ank/RBE2001-lab2
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possible DriveToPoint impl

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This commit is contained in:
Andy Killorin 2026-02-04 22:57:08 -05:00
parent 324a51cf4c
commit e4b4072fd9
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 8 additions and 12 deletions
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17
src/robot-nav.cpp
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@ -62,10 +62,6 @@ float Robot::RadError(float current, float destination) {
bool Robot::CheckReachedDestination(void) bool Robot::CheckReachedDestination(void)
{ {
/**
* TODO: Add code to check if you've reached destination here.
*/
return SquareDistance() < TARGET_SQ_DIST return SquareDistance() < TARGET_SQ_DIST
&& RadError(currPose.theta, destPose.theta) < TARGET_RAD_ERR; && RadError(currPose.theta, destPose.theta) < TARGET_RAD_ERR;
} }
@ -83,20 +79,16 @@ void Robot::DriveToPoint(void)
} }
float heading_err = RadError(currPose.theta, target_heading); float heading_err = RadError(currPose.theta, target_heading);
float forward_effort = cos(heading_err) * sqrt(SquareDistance()); float forward_err = cos(heading_err) * sqrt(SquareDistance());
float turn_effort = heading_err * LATERAL_kP;
/** float forward_effort = forward_err * LONGITUDINAL_kP;
* TODO: Add your IK algorithm here.
*/
#ifdef __NAV_DEBUG__ #ifdef __NAV_DEBUG__
// Print useful stuff here. // Print useful stuff here.
#endif #endif
/** chassis.SetMotorEfforts(forward_effort - turn_effort, forward_effort + turn_effort);
* TODO: Call chassis.SetMotorEfforts() to command the motion, based on your calculations above.
*/
} }
} }
@ -105,4 +97,5 @@ void Robot::HandleDestination(void)
/** /**
* TODO: Stop and change state. Turn off LED. * TODO: Stop and change state. Turn off LED.
*/ */
EnterIdleState(); // TODO: sequence
} }

3
src/robot.h
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@ -5,6 +5,9 @@
const float TARGET_SQ_DIST = pow(3.0, 2); // distance from setpoint that is ok (cm) const float TARGET_SQ_DIST = pow(3.0, 2); // distance from setpoint that is ok (cm)
const float TARGET_RAD_ERR = 0.25; // angle from setpoint that is ok (rad) const float TARGET_RAD_ERR = 0.25; // angle from setpoint that is ok (rad)
const float LONGITUDINAL_kP = 3.0;
const float LATERAL_kP = 3.0 * DEG_TO_RAD;
class Robot class Robot
{ {
protected: protected: