MorphGI / Mbed OS LoCoMoTE_MidLevel_7-0

Mid level control code

Dependencies:   ros_lib_kinetic

main.cpp@15:59471daef4cb, 2018-08-31 (annotated)

Committer:
WD40andTape
Date:
Fri Aug 31 13:54:50 2018 +0000
Revision:
15:59471daef4cb
Parent:
14:54c3759e76ed
Child:
16:1e2804a4e5bd
Increased actuator limits to 0.04 m.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WD40andTape 7:5b6a2cefbf3b 1 // STANDARD IMPORTS
WD40andTape 7:5b6a2cefbf3b 2 #include "math.h"
WD40andTape 7:5b6a2cefbf3b 3 // MBED IMPORTS
dofydoink 0:607bc887b6e0 4 #include "mbed.h"
WD40andTape 6:f0a18e28a322 5 #include "mbed_events.h"
WD40andTape 7:5b6a2cefbf3b 6 // CUSTOM IMPORTS
dofydoink 12:595ed862e52f 7 #include "MLSettings.h"
WD40andTape 7:5b6a2cefbf3b 8 #include "HLComms.h"
WD40andTape 8:d6657767a182 9 #include "LLComms.h"
dofydoink 0:607bc887b6e0 10
WD40andTape 13:a373dfc57b89 11 //DigitalOut pinTesty(PB_8);
WD40andTape 13:a373dfc57b89 12
dofydoink 12:595ed862e52f 13 // Maximum achievable mm path tolerance plus additional % tolerance
dofydoink 12:595ed862e52f 14 const float FLT_PATH_TOLERANCE = MAX_SPEED_MMPS * PATH_SAMPLE_TIME_S * (1.0f+FLT_PERCENT_PATH_TOLERANCE);
dofydoink 0:607bc887b6e0 15
WD40andTape 7:5b6a2cefbf3b 16 // PATH VARIABLES
WD40andTape 7:5b6a2cefbf3b 17 double dblVelocity_mmps[N_CHANNELS] = { 0.0 }; // The linear path velocity (not sent to actuator)
WD40andTape 7:5b6a2cefbf3b 18 double dblLinearPathCurrentPos_mm[N_CHANNELS]={ 0.0 }; // The current position of the linear path (not sent to actuator)
WD40andTape 7:5b6a2cefbf3b 19 double dblTargetActPos_mm[N_CHANNELS] = { 0.0 }; // The final target position for the actuator
dofydoink 0:607bc887b6e0 20
dofydoink 12:595ed862e52f 21 // These have to be declared in the global scope or we get a stack overflow. No idea why.
dofydoink 11:7029367a1840 22 double _dblVelocity_mmps[N_CHANNELS];
dofydoink 12:595ed862e52f 23 //double _dblLinearPathCurrentPos_mm[N_CHANNELS];
dofydoink 12:595ed862e52f 24 double dblADCCurrentPosition[N_CHANNELS];
dofydoink 11:7029367a1840 25
WD40andTape 7:5b6a2cefbf3b 26 Serial pc(USBTX, USBRX); // tx, rx for usb debugging
dofydoink 12:595ed862e52f 27 LLComms llcomms;
WD40andTape 3:c83291bf9fd2 28
WD40andTape 10:1b6daba32452 29 Thread threadLowLevelSPI(osPriorityRealtime);
WD40andTape 13:a373dfc57b89 30 Thread threadSmoothPathPlan(osPriorityNormal);
WD40andTape 4:303584310071 31 Thread threadReceiveAndReplan(osPriorityBelowNormal);
dofydoink 0:607bc887b6e0 32
WD40andTape 4:303584310071 33 Mutex mutPathIn;
WD40andTape 7:5b6a2cefbf3b 34 Semaphore semPathPlan(1);
dofydoink 0:607bc887b6e0 35
WD40andTape 7:5b6a2cefbf3b 36 Timer timer;
WD40andTape 7:5b6a2cefbf3b 37 Ticker PathCalculationTicker;
dofydoink 0:607bc887b6e0 38
