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[Krobot-commits] [SCM] krobot branch, master, updated. 47260998a8e90353bc2184ad640df1993da7c630
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From: Olivier B. <Ba...@us...> - 2010-03-07 11:11:23
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- Log -----------------------------------------------------------------
commit 47260998a8e90353bc2184ad640df1993da7c630
Author: Olivier BICHLER <oli...@gm...>
Date: Sun Mar 7 12:10:55 2010 +0100
Added a new turn() function which generalizes the basic functions turnLeft() and turnRight()
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index bb164d1..eaebb09 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
index bb164d1..eaebb09 100644
--- a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
+++ b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/PC_Mainboard/python/dev/User_Interface/PcInterface.h b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
index bb164d1..eaebb09 100644
--- a/PC_Mainboard/python/dev/User_Interface/PcInterface.h
+++ b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/USB_Dev_Board/Firmware/PcInterface.h b/USB_Dev_Board/Firmware/PcInterface.h
index bb164d1..eaebb09 100644
--- a/USB_Dev_Board/Firmware/PcInterface.h
+++ b/USB_Dev_Board/Firmware/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
index bb164d1..eaebb09 100644
--- a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
+++ b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/USB_Module/Motor_Controller/Firmware/PcInterface.h b/USB_Module/Motor_Controller/Firmware/PcInterface.h
index bb164d1..eaebb09 100644
--- a/USB_Module/Motor_Controller/Firmware/PcInterface.h
+++ b/USB_Module/Motor_Controller/Firmware/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index 426f9cf..7bcdd54 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -657,7 +657,7 @@ void moveBackward(short pos, short vel, short acc) {
}
/**
- * Tourne vers la droite.
+ * Tourne vers la droite, le centre de rotation nt le milieu de l'axe des roues.
*
* @param angle angle de rotation par rapport a direction initiale du robot, en , sur 16 bits
* @param vel vitesse max., en mm/s, sur 16 bits
@@ -677,7 +677,7 @@ void turnRight(short angle, short vel, short acc) {
}
/**
- * Tourne vers la gauche.
+ * Tourne vers la gauche, le centre de rotation nt le milieu de l'axe des roues.
*
* @param angle angle de rotation par rapport a direction initiale du robot, en , sur 16 bits
* @param vel vitesse max., en mm/s, sur 16 bits
@@ -697,6 +697,42 @@ void turnLeft(short angle, short vel, short acc) {
}
/**
+ * Tourne autour d'un centre quelconque situur l'axe des roues.
+ * Ceci est une fonction gralisdes fonctions turnRight() et turnLeft().
+ *
+ * @param angle angle de rotation par rapport a direction initiale du robot, en , sur 16 bits
+ * @param vel vitesse max., en mm/s, sur 16 bits
+ * @param acc accration, en mm/s, sur 16 bits
+ * @param c position du centre de rotation par rapport au milieu de l'axe des roues, en mm ou en %, sur 16 bits
+ * @param rel indique si c est exprimn mm (relative = 0) ou en % de la distance du milieu a roue, #WHEELS_DIST/2 (relative = 1)
+ *
+ * -100 0 100
+ * relative = 1: ||--------.--------||
+ * LW RW
+ *
+ * @note angle et c peuvent e positifs ou ntifs. @n
+ * Lorsqu'exprimn %, c peut e supeur 00 en valeur absolue.
+*/
+void turn(short angle, short vel, short acc, short c, BOOL rel) {
+ resetInterrupt(MOTOR_BOTH);
+
+ if (rel)
+ c = WHEELS_DIST / 2.0 * (c / 100.0);
+
+ newPosition(MOTOR_RIGHT,
+ (long) ((float) angle * CONST_POS * 2.0 * (WHEELS_DIST / 2.0 - c) * COEF_RIGHT_WHEEL),
+ (long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
+ (long) ((float) acc * COEF_RIGHT_WHEEL * CONST_ACC));
+
+ newPosition(MOTOR_LEFT,
+ - (long) ((float) angle * CONST_POS * 2.0 * (WHEELS_DIST / 2.0 + c) * COEF_RIGHT_WHEEL),
+ (long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
+ (long) ((float) acc * COEF_RIGHT_WHEEL * CONST_ACC));
+
+ start(MOTOR_BOTH);
+}
+
+/**
* Aller n emplacement, relativement a position actuelle.
*
* ^
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.h b/USB_Module/Motor_Controller/Firmware/lm629.h
index 8674bb4..5792929 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -17,27 +17,26 @@
// Robot utilis #define KROBOT_2010
// #define KROBOT_PROTO
+
// Parames graux
#define LM_CLOCK 8e6 ///< Frence horloge LM (en Hz) -- forcnt 6 ou 8 MHz selon la rrence du composant
-#ifdef KROBOT_2010
- // Constantes pour [Kro]bot 2010
- #define ENCODER_RES 15*500 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
- #define WHEELS_DIAMETER 98 ///< Diame des roues (en mm)
- #define WHEELS_DIST 259 ///< Distance entre les 2 roues (en mm)
- #define CON_MOTOR_LEFT -1
- #define CON_MOTOR_RIGHT -1
-#else
-#ifdef KROBOT_PROTO
- // Constantes pour le robot protoype basur des EMG30s
- #define ENCODER_RES 90 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
- #define WHEELS_DIAMETER 99 ///< Diame des roues (en mm)
- #define WHEELS_DIST 220 ///< Distance entre les 2 roues (en mm)
- #define CON_MOTOR_LEFT -1
- #define CON_MOTOR_RIGHT 1
+#if defined(KROBOT_2010)
+ // Constantes pour [Kro]bot 2010
+ #define ENCODER_RES 15*500 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
+ #define WHEELS_DIAMETER 98 ///< Diame des roues (en mm)
+ #define WHEELS_DIST 259 ///< Distance entre les 2 roues (en mm)
+ #define CON_MOTOR_LEFT -1
+ #define CON_MOTOR_RIGHT -1
+#elif defined(KROBOT_PROTO)
+ // Constantes pour le robot protoype basur des EMG30s
+ #define ENCODER_RES 90 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
+ #define WHEELS_DIAMETER 99 ///< Diame des roues (en mm)
+ #define WHEELS_DIST 220 ///< Distance entre les 2 roues (en mm)
+ #define CON_MOTOR_LEFT -1
+ #define CON_MOTOR_RIGHT 1
#else
- #error "Il est nssaire de darer un type de robot tiliser"
-#endif
+ #error Il est nssaire de darer un type de robot tiliser
#endif
/**
@@ -46,22 +45,20 @@
* Vfier que le syst est stable (pas d'oscillation)
* On peut alors augmenter le KP et ajuster KI et KD.
