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From: Jérémie D. <Ba...@us...> - 2011-05-27 17:05:27
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via ac58fcf9777f7ccd645c408224c34dc2c5f3ce85 (commit)
from c5fbd9bd2e6001ab07cbe63de4a8859f91ed75c8 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit ac58fcf9777f7ccd645c408224c34dc2c5f3ce85
Author: Jérémie Dimino <je...@di...>
Date: Fri May 27 19:04:35 2011 +0200
[krobot_planner] better path finding
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/tools/krobot_planner.ml b/info/control2011/src/tools/krobot_planner.ml
index d6d1796..f980c86 100644
--- a/info/control2011/src/tools/krobot_planner.ml
+++ b/info/control2011/src/tools/krobot_planner.ml
@@ -98,7 +98,11 @@ module Dijkstra =
let sqr x = x *. x
-let dist = object_radius +. robot_size /. 2.
+(* Distance from borders to the robot. *)
+let border_safety_distance = sqrt (sqr robot_size /. 2.) +. 0.05
+
+(* Minimum distance from the center of objects to the center robot. *)
+let object_safety_distance = object_radius +. robot_size /. 2.
(* Test whether there is an intersection between the line (va, vb) and
one of the objects. *)
@@ -110,7 +114,7 @@ let rec intersection va vb objects =
(* Compute coefficients of the polynomial. *)
let a = sqr (distance va vb)
and b = -2. *. prod (vector va vc) (vector va vb)
- and c = sqr (distance va vc) -. sqr dist in
+ and c = sqr (distance va vc) -. sqr object_safety_distance in
let delta = sqr b -. 4. *. a *. c in
if delta < 0. then
intersection va vb rest
@@ -124,15 +128,29 @@ let rec intersection va vb objects =
let find_path planner src dst =
(* Build bounding boxes. *)
- let r = object_radius +. robot_size in
+ let r1 = object_radius +. robot_size in
+ let r2 = object_radius +. robot_size *. 3. /. 4. in
let vertices =
List.fold_left
(fun set obj ->
- Vertice_set.add { x = obj.x; y = obj.y -. r }
- (Vertice_set.add { x = obj.x +. r; y = obj.y }
- (Vertice_set.add { x = obj.x; y = obj.y +. r }
- (Vertice_set.add { x = obj.x -. r; y = obj.y }
- set))))
+ let add x y set =
+ if (x >= border_safety_distance
+ && x <= world_width -. border_safety_distance
+ && y >= border_safety_distance
+ && y <= world_height -. border_safety_distance) then
+ Vertice_set.add { x; y } set
+ else
+ set
+ in
+ let set = add obj.x (obj.y -. r1) set in
+ let set = add (obj.x +. r1) obj.y set in
+ let set = add obj.x (obj.y +. r1) set in
+ let set = add (obj.x -. r1) obj.y set in
+ let set = add obj.x (obj.y -. r2) set in
+ let set = add (obj.x +. r2) obj.y set in
+ let set = add obj.x (obj.y +. r2) set in
+ let set = add (obj.x -. r2) obj.y set in
+ set)
Vertice_set.empty planner.objects
in
(* Add the source and the destination. *)
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2011-05-26 19:38:34
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via c5fbd9bd2e6001ab07cbe63de4a8859f91ed75c8 (commit)
from 398467100644cc193109027565a75a116aff0151 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit c5fbd9bd2e6001ab07cbe63de4a8859f91ed75c8
Author: Jérémie Dimino <je...@di...>
Date: Thu May 26 21:37:26 2011 +0200
[info] start of path planning
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index eea9438..90561d3 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -153,7 +153,7 @@ Executable "krobot-planner"
Install: true
CompiledObject: best
MainIs: krobot_planner.ml
- BuildDepends: krobot, lwt.syntax
+ BuildDepends: krobot, lwt.syntax, ocamlgraph
Executable "krobot-objects"
Path: src/tools
diff --git a/info/control2011/_tags b/info/control2011/_tags
index 8d7cff0..20c227a 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 727ec33b4060953b9ebbde97c6c14363)
+# DO NOT EDIT (digest: 1d3ff08546f26990d32be2616f7495bc)
# Library krobot
"src/lib": include
"src/lib/krobot.cmxs": use_krobot
@@ -109,9 +109,11 @@
<examples/*.ml{,i}>: pkg_lwt.react
# Executable krobot-planner
<src/tools/krobot_planner.{native,byte}>: use_krobot
+<src/tools/krobot_planner.{native,byte}>: pkg_ocamlgraph
<src/tools/krobot_planner.{native,byte}>: pkg_lwt.unix
<src/tools/krobot_planner.{native,byte}>: pkg_lwt.syntax
<src/tools/krobot_planner.{native,byte}>: pkg_lwt.react
+<src/tools/*.ml{,i}>: pkg_ocamlgraph
# Executable krobot-record
<src/tools/krobot_record.{native,byte}>: use_krobot
<src/tools/krobot_record.{native,byte}>: pkg_lwt.unix
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index c202ad2..33d9d54 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -1,7 +1,7 @@
(* setup.ml generated for the first time by OASIS v0.2.0~alpha1 *)
(* OASIS_START *)
-(* DO NOT EDIT (digest: 79727b7548ae5f100d31519956433b0b) *)
+(* DO NOT EDIT (digest: b50f9201082ebd643759d008620ee0bf) *)
(*
Regenerated by OASIS v0.2.0
Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5575,7 +5575,8 @@ let setup_t =
bs_build_depends =
[
InternalLibrary "krobot";
- FindlibPackage ("lwt.syntax", None)
+ FindlibPackage ("lwt.syntax", None);
+ FindlibPackage ("ocamlgraph", None)
];
bs_build_tools = [ExternalTool "ocamlbuild"];
bs_c_sources = [];
diff --git a/info/control2011/src/lib/krobot_bus.ml b/info/control2011/src/lib/krobot_bus.ml
index 101151b..3d423b8 100644
--- a/info/control2011/src/lib/krobot_bus.ml
+++ b/info/control2011/src/lib/krobot_bus.ml
@@ -32,6 +32,7 @@ type message =
| Trajectory_go of float * float * float * float
| Trajectory_stop
| Trajectory_moving of bool
+ | Trajectory_find_path
| Objects of vertice list
type t = {
@@ -102,6 +103,8 @@ let string_of_message = function
sprintf
"Trajectory_moving %B"
b
+ | Trajectory_find_path ->
+ "Trajectory_find_path"
| Objects objects ->
sprintf
"Objects [%s]"
diff --git a/info/control2011/src/lib/krobot_bus.mli b/info/control2011/src/lib/krobot_bus.mli
index 28a37a2..dd7f2e3 100644
--- a/info/control2011/src/lib/krobot_bus.mli
+++ b/info/control2011/src/lib/krobot_bus.mli
@@ -50,6 +50,8 @@ type message =
(** Stop the current trajectory. *)
| Trajectory_moving of bool
(** Is the robot following a trajectory ? *)
+ | Trajectory_find_path
+ (** Find a path avoiding objects. *)
(** Objects *)
diff --git a/info/control2011/src/lib/krobot_config.ml b/info/control2011/src/lib/krobot_config.ml
index 761a334..9bcbd9c 100644
--- a/info/control2011/src/lib/krobot_config.ml
+++ b/info/control2011/src/lib/krobot_config.ml
@@ -14,3 +14,4 @@ let wheels_diameter = 0.098
let wheels_distance = 0.150
let wheels_position = robot_size /. 2.
let rotary_beacon_index_pos = (4. *. atan 1.) /. 2. (* left side *)
+let object_radius = 0.1
diff --git a/info/control2011/src/lib/krobot_config.mli b/info/control2011/src/lib/krobot_config.mli
index 266daaf..fc140a8 100644
--- a/info/control2011/src/lib/krobot_config.mli
+++ b/info/control2011/src/lib/krobot_config.mli
@@ -31,3 +31,6 @@ val wheels_position : float
val rotary_beacon_index_pos : float
(** The angle of the rotary beacon index angle with respect to the
robot's front *)
+
+val object_radius : float
+ (** Radius of objects. *)
diff --git a/info/control2011/src/tools/krobot_planner.ml b/info/control2011/src/tools/krobot_planner.ml
index b15a336..d6d1796 100644
--- a/info/control2011/src/tools/krobot_planner.ml
+++ b/info/control2011/src/tools/krobot_planner.ml
@@ -59,6 +59,111 @@ type planner = {
}
(* +-----------------------------------------------------------------+
+ | Motion planning |
+ +-----------------------------------------------------------------+ *)
+
+module Vertice_set = Set.Make(struct type t = vertice let compare = compare end)
+module Vertice_map = Map.Make(struct type t = vertice let compare = compare end)
+
+module Dijkstra =
+ Graph.Path.Dijkstra
+ (struct
+ type t = Vertice_set.t Vertice_map.t
+
+ module V = struct
+ type t = vertice
+ let compare = Pervasives.compare
+ let hash = Hashtbl.hash
+ let equal = (=)
+ end
+
+ module E = struct
+ type t = vertice * vertice
+ type label = float
+ let label (a, b) = distance a b
+ let dst (a, b) = b
+ end
+
+ let iter_succ_e f graph v =
+ Vertice_set.iter (fun v' -> f (v, v')) (Vertice_map.find v graph)
+ end)
+ (struct
+ type label = float
+ type t = float
+ let weight d = d
+ let compare a b = compare a b
+ let add a b = a +. b
+ let zero = 0.
+ end)
+
+let sqr x = x *. x
+
+let dist = object_radius +. robot_size /. 2.
+
+(* Test whether there is an intersection between the line (va, vb) and
+ one of the objects. *)
+let rec intersection va vb objects =
+ match objects with
+ | [] ->
+ false
+ | vc :: rest ->
+ (* Compute coefficients of the polynomial. *)
+ let a = sqr (distance va vb)
+ and b = -2. *. prod (vector va vc) (vector va vb)
+ and c = sqr (distance va vc) -. sqr dist in
+ let delta = sqr b -. 4. *. a *. c in
+ if delta < 0. then
+ intersection va vb rest
+ else
+ let k1 = (-. b -. sqrt delta) /. (2. *. a)
+ and k2 = (-. b +. sqrt delta) /. (2. *. a) in
+ if (k1 >= 0. && k1 <= 1.) || (k2 >= 0. && k2 <= 1.) then
+ true
+ else
+ intersection va vb rest
+
+let find_path planner src dst =
+ (* Build bounding boxes. *)
+ let r = object_radius +. robot_size in
+ let vertices =
+ List.fold_left
+ (fun set obj ->
+ Vertice_set.add { x = obj.x; y = obj.y -. r }
+ (Vertice_set.add { x = obj.x +. r; y = obj.y }
+ (Vertice_set.add { x = obj.x; y = obj.y +. r }
+ (Vertice_set.add { x = obj.x -. r; y = obj.y }
+ set))))
+ Vertice_set.empty planner.objects
+ in
+ (* Add the source and the destination. *)
+ let vertices = Vertice_set.add src (Vertice_set.add dst vertices) in
+ (* Build the graph. *)
+ let graph =
+ Vertice_set.fold
+ (fun va map ->
+ let successors =
+ Vertice_set.fold
+ (fun vb set ->
+ if va <> vb then
+ if intersection va vb planner.objects then
+ set
+ else
+ Vertice_set.add vb set
+ else
+ set)
+ vertices Vertice_set.empty
+ in
+ Vertice_map.add va successors map)
+ vertices Vertice_map.empty
+ in
+ try
+ (* Compute the shortest path. *)
+ let path, weight = Dijkstra.shortest_path graph src dst in
+ List.map (fun (a, b) -> b) path
+ with Not_found ->
+ [dst]
+
+(* +-----------------------------------------------------------------+
| Primitives |
+-----------------------------------------------------------------+ *)
@@ -292,6 +397,15 @@ let handle_message planner (timestamp, message) =
set_vertices planner [];
ignore (Krobot_message.send planner.bus (Unix.gettimeofday (), Motor_stop(1.0,0.0)))
+ | Trajectory_find_path ->
+ if not planner.moving then begin
+ match planner.vertices with
+ | v :: _ ->
+ set_vertices planner (find_path planner planner.position v)
+ | _ ->
+ ()
+ end
+
| Objects l ->
planner.objects <- l
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 98a36fc..ea98946 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -531,6 +531,13 @@ lwt () =
false));
ignore
+ (ui#button_find#event#connect#button_release
+ (fun ev ->
+ if GdkEvent.Button.button ev = 1 then
+ ignore (Krobot_bus.send viewer.bus (Unix.gettimeofday (), Trajectory_find_path));
+ false));
+
+ ignore
(ui#button_go#event#connect#button_release
(fun ev ->
if GdkEvent.Button.button ev = 1 then
diff --git a/info/control2011/src/tools/krobot_viewer_ui.glade b/info/control2011/src/tools/krobot_viewer_ui.glade
index b4facd3..351e0c4 100644
--- a/info/control2011/src/tools/krobot_viewer_ui.glade
+++ b/info/control2011/src/tools/krobot_viewer_ui.glade
@@ -200,7 +200,7 @@
<child>
<widget class="GtkTable" id="table2">
<property name="visible">True</property>
- <property name="n_rows">3</property>
+ <property name="n_rows">4</property>
<property name="n_columns">2</property>
<child>
<widget class="GtkButton" id="button_clear">
@@ -230,8 +230,8 @@
<property name="receives_default">True</property>
</widget>
<packing>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
</packing>
</child>
<child>
@@ -244,8 +244,8 @@
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
</packing>
</child>
<child>
@@ -256,8 +256,8 @@
<property name="receives_default">True</property>
</widget>
<packing>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
</packing>
</child>
<child>
@@ -270,8 +270,23 @@
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
+ </packing>
+ </child>
+ <child>
+ <placeholder/>
+ </child>
+ <child>
+ <widget class="GtkButton" id="button_find">
+ <property name="label" translatable="yes">Find a path</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="receives_default">True</property>
+ </widget>
+ <packing>
+ <property name="top_attach">1</property>
+ <property name="bottom_attach">2</property>
</packing>
</child>
</widget>
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2011-05-25 23:08:30
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 398467100644cc193109027565a75a116aff0151 (commit)
from 7ef6ea143df1f677446d35fa3648b018f63b3a71 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 398467100644cc193109027565a75a116aff0151
Author: Olivier BICHLER <oli...@cr...>
Date: Thu May 26 01:08:03 2011 +0200
[Alim AX12] Added PDF export
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Alim_AX12/PCB/PDF/Bottom Layer.pdf b/elec/boards/Alim_AX12/PCB/PDF/Bottom Layer.pdf
new file mode 100644
index 0000000..b4d8035
Binary files /dev/null and b/elec/boards/Alim_AX12/PCB/PDF/Bottom Layer.pdf differ
diff --git a/elec/boards/Alim_AX12/PCB/PDF/Drill Drawing.pdf b/elec/boards/Alim_AX12/PCB/PDF/Drill Drawing.pdf
new file mode 100644
index 0000000..974d1ff
Binary files /dev/null and b/elec/boards/Alim_AX12/PCB/PDF/Drill Drawing.pdf differ
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2011-05-25 21:19:03
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 7ef6ea143df1f677446d35fa3648b018f63b3a71 (commit)
from 74b082d486517c5bcaaf64251587299524b0cf54 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 7ef6ea143df1f677446d35fa3648b018f63b3a71
Author: Olivier BICHLER <oli...@cr...>
Date: Wed May 25 23:18:31 2011 +0200
[Alim AX12] First board revision draft
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Alim_AX12/PCB/ALIM_AX12-1_0.MAX b/elec/boards/Alim_AX12/PCB/ALIM_AX12-1_0.MAX
new file mode 100644
index 0000000..1b1408a
Binary files /dev/null and b/elec/boards/Alim_AX12/PCB/ALIM_AX12-1_0.MAX differ
diff --git a/elec/boards/Alim_AX12/PCB/ALIM_AX12.MNL b/elec/boards/Alim_AX12/PCB/ALIM_AX12.MNL
new file mode 100644
index 0000000..5f4d9d4
Binary files /dev/null and b/elec/boards/Alim_AX12/PCB/ALIM_AX12.MNL differ
diff --git a/elec/boards/Alim_AX12/Schematic/ALIM_AX12.DSN b/elec/boards/Alim_AX12/Schematic/ALIM_AX12.DSN
new file mode 100644
index 0000000..b54028f
Binary files /dev/null and b/elec/boards/Alim_AX12/Schematic/ALIM_AX12.DSN differ
diff --git a/elec/boards/Alim_AX12/Schematic/ALIM_AX12_0.DBK b/elec/boards/Alim_AX12/Schematic/ALIM_AX12_0.DBK
new file mode 100644
index 0000000..0514567
Binary files /dev/null and b/elec/boards/Alim_AX12/Schematic/ALIM_AX12_0.DBK differ
diff --git a/elec/boards/Alim_AX12/Schematic/Alim_AX12.opj b/elec/boards/Alim_AX12/Schematic/Alim_AX12.opj
new file mode 100644
index 0000000..3de2b31
--- /dev/null
+++ b/elec/boards/Alim_AX12/Schematic/Alim_AX12.opj
@@ -0,0 +1,87 @@
+(ExpressProject "Alim_AX12"
+ (ProjectVersion "19981106")
+ (ProjectType "Analog or A/D Mixed Mode")
+ (Folder "Design Resources"
+ (Folder "Library"
+ (File "c:\krobot\elec\lib\orcad\krobot.olb"
+ (Type "Schematic Library")))
+ (NoModify)
+ (File ".\alim_ax12.dsn"
+ (Type "Schematic Design"))
+ (BuildFileAddedOrDeleted "x")
+ (CompileFileAddedOrDeleted "x")
+ (Netlist_TAB "3")
+ (LAYOUT_Netlist_File "C:\KROBOT\ELEC\BOARDS\ALIM_AX12\PCB\ALIM_AX12.MNL")
+ (LAYOUT_PCB_Footprint "{PCB Footprint}")
+ (FALSE)
+ (LAYOUT_Units "0"))
+ (Folder "Outputs"
+ (File "..\pcb\alim_ax12.mnl"
+ (Type "LAYOUT Netlist File")))
+ (Folder "PSpice Resources"
+ (Folder "Simulation Profiles")
+ (Folder "Model Libraries"
+ (Sort User))
+ (Folder "Stimulus Files"
+ (Sort User))
+ (Folder "Include Files"
+ (Sort User)))
+ (DefaultLibraryBrowseDirectory "library\PSpice")
+ (PartMRUSelector
+ (CON3
+ (FullPartName "CON3.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CONNECTOR.OLB")
+ (DeviceIndex "0"))
+ (CON2
+ (FullPartName "CON2.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CONNECTOR.OLB")
+ (DeviceIndex "0"))
+ (R
+ (FullPartName "R.Normal")
+ (LibraryName
+ "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\PSPICE\ANALOG.OLB")
+ (DeviceIndex "0"))
+ (C
+ (FullPartName "C.Normal")
+ (LibraryName
+ "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\PSPICE\ANALOG.OLB")
+ (DeviceIndex "0"))
+ ("CAP POL"
+ (FullPartName "CAP POL.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\DISCRETE.OLB")
+ (DeviceIndex "0"))
+ (GND
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CAPSYM.OLB")
+ (DeviceIndex "0"))
+ (PTN78020W
+ (FullPartName "PTN78020W.Normal")
+ (LibraryName "C:\KROBOT\ELEC\LIB\ORCAD\KROBOT.OLB")
+ (DeviceIndex "0")))
+ (GlobalState
+ (FileView
+ (Path "Design Resources")
+ (Path "Design Resources"
+ "C:\krobot\elec\boards\Alim_AX12\Schematic\alim_ax12.dsn")
+ (Path "Design Resources"
+ "C:\krobot\elec\boards\Alim_AX12\Schematic\alim_ax12.dsn" "SCHEMATIC1")
+ (Path "Outputs")
+ (Select "Design Resources"
+ "C:\krobot\elec\boards\Alim_AX12\Schematic\alim_ax12.dsn" "SCHEMATIC1"
+ "Schematic"))
+ (HierarchyView)
+ (Doc
+ (Type "COrCapturePMDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -1 -1 0 318 0 751"))
+ (Tab 0))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -1 -1 318 1884 0 1068")
+ (Scroll "0 0")
+ (Zoom "136")
+ (Occurrence "/"))
+ (Path "C:\KROBOT\ELEC\BOARDS\ALIM_AX12\SCHEMATIC\ALIM_AX12.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Schematic")))
+ (MPSSessionName "Olivier"))
diff --git a/elec/boards/Alim_AX12/Schematic/PDF/Alim_AX12-1.0.pdf b/elec/boards/Alim_AX12/Schematic/PDF/Alim_AX12-1.0.pdf
new file mode 100644
index 0000000..b06da08
Binary files /dev/null and b/elec/boards/Alim_AX12/Schematic/PDF/Alim_AX12-1.0.pdf differ
diff --git a/elec/lib/OrCAD/KROBOT.LLB b/elec/lib/OrCAD/KROBOT.LLB
index 3d38f13..c61cc1f 100644
Binary files a/elec/lib/OrCAD/KROBOT.LLB and b/elec/lib/OrCAD/KROBOT.LLB differ
diff --git a/elec/lib/OrCAD/KROBOT.OLB b/elec/lib/OrCAD/KROBOT.OLB
index 63ada8a..1219baa 100644
Binary files a/elec/lib/OrCAD/KROBOT.OLB and b/elec/lib/OrCAD/KROBOT.OLB differ
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2011-05-25 19:18:17
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 74b082d486517c5bcaaf64251587299524b0cf54 (commit)
from b3d20062e69f317da0894f7b78746c5cf59dd320 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 74b082d486517c5bcaaf64251587299524b0cf54
Author: Jérémie Dimino <je...@di...>
Date: Sat May 21 21:47:56 2011 +0200
[vision] fix bugs
-----------------------------------------------------------------------
Changes:
diff --git a/info/vision/coupe2011/Makefile b/info/vision/coupe2011/Makefile
index 277fe19..838279c 100644
--- a/info/vision/coupe2011/Makefile
+++ b/info/vision/coupe2011/Makefile
@@ -1,24 +1,9 @@
OBJECTS = camfilter capture capturevideo findBallse fiteellipse_cam fiteellipse_camfilter
+CC = g++
+CFLAGS = -ggdb `pkg-config --cflags opencv`
+LDFLAGS = `pkg-config --libs opencv`
all: $(OBJECTS)
clean:
rm -f $(OBJECTS)
-
-camfilter: camfilter.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-capture: capture.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-capturevideo: capturevideo.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-findBallse: findBallse.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-fiteellipse_cam: fiteellipse_cam.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-fiteellipse_camfilter: fiteellipse_camfilter.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
\ No newline at end of file
diff --git a/info/vision/coupe2011/findBallse.c b/info/vision/coupe2011/findBallse.c
index a97c54a..8c98664 100644
--- a/info/vision/coupe2011/findBallse.c
+++ b/info/vision/coupe2011/findBallse.c
@@ -1,3 +1,13 @@
+/*
+ * findBallse.c
+ * ------------
+ * Copyright : (c) 2008, Xavier Lagorce <la...@cr...>
+ * (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ */
+
#include "cv.h"
#include "highgui.h"
#include <math.h>
@@ -5,7 +15,9 @@
#include <ctype.h>
#include <err.h>
-#define min(a,b) (((a) < (b)) ? (a) : (b))
+/* +-----------------------------------------------------------------+
+ | Parameters |
+ +-----------------------------------------------------------------+ */
/* The parameters of the color to find in images. */
struct color_params {
@@ -17,14 +29,15 @@ struct color_params {
/* Global parameters. */
struct color_params params;
-// Load the source image. HighGUI use.