WD40andTape 7:5b6a2cefbf3b 39 void startPathPlan() { // Plan a new linear path after receiving new target data
WD40andTape 4:303584310071 40 semPathPlan.release(); // Uses threadReceiveAndReplan which is below normal priority to ensure consistent transmission to LL
dofydoink 0:607bc887b6e0 41 }
dofydoink 0:607bc887b6e0 42
WD40andTape 7:5b6a2cefbf3b 43 // This function will be called when a new transmission is received from high level
WD40andTape 7:5b6a2cefbf3b 44 void ReceiveAndReplan() {
WD40andTape 7:5b6a2cefbf3b 45 HLComms hlcomms(SERVER_PORT);
WD40andTape 6:f0a18e28a322 46
WD40andTape 6:f0a18e28a322 47 int error_code;
WD40andTape 7:5b6a2cefbf3b 48 error_code = hlcomms.setup_server();
WD40andTape 6:f0a18e28a322 49 if( error_code == -1 ) return;
WD40andTape 7:5b6a2cefbf3b 50 error_code = hlcomms.accept_connection();
WD40andTape 7:5b6a2cefbf3b 51 if( error_code == -1 ) {
WD40andTape 7:5b6a2cefbf3b 52 hlcomms.close_server();
WD40andTape 7:5b6a2cefbf3b 53 return;
WD40andTape 7:5b6a2cefbf3b 54 }
WD40andTape 6:f0a18e28a322 55
WD40andTape 7:5b6a2cefbf3b 56 int ii;
WD40andTape 7:5b6a2cefbf3b 57 struct msg_format input; //hlcomms.msg_format
WD40andTape 4:303584310071 58
WD40andTape 6:f0a18e28a322 59 while( true ) {
WD40andTape 6:f0a18e28a322 60 // RECEIVE MESSAGE
WD40andTape 9:cd3607ba5643 61 error_code = hlcomms.receive_message();
WD40andTape 6:f0a18e28a322 62 if( error_code == NSAPI_ERROR_NO_CONNECTION ) { // -3004
dofydoink 12:595ed862e52f 63 if(IS_PRINT_OUTPUT) printf("Client disconnected.\n\r");
WD40andTape 7:5b6a2cefbf3b 64 hlcomms.close_server();
WD40andTape 6:f0a18e28a322 65 return;
WD40andTape 6:f0a18e28a322 66 } else if( error_code < 0 ) {
dofydoink 12:595ed862e52f 67 if(IS_PRINT_OUTPUT) printf("Error %i. Could not send data over the TCP socket. "
WD40andTape 6:f0a18e28a322 68 "Perhaps the server socket is not connected to a remote host? "
WD40andTape 6:f0a18e28a322 69 "Or the socket is set to non-blocking or timed out?\n\r", error_code);
WD40andTape 7:5b6a2cefbf3b 70 hlcomms.close_server();
WD40andTape 6:f0a18e28a322 71 return;
WD40andTape 6:f0a18e28a322 72 }
WD40andTape 9:cd3607ba5643 73 input = hlcomms.process_message();
WD40andTape 1:2a43cf183a62 74
WD40andTape 7:5b6a2cefbf3b 75 // PROCESS INPUT
WD40andTape 7:5b6a2cefbf3b 76 double dblTargetChambLen_mm[N_CHANNELS]; // The currenly assigned final target position (actuator will reach this at end of path)
dofydoink 12:595ed862e52f 77 if(IS_PRINT_OUTPUT) printf("REPLAN, %f\r\n",input.duration);
WD40andTape 7:5b6a2cefbf3b 78 // Update front segment
dofydoink 11:7029367a1840 79 /*dblTargetChambLen_mm[0] = input.psi[0][0]*1000;
WD40andTape 6:f0a18e28a322 80 dblTargetChambLen_mm[1] = input.psi[0][1]*1000;
WD40andTape 6:f0a18e28a322 81 dblTargetChambLen_mm[2] = input.psi[0][2]*1000;
