Biorobotics 2019 - Group 10 - The Poolinator / Mbed 2 deprecated Poolinator

Code for the Poolinator

Dependencies:   mbed QEI HIDScope Pulse biquadFilter MODSERIAL FastPWM

main.cpp@13:74f2e8d3e04e, 2019-10-31 (annotated)

Committer:
sjoerd1999
Date:
Thu Oct 31 20:44:40 2019 +0000
Revision:
13:74f2e8d3e04e
Parent:
12:c3fd0712f43d
Child:
14:6a82804c88d6
Updated StateMachine

Who changed what in which revision?

UserRevisionLine numberNew 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
sjoerd1999 9:913a59894698 22 // COMMUNICATION
RobertoO 1:b862262a9d14 23 MODSERIAL pc(USBTX, USBRX);
sjoerd1999 13:74f2e8d3e04e 24 PulseInOut pulsePin(D9);
RobertoO 0:67c50348f842 25
sjoerd1999 13:74f2e8d3e04e 26 bool demo = false;
sjoerd1999 13:74f2e8d3e04e 27 enum State {CALIBRATE, INIT_0, IDLE, INIT_1, PHASE_1, INIT_2, PHASE_2, INIT_3, PHASE_3};
sjoerd1999 13:74f2e8d3e04e 28 State currentState = CALIBRATE;
sjoerd1999 8:1733338758d3 29
sjoerd1999 8:1733338758d3 30 struct vec {
sjoerd1999 8:1733338758d3 31 double x,y,z;
sjoerd1999 8:1733338758d3 32 };
sjoerd1999 8:1733338758d3 33
sjoerd1999 13:74f2e8d3e04e 34 vec endPos{0,55,20};
sjoerd1999 9:913a59894698 35 vec ballPos{10,50,10};
sjoerd1999 9:913a59894698 36
sjoerd1999 13:74f2e8d3e04e 37 void moveWithEMG()
sjoerd1999 13:74f2e8d3e04e 38 {
sjoerd1999 13:74f2e8d3e04e 39 int i = int(pulsePin.read_high_us(1000) / 100.00 + 0.5);
sjoerd1999 13:74f2e8d3e04e 40 if(i > 0 && i < 10) {
sjoerd1999 13:74f2e8d3e04e 41 int EMG_A = (i > 6) ? 2 : (i > 3) ? 1 : 0;
sjoerd1999 13:74f2e8d3e04e 42 int EMG_B = (i == 1 || i == 4 || i == 7) ? 0 : (i == 2 || i == 5 || i == 8) ? 1 : 2;
sjoerd1999 13:74f2e8d3e04e 43 pc.printf("EMG_A: %d\r\n",EMG_A);
sjoerd1999 13:74f2e8d3e04e 44 pc.printf("EMG_B: %d\r\n",EMG_B);
sjoerd1999 13:74f2e8d3e04e 45
sjoerd1999 13:74f2e8d3e04e 46 if(currentState == PHASE_1) {
sjoerd1999 13:74f2e8d3e04e 47 if(EMG_A == 0) endPos.x += 0.04;
sjoerd1999 13:74f2e8d3e04e 48 else if(EMG_A == 2) endPos.x -= 0.04;
sjoerd1999 13:74f2e8d3e04e 49
sjoerd1999 13:74f2e8d3e04e 50 if(EMG_B == 0) endPos.z += 0.04;
sjoerd1999 13:74f2e8d3e04e 51 else if(EMG_B == 2) endPos.z -= 0.04;
sjoerd1999 13:74f2e8d3e04e 52 }
sjoerd1999 13:74f2e8d3e04e 53 }
sjoerd1999 13:74f2e8d3e04e 54 }
sjoerd1999 9:913a59894698 55
sjoerd1999 9:913a59894698 56 // JOYSTICK CONTROL //
sjoerd1999 9:913a59894698 57 AnalogIn joyX(A2), joyY(A1), slider(A0);
sjoerd1999 9:913a59894698 58 DigitalIn joyButton(PTB20);
sjoerd1999 9:913a59894698 59 void moveWithJoystick()
sjoerd1999 9:913a59894698 60 {
sjoerd1999 9:913a59894698 61 float delta = 0.04;
sjoerd1999 9:913a59894698 62 if(joyX.read() < 0.2) endPos.x += delta;
