BE@R lab
/
dog_V3_3_testmotor
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Dependencies: Communication_Robot QEI iSerial mbed motion_control
Fork of
dog_V3_2_testmotor
by 
BE@R lab
main.cpp@14:7fe99764b2d0, 2015-07-25 (annotated)
- Committer:
- soulx
- Date:
- Sat Jul 25 16:32:46 2015 +0000
- Revision:
- 14:7fe99764b2d0
- Parent:
- 13:218c22a620cc
- Child:
- 15:40ccb6433500
- Child:
- 16:ec0cba3631bc
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| soulx | 0:2433ddae2772 | 1 | #include "mbed.h" |
| soulx | 0:2433ddae2772 | 2 | #include "pin_config.h" |
| soulx | 0:2433ddae2772 | 3 | |
| soulx | 6:8d80c84e0c09 | 4 | #include "communication.h" |
| soulx | 6:8d80c84e0c09 | 5 | #include "protocol.h" |
| soulx | 11:336dd293daa1 | 6 | #include "iSerial.h" |
| soulx | 6:8d80c84e0c09 | 7 | |
| soulx | 10:53cb691e22bf | 8 | #include "motor_relay.h" |
| soulx | 10:53cb691e22bf | 9 | #include "motion_control.h" |
| soulx | 10:53cb691e22bf | 10 | |
| soulx | 14:7fe99764b2d0 | 11 | #include "QEI.h" |
| soulx | 14:7fe99764b2d0 | 12 | |
| soulx | 6:8d80c84e0c09 | 13 | //set frequancy unit in Hz |
| soulx | 6:8d80c84e0c09 | 14 | #define F_UPDATE 10.0f |
| soulx | 6:8d80c84e0c09 | 15 | #define TIMER_UPDATE 1.0f/F_UPDATE |
| soulx | 6:8d80c84e0c09 | 16 | |
| soulx | 6:8d80c84e0c09 | 17 | //counter not receive from station |
| soulx | 6:8d80c84e0c09 | 18 | #define TIMEOUT_RESPONE_COMMAND 5 |
| soulx | 10:53cb691e22bf | 19 | |
| soulx | 14:7fe99764b2d0 | 20 | // |
| soulx | 14:7fe99764b2d0 | 21 | #define PULSE_RESOLUTION 500 |
| soulx | 14:7fe99764b2d0 | 22 | |
| soulx | 10:53cb691e22bf | 23 | MOTION_CONTROL leg_left_upper(INA_L_U,INB_L_U,LIMIT_LU_U,LIMIT_LU_D,VR_LU); |
| soulx | 10:53cb691e22bf | 24 | MOTION_CONTROL leg_left_lower(INA_L_L,INB_L_L,LIMIT_LL_U,LIMIT_LL_D,VR_LL); |
| soulx | 10:53cb691e22bf | 25 | MOTION_CONTROL leg_right_upper(INA_R_U,INB_R_U,LIMIT_RU_U,LIMIT_RU_D,VR_RU); |
| soulx | 10:53cb691e22bf | 26 | MOTION_CONTROL leg_right_lower(INA_R_L,INB_R_L,LIMIT_RL_U,LIMIT_RL_D,VR_RL); |
| soulx | 10:53cb691e22bf | 27 | |
| soulx | 0:2433ddae2772 | 28 | DigitalOut myled(LED1); |
| soulx | 0:2433ddae2772 | 29 | DigitalIn mybutton(USER_BUTTON); |
| soulx | 0:2433ddae2772 | 30 | |
| soulx | 6:8d80c84e0c09 | 31 | //communication config |
| soulx | 6:8d80c84e0c09 | 32 | //serial for debug |
| soulx | 13:218c22a620cc | 33 | Serial pc(USBTX, USBRX); |
| soulx | 6:8d80c84e0c09 | 34 | //serial for xbee |
| soulx | 6:8d80c84e0c09 | 35 | COMMUNICATION pan_a(TX_XBEE, RX_XBEE,115200,1000,1000); // tx, rx |
| soulx | 0:2433ddae2772 | 36 | |
| soulx | 14:7fe99764b2d0 | 37 | QEI wheel (ENCODE_A, ENCODE_B, ENCODE_Z, PULSE_RESOLUTION); |
| soulx | 14:7fe99764b2d0 | 38 | |
| soulx | 11:336dd293daa1 | 39 | //Fuction prototye |
| soulx | 11:336dd293daa1 | 40 | void getCommand(); |
| soulx | 11:336dd293daa1 | 41 | // init function |
| soulx | 11:336dd293daa1 | 42 | void calibration(); |
| soulx | 11:336dd293daa1 | 43 | void test_position(); |
| soulx | 12:2564eac22e0a | 44 | void test_status(); |
| soulx | 14:7fe99764b2d0 | 45 | void test_sleep(); |
| soulx | 14:7fe99764b2d0 | 46 | void test_sit(); |
| soulx | 14:7fe99764b2d0 | 47 | void test_stand(); |
| soulx | 14:7fe99764b2d0 | 48 | |
| soulx | 12:2564eac22e0a | 49 | void test_limit(); |
| soulx | 12:2564eac22e0a | 50 | void test_motor(); |
| soulx | 0:2433ddae2772 | 51 | |
| soulx | 12:2564eac22e0a | 52 | void routine(); |
| soulx | 12:2564eac22e0a | 53 | |
| soulx | 13:218c22a620cc | 54 | void serial_control(); |
| soulx | 13:218c22a620cc | 55 | |
| soulx | 12:2564eac22e0a | 56 | void management(ANDANTE_PROTOCOL_PACKET *packet); |
| soulx | 0:2433ddae2772 | 57 | |
| soulx | 11:336dd293daa1 | 58 | void copy_data(ANDANTE_PROTOCOL_PACKET *scr, ANDANTE_PROTOCOL_PACKET *dst); |
| soulx | 0:2433ddae2772 | 59 | |
| soulx | 6:8d80c84e0c09 | 60 | |
| soulx | 6:8d80c84e0c09 | 61 | //set foreground |
| soulx | 6:8d80c84e0c09 | 62 | Ticker Update_command; |
| soulx | 6:8d80c84e0c09 | 63 | |
| soulx | 11:336dd293daa1 | 64 | Timer t; |
| soulx | 11:336dd293daa1 | 65 | |
| soulx | 12:2564eac22e0a | 66 | //struct |
| soulx | 12:2564eac22e0a | 67 | struct PARAM_WRITE { |
| soulx | 12:2564eac22e0a | 68 | uint16_t left_up; |
| soulx | 12:2564eac22e0a | 69 | uint16_t left_down; |
| soulx | 12:2564eac22e0a | 70 | uint16_t right_up; |
| soulx | 12:2564eac22e0a | 71 | uint16_t right_down; |
| soulx | 12:2564eac22e0a | 72 | }; |
| soulx | 12:2564eac22e0a | 73 | |
| soulx | 11:336dd293daa1 | 74 | //variable |
| soulx | 12:2564eac22e0a | 75 | //volatile ANDANTE_PROTOCOL_PACKET *param; |
| soulx | 11:336dd293daa1 | 76 | volatile uint8_t status=0; |
| soulx | 12:2564eac22e0a | 77 | //volatile PARAM_WRITE buff; |
| soulx | 12:2564eac22e0a | 78 | PARAM_WRITE buff; |
| soulx | 6:8d80c84e0c09 | 79 | |
| soulx | 13:218c22a620cc | 80 | int serial_data; |
| soulx | 13:218c22a620cc | 81 | |
| soulx | 0:2433ddae2772 | 82 | //Main function |
| soulx | 0:2433ddae2772 | 83 | int main() |
| soulx | 0:2433ddae2772 | 84 | { |
| soulx | 12:2564eac22e0a | 85 | //int state=0; |
| soulx | 12:2564eac22e0a | 86 | |
