BE@R lab / Mbed 2 deprecated MPU9250AHRS-PGear_Stabilizer

Stabilizer

Dependencies:   BEAR_Protocol mbed Stabilizer iSerial

Fork of MPU9250AHRS by BE@R lab

main.cpp@21:298aa522db64, 2016-02-03 (annotated)

Committer:
soulx
Date:
Wed Feb 03 16:23:11 2016 +0000
Revision:
21:298aa522db64
Parent:
15:10939fd0eaac
Parent:
20:1d4db25afe2b 
renew

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 18:02559b51ec08 1
icyzkungz 6:fa132fd505ce 2 #include "Stabilizer.h"
icyzkungz 10:f088c124d2be 3 #include "Kinematic.h"
onehorse 0:2e5e65a6fb30 4 #include "MPU9250.h"
onehorse 0:2e5e65a6fb30 5
soulx 18:02559b51ec08 6 #include "BEAR_Protocol.h"
soulx 18:02559b51ec08 7
soulx 15:10939fd0eaac 8 void Init_IMU();
soulx 15:10939fd0eaac 9 void Init_Stabilizer();
soulx 21:298aa522db64 10 void WheelChair();
soulx 15:10939fd0eaac 11
soulx 15:10939fd0eaac 12
soulx 18:02559b51ec08 13 #define LEFT_SIDE 0x01
soulx 18:02559b51ec08 14 #define RIGHT_SIDE 0x02
soulx 18:02559b51ec08 15
soulx 20:1d4db25afe2b 16 #define TIME_SYNC_COMMUNICATION 5 //unit ms
soulx 20:1d4db25afe2b 17
onehorse 0:2e5e65a6fb30 18 float sum = 0;
onehorse 0:2e5e65a6fb30 19 uint32_t sumCount = 0;
onehorse 0:2e5e65a6fb30 20 char buffer[14];
onehorse 0:2e5e65a6fb30 21
soulx 20:1d4db25afe2b 22
soulx 21:298aa522db64 23
soulx 21:298aa522db64 24 //init class
soulx 21:298aa522db64 25
soulx 3:3e04c1c03cab 26 MPU9250 mpu9250;
soulx 14:8101a48eb972 27 Stabilizer Stabilize(5.0f,0.0f);
icyzkungz 17:51ac4252fa1a 28 //Kinematic L('Z',10,10,30,30),R('Z',10,10,30,30);
soulx 20:1d4db25afe2b 29 Kinematic Left(0,0),Right(0,0);
icyzkungz 17:51ac4252fa1a 30 Bear_Communicate bcom(PA_15,PB_7,1000000);
soulx 3:3e04c1c03cab 31
soulx 20:1d4db25afe2b 32 Timer sync_communicate;
soulx 20:1d4db25afe2b 33
soulx 15:10939fd0eaac 34
soulx 3:3e04c1c03cab 35 Timer t;
onehorse 0:2e5e65a6fb30 36
soulx 3:3e04c1c03cab 37 Serial pc(USBTX, USBRX); // tx, rx
soulx 3:3e04c1c03cab 38
soulx 15:10939fd0eaac 39 Bear_Communicate bear(PA_15,PB_7,115200);
soulx 15:10939fd0eaac 40
soulx 15:10939fd0eaac 41
soulx 15:10939fd0eaac 42
soulx 3:3e04c1c03cab 43 float xmax = -4914.0f;
soulx 3:3e04c1c03cab 44 float xmin = 4914.0f;
onehorse 0:2e5e65a6fb30 45
soulx 3:3e04c1c03cab 46 float ymax = -4914.0;
soulx 3:3e04c1c03cab 47 float ymin = 4914.0f;
soulx 3:3e04c1c03cab 48
soulx 3:3e04c1c03cab 49 float zmax = -4914.0;
soulx 3:3e04c1c03cab 50 float zmin = 4914.0f;
onehorse 0:2e5e65a6fb30 51
soulx 3:3e04c1c03cab 52 float Xsf,Ysf;
soulx 3:3e04c1c03cab 53 float Xoff,Yoff;
soulx 3:3e04c1c03cab 54
soulx 3:3e04c1c03cab 55
soulx 3:3e04c1c03cab 56 //InterruptIn event(PC_13);
soulx 3:3e04c1c03cab 57 DigitalIn enable(PC_13);
soulx 3:3e04c1c03cab 58
icyzkungz 16:b5b9827dd5dc 59 DigitalIn button(USER_BUTTON);
icyzkungz 16:b5b9827dd5dc 60
soulx 20:1d4db25afe2b 61 int16_t show_menu()
soulx 20:1d4db25afe2b 62 {
soulx 20:1d4db25afe2b 63 int16_t option=9999;
soulx 20:1d4db25afe2b 64 float temp[6];
soulx 20:1d4db25afe2b 65 pc.printf("************Don't Forget to Save Data************\n");
soulx 20:1d4db25afe2b 66
soulx 20:1d4db25afe2b 67 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 68 sync_communicate.reset();
soulx 20:1d4db25afe2b 69 bcom.getMotorPos(LEFT_SIDE,&temp[0],&temp[1]);
soulx 20:1d4db25afe2b 70 pc.printf("*\t1) Motor Left Hip [%f]\t\t*\n",temp[0]);
soulx 20:1d4db25afe2b 71 pc.printf("*\t2) Motor Left Knee [%f]\t\t*\n",temp[1]);
soulx 20:1d4db25afe2b 72
soulx 20:1d4db25afe2b 73 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 74 sync_communicate.reset();
soulx 20:1d4db25afe2b 75 bcom.getMotorPos(RIGHT_SIDE,&temp[0],&temp[1]);
soulx 20:1d4db25afe2b 76 pc.printf("*\t3) Motor Right Hip [%f]\t\t*\n",temp[0]);
soulx 20:1d4db25afe2b 77 pc.printf("*\t4) Motor Right Knee [%f]\t\t*\n",temp[1]);
soulx 20:1d4db25afe2b 78
soulx 20:1d4db25afe2b 79 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 80 sync_communicate.reset();
soulx 20:1d4db25afe2b 81 bcom.getUpMotorKpKiKd(LEFT_SIDE,&temp[0],&temp[1],&temp[2]);
soulx 20:1d4db25afe2b 82 pc.printf("*\t5) Kp : Left Hip [%f]\t\t*\n",temp[0]);
soulx 20:1d4db25afe2b 83 pc.printf("*\t6) Ki : Left Hip [%f]\t\t*\n",temp[1]);
soulx 20:1d4db25afe2b 84 pc.printf("*\t7) Kd : Left Hip [%f]\t\t*\n",temp[2]);
soulx 20:1d4db25afe2b 85
soulx 20:1d4db25afe2b 86 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 87 sync_communicate.reset();
soulx 20:1d4db25afe2b 88 bcom.getLowMotorKpKiKd(LEFT_SIDE,&temp[0],&temp[1],&temp[2]);
soulx 20:1d4db25afe2b 89 pc.printf("*\t8) Kp : Left Knee [%f]\t\t*\n",temp[0]);
soulx 20:1d4db25afe2b 90 pc.printf("*\t9) Ki : Left Knee [%f]\t\t*\n",temp[1]);
soulx 20:1d4db25afe2b 91 pc.printf("*\t10) Kd : Left Knee [%f]\t\t*\n",temp[2]);
soulx 20:1d4db25afe2b 92
soulx 20:1d4db25afe2b 93 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 94 sync_communicate.reset();
soulx 20:1d4db25afe2b 95 bcom.getUpMotorKpKiKd(RIGHT_SIDE,&temp[0],&temp[1],&temp[2]);
soulx 20:1d4db25afe2b 96 pc.printf("*\t11) Kp : Right Hip [%f]\t\t*\n",temp[0]);
soulx 20:1d4db25afe2b 97 pc.printf("*\t12) Ki : Right Hip [%f]\t\t*\n",temp[1]);
soulx 20:1d4db25afe2b 98 pc.printf("*\t13) Kd : Right Hip [%f]\t\t*\n",temp[2]);
soulx 20:1d4db25afe2b 99
soulx 20:1d4db25afe2b 100 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 101 sync_communicate.reset();
soulx 20:1d4db25afe2b 102 bcom.getLowMotorKpKiKd(RIGHT_SIDE,&temp[0],&temp[1],&temp[2]);
soulx 20:1d4db25afe2b 103 pc.printf("*\t14) Kp : Right Knee [%f]\t\t*\n",temp[0]);
soulx 20:1d4db25afe2b 104 pc.printf("*\t15) Ki : Right Knee [%f]\t\t*\n",temp[1]);
soulx 20:1d4db25afe2b 105 pc.printf("*\t16) Kd : Right Knee [%f]\t\t*\n",temp[2]);
soulx 20:1d4db25afe2b 106
soulx 20:1d4db25afe2b 107 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 108 sync_communicate.reset();
soulx 20:1d4db25afe2b 109 bcom.getUpMargin(LEFT_SIDE,&temp[0]);
soulx 20:1d4db25afe2b 110 pc.printf("*\t17) Set Left Hip Margin [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 111 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 112 sync_communicate.reset();
soulx 20:1d4db25afe2b 113 bcom.getLowMargin(LEFT_SIDE,&temp[0]);
soulx 20:1d4db25afe2b 114 pc.printf("*\t18) Set Left Knee Margin [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 115 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 116 sync_communicate.reset();
soulx 20:1d4db25afe2b 117 bcom.getUpMargin(RIGHT_SIDE,&temp[0]);
soulx 20:1d4db25afe2b 118 pc.printf("*\t19) Set Right Hip Margin [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 119 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 120 sync_communicate.reset();
soulx 20:1d4db25afe2b 121 bcom.getLowMargin(RIGHT_SIDE,&temp[0]);
soulx 20:1d4db25afe2b 122 pc.printf("*\t20) Set Right Knee Margin [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 123
soulx 20:1d4db25afe2b 124
soulx 20:1d4db25afe2b 125 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 126 sync_communicate.reset();
soulx 20:1d4db25afe2b 127 bcom.getUpLinkLength(LEFT_SIDE,&temp[0]);
soulx 20:1d4db25afe2b 128 pc.printf("*\t21) Set Lenght of Left Link Hip [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 129 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 130 sync_communicate.reset();
soulx 20:1d4db25afe2b 131 bcom.getLowLinkLength(LEFT_SIDE,&temp[0]);
soulx 20:1d4db25afe2b 132 pc.printf("*\t22) Set Lenght of Left Link Knee [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 133
soulx 20:1d4db25afe2b 134 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 135 sync_communicate.reset();
soulx 20:1d4db25afe2b 136 bcom.getUpLinkLength(RIGHT_SIDE,&temp[0]);
soulx 20:1d4db25afe2b 137 pc.printf("*\t23) Set Lenght of Right Link Hip [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 138 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 139 sync_communicate.reset();
soulx 20:1d4db25afe2b 140 bcom.getLowLinkLength(RIGHT_SIDE,&temp[0]);
soulx 20:1d4db25afe2b 141 pc.printf("*\t24) Set Lenght of Right Link Knee [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 142
soulx 20:1d4db25afe2b 143 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 144 sync_communicate.reset();
soulx 20:1d4db25afe2b 145 bcom.getOffset(LEFT_SIDE,&temp[0],&temp[1]);
soulx 20:1d4db25afe2b 146 pc.printf("*\t25) Set Offset x[%f] y[%f]\n",temp[0],temp[1]);
soulx 20:1d4db25afe2b 147 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 148 sync_communicate.reset();
soulx 20:1d4db25afe2b 149 bcom.getBodyWidth(LEFT_SIDE,&temp[0]);
soulx 20:1d4db25afe2b 150 pc.printf("*\t26) Set Body Width [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 151
soulx 20:1d4db25afe2b 152 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 153 sync_communicate.reset();
soulx 20:1d4db25afe2b 154 bcom.getUpAngleRange(LEFT_SIDE,&temp[0],&temp[1]);
soulx 20:1d4db25afe2b 155 bcom.getUpAngleRange(RIGHT_SIDE,&temp[2],&temp[3]);
soulx 20:1d4db25afe2b 156 pc.printf("*\t27) Set Maximum Hip Angle Range \n");
soulx 20:1d4db25afe2b 157 pc.printf("\tLeft Maximum Hip Angle Range [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 158 pc.printf("\tRight Maximum Hip Angle Range [%f]\n\n",temp[2]);
soulx 20:1d4db25afe2b 159
soulx 20:1d4db25afe2b 160 pc.printf("*\t28) Set Minimum Hip Angle Range \n");
soulx 20:1d4db25afe2b 161 pc.printf("\tLeft Minimum Hip Angle Range [%f]\n",temp[1]);
soulx 20:1d4db25afe2b 162 pc.printf("\tRight Minimum Hip Angle Range [%f]\n\n",temp[3]);
soulx 20:1d4db25afe2b 163
soulx 20:1d4db25afe2b 164 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 20:1d4db25afe2b 165 sync_communicate.reset();
soulx 20:1d4db25afe2b 166 bcom.getLowAngleRange(LEFT_SIDE,&temp[0],&temp[1]);
soulx 20:1d4db25afe2b 167 bcom.getLowAngleRange(RIGHT_SIDE,&temp[2],&temp[3]);
soulx 20:1d4db25afe2b 168 pc.printf("*\t29) Set Maximum Knee Angle Range \n");
soulx 20:1d4db25afe2b 169 pc.printf("\tLeft Maximum Knee Angle Range [%f]\n",temp[0]);
soulx 20:1d4db25afe2b 170 pc.printf("\tRight Maximum Knee Angle Range [%f]\n\n",temp[2]);
soulx 20:1d4db25afe2b 171
soulx 20:1d4db25afe2b 172 pc.printf("*\t30) Set Minimum Knee Angle Range \n");
soulx 20:1d4db25afe2b 173 pc.printf("\tLeft Minimum Knee Angle Range [%f]\n",temp[1]);
soulx 20:1d4db25afe2b 174 pc.printf("\tRight Minimum Knee Angle Range [%f]\n\n",temp[3]);
soulx 20:1d4db25afe2b 175
soulx 20:1d4db25afe2b 176 pc.printf("*\t40) Exit Program \t\t\t*\n");
soulx 20:1d4db25afe2b 177 pc.printf("************Don't Forget to Save Data************\n");
soulx 20:1d4db25afe2b 178 // Prompting user to enter an option according to menu
soulx 20:1d4db25afe2b 179 pc.printf("Please select an option : ");
soulx 20:1d4db25afe2b 180
soulx 20:1d4db25afe2b 181
soulx 20:1d4db25afe2b 182 pc.scanf("%d",&option);
soulx 20:1d4db25afe2b 183 if(sync_communicate.read_ms() >0x7FFFFF00) {
soulx 20:1d4db25afe2b 184 sync_communicate.reset();
soulx 20:1d4db25afe2b 185 }
soulx 20:1d4db25afe2b 186 pc.printf("\n");
soulx 20:1d4db25afe2b 187
soulx 20:1d4db25afe2b 188
soulx 20:1d4db25afe2b 189
soulx 20:1d4db25afe2b 190 return option;
soulx 20:1d4db25afe2b 191 }
soulx 20:1d4db25afe2b 192
icyzkungz 16:b5b9827dd5dc 193 void SwMode()
icyzkungz 16:b5b9827dd5dc 194 {
icyzkungz 17:51ac4252fa1a 195 int option;
icyzkungz 17:51ac4252fa1a 196 float temp;
icyzkungz 16:b5b9827dd5dc 197 float LH,LK,RH,RK;
soulx 19:5b8d16378d66 198 //float LLink[2],RLink[2];
soulx 21:298aa522db64 199 float LLink0=21.5,LLink1=27.0,RLink0=22.5,RLink1=27.0;
icyzkungz 17:51ac4252fa1a 200 struct max_ang {
icyzkungz 17:51ac4252fa1a 201 float Hip;
icyzkungz 17:51ac4252fa1a 202 float Knee;
icyzkungz 17:51ac4252fa1a 203 };
icyzkungz 17:51ac4252fa1a 204 struct min_ang {
icyzkungz 17:51ac4252fa1a 205 float Hip;
icyzkungz 17:51ac4252fa1a 206 float Knee;
icyzkungz 17:51ac4252fa1a 207 };
icyzkungz 17:51ac4252fa1a 208 max_ang Lmax,Lmin;
icyzkungz 17:51ac4252fa1a 209 min_ang Rmax,Rmin;
icyzkungz 17:51ac4252fa1a 210 Lmax.Knee = Lmax.Hip = Lmin.Knee = Lmin.Hip = Rmax.Knee = Rmax.Hip = Rmin.Knee = Rmin.Hip = 0;
icyzkungz 17:51ac4252fa1a 211 bool a,b,c,d;
icyzkungz 17:51ac4252fa1a 212 a = b = c = d = false;
icyzkungz 17:51ac4252fa1a 213
icyzkungz 17:51ac4252fa1a 214
soulx 20:1d4db25afe2b 215 float temp_LH=0,temp_LK=0,temp_RH=0,temp_RK=0;
icyzkungz 17:51ac4252fa1a 216
soulx 20:1d4db25afe2b 217 bcom.getMotorPos(LEFT_SIDE,&temp_LH,&temp_LK);
soulx 20:1d4db25afe2b 218 bcom.getMotorPos(RIGHT_SIDE,&temp_RH,&temp_RK);
icyzkungz 17:51ac4252fa1a 219
soulx 20:1d4db25afe2b 220 do {
soulx 20:1d4db25afe2b 221 //float buff;
icyzkungz 17:51ac4252fa1a 222
soulx 20:1d4db25afe2b 223 option = show_menu();
icyzkungz 17:51ac4252fa1a 224
icyzkungz 16:b5b9827dd5dc 225
icyzkungz 17:51ac4252fa1a 226 if(option == 1)// Left Hip
icyzkungz 16:b5b9827dd5dc 227 do {
icyzkungz 17:51ac4252fa1a 228 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 229 //Send Position to Motor
icyzkungz 17:51ac4252fa1a 230 pc.printf("Input Degree : \n");
icyzkungz 17:51ac4252fa1a 231 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 232 if(temp!=9999) {
icyzkungz 17:51ac4252fa1a 233 LH = temp;
icyzkungz 16:b5b9827dd5dc 234 pc.printf("Move Left Hip Motor to %f Degree\n",LH);
icyzkungz 16:b5b9827dd5dc 235
icyzkungz 17:51ac4252fa1a 236 bcom.setMotorPos(LEFT_SIDE,LH,temp_LK);
icyzkungz 16:b5b9827dd5dc 237 temp_LH = LH;
icyzkungz 16:b5b9827dd5dc 238
icyzkungz 16:b5b9827dd5dc 239 /********************Save Data*********************/
soulx 20:1d4db25afe2b 240 } //else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 16:b5b9827dd5dc 241
icyzkungz 17:51ac4252fa1a 242 } while(temp != 9999);
icyzkungz 17:51ac4252fa1a 243
icyzkungz 17:51ac4252fa1a 244 else if(option == 2) //Left Knee
icyzkungz 16:b5b9827dd5dc 245 do {
icyzkungz 17:51ac4252fa1a 246 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 16:b5b9827dd5dc 247
icyzkungz 17:51ac4252fa1a 248 //Send Position to Motor
icyzkungz 17:51ac4252fa1a 249 pc.printf("Input Degree : \n");
icyzkungz 17:51ac4252fa1a 250 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 251 if(temp!=9999) {
icyzkungz 17:51ac4252fa1a 252 LK = temp;
icyzkungz 16:b5b9827dd5dc 253 pc.printf("Move Left Knee Motor to %f Degree\n",LK);
icyzkungz 16:b5b9827dd5dc 254
icyzkungz 17:51ac4252fa1a 255 bcom.setMotorPos(LEFT_SIDE,temp_LH,LK);
icyzkungz 16:b5b9827dd5dc 256 temp_LK = LK;
icyzkungz 16:b5b9827dd5dc 257
icyzkungz 17:51ac4252fa1a 258
icyzkungz 16:b5b9827dd5dc 259 /********************Save Data*********************/
soulx 20:1d4db25afe2b 260 } //else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 16:b5b9827dd5dc 261
icyzkungz 17:51ac4252fa1a 262 } while(temp != 9999);
icyzkungz 17:51ac4252fa1a 263
icyzkungz 17:51ac4252fa1a 264
icyzkungz 17:51ac4252fa1a 265 else if(option == 3) { //Right Hip
icyzkungz 16:b5b9827dd5dc 266 do {
icyzkungz 17:51ac4252fa1a 267 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 16:b5b9827dd5dc 268
icyzkungz 17:51ac4252fa1a 269 //Send Position to Motor
icyzkungz 17:51ac4252fa1a 270 pc.printf("Input Degree : \n");
soulx 20:1d4db25afe2b 271 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 272 if(temp!=9999) {
icyzkungz 17:51ac4252fa1a 273 RH = temp;
icyzkungz 16:b5b9827dd5dc 274 pc.printf("Move Right Hip Motor to %f Degree\n",RH);
icyzkungz 16:b5b9827dd5dc 275
icyzkungz 17:51ac4252fa1a 276 bcom.setMotorPos(RIGHT_SIDE,RH,temp_RK);
icyzkungz 16:b5b9827dd5dc 277 temp_RH = RH;
icyzkungz 16:b5b9827dd5dc 278
icyzkungz 17:51ac4252fa1a 279
icyzkungz 16:b5b9827dd5dc 280 /********************Save Data*********************/
soulx 20:1d4db25afe2b 281 } //else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 17:51ac4252fa1a 282
icyzkungz 17:51ac4252fa1a 283 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 284
icyzkungz 16:b5b9827dd5dc 285 } else if(option == 4) { //Right Knee
icyzkungz 16:b5b9827dd5dc 286 do {
icyzkungz 17:51ac4252fa1a 287 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 16:b5b9827dd5dc 288
icyzkungz 17:51ac4252fa1a 289 //Send Position to Motor
