will an angle be between 0 and 2*Pi (0 being faces east and goes clockwise)
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19 | * speed is between 0 and 255, there is some magical cutoff point before the motors actually starts running
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20 | 1006 | bcoltin | * move will return 0 if successful
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21 | **/
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22 | 1010 | bcoltin | int move_robot(Robot* r)
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23 | { |
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24 | short speed1 = r->shared->motor1;
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25 | short speed2 = r->shared->motor2;
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26 | float theta = r->pose.theta;
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27 | 1006 | bcoltin | |
28 | 1010 | bcoltin | if (theta < 0 || theta > 2*M_PI) return 1; |
29 | if (speed1 < 0 || speed1 > 255) return 1; |
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30 | if (speed2 < 0 || speed2 > 255) return 1; |
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31 | 1006 | bcoltin | |
32 | 1010 | bcoltin | /* if speed is lower than the cut off, don't move */
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33 | 1027 | chihsiuh | if (abs(speed1) < CUTOFF) {
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34 | 1010 | bcoltin | speed1 = 0;
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35 | } |
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36 | 1027 | chihsiuh | if (abs(speed2) < CUTOFF) {
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37 | 1010 | bcoltin | speed2 = 0;
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38 | } |
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39 | 1046 | chihsiuh | |
40 | 1010 | bcoltin | double radius;
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41 | if (speed1 == speed2) {
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42 | 1027 | chihsiuh | /* go straight */
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43 | r->pose.x += cos(theta) * speed1 / MOTOR_CONVERSION_FACTOR; |
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44 | r->pose.y += sin(theta) * speed1 / MOTOR_CONVERSION_FACTOR; |
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45 | return 0; |
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46 | 1010 | bcoltin | } |
47 | radius = ROBOT_WIDTH * speed1 / (speed1 - speed2); |
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48 | |||
49 | 1020 | bcoltin | double t = speed1 / radius / MOTOR_CONVERSION_FACTOR;
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50 | 1006 | bcoltin | |
51 | 1020 | bcoltin | double newx = (radius * sin(t)) / MOTOR_CONVERSION_FACTOR;
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52 | double newy = (radius - radius * cos(t)) / MOTOR_CONVERSION_FACTOR;
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53 | 1019 | bcoltin | |
54 | 1010 | bcoltin | r->pose.x += newx * cos(theta); |
55 | r->pose.y += newx * sin(theta); |
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56 | 1006 | bcoltin | |
57 | 1010 | bcoltin | r->pose.x += newy * - sin(theta); |
58 | r->pose.y += newy * cos(theta); |
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59 | 1019 | bcoltin | |
60 | int divide = (t+r->pose.theta)/(2 * M_PI); |
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61 | r->pose.theta = (t+r->pose.theta) - (2 * M_PI * divide);
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62 | 1010 | bcoltin | if (r->pose.theta<0) r->pose.theta += 2 * M_PI; |
63 | |||
64 | return 0; |
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65 | 1006 | bcoltin | } |