+/* Load the source image. HighGUI use. */
IplImage *image01 = 0, *image02 = 0, *image03 = 0, *imCont = 0, *imFill = 0, *imHSV = 0;
-int affichage = 0;
-int slider_pos;
+/* Whether to display the result on the screen or not using HighGUI. */
+int display = 0;
-void process_image();
-int in_radius(int val, int center, int radius, int max);
+/* +-----------------------------------------------------------------+
+ | Config file parsing |
+ +-----------------------------------------------------------------+ */
/* Parse the configuration file and store the result into params. */
void parse_config(char *file_name)
@@ -78,82 +91,15 @@ void parse_config(char *file_name)
fclose(fp);
}
-int main( int argc, char** argv )
-{
- int source, c, quit=0;
- CvCapture *capture = NULL;
- FILE *fichier;
-
- // Traitement des paramètres de ligne de commande
- if (argc < 2)
- {
- printf("argv[1] : chemin du fichier de paramètres\n");
- printf("argv[2] : (optionnel) si différent de 0, affiche une fenêtre\n");
- printf("argv[3] : (optionnel) numéro de la webcam à utiliser\n");
- return 1;
- }
-
- /* Parse configuration. */
- parse_config(argv[1]);
-
- affichage = argc >= 3 ? atoi(argv[2]) : 0;
- source = argc >= 4 ? atoi(argv[3]) : 0;
-
- // Ouvre la webcam
- capture = cvCaptureFromCAM(source);
-
- // Create window
- if (affichage != 0)
- cvNamedWindow("Result", 1);
-
- // Récupère une image de la webcam
- image01 = cvQueryFrame(capture);
-
- // Création de l'image en niveaux de gris à la taile de l'image prise par la webcam
- image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
-
- // Même chose avec l'image pour conversion
- imHSV = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
-
- while (!quit)
- {
- // Récupère une image de la webcam
- image01 = cvQueryFrame(capture);
+/* +-----------------------------------------------------------------+
+ | Image processing |
+ +-----------------------------------------------------------------+ */
- process_image();
-
- // Show the image
- if (affichage != 0)
- cvShowImage("Result", imCont);
-
- // Wait for a key stroke; the same function arranges events processing
- c = (char)cvWaitKey(10);
-
- switch (c)
- {
- case 'q':
- quit = 1;
- break;
- }
-
- cvReleaseImage(&imCont);
- cvReleaseImage(&imFill);
- }
-
-
- // On release la mémoire
- cvReleaseCapture(&capture);
-
- cvReleaseImage(&image02);
- cvReleaseImage(&image03);
- cvReleaseImage(&imHSV);
- cvReleaseImage(&imFill);
- cvReleaseImage(&imCont);
-
- if (affichage != 0)
- cvDestroyWindow("Result");
-
- return 0;
+int in_radius(int val, int center, int radius, int max)
+{
+ int d;
+ d = abs(val - center);
+ return (d <= radius) || (max - d <= radius);
}
// This function the balls,
@@ -170,7 +116,7 @@ void process_image()
cvCvtColor(image01, imHSV, CV_BGR2HSV);
// Génération de l'image avec les résultats
- if (affichage != 0)
+ if (display != 0)
{
imCont = cvCloneImage(image01);
cvZero(imCont);
@@ -213,19 +159,19 @@ void process_image()
stor = cvCreateMemStorage(0);
cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
- // Threshold the source image. This needful for cvFindContours().
- cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );
+ if (cont) {
+ // Threshold the source image. This needful for cvFindContours().
+ cvThreshold( image03, image02, params.threshold, 255, CV_THRESH_BINARY );
- // Find all contours.
- cvFindContours( image02, stor, &cont, sizeof(CvContour),
- CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
+ // Find all contours.
+ cvFindContours( image02, stor, &cont, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
- // Clear image. IPL use.
- cvZero(image02);
+ // Clear image. IPL use.
+ cvZero(image02);
- // This cycle draw all contours and approximate it by ellipses.
- for(;cont;cont = cont->h_next)
- {
+ // This cycle draw all contours and approximate it by ellipses.
+ for(;cont;cont = cont->h_next) {
int i; // Indicator of cycle.
int count = cont->total; // This is number point in contour
CvPoint center;
@@ -246,11 +192,10 @@ void process_image()
cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
// Convert CvPoint set to CvBox2D32f set.
- for(i=0; i<count; i++)
- {
- PointArray2D32f[i].x = (float)PointArray[i].x;
- PointArray2D32f[i].y = (float)PointArray[i].y;
- }
+ for(i=0; i<count; i++) {
+ PointArray2D32f[i].x = (float)PointArray[i].x;
+ PointArray2D32f[i].y = (float)PointArray[i].y;
+ }
// Fits ellipse to current contour.
cvFitEllipse(PointArray2D32f, count, box);
@@ -265,8 +210,11 @@ void process_image()
// On ne dessine le contour et l'ellipse que si son rayon est dans les bornes
meanRad = (size.width + size.height) / 2;
- if (meanRad >= params.minCont && meanRad <= params.maxCont)
- {
+ if (meanRad >= params.minCont && meanRad <= params.maxCont) {
+ /* Print ellipsis parameters on stdout. */
+ printf("%d %d %d %d %f\n", center.x, center.y, size.width, size.height, box->angle);
+
+ if (display) {
// Draw current contour.
cvDrawContours(imCont,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
@@ -275,24 +223,103 @@ void process_image()
box->angle, 0, 360,
CV_RGB(255,0,0), 1, CV_AA, 0);
}
+ }
// Free memory.
- free(imCont->roi); imCont->roi = NULL;
free(PointArray);
free(PointArray2D32f);
free(box);
-
}
+ }
// On libère la mémoire
+ if (display) {
+ free(imCont->roi);
+ imCont->roi = NULL;
+ }
cvReleaseMemStorage(&stor);
cvReleaseImage(&image02);
cvReleaseImage(&imFill);
}
-int in_radius(int val, int center, int radius, int max)
+/* +-----------------------------------------------------------------+
+ | Entry point |
+ +-----------------------------------------------------------------+ */
+
+int main( int argc, char** argv )
{
- int d;
- d = abs(val - center);
- return min(d,max - d) <= radius;
+ int source, c, quit=0;
+ CvCapture *capture = NULL;
+ FILE *fichier;
+
+ // Traitement des paramètres de ligne de commande
+ if (argc < 2)
+ {
+ printf("argv[1] : chemin du fichier de paramètres\n");
+ printf("argv[2] : (optionnel) si différent de 0, affiche une fenêtre\n");
+ printf("argv[3] : (optionnel) numéro de la webcam à utiliser\n");
+ return 1;
+ }
+
+ /* Parse configuration. */
+ parse_config(argv[1]);
+
+ display = argc >= 3 ? atoi(argv[2]) : 0;
+ source = argc >= 4 ? atoi(argv[3]) : 0;
+
+ // Ouvre la webcam
+ capture = cvCaptureFromCAM(source);
+
+ // Create window
+ if (display != 0)
+ cvNamedWindow("Result", 1);
+
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ // Création de l'image en niveaux de gris à la taile de l'image prise par la webcam
+ image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
+
+ // Même chose avec l'image pour conversion
+ imHSV = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
+
+ while (!quit)
+ {
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ process_image();
+
+ // Show the image
+ if (display != 0) {
+ cvShowImage("Source", image01);
+ cvShowImage("Result", imCont);
+ }
+
+ // Wait for a key stroke; the same function arranges events processing
+ c = (char)cvWaitKey(10);
+
+ switch (c)
+ {
+ case 'q':
+ quit = 1;
+ break;
+ }
+
+ cvReleaseImage(&imCont);
+ }
+
+ // On release la mémoire
+ cvReleaseCapture(&capture);
+
+ cvReleaseImage(&image02);
+ cvReleaseImage(&image03);
+ cvReleaseImage(&imHSV);
+ cvReleaseImage(&imFill);
+ cvReleaseImage(&imCont);
+
+ if (display != 0)
+ cvDestroyWindow("Result");
+
+ return 0;
}
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2011-05-21 17:27:58
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via b3d20062e69f317da0894f7b78746c5cf59dd320 (commit)
from fd338215ec279f96b2992d7faf8e26fe866fbefe (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit b3d20062e69f317da0894f7b78746c5cf59dd320
Author: Jérémie Dimino <je...@di...>
Date: Sat May 21 19:26:51 2011 +0200
[vision] copy the coupe2008 folder to coupe2011 and add config file parsing to findBalles
-----------------------------------------------------------------------
Changes:
diff --git a/info/vision/coupe2011/Makefile b/info/vision/coupe2011/Makefile
new file mode 100644
index 0000000..277fe19
--- /dev/null
+++ b/info/vision/coupe2011/Makefile
@@ -0,0 +1,24 @@
+OBJECTS = camfilter capture capturevideo findBallse fiteellipse_cam fiteellipse_camfilter
+
+all: $(OBJECTS)
+
+clean:
+ rm -f $(OBJECTS)
+
+camfilter: camfilter.c
+ $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
+
+capture: capture.c
+ $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
+
+capturevideo: capturevideo.c
+ $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
+
+findBallse: findBallse.c
+ $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
+
+fiteellipse_cam: fiteellipse_cam.c
+ $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
+
+fiteellipse_camfilter: fiteellipse_camfilter.c
+ $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
\ No newline at end of file
diff --git a/info/vision/coupe2011/camfilter.c b/info/vision/coupe2011/camfilter.c
new file mode 100644
index 0000000..f90c95f
--- /dev/null
+++ b/info/vision/coupe2011/camfilter.c
@@ -0,0 +1,283 @@
+#include <cv.h>
+#include <highgui.h>
+#include <math.h>
+#include <stdio.h>
+
+int slider_pos = 70, minCont = 20, maxCont = 100;
+int cenH=90, radH=180, minS=0, maxS=255, minV=0, maxV=255;
+
+// Load the source image. HighGUI use.
+IplImage *image01 = 0, *image02 = 0, *image03 = 0;
+IplImage *imH = 0, *imS = 0, *imV = 0, *imHSV = 0, *imFil = 0, *imCont = 0;
+
+void process_image(int h);
+int in_radius(int val, int center, int radius, int max);
+
+int main( int argc, char** argv )
+{
+ int ncams, source, c, quit=0;
+ CvCapture *capture = NULL;
+
+ // Ouvre la webcam
+ ncams = (argc >= 2 ? atoi(argv[1]) : 1);
+ source = (argc >= 3 ? atoi(argv[2]) : 0);
+ capture = cvCaptureFromCAM(source);
+
+ // Create windows.
+ cvNamedWindow("H",1);
+ cvNamedWindow("S",1);
+ cvNamedWindow("V",1);
+ cvNamedWindow("Source", 1);
+ cvNamedWindow("Filtered",1);
+ cvNamedWindow("Result", 1);
+
+ // Create toolbars. HighGUI use.
+ cvCreateTrackbar( "Threshold", "Result", &slider_pos, 255, NULL);
+ cvCreateTrackbar( "Min radius", "Result", &minCont, 255, NULL);
+ cvCreateTrackbar( "Max radius", "Result", &maxCont, 255, NULL);
+
+ cvCreateTrackbar("Center", "H", &cenH, 180, NULL);
+ cvCreateTrackbar("Radius", "H", &radH, 180, NULL);
+ cvCreateTrackbar("Min", "S", &minS, 255, NULL);
+ cvCreateTrackbar("Max", "S", &maxS, 255, NULL);
+ cvCreateTrackbar("Min", "V", &minV, 255, NULL);
+ cvCreateTrackbar("Max", "V", &maxV, 255, NULL);
+
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ // Création de l'image03 à la taile de l'image prise par la webcam
+ image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
+ imH = cvCloneImage(image03); cvZero(imH);
+ imS = cvCloneImage(image03); cvZero(imS);
+ imV = cvCloneImage(image03); cvZero(imV);
+
+ // Même chose avec image05
+ imHSV = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
+
+ while (!quit)
+ {
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ process_image(0);
+
+ // Show the images.
+ cvShowImage("H", imH);
+ cvShowImage("S", imS);
+ cvShowImage("V", imV);
+ cvShowImage("Source", image01);
+ cvShowImage("Filtered", imFil);
+ cvShowImage("Result", imCont);
+
+ // Wait for a key stroke; the same function arranges events processing
+ c = (char)cvWaitKey(10);
+
+ switch (c)
+ {
+ case 'c':
+ source = (source+1) % ncams;
+ cvReleaseCapture(&capture);
+ capture = cvCaptureFromCAM(source);
+ cvReleaseImage(&image03);
+ image01 = cvQueryFrame(capture);
+ image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
+ imHSV = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
+ imH = cvCloneImage(image03);
+ imS = cvCloneImage(image03);
+ imV = cvCloneImage(image03);
+ break;
+ case 'p':
+ printf("\nH (center,radius) : (%d,%d)\n", cenH, radH);
+ printf("S (min,max) : (%d,%d)\n", minS, maxS);
+ printf("V (min,max) : (%d,%d)\n", minV, maxV);
+ printf("Threshold : %d\n", slider_pos);
+ printf("Sort radius (min,max) : (%d,%d)\n", minCont, maxCont);
+ break;
+ case 'P':
+ putchar('\n');
+ printf("centH = %d\n", cenH);
+ printf("radH = %d\n", radH);
+ printf("minS = %d\n", minS);
+ printf("maxS = %d\n", maxS);
+ printf("minV = %d\n", minV);
+ printf("maxV = %d\n", maxV);
+ printf("threshold = %d\n", slider_pos);
+ printf("minCont = %d\n", minCont);
+ printf("maxCont = %d\n", maxCont);
+ break;
+ case 'q':
+ quit = 1;
+ break;
+ }
+
+ cvReleaseImage(&imCont);
+ cvReleaseImage(&imFil);
+ }
+
+
+ // On release la mémoire
+ cvReleaseCapture(&capture);
+
+ cvReleaseImage(&image02);
+ cvReleaseImage(&image03);
+ cvReleaseImage(&imH);
+ cvReleaseImage(&imS);
+ cvReleaseImage(&imV);
+ cvReleaseImage(&imHSV);
+ cvReleaseImage(&imFil);
+ cvReleaseImage(&imCont);
+
+ cvDestroyWindow("H");
+ cvDestroyWindow("S");
+ cvDestroyWindow("V");
+ cvDestroyWindow("Source");
+ cvDestroyWindow("Result");
+
+ return 0;
+}
+
+// Define trackbar callback functon. This function find contours,
+// draw it and approximate it by ellipses.
+void process_image(int h)
+{
+ CvMemStorage* stor;
+ CvSeq* cont;
+ CvBox2D32f* box;
+ CvPoint* PointArray;
+ CvPoint2D32f* PointArray2D32f;
+ int i, meanRad;
+
+ // Filtre de couleur
+ cvCvtColor(image01, imHSV, CV_BGR2HSV);
+ imFil = cvCloneImage(image01);
+ imCont = cvCloneImage(image01);
+
+ // Génération des images H,S,V
+ for (i=0 ; i < imHSV->width*imHSV->height; i++)
+ {
+ imH->imageData[i] = in_radius(imHSV->imageData[3*i], cenH, radH, 180) ? 255 : 0;
+ imS->imageData[i] = (((uchar)imHSV->imageData[3*i+1] >= minS) && ((uchar)imHSV->imageData[3*i+1] <= maxS)) ? 255 : 0;
+ imV->imageData[i] = (((uchar)imHSV->imageData[3*i+2] >= minV) && ((uchar)imHSV->imageData[3*i+2] <= maxV)) ? 255 : 0;
+ }
+
+ for (i=0 ; i < imFil->width*imFil->height; i++)
+ {
+ if (in_radius(imHSV->imageData[3*i], cenH, radH, 180) &&
+ (uchar)imHSV->imageData[3*i+1] >= minS && (uchar)imHSV->imageData[3*i+1] <= maxS &&
+ (uchar)imHSV->imageData[3*i+2] >= minV && (uchar)imHSV->imageData[3*i+2] <= maxV )
+ {
+ // On laisse la couleur du pixel
+ }
+ else
+ {
+ // sinon on l'efface
+ imFil->imageData[3*i ] = 0;
+ imFil->imageData[3*i+1] = 0;
+ imFil->imageData[3*i+2] = 0;
+ }
+ }
+
+ // Conversion en niveaux de gris de l'image filtrée
+ cvCvtColor(imFil, image03, CV_BGR2GRAY);
+
+ // Create the destination images
+ image02 = cvCloneImage( image03 );
+
+ // Create dynamic memory storage and sequence.
+ stor = cvCreateMemStorage(0);
+ cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
+
+ // Threshold the source image. This needful for cvFindContours().
+ cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );
+
+ // Find all contours.
+ cvFindContours( image02, stor, &cont, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
+
+ // Clear images. IPL use.
+ cvZero(image02);
+ cvZero(imCont);
+
+ // On fixe la ROI de l'image pour ne pas dessiner à l'extérieur
+ imCont->roi = (_IplROI*)malloc(sizeof(IplROI));
+ imCont->roi->coi = 0;
+ imCont->roi->xOffset = 0;
+ imCont->roi->yOffset = 0;
+ imCont->roi->width = imCont->width;
+ imCont->roi->height = imCont->height;
+
+ // This cycle draw all contours and approximate it by ellipses.
+ for(;cont;cont = cont->h_next)
+ {
+ int i; // Indicator of cycle.
+ int count = cont->total; // This is number point in contour
+ CvPoint center;
+ CvSize size;
+
+ // Number point must be more than or equal to 6 (for cvFitEllipse_32f).
+ if( count < 6 )
+ continue;
+
+ // Alloc memory for contour point set.
+ PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
+ PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
+
+ // Alloc memory for ellipse data.
+ box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
+
+ // Get contour point set.
+ cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
+
+ // Convert CvPoint set to CvBox2D32f set.
+ for(i=0; i<count; i++)
+ {
+ PointArray2D32f[i].x = (float)PointArray[i].x;
+ PointArray2D32f[i].y = (float)PointArray[i].y;
+ }
+
+ // Fits ellipse to current contour.
+ cvFitEllipse(PointArray2D32f, count, box);
+
+ // Convert ellipse data from float to integer representation.
+ center.x = cvRound(box->center.x);
+ center.y = cvRound(box->center.y);
+ size.width = cvRound(box->size.width*0.5);
+ size.height = cvRound(box->size.height*0.5);
+ box->angle = -box->angle;
+
+ // On ne dessine le contour et l'ellipse que si son rayon est dans les bornes
+ meanRad = (size.width + size.height) / 2;
+
+ if (meanRad >= minCont && meanRad <= maxCont)
+ {
+ // Draw current contour.
+ cvDrawContours(imCont,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
+
+ // Draw ellipse.
+ cvEllipse(imCont, center, size,
+ box->angle, 0, 360,
+ CV_RGB(255,0,0), 1, CV_AA, 0);
+ }
+
+ // Free memory.
