krobot-commits

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit d8a4ed321466b4ff28df5fad95e14a763c15ade3
Author: Xavier Lagorce <Xav...@cr...>
Date:   Thu Mar 31 17:02:51 2011 +0200

    [Controller_Motor_STM32] new features in command_generator
    
     * When a composition generator is started (like GEN_RAMP2), it will not
       automatically start the other generator ot reads the output from.
     * Added a Differential drive generator to compute wheel speeds based
       on robot global parameters (i.e. linear and rotational speeds).

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c
index 4d07057..ac57d5d 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c
@@ -41,13 +41,31 @@ command_generator_t* new_ramp2_generator(command_generator_t *generator, float s
   return generator;
 }
 
-
-command_generator_t* adjust_value(command_generator_t *generator, float value) {
-  generator->type.last_output = value;
+command_generator_t* new_dd_generator(command_generator_t *generator,
+                                      command_generator_t *linear_speed,
+                                      command_generator_t *rotational_speed,
+                                      float wheel_radius, float shaft_width,
+                                      uint8_t type) {
+  generator->type.t = (type == 1) ? GEN_DD_RIGHT : GEN_DD_LEFT;
+  generator->type.callback.type = GEN_CALLBACK_NONE;
+  generator->dd.linear_speed = linear_speed;
+  generator->dd.rotational_speed = rotational_speed;
+  generator->dd.wheel_radius = wheel_radius;
+  generator->dd.shaft_width = shaft_width;
 
   return generator;
 }
 
+
+command_generator_t* adjust_value(command_generator_t *generator, float value) {
+  if (generator->type.t != GEN_DD_RIGHT && generator->type.t != GEN_DD_LEFT) {
+    generator->type.last_output = value;
+    return generator;
+  } else {
+    return NULL;
+  }
+}
+
 command_generator_t* adjust_speed(command_generator_t *generator, float speed) {
   switch (generator->type.t) {
   case GEN_RAMP:
@@ -64,7 +82,6 @@ command_generator_t* start_generator(command_generator_t *generator) {
     generator->ramp.last_time = ticks_to_us(timer_clock());
     break;
   case GEN_RAMP2:
-    start_generator(generator->ramp2.speed);
     generator->ramp2.last_time = ticks_to_us(timer_clock());
   }
   generator->type.state = GEN_STATE_RUNNING;
@@ -78,9 +95,6 @@ command_generator_t* pause_generator(command_generator_t *generator) {
   // pause the generator
   generator->type.state = GEN_STATE_PAUSE;
 
-  if (generator->type.t == GEN_RAMP2)
-    pause_generator(generator->ramp2.speed);
-
   return generator;
 }
 
@@ -101,7 +115,7 @@ command_generator_t* remove_callback(command_generator_t *generator) {
 
 float get_output_value(command_generator_t *generator) {
   int32_t cur_time;
-  float speed, dt;
+  float speed, dt, u1, u2;
 
   if (generator->type.state != GEN_STATE_RUNNING)
     return generator->type.last_output;
@@ -123,6 +137,16 @@ float get_output_value(command_generator_t *generator) {
     generator->type.last_output += dt*speed;
     generator->ramp2.last_time = cur_time;
     break;
+  case GEN_DD_RIGHT:
+    u1 = get_output_value(generator->dd.linear_speed);
+    u2 = get_output_value(generator->dd.rotational_speed);
+    generator->type.last_output = (4.0*u1+u2*generator->dd.shaft_width) / (4.0 * generator->dd.wheel_radius);
+    break;
+  case GEN_DD_LEFT:
+    u1 = get_output_value(generator->dd.linear_speed);
+    u2 = get_output_value(generator->dd.rotational_speed);
+    generator->type.last_output = (4.0*u1-u2*generator->dd.shaft_width) / (4.0 * generator->dd.wheel_radius);
+    break;
   }
 
   switch (generator->type.callback.type) {


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