BE@R lab
/
MPU9250AHRS-PGear_Stabilizer
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Dependencies: BEAR_Protocol mbed Stabilizer iSerial
Fork of
MPU9250AHRS
by 
BE@R lab
Diff: main.cpp
- Revision:
- 17:51ac4252fa1a
- Parent:
- 16:b5b9827dd5dc
- Child:
- 18:02559b51ec08
diff -r b5b9827dd5dc -r 51ac4252fa1a main.cpp
--- a/main.cpp Wed Jan 20 01:54:44 2016 +0000
+++ b/main.cpp Sat Jan 23 04:10:16 2016 +0000
@@ -8,7 +8,9 @@
MPU9250 mpu9250;
Stabilizer Stabilize(5.0f,0.0f);
-Kinematic L('Z',10,10,30,30),R('Z',10,10,30,30);
+//Kinematic L('Z',10,10,30,30),R('Z',10,10,30,30);
+Kinematic L(0,0),R(0,0);
+Bear_Communicate bcom(PA_15,PB_7,1000000);
Timer t;
@@ -34,394 +36,635 @@
void SwMode()
{
- int option; // user's entered option will be saved in this variable
- float kp1,kp2,kp3,kp4;
- float ki1,ki2,ki3,ki4;
- float kd1,kd2,kd3,kd4;
+ int option;
+ float temp;
float LH,LK,RH,RK;
+ float LLink[2],RLink[2];
+ float LLink0,LLink1,RLink0,RLink1;
+ struct max_ang {
+ float Hip;
+ float Knee;
+ };
+ struct min_ang {
+ float Hip;
+ float Knee;
+ };
+ max_ang Lmax,Lmin;
+ min_ang Rmax,Rmin;
+ Lmax.Knee = Lmax.Hip = Lmin.Knee = Lmin.Hip = Rmax.Knee = Rmax.Hip = Rmin.Knee = Rmin.Hip = 0;
+ bool a,b,c,d;
+ a = b = c = d = false;
float temp_LH=0,temp_LK=0,temp_RH=0,temp_RK=0;
- do { // do-while loop starts here.that display menu again and again until user select to exit program
- // Displaying Options for the menu
+ do {
pc.printf("************Don't Forget to Save Data************\n");
pc.printf("*\t1) Motor Left Hip \t\t\t*\n");
pc.printf("*\t2) Motor Left Knee \t\t\t*\n");
pc.printf("*\t3) Motor Right Hip \t\t\t*\n");
pc.printf("*\t4) Motor Right Knee \t\t\t*\n");
+
pc.printf("*\t5) Kp : Left Hip \t\t\t*\n");
pc.printf("*\t6) Ki : Left Hip \t\t\t*\n");
pc.printf("*\t7) Kd : Left Hip \t\t\t*\n");
- pc.printf("*\t8) Save Left Hip(p,i,d) data\t\t*\n");
- pc.printf("*\t9) Kp : Left Knee \t\t\t*\n");
- pc.printf("*\t10) Ki : Left Knee \t\t\t*\n");
- pc.printf("*\t11) Kd : Left Knee \t\t\t*\n");
- pc.printf("*\t12) Save Left Knee(p,i,d) data\t\t*\n");
- pc.printf("*\t13) Kp : Right Hip \t\t\t*\n");
- pc.printf("*\t14) Ki : Right Hip \t\t\t*\n");
- pc.printf("*\t15) Kd : Right Hip \t\t\t*\n");
- pc.printf("*\t16) Save Right Hip(p,i,d) data\t\t*\n");
- pc.printf("*\t17) Kp : Right Knee \t\t\t*\n");
- pc.printf("*\t18) Ki : Right Knee \t\t\t*\n");
- pc.printf("*\t19) Kd : Right Knee \t\t\t*\n");
- pc.printf("*\t20) Save Right Knee data\t\t\t*\n");
- pc.printf("*\t21) Save Dog Stand Position \t\t*\n");
- pc.printf("*\t22) Save Dog Sit Position \t\t*\n");
- pc.printf("*\t23) Exit Program \t\t\t*\n");
+
+ pc.printf("*\t8) Kp : Left Knee \t\t\t*\n");
+ pc.printf("*\t9) Ki : Left Knee \t\t\t*\n");
+ pc.printf("*\t10) Kd : Left Knee \t\t\t*\n");
+
+ pc.printf("*\t11) Kp : Right Hip \t\t\t*\n");
+ pc.printf("*\t12) Ki : Right Hip \t\t\t*\n");
+ pc.printf("*\t13) Kd : Right Hip \t\t\t*\n");
+
+ pc.printf("*\t14) Kp : Right Knee \t\t\t*\n");
+ pc.printf("*\t15) Ki : Right Knee \t\t\t*\n");
+ pc.printf("*\t16) Kd : Right Knee \t\t\t*\n");
+
+ pc.printf("*\t17) Set Left Hip Margin\n");
+ pc.printf("*\t18) Set Left Knee Margin\n");
+ pc.printf("*\t19) Set Right Hip Margin\n");
+ pc.printf("*\t20) Set Right Knee Margin\n");
+
+ pc.printf("*\t21) Set Lenght of Left Link Hip\n");
+ pc.printf("*\t22) Set Lenght of Left Link Knee\n");