+ free(imCont->roi); imCont->roi = NULL;
+ free(PointArray);
+ free(PointArray2D32f);
+ free(box);
+
+ }
+
+ // On libère la mémoire
+ cvReleaseMemStorage(&stor);
+ cvReleaseImage(&image02);
+}
+
+#define min(a,b) (((a) < (b)) ? (a) : (b))
+
+int in_radius(int val, int center, int radius, int max)
+{
+ int d;
+ d = abs(val - center);
+ return min(d,max - d) <= radius;
+}
diff --git a/info/vision/coupe2011/capture.c b/info/vision/coupe2011/capture.c
new file mode 100644
index 0000000..168a74f
--- /dev/null
+++ b/info/vision/coupe2011/capture.c
@@ -0,0 +1,62 @@
+// Programme permettant de voir l'image d'une webcam
+// et d'en faire des shots
+
+#include "cv.h"
+#include "highgui.h"
+#include <stdio.h>
+#include <string.h>
+
+int main(int argc, char** argv)
+{
+ CvCapture *capture = NULL;
+ IplImage *frame = NULL;
+ unsigned int compteur = 0, source = 0, ncams;
+ char c, file[51];
+
+ ncams = (argc == 2 ? atoi(argv[1]) : 1);
+ capture = cvCaptureFromCAM(source);
+
+ printf("Programme de capture d'image depuis une webcam\n\n");
+ printf("Commandes :\n");
+ printf("\tq : quitter\n");
+ printf("\tc : cycler au travers des différentes webcam coonectées\n");
+ printf("\tEspace : sauvegarder une image\n\n");
+ printf("\t\tPasser en argument le nombre de webcams si plus d'une.\n\n\n");
+
+ cvNamedWindow("Capture", 0);
+
+ while (1)
+ {
+ frame = cvQueryFrame(capture);
+ if(frame==NULL)
+ {
+ printf("Impossible de lire l'image !\n");
+ }
+ else
+ {
+ cvShowImage("Capture", frame);
+
+ c = (char)cvWaitKey(10);
+
+ if (c=='q') break;
+ switch (c)
+ {
+ case 'c' :
+ source = (source + 1 ) % ncams;
+ cvReleaseCapture(&capture);
+ capture = cvCaptureFromCAM(source);
+ break;
+
+ case ' ' :
+ compteur++;
+ sprintf(file, "img%d.jpg", compteur);
+ cvSaveImage(file,frame);
+ }
+ }
+ }
+
+ cvReleaseCapture(&capture);
+ cvDestroyWindow("Capture");
+
+ return 0;
+}
diff --git a/info/vision/coupe2011/capturevideo.c b/info/vision/coupe2011/capturevideo.c
new file mode 100644
index 0000000..a398ace
--- /dev/null
+++ b/info/vision/coupe2011/capturevideo.c
@@ -0,0 +1,86 @@
+// Programme permettant de récupérer une video par la webcam
+// sous forme d'une série d'images tiff
+
+#include "cv.h"
+#include "highgui.h"
+#include <stdio.h>
+#include <string.h>
+
+int main(int argc, char** argv)
+{
+ CvCapture *capture = NULL;
+ IplImage *frame = NULL;
+ unsigned int compteur = 0, source = 0, ncams;
+ char c, file[60], basename[51], ext[5];
+ int isFilming = 0;
+ double t;
+
+ ncams = (argc == 2 ? atoi(argv[1]) : 1);
+ capture = cvCaptureFromCAM(source);
+
+ printf("Programme de capture de video depuis une webcam\n\n");
+ printf("Commandes :\n");
+ printf("\tq : quitter\n");
+ printf("\tc : cycler au travers des différentes webcam coonectées\n");
+ printf("\t\t(ne marche que quand le film n'est pas en cours d'acquisition\n");
+ printf("\tEspace : commencer/areter de filmer\n\n");
+ printf("\t\tPasser en argument le nombre de webcams si plus d'une.\n\n\n");
+
+ printf("\n\nNom de la série d'images : ");
+ scanf("%s", basename);
+ printf("\nExtension des images : ");
+ scanf("%s", ext);
+
+ cvNamedWindow("Capture", 0);
+
+ t = (double) cvGetTickCount();
+
+ while (1)
+ {
+ // On récupère une image
+ frame = cvQueryFrame(capture);
+ if(frame==NULL)
+ {
+ printf("Impossible de lire l'image !\n");
+ }
+ else
+ {
+ // On l'affiche dans la fenêtre
+ cvShowImage("Capture", frame);
+
+ c = (char)cvWaitKey(5);
+
+ // On gère l'appui sur une touche du clavier
+ if (c=='q') break;
+ switch (c)
+ {
+ case 'c' :
+ if (!isFilming)
+ {
+ source = (source + 1 ) % ncams;
+ cvReleaseCapture(&capture);
+ capture = cvCaptureFromCAM(source);
+ break;
+ }
+
+ case ' ' :
+ isFilming = !isFilming;
+ }
+
+ // Si on doit filmer, on vérifie qu'il est temps de prendre une image
+ // On filme a 25 images par secondes
+ if (isFilming && ((double)cvGetTickCount() - t >= 0.04))
+ {
+ // On prend une image et on remet à jour le compteur de temps
+ compteur++;
+ sprintf(file, "%s%.3d.%s", basename, compteur, ext);
+ cvSaveImage(file, frame);
+ }
+ }
+ }
+
+ cvReleaseCapture(&capture);
+ cvDestroyWindow("Capture");
+
+ return 0;
+}
diff --git a/info/vision/coupe2011/constructionPositifs.c b/info/vision/coupe2011/constructionPositifs.c
new file mode 100644
index 0000000..32fe1c8
--- /dev/null
+++ b/info/vision/coupe2011/constructionPositifs.c
@@ -0,0 +1,198 @@
+// Programme permettant de traiter une série d'images et de créer une liste
+// des fichiers avec les occurences d'un objet dans celles-ci
+
+#include "cv.h"
+#include "highgui.h"
+#include <stdio.h>
+#include <string.h>
+
+IplImage *image = NULL;
+CvPoint origin;
+CvRect selection;
+int select_object = 0;
+
+// Fonction de callback pour gérer la selection à la souris
+void on_mouse(int event, int x, int y, int flags, void* param)
+{
+ if (image != NULL)
+ {
+ if (image->origin)
+ {
+ x = image->width - x;
+ y = image->height - y;
+ }
+
+ // Mise à jour de la zone de sélection
+ if (select_object)
+ {
+ selection.x = MIN(x, origin.x);
+ selection.y = MIN(y, origin.y);
+ selection.width = selection.x + CV_IABS(x - origin.x);
+ selection.height = selection.y + CV_IABS(y-origin.y);
+
+ selection.x = MAX(selection.x, 0);
+ selection.y = MAX(selection.y, 0);
+ selection.width = MIN(selection.width, image->width);
+ selection.height = MIN(selection.height, image->height);
+ selection.width -= selection.x;
+ selection.height -= selection.y;
+ }
+
+ // Gestion des évènements souris
+ switch(event)
+ {
+ case CV_EVENT_LBUTTONDOWN:
+ // On commence une phase de sélection
+ origin = cvPoint(x,y);
+ selection = cvRect(x,y,0,0);
+ select_object = 1;
+ break;
+ case CV_EVENT_LBUTTONUP:
+ // On termine une phase de sélection
+ select_object = 0;
+ if (selection.width > 0 && selection.height > 0)
+ {
+ // action à effectuer après la sélection
+ // On ne fait rien, l'action est exécutée par la boucle principale
+ }
+ break;
+ }
+ }
+
+ return;
+}
+
+
+// Fonction principale
+int main(int argc, char** argv)
+{
+ IplImage *frame = NULL;
+ int i, j, nbrObjets, quit=0, imgsuiv=0;
+ CvRect objets[10];
+ char c, file[51];
+ FILE *fichier;
+
+ printf("Programme de generation d'une liste d'images positives\n");
+ printf("pour la generation d'une base de donnees de reconnaissance d'objet\n\n");
+ printf("Utilisation : passer la liste d'images a traiter en argument.\n\n");
+ printf("Commandes :\n");
+ printf("\tq : quitter\n");
+ printf("\t<ESPACE> : valider la selection courante\n");
+ printf("\t<ESC> : annuler les selections de l'image courante\n");
+ printf("\t<ENTREE> : valider les selections et passer a l'image suivante\n\n\n");
+
+ if (argc < 2)
+ {
+ printf("Pas assez d'arguments\n");
+ return 1;
+ }
+
+ printf("Nom du fichier a ecrire (le fichier sera ecrase) : ");
+ scanf("%s", file);
+ printf("\n\n\n");
+
+ if ( (fichier = fopen(file, "w+")) == NULL)
+ {
+ printf("Impossible d'ouvrir le fichier destination !\n");
+ return 1;
+ }
+
+ cvNamedWindow("Image courante", 0);
+ cvSetMouseCallback("Image courante", on_mouse, 0);
+
+ for (i=1; i < argc && !quit; i++)
+ {
+ printf("Image : %s\n", argv[i]);
+ printf("===================================================\n\n");
+
+ if ( (image = cvLoadImage(argv[i], 1)) == NULL )
+ {
+ printf("\tImpossible de charger l'image...\n\n\n\n");
+ continue;
+ }
+ cvShowImage("Image courante", image);
+
+ // On alloue les buffers si ce n'est pa déjà fait
+ if (frame == NULL)
+ {
+ frame = cvCreateImage(cvGetSize(image), 8, 3);
+ frame->origin = image->origin;
+ }
+
+ // il n'y a pas d'objet
+ nbrObjets = 0;
+ // On efface une éventuelle sélection
+ selection.width = 0;
+ selection.height = 0;
+ // On boucle jusqu'à devoir passer à l'image suivante
+ imgsuiv=0;
+
+ while (!imgsuiv)
+ {
+ // On fait le rendu de l'image en ajoutant la zone de selection
+ // On travaille sur une copie de l'image
+ cvCopy(image, frame, 0);
+ // On rend la zone de selection
+ if( selection.width > 0 && selection.height > 0 )
+ {
+ cvSetImageROI(frame, selection);
+ cvXorS(frame, cvScalarAll(255), frame, 0);
+ cvResetImageROI(frame);
+ }
+
+ // On affiche l'image
+ cvShowImage("Image courante", frame);
+
+ // On répond aux entrées utilisateur
+ c = (char)cvWaitKey(10);
+
+ switch (c)
+ {
+ case 'q' :
+ // On passe à l'image suivante
+ imgsuiv=1;
+ // En fait, non, on quitte
+ quit=1;
+ break;
+
+ case 27 : // <ESC>
+ nbrObjets = 0;
+ break;
+
+ case 10 : // <ENTREE>
+ fprintf(fichier, "%s", argv[i]);
+ if (nbrObjets > 0)
+ {
+ fprintf(fichier, " %d", nbrObjets);
+ for (j = 0; j < nbrObjets; j++)
+ fprintf(fichier, " %d %d %d %d",
+ objets[j].x, objets[j].y, objets[j].width, objets[j].height);
+ }
+ fprintf(fichier, "\n");
+ // On passe à l'image suivante
+ imgsuiv=1;
+ break;
+
+ case 32 : // <ESPACE>
+ if (selection.width > 0 && selection.height > 0)
+ {
+ objets[nbrObjets] = selection;
+ nbrObjets++;
+ printf("\t%d. rect x=%d\ty=%d\t\twidth=%d\theight=%d\n",
+ nbrObjets, selection.x, selection.y, selection.width, selection.height);
+ }
+ // On efface la selection courante de l'ecran
+ selection.width = 0;
+ selection.height = 0;
+ break;
+ }
+ }
+ printf("\n\n\n");
+ }
+
+ fclose(fichier);
+
+ cvDestroyWindow("Image courante");
+
+ return 0;
+}
diff --git a/info/vision/coupe2011/findBallse.c b/info/vision/coupe2011/findBallse.c
new file mode 100644
index 0000000..a97c54a
--- /dev/null
+++ b/info/vision/coupe2011/findBallse.c
@@ -0,0 +1,298 @@
+#include "cv.h"
+#include "highgui.h"
+#include <math.h>
+#include <stdio.h>
+#include <ctype.h>
+#include <err.h>
+
+#define min(a,b) (((a) < (b)) ? (a) : (b))
+
+/* The parameters of the color to find in images. */
+struct color_params {
+ int centH, radH, minS, maxS, minV, maxV;
+ int threshold;
+ int minCont, maxCont;
+};
+
+/* Global parameters. */
+struct color_params params;
+
+// Load the source image. HighGUI use.
+IplImage *image01 = 0, *image02 = 0, *image03 = 0, *imCont = 0, *imFill = 0, *imHSV = 0;
+
+int affichage = 0;
+int slider_pos;
+
+void process_image();
+int in_radius(int val, int center, int radius, int max);
+
+/* Parse the configuration file and store the result into params. */
+void parse_config(char *file_name)
+{
+ FILE *fp = fopen(file_name, "r");
+
+ char *line = NULL;
+ size_t line_len = 0;
+ char key[1024];
+ int value;
+
+ while (getline(&line, &line_len, fp) != -1) {
+ char *p;
+
+ /* Skip blanks at the beginning of the line. */
+ for (p = line; *p && isblank(*p); p++);
+
+ /* Skip empty lines and comments. */
+ if (*p == 0 || *p == '#') continue;
+
+ /* Check that key won't overflow. */
+ if (strlen(line) >= 1024) errx(2, "line too long in configuration file");
+
+ /* Parse the line. */
+ if (sscanf(p, "%s = %d \n", &key, &value) != 2) errx(2, "invalid configuration file");
+
+ /* Assign the value to the right parameter. */
+ if (strcmp(key, "centH") == 0)
+ params.centH = value;
+ else if (strcmp(key, "radH") == 0)
+ params.radH = value;
+ else if (strcmp(key, "minS") == 0)
+ params.minS = value;
+ else if (strcmp(key, "maxS") == 0)
+ params.maxS = value;
+ else if (strcmp(key, "minV") == 0)
+ params.minV = value;
+ else if (strcmp(key, "maxV") == 0)
+ params.maxV = value;
+ else if (strcmp(key, "threshold") == 0)
+ params.threshold = value;
+ else if (strcmp(key, "minCont") == 0)
+ params.minCont = value;
+ else if (strcmp(key, "maxCont") == 0)
+ params.maxCont = value;
+ else
+ errx(2, "invalid key in configuration file: '%s'", key);
+ }
+
+ if (line) free(line);
+ fclose(fp);
+}
+
+int main( int argc, char** argv )
+{
+ int source, c, quit=0;
+ CvCapture *capture = NULL;
+ FILE *fichier;
+
+ // Traitement des paramètres de ligne de commande
+ if (argc < 2)
+ {
+ printf("argv[1] : chemin du fichier de paramètres\n");
+ printf("argv[2] : (optionnel) si différent de 0, affiche une fenêtre\n");
+ printf("argv[3] : (optionnel) numéro de la webcam à utiliser\n");
+ return 1;
+ }
+
+ /* Parse configuration. */
+ parse_config(argv[1]);
+
+ affichage = argc >= 3 ? atoi(argv[2]) : 0;
+ source = argc >= 4 ? atoi(argv[3]) : 0;
+
+ // Ouvre la webcam
+ capture = cvCaptureFromCAM(source);
+
+ // Create window
+ if (affichage != 0)
+ cvNamedWindow("Result", 1);
+
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ // Création de l'image en niveaux de gris à la taile de l'image prise par la webcam
+ image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
+
+ // Même chose avec l'image pour conversion
+ imHSV = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
+
+ while (!quit)
+ {
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ process_image();
+
+ // Show the image
+ if (affichage != 0)
+ cvShowImage("Result", imCont);
+
+ // Wait for a key stroke; the same function arranges events processing
+ c = (char)cvWaitKey(10);
+
+ switch (c)
+ {
+ case 'q':
+ quit = 1;
+ break;
+ }
+
+ cvReleaseImage(&imCont);
+ cvReleaseImage(&imFill);
+ }
+
+
+ // On release la mémoire
+ cvReleaseCapture(&capture);
+
+ cvReleaseImage(&image02);
+ cvReleaseImage(&image03);
+ cvReleaseImage(&imHSV);
+ cvReleaseImage(&imFill);
+ cvReleaseImage(&imCont);
+
+ if (affichage != 0)
+ cvDestroyWindow("Result");
+
+ return 0;
+}
+
+// This function the balls,
+void process_image()
+{
+ CvMemStorage* stor;
+ CvSeq* cont;
+ CvBox2D32f* box;
+ CvPoint* PointArray;
+ CvPoint2D32f* PointArray2D32f;
+ int i, j, meanRad;
+
+ // Changement d'espace de couleur
+ cvCvtColor(image01, imHSV, CV_BGR2HSV);
+
+ // Génération de l'image avec les résultats
+ if (affichage != 0)
+ {
+ imCont = cvCloneImage(image01);
+ cvZero(imCont);
+ // On fixe la ROI de l'image pour ne pas dessiner à l'extérieur
+ imCont->roi = (_IplROI*)malloc(sizeof(IplROI));
+ imCont->roi->coi = 0;
+ imCont->roi->xOffset = 0;
+ imCont->roi->yOffset = 0;
+ imCont->roi->width = imCont->width;
+ imCont->roi->height = imCont->height;
+ }
+
+ // On fait le traitement pour chaque couleur de balle
+ imFill = cvCloneImage(image01);
+
+ for (i=0 ; i < imFill->width*imFill->height; i++)
+ {
+ if (in_radius(imHSV->imageData[3*i], params.centH, params.radH, 180) &&
+ (uchar)imHSV->imageData[3*i+1] >= params.minS && (uchar)imHSV->imageData[3*i+1] <= params.maxS &&
+ (uchar)imHSV->imageData[3*i+2] >= params.minV && (uchar)imHSV->imageData[3*i+2] <= params.maxV )
+ {
+ // On laisse la couleur du pixel
+ }
+ else
+ {
+ // sinon on l'efface
+ imFill->imageData[3*i ] = 0;
+ imFill->imageData[3*i+1] = 0;
+ imFill->imageData[3*i+2] = 0;
+ }
+ }
+
+ // Conversion en niveaux de gris de l'image filtrée
+ cvCvtColor(imFill, image03, CV_BGR2GRAY);
+
+ // Create the destination images
+ image02 = cvCloneImage( image03 );
+
+ // Create dynamic memory storage and sequence.
+ stor = cvCreateMemStorage(0);
+ cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
+
+ // Threshold the source image. This needful for cvFindContours().
+ cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );
+
+ // Find all contours.
+ cvFindContours( image02, stor, &cont, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
+
+ // Clear image. IPL use.
+ cvZero(image02);
+
+ // This cycle draw all contours and approximate it by ellipses.
+ for(;cont;cont = cont->h_next)
+ {
+ int i; // Indicator of cycle.
+ int count = cont->total; // This is number point in contour
+ CvPoint center;
+ CvSize size;
+
+ // Number point must be more than or equal to 6 (for cvFitEllipse_32f).
+ if( count < 6 )
+ continue;
+
+ // Alloc memory for contour point set.
+ PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
+ PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
+
+ // Alloc memory for ellipse data.
+ box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
+
+ // Get contour point set.
+ cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
+
+ // Convert CvPoint set to CvBox2D32f set.
+ for(i=0; i<count; i++)
+ {
+ PointArray2D32f[i].x = (float)PointArray[i].x;
+ PointArray2D32f[i].y = (float)PointArray[i].y;
+ }
+
+ // Fits ellipse to current contour.
+ cvFitEllipse(PointArray2D32f, count, box);
+
+ // Convert ellipse data from float to integer representation.
+ center.x = cvRound(box->center.x);
+ center.y = cvRound(box->center.y);
+ size.width = cvRound(box->size.width*0.5);
+ size.height = cvRound(box->size.height*0.5);
+ box->angle = -box->angle;
+
+ // On ne dessine le contour et l'ellipse que si son rayon est dans les bornes
+ meanRad = (size.width + size.height) / 2;
+
+ if (meanRad >= params.minCont && meanRad <= params.maxCont)
+ {
+ // Draw current contour.
+ cvDrawContours(imCont,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
+
+ // Draw ellipse.
+ cvEllipse(imCont, center, size,
+ box->angle, 0, 360,
+ CV_RGB(255,0,0), 1, CV_AA, 0);
+ }
+
+ // Free memory.
+ free(imCont->roi); imCont->roi = NULL;
+ free(PointArray);
+ free(PointArray2D32f);
+ free(box);
+
+ }
+
+ // On libère la mémoire
+ cvReleaseMemStorage(&stor);
+ cvReleaseImage(&image02);
+ cvReleaseImage(&imFill);
+}
+
+int in_radius(int val, int center, int radius, int max)
+{
+ int d;
+ d = abs(val - center);
+ return min(d,max - d) <= radius;
+}
diff --git a/info/vision/coupe2011/fiteellipse_cam.c b/info/vision/coupe2011/fiteellipse_cam.c
new file mode 100644
index 0000000..1fbb99f
--- /dev/null
+++ b/info/vision/coupe2011/fiteellipse_cam.c
@@ -0,0 +1,198 @@
+/********************************************************************************
+*
+*
+* This program is demonstration for ellipse fitting. Program finds
+* contours and approximate it by ellipses.
+*
+* Trackbar specify threshold parametr.
+*
+* White lines is contours. Red lines is fitting ellipses.
+*
+*
+* Autor: Denis Burenkov.
+*
+*
+*
+********************************************************************************/
+#ifdef _CH_
+#pragma package <opencv>
+#endif
+
+#ifndef _EiC
+#include "cv.h"
+#include "highgui.h"
+#endif
+
+int slider_pos = 70;
+
+// Load the source image. HighGUI use.
+IplImage *image01 = 0, *image02 = 0, *image03 = 0, *image04 = 0;
+
+void process_image(int h);
+
+int main( int argc, char** argv )
+{
+ int ncams, source, c, quit=0;
+ CvCapture *capture = NULL;
+
+ // Ouvre la webcam
+ ncams = (argc >= 2 ? atoi(argv[1]) : 1);
+ source = (argc >= 3 ? atoi(argv[2]) : 0);
+ capture = cvCaptureFromCAM(source);
+
+ // Create windows.
+ cvNamedWindow("Source", 1);
+ cvNamedWindow("Result", 1);
+
+ // Create toolbars. HighGUI use.
+ cvCreateTrackbar( "Threshold", "Result", &slider_pos, 255, process_image );
+
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ // Conversion en niveaux de gris
+ image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
+
+ while (!quit)
+ {
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ // Conversion en niveaux de gris
+ cvCvtColor(image01, image03, CV_BGR2GRAY);
+
+ cvReleaseImage(&image02);
+ cvReleaseImage(&image04);
+
+ // Create the destination images
+ image02 = cvCloneImage( image03 );
+ image04 = cvCloneImage( image03 );
+
+ // Show the image.
+ cvShowImage("Source", image03);
+
+ process_image(0);
+
+ // Wait for a key stroke; the same function arranges events processing
+ c = (char)cvWaitKey(10);
+
+ switch (c)
+ {
+ case 'c':
+ source = (source+1) % ncams;
+ cvReleaseCapture(&capture);
+ capture = cvCaptureFromCAM(source);
+ cvReleaseImage(&image03);
+ image01 = cvQueryFrame(capture);
+ image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
+ break;
+ case 'q':
+ quit = 1;
+ break;
+ }
+
+ }
+
+
+ // On release la mémoire
+ cvReleaseCapture(&capture);
+
+ cvReleaseImage(&image01);
+ cvReleaseImage(&image02);
+ cvReleaseImage(&image03);
+ cvReleaseImage(&image04);
+
+ cvDestroyWindow("Source");
+ cvDestroyWindow("Result");
+
+ return 0;
+}
+
+// Define trackbar callback functon. This function find contours,
+// draw it and approximate it by ellipses.
+void process_image(int h)
+{
+ CvMemStorage* stor;
+ CvSeq* cont;
+ CvBox2D32f* box;
+ CvPoint* PointArray;
+ CvPoint2D32f* PointArray2D32f;
+
+ // Create dynamic memory storage and sequence.
+ stor = cvCreateMemStorage(0);
+ cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
+
+ // Threshold the source image. This needful for cvFindContours().
+ cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );
+
+ // Find all contours.
+ cvFindContours( image02, stor, &cont, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
+
+ // Clear images. IPL use.
+ cvZero(image02);
+ cvZero(image04);
+
+ // This cycle draw all contours and approximate it by ellipses.
+ for(;cont;cont = cont->h_next)
+ {
+ int i; // Indicator of cycle.
+ int count = cont->total; // This is number point in contour
+ CvPoint center;
+ CvSize size;
+
+ // Number point must be more than or equal to 6 (for cvFitEllipse_32f).
+ if( count < 6 )
+ continue;
+
+ // Alloc memory for contour point set.
+ PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
+ PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
+
+ // Alloc memory for ellipse data.
+ box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
+
+ // Get contour point set.
+ cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
+
+ // Convert CvPoint set to CvBox2D32f set.
+ for(i=0; i<count; i++)
+ {
+ PointArray2D32f[i].x = (float)PointArray[i].x;
+ PointArray2D32f[i].y = (float)PointArray[i].y;
+ }
+
+ // Fits ellipse to current contour.
+ cvFitEllipse(PointArray2D32f, count, box);
+
+ // Draw current contour.
+ cvDrawContours(image04,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
+
+ // Convert ellipse data from float to integer representation.
+ center.x = cvRound(box->center.x);
+ center.y = cvRound(box->center.y);
+ size.width = cvRound(box->size.width*0.5);
+ size.height = cvRound(box->size.height*0.5);
+ box->angle = -box->angle;
+
+ // Draw ellipse.
+ /*cvEllipse(image04, center, size,
+ box->angle, 0, 360,
+ CV_RGB(0,0,255), 1, CV_AA, 0);*/
+
+ // Free memory.
+ free(PointArray);
+ free(PointArray2D32f);
+ free(box);
+
+ }
+
+ // Show image. HighGUI use.
+ cvShowImage( "Result", image04 );
+
+ cvReleaseMemStorage(&stor);
+}
+
+#ifdef _EiC
+main(1,"fitellipse.c");
+#endif
diff --git a/info/vision/coupe2011/fiteellipse_camfilter.c b/info/vision/coupe2011/fiteellipse_camfilter.c
new file mode 100644
index 0000000..899fe05
--- /dev/null
+++ b/info/vision/coupe2011/fiteellipse_camfilter.c
@@ -0,0 +1,217 @@
+/********************************************************************************
+*
+*
+* This program is demonstration for ellipse fitting. Program finds
+* contours and approximate it by ellipses.
+*
+* Trackbar specify threshold parametr.
+*
+* White lines is contours. Red lines is fitting ellipses.
+*
+*
+* Autor: Denis Burenkov.
+*
+*
+*
+********************************************************************************/
+#ifdef _CH_
+#pragma package <opencv>
+#endif
+
+#ifndef _EiC
+#include "cv.h"
+#include "highgui.h"
+#endif
+
+int slider_pos = 70;
+
+// Load the source image. HighGUI use.
+IplImage *image01 = 0, *image02 = 0, *image03 = 0, *image04 = 0, *image05 = 0, *image06 = 0;
+
+void process_image(int h);
+
+int main( int argc, char** argv )
+{
+ int ncams, source, c, quit=0, i;
+ CvCapture *capture = NULL;
+
+ // Ouvre la webcam
+ ncams = (argc >= 2 ? atoi(argv[1]) : 1);
+ source = (argc >= 3 ? atoi(argv[2]) : 0);
+ capture = cvCaptureFromCAM(source);
+
+ // Create windows.