icyzkungz 17:51ac4252fa1a 290 pc.printf("Input Degree : \n");
icyzkungz 17:51ac4252fa1a 291 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 292
icyzkungz 17:51ac4252fa1a 293 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 294 RK = temp;
icyzkungz 16:b5b9827dd5dc 295 pc.printf("Move Right Knee Motor to %f Degree\n",RK);
icyzkungz 16:b5b9827dd5dc 296
icyzkungz 17:51ac4252fa1a 297 bcom.setMotorPos(RIGHT_SIDE,temp_RH,RK);
icyzkungz 16:b5b9827dd5dc 298 temp_RK = RK;
icyzkungz 16:b5b9827dd5dc 299
icyzkungz 17:51ac4252fa1a 300
icyzkungz 16:b5b9827dd5dc 301 /********************Save Data*********************/
soulx 20:1d4db25afe2b 302 } //else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 17:51ac4252fa1a 303
icyzkungz 17:51ac4252fa1a 304 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 305
icyzkungz 16:b5b9827dd5dc 306 } else if(option == 5) { //Left Hip
icyzkungz 16:b5b9827dd5dc 307 do {
icyzkungz 17:51ac4252fa1a 308 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 309 pc.printf("\nInput Kp of Left Hip\n");
icyzkungz 17:51ac4252fa1a 310 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 311
icyzkungz 17:51ac4252fa1a 312 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 313 pc.printf("\nChange Kp of Left Hip to %f",temp);
icyzkungz 16:b5b9827dd5dc 314
icyzkungz 17:51ac4252fa1a 315 bcom.setUpMotorKp(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 316 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 317
icyzkungz 17:51ac4252fa1a 318 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 319
icyzkungz 16:b5b9827dd5dc 320 } else if(option == 6) { //Left Hip
icyzkungz 16:b5b9827dd5dc 321 do {
icyzkungz 17:51ac4252fa1a 322 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 323 pc.printf("\nInput Ki of Left Hip\n");
icyzkungz 17:51ac4252fa1a 324 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 325
icyzkungz 17:51ac4252fa1a 326 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 327 pc.printf("\nChange Ki of Left Hip to %f",temp);
icyzkungz 16:b5b9827dd5dc 328
icyzkungz 17:51ac4252fa1a 329 bcom.setUpMotorKi(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 330 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 331
icyzkungz 17:51ac4252fa1a 332 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 333
icyzkungz 16:b5b9827dd5dc 334 } else if(option == 7) { //Left Hip
icyzkungz 16:b5b9827dd5dc 335 do {
icyzkungz 17:51ac4252fa1a 336 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 337 pc.printf("\nInput Kd of Left Hip\n");
icyzkungz 17:51ac4252fa1a 338 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 339
icyzkungz 17:51ac4252fa1a 340 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 341 pc.printf("\nChange Kd of Left Hip to %f",temp);
icyzkungz 17:51ac4252fa1a 342
icyzkungz 17:51ac4252fa1a 343 bcom.setUpMotorKd(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 344 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 345
icyzkungz 17:51ac4252fa1a 346 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 347
icyzkungz 17:51ac4252fa1a 348 } else if(option == 8) { //Left Knee
icyzkungz 17:51ac4252fa1a 349 do {
icyzkungz 17:51ac4252fa1a 350 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 351 pc.printf("\nInput Kp of Left Knee\n");
icyzkungz 17:51ac4252fa1a 352 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 353
icyzkungz 17:51ac4252fa1a 354 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 355 pc.printf("\nChange Kp of Left Knee to %f",temp);
icyzkungz 16:b5b9827dd5dc 356
icyzkungz 17:51ac4252fa1a 357 bcom.setLowMotorKp(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 358 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 359
icyzkungz 17:51ac4252fa1a 360 } while(temp != 9999);
icyzkungz 11:fceaaa7e120a 361
icyzkungz 16:b5b9827dd5dc 362 } else if(option == 9) { //Left Knee
icyzkungz 16:b5b9827dd5dc 363 do {
icyzkungz 17:51ac4252fa1a 364 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 365 pc.printf("\nInput Ki of Left Knee\n");
icyzkungz 17:51ac4252fa1a 366 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 367
icyzkungz 17:51ac4252fa1a 368 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 369 pc.printf("\nChange Ki of Left Knee to %f",temp);
icyzkungz 16:b5b9827dd5dc 370
icyzkungz 17:51ac4252fa1a 371 bcom.setLowMotorKi(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 372 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 373
icyzkungz 17:51ac4252fa1a 374 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 375
icyzkungz 16:b5b9827dd5dc 376 } else if(option == 10) { //Left Knee
icyzkungz 16:b5b9827dd5dc 377 do {
icyzkungz 17:51ac4252fa1a 378 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 379 pc.printf("\nInput Kd of Left Knee\n");
icyzkungz 17:51ac4252fa1a 380 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 381
icyzkungz 17:51ac4252fa1a 382 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 383 pc.printf("\nChange Kd of Left Knee to %f",temp);
icyzkungz 16:b5b9827dd5dc 384
icyzkungz 17:51ac4252fa1a 385 bcom.setLowMotorKd(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 386 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_LOWER_MOTOR);
icyzkungz 16:b5b9827dd5dc 387
icyzkungz 17:51ac4252fa1a 388 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 389
icyzkungz 16:b5b9827dd5dc 390
icyzkungz 17:51ac4252fa1a 391 } else if(option == 11) { //Right Hip
icyzkungz 17:51ac4252fa1a 392 do {
icyzkungz 17:51ac4252fa1a 393 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 394 pc.printf("\nInput Kp of Right Hip\n");
icyzkungz 17:51ac4252fa1a 395 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 396
icyzkungz 17:51ac4252fa1a 397 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 398 pc.printf("\nChange Kp of Right Hip to %f",temp);
icyzkungz 17:51ac4252fa1a 399
icyzkungz 17:51ac4252fa1a 400 bcom.setUpMotorKp(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 401 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 402
icyzkungz 17:51ac4252fa1a 403 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 404
icyzkungz 17:51ac4252fa1a 405 } else if(option == 12) { //Right Hip
icyzkungz 17:51ac4252fa1a 406 do {
icyzkungz 17:51ac4252fa1a 407 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 408 pc.printf("\nInput Ki of Right Hip\n");
icyzkungz 17:51ac4252fa1a 409 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 410
icyzkungz 17:51ac4252fa1a 411 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 412 pc.printf("\nChange Ki of Right Hip to %f",temp);
icyzkungz 17:51ac4252fa1a 413
icyzkungz 17:51ac4252fa1a 414 bcom.setUpMotorKi(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 415 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 416
icyzkungz 17:51ac4252fa1a 417 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 418
icyzkungz 16:b5b9827dd5dc 419 } else if(option == 13) { //Right Hip
icyzkungz 16:b5b9827dd5dc 420 do {
icyzkungz 17:51ac4252fa1a 421 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 422 pc.printf("\nInput Kd of Right Hip\n");
icyzkungz 17:51ac4252fa1a 423 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 424
icyzkungz 17:51ac4252fa1a 425 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 426 pc.printf("\nChange Kd of Right Hip to %f",temp);
icyzkungz 16:b5b9827dd5dc 427
icyzkungz 17:51ac4252fa1a 428 bcom.setUpMotorKd(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 429 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_UPPER_MOTOR);
icyzkungz 16:b5b9827dd5dc 430
icyzkungz 17:51ac4252fa1a 431 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 432
icyzkungz 16:b5b9827dd5dc 433
icyzkungz 17:51ac4252fa1a 434 } else if(option == 14) { //Right Knee
icyzkungz 17:51ac4252fa1a 435 do {
icyzkungz 17:51ac4252fa1a 436 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 437 pc.printf("\nInput Kp of Right Knee\n");
icyzkungz 17:51ac4252fa1a 438 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 439
