State machine
Dependencies: mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter
main.cpp@32:b63b5837bcb1, 2018-11-01 (annotated)
- Committer:
- brass_phoenix
- Date:
- Thu Nov 01 14:11:30 2018 +0000
- Revision:
- 32:b63b5837bcb1
- Parent:
- 30:a45bbfa6bd22
- Child:
- 33:543debddb3a9
+ Two directional demo works.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
MAHCSnijders | 0:7d25c2ade6c5 | 1 | #include "mbed.h" |
MAHCSnijders | 0:7d25c2ade6c5 | 2 | |
brass_phoenix | 20:af1a6cd7469b | 3 | #include "constants.h" |
brass_phoenix | 20:af1a6cd7469b | 4 | |
brass_phoenix | 1:cfa5abca6d43 | 5 | #include "Button.h" |
brass_phoenix | 3:4b19b6cf6cc7 | 6 | #include "Screen.h" |
brass_phoenix | 8:9090ab7c19a8 | 7 | #include "motor.h" |
brass_phoenix | 16:9c5ef6fe6780 | 8 | #include "motor_calibration.h" |
brass_phoenix | 20:af1a6cd7469b | 9 | #include "forward_kinematics.h" |
brass_phoenix | 21:d541303a2ea6 | 10 | #include "inverse_kinematics.h" |
brass_phoenix | 32:b63b5837bcb1 | 11 | #include "end_effector_control.h" |
MAHCSnijders | 0:7d25c2ade6c5 | 12 | |
brass_phoenix | 1:cfa5abca6d43 | 13 | |
brass_phoenix | 32:b63b5837bcb1 | 14 | enum States {waiting, calib_motor, calib_bicep1, calib_bicep2, homing, operation, demo, failure}; // The possible states of the state machine |
MAHCSnijders | 0:7d25c2ade6c5 | 15 | |
MAHCSnijders | 0:7d25c2ade6c5 | 16 | // Global variables |
brass_phoenix | 1:cfa5abca6d43 | 17 | |
brass_phoenix | 8:9090ab7c19a8 | 18 | |
brass_phoenix | 12:0c10396d0615 | 19 | Motor main_motor(D6, D7, D13, D12); |
brass_phoenix | 12:0c10396d0615 | 20 | Motor sec_motor(D5, D4, D10, D11); |
brass_phoenix | 12:0c10396d0615 | 21 | |
brass_phoenix | 1:cfa5abca6d43 | 22 | |
brass_phoenix | 13:88967c004446 | 23 | AnalogIn potmeter1(A5); // Analoge input van potmeter 1 -> Motor 1 |
brass_phoenix | 13:88967c004446 | 24 | AnalogIn potmeter2(A4); // Analoge input van potmeter 2 -> Motor 2 |
brass_phoenix | 13:88967c004446 | 25 | |
brass_phoenix | 13:88967c004446 | 26 | |
brass_phoenix | 1:cfa5abca6d43 | 27 | States current_state; // Defining the state we are currently in |
brass_phoenix | 2:141cfcafe72b | 28 | States last_state; // To detect state changes. |
MAHCSnijders | 0:7d25c2ade6c5 | 29 | Ticker loop_ticker; // Ticker for the loop function |
brass_phoenix | 1:cfa5abca6d43 | 30 | |
brass_phoenix | 1:cfa5abca6d43 | 31 | // Order of buttons: up_down, left_right, panic |
brass_phoenix | 1:cfa5abca6d43 | 32 | // D2, D3, D8 |
brass_phoenix | 7:e7f808875bc4 | 33 | Button ud_button(D2); |
brass_phoenix | 2:141cfcafe72b | 34 | Button lr_button(D3); |
brass_phoenix | 7:e7f808875bc4 | 35 | Button p_button(D8); |
brass_phoenix | 7:e7f808875bc4 | 36 | |
brass_phoenix | 7:e7f808875bc4 | 37 | Ticker button_ticker; |
MAHCSnijders | 0:7d25c2ade6c5 | 38 | |
brass_phoenix | 1:cfa5abca6d43 | 39 | DigitalOut led_red(LED_RED); |
brass_phoenix | 1:cfa5abca6d43 | 40 | DigitalOut led_green(LED_GREEN); |
brass_phoenix | 9:27d00b64076e | 41 | DigitalOut led_blue(LED_BLUE); |
brass_phoenix | 1:cfa5abca6d43 | 42 | |
brass_phoenix | 3:4b19b6cf6cc7 | 43 | // The last arguent is the reset pin. |
brass_phoenix | 3:4b19b6cf6cc7 | 44 | // The screen doesn't use it, but the library requires it |
brass_phoenix | 3:4b19b6cf6cc7 | 45 | // So pick a pin we don't use. |
brass_phoenix | 3:4b19b6cf6cc7 | 46 | Screen screen(D14, D15, D9); |
brass_phoenix | 2:141cfcafe72b | 47 | |
brass_phoenix | 12:0c10396d0615 | 48 | // Which direction the emg will control the arm. |
brass_phoenix | 12:0c10396d0615 | 49 | // Up or down. |