+ cvNamedWindow("HSV",1);
+ cvNamedWindow("Source", 1);
+ cvNamedWindow("Result", 1);
+
+ // Create toolbars. HighGUI use.
+ cvCreateTrackbar( "Threshold", "Result", &slider_pos, 255, process_image );
+
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ // Création de l'image03 à la taile de l'image prise par la webcam
+ image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
+
+ // Même chose avec image05
+ image05 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
+
+ while (!quit)
+ {
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ // Conversion en niveaux de gris
+ cvCvtColor(image01, image03, CV_BGR2GRAY);
+
+ // Filtre de couleur
+ cvCvtColor(image01, image05, CV_BGR2HSV);
+ cvReleaseImage(&image06);
+ image06 = cvCloneImage(image03);
+
+ for (i=0 ; i < image06->width*image06->height; i++)
+ {
+ image06->imageData[i] = ((image05->imageData[3*i] > 90 && image05->imageData[3*i] < 110 && image05->imageData[3*i+1] > 20) ? 255 : 0);
+ }
+
+
+ cvReleaseImage(&image02);
+ cvReleaseImage(&image04);
+
+ // Create the destination images
+ image02 = cvCloneImage( image03 );
+ image04 = cvCloneImage( image03 );
+
+ // Show the image.
+ cvShowImage("HSV", image06);
+ cvShowImage("Source", image01);
+
+ process_image(0);
+
+ // Wait for a key stroke; the same function arranges events processing
+ c = (char)cvWaitKey(10);
+
+ switch (c)
+ {
+ case 'c':
+ source = (source+1) % ncams;
+ cvReleaseCapture(&capture);
+ capture = cvCaptureFromCAM(source);
+ cvReleaseImage(&image03);
+ image01 = cvQueryFrame(capture);
+ image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
+ image05 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
+ break;
+ case 'q':
+ quit = 1;
+ break;
+ }
+
+ }
+
+
+ // On release la mémoire
+ cvReleaseCapture(&capture);
+
+ cvReleaseImage(&image01);
+ cvReleaseImage(&image02);
+ cvReleaseImage(&image03);
+ cvReleaseImage(&image04);
+ cvReleaseImage(&image05);
+
+ cvDestroyWindow("HSV");
+ cvDestroyWindow("Source");
+ cvDestroyWindow("Result");
+
+ return 0;
+}
+
+// Define trackbar callback functon. This function find contours,
+// draw it and approximate it by ellipses.
+void process_image(int h)
+{
+ CvMemStorage* stor;
+ CvSeq* cont;
+ CvBox2D32f* box;
+ CvPoint* PointArray;
+ CvPoint2D32f* PointArray2D32f;
+
+ // Create dynamic memory storage and sequence.
+ stor = cvCreateMemStorage(0);
+ cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
+
+ // Threshold the source image. This needful for cvFindContours().
+ cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );
+
+ // Find all contours.
+ cvFindContours( image02, stor, &cont, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
+
+ // Clear images. IPL use.
+ cvZero(image02);
+ cvZero(image04);
+
+ // This cycle draw all contours and approximate it by ellipses.
+ for(;cont;cont = cont->h_next)
+ {
+ int i; // Indicator of cycle.
+ int count = cont->total; // This is number point in contour
+ CvPoint center;
+ CvSize size;
+
+ // Number point must be more than or equal to 6 (for cvFitEllipse_32f).
+ if( count < 6 )
+ continue;
+
+ // Alloc memory for contour point set.
+ PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
+ PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
+
+ // Alloc memory for ellipse data.
+ box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
+
+ // Get contour point set.
+ cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
+
+ // Convert CvPoint set to CvBox2D32f set.
+ for(i=0; i<count; i++)
+ {
+ PointArray2D32f[i].x = (float)PointArray[i].x;
+ PointArray2D32f[i].y = (float)PointArray[i].y;
+ }
+
+ // Fits ellipse to current contour.
+ cvFitEllipse(PointArray2D32f, count, box);
+
+ // Draw current contour.
+ cvDrawContours(image04,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
+
+ // Convert ellipse data from float to integer representation.
+ center.x = cvRound(box->center.x);
+ center.y = cvRound(box->center.y);
+ size.width = cvRound(box->size.width*0.5);
+ size.height = cvRound(box->size.height*0.5);
+ box->angle = -box->angle;
+
+ // Draw ellipse.
+ /*cvEllipse(image04, center, size,
+ box->angle, 0, 360,
+ CV_RGB(0,0,255), 1, CV_AA, 0);*/
+
+ // Free memory.
+ free(PointArray);
+ free(PointArray2D32f);
+ free(box);
+
+ }
+
+ // Show image. HighGUI use.
+ cvShowImage( "Result", image04 );
+
+ cvReleaseMemStorage(&stor);
+}
+
+#ifdef _EiC
+main(1,"fitellipse.c");
+#endif
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2011-05-21 14:59:42
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via fd338215ec279f96b2992d7faf8e26fe866fbefe (commit)
from f3baa3b60397e396e82626bda5d452c8d5461718 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit fd338215ec279f96b2992d7faf8e26fe866fbefe
Author: Jérémie Dimino <je...@di...>
Date: Sat May 21 16:58:15 2011 +0200
[krobot_config] update robot parameters
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_config.ml b/info/control2011/src/lib/krobot_config.ml
index 86e1c46..761a334 100644
--- a/info/control2011/src/lib/krobot_config.ml
+++ b/info/control2011/src/lib/krobot_config.ml
@@ -9,8 +9,8 @@
let world_height = 2.1
let world_width = 3.
-let robot_size = 0.29
+let robot_size = 0.26
let wheels_diameter = 0.098
-let wheels_distance = 0.259
-let wheels_position = 0.045
+let wheels_distance = 0.150
+let wheels_position = robot_size /. 2.
let rotary_beacon_index_pos = (4. *. atan 1.) /. 2. (* left side *)
hooks/post-receive
--
krobot
|
|
From: Nicolas D. <Ba...@us...> - 2011-05-21 12:27:50
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via f3baa3b60397e396e82626bda5d452c8d5461718 (commit)
from aa5da0a85fba2bb27d79da5be728f739743257f6 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit f3baa3b60397e396e82626bda5d452c8d5461718
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sat May 21 14:26:46 2011 +0200
[Meca] Coherent mirror angle for the new opponent detection system
-----------------------------------------------------------------------
Changes:
diff --git a/meca/2011_Senior/Balises/support_miroir.scad b/meca/2011_Senior/Balises/support_miroir.scad
index c00c396..e6dac72 100644
--- a/meca/2011_Senior/Balises/support_miroir.scad
+++ b/meca/2011_Senior/Balises/support_miroir.scad
@@ -26,14 +26,14 @@ h_min = d_balise;
h_max = d_balise + h_balise;
theta_min = atan(h_min / D_min);
theta_max = atan(h_max / D_max);
-theta = (theta_min + theta_max)/2.;
+theta = 43.5;
echo("Angle minimal du faisceau sortant");
echo(theta_min);
echo("Angle maximal du faisceau sortant");
echo(theta_max);
-phi = 45. + theta / 2.;
+phi = 43.5;
echo("Angle du miroir par rapport à l'horizontale");
echo(phi);
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2011-05-20 19:45:20
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via aa5da0a85fba2bb27d79da5be728f739743257f6 (commit)
via c922608e44b2ea9e56a1dd6dce0b2efb778a0597 (commit)
from 9240ffa0043fb08e18cb6b9c308cc382fed0bc4a (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit aa5da0a85fba2bb27d79da5be728f739743257f6
Author: Jérémie Dimino <je...@di...>
Date: Fri May 20 21:44:06 2011 +0200
[info] display objects
commit c922608e44b2ea9e56a1dd6dce0b2efb778a0597
Author: Jérémie Dimino <je...@di...>
Date: Tue May 17 20:16:04 2011 +0200
[info] add messages for the coders 1 and 2
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 81dd9ef..eea9438 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -155,6 +155,13 @@ Executable "krobot-planner"
MainIs: krobot_planner.ml
BuildDepends: krobot, lwt.syntax
+Executable "krobot-objects"
+ Path: src/tools
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_objects.ml
+ BuildDepends: krobot, lwt.syntax
+
Executable "krobot-kill"
Path: src/tools
Install: true
diff --git a/info/control2011/_tags b/info/control2011/_tags
index 42135ad..8d7cff0 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: e0fdca06da598f490f540bfd1de2f7ad)
+# DO NOT EDIT (digest: 727ec33b4060953b9ebbde97c6c14363)
# Library krobot
"src/lib": include
"src/lib/krobot.cmxs": use_krobot
@@ -74,6 +74,11 @@
<examples/send_can.{native,byte}>: pkg_lwt.unix
<examples/send_can.{native,byte}>: pkg_lwt.syntax
<examples/send_can.{native,byte}>: pkg_lwt.react
+# Executable krobot-objects
+<src/tools/krobot_objects.{native,byte}>: use_krobot
+<src/tools/krobot_objects.{native,byte}>: pkg_lwt.unix
+<src/tools/krobot_objects.{native,byte}>: pkg_lwt.syntax
+<src/tools/krobot_objects.{native,byte}>: pkg_lwt.react
# Executable krobot-kill
<src/tools/krobot_kill.{native,byte}>: use_krobot
<src/tools/krobot_kill.{native,byte}>: pkg_lwt.unix
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 9065940..c202ad2 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -1,7 +1,7 @@
(* setup.ml generated for the first time by OASIS v0.2.0~alpha1 *)
(* OASIS_START *)
-(* DO NOT EDIT (digest: f74f01087e7cdeda8c8d0d200fd9f844) *)
+(* DO NOT EDIT (digest: 79727b7548ae5f100d31519956433b0b) *)
(*
Regenerated by OASIS v0.2.0
Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5404,6 +5404,34 @@ let setup_t =
{exec_custom = false; exec_main_is = "send_can.ml"; });
Executable
({
+ cs_name = "krobot-objects";
+ cs_data = PropList.Data.create ();
+ cs_plugin_data = [];
+ },
+ {
+ bs_build = [(OASISExpr.EBool true, true)];
+ bs_install = [(OASISExpr.EBool true, true)];
+ bs_path = "src/tools";
+ bs_compiled_object = Best;
+ bs_build_depends =
+ [
+ InternalLibrary "krobot";
+ FindlibPackage ("lwt.syntax", None)
+ ];
+ bs_build_tools = [ExternalTool "ocamlbuild"];
+ bs_c_sources = [];
+ bs_data_files = [];
+ bs_ccopt = [(OASISExpr.EBool true, [])];
+ bs_cclib = [(OASISExpr.EBool true, [])];
+ bs_dlllib = [(OASISExpr.EBool true, [])];
+ bs_dllpath = [(OASISExpr.EBool true, [])];
+ bs_byteopt = [(OASISExpr.EBool true, [])];
+ bs_nativeopt = [(OASISExpr.EBool true, [])];
+ },
+ {exec_custom = false; exec_main_is = "krobot_objects.ml";
+ });
+ Executable
+ ({
cs_name = "krobot-kill";
cs_data = PropList.Data.create ();
cs_plugin_data = [];
diff --git a/info/control2011/src/lib/krobot_bus.ml b/info/control2011/src/lib/krobot_bus.ml
index cf22f9d..101151b 100644
--- a/info/control2011/src/lib/krobot_bus.ml
+++ b/info/control2011/src/lib/krobot_bus.ml
@@ -32,6 +32,7 @@ type message =
| Trajectory_go of float * float * float * float
| Trajectory_stop
| Trajectory_moving of bool
+ | Objects of vertice list
type t = {
oc : Lwt_io.output_channel;
@@ -101,6 +102,10 @@ let string_of_message = function
sprintf
"Trajectory_moving %B"
b
+ | Objects objects ->
+ sprintf
+ "Objects [%s]"
+ (String.concat "; " (List.map string_of_vertice objects))
(* +-----------------------------------------------------------------+
| Sending/receiving messages |
diff --git a/info/control2011/src/lib/krobot_bus.mli b/info/control2011/src/lib/krobot_bus.mli
index c453e26..28a37a2 100644
--- a/info/control2011/src/lib/krobot_bus.mli
+++ b/info/control2011/src/lib/krobot_bus.mli
@@ -51,6 +51,11 @@ type message =
| Trajectory_moving of bool
(** Is the robot following a trajectory ? *)
+ (** Objects *)
+
+ | Objects of vertice list
+ (** The list of objects on the board. *)
+
val string_of_message : message -> string
(** Returns a string representation of the given message. *)
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 3a77845..d2ee967 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -23,6 +23,7 @@ type t =
| Battery2_voltages of float * float * float * float
| Beacon_position of float * float * float
| Beacon_lowlevel_position of float * float * int
+ | Encoder_position_direction_1_2 of int * direction * int * direction
| Encoder_position_direction_3_4 of int * direction * int * direction
| Encoder_position_speed_3 of float * float
| Encoder_position_speed_4 of float * float
@@ -73,6 +74,11 @@ let to_string = function
angle
width
period
+ | Encoder_position_direction_1_2(pos1, dir1, pos2, dir2) ->
+ sprintf
+ "Encoder_position_direction_1_2(%d, %s, %d, %s)"
+ pos1 (string_of_direction dir1)
+ pos2 (string_of_direction dir2)
| Encoder_position_direction_3_4(pos3, dir3, pos4, dir4) ->
sprintf
"Encoder_position_direction_3_4(%d, %s, %d, %s)"
@@ -136,6 +142,18 @@ let pi = 4. *. atan 1.
external encode_bezier : int * int * int * int * int * int -> string = "krobot_message_encode_bezier"
let encode = function
+ | Encoder_position_direction_1_2(pos1, dir1, pos2, dir2) ->
+ let data = String.create 6 in
+ put_uint16 data 0 pos1;
+ put_uint16 data 2 pos2;
+ put_uint8 data 4 (match dir1 with Forward -> 0 | Backward -> 1);
+ put_uint8 data 5 (match dir2 with Forward -> 0 | Backward -> 1);
+ frame
+ ~identifier:99
+ ~kind:Data
+ ~remote:false
+ ~format:F29bits
+ ~data
| Encoder_position_direction_3_4(pos3, dir3, pos4, dir4) ->
let data = String.create 6 in
put_uint16 data 0 pos3;
@@ -351,6 +369,12 @@ let decode frame =
Unknown frame
else
match frame.identifier with
+ | 99 ->
+ Encoder_position_direction_1_2
+ (get_uint16 frame.data 0,
+ (if get_uint8 frame.data 4 = 0 then Forward else Backward),
+ get_uint16 frame.data 2,
+ (if get_uint8 frame.data 5 = 0 then Forward else Backward))
| 100 ->
Encoder_position_direction_3_4
(get_uint16 frame.data 0,
diff --git a/info/control2011/src/lib/krobot_message.mli b/info/control2011/src/lib/krobot_message.mli
index 05f9e49..90ff8f7 100644
--- a/info/control2011/src/lib/krobot_message.mli
+++ b/info/control2011/src/lib/krobot_message.mli
@@ -22,6 +22,8 @@ type t =
(** The position of the beacon relative to the robot *)
| Beacon_lowlevel_position of float * float * int
(** The position of the beacon as internally stored (for calibration) *)
+ | Encoder_position_direction_1_2 of int * direction * int * direction
+ (** The position and direction of encoders 1 and 2. *)
| Encoder_position_direction_3_4 of int * direction * int * direction
(** The position and direction of encoders 3 and 4. *)
| Encoder_position_speed_3 of float * float
diff --git a/info/control2011/src/tools/krobot_objects.ml b/info/control2011/src/tools/krobot_objects.ml
new file mode 100644
index 0000000..0c2d681
--- /dev/null
+++ b/info/control2011/src/tools/krobot_objects.ml
@@ -0,0 +1,115 @@
+(*
+ * krobot_objects.ml
+ * -----------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* Service handling the position of the objects on the board. *)
+
+open Lwt
+open Lwt_react
+open Krobot_bus
+open Krobot_geom
+
+let section = Lwt_log.Section.make "krobot(objects)"
+
+(* +-----------------------------------------------------------------+
+ | Types |
+ +-----------------------------------------------------------------+ *)
+
+type objects = {
+ bus : Krobot_bus.t;
+ (* The message bus used to communicate with the robot. *)
+
+ mutable objects : vertice list;
+ (* The list of objects on the board. *)
+}
+
+(* +-----------------------------------------------------------------+
+ | Message handling |
+ +-----------------------------------------------------------------+ *)
+
+let handle_message objects (timestamp, message) =
+ match message with
+ | Kill "objects" ->
+ exit 0
+
+ | Send ->
+ ignore (
+ let ts = Unix.gettimeofday () in
+ Krobot_bus.send objects.bus (ts, Objects objects.objects)
+ )
+
+ | _ ->
+ ()
+
+(* +-----------------------------------------------------------------+
+ | Command-line arguments |
+ +-----------------------------------------------------------------+ *)
+
+let fork = ref true
+
+let options = Arg.align [
+ "-no-fork", Arg.Clear fork, " Run in foreground";
+]
+
+let usage = "\
+Usage: krobot-planner [options]
+options are:"
+
+(* +-----------------------------------------------------------------+
+ | Entry point |
+ +-----------------------------------------------------------------+ *)
+
+lwt () =
+ Arg.parse options ignore usage;
+
+ (* Display all informative messages. *)
+ Lwt_log.append_rule "*" Lwt_log.Info;
+
+ (* Open the krobot bus. *)
+ lwt bus = Krobot_bus.get () in
+
+ (* Fork if not prevented. *)
+ if !fork then Lwt_daemon.daemonize ();
+
+ (* Kill any running planner. *)
+ lwt () = Krobot_bus.send bus (Unix.gettimeofday (), Krobot_bus.Kill "objects") in
+
+ (* Create a new planner. *)
+ let objects = {
+ bus;
+ objects = [
+ { x = 0.800; y = 0.350 };
+ { x = 1.150; y = 0.350 };
+ { x = 1.850; y = 0.350 };
+ { x = 2.200; y = 0.350 };
+ { x = 1.500; y = 1.050 };
+ { x = 0.800; y = 1.400 };
+ { x = 2.200; y = 1.400 };
+ { x = 1.150; y = 1.750 };
+ { x = 1.850; y = 1.750 };
+ { x = 0.200; y = 0.290 };
+ { x = 0.200; y = 0.570 };
+ { x = 0.200; y = 0.850 };
+ { x = 0.200; y = 1.130 };
+ { x = 0.200; y = 1.410 };
+ { x = 2.800; y = 0.290 };
+ { x = 2.800; y = 0.570 };
+ { x = 2.800; y = 0.850 };
+ { x = 2.800; y = 1.130 };
+ { x = 2.800; y = 1.410 };
+ ];
+ } in
+
+ (* Handle krobot message. *)
+ E.keep (E.map (handle_message objects) (Krobot_bus.recv bus));
+
+ (* Sends initial objects. *)
+ lwt () = Krobot_bus.send objects.bus (Unix.gettimeofday (), Objects objects.objects) in
+
+ (* Wait forever. *)
+ fst (wait ())
diff --git a/info/control2011/src/tools/krobot_planner.ml b/info/control2011/src/tools/krobot_planner.ml
index e1e3596..b15a336 100644
--- a/info/control2011/src/tools/krobot_planner.ml
+++ b/info/control2011/src/tools/krobot_planner.ml
@@ -18,18 +18,6 @@ open Krobot_message
let section = Lwt_log.Section.make "krobot(planner)"
-let pi = 4. *. atan 1.
