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Ignore whitespace Rev 371 → Rev 372

/roboti/Robotour/SW/vector/vector.cpp
36,14 → 36,15
 
using namespace std;
 
#define CMPS03_SOFTWARE_REVISION 0x0
#define SRF02_SOFTWARE_REVISION 0x0
 
#define BC_Addr 0x0B
#define US3_Addr 0x70 // 0xE0 in fact; Sonar na doprovod
#define US3_Addr 0x70 // 0xE0 in fact; Sonar na doprovod
#define CMPS_Addr 0x60 // 0xC0
#define M1 0x50 // 0xA0 in fact
#define M2 0x51 // 0xA2 in fact
 
#define SEVER 0
 
char vystup[50];
pthread_t thread_1, thread_2, thread_3;
FILE *pRouraO,*pRouraI;
51,7 → 52,9
char command,ble;
int file;
double n, e;
unsigned char azimut_mag;
 
 
pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
 
void *print_tele(void *unused);
67,7 → 70,7
}
}
 
void go (int Addr, int speed)
void go (int Addr, int speed) // nastavi rychlost motoru
{
char Buf[1];
 
76,7 → 79,7
write(file, Buf, 1);
}
 
unsigned int echo(int Addr)
unsigned int echo(int Addr) // precte vzdalenost z US cidla
{
char Buf[3];
 
105,12 → 108,8
} while(++n<POINTS);
}
 
int main(int argc, char *argv[], char *envp[])
int i2c_init() // zinicializuje i2c
{
int filtr;
 
fprintf(stdout, "**** Vector Control Programm ****\n");
 
file = open("/dev/i2c-0", O_RDWR);
if (file < 0)
{
117,7 → 116,45
cerr << "Could not open /dev/i2c-0." << endl;
return -1;
}
return 0;
}
 
int read_azimut_mag() // precte azimut z kompasu
{
char Buf[3]; // promena pro manipulaci s i2c
I2C_addr(CMPS_Addr);
Buf[0]=1;
write(file,Buf,1);
read(file, Buf,1);
return Buf[0];
}
 
void turnL(unsigned char angle, signed char speed) // otoci robota o zadany uhel
{
int azimut;
 
go(M1, speed);
go(M2, -speed);
azimut=read_azimut_mag();
while(read_azimut_mag() >= (azimut + angle)) usleep(10000);
go(M1, 0);
go(M2, 0);
command=0;
}
 
void turnR() // otoci robota o zadany uhel
{
}
 
int main(int argc, char *argv[], char *envp[])
{
int filtr;
signed char test;
 
fprintf(stdout, "\n **** Starting Vector Control Programm **** \n \r");
 
i2c_init();
 
pthread_create(&thread_1, NULL, print_tele, NULL);
pthread_create(&thread_3, NULL, gps, NULL);
// pthread_create(&thread_2, NULL, sensors, NULL);
139,18 → 176,52
go(M2, -70);
command=0;
break;
case 'v': // stop
case 'v': // volnobeh
go(M1, -128);
go(M2, -128);
command=0;
break;
case 's': // stop
go(M1, 0);
go(M2, 0);
command=0;
break;
case 's': // stop
go(M1, 1);
go(M2, 1);
case 'a': // test otaceni
go(M1, 100);
go(M2, -100);
azimut_mag=read_azimut_mag();
while(read_azimut_mag() >= (azimut_mag + 45)) usleep(10000);
go(M1, 0);
go(M2, 0);
command=0;
break;
 
case 't': // test
for(test=0;test<127;test++)
{
go(M1, test);
go(M2, test);
usleep(10000);
};
go(M1, 127);
go(M2, 127);
for(test=127;test>-128;test--)
{
go(M1, test);
go(M2, test);
usleep(10000);
};
go(M1, -128);
go(M2, -128);
command=0;
break;
 
case 'g':
usleep(180000);
usleep(180000); // simulace ostatnich cidel (zdrzeni)
azimut_mag=read_azimut_mag();
 
FindNearestCrossing();
 
vzdalenost=echo(US3_Addr);
if ((vzdalenost>60)&&(vzdalenost<80))
{
183,7 → 254,6
filtr=6;
}
};
FindNearestCrossing();
break;
}
};
215,6 → 285,7
fprintf(pRouraO,"%f N %f E\n", n, e);
fprintf(pRouraO,"Vzdalenost: %.1f m\n", GeoCalc::EllipsoidDistance(n, e, cros[1].n, cros[1].e));
fprintf(pRouraO,"Azimut: %.2f Deg\n", GeoCalc::GCAzimuth(n, e, cros[1].n, cros[1].e));
fprintf(pRouraO,"AzimutMag: %d (0-255)\n", azimut_mag);
pthread_mutex_unlock(&mutex);
 
fclose(pRouraO);