brass_phoenix | 12:0c10396d0615 | 50 | // Left or right. |
brass_phoenix | 12:0c10396d0615 | 51 | bool control_goes_up = false; |
brass_phoenix | 12:0c10396d0615 | 52 | bool control_goes_right = false; |
brass_phoenix | 12:0c10396d0615 | 53 | |
brass_phoenix | 3:4b19b6cf6cc7 | 54 | |
brass_phoenix | 3:4b19b6cf6cc7 | 55 | void do_state_waiting() |
brass_phoenix | 3:4b19b6cf6cc7 | 56 | { |
brass_phoenix | 4:5a44ab7e94b3 | 57 | if(last_state != current_state) { |
brass_phoenix | 4:5a44ab7e94b3 | 58 | last_state = current_state; |
brass_phoenix | 4:5a44ab7e94b3 | 59 | // State just changed to this one. |
brass_phoenix | 4:5a44ab7e94b3 | 60 | |
brass_phoenix | 4:5a44ab7e94b3 | 61 | led_green = 1; |
brass_phoenix | 6:bfc6e68774f5 | 62 | screen.clear_display(); |
brass_phoenix | 4:5a44ab7e94b3 | 63 | screen.display_state_name("Waiting"); |
brass_phoenix | 6:bfc6e68774f5 | 64 | screen.get_screen_handle()->printf(" Press to start "); |
brass_phoenix | 6:bfc6e68774f5 | 65 | screen.get_screen_handle()->printf(" | "); |
brass_phoenix | 6:bfc6e68774f5 | 66 | screen.get_screen_handle()->printf(" V "); |
brass_phoenix | 6:bfc6e68774f5 | 67 | screen.display(); |
brass_phoenix | 4:5a44ab7e94b3 | 68 | } |
brass_phoenix | 4:5a44ab7e94b3 | 69 | |
brass_phoenix | 9:27d00b64076e | 70 | if (ud_button.has_just_been_pressed()) { |
brass_phoenix | 2:141cfcafe72b | 71 | current_state = calib_motor; |
brass_phoenix | 2:141cfcafe72b | 72 | } |
brass_phoenix | 2:141cfcafe72b | 73 | } |
brass_phoenix | 2:141cfcafe72b | 74 | |
brass_phoenix | 3:4b19b6cf6cc7 | 75 | void do_state_calib_motor() |
brass_phoenix | 3:4b19b6cf6cc7 | 76 | { |
brass_phoenix | 16:9c5ef6fe6780 | 77 | static double main_last_angle; |
brass_phoenix | 16:9c5ef6fe6780 | 78 | static double sec_last_angle; |
brass_phoenix | 16:9c5ef6fe6780 | 79 | static int main_iterations_not_moving; |
brass_phoenix | 16:9c5ef6fe6780 | 80 | static int sec_iterations_not_moving; |
brass_phoenix | 16:9c5ef6fe6780 | 81 | static bool main_is_calibrated; |
brass_phoenix | 16:9c5ef6fe6780 | 82 | static bool sec_is_calibrated; |
brass_phoenix | 16:9c5ef6fe6780 | 83 | |
brass_phoenix | 2:141cfcafe72b | 84 | if(last_state != current_state) { |
brass_phoenix | 2:141cfcafe72b | 85 | last_state = current_state; |
brass_phoenix | 2:141cfcafe72b | 86 | // State just changed to this one. |
brass_phoenix | 3:4b19b6cf6cc7 | 87 | |
brass_phoenix | 28:25917b26022c | 88 | led_green = 1; |
brass_phoenix | 28:25917b26022c | 89 | led_blue = 1; |
brass_phoenix | 6:bfc6e68774f5 | 90 | screen.clear_display(); |
brass_phoenix | 5:2632dfc8454c | 91 | screen.display_state_name("Motor calibration"); |
brass_phoenix | 16:9c5ef6fe6780 | 92 | |
brass_phoenix | 16:9c5ef6fe6780 | 93 | main_last_angle = -10; |
brass_phoenix | 16:9c5ef6fe6780 | 94 | sec_last_angle = -10; |
brass_phoenix | 16:9c5ef6fe6780 | 95 | main_iterations_not_moving = 0; |
brass_phoenix | 16:9c5ef6fe6780 | 96 | sec_iterations_not_moving = 0; |
brass_phoenix | 16:9c5ef6fe6780 | 97 | main_is_calibrated = false; |
brass_phoenix | 16:9c5ef6fe6780 | 98 | sec_is_calibrated = false; |
brass_phoenix | 2:141cfcafe72b | 99 | } |
brass_phoenix | 9:27d00b64076e | 100 | |
brass_phoenix | 16:9c5ef6fe6780 | 101 | if (!main_is_calibrated) { |
brass_phoenix | 16:9c5ef6fe6780 | 102 | main_is_calibrated = calibrate_motor(main_motor, main_last_angle, main_iterations_not_moving); |
brass_phoenix | 16:9c5ef6fe6780 | 103 | if (main_is_calibrated) { |
brass_phoenix | 30:a45bbfa6bd22 | 104 | double calibration_angle = 0.785398; // 45 degrees. |