icyzkungz 17:51ac4252fa1a 440 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 441 pc.printf("\nChange Kp of Right Knee to %f",temp);
icyzkungz 17:51ac4252fa1a 442
icyzkungz 17:51ac4252fa1a 443 bcom.setLowMotorKp(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 444 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 445
icyzkungz 17:51ac4252fa1a 446 } while(temp != 9999);
icyzkungz 17:51ac4252fa1a 447
icyzkungz 17:51ac4252fa1a 448 } else if(option == 15) { //Right Knee
icyzkungz 17:51ac4252fa1a 449 do {
icyzkungz 17:51ac4252fa1a 450 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 451 pc.printf("\nInput Ki of Right Knee\n");
icyzkungz 17:51ac4252fa1a 452 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 453
icyzkungz 17:51ac4252fa1a 454 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 455 pc.printf("\nChange Ki of Right Knee to %f Degree\n",temp);
icyzkungz 17:51ac4252fa1a 456
icyzkungz 17:51ac4252fa1a 457 bcom.setLowMotorKi(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 458 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 459
icyzkungz 17:51ac4252fa1a 460 } while(temp != 9999);
icyzkungz 17:51ac4252fa1a 461
icyzkungz 17:51ac4252fa1a 462 } else if(option == 16) { //Right Knee
icyzkungz 17:51ac4252fa1a 463 do {
icyzkungz 17:51ac4252fa1a 464 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 465 pc.printf("\nInput Kd of Right Knee\n");
icyzkungz 17:51ac4252fa1a 466 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 467
icyzkungz 17:51ac4252fa1a 468 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 469 pc.printf("\nChange Kd of Right Knee to %f",temp);
icyzkungz 17:51ac4252fa1a 470
icyzkungz 17:51ac4252fa1a 471 bcom.setLowMotorKd(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 472 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 473
icyzkungz 17:51ac4252fa1a 474 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 475
icyzkungz 16:b5b9827dd5dc 476
icyzkungz 17:51ac4252fa1a 477 } else if(option == 17) { //Left Hip Margin
icyzkungz 17:51ac4252fa1a 478 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 479 pc.printf("Input Margin\n");
icyzkungz 17:51ac4252fa1a 480 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 481
icyzkungz 17:51ac4252fa1a 482 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 483 pc.printf("\nChange Left Hip Margin to %f\n",temp);
icyzkungz 17:51ac4252fa1a 484 bcom.setUpMargin(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 485 } //else
soulx 20:1d4db25afe2b 486 bcom.saveDataToEEPROM(LEFT_SIDE,UP_MARGIN);
icyzkungz 17:51ac4252fa1a 487 }
icyzkungz 17:51ac4252fa1a 488
icyzkungz 17:51ac4252fa1a 489 else if(option == 18) { //Left Knee Margin
icyzkungz 17:51ac4252fa1a 490 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 491 pc.printf("Input Margin\n");
icyzkungz 17:51ac4252fa1a 492 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 493
icyzkungz 17:51ac4252fa1a 494 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 495 pc.printf("\nChange Left Knee Margin to %f\n",temp);
icyzkungz 17:51ac4252fa1a 496 bcom.setLowMargin(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 497 } //else
soulx 20:1d4db25afe2b 498 bcom.saveDataToEEPROM(LEFT_SIDE,LOW_MARGIN);
icyzkungz 17:51ac4252fa1a 499 }
icyzkungz 16:b5b9827dd5dc 500
icyzkungz 17:51ac4252fa1a 501 else if(option == 19) { //Right Hip Margin
icyzkungz 17:51ac4252fa1a 502 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 503 pc.printf("Input Margin\n");
icyzkungz 17:51ac4252fa1a 504 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 505
icyzkungz 17:51ac4252fa1a 506 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 507 pc.printf("\nChange Right Hip Margin to %f\n",temp);
icyzkungz 17:51ac4252fa1a 508 bcom.setUpMargin(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 509 } //else
soulx 20:1d4db25afe2b 510 bcom.saveDataToEEPROM(RIGHT_SIDE,UP_MARGIN);
icyzkungz 17:51ac4252fa1a 511 }
icyzkungz 16:b5b9827dd5dc 512
icyzkungz 17:51ac4252fa1a 513 else if(option == 20) { //Right Knee Margin
icyzkungz 17:51ac4252fa1a 514 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 515 pc.printf("Input Margin\n");
icyzkungz 17:51ac4252fa1a 516 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 517
icyzkungz 17:51ac4252fa1a 518 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 519 pc.printf("\nChange Right Knee Margin to %f\n",temp);
icyzkungz 17:51ac4252fa1a 520 bcom.setLowMargin(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 521 } //else
soulx 20:1d4db25afe2b 522 bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_MARGIN);
icyzkungz 17:51ac4252fa1a 523 }
icyzkungz 16:b5b9827dd5dc 524
icyzkungz 17:51ac4252fa1a 525 else if(option == 21) { //Lenght of Left Link Hip
icyzkungz 17:51ac4252fa1a 526 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 527 pc.printf("Input Lenght of Left Link Hip\n");
icyzkungz 17:51ac4252fa1a 528 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 529
icyzkungz 17:51ac4252fa1a 530 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 531 pc.printf("\nLenght of Left Link Hip = %f\n",temp);
icyzkungz 17:51ac4252fa1a 532 LLink0 = temp;
icyzkungz 17:51ac4252fa1a 533 a = true;
icyzkungz 17:51ac4252fa1a 534 bcom.setUpLinkLength(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 535 } //else
soulx 20:1d4db25afe2b 536 bcom.saveDataToEEPROM(LEFT_SIDE,UP_LINK_LENGTH);
icyzkungz 17:51ac4252fa1a 537 }
icyzkungz 17:51ac4252fa1a 538
icyzkungz 17:51ac4252fa1a 539 else if(option == 22) { //Lenght of Left Link Knee
icyzkungz 17:51ac4252fa1a 540 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 541 pc.printf("Input Lenght of Left Link Knee\n");
icyzkungz 17:51ac4252fa1a 542 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 543
icyzkungz 17:51ac4252fa1a 544 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 545 pc.printf("\nLenght of Left Link Knee = %f\n",temp);
icyzkungz 17:51ac4252fa1a 546 LLink1 = temp;
icyzkungz 17:51ac4252fa1a 547 b = true;
icyzkungz 17:51ac4252fa1a 548 bcom.setLowLinkLength(LEFT_SIDE,temp);
soulx 20:1d4db25afe2b 549 } //else
soulx 20:1d4db25afe2b 550 bcom.saveDataToEEPROM(LEFT_SIDE,LOW_LINK_LENGTH);
icyzkungz 17:51ac4252fa1a 551 }
icyzkungz 16:b5b9827dd5dc 552
icyzkungz 17:51ac4252fa1a 553 else if(option == 23) { //Lenght of Right Link Hip
icyzkungz 17:51ac4252fa1a 554 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 555 pc.printf("Input Lenght of Right Link Hip\n");
icyzkungz 17:51ac4252fa1a 556 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 557
icyzkungz 17:51ac4252fa1a 558 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 559 pc.printf("\nLenght of Right Link Hip = %f\n",temp);
icyzkungz 17:51ac4252fa1a 560 RLink0 = temp;
icyzkungz 17:51ac4252fa1a 561 c = true;
icyzkungz 17:51ac4252fa1a 562 bcom.setUpLinkLength(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 563 } //else
soulx 20:1d4db25afe2b 564 bcom.saveDataToEEPROM(RIGHT_SIDE,UP_LINK_LENGTH);
icyzkungz 17:51ac4252fa1a 565 }
icyzkungz 16:b5b9827dd5dc 566
icyzkungz 17:51ac4252fa1a 567 else if(option == 24) { //Lenght of Right Link Knee
icyzkungz 17:51ac4252fa1a 568 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 569 pc.printf("Input Lenght of Right Link Knee\n");
icyzkungz 17:51ac4252fa1a 570 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 571
icyzkungz 17:51ac4252fa1a 572 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 573 pc.printf("\nLenght of Right Link Knee = %f\n",temp);
icyzkungz 17:51ac4252fa1a 574 RLink1 = temp;
icyzkungz 17:51ac4252fa1a 575 d = true;
icyzkungz 17:51ac4252fa1a 576 bcom.setLowLinkLength(RIGHT_SIDE,temp);
soulx 20:1d4db25afe2b 577 } //else
soulx 20:1d4db25afe2b 578 bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_LINK_LENGTH);
icyzkungz 17:51ac4252fa1a 579 }
icyzkungz 16:b5b9827dd5dc 580
icyzkungz 17:51ac4252fa1a 581 else if(option == 25) { //Offset
icyzkungz 17:51ac4252fa1a 582 if(a == true && b == true && c == true && d == true) {