*/
-#ifdef KROBOT_2010
- // Constantes pour [Kro]bot 2010
- #define DEFAULT_KP 1 ///< Constante action proportionnelle
- #define DEFAULT_KI 0 ///< Constante action intale
- #define DEFAULT_KD 0 ///< Constante action dv
- #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+#if defined(KROBOT_2010)
+ // Constantes pour [Kro]bot 2010
+ #define DEFAULT_KP 1 ///< Constante action proportionnelle
+ #define DEFAULT_KI 0 ///< Constante action intale
+ #define DEFAULT_KD 0 ///< Constante action dv
+ #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+#elif defined(KROBOT_PROTO)
+ // Constantes pour le robot protoype basur des EMG30s
+ #define DEFAULT_KP 1000 ///< Constante action proportionnelle
+ #define DEFAULT_KI 1 ///< Constante action intale
+ #define DEFAULT_KD 0 ///< Constante action dv
+ #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
#else
-#ifdef KROBOT_PROTO
- // Constantes pour le robot protoype basur des EMG30s
- #define DEFAULT_KP 1000 ///< Constante action proportionnelle
- #define DEFAULT_KI 1 ///< Constante action intale
- #define DEFAULT_KD 0 ///< Constante action dv
- #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
-#else
- #error "Il est nssaire de darer un type de robot tiliser"
-#endif
+ #error Il est nssaire de darer un type de robot tiliser
#endif
// Constantes
@@ -232,6 +229,7 @@ void moveForward(short pos, short vel, short acc);
void moveBackward(short pos, short vel, short acc);
void turnRight(short angle, short vel, short acc);
void turnLeft(short angle, short vel, short acc);
+void turn(short angle, short vel, short acc, short c, BOOL rel);
void goTo(short x, short y, short vel, short acc, BYTE mode, short d);
WORD getRelPosRight(void);
WORD getRelPosLeft(void);
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index f036db5..230b7b9 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -989,7 +989,7 @@ void ProcessIO(void) {
word3.byte.LB = ReceivedDataBuffer.DATA[6];
turnRight(word1.Val, word2.Val, word3.Val);
traj_engaged = 1;
- break;
+ break;
case TRAJ_TL:
word1.byte.HB = ReceivedDataBuffer.DATA[1];
@@ -1002,6 +1002,19 @@ void ProcessIO(void) {
traj_engaged = 1;
break;
+ case TRAJ_TURN:
+ word1.byte.HB = ReceivedDataBuffer.DATA[1];
+ word1.byte.LB = ReceivedDataBuffer.DATA[2];
+ word2.byte.HB = ReceivedDataBuffer.DATA[3];
+ word2.byte.LB = ReceivedDataBuffer.DATA[4];
+ word3.byte.HB = ReceivedDataBuffer.DATA[5];
+ word3.byte.LB = ReceivedDataBuffer.DATA[6];
+ word4.byte.HB = ReceivedDataBuffer.DATA[7];
+ word4.byte.LB = ReceivedDataBuffer.DATA[8];
+ turn(word1.Val, word2.Val, word3.Val, word4.Val, ReceivedDataBuffer.DATA[9]);
+ traj_engaged = 1;
+ break;
+
case TRAJ_GOTO:
word1.byte.HB = ReceivedDataBuffer.DATA[1];
word1.byte.LB = ReceivedDataBuffer.DATA[2];
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 84163ed..743ff8e 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 3cf2fff..4faf3af 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,18 +1,18 @@
:020000040000FA
-:0600000062EF30F0120077
+:0600000025EF31F01200B3
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:0608000062EF30F012006F
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-:100840000800000041610000470100000E000000A8
-:0C0850003E6100006A010000030000008F
-:04085C003DEC0DF072
+:0608000025EF31F01200AB
+:060808007CEF10F012006D
+:06081800E4EF10F01200F5
+:06082A000400DD62000085
+:100830002601000021000000D56200005F010000D9
+:1008400008000000C7620000470100000E00000021
+:0C085000C46200006A0100000300000008
+:04085C0015EC0DF09A
:10086000FE0EDB5006E1F80E96163C0E9416959897
:1008700008D0FE0EDB0405E1070E9612C30E94129B
-:10088000958842EF0DF0D9CFE6FFE1CFD9FFE652D0
+:1008800095881AEF0DF0D9CFE6FFE1CFD9FFE652F8
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:1008A000FE0EDB5002080FE1839C808A0000839ECD
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@@ -98,1373 +98,1398 @@
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