-
-let math_mod_float a b =
- let b2 = b /. 2. in
- let modf = mod_float a b in
- if modf > b2 then
- modf -. b
- else if modf < -. b2 then
- modf +. b
- else
- modf;;
-
(* +-----------------------------------------------------------------+
| Types |
+-----------------------------------------------------------------+ *)
@@ -63,6 +51,9 @@ type planner = {
mutable orientation : float;
(* The orientation of the robot. *)
+ mutable objects : vertice list;
+ (* The list of objects on the board. *)
+
mutable event : unit event;
(* Event kept in the planner. *)
}
@@ -169,44 +160,6 @@ let go planner rotation_speed rotation_acceleration moving_speed moving_accelera
if planner.moving then
return ()
else begin
- (* let rec loop () =
- match S.value planner.vertices with
- | { x; y } :: rest ->
- let sqr x = x *. x in
- let radius = sqrt (sqr (max wheels_position (robot_size -. wheels_position)) +. sqr (robot_size /. 2.)) in
- if x >= radius && x <= world_width -. radius && y >= radius && y <= world_height -. radius then begin
- (* Turn the robot. *)
- let alpha = math_mod_float (atan2 (y -. planner.position.y) (x -. planner.position.x) -. planner.orientation) (2. *. pi) in
- lwt () = Lwt_log.info_f "turning by %f radians" alpha in
- lwt () = Krobot_message.send planner.bus (Unix.gettimeofday (),
- Motor_turn(alpha,
- rotation_speed,
- rotation_acceleration)) in
- lwt () = wait_done planner in
-
- (* Move the robot. *)
- let dist = sqrt (sqr (x -. planner.position.x) +. sqr (y -. planner.position.y)) in
- lwt () = Lwt_log.info_f "moving by %f meters" dist in
- lwt () = Krobot_message.send planner.bus (Unix.gettimeofday (),
- Motor_move(dist,
- moving_speed,
- moving_acceleration)) in
- lwt () = wait_done planner in
-
- (* Remove the point. *)
- (match S.value planner.vertices with
- | _ :: l -> planner.set_vertices l
- | [] -> ());
- planner.set_origin (planner.position,
- { vx = cos planner.orientation;
- vy = sin planner.orientation });
-
- loop ()
- end else
- Lwt_log.warning_f "can not move to (%f, %f)" x y
- | [] ->
- return ()
- in*)
set_moving planner true;
planner.mover <- (
try_lwt
@@ -339,6 +292,9 @@ let handle_message planner (timestamp, message) =
set_vertices planner [];
ignore (Krobot_message.send planner.bus (Unix.gettimeofday (), Motor_stop(1.0,0.0)))
+ | Objects l ->
+ planner.objects <- l
+
| _ ->
()
@@ -386,11 +342,15 @@ lwt () =
mover = return ();
position = { x = 0.; y = 0. };
orientation = 0.;
+ objects = [];
event = E.never;
} in
(* Handle krobot message. *)
E.keep (E.map (handle_message planner) (Krobot_bus.recv bus));
+ (* Ask for objects. *)
+ lwt () = Krobot_bus.send bus (Unix.gettimeofday (), Send) in
+
(* Wait forever. *)
fst (wait ())
diff --git a/info/control2011/src/tools/krobot_plot.ml b/info/control2011/src/tools/krobot_plot.ml
index e5e4cab..1b84ecc 100644
--- a/info/control2011/src/tools/krobot_plot.ml
+++ b/info/control2011/src/tools/krobot_plot.ml
@@ -29,16 +29,22 @@ lwt () =
window#show ();
(* Create the graph. *)
- let graph = { points = Array.init 2 (fun _ -> Queue.create ()); max = 1. } in
+ let graph = { points = Array.init 4 (fun _ -> Queue.create ()); max = 1. } in
E.keep
(E.map
(fun (timestamp, msg) ->
match msg with
+ | Encoder_position_direction_1_2(pos1, dir1, pos2, dir2) ->
+ let pos1 = float pos1 and pos2 = float pos2 in
+ graph.max <- max graph.max (max pos1 pos2);
+ Queue.push (timestamp, pos1) graph.points.(0);
+ Queue.push (timestamp, pos2) graph.points.(1);
+ update_graph graph timestamp
| Encoder_position_direction_3_4(pos3, dir3, pos4, dir4) ->
let pos3 = float pos3 and pos4 = float pos4 in
graph.max <- max graph.max (max pos3 pos4);
- Queue.push (timestamp, pos3) graph.points.(0);
- Queue.push (timestamp, pos4) graph.points.(1);
+ Queue.push (timestamp, pos3) graph.points.(2);
+ Queue.push (timestamp, pos4) graph.points.(3);
update_graph graph timestamp
| _ ->
())
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 7ddee83..98a36fc 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -58,6 +58,9 @@ type viewer = {
mutable motor_status : bool * bool * bool *bool;
(* Status of the four motor controller. *)
+
+ mutable objects : vertice list;
+ (* The objects on the table. *)
}
(* +-----------------------------------------------------------------+
@@ -233,6 +236,19 @@ let draw viewer =
Cairo.arc ctx 1.675 0.175 0.05 0. (2. *. pi);
Cairo.fill ctx;
+ (* Draw objects *)
+ List.iter
+ (fun { x; y } ->
+ set_color ctx Yellow;
+ Cairo.arc ctx x y 0.1 0. (2. *. pi);
+ Cairo.fill ctx;
+
+ set_color ctx Black;
+ Cairo.arc ctx x y 0.1 0. (2. *. pi);
+ Cairo.stroke ctx)
+ viewer.objects;
+
+ (* Draw the robot and the ghost *)
List.iter
(fun (state, alpha) ->
Cairo.save ctx;
@@ -412,6 +428,10 @@ let handle_message viewer (timestamp, message) =
viewer.ui#logs#buffer#insert (line ^ "\n");
viewer.ui#scrolled_logs#vadjustment#set_value viewer.ui#scrolled_logs#vadjustment#upper
+ | Objects l ->
+ viewer.objects <- l;
+ queue_draw viewer
+
| _ ->
()
@@ -472,6 +492,7 @@ lwt () =
curves = [];
statusbar_context = ui#statusbar#new_context "";
motor_status = (false, false, false, false);
+ objects = [];
} in
(* Handle messages. *)
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2011-05-12 20:13:47
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 9240ffa0043fb08e18cb6b9c308cc382fed0bc4a (commit)
from 5ac502f354e9bb41b98d23447fa79a422bbfad6d (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 9240ffa0043fb08e18cb6b9c308cc382fed0bc4a
Author: Olivier BICHLER <oli...@cr...>
Date: Thu May 12 22:13:21 2011 +0200
[Balise IR] Added missing holes for PCB fixation and updated Xbee footprint
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/CARTE_ALIM_CAPTEURS.MAX b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/CARTE_ALIM_CAPTEURS.MAX
index d3048ea..e6a5c4c 100644
Binary files a/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/CARTE_ALIM_CAPTEURS.MAX and b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/CARTE_ALIM_CAPTEURS.MAX differ
diff --git a/elec/boards/Balise_IR/Carte_alim_diodes/PCB/CARTE_ALIM-DIODES.MAX b/elec/boards/Balise_IR/Carte_alim_diodes/PCB/CARTE_ALIM-DIODES.MAX
index 0e3d6f0..ce53138 100644
Binary files a/elec/boards/Balise_IR/Carte_alim_diodes/PCB/CARTE_ALIM-DIODES.MAX and b/elec/boards/Balise_IR/Carte_alim_diodes/PCB/CARTE_ALIM-DIODES.MAX differ
diff --git a/elec/boards/Balise_IR/Carte_capteurs/PCB/CARTE_CAPTEURS.MAX b/elec/boards/Balise_IR/Carte_capteurs/PCB/CARTE_CAPTEURS.MAX
index 02be9a1..fc52e14 100644
Binary files a/elec/boards/Balise_IR/Carte_capteurs/PCB/CARTE_CAPTEURS.MAX and b/elec/boards/Balise_IR/Carte_capteurs/PCB/CARTE_CAPTEURS.MAX differ
diff --git a/elec/boards/Balise_IR/Carte_diodes/PCB/CARTE_DIODES.MAX b/elec/boards/Balise_IR/Carte_diodes/PCB/CARTE_DIODES.MAX
index faec63e..ba3b487 100644
Binary files a/elec/boards/Balise_IR/Carte_diodes/PCB/CARTE_DIODES.MAX and b/elec/boards/Balise_IR/Carte_diodes/PCB/CARTE_DIODES.MAX differ
hooks/post-receive
--
krobot
|
|
From: Jason C. <Ba...@us...> - 2011-05-12 20:05:38
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 5ac502f354e9bb41b98d23447fa79a422bbfad6d (commit)
from 653cc8da6f2281a43716ba3f299f3adc9828d4af (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 5ac502f354e9bb41b98d23447fa79a422bbfad6d
Author: jchevrie <jas...@cr...>
Date: Thu May 12 22:03:38 2011 +0200
Dossier contenant les cartes de la balise infra-rouge.
Il reste à faire les modifications qu'Olivier a faites avant de commander les cartes (perçages...).
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/CARTE_ALIM_CAPTEURS.MAX b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/CARTE_ALIM_CAPTEURS.MAX
new file mode 100644
index 0000000..d3048ea
Binary files /dev/null and b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/CARTE_ALIM_CAPTEURS.MAX differ
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/PART_2.MNL b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/PART_2.MNL
new file mode 100644
index 0000000..9a0baf3
Binary files /dev/null and b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/PART_2.MNL differ
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/PDF/CARTE_ALIM_CAPTEURS_BOTTOM.pdf b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/PDF/CARTE_ALIM_CAPTEURS_BOTTOM.pdf
new file mode 100644
index 0000000..763c275
Binary files /dev/null and b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/PDF/CARTE_ALIM_CAPTEURS_BOTTOM.pdf differ
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/PDF/CARTE_ALIM_CAPTEURS_TOP.pdf b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/PDF/CARTE_ALIM_CAPTEURS_TOP.pdf
new file mode 100644
index 0000000..50b962a
Binary files /dev/null and b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/PDF/CARTE_ALIM_CAPTEURS_TOP.pdf differ
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/layout.log b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/layout.log
new file mode 100644
index 0000000..87e22ce
--- /dev/null
+++ b/elec/boards/Balise_IR/Carte_alim_capteurs/PCB/layout.log
@@ -0,0 +1 @@
+Thu May 12 12:14:50 Saved as file ~undo.max
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/Composants.BOM b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/Composants.BOM
new file mode 100644
index 0000000..4b1a2c8
--- /dev/null
+++ b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/Composants.BOM
@@ -0,0 +1,41 @@
+ Revised: Sunday, May 01, 2011
+ Revision:
+
+
+
+
+
+
+
+Bill Of Materials May 12,2011 13:39:32 Page1
+
+Item Quantity Reference Part
+______________________________________________
+
+1 3 C1,C18,C20 100n
+2 1 C17 10u
+3 1 C21 4.7u
+4 1 C22 1u
+5 1 D6 10BQ040
+6 1 D7 5V LED
+7 1 D8 3.3V LED
+8 1 E1 CAN_T
+9 1 E2 R-T
+10 1 E3 SCL_PU
+11 1 E4 SDA_PU
+12 1 HF1 XBEE
+13 1 J1 CAN #1
+14 1 J2 JTAG
+15 1 J3 I2C
+16 1 J12 12V - 24V Power Supply
+17 1 J13 CAN #2
+18 1 J33 CON20A
+19 1 R1 330
+20 9 R2,R4,R5,R6,R7,R8,R9,R10, 10k
+ R11
+21 1 R3 120
+22 2 R32,R45 680
+23 2 R34,R35 4.7k
+24 1 U1 SN65HVD230
+25 1 U4 TSR 1-2450
+26 1 U5 LT1521-3.3/SOT
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/PART_2.DSN b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/PART_2.DSN
new file mode 100644
index 0000000..f0472aa
Binary files /dev/null and b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/PART_2.DSN differ
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/PART_2_0.DBK b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/PART_2_0.DBK
new file mode 100644
index 0000000..1fcbecf
Binary files /dev/null and b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/PART_2_0.DBK differ
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/PDF/Carte_alim_capteurs.pdf b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/PDF/Carte_alim_capteurs.pdf
new file mode 100644
index 0000000..2c7f15a
Binary files /dev/null and b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/PDF/Carte_alim_capteurs.pdf differ
diff --git a/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/part_2.opj b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/part_2.opj
new file mode 100644
index 0000000..2d0fb94
--- /dev/null
+++ b/elec/boards/Balise_IR/Carte_alim_capteurs/Schematic/part_2.opj
@@ -0,0 +1,81 @@
+(ExpressProject "part_2"
+ (ProjectVersion "19981106")
+ (ProjectType "Analog or A/D Mixed Mode")
+ (Folder "Design Resources"
+ (Folder "Library")
+ (NoModify)
+ (File ".\part_2.dsn"
+ (Type "Schematic Design"))
+ (BuildFileAddedOrDeleted "x")
+ (CompileFileAddedOrDeleted "x")
+ (DRC_Scope "0")
+ (DRC_Action "0")
+ (DRC_Create_Warnings "FALSE")
+ (DRC_Check_Ports "FALSE")
+ (DRC_Check_Off-Page_Connectors "FALSE")
+ (DRC_Identical_References "TRUE")
+ (DRC_Type_Mismatch "TRUE")
+ (DRC_Report_Ports_and_Off-page_Connectors "FALSE")
+ (DRC_SDT_Compatibility "FALSE")
+ (DRC_Report_Off-grid_Objects "FALSE")
+ (DRC_Check_Unconnected_Nets "TRUE")
+ (DRC_Check_for_Misleading_TAP "FALSE")
+ (DRC_Visible_Power_pins "FALSE")
+ (DRC_Report_Netnames "FALSE")
+ (DRC_View_Output "FALSE")
+ (DRC_Report_File "C:\USERS\VINCENT\BUREAU ETUDE\PART_2\PART_2.DRC")
+ (BOM_Scope "0")
+ (BOM_Mode "0")
+ (BOM_Report_File
+ "C:\Krobot_Git\krobot\elec\boards\Balise_IR\Carte_alim_capteurs\Schematic\Composants.BOM")
+ (BOM_Merge_Include "FALSE")
+ (BOM_Property_Combine_7.0 "{Item}\t{Quantity}\t{Reference}\t{Value}")
+ (BOM_Header "Item\tQuantity\tReference\tPart")
+ (BOM_Include_File "C:\USERS\VINCENT\BUREAU ETUDE\PART_2\PART_2.INC")
+ (BOM_Include_File_Combine_7.0 "{Item}\t{Quantity}\t{Reference}\t{Value}")
+ (BOM_One_Part_Per_Line "FALSE")
+ (Open_BOM_in_Excel "FALSE")
+ (BOM_View_Output "FALSE")
+ (Netlist_TAB "3")
+ (LAYOUT_Netlist_File "PART_2.MNL")
+ (LAYOUT_PCB_Footprint "{PCB Footprint}")
+ (TRUE)
+ (LAYOUT_Units "0")
+ (TRUE)
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+ Revised: Friday, May 06, 2011
+ Revision:
+
+
+
+
+
+
+
+Bill Of Materials May 12,2011 13:43:00 Page1
+
+Reference Quantity Part
+______________________________________________
+
+C11 1 10u
+C12,C13 2 100n
+C14 1 1u
+C15 1 4.7u
+D11 1 10BQ040
+D12 1 5V LED
+D13 1 3.3V LED
+E21 1 R-T
+E22 1 SCL_PU
+E23 1 SDA_PU
+HF1 1 XBEE
+J11 1 12V - 24V Power Supply
+J21 1 JTAG
+J22 1 I2C
+J32 1 CON20A
+R11,R12 2 680
+R21,R22,R23,R24,R25,R26, 8 10k
+R27,R28
+R29,R210 2 4.7k
+U11 1 TSR 1-2450
+U12 1 LT1521-3.3/SOT
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+Capteurs infrarouge Revised: Saturday, May 07, 2011
+ Revision:
+
+
+
+
+
+
+
+Bill Of Materials May 12,2011 13:44:18 Page1
+
+Item Quantity Reference Part
+______________________________________________
+
+1 2 C2,C3 12p
+2 6 C4,C8,C10,C11,C12,C13 100n
+3 2 C6,C7 22p
+4 1 C9 1u
+5 1 C14 10u
+6 16 C24,C25,C26,C27,C28,C29, 4.7u
+ C30,C31,C32,C33,C34,C35,
+ C36,C37,C38,C39
+7 1 D1 LED 1
+8 1 D2 LED 2
+9 1 E5 BOOT0
+10 1 E6 BOOT1
+11 16 J15,J16,J17,J18,J19,J20, CON4
+ J21,J22,J23,J24,J25,J26,
+ J27,J28,J29,J30
+12 1 J32 CON20A
+13 1 L1 Ferrite bead
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+15 2 R27,R28 680
+16 16 R48,R50,R52,R54,R56,R58, 100k
+ R60,R62,R64,R66,R68,R70,
+ R72,R74,R76,R78
+17 16 R49,R51,R53,R55,R57,R59, 100
+ R61,R63,R65,R67,R69,R71,
+ R73,R75,R77,R79
+18 1 SW1 RESET
+19 1 U2 STM32F103RET
+20 1 X1 32768
+21 1 X2 8 MHz
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Binary files /dev/null and b/elec/boards/Balise_IR/Carte_diodes/Schematic/Carte_diode-PSpiceFiles/SCHEMATIC1/default.mrk differ
diff --git a/elec/boards/Balise_IR/Carte_diodes/Schematic/Carte_diode.opj b/elec/boards/Balise_IR/Carte_diodes/Schematic/Carte_diode.opj
new file mode 100644
index 0000000..e6a8bbb
--- /dev/null
+++ b/elec/boards/Balise_IR/Carte_diodes/Schematic/Carte_diode.opj
@@ -0,0 +1,143 @@
+(ExpressProject "Carte_diode"
+ (ProjectVersion "19981106")
+ (ProjectType "Analog or A/D Mixed Mode")
+ (Folder "Design Resources"
+ (Folder "Library"
+ (File ".\library1.olb"
+ (Type "Schematic Library")))
+ (NoModify)
+ (File ".\carte_diode.dsn"
+ (Type "Schematic Design"))
+ (BuildFileAddedOrDeleted "x")
+ (CompileFileAddedOrDeleted "x")
+ (DRC_Scope "0")
+ (DRC_Action "0")
+ (DRC_Create_Warnings "FALSE")
+ (DRC_Check_Ports "FALSE")
+ (DRC_Check_Off-Page_Connectors "FALSE")
+ (DRC_Identical_References "TRUE")
+ (DRC_Type_Mismatch "TRUE")
+ (DRC_Report_Ports_and_Off-page_Connectors "FALSE")
+ (DRC_SDT_Compatibility "FALSE")
+ (DRC_Report_Off-grid_Objects "FALSE")
+ (DRC_Check_Unconnected_Nets "TRUE")
+ (DRC_Check_for_Misleading_TAP "FALSE")
+ (DRC_Visible_Power_pins "FALSE")
+ (DRC_Report_Netnames "FALSE")
+ (DRC_View_Output "FALSE")
+ (DRC_Report_File
+ "C:\Users\rouge\Desktop\BE\Robot_holonome\Carte_diodes\CARTE_DIODE.DRC")
+ (Netlist_TAB "3")
+ (LAYOUT_Netlist_File "CARTE_DIODES.MNL")
+ (LAYOUT_PCB_Footprint "{PCB Footprint}")
+ (TRUE)
+ (LAYOUT_Units "0")
+ (TRUE)
+ (TRUE)
+ (GATE_&_PIN_SWAP_Scope "0")
+ (GATE_&_PIN_SWAP_File_Name
+ "C:\USERS\ROUGE\DESKTOP\BE\ROBOT_HOLONOME\CARTE_DIODES\CARTE_DIODE.SWP")
+ (Backannotation_TAB "1")
+ (TRUE)
+ (TRUE)
+ (BOM_Scope "0")
+ (BOM_Mode "0")
+ (BOM_Report_File
+ "C:\Krobot_Git\krobot\elec\boards\Balise_IR\Carte_diodes\Schematic\Composants.BOM")
+ (BOM_Merge_Include "FALSE")
+ (BOM_Property_Combine_7.0 "{Reference}\t{Quantity}\t{Value}")
+ (BOM_Header "Reference\tQuantity\tPart")
+ (BOM_Include_File
+ "D:\DOCUMENTS DE JASON\DOCUMENTS\BE\ROBOT_HOLONOME\CARTE_DIODES\CARTE_DIODE.INC")
+ (BOM_Include_File_Combine_7.0 "{Item}\t{Quantity}\t{Reference}\t{Value}")
+ (BOM_One_Part_Per_Line "FALSE")
+ (Open_BOM_in_Excel "FALSE")
+ (BOM_View_Output "FALSE"))
+ (Folder "Outputs"
+ (File "..\orcad_nouveau\carte_robot_adverse.drc"
+ (Type "Report"))
+ (File ".\carte_diode.drc"
+ (Type "Report"))
+ (File ".\carte_diodes.mnl"
+ (Type "LAYOUT Netlist File"))
+ (File ".\carte_diode.bom"
+ (Type "Report"))
+ (File ".\composants.bom"
+ (Type "Report")))
+ (Folder "PSpice Resources"
+ (Folder "Simulation Profiles")
+ (Folder "Model Libraries"
+ (Sort User))
+ (Folder "Stimulus Files"
+ (Sort User))
+ (Folder "Include Files"
+ (Sort User)))
+ (DefaultLibraryBrowseDirectory "library\PSpice")
+ (PartMRUSelector
+ (GND
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CAPSYM.OLB")
+ (DeviceIndex "0"))
+ (VCC
+ (LibraryName "\\LAFELN01\ORCAD15\TOOLS\CAPTURE\LIBRARY\CAPSYM.OLB")
+ (DeviceIndex "0"))
+ (OFFPAGELEFT-L
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CAPSYM.OLB")
+ (DeviceIndex "0"))
+ (C
+ (FullPartName "C.Normal")
+ (LibraryName "D:\ORCAD\TOOLS\CAPTURE\LIBRARY\PSPICE\ANALOG.OLB")
+ (DeviceIndex "0"))
+ (LED
+ (FullPartName "LED.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\DISCRETE.OLB")
+ (DeviceIndex "0"))
+ (74VHC08/SO
+ (FullPartName "74VHC08/SO.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\GATE.OLB")
+ (DeviceIndex "0"))
+ (74VHC132/SO
+ (FullPartName "74VHC132/SO.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\GATE.OLB")
+ (DeviceIndex "0"))
+ (POT
+ (FullPartName "POT.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\DISCRETE.OLB")
+ (DeviceIndex "0"))
+ (R
+ (FullPartName "R.Normal")
+ (LibraryName
+ "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\PSPICE\ANALOG.OLB")
+ (DeviceIndex "0"))
+ (A6282
+ (FullPartName "A6282.Normal")
+ (LibraryName
+ "C:\USERS\ROUGE\DESKTOP\BE\ROBOT_HOLONOME\CARTE_DIODES\LIBRARY1.OLB")
+ (DeviceIndex "0"))
+ (OFFPAGELEFT-R
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CAPSYM.OLB")
+ (DeviceIndex "0"))
+ (CON20A
+ (FullPartName "CON20A.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CONNECTOR.OLB")
+ (DeviceIndex "0")))
+ (MPSSessionName "rouge")
+ (GlobalState
+ (FileView
+ (Path "Design Resources")
+ (Path "Outputs")
+ (Select "Outputs"
+ "C:\Krobot_Git\krobot\elec\boards\Balise_IR\Carte_diodes\Schematic\composants.bom"))
+ (HierarchyView)
+ (Doc
+ (Type "COrCapturePMDoc")
+ (Frame
+ (Placement "44 0 1 0 500 -8 -30 -3 333 82 457"))
+ (Tab 0))
+ (Doc
+ (Type "TextFile")
+ (Frame
+ (Placement "44 2 3 -1 -1 -8 -30 50 1237 50 429"))
+ (Path
+ "C:\Krobot_Git\krobot\elec\boards\Balise_IR\Carte_diodes\Schematic\composants.bom")
+ (Scroll "9")))
+ (LastUsedLibraryBrowseDirectory "C:\OrCAD\OrCAD_16.0\tools\capture\library"))
diff --git a/elec/boards/Balise_IR/Carte_diodes/Schematic/Composants.BOM b/elec/boards/Balise_IR/Carte_diodes/Schematic/Composants.BOM
new file mode 100644
index 0000000..ae08c75
--- /dev/null
+++ b/elec/boards/Balise_IR/Carte_diodes/Schematic/Composants.BOM
@@ -0,0 +1,43 @@
+ Revised: Friday, May 06, 2011
+ Revision:
+
+
+
+
+
+
+
+Bill Of Materials May 12,2011 13:46:16 Page1
+
+Reference Quantity Part
+______________________________________________
+
+C11,C12 2 2n
+C13 1 0.1u
+C21,C27,C28,C29,C42,C210, 7 100n
+C211
+C22,C23 2 12p
+C24,C25 2 22p
+C26 1 1u
+C41,C212 2 10u
+D21 1 LED 1
+D22 1 LED 2
+D40,D41,D42,D43,D44,D45, 16 LED
+D46,D47,D48,D49,D410,
+D411,D412,D413,D414,D415
+E21 1 BOOT1
+E22 1 BOOT0
+J31 1 CON20A
+L21 1 Ferrite bead
+R11 1 120k
+R21,R22,R23 3 10k
+R24,R25 2 680
+R41 1 1k
+R42 1 50k
+SW21 1 RESET
+U11 1 ADXL213
+U21 1 STM32F103RET
+U41 1 A6282
+U42 1 74VHC08/SO
+X21 1 32768
+X22 1 8 MHz
diff --git a/elec/boards/Balise_IR/Carte_diodes/Schematic/PDF/Carte_diode.pdf b/elec/boards/Balise_IR/Carte_diodes/Schematic/PDF/Carte_diode.pdf
new file mode 100644
index 0000000..d58f4c9
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hooks/post-receive
--
krobot
|
|
From: Benjamin A. <Ba...@us...> - 2011-05-11 08:40:02
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 653cc8da6f2281a43716ba3f299f3adc9828d4af (commit)
via 7bba3cb9e0b18c442c8659ea2a96d3c2a08f79f9 (commit)
from 65a4b675c5f268bae1716ed95ac25cee3184f2a4 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 653cc8da6f2281a43716ba3f299f3adc9828d4af
Merge: 7bba3cb9e0b18c442c8659ea2a96d3c2a08f79f9 65a4b675c5f268bae1716ed95ac25cee3184f2a4
Author: Benjamin Aupetit <au...@cr...>
Date: Wed May 11 20:39:26 2011 +1200
Merge branch 'master' of ssh://krobot.git.sourceforge.net/gitroot/krobot/krobot
commit 7bba3cb9e0b18c442c8659ea2a96d3c2a08f79f9
Author: Benjamin Aupetit <au...@cr...>
Date: Wed May 11 20:36:34 2011 +1200
[meca] Update
-----------------------------------------------------------------------
Changes:
diff --git a/meca/2011_Senior/Ecrou/Ecrou M2.CATPart b/meca/2011_Senior/Ecrou/Ecrou M2.CATPart
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diff --git a/meca/2011_Senior/etages/etage2/entretoise-etage2.CATProduct b/meca/2011_Senior/etages/etage2/entretoise-etage2.CATProduct
index 48ebc57..a3ca908 100644
Binary files a/meca/2011_Senior/etages/etage2/entretoise-etage2.CATProduct and b/meca/2011_Senior/etages/etage2/entretoise-etage2.CATProduct differ
diff --git a/meca/2011_Senior/pinces/AX12.CATProduct b/meca/2011_Senior/pinces/AX12.CATProduct
index e17b4ac..19578b3 100644
Binary files a/meca/2011_Senior/pinces/AX12.CATProduct and b/meca/2011_Senior/pinces/AX12.CATProduct differ
diff --git a/meca/2011_Senior/pinces/AX12_actionneur.CATPart b/meca/2011_Senior/pinces/AX12_actionneur.CATPart
index 5285b2a..87263af 100644
Binary files a/meca/2011_Senior/pinces/AX12_actionneur.CATPart and b/meca/2011_Senior/pinces/AX12_actionneur.CATPart differ
diff --git a/meca/2011_Senior/pinces/AX12_fixation.CATPart b/meca/2011_Senior/pinces/AX12_fixation.CATPart
index fc013cd..00f5eea 100644
Binary files a/meca/2011_Senior/pinces/AX12_fixation.CATPart and b/meca/2011_Senior/pinces/AX12_fixation.CATPart differ
diff --git a/meca/2011_Senior/pinces/AX12_mobile.CATPart b/meca/2011_Senior/pinces/AX12_mobile.CATPart