| soulx | 11:336dd293daa1 | 87 | pc.baud(115200); |
| soulx | 11:336dd293daa1 | 88 | pc.printf("Welcome to DOGWHEELSCHAIR\n"); |
| soulx | 12:2564eac22e0a | 89 | |
| soulx | 14:7fe99764b2d0 | 90 | buff.left_up = 63; |
| soulx | 14:7fe99764b2d0 | 91 | buff.right_up =63; |
| soulx | 14:7fe99764b2d0 | 92 | buff.left_down = 63; |
| soulx | 14:7fe99764b2d0 | 93 | buff.right_down = 63; |
| soulx | 12:2564eac22e0a | 94 | |
| soulx | 11:336dd293daa1 | 95 | if(mybutton == 0) { |
| soulx | 11:336dd293daa1 | 96 | calibration(); |
| soulx | 11:336dd293daa1 | 97 | } else { |
| soulx | 11:336dd293daa1 | 98 | pc.printf("Lock position Min-Max..."); |
| soulx | 14:7fe99764b2d0 | 99 | leg_left_upper.SetMaxPosition(62787); |
| soulx | 14:7fe99764b2d0 | 100 | leg_left_upper.SetMinPosition(29353); |
| soulx | 11:336dd293daa1 | 101 | |
| soulx | 14:7fe99764b2d0 | 102 | leg_left_lower.SetMaxPosition(57000); |
| soulx | 14:7fe99764b2d0 | 103 | leg_left_lower.SetMinPosition(8200); |
| soulx | 11:336dd293daa1 | 104 | |
| soulx | 14:7fe99764b2d0 | 105 | leg_right_upper.SetMaxPosition(43494); |
| soulx | 14:7fe99764b2d0 | 106 | leg_right_upper.SetMinPosition(12028); |
| soulx | 11:336dd293daa1 | 107 | |
| soulx | 14:7fe99764b2d0 | 108 | leg_right_lower.SetMaxPosition(53383); |
| soulx | 14:7fe99764b2d0 | 109 | leg_right_lower.SetMinPosition(12584); |
| soulx | 11:336dd293daa1 | 110 | pc.printf("pass\n"); |
| soulx | 11:336dd293daa1 | 111 | } |
| soulx | 11:336dd293daa1 | 112 | |
| soulx | 11:336dd293daa1 | 113 | Update_command.attach(&getCommand,TIMER_UPDATE); |
| soulx | 11:336dd293daa1 | 114 | |
| soulx | 13:218c22a620cc | 115 | serial_control(); |
| soulx | 13:218c22a620cc | 116 | //test_motor(); |
| soulx | 13:218c22a620cc | 117 | //test_limit(); |
| soulx | 12:2564eac22e0a | 118 | test_status(); |
| soulx | 12:2564eac22e0a | 119 | routine(); |
| soulx | 11:336dd293daa1 | 120 | } |
| soulx | 11:336dd293daa1 | 121 | |
| soulx | 11:336dd293daa1 | 122 | void getCommand() |
| soulx | 11:336dd293daa1 | 123 | { |
| soulx | 11:336dd293daa1 | 124 | static uint8_t count =0; |
| soulx | 11:336dd293daa1 | 125 | |
| soulx | 11:336dd293daa1 | 126 | ANDANTE_PROTOCOL_PACKET packet; |
| soulx | 11:336dd293daa1 | 127 | |
| soulx | 11:336dd293daa1 | 128 | uint8_t status = pan_a.receiveCommunicatePacket(&packet); |
| soulx | 11:336dd293daa1 | 129 | myled=0; |
| soulx | 11:336dd293daa1 | 130 | |
| soulx | 11:336dd293daa1 | 131 | if(status == ANDANTE_ERRBIT_NONE) { |
| soulx | 11:336dd293daa1 | 132 | if(count >2 && count <10) { |
| soulx | 11:336dd293daa1 | 133 | count--; |
| soulx | 11:336dd293daa1 | 134 | } else { |
| soulx | 11:336dd293daa1 | 135 | count=0; |
| soulx | 5:f07cbb5a86c3 | 136 | } |
| soulx | 11:336dd293daa1 | 137 | |
| soulx | 11:336dd293daa1 | 138 | |
| soulx | 12:2564eac22e0a | 139 | //pan_a.sendCommunicatePacket(&packet); |
| soulx | 11:336dd293daa1 | 140 | |
| soulx | 11:336dd293daa1 | 141 | //update command |
| soulx | 11:336dd293daa1 | 142 | //setControl(&packet); |
| soulx | 11:336dd293daa1 | 143 | |
| soulx | 12:2564eac22e0a | 144 | |
| soulx | 11:336dd293daa1 | 145 | } else if(status == ANDANTE_ERRBIT_READ_TIMEOUT) { |
| soulx | 11:336dd293daa1 | 146 | count++; |
| soulx | 11:336dd293daa1 | 147 | } |
| soulx | 5:f07cbb5a86c3 | 148 | |
| soulx | 11:336dd293daa1 | 149 | if(count >= TIMEOUT_RESPONE_COMMAND) { |
| soulx | 11:336dd293daa1 | 150 | //stop robot |
| soulx | 11:336dd293daa1 | 151 | count++; |
| soulx | 11:336dd293daa1 | 152 | myled=1; |
| soulx | 11:336dd293daa1 | 153 | // setSpeedControl(0.0); |
| soulx | 11:336dd293daa1 | 154 | } |
| soulx | 11:336dd293daa1 | 155 | } |
| soulx | 0:2433ddae2772 | 156 | |
| soulx | 11:336dd293daa1 | 157 | void calibration() |
| soulx | 11:336dd293daa1 | 158 | { |
| soulx | 11:336dd293daa1 | 159 | //calibration |
| soulx | 11:336dd293daa1 | 160 | pc.printf("Calibration [START]\n"); |
| soulx | 11:336dd293daa1 | 161 | leg_left_upper.calibration(); |
| soulx | 11:336dd293daa1 | 162 | pc.printf("Left_UPPER\n"); |
| soulx | 11:336dd293daa1 | 163 | pc.printf("max_position = %d\n",leg_left_upper.GetMaxPosition()); |
| soulx | 11:336dd293daa1 | 164 | pc.printf("min_position = %d\n",leg_left_upper.GetMinPosition()); |
| soulx | 11:336dd293daa1 | 165 | leg_left_lower.calibration(); |
| soulx | 11:336dd293daa1 | 166 | pc.printf("Left_Lower\n"); |
| soulx | 11:336dd293daa1 | 167 | pc.printf("max_position = %d\n",leg_left_lower.GetMaxPosition()); |
| soulx | 11:336dd293daa1 | 168 | pc.printf("min_position = %d\n",leg_left_lower.GetMinPosition()); |
| soulx | 11:336dd293daa1 | 169 | leg_right_upper.calibration(); |
| soulx | 11:336dd293daa1 | 170 | pc.printf("right_UPPER\n"); |
| soulx | 11:336dd293daa1 | 171 | pc.printf("max_position = %d\n",leg_right_upper.GetMaxPosition()); |
| soulx | 11:336dd293daa1 | 172 | pc.printf("min_position = %d\n",leg_right_upper.GetMinPosition()); |
| soulx | 11:336dd293daa1 | 173 | leg_right_lower.calibration(); |
| soulx | 11:336dd293daa1 | 174 | pc.printf("right_Lower\n"); |
| soulx | 11:336dd293daa1 | 175 | pc.printf("max_position = %d\n",leg_right_lower.GetMaxPosition()); |