brass_phoenix | 30:a45bbfa6bd22 | 105 | main_motor.define_current_angle_as_x_radians(calibration_angle); |
brass_phoenix | 30:a45bbfa6bd22 | 106 | main_motor.set_target_angle(calibration_angle - 0.1); // Give the arm some breathing space. |
brass_phoenix | 28:25917b26022c | 107 | led_green = 0; |
brass_phoenix | 16:9c5ef6fe6780 | 108 | } |
brass_phoenix | 16:9c5ef6fe6780 | 109 | } |
brass_phoenix | 16:9c5ef6fe6780 | 110 | if (!sec_is_calibrated) { |
brass_phoenix | 16:9c5ef6fe6780 | 111 | sec_is_calibrated = calibrate_motor(sec_motor, sec_last_angle, sec_iterations_not_moving); |
brass_phoenix | 16:9c5ef6fe6780 | 112 | if (sec_is_calibrated) { |
brass_phoenix | 30:a45bbfa6bd22 | 113 | double calibration_angle = -0.733038; // -42 degrees. |
brass_phoenix | 16:9c5ef6fe6780 | 114 | sec_motor.define_current_angle_as_x_radians(-0.733038); // -42 degrees. |
brass_phoenix | 30:a45bbfa6bd22 | 115 | main_motor.set_target_angle(calibration_angle + 0.1); // Give the arm some breathing space. |
brass_phoenix | 28:25917b26022c | 116 | led_blue = 0; |
brass_phoenix | 16:9c5ef6fe6780 | 117 | } |
brass_phoenix | 16:9c5ef6fe6780 | 118 | } |
brass_phoenix | 16:9c5ef6fe6780 | 119 | |
brass_phoenix | 28:25917b26022c | 120 | screen.get_screen_handle()->setTextCursor(0, 8); |
brass_phoenix | 28:25917b26022c | 121 | screen.get_screen_handle()->printf("M: %i \n", main_iterations_not_moving); |
brass_phoenix | 28:25917b26022c | 122 | screen.get_screen_handle()->printf("S: %i \n", sec_iterations_not_moving); |
brass_phoenix | 28:25917b26022c | 123 | screen.display(); |
brass_phoenix | 28:25917b26022c | 124 | |
brass_phoenix | 16:9c5ef6fe6780 | 125 | if (main_is_calibrated && sec_is_calibrated) { |
brass_phoenix | 19:53b9729fbab5 | 126 | current_state = homing; |
brass_phoenix | 9:27d00b64076e | 127 | } |
brass_phoenix | 2:141cfcafe72b | 128 | } |
brass_phoenix | 2:141cfcafe72b | 129 | |
brass_phoenix | 25:cc81f2120eda | 130 | void do_state_homing() |
brass_phoenix | 25:cc81f2120eda | 131 | { |
brass_phoenix | 25:cc81f2120eda | 132 | const double home_x = 0.6524; // Meters. |
brass_phoenix | 25:cc81f2120eda | 133 | const double home_y = 0.3409; |
brass_phoenix | 25:cc81f2120eda | 134 | |
brass_phoenix | 26:a8f4a117cc0d | 135 | double main_home; |
brass_phoenix | 26:a8f4a117cc0d | 136 | double sec_home; |
brass_phoenix | 25:cc81f2120eda | 137 | |
brass_phoenix | 25:cc81f2120eda | 138 | if(last_state != current_state) { |
brass_phoenix | 25:cc81f2120eda | 139 | last_state = current_state; |
brass_phoenix | 25:cc81f2120eda | 140 | // State just changed to this one. |
brass_phoenix | 25:cc81f2120eda | 141 | screen.clear_display(); |
brass_phoenix | 25:cc81f2120eda | 142 | screen.display_state_name("Homing"); |
brass_phoenix | 25:cc81f2120eda | 143 | |
brass_phoenix | 26:a8f4a117cc0d | 144 | inverse_kinematics(home_x, home_y, main_home, sec_home); |
brass_phoenix | 25:cc81f2120eda | 145 | |
brass_phoenix | 25:cc81f2120eda | 146 | main_motor.set_target_angle(main_home); |
brass_phoenix | 25:cc81f2120eda | 147 | sec_motor.set_target_angle(sec_home); |
brass_phoenix | 25:cc81f2120eda | 148 | } |
brass_phoenix | 25:cc81f2120eda | 149 | |
brass_phoenix | 25:cc81f2120eda | 150 | if (ud_button.has_just_been_pressed()) { |
brass_phoenix | 25:cc81f2120eda | 151 | current_state = calib_bicep1; |
brass_phoenix | 25:cc81f2120eda | 152 | } |
brass_phoenix | 32:b63b5837bcb1 | 153 | if (lr_button.has_just_been_pressed()) { |
brass_phoenix | 32:b63b5837bcb1 | 154 | current_state = demo; |
brass_phoenix | 32:b63b5837bcb1 | 155 | } |
