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SwitchMode
Dependencies: BEAR_Protocol InverseLeg iSerial mbed
Fork of SwitchMode by
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?
User | Revision | Line number | New 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 | }*/ |