BE@R lab / Mbed 2 deprecated SwitchMode

SwitchMode

Dependencies:   BEAR_Protocol InverseLeg iSerial mbed

Fork of SwitchMode by Arsapol Manamunchaiyaporn

main.cpp@7:3935c7dcc9c5, 2016-01-28 (annotated)

Committer:
soulx
Date:
Thu Jan 28 15:23:43 2016 +0000
Revision:
7:3935c7dcc9c5
Parent:
6:4afac9a87b60
Child:
8:f17874479d80
boz edit

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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 64 pc.printf("*\t15) Ki : Right Knee [%f]\t\t*\n",temp[1]);
soulx 7:3935c7dcc9c5 65 pc.printf("*\t16) Kd : Right Knee [%f]\t\t*\n",temp[2]);
soulx 6:4afac9a87b60 66
soulx 6:4afac9a87b60 67 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 7:3935c7dcc9c5 68 sync_communicate.reset();
soulx 6:4afac9a87b60 69 bcom.getUpMargin(LEFT_SIDE,&temp[0]);
soulx 7:3935c7dcc9c5 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 7:3935c7dcc9c5 72 sync_communicate.reset();
soulx 6:4afac9a87b60 73 bcom.getLowMargin(LEFT_SIDE,&temp[0]);
soulx 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 93
soulx 6:4afac9a87b60 94 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 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 7:3935c7dcc9c5 113 sync_communicate.reset();
soulx 6:4afac9a87b60 114 bcom.getUpAngleRange(LEFT_SIDE,&temp[0],&temp[1]);
soulx 7:3935c7dcc9c5 115 bcom.getUpAngleRange(RIGHT_SIDE,&temp[2],&temp[3]);
soulx 7:3935c7dcc9c5 116 pc.printf("*\t27) Set Maximum Hip Angle Range \n");
soulx 7:3935c7dcc9c5 117 pc.printf("\tLeft Maximum Hip Angle Range [%f]\n",temp[0]);
soulx 7:3935c7dcc9c5 118 pc.printf("\tRight Maximum Hip Angle Range [%f]\n\n",temp[2]);
soulx 7:3935c7dcc9c5 119
soulx 7:3935c7dcc9c5 120 pc.printf("*\t28) Set Minimum Hip Angle Range \n");
soulx 7:3935c7dcc9c5 121 pc.printf("\tLeft Minimum Hip Angle Range [%f]\n",temp[1]);
soulx 7:3935c7dcc9c5 122 pc.printf("\tRight Minimum Hip Angle Range [%f]\n\n",temp[3]);
soulx 7:3935c7dcc9c5 123
soulx 6:4afac9a87b60 124 while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION);
soulx 7:3935c7dcc9c5 125 sync_communicate.reset();
soulx 7:3935c7dcc9c5 126 bcom.getLowAngleRange(LEFT_SIDE,&temp[0],&temp[1]);
soulx 7:3935c7dcc9c5 127 bcom.getLowAngleRange(RIGHT_SIDE,&temp[2],&temp[3]);
soulx 7:3935c7dcc9c5 128 pc.printf("*\t29) Set Maximum Knee Angle Range \n");
soulx 7:3935c7dcc9c5 129 pc.printf("\tLeft Maximum Knee Angle Range [%f]\n",temp[0]);
soulx 7:3935c7dcc9c5 130 pc.printf("\tRight Maximum Knee Angle Range [%f]\n\n",temp[2]);
soulx 7:3935c7dcc9c5 131
soulx 7:3935c7dcc9c5 132 pc.printf("*\t30) Set Minimum Knee Angle Range \n");
soulx 7:3935c7dcc9c5 133 pc.printf("\tLeft Minimum Knee Angle Range [%f]\n",temp[1]);
soulx 7:3935c7dcc9c5 134 pc.printf("\tRight Minimum Knee Angle Range [%f]\n\n",temp[3]);
soulx 6:4afac9a87b60 135
soulx 6:4afac9a87b60 136 pc.printf("*\t40) Exit Program \t\t\t*\n");
soulx 6:4afac9a87b60 137 pc.printf("************Don't Forget to Save Data************\n");
soulx 6:4afac9a87b60 138 // Prompting user to enter an option according to menu
soulx 6:4afac9a87b60 139 pc.printf("Please select an option : ");
soulx 6:4afac9a87b60 140
soulx 7:3935c7dcc9c5 141
soulx 6:4afac9a87b60 142 pc.scanf("%d",&option);
soulx 7:3935c7dcc9c5 143 if(sync_communicate.read_ms() >0x7FFFFF00) {
soulx 6:4afac9a87b60 144 sync_communicate.reset();
soulx 6:4afac9a87b60 145 }
soulx 6:4afac9a87b60 146 pc.printf("\n");
soulx 7:3935c7dcc9c5 147
soulx 7:3935c7dcc9c5 148
soulx 7:3935c7dcc9c5 149
soulx 6:4afac9a87b60 150 return option;
soulx 6:4afac9a87b60 151 }
soulx 6:4afac9a87b60 152
icyzkungz 0:f73c80b36c20 153 void SwMode()
icyzkungz 0:f73c80b36c20 154 {
icyzkungz 2:d6be1c49d9d5 155 int option;
icyzkungz 0:f73c80b36c20 156 float temp;
icyzkungz 0:f73c80b36c20 157 float LH,LK,RH,RK;
soulx 6:4afac9a87b60 158 //float LLink[2],RLink[2];
icyzkungz 3:b7a8a60085c1 159 float LLink0,LLink1,RLink0,RLink1;
icyzkungz 0:f73c80b36c20 160 struct max_ang {
icyzkungz 0:f73c80b36c20 161 float Hip;
icyzkungz 0:f73c80b36c20 162 float Knee;
icyzkungz 0:f73c80b36c20 163 };
icyzkungz 0:f73c80b36c20 164 struct min_ang {
icyzkungz 0:f73c80b36c20 165 float Hip;
icyzkungz 0:f73c80b36c20 166 float Knee;
icyzkungz 0:f73c80b36c20 167 };
icyzkungz 0:f73c80b36c20 168 max_ang Lmax,Lmin;
icyzkungz 0:f73c80b36c20 169 min_ang Rmax,Rmin;
icyzkungz 1:183e6088a1fa 170 Lmax.Knee = Lmax.Hip = Lmin.Knee = Lmin.Hip = Rmax.Knee = Rmax.Hip = Rmin.Knee = Rmin.Hip = 0;