sjoerd1999 9:913a59894698 63 else if(joyX.read() > 0.8) endPos.x -= delta;
sjoerd1999 9:913a59894698 64 if(joyY.read() < 0.2) endPos.z += delta;
sjoerd1999 9:913a59894698 65 else if(joyY.read() > 0.8) endPos.z -= delta;
sjoerd1999 9:913a59894698 66 if(slider.read() < 0.2) endPos.y += delta;
sjoerd1999 9:913a59894698 67 else if(slider.read() > 0.9) endPos.y -= delta;
sjoerd1999 9:913a59894698 68 }
sjoerd1999 3:d319bc2b19f1 69
sjoerd1999 8:1733338758d3 70 // DC MOTORS //
sjoerd1999 9:913a59894698 71 QEI encoder1(D10,D11,NC,32), encoder2(PTC5,PTC7, NC, 32), encoder3(D12,D13,NC,32);
sjoerd1999 8:1733338758d3 72 PwmOut motor1_pwm(D5), motor3_pwm(D6);
sjoerd1999 8:1733338758d3 73 DigitalOut motor1_dir(D4), motor3_dir(D7), motor2_A(D2), motor2_B(D3);
sjoerd1999 7:bfcb74384f46 74
sjoerd1999 8:1733338758d3 75 float motor1_cur = 0, motor2_cur = 0, motor3_cur = 0;
sjoerd1999 8:1733338758d3 76 float motor1_tar = 0, motor2_tar = 0, motor3_tar = 0;
sjoerd1999 2:f8e0a7b5c90a 77
sjoerd1999 8:1733338758d3 78 void setMotor(int motor, float motor_spd) // Set the motor speed (between -1 and 1)
sjoerd1999 2:f8e0a7b5c90a 79 {
sjoerd1999 2:f8e0a7b5c90a 80 int motor_dir = (motor_spd >= 0) ? 0 : 1;
sjoerd1999 2:f8e0a7b5c90a 81 motor_spd = fabs(motor_spd);
sjoerd1999 2:f8e0a7b5c90a 82
sjoerd1999 2:f8e0a7b5c90a 83 if(motor == 1) {
sjoerd1999 9:913a59894698 84 motor1_dir.write(1 - motor_dir);
sjoerd1999 2:f8e0a7b5c90a 85 motor1_pwm.write(motor_spd);
sjoerd1999 8:1733338758d3 86 } else if(motor == 3) {
sjoerd1999 8:1733338758d3 87 motor3_dir.write(motor_dir);
sjoerd1999 8:1733338758d3 88 motor3_pwm.write(motor_spd);
sjoerd1999 2:f8e0a7b5c90a 89 } else if(motor == 2) {
sjoerd1999 8:1733338758d3 90 motor2_A.write((motor_dir == 0) ? 0 : int(motor_spd)); // Motor 2 has digital pins so no PWM
sjoerd1999 8:1733338758d3 91 motor2_B.write((motor_dir == 0) ? int(motor_spd) : 0);
sjoerd1999 2:f8e0a7b5c90a 92 }
sjoerd1999 2:f8e0a7b5c90a 93 }
sjoerd1999 2:f8e0a7b5c90a 94
sjoerd1999 8:1733338758d3 95 void getMotorPositions() // Calculate current motor positions (M1:angle, M2/M3:length) based on encoder pulses
sjoerd1999 8:1733338758d3 96 {
sjoerd1999 9:913a59894698 97 motor1_cur = 244 - float(encoder1.getPulses()) / 18530.00 * 360;
sjoerd1999 9:913a59894698 98 if(motor1_cur > 360) motor1_cur -= 360;
sjoerd1999 9:913a59894698 99 if(motor1_cur < 0) motor1_cur += 360;
sjoerd1999 9:913a59894698 100 motor2_cur = float(encoder2.getPulses()) / 41920.00 + 14.3;
sjoerd1999 9:913a59894698 101 motor3_cur = float(encoder3.getPulses()) / 41920.00 + 57.8;
sjoerd1999 8:1733338758d3 102 }
sjoerd1999 8:1733338758d3 103
sjoerd1999 8:1733338758d3 104 void moveToTargets() // Move to the target positions. No PID.