icyzkungz 17:51ac4252fa1a 583 float LHipAngle,LKneeAngle;
icyzkungz 17:51ac4252fa1a 584 float RHipAngle,RKneeAngle;
soulx 20:1d4db25afe2b 585
icyzkungz 17:51ac4252fa1a 586 bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle);
icyzkungz 17:51ac4252fa1a 587 wait_ms(90);
icyzkungz 17:51ac4252fa1a 588 bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle);
icyzkungz 17:51ac4252fa1a 589 wait_ms(90);
icyzkungz 17:51ac4252fa1a 590
soulx 20:1d4db25afe2b 591 Left.set_Link_Hip(LLink0);
soulx 20:1d4db25afe2b 592 Left.set_Link_Knee(LLink1);
soulx 20:1d4db25afe2b 593 Left.set_Zeta_Hip(LHipAngle);
soulx 20:1d4db25afe2b 594 Left.set_Zeta_Knee(LKneeAngle);
icyzkungz 17:51ac4252fa1a 595
soulx 20:1d4db25afe2b 596 Right.set_Link_Hip(RLink0);
soulx 20:1d4db25afe2b 597 Right.set_Link_Knee(RLink1);
soulx 20:1d4db25afe2b 598 Right.set_Zeta_Hip(RHipAngle);
soulx 20:1d4db25afe2b 599 Right.set_Zeta_Knee(RKneeAngle);
icyzkungz 17:51ac4252fa1a 600
soulx 20:1d4db25afe2b 601 Left.ForwardKinematicCalculation();
soulx 20:1d4db25afe2b 602 Right.ForwardKinematicCalculation();
icyzkungz 16:b5b9827dd5dc 603
icyzkungz 17:51ac4252fa1a 604 float offset_Y,offset_Z;
icyzkungz 17:51ac4252fa1a 605 float y1,y2,z1,z2;
soulx 20:1d4db25afe2b 606 y1 = Left.get_Position_Y();
soulx 20:1d4db25afe2b 607 y2 = Right.get_Position_Y();
soulx 20:1d4db25afe2b 608 z1 = Left.get_Position_Z();
soulx 20:1d4db25afe2b 609 z2 = Right.get_Position_Z();
icyzkungz 17:51ac4252fa1a 610 offset_Y = y1-y2;
icyzkungz 17:51ac4252fa1a 611 offset_Z = z1-z2;
icyzkungz 17:51ac4252fa1a 612
icyzkungz 17:51ac4252fa1a 613 bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z);
icyzkungz 17:51ac4252fa1a 614
icyzkungz 17:51ac4252fa1a 615 bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET);
icyzkungz 16:b5b9827dd5dc 616
icyzkungz 17:51ac4252fa1a 617 } else {
icyzkungz 17:51ac4252fa1a 618 pc.printf("\nYou have to do choice 21-23 first\n\n");
soulx 20:1d4db25afe2b 619 wait(1);
icyzkungz 17:51ac4252fa1a 620 }
icyzkungz 17:51ac4252fa1a 621 }
icyzkungz 17:51ac4252fa1a 622
icyzkungz 17:51ac4252fa1a 623 else if(option == 26) { //setBodyWidth
icyzkungz 17:51ac4252fa1a 624 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 625 pc.printf("Input Body Width\n");
icyzkungz 17:51ac4252fa1a 626 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 627 pc.printf("\nBody Lenght = %f\n",temp);
icyzkungz 17:51ac4252fa1a 628 bcom.setBodyWidth(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 629 bcom.saveDataToEEPROM(LEFT_SIDE,BODY_WIDTH);
icyzkungz 17:51ac4252fa1a 630 }
icyzkungz 16:b5b9827dd5dc 631
icyzkungz 17:51ac4252fa1a 632 else if(option == 27) { //Set Maximum Hip Angle Range
icyzkungz 17:51ac4252fa1a 633 do {
icyzkungz 17:51ac4252fa1a 634 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 635 pc.printf("1) Left Side\n");
icyzkungz 17:51ac4252fa1a 636 pc.printf("2) Right Side\n");
icyzkungz 17:51ac4252fa1a 637 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 638
icyzkungz 17:51ac4252fa1a 639 if(temp==1) { //Left
icyzkungz 17:51ac4252fa1a 640 pc.printf("Input Maximum Hip Angle Range of Left Side\n");
icyzkungz 17:51ac4252fa1a 641 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 642
icyzkungz 17:51ac4252fa1a 643 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 644 pc.printf("\nMaximum Hip Angle Range of Left Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 645 bcom.setUpAngleRange(LEFT_SIDE,temp,Lmin.Hip);
icyzkungz 17:51ac4252fa1a 646 Lmax.Hip = temp;
soulx 20:1d4db25afe2b 647 } //else
soulx 20:1d4db25afe2b 648 bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 17:51ac4252fa1a 649
icyzkungz 17:51ac4252fa1a 650 } else if(temp==2) { //Right
icyzkungz 17:51ac4252fa1a 651 pc.printf("Input Maximum Hip Angle Range of Right Side\n");
icyzkungz 17:51ac4252fa1a 652 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 653
icyzkungz 17:51ac4252fa1a 654 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 655 pc.printf("\nMaximum Hip Angle Range of Right Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 656 bcom.setUpAngleRange(RIGHT_SIDE,temp,Rmin.Hip);
icyzkungz 17:51ac4252fa1a 657 Rmax.Hip = temp;
soulx 20:1d4db25afe2b 658 } //else
soulx 20:1d4db25afe2b 659 bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 17:51ac4252fa1a 660 }
icyzkungz 17:51ac4252fa1a 661 } while(temp!=9999);
icyzkungz 17:51ac4252fa1a 662 }
icyzkungz 16:b5b9827dd5dc 663
icyzkungz 17:51ac4252fa1a 664 else if(option == 28) { //Set Minumum Hip Angle Range
icyzkungz 17:51ac4252fa1a 665 do {
icyzkungz 17:51ac4252fa1a 666 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 667 pc.printf("1) Left Side\n");
icyzkungz 17:51ac4252fa1a 668 pc.printf("2) Right Side\n");
icyzkungz 17:51ac4252fa1a 669 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 670
icyzkungz 17:51ac4252fa1a 671 if(temp==1) { //Left
icyzkungz 17:51ac4252fa1a 672 pc.printf("Input Minumum Hip Angle Range of Left Side\n");
icyzkungz 17:51ac4252fa1a 673 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 674
icyzkungz 17:51ac4252fa1a 675 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 676 pc.printf("\nMinumum Hip Angle Range of Left Side = %f\n",temp);
soulx 20:1d4db25afe2b 677 bcom.setUpAngleRange(LEFT_SIDE,Lmax.Hip,temp);
icyzkungz 17:51ac4252fa1a 678 Lmin.Hip = temp;
soulx 20:1d4db25afe2b 679 } //else
soulx 20:1d4db25afe2b 680 bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 17:51ac4252fa1a 681
icyzkungz 17:51ac4252fa1a 682 } else if(temp==2) { //Right
icyzkungz 17:51ac4252fa1a 683 pc.printf("Input Minumum Hip Angle Range of Right Side\n");
icyzkungz 17:51ac4252fa1a 684 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 685
icyzkungz 17:51ac4252fa1a 686 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 687 pc.printf("\nMinumum Hip Angle Range of Right Side = %f\n",temp);
soulx 20:1d4db25afe2b 688 bcom.setUpAngleRange(RIGHT_SIDE,Rmax.Hip,temp);
icyzkungz 17:51ac4252fa1a 689 Rmin.Hip = temp;
soulx 20:1d4db25afe2b 690 } //else
soulx 20:1d4db25afe2b 691 bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 16:b5b9827dd5dc 692 }
icyzkungz 17:51ac4252fa1a 693 } while(temp!=9999);
icyzkungz 17:51ac4252fa1a 694 }
icyzkungz 16:b5b9827dd5dc 695
icyzkungz 16:b5b9827dd5dc 696
icyzkungz 17:51ac4252fa1a 697 else if(option == 29) { //Set Maximum Knee Angle Range
icyzkungz 17:51ac4252fa1a 698 do {
icyzkungz 17:51ac4252fa1a 699 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 700 pc.printf("1) Left Side\n");
icyzkungz 17:51ac4252fa1a 701 pc.printf("2) Right Side\n");
icyzkungz 17:51ac4252fa1a 702 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 703
icyzkungz 17:51ac4252fa1a 704 if(temp==1) { //Left
icyzkungz 17:51ac4252fa1a 705 pc.printf("Input Maximum Knee Angle Range of Left Side\n");
icyzkungz 17:51ac4252fa1a 706 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 707
icyzkungz 17:51ac4252fa1a 708 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 709 pc.printf("\nMaximum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 710 bcom.setLowAngleRange(LEFT_SIDE,temp,Lmin.Knee);
icyzkungz 17:51ac4252fa1a 711 Lmax.Knee = temp;
soulx 20:1d4db25afe2b 712 } //else
soulx 20:1d4db25afe2b 713 bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 17:51ac4252fa1a 714
icyzkungz 17:51ac4252fa1a 715 } else if(temp==2) { //Right
icyzkungz 17:51ac4252fa1a 716 pc.printf("Input Maximum Knee Angle Range of Right Side\n");
icyzkungz 17:51ac4252fa1a 717 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 718
icyzkungz 17:51ac4252fa1a 719 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 720 pc.printf("\nMaximum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 721 bcom.setLowAngleRange(RIGHT_SIDE,temp,Rmin.Knee);
icyzkungz 17:51ac4252fa1a 722 Rmax.Knee = temp;
soulx 20:1d4db25afe2b 723 } //else
soulx 20:1d4db25afe2b 724 bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 17:51ac4252fa1a 725 }
icyzkungz 17:51ac4252fa1a 726 } while(temp!=9999);