icyzkungz 0:f73c80b36c20 171 bool a,b,c,d;
icyzkungz 0:f73c80b36c20 172 a = b = c = d = false;
icyzkungz 0:f73c80b36c20 173 float temp_LH=0,temp_LK=0,temp_RH=0,temp_RK=0;
icyzkungz 2:d6be1c49d9d5 174 do {
soulx 6:4afac9a87b60 175 //float buff;
icyzkungz 4:16cadf26dbab 176
soulx 6:4afac9a87b60 177 option = show_menu();
icyzkungz 0:f73c80b36c20 178
icyzkungz 0:f73c80b36c20 179
icyzkungz 0:f73c80b36c20 180 if(option == 1)// Left Hip
icyzkungz 0:f73c80b36c20 181 do {
icyzkungz 0:f73c80b36c20 182 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 183 //Send Position to Motor
icyzkungz 0:f73c80b36c20 184 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 185 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 186 if(temp!=9999) {
icyzkungz 0:f73c80b36c20 187 LH = temp;
icyzkungz 0:f73c80b36c20 188 pc.printf("Move Left Hip Motor to %f Degree\n",LH);
icyzkungz 0:f73c80b36c20 189
icyzkungz 0:f73c80b36c20 190 bcom.setMotorPos(LEFT_SIDE,LH,temp_LK);
icyzkungz 0:f73c80b36c20 191 temp_LH = LH;
icyzkungz 0:f73c80b36c20 192
icyzkungz 0:f73c80b36c20 193 /********************Save Data*********************/
soulx 6:4afac9a87b60 194 } //else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 0:f73c80b36c20 195
icyzkungz 0:f73c80b36c20 196 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 197
icyzkungz 0:f73c80b36c20 198 else if(option == 2) //Left Knee
icyzkungz 0:f73c80b36c20 199 do {
icyzkungz 0:f73c80b36c20 200 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 201
icyzkungz 0:f73c80b36c20 202 //Send Position to Motor
icyzkungz 0:f73c80b36c20 203 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 204 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 205 if(temp!=9999) {
icyzkungz 0:f73c80b36c20 206 LK = temp;
icyzkungz 0:f73c80b36c20 207 pc.printf("Move Left Knee Motor to %f Degree\n",LK);
icyzkungz 0:f73c80b36c20 208
icyzkungz 0:f73c80b36c20 209 bcom.setMotorPos(LEFT_SIDE,temp_LH,LK);
icyzkungz 0:f73c80b36c20 210 temp_LK = LK;
icyzkungz 0:f73c80b36c20 211
icyzkungz 0:f73c80b36c20 212
icyzkungz 0:f73c80b36c20 213 /********************Save Data*********************/
soulx 6:4afac9a87b60 214 } //else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 0:f73c80b36c20 215
icyzkungz 0:f73c80b36c20 216 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 217
icyzkungz 0:f73c80b36c20 218
icyzkungz 0:f73c80b36c20 219 else if(option == 3) { //Right Hip
icyzkungz 0:f73c80b36c20 220 do {
icyzkungz 0:f73c80b36c20 221 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 222
icyzkungz 0:f73c80b36c20 223 //Send Position to Motor
icyzkungz 0:f73c80b36c20 224 pc.printf("Input Degree : \n");
soulx 7:3935c7dcc9c5 225 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 226 if(temp!=9999) {
icyzkungz 0:f73c80b36c20 227 RH = temp;
icyzkungz 0:f73c80b36c20 228 pc.printf("Move Right Hip Motor to %f Degree\n",RH);
icyzkungz 0:f73c80b36c20 229
icyzkungz 0:f73c80b36c20 230 bcom.setMotorPos(RIGHT_SIDE,RH,temp_RK);
icyzkungz 0:f73c80b36c20 231 temp_RH = RH;
icyzkungz 0:f73c80b36c20 232
icyzkungz 0:f73c80b36c20 233
icyzkungz 0:f73c80b36c20 234 /********************Save Data*********************/
soulx 6:4afac9a87b60 235 } //else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 0:f73c80b36c20 236
icyzkungz 0:f73c80b36c20 237 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 238
icyzkungz 0:f73c80b36c20 239 } else if(option == 4) { //Right Knee
icyzkungz 0:f73c80b36c20 240 do {
icyzkungz 0:f73c80b36c20 241 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 242
icyzkungz 0:f73c80b36c20 243 //Send Position to Motor
icyzkungz 0:f73c80b36c20 244 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 245 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 246
icyzkungz 0:f73c80b36c20 247 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 248 RK = temp;
icyzkungz 0:f73c80b36c20 249 pc.printf("Move Right Knee Motor to %f Degree\n",RK);
icyzkungz 0:f73c80b36c20 250
icyzkungz 0:f73c80b36c20 251 bcom.setMotorPos(RIGHT_SIDE,temp_RH,RK);
icyzkungz 0:f73c80b36c20 252 temp_RK = RK;
icyzkungz 0:f73c80b36c20 253
icyzkungz 0:f73c80b36c20 254
icyzkungz 0:f73c80b36c20 255 /********************Save Data*********************/
soulx 6:4afac9a87b60 256 } //else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 0:f73c80b36c20 257