brass_phoenix | 25:cc81f2120eda | 156 | } |
brass_phoenix | 25:cc81f2120eda | 157 | |
brass_phoenix | 3:4b19b6cf6cc7 | 158 | void do_state_calib_bicep1() |
brass_phoenix | 3:4b19b6cf6cc7 | 159 | { |
brass_phoenix | 2:141cfcafe72b | 160 | if(last_state != current_state) { |
brass_phoenix | 2:141cfcafe72b | 161 | last_state = current_state; |
brass_phoenix | 2:141cfcafe72b | 162 | // State just changed to this one. |
brass_phoenix | 6:bfc6e68774f5 | 163 | screen.clear_display(); |
brass_phoenix | 5:2632dfc8454c | 164 | screen.display_state_name("EMG 1 calibration"); |
brass_phoenix | 2:141cfcafe72b | 165 | } |
brass_phoenix | 9:27d00b64076e | 166 | |
brass_phoenix | 9:27d00b64076e | 167 | if (ud_button.has_just_been_pressed()) { |
brass_phoenix | 9:27d00b64076e | 168 | current_state = calib_bicep2; |
brass_phoenix | 9:27d00b64076e | 169 | } |
brass_phoenix | 2:141cfcafe72b | 170 | } |
brass_phoenix | 2:141cfcafe72b | 171 | |
brass_phoenix | 3:4b19b6cf6cc7 | 172 | void do_state_calib_bicep2() |
brass_phoenix | 3:4b19b6cf6cc7 | 173 | { |
brass_phoenix | 2:141cfcafe72b | 174 | if(last_state != current_state) { |
brass_phoenix | 2:141cfcafe72b | 175 | last_state = current_state; |
brass_phoenix | 2:141cfcafe72b | 176 | // State just changed to this one. |
brass_phoenix | 6:bfc6e68774f5 | 177 | screen.clear_display(); |
brass_phoenix | 5:2632dfc8454c | 178 | screen.display_state_name("EMG 2 calibration"); |
brass_phoenix | 2:141cfcafe72b | 179 | } |
brass_phoenix | 9:27d00b64076e | 180 | |
brass_phoenix | 9:27d00b64076e | 181 | if (ud_button.has_just_been_pressed()) { |
brass_phoenix | 9:27d00b64076e | 182 | current_state = homing; |
brass_phoenix | 9:27d00b64076e | 183 | } |
brass_phoenix | 2:141cfcafe72b | 184 | } |
brass_phoenix | 2:141cfcafe72b | 185 | |
brass_phoenix | 3:4b19b6cf6cc7 | 186 | void do_state_operation() |
brass_phoenix | 3:4b19b6cf6cc7 | 187 | { |
brass_phoenix | 21:d541303a2ea6 | 188 | static bool debug_forward_kinematics; |
brass_phoenix | 21:d541303a2ea6 | 189 | |
brass_phoenix | 2:141cfcafe72b | 190 | if(last_state != current_state) { |
brass_phoenix | 2:141cfcafe72b | 191 | last_state = current_state; |
brass_phoenix | 2:141cfcafe72b | 192 | // State just changed to this one. |
brass_phoenix | 6:bfc6e68774f5 | 193 | screen.clear_display(); |
brass_phoenix | 5:2632dfc8454c | 194 | screen.display_state_name("Normal operation"); |
brass_phoenix | 15:f65b4566193e | 195 | |
brass_phoenix | 15:f65b4566193e | 196 | control_goes_up = true; |
brass_phoenix | 15:f65b4566193e | 197 | control_goes_right = true; |
brass_phoenix | 15:f65b4566193e | 198 | |
brass_phoenix | 15:f65b4566193e | 199 | screen.display_up_down_arrow(control_goes_up); |
brass_phoenix | 15:f65b4566193e | 200 | screen.display_left_right_arrow(control_goes_right); |
brass_phoenix | 21:d541303a2ea6 | 201 | |
brass_phoenix | 21:d541303a2ea6 | 202 | debug_forward_kinematics = true; |
brass_phoenix | 2:141cfcafe72b | 203 | } |
brass_phoenix | 9:27d00b64076e | 204 | |
brass_phoenix | 21:d541303a2ea6 | 205 | if (debug_forward_kinematics) { |
brass_phoenix | 21:d541303a2ea6 | 206 | // Using potmeters for debugging purposes; |
brass_phoenix | 21:d541303a2ea6 | 207 | double main_angle = ((potmeter1.read() * 2) - 1) * PI; |
brass_phoenix | 21:d541303a2ea6 | 208 | double sec_angle = ((potmeter2.read() * 2) - 1) * PI; |
brass_phoenix | 21:d541303a2ea6 | 209 | |
brass_phoenix | 21:d541303a2ea6 | 210 | double e_x = 0.0; |
brass_phoenix | 21:d541303a2ea6 | 211 | double e_y = 0.0; |
brass_phoenix | 21:d541303a2ea6 | 212 | |