icyzkungz 17:51ac4252fa1a 727 }
icyzkungz 16:b5b9827dd5dc 728
icyzkungz 17:51ac4252fa1a 729 else if(option == 30) { //Set Minumum Knee Angle Range
icyzkungz 17:51ac4252fa1a 730 do {
icyzkungz 17:51ac4252fa1a 731 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 732 pc.printf("1) Left Side\n");
icyzkungz 17:51ac4252fa1a 733 pc.printf("2) Right Side\n");
icyzkungz 17:51ac4252fa1a 734 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 735
icyzkungz 17:51ac4252fa1a 736 if(temp==1) { //Left
icyzkungz 17:51ac4252fa1a 737 pc.printf("Input Minumum Knee Angle Range of Left Side\n");
icyzkungz 17:51ac4252fa1a 738 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 739
icyzkungz 17:51ac4252fa1a 740 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 741 pc.printf("\nMinumum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 742 bcom.setLowAngleRange(LEFT_SIDE,Lmax.Knee,temp);
icyzkungz 17:51ac4252fa1a 743 Lmin.Knee = temp;
soulx 20:1d4db25afe2b 744 } //else
soulx 20:1d4db25afe2b 745 bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 16:b5b9827dd5dc 746
icyzkungz 17:51ac4252fa1a 747 } else if(temp==2) { //Right
icyzkungz 17:51ac4252fa1a 748 pc.printf("Input Minumum Knee Angle Range of Right Side\n");
icyzkungz 17:51ac4252fa1a 749 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 750
icyzkungz 17:51ac4252fa1a 751 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 752 pc.printf("\nMinumum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 753 bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Knee,temp);
icyzkungz 17:51ac4252fa1a 754 Rmin.Knee = temp;
soulx 20:1d4db25afe2b 755 } //else
soulx 20:1d4db25afe2b 756 bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 17:51ac4252fa1a 757 }
icyzkungz 17:51ac4252fa1a 758 } while(temp!=9999);
icyzkungz 17:51ac4252fa1a 759 }
icyzkungz 17:51ac4252fa1a 760
icyzkungz 17:51ac4252fa1a 761
icyzkungz 17:51ac4252fa1a 762
icyzkungz 17:51ac4252fa1a 763
icyzkungz 17:51ac4252fa1a 764
icyzkungz 17:51ac4252fa1a 765
icyzkungz 17:51ac4252fa1a 766 else if(option == 40) {
icyzkungz 16:b5b9827dd5dc 767 pc.printf("Are You Sure ?\n");
icyzkungz 16:b5b9827dd5dc 768 pc.printf("\n1) Yes\n");
icyzkungz 16:b5b9827dd5dc 769 pc.printf("2) No\n");
icyzkungz 16:b5b9827dd5dc 770
icyzkungz 16:b5b9827dd5dc 771 pc.scanf("%d",&option);
icyzkungz 16:b5b9827dd5dc 772 if(option==1) {
icyzkungz 17:51ac4252fa1a 773 option = 40;
icyzkungz 16:b5b9827dd5dc 774 pc.printf("Please Push Button Restart\n");
icyzkungz 16:b5b9827dd5dc 775 } else pc.printf("Return to Main Menu\n");
icyzkungz 16:b5b9827dd5dc 776
icyzkungz 16:b5b9827dd5dc 777 }
icyzkungz 16:b5b9827dd5dc 778
icyzkungz 16:b5b9827dd5dc 779
icyzkungz 17:51ac4252fa1a 780 else { // if user has entered invalid choice
icyzkungz 17:51ac4252fa1a 781 pc.printf("\nInvalid Option entered\n");
icyzkungz 16:b5b9827dd5dc 782 }
icyzkungz 17:51ac4252fa1a 783 } while(option != 40);
icyzkungz 12:8d773bc149b2 784
icyzkungz 11:fceaaa7e120a 785 }
icyzkungz 11:fceaaa7e120a 786
icyzkungz 11:fceaaa7e120a 787
icyzkungz 11:fceaaa7e120a 788
onehorse 0:2e5e65a6fb30 789 int main()
onehorse 0:2e5e65a6fb30 790 {
icyzkungz 11:fceaaa7e120a 791 pc.baud(115200);
soulx 20:1d4db25afe2b 792 sync_communicate.start();
soulx 21:298aa522db64 793
icyzkungz 17:51ac4252fa1a 794 if(!button) { //Set up mode
icyzkungz 17:51ac4252fa1a 795 while(!button);
icyzkungz 17:51ac4252fa1a 796 pc.printf("Switch Mode\n");
icyzkungz 17:51ac4252fa1a 797 SwMode();
icyzkungz 17:51ac4252fa1a 798 }
icyzkungz 11:fceaaa7e120a 799
icyzkungz 11:fceaaa7e120a 800 /*while(1){
icyzkungz 11:fceaaa7e120a 801 Kinematic test('P',10,15,10,10);
icyzkungz 11:fceaaa7e120a 802 pc.printf("\n\nLink Hip : %f, Link Knee : %f, Position Y : %f, Position Z : %f\n",test.get_Link_Hip(),test.get_Link_Knee(),test.get_Position_Y(),test.get_Position_Z());
icyzkungz 11:fceaaa7e120a 803 pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee());
icyzkungz 11:fceaaa7e120a 804 test.set_Link_Hip(25);
icyzkungz 11:fceaaa7e120a 805 test.set_Link_Knee(30);
icyzkungz 11:fceaaa7e120a 806 test.set_Position_Y(35);
icyzkungz 11:fceaaa7e120a 807 test.set_Position_Z(40);
icyzkungz 11:fceaaa7e120a 808 test.set_Zeta_Hip(45);
icyzkungz 11:fceaaa7e120a 809 test.set_Zeta_Knee(50);
icyzkungz 11:fceaaa7e120a 810 pc.printf("\nLink Hip : %f, Link Knee : %f, Position Y : %f, Position Z : %f\n",test.get_Link_Hip(),test.get_Link_Knee(),test.get_Position_Y(),test.get_Position_Z());
icyzkungz 11:fceaaa7e120a 811 pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee());
icyzkungz 11:fceaaa7e120a 812
icyzkungz 11:fceaaa7e120a 813 while(1);
icyzkungz 11:fceaaa7e120a 814 }*/
icyzkungz 6:fa132fd505ce 815
soulx 15:10939fd0eaac 816 Init_IMU();
soulx 3:3e04c1c03cab 817
soulx 15:10939fd0eaac 818 float temp_time;
soulx 15:10939fd0eaac 819
soulx 15:10939fd0eaac 820 while(1) {
soulx 15:10939fd0eaac 821 temp_time = t.read();
soulx 15:10939fd0eaac 822 // If intPin goes high, all data registers have new data
soulx 15:10939fd0eaac 823 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
soulx 15:10939fd0eaac 824
soulx 15:10939fd0eaac 825 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
soulx 15:10939fd0eaac 826 // Now we'll calculate the accleration value into actual g's
soulx 15:10939fd0eaac 827 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
soulx 15:10939fd0eaac 828 ay = (float)accelCount[1]*aRes - accelBias[1];
soulx 15:10939fd0eaac 829 az = (float)accelCount[2]*aRes - accelBias[2];
soulx 15:10939fd0eaac 830
soulx 15:10939fd0eaac 831 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
soulx 15:10939fd0eaac 832 // Calculate the gyro value into actual degrees per second
soulx 15:10939fd0eaac 833 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
soulx 15:10939fd0eaac 834 gy = (float)gyroCount[1]*gRes - gyroBias[1];
soulx 15:10939fd0eaac 835 gz = (float)gyroCount[2]*gRes - gyroBias[2];
soulx 15:10939fd0eaac 836
soulx 15:10939fd0eaac 837 mpu9250.readMagData(magCount); // Read the x/y/z adc values
soulx 15:10939fd0eaac 838 // Calculate the magnetometer values in milliGauss
soulx 15:10939fd0eaac 839 // Include factory calibration per data sheet and user environmental corrections
soulx 15:10939fd0eaac 840 /* if(magCount[0]<xmin)
soulx 15:10939fd0eaac 841 xmin = magCount[0];
soulx 15:10939fd0eaac 842 if(magCount[0]>xmax)
soulx 15:10939fd0eaac 843 xmax = magCount[0];
soulx 15:10939fd0eaac 844
soulx 15:10939fd0eaac 845 if(magCount[1]<ymin)
soulx 15:10939fd0eaac 846 ymin = magCount[1];
soulx 15:10939fd0eaac 847 if(magCount[1]>ymax)
soulx 15:10939fd0eaac 848 ymax = magCount[1];
soulx 15:10939fd0eaac 849
soulx 15:10939fd0eaac 850 if(magCount[2]<zmin)
soulx 15:10939fd0eaac 851 zmin = magCount[2];
soulx 15:10939fd0eaac 852 if(mz>zmax)
soulx 15:10939fd0eaac 853 zmax = mz;
soulx 15:10939fd0eaac 854 wait_ms(1);
soulx 15:10939fd0eaac 855 */
soulx 15:10939fd0eaac 856 // pc.printf("FINISH scan\r\n\r\n");
soulx 15:10939fd0eaac 857
soulx 15:10939fd0eaac 858 // mx = (float)magCount[0]*mRes*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set
soulx 15:10939fd0eaac 859 // my = (float)magCount[1]*mRes*magCalibration[1] + magbias[1];
soulx 15:10939fd0eaac 860 // mz = (float)magCount[2]*mRes*magCalibration[2] + magbias[2];
soulx 15:10939fd0eaac 861
soulx 15:10939fd0eaac 862 mx = ((float)magCount[0]-xmin)*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set
soulx 15:10939fd0eaac 863 my = ((float)magCount[1]-ymin)*magCalibration[1] + magbias[1];
soulx 15:10939fd0eaac 864 mz = ((float)magCount[2]-zmin)*magCalibration[2] + magbias[2];
soulx 15:10939fd0eaac 865
soulx 15:10939fd0eaac 866 // mx = (float)magCount[0]*1.499389499f - magbias[0]; // get actual magnetometer value, this depends on scale being set
soulx 15:10939fd0eaac 867 // my = (float)magCount[1]*1.499389499f - magbias[1];
soulx 15:10939fd0eaac 868 // mz = (float)magCount[2]*1.499389499f - magbias[2];
soulx 15:10939fd0eaac 869
soulx 15:10939fd0eaac 870
soulx 3:3e04c1c03cab 871
