compAIR/compLIB
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Continue on go to goal behaviour

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This commit is contained in:
Konstantin Lampalzer 2022-05-27 02:44:52 +02:00
parent 6a1ac72912
commit 92d42be8b8
13 changed files with 161 additions and 35 deletions
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18
server_v2/src/main.cpp
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@ -6,6 +6,7 @@
#include "include/ClosedLoopMotorController.hpp"
#include "include/communication/UnixSocketServer.hpp"
#include "include/communication/TCPSocketServer.hpp"
#include "include/GoToGoalController.hpp"
using namespace std;
@ -17,8 +18,8 @@ int main() {
UnixSocketServer unixSocketServer;
TCPSocketServer tcpSocketServer;
// ClosedLoopMotorController::getInstance().set_speed(0, -125);
// ClosedLoopMotorController::getInstance().set_speed(3, 125);
// ClosedLoopMotorController::getInstance().set_speed(ROBOT_ODOMETRY_CONTROLLER_RIGHT_PORT, M_PI * ROBOT_ODOMETRY_CONTROLLER_RIGHT_MULT);
// ClosedLoopMotorController::getInstance().set_speed(ROBOT_ODOMETRY_CONTROLLER_LEFT_PORT, M_PI_4 * ROBOT_ODOMETRY_CONTROLLER_LEFT_MULT);
// OdometryController::getInstance().enable();
// for (int i = 0; i < 10000; ++i) {
@ -27,7 +28,18 @@ int main() {
// usleep(1000);
// }
ClosedLoopMotorController::getInstance().generate_tuned_step_response_data();
// OdometryController::getInstance().enable();
// GoToGoalController::diff_drive_inverse_kinematics(0.2, -M_PI_4);
// for (int i = 0; i < 800; ++i) {
// std::this_thread::sleep_for(std::chrono::milliseconds(10));
// auto odom = OdometryController::getInstance().get();
// spdlog::debug("{:03.4f}; {:03.4f}; {:03.4f}", odom.get_x_position(), odom.get_y_position(), odom.get_angular_orientation());
// }
GoToGoalController::go_to_point(2, 0, 0.2);
// ClosedLoopMotorController::getInstance().generate_step_response_data();
// ClosedLoopMotorController::getInstance().generate_tuned_step_response_data();
std::this_thread::sleep_for(std::chrono::hours(12));
return 0;
}