BE@R lab / Mbed 2 deprecated SwitchMode

SwitchMode

Dependencies:   BEAR_Protocol InverseLeg iSerial mbed

Fork of SwitchMode by Arsapol Manamunchaiyaporn

main.cpp@6:4afac9a87b60, 2016-01-27 (annotated)

Committer:
soulx
Date:
Wed Jan 27 12:54:11 2016 +0000
Revision:
6:4afac9a87b60
Parent:
5:1e868598c7db
Child:
7:3935c7dcc9c5
-

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 6:4afac9a87b60 1 //#define ANDANTE_DEBUG
soulx 6:4afac9a87b60 2
icyzkungz 0:f73c80b36c20 3 #include "string"
icyzkungz 0:f73c80b36c20 4 #include "BEAR_Protocol.h"
soulx 6:4afac9a87b60 5
icyzkungz 0:f73c80b36c20 6 #include "Kinematic.h"
icyzkungz 0:f73c80b36c20 7
soulx 6:4afac9a87b60 8 #define TIME_SYNC_COMMUNICATION 5 //unit ms
soulx 6:4afac9a87b60 9
icyzkungz 0:f73c80b36c20 10 Serial pc(SERIAL_TX,SERIAL_RX);
icyzkungz 4:16cadf26dbab 11 Bear_Communicate bcom(PA_15,PB_7,1000000);
icyzkungz 3:b7a8a60085c1 12 Kinematic Left(0,0),Right(0,0);
icyzkungz 0:f73c80b36c20 13
icyzkungz 0:f73c80b36c20 14 DigitalIn button(USER_BUTTON);
icyzkungz 0:f73c80b36c20 15
icyzkungz 3:b7a8a60085c1 16 #define LEFT_SIDE 0x01
icyzkungz 0:f73c80b36c20 17 #define RIGHT_SIDE 0x02
icyzkungz 0:f73c80b36c20 18
soulx 6:4afac9a87b60 19 Timer sync_communicate;
soulx 6:4afac9a87b60 20
soulx 6:4afac9a87b60 21 int16_t show_menu()
soulx 6:4afac9a87b60 22 {
soulx 6:4afac9a87b60 23 int16_t option=9999;
soulx 6:4afac9a87b60 24 float temp[6];
soulx 6:4afac9a87b60 25 pc.printf("************Don't Forget to Save Data************\n");
soulx 6:4afac9a87b60 26
soulx 6:4afac9a87b60 27 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 28 sync_communicate.reset();
soulx 6:4afac9a87b60 29 bcom.getMotorPos(LEFT_SIDE,&temp[0],&temp[1]);
soulx 6:4afac9a87b60 30 pc.printf("*\t1) Motor Left Hip [%f]\t\t*\n",temp[0]);
soulx 6:4afac9a87b60 31 pc.printf("*\t2) Motor Left Knee [%f]\t\t*\n",temp[1]);
soulx 6:4afac9a87b60 32
soulx 6:4afac9a87b60 33 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 34 sync_communicate.reset();
soulx 6:4afac9a87b60 35 bcom.getMotorPos(RIGHT_SIDE,&temp[0],&temp[1]);
soulx 6:4afac9a87b60 36 pc.printf("*\t3) Motor Right Hip [%f]\t\t*\n",temp[0]);
soulx 6:4afac9a87b60 37 pc.printf("*\t4) Motor Right Knee [%f]\t\t*\n",temp[1]);
soulx 6:4afac9a87b60 38
soulx 6:4afac9a87b60 39 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 40 sync_communicate.reset();
soulx 6:4afac9a87b60 41 bcom.getUpMotorKpKiKd(LEFT_SIDE,&temp[0],&temp[1],&temp[2]);
soulx 6:4afac9a87b60 42 pc.printf("*\t5) Kp : Left Hip [%f]\t\t*\n",temp[0]);
soulx 6:4afac9a87b60 43 pc.printf("*\t6) Ki : Left Hip [%f]\t\t*\n",temp[1]);
soulx 6:4afac9a87b60 44 pc.printf("*\t7) Kd : Left Hip [%f]\t\t*\n",temp[2]);
soulx 6:4afac9a87b60 45
soulx 6:4afac9a87b60 46 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 47 sync_communicate.reset();
soulx 6:4afac9a87b60 48 bcom.getLowMotorKpKiKd(LEFT_SIDE,&temp[0],&temp[1],&temp[2]);
soulx 6:4afac9a87b60 49 pc.printf("*\t8) Kp : Left Knee [%f]\t\t*\n",temp[0]);
soulx 6:4afac9a87b60 50 pc.printf("*\t9) Ki : Left Knee [%f]\t\t*\n",temp[1]);
soulx 6:4afac9a87b60 51 pc.printf("*\t10) Kd : Left Knee [%f]\t\t*\n",temp[2]);
soulx 6:4afac9a87b60 52
soulx 6:4afac9a87b60 53 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 54 sync_communicate.reset();
soulx 6:4afac9a87b60 55 bcom.getUpMotorKpKiKd(RIGHT_SIDE,&temp[0],&temp[1],&temp[2]);
soulx 6:4afac9a87b60 56 pc.printf("*\t11) Kp : Right Hip [%f]\t\t*\n",temp[0]);
soulx 6:4afac9a87b60 57 pc.printf("*\t12) Ki : Right Hip [%f]\t\t*\n",temp[1]);
soulx 6:4afac9a87b60 58 pc.printf("*\t13) Kd : Right Hip [%f]\t\t*\n",temp[2]);
soulx 6:4afac9a87b60 59
soulx 6:4afac9a87b60 60 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 61 sync_communicate.reset();
soulx 6:4afac9a87b60 62 bcom.getLowMotorKpKiKd(RIGHT_SIDE,&temp[0],&temp[1],&temp[2]);
soulx 6:4afac9a87b60 63 pc.printf("*\t14) Kp : Right Knee [%f]\t\t*\n",temp[0]);
soulx 6:4afac9a87b60 64 pc.printf("*\t15) Ki : Right Knee [%f]\t\t*\n",temp[0]);
soulx 6:4afac9a87b60 65 pc.printf("*\t16) Kd : Right Knee [%f]\t\t*\n",temp[0]);
soulx 6:4afac9a87b60 66
soulx 6:4afac9a87b60 67 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 68 sync_communicate.reset();
soulx 6:4afac9a87b60 69 bcom.getUpMargin(LEFT_SIDE,&temp[0]);
soulx 6:4afac9a87b60 70 pc.printf("*\t17) Set Left Hip Margin [%f]\n",temp[0]);
soulx 6:4afac9a87b60 71 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 72 sync_communicate.reset();
soulx 6:4afac9a87b60 73 bcom.getLowMargin(LEFT_SIDE,&temp[0]);
soulx 6:4afac9a87b60 74 pc.printf("*\t18) Set Left Knee Margin [%f]\n",temp[0]);
soulx 6:4afac9a87b60 75 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 76 sync_communicate.reset();
soulx 6:4afac9a87b60 77 bcom.getUpMargin(RIGHT_SIDE,&temp[0]);
soulx 6:4afac9a87b60 78 pc.printf("*\t19) Set Right Hip Margin [%f]\n",temp[0]);
soulx 6:4afac9a87b60 79 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 80 sync_communicate.reset();
soulx 6:4afac9a87b60 81 bcom.getLowMargin(RIGHT_SIDE,&temp[0]);