soulx 3:3e04c1c03cab 872
soulx 15:10939fd0eaac 873 }
soulx 15:10939fd0eaac 874
soulx 15:10939fd0eaac 875 Now = t.read_us();
soulx 15:10939fd0eaac 876 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
soulx 15:10939fd0eaac 877 lastUpdate = Now;
soulx 15:10939fd0eaac 878
soulx 15:10939fd0eaac 879 sum += deltat;
soulx 15:10939fd0eaac 880 sumCount++;
soulx 15:10939fd0eaac 881
soulx 15:10939fd0eaac 882 // if(lastUpdate - firstUpdate > 10000000.0f) {
soulx 15:10939fd0eaac 883 // beta = 0.04; // decrease filter gain after stabilized
soulx 15:10939fd0eaac 884 // zeta = 0.015; // increasey bias drift gain after stabilized
soulx 15:10939fd0eaac 885 // }
soulx 15:10939fd0eaac 886
soulx 15:10939fd0eaac 887 // Pass gyro rate as rad/s
soulx 15:10939fd0eaac 888 //mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
soulx 15:10939fd0eaac 889 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
soulx 15:10939fd0eaac 890
soulx 15:10939fd0eaac 891 // Serial print and/or display at 0.5 s rate independent of data rates
soulx 15:10939fd0eaac 892 delt_t = t.read_ms() - count;
soulx 15:10939fd0eaac 893 if(temp_time > 8) {
soulx 15:10939fd0eaac 894 if (delt_t > 500) { // update LCD once per half-second independent of read rate
soulx 15:10939fd0eaac 895
soulx 15:10939fd0eaac 896 /*pc.printf("ax = %f", 1000*ax);
soulx 15:10939fd0eaac 897 pc.printf(" ay = %f", 1000*ay);
soulx 15:10939fd0eaac 898 pc.printf(" az = %f mg\n\r", 1000*az);
soulx 15:10939fd0eaac 899
soulx 15:10939fd0eaac 900 pc.printf("gx = %f", gx);
soulx 15:10939fd0eaac 901 pc.printf(" gy = %f", gy);
soulx 15:10939fd0eaac 902 pc.printf(" gz = %f deg/s\n\r", gz);
soulx 15:10939fd0eaac 903
soulx 15:10939fd0eaac 904 pc.printf("mx = %f", mx);
soulx 15:10939fd0eaac 905 pc.printf(" my = %f", my);
soulx 15:10939fd0eaac 906 pc.printf(" mz = %f mG\n\r", mz);*/
soulx 15:10939fd0eaac 907
soulx 15:10939fd0eaac 908 uint8_t whoami = mpu9250.readByte(AK8963_ADDRESS, AK8963_ST2); // Read WHO_AM_I register for MPU-9250
soulx 15:10939fd0eaac 909 // pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x10\n\r");
soulx 15:10939fd0eaac 910 if(whoami == 0x14) {
soulx 15:10939fd0eaac 911 pc.printf("I AM 0x%x\n\r", whoami);
soulx 15:10939fd0eaac 912 while(1);
soulx 15:10939fd0eaac 913 }
soulx 15:10939fd0eaac 914
soulx 15:10939fd0eaac 915
soulx 15:10939fd0eaac 916 tempCount = mpu9250.readTempData(); // Read the adc values
soulx 15:10939fd0eaac 917 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
soulx 15:10939fd0eaac 918 //pc.printf(" temperature = %f C\n\r", temperature);
soulx 15:10939fd0eaac 919
soulx 15:10939fd0eaac 920 // pc.printf("q0 = %f\n\r", q[0]);
soulx 15:10939fd0eaac 921 // pc.printf("q1 = %f\n\r", q[1]);
soulx 15:10939fd0eaac 922 // pc.printf("q2 = %f\n\r", q[2]);
soulx 15:10939fd0eaac 923 // pc.printf("q3 = %f\n\r", q[3]);
soulx 15:10939fd0eaac 924
soulx 15:10939fd0eaac 925 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
soulx 15:10939fd0eaac 926 // In this coordinate system, the positive z-axis is down toward Earth.
soulx 15:10939fd0eaac 927 // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
soulx 15:10939fd0eaac 928 // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
soulx 15:10939fd0eaac 929 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
soulx 15:10939fd0eaac 930 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
soulx 15:10939fd0eaac 931 // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
soulx 15:10939fd0eaac 932 // applied in the correct order which for this configuration is yaw, pitch, and then roll.
soulx 15:10939fd0eaac 933 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
soulx 15:10939fd0eaac 934 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
soulx 15:10939fd0eaac 935 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
soulx 15:10939fd0eaac 936 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
soulx 15:10939fd0eaac 937
soulx 15:10939fd0eaac 938 float Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch);
soulx 15:10939fd0eaac 939 float Yh = my*cos(roll)+mz*sin(roll);
soulx 15:10939fd0eaac 940
soulx 15:10939fd0eaac 941 float yawmag = atan2(Yh,Xh)+PI;
soulx 15:10939fd0eaac 942 //pc.printf("Xh= %f Yh= %f ",Xh,Yh);
soulx 15:10939fd0eaac 943 //pc.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI);
soulx 15:10939fd0eaac 944
soulx 15:10939fd0eaac 945
soulx 15:10939fd0eaac 946
soulx 15:10939fd0eaac 947 pitch *= 180.0f / PI;
soulx 15:10939fd0eaac 948 yaw *= 180.0f / PI;
soulx 15:10939fd0eaac 949 yaw += 180.0f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
soulx 15:10939fd0eaac 950 roll *= 180.0f / PI;
soulx 15:10939fd0eaac 951
soulx 15:10939fd0eaac 952 pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
soulx 15:10939fd0eaac 953 //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
soulx 15:10939fd0eaac 954
soulx 15:10939fd0eaac 955
soulx 15:10939fd0eaac 956 WheelChair();
soulx 15:10939fd0eaac 957
soulx 15:10939fd0eaac 958
soulx 15:10939fd0eaac 959 myled= !myled;
soulx 15:10939fd0eaac 960 count = t.read_ms();
soulx 15:10939fd0eaac 961
soulx 15:10939fd0eaac 962 if(count > 1<<21) {
soulx 15:10939fd0eaac 963 t.start(); // start the timer over again if ~30 minutes has passed
soulx 15:10939fd0eaac 964 count = 0;
soulx 15:10939fd0eaac 965 deltat= 0;
soulx 15:10939fd0eaac 966 lastUpdate = t.read_us();
soulx 15:10939fd0eaac 967 }
soulx 15:10939fd0eaac 968 sum = 0;
soulx 15:10939fd0eaac 969 sumCount = 0;
soulx 15:10939fd0eaac 970 }
soulx 15:10939fd0eaac 971 }
soulx 15:10939fd0eaac 972 }
soulx 15:10939fd0eaac 973 }
soulx 15:10939fd0eaac 974
soulx 15:10939fd0eaac 975 void Init_IMU()
soulx 15:10939fd0eaac 976 {
soulx 3:3e04c1c03cab 977
soulx 3:3e04c1c03cab 978 //Set up I2C
soulx 3:3e04c1c03cab 979 i2c.frequency(400000); // use fast (400 kHz) I2C
onehorse 0:2e5e65a6fb30 980
soulx 3:3e04c1c03cab 981 pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
soulx 3:3e04c1c03cab 982
soulx 3:3e04c1c03cab 983 t.start();
soulx 3:3e04c1c03cab 984
soulx 3:3e04c1c03cab 985 //mpu9250.resetMPU9250();
soulx 3:3e04c1c03cab 986 // Read the WHO_AM_I register, this is a good test of communication
soulx 3:3e04c1c03cab 987 uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
soulx 3:3e04c1c03cab 988 pc.printf("I AM 0x%x\n\r", whoami);
soulx 3:3e04c1c03cab 989 pc.printf("I SHOULD BE 0x71\n\r");
soulx 3:3e04c1c03cab 990
soulx 3:3e04c1c03cab 991 if (whoami == 0x71) { // WHO_AM_I should always be 0x68
soulx 3:3e04c1c03cab 992 pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
soulx 3:3e04c1c03cab 993 pc.printf("MPU9250 is online...\n\r");
soulx 3:3e04c1c03cab 994 sprintf(buffer, "0x%x", whoami);
soulx 3:3e04c1c03cab 995 wait(1);
soulx 3:3e04c1c03cab 996
soulx 3:3e04c1c03cab 997 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
soulx 3:3e04c1c03cab 998 mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
soulx 3:3e04c1c03cab 999 pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
soulx 3:3e04c1c03cab 1000 pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
soulx 3:3e04c1c03cab 1001 pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
soulx 3:3e04c1c03cab 1002 pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
soulx 3:3e04c1c03cab 1003 pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
soulx 3:3e04c1c03cab 1004 pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
soulx 3:3e04c1c03cab 1005 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
soulx 3:3e04c1c03cab 1006 pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
soulx 3:3e04c1c03cab 1007 pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
soulx 3:3e04c1c03cab 1008 pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
soulx 3:3e04c1c03cab 1009 pc.printf("x accel bias = %f\n\r", accelBias[0]);
soulx 3:3e04c1c03cab 1010 pc.printf("y accel bias = %f\n\r", accelBias[1]);
soulx 3:3e04c1c03cab 1011 pc.printf("z accel bias = %f\n\r", accelBias[2]);
soulx 3:3e04c1c03cab 1012 wait(2);
soulx 3:3e04c1c03cab 1013 mpu9250.initMPU9250();