icyzkungz 0:f73c80b36c20 258 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 259
icyzkungz 0:f73c80b36c20 260 } else if(option == 5) { //Left Hip
icyzkungz 0:f73c80b36c20 261 do {
icyzkungz 0:f73c80b36c20 262 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 263 pc.printf("\nInput Kp of Left Hip\n");
icyzkungz 0:f73c80b36c20 264 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 265
icyzkungz 0:f73c80b36c20 266 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 267 pc.printf("\nChange Kp of Left Hip to %f",temp);
icyzkungz 0:f73c80b36c20 268
icyzkungz 0:f73c80b36c20 269 bcom.setUpMotorKp(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 270 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 271
icyzkungz 0:f73c80b36c20 272 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 273
icyzkungz 0:f73c80b36c20 274 } else if(option == 6) { //Left Hip
icyzkungz 0:f73c80b36c20 275 do {
icyzkungz 0:f73c80b36c20 276 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 277 pc.printf("\nInput Ki of Left Hip\n");
icyzkungz 0:f73c80b36c20 278 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 279
icyzkungz 0:f73c80b36c20 280 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 281 pc.printf("\nChange Ki of Left Hip to %f",temp);
icyzkungz 0:f73c80b36c20 282
icyzkungz 0:f73c80b36c20 283 bcom.setUpMotorKi(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 284 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 285
icyzkungz 0:f73c80b36c20 286 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 287
icyzkungz 0:f73c80b36c20 288 } else if(option == 7) { //Left Hip
icyzkungz 0:f73c80b36c20 289 do {
icyzkungz 0:f73c80b36c20 290 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 291 pc.printf("\nInput Kd of Left Hip\n");
icyzkungz 0:f73c80b36c20 292 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 293
icyzkungz 0:f73c80b36c20 294 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 295 pc.printf("\nChange Kd of Left Hip to %f",temp);
icyzkungz 0:f73c80b36c20 296
icyzkungz 0:f73c80b36c20 297 bcom.setUpMotorKd(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 298 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 299
icyzkungz 0:f73c80b36c20 300 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 301
icyzkungz 4:16cadf26dbab 302 } else if(option == 8) { //Left Knee
icyzkungz 0:f73c80b36c20 303 do {
icyzkungz 0:f73c80b36c20 304 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 305 pc.printf("\nInput Kp of Left Knee\n");
icyzkungz 0:f73c80b36c20 306 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 307
icyzkungz 0:f73c80b36c20 308 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 309 pc.printf("\nChange Kp of Left Knee to %f",temp);
icyzkungz 0:f73c80b36c20 310
icyzkungz 0:f73c80b36c20 311 bcom.setLowMotorKp(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 312 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 313
icyzkungz 0:f73c80b36c20 314 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 315
icyzkungz 4:16cadf26dbab 316 } else if(option == 9) { //Left Knee
icyzkungz 0:f73c80b36c20 317 do {
icyzkungz 0:f73c80b36c20 318 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 319 pc.printf("\nInput Ki of Left Knee\n");
icyzkungz 0:f73c80b36c20 320 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 321
icyzkungz 0:f73c80b36c20 322 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 323 pc.printf("\nChange Ki of Left Knee to %f",temp);
icyzkungz 0:f73c80b36c20 324
icyzkungz 0:f73c80b36c20 325 bcom.setLowMotorKi(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 326 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 327
icyzkungz 0:f73c80b36c20 328 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 329
icyzkungz 4:16cadf26dbab 330 } else if(option == 10) { //Left Knee
icyzkungz 0:f73c80b36c20 331 do {
icyzkungz 0:f73c80b36c20 332 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 333 pc.printf("\nInput Kd of Left Knee\n");
icyzkungz 0:f73c80b36c20 334 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 335
icyzkungz 0:f73c80b36c20 336 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 337 pc.printf("\nChange Kd of Left Knee to %f",temp);
icyzkungz 0:f73c80b36c20 338
icyzkungz 0:f73c80b36c20 339 bcom.setLowMotorKd(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 340 } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 341
