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ArActionDriveDistance.cpp
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ArActionDriveDistance.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArActionDriveDistance.h"
#include "ArRobot.h"
AREXPORT ArActionDriveDistance::ArActionDriveDistance(const char *name,
double speed,
double deceleration) :
ArAction(name, "Drives a given distance.")
{
myPrinting = false;
setNextArgument(ArArg("speed", &mySpeed,
"Speed to travel to at. (mm/sec)"));
setNextArgument(ArArg("deceleration", &myDeceleration,
"Speed to decelerate at. (mm/sec/sec)"));
mySpeed = speed;
myDeceleration = deceleration;
myState = STATE_NO_DISTANCE;
}
AREXPORT ArActionDriveDistance::~ArActionDriveDistance()
{
}
AREXPORT bool ArActionDriveDistance::haveAchievedDistance(void)
{
if (myState == STATE_ACHIEVED_DISTANCE)
return true;
else
return false;
}
AREXPORT void ArActionDriveDistance::cancelDistance(void)
{
myState = STATE_NO_DISTANCE;
}
AREXPORT void ArActionDriveDistance::setDistance(
double distance, bool useEncoders)
{
myState = STATE_GOING_DISTANCE;
myDistance = distance;
myUseEncoders = useEncoders;
if (myUseEncoders)
myLastPose = myRobot->getEncoderPose();
else
myLastPose = myRobot->getPose();
myDistTravelled = 0;
myLastVel = 0;
}
AREXPORT ArActionDesired *ArActionDriveDistance::fire(
ArActionDesired currentDesired)
{
double distToGo;
double vel;
// if we're there we don't do anything
if (myState == STATE_ACHIEVED_DISTANCE || myState == STATE_NO_DISTANCE)
return NULL;
if (myUseEncoders)
{
myDistTravelled += myRobot->getEncoderPose().findDistanceTo(myLastPose);
myLastPose = myRobot->getEncoderPose();
}
else
{
myDistTravelled += myRobot->getPose().findDistanceTo(myLastPose);
myLastPose = myRobot->getPose();
}
if (myDistance >= 0)
distToGo = myDistance - myDistTravelled;
else
distToGo = -myDistance - myDistTravelled;
if (distToGo <= 0 && ArMath::fabs(myRobot->getVel() < 5))
{
if (myPrinting)
{
ArLog::log(ArLog::Normal,
"Achieved distToGo %.0f realVel %.0f realVelDelta %.0f",
distToGo, myRobot->getVel(), myRobot->getVel() - myLastVel);
}
myState = STATE_ACHIEVED_DISTANCE;
myDesired.setVel(0);
myDesired.setRotVel(0);
return &myDesired;
}
myDesired.setRotVel(0);
// if we're close, stop
if (distToGo <= 0)
{
myDesired.setVel(0);
vel = 0;
}
else
{
vel = sqrt(distToGo * myDeceleration * 2);
if (vel > mySpeed)
vel = mySpeed;
if (myDistance < 0)
vel *= -1;
myDesired.setVel(vel);
}
if (myPrinting)
ArLog::log(ArLog::Normal,
"distToGo %.0f cmdVel %.0f realVel %.0f realVelDelta %.0f",
distToGo, vel, myRobot->getVel(),
myRobot->getVel() - myLastVel);
myLastVel = myRobot->getVel();
return &myDesired;
}