Code for the Poolinator
Dependencies: mbed QEI HIDScope Pulse biquadFilter MODSERIAL FastPWM
main.cpp@15:47d949e2de1a, 2019-11-02 (annotated)
- Committer:
- sjoerd1999
- Date:
- Sat Nov 02 19:21:44 2019 +0000
- Revision:
- 15:47d949e2de1a
- Parent:
- 14:6a82804c88d6
more comments
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sjoerd1999 | 4:8113394bed1b | 1 | /* |
sjoerd1999 | 4:8113394bed1b | 2 | The Poolinator - A pool playing robot for people with DMD |
sjoerd1999 | 4:8113394bed1b | 3 | |
sjoerd1999 | 4:8113394bed1b | 4 | GROUP 10 |
sjoerd1999 | 4:8113394bed1b | 5 | Sjoerd de Jong - s1949950 |
sjoerd1999 | 4:8113394bed1b | 6 | Joost Loohuis - s1969633 |
sjoerd1999 | 4:8113394bed1b | 7 | Viktor Edlund - s2430878 |
sjoerd1999 | 4:8113394bed1b | 8 | Giuseppina Pinky Diatmiko - s1898841 |
sjoerd1999 | 4:8113394bed1b | 9 | Daan v.d Veen - s2003171 |
sjoerd1999 | 4:8113394bed1b | 10 | */ |
sjoerd1999 | 4:8113394bed1b | 11 | |
RobertoO | 0:67c50348f842 | 12 | #include "mbed.h" |
sjoerd1999 | 3:d319bc2b19f1 | 13 | #include "HIDScope.h" |
sjoerd1999 | 2:f8e0a7b5c90a | 14 | #include "QEI.h" |
RobertoO | 1:b862262a9d14 | 15 | #include "MODSERIAL.h" |
sjoerd1999 | 2:f8e0a7b5c90a | 16 | #include "BiQuad.h" |
sjoerd1999 | 2:f8e0a7b5c90a | 17 | #include "FastPWM.h" |
sjoerd1999 | 9:913a59894698 | 18 | #include <Pulse.h> |
sjoerd1999 | 3:d319bc2b19f1 | 19 | |
sjoerd1999 | 8:1733338758d3 | 20 | #define PI 3.14159265358979323846 |
sjoerd1999 | 8:1733338758d3 | 21 | |
RobertoO | 1:b862262a9d14 | 22 | MODSERIAL pc(USBTX, USBRX); |
RobertoO | 0:67c50348f842 | 23 | |
sjoerd1999 | 13:74f2e8d3e04e | 24 | bool demo = false; |
sjoerd1999 | 14:6a82804c88d6 | 25 | enum State {CALIBRATE, INIT_0, IDLE, INIT_1, PHASE_1, INIT_2, PHASE_2, INIT_3, PHASE_3, PHASE_1EMG}; |
sjoerd1999 | 13:74f2e8d3e04e | 26 | State currentState = CALIBRATE; |
sjoerd1999 | 8:1733338758d3 | 27 | |
sjoerd1999 | 15:47d949e2de1a | 28 | struct vec { // 3D vector(x,y,z) to store positions |
sjoerd1999 | 8:1733338758d3 | 29 | double x,y,z; |
sjoerd1999 | 8:1733338758d3 | 30 | }; |
sjoerd1999 | 8:1733338758d3 | 31 | |
sjoerd1999 | 13:74f2e8d3e04e | 32 | vec endPos{0,55,20}; |
sjoerd1999 | 9:913a59894698 | 33 | vec ballPos{10,50,10}; |
sjoerd1999 | 9:913a59894698 | 34 | |
sjoerd1999 | 14:6a82804c88d6 | 35 | // EMG CONTROLS |
sjoerd1999 | 15:47d949e2de1a | 36 | DigitalIn EMG_D(D15); // LDR connected, used to indicate which arm is sending atm, (left arm/right arm) |
sjoerd1999 | 15:47d949e2de1a | 37 | AnalogIn EMG_A(A5); // LDR connected, used to indicate what that arm is doing, (idle/move left/move right) |
sjoerd1999 | 13:74f2e8d3e04e | 38 | void moveWithEMG() |
sjoerd1999 | 13:74f2e8d3e04e | 39 | { |
sjoerd1999 | 15:47d949e2de1a | 40 | int whichEMG = EMG_D.read(); // 0 or 1, left arm or right arm |
sjoerd1999 | 14:6a82804c88d6 | 41 | float EMGvalue = EMG_A.read(); |
sjoerd1999 | 15:47d949e2de1a | 42 | int EMGstate = (EMGvalue < 0.29) ? 0 : (EMGvalue < 0.7) ? 1 : 2; // 0 if the led is off, 1 if it's half brightness, 2 if it's on completely |
sjoerd1999 | 15:47d949e2de1a | 43 | float delta = 0.08; // How much to move in the xz direction |
sjoerd1999 | 14:6a82804c88d6 | 44 | if(whichEMG == 0) { |
sjoerd1999 | 15:47d949e2de1a | 45 | if(EMGstate == 1) endPos.x -= delta; // Move the end position a bit to the left |
sjoerd1999 | 15:47d949e2de1a | 46 | if(EMGstate == 2) endPos.x += delta; // ... to the right |
sjoerd1999 | 14:6a82804c88d6 | 47 | } else { |
sjoerd1999 | 15:47d949e2de1a | 48 | if(EMGstate == 1) endPos.z -= delta; // ... away |
sjoerd1999 | 15:47d949e2de1a | 49 | if(EMGstate == 2) endPos.z += delta; // ... towards us |
sjoerd1999 | 13:74f2e8d3e04e | 50 | } |
sjoerd1999 | 13:74f2e8d3e04e | 51 | } |
sjoerd1999 | 9:913a59894698 | 52 | |
sjoerd1999 | 9:913a59894698 | 53 | // JOYSTICK CONTROL // |
sjoerd1999 | 9:913a59894698 | 54 | AnalogIn joyX(A2), joyY(A1), slider(A0); |
sjoerd1999 | 9:913a59894698 | 55 | DigitalIn joyButton(PTB20); |
sjoerd1999 | 15:47d949e2de1a | 56 | void moveWithJoystick() // Move the endpositon based on joystick input. |
sjoerd1999 | 9:913a59894698 | 57 | { |
sjoerd1999 | 9:913a59894698 | 58 | float delta = 0.04; |
sjoerd1999 | 9:913a59894698 | 59 | if(joyX.read() < 0.2) endPos.x += delta; |
sjoerd1999 | 9:913a59894698 | 60 | else if(joyX.read() > 0.8) endPos.x -= delta; |
sjoerd1999 | 9:913a59894698 | 61 | if(joyY.read() < 0.2) endPos.z += delta; |
sjoerd1999 | 9:913a59894698 | 62 | else if(joyY.read() > 0.8) endPos.z -= delta; |
sjoerd1999 | 9:913a59894698 | 63 | if(slider.read() < 0.2) endPos.y += delta; |
sjoerd1999 | 9:913a59894698 | 64 | else if(slider.read() > 0.9) endPos.y -= delta; |
sjoerd1999 | 9:913a59894698 | 65 | } |
sjoerd1999 | 3:d319bc2b19f1 | 66 | |
sjoerd1999 | 8:1733338758d3 | 67 | // DC MOTORS // |
sjoerd1999 | 9:913a59894698 | 68 | QEI encoder1(D10,D11,NC,32), encoder2(PTC5,PTC7, NC, 32), encoder3(D12,D13,NC,32); |
sjoerd1999 | 8:1733338758d3 | 69 | PwmOut motor1_pwm(D5), motor3_pwm(D6); |
sjoerd1999 | 8:1733338758d3 | 70 | DigitalOut motor1_dir(D4), motor3_dir(D7), motor2_A(D2), motor2_B(D3); |
sjoerd1999 | 7:bfcb74384f46 | 71 | |
sjoerd1999 | 8:1733338758d3 | 72 | float motor1_cur = 0, motor2_cur = 0, motor3_cur = 0; |
sjoerd1999 | 8:1733338758d3 | 73 | float motor1_tar = 0, motor2_tar = 0, motor3_tar = 0; |
sjoerd1999 | 2:f8e0a7b5c90a | 74 | |
sjoerd1999 | 15:47d949e2de1a | 75 | void setMotor(int motor, float motor_spd) // Set the motor speed (between -1 and 1) of a motor (1, 2, or 3) |
sjoerd1999 | 2:f8e0a7b5c90a | 76 | { |
sjoerd1999 | 2:f8e0a7b5c90a | 77 | int motor_dir = (motor_spd >= 0) ? 0 : 1; |
sjoerd1999 | 2:f8e0a7b5c90a | 78 | motor_spd = fabs(motor_spd); |
sjoerd1999 | 2:f8e0a7b5c90a | 79 | |
sjoerd1999 | 2:f8e0a7b5c90a | 80 | if(motor == 1) { |
sjoerd1999 | 9:913a59894698 | 81 | motor1_dir.write(1 - motor_dir); |
sjoerd1999 | 2:f8e0a7b5c90a | 82 | motor1_pwm.write(motor_spd); |
sjoerd1999 | 8:1733338758d3 | 83 | } else if(motor == 3) { |
sjoerd1999 | 8:1733338758d3 | 84 | motor3_dir.write(motor_dir); |
sjoerd1999 | 8:1733338758d3 | 85 | motor3_pwm.write(motor_spd); |
sjoerd1999 | 2:f8e0a7b5c90a | 86 | } else if(motor == 2) { |
sjoerd1999 | 15:47d949e2de1a | 87 | motor2_A.write((motor_dir == 0) ? 0 : int(motor_spd)); // Motor 2 has digital pins so no PWM, always fully on or fully off |
sjoerd1999 | 8:1733338758d3 | 88 | motor2_B.write((motor_dir == 0) ? int(motor_spd) : 0); |
sjoerd1999 | 2:f8e0a7b5c90a | 89 | } |
sjoerd1999 | 2:f8e0a7b5c90a | 90 | } |
sjoerd1999 | 2:f8e0a7b5c90a | 91 | |
sjoerd1999 | 8:1733338758d3 | 92 | void getMotorPositions() // Calculate current motor positions (M1:angle, M2/M3:length) based on encoder pulses |
sjoerd1999 | 8:1733338758d3 | 93 | { |
sjoerd1999 | 9:913a59894698 | 94 | motor1_cur = 244 - float(encoder1.getPulses()) / 18530.00 * 360; |
sjoerd1999 | 9:913a59894698 | 95 | if(motor1_cur > 360) motor1_cur -= 360; |
sjoerd1999 | 9:913a59894698 | 96 | if(motor1_cur < 0) motor1_cur += 360; |
sjoerd1999 | 9:913a59894698 | 97 | motor2_cur = float(encoder2.getPulses()) / 41920.00 + 14.3; |
sjoerd1999 | 9:913a59894698 | 98 | motor3_cur = float(encoder3.getPulses()) / 41920.00 + 57.8; |
sjoerd1999 | 8:1733338758d3 | 99 | } |
sjoerd1999 | 8:1733338758d3 | 100 | |
sjoerd1999 | 15:47d949e2de1a | 101 | void moveToTargets() // Move to the target positions. No PID. If the error(the fabs(.....)) is smaller than some threshold, then the motors are off, otherwise they are fully on for motor 2/3, and 0.08 speed for motor 1. |
sjoerd1999 | 8:1733338758d3 | 102 | { |
sjoerd1999 | 14:6a82804c88d6 | 103 | setMotor(1, (fabs(motor1_cur - motor1_tar) < 0.5) ? 0 : (motor1_cur < motor1_tar) ? 0.08 : -0.08); |
sjoerd1999 | 14:6a82804c88d6 | 104 | setMotor(2, (fabs(motor2_cur - motor2_tar) < 0.04) ? 0 : (motor2_cur < motor2_tar) ? 1 : -1); |
sjoerd1999 | 14:6a82804c88d6 | 105 | setMotor(3, (fabs(motor3_cur - motor3_tar) < 0.04) ? 0 : (motor3_cur < motor3_tar) ? 1: -1); |
sjoerd1999 | 8:1733338758d3 | 106 | } |
sjoerd1999 | 8:1733338758d3 | 107 | |
sjoerd1999 | 15:47d949e2de1a | 108 | // KINEMATICS // (NOT USED ANYMORE, USED THE NEXT FUNCTION, WHICH TAKES THE SERVO POSITION AS ENDPOINT) |
sjoerd1999 | 15:47d949e2de1a | 109 | //void calculateKinematics(float x, float y, float z) // y is up |
sjoerd1999 | 15:47d949e2de1a | 110 | //{ |
sjoerd1999 | 15:47d949e2de1a | 111 | // float angle1 = fmod(2*PI - atan2(z, x), 2*PI) * (360 / (2*PI)); |
sjoerd1999 | 15:47d949e2de1a | 112 | // float angle2 = acos(sqrt(x*x + y*y + z*z) / 100.00) + atan2(sqrt(x*x + z*z), y); |
sjoerd1999 | 15:47d949e2de1a | 113 | // float angle3 = 2 * asin(sqrt(x*x + y*y + z*z) / 100.00); |
sjoerd1999 | 15:47d949e2de1a | 114 | // |
sjoerd1999 | 15:47d949e2de1a | 115 | // motor1_tar = angle1; |
sjoerd1999 | 15:47d949e2de1a | 116 | // motor2_tar = sqrt(200 - 200 * cos(angle2)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = c = 10cm) |
sjoerd1999 | 15:47d949e2de1a | 117 | // motor3_tar = sqrt(2600 - 1000 * cos(PI - angle3)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = 10cm, c = 50cm) |
sjoerd1999 | 15:47d949e2de1a | 118 | //} |
sjoerd1999 | 8:1733338758d3 | 119 | |
sjoerd1999 | 15:47d949e2de1a | 120 | void calculateKinematicsHand(float x, float y, float z) // y is up, calculate target positions of the motors using the kinematics |
sjoerd1999 | 9:913a59894698 | 121 | { |
sjoerd1999 | 15:47d949e2de1a | 122 | float angle1 = fmod(2*PI - atan2(z, x), 2*PI) * (360 / (2*PI)); // Make sure the angle is between 0-360 degrees |
sjoerd1999 | 15:47d949e2de1a | 123 | float xz = sqrt(x*x + z*z) - 15; // Offset 15cm because servo is 15cm away from endaffector in the 2D plane |
sjoerd1999 | 15:47d949e2de1a | 124 | y -= 9; // Offset y with 9 cm because the servo is 9 cm below endaffector |
sjoerd1999 | 9:913a59894698 | 125 | float angle2 = acos(sqrt(xz*xz + y*y) / 100.00) + atan2(xz, y); |
sjoerd1999 | 9:913a59894698 | 126 | float angle3 = 2 * asin(sqrt(xz*xz +y*y) / 100.00); |
sjoerd1999 | 9:913a59894698 | 127 | |
sjoerd1999 | 9:913a59894698 | 128 | motor1_tar = angle1; |
sjoerd1999 | 8:1733338758d3 | 129 | motor2_tar = sqrt(200 - 200 * cos(angle2)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = c = 10cm) |
sjoerd1999 | 8:1733338758d3 | 130 | motor3_tar = sqrt(2600 - 1000 * cos(PI - angle3)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = 10cm, c = 50cm) |
sjoerd1999 | 8:1733338758d3 | 131 | } |
sjoerd1999 | 8:1733338758d3 | 132 | |
sjoerd1999 | 15:47d949e2de1a | 133 | // STEPPER MOTOR // |
sjoerd1999 | 2:f8e0a7b5c90a | 134 | DigitalOut STEPPER_IN1(PTB18), STEPPER_IN2(PTB19), STEPPER_IN3(PTC1), STEPPER_IN4(PTC8); |
sjoerd1999 | 2:f8e0a7b5c90a | 135 | |
sjoerd1999 | 2:f8e0a7b5c90a | 136 | int stepper_steps = 0; |
sjoerd1999 | 8:1733338758d3 | 137 | float stepper_angle = 0, stepper_target = 0; |
sjoerd1999 | 2:f8e0a7b5c90a | 138 | |
sjoerd1999 | 8:1733338758d3 | 139 | void stepper_step(int direction_) // Requires ~1.5ms wait time between each step, 4096 steps is one rotation |
sjoerd1999 | 15:47d949e2de1a | 140 | { // Stepper motor has electromagnets inside, depending on which are on/off, the motor will move to a different position, this code does that. |
sjoerd1999 | 3:d319bc2b19f1 | 141 | STEPPER_IN1 = (stepper_steps == 5 || stepper_steps == 6 || stepper_steps == 7); |
sjoerd1999 | 2:f8e0a7b5c90a | 142 | STEPPER_IN2 = (stepper_steps == 3 || stepper_steps == 4 || stepper_steps == 5); |
sjoerd1999 | 2:f8e0a7b5c90a | 143 | STEPPER_IN3 = (stepper_steps == 1 || stepper_steps == 2 || stepper_steps == 3); |
sjoerd1999 | 2:f8e0a7b5c90a | 144 | STEPPER_IN4 = (stepper_steps == 7 || stepper_steps == 0 || stepper_steps == 1); |
sjoerd1999 | 2:f8e0a7b5c90a | 145 | stepper_steps += (direction_ == 0) ? - 1 : 1; |
sjoerd1999 | 2:f8e0a7b5c90a | 146 | stepper_steps = (stepper_steps + 8) % 8; |
sjoerd1999 | 9:913a59894698 | 147 | stepper_angle -= ((direction_ == 0) ? -1 : 1) * (360.00 / 4096.00); |
sjoerd1999 | 2:f8e0a7b5c90a | 148 | } |
sjoerd1999 | 2:f8e0a7b5c90a | 149 | |
sjoerd1999 | 8:1733338758d3 | 150 | Ticker stepper_moveToAngle; |
sjoerd1999 | 8:1733338758d3 | 151 | void stepper_move() // Move toward desired angle with threshold. In Ticker function because requires wait otherwise |
sjoerd1999 | 8:1733338758d3 | 152 | { |
sjoerd1999 | 9:913a59894698 | 153 | if(fabs(stepper_angle - stepper_target) > 1) stepper_step((stepper_angle < stepper_target) ? 0 : 1); |
sjoerd1999 | 8:1733338758d3 | 154 | } |
sjoerd1999 | 8:1733338758d3 | 155 | |
sjoerd1999 | 8:1733338758d3 | 156 | // SERVO // |
sjoerd1999 | 9:913a59894698 | 157 | AnalogOut servo(DAC0_OUT); // Write analog value to the Arduino |
sjoerd1999 | 13:74f2e8d3e04e | 158 | void setServo(float i) // Set servo to specified angle(0-180 degrees) signal measured by Arduino and decoded there. |
sjoerd1999 | 5:33133ebe37fd | 159 | { |
sjoerd1999 | 9:913a59894698 | 160 | servo = i / 180.00; |
sjoerd1999 | 5:33133ebe37fd | 161 | } |
sjoerd1999 | 3:d319bc2b19f1 | 162 | |
sjoerd1999 | 8:1733338758d3 | 163 | // AIMING // |
sjoerd1999 | 13:74f2e8d3e04e | 164 | float aimAngle, aimTilt = 45; |
sjoerd1999 | 12:c3fd0712f43d | 165 | float cueLength = 15; |
sjoerd1999 | 9:913a59894698 | 166 | void aim(float angle, float tilt) // Moves both stepper and servo so the end affector points towards desired angle |
sjoerd1999 | 8:1733338758d3 | 167 | { |
sjoerd1999 | 9:913a59894698 | 168 | setServo(tilt + 90); |
sjoerd1999 | 9:913a59894698 | 169 | |
sjoerd1999 | 9:913a59894698 | 170 | // SPHERICAL TO CARTESIAN: |
sjoerd1999 | 9:913a59894698 | 171 | float handX = ballPos.x + cueLength * sin(tilt / 180 * PI) * cos(angle / 180 * PI); |
sjoerd1999 | 9:913a59894698 | 172 | float handY = ballPos.y - cueLength * cos(tilt / 180 * PI); |
sjoerd1999 | 9:913a59894698 | 173 | float handZ = ballPos.z - cueLength * sin(tilt / 180 * PI) * sin(angle / 180 * PI); |
sjoerd1999 | 9:913a59894698 | 174 | endPos.x = handX; |
sjoerd1999 | 9:913a59894698 | 175 | endPos.y = handY; |
sjoerd1999 | 9:913a59894698 | 176 | endPos.z = handZ; |
sjoerd1999 | 9:913a59894698 | 177 | |
sjoerd1999 | 15:47d949e2de1a | 178 | float stepperAngle = angle - fmod(2*PI - atan2(handZ, handX), 2*PI) * (180 / PI); // Make sure it stays between 0-360 degrees |
sjoerd1999 | 9:913a59894698 | 179 | if(stepperAngle < 0) stepperAngle += 360; |
sjoerd1999 | 9:913a59894698 | 180 | stepper_target = stepperAngle; |
sjoerd1999 | 8:1733338758d3 | 181 | } |
sjoerd1999 | 8:1733338758d3 | 182 | |
sjoerd1999 | 8:1733338758d3 | 183 | // SOLENOID // |
sjoerd1999 | 5:33133ebe37fd | 184 | DigitalOut solenoidA(PTC0), solenoidB(PTC9); |
sjoerd1999 | 8:1733338758d3 | 185 | void setSolenoid(int dir) // 1 is out, 0 is in |
sjoerd1999 | 3:d319bc2b19f1 | 186 | { |
sjoerd1999 | 15:47d949e2de1a | 187 | solenoidA = (dir == 0) ? 0 : 1; // IMPOSSIBLE TO CREATE SHORT CIRCUIT THIS WAY, A is always inverse of B!! |
sjoerd1999 | 9:913a59894698 | 188 | solenoidB = (dir == 0) ? 1 : 0; |
sjoerd1999 | 7:bfcb74384f46 | 189 | } |
sjoerd1999 | 7:bfcb74384f46 | 190 | |
sjoerd1999 | 8:1733338758d3 | 191 | // LASER // |
sjoerd1999 | 7:bfcb74384f46 | 192 | DigitalOut laserPin(D8); |
sjoerd1999 | 7:bfcb74384f46 | 193 | void setLaser(bool on) |
sjoerd1999 | 7:bfcb74384f46 | 194 | { |
sjoerd1999 | 7:bfcb74384f46 | 195 | if(on) laserPin.write(1); |
sjoerd1999 | 7:bfcb74384f46 | 196 | else laserPin.write(0); |
sjoerd1999 | 7:bfcb74384f46 | 197 | } |
sjoerd1999 | 7:bfcb74384f46 | 198 | |
sjoerd1999 | 9:913a59894698 | 199 | // CALIBRATION // a3 a4 A5 |
sjoerd1999 | 14:6a82804c88d6 | 200 | AnalogIn switch1(A3), switch2(A4); |
sjoerd1999 | 14:6a82804c88d6 | 201 | DigitalIn switch3(D14); |
sjoerd1999 | 8:1733338758d3 | 202 | void calibrate() // Calibrates all 3 motors simultaniously |
sjoerd1999 | 7:bfcb74384f46 | 203 | { |
sjoerd1999 | 14:6a82804c88d6 | 204 | setMotor(1,0.1); // Set all motors to move towards the switches |
sjoerd1999 | 7:bfcb74384f46 | 205 | setMotor(2,1); |
sjoerd1999 | 7:bfcb74384f46 | 206 | setMotor(3,1); |
sjoerd1999 | 7:bfcb74384f46 | 207 | |
sjoerd1999 | 9:913a59894698 | 208 | while(!(switch1.read() < 0.5 && switch2.read() > 0.5 && switch3.read() > 0.5)) { // When all switches have been pushed in, stop |
sjoerd1999 | 15:47d949e2de1a | 209 | if(switch1.read() < 0.5) setMotor(1,0); // When one of the switches has been pushed in, stop that motor |
sjoerd1999 | 7:bfcb74384f46 | 210 | if(switch2.read() > 0.5) setMotor(2,0); |
sjoerd1999 | 7:bfcb74384f46 | 211 | if(switch3.read() > 0.5) setMotor(3,0); |
sjoerd1999 | 9:913a59894698 | 212 | wait_ms(30); |
sjoerd1999 | 7:bfcb74384f46 | 213 | } |
sjoerd1999 | 8:1733338758d3 | 214 | for(int i = 1; i <= 3; i++) setMotor(i,0); // Make sure they've all stopped |
sjoerd1999 | 8:1733338758d3 | 215 | |
sjoerd1999 | 8:1733338758d3 | 216 | encoder1.reset(); // Reset encoder positions |
sjoerd1999 | 7:bfcb74384f46 | 217 | encoder2.reset(); |
sjoerd1999 | 7:bfcb74384f46 | 218 | encoder3.reset(); |
sjoerd1999 | 3:d319bc2b19f1 | 219 | } |
sjoerd1999 | 3:d319bc2b19f1 | 220 | |
sjoerd1999 | 3:d319bc2b19f1 | 221 | |
RobertoO | 0:67c50348f842 | 222 | int main() |
RobertoO | 0:67c50348f842 | 223 | { |
RobertoO | 0:67c50348f842 | 224 | pc.baud(115200); |
RobertoO | 1:b862262a9d14 | 225 | pc.printf("\r\nStarting...\r\n\r\n"); |
sjoerd1999 | 12:c3fd0712f43d | 226 | motor1_pwm.period(0.020); |
sjoerd1999 | 12:c3fd0712f43d | 227 | motor3_pwm.period(0.020); |
sjoerd1999 | 9:913a59894698 | 228 | stepper_moveToAngle.attach(&stepper_move, 0.0015); |
sjoerd1999 | 14:6a82804c88d6 | 229 | |
RobertoO | 0:67c50348f842 | 230 | while (true) { |
sjoerd1999 | 9:913a59894698 | 231 | switch(currentState) { |
sjoerd1999 | 13:74f2e8d3e04e | 232 | case CALIBRATE: // Calibrate the hand |
sjoerd1999 | 13:74f2e8d3e04e | 233 | setSolenoid(0); |
sjoerd1999 | 9:913a59894698 | 234 | calibrate(); |
sjoerd1999 | 9:913a59894698 | 235 | setServo(90); |
sjoerd1999 | 15:47d949e2de1a | 236 | currentState = INIT_0; // Go to next state after calibration |
sjoerd1999 | 13:74f2e8d3e04e | 237 | break; |
sjoerd1999 | 15:47d949e2de1a | 238 | case INIT_0: // Go to idle position (x=0, y=55, z=20); |
sjoerd1999 | 13:74f2e8d3e04e | 239 | calculateKinematicsHand(endPos.x, endPos.y, endPos.z); // Calculate target positions |
sjoerd1999 | 13:74f2e8d3e04e | 240 | getMotorPositions(); // Calculate current positions |
sjoerd1999 | 13:74f2e8d3e04e | 241 | moveToTargets(); // Set the motors speeds accordingly |
sjoerd1999 | 13:74f2e8d3e04e | 242 | wait_ms(40); |
sjoerd1999 | 15:47d949e2de1a | 243 | if(fabs(motor1_cur - motor1_tar) < 0.6 && fabs(motor2_cur - motor2_tar) < 0.05 && fabs(motor3_cur - motor3_tar) < 0.05) currentState = IDLE; // if idle position reached, go to next state |
sjoerd1999 | 13:74f2e8d3e04e | 244 | break; |
sjoerd1999 | 15:47d949e2de1a | 245 | case IDLE: // Wait for button press, stop all motors |
sjoerd1999 | 14:6a82804c88d6 | 246 | setMotor(1,0); |
sjoerd1999 | 14:6a82804c88d6 | 247 | setMotor(2,0); |
sjoerd1999 | 14:6a82804c88d6 | 248 | setMotor(3,0); |
sjoerd1999 | 14:6a82804c88d6 | 249 | wait_ms(40); |
sjoerd1999 | 13:74f2e8d3e04e | 250 | if(joyButton.read() == 0) { |
sjoerd1999 | 14:6a82804c88d6 | 251 | if(demo) currentState = PHASE_1; |
sjoerd1999 | 14:6a82804c88d6 | 252 | else currentState = PHASE_1EMG; |
sjoerd1999 | 13:74f2e8d3e04e | 253 | setLaser(1); |
sjoerd1999 | 15:47d949e2de1a | 254 | wait_ms(1000); // Wait a second after the button has been pressed so the button check in the next phase doesn't trigger |
sjoerd1999 | 13:74f2e8d3e04e | 255 | } |
sjoerd1999 | 9:913a59894698 | 256 | break; |
sjoerd1999 | 15:47d949e2de1a | 257 | case PHASE_1EMG: // Move endaffector with EMG |
sjoerd1999 | 14:6a82804c88d6 | 258 | moveWithEMG(); |
sjoerd1999 | 14:6a82804c88d6 | 259 | setServo(80); |
sjoerd1999 | 14:6a82804c88d6 | 260 | calculateKinematicsHand(endPos.x, endPos.y, endPos.z); // Calculate target positions |
sjoerd1999 | 14:6a82804c88d6 | 261 | getMotorPositions(); // Calculate current positions |
sjoerd1999 | 14:6a82804c88d6 | 262 | moveToTargets(); // Set the motors speeds accordingly |
sjoerd1999 | 14:6a82804c88d6 | 263 | if(joyButton.read() == 0) { |
sjoerd1999 | 14:6a82804c88d6 | 264 | currentState = PHASE_1; |
sjoerd1999 | 14:6a82804c88d6 | 265 | wait_ms(1000); |
sjoerd1999 | 14:6a82804c88d6 | 266 | } |
sjoerd1999 | 14:6a82804c88d6 | 267 | wait_ms(40); |
sjoerd1999 | 14:6a82804c88d6 | 268 | break; |
sjoerd1999 | 15:47d949e2de1a | 269 | case PHASE_1: // MOVE endaffector with joystick |
sjoerd1999 | 14:6a82804c88d6 | 270 | moveWithJoystick(); |
sjoerd1999 | 14:6a82804c88d6 | 271 | setServo(80); |
sjoerd1999 | 9:913a59894698 | 272 | calculateKinematicsHand(endPos.x, endPos.y, endPos.z); // Calculate target positions |
sjoerd1999 | 9:913a59894698 | 273 | getMotorPositions(); // Calculate current positions |
sjoerd1999 | 9:913a59894698 | 274 | moveToTargets(); // Set the motors speeds accordingly |
sjoerd1999 | 9:913a59894698 | 275 | if(joyButton.read() == 0) { |
sjoerd1999 | 9:913a59894698 | 276 | currentState = PHASE_2; |
sjoerd1999 | 9:913a59894698 | 277 | wait_ms(1000); |
sjoerd1999 | 9:913a59894698 | 278 | ballPos.x = endPos.x; |
sjoerd1999 | 12:c3fd0712f43d | 279 | ballPos.y = 75; |
sjoerd1999 | 9:913a59894698 | 280 | ballPos.z = endPos.z; |
sjoerd1999 | 12:c3fd0712f43d | 281 | setLaser(0); |
sjoerd1999 | 9:913a59894698 | 282 | } |
sjoerd1999 | 9:913a59894698 | 283 | wait_ms(40); |
sjoerd1999 | 9:913a59894698 | 284 | break; |
sjoerd1999 | 9:913a59894698 | 285 | |
sjoerd1999 | 15:47d949e2de1a | 286 | case PHASE_2: // Control angle/tilt of the cue with joystick/slider |
sjoerd1999 | 13:74f2e8d3e04e | 287 | if(slider.read() > 0.9) aimTilt += 0.25; |
sjoerd1999 | 13:74f2e8d3e04e | 288 | else if(slider.read() < 0.1) aimTilt -= 0.25; |
sjoerd1999 | 13:74f2e8d3e04e | 289 | aimTilt = (aimTilt < 0) ? 0 : (aimTilt > 90) ? 90 : aimTilt; |
sjoerd1999 | 9:913a59894698 | 290 | |
sjoerd1999 | 14:6a82804c88d6 | 291 | if(joyX.read() < 0.2) aimAngle -= 0.3; |
sjoerd1999 | 14:6a82804c88d6 | 292 | else if(joyX.read() > 0.8) aimAngle += 0.3; |
sjoerd1999 | 13:74f2e8d3e04e | 293 | aimAngle = (aimAngle < 0) ? 360 : (aimAngle > 360) ? 0 : aimAngle; |
sjoerd1999 | 9:913a59894698 | 294 | |
sjoerd1999 | 9:913a59894698 | 295 | aim(aimAngle, aimTilt); |
sjoerd1999 | 9:913a59894698 | 296 | |
sjoerd1999 | 9:913a59894698 | 297 | calculateKinematicsHand(endPos.x, endPos.y, endPos.z); // Calculate target positions |
sjoerd1999 | 9:913a59894698 | 298 | getMotorPositions(); // Calculate current positions |
sjoerd1999 | 9:913a59894698 | 299 | moveToTargets(); // Set the motors speeds accordingly |
sjoerd1999 | 9:913a59894698 | 300 | wait_ms(40); |
sjoerd1999 | 13:74f2e8d3e04e | 301 | |
sjoerd1999 | 13:74f2e8d3e04e | 302 | if(joyButton.read() == 0) { |
sjoerd1999 | 13:74f2e8d3e04e | 303 | currentState = PHASE_3; |
sjoerd1999 | 12:c3fd0712f43d | 304 | } |
sjoerd1999 | 9:913a59894698 | 305 | break; |
sjoerd1999 | 15:47d949e2de1a | 306 | case PHASE_3: // Shoot, then reset position and go to idle |
sjoerd1999 | 13:74f2e8d3e04e | 307 | setSolenoid(1); |
sjoerd1999 | 13:74f2e8d3e04e | 308 | wait_ms(500); |
sjoerd1999 | 13:74f2e8d3e04e | 309 | setSolenoid(0); |
sjoerd1999 | 13:74f2e8d3e04e | 310 | currentState = INIT_0; |
sjoerd1999 | 13:74f2e8d3e04e | 311 | endPos.x = 0; |
sjoerd1999 | 13:74f2e8d3e04e | 312 | endPos.y = 55; |
sjoerd1999 | 13:74f2e8d3e04e | 313 | endPos.z = 20; |
sjoerd1999 | 13:74f2e8d3e04e | 314 | aimTilt = 45; |
sjoerd1999 | 13:74f2e8d3e04e | 315 | aimAngle = 0; |
sjoerd1999 | 13:74f2e8d3e04e | 316 | stepper_target = 0; |
sjoerd1999 | 13:74f2e8d3e04e | 317 | break; |
sjoerd1999 | 9:913a59894698 | 318 | } |
sjoerd1999 | 4:8113394bed1b | 319 | /* |
sjoerd1999 | 4:8113394bed1b | 320 | SOME EXAPLE CODE |
sjoerd1999 | 5:33133ebe37fd | 321 | |
sjoerd1999 | 4:8113394bed1b | 322 | * MOTOR |
sjoerd1999 | 8:1733338758d3 | 323 | setMotor(..., ...) // which motor (1,2,3), and speed (-1.0, +1.0) |
sjoerd1999 | 5:33133ebe37fd | 324 | |
sjoerd1999 | 8:1733338758d3 | 325 | * KINEMATICS (this should be done every ~30 ms) |
sjoerd1999 | 8:1733338758d3 | 326 | calculateKinematics(x, y, z); // Calculate target positions |
sjoerd1999 | 8:1733338758d3 | 327 | getMotorPositions(); // Calculate current positions |
sjoerd1999 | 8:1733338758d3 | 328 | moveToTargets(); // Set the motors speeds accordingly |
sjoerd1999 | 3:d319bc2b19f1 | 329 | |
sjoerd1999 | 4:8113394bed1b | 330 | * STEPPER |
sjoerd1999 | 8:1733338758d3 | 331 | stepper_target = ...; // angle (between 0.0 and 180.0) |
sjoerd1999 | 4:8113394bed1b | 332 | |
sjoerd1999 | 4:8113394bed1b | 333 | * SERVO |
sjoerd1999 | 7:bfcb74384f46 | 334 | setServo(...) // value between 0.0 and 180.0 (= 0 and 180 degrees) |
sjoerd1999 | 5:33133ebe37fd | 335 | |
sjoerd1999 | 5:33133ebe37fd | 336 | * SOLENOID |
sjoerd1999 | 8:1733338758d3 | 337 | setSolenoid(...); // position, 0(in) or 1(out) |
sjoerd1999 | 8:1733338758d3 | 338 | |
sjoerd1999 | 8:1733338758d3 | 339 | * LASER |
sjoerd1999 | 8:1733338758d3 | 340 | setLaser(...) // 0(off) or 1(on) |
sjoerd1999 | 5:33133ebe37fd | 341 | |
sjoerd1999 | 4:8113394bed1b | 342 | */ |
RobertoO | 0:67c50348f842 | 343 | } |
RobertoO | 0:67c50348f842 | 344 | } |