WD40andTape 7:5b6a2cefbf3b 82 // Update mid segment
WD40andTape 6:f0a18e28a322 83 dblTargetChambLen_mm[6] = input.psi[1][0]*1000;
WD40andTape 7:5b6a2cefbf3b 84 dblTargetChambLen_mm[7] = dblTargetChambLen_mm[6]; // Same because two pumps are used
WD40andTape 7:5b6a2cefbf3b 85 // Update rear segment
WD40andTape 6:f0a18e28a322 86 dblTargetChambLen_mm[3] = input.psi[2][0]*1000;
WD40andTape 6:f0a18e28a322 87 dblTargetChambLen_mm[4] = input.psi[2][1]*1000;
dofydoink 11:7029367a1840 88 dblTargetChambLen_mm[5] = input.psi[2][2]*1000;*/
WD40andTape 14:54c3759e76ed 89
WD40andTape 14:54c3759e76ed 90 //update rear Segment
dofydoink 11:7029367a1840 91 dblTargetChambLen_mm[3] = input.psi[0][0]*1000;
WD40andTape 14:54c3759e76ed 92 dblTargetChambLen_mm[5] = 0.0;//input.psi[0][1]*1000;//not used
WD40andTape 14:54c3759e76ed 93 dblTargetChambLen_mm[6] = 0.0;//input.psi[0][2]*1000;//not used
WD40andTape 14:54c3759e76ed 94
WD40andTape 14:54c3759e76ed 95 //update mid segment
WD40andTape 14:54c3759e76ed 96 dblTargetChambLen_mm[4] = input.psi[1][0]*1000;
WD40andTape 14:54c3759e76ed 97 dblTargetChambLen_mm[7] = dblTargetChambLen_mm[4]; // Same because two pumps are used
WD40andTape 14:54c3759e76ed 98
WD40andTape 14:54c3759e76ed 99 // Update front segment
dofydoink 11:7029367a1840 100 dblTargetChambLen_mm[0] = input.psi[2][0]*1000;
dofydoink 11:7029367a1840 101 dblTargetChambLen_mm[1] = input.psi[2][1]*1000;
dofydoink 11:7029367a1840 102 dblTargetChambLen_mm[2] = input.psi[2][2]*1000;
dofydoink 11:7029367a1840 103
dofydoink 11:7029367a1840 104 mutPathIn.lock(); // Lock variables to avoid race condition
dofydoink 12:595ed862e52f 105 /*for(int j = 0; j<N_CHANNELS; j++) {
dofydoink 11:7029367a1840 106 //_dblVelocity_mmps[j] = dblVelocity_mmps[j];
dofydoink 11:7029367a1840 107 _dblLinearPathCurrentPos_mm[j] = dblLinearPathCurrentPos_mm[j];
dofydoink 12:595ed862e52f 108 }*/
dofydoink 12:595ed862e52f 109 for(int j = 0; j<N_CHANNELS; j++) {
dofydoink 12:595ed862e52f 110 dblADCCurrentPosition[j] = dblLinearPathCurrentPos_mm[j];
dofydoink 12:595ed862e52f 111 //dblADCCurrentPosition[j] = llcomms.ReadADCPosition_mtrs(j); // Read position from channel
dofydoink 11:7029367a1840 112 }
dofydoink 12:595ed862e52f 113
dofydoink 11:7029367a1840 114 mutPathIn.unlock(); // Unlock mutex
dofydoink 0:607bc887b6e0 115
WD40andTape 13:a373dfc57b89 116 //bool isTimeChanged = 0;
WD40andTape 6:f0a18e28a322 117 double dblMaxRecalculatedTime = input.duration;
WD40andTape 13:a373dfc57b89 118 // Convert from requested chamber to actuator space and limit actuator positions
WD40andTape 4:303584310071 119 for (ii = 0; ii< N_CHANNELS; ii++) {
WD40andTape 13:a373dfc57b89 120 // If sent a negative requested position, do NOT replan that actuator
