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nav_rover_base.c File Reference
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Macros

#define LINE_START_FUNCTION   {}
 Navigation along a figure O. More...
 
#define LINE_STOP_FUNCTION   {}
 

Functions

static void nav_goto (struct EnuCoor_f *wp)
 Implement basic nav function. More...
 
static void nav_route (struct EnuCoor_f *wp_start, struct EnuCoor_f *wp_end)
 
static bool nav_approaching (struct EnuCoor_f *wp, struct EnuCoor_f *from, float approaching_time)
 
static void nav_circle (struct EnuCoor_f *wp_center, float radius)
 
static void _nav_oval_init (void)
 
static void nav_oval (struct EnuCoor_f *wp1, struct EnuCoor_f *wp2, float radius)
 
static void send_segment (struct transport_tx *trans, struct link_device *dev)
 
static void send_circle (struct transport_tx *trans, struct link_device *dev)
 
static void send_nav_status (struct transport_tx *trans, struct link_device *dev)
 
void nav_rover_init (void)
 Init and register nav functions. More...
 

Variables

struct RoverNavBase nav_rover_base
 

Detailed Description

Author
2018 Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Basic navigation functions for Rovers

Definition in file nav_rover_base.c.

Macro Definition Documentation

#define LINE_START_FUNCTION   {}

Navigation along a figure O.

One side leg is defined by waypoints [p1] and [p2]. The navigation goes through 4 states: OC1 (half circle next to [p1]), OR21 (route [p2] to [p1], OC2 (half circle next to [p2]) and OR12 (opposite leg). Initial state is the route along the desired segment (OC2).

Definition at line 147 of file nav_rover_base.c.

Referenced by nav_oval().

#define LINE_STOP_FUNCTION   {}

Definition at line 150 of file nav_rover_base.c.

Referenced by nav_oval().

Function Documentation

static void _nav_oval_init ( void  )
static

Definition at line 153 of file nav_rover_base.c.

References RoverNavOval::count, nav_rover_base, OC2, RoverNavBase::oval, and RoverNavOval::status.

Referenced by nav_rover_init().

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static bool nav_approaching ( struct EnuCoor_f wp,
struct EnuCoor_f from,
float  approaching_time 
)
static

Definition at line 63 of file nav_rover_base.c.

References ARRIVED_AT_WAYPOINT, float_vect2_norm(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), VECT2_DIFF, VECT2_SMUL, VECT2_SUM, FloatVect2::x, and FloatVect2::y.

Referenced by nav_register_goto_wp(), and nav_rover_init().

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static void nav_circle ( struct EnuCoor_f wp_center,
float  radius 
)
static
static void nav_goto ( struct EnuCoor_f wp)
static

Implement basic nav function.

Definition at line 34 of file nav_rover_base.c.

References RoverNavGoto::dist2_to_wp, get_dist2_to_point(), RoverNavBase::goto_wp, RoverNavigation::mode, nav, NAV_MODE_WAYPOINT, nav_rover_base, and RoverNavGoto::to.

Referenced by nav_register_goto_wp(), and nav_rover_init().

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static void nav_oval ( struct EnuCoor_f wp1,
struct EnuCoor_f wp2,
float  radius 
)
static

Definition at line 159 of file nav_rover_base.c.

References ANGLE_BFP_OF_REAL, CARROT, InitStage, INT32_ANGLE_PI, int32_atan2_2(), INT32_DEG_OF_RAD, LINE_START_FUNCTION, LINE_STOP_FUNCTION, nav_approaching_from(), nav_circle(), nav_oval_count, nav_route(), NavQdrCloseTo, OC1, OC2, OR12, OR21, POS_BFP_OF_REAL, waypoints, point::x, and point::y.

Referenced by nav_rover_init().

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static void nav_route ( struct EnuCoor_f wp_start,
struct EnuCoor_f wp_end 
)
static
static void send_circle ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 260 of file nav_rover_base.c.

References RoverNavCircle::center, RoverNavBase::circle, nav_rover_base, RoverNavCircle::radius, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by send_nav_status().

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static void send_nav_status ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 268 of file nav_rover_base.c.

References block_time, RoverNavigation::dist2_to_home, RoverNavGoto::dist2_to_wp, RoverNavBase::goto_wp, RoverNavigation::mode, nav, nav_block, NAV_MODE_CIRCLE, NAV_MODE_ROUTE, nav_rover_base, nav_stage, send_circle(), send_segment(), and stage_time.

Referenced by nav_rover_init().

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static void send_segment ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 251 of file nav_rover_base.c.

References RoverNavGoto::from, RoverNavBase::goto_wp, nav_rover_base, RoverNavGoto::to, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by send_nav_status().

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Variable Documentation