| soulx | 11:336dd293daa1 | 176 | pc.printf("min_position = %d\n",leg_right_lower.GetMinPosition()); |
| soulx | 0:2433ddae2772 | 177 | |
| soulx | 11:336dd293daa1 | 178 | pc.printf("Calibration [FINISH]\n"); |
| soulx | 11:336dd293daa1 | 179 | pc.printf("RUN mode [START]\n"); |
| soulx | 11:336dd293daa1 | 180 | wait(1); |
| soulx | 11:336dd293daa1 | 181 | } |
| soulx | 11:336dd293daa1 | 182 | |
| soulx | 11:336dd293daa1 | 183 | void test_position() |
| soulx | 11:336dd293daa1 | 184 | { |
| soulx | 11:336dd293daa1 | 185 | uint8_t state; |
| soulx | 11:336dd293daa1 | 186 | do { |
| soulx | 10:53cb691e22bf | 187 | /* |
| soulx | 10:53cb691e22bf | 188 | state=0; |
| soulx | 10:53cb691e22bf | 189 | //leg_left_upper.position_control(500); |
| soulx | 10:53cb691e22bf | 190 | if(leg_left_lower.position_control(500) ==2) |
| soulx | 10:53cb691e22bf | 191 | state++; |
| soulx | 10:53cb691e22bf | 192 | if(leg_right_upper.position_control(500) == 2) |
| soulx | 10:53cb691e22bf | 193 | state++; |
| soulx | 10:53cb691e22bf | 194 | if(leg_right_lower.position_control(500) == 2) |
| soulx | 10:53cb691e22bf | 195 | state++; |
| soulx | 10:53cb691e22bf | 196 | */ |
| soulx | 10:53cb691e22bf | 197 | state = leg_left_upper.position_control(32); |
| soulx | 10:53cb691e22bf | 198 | pc.printf("state_lu %d\n",state); |
| soulx | 10:53cb691e22bf | 199 | state = leg_left_lower.position_control(32); |
| soulx | 10:53cb691e22bf | 200 | pc.printf("state_ll %d\n",state); |
| soulx | 10:53cb691e22bf | 201 | state = leg_right_upper.position_control(32); |
| soulx | 10:53cb691e22bf | 202 | pc.printf("state_ru %d\n",state); |
| soulx | 11:336dd293daa1 | 203 | state = leg_right_lower.position_control(32); |
| soulx | 10:53cb691e22bf | 204 | pc.printf("state_rl %d\n",state); |
| soulx | 10:53cb691e22bf | 205 | state=0; |
| soulx | 11:336dd293daa1 | 206 | } while(state != 2); |
| soulx | 10:53cb691e22bf | 207 | pc.printf("[Finish test]\n"); |
| soulx | 12:2564eac22e0a | 208 | } |
| soulx | 12:2564eac22e0a | 209 | |
| soulx | 12:2564eac22e0a | 210 | void test_status() |
| soulx | 14:7fe99764b2d0 | 211 | { |
| soulx | 12:2564eac22e0a | 212 | uint16_t state=0; |
| soulx | 13:218c22a620cc | 213 | pc.printf("Test_status\n"); |
| soulx | 12:2564eac22e0a | 214 | t.start(); |
| soulx | 12:2564eac22e0a | 215 | while(1) { |
| soulx | 12:2564eac22e0a | 216 | |
| soulx | 13:218c22a620cc | 217 | if(pc.readable() == 1) { |
| soulx | 13:218c22a620cc | 218 | serial_data = pc.getc(); |
| soulx | 13:218c22a620cc | 219 | } |
| soulx | 12:2564eac22e0a | 220 | |
| soulx | 12:2564eac22e0a | 221 | if(t.read() > 10.0f) { |
| soulx | 12:2564eac22e0a | 222 | t.reset(); |
| soulx | 12:2564eac22e0a | 223 | if(status >3) { |
| soulx | 12:2564eac22e0a | 224 | status =0; |
| soulx | 12:2564eac22e0a | 225 | } else { |
| soulx | 12:2564eac22e0a | 226 | status++; |
| soulx | 12:2564eac22e0a | 227 | } |
| soulx | 12:2564eac22e0a | 228 | } |
| soulx | 12:2564eac22e0a | 229 | |
| soulx | 12:2564eac22e0a | 230 | if(status == 0) { |
| soulx | 12:2564eac22e0a | 231 | state =0; |
| soulx | 12:2564eac22e0a | 232 | // sleep |
| soulx | 12:2564eac22e0a | 233 | state += leg_left_upper.position_control(0); |
| soulx | 12:2564eac22e0a | 234 | state += leg_right_upper.position_control(0); |
| soulx | 12:2564eac22e0a | 235 | state += leg_left_lower.position_control(64); |
| soulx | 12:2564eac22e0a | 236 | state += leg_right_lower.position_control(64); |
| soulx | 12:2564eac22e0a | 237 | if(state == 8) { |
| soulx | 12:2564eac22e0a | 238 | myled=1; |
| soulx | 12:2564eac22e0a | 239 | } else { |
| soulx | 12:2564eac22e0a | 240 | myled=0; |
| soulx | 12:2564eac22e0a | 241 | } |
| soulx | 12:2564eac22e0a | 242 | } else if(status == 1 || status ==3) { |
| soulx | 12:2564eac22e0a | 243 | state =0; |
| soulx | 12:2564eac22e0a | 244 | // sit |
| soulx | 12:2564eac22e0a | 245 | state += leg_left_upper.position_control(64); |
| soulx | 12:2564eac22e0a | 246 | state += leg_right_upper.position_control(64); |
| soulx | 12:2564eac22e0a | 247 | state += leg_left_lower.position_control(64); |
| soulx | 12:2564eac22e0a | 248 | state += leg_right_lower.position_control(64); |
| soulx | 12:2564eac22e0a | 249 | if(state == 8) { |
| soulx | 12:2564eac22e0a | 250 | myled=1; |
| soulx | 12:2564eac22e0a | 251 | } else { |
| soulx | 12:2564eac22e0a | 252 | myled=0; |
| soulx | 12:2564eac22e0a | 253 | } |
| soulx | 12:2564eac22e0a | 254 | } else if(status == 2) { |
| soulx | 12:2564eac22e0a | 255 | state =0; |
| soulx | 12:2564eac22e0a | 256 | // stand |
| soulx | 12:2564eac22e0a | 257 | state += leg_left_upper.position_control(64); |
| soulx | 12:2564eac22e0a | 258 | state += leg_right_upper.position_control(64); |
| soulx | 12:2564eac22e0a | 259 | state += leg_left_lower.position_control(0); |
| soulx | 12:2564eac22e0a | 260 | state += leg_right_lower.position_control(0); |
| soulx | 12:2564eac22e0a | 261 | if(state == 8) { |
| soulx | 12:2564eac22e0a | 262 | myled=1; |
| soulx | 12:2564eac22e0a | 263 | } else { |
| soulx | 12:2564eac22e0a | 264 | myled=0; |