brass_phoenix | 21:d541303a2ea6 | 213 | forward_kinematics(main_angle, sec_angle, e_x, e_y); |
brass_phoenix | 21:d541303a2ea6 | 214 | |
brass_phoenix | 21:d541303a2ea6 | 215 | screen.get_screen_handle()->setTextCursor(0, 0); |
brass_phoenix | 21:d541303a2ea6 | 216 | screen.get_screen_handle()->printf("M_a: %.6f \n", main_angle); |
brass_phoenix | 21:d541303a2ea6 | 217 | screen.get_screen_handle()->printf("S_a: %.6f \n", sec_angle); |
brass_phoenix | 21:d541303a2ea6 | 218 | screen.get_screen_handle()->printf("X: %.6f \n", e_x); |
brass_phoenix | 21:d541303a2ea6 | 219 | screen.get_screen_handle()->printf("Y: %.6f ", e_y); |
brass_phoenix | 21:d541303a2ea6 | 220 | screen.display(); |
brass_phoenix | 20:af1a6cd7469b | 221 | |
brass_phoenix | 21:d541303a2ea6 | 222 | } else { |
brass_phoenix | 21:d541303a2ea6 | 223 | // Using potmeters for debugging purposes; |
brass_phoenix | 21:d541303a2ea6 | 224 | double e_x = potmeter1.read(); |
brass_phoenix | 21:d541303a2ea6 | 225 | double e_y = potmeter2.read(); |
brass_phoenix | 21:d541303a2ea6 | 226 | |
brass_phoenix | 21:d541303a2ea6 | 227 | double main_angle = 0.0; |
brass_phoenix | 21:d541303a2ea6 | 228 | double sec_angle = 0.0; |
brass_phoenix | 21:d541303a2ea6 | 229 | |
brass_phoenix | 21:d541303a2ea6 | 230 | inverse_kinematics(e_x, e_y, main_angle, sec_angle); |
brass_phoenix | 21:d541303a2ea6 | 231 | |
brass_phoenix | 21:d541303a2ea6 | 232 | screen.get_screen_handle()->setTextCursor(0, 0); |
brass_phoenix | 21:d541303a2ea6 | 233 | screen.get_screen_handle()->printf("E_x: %.6f \n", e_x); |
brass_phoenix | 21:d541303a2ea6 | 234 | screen.get_screen_handle()->printf("E_y: %.6f \n", e_y); |
brass_phoenix | 21:d541303a2ea6 | 235 | screen.get_screen_handle()->printf("M_a: %.6f \n", main_angle); |
brass_phoenix | 21:d541303a2ea6 | 236 | screen.get_screen_handle()->printf("S_a: %.6f ", sec_angle); |
brass_phoenix | 21:d541303a2ea6 | 237 | screen.display(); |
brass_phoenix | 21:d541303a2ea6 | 238 | } |
brass_phoenix | 20:af1a6cd7469b | 239 | |
brass_phoenix | 21:d541303a2ea6 | 240 | if (lr_button.has_just_been_pressed()) { |
brass_phoenix | 21:d541303a2ea6 | 241 | debug_forward_kinematics = !debug_forward_kinematics; |
brass_phoenix | 21:d541303a2ea6 | 242 | } |
brass_phoenix | 20:af1a6cd7469b | 243 | |
brass_phoenix | 19:53b9729fbab5 | 244 | /* |
brass_phoenix | 14:b97e7a41ec23 | 245 | double main_target = ((potmeter1.read() * 2) - 1) * PI; |
brass_phoenix | 13:88967c004446 | 246 | main_motor.set_target_angle(main_target); |
brass_phoenix | 14:b97e7a41ec23 | 247 | double sec_target = ((potmeter2.read() * 2) - 1) * PI; |
brass_phoenix | 13:88967c004446 | 248 | sec_motor.set_target_angle(sec_target); |
brass_phoenix | 13:88967c004446 | 249 | |
brass_phoenix | 25:cc81f2120eda | 250 | if (lr_button.has_just_been_pressed()) { |
brass_phoenix | 25:cc81f2120eda | 251 | control_goes_right = !control_goes_right; |
brass_phoenix | 25:cc81f2120eda | 252 | screen.display_left_right_arrow(control_goes_right); |
brass_phoenix | 25:cc81f2120eda | 253 | } |
brass_phoenix | 25:cc81f2120eda | 254 | */ |
brass_phoenix | 25:cc81f2120eda | 255 | |
brass_phoenix | 9:27d00b64076e | 256 | if (ud_button.has_just_been_pressed()) { |
brass_phoenix | 12:0c10396d0615 | 257 | control_goes_up = !control_goes_up; |
brass_phoenix | 25:cc81f2120eda | 258 | control_goes_right = !control_goes_right; |
brass_phoenix | 15:f65b4566193e | 259 | screen.display_up_down_arrow(control_goes_up); |
brass_phoenix | 15:f65b4566193e | 260 | screen.display_left_right_arrow(control_goes_right); |
brass_phoenix | 9:27d00b64076e | 261 | } |