+ pc.printf("*\t23) Set Lenght of Right Link Hip\n");
+ pc.printf("*\t24) Set Lenght of Right Link Knee\n");
+
+ pc.printf("*\t25) Set Offset\n");
+
+ pc.printf("*\t26) Set Body Width\n");
+
+ pc.printf("*\t27) Set Maximum Hip Angle Range\n");
+ pc.printf("*\t28) Set Minimum Hip Angle Range\n");
+ pc.printf("*\t29) Set Maximum Knee Angle Range\n");
+ pc.printf("*\t30) Set Minimum Knee Angle Range\n");
+
+ pc.printf("*\t40) Exit Program \t\t\t*\n");
pc.printf("************Don't Forget to Save Data************\n");
// Prompting user to enter an option according to menu
pc.printf("Please select an option : ");
+
pc.scanf("%d",&option);
+
pc.printf("\n");
- if(option == 1) { // Left Hip
+ if(option == 1)// Left Hip
do {
- pc.printf("\n1) Input Degree\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
-
- if(option == 1) {
- //Send Position to Motor
- pc.printf("Input Degree : \n");
- pc.scanf("%f",&LH);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ //Send Position to Motor
+ pc.printf("Input Degree : \n");
+ pc.scanf("%f",&temp);
+ if(temp!=9999) {
+ LH = temp;
pc.printf("Move Left Hip Motor to %f Degree\n",LH);
- L.setMotorPos(0x01,LH,temp_LK);
+ bcom.setMotorPos(LEFT_SIDE,LH,temp_LK);
temp_LH = LH;
- } else if(option == 2) {
/********************Save Data*********************/
- }
- } while(option != 2);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_UPPER_ANG);
- } else if(option == 2) { //Left Knee
+ } while(temp != 9999);
+
+ else if(option == 2) //Left Knee
do {
- pc.printf("\n1) Input Degree\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
- if(option == 1) {
- //Send Position to Motor
- pc.printf("Input Degree : \n");
- pc.scanf("%f",&LK);
+ //Send Position to Motor
+ pc.printf("Input Degree : \n");
+ pc.scanf("%f",&temp);
+ if(temp!=9999) {
+ LK = temp;
pc.printf("Move Left Knee Motor to %f Degree\n",LK);
- L.setMotorPos(0x01,temp_LH,LK);
+ bcom.setMotorPos(LEFT_SIDE,temp_LH,LK);
temp_LK = LK;
- } else if(option == 2) {
+
/********************Save Data*********************/
- }
- } while(option != 2);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_LOWER_ANG);
- } else if(option == 3) { //Right Hip
+ } while(temp != 9999);
+
+
+ else if(option == 3) { //Right Hip
do {
- pc.printf("\n1) Input Degree\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
- if(option == 1) {
- //Send Position to Motor
- pc.printf("Input Degree : \n");
- pc.scanf("%f",&RH);
+ //Send Position to Motor
+ pc.printf("Input Degree : \n");
+ pc.scanf("%f",&RH);
+ if(temp!=9999) {
+ RH = temp;
pc.printf("Move Right Hip Motor to %f Degree\n",RH);
- R.setMotorPos(0x02,RH,temp_RK);
+ bcom.setMotorPos(RIGHT_SIDE,RH,temp_RK);
temp_RH = RH;
- } else if(option == 2) {
+
/********************Save Data*********************/
- }
- } while(option != 2);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_UPPER_ANG);
+
+ } while(temp != 9999);
} else if(option == 4) { //Right Knee
do {
- pc.printf("\n1) Input Degree\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
- if(option == 1) {
- //Send Position to Motor
- pc.printf("Input Degree : \n");
- pc.scanf("%f",&RK);
+ //Send Position to Motor
+ pc.printf("Input Degree : \n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ RK = temp;
pc.printf("Move Right Knee Motor to %f Degree\n",RK);
- R.setMotorPos(0x02,temp_RH,RK);
+ bcom.setMotorPos(RIGHT_SIDE,temp_RH,RK);
temp_RK = RK;
- } else if(option == 2) {