index 798860a..beda197 100644
Binary files a/meca/2011_Senior/pinces/AX12_mobile.CATPart and b/meca/2011_Senior/pinces/AX12_mobile.CATPart differ
diff --git a/meca/2011_Senior/pinces/L_bas.CATPart b/meca/2011_Senior/pinces/L_bas.CATPart
index 5ff594d..b24a7c3 100644
Binary files a/meca/2011_Senior/pinces/L_bas.CATPart and b/meca/2011_Senior/pinces/L_bas.CATPart differ
diff --git a/meca/2011_Senior/pinces/L_haut.CATPart b/meca/2011_Senior/pinces/L_haut.CATPart
index 1976775..86df757 100644
Binary files a/meca/2011_Senior/pinces/L_haut.CATPart and b/meca/2011_Senior/pinces/L_haut.CATPart differ
diff --git a/meca/2011_Senior/pinces/Pince_droite_bas.CATProduct b/meca/2011_Senior/pinces/Pince_droite_bas.CATProduct
index d982dbb..1bafadc 100644
Binary files a/meca/2011_Senior/pinces/Pince_droite_bas.CATProduct and b/meca/2011_Senior/pinces/Pince_droite_bas.CATProduct differ
diff --git a/meca/2011_Senior/pinces/Pince_droite_haut.CATProduct b/meca/2011_Senior/pinces/Pince_droite_haut.CATProduct
index ac4756a..3b2904d 100644
Binary files a/meca/2011_Senior/pinces/Pince_droite_haut.CATProduct and b/meca/2011_Senior/pinces/Pince_droite_haut.CATProduct differ
diff --git a/meca/2011_Senior/pinces/Pince_gauche_bas.CATProduct b/meca/2011_Senior/pinces/Pince_gauche_bas.CATProduct
index bf33922..b278559 100644
Binary files a/meca/2011_Senior/pinces/Pince_gauche_bas.CATProduct and b/meca/2011_Senior/pinces/Pince_gauche_bas.CATProduct differ
diff --git a/meca/2011_Senior/pinces/Pince_gauche_haut.CATProduct b/meca/2011_Senior/pinces/Pince_gauche_haut.CATProduct
index e044cc9..bb3201e 100644
Binary files |
|
From: Olivier B. <Ba...@us...> - 2011-05-09 15:54:32
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 65a4b675c5f268bae1716ed95ac25cee3184f2a4 (commit)
from 4a16f66338e64e7ba33d4ab2ca4e086eec1707fa (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 65a4b675c5f268bae1716ed95ac25cee3184f2a4
Author: Olivier BICHLER <oli...@cr...>
Date: Mon May 9 17:53:47 2011 +0200
[Sensor Actuator] Added card label and revision silkscreen
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX
index 43482e5..c13f62e 100644
Binary files a/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX and b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf b/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf
index d4597c9..3f61c3c 100644
Binary files a/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf and b/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN
index 0a9201c..4951835 100644
Binary files a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN and b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK
index e464ba5..0a9201c 100644
Binary files a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK and b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj b/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
index d4d34fa..ccc751f 100644
--- a/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
+++ b/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
@@ -133,7 +133,9 @@
"C:\krobot\elec\boards\Sensor_Actuator\Schematic\sensor actuator.dsn"
"SCHEMATIC1")
(Path "Design Resources" "Library")
- (Path "Outputs"))
+ (Path "Outputs")
+ (Select "Design Resources"
+ "C:\krobot\elec\boards\Sensor_Actuator\Schematic\sensor actuator.dsn"))
(HierarchyView)
(Doc
(Type "COrCapturePMDoc")
diff --git a/elec/lib/OrCAD/KROBOT.LLB b/elec/lib/OrCAD/KROBOT.LLB
index 4bc3348..3d38f13 100644
Binary files a/elec/lib/OrCAD/KROBOT.LLB and b/elec/lib/OrCAD/KROBOT.LLB differ
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2011-05-05 21:06:24
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 4a16f66338e64e7ba33d4ab2ca4e086eec1707fa (commit)
from f4e43624677899b58fce21636dc9117e0f5c6ea1 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 4a16f66338e64e7ba33d4ab2ca4e086eec1707fa
Author: Olivier BICHLER <oli...@cr...>
Date: Thu May 5 23:05:53 2011 +0200
[Sensor Actuator] Added BOM + minor changes
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Sensor_Actuator/Assembly/SENSOR ACTUATOR.BOM b/elec/boards/Sensor_Actuator/Assembly/SENSOR ACTUATOR.BOM
new file mode 100644
index 0000000..c4cc442
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Assembly/SENSOR ACTUATOR.BOM
@@ -0,0 +1,90 @@
+Sensor Actuator - Communication Revised: Wednesday, May 04, 2011
+ Revision: 1.0
+
+
+
+
+
+
+
+Bill Of Materials May 5,2011 23:04:06 Page1
+
+Item Quantity Reference Part
+______________________________________________
+
+1 41 C1,C2,C3,C4,C5,C6,C7,C8, 100n
+ C9,C12,C13,C14,C15,C16,
+ C17,C20,C21,C22,C23,C24,
+ C25,C28,C29,C30,C31,C32,
+ C33,C38,C39,C40,C41,C45,
+ C49,C50,C51,C52,C53,C55,
+ C57,C60,C61
+2 12 C10,C11,C18,C19,C26,C27, 10u
+ C34,C35,C36,C42,C54,C56
+3 2 C43,C44 12p
+4 2 C46,C47 22p
+5 2 C48,C59 1u
+6 1 C58 50u
+7 1 D1 FAULT LED
+8 1 D2 STATUS LED
+9 1 D3 5V LED
+10 1 D4 3.3V LED
+11 1 E1 CAN_T
+12 1 E2 R-T
+13 2 E3,E4 JP3
+14 1 E9 BOOT1
+15 1 E10 BOOT0
+16 1 J1 CAN #1
+17 1 J2 CAN #2
+18 1 J3 JTAG
+19 1 J4 A1
+20 1 J5 A2
+21 1 J6 A3
+22 1 J7 A4
+23 1 J8 A5
+24 1 J9 A6
+25 1 J10 A7
+26 1 J11 A8
+27 2 J12,J18 D1
+28 2 J13,J19 D2
+29 2 J14,J20 D3
+30 2 J15,J21 D4
+31 2 J16,J22 D5
+32 2 J17,J23 D6
+33 2 J24,J26 I2C #1
+34 2 J25,J27 I2C #2
+35 1 J28 I2C #1 + 2 GPIO
+36 1 J29 I2C #2 + 2 GPIO
+37 1 J30 Serial #1
+38 1 J31 Serial #2
+39 1 J32 SW1
+40 1 J33 SW2
+41 1 J34 SW3
+42 1 J35 SW4
+43 1 J36 12V - 24V Power Supply
+44 1 LS1 BUZZER 5VDC
+45 1 L1 Ferrite bead
+46 1 Q1 BC846AL
+47 1 R1 330
+48 22 R2,R4,R5,R6,R7,R8,R9,R10, 10k
+ R11,R34,R35,R38,R39,R42,
+ R43,R55,R56,R57,R58,R59,
+ R60,R61
+49 1 R3 120
+50 24 R12,R13,R16,R17,R20,R21, 1k
+ R24,R25,R28,R29,R30,R31,
+ R32,R33,R36,R37,R40,R41,
+ R44,R45,R50,R51,R52,R53
+51 8 R14,R15,R18,R19,R22,R23, 2k
+ R26,R27
+52 4 R46,R47,R48,R49 4.7k
+53 4 R54,R62,R64,R65 680
+54 1 R63 2.4k
+55 1 SW1 RESET
+56 1 U1 SN65HVD230
+57 1 U2 TPS2087D
+58 1 U3 STM32F103RET
+59 1 U4 THN20-2411WI
+60 1 U5 LM3940IMP-3.3
+61 1 X1 32768
+62 1 X2 8 MHz
diff --git a/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf b/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf
index 31eb37c..d4597c9 100644
Binary files a/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf and b/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN
index 5cc7870..0a9201c 100644
Binary files a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN and b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK
index 3a5ecdc..e464ba5 100644
Binary files a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK and b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj b/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
index 8c6dd7e..d4d34fa 100644
--- a/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
+++ b/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
@@ -44,12 +44,27 @@
(ANNOTATE_Refdes_Control_Required "FALSE")
(FALSE)
(FALSE)
- (FALSE))
+ (FALSE)
+ (BOM_Scope "0")
+ (BOM_Mode "0")
+ (BOM_Report_File
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\Assembly\SENSOR ACTUATOR.BOM")
+ (BOM_Merge_Include "FALSE")
+ (BOM_Property_Combine_7.0 "{Item}\t{Quantity}\t{Reference}\t{Value}")
+ (BOM_Header "Item\tQuantity\tReference\tPart")
+ (BOM_Include_File
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.INC")
+ (BOM_Include_File_Combine_7.0 "{Item}\t{Quantity}\t{Reference}\t{Value}")
+ (BOM_One_Part_Per_Line "FALSE")
+ (Open_BOM_in_Excel "FALSE")
+ (BOM_View_Output "FALSE"))
(Folder "Outputs"
(File ".\sensor actuator.drc"
(Type "Report"))
(File "..\pcb\sensor actuator.mnl"
- (Type "LAYOUT Netlist File")))
+ (Type "LAYOUT Netlist File"))
+ (File "..\assembly\sensor actuator.bom"
+ (Type "Report")))
(Folder "PSpice Resources"
(Folder "Simulation Profiles")
(Folder "Model Libraries"
@@ -118,9 +133,7 @@
"C:\krobot\elec\boards\Sensor_Actuator\Schematic\sensor actuator.dsn"
"SCHEMATIC1")
(Path "Design Resources" "Library")
- (Path "Outputs")
- (Select "Design Resources"
- "C:\krobot\elec\boards\Sensor_Actuator\Schematic\sensor actuator.dsn"))
+ (Path "Outputs"))
(HierarchyView)
(Doc
(Type "COrCapturePMDoc")
@@ -131,7 +144,7 @@
(Type "COrSchematicDoc")
(Frame
(Placement "44 0 1 -1 -1 -8 -30 318 1884 0 1068")
- (Scroll "0 0")
+ (Scroll "0 14")
(Zoom "137")
(Occurrence "/"))
(Path
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2011-05-04 22:19:25
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via f4e43624677899b58fce21636dc9117e0f5c6ea1 (commit)
from 83487f9a1b43e3cc57d8b4fc9699aa87d679933b (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit f4e43624677899b58fce21636dc9117e0f5c6ea1
Author: Olivier BICHLER <oli...@cr...>
Date: Wed May 4 22:01:48 2011 +0200
[Sensor Actuator] Small refinements
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX
index 308ff49..43482e5 100644
Binary files a/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX and b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf b/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf
index 3892bb5..31eb37c 100644
Binary files a/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf and b/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN
index 96ec29e..5cc7870 100644
Binary files a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN and b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK
index f6ad04f..3a5ecdc 100644
Binary files a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK and b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj b/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
index e0d4f11..8c6dd7e 100644
--- a/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
+++ b/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
@@ -120,8 +120,7 @@
(Path "Design Resources" "Library")
(Path "Outputs")
(Select "Design Resources"
- "C:\krobot\elec\boards\Sensor_Actuator\Schematic\sensor actuator.dsn"
- "SCHEMATIC1"))
+ "C:\krobot\elec\boards\Sensor_Actuator\Schematic\sensor actuator.dsn"))
(HierarchyView)
(Doc
(Type "COrCapturePMDoc")
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2011-05-03 22:15:49
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 83487f9a1b43e3cc57d8b4fc9699aa87d679933b (commit)
from 9f787726ecadeffeb65ded0b557e538127ed2fe2 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 83487f9a1b43e3cc57d8b4fc9699aa87d679933b
Author: Olivier BICHLER <oli...@cr...>
Date: Wed May 4 00:15:25 2011 +0200
[Sensor Actuator] Flood ground VIA + wider power supply nets
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX
index 2c72c25..308ff49 100644
Binary files a/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX and b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX differ
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2011-05-03 19:40:14
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 9f787726ecadeffeb65ded0b557e538127ed2fe2 (commit)
from 896f3b133a8cb61279c49959082fb53ee066fb6b (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 9f787726ecadeffeb65ded0b557e538127ed2fe2
Author: Olivier BICHLER <oli...@cr...>
Date: Tue May 3 21:39:35 2011 +0200
[Sensor Actuator] Added schematic and routed board (to be reviewed)
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX
new file mode 100644
index 0000000..2c72c25
Binary files /dev/null and b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR-1_0.MAX differ
diff --git a/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR.MNL b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR.MNL
new file mode 100644
index 0000000..32a0677
Binary files /dev/null and b/elec/boards/Sensor_Actuator/PCB/SENSOR ACTUATOR.MNL differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf b/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf
new file mode 100644
index 0000000..3892bb5
Binary files /dev/null and b/elec/boards/Sensor_Actuator/Schematic/PDF/Sensor_Actuator-1.0.pdf differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DRC b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DRC
new file mode 100644
index 0000000..98d8076
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DRC
@@ -0,0 +1,88 @@
+
+Checking Pins and Pin Connections
+
+--------------------------------------------------
+Checking Schematic: SCHEMATIC1
+--------------------------------------------------
+Checking Electrical Rules
+ERROR: [DRC0004] Possible pin type conflict U6,OUT Output Connected to Power
+ SCHEMATIC1, Power Supply (4.70, 3.90)
+ERROR: [DRC0004] Possible pin type conflict U1,VDD Power Connected to Output
+ SCHEMATIC1, Communication (3.50, 1.20)
+ERROR: [DRC0004] Possible pin type conflict U2,VDD_4 Power Connected to Output
+ SCHEMATIC1, Microcontroller (4.50, 3.60)
+ERROR: [DRC0004] Possible pin type conflict U2,VBAT Power Connected to Output
+ SCHEMATIC1, Microcontroller (4.50, 1.80)
+ERROR: [DRC0004] Possible pin type conflict U2,VDD_1 Power Connected to Output
+ SCHEMATIC1, Microcontroller (4.50, 4.90)
+ERROR: [DRC0004] Possible pin type conflict U2,VDD_3 Power Connected to Output
+ SCHEMATIC1, Microcontroller (7.30, 1.80)
+ERROR: [DRC0004] Possible pin type conflict U2,VDD_2 Power Connected to Output
+ SCHEMATIC1, Microcontroller (7.30, 3.40)
+
+Checking for Unconnected Nets
+
+Checking Off-Page Connections
+
+Checking Pin to Port Connections
+
+Checking for Invalid References
+
+Checking for Duplicate References
+
+Reporting Ports
+
+Reporting Off-Page Connections
+ I2C2_2
+ D3
+ CTS1
+ SERVO_OE
+ D8/SERVO6
+ D5/I2C1_3
+ D4
+ CTS2
+ A1
+ JTCK
+ RTS1
+ CAN_TX
+ A2
+ RTS2
+ BUZ
+ SDA1
+ A3
+ CAN_RX
+ A4
+ SDA2
+ JTDO
+ A5
+ NRST
+ A6
+ A7
+ D6/I2C2_3
+ SCL1
+ A8
+ RX1
+ SCL2
+ RX2
+ SERVO1
+ D7/SERVO5
+ TX1
+ SERVO2
+ TX2
+ NJTRST
+ SERVO3
+ SERVO4
+ D1
+ I2C1_1
+ JTDI
+ I2C2_1
+ D2
+ I2C1_2
+ JTMS
+
+Reporting Globals
+ VCC
+ VCC_5V
+ GND
+
+Check Bus width mismatch
diff --git a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN
new file mode 100644
index 0000000..96ec29e
Binary files /dev/null and b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR.DSN differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK
new file mode 100644
index 0000000..f6ad04f
Binary files /dev/null and b/elec/boards/Sensor_Actuator/Schematic/SENSOR ACTUATOR_0.DBK differ
diff --git a/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj b/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
new file mode 100644
index 0000000..e0d4f11
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Schematic/Sensor Actuator.opj
@@ -0,0 +1,231 @@
+(ExpressProject "Sensor Actuator"
+ (ProjectVersion "19981106")
+ (ProjectType "Analog or A/D Mixed Mode")
+ (Folder "Design Resources"
+ (Folder "Library"
+ (File "c:\krobot\elec\lib\orcad\krobot.olb"
+ (Type "Schematic Library")))
+ (NoModify)
+ (File ".\sensor actuator.dsn"
+ (Type "Schematic Design"))
+ (BuildFileAddedOrDeleted "x")
+ (CompileFileAddedOrDeleted "x")
+ (DRC_Scope "0")
+ (DRC_Action "0")
+ (DRC_Create_Warnings "FALSE")
+ (DRC_Check_Ports "TRUE")
+ (DRC_Check_Off-Page_Connectors "TRUE")
+ (DRC_Identical_References "TRUE")
+ (DRC_Type_Mismatch "TRUE")
+ (DRC_Report_Ports_and_Off-page_Connectors "TRUE")
+ (DRC_SDT_Compatibility "FALSE")
+ (DRC_Report_Off-grid_Objects "FALSE")
+ (DRC_Check_Unconnected_Nets "TRUE")
+ (DRC_Check_for_Misleading_TAP "FALSE")
+ (DRC_Visible_Power_pins "FALSE")
+ (DRC_Report_Netnames "FALSE")
+ (DRC_View_Output "FALSE")
+ (DRC_Report_File
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DRC")
+ (Netlist_TAB "3")
+ (LAYOUT_Netlist_File
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\PCB\SENSOR ACTUATOR.MNL")
+ (LAYOUT_PCB_Footprint "{PCB Footprint}")
+ (FALSE)
+ (LAYOUT_Units "0")
+ (ANNOTATE_Scope "0")
+ (ANNOTATE_Mode "1")
+ (ANNOTATE_Action "0")
+ (Annotate_Page_Order "0")
+ (ANNOTATE_Reset_References_to_1 "FALSE")
+ (ANNOTATE_No_Page_Number_Change "FALSE")
+ (ANNOTATE_Property_Combine "{Value}{Source Package}{POWER_GROUP}")
+ (ANNOTATE_IncludeNonPrimitive "TRUE")
+ (ANNOTATE_Refdes_Control_Required "FALSE")
+ (FALSE)
+ (FALSE)
+ (FALSE))
+ (Folder "Outputs"
+ (File ".\sensor actuator.drc"
+ (Type "Report"))
+ (File "..\pcb\sensor actuator.mnl"
+ (Type "LAYOUT Netlist File")))
+ (Folder "PSpice Resources"
+ (Folder "Simulation Profiles")
+ (Folder "Model Libraries"
+ (Sort User))
+ (Folder "Stimulus Files"
+ (Sort User))
+ (Folder "Include Files"
+ (Sort User)))
+ (DefaultLibraryBrowseDirectory "library\PSpice")
+ (PartMRUSelector
+ (CON2
+ (FullPartName "CON2.Normal")
+ (LibraryName "D:\ORCAD\TOOLS\CAPTURE\LIBRARY\CONNECTOR.OLB")
+ (DeviceIndex "0"))
+ (TPS2087D
+ (FullPartName "TPS2087D.Normal")
+ (LibraryName "C:\KROBOT\ELEC\LIB\ORCAD\KROBOT.OLB")
+ (DeviceIndex "0"))
+ (ADG1612
+ (FullPartName "ADG1612.Normal")
+ (LibraryName "C:\KROBOT\ELEC\LIB\ORCAD\KROBOT.OLB")
+ (DeviceIndex "0"))
+ (VCC_ARROW
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CAPSYM.OLB")
+ (DeviceIndex "0"))
+ (ACS712
+ (FullPartName "ACS712.Normal")
+ (LibraryName "C:\KROBOT\ELEC\LIB\ORCAD\KROBOT.OLB")
+ (DeviceIndex "0"))
+ (CON3
+ (FullPartName "CON3.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CONNECTOR.OLB")
+ (DeviceIndex "0"))
+ (74HCT365
+ (FullPartName "74HCT365.Normal")
+ (LibraryName
+ "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\BUSDRIVERTRANSCEIVER.OLB")
+ (DeviceIndex "0"))
+ (74HCT245
+ (FullPartName "74HCT245.Normal")
+ (LibraryName
+ "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\BUSDRIVERTRANSCEIVER.OLB")
+ (DeviceIndex "0"))
+ (CON6
+ (FullPartName "CON6.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CONNECTOR.OLB")
+ (DeviceIndex "0"))
+ (CON5
+ (FullPartName "CON5.Normal")
+ (LibraryName "C:\ORCAD\ORCAD_16.0\TOOLS\CAPTURE\LIBRARY\CONNECTOR.OLB")
+ (DeviceIndex "0"))
+ (TXS0108E
+ (FullPartName "TXS0108E.Normal")
+ (LibraryName "C:\KROBOT\ELEC\LIB\ORCAD\KROBOT.OLB")
+ (DeviceIndex "0"))
+ (JP3
+ (FullPartName "JP3.Normal")
+ (LibraryName "C:\KROBOT\ELEC\LIB\ORCAD\KROBOT.OLB")
+ (DeviceIndex "0")))
+ (GlobalState
+ (FileView
+ (Path "Design Resources")
+ (Path "Design Resources"
+ "C:\krobot\elec\boards\Sensor_Actuator\Schematic\sensor actuator.dsn")
+ (Path "Design Resources"
+ "C:\krobot\elec\boards\Sensor_Actuator\Schematic\sensor actuator.dsn"
+ "SCHEMATIC1")
+ (Path "Design Resources" "Library")
+ (Path "Outputs")
+ (Select "Design Resources"
+ "C:\krobot\elec\boards\Sensor_Actuator\Schematic\sensor actuator.dsn"
+ "SCHEMATIC1"))
+ (HierarchyView)
+ (Doc
+ (Type "COrCapturePMDoc")
+ (Frame
+ (Placement "44 0 1 0 1041 -8 -30 0 317 0 710"))
+ (Tab 0))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -8 -30 318 1884 0 1068")
+ (Scroll "0 0")
+ (Zoom "137")
+ (Occurrence "/"))
+ (Path
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Microcontroller"))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -1 -1 318 1884 0 1068")
+ (Scroll "0 0")
+ (Zoom "136")
+ (Occurrence "/"))
+ (Path
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Communication"))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -1 -1 317 1883 1 1068")
+ (Scroll "0 0")
+ (Zoom "136")
+ (Occurrence "/"))
+ (Path
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Interface I2C"))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -8 -30 317 1883 0 1068")
+ (Scroll "0 0")
+ (Zoom "136")
+ (Occurrence "/"))
+ (Path
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Interface Analog"))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -1 -1 317 1883 0 1068")
+ (Scroll "0 0")
+ (Zoom "136")
+ (Occurrence "/"))
+ (Path
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Interface Serial"))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -1 -1 317 1883 0 1068")
+ (Scroll "0 0")
+ (Zoom "136")
+ (Occurrence "/"))
+ (Path
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Power Supply"))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -1 -1 318 1884 0 1068")
+ (Scroll "0 0")
+ (Zoom "136")
+ (Occurrence "/"))
+ (Path
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Interface Digital #2"))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -1 -1 317 1883 0 1068")
+ (Scroll "0 0")
+ (Zoom "136")
+ (Occurrence "/"))
+ (Path
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Interface Digital #1"))
+ (Doc
+ (Type "COrSchematicDoc")
+ (Frame
+ (Placement "44 0 1 -1 -1 -1 -1 318 1884 1 1068")
+ (Scroll "0 0")
+ (Zoom "136")
+ (Occurrence "/"))
+ (Path
+ "C:\KROBOT\ELEC\BOARDS\SENSOR_ACTUATOR\SCHEMATIC\SENSOR ACTUATOR.DSN")
+ (Schematic "SCHEMATIC1")
+ (Page "Interface Switch")))
+ (LastUsedLibraryBrowseDirectory "C:\OrCAD\OrCAD_16.0\tools\capture\library")
+ (MPSSessionName "Olivier"))
diff --git a/elec/lib/OrCAD/KROBOT.LLB b/elec/lib/OrCAD/KROBOT.LLB
index 3b45eba..4bc3348 100644
Binary files a/elec/lib/OrCAD/KROBOT.LLB and b/elec/lib/OrCAD/KROBOT.LLB differ
diff --git a/elec/lib/OrCAD/KROBOT.OLB b/elec/lib/OrCAD/KROBOT.OLB
index 847ff3a..63ada8a 100644
Binary files a/elec/lib/OrCAD/KROBOT.OLB and b/elec/lib/OrCAD/KROBOT.OLB differ
diff --git a/elec/lib/OrCAD/KROBOT.TCH b/elec/lib/OrCAD/KROBOT.TCH
index 9ea7305..45d6ded 100644
Binary files a/elec/lib/OrCAD/KROBOT.TCH and b/elec/lib/OrCAD/KROBOT.TCH differ
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2011-04-26 15:49:15
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 896f3b133a8cb61279c49959082fb53ee066fb6b (commit)
from fa8932bc991c708686e7813f52e5d441c1f3b966 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 896f3b133a8cb61279c49959082fb53ee066fb6b
Author: Jérémie Dimino <je...@di...>
Date: Mon Apr 25 22:41:19 2011 +0200
[info] handle backward trajectories
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_geom.ml b/info/control2011/src/lib/krobot_geom.ml
index 7ca6909..8f09d85 100644
--- a/info/control2011/src/lib/krobot_geom.ml
+++ b/info/control2011/src/lib/krobot_geom.ml
@@ -149,43 +149,43 @@ module Bezier = struct
translate origin ((b.a *| t3) +| (b.b *| t2) +| (b.c *| t1) +| b.p)
let fold_vertices f initial vertices acc =
- let add_vertices q r v1 v2 acc = f q (translate q v1) (translate r v2) r acc in
+ let add_vertices sign q r v1 v2 acc = f sign q (translate q v1) (translate r v2) r acc in
(* Compute cubic bezier curves. *)
- let rec loop acc = function
+ let rec loop sign acc = function
| p :: (q :: r :: s :: _ as rest) ->
(* Computes tangents with a length that is half of the
minimum length of the adjacent segments. *)
let _, v1 = tangents p q r and v2, _ = tangents q r s in
let v1 = v1 *| (min (distance p q) (distance q r) /. 2.)