soulx 6:4afac9a87b60 82 pc.printf("*\t20) Set Right Knee Margin [%f]\n",temp[0]);
soulx 6:4afac9a87b60 83
soulx 6:4afac9a87b60 84
soulx 6:4afac9a87b60 85 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 86 sync_communicate.reset();
soulx 6:4afac9a87b60 87 bcom.getUpLinkLength(LEFT_SIDE,&temp[0]);
soulx 6:4afac9a87b60 88 pc.printf("*\t21) Set Lenght of Left Link Hip [%f]\n",temp[0]);
soulx 6:4afac9a87b60 89 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 90 sync_communicate.reset();
soulx 6:4afac9a87b60 91 bcom.getLowLinkLength(LEFT_SIDE,&temp[0]);
soulx 6:4afac9a87b60 92 pc.printf("*\t22) Set Lenght of Left Link Knee [%f]\n",temp[0]);
soulx 6:4afac9a87b60 93
soulx 6:4afac9a87b60 94 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 95 sync_communicate.reset();
soulx 6:4afac9a87b60 96 bcom.getUpLinkLength(RIGHT_SIDE,&temp[0]);
soulx 6:4afac9a87b60 97 pc.printf("*\t23) Set Lenght of Right Link Hip [%f]\n",temp[0]);
soulx 6:4afac9a87b60 98 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 99 sync_communicate.reset();
soulx 6:4afac9a87b60 100 bcom.getLowLinkLength(RIGHT_SIDE,&temp[0]);
soulx 6:4afac9a87b60 101 pc.printf("*\t24) Set Lenght of Right Link Knee [%f]\n",temp[0]);
soulx 6:4afac9a87b60 102
soulx 6:4afac9a87b60 103 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 104 sync_communicate.reset();
soulx 6:4afac9a87b60 105 bcom.getOffset(LEFT_SIDE,&temp[0],&temp[1]);
soulx 6:4afac9a87b60 106 pc.printf("*\t25) Set Offset x[%f] y[%f]\n",temp[0],temp[1]);
soulx 6:4afac9a87b60 107 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 108 sync_communicate.reset();
soulx 6:4afac9a87b60 109 bcom.getBodyWidth(LEFT_SIDE,&temp[0]);
soulx 6:4afac9a87b60 110 pc.printf("*\t26) Set Body Width [%f]\n",temp[0]);
soulx 6:4afac9a87b60 111
soulx 6:4afac9a87b60 112 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 113 sync_communicate.reset();
soulx 6:4afac9a87b60 114 bcom.getUpAngleRange(LEFT_SIDE,&temp[0],&temp[1]);
soulx 6:4afac9a87b60 115 pc.printf("*\t27) Set Maximum Hip Angle Range [%f]\n",temp[0]);
soulx 6:4afac9a87b60 116 pc.printf("*\t28) Set Minimum Hip Angle Range [%f]\n",temp[1]);
soulx 6:4afac9a87b60 117
soulx 6:4afac9a87b60 118 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 6:4afac9a87b60 119 sync_communicate.reset();
soulx 6:4afac9a87b60 120 bcom.getUpAngleRange(RIGHT_SIDE,&temp[0],&temp[1]);
soulx 6:4afac9a87b60 121 pc.printf("*\t29) Set Maximum Knee Angle Range [%f]\n",temp[0]);
soulx 6:4afac9a87b60 122 pc.printf("*\t30) Set Minimum Knee Angle Range [%f]\n",temp[1]);
soulx 6:4afac9a87b60 123
soulx 6:4afac9a87b60 124 pc.printf("*\t40) Exit Program \t\t\t*\n");
soulx 6:4afac9a87b60 125 pc.printf("************Don't Forget to Save Data************\n");
soulx 6:4afac9a87b60 126 // Prompting user to enter an option according to menu
soulx 6:4afac9a87b60 127 pc.printf("Please select an option : ");
soulx 6:4afac9a87b60 128
soulx 6:4afac9a87b60 129
soulx 6:4afac9a87b60 130 pc.scanf("%d",&option);
soulx 6:4afac9a87b60 131 if(sync_communicate.read_ms() >0x7FFFFF00)
soulx 6:4afac9a87b60 132 {
soulx 6:4afac9a87b60 133 sync_communicate.reset();
soulx 6:4afac9a87b60 134 }
soulx 6:4afac9a87b60 135 pc.printf("\n");
soulx 6:4afac9a87b60 136
soulx 6:4afac9a87b60 137
soulx 6:4afac9a87b60 138
soulx 6:4afac9a87b60 139 return option;
soulx 6:4afac9a87b60 140 }
soulx 6:4afac9a87b60 141
icyzkungz 0:f73c80b36c20 142 void SwMode()
icyzkungz 0:f73c80b36c20 143 {
icyzkungz 2:d6be1c49d9d5 144 int option;
icyzkungz 0:f73c80b36c20 145 float temp;
icyzkungz 0:f73c80b36c20 146 float LH,LK,RH,RK;
soulx 6:4afac9a87b60 147 //float LLink[2],RLink[2];
icyzkungz 3:b7a8a60085c1 148 float LLink0,LLink1,RLink0,RLink1;
icyzkungz 0:f73c80b36c20 149 struct max_ang {
icyzkungz 0:f73c80b36c20 150 float Hip;
icyzkungz 0:f73c80b36c20 151 float Knee;
icyzkungz 0:f73c80b36c20 152 };
icyzkungz 0:f73c80b36c20 153 struct min_ang {
icyzkungz 0:f73c80b36c20 154 float Hip;
icyzkungz 0:f73c80b36c20 155 float Knee;
icyzkungz 0:f73c80b36c20 156 };
icyzkungz 0:f73c80b36c20 157 max_ang Lmax,Lmin;
icyzkungz 0:f73c80b36c20 158 min_ang Rmax,Rmin;
icyzkungz 1:183e6088a1fa 159 Lmax.Knee = Lmax.Hip = Lmin.Knee = Lmin.Hip = Rmax.Knee = Rmax.Hip = Rmin.Knee = Rmin.Hip = 0;
icyzkungz 0:f73c80b36c20 160 bool a,b,c,d;
icyzkungz 0:f73c80b36c20 161 a = b = c = d = false;
icyzkungz 0:f73c80b36c20 162 float temp_LH=0,temp_LK=0,temp_RH=0,temp_RK=0;
icyzkungz 2:d6be1c49d9d5 163 do {
soulx 6:4afac9a87b60 164 //float buff;
icyzkungz 4:16cadf26dbab 165
soulx 6:4afac9a87b60 166 option = show_menu();
icyzkungz 0:f73c80b36c20 167
icyzkungz 0:f73c80b36c20 168
icyzkungz 0:f73c80b36c20 169 if(option == 1)// Left Hip
icyzkungz 0:f73c80b36c20 170 do {
icyzkungz 0:f73c80b36c20 171 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 172 //Send Position to Motor
icyzkungz 0:f73c80b36c20 173 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 174 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 175 if(temp!=9999) {