soulx 3:3e04c1c03cab 1014 pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
soulx 3:3e04c1c03cab 1015 mpu9250.initAK8963(magCalibration);
soulx 3:3e04c1c03cab 1016 pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
soulx 3:3e04c1c03cab 1017
soulx 3:3e04c1c03cab 1018 whoami = mpu9250.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963); // Read WHO_AM_I register for MPU-9250
soulx 3:3e04c1c03cab 1019 pc.printf("I AM 0x%x\n\r", whoami);
soulx 3:3e04c1c03cab 1020 pc.printf("I SHOULD BE 0x48\n\r");
soulx 3:3e04c1c03cab 1021 if(whoami != 0x48) {
soulx 3:3e04c1c03cab 1022 while(1);
soulx 3:3e04c1c03cab 1023 }
soulx 3:3e04c1c03cab 1024 pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
soulx 3:3e04c1c03cab 1025 pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
soulx 3:3e04c1c03cab 1026 if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
soulx 3:3e04c1c03cab 1027 if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
soulx 3:3e04c1c03cab 1028 if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
soulx 3:3e04c1c03cab 1029 if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
soulx 3:3e04c1c03cab 1030 wait(1);
soulx 3:3e04c1c03cab 1031 } else {
soulx 3:3e04c1c03cab 1032 pc.printf("Could not connect to MPU9250: \n\r");
soulx 3:3e04c1c03cab 1033 pc.printf("%#x \n", whoami);
soulx 3:3e04c1c03cab 1034
soulx 3:3e04c1c03cab 1035 sprintf(buffer, "WHO_AM_I 0x%x", whoami);
soulx 3:3e04c1c03cab 1036
soulx 3:3e04c1c03cab 1037 while(1) ; // Loop forever if communication doesn't happen
onehorse 0:2e5e65a6fb30 1038 }
onehorse 0:2e5e65a6fb30 1039
onehorse 0:2e5e65a6fb30 1040 mpu9250.getAres(); // Get accelerometer sensitivity
onehorse 0:2e5e65a6fb30 1041 mpu9250.getGres(); // Get gyro sensitivity
onehorse 0:2e5e65a6fb30 1042 mpu9250.getMres(); // Get magnetometer sensitivity
onehorse 0:2e5e65a6fb30 1043 pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
onehorse 0:2e5e65a6fb30 1044 pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
onehorse 0:2e5e65a6fb30 1045 pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
icyzkungz 6:fa132fd505ce 1046
icyzkungz 6:fa132fd505ce 1047 /*pc.printf("START scan mag\n\r\n\r\n\r");
icyzkungz 6:fa132fd505ce 1048 //wait(1);
icyzkungz 6:fa132fd505ce 1049 for(int i=0; i<4000; i++) {
icyzkungz 6:fa132fd505ce 1050 mpu9250.readMagData(magCount);
soulx 3:3e04c1c03cab 1051
icyzkungz 6:fa132fd505ce 1052 if(magCount[0]<xmin)
icyzkungz 6:fa132fd505ce 1053 xmin = magCount[0];
icyzkungz 6:fa132fd505ce 1054 if(magCount[0]>xmax)
icyzkungz 6:fa132fd505ce 1055 xmax = magCount[0];
icyzkungz 6:fa132fd505ce 1056
icyzkungz 6:fa132fd505ce 1057 if(magCount[1]<ymin)
icyzkungz 6:fa132fd505ce 1058 ymin = magCount[1];
icyzkungz 6:fa132fd505ce 1059 if(magCount[1]>ymax)
icyzkungz 6:fa132fd505ce 1060 ymax = magCount[1];
icyzkungz 6:fa132fd505ce 1061
icyzkungz 6:fa132fd505ce 1062 if(magCount[2]<zmin)
icyzkungz 6:fa132fd505ce 1063 zmin = magCount[2];
icyzkungz 6:fa132fd505ce 1064 if(magCount[2]>zmax)
icyzkungz 6:fa132fd505ce 1065 zmax = magCount[2];
soulx 3:3e04c1c03cab 1066
soulx 3:3e04c1c03cab 1067
icyzkungz 6:fa132fd505ce 1068 wait_ms(10);
soulx 3:3e04c1c03cab 1069 }
soulx 3:3e04c1c03cab 1070 pc.printf("FINISH scan\r\n\r\n");
soulx 3:3e04c1c03cab 1071 pc.printf("Mx Max= %f Min= %f\n\r",xmax,xmin);
soulx 3:3e04c1c03cab 1072 pc.printf("My Max= %f Min= %f\n\r",ymax,ymin);
icyzkungz 6:fa132fd505ce 1073 pc.printf("Mz Max= %f Min= %f\n\r",zmax,zmin);*/
icyzkungz 6:fa132fd505ce 1074
icyzkungz 6:fa132fd505ce 1075 /*xmax = 188.000000;
icyzkungz 6:fa132fd505ce 1076 xmin = -316.000000;
icyzkungz 6:fa132fd505ce 1077 ymax = 485.000000;
icyzkungz 6:fa132fd505ce 1078 ymin = -26.000000;
icyzkungz 6:fa132fd505ce 1079 zmax = 165.000000;
icyzkungz 6:fa132fd505ce 1080 xmin = -230.000000;
soulx 3:3e04c1c03cab 1081
icyzkungz 6:fa132fd505ce 1082 //Ice room
icyzkungz 6:fa132fd505ce 1083 xmax = 101.000000;
icyzkungz 6:fa132fd505ce 1084 xmin = -296.000000;
icyzkungz 6:fa132fd505ce 1085 ymax = 320.000000;
icyzkungz 6:fa132fd505ce 1086 ymin = -85.000000;
icyzkungz 6:fa132fd505ce 1087 zmax = 208.000000;
icyzkungz 6:fa132fd505ce 1088 xmin = -202.000000;
icyzkungz 6:fa132fd505ce 1089
icyzkungz 6:fa132fd505ce 1090 xmax = 115.000000;
icyzkungz 6:fa132fd505ce 1091 xmin = -309.000000;
icyzkungz 6:fa132fd505ce 1092 ymax = 350.000000;
icyzkungz 6:fa132fd505ce 1093 ymin = -119.000000;
icyzkungz 6:fa132fd505ce 1094 zmax = 235.000000;
icyzkungz 6:fa132fd505ce 1095 zmin = -224.000000;*/
icyzkungz 6:fa132fd505ce 1096
icyzkungz 6:fa132fd505ce 1097 xmax = 120.000000;
icyzkungz 6:fa132fd505ce 1098 xmin = -306.000000;
icyzkungz 6:fa132fd505ce 1099 ymax = 340.000000;
icyzkungz 6:fa132fd505ce 1100 ymin = -90.000000;
icyzkungz 6:fa132fd505ce 1101 zmax = 219.000000;
icyzkungz 6:fa132fd505ce 1102 zmin = -195.000000;
soulx 3:3e04c1c03cab 1103
soulx 3:3e04c1c03cab 1104
soulx 3:3e04c1c03cab 1105
soulx 4:1e5db958fd1b 1106 magbias[0] = -1.0;
soulx 4:1e5db958fd1b 1107 magbias[1] = -1.0;
soulx 4:1e5db958fd1b 1108 magbias[2] = -1.0;
soulx 4:1e5db958fd1b 1109
soulx 4:1e5db958fd1b 1110 magCalibration[0] = 2.0f / (xmax -xmin);
soulx 4:1e5db958fd1b 1111 magCalibration[1] = 2.0f / (ymax -ymin);
soulx 4:1e5db958fd1b 1112 magCalibration[2] = 2.0f / (zmax -zmin);
soulx 4:1e5db958fd1b 1113
soulx 3:3e04c1c03cab 1114 //magbias[0] = (xmin-xmax)/2.0f; // User environmental x-axis correction in milliGauss, should be automatically calculated
soulx 3:3e04c1c03cab 1115 //magbias[1] = (ymin-ymax)/2.0f; // User environmental x-axis correction in milliGauss
soulx 3:3e04c1c03cab 1116 //magbias[2] = (zmin-zmax)/2.0f; // User environmental x-axis correction in milliGauss
icyzkungz 6:fa132fd505ce 1117 pc.printf("mag[0] %f",magbias[0]);
icyzkungz 6:fa132fd505ce 1118 pc.printf("mag[1] %f",magbias[1]);
icyzkungz 6:fa132fd505ce 1119 pc.printf("mag[2] %f\n\r",magbias[2]);
soulx 3:3e04c1c03cab 1120 // resalt = atan(magY+((yMin-yMax)/2),magX+(xMin-xMax)/2))*180/PI;
onehorse 0:2e5e65a6fb30 1121
soulx 15:10939fd0eaac 1122 }
soulx 3:3e04c1c03cab 1123
soulx 3:3e04c1c03cab 1124
soulx 15:10939fd0eaac 1125 void Init_Stabilizer()
soulx 15:10939fd0eaac 1126 {
soulx 3:3e04c1c03cab 1127
soulx 3:3e04c1c03cab 1128
soulx 3:3e04c1c03cab 1129
soulx 3:3e04c1c03cab 1130
soulx 21:298aa522db64 1131 }
soulx 3:3e04c1c03cab 1132
soulx 21:298aa522db64 1133 void WheelChair()
soulx 21:298aa522db64 1134 {
soulx 21:298aa522db64 1135 //Start Here
soulx 21:298aa522db64 1136 //Stabilize.set_Body_Lenght(5);
soulx 21:298aa522db64 1137 Stabilize.set_current_zeta(roll);
soulx 21:298aa522db64 1138 //Stabilize.set_zeta_set(0);
soulx 21:298aa522db64 1139 //Stabilize.ZetaErrorCalculation();
soulx 21:298aa522db64 1140 Stabilize.PID();
soulx 3:3e04c1c03cab 1141
soulx 21:298aa522db64 1142 Stabilize.set_New_Height(Left.get_Position_Z());
onehorse 0:2e5e65a6fb30 1143
soulx 21:298aa522db64 1144 //pc.printf("Height : %f, delta : %f, New Height : %f\n",L.get_Position_Z(),Stabilize.get_delta_h(),Stabilize.get_New_Height());
soulx 21:298aa522db64 1145 Left.print();
soulx 21:298aa522db64 1146 Left.set_Position_Z(Stabilize.get_New_Height());
soulx 21:298aa522db64 1147 Left.InverseKinematicCalculation();
soulx 21:298aa522db64 1148 Left.print();
onehorse 0:2e5e65a6fb30 1149
soulx 21:298aa522db64 1150 Right.set_Position_Y(Left.get_Position_Y()+Stabilize.get_Offset_Y());
soulx 21:298aa522db64 1151 Right.set_Position_Z(Left.get_Position_Z()+Stabilize.get_Offset_Z());
soulx 21:298aa522db64 1152 //R.set_offset_YZ(3,3);
soulx 21:298aa522db64 1153 //R.SumPositionWithOffset();
soulx 21:298aa522db64 1154 Right.InverseKinematicCalculation();
soulx 21:298aa522db64 1155 Right.print();
soulx 21:298aa522db64 1156 pc.printf("\n");
soulx 3:3e04c1c03cab 1157
soulx 21:298aa522db64 1158 //Send Position of L&R Angle to Motion Board
soulx 3:3e04c1c03cab 1159
soulx 3:3e04c1c03cab 1160
soulx 3:3e04c1c03cab 1161
soulx 21:298aa522db64 1162 //End Here
onehorse 0:2e5e65a6fb30 1163 }