sjoerd1999 8:1733338758d3 105 {
sjoerd1999 13:74f2e8d3e04e 106 setMotor(1, (fabs(motor1_cur - motor1_tar) < 0.5) ? 0 : (motor1_cur < motor1_tar) ? 0.1 : -0.1);
sjoerd1999 13:74f2e8d3e04e 107 setMotor(2, (fabs(motor2_cur - motor2_tar) < 0.02) ? 0 : (motor2_cur < motor2_tar) ? 1 : -1);
sjoerd1999 13:74f2e8d3e04e 108 setMotor(3, (fabs(motor3_cur - motor3_tar) < 0.02) ? 0 : (motor3_cur < motor3_tar) ? 1: -1);
sjoerd1999 8:1733338758d3 109 }
sjoerd1999 8:1733338758d3 110
sjoerd1999 8:1733338758d3 111 // KINEMATICS //
sjoerd1999 8:1733338758d3 112 void calculateKinematics(float x, float y, float z) // y is up
sjoerd1999 8:1733338758d3 113 {
sjoerd1999 9:913a59894698 114 float angle1 = fmod(2*PI - atan2(z, x), 2*PI) * (360 / (2*PI));
sjoerd1999 8:1733338758d3 115 float angle2 = acos(sqrt(x*x + y*y + z*z) / 100.00) + atan2(sqrt(x*x + z*z), y);
sjoerd1999 8:1733338758d3 116 float angle3 = 2 * asin(sqrt(x*x + y*y + z*z) / 100.00);
sjoerd1999 8:1733338758d3 117
sjoerd1999 9:913a59894698 118 motor1_tar = angle1;
sjoerd1999 9:913a59894698 119 motor2_tar = sqrt(200 - 200 * cos(angle2)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = c = 10cm)
sjoerd1999 9:913a59894698 120 motor3_tar = sqrt(2600 - 1000 * cos(PI - angle3)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = 10cm, c = 50cm)
sjoerd1999 9:913a59894698 121 }
sjoerd1999 9:913a59894698 122
sjoerd1999 9:913a59894698 123 void calculateKinematicsHand(float x, float y, float z) // y is up
sjoerd1999 9:913a59894698 124 {
sjoerd1999 9:913a59894698 125 float angle1 = fmod(2*PI - atan2(z, x), 2*PI) * (360 / (2*PI));
sjoerd1999 9:913a59894698 126 float xz = sqrt(x*x + z*z) - 15;
sjoerd1999 9:913a59894698 127 y -= 9;
sjoerd1999 9:913a59894698 128 float angle2 = acos(sqrt(xz*xz + y*y) / 100.00) + atan2(xz, y);
sjoerd1999 9:913a59894698 129 float angle3 = 2 * asin(sqrt(xz*xz +y*y) / 100.00);
sjoerd1999 9:913a59894698 130
sjoerd1999 9:913a59894698 131 motor1_tar = angle1;
sjoerd1999 8:1733338758d3 132 motor2_tar = sqrt(200 - 200 * cos(angle2)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = c = 10cm)
sjoerd1999 8:1733338758d3 133 motor3_tar = sqrt(2600 - 1000 * cos(PI - angle3)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = 10cm, c = 50cm)
sjoerd1999 8:1733338758d3 134 }
sjoerd1999 8:1733338758d3 135
sjoerd1999 8:1733338758d3 136 // STEPPER MOTOR //
sjoerd1999 2:f8e0a7b5c90a 137 DigitalOut STEPPER_IN1(PTB18), STEPPER_IN2(PTB19), STEPPER_IN3(PTC1), STEPPER_IN4(PTC8);
sjoerd1999 2:f8e0a7b5c90a 138
sjoerd1999 2:f8e0a7b5c90a 139 int stepper_steps = 0;
sjoerd1999 8:1733338758d3 140 float stepper_angle = 0, stepper_target = 0;
sjoerd1999 2:f8e0a7b5c90a 141
sjoerd1999 8:1733338758d3 142 void stepper_step(int direction_) // Requires ~1.5ms wait time between each step, 4096 steps is one rotation