and v2 = v2 *| (min (distance q r) (distance r s) /. 2.) in
- loop (add_vertices q r v1 v2 acc) rest
+ loop sign (add_vertices sign q r v1 v2 acc) rest
| [p; q; r] ->
let _, v1 = tangents p q r and v2 = vector r q /| distance q r in
let v1 = v1 *| (min (distance p q) (distance q r) /. 2.)
and v2 = v2 *| (distance q r /. 2.) in
- add_vertices q r v1 v2 acc
+ add_vertices sign q r v1 v2 acc
| _ ->
acc
in
match vertices with
| q :: r :: s :: _ ->
- let initial = if prod initial (vector q r) < 0. then minus initial else initial in
+ let initial, sign = if prod initial (vector q r) < 0. then (minus initial, -1.) else (initial, 1.) in
let v1 = initial
and v2, _ = tangents q r s in
let v1 = v1 *| (distance q r /. 2.)
and v2 = v2 *| (distance q r /. 2.) in
- loop (add_vertices q r v1 v2 acc) vertices
+ loop sign (add_vertices sign q r v1 v2 acc) vertices
| [q; r] ->
- let initial = if prod initial (vector q r) < 0. then minus initial else initial in
+ let initial, sign = if prod initial (vector q r) < 0. then (minus initial, -1.) else (initial, 1.) in
let v1 = initial
and v2 = vector r q /| distance q r in
let v1 = v1 *| (distance q r /. 2.)
and v2 = v2 *| (distance q r /. 2.) in
- add_vertices q r v1 v2 acc
+ add_vertices sign q r v1 v2 acc
| [_] | [] ->
acc
let fold_curves f initial vertices acc =
- fold_vertices (fun p q r s acc -> f (of_vertices p q r s) acc) initial vertices acc
+ fold_vertices (fun sign p q r s acc -> f (of_vertices p q r s) acc) initial vertices acc
end
diff --git a/info/control2011/src/lib/krobot_geom.mli b/info/control2011/src/lib/krobot_geom.mli
index abebd94..df40b0d 100644
--- a/info/control2011/src/lib/krobot_geom.mli
+++ b/info/control2011/src/lib/krobot_geom.mli
@@ -76,7 +76,8 @@ module Bezier : sig
passing through the given list of vertices. [vector] is the
initial direction vector. *)
- val fold_vertices : (vertice -> vertice -> vertice -> vertice -> 'a -> 'a) -> vector -> vertice list -> 'a -> 'a
+ val fold_vertices : (float -> vertice -> vertice -> vertice -> vertice -> 'a -> 'a) -> vector -> vertice list -> 'a -> 'a
(** [fold_vertices f vector vertices acc] same as {!fold_curves}
- but pass parameters instead of curves to [f]. *)
+ but pass parameters instead of curves to [f]. The first
+ parameter passed to [f] is the sign of [d1]. *)
end
diff --git a/info/control2011/src/tools/krobot_planner.ml b/info/control2011/src/tools/krobot_planner.ml
index 5f872e5..e1e3596 100644
--- a/info/control2011/src/tools/krobot_planner.ml
+++ b/info/control2011/src/tools/krobot_planner.ml
@@ -41,7 +41,7 @@ type planner = {
mutable vertices : vertice list;
(* The list of vertices for the trajectory. *)
- mutable curves : (vertice * vertice * vertice * vertice) list;
+ mutable curves : (float * vertice * vertice * vertice * vertice) list;
(* The parameters of bezier curves. *)
mutable moving : bool;
@@ -87,10 +87,11 @@ let set_vertices planner ?curves vertices =
l
| None ->
let v = { vx = cos planner.orientation; vy = sin planner.orientation } in
- List.rev (Bezier.fold_vertices (fun p q r s acc -> (p, q, r, s) :: acc) v vertices [])
+ List.rev (Bezier.fold_vertices (fun sign p q r s acc -> (sign, p, q, r, s) :: acc) v vertices [])
in
planner.curves <- curves;
- ignore (Krobot_bus.send planner.bus (Unix.gettimeofday (), Trajectory_vertices(vertices, curves)))
+ ignore (Krobot_bus.send planner.bus (Unix.gettimeofday (), Trajectory_vertices(vertices,
+ List.map (fun (sign, p, q, r, s) -> (p, q, r, s)) curves)))
let set_moving planner moving =
planner.moving <- moving;
@@ -210,9 +211,9 @@ let go planner rotation_speed rotation_acceleration moving_speed moving_accelera
planner.mover <- (
try_lwt
(* Send a bezier curve to the robot. *)
- let send_curve (p, q, r, s) v_end =
+ let send_curve (sign, p, q, r, s) v_end =
(* Compute parameters. *)
- let d1 = distance p q and d2 = distance r s in
+ let d1 = sign *. distance p q and d2 = distance r s in
let v = vector r s in
let theta_end = atan2 v.vy v.vx in
@@ -311,7 +312,7 @@ let handle_message planner (timestamp, message) =
let ts = Unix.gettimeofday () in
let vertices = if planner.moving then planner.vertices else planner.position :: planner.vertices in
join [
- Krobot_bus.send planner.bus (ts, Trajectory_vertices(vertices, planner.curves));
+ Krobot_bus.send planner.bus (ts, Trajectory_vertices(vertices, List.map (fun (sign, p, q, r, s) -> (p, q, r, s)) planner.curves));
Krobot_bus.send planner.bus (ts, Trajectory_moving planner.moving);
]
)
hooks/post-receive
--
krobot
|
|
From: Xavier L. <Ba...@us...> - 2011-04-25 21:12:24
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via fa8932bc991c708686e7813f52e5d441c1f3b966 (commit)
via 4bd527c9a4d54185ac2a373c956a57a74c281350 (commit)
from b18032438c48e011c678a04eb968c697bb90e66c (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit fa8932bc991c708686e7813f52e5d441c1f3b966
Author: Xavier Lagorce <Xav...@cr...>
Date: Mon Apr 25 23:11:01 2011 +0200
[Controller_Motor_STM32] Fixed ghost angle conversion.
commit 4bd527c9a4d54185ac2a373c956a57a74c281350
Author: Xavier Lagorce <Xav...@cr...>
Date: Mon Apr 25 22:40:10 2011 +0200
[Controller_Motor_STM32] Added possibilty for backward movement.
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_messages.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_messages.h
index 5760216..81a44c2 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_messages.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_messages.h
@@ -90,9 +90,9 @@ typedef struct {
typedef struct {
uint16_t x_end:12 __attribute__((__packed__)); // end point x coordinate in mm
uint16_t y_end:12 __attribute__((__packed__)); // end point y coordinate in mm
- uint8_t d1; // first branch length in cm
- uint8_t d2; // last branch length in cm
- int16_t theta_end:13 __attribute__((__packed__)); // end angle in 1/1000 radians
+ int16_t d1:9 __attribute__((__packed__)); // first branch length in cm
+ uint8_t d2:8 __attribute__((__packed__)); // last branch length in cm
+ int16_t theta_end:12 __attribute__((__packed__)); // end angle in 1/100 radians
uint16_t v_end:11 __attribute__((__packed__)); // final speed in mm/s
} bezier_msg_t;
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
index 22fa8c1..8c3793d 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
@@ -121,7 +121,7 @@ static void NORETURN canMonitor_process(void) {
msg_ghost.data.state = dd_get_ghost_state(&odometry, &u);
msg_ghost.data.x = (int16_t)(odometry.x * 1000.0);
msg_ghost.data.y = (int16_t)(odometry.y * 1000.0);
- msg_ghost.data.theta = (int16_t)(odometry.theta * 1000.0);
+ msg_ghost.data.theta = (int16_t)(odometry.theta * 10000.0);
msg_ghost.data.u = (uint8_t)(u * 255);
txm.data32[0] = msg_ghost.data32[0];
txm.data32[1] = msg_ghost.data32[1];
@@ -188,7 +188,7 @@ static void NORETURN canMonitorListen_process(void) {
bezier_msg.data32[1] = frame.data32[1];
dd_add_bezier(bezier_msg.data.x_end/1000.0, bezier_msg.data.y_end/1000.0,
bezier_msg.data.d1/100.0, bezier_msg.data.d2/100.0,
- bezier_msg.data.theta_end/1000.0, bezier_msg.data.v_end/1000.0);
+ bezier_msg.data.theta_end/100.0, bezier_msg.data.v_end/1000.0);
break;
case CAN_MSG_STOP:
stop_msg.data32[0] = frame.data32[0];
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
index 7883f9a..179db7f 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
@@ -326,7 +326,7 @@ uint8_t dd_add_bezier(float x_end, float y_end, float d1, float d2, float end_an
traj->theta_end = end_angle;
traj->start[0] = x_ini;
traj->start[1] = y_ini;
- traj->theta_ini = theta_ini;
+ traj->theta_ini = (d1 >= 0.0) ? theta_ini : (theta_ini + M_PI);
// Differentiate parameters
bezier_diff(traj->params, traj->dparams);
bezier_diff(traj->dparams, traj->ddparams);
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2011-04-25 19:33:07
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via b18032438c48e011c678a04eb968c697bb90e66c (commit)
from a35b4e1cdf9f415501fa0ae4e44d2718ee5fb94c (commit)
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- Log -----------------------------------------------------------------
commit b18032438c48e011c678a04eb968c697bb90e66c
Author: Jérémie Dimino <je...@di...>
Date: Mon Apr 25 21:32:28 2011 +0200
[krobot_message] add __attribute__((__packed__))
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_message_stubs.c b/info/control2011/src/lib/krobot_message_stubs.c
index ecb5de5..33909b1 100644
--- a/info/control2011/src/lib/krobot_message_stubs.c
+++ b/info/control2011/src/lib/krobot_message_stubs.c
@@ -12,12 +12,12 @@
#include <caml/alloc.h>
struct bezier_message {
- unsigned int x : 12;
- unsigned int y : 12;
- int d1 : 9;
- unsigned int d2 : 8;
- int theta : 12;
- unsigned int v : 11;
+ unsigned int x : 12 __attribute__((__packed__));
+ unsigned int y : 12 __attribute__((__packed__));
+ int d1 : 9 __attribute__((__packed__));
+ unsigned int d2 : 8 __attribute__((__packed__));
+ int theta : 12 __attribute__((__packed__));
+ unsigned int v : 11 __attribute__((__packed__));
};
CAMLprim value krobot_message_encode_bezier(value params)
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2011-04-25 19:21:14
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via a35b4e1cdf9f415501fa0ae4e44d2718ee5fb94c (commit)
via 2ce237ac7b8e79e18262493ea91dfee1d91247b5 (commit)
from 65ffbe46c0f588fd33ae4c84bb0d7309d1602293 (commit)
Those revisions listed above that are new to this repository have
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revisions in full, below.
- Log -----------------------------------------------------------------
commit a35b4e1cdf9f415501fa0ae4e44d2718ee5fb94c
Author: Jérémie Dimino <je...@di...>
Date: Mon Apr 25 21:20:04 2011 +0200
[krobot_message] remove manual handling of the sign of theta in bezier messages
commit 2ce237ac7b8e79e18262493ea91dfee1d91247b5
Author: Jérémie Dimino <je...@di...>
Date: Mon Apr 25 21:00:37 2011 +0200
[info] change bezier messages
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_geom.ml b/info/control2011/src/lib/krobot_geom.ml
index 1c84bf3..7ca6909 100644
--- a/info/control2011/src/lib/krobot_geom.ml
+++ b/info/control2011/src/lib/krobot_geom.ml
@@ -54,6 +54,9 @@ let div v s = {
vy = v.vy /. s;
}
+let prod a b =
+ a.vx *. b.vx +. a.vy *. b.vy
+
let ( +| ) = add
let ( -| ) = sub
let ( ~| ) = minus
@@ -167,12 +170,14 @@ module Bezier = struct
in
match vertices with
| q :: r :: s :: _ ->
+ let initial = if prod initial (vector q r) < 0. then minus initial else initial in
let v1 = initial
and v2, _ = tangents q r s in
let v1 = v1 *| (distance q r /. 2.)
and v2 = v2 *| (distance q r /. 2.) in
loop (add_vertices q r v1 v2 acc) vertices
| [q; r] ->
+ let initial = if prod initial (vector q r) < 0. then minus initial else initial in
let v1 = initial
and v2 = vector r q /| distance q r in
let v1 = v1 *| (distance q r /. 2.)
diff --git a/info/control2011/src/lib/krobot_geom.mli b/info/control2011/src/lib/krobot_geom.mli
index 59bee62..abebd94 100644
--- a/info/control2011/src/lib/krobot_geom.mli
+++ b/info/control2011/src/lib/krobot_geom.mli
@@ -28,6 +28,7 @@ val sub : vector -> vector -> vector
val minus : vector -> vector
val mul : vector -> float -> vector
val div : vector -> float -> vector
+val prod : vector -> vector -> float
val ( +| ) : vector -> vector -> vector
val ( -| ) : vector -> vector -> vector
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 82df8a3..3a77845 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -233,7 +233,7 @@ let encode = function
and y = int_of_float (y *. 1000.)
and d1 = int_of_float (d1 *. 100.)
and d2 = int_of_float (d2 *. 100.)
- and theta = int_of_float (theta *. 1000.) land 0b1111111111111;
+ and theta = int_of_float (theta *. 100.)
and v = int_of_float (v *. 1000.) in
frame
~identifier:206
@@ -411,10 +411,7 @@ let decode frame =
float y /. 1000.,
float d1 /. 100.,
float d2 /. 100.,
- (if theta >= 4096 then
- float (theta - 8192) /. 1000.
- else
- float theta /. 1000.),
+ float theta /. 100.,
float v /. 1000.)
| 301 ->
Beacon_position
diff --git a/info/control2011/src/lib/krobot_message_stubs.c b/info/control2011/src/lib/krobot_message_stubs.c
index e34c242..ecb5de5 100644
--- a/info/control2011/src/lib/krobot_message_stubs.c
+++ b/info/control2011/src/lib/krobot_message_stubs.c
@@ -14,9 +14,9 @@
struct bezier_message {
unsigned int x : 12;
unsigned int y : 12;
- unsigned int d1 : 8;
+ int d1 : 9;
unsigned int d2 : 8;
- int theta : 13;
+ int theta : 12;
unsigned int v : 11;
};
hooks/post-receive
--
krobot
|
|
From: Benjamin A. <Ba...@us...> - 2011-04-22 16:40:31
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 65ffbe46c0f588fd33ae4c84bb0d7309d1602293 (commit)
from b0e5d3352f32fab87bc972e87ba8db42e2bc8ae5 (commit)
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not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit 65ffbe46c0f588fd33ae4c84bb0d7309d1602293
Author: Benjamin Aupetit <au...@cr...>
Date: Fri Apr 22 18:38:58 2011 +0200
[meca] Adding some small holes for sensors
Some small holes, some small holes, always some small holes...