WD40andTape 14:54c3759e76ed 121 if( dblTargetChambLen_mm[ii] < 0.0 ) continue;
dofydoink 0:607bc887b6e0 122 //check to see if positions are achievable
dofydoink 12:595ed862e52f 123 dblTargetActPos_mm[ii] = dblTargetChambLen_mm[ii]*FLT_ACTUATOR_CONVERSION[ii];
WD40andTape 15:59471daef4cb 124 dblTargetActPos_mm[ii] = min( max( 0.0 , dblTargetActPos_mm[ii] ) , 40.0 );
WD40andTape 6:f0a18e28a322 125 //!! LIMIT CHAMBER LENGTHS TOO
WD40andTape 6:f0a18e28a322 126 }
WD40andTape 13:a373dfc57b89 127 // Calculate achievable velocities, and hence time, for the requested move to complete within tolerance
WD40andTape 6:f0a18e28a322 128 double dblActPosChange;
WD40andTape 6:f0a18e28a322 129 short sgn;
WD40andTape 7:5b6a2cefbf3b 130 for (ii = 0; ii< N_CHANNELS; ii++) { // Work out new velocities
WD40andTape 13:a373dfc57b89 131 // If sent a negative requested position, do NOT replan that actuator
WD40andTape 14:54c3759e76ed 132 if( dblTargetChambLen_mm[ii] < 0.0 ) continue;
WD40andTape 13:a373dfc57b89 133
dofydoink 11:7029367a1840 134 /*dblActPosChange = 1.0; // or = 0.0;
dofydoink 11:7029367a1840 135 _dblVelocity_mmps[ii] = 0.0;*/ // DOESN'T CRASH
dofydoink 11:7029367a1840 136 /*dblActPosChange = dblTargetActPos_mm[ii];
dofydoink 11:7029367a1840 137 _dblVelocity_mmps[ii] = 0.0;*/ // DOESN'T CRASH
dofydoink 11:7029367a1840 138 /*dblActPosChange = _dblLinearPathCurrentPos_mm[ii];*/ // DOESN'T CRASH
dofydoink 11:7029367a1840 139 /*_dblVelocity_mmps[ii] = _dblLinearPathCurrentPos_mm[ii];*/ // DOESN'T CRASH
dofydoink 11:7029367a1840 140 /*dblActPosChange = 0.0;
dofydoink 11:7029367a1840 141 _dblVelocity_mmps[ii] = _dblLinearPathCurrentPos_mm[ii];*/ // DOESN'T CRASH
dofydoink 11:7029367a1840 142
dofydoink 11:7029367a1840 143 // DOES CRASH but not with a return at the end of while OR if _ variables are declared globally
dofydoink 11:7029367a1840 144 /*dblActPosChange = _dblLinearPathCurrentPos_mm[ii];
dofydoink 11:7029367a1840 145 _dblVelocity_mmps[ii] = 0.0;*/
dofydoink 11:7029367a1840 146
dofydoink 12:595ed862e52f 147 dblActPosChange = dblTargetActPos_mm[ii] - dblADCCurrentPosition[ii];
WD40andTape 13:a373dfc57b89 148 if( fabs(dblActPosChange) < FLT_PATH_TOLERANCE ) { // If actuator ii is already within tolerance
WD40andTape 6:f0a18e28a322 149 dblActPosChange = 0.0;
WD40andTape 13:a373dfc57b89 150 //isTimeChanged = 1;
dofydoink 0:607bc887b6e0 151 }
dofydoink 11:7029367a1840 152 //IS BELOW
WD40andTape 13:a373dfc57b89 153 if( input.duration < 0.000000001 ) { // If max (safe) velocity was requested
WD40andTape 6:f0a18e28a322 154 sgn = (dblActPosChange > 0) ? 1 : ((dblActPosChange < 0) ? -1 : 0);
dofydoink 11:7029367a1840 155 _dblVelocity_mmps[ii] = sgn * MAX_SPEED_MMPS;
