neocturne/rc2007-soccer
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+++ Codework, Navigator&Positiontracker done (buggy?)

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This commit is contained in:
sicarius 2007-02-20 21:01:02 +00:00
parent ec2a18e931
commit 22433e52a7
9 changed files with 168 additions and 46 deletions
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44
source/Concept/Framework/modules/executor/navigator.c
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@ -54,6 +54,30 @@ void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float
}
CalculateEngines();
//dings,,,
/*float xDrive = cos(direction + PI / 6.0f);
float yDrive = sin(direction + PI / 6.0f);
float vLeft = xDrive;
float vBack = (-xDrive + sqrt(3) * yDrive) / 2.0f;
float vRight = (-xDrive - sqrt(3) * yDrive) / 2.0f;
vLeft = vLeft * this->robotSpeed + rotationSpeed;
vBack = vBack * this->robotSpeed + rotationSpeed;
vRight = vRight * this->robotSpeed + rotationSpeed;
Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT);
curEngine->SetSpeed(vLeft);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_BACK);
curEngine->SetSpeed(vBack);
curEngine->SetEnabled(true);
curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT);
curEngine->SetSpeed(vRight);
curEngine->SetEnabled(true);
curEngine = NULL;*/
}
//-----------------------------------------------------------------------------
@ -154,6 +178,8 @@ void Navigator::CalculateDirection()
//-----------------------------------------------------------------------------
void Navigator::CalculateEngines()
{
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
if(direction != EMPTY_FLOAT)
{
float relativeDirection = this->direction - locationeer->GetOrientation();
@ -165,15 +191,15 @@ void Navigator::CalculateEngines()
float vBack = (-xDrive + sqrt(3) * yDrive) / 2.0f;
float vRight = (-xDrive - sqrt(3) * yDrive) / 2.0f;
float speedCorrection = 1.0f;
/*float speedCorrection = 1.0f;
float maxEngineSpeed = 255.0f;
float minEngineSpeed = -255.0f;
float maxSingleSpeed = max(max(fabs(vLeft), fabs(vBack)), fabs(vRight));
/*float calcSpeed = sqrt(vLeft * vLeft - vLeft * vRight + vRight * vRight +
vBack * (vBack + vLeft + vRight));*/
float calcSpeed = 1.0f;//sqrt(vLeft * vLeft - vLeft * vRight + vRight * vRight +
// vBack * (vBack + vLeft + vRight));
if(calcSpeed != 1.0f)
{
@ -184,14 +210,14 @@ void Navigator::CalculateEngines()
if(maxOverallSpeed > maxEngineSpeed)
{
robotSpeed = maxEngineSpeed / (maxSingleSpeed * speedCorrection);
}
}*/
vLeft = vLeft * this->robotSpeed * speedCorrection;
vBack = vBack * this->robotSpeed * speedCorrection;
vRight = vRight * this->robotSpeed * speedCorrection;
vLeft = vLeft * this->robotSpeed;// * speedCorrection;
vBack = vBack * this->robotSpeed;// * speedCorrection;
vRight = vRight * this->robotSpeed;// * speedCorrection;
maxSingleSpeed = max(max(fabs(vLeft), fabs(vBack)), fabs(vRight));
/*maxSingleSpeed = max(max(fabs(vLeft), fabs(vBack)), fabs(vRight));
float minSingleSpeed = min(min(vLeft, vBack), vRight);
if(rotationSpeed)
@ -226,7 +252,7 @@ void Navigator::CalculateEngines()
vRight -= this->rotationSpeed;
}
}
}
}*/
Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT);
curEngine->SetSpeed(vLeft);