55 lines
1.3 KiB
C
55 lines
1.3 KiB
C
#include "Localisation.h"
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#include "Temps.h"
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#include "QEI.h"
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#include "math.h"
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#include "Geometrie_robot.h"
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struct position_t position;
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void Localisation_init(){
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Temps_init();
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QEI_init();
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position.x_mm = 0;
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position.y_mm = 0;
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position.angle_radian = 0;
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}
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void Localisation_set(float x_mm, float y_mm, float angle_radian){
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position.x_mm = x_mm;
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position.y_mm = y_mm;
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position.angle_radian = angle_radian;
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}
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void Localisation_set_x(float x_mm){
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position.x_mm = x_mm;
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}
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void Localisation_set_y(float y_mm){
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position.y_mm = y_mm;
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}
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void Localisation_set_angle(float angle_radian){
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position.angle_radian = angle_radian;
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}
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void Localisation_gestion(){
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float distance_roue_gauche_mm = QEI_get_mm(QEI_B_NAME);
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float distance_roue_droite_mm = QEI_get_mm(QEI_A_NAME);
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float delta_avance_mm, delta_orientation_rad;
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delta_avance_mm = (distance_roue_droite_mm + distance_roue_gauche_mm)/2;
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delta_orientation_rad = (distance_roue_droite_mm - distance_roue_gauche_mm) / (DISTANCE_ROUES_CENTRE_MM*2);
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position.angle_radian += delta_orientation_rad;
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// Projection dans le référentiel de la table
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position.x_mm += delta_avance_mm * cosf(position.angle_radian);
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position.y_mm += delta_avance_mm * sinf(position.angle_radian);
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}
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struct position_t Localisation_get(void){
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return position;
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}
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