Place robot working (pos bullshit)

utcoupe · May 23, 2017 · adf94cb · adf94cb
1 parent c8ac25a
commit adf94cb
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Showing 9 changed files with 63 additions and 5 deletions.
diff --git a/clients/asserv/asserv.js b/clients/asserv/asserv.js
@@ -134,6 +134,8 @@ class Asserv{
 	 */
 	setPid(p, i, d){}
 
+	doStartSequence(params) {}
+
 	addOrderToFifo(name, params){
         this.logger.debug("Adding order to fifo : " + name);
         // this.logger.debug(order.params);

diff --git a/clients/asserv/asserv.real.js b/clients/asserv/asserv.real.js
@@ -75,7 +75,9 @@ class AsservReal extends Asserv{
      /********************************************************************/
 
     setPos(pos) {
-        this.ordersSerial.sendOrder(this.asservCommands.SET_POS, [parseInt(pos.x), parseInt(pos.y), this.myWriteFloat(pos.a)], function() { this.fifo.orderFinished(); }.bind(this));
+        if (!!this.ordersSerial) {
+            this.ordersSerial.sendOrder(this.asservCommands.SET_POS, [parseInt(pos.x), parseInt(pos.y), this.myWriteFloat(pos.a)], function() { this.fifo.orderFinished(); }.bind(this));
+        }
     }
 
     clean(){
@@ -112,8 +114,8 @@ class AsservReal extends Asserv{
     goxy(x, y, sens) {
         //todo sens in english
         var sensInt;
-        if(sens == "avant") sensInt = 1;
-        else if(sens == "arriere") sensInt = -1;
+        if(sens == "forward") sensInt = 1;
+        else if(sens == "backward") sensInt = -1;
         else sensInt = 0;
         this.ordersSerial.sendOrder(this.asservCommands.GOTO, [parseInt(x), parseInt(y), parseInt(sensInt)], function() { this.fifo.orderFinished(); }.bind(this));
     }
@@ -126,6 +128,11 @@ class AsservReal extends Asserv{
         this.ordersSerial.sendOrder(this.asservCommands.PIDALL, [this.myWriteFloat(p), this.myWriteFloat(i), this.myWriteFloat(d)], function() { this.fifo.orderFinished(); }.bind(this));
     }
 
+    doStartSequence(params){
+        this.goxy(params.x, params.y, "forward");
+        this.goa(params.a, () => {});
+    }
+
     /********************************************************************\
      *
      *  HELPERS FUNCTIONS

diff --git a/clients/asserv/asserv.simu.js b/clients/asserv/asserv.simu.js
@@ -208,6 +208,10 @@ class AsservSimu extends Asserv{
         this.fifo.orderFinished();
 	}
 
+	doStartSequence(params){
+        this.fifo.orderFinished();
+	}
+
     simu_speed(speed, x, y, a, dt) {
         return function() {
             this.pos = {

diff --git a/clients/robot/robot.js b/clients/robot/robot.js
@@ -80,6 +80,9 @@ class Robot extends Client{
 						//this.acts.clean();
 						this.orderInProgress = false;
 					break;
+					case "do_start_sequence":
+						this.asserv.doStartSequence(params);
+					break;
 					case "stop":
 						//TODO DO it with new actuators
 						//this.acts.clean();

diff --git a/ia/gr.class.js b/ia/gr.class.js
@@ -36,19 +36,34 @@ class Gr extends Robot{
 			d: 390
 		};
 
+		/** Initial position */
+		if (this.ia.color == "blue") {
+		} else {
+		}
+
 		/** Initial position */
 		if (this.ia.color == "blue") {
 			this.initialPos = {
 				x: 175,
 				y: 175,
 				a: 0,
 			}
+			this.startPos = {
+				x: 275,
+				y: 175,
+				a: 0,
+			}
 		} else {
 			this.initialPos = {
 				x: 2825,
 				y: 175,
 				a: 3.1415,
 			}
+			this.startPos = {
+				x: 2725,
+				y: 175,
+				a: 3.1415,
+			}
 		}
 
 		this.pos.x = this.initialPos.x;

diff --git a/ia/pr.class.js b/ia/pr.class.js
@@ -43,6 +43,26 @@ class Pr extends Robot{
 				y: 175,
 				a: 1.5707,
 			}
+			this.startPos = {
+				x: 900,
+				y: 175,
+				a: 0,
+			}
+		} else {
+			this.initialPos = {
+				x: 2100,
+				y: 175,
+				a: 1.5707,
+			}
+			this.startPos = {
+				x: 2100,
+				y: 175,
+				a: 3.1415,
+			}
+		}
+
+		/** Place position */
+		if (this.ia.color == "blue") {
 		} else {
 			this.initialPos = {
 				x: 2100,

diff --git a/ia/robot.class.js b/ia/robot.class.js
@@ -65,6 +65,8 @@ class Robot{
 		/** Robot actions */
 		this.actions = null;
 		this.Actions = require('./actions.class.js');
+
+		this.startPos = this.initialPos;
 	}
 
 	/**
@@ -178,9 +180,9 @@ class Robot{
 	 * Place robot before starting the match
 	 */
 	place () {
-		this.ia.client.send(this.name, "asserv.setpos", this.initialPos);
+		this.sendInitialPos ()
 
-		this.ia.client.send(this.name, "do_start_sequence", {});
+		this.ia.client.send(this.name, "do_start_sequence", this.startPos);
 	}
 
 	/**

diff --git a/webclient/index.js b/webclient/index.js
@@ -39,6 +39,9 @@ angular.module('app').controller('IndexCtrl', ['$rootScope', '$scope', 'UTCoupe'
 	$scope.stop = function(u) {
 		Client.send(u, 'stop');
 	};
+	$scope.place = function(u) {
+		Client.send("ia", u + '.place');
+	};
 
 	$scope.jack = function() {
 		Client.send('ia', 'ia.jack', {});

diff --git a/webclient/index.tpl.html b/webclient/index.tpl.html
@@ -52,6 +52,7 @@
 		<button type="button" class="btn" ng-show="utcoupe.gr" ng-click="kill('gr')">Arrêter</button>
 		<button type="button" class="btn" ng-click="start('gr')">Start</button>
 		<button type="button" class="btn" ng-click="stop('gr')">Stop</button>
+		<button type="button" class="btn" ng-click="place('gr')">Placer</button>
 		<!-- /!\ Met du temps à cause du sudo /!\ -->
 		<br /><br />
 	</li>
@@ -61,6 +62,7 @@
 		<button type="button" class="btn" ng-show="utcoupe.pr" ng-click="kill('pr')">Arrêter</button>
 		<button type="button" class="btn" ng-click="start('pr')">Start</button>
 		<button type="button" class="btn" ng-click="stop('pr')">Stop</button>
+		<button type="button" class="btn" ng-click="place('pr')">Placer</button>
 		<br /><br />
 	</li>
 	<li>