icyzkungz 0:f73c80b36c20 176 LH = temp;
icyzkungz 0:f73c80b36c20 177 pc.printf("Move Left Hip Motor to %f Degree\n",LH);
icyzkungz 0:f73c80b36c20 178
icyzkungz 0:f73c80b36c20 179 bcom.setMotorPos(LEFT_SIDE,LH,temp_LK);
icyzkungz 0:f73c80b36c20 180 temp_LH = LH;
icyzkungz 0:f73c80b36c20 181
icyzkungz 0:f73c80b36c20 182 /********************Save Data*********************/
soulx 6:4afac9a87b60 183 } //else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 0:f73c80b36c20 184
icyzkungz 0:f73c80b36c20 185 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 186
icyzkungz 0:f73c80b36c20 187 else if(option == 2) //Left Knee
icyzkungz 0:f73c80b36c20 188 do {
icyzkungz 0:f73c80b36c20 189 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 190
icyzkungz 0:f73c80b36c20 191 //Send Position to Motor
icyzkungz 0:f73c80b36c20 192 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 193 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 194 if(temp!=9999) {
icyzkungz 0:f73c80b36c20 195 LK = temp;
icyzkungz 0:f73c80b36c20 196 pc.printf("Move Left Knee Motor to %f Degree\n",LK);
icyzkungz 0:f73c80b36c20 197
icyzkungz 0:f73c80b36c20 198 bcom.setMotorPos(LEFT_SIDE,temp_LH,LK);
icyzkungz 0:f73c80b36c20 199 temp_LK = LK;
icyzkungz 0:f73c80b36c20 200
icyzkungz 0:f73c80b36c20 201
icyzkungz 0:f73c80b36c20 202 /********************Save Data*********************/
soulx 6:4afac9a87b60 203 } //else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 0:f73c80b36c20 204
icyzkungz 0:f73c80b36c20 205 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 206
icyzkungz 0:f73c80b36c20 207
icyzkungz 0:f73c80b36c20 208 else if(option == 3) { //Right Hip
icyzkungz 0:f73c80b36c20 209 do {
icyzkungz 0:f73c80b36c20 210 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 211
icyzkungz 0:f73c80b36c20 212 //Send Position to Motor
icyzkungz 0:f73c80b36c20 213 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 214 pc.scanf("%f",&RH);
icyzkungz 0:f73c80b36c20 215 if(temp!=9999) {
icyzkungz 0:f73c80b36c20 216 RH = temp;
icyzkungz 0:f73c80b36c20 217 pc.printf("Move Right Hip Motor to %f Degree\n",RH);
icyzkungz 0:f73c80b36c20 218
icyzkungz 0:f73c80b36c20 219 bcom.setMotorPos(RIGHT_SIDE,RH,temp_RK);
icyzkungz 0:f73c80b36c20 220 temp_RH = RH;
icyzkungz 0:f73c80b36c20 221
icyzkungz 0:f73c80b36c20 222
icyzkungz 0:f73c80b36c20 223 /********************Save Data*********************/
soulx 6:4afac9a87b60 224 } //else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 0:f73c80b36c20 225
icyzkungz 0:f73c80b36c20 226 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 227
icyzkungz 0:f73c80b36c20 228 } else if(option == 4) { //Right Knee
icyzkungz 0:f73c80b36c20 229 do {
icyzkungz 0:f73c80b36c20 230 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 231
icyzkungz 0:f73c80b36c20 232 //Send Position to Motor
icyzkungz 0:f73c80b36c20 233 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 234 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 235
icyzkungz 0:f73c80b36c20 236 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 237 RK = temp;
icyzkungz 0:f73c80b36c20 238 pc.printf("Move Right Knee Motor to %f Degree\n",RK);
icyzkungz 0:f73c80b36c20 239
icyzkungz 0:f73c80b36c20 240 bcom.setMotorPos(RIGHT_SIDE,temp_RH,RK);
icyzkungz 0:f73c80b36c20 241 temp_RK = RK;
icyzkungz 0:f73c80b36c20 242
icyzkungz 0:f73c80b36c20 243
icyzkungz 0:f73c80b36c20 244 /********************Save Data*********************/
soulx 6:4afac9a87b60 245 } //else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 0:f73c80b36c20 246
icyzkungz 0:f73c80b36c20 247 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 248
icyzkungz 0:f73c80b36c20 249 } else if(option == 5) { //Left Hip
icyzkungz 0:f73c80b36c20 250 do {
icyzkungz 0:f73c80b36c20 251 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 252 pc.printf("\nInput Kp of Left Hip\n");
icyzkungz 0:f73c80b36c20 253 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 254
icyzkungz 0:f73c80b36c20 255 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 256 pc.printf("\nChange Kp of Left Hip to %f",temp);
icyzkungz 0:f73c80b36c20 257
icyzkungz 0:f73c80b36c20 258 bcom.setUpMotorKp(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 259 } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 260
icyzkungz 0:f73c80b36c20 261 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 262
icyzkungz 0:f73c80b36c20 263 } else if(option == 6) { //Left Hip
icyzkungz 0:f73c80b36c20 264 do {
icyzkungz 0:f73c80b36c20 265 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 266 pc.printf("\nInput Ki of Left Hip\n");
icyzkungz 0:f73c80b36c20 267 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 268
icyzkungz 0:f73c80b36c20 269 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 270 pc.printf("\nChange Ki of Left Hip to %f",temp);
icyzkungz 0:f73c80b36c20 271
icyzkungz 0:f73c80b36c20 272 bcom.setUpMotorKi(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 273 } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 274
