#include<iostream>
#include<string>
#include"eyebot++.h"
#include"maze_parameter.h"
#include"maze_func.h"
using namespace std;


/*---对PID控制的积分部分I限幅---*/
void eI_xianfu()
{
  if (err_sum >= eI_max)    //如果err_sum大于限幅，则直接让err_sum=限幅，防止err_sum过大，影响PID控制
  {
    err_sum = eI_max;
  }
  else if (err_sum <= -eI_max)
  {
    err_sum = -eI_max;
  }
  else
  {
    //此处为空;
  }
}

void pid_speed_xianfu()
{
  if (Kpid_speed >= speed_xianfu)
  {
    Kpid_speed = speed_xianfu;
  }
  else if (Kpid_speed <= -speed_xianfu)
  {
    Kpid_speed = -speed_xianfu;
  }
  else 
  {
    //此处为空
  }
}

/*---位置式PID算法---*/
void PID_AL()
{
  err_sum += err;   //积分累计误差值
  eI_xianfu();   //积分部分限幅
  err_diff = err - err_old;   //微分部分误差值
  /*---打印输出PID控制的各项参数1---*/
    //~ cout << "err:" << err << " " ;
    //~ cout << "old_err:" << err_old << " " ;
    //~ cout << "err_sum:" << err_sum << " " ;
    //~ cout << "err_diff:" << err_diff << " " ;
  /*---打印结束---*/
  err_old = err;    //将误差幅值到上一次误差
  
  //~ Kpid = Kp*err + Ki*err_sum + Kd*err_diff;   //PID控制算法输出的倍率
  Kpid_speed = (Kp*err + Ki*err_sum + Kd*err_diff) * Kpid_base;
  //~ Kpid_speed = (Kp*err + Kd*err_diff) * Kpid_base;
  
  pid_speed_xianfu();
  //~ speed_r = speed_l + Kpid_speed;


  /*---打印输出PID控制的各项参数2---*/
    //~ cout << "PID_out:" << Kpid_speed << endl ;
        //~ cout << "PID_out:" << Kpid_speed << " " ;
  /*---打印结束---*/
  // VWSetSpeed(speed,Kpid*Kpid_base);   //控制小车的行驶速度，角速度(模拟器可以用，实物no)
 
  MOTORDriveRaw(2,speed_l - 2 + Kpid_speed);
  //~ MOTORDriveRaw(2,speed_r);
  MOTORDriveRaw(1,speed_l);
}

/*---PID控制下的直线行驶---*/
void PIDStraight()
{
  int bot_move;    //定义基础角速度和速度,和移动距离
  int L_PSD, R_PSD, F_PSD;    //定义左侧，右侧，前方的距离值
  int x_1,x_2, y_1,y_2, phi_1,phi_2;    //VWGetPosition的参数定义
  VWGetPosition(&x_1, &y_1, &phi_1);    //获取机器人在移动前的x,y,phi值
  //~ cout << x_1 <<  " " << y_1 << " " << phi_1 << endl;
  
  F_PSD = PSDGetRaw(1) - 2;    //读取前方和墙壁的距离
  L_PSD = PSDGetRaw(2) - 16;   //读取左侧和墙壁的距离
  R_PSD = PSDGetRaw(3);    //读取右侧和墙壁的距离
  
  //~ MOTORDriveRaw(2,speed_r);
  MOTORDriveRaw(2,speed_l - 2);
  MOTORDriveRaw(1,speed_l);


  do 
  {
    //~ F_PSD = PSDGetRaw(1) - 2;    //读取前方和墙壁的距离
    //~ L_PSD = PSDGetRaw(2) - 16;   //读取左侧和墙壁的距离
    //~ R_PSD = PSDGetRaw(3);    //读取右侧和墙壁的距离
    
    F_PSD = (PSDGetRaw(1) - 2) * 0.3  +  F_PSD * 0.7;    //读取前方和墙壁的距离
    L_PSD = (PSDGetRaw(2) - 16) * 0.3  +  L_PSD * 0.7;   //读取左侧和墙壁的距离
    R_PSD = (PSDGetRaw(3)) * 0.3  +  R_PSD * 0.7;    //读取右侧和墙壁的距离

    /*---打印输出PSD数值---*/
    cout << "PSD L:" << L_PSD << " R:" << R_PSD << " F:" << F_PSD << "\t" ;
    /*---打印结束---*/

    if (20<L_PSD && L_PSD<140  &&  20<R_PSD && R_PSD<140)   //如果两侧都有墙的情况
    {
      err = L_PSD - R_PSD;
      PID_AL();
    }
    else if (20<L_PSD && L_PSD<140)    //只有左侧有墙的情况
    {
      err = L_PSD - DIST_wall_RL;
      PID_AL();
    }
    else if (20<R_PSD && R_PSD<140)    //只有右侧有墙的情况
    {
      err = DIST_wall_RL - R_PSD;
      PID_AL();
    }
    else
    {
      L_PSD = L_PSD % 300;
      R_PSD = R_PSD % 300;
      err = L_PSD - R_PSD;
      PID_AL();
    }
    VWGetPosition(&x_2, &y_2, &phi_2);
    bot_move = sqrt(pow(x_2-x_1,2) + pow(y_2-y_1,2));
    cout << "move:" << bot_move << endl;

  }while (bot_move < DIST_move  &&  F_PSD > DIST_wall_F);    //当移动到指定距离，或者检测到小车前方的距离小于检测距离的时候，停止运行

  MOTORDriveRaw(1,0);
  MOTORDriveRaw(2,0);
}