+
/********************Save Data*********************/
- }
- } while(option != 2);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_LOWER_ANG);
+
+ } while(temp != 9999);
} else if(option == 5) { //Left Hip
do {
- pc.printf("\n1) Input Kp of Left Hip\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Kp of Left Hip\n");
+ pc.scanf("%f",&temp);
- if(option == 1) {
- InputK(&kp1);
- pc.printf("\nChange Kp of Left Hip to %f",kp1);
+ if(temp != 9999) {
+ pc.printf("\nChange Kp of Left Hip to %f",temp);
- L.setUpMotorKp(0x01,kp1);
- }
- } while(option != 2);
+ bcom.setUpMotorKp(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_UPPER_MOTOR);
+
+ } while(temp != 9999);
} else if(option == 6) { //Left Hip
do {
- pc.printf("\n1) Input Ki of Left Hip\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Ki of Left Hip\n");
+ pc.scanf("%f",&temp);
- if(option == 1) {
- InputK(&ki1);
- pc.printf("\nChange Ki of Left Hip to %f",ki1);
+ if(temp != 9999) {
+ pc.printf("\nChange Ki of Left Hip to %f",temp);
- L.setUpMotorKi(0x01,ki1);
- }
- } while(option != 2);
+ bcom.setUpMotorKi(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_UPPER_MOTOR);
+
+ } while(temp != 9999);
} else if(option == 7) { //Left Hip
do {
- pc.printf("\n1) Input Kd of Left Hip\n");
- pc.printf("2) Main Menu\n");
- pc.scanf("%d",&option);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Kd of Left Hip\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Kd of Left Hip to %f",temp);
+
+ bcom.setUpMotorKd(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_UPPER_MOTOR);
+
+ } while(temp != 9999);
- if(option == 1) {
- InputK(&kd1);
- pc.printf("\nChange Kd of Left Hip to %f",kd1);
+ } else if(option == 8) { //Left Knee
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Kp of Left Knee\n");
+ pc.scanf("%f",&temp);
- L.setUpMotorKd(0x01,kd1);
- }
- } while(option != 2);
+ if(temp != 9999) {
+ pc.printf("\nChange Kp of Left Knee to %f",temp);
- } else if(option == 8) {
- /*******************************Save Left Hip data*************************************/
+ bcom.setLowMotorKp(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_LOWER_MOTOR);
+
+ } while(temp != 9999);
} else if(option == 9) { //Left Knee
do {
- pc.printf("\n1) Input Kp of Left Knee\n");
- pc.printf("2) Main Menu\n");
- pc.scanf("%d",&option);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Ki of Left Knee\n");
+ pc.scanf("%f",&temp);
- if(option == 1) {
- InputK(&kp2);
- pc.printf("\nChange Kp of Left Knee to %f",kp2);
+ if(temp != 9999) {
+ pc.printf("\nChange Ki of Left Knee to %f",temp);
- L.setLowMotorKp(0x01,kp2);
- }
- } while(option != 2);
+ bcom.setLowMotorKi(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_LOWER_MOTOR);
+
+ } while(temp != 9999);
} else if(option == 10) { //Left Knee
do {
- pc.printf("\n1) Input Ki of Left Knee\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
-
- if(option == 1) {
- InputK(&ki2);
- pc.printf("\nChange Ki of Left Knee to %f",ki2);
-
- L.setLowMotorKi(0x01,ki2);
- }
- } while(option != 2);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Kd of Left Knee\n");
+ pc.scanf("%f",&temp);
- } else if(option == 11) { //Left Knee
- do {
- pc.printf("\n1) Input Kd of Left Knee\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
+ if(temp != 9999) {
+ pc.printf("\nChange Kd of Left Knee to %f",temp);
- if(option == 1) {
- InputK(&kd2);
