[Krobot-commits] [SCM] krobot branch, master, updated. b26ac612d8276f4984ee60936f4ba2081497c3cd

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

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- Log -----------------------------------------------------------------
commit b26ac612d8276f4984ee60936f4ba2081497c3cd
Author: Xavier Lagorce <Xav...@cr...>
Date:   Wed Dec 29 01:59:37 2010 +0100

    Improved speed profile generation
    
     * Take into account the case of a triangle (not enough distance to accelerate
        to full speed)
     * Renamed t1 into t_acc for readability

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

Changes:
diff --git a/info/control/simulator/krobot_env.ml b/info/control/simulator/krobot_env.ml
index 8d7a735..3c9bcdf 100644
--- a/info/control/simulator/krobot_env.ml
+++ b/info/control/simulator/krobot_env.ml
@@ -17,8 +17,8 @@ type state = {
 
 type command =
   | Speed of float * float * float * float (* start_time, end_time, left_velocity, right_velocity *)
-  | Turn of float * float * float * float (* start_time, t1, end_time, velocity *)
-  | Move of float * float * float * float (* start_time, t1, end_time, velocity *)
+  | Turn of float * float * float * float (* start_time, t_acc, end_time, velocity *)
+  | Move of float * float * float * float (* start_time, t_acc, end_time, velocity *)
 
 type color =
   | Black
@@ -48,24 +48,24 @@ let velocities_of_command cmd time =
         (0., 0.)
       else
         ((l_v +. r_v) *. wheels_diam /. 4., (l_v -. r_v) *. wheels_diam /. wheels_dist)
-    | Turn (start, t1, tend, vel) ->
+    | Turn (start, t_acc, tend, vel) ->
       if time < start || time > tend then
         (0., 0.)
-      else if time < (start +. t1) then
-        (0., vel *. (time -. start) /. t1)
-      else if time < (tend -. t1) then
+      else if time < (start +. t_acc) then
+        (0., vel *. (time -. start) /. t_acc)
+      else if time < (tend -. t_acc) then
         (0., vel)
       else
-        (0., vel *. (tend -. time) /. t1)
-    | Move (start, t1, tend, vel) ->
+        (0., vel *. (tend -. time) /. t_acc)
+    | Move (start, t_acc, tend, vel) ->
       if time < start || time > tend then
         (0., 0.)
-      else if time < (start +. t1) then
-        (vel *. (time -. start) /. t1, 0.)
-      else if time < (tend -. t1) then
+      else if time < (start +. t_acc) then
+        (vel *. (time -. start) /. t_acc, 0.)
+      else if time < (tend -. t_acc) then
         (vel, 0.)
       else
-        (vel *. (tend -. time) /. t1, 0.)
+        (vel *. (tend -. time) /. t_acc, 0.)
 
 let rec simu_loop env =
   time := !time +. sim_step;
@@ -90,14 +90,32 @@ let create state =
   env
 
 let move env distance velocity acceleration =
-  let t1 = velocity /. acceleration in
+  let t_acc = velocity /. acceleration in
   let t_end = (velocity *. velocity +. distance *. acceleration) /. (velocity *. acceleration) in
-  env.command <- Move (!time, t1, !time +. t_end, velocity)
+  env.command <-
+    if t_end > 2. *. t_acc
+    then
+      Move (!time, t_acc, !time +. t_end, velocity)
+    else begin
+      let t_acc = sqrt (distance /. acceleration) in
+      let t_end = 2. *. t_acc in
+      let velocity = acceleration *. t_acc in
+      Move (!time, t_acc, !time +. t_end, velocity)
+    end
 
 let turn env angle velocity acceleration =
-  let t1 = velocity /. acceleration in
+  let t_acc = velocity /. acceleration in
   let t_end = (velocity *. velocity +. angle *. acceleration) /. (velocity *. acceleration) in
-  env.command <- Turn (!time, t1, !time +. t_end, velocity)
+  env.command <-
+    if t_end > 2. *. t_acc
+    then
+      Turn (!time, t_acc, !time +. t_end, velocity)
+    else begin
+      let t_acc = sqrt (angle /. acceleration) in
+      let t_end = 2. *. t_acc in
+      let velocity = acceleration *. t_acc in
+      Turn (!time, t_acc, !time +. t_end, velocity)
+    end
 
 let set_velocities env left_velocity right_velocity duration =
   env.command <- Speed (!time, !time +. duration, left_velocity, right_velocity)


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