-----------------------------------------------------------------------
Changes:
diff --git a/meca/2011_Senior/bati/base.CATPart b/meca/2011_Senior/bati/base.CATPart
index 96d3460..3e7098a 100644
Binary files a/meca/2011_Senior/bati/base.CATPart and b/meca/2011_Senior/bati/base.CATPart differ
hooks/post-receive
--
krobot
|
|
From: Benjamin A. <Ba...@us...> - 2011-04-22 15:21:07
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via b0e5d3352f32fab87bc972e87ba8db42e2bc8ae5 (commit)
via 06d121e49e25d84325e05939f34e7da6b4c4614f (commit)
via 542daffd2e1086b407295b2f5665efa84820ea64 (commit)
from 62f90db8b68913bc816a7ee80a619333e226f1f4 (commit)
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- Log -----------------------------------------------------------------
commit b0e5d3352f32fab87bc972e87ba8db42e2bc8ae5
Author: Benjamin Aupetit <au...@cr...>
Date: Fri Apr 22 17:19:36 2011 +0200
[meca] Deletion of unused files
commit 06d121e49e25d84325e05939f34e7da6b4c4614f
Author: Benjamin Aupetit <au...@cr...>
Date: Fri Apr 22 17:16:51 2011 +0200
[meca] Changing elevator bottom pulley
commit 542daffd2e1086b407295b2f5665efa84820ea64
Author: Benjamin Aupetit <au...@cr...>
Date: Fri Apr 22 17:15:23 2011 +0200
[meca] Draw of some part
-----------------------------------------------------------------------
Changes:
diff --git a/meca/2011_Senior/SupportMiroir/Soutien_Omron.CATPart b/meca/2011_Senior/SupportMiroir/Soutien_Omron.CATPart
index 02268e7..386ffb2 100644
Binary files a/meca/2011_Senior/SupportMiroir/Soutien_Omron.CATPart and b/meca/2011_Senior/SupportMiroir/Soutien_Omron.CATPart differ
diff --git a/meca/2011_Senior/ascenceurs/Ascenseur_Poulie_bas2.CATPart b/meca/2011_Senior/ascenceurs/Ascenseur_Poulie_bas2.CATPart
index c9f58a6..bbb932b 100644
Binary files a/meca/2011_Senior/ascenceurs/Ascenseur_Poulie_bas2.CATPart and b/meca/2011_Senior/ascenceurs/Ascenseur_Poulie_bas2.CATPart differ
diff --git a/meca/2011_Senior/ascenceurs/Moteur_ascenseur.CATProduct b/meca/2011_Senior/ascenceurs/Moteur_ascenseur.CATProduct
index 63f5a64..a672e27 100644
Binary files a/meca/2011_Senior/ascenceurs/Moteur_ascenseur.CATProduct and b/meca/2011_Senior/ascenceurs/Moteur_ascenseur.CATProduct differ
diff --git a/meca/2011_Senior/ascenceurs/Poulie_bas_avec_support.CATProduct b/meca/2011_Senior/ascenceurs/Poulie_bas_avec_support.CATProduct
index c9b82fc..8be584c 100644
Binary files a/meca/2011_Senior/ascenceurs/Poulie_bas_avec_support.CATProduct and b/meca/2011_Senior/ascenceurs/Poulie_bas_avec_support.CATProduct differ
diff --git a/meca/2011_Senior/ascenceurs/ascenseur.CATProduct b/meca/2011_Senior/ascenceurs/ascenseur.CATProduct
index 2edafc5..cc204cc 100644
Binary files a/meca/2011_Senior/ascenceurs/ascenseur.CATProduct and b/meca/2011_Senior/ascenceurs/ascenseur.CATProduct differ
diff --git a/meca/2011_Senior/ascenceurs/longueur_courroie.CATPart b/meca/2011_Senior/ascenceurs/longueur_courroie.CATPart
index 79762bf..81d5ec7 100644
Binary files a/meca/2011_Senior/ascenceurs/longueur_courroie.CATPart and b/meca/2011_Senior/ascenceurs/longueur_courroie.CATPart differ
diff --git a/meca/2011_Senior/bati/base.CATPart b/meca/2011_Senior/bati/base.CATPart
index 72651a5..96d3460 100644
Binary files a/meca/2011_Senior/bati/base.CATPart and b/meca/2011_Senior/bati/base.CATPart differ
diff --git a/meca/2011_Senior/bati/plaque3.CATPart b/meca/2011_Senior/bati/plaque3.CATPart
index 5750f9c..76625e6 100644
Binary files a/meca/2011_Senior/bati/plaque3.CATPart and b/meca/2011_Senior/bati/plaque3.CATPart differ
diff --git a/meca/2011_Senior/cartes/Boussole CMP03.CATPart b/meca/2011_Senior/cartes/Boussole CMP03.CATPart
deleted file mode 100644
index 7e629ab..0000000
Binary files a/meca/2011_Senior/cartes/Boussole CMP03.CATPart and /dev/null differ
diff --git a/meca/2011_Senior/cartes/Monitoring batteries.CATPart b/meca/2011_Senior/cartes/Monitoring batteries.CATPart
deleted file mode 100644
index f1385f2..0000000
Binary files a/meca/2011_Senior/cartes/Monitoring batteries.CATPart and /dev/null differ
diff --git a/meca/2011_Senior/cartes/PontH.CATPart b/meca/2011_Senior/cartes/PontH.CATPart
deleted file mode 100644
index e968419..0000000
Binary files a/meca/2011_Senior/cartes/PontH.CATPart and /dev/null differ
diff --git a/meca/2011_Senior/cartes/Proximity Sensor.CATPart b/meca/2011_Senior/cartes/Proximity Sensor.CATPart
deleted file mode 100644
index 19a2dd4..0000000
Binary files a/meca/2011_Senior/cartes/Proximity Sensor.CATPart and /dev/null differ
diff --git a/meca/2011_Senior/cartes/Robot Interface.CATPart b/meca/2011_Senior/cartes/Robot Interface.CATPart
deleted file mode 100644
index f6950a8..0000000
Binary files a/meca/2011_Senior/cartes/Robot Interface.CATPart and /dev/null differ
diff --git a/meca/2011_Senior/divers/webcam.CATProduct b/meca/2011_Senior/divers/webcam.CATProduct
index 771557b..460a778 100644
Binary files a/meca/2011_Senior/divers/webcam.CATProduct and b/meca/2011_Senior/divers/webcam.CATProduct differ
diff --git a/meca/2011_Senior/etages/Etage_1.CATProduct b/meca/2011_Senior/etages/Etage_1.CATProduct
index 306bce0..6d266fd 100644
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diff --git a/meca/2011_Senior/etages/Etage_2.CATProduct b/meca/2011_Senior/etages/Etage_2.CATProduct
index 34b13e0..9f12bd8 100644
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diff --git a/meca/2011_Senior/etages/etage1/axes.CATProduct b/meca/2011_Senior/etages/etage1/axes.CATProduct
index ccae73f..f469523 100644
Binary files a/meca/2011_Senior/etages/etage1/axes.CATProduct and b/meca/2011_Senior/etages/etage1/axes.CATProduct differ
diff --git a/meca/2011_Senior/planlaser.CATPart b/meca/2011_Senior/planlaser.CATPart
deleted file mode 100644
index d3d90d2..0000000
Binary files a/meca/2011_Senior/planlaser.CATPart and /dev/null differ
diff --git a/meca/2011_Senior/robot.CATProduct b/meca/2011_Senior/robot.CATProduct
index cf532ee..616aeba 100644
Binary files a/meca/2011_Senior/robot.CATProduct and b/meca/2011_Senior/robot.CATProduct differ
diff --git a/meca/2011_Senior/roues/Bloc_roue.CATProduct b/meca/2011_Senior/roues/Bloc_roue.CATProduct
index 679bd5e..c657ffd 100644
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diff --git a/meca/2011_Senior/usinage/support-adverse.CATDrawing b/meca/2011_Senior/usinage/support-adverse.CATDrawing
new file mode 100644
index 0000000..9efcc9d
Binary files /dev/null and b/meca/2011_Senior/usinage/support-adverse.CATDrawing differ
diff --git a/meca/2011_Senior/usinage/support-base.CATDrawing b/meca/2011_Senior/usinage/support-base.CATDrawing
new file mode 100644
index 0000000..aaa0eb7
Binary files /dev/null and b/meca/2011_Senior/usinage/support-base.CATDrawing differ
diff --git a/meca/2011_Table/Elements/Pion-base.CATPart b/meca/2011_Table/Elements/Pion-base.CATPart
index 5b8ff8a..f3ae0ab 100644
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diff --git a/meca/2011_Table/Elements/couronne-roi.CATPart b/meca/2011_Table/Elements/couronne-roi.CATPart
index 8e1fc8a..bf5a2de 100644
Binary files a/meca/2011_Table/Elements/couronne-roi.CATPart and b/meca/2011_Table/Elements/couronne-roi.CATPart differ
diff --git a/meca/2011_Table/Pion.CATProduct b/meca/2011_Table/Pion.CATProduct
index ff5d5fa..62eacf9 100644
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diff --git a/meca/2011_Table/Roi.CATProduct b/meca/2011_Table/Roi.CATProduct
index 24b61ad..de900b8 100644
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diff --git a/meca/2011_Table/Tour_complete.CATProduct b/meca/2011_Table/Tour_complete.CATProduct
index e5a57b5..6ffdb11 100644
Binary files a/meca/2011_Table/Tour_complete.CATProduct and b/meca/2011_Table/Tour_complete.CATProduct differ
hooks/post-receive
--
krobot
|
|
From: Xavier L. <Ba...@us...> - 2011-04-21 14:31:07
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 62f90db8b68913bc816a7ee80a619333e226f1f4 (commit)
from edd099fd4078acee928803c9e63934c83b783f19 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 62f90db8b68913bc816a7ee80a619333e226f1f4
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Apr 21 16:29:53 2011 +0200
[Controller_Motor_STM32] Added the possibility to limit PWM output in software.
To allow for 'hard' and dirty limitation of motor voltage is nominal voltage
is different from power bus voltage.
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor.c
index 16bec21..08cafb3 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor.c
@@ -16,19 +16,21 @@
uint8_t enabledMotors = 0, indMotors = 0;
signed char currentSpeedSign[] = {0, 0, 0, 0};
+int32_t maxPWMs[] = {MAX_PWM, MAX_PWM, MAX_PWM, MAX_PWM};
TIM_OCInitTypeDef TIM_OCInitStructure;
-/*
- Some dirty imports from the stm32lib from ST <stm32_lib>
- */
-
-//#define __IO volatile /*!< defines 'read / write' permissions */
-//typedef __IO uint16_t vu16;
-
-
-/*
- End of imports </stm32_lib>
- */
+static int32_t staSpeed(int32_t speed, int32_t maxSpeed, uint8_t *ind) {
+ if (speed >= maxSpeed) {
+ *ind = 1;
+ return MAX_PWM;
+ } else if (speed <= -maxSpeed) {
+ *ind = 1;
+ return -maxSpeed;
+ } else {
+ *ind = 0;
+ return speed;
+ }
+}
/*
* Initialises TIM2 for PWM generation and associated GPIOs
@@ -174,32 +176,24 @@ void disableMotor(uint8_t motor) {
void motorSetSpeed(uint8_t motor, int32_t speed) {
uint8_t ind = 0;
-
- if (speed >= MAX_PWM) {
- speed = MAX_PWM;
- ind = 1;
- } else if (speed <= -MAX_PWM) {
- speed = -MAX_PWM;
- ind = 1;
- } else {
- ind = 0;
- }
+ int32_t app_speed;
if (motor & MOTOR1) {
- if(speed >= 0) {
+ app_speed = staSpeed(speed, maxPWMs[0], &ind);
+ if(app_speed >= 0) {
if (currentSpeedSign[0] != 1) {
currentSpeedSign[0] = 1;
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(4), 1);
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(5), 0);
}
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)speed;
+ TIM_OCInitStructure.TIM_Pulse = (uint16_t)app_speed;
} else {
if (currentSpeedSign[0] != -1) {
currentSpeedSign[0] = -1;
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(4), 0);
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(5), 1);
}
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)(-speed);
+ TIM_OCInitStructure.TIM_Pulse = (uint16_t)(-app_speed);
}
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
@@ -215,20 +209,21 @@ void motorSetSpeed(uint8_t motor, int32_t speed) {
}
}
if (motor & MOTOR2) {
- if(speed >= 0) {
+ app_speed = staSpeed(speed, maxPWMs[1], &ind);
+ if(app_speed >= 0) {
if (currentSpeedSign[1] != 1) {
currentSpeedSign[1] = 1;
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(1), 1);
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(14), 0);
}
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)speed;
+ TIM_OCInitStructure.TIM_Pulse = (uint16_t)app_speed;
} else {
if (currentSpeedSign[1] != -1) {
currentSpeedSign[1] = -1;
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(1), 0);
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(14), 1);
}
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)(-speed);
+ TIM_OCInitStructure.TIM_Pulse = (uint16_t)(-app_speed);
}
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
@@ -244,20 +239,21 @@ void motorSetSpeed(uint8_t motor, int32_t speed) {
}
}
if (motor & MOTOR3) {
- if(speed >= 0) {
+ app_speed = staSpeed(speed, maxPWMs[2], &ind);
+ if(app_speed >= 0) {
if (currentSpeedSign[2] != 1) {
currentSpeedSign[2] = 1;
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(10), 1);
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(11), 0);
}
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)speed;
+ TIM_OCInitStructure.TIM_Pulse = (uint16_t)app_speed;
} else {
if (currentSpeedSign[2] != -1) {
currentSpeedSign[2] = -1;
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(10), 0);
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(11), 1);
}
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)(-speed);
+ TIM_OCInitStructure.TIM_Pulse = (uint16_t)(-app_speed);
}
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
@@ -273,20 +269,21 @@ void motorSetSpeed(uint8_t motor, int32_t speed) {
}
}
if (motor & MOTOR4) {
- if(speed >= 0) {
+ app_speed = staSpeed(speed, maxPWMs[0], &ind);
+ if(app_speed >= 0) {
if (currentSpeedSign[3] != 1) {
currentSpeedSign[3] = 1;
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(5), 1);
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(9), 0);
}
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)speed;
+ TIM_OCInitStructure.TIM_Pulse = (uint16_t)app_speed;
} else {
if (currentSpeedSign[3] != -1) {
currentSpeedSign[3] = -1;
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(5), 0);
stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(9), 1);
}
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)(-speed);
+ TIM_OCInitStructure.TIM_Pulse = (uint16_t)(-app_speed);
}
TIM_OC4Init(TIM2, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
@@ -352,3 +349,33 @@ void motorStop(uint8_t motor, uint8_t mode) {
}
}
}
+
+void motorSetMaxPWM(uint8_t motor, int32_t maxPWM) {
+ if (maxPWM < 0)
+ return;
+
+ if (motor & MOTOR1) {
+ if (maxPWM <= MAX_PWM)
+ maxPWMs[0] = maxPWM;
+ else
+ maxPWMs[0] = MAX_PWM;
+ }
+ if (motor & MOTOR2) {
+ if (maxPWM <= MAX_PWM)
+ maxPWMs[1] = maxPWM;
+ else
+ maxPWMs[1] = MAX_PWM;
+ }
+ if (motor & MOTOR3) {
+ if (maxPWM <= MAX_PWM)
+ maxPWMs[2] = maxPWM;
+ else
+ maxPWMs[2] = MAX_PWM;
+ }
+ if (motor & MOTOR4) {
+ if (maxPWM <= MAX_PWM)
+ maxPWMs[3] = maxPWM;
+ else
+ maxPWMs[3] = MAX_PWM;
+ }
+}
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor.h
index 13eb4bf..ff8ed53 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor.h
@@ -31,5 +31,6 @@ void enableMotor(uint8_t motor);
void disableMotor(uint8_t motor);
void motorSetSpeed(uint8_t motor, int32_t speed);
void motorStop(uint8_t motor, uint8_t mode);
+void motorSetMaxPWM(uint8_t motor, int32_t maxPWM);
#endif
hooks/post-receive
--
krobot
|
|
From: Xavier L. <Ba...@us...> - 2011-04-21 13:25:18
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via edd099fd4078acee928803c9e63934c83b783f19 (commit)
via ad9957749e6fc00a602866bcc19928c9c3393d28 (commit)
from 362646a87e0f22370a259e4d0ce0bf13c2f707bb (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit edd099fd4078acee928803c9e63934c83b783f19
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Apr 21 15:23:00 2011 +0200
[Controller_Motor_STM32] Added a function to stop following the current trajectory.
This function can be used to stop following the current trajectory and delete
other queued trajectories.
The code has been added in the control program to use this ability when the
stop button is pressed in the viewer.
(note that the real robot will brake with a certain acceleration but that the
simulator will instantly stop.)
commit ad9957749e6fc00a602866bcc19928c9c3393d28
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Apr 21 14:48:03 2011 +0200
[Controller_Motor_STM32] Store current linear velocity in trajectory structure for futur use.
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_messages.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_messages.h
index e7d2cd6..5760216 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_messages.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_messages.h
@@ -96,9 +96,10 @@ typedef struct {
uint16_t v_end:11 __attribute__((__packed__)); // final speed in mm/s
} bezier_msg_t;
-// Emergency stop
+// Stop Bezier Spline following and brakes
typedef struct {
- uint8_t stop; // stop everything
+ float lin_acc __attribute__((__packed__)); // Linear acceleration for braking
+ float rot_acc __attribute__((__packed__)); // Rotational acceleration for braking
} stop_msg_t;
// Select robot mode (normal or HIL)
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
index 5f60fcb..22fa8c1 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
@@ -193,10 +193,7 @@ static void NORETURN canMonitorListen_process(void) {
case CAN_MSG_STOP:
stop_msg.data32[0] = frame.data32[0];
stop_msg.data32[1] = frame.data32[1];
- if (stop_msg.data.stop == 1) {
- mc_delete_controller(MOTOR3);
- mc_delete_controller(MOTOR4);
- }
+ dd_interrupt_trajectory(stop_msg.data.rot_acc, stop_msg.data.lin_acc);
break;
case CAN_MSG_ODOMETRY_SET:
odometry_msg.data32[0] = frame.data32[0];
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
index 578cbdd..7883f9a 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
@@ -19,7 +19,7 @@ typedef struct {
uint8_t initialized, enabled;
float params[2][4], dparams[2][4], ddparams[2][4];
float du, v_tab[101];
- float goal[2], v_end, theta_end;
+ float goal[2], v_end, theta_end, v_lin;
float start[2], theta_ini;
} dd_bezier_traj_t;
@@ -44,7 +44,7 @@ static void NORETURN traj_following_process(void) {
Timer timer;
uint8_t next_traj, ui;
robot_state_t rs;
- float cr, v_lin, v_ratio, v_max, v_rot, dxu, dyu;
+ float cr, v_ratio, v_max, v_rot, dxu, dyu;
float z1, z2, z3, w1, w2, u1, u2, dt;
dd_bezier_traj_t *traj;
int32_t last_time, cur_time;
@@ -100,17 +100,17 @@ static void NORETURN traj_following_process(void) {
if (ui*traj->du > 1.0)
ui--;
if (ui > 0) {
- v_lin = traj->v_tab[ui-1] +
+ traj->v_lin = traj->v_tab[ui-1] +
(traj->v_tab[ui]-traj->v_tab[ui-1]) * (params.u - traj->du*(ui-1))/traj->du;
} else {
- v_lin = traj->v_tab[0];
+ traj->v_lin = traj->v_tab[0];
}
if (isnan(cr) || isinf(cr)) {
v_ratio = 1.0;
} else {
v_ratio = (cr + params.shaft_width/2.0) / (cr - params.shaft_width/2.0);
}
- v_max = 2/(1+MIN(fabsf(v_ratio), fabsf(1.0/v_ratio)))*v_lin;
+ v_max = 2/(1+MIN(fabsf(v_ratio), fabsf(1.0/v_ratio)))*traj->v_lin;
if (cr >= 0) {
v_rot = v_max * (1 - 1/v_ratio) / params.shaft_width;
} else {
@@ -122,9 +122,9 @@ static void NORETURN traj_following_process(void) {
dt = (cur_time - last_time) * 1e-6;
dxu = bezier_apply(traj->dparams[0], params.u);
dyu = bezier_apply(traj->dparams[1], params.u);
- params.u += v_lin/sqrtf(dxu*dxu+dyu*dyu)*dt;
- params.ghost_state.x += v_lin*cosf(params.ghost_state.theta)*dt;
- params.ghost_state.y += v_lin*sinf(params.ghost_state.theta)*dt;
+ params.u += traj->v_lin/sqrtf(dxu*dxu+dyu*dyu)*dt;
+ params.ghost_state.x += traj->v_lin*cosf(params.ghost_state.theta)*dt;
+ params.ghost_state.y += traj->v_lin*sinf(params.ghost_state.theta)*dt;
params.ghost_state.theta = fmodf(params.ghost_state.theta + v_rot*dt, 2*M_PI);
if (params.ghost_state.theta > M_PI) {
params.ghost_state.theta -= 2*M_PI;
@@ -137,10 +137,10 @@ static void NORETURN traj_following_process(void) {
z2=-(rs.x-params.ghost_state.x)*sinf(params.ghost_state.theta)+(rs.y-params.ghost_state.y)*cosf(params.ghost_state.theta);
z3=tanf(rs.theta-params.ghost_state.theta);
- w1=-params.k1*fabsf(v_lin)*(z1+z2*z3);
- w2=-params.k2*v_lin*z2-params.k3*fabsf(v_lin)*z3;
+ w1=-params.k1*fabsf(traj->v_lin)*(z1+z2*z3);
+ w2=-params.k2*traj->v_lin*z2-params.k3*fabsf(traj->v_lin)*z3;
- u1=(w1+v_lin)/cosf(rs.theta-params.ghost_state.theta);
+ u1=(w1+traj->v_lin)/cosf(rs.theta-params.ghost_state.theta);
u2=w2*powf(cosf(rs.theta-params.ghost_state.theta),2)+v_rot;
// Apply command
@@ -342,6 +342,21 @@ uint8_t dd_add_bezier(float x_end, float y_end, float d1, float d2, float end_an
}
}
+void dd_interrupt_trajectory(float rot_acc, float lin_acc) {
+
+ // Prevent the controller from following the current trajectory
+ params.working = 0;
+
+ // Disable all the trajectories
+ params.trajs[0].initialized = 0;
+ params.trajs[0].enabled = 0;
+ params.trajs[1].initialized = 0;
+ params.trajs[1].enabled = 0;
+ // Brake !
+ dd_set_rotational_speed(0., rot_acc);
+ dd_set_linear_speed(0., lin_acc);
+}
+
uint8_t dd_get_ghost_state(robot_state_t *state, float *u) {
if (state != NULL) {
state->x = params.ghost_state.x;
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.h
index 73d6944..0a0a0f9 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.h
@@ -96,6 +96,15 @@ void dd_set_rotational_speed(float speed, float acceleration);
uint8_t dd_add_bezier(float x_end, float y_end, float d1, float d2, float end_angle, float end_speed);
/*
+ * Stops the current trajectory and removes the queued ones.
+ * - rot_acc : acceleration to stop the rotational motion of the drive.
+ * - lin_acc : acceleration to stop the linear motion of the drive.
+ *
+ * If one of the accelerations if zero, the corresponding movement will be stopped abruptly
+ */
+void dd_interrupt_trajectory(float rot_acc, float lin_acc);
+
+/*
* Return the current state of the followed ghost robot
* - state : pointer to a robot_state_t structure where the ghost state will be written
* - u : pointer to a float in which to write the current value of the parameter on the spline
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 93ee3f4..82df8a3 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -30,7 +30,7 @@ type t =
| Motor_move of float * float * float
| Motor_turn of float * float * float
| Motor_bezier of float * float * float * float * float * float
- | Motor_stop
+ | Motor_stop of float * float
| Odometry of float * float * float
| Odometry_ghost of float * float * float * int * bool
| Set_odometry of float * float * float
@@ -102,8 +102,10 @@ let to_string = function
sprintf
"Motor_bezier(%f, %f, %f, %f, %f, %f)"
x y d1 d2 theta v
- | Motor_stop ->
- "Motor_stop"
+ | Motor_stop(lin_acc, rot_acc) ->
+ sprintf
+ "Motor_stop(%f, %f)"
+ lin_acc rot_acc
| Odometry(x, y, theta) ->
sprintf
"Odometry(%f, %f, %f)"
@@ -296,13 +298,16 @@ let encode = function
~remote:false
~format:F29bits
~data
- | Motor_stop ->
+ | Motor_stop(lin_acc, rot_acc) ->
+ let data = String.create 8 in
+ put_float32 data 0 lin_acc;
+ put_float32 data 4 rot_acc;
frame
~identifier:204
~kind:Data
~remote:false
~format:F29bits
- ~data:"\x01"
+ ~data
| Set_controller_mode b ->
frame
~identifier:205
@@ -395,6 +400,8 @@ let decode frame =
float (get_sint16 frame.data 4) /. 10000.)
| 204 ->
Motor_stop
+ (get_float32 frame.data 0,
+ get_float32 frame.data 4)
| 205 ->
Set_controller_mode
(get_uint8 frame.data 0 <> 0)
diff --git a/info/control2011/src/lib/krobot_message.mli b/info/control2011/src/lib/krobot_message.mli
index c17cb0b..05f9e49 100644
--- a/info/control2011/src/lib/krobot_message.mli
+++ b/info/control2011/src/lib/krobot_message.mli
@@ -46,8 +46,12 @@ type t =
*)
| Motor_bezier of float * float * float * float * float * float
(** [Motor_bezier(x_end, y_end, d1, d2, theta_end, v_end)] *)
- | Motor_stop
- (** Stops the motors. *)
+ | Motor_stop of float * float
+ (** [Motor_stop(lin_acc, rot_acc)] command to stop following the
+ current Bezier Spline and the queued ones.
+ - [lin_acc] in m/s^2
+ - [rot_acc] in rad/s^2
+ *)
| Odometry of float * float * float
(** [Odometry(x, y, theta)] the position of the robot on the
table. *)
diff --git a/info/control2011/src/tools/krobot_planner.ml b/info/control2011/src/tools/krobot_planner.ml
index 176826e..5f872e5 100644
--- a/info/control2011/src/tools/krobot_planner.ml
+++ b/info/control2011/src/tools/krobot_planner.ml
@@ -336,7 +336,7 @@ let handle_message planner (timestamp, message) =
cancel planner.mover;
set_moving planner false;
set_vertices planner [];
- ignore (Krobot_message.send planner.bus (Unix.gettimeofday (), Motor_stop))
+ ignore (Krobot_message.send planner.bus (Unix.gettimeofday (), Motor_stop(1.0,0.0)))
| _ ->
()
diff --git a/info/control2011/src/tools/krobot_simulator.ml b/info/control2011/src/tools/krobot_simulator.ml
index ad0bf78..4e52d9b 100644
--- a/info/control2011/src/tools/krobot_simulator.ml
+++ b/info/control2011/src/tools/krobot_simulator.ml
@@ -210,7 +210,7 @@ lwt () =
lwt () = Lwt_log.info_f "received: turn(%f, %f, %f)" angle speed acc in
turn sim angle speed acc;
return ()
- | Motor_stop ->
+ | Motor_stop(lin_acc, rot_acc) ->
sim.command <- Idle;
return ()
| Req_motor_status ->
hooks/post-receive
--
krobot
|