icyzkungz 0:f73c80b36c20 342 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 343
icyzkungz 0:f73c80b36c20 344
icyzkungz 4:16cadf26dbab 345 } else if(option == 11) { //Right Hip
icyzkungz 0:f73c80b36c20 346 do {
icyzkungz 0:f73c80b36c20 347 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 348 pc.printf("\nInput Kp of Right Hip\n");
icyzkungz 0:f73c80b36c20 349 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 350
icyzkungz 0:f73c80b36c20 351 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 352 pc.printf("\nChange Kp of Right Hip to %f",temp);
icyzkungz 0:f73c80b36c20 353
icyzkungz 0:f73c80b36c20 354 bcom.setUpMotorKp(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 355 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 356
icyzkungz 0:f73c80b36c20 357 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 358
icyzkungz 4:16cadf26dbab 359 } else if(option == 12) { //Right Hip
icyzkungz 0:f73c80b36c20 360 do {
icyzkungz 0:f73c80b36c20 361 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 362 pc.printf("\nInput Ki of Right Hip\n");
icyzkungz 0:f73c80b36c20 363 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 364
icyzkungz 0:f73c80b36c20 365 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 366 pc.printf("\nChange Ki of Right Hip to %f",temp);
icyzkungz 0:f73c80b36c20 367
icyzkungz 0:f73c80b36c20 368 bcom.setUpMotorKi(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 369 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 370
icyzkungz 0:f73c80b36c20 371 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 372
icyzkungz 4:16cadf26dbab 373 } else if(option == 13) { //Right Hip
icyzkungz 0:f73c80b36c20 374 do {
icyzkungz 0:f73c80b36c20 375 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 376 pc.printf("\nInput Kd of Right Hip\n");
icyzkungz 0:f73c80b36c20 377 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 378
icyzkungz 0:f73c80b36c20 379 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 380 pc.printf("\nChange Kd of Right Hip to %f",temp);
icyzkungz 0:f73c80b36c20 381
icyzkungz 0:f73c80b36c20 382 bcom.setUpMotorKd(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 383 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 384
icyzkungz 0:f73c80b36c20 385 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 386
icyzkungz 0:f73c80b36c20 387
icyzkungz 4:16cadf26dbab 388 } else if(option == 14) { //Right Knee
icyzkungz 0:f73c80b36c20 389 do {
icyzkungz 0:f73c80b36c20 390 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 391 pc.printf("\nInput Kp of Right Knee\n");
icyzkungz 0:f73c80b36c20 392 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 393
icyzkungz 0:f73c80b36c20 394 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 395 pc.printf("\nChange Kp of Right Knee to %f",temp);
icyzkungz 0:f73c80b36c20 396
icyzkungz 0:f73c80b36c20 397 bcom.setLowMotorKp(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 398 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 399
icyzkungz 0:f73c80b36c20 400 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 401
icyzkungz 4:16cadf26dbab 402 } else if(option == 15) { //Right Knee
icyzkungz 0:f73c80b36c20 403 do {
icyzkungz 0:f73c80b36c20 404 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 405 pc.printf("\nInput Ki of Right Knee\n");
icyzkungz 0:f73c80b36c20 406 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 407
icyzkungz 0:f73c80b36c20 408 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 409 pc.printf("\nChange Ki of Right Knee to %f Degree\n",temp);
icyzkungz 0:f73c80b36c20 410
icyzkungz 0:f73c80b36c20 411 bcom.setLowMotorKi(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 412 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 413
icyzkungz 0:f73c80b36c20 414 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 415
icyzkungz 4:16cadf26dbab 416 } else if(option == 16) { //Right Knee
icyzkungz 0:f73c80b36c20 417 do {
icyzkungz 0:f73c80b36c20 418 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 419 pc.printf("\nInput Kd of Right Knee\n");
icyzkungz 0:f73c80b36c20 420 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 421
icyzkungz 0:f73c80b36c20 422 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 423 pc.printf("\nChange Kd of Right Knee to %f",temp);
icyzkungz 0:f73c80b36c20 424