- pc.printf("\nChange Kd of Left Knee to %f",kd2);
+ bcom.setLowMotorKd(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_LOWER_MOTOR);
- L.setLowMotorKd(0x01,kd2);
- }
- } while(option != 2);
+ } while(temp != 9999);
- } else if(option == 12) {
- /*******************************Save Left Knee data*************************************/
+ } else if(option == 11) { //Right Hip
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Kp of Right Hip\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Kp of Right Hip to %f",temp);
+
+ bcom.setUpMotorKp(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_UPPER_MOTOR);
+
+ } while(temp != 9999);
+ } else if(option == 12) { //Right Hip
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Ki of Right Hip\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Ki of Right Hip to %f",temp);
+
+ bcom.setUpMotorKi(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_UPPER_MOTOR);
+
+ } while(temp != 9999);
} else if(option == 13) { //Right Hip
do {
- pc.printf("\n1) Input Kp of Right Hip\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
-
- if(option == 1) {
- InputK(&kp3);
- pc.printf("\nChange Kp of Right Hip to %f",kp3);
-
- R.setUpMotorKp(0x02,kp3);
- }
- } while(option != 2);
-
- } else if(option == 14) { //Right Hip
- do {
- pc.printf("\n1) Input Ki of Right Hip\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Kd of Right Hip\n");
+ pc.scanf("%f",&temp);
- if(option == 1) {
- InputK(&ki3);
- pc.printf("\nChange Ki of Right Hip to %f",ki3);
-
- R.setUpMotorKi(0x02,ki3);
- }
- } while(option != 2);
+ if(temp != 9999) {
+ pc.printf("\nChange Kd of Right Hip to %f",temp);
- } else if(option == 15) { //Right Hip
- do {
- pc.printf("\n1) Input Kd of Right Hip\n");
- pc.printf("2) Main Menu\n");
-
- pc.scanf("%d",&option);
+ bcom.setUpMotorKd(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_UPPER_MOTOR);
- if(option == 1) {
- InputK(&kd3);
- pc.printf("\nChange Kd of Right Hip to %f",kd3);
-
- R.setUpMotorKd(0x02,kd3);
- }
- } while(option != 2);
+ } while(temp != 9999);
- } else if(option == 16) {
- /*******************************Save Right Hip data*************************************/
+ } else if(option == 14) { //Right Knee
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Kp of Right Knee\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Kp of Right Knee to %f",temp);
+
+ bcom.setLowMotorKp(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_LOWER_MOTOR);
+
+ } while(temp != 9999);
+
+ } else if(option == 15) { //Right Knee
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Ki of Right Knee\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Ki of Right Knee to %f Degree\n",temp);
+
+ bcom.setLowMotorKi(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_LOWER_MOTOR);
+
+ } while(temp != 9999);
+
+ } else if(option == 16) { //Right Knee
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("\nInput Kd of Right Knee\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Kd of Right Knee to %f",temp);
+
+ bcom.setLowMotorKd(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_LOWER_MOTOR);
+
+ } while(temp != 9999);
- } else if(option == 17) { //Right Knee
- do {
- pc.printf("\n1) Input Kp of Right Knee\n");
- pc.printf("2) Main Menu\n");
+ } else if(option == 17) { //Left Hip Margin