sjoerd1999 2:f8e0a7b5c90a 143 {
sjoerd1999 3:d319bc2b19f1 144 STEPPER_IN1 = (stepper_steps == 5 || stepper_steps == 6 || stepper_steps == 7);
sjoerd1999 2:f8e0a7b5c90a 145 STEPPER_IN2 = (stepper_steps == 3 || stepper_steps == 4 || stepper_steps == 5);
sjoerd1999 2:f8e0a7b5c90a 146 STEPPER_IN3 = (stepper_steps == 1 || stepper_steps == 2 || stepper_steps == 3);
sjoerd1999 2:f8e0a7b5c90a 147 STEPPER_IN4 = (stepper_steps == 7 || stepper_steps == 0 || stepper_steps == 1);
sjoerd1999 2:f8e0a7b5c90a 148 stepper_steps += (direction_ == 0) ? - 1 : 1;
sjoerd1999 2:f8e0a7b5c90a 149 stepper_steps = (stepper_steps + 8) % 8;
sjoerd1999 9:913a59894698 150 stepper_angle -= ((direction_ == 0) ? -1 : 1) * (360.00 / 4096.00);
sjoerd1999 2:f8e0a7b5c90a 151 }
sjoerd1999 2:f8e0a7b5c90a 152
sjoerd1999 8:1733338758d3 153 Ticker stepper_moveToAngle;
sjoerd1999 8:1733338758d3 154 void stepper_move() // Move toward desired angle with threshold. In Ticker function because requires wait otherwise
sjoerd1999 8:1733338758d3 155 {
sjoerd1999 9:913a59894698 156 if(fabs(stepper_angle - stepper_target) > 1) stepper_step((stepper_angle < stepper_target) ? 0 : 1);
sjoerd1999 8:1733338758d3 157 }
sjoerd1999 8:1733338758d3 158
sjoerd1999 8:1733338758d3 159 // SERVO //
sjoerd1999 9:913a59894698 160 AnalogOut servo(DAC0_OUT); // Write analog value to the Arduino
sjoerd1999 13:74f2e8d3e04e 161 void setServo(float i) // Set servo to specified angle(0-180 degrees) signal measured by Arduino and decoded there.
sjoerd1999 5:33133ebe37fd 162 {
sjoerd1999 9:913a59894698 163 servo = i / 180.00;
sjoerd1999 5:33133ebe37fd 164 }
sjoerd1999 3:d319bc2b19f1 165
sjoerd1999 8:1733338758d3 166 // AIMING //
sjoerd1999 13:74f2e8d3e04e 167 float aimAngle, aimTilt = 45;
sjoerd1999 12:c3fd0712f43d 168 float cueLength = 15;
sjoerd1999 9:913a59894698 169 void aim(float angle, float tilt) // Moves both stepper and servo so the end affector points towards desired angle
sjoerd1999 8:1733338758d3 170 {
sjoerd1999 9:913a59894698 171 setServo(tilt + 90);
sjoerd1999 9:913a59894698 172
sjoerd1999 9:913a59894698 173 // SPHERICAL TO CARTESIAN:
sjoerd1999 9:913a59894698 174 float handX = ballPos.x + cueLength * sin(tilt / 180 * PI) * cos(angle / 180 * PI);
sjoerd1999 9:913a59894698 175 float handY = ballPos.y - cueLength * cos(tilt / 180 * PI);
sjoerd1999 9:913a59894698 176 float handZ = ballPos.z - cueLength * sin(tilt / 180 * PI) * sin(angle / 180 * PI);
sjoerd1999 9:913a59894698 177 endPos.x = handX;
sjoerd1999 9:913a59894698 178 endPos.y = handY;
sjoerd1999 9:913a59894698 179 endPos.z = handZ;
sjoerd1999 9:913a59894698 180
sjoerd1999 9:913a59894698 181 float stepperAngle = angle - fmod(2*PI - atan2(handZ, handX), 2*PI) * (180 / PI);
sjoerd1999 9:913a59894698 182 if(stepperAngle < 0) stepperAngle += 360;