icyzkungz 0:f73c80b36c20 275 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 276
icyzkungz 0:f73c80b36c20 277 } else if(option == 7) { //Left Hip
icyzkungz 0:f73c80b36c20 278 do {
icyzkungz 0:f73c80b36c20 279 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 280 pc.printf("\nInput Kd of Left Hip\n");
icyzkungz 0:f73c80b36c20 281 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 282
icyzkungz 0:f73c80b36c20 283 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 284 pc.printf("\nChange Kd of Left Hip to %f",temp);
icyzkungz 0:f73c80b36c20 285
icyzkungz 0:f73c80b36c20 286 bcom.setUpMotorKd(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 287 } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 288
icyzkungz 0:f73c80b36c20 289 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 290
icyzkungz 4:16cadf26dbab 291 } else if(option == 8) { //Left Knee
icyzkungz 0:f73c80b36c20 292 do {
icyzkungz 0:f73c80b36c20 293 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 294 pc.printf("\nInput Kp of Left Knee\n");
icyzkungz 0:f73c80b36c20 295 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 296
icyzkungz 0:f73c80b36c20 297 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 298 pc.printf("\nChange Kp of Left Knee to %f",temp);
icyzkungz 0:f73c80b36c20 299
icyzkungz 0:f73c80b36c20 300 bcom.setLowMotorKp(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 301 } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 302
icyzkungz 0:f73c80b36c20 303 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 304
icyzkungz 4:16cadf26dbab 305 } else if(option == 9) { //Left Knee
icyzkungz 0:f73c80b36c20 306 do {
icyzkungz 0:f73c80b36c20 307 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 308 pc.printf("\nInput Ki of Left Knee\n");
icyzkungz 0:f73c80b36c20 309 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 310
icyzkungz 0:f73c80b36c20 311 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 312 pc.printf("\nChange Ki of Left Knee to %f",temp);
icyzkungz 0:f73c80b36c20 313
icyzkungz 0:f73c80b36c20 314 bcom.setLowMotorKi(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 315 } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 316
icyzkungz 0:f73c80b36c20 317 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 318
icyzkungz 4:16cadf26dbab 319 } else if(option == 10) { //Left Knee
icyzkungz 0:f73c80b36c20 320 do {
icyzkungz 0:f73c80b36c20 321 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 322 pc.printf("\nInput Kd of Left Knee\n");
icyzkungz 0:f73c80b36c20 323 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 324
icyzkungz 0:f73c80b36c20 325 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 326 pc.printf("\nChange Kd of Left Knee to %f",temp);
icyzkungz 0:f73c80b36c20 327
icyzkungz 0:f73c80b36c20 328 bcom.setLowMotorKd(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 329 } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 330
icyzkungz 0:f73c80b36c20 331 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 332
icyzkungz 0:f73c80b36c20 333
icyzkungz 4:16cadf26dbab 334 } else if(option == 11) { //Right Hip
icyzkungz 0:f73c80b36c20 335 do {
icyzkungz 0:f73c80b36c20 336 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 337 pc.printf("\nInput Kp of Right Hip\n");
icyzkungz 0:f73c80b36c20 338 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 339
icyzkungz 0:f73c80b36c20 340 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 341 pc.printf("\nChange Kp of Right Hip to %f",temp);
icyzkungz 0:f73c80b36c20 342
icyzkungz 0:f73c80b36c20 343 bcom.setUpMotorKp(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 344 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 345
icyzkungz 0:f73c80b36c20 346 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 347
icyzkungz 4:16cadf26dbab 348 } else if(option == 12) { //Right Hip
icyzkungz 0:f73c80b36c20 349 do {
icyzkungz 0:f73c80b36c20 350 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 351 pc.printf("\nInput Ki of Right Hip\n");
icyzkungz 0:f73c80b36c20 352 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 353
icyzkungz 0:f73c80b36c20 354 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 355 pc.printf("\nChange Ki of Right Hip to %f",temp);
icyzkungz 0:f73c80b36c20 356
icyzkungz 0:f73c80b36c20 357 bcom.setUpMotorKi(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 358 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 359
icyzkungz 0:f73c80b36c20 360 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 361
icyzkungz 4:16cadf26dbab 362 } else if(option == 13) { //Right Hip
icyzkungz 0:f73c80b36c20 363 do {
icyzkungz 0:f73c80b36c20 364 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 365 pc.printf("\nInput Kd of Right Hip\n");
icyzkungz 0:f73c80b36c20 366 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 367
icyzkungz 0:f73c80b36c20 368 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 369 pc.printf("\nChange Kd of Right Hip to %f",temp);
icyzkungz 0:f73c80b36c20 370