| soulx | 12:2564eac22e0a | 265 | } |
| soulx | 12:2564eac22e0a | 266 | } |
| soulx | 12:2564eac22e0a | 267 | } |
| soulx | 12:2564eac22e0a | 268 | //t.stop(); |
| soulx | 12:2564eac22e0a | 269 | } |
| soulx | 12:2564eac22e0a | 270 | |
| soulx | 12:2564eac22e0a | 271 | void management(ANDANTE_PROTOCOL_PACKET *packet) |
| soulx | 12:2564eac22e0a | 272 | { |
| soulx | 12:2564eac22e0a | 273 | switch(packet->instructionErrorId) { |
| soulx | 12:2564eac22e0a | 274 | case 0x01: |
| soulx | 12:2564eac22e0a | 275 | buff.left_up = Utilities::ConvertUInt8ArrayToInt16(packet->parameter); |
| soulx | 12:2564eac22e0a | 276 | break; |
| soulx | 12:2564eac22e0a | 277 | case 0x02: |
| soulx | 12:2564eac22e0a | 278 | buff.left_down = Utilities::ConvertUInt8ArrayToInt16(packet->parameter); |
| soulx | 12:2564eac22e0a | 279 | break; |
| soulx | 12:2564eac22e0a | 280 | case 0x03: |
| soulx | 12:2564eac22e0a | 281 | buff.right_up = Utilities::ConvertUInt8ArrayToInt16(packet->parameter); |
| soulx | 12:2564eac22e0a | 282 | break; |
| soulx | 12:2564eac22e0a | 283 | case 0x04: |
| soulx | 12:2564eac22e0a | 284 | buff.right_down = Utilities::ConvertUInt8ArrayToInt16(packet->parameter); |
| soulx | 12:2564eac22e0a | 285 | break; |
| soulx | 12:2564eac22e0a | 286 | } |
| soulx | 12:2564eac22e0a | 287 | } |
| soulx | 12:2564eac22e0a | 288 | |
| soulx | 12:2564eac22e0a | 289 | void routine() |
| soulx | 12:2564eac22e0a | 290 | { |
| soulx | 12:2564eac22e0a | 291 | uint8_t state=0; |
| soulx | 12:2564eac22e0a | 292 | // PARAM_WRITE pos = buff; |
| soulx | 12:2564eac22e0a | 293 | while(1) { |
| soulx | 12:2564eac22e0a | 294 | state =0; |
| soulx | 12:2564eac22e0a | 295 | // sit |
| soulx | 12:2564eac22e0a | 296 | state += leg_left_upper.position_control(buff.left_up); |
| soulx | 12:2564eac22e0a | 297 | state += leg_right_upper.position_control(buff.right_up); |
| soulx | 12:2564eac22e0a | 298 | state += leg_left_lower.position_control(buff.left_down); |
| soulx | 12:2564eac22e0a | 299 | state += leg_right_lower.position_control(buff.right_down); |
| soulx | 12:2564eac22e0a | 300 | if(state == 8) { |
| soulx | 12:2564eac22e0a | 301 | myled=1; |
| soulx | 12:2564eac22e0a | 302 | } else { |
| soulx | 12:2564eac22e0a | 303 | myled=0; |
| soulx | 12:2564eac22e0a | 304 | } |
| soulx | 12:2564eac22e0a | 305 | } |
| soulx | 12:2564eac22e0a | 306 | } |
| soulx | 12:2564eac22e0a | 307 | |
| soulx | 12:2564eac22e0a | 308 | void test_limit() |
| soulx | 12:2564eac22e0a | 309 | { |
| soulx | 12:2564eac22e0a | 310 | pc.printf("TEST LIMIT ALL\n"); |
| soulx | 13:218c22a620cc | 311 | t.start(); |
| soulx | 14:7fe99764b2d0 | 312 | // while(1) { |
| soulx | 13:218c22a620cc | 313 | if(t.read() > 1.0f) { |
| soulx | 13:218c22a620cc | 314 | t.reset(); |
| soulx | 13:218c22a620cc | 315 | pc.printf("leftUP_limit_up = "); |
| soulx | 13:218c22a620cc | 316 | if(leg_left_upper.GetLimitUp() == 1) |
| soulx | 13:218c22a620cc | 317 | pc.printf("shot\n"); |
| soulx | 13:218c22a620cc | 318 | else |
| soulx | 13:218c22a620cc | 319 | pc.printf("open\n"); |
| soulx | 12:2564eac22e0a | 320 | |
| soulx | 13:218c22a620cc | 321 | pc.printf("leftUP_limit_down = "); |
| soulx | 13:218c22a620cc | 322 | if(leg_left_upper.GetLimitDown() == 1) |
| soulx | 13:218c22a620cc | 323 | pc.printf("shot\n"); |
| soulx | 13:218c22a620cc | 324 | else |
| soulx | 13:218c22a620cc | 325 | pc.printf("open\n"); |
| soulx | 12:2564eac22e0a | 326 | |
| soulx | 13:218c22a620cc | 327 | pc.printf("leftLOW_limit_up = "); |
| soulx | 13:218c22a620cc | 328 | if(leg_left_lower.GetLimitUp() == 1) |
| soulx | 13:218c22a620cc | 329 | pc.printf("shot\n"); |
| soulx | 13:218c22a620cc | 330 | else |
| soulx | 13:218c22a620cc | 331 | pc.printf("open\n"); |
| soulx | 12:2564eac22e0a | 332 | |
| soulx | 13:218c22a620cc | 333 | pc.printf("leftLow_limit_down = "); |
| soulx | 13:218c22a620cc | 334 | if(leg_left_lower.GetLimitDown() == 1) |
| soulx | 13:218c22a620cc | 335 | pc.printf("shot\n"); |
| soulx | 13:218c22a620cc | 336 | else |
| soulx | 13:218c22a620cc | 337 | pc.printf("open\n"); |
| soulx | 12:2564eac22e0a | 338 | |
| soulx | 12:2564eac22e0a | 339 | /////////////////////////////////////////////////////////////// |
| soulx | 13:218c22a620cc | 340 | pc.printf("rightUP_limit_up = "); |
| soulx | 13:218c22a620cc | 341 | if(leg_right_upper.GetLimitUp() == 1) |
| soulx | 13:218c22a620cc | 342 | pc.printf("shot\n"); |
| soulx | 13:218c22a620cc | 343 | else |
| soulx | 13:218c22a620cc | 344 | pc.printf("open\n"); |
| soulx | 12:2564eac22e0a | 345 | |
| soulx | 13:218c22a620cc | 346 | pc.printf("rightUP_limit_down = "); |
| soulx | 13:218c22a620cc | 347 | if(leg_right_upper.GetLimitDown() == 1) |
| soulx | 13:218c22a620cc | 348 | pc.printf("shot\n"); |
| soulx | 13:218c22a620cc | 349 | else |
| soulx | 13:218c22a620cc | 350 | pc.printf("open\n"); |
| soulx | 12:2564eac22e0a | 351 | |
| soulx | 13:218c22a620cc | 352 | pc.printf("rightLOW_limit_up = "); |
| soulx | 13:218c22a620cc | 353 | if(leg_right_lower.GetLimitUp() == 1) |
| soulx | 13:218c22a620cc | 354 | pc.printf("shot\n"); |
| soulx | 13:218c22a620cc | 355 | else |