sjoerd1999 9:913a59894698 183 stepper_target = stepperAngle;
sjoerd1999 8:1733338758d3 184 }
sjoerd1999 8:1733338758d3 185
sjoerd1999 8:1733338758d3 186 // SOLENOID //
sjoerd1999 5:33133ebe37fd 187 DigitalOut solenoidA(PTC0), solenoidB(PTC9);
sjoerd1999 8:1733338758d3 188 void setSolenoid(int dir) // 1 is out, 0 is in
sjoerd1999 3:d319bc2b19f1 189 {
sjoerd1999 9:913a59894698 190 solenoidA = (dir == 0) ? 0 : 1;
sjoerd1999 9:913a59894698 191 solenoidB = (dir == 0) ? 1 : 0;
sjoerd1999 7:bfcb74384f46 192 }
sjoerd1999 7:bfcb74384f46 193
sjoerd1999 8:1733338758d3 194 // LASER //
sjoerd1999 7:bfcb74384f46 195 DigitalOut laserPin(D8);
sjoerd1999 7:bfcb74384f46 196 void setLaser(bool on)
sjoerd1999 7:bfcb74384f46 197 {
sjoerd1999 7:bfcb74384f46 198 if(on) laserPin.write(1);
sjoerd1999 7:bfcb74384f46 199 else laserPin.write(0);
sjoerd1999 7:bfcb74384f46 200 }
sjoerd1999 7:bfcb74384f46 201
sjoerd1999 9:913a59894698 202 // CALIBRATION // a3 a4 A5
sjoerd1999 9:913a59894698 203 AnalogIn switch1(A3), switch2(A4), switch3(A5);
sjoerd1999 8:1733338758d3 204 void calibrate() // Calibrates all 3 motors simultaniously
sjoerd1999 7:bfcb74384f46 205 {
sjoerd1999 8:1733338758d3 206 setMotor(1,0.2); // Set all motors to move towards the switches
sjoerd1999 7:bfcb74384f46 207 setMotor(2,1);
sjoerd1999 7:bfcb74384f46 208 setMotor(3,1);
sjoerd1999 7:bfcb74384f46 209
sjoerd1999 9:913a59894698 210 while(!(switch1.read() < 0.5 && switch2.read() > 0.5 && switch3.read() > 0.5)) { // When all switches have been pushed in, stop
sjoerd1999 9:913a59894698 211 if(switch1.read() < 0.5) setMotor(1,0);
sjoerd1999 7:bfcb74384f46 212 if(switch2.read() > 0.5) setMotor(2,0);
sjoerd1999 7:bfcb74384f46 213 if(switch3.read() > 0.5) setMotor(3,0);
sjoerd1999 9:913a59894698 214 wait_ms(30);
sjoerd1999 7:bfcb74384f46 215 }
sjoerd1999 8:1733338758d3 216 for(int i = 1; i <= 3; i++) setMotor(i,0); // Make sure they've all stopped
sjoerd1999 8:1733338758d3 217
sjoerd1999 8:1733338758d3 218 encoder1.reset(); // Reset encoder positions
sjoerd1999 7:bfcb74384f46 219 encoder2.reset();
sjoerd1999 7:bfcb74384f46 220 encoder3.reset();
sjoerd1999 3:d319bc2b19f1 221 }
sjoerd1999 3:d319bc2b19f1 222
sjoerd1999 3:d319bc2b19f1 223
RobertoO 0:67c50348f842 224 int main()
RobertoO 0:67c50348f842 225 {
RobertoO 0:67c50348f842 226 pc.baud(115200);
RobertoO 1:b862262a9d14 227 pc.printf("\r\nStarting...\r\n\r\n");
sjoerd1999 12:c3fd0712f43d 228 motor1_pwm.period(0.020);
sjoerd1999 12:c3fd0712f43d 229 motor3_pwm.period(0.020);
sjoerd1999 9:913a59894698 230 stepper_moveToAngle.attach(&stepper_move, 0.0015);
sjoerd1999 13:74f2e8d3e04e 231 // while(true){
sjoerd1999 13:74f2e8d3e04e 232 // moveWithEMG();
sjoerd1999 13:74f2e8d3e04e 233 // wait_ms(20);
sjoerd1999 13:74f2e8d3e04e 234 // }
sjoerd1999 7:bfcb74384f46 235
RobertoO 0:67c50348f842 236 while (true) {