WD40andTape 13:a373dfc57b89 156 //isTimeChanged = 1;
WD40andTape 6:f0a18e28a322 157 } else {
dofydoink 11:7029367a1840 158 _dblVelocity_mmps[ii] = dblActPosChange / input.duration;
WD40andTape 6:f0a18e28a322 159 }
dofydoink 11:7029367a1840 160 //IS ABOVE
WD40andTape 13:a373dfc57b89 161 // Check to see if velocities are achievable -- this can move into the else section of the above if statement
dofydoink 11:7029367a1840 162 if(abs(_dblVelocity_mmps[ii]) > MAX_SPEED_MMPS) {
dofydoink 11:7029367a1840 163 if(_dblVelocity_mmps[ii]>0) {
dofydoink 11:7029367a1840 164 _dblVelocity_mmps[ii] = MAX_SPEED_MMPS;
WD40andTape 6:f0a18e28a322 165 } else {
dofydoink 11:7029367a1840 166 _dblVelocity_mmps[ii] = -1*MAX_SPEED_MMPS;
WD40andTape 6:f0a18e28a322 167 }
WD40andTape 13:a373dfc57b89 168 //isTimeChanged = 1;
WD40andTape 6:f0a18e28a322 169 }
WD40andTape 13:a373dfc57b89 170 // Recalculate the move's time after altering the position and/or velocity
WD40andTape 6:f0a18e28a322 171 double dblRecalculatedTime;
dofydoink 11:7029367a1840 172 if( fabs(_dblVelocity_mmps[ii]) < 0.000000001 ) {
WD40andTape 6:f0a18e28a322 173 dblRecalculatedTime = 0;
WD40andTape 6:f0a18e28a322 174 } else {
dofydoink 11:7029367a1840 175 dblRecalculatedTime = dblActPosChange / _dblVelocity_mmps[ii];
WD40andTape 6:f0a18e28a322 176 }
WD40andTape 13:a373dfc57b89 177 // Find the maximum time for any actuator's move for synchronization
WD40andTape 6:f0a18e28a322 178 if( dblRecalculatedTime > dblMaxRecalculatedTime ) {
WD40andTape 6:f0a18e28a322 179 dblMaxRecalculatedTime = dblRecalculatedTime;
WD40andTape 6:f0a18e28a322 180 }
WD40andTape 6:f0a18e28a322 181 }
WD40andTape 13:a373dfc57b89 182 // Finally recalculate all of the velocities based upon this maximum time for synchronization
WD40andTape 13:a373dfc57b89 183 // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!MUTEX FOR dblVelocity_mmps and dblTargetActPos_mm??
WD40andTape 13:a373dfc57b89 184 //if( dblMaxRecalculatedTime >= 0.000000001 ) { // isTimeChanged &&
WD40andTape 13:a373dfc57b89 185 for (ii = 0; ii< N_CHANNELS; ii++) { // Work out new velocities
WD40andTape 13:a373dfc57b89 186 // If sent a negative requested position, do NOT replan that actuator
WD40andTape 14:54c3759e76ed 187 if( dblTargetChambLen_mm[ii] < 0.0 ) continue;
WD40andTape 13:a373dfc57b89 188
WD40andTape 13:a373dfc57b89 189 _dblVelocity_mmps[ii] = (dblTargetActPos_mm[ii] - dblADCCurrentPosition[ii]) / dblMaxRecalculatedTime;
WD40andTape 13:a373dfc57b89 190 dblVelocity_mmps[ii] = _dblVelocity_mmps[ii];
WD40andTape 6:f0a18e28a322 191 }
WD40andTape 13:a373dfc57b89 192 // !!!!!!!!! IF TIME ISN'T CHANGED THEN VELOCITY ISN'T UPDATED.....................................................................................