| soulx | 13:218c22a620cc | 356 | pc.printf("open\n"); |
| soulx | 12:2564eac22e0a | 357 | |
| soulx | 13:218c22a620cc | 358 | pc.printf("rightLow_limit_down = "); |
| soulx | 13:218c22a620cc | 359 | if(leg_right_lower.GetLimitDown() == 1) |
| soulx | 13:218c22a620cc | 360 | pc.printf("shot\n"); |
| soulx | 13:218c22a620cc | 361 | else |
| soulx | 13:218c22a620cc | 362 | pc.printf("open\n"); |
| soulx | 12:2564eac22e0a | 363 | |
| soulx | 13:218c22a620cc | 364 | pc.printf("\n\n"); |
| soulx | 13:218c22a620cc | 365 | } |
| soulx | 14:7fe99764b2d0 | 366 | // } |
| soulx | 14:7fe99764b2d0 | 367 | t.stop(); |
| soulx | 12:2564eac22e0a | 368 | } |
| soulx | 12:2564eac22e0a | 369 | |
| soulx | 12:2564eac22e0a | 370 | void test_motor() |
| soulx | 12:2564eac22e0a | 371 | { |
| soulx | 12:2564eac22e0a | 372 | uint8_t state=0; |
| soulx | 12:2564eac22e0a | 373 | |
| soulx | 12:2564eac22e0a | 374 | pc.printf("TEST MOTOR DELAY\n"); |
| soulx | 12:2564eac22e0a | 375 | t.start(); |
| soulx | 12:2564eac22e0a | 376 | while(1) { |
| soulx | 12:2564eac22e0a | 377 | if(t.read() > 1.5f) { |
| soulx | 12:2564eac22e0a | 378 | t.reset(); |
| soulx | 12:2564eac22e0a | 379 | if(state >1) { |
| soulx | 12:2564eac22e0a | 380 | state =0; |
| soulx | 12:2564eac22e0a | 381 | } else { |
| soulx | 12:2564eac22e0a | 382 | state++; |
| soulx | 12:2564eac22e0a | 383 | } |
| soulx | 12:2564eac22e0a | 384 | } |
| soulx | 12:2564eac22e0a | 385 | |
| soulx | 12:2564eac22e0a | 386 | if(state ==0) { |
| soulx | 12:2564eac22e0a | 387 | leg_left_upper.limit_motor(1); |
| soulx | 12:2564eac22e0a | 388 | leg_right_upper.limit_motor(1); |
| soulx | 12:2564eac22e0a | 389 | leg_left_lower.limit_motor(1); |
| soulx | 12:2564eac22e0a | 390 | leg_right_lower.limit_motor(1); |
| soulx | 12:2564eac22e0a | 391 | } else { |
| soulx | 12:2564eac22e0a | 392 | { |
| soulx | 12:2564eac22e0a | 393 | leg_left_upper.limit_motor(2); |
| soulx | 12:2564eac22e0a | 394 | leg_right_upper.limit_motor(2); |
| soulx | 12:2564eac22e0a | 395 | leg_left_lower.limit_motor(2); |
| soulx | 12:2564eac22e0a | 396 | leg_right_lower.limit_motor(2); |
| soulx | 12:2564eac22e0a | 397 | } |
| soulx | 12:2564eac22e0a | 398 | } |
| soulx | 12:2564eac22e0a | 399 | } |
| soulx | 13:218c22a620cc | 400 | } |
| soulx | 13:218c22a620cc | 401 | |
| soulx | 13:218c22a620cc | 402 | void serial_control() |
| soulx | 13:218c22a620cc | 403 | { |
| soulx | 13:218c22a620cc | 404 | |
| soulx | 14:7fe99764b2d0 | 405 | uint16_t left_up=63; |
| soulx | 13:218c22a620cc | 406 | uint16_t left_down=0; |
| soulx | 14:7fe99764b2d0 | 407 | uint16_t right_up=63; |
| soulx | 13:218c22a620cc | 408 | uint16_t right_down=0; |
| soulx | 13:218c22a620cc | 409 | |
| soulx | 14:7fe99764b2d0 | 410 | uint16_t offset_ll=11400; |
| soulx | 14:7fe99764b2d0 | 411 | uint16_t offset_rl=17800; |
| soulx | 13:218c22a620cc | 412 | |
| soulx | 13:218c22a620cc | 413 | uint8_t state=0; |
| soulx | 13:218c22a620cc | 414 | |
| soulx | 13:218c22a620cc | 415 | t.start(); |
| soulx | 13:218c22a620cc | 416 | |
| soulx | 13:218c22a620cc | 417 | while(1) { |
| soulx | 13:218c22a620cc | 418 | if(pc.readable() == 1) { |
| soulx | 13:218c22a620cc | 419 | serial_data = pc.getc(); |
| soulx | 13:218c22a620cc | 420 | } |
| soulx | 13:218c22a620cc | 421 | |
| soulx | 13:218c22a620cc | 422 | switch(serial_data) { |
| soulx | 13:218c22a620cc | 423 | case 'q': |
| soulx | 14:7fe99764b2d0 | 424 | if(left_up >=63) { |
| soulx | 13:218c22a620cc | 425 | left_up= 63; |
| soulx | 13:218c22a620cc | 426 | } else { |
| soulx | 13:218c22a620cc | 427 | left_up++; |
| soulx | 13:218c22a620cc | 428 | } |
| soulx | 14:7fe99764b2d0 | 429 | serial_data=0; |
| soulx | 13:218c22a620cc | 430 | break; |
| soulx | 13:218c22a620cc | 431 | |
| soulx | 13:218c22a620cc | 432 | case 'a': |
| soulx | 14:7fe99764b2d0 | 433 | if(left_up >=63 || left_up <=0) { |
| soulx | 13:218c22a620cc | 434 | left_up= 0; |
| soulx | 13:218c22a620cc | 435 | } else { |
| soulx | 13:218c22a620cc | 436 | left_up--; |
| soulx | 13:218c22a620cc | 437 | } |
| soulx | 14:7fe99764b2d0 | 438 | serial_data=0; |
| soulx | 13:218c22a620cc | 439 | break; |
| soulx | 13:218c22a620cc | 440 | |
| soulx | 13:218c22a620cc | 441 | case 'z': |
| soulx | 14:7fe99764b2d0 | 442 | if(left_up >=53) { |
| soulx | 13:218c22a620cc | 443 | left_up= 63; |
| soulx | 13:218c22a620cc | 444 | } else { |
| soulx | 13:218c22a620cc | 445 | left_up+=10; |
| soulx | 13:218c22a620cc | 446 | } |
| soulx | 14:7fe99764b2d0 | 447 | serial_data=0; |
| soulx | 13:218c22a620cc | 448 | break; |
| soulx | 13:218c22a620cc | 449 | |
| soulx | 13:218c22a620cc | 450 | case 'Z': |
| soulx | 14:7fe99764b2d0 | 451 | if(left_up >=53 || left_up <=10) { |
| soulx | 13:218c22a620cc | 452 | left_up= 0; |
| soulx | 13:218c22a620cc | 453 | } else { |
| soulx | 13:218c22a620cc | 454 | left_up-=10; |
| soulx | 13:218c22a620cc | 455 | } |
| soulx | 14:7fe99764b2d0 | 456 | serial_data=0; |
| soulx | 13:218c22a620cc | 457 | break; |
| soulx | 13:218c22a620cc | 458 | |
| soulx | 13:218c22a620cc | 459 | case 'w': |