sjoerd1999 9:913a59894698 237 switch(currentState) {
sjoerd1999 13:74f2e8d3e04e 238 case CALIBRATE: // Calibrate the hand
sjoerd1999 13:74f2e8d3e04e 239 setSolenoid(0);
sjoerd1999 9:913a59894698 240 calibrate();
sjoerd1999 9:913a59894698 241 setServo(90);
sjoerd1999 13:74f2e8d3e04e 242 currentState = INIT_1;
sjoerd1999 13:74f2e8d3e04e 243 break;
sjoerd1999 13:74f2e8d3e04e 244 case INIT_0: // Go to idle position
sjoerd1999 13:74f2e8d3e04e 245 calculateKinematicsHand(endPos.x, endPos.y, endPos.z); // Calculate target positions
sjoerd1999 13:74f2e8d3e04e 246 getMotorPositions(); // Calculate current positions
sjoerd1999 13:74f2e8d3e04e 247 moveToTargets(); // Set the motors speeds accordingly
sjoerd1999 13:74f2e8d3e04e 248 wait_ms(40);
sjoerd1999 13:74f2e8d3e04e 249 if(fabs(motor1_cur - motor1_tar) < 0.6 && fabs(motor2_cur - motor2_tar) < 0.05 && fabs(motor3_cur - motor3_tar) < 0.05) currentState = IDLE;
sjoerd1999 13:74f2e8d3e04e 250 break;
sjoerd1999 13:74f2e8d3e04e 251 case IDLE:
sjoerd1999 13:74f2e8d3e04e 252 if(joyButton.read() == 0) {
sjoerd1999 13:74f2e8d3e04e 253 currentState = PHASE_1;
sjoerd1999 13:74f2e8d3e04e 254 setLaser(1);
sjoerd1999 13:74f2e8d3e04e 255 wait_ms(1000);
sjoerd1999 13:74f2e8d3e04e 256 }
sjoerd1999 9:913a59894698 257 break;
sjoerd1999 9:913a59894698 258 case PHASE_1:
sjoerd1999 9:913a59894698 259 if(demo) moveWithJoystick();
sjoerd1999 9:913a59894698 260 else moveWithEMG();
sjoerd1999 9:913a59894698 261 calculateKinematicsHand(endPos.x, endPos.y, endPos.z); // Calculate target positions
sjoerd1999 9:913a59894698 262 getMotorPositions(); // Calculate current positions
sjoerd1999 9:913a59894698 263 moveToTargets(); // Set the motors speeds accordingly
sjoerd1999 9:913a59894698 264 if(joyButton.read() == 0) {
sjoerd1999 9:913a59894698 265 currentState = PHASE_2;
sjoerd1999 9:913a59894698 266 wait_ms(1000);
sjoerd1999 9:913a59894698 267 ballPos.x = endPos.x;
sjoerd1999 12:c3fd0712f43d 268 ballPos.y = 75;
sjoerd1999 9:913a59894698 269 ballPos.z = endPos.z;
sjoerd1999 12:c3fd0712f43d 270 setLaser(0);
sjoerd1999 9:913a59894698 271 }
sjoerd1999 9:913a59894698 272 wait_ms(40);
sjoerd1999 9:913a59894698 273 break;
sjoerd1999 9:913a59894698 274
sjoerd1999 9:913a59894698 275 case PHASE_2:
sjoerd1999 13:74f2e8d3e04e 276 if(slider.read() > 0.9) aimTilt += 0.25;
sjoerd1999 13:74f2e8d3e04e 277 else if(slider.read() < 0.1) aimTilt -= 0.25;
sjoerd1999 13:74f2e8d3e04e 278 aimTilt = (aimTilt < 0) ? 0 : (aimTilt > 90) ? 90 : aimTilt;
sjoerd1999 9:913a59894698 279
sjoerd1999 13:74f2e8d3e04e 280 if(joyX.read() < 0.2) aimAngle -= 0.4;
sjoerd1999 13:74f2e8d3e04e 281 else if(joyX.read() > 0.8) aimAngle += 0.4;
sjoerd1999 13:74f2e8d3e04e 282 aimAngle = (aimAngle < 0) ? 360 : (aimAngle > 360) ? 0 : aimAngle;
sjoerd1999 9:913a59894698 283