icyzkungz 0:f73c80b36c20 371 bcom.setUpMotorKd(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 372 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 373
icyzkungz 0:f73c80b36c20 374 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 375
icyzkungz 0:f73c80b36c20 376
icyzkungz 4:16cadf26dbab 377 } else if(option == 14) { //Right Knee
icyzkungz 0:f73c80b36c20 378 do {
icyzkungz 0:f73c80b36c20 379 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 380 pc.printf("\nInput Kp of Right Knee\n");
icyzkungz 0:f73c80b36c20 381 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 382
icyzkungz 0:f73c80b36c20 383 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 384 pc.printf("\nChange Kp of Right Knee to %f",temp);
icyzkungz 0:f73c80b36c20 385
icyzkungz 0:f73c80b36c20 386 bcom.setLowMotorKp(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 387 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 388
icyzkungz 0:f73c80b36c20 389 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 390
icyzkungz 4:16cadf26dbab 391 } else if(option == 15) { //Right Knee
icyzkungz 0:f73c80b36c20 392 do {
icyzkungz 0:f73c80b36c20 393 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 394 pc.printf("\nInput Ki of Right Knee\n");
icyzkungz 0:f73c80b36c20 395 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 396
icyzkungz 0:f73c80b36c20 397 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 398 pc.printf("\nChange Ki of Right Knee to %f Degree\n",temp);
icyzkungz 0:f73c80b36c20 399
icyzkungz 0:f73c80b36c20 400 bcom.setLowMotorKi(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 401 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 402
icyzkungz 0:f73c80b36c20 403 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 404
icyzkungz 4:16cadf26dbab 405 } else if(option == 16) { //Right Knee
icyzkungz 0:f73c80b36c20 406 do {
icyzkungz 0:f73c80b36c20 407 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 408 pc.printf("\nInput Kd of Right Knee\n");
icyzkungz 0:f73c80b36c20 409 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 410
icyzkungz 0:f73c80b36c20 411 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 412 pc.printf("\nChange Kd of Right Knee to %f",temp);
icyzkungz 0:f73c80b36c20 413
icyzkungz 0:f73c80b36c20 414 bcom.setLowMotorKd(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 415 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 416
icyzkungz 0:f73c80b36c20 417 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 418
icyzkungz 0:f73c80b36c20 419
icyzkungz 4:16cadf26dbab 420 } else if(option == 17) { //Left Hip Margin
icyzkungz 0:f73c80b36c20 421 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 422 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 423 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 424
icyzkungz 0:f73c80b36c20 425 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 426 pc.printf("\nChange Left Hip Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 427 bcom.setUpMargin(LEFT_SIDE,temp);
soulx 6:4afac9a87b60 428 } //else
soulx 6:4afac9a87b60 429 bcom.saveDataToEEPROM(LEFT_SIDE,UP_MARGIN);
icyzkungz 0:f73c80b36c20 430 }
icyzkungz 0:f73c80b36c20 431
icyzkungz 4:16cadf26dbab 432 else if(option == 18) { //Left Knee Margin
icyzkungz 0:f73c80b36c20 433 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 434 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 435 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 436
icyzkungz 0:f73c80b36c20 437 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 438 pc.printf("\nChange Left Knee Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 439 bcom.setLowMargin(LEFT_SIDE,temp);
soulx 6:4afac9a87b60 440 } //else
soulx 6:4afac9a87b60 441 bcom.saveDataToEEPROM(LEFT_SIDE,LOW_MARGIN);
icyzkungz 0:f73c80b36c20 442 }
icyzkungz 0:f73c80b36c20 443
icyzkungz 4:16cadf26dbab 444 else if(option == 19) { //Right Hip Margin
icyzkungz 0:f73c80b36c20 445 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 446 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 447 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 448
icyzkungz 0:f73c80b36c20 449 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 450 pc.printf("\nChange Right Hip Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 451 bcom.setUpMargin(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 452 } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_MARGIN);
icyzkungz 0:f73c80b36c20 453 }
icyzkungz 0:f73c80b36c20 454
icyzkungz 4:16cadf26dbab 455 else if(option == 20) { //Right Knee Margin
icyzkungz 0:f73c80b36c20 456 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 457 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 458 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 459
icyzkungz 0:f73c80b36c20 460 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 461 pc.printf("\nChange Right Knee Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 462 bcom.setLowMargin(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 463 } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_MARGIN);