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("Input Margin\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Left Hip Margin to %f\n",temp);
+ bcom.setUpMargin(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,UP_MARGIN);
+ }
+
+ else if(option == 18) { //Left Knee Margin
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("Input Margin\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Left Knee Margin to %f\n",temp);
+ bcom.setLowMargin(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,LOW_MARGIN);
+ }
- pc.scanf("%d",&option);
+ else if(option == 19) { //Right Hip Margin
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("Input Margin\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Right Hip Margin to %f\n",temp);
+ bcom.setUpMargin(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_MARGIN);
+ }
- if(option == 1) {
- InputK(&kp4);
- pc.printf("\nChange Kp of Right Knee to %f",kp4);
+ else if(option == 20) { //Right Knee Margin
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("Input Margin\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nChange Right Knee Margin to %f\n",temp);
+ bcom.setLowMargin(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_MARGIN);
+ }
- R.setLowMotorKp(0x02,kp4);
- }
+ else if(option == 21) { //Lenght of Left Link Hip
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("Input Lenght of Left Link Hip\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nLenght of Left Link Hip = %f\n",temp);
+ LLink0 = temp;
+ a = true;
+ bcom.setUpLinkLength(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,UP_LINK_LENGTH);
+ }
+
+ else if(option == 22) { //Lenght of Left Link Knee
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("Input Lenght of Left Link Knee\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nLenght of Left Link Knee = %f\n",temp);
+ LLink1 = temp;
+ b = true;
+ bcom.setLowLinkLength(LEFT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,LOW_LINK_LENGTH);
+ }
- } while(option != 2);
- } else if(option == 18) { //Right Knee
- do {
- pc.printf("\n1) Input Ki of Right Knee\n");
- pc.printf("2) Main Menu\n");
+ else if(option == 23) { //Lenght of Right Link Hip
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("Input Lenght of Right Link Hip\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nLenght of Right Link Hip = %f\n",temp);
+ RLink0 = temp;
+ c = true;
+ bcom.setUpLinkLength(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_LINK_LENGTH);
+ }
- pc.scanf("%d",&option);
+ else if(option == 24) { //Lenght of Right Link Knee
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("Input Lenght of Right Link Knee\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nLenght of Right Link Knee = %f\n",temp);
+ RLink1 = temp;
+ d = true;
+ bcom.setLowLinkLength(RIGHT_SIDE,temp);
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_LINK_LENGTH);
+ }
- if(option == 1) {
- InputK(&ki4);
- pc.printf("\nChange Ki of Right Knee to %f Degree\n",ki4);
+ else if(option == 25) { //Offset
+ if(a == true && b == true && c == true && d == true) {
+ float LHipAngle,LKneeAngle;
+ float RHipAngle,RKneeAngle;
+ bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle);
+ wait_ms(90);
+ bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle);
+ wait_ms(90);
+
+ L.set_Link_Hip(LLink0);
+ L.set_Link_Knee(LLink1);
+ L.set_Zeta_Hip(LHipAngle);
+ L.set_Zeta_Knee(LKneeAngle);
+
+ R.set_Link_Hip(RLink0);