sjoerd1999 9:913a59894698 284 aim(aimAngle, aimTilt);
sjoerd1999 9:913a59894698 285
sjoerd1999 9:913a59894698 286 calculateKinematicsHand(endPos.x, endPos.y, endPos.z); // Calculate target positions
sjoerd1999 9:913a59894698 287 getMotorPositions(); // Calculate current positions
sjoerd1999 9:913a59894698 288 moveToTargets(); // Set the motors speeds accordingly
sjoerd1999 9:913a59894698 289 wait_ms(40);
sjoerd1999 13:74f2e8d3e04e 290
sjoerd1999 13:74f2e8d3e04e 291 if(joyButton.read() == 0) {
sjoerd1999 13:74f2e8d3e04e 292 currentState = PHASE_3;
sjoerd1999 12:c3fd0712f43d 293 }
sjoerd1999 9:913a59894698 294 break;
sjoerd1999 13:74f2e8d3e04e 295 case PHASE_3: // Shoot
sjoerd1999 13:74f2e8d3e04e 296 setSolenoid(1);
sjoerd1999 13:74f2e8d3e04e 297 wait_ms(500);
sjoerd1999 13:74f2e8d3e04e 298 setSolenoid(0);
sjoerd1999 13:74f2e8d3e04e 299 currentState = INIT_0;
sjoerd1999 13:74f2e8d3e04e 300 endPos.x = 0;
sjoerd1999 13:74f2e8d3e04e 301 endPos.y = 55;
sjoerd1999 13:74f2e8d3e04e 302 endPos.z = 20;
sjoerd1999 13:74f2e8d3e04e 303 aimTilt = 45;
sjoerd1999 13:74f2e8d3e04e 304 aimAngle = 0;
sjoerd1999 13:74f2e8d3e04e 305 stepper_target = 0;
sjoerd1999 13:74f2e8d3e04e 306 break;
sjoerd1999 13:74f2e8d3e04e 307
sjoerd1999 9:913a59894698 308 }
sjoerd1999 4:8113394bed1b 309 /*
sjoerd1999 4:8113394bed1b 310 SOME EXAPLE CODE
sjoerd1999 5:33133ebe37fd 311
sjoerd1999 4:8113394bed1b 312 * MOTOR
sjoerd1999 8:1733338758d3 313 setMotor(..., ...) // which motor (1,2,3), and speed (-1.0, +1.0)
sjoerd1999 5:33133ebe37fd 314
sjoerd1999 8:1733338758d3 315 * KINEMATICS (this should be done every ~30 ms)
sjoerd1999 8:1733338758d3 316 calculateKinematics(x, y, z); // Calculate target positions
sjoerd1999 8:1733338758d3 317 getMotorPositions(); // Calculate current positions
sjoerd1999 8:1733338758d3 318 moveToTargets(); // Set the motors speeds accordingly
sjoerd1999 3:d319bc2b19f1 319
sjoerd1999 4:8113394bed1b 320 * STEPPER
sjoerd1999 8:1733338758d3 321 stepper_target = ...; // angle (between 0.0 and 180.0)
sjoerd1999 4:8113394bed1b 322
sjoerd1999 4:8113394bed1b 323 * SERVO
sjoerd1999 7:bfcb74384f46 324 setServo(...) // value between 0.0 and 180.0 (= 0 and 180 degrees)
sjoerd1999 5:33133ebe37fd 325
sjoerd1999 8:1733338758d3 326 * AIMING
sjoerd1999 8:1733338758d3 327 aim(...) // value between 0 and 360
sjoerd1999 8:1733338758d3 328
sjoerd1999 5:33133ebe37fd 329 * SOLENOID
sjoerd1999 8:1733338758d3 330 setSolenoid(...); // position, 0(in) or 1(out)
sjoerd1999 8:1733338758d3 331
sjoerd1999 8:1733338758d3 332 * LASER
sjoerd1999 8:1733338758d3 333 setLaser(...) // 0(off) or 1(on)
sjoerd1999 5:33133ebe37fd 334
sjoerd1999 4:8113394bed1b 335 */
sjoerd1999 7:bfcb74384f46 336
sjoerd1999 9:913a59894698 337 // pc.printf("jx: %f\r\n",joyX.read());
RobertoO 0:67c50348f842 338 }
RobertoO 0:67c50348f842 339 }