icyzkungz 0:f73c80b36c20 464 }
icyzkungz 0:f73c80b36c20 465
icyzkungz 4:16cadf26dbab 466 else if(option == 21) { //Lenght of Left Link Hip
icyzkungz 3:b7a8a60085c1 467 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 3:b7a8a60085c1 468 pc.printf("Input Lenght of Left Link Hip\n");
icyzkungz 3:b7a8a60085c1 469 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 470
icyzkungz 3:b7a8a60085c1 471 if(temp != 9999) {
icyzkungz 3:b7a8a60085c1 472 pc.printf("\nLenght of Left Link Hip = %f\n",temp);
icyzkungz 3:b7a8a60085c1 473 LLink0 = temp;
icyzkungz 3:b7a8a60085c1 474 a = true;
icyzkungz 3:b7a8a60085c1 475 bcom.setUpLinkLength(LEFT_SIDE,temp);
icyzkungz 3:b7a8a60085c1 476 } else bcom.saveDataToEEPROM(LEFT_SIDE,UP_LINK_LENGTH);
icyzkungz 3:b7a8a60085c1 477 }
icyzkungz 3:b7a8a60085c1 478
icyzkungz 4:16cadf26dbab 479 else if(option == 22) { //Lenght of Left Link Knee
icyzkungz 3:b7a8a60085c1 480 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 3:b7a8a60085c1 481 pc.printf("Input Lenght of Left Link Knee\n");
icyzkungz 3:b7a8a60085c1 482 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 483
icyzkungz 3:b7a8a60085c1 484 if(temp != 9999) {
icyzkungz 3:b7a8a60085c1 485 pc.printf("\nLenght of Left Link Knee = %f\n",temp);
icyzkungz 3:b7a8a60085c1 486 LLink1 = temp;
icyzkungz 3:b7a8a60085c1 487 b = true;
icyzkungz 3:b7a8a60085c1 488 bcom.setLowLinkLength(LEFT_SIDE,temp);
icyzkungz 3:b7a8a60085c1 489 } else bcom.saveDataToEEPROM(LEFT_SIDE,LOW_LINK_LENGTH);
icyzkungz 3:b7a8a60085c1 490 }
icyzkungz 3:b7a8a60085c1 491
icyzkungz 4:16cadf26dbab 492 else if(option == 23) { //Lenght of Right Link Hip
icyzkungz 3:b7a8a60085c1 493 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 3:b7a8a60085c1 494 pc.printf("Input Lenght of Right Link Hip\n");
icyzkungz 3:b7a8a60085c1 495 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 496
icyzkungz 3:b7a8a60085c1 497 if(temp != 9999) {
icyzkungz 3:b7a8a60085c1 498 pc.printf("\nLenght of Right Link Hip = %f\n",temp);
icyzkungz 3:b7a8a60085c1 499 RLink0 = temp;
icyzkungz 3:b7a8a60085c1 500 c = true;
icyzkungz 3:b7a8a60085c1 501 bcom.setUpLinkLength(RIGHT_SIDE,temp);
icyzkungz 3:b7a8a60085c1 502 } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_LINK_LENGTH);
icyzkungz 3:b7a8a60085c1 503 }
icyzkungz 0:f73c80b36c20 504
icyzkungz 4:16cadf26dbab 505 else if(option == 24) { //Lenght of Right Link Knee
icyzkungz 3:b7a8a60085c1 506 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 3:b7a8a60085c1 507 pc.printf("Input Lenght of Right Link Knee\n");
icyzkungz 3:b7a8a60085c1 508 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 509
icyzkungz 3:b7a8a60085c1 510 if(temp != 9999) {
icyzkungz 3:b7a8a60085c1 511 pc.printf("\nLenght of Right Link Knee = %f\n",temp);
icyzkungz 3:b7a8a60085c1 512 RLink1 = temp;
icyzkungz 3:b7a8a60085c1 513 d = true;
icyzkungz 3:b7a8a60085c1 514 bcom.setLowLinkLength(RIGHT_SIDE,temp);
icyzkungz 3:b7a8a60085c1 515 } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_LINK_LENGTH);
icyzkungz 0:f73c80b36c20 516 }
icyzkungz 0:f73c80b36c20 517
icyzkungz 4:16cadf26dbab 518 else if(option == 25) { //Offset
icyzkungz 3:b7a8a60085c1 519 if(a == true && b == true && c == true && d == true) {
icyzkungz 3:b7a8a60085c1 520 float LHipAngle,LKneeAngle;
icyzkungz 3:b7a8a60085c1 521 float RHipAngle,RKneeAngle;
icyzkungz 4:16cadf26dbab 522 bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle);
icyzkungz 4:16cadf26dbab 523 wait_ms(90);
icyzkungz 4:16cadf26dbab 524 bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle);
icyzkungz 4:16cadf26dbab 525 wait_ms(90);
icyzkungz 0:f73c80b36c20 526
icyzkungz 3:b7a8a60085c1 527 Left.set_Link_Hip(LLink0);
icyzkungz 3:b7a8a60085c1 528 Left.set_Link_Knee(LLink1);
icyzkungz 3:b7a8a60085c1 529 Left.set_Zeta_Hip(LHipAngle);
icyzkungz 3:b7a8a60085c1 530 Left.set_Zeta_Knee(LKneeAngle);
soulx 6:4afac9a87b60 531
icyzkungz 3:b7a8a60085c1 532 Right.set_Link_Hip(RLink0);
icyzkungz 3:b7a8a60085c1 533 Right.set_Link_Knee(RLink1);
icyzkungz 3:b7a8a60085c1 534 Right.set_Zeta_Hip(RHipAngle);
icyzkungz 3:b7a8a60085c1 535 Right.set_Zeta_Knee(RKneeAngle);
soulx 6:4afac9a87b60 536
icyzkungz 5:1e868598c7db 537 Left.ForwardKinematicCalculation();
icyzkungz 5:1e868598c7db 538 Right.ForwardKinematicCalculation();
icyzkungz 0:f73c80b36c20 539
icyzkungz 3:b7a8a60085c1 540 float offset_Y,offset_Z;
icyzkungz 3:b7a8a60085c1 541 float y1,y2,z1,z2;
icyzkungz 3:b7a8a60085c1 542 y1 = Left.get_Position_Y();
icyzkungz 3:b7a8a60085c1 543 y2 = Right.get_Position_Y();
icyzkungz 3:b7a8a60085c1 544 z1 = Left.get_Position_Z();
icyzkungz 3:b7a8a60085c1 545 z2 = Right.get_Position_Z();
icyzkungz 3:b7a8a60085c1 546 offset_Y = y1-y2;
icyzkungz 3:b7a8a60085c1 547 offset_Z = z1-z2;
icyzkungz 3:b7a8a60085c1 548
icyzkungz 3:b7a8a60085c1 549 bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z);
soulx 6:4afac9a87b60 550