WD40andTape 6:f0a18e28a322 193 // SEND MESSAGE
dofydoink 11:7029367a1840 194 //dblMaxRecalculatedTime = 1.0;
WD40andTape 9:cd3607ba5643 195 hlcomms.make_message(&dblMaxRecalculatedTime);
WD40andTape 9:cd3607ba5643 196 error_code = hlcomms.send_message();
WD40andTape 6:f0a18e28a322 197 if( error_code < 0 ) {
dofydoink 12:595ed862e52f 198 if(IS_PRINT_OUTPUT) printf("Error %i. Could not send data over the TCP socket. "
WD40andTape 6:f0a18e28a322 199 "Perhaps the server socket is not bound or not set to listen for connections? "
WD40andTape 6:f0a18e28a322 200 "Or the socket is set to non-blocking or timed out?\n\r", error_code);
WD40andTape 7:5b6a2cefbf3b 201 hlcomms.close_server();
WD40andTape 6:f0a18e28a322 202 return;
WD40andTape 6:f0a18e28a322 203 }
WD40andTape 6:f0a18e28a322 204 }
WD40andTape 6:f0a18e28a322 205
dofydoink 0:607bc887b6e0 206 }
dofydoink 0:607bc887b6e0 207
WD40andTape 4:303584310071 208 void CalculateSmoothPath() {
dofydoink 5:712e7634c779 209 int jj;
WD40andTape 1:2a43cf183a62 210 double dblMeasuredSampleTime;
WD40andTape 7:5b6a2cefbf3b 211 double dblSmoothPathCurrentPos_mm[N_CHANNELS] = { 0.0 }; // The current position of the smooth path (not sent to actuator)
WD40andTape 7:5b6a2cefbf3b 212 //double dblPosition_mtrs[N_CHANNELS]; // The actual chamber lengths in meters given as the change in length relative to neutral (should always be >=0)
WD40andTape 7:5b6a2cefbf3b 213 //double dblPressure_bar[N_CHANNELS]; // The pressure in a given chamber in bar (1 bar = 100,000 Pa)
WD40andTape 4:303584310071 214 while(1) {
dofydoink 0:607bc887b6e0 215 semPathPlan.wait();
WD40andTape 13:a373dfc57b89 216 //pinTesty = 1;
WD40andTape 1:2a43cf183a62 217 // If run time is more than 50 us from expected, calculate from measured time step
WD40andTape 4:303584310071 218 if (fabs(PATH_SAMPLE_TIME_S*1000000 - timer.read_us()) > 50) {
dofydoink 5:712e7634c779 219 dblMeasuredSampleTime = timer.read();
WD40andTape 4:303584310071 220 } else {
WD40andTape 1:2a43cf183a62 221 dblMeasuredSampleTime = PATH_SAMPLE_TIME_S;
WD40andTape 1:2a43cf183a62 222 }
WD40andTape 4:303584310071 223 timer.reset();
WD40andTape 1:2a43cf183a62 224
dofydoink 5:712e7634c779 225 for(jj = 0; jj < N_CHANNELS; jj++) {
WD40andTape 7:5b6a2cefbf3b 226 //dblPressure_bar[jj] = ReadADCPressure_bar(jj); // Read pressure from channel
WD40andTape 7:5b6a2cefbf3b 227 //dblPosition_mtrs[jj] = ReadADCPosition_mtrs(jj); // Read position from channel
WD40andTape 1:2a43cf183a62 228
WD40andTape 7:5b6a2cefbf3b 229 // Calculate next step in linear path
WD40andTape 7:5b6a2cefbf3b 230 mutPathIn.lock(); // Lock relevant mutex
WD40andTape 7:5b6a2cefbf3b 231 // Check tolerance
dofydoink 12:595ed862e52f 232 if (fabs(dblLinearPathCurrentPos_mm[jj] - dblTargetActPos_mm[jj]) <= FLT_PATH_TOLERANCE) {
