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#include "navigator.h"
//-----------------------------------------------------------------------------
void Navigator::Stop()
{
this->direction = EMPTY_FLOAT;
this->targetAngle = EMPTY_FLOAT;
this->targetX = EMPTY_FLOAT;
this->targetY = EMPTY_FLOAT;
this->robotSpeed = 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 = min(fabs(rotationSpeed), 255.0f) * sign(rotationSpeed);
this->direction = EMPTY_FLOAT;
this->targetAngle = EMPTY_FLOAT;
this->targetX = EMPTY_FLOAT;
this->targetY = EMPTY_FLOAT;
this->robotSpeed = 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::Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed)
{
this->rotationSpeed = min(rotationSpeed, 255.0f);
this->direction = newDirection * PI / 180.0f;
this->targetAngle = newAngle * PI / 180.0f;
this->targetX = EMPTY_FLOAT;
this->targetY = EMPTY_FLOAT;
this->robotSpeed = newSpeed;
if(targetAngle == EMPTY_FLOAT)
{
rotationSpeed = 0;
}
else
{
rotationSpeed = fabs(rotationSpeed) * sign(PI - (targetAngle - (parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN))->GetOrientation()));
}
CalculateEngines();
}
//-----------------------------------------------------------------------------
void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed)
{
if(newX < 0 || newY < 0) return;
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
this->rotationSpeed = min(rotationSpeed, 255.0f);
this->targetX = newX;
this->targetY = newY;
this->direction = direction2d(locationeer->GetPositionX(), locationeer->GetPositionY(), targetX, targetY);;
this->targetAngle = newAngle * PI / 180.0f;
this->robotSpeed = newSpeed;
if(targetAngle - locationeer->GetOrientation() > PI)
{
if(rotationSpeed > 0)
{
rotationSpeed = -rotationSpeed;
}
}
else
{
if(rotationSpeed < 0)
{
rotationSpeed = -rotationSpeed;
}
}
CalculateDirection();
}
//-----------------------------------------------------------------------------
void Navigator::Update()
{
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
bool targetReached = false;
bool targetAngleReached = false;
if(HasTarget() && distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < 1.0f)
{
targetX = EMPTY_FLOAT;
targetY = EMPTY_FLOAT;
direction = EMPTY_FLOAT;
robotSpeed = 0;
targetReached = true;
}
if(targetAngle != EMPTY_FLOAT && fabs(targetAngle - locationeer->GetOrientation()) < 0.1f)
{
targetAngle = EMPTY_FLOAT;
rotationSpeed = 0;
targetAngleReached = true;
}
if(targetReached && targetAngleReached)
{
Stop();
}
else if(targetReached || targetAngleReached)
{
CalculateDirection();
}
if(!(correctionCountdown--))
{
CalculateDirection();
}
}
//-----------------------------------------------------------------------------
void Navigator::CalculateDirection()
{
correctionCountdown = CYCLES_PER_CORRECTION;
if(targetAngle == EMPTY_FLOAT && !HasTarget()) return;
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
if(HasTarget())
{
direction = direction2d(locationeer->GetPositionX(), locationeer->GetPositionY(), targetX, targetY);
}
if(targetAngle != EMPTY_FLOAT)
{
rotationSpeed = fabs(rotationSpeed) * sign(PI - (targetAngle - locationeer->GetOrientation()));
}
CalculateEngines();
}
//-----------------------------------------------------------------------------
void Navigator::CalculateEngines()
{
// Use the position_tracker
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
// get the relative position of the robot
float relativeDirection = this->direction - locationeer->GetOrientation();
// calculate x and y-koordinates
float xDrive = cos(relativeDirection + PI / 6.0f);
float yDrive = sin(relativeDirection + PI / 6.0f);
// calculate relative speed of engines
float vLeft = xDrive;
float vBack = (-xDrive + sqrt(3) * yDrive) / 2.0f;
float vRight = (-xDrive - sqrt(3) * yDrive) / 2.0f;
// Get the maximal value
float speedCorrection = (float)max(max(fabs(vLeft),fabs(vBack)),fabs(vRight));
// calculate the correct speeds of the engines
vLeft = ((float)vLeft * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
vBack = ((float)vBack * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
vRight = ((float)vRight * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vLeft,10,2);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,3);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vRight,10,4);
// Transfer the values to the engines
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;
}
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