icyzkungz 3:b7a8a60085c1 551 bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET);
icyzkungz 3:b7a8a60085c1 552
icyzkungz 3:b7a8a60085c1 553 } else {
icyzkungz 4:16cadf26dbab 554 pc.printf("\nYou have to do choice 21-23 first\n\n");
icyzkungz 3:b7a8a60085c1 555 wait(2);
icyzkungz 3:b7a8a60085c1 556 }
icyzkungz 0:f73c80b36c20 557 }
icyzkungz 0:f73c80b36c20 558
icyzkungz 4:16cadf26dbab 559 else if(option == 26) { //setBodyWidth
icyzkungz 3:b7a8a60085c1 560 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 3:b7a8a60085c1 561 pc.printf("Input Body Width\n");
icyzkungz 3:b7a8a60085c1 562 pc.scanf("%f",&temp);
icyzkungz 3:b7a8a60085c1 563 pc.printf("\nBody Lenght = %f\n",temp);
icyzkungz 3:b7a8a60085c1 564 bcom.setBodyWidth(LEFT_SIDE,temp);
icyzkungz 3:b7a8a60085c1 565 bcom.saveDataToEEPROM(LEFT_SIDE,BODY_WIDTH);
icyzkungz 0:f73c80b36c20 566 }
icyzkungz 0:f73c80b36c20 567
icyzkungz 4:16cadf26dbab 568 else if(option == 27) { //Set Maximum Hip Angle Range
icyzkungz 0:f73c80b36c20 569 do {
icyzkungz 0:f73c80b36c20 570 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 571 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 572 pc.printf("2) Right Side\n");
icyzkungz 3:b7a8a60085c1 573 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 574
icyzkungz 0:f73c80b36c20 575 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 576 pc.printf("Input Maximum Hip Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 577 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 578
icyzkungz 0:f73c80b36c20 579 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 580 pc.printf("\nMaximum Hip Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 581 bcom.setUpAngleRange(LEFT_SIDE,temp,Lmin.Hip);
icyzkungz 0:f73c80b36c20 582 Lmax.Hip = temp;
icyzkungz 0:f73c80b36c20 583 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 584
icyzkungz 0:f73c80b36c20 585 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 586 pc.printf("Input Maximum Hip Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 587 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 588
icyzkungz 0:f73c80b36c20 589 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 590 pc.printf("\nMaximum Hip Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 591 bcom.setUpAngleRange(RIGHT_SIDE,temp,Rmin.Hip);
icyzkungz 0:f73c80b36c20 592 Rmax.Hip = temp;
icyzkungz 0:f73c80b36c20 593 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 594 }
icyzkungz 0:f73c80b36c20 595 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 596 }
icyzkungz 0:f73c80b36c20 597
icyzkungz 4:16cadf26dbab 598 else if(option == 28) { //Set Minumum Hip Angle Range
icyzkungz 0:f73c80b36c20 599 do {
icyzkungz 0:f73c80b36c20 600 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 601 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 602 pc.printf("2) Right Side\n");
icyzkungz 3:b7a8a60085c1 603 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 604
icyzkungz 0:f73c80b36c20 605 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 606 pc.printf("Input Minumum Hip Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 607 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 608
icyzkungz 0:f73c80b36c20 609 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 610 pc.printf("\nMinumum Hip Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 611 bcom.setLowAngleRange(LEFT_SIDE,Lmax.Hip,temp);
icyzkungz 0:f73c80b36c20 612 Lmin.Hip = temp;
icyzkungz 0:f73c80b36c20 613 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 614
icyzkungz 0:f73c80b36c20 615 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 616 pc.printf("Input Minumum Hip Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 617 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 618
icyzkungz 0:f73c80b36c20 619 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 620 pc.printf("\nMinumum Hip Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 621 bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Hip,temp);
icyzkungz 0:f73c80b36c20 622 Rmin.Hip = temp;
icyzkungz 0:f73c80b36c20 623 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 624 }
icyzkungz 0:f73c80b36c20 625 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 626 }
icyzkungz 0:f73c80b36c20 627
icyzkungz 0:f73c80b36c20 628
icyzkungz 4:16cadf26dbab 629 else if(option == 29) { //Set Maximum Knee Angle Range
icyzkungz 0:f73c80b36c20 630 do {
icyzkungz 0:f73c80b36c20 631 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 632 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 633 pc.printf("2) Right Side\n");
icyzkungz 3:b7a8a60085c1 634 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 635
icyzkungz 0:f73c80b36c20 636 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 637 pc.printf("Input Maximum Knee Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 638 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 639
icyzkungz 0:f73c80b36c20 640 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 641 pc.printf("\nMaximum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 642 bcom.setLowAngleRange(LEFT_SIDE,temp,Lmin.Knee);