brass_phoenix | 2:141cfcafe72b | 262 | } |
brass_phoenix | 2:141cfcafe72b | 263 | |
brass_phoenix | 32:b63b5837bcb1 | 264 | void do_state_demo() { |
brass_phoenix | 32:b63b5837bcb1 | 265 | if(last_state != current_state) { |
brass_phoenix | 32:b63b5837bcb1 | 266 | last_state = current_state; |
brass_phoenix | 32:b63b5837bcb1 | 267 | // State just changed. |
brass_phoenix | 32:b63b5837bcb1 | 268 | // Update the display. |
brass_phoenix | 32:b63b5837bcb1 | 269 | led_red = 1; |
brass_phoenix | 32:b63b5837bcb1 | 270 | led_green = 0; |
brass_phoenix | 32:b63b5837bcb1 | 271 | led_blue = 1; |
brass_phoenix | 32:b63b5837bcb1 | 272 | screen.clear_display(); |
brass_phoenix | 32:b63b5837bcb1 | 273 | screen.display_state_name("Demo mode!"); |
brass_phoenix | 32:b63b5837bcb1 | 274 | |
brass_phoenix | 32:b63b5837bcb1 | 275 | screen.display_up_down_arrow(control_goes_up); |
brass_phoenix | 32:b63b5837bcb1 | 276 | screen.display_left_right_arrow(control_goes_right); |
brass_phoenix | 32:b63b5837bcb1 | 277 | } |
brass_phoenix | 32:b63b5837bcb1 | 278 | |
brass_phoenix | 32:b63b5837bcb1 | 279 | if (lr_button.has_just_been_pressed()) { |
brass_phoenix | 32:b63b5837bcb1 | 280 | control_goes_up = !control_goes_up; |
brass_phoenix | 32:b63b5837bcb1 | 281 | control_goes_right = !control_goes_right; |
brass_phoenix | 32:b63b5837bcb1 | 282 | screen.display_up_down_arrow(control_goes_up); |
brass_phoenix | 32:b63b5837bcb1 | 283 | screen.display_left_right_arrow(control_goes_right); |
brass_phoenix | 32:b63b5837bcb1 | 284 | } |
brass_phoenix | 32:b63b5837bcb1 | 285 | |
brass_phoenix | 32:b63b5837bcb1 | 286 | if (ud_button.has_just_been_pressed()) { |
brass_phoenix | 32:b63b5837bcb1 | 287 | |
brass_phoenix | 32:b63b5837bcb1 | 288 | led_blue = 0; |
brass_phoenix | 32:b63b5837bcb1 | 289 | |
brass_phoenix | 32:b63b5837bcb1 | 290 | double speed_x = 0.01; |
brass_phoenix | 32:b63b5837bcb1 | 291 | double speed_y = 0.01; |
brass_phoenix | 32:b63b5837bcb1 | 292 | |
brass_phoenix | 32:b63b5837bcb1 | 293 | if (!control_goes_right) { |
brass_phoenix | 32:b63b5837bcb1 | 294 | speed_x = -speed_x; |
brass_phoenix | 32:b63b5837bcb1 | 295 | } |
brass_phoenix | 32:b63b5837bcb1 | 296 | if (!control_goes_up) { |
brass_phoenix | 32:b63b5837bcb1 | 297 | speed_y = -speed_y; |
brass_phoenix | 32:b63b5837bcb1 | 298 | } |
brass_phoenix | 32:b63b5837bcb1 | 299 | |
brass_phoenix | 32:b63b5837bcb1 | 300 | |
brass_phoenix | 32:b63b5837bcb1 | 301 | double main_cur_angle = main_motor.get_current_angle(); |
brass_phoenix | 32:b63b5837bcb1 | 302 | double sec_cur_angle = sec_motor.get_current_angle(); |
brass_phoenix | 32:b63b5837bcb1 | 303 | |
brass_phoenix | 32:b63b5837bcb1 | 304 | double main_target, sec_target; |
brass_phoenix | 32:b63b5837bcb1 | 305 | |
brass_phoenix | 32:b63b5837bcb1 | 306 | end_effector_control(speed_x, speed_y, main_cur_angle, sec_cur_angle, main_target, sec_target); |
brass_phoenix | 32:b63b5837bcb1 | 307 | |
brass_phoenix | 32:b63b5837bcb1 | 308 | main_motor.set_target_angle(main_target); |
brass_phoenix | 32:b63b5837bcb1 | 309 | sec_motor.set_target_angle(sec_target); |
brass_phoenix | 32:b63b5837bcb1 | 310 | |
brass_phoenix | 32:b63b5837bcb1 | 311 | screen.get_screen_handle()->setTextCursor(0, 0); |
brass_phoenix | 32:b63b5837bcb1 | 312 | screen.get_screen_handle()->printf("M_a: %.6f \n", main_cur_angle); |
brass_phoenix | 32:b63b5837bcb1 | 313 | screen.get_screen_handle()->printf("S_a: %.6f \n", sec_cur_angle); |
brass_phoenix | 32:b63b5837bcb1 | 314 | screen.get_screen_handle()->printf("Vx: %.6f \n", main_target); |