icyzkungz 0:f73c80b36c20 425 bcom.setLowMotorKd(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 426 } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 427
icyzkungz 0:f73c80b36c20 428 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 429
icyzkungz 0:f73c80b36c20 430
icyzkungz 4:16cadf26dbab 431 } else if(option == 17) { //Left Hip Margin
icyzkungz 0:f73c80b36c20 432 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 433 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 434 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 435
icyzkungz 0:f73c80b36c20 436 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 437 pc.printf("\nChange Left Hip Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 438 bcom.setUpMargin(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 439 } //else
soulx 6:4afac9a87b60 440 bcom.saveDataToEEPROM(LEFT_SIDE,UP_MARGIN);
icyzkungz 0:f73c80b36c20 441 }
icyzkungz 0:f73c80b36c20 442
icyzkungz 4:16cadf26dbab 443 else if(option == 18) { //Left Knee Margin
icyzkungz 0:f73c80b36c20 444 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 445 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 446 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 447
icyzkungz 0:f73c80b36c20 448 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 449 pc.printf("\nChange Left Knee Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 450 bcom.setLowMargin(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 451 } //else
soulx 6:4afac9a87b60 452 bcom.saveDataToEEPROM(LEFT_SIDE,LOW_MARGIN);
icyzkungz 0:f73c80b36c20 453 }
icyzkungz 0:f73c80b36c20 454
icyzkungz 4:16cadf26dbab 455 else if(option == 19) { //Right Hip 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 Hip Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 462 bcom.setUpMargin(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 463 } //else
soulx 7:3935c7dcc9c5 464 bcom.saveDataToEEPROM(RIGHT_SIDE,UP_MARGIN);
icyzkungz 0:f73c80b36c20 465 }
icyzkungz 0:f73c80b36c20 466
icyzkungz 4:16cadf26dbab 467 else if(option == 20) { //Right Knee Margin
icyzkungz 0:f73c80b36c20 468 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 469 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 470 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 471
icyzkungz 0:f73c80b36c20 472 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 473 pc.printf("\nChange Right Knee Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 474 bcom.setLowMargin(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 475 } //else
soulx 7:3935c7dcc9c5 476 bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_MARGIN);
icyzkungz 0:f73c80b36c20 477 }
icyzkungz 0:f73c80b36c20 478
icyzkungz 4:16cadf26dbab 479 else if(option == 21) { //Lenght of Left Link Hip
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 Hip\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 Hip = %f\n",temp);
icyzkungz 3:b7a8a60085c1 486 LLink0 = temp;
icyzkungz 3:b7a8a60085c1 487 a = true;
icyzkungz 3:b7a8a60085c1 488 bcom.setUpLinkLength(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 489 } //else
soulx 7:3935c7dcc9c5 490 bcom.saveDataToEEPROM(LEFT_SIDE,UP_LINK_LENGTH);
icyzkungz 3:b7a8a60085c1 491 }
icyzkungz 3:b7a8a60085c1 492
icyzkungz 4:16cadf26dbab 493 else if(option == 22) { //Lenght of Left Link Knee
icyzkungz 3:b7a8a60085c1 494 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 3:b7a8a60085c1 495 pc.printf("Input Lenght of Left Link Knee\n");
icyzkungz 3:b7a8a60085c1 496 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 497
icyzkungz 3:b7a8a60085c1 498 if(temp != 9999) {
icyzkungz 3:b7a8a60085c1 499 pc.printf("\nLenght of Left Link Knee = %f\n",temp);
icyzkungz 3:b7a8a60085c1 500 LLink1 = temp;
icyzkungz 3:b7a8a60085c1 501 b = true;
icyzkungz 3:b7a8a60085c1 502 bcom.setLowLinkLength(LEFT_SIDE,temp);
soulx 7:3935c7dcc9c5 503 } //else
soulx 7:3935c7dcc9c5 504 bcom.saveDataToEEPROM(LEFT_SIDE,LOW_LINK_LENGTH);
icyzkungz 3:b7a8a60085c1 505 }
icyzkungz 3:b7a8a60085c1 506
icyzkungz 4:16cadf26dbab 507 else if(option == 23) { //Lenght of Right Link Hip
icyzkungz 3:b7a8a60085c1 508 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 3:b7a8a60085c1 509 pc.printf("Input Lenght of Right Link Hip\n");
icyzkungz 3:b7a8a60085c1 510 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 511
icyzkungz 3:b7a8a60085c1 512 if(temp != 9999) {
icyzkungz 3:b7a8a60085c1 513 pc.printf("\nLenght of Right Link Hip = %f\n",temp);