icyzkungz 0:f73c80b36c20 643 Lmax.Knee = temp;
icyzkungz 0:f73c80b36c20 644 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 645
icyzkungz 0:f73c80b36c20 646 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 647 pc.printf("Input Maximum Knee Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 648 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 649
icyzkungz 0:f73c80b36c20 650 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 651 pc.printf("\nMaximum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 652 bcom.setLowAngleRange(RIGHT_SIDE,temp,Rmin.Knee);
icyzkungz 0:f73c80b36c20 653 Rmax.Knee = temp;
icyzkungz 0:f73c80b36c20 654 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 655 }
icyzkungz 0:f73c80b36c20 656 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 657 }
icyzkungz 0:f73c80b36c20 658
icyzkungz 4:16cadf26dbab 659 else if(option == 30) { //Set Minumum Knee Angle Range
icyzkungz 0:f73c80b36c20 660 do {
icyzkungz 0:f73c80b36c20 661 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 662 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 663 pc.printf("2) Right Side\n");
icyzkungz 3:b7a8a60085c1 664 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 665
icyzkungz 0:f73c80b36c20 666 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 667 pc.printf("Input Minumum Knee Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 668 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 669
icyzkungz 0:f73c80b36c20 670 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 671 pc.printf("\nMinumum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 672 bcom.setLowAngleRange(LEFT_SIDE,Lmax.Knee,temp);
icyzkungz 0:f73c80b36c20 673 Lmin.Knee = temp;
icyzkungz 0:f73c80b36c20 674 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 675
icyzkungz 0:f73c80b36c20 676 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 677 pc.printf("Input Minumum Knee Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 678 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 679
icyzkungz 0:f73c80b36c20 680 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 681 pc.printf("\nMinumum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 682 bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Knee,temp);
icyzkungz 0:f73c80b36c20 683 Rmin.Knee = temp;
icyzkungz 0:f73c80b36c20 684 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 685 }
icyzkungz 0:f73c80b36c20 686 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 687 }
icyzkungz 0:f73c80b36c20 688
icyzkungz 0:f73c80b36c20 689
icyzkungz 0:f73c80b36c20 690
icyzkungz 0:f73c80b36c20 691
icyzkungz 0:f73c80b36c20 692
icyzkungz 0:f73c80b36c20 693
icyzkungz 1:183e6088a1fa 694 else if(option == 40) {
icyzkungz 0:f73c80b36c20 695 pc.printf("Are You Sure ?\n");
icyzkungz 0:f73c80b36c20 696 pc.printf("\n1) Yes\n");
icyzkungz 0:f73c80b36c20 697 pc.printf("2) No\n");
icyzkungz 0:f73c80b36c20 698
icyzkungz 0:f73c80b36c20 699 pc.scanf("%d",&option);
icyzkungz 0:f73c80b36c20 700 if(option==1) {
icyzkungz 1:183e6088a1fa 701 option = 40;
icyzkungz 0:f73c80b36c20 702 pc.printf("Please Push Button Restart\n");
icyzkungz 0:f73c80b36c20 703 } else pc.printf("Return to Main Menu\n");
icyzkungz 0:f73c80b36c20 704
icyzkungz 0:f73c80b36c20 705 }
icyzkungz 0:f73c80b36c20 706
icyzkungz 0:f73c80b36c20 707
icyzkungz 2:d6be1c49d9d5 708 else { // if user has entered invalid choice
icyzkungz 1:183e6088a1fa 709 pc.printf("\nInvalid Option entered\n");
icyzkungz 0:f73c80b36c20 710 }
icyzkungz 2:d6be1c49d9d5 711 } while(option != 40);
icyzkungz 0:f73c80b36c20 712
icyzkungz 0:f73c80b36c20 713 }
icyzkungz 0:f73c80b36c20 714
soulx 6:4afac9a87b60 715
soulx 6:4afac9a87b60 716
icyzkungz 0:f73c80b36c20 717 int main()
icyzkungz 0:f73c80b36c20 718 {
icyzkungz 0:f73c80b36c20 719 pc.baud(115200);
icyzkungz 1:183e6088a1fa 720 pc.printf("Start\n");
soulx 6:4afac9a87b60 721
soulx 6:4afac9a87b60 722 sync_communicate.start();
soulx 6:4afac9a87b60 723
icyzkungz 1:183e6088a1fa 724 if(!button) {
icyzkungz 1:183e6088a1fa 725 while(!button);
icyzkungz 0:f73c80b36c20 726 SwMode();
icyzkungz 1:183e6088a1fa 727 }
icyzkungz 1:183e6088a1fa 728
icyzkungz 0:f73c80b36c20 729 }
icyzkungz 0:f73c80b36c20 730
soulx 6:4afac9a87b60 731
soulx 6:4afac9a87b60 732
icyzkungz 0:f73c80b36c20 733 /*int main()
icyzkungz 0:f73c80b36c20 734 {
icyzkungz 4:16cadf26dbab 735 pc.baud(105200);
icyzkungz 0:f73c80b36c20 736 int num;
icyzkungz 0:f73c80b36c20 737 do {
icyzkungz 0:f73c80b36c20 738 //float num;
icyzkungz 0:f73c80b36c20 739 //Float number --> Working
icyzkungz 0:f73c80b36c20 740 pc.printf("Start\n");
icyzkungz 0:f73c80b36c20 741 pc.scanf("%d",&num);
icyzkungz 0:f73c80b36c20 742 pc.printf("temp : %d\n",num);
icyzkungz 0:f73c80b36c20 743 if( num == 15 )
icyzkungz 0:f73c80b36c20 744 pc.printf("Yes\n");
icyzkungz 0:f73c80b36c20 745 pc.printf("End\n");
icyzkungz 0:f73c80b36c20 746 } while(num!=20);
icyzkungz 0:f73c80b36c20 747 }*/