+ R.set_Link_Knee(RLink1);
+ R.set_Zeta_Hip(RHipAngle);
+ R.set_Zeta_Knee(RKneeAngle);
+
+ L.ForwardKinematicCalculation();
+ T.ForwardKinematicCalculation();
- R.setLowMotorKi(0x02,ki4);
- }
- } while(option != 2);
+ float offset_Y,offset_Z;
+ float y1,y2,z1,z2;
+ y1 = L.get_Position_Y();
+ y2 = R.get_Position_Y();
+ z1 = L.get_Position_Z();
+ z2 = R.get_Position_Z();
+ offset_Y = y1-y2;
+ offset_Z = z1-z2;
+
+ bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z);
+
+ bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET);
- } else if(option == 19) { //Right Knee
- do {
- pc.printf("\n1) Input Kd of Right Knee\n");
- pc.printf("2) Main Menu\n");
+ } else {
+ pc.printf("\nYou have to do choice 21-23 first\n\n");
+ wait(2);
+ }
+ }
+
+ else if(option == 26) { //setBodyWidth
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("Input Body Width\n");
+ pc.scanf("%f",&temp);
+ pc.printf("\nBody Lenght = %f\n",temp);
+ bcom.setBodyWidth(LEFT_SIDE,temp);
+ bcom.saveDataToEEPROM(LEFT_SIDE,BODY_WIDTH);
+ }
- pc.scanf("%d",&option);
+ else if(option == 27) { //Set Maximum Hip Angle Range
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("1) Left Side\n");
+ pc.printf("2) Right Side\n");
+ pc.scanf("%f",&temp);
+
+ if(temp==1) { //Left
+ pc.printf("Input Maximum Hip Angle Range of Left Side\n");
+ pc.scanf("%f",&temp);
- if(option == 1) {
- InputK(&kd4);
- pc.printf("\nChange Kd of Right Knee to %f",kd4);
+ if(temp != 9999) {
+ pc.printf("\nMaximum Hip Angle Range of Left Side = %f\n",temp);
+ bcom.setUpAngleRange(LEFT_SIDE,temp,Lmin.Hip);
+ Lmax.Hip = temp;
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
+
+ } else if(temp==2) { //Right
+ pc.printf("Input Maximum Hip Angle Range of Right Side\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nMaximum Hip Angle Range of Right Side = %f\n",temp);
+ bcom.setUpAngleRange(RIGHT_SIDE,temp,Rmin.Hip);
+ Rmax.Hip = temp;
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
+ }
+ } while(temp!=9999);
+ }
- R.setLowMotorKd(0x02,kd4);
+ else if(option == 28) { //Set Minumum Hip Angle Range
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("1) Left Side\n");
+ pc.printf("2) Right Side\n");
+ pc.scanf("%f",&temp);
+
+ if(temp==1) { //Left
+ pc.printf("Input Minumum Hip Angle Range of Left Side\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nMinumum Hip Angle Range of Left Side = %f\n",temp);
+ bcom.setLowAngleRange(LEFT_SIDE,Lmax.Hip,temp);
+ Lmin.Hip = temp;
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
+
+ } else if(temp==2) { //Right
+ pc.printf("Input Minumum Hip Angle Range of Right Side\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nMinumum Hip Angle Range of Right Side = %f\n",temp);
+ bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Hip,temp);
+ Rmin.Hip = temp;
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
}
- } while(option != 2);
-
- } else if(option == 20) {
- /*******************************Save Right Knee data*************************************/
+ } while(temp!=9999);
+ }
- } else if(option == 21) {
- pc.printf("Save Dog Stand Position\n");
+ else if(option == 29) { //Set Maximum Knee Angle Range
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("1) Left Side\n");
+ pc.printf("2) Right Side\n");
+ pc.scanf("%f",&temp);
+
+ if(temp==1) { //Left
+ pc.printf("Input Maximum Knee Angle Range of Left Side\n");
+ pc.scanf("%f",&temp);
