mirror of
https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
synced 2025-08-04 04:14:58 +00:00
driver cleanup
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@@ -509,32 +509,6 @@ void CKobuki::doRotation(long double th) {
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usleep(25 * 1000);
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}
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// combines navigation to a coordinate and rotation by an angle, performs
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// movement to the selected coordinate in the robot's coordinate system
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void CKobuki::goToXy(long double xx, long double yy) {
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long double th;
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yy = yy * -1;
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th = atan2(yy, xx);
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doRotation(th);
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long double s = sqrt(pow(xx, 2) + pow(yy, 2));
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// resetnem suradnicovu sustavu robota
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x = 0;
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y = 0;
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iterationCount = 0;
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theta = 0;
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// std::cout << "mam prejst: " << s << "[m]" << std::endl;
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goStraight(s);
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usleep(25 * 1000);
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return;
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}
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/// @brief Makes the robot move forward for 3 seconds
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/// @param speedvalue How fast it will drive forward from 0 - 1024
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void CKobuki::forward(int speedvalue) {
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@@ -1,71 +0,0 @@
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#ifndef GRAPH1010
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#define GRAPH1010
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#include <stdio.h>
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#include <stdlib.h>
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#include <vector>
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using namespace std;
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#define GRAPH_ENABLED true
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class plot {
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public:
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FILE *gp;
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bool enabled,persist;
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plot(bool _persist=false,bool _enabled=GRAPH_ENABLED) {
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enabled=_enabled;
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persist=_persist;
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if (enabled) {
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if(persist)
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gp=popen("gnuplot -persist","w");
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else
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gp=popen("gnuplot","w");
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}
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}
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void plot_data(vector<float> x,const char* style="points",const char* title="Data") {
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if(!enabled)
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return;
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fprintf(gp,"set title '%s' \n",title);
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fprintf(gp,"plot '-' w %s \n",style);
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for(int k=0;k<x.size();k++) {
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fprintf(gp,"%f\n",x[k]);
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}
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fprintf(gp,"e\n");
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fflush(gp);
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}
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void plot_data(vector<float> x,vector<float> y,const char* style="points",const char* title="Data") {
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if(!enabled)
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return;
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fprintf(gp,"set title '%s' \n",title);
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fprintf(gp,"plot '-' w %s \n",style);
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for(int k=0;k<x.size();k++) {
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fprintf(gp,"%f %f \n",x[k],y[k]);
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}
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fprintf(gp,"e\n");
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fflush(gp);
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}
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~plot() {
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if(enabled)
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pclose(gp);
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}
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};
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/*
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int main(int argc,char **argv) {
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plot p;
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for(int a=0;a<100;a++) {
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vector<float> x,y;
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for(int k=a;k<a+200;k++) {
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x.push_back(k);
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y.push_back(k*k);
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}
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p.plot_data(x,y);
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}
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return 0;
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}
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*/
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#endif
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