brass_phoenix | 32:b63b5837bcb1 | 315 | screen.get_screen_handle()->printf("Vy: %.6f ", sec_target); |
brass_phoenix | 32:b63b5837bcb1 | 316 | screen.display(); |
brass_phoenix | 32:b63b5837bcb1 | 317 | } |
brass_phoenix | 32:b63b5837bcb1 | 318 | } |
brass_phoenix | 32:b63b5837bcb1 | 319 | |
brass_phoenix | 3:4b19b6cf6cc7 | 320 | void do_state_failure() |
brass_phoenix | 3:4b19b6cf6cc7 | 321 | { |
brass_phoenix | 2:141cfcafe72b | 322 | if(last_state != current_state) { |
brass_phoenix | 2:141cfcafe72b | 323 | last_state = current_state; |
brass_phoenix | 2:141cfcafe72b | 324 | // State just changed. |
brass_phoenix | 2:141cfcafe72b | 325 | // Update the display. |
brass_phoenix | 2:141cfcafe72b | 326 | led_red = 0; |
brass_phoenix | 2:141cfcafe72b | 327 | led_green = 1; |
brass_phoenix | 30:a45bbfa6bd22 | 328 | led_blue = 1; |
brass_phoenix | 6:bfc6e68774f5 | 329 | screen.clear_display(); |
brass_phoenix | 11:d980e0e581db | 330 | screen.display_state_name("STOP"); |
brass_phoenix | 2:141cfcafe72b | 331 | } |
brass_phoenix | 3:4b19b6cf6cc7 | 332 | |
brass_phoenix | 2:141cfcafe72b | 333 | // Stop the motors! |
brass_phoenix | 12:0c10396d0615 | 334 | main_motor.stop(); |
brass_phoenix | 12:0c10396d0615 | 335 | sec_motor.stop(); |
brass_phoenix | 2:141cfcafe72b | 336 | } |
brass_phoenix | 2:141cfcafe72b | 337 | |
brass_phoenix | 2:141cfcafe72b | 338 | |
brass_phoenix | 1:cfa5abca6d43 | 339 | void main_loop() |
brass_phoenix | 1:cfa5abca6d43 | 340 | { |
brass_phoenix | 1:cfa5abca6d43 | 341 | ud_button.update(); |
brass_phoenix | 1:cfa5abca6d43 | 342 | lr_button.update(); |
brass_phoenix | 1:cfa5abca6d43 | 343 | p_button.update(); |
brass_phoenix | 3:4b19b6cf6cc7 | 344 | |
brass_phoenix | 1:cfa5abca6d43 | 345 | switch (current_state) { |
brass_phoenix | 1:cfa5abca6d43 | 346 | case waiting: |
brass_phoenix | 2:141cfcafe72b | 347 | do_state_waiting(); |
brass_phoenix | 1:cfa5abca6d43 | 348 | break; |
brass_phoenix | 1:cfa5abca6d43 | 349 | case calib_motor: |
brass_phoenix | 2:141cfcafe72b | 350 | do_state_calib_motor(); |
brass_phoenix | 1:cfa5abca6d43 | 351 | break; |
brass_phoenix | 1:cfa5abca6d43 | 352 | case calib_bicep1: |
brass_phoenix | 2:141cfcafe72b | 353 | do_state_calib_bicep1(); |
brass_phoenix | 1:cfa5abca6d43 | 354 | break; |
brass_phoenix | 1:cfa5abca6d43 | 355 | case calib_bicep2: |
brass_phoenix | 2:141cfcafe72b | 356 | do_state_calib_bicep2(); |
brass_phoenix | 1:cfa5abca6d43 | 357 | break; |
brass_phoenix | 1:cfa5abca6d43 | 358 | case homing: |
brass_phoenix | 2:141cfcafe72b | 359 | do_state_homing(); |
brass_phoenix | 1:cfa5abca6d43 | 360 | break; |
brass_phoenix | 1:cfa5abca6d43 | 361 | case operation: |
brass_phoenix | 2:141cfcafe72b | 362 | do_state_operation(); |
brass_phoenix | 1:cfa5abca6d43 | 363 | break; |
brass_phoenix | 32:b63b5837bcb1 | 364 | case demo: |
brass_phoenix | 32:b63b5837bcb1 | 365 | do_state_demo(); |
brass_phoenix | 32:b63b5837bcb1 | 366 | break; |
brass_phoenix | 1:cfa5abca6d43 | 367 | case failure: |
brass_phoenix | 2:141cfcafe72b | 368 | do_state_failure(); |
brass_phoenix | 1:cfa5abca6d43 | 369 | break; |
brass_phoenix | 1:cfa5abca6d43 | 370 | } |
brass_phoenix | 3:4b19b6cf6cc7 | 371 | |
brass_phoenix | 2:141cfcafe72b | 372 | // Check if the panic button was pressed. |
brass_phoenix | 2:141cfcafe72b | 373 | // Doesn't matter in which state we are, we need to go to failure. |
brass_phoenix | 2:141cfcafe72b | 374 | if (p_button.is_pressed()) { |
brass_phoenix | 2:141cfcafe72b | 375 | current_state = failure; |
brass_phoenix | 3:4b19b6cf6cc7 | 376 | } |
