45 lines
1.5 KiB
C
45 lines
1.5 KiB
C
#include "gyro.h"
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#include "Localisation.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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#include "Robot_config.h"
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struct position_t position;
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void Localisation_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_gestion(){
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struct t_angle_gyro_double angle_gyro;
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// Voir http://poivron-robotique.fr/Robot-holonome-localisation-partie-2.html
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double distance_roue_a_mm = QEI_get_mm(QEI_A_NAME);
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double distance_roue_b_mm = QEI_get_mm(QEI_B_NAME);
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double distance_roue_c_mm = QEI_get_mm(QEI_C_NAME);
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double delta_x_ref_robot, delta_y_ref_robot;
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double old_orientation_radian = position.angle_radian;
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delta_x_ref_robot = (distance_roue_a_mm + distance_roue_b_mm - 2 * distance_roue_c_mm) / 3.0;
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delta_y_ref_robot = (-distance_roue_a_mm + distance_roue_b_mm) * RACINE_DE_3 / 3.0;
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if(get_position_avec_gyroscope()){
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angle_gyro = gyro_get_angle_degres();
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position.angle_radian = angle_gyro.rot_z / 180. * M_PI ;
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}else{
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position.angle_radian += - ( distance_roue_a_mm + distance_roue_b_mm + distance_roue_c_mm) / (3 * DISTANCE_ROUES_CENTRE_MM);
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}
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// Projection dans le référentiel de la table
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position.x_mm += delta_x_ref_robot * cos(position.angle_radian) - delta_y_ref_robot * sin(position.angle_radian);
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position.y_mm += delta_x_ref_robot * sin(position.angle_radian) + delta_y_ref_robot * cos(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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