icyzkungz 3:b7a8a60085c1 514 RLink0 = temp;
icyzkungz 3:b7a8a60085c1 515 c = true;
icyzkungz 3:b7a8a60085c1 516 bcom.setUpLinkLength(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 517 } //else
soulx 7:3935c7dcc9c5 518 bcom.saveDataToEEPROM(RIGHT_SIDE,UP_LINK_LENGTH);
icyzkungz 3:b7a8a60085c1 519 }
icyzkungz 0:f73c80b36c20 520
icyzkungz 4:16cadf26dbab 521 else if(option == 24) { //Lenght of Right Link Knee
icyzkungz 3:b7a8a60085c1 522 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 3:b7a8a60085c1 523 pc.printf("Input Lenght of Right Link Knee\n");
icyzkungz 3:b7a8a60085c1 524 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 525
icyzkungz 3:b7a8a60085c1 526 if(temp != 9999) {
icyzkungz 3:b7a8a60085c1 527 pc.printf("\nLenght of Right Link Knee = %f\n",temp);
icyzkungz 3:b7a8a60085c1 528 RLink1 = temp;
icyzkungz 3:b7a8a60085c1 529 d = true;
icyzkungz 3:b7a8a60085c1 530 bcom.setLowLinkLength(RIGHT_SIDE,temp);
soulx 7:3935c7dcc9c5 531 } //else
soulx 7:3935c7dcc9c5 532 bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_LINK_LENGTH);
icyzkungz 0:f73c80b36c20 533 }
icyzkungz 0:f73c80b36c20 534
icyzkungz 4:16cadf26dbab 535 else if(option == 25) { //Offset
icyzkungz 3:b7a8a60085c1 536 if(a == true && b == true && c == true && d == true) {
icyzkungz 3:b7a8a60085c1 537 float LHipAngle,LKneeAngle;
icyzkungz 3:b7a8a60085c1 538 float RHipAngle,RKneeAngle;
soulx 7:3935c7dcc9c5 539
icyzkungz 4:16cadf26dbab 540 bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle);
icyzkungz 4:16cadf26dbab 541 wait_ms(90);
icyzkungz 4:16cadf26dbab 542 bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle);
icyzkungz 4:16cadf26dbab 543 wait_ms(90);
icyzkungz 0:f73c80b36c20 544
icyzkungz 3:b7a8a60085c1 545 Left.set_Link_Hip(LLink0);
icyzkungz 3:b7a8a60085c1 546 Left.set_Link_Knee(LLink1);
icyzkungz 3:b7a8a60085c1 547 Left.set_Zeta_Hip(LHipAngle);
icyzkungz 3:b7a8a60085c1 548 Left.set_Zeta_Knee(LKneeAngle);
soulx 6:4afac9a87b60 549
icyzkungz 3:b7a8a60085c1 550 Right.set_Link_Hip(RLink0);
icyzkungz 3:b7a8a60085c1 551 Right.set_Link_Knee(RLink1);
icyzkungz 3:b7a8a60085c1 552 Right.set_Zeta_Hip(RHipAngle);
icyzkungz 3:b7a8a60085c1 553 Right.set_Zeta_Knee(RKneeAngle);
soulx 6:4afac9a87b60 554
icyzkungz 5:1e868598c7db 555 Left.ForwardKinematicCalculation();
icyzkungz 5:1e868598c7db 556 Right.ForwardKinematicCalculation();
icyzkungz 0:f73c80b36c20 557
icyzkungz 3:b7a8a60085c1 558 float offset_Y,offset_Z;
icyzkungz 3:b7a8a60085c1 559 float y1,y2,z1,z2;
icyzkungz 3:b7a8a60085c1 560 y1 = Left.get_Position_Y();
icyzkungz 3:b7a8a60085c1 561 y2 = Right.get_Position_Y();
icyzkungz 3:b7a8a60085c1 562 z1 = Left.get_Position_Z();
icyzkungz 3:b7a8a60085c1 563 z2 = Right.get_Position_Z();
icyzkungz 3:b7a8a60085c1 564 offset_Y = y1-y2;
icyzkungz 3:b7a8a60085c1 565 offset_Z = z1-z2;
icyzkungz 3:b7a8a60085c1 566
icyzkungz 3:b7a8a60085c1 567 bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z);
soulx 6:4afac9a87b60 568
icyzkungz 3:b7a8a60085c1 569 bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET);
icyzkungz 3:b7a8a60085c1 570
icyzkungz 3:b7a8a60085c1 571 } else {
icyzkungz 4:16cadf26dbab 572 pc.printf("\nYou have to do choice 21-23 first\n\n");
soulx 7:3935c7dcc9c5 573 wait(1);
icyzkungz 3:b7a8a60085c1 574 }
icyzkungz 0:f73c80b36c20 575 }
icyzkungz 0:f73c80b36c20 576
icyzkungz 4:16cadf26dbab 577 else if(option == 26) { //setBodyWidth
icyzkungz 3:b7a8a60085c1 578 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 3:b7a8a60085c1 579 pc.printf("Input Body Width\n");
icyzkungz 3:b7a8a60085c1 580 pc.scanf("%f",&temp);
icyzkungz 3:b7a8a60085c1 581 pc.printf("\nBody Lenght = %f\n",temp);
icyzkungz 3:b7a8a60085c1 582 bcom.setBodyWidth(LEFT_SIDE,temp);
icyzkungz 3:b7a8a60085c1 583 bcom.saveDataToEEPROM(LEFT_SIDE,BODY_WIDTH);
icyzkungz 0:f73c80b36c20 584 }
icyzkungz 0:f73c80b36c20 585
icyzkungz 4:16cadf26dbab 586 else if(option == 27) { //Set Maximum Hip Angle Range
icyzkungz 0:f73c80b36c20 587 do {
icyzkungz 0:f73c80b36c20 588 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 589 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 590 pc.printf("2) Right Side\n");
icyzkungz 3:b7a8a60085c1 591 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 592
icyzkungz 0:f73c80b36c20 593 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 594 pc.printf("Input Maximum Hip Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 595 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 596