| soulx | 14:7fe99764b2d0 | 460 | if(left_down >=63) { |
| soulx | 13:218c22a620cc | 461 | left_down= 63; |
| soulx | 13:218c22a620cc | 462 | } else { |
| soulx | 13:218c22a620cc | 463 | left_down++; |
| soulx | 13:218c22a620cc | 464 | } |
| soulx | 14:7fe99764b2d0 | 465 | serial_data=0; |
| soulx | 13:218c22a620cc | 466 | break; |
| soulx | 13:218c22a620cc | 467 | |
| soulx | 13:218c22a620cc | 468 | case 's': |
| soulx | 14:7fe99764b2d0 | 469 | if(left_down >=63 || left_down <=0) { |
| soulx | 13:218c22a620cc | 470 | left_down= 0; |
| soulx | 13:218c22a620cc | 471 | } else { |
| soulx | 13:218c22a620cc | 472 | left_down--; |
| soulx | 13:218c22a620cc | 473 | } |
| soulx | 14:7fe99764b2d0 | 474 | serial_data=0; |
| soulx | 13:218c22a620cc | 475 | break; |
| soulx | 13:218c22a620cc | 476 | |
| soulx | 13:218c22a620cc | 477 | case 'x': |
| soulx | 14:7fe99764b2d0 | 478 | if(left_down >=53) { |
| soulx | 13:218c22a620cc | 479 | left_down= 63; |
| soulx | 13:218c22a620cc | 480 | } else { |
| soulx | 13:218c22a620cc | 481 | left_down+=10; |
| soulx | 13:218c22a620cc | 482 | } |
| soulx | 14:7fe99764b2d0 | 483 | serial_data=0; |
| soulx | 13:218c22a620cc | 484 | break; |
| soulx | 13:218c22a620cc | 485 | |
| soulx | 13:218c22a620cc | 486 | case 'X': |
| soulx | 14:7fe99764b2d0 | 487 | if(left_down >=53 || left_down <=10) { |
| soulx | 13:218c22a620cc | 488 | left_down= 0; |
| soulx | 13:218c22a620cc | 489 | } else { |
| soulx | 13:218c22a620cc | 490 | left_down-=10; |
| soulx | 13:218c22a620cc | 491 | } |
| soulx | 14:7fe99764b2d0 | 492 | serial_data=0; |
| soulx | 13:218c22a620cc | 493 | break; |
| soulx | 13:218c22a620cc | 494 | |
| soulx | 13:218c22a620cc | 495 | |
| soulx | 13:218c22a620cc | 496 | case 'e': |
| soulx | 14:7fe99764b2d0 | 497 | if(right_up >=63) { |
| soulx | 13:218c22a620cc | 498 | right_up= 63; |
| soulx | 13:218c22a620cc | 499 | } else { |
| soulx | 13:218c22a620cc | 500 | right_up++; |
| soulx | 13:218c22a620cc | 501 | } |
| soulx | 14:7fe99764b2d0 | 502 | serial_data=0; |
| soulx | 13:218c22a620cc | 503 | break; |
| soulx | 13:218c22a620cc | 504 | |
| soulx | 13:218c22a620cc | 505 | case 'd': |
| soulx | 14:7fe99764b2d0 | 506 | if(right_up >=63 || right_up <=0) { |
| soulx | 13:218c22a620cc | 507 | right_up= 0; |
| soulx | 13:218c22a620cc | 508 | } else { |
| soulx | 13:218c22a620cc | 509 | right_up--; |
| soulx | 13:218c22a620cc | 510 | } |
| soulx | 14:7fe99764b2d0 | 511 | serial_data=0; |
| soulx | 13:218c22a620cc | 512 | break; |
| soulx | 13:218c22a620cc | 513 | |
| soulx | 13:218c22a620cc | 514 | case 'c': |
| soulx | 14:7fe99764b2d0 | 515 | if(right_up >=53) { |
| soulx | 13:218c22a620cc | 516 | right_up= 63; |
| soulx | 13:218c22a620cc | 517 | } else { |
| soulx | 13:218c22a620cc | 518 | right_up+=10; |
| soulx | 13:218c22a620cc | 519 | } |
| soulx | 14:7fe99764b2d0 | 520 | serial_data=0; |
| soulx | 13:218c22a620cc | 521 | break; |
| soulx | 13:218c22a620cc | 522 | |
| soulx | 13:218c22a620cc | 523 | case 'C': |
| soulx | 14:7fe99764b2d0 | 524 | if(right_up >=53 || right_up <=10) { |
| soulx | 13:218c22a620cc | 525 | right_up= 0; |
| soulx | 13:218c22a620cc | 526 | } else { |
| soulx | 13:218c22a620cc | 527 | right_up-=10; |
| soulx | 13:218c22a620cc | 528 | } |
| soulx | 14:7fe99764b2d0 | 529 | serial_data=0; |
| soulx | 13:218c22a620cc | 530 | break; |
| soulx | 13:218c22a620cc | 531 | |
| soulx | 13:218c22a620cc | 532 | |
| soulx | 13:218c22a620cc | 533 | |
| soulx | 13:218c22a620cc | 534 | |
| soulx | 13:218c22a620cc | 535 | case 'r': |
| soulx | 14:7fe99764b2d0 | 536 | if(right_down >=63) { |
| soulx | 13:218c22a620cc | 537 | right_down= 63; |
| soulx | 13:218c22a620cc | 538 | } else { |
| soulx | 13:218c22a620cc | 539 | right_down++; |
| soulx | 13:218c22a620cc | 540 | } |
| soulx | 14:7fe99764b2d0 | 541 | serial_data=0; |
| soulx | 13:218c22a620cc | 542 | break; |
| soulx | 13:218c22a620cc | 543 | |
| soulx | 13:218c22a620cc | 544 | case 'f': |
| soulx | 14:7fe99764b2d0 | 545 | if(right_down >=63 || right_down <=0) { |
| soulx | 13:218c22a620cc | 546 | right_down= 0; |
| soulx | 13:218c22a620cc | 547 | } else { |
| soulx | 13:218c22a620cc | 548 | right_down--; |
| soulx | 13:218c22a620cc | 549 | } |
| soulx | 14:7fe99764b2d0 | 550 | serial_data=0; |
| soulx | 14:7fe99764b2d0 | 551 | |
| soulx | 13:218c22a620cc | 552 | break; |
| soulx | 13:218c22a620cc | 553 | |
| soulx | 13:218c22a620cc | 554 | case 'v': |
| soulx | 14:7fe99764b2d0 | 555 | if(right_down >=53) { |
| soulx | 13:218c22a620cc | 556 | right_down= 63; |
| soulx | 13:218c22a620cc | 557 | } else { |
| soulx | 13:218c22a620cc | 558 | right_down+=10; |
| soulx | 13:218c22a620cc | 559 | } |
| soulx | 14:7fe99764b2d0 | 560 | serial_data=0; |
| soulx | 14:7fe99764b2d0 | 561 | |
| soulx | 13:218c22a620cc | 562 | break; |
| soulx | 13:218c22a620cc | 563 | |
| soulx | 13:218c22a620cc | 564 | case 'V': |
| soulx | 14:7fe99764b2d0 | 565 | if(right_down >=53 || right_down <=10) { |
| soulx | 13:218c22a620cc | 566 | right_down= 0; |
| soulx | 13:218c22a620cc | 567 | } else { |
| soulx | 13:218c22a620cc | 568 | right_down-=10; |