- /*************************************Save Data to EEPROM***************************/
+ if(temp != 9999) {
+ pc.printf("\nMaximum Knee Angle Range of Left Side = %f\n",temp);
+ bcom.setLowAngleRange(LEFT_SIDE,temp,Lmin.Knee);
+ Lmax.Knee = temp;
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
+
+ } else if(temp==2) { //Right
+ pc.printf("Input Maximum Knee Angle Range of Right Side\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nMaximum Knee Angle Range of Right Side = %f\n",temp);
+ bcom.setLowAngleRange(RIGHT_SIDE,temp,Rmin.Knee);
+ Rmax.Knee = temp;
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
+ }
+ } while(temp!=9999);
+ }
- } else if(option == 22) {
- pc.printf("Save Dog Sit Position\n");
+ else if(option == 30) { //Set Minumum Knee Angle Range
+ do {
+ pc.printf("\nType 9999 to Exit to Main Menu\n");
+ pc.printf("1) Left Side\n");
+ pc.printf("2) Right Side\n");
+ pc.scanf("%f",&temp);
+
+ if(temp==1) { //Left
+ pc.printf("Input Minumum Knee Angle Range of Left Side\n");
+ pc.scanf("%f",&temp);
+
+ if(temp != 9999) {
+ pc.printf("\nMinumum Knee Angle Range of Left Side = %f\n",temp);
+ bcom.setLowAngleRange(LEFT_SIDE,Lmax.Knee,temp);
+ Lmin.Knee = temp;
+ } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
- /*************************************Save Data to EEPROM***************************/
+ } else if(temp==2) { //Right
+ pc.printf("Input Minumum Knee Angle Range of Right Side\n");
+ pc.scanf("%f",&temp);
- } else if(option == 23) {
+ if(temp != 9999) {
+ pc.printf("\nMinumum Knee Angle Range of Right Side = %f\n",temp);
+ bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Knee,temp);
+ Rmin.Knee = temp;
+ } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
+ }
+ } while(temp!=9999);
+ }
+
+
+
+
+
+
+ else if(option == 40) {
pc.printf("Are You Sure ?\n");
pc.printf("\n1) Yes\n");
pc.printf("2) No\n");
pc.scanf("%d",&option);
-
if(option==1) {
- option = 23;
+ option = 40;
pc.printf("Please Push Button Restart\n");
} else pc.printf("Return to Main Menu\n");
}
- else { // if user has entered invalid choice (other than 1,2,3 or 4)
- // Displaying error message
- pc.printf("Invalid Option entered\n");
+ else { // if user has entered invalid choice
+ pc.printf("\nInvalid Option entered\n");
}
- } while(option != 23); // condition of do-while loop
+ } while(option != 40);
}
-void WheelChair()
+void getData()
{
-
- //Start Here
- //Stabilize.set_Body_Lenght(5);
- Stabilize.set_current_zeta(roll);
- //Stabilize.set_zeta_set(0);
- //Stabilize.ZetaErrorCalculation();
- Stabilize.PID();
-
- Stabilize.set_New_Height(L.get_Position_Z());
+
+}
- //pc.printf("Height : %f, delta : %f, New Height : %f\n",L.get_Position_Z(),Stabilize.get_delta_h(),Stabilize.get_New_Height());
- L.print();
- L.set_Position_Z(Stabilize.get_New_Height());
- L.InverseKinematicCalculation();
- L.print();
-
- R.set_Position_Y(L.get_Position_Y()+Stabilize.get_Offset_Y());
- R.set_Position_Z(L.get_Position_Z()+Stabilize.get_Offset_Z());
- //R.set_offset_YZ(3,3);
- //R.SumPositionWithOffset();
- R.InverseKinematicCalculation();
- R.print();
- pc.printf("\n");
-
- //Send Position of L&R Angle to Motion Board
-
-
-
- //End Here
-}
int main()
{
pc.baud(115200);
-
- if(button==1) SwMode();
+
+ if(!button) { //Set up mode
+ while(!button);
+ pc.printf("Switch Mode\n");
+ SwMode();
+ }
/*while(1){
Kinematic test('P',10,15,10,10);