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local_vector_driver.h

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/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library 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
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA


 * $Id: local_vector_driver.h,v 1.2 2007/09/26 05:12:59 derek Exp $
*/

#ifndef GEOMETRY_DRIVER_H
#define GEOMETRY_DRIVER_H
#include <sine.h>
#include <primitive_driver.h>
#include <point.h>
#include <opid.h>

class Geometry_Driver : public Primitive_Driver
{
public:
  friend void task_local_vector_driver(void*);
//  friend void task_keep_straight(void);
//  friend void task_motion_driver(void);

  Geometry_Driver(IOLINE Pencoder, IOLINE Sencoder, IOLINE f,PORT ,IOLINE tpu,
                IOLINE Pencoder,IOLINE Sencoder, IOLINE rf,PORT rfp, IOLINE rtpu,  uint8 subclass=0); //, MILLIMETER b);
  /*
  Two ways of travel:
    - portion of a circular arc: the radius is set to center of circle forming path robot will travel.
    - straight distance: the radius parameter is set to distance to travel. (radians ignored).
  \param idir (MOTION) direction of travel
  \param s (SPEED) speed of travel (mm/sec)
  \param radius (MILLIMETER)    -       radius of turn. Only applicable for turn right/left. (turn is made around this point--0 degree is pivot; infinite is straight line).
  \param idirection (DEGREE)  - current direction of travel.
  \param c RADIAN amount to arc (0=none PI/2= 90 degree 2*PI=full circle etc.)
  */
//  void        travel(MOTION idir,ENCODER_TYPE s, ENCODER_TYPE radius, FIXED_RADIAN idirection, FIXED_RADIAN c=FIXED_PIDIV2); // 1.570796);
  void  travel(MOTION idir,ENCODER_TYPE s, ENCODER_TYPE radius, FIXED_RADIAN idirection, FIXED_RADIAN c); //=FIXED_PIDIV2); // 1.570796);
  void travel(MOTION idir,ENCODER_TYPE EU_s, const point& P2, FIXED_RADIAN Fidirection);
  void travel(MOTION idir,ENCODER_TYPE EU_s, MILLIMETER idistance);
  void travel(MOTION idir);
  void travel(MOTION idir, SPEED speed, const point& P1, const point& P2, int weight);

  void heading(ENCODER_TYPE s, FIXED_RADIAN destination);

  void keep_straight(void);
  int offset(void);
  DEGREE face(void);
//  void segment_path(int& dx, int& dy, oPID& pid, bool& lpower, bool& rpower);
  // Control function to maintain a circular path.
//  void circular_path(int&, int&,oPID&,bool&,bool&);
  void linear_path(int&, int&,oPID&,bool&,bool&);
  bool complete();
  void control_points(const point& p1, const point& p2);
  #ifdef DOS
  // The static allows the simulator to read all values from shared memory.
  static MILLIMETER distance(void);
  static MILLIMETER get_actual_speed(void);
  static MILLIMETER x0();
  static MILLIMETER y0();
  static MILLIMETER current_distance();
  static RADIAN get_stop(void);
  static MILLIMETER get_global_speed(void);
  // application must manually call the WSwrite to update values into shared memory.
  void WSwrite(void);
  int Label;
protected:
  ENCODER_TYPE   EU_distance;           // distance from initial position to destination (waypoint).
  #endif
  FIXED_RADIAN        F_STOP;           // angle to stop at while turning.
  bool          _complete;              // Has the commmand been completed. (moved to state_flags)
  ENCODER_TYPE  EU_global_speed;
  MILLIMETER    MM_current_distance;
  point         _p1;            // control point.
  point         _p2;            // destination point.
  float         _weight;                // weight (larger value tracks closer to control point).
  FIXED_METER   FM_offset;  // how much off from line.
  ENCODER_TYPE  EU_centerx; // center of turn for left/right turns.
  ENCODER_TYPE  EU_centery;
  ENCODER_TYPE    EU_distance2go;
  Geometry_Driver(void);
  FIXED_RADIAN          F_Tradian;
  ENCODER_TYPE          EU_x0;  // defines a starting location x,y coordinates (P0)
  ENCODER_TYPE          EU_y0;
  static foo2 callback(void);
private:
  void prestuff(ENCODER_TYPE EU_S);
  void poststuff(MOTION idir, ENCODER_TYPE EU_left, ENCODER_TYPE EU_right);
};
typedef Geometry_Driver Local_Vector_Driver;
#endif

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