| soulx | 13:218c22a620cc | 569 | } |
| soulx | 14:7fe99764b2d0 | 570 | serial_data=0; |
| soulx | 13:218c22a620cc | 571 | break; |
| soulx | 13:218c22a620cc | 572 | |
| soulx | 13:218c22a620cc | 573 | case 'p': |
| soulx | 13:218c22a620cc | 574 | test_status(); |
| soulx | 13:218c22a620cc | 575 | break; |
| soulx | 13:218c22a620cc | 576 | |
| soulx | 14:7fe99764b2d0 | 577 | case '7': |
| soulx | 14:7fe99764b2d0 | 578 | test_sleep(); |
| soulx | 14:7fe99764b2d0 | 579 | break; |
| soulx | 14:7fe99764b2d0 | 580 | |
| soulx | 14:7fe99764b2d0 | 581 | case '8': |
| soulx | 14:7fe99764b2d0 | 582 | test_sit(); |
| soulx | 14:7fe99764b2d0 | 583 | break; |
| soulx | 14:7fe99764b2d0 | 584 | |
| soulx | 14:7fe99764b2d0 | 585 | case '9': |
| soulx | 14:7fe99764b2d0 | 586 | test_stand(); |
| soulx | 14:7fe99764b2d0 | 587 | break; |
| soulx | 14:7fe99764b2d0 | 588 | |
| soulx | 13:218c22a620cc | 589 | case 'y': |
| soulx | 13:218c22a620cc | 590 | if(offset_ll > 30000) { |
| soulx | 13:218c22a620cc | 591 | offset_ll =30000; |
| soulx | 13:218c22a620cc | 592 | } else { |
| soulx | 13:218c22a620cc | 593 | |
| soulx | 13:218c22a620cc | 594 | offset_ll+=100; |
| soulx | 13:218c22a620cc | 595 | } |
| soulx | 13:218c22a620cc | 596 | leg_left_lower.SetOffset(offset_ll); |
| soulx | 14:7fe99764b2d0 | 597 | serial_data=0; |
| soulx | 13:218c22a620cc | 598 | break; |
| soulx | 13:218c22a620cc | 599 | |
| soulx | 13:218c22a620cc | 600 | case 'h': |
| soulx | 13:218c22a620cc | 601 | if(offset_ll <= 100) { |
| soulx | 13:218c22a620cc | 602 | offset_ll =0; |
| soulx | 13:218c22a620cc | 603 | } else { |
| soulx | 13:218c22a620cc | 604 | |
| soulx | 13:218c22a620cc | 605 | offset_ll-=100; |
| soulx | 13:218c22a620cc | 606 | } |
| soulx | 13:218c22a620cc | 607 | leg_left_lower.SetOffset(offset_ll); |
| soulx | 14:7fe99764b2d0 | 608 | serial_data=0; |
| soulx | 13:218c22a620cc | 609 | break; |
| soulx | 13:218c22a620cc | 610 | |
| soulx | 13:218c22a620cc | 611 | case 'u': |
| soulx | 13:218c22a620cc | 612 | if(offset_rl > 30000) { |
| soulx | 13:218c22a620cc | 613 | offset_rl =30000; |
| soulx | 13:218c22a620cc | 614 | } else { |
| soulx | 13:218c22a620cc | 615 | |
| soulx | 13:218c22a620cc | 616 | offset_rl+=100; |
| soulx | 13:218c22a620cc | 617 | } |
| soulx | 13:218c22a620cc | 618 | leg_right_lower.SetOffset(offset_rl); |
| soulx | 14:7fe99764b2d0 | 619 | serial_data=0; |
| soulx | 13:218c22a620cc | 620 | break; |
| soulx | 13:218c22a620cc | 621 | |
| soulx | 13:218c22a620cc | 622 | case 'j': |
| soulx | 13:218c22a620cc | 623 | if(offset_rl <= 100) { |
| soulx | 13:218c22a620cc | 624 | offset_rl =0; |
| soulx | 13:218c22a620cc | 625 | } else { |
| soulx | 13:218c22a620cc | 626 | |
| soulx | 13:218c22a620cc | 627 | offset_rl-=100; |
| soulx | 13:218c22a620cc | 628 | } |
| soulx | 13:218c22a620cc | 629 | leg_right_lower.SetOffset(offset_rl); |
| soulx | 14:7fe99764b2d0 | 630 | serial_data=0; |
| soulx | 13:218c22a620cc | 631 | break; |
| soulx | 13:218c22a620cc | 632 | |
| soulx | 14:7fe99764b2d0 | 633 | case '0': |
| soulx | 13:218c22a620cc | 634 | leg_left_lower.SetMode(0); |
| soulx | 13:218c22a620cc | 635 | leg_right_lower.SetMode(0); |
| soulx | 13:218c22a620cc | 636 | pc.printf("MODE 0:ON\n"); |
| soulx | 14:7fe99764b2d0 | 637 | serial_data=0; |
| soulx | 13:218c22a620cc | 638 | break; |
| soulx | 13:218c22a620cc | 639 | case '1': |
| soulx | 13:218c22a620cc | 640 | leg_left_lower.SetMode(1); |
| soulx | 13:218c22a620cc | 641 | leg_right_lower.SetMode(1); |
| soulx | 13:218c22a620cc | 642 | pc.printf("MODE 1:ON\n"); |
| soulx | 14:7fe99764b2d0 | 643 | serial_data=0; |
| soulx | 13:218c22a620cc | 644 | break; |
| soulx | 13:218c22a620cc | 645 | case '2': |
| soulx | 13:218c22a620cc | 646 | leg_left_lower.SetMode(2); |
| soulx | 13:218c22a620cc | 647 | leg_right_lower.SetMode(2); |
| soulx | 13:218c22a620cc | 648 | pc.printf("MODE 2:ON\n"); |
| soulx | 14:7fe99764b2d0 | 649 | serial_data=0; |
| soulx | 14:7fe99764b2d0 | 650 | break; |
| soulx | 14:7fe99764b2d0 | 651 | case '5': |
| soulx | 14:7fe99764b2d0 | 652 | wheel.reset(); |
| soulx | 14:7fe99764b2d0 | 653 | serial_data=0; |
| soulx | 14:7fe99764b2d0 | 654 | break; |
| soulx | 14:7fe99764b2d0 | 655 | |
| soulx | 14:7fe99764b2d0 | 656 | case '[': |
| soulx | 14:7fe99764b2d0 | 657 | test_limit(); |
| soulx | 13:218c22a620cc | 658 | break; |
| soulx | 13:218c22a620cc | 659 | } |
| soulx | 13:218c22a620cc | 660 | |
| soulx | 14:7fe99764b2d0 | 661 | if(t.read() > 0.7f) { |
| soulx | 13:218c22a620cc | 662 | t.reset(); |
| soulx | 13:218c22a620cc | 663 | pc.printf("left_up %d\n",left_up); |
| soulx | 13:218c22a620cc | 664 | pc.printf("left_down %d\n",left_down); |
| soulx | 13:218c22a620cc | 665 | pc.printf("right_up %d\n",right_up); |
| soulx | 13:218c22a620cc | 666 | pc.printf("right_down %d\n",right_down); |
| soulx | 13:218c22a620cc | 667 | pc.printf("offset_ll %d\n",offset_ll); |
| soulx | 13:218c22a620cc | 668 | pc.printf("offset_rl %d\n",offset_rl); |
| soulx | 14:7fe99764b2d0 | 669 | pc.printf("Pulses is: %i\n", wheel.getPulses()); |
| soulx | 13:218c22a620cc | 670 | pc.printf("\n"); |