brass_phoenix | 1:cfa5abca6d43 | 377 | } |
MAHCSnijders | 0:7d25c2ade6c5 | 378 | |
brass_phoenix | 7:e7f808875bc4 | 379 | void poll_buttons() { |
brass_phoenix | 7:e7f808875bc4 | 380 | // We need to poll the pins periodically. |
brass_phoenix | 7:e7f808875bc4 | 381 | // Normally one would use rise and fall interrupts, so this wouldn't be |
brass_phoenix | 7:e7f808875bc4 | 382 | // needed. But the buttons we use generate so much chatter that |
brass_phoenix | 7:e7f808875bc4 | 383 | // sometimes a rising or a falling edge doesn't get registered. |
brass_phoenix | 7:e7f808875bc4 | 384 | // With all the confusion that accompanies it. |
brass_phoenix | 7:e7f808875bc4 | 385 | ud_button.poll_pin(); |
brass_phoenix | 7:e7f808875bc4 | 386 | lr_button.poll_pin(); |
brass_phoenix | 7:e7f808875bc4 | 387 | p_button.poll_pin(); |
brass_phoenix | 7:e7f808875bc4 | 388 | } |
brass_phoenix | 7:e7f808875bc4 | 389 | |
brass_phoenix | 1:cfa5abca6d43 | 390 | int main() |
brass_phoenix | 1:cfa5abca6d43 | 391 | { |
brass_phoenix | 1:cfa5abca6d43 | 392 | led_red = 1; |
brass_phoenix | 9:27d00b64076e | 393 | led_green = 1; |
brass_phoenix | 9:27d00b64076e | 394 | led_blue = 1; |
brass_phoenix | 8:9090ab7c19a8 | 395 | |
brass_phoenix | 10:b165ccd11afd | 396 | screen.clear_display(); |
brass_phoenix | 10:b165ccd11afd | 397 | |
brass_phoenix | 12:0c10396d0615 | 398 | main_motor.set_pid_k_values(Kp, Ki, Kd); |
brass_phoenix | 12:0c10396d0615 | 399 | sec_motor.set_pid_k_values(Kp, Ki, Kd); |
brass_phoenix | 12:0c10396d0615 | 400 | |
brass_phoenix | 12:0c10396d0615 | 401 | // One of the motors is reversed in the electronics. |
brass_phoenix | 12:0c10396d0615 | 402 | // This is fixed in the motor controll board, so we have to account |
brass_phoenix | 12:0c10396d0615 | 403 | // for it in software. |
brass_phoenix | 19:53b9729fbab5 | 404 | main_motor.set_extra_reduction_ratio(-main_gear_ratio); |
brass_phoenix | 19:53b9729fbab5 | 405 | sec_motor.set_extra_reduction_ratio(sec_gear_ratio); |
brass_phoenix | 19:53b9729fbab5 | 406 | |
brass_phoenix | 29:77fee8a01529 | 407 | // Set the maximum speed for both motors. |
brass_phoenix | 29:77fee8a01529 | 408 | main_motor.set_max_speed(0.5); |
brass_phoenix | 29:77fee8a01529 | 409 | sec_motor.set_max_speed(0.5); |
brass_phoenix | 12:0c10396d0615 | 410 | |
brass_phoenix | 8:9090ab7c19a8 | 411 | // Start the motor controller at the desired frequency. |
brass_phoenix | 12:0c10396d0615 | 412 | main_motor.start(pid_period); |
brass_phoenix | 12:0c10396d0615 | 413 | sec_motor.start(pid_period); |
brass_phoenix | 3:4b19b6cf6cc7 | 414 | |
brass_phoenix | 2:141cfcafe72b | 415 | // Start in the waiting state. |
brass_phoenix | 1:cfa5abca6d43 | 416 | current_state = waiting; |
brass_phoenix | 4:5a44ab7e94b3 | 417 | // Pretend we come from the operation state. |
brass_phoenix | 4:5a44ab7e94b3 | 418 | // So that the waiting state knows it just got started. |
brass_phoenix | 4:5a44ab7e94b3 | 419 | last_state = operation; |
brass_phoenix | 7:e7f808875bc4 | 420 | |
brass_phoenix | 7:e7f808875bc4 | 421 | // Start the button polling ticker. |
brass_phoenix | 7:e7f808875bc4 | 422 | button_ticker.attach(&poll_buttons, button_poll_interval); |
brass_phoenix | 3:4b19b6cf6cc7 | 423 | |
brass_phoenix | 1:cfa5abca6d43 | 424 | while (true) { |
brass_phoenix | 1:cfa5abca6d43 | 425 | main_loop(); |
brass_phoenix | 9:27d00b64076e | 426 | |
brass_phoenix | 1:cfa5abca6d43 | 427 | wait(main_loop_wait_time); |
brass_phoenix | 1:cfa5abca6d43 | 428 | } |
brass_phoenix | 1:cfa5abca6d43 | 429 | } |