icyzkungz 0:f73c80b36c20 597 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 598 pc.printf("\nMaximum Hip Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 599 bcom.setUpAngleRange(LEFT_SIDE,temp,Lmin.Hip);
icyzkungz 0:f73c80b36c20 600 Lmax.Hip = temp;
soulx 7:3935c7dcc9c5 601 } //else
soulx 7:3935c7dcc9c5 602 bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 603
icyzkungz 0:f73c80b36c20 604 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 605 pc.printf("Input Maximum Hip Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 606 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 607
icyzkungz 0:f73c80b36c20 608 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 609 pc.printf("\nMaximum Hip Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 610 bcom.setUpAngleRange(RIGHT_SIDE,temp,Rmin.Hip);
icyzkungz 0:f73c80b36c20 611 Rmax.Hip = temp;
soulx 7:3935c7dcc9c5 612 } //else
soulx 7:3935c7dcc9c5 613 bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 614 }
icyzkungz 0:f73c80b36c20 615 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 616 }
icyzkungz 0:f73c80b36c20 617
icyzkungz 4:16cadf26dbab 618 else if(option == 28) { //Set Minumum Hip Angle Range
icyzkungz 0:f73c80b36c20 619 do {
icyzkungz 0:f73c80b36c20 620 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 621 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 622 pc.printf("2) Right Side\n");
icyzkungz 3:b7a8a60085c1 623 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 624
icyzkungz 0:f73c80b36c20 625 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 626 pc.printf("Input Minumum Hip Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 627 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 628
icyzkungz 0:f73c80b36c20 629 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 630 pc.printf("\nMinumum Hip Angle Range of Left Side = %f\n",temp);
soulx 7:3935c7dcc9c5 631 bcom.setUpAngleRange(LEFT_SIDE,Lmax.Hip,temp);
icyzkungz 0:f73c80b36c20 632 Lmin.Hip = temp;
soulx 7:3935c7dcc9c5 633 } //else
soulx 7:3935c7dcc9c5 634 bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 635
icyzkungz 0:f73c80b36c20 636 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 637 pc.printf("Input Minumum Hip Angle Range of Right 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("\nMinumum Hip Angle Range of Right Side = %f\n",temp);
soulx 7:3935c7dcc9c5 642 bcom.setUpAngleRange(RIGHT_SIDE,Rmax.Hip,temp);
icyzkungz 0:f73c80b36c20 643 Rmin.Hip = temp;
soulx 7:3935c7dcc9c5 644 } //else
soulx 7:3935c7dcc9c5 645 bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 646 }
icyzkungz 0:f73c80b36c20 647 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 648 }
icyzkungz 0:f73c80b36c20 649
icyzkungz 0:f73c80b36c20 650
icyzkungz 4:16cadf26dbab 651 else if(option == 29) { //Set Maximum Knee Angle Range
icyzkungz 0:f73c80b36c20 652 do {
icyzkungz 0:f73c80b36c20 653 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 654 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 655 pc.printf("2) Right Side\n");
icyzkungz 3:b7a8a60085c1 656 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 657
icyzkungz 0:f73c80b36c20 658 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 659 pc.printf("Input Maximum Knee Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 660 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 661
icyzkungz 0:f73c80b36c20 662 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 663 pc.printf("\nMaximum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 664 bcom.setLowAngleRange(LEFT_SIDE,temp,Lmin.Knee);
icyzkungz 0:f73c80b36c20 665 Lmax.Knee = temp;
soulx 7:3935c7dcc9c5 666 } //else
soulx 7:3935c7dcc9c5 667 bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 668
icyzkungz 0:f73c80b36c20 669 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 670 pc.printf("Input Maximum Knee Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 671 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 672
icyzkungz 0:f73c80b36c20 673 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 674 pc.printf("\nMaximum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 675 bcom.setLowAngleRange(RIGHT_SIDE,temp,Rmin.Knee);
icyzkungz 0:f73c80b36c20 676 Rmax.Knee = temp;
soulx 7:3935c7dcc9c5 677 } //else