| soulx | 13:218c22a620cc | 671 | |
| soulx | 13:218c22a620cc | 672 | } |
| soulx | 14:7fe99764b2d0 | 673 | //serial_data=0; |
| soulx | 13:218c22a620cc | 674 | state =0; |
| soulx | 13:218c22a620cc | 675 | |
| soulx | 14:7fe99764b2d0 | 676 | if(serial_data ==0) { |
| soulx | 14:7fe99764b2d0 | 677 | state += leg_left_upper.position_control(left_up); |
| soulx | 14:7fe99764b2d0 | 678 | state += leg_right_upper.position_control(right_up); |
| soulx | 14:7fe99764b2d0 | 679 | state += leg_left_lower.position_control(left_down); |
| soulx | 14:7fe99764b2d0 | 680 | state += leg_right_lower.position_control(right_down); |
| soulx | 14:7fe99764b2d0 | 681 | if(state == 8) { |
| soulx | 14:7fe99764b2d0 | 682 | myled=1; |
| soulx | 14:7fe99764b2d0 | 683 | } else { |
| soulx | 14:7fe99764b2d0 | 684 | myled=0; |
| soulx | 14:7fe99764b2d0 | 685 | } |
| soulx | 13:218c22a620cc | 686 | } |
| soulx | 13:218c22a620cc | 687 | } |
| soulx | 14:7fe99764b2d0 | 688 | } |
| soulx | 14:7fe99764b2d0 | 689 | |
| soulx | 14:7fe99764b2d0 | 690 | void test_limit_motor(uint8_t dirction) |
| soulx | 14:7fe99764b2d0 | 691 | { |
| soulx | 14:7fe99764b2d0 | 692 | int state; |
| soulx | 14:7fe99764b2d0 | 693 | while(1) { |
| soulx | 14:7fe99764b2d0 | 694 | state = leg_left_upper.limit_motor(dirction); |
| soulx | 14:7fe99764b2d0 | 695 | pc.printf("state_lu %d\n",state); |
| soulx | 14:7fe99764b2d0 | 696 | state = leg_left_lower.limit_motor(dirction); |
| soulx | 14:7fe99764b2d0 | 697 | pc.printf("state_ll %d\n",state); |
| soulx | 14:7fe99764b2d0 | 698 | state = leg_right_upper.limit_motor(dirction); |
| soulx | 14:7fe99764b2d0 | 699 | pc.printf("state_ru %d\n",state); |
| soulx | 14:7fe99764b2d0 | 700 | state = leg_right_lower.limit_motor(dirction); |
| soulx | 14:7fe99764b2d0 | 701 | pc.printf("state_rl %d\n",state); |
| soulx | 14:7fe99764b2d0 | 702 | } |
| soulx | 14:7fe99764b2d0 | 703 | } |
| soulx | 14:7fe99764b2d0 | 704 | |
| soulx | 14:7fe99764b2d0 | 705 | void test_sit() |
| soulx | 14:7fe99764b2d0 | 706 | { |
| soulx | 14:7fe99764b2d0 | 707 | uint16_t state=0; |
| soulx | 14:7fe99764b2d0 | 708 | // pc.printf("Test_sit\n"); |
| soulx | 14:7fe99764b2d0 | 709 | //t.start(); |
| soulx | 14:7fe99764b2d0 | 710 | // while(1) { |
| soulx | 14:7fe99764b2d0 | 711 | // sit |
| soulx | 14:7fe99764b2d0 | 712 | state += leg_left_upper.position_control(64); |
| soulx | 14:7fe99764b2d0 | 713 | state += leg_right_upper.position_control(64); |
| soulx | 14:7fe99764b2d0 | 714 | state += leg_left_lower.position_control(64); |
| soulx | 14:7fe99764b2d0 | 715 | state += leg_right_lower.position_control(64); |
| soulx | 14:7fe99764b2d0 | 716 | if(state == 8) { |
| soulx | 14:7fe99764b2d0 | 717 | myled=1; |
| soulx | 14:7fe99764b2d0 | 718 | } else { |
| soulx | 14:7fe99764b2d0 | 719 | myled=0; |
| soulx | 14:7fe99764b2d0 | 720 | } |
| soulx | 14:7fe99764b2d0 | 721 | |
| soulx | 14:7fe99764b2d0 | 722 | // } |
| soulx | 14:7fe99764b2d0 | 723 | } |
| soulx | 14:7fe99764b2d0 | 724 | |
| soulx | 14:7fe99764b2d0 | 725 | void test_stand() |
| soulx | 14:7fe99764b2d0 | 726 | { |
| soulx | 14:7fe99764b2d0 | 727 | uint16_t state=0; |
| soulx | 14:7fe99764b2d0 | 728 | // pc.printf("Test_stand\n"); |
| soulx | 14:7fe99764b2d0 | 729 | // t.start(); |
| soulx | 14:7fe99764b2d0 | 730 | // while(1) { |
| soulx | 14:7fe99764b2d0 | 731 | |
| soulx | 14:7fe99764b2d0 | 732 | // stand |
| soulx | 14:7fe99764b2d0 | 733 | state += leg_left_upper.position_control(64); |
| soulx | 14:7fe99764b2d0 | 734 | state += leg_right_upper.position_control(64); |
| soulx | 14:7fe99764b2d0 | 735 | state += leg_left_lower.position_control(0); |
| soulx | 14:7fe99764b2d0 | 736 | state += leg_right_lower.position_control(0); |
| soulx | 14:7fe99764b2d0 | 737 | if(state == 8) { |
| soulx | 14:7fe99764b2d0 | 738 | myled=1; |
| soulx | 14:7fe99764b2d0 | 739 | } else { |
| soulx | 14:7fe99764b2d0 | 740 | myled=0; |
| soulx | 14:7fe99764b2d0 | 741 | } |
| soulx | 14:7fe99764b2d0 | 742 | // } |
| soulx | 14:7fe99764b2d0 | 743 | } |
| soulx | 14:7fe99764b2d0 | 744 | |
| soulx | 14:7fe99764b2d0 | 745 | void test_sleep() |
| soulx | 14:7fe99764b2d0 | 746 | { |
| soulx | 14:7fe99764b2d0 | 747 | uint16_t state=0; |
| soulx | 14:7fe99764b2d0 | 748 | // pc.printf("Test_sleep\n"); |
| soulx | 14:7fe99764b2d0 | 749 | // t.start(); |
| soulx | 14:7fe99764b2d0 | 750 | // while(1) { |
| soulx | 14:7fe99764b2d0 | 751 | |
| soulx | 14:7fe99764b2d0 | 752 | // sleep |
| soulx | 14:7fe99764b2d0 | 753 | state += leg_left_upper.position_control(0); |
| soulx | 14:7fe99764b2d0 | 754 | state += leg_right_upper.position_control(0); |
| soulx | 14:7fe99764b2d0 | 755 | state += leg_left_lower.position_control(64); |
| soulx | 14:7fe99764b2d0 | 756 | state += leg_right_lower.position_control(64); |
| soulx | 14:7fe99764b2d0 | 757 | if(state == 8) { |
| soulx | 14:7fe99764b2d0 | 758 | myled=1; |
| soulx | 14:7fe99764b2d0 | 759 | } else { |
| soulx | 14:7fe99764b2d0 | 760 | myled=0; |
| soulx | 14:7fe99764b2d0 | 761 | } |
| soulx | 14:7fe99764b2d0 | 762 | // } |
| soulx | 6:8d80c84e0c09 | 763 | } |