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#include "navigator.h"
//-----------------------------------------------------------------------------
void Navigator::Stop()
{
this->direction = -1.0f;
this->targetAngle = -1.0f;
this->targetX = -1.0f;
this->targetY = -1.0f;
this->speed = 0;
this->rotationSpeed = 0;
for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++)
{
(parent->GetModule<Engine>(i))->SetSpeed(0);
(parent->GetModule<Engine>(i))->SetEnabled(true);
}
}
//-----------------------------------------------------------------------------
void Navigator::Rotate(float rotationSpeed)
{
this->rotationSpeed = rotationSpeed;
this->direction = -1.0f;
this->targetAngle = -1.0f;
this->targetX = -1.0f;
this->targetY = -1.0f;
this->speed = 0;
for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++)
{
(parent->GetModule<Engine>(i))->SetSpeed(rotationSpeed);
(parent->GetModule<Engine>(i))->SetEnabled(true);
}
}
//-----------------------------------------------------------------------------
void Navigator::Update()
{
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
bool hasDistanceToDrive = true;
bool hasOrientationToAdjust = true;
//Check for distance to drive
if((targetX >= 0) != (targetY >= 0))
{
targetX = -1.0f;
targetY = -1.0f;
hasDistanceToDrive = false;
}
else if(targetX >= 0 && targetY >= 0)
{
if(distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < 1.0f)
{
targetX = -1.0f;
targetY = -1.0f;
hasDistanceToDrive = false;
}
else
{
hasDistanceToDrive = true;
}
}
else
{
if(direction >= 0)
{
hasDistanceToDrive = true;
}
else
{
hasDistanceToDrive = false;
}
}
//Check for orientation to adjust
if(targetAngle >= 0)
{
if(fabs(targetAngle - locationeer->GetOrientation()) < 0.1f)
{
hasOrientationToAdjust = false;
}
else
{
hasOrientationToAdjust = true;
}
}
else
{
if(rotationSpeed != 0)
{
hasOrientationToAdjust = true;
}
else
{
hasOrientationToAdjust = false;
}
}
//Calculate directional/rotational engine speed
if(hasDistanceToDrive)
{
float maxRobotSpeed = 255.0f * sqrt(2) / 2.0f;
if(speed > maxRobotSpeed)
{
speed = maxRobotSpeed;
}
maxMotorSpeed = speed / (sqrt(2) / 2);
relAngel = direction - orientation
robotSpeed = sin(45) * maxMotorSpeed
maxMotorSpeed = robotSpeed / sin(45)
if(relAngel > 45)
{
sin(relAngel) * (speed / sin(45)) * sin(relAngel + 45);
back = speed / sin(relAngel);
}
else
{
}
left =
back = sin(relAngel) * speed
direction = 0:
orientation = 0:
left = speed
right = -speed
back = 0
direction = 0:
orientation = 90:
left = speed
right = speed
back = (sinVcos)(45) * speed
direction = 0:
orientation = 45:
left = speed
right = 0
back = -speed
direction = 0:
orientation = 180:
left = -speed
right = speed
back = 0
}
else if(!hasOrientationToAdjust)
{
Stop();
}
else
{
}
}
// Aktualieren ohne Parameter
/*void Navigator::Update() {
// Richtung in x und y-Kompontente zerlegen
double y = cos((double)direction*0.01745); // richtung ist winkel
double x = sin((double)direction*0.01745);
// Abweichung der Ausrichtung ermitteln(als winkel)
int w = sensor.GetAusrichtung() - ausrichtung;
// Stärke der einzelnen Motoren berechnen
double v0 = (-x+sqrt(3)*y)/2;
double v1 = x;
double v2 = (-x-sqrt(3)*y)/2;
// Ausgerechnete Stärke an die Motoren übergeben
board.motor(0,(int)((double)v0*speed +w));
board.motor(1,(int)((double)v1*speed +w));
board.motor(2,(int)((double)v2*speed +w));
}
// Aktualieren mit allen Parametern
void Navigator::Drive(float newDirection, float newAngle, float newSpeed) {
SetDirection(newDirection);
SetAngle(newAngle);
SetSpeed(newSpeed);
Update(); // Und anwenden
}*/
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