soulx 7:3935c7dcc9c5 678 bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 679 }
icyzkungz 0:f73c80b36c20 680 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 681 }
icyzkungz 0:f73c80b36c20 682
icyzkungz 4:16cadf26dbab 683 else if(option == 30) { //Set Minumum Knee Angle Range
icyzkungz 0:f73c80b36c20 684 do {
icyzkungz 0:f73c80b36c20 685 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 686 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 687 pc.printf("2) Right Side\n");
icyzkungz 3:b7a8a60085c1 688 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 689
icyzkungz 0:f73c80b36c20 690 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 691 pc.printf("Input Minumum Knee Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 692 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 693
icyzkungz 0:f73c80b36c20 694 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 695 pc.printf("\nMinumum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 696 bcom.setLowAngleRange(LEFT_SIDE,Lmax.Knee,temp);
icyzkungz 0:f73c80b36c20 697 Lmin.Knee = temp;
soulx 7:3935c7dcc9c5 698 } //else
soulx 7:3935c7dcc9c5 699 bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 700
icyzkungz 0:f73c80b36c20 701 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 702 pc.printf("Input Minumum Knee Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 703 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 704
icyzkungz 0:f73c80b36c20 705 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 706 pc.printf("\nMinumum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 707 bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Knee,temp);
icyzkungz 0:f73c80b36c20 708 Rmin.Knee = temp;
soulx 7:3935c7dcc9c5 709 } //else
soulx 7:3935c7dcc9c5 710 bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 711 }
icyzkungz 0:f73c80b36c20 712 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 713 }
icyzkungz 0:f73c80b36c20 714
icyzkungz 0:f73c80b36c20 715
icyzkungz 0:f73c80b36c20 716
icyzkungz 0:f73c80b36c20 717
icyzkungz 0:f73c80b36c20 718
icyzkungz 0:f73c80b36c20 719
icyzkungz 1:183e6088a1fa 720 else if(option == 40) {
icyzkungz 0:f73c80b36c20 721 pc.printf("Are You Sure ?\n");
icyzkungz 0:f73c80b36c20 722 pc.printf("\n1) Yes\n");
icyzkungz 0:f73c80b36c20 723 pc.printf("2) No\n");
icyzkungz 0:f73c80b36c20 724
icyzkungz 0:f73c80b36c20 725 pc.scanf("%d",&option);
icyzkungz 0:f73c80b36c20 726 if(option==1) {
icyzkungz 1:183e6088a1fa 727 option = 40;
icyzkungz 0:f73c80b36c20 728 pc.printf("Please Push Button Restart\n");
icyzkungz 0:f73c80b36c20 729 } else pc.printf("Return to Main Menu\n");
icyzkungz 0:f73c80b36c20 730
icyzkungz 0:f73c80b36c20 731 }
icyzkungz 0:f73c80b36c20 732
icyzkungz 0:f73c80b36c20 733
icyzkungz 2:d6be1c49d9d5 734 else { // if user has entered invalid choice
icyzkungz 1:183e6088a1fa 735 pc.printf("\nInvalid Option entered\n");
icyzkungz 0:f73c80b36c20 736 }
icyzkungz 2:d6be1c49d9d5 737 } while(option != 40);
icyzkungz 0:f73c80b36c20 738
icyzkungz 0:f73c80b36c20 739 }
icyzkungz 0:f73c80b36c20 740
soulx 6:4afac9a87b60 741
soulx 6:4afac9a87b60 742
icyzkungz 0:f73c80b36c20 743 int main()
icyzkungz 0:f73c80b36c20 744 {
icyzkungz 0:f73c80b36c20 745 pc.baud(115200);
icyzkungz 1:183e6088a1fa 746 pc.printf("Start\n");
soulx 7:3935c7dcc9c5 747
soulx 6:4afac9a87b60 748 sync_communicate.start();
soulx 7:3935c7dcc9c5 749
icyzkungz 1:183e6088a1fa 750 if(!button) {
icyzkungz 1:183e6088a1fa 751 while(!button);
icyzkungz 0:f73c80b36c20 752 SwMode();
icyzkungz 1:183e6088a1fa 753 }
icyzkungz 1:183e6088a1fa 754
icyzkungz 0:f73c80b36c20 755 }
icyzkungz 0:f73c80b36c20 756
soulx 6:4afac9a87b60 757
soulx 6:4afac9a87b60 758
icyzkungz 0:f73c80b36c20 759 /*int main()
icyzkungz 0:f73c80b36c20 760 {
icyzkungz 4:16cadf26dbab 761 pc.baud(105200);
icyzkungz 0:f73c80b36c20 762 int num;
icyzkungz 0:f73c80b36c20 763 do {
icyzkungz 0:f73c80b36c20 764 //float num;
icyzkungz 0:f73c80b36c20 765 //Float number --> Working
icyzkungz 0:f73c80b36c20 766 pc.printf("Start\n");
icyzkungz 0:f73c80b36c20 767 pc.scanf("%d",&num);
icyzkungz 0:f73c80b36c20 768 pc.printf("temp : %d\n",num);
icyzkungz 0:f73c80b36c20 769 if( num == 15 )
icyzkungz 0:f73c80b36c20 770 pc.printf("Yes\n");
icyzkungz 0:f73c80b36c20 771 pc.printf("End\n");
icyzkungz 0:f73c80b36c20 772 } while(num!=20);
icyzkungz 0:f73c80b36c20 773 }*/