WD40andTape 7:5b6a2cefbf3b 233 dblVelocity_mmps[jj] = 0.0; // Stop linear path generation when linear path is within tolerance of target position
WD40andTape 7:5b6a2cefbf3b 234 }
dofydoink 11:7029367a1840 235 dblLinearPathCurrentPos_mm[jj] = dblLinearPathCurrentPos_mm[jj] + dblVelocity_mmps[jj]*dblMeasuredSampleTime;
WD40andTape 15:59471daef4cb 236 dblLinearPathCurrentPos_mm[jj] = min( max( 0.0 , dblLinearPathCurrentPos_mm[jj] ) , 40.0 );
WD40andTape 7:5b6a2cefbf3b 237 mutPathIn.unlock(); // Unlock relevant mutex
dofydoink 0:607bc887b6e0 238
WD40andTape 7:5b6a2cefbf3b 239 // Calculate next step in smooth path
dofydoink 12:595ed862e52f 240 dblSmoothPathCurrentPos_mm[jj] = FLT_SMOOTHING_FACTOR*dblLinearPathCurrentPos_mm[jj] + (1.0f-FLT_SMOOTHING_FACTOR)*dblSmoothPathCurrentPos_mm[jj];
dofydoink 11:7029367a1840 241 dblSmoothPathCurrentPos_mm[jj] = max( 0.0 , dblSmoothPathCurrentPos_mm[jj] );
dofydoink 11:7029367a1840 242 llcomms.mutChannel[jj].lock(); // MUTEX LOCK
WD40andTape 10:1b6daba32452 243 llcomms.demandPosition[jj] = (int) ((dblSmoothPathCurrentPos_mm[jj]/MAX_ACTUATOR_LENGTH)*8191);// Convert to a 13-bit number
WD40andTape 10:1b6daba32452 244 llcomms.demandPosition[jj] = llcomms.demandPosition[jj] & 0x1FFF; // Ensure number is 13-bit
WD40andTape 8:d6657767a182 245 llcomms.mutChannel[jj].unlock(); // MUTEX UNLOCK
dofydoink 0:607bc887b6e0 246
WD40andTape 10:1b6daba32452 247 llcomms.isDataReady[jj] = 1; // Signal that data ready
WD40andTape 4:303584310071 248 } // end for
WD40andTape 7:5b6a2cefbf3b 249
dofydoink 12:595ed862e52f 250 //if(IS_PRINT_OUTPUT) printf("%f, %d\r\n",dblSmoothPathCurrentPos_mm[0], intDemandPos_Tx[0]);
dofydoink 12:595ed862e52f 251 //if(IS_PRINT_OUTPUT) printf("%f, %f, %f, %f, %f, %f, %f, %f\r\n",dblLinearPathCurrentPos_mm[0],dblLinearPathCurrentPos_mm[1],dblLinearPathCurrentPos_mm[2],
dofydoink 11:7029367a1840 252 // dblLinearPathCurrentPos_mm[3],dblLinearPathCurrentPos_mm[4],dblLinearPathCurrentPos_mm[5],dblLinearPathCurrentPos_mm[6],dblLinearPathCurrentPos_mm[7]);
dofydoink 12:595ed862e52f 253 //if(IS_PRINT_OUTPUT) printf("%f\r\n",dblLinearPathCurrentPos_mm[0]);
WD40andTape 13:a373dfc57b89 254 //pinTesty = 0;
WD40andTape 4:303584310071 255 } // end while
WD40andTape 3:c83291bf9fd2 256 }
dofydoink 0:607bc887b6e0 257
WD40andTape 13:a373dfc57b89 258 int main() {
WD40andTape 7:5b6a2cefbf3b 259 pc.baud(BAUD_RATE);
WD40andTape 13:a373dfc57b89 260 printf("Sup bruvva! I'll be your mid-level controller for today.\r\n");
WD40andTape 13:a373dfc57b89 261 printf("Compiled at %s\r\n.",__TIME__);
dofydoink 5:712e7634c779 262 wait(3);
WD40andTape 9:cd3607ba5643 263
dofydoink 0:607bc887b6e0 264 timer.start();
WD40andTape 7:5b6a2cefbf3b 265
WD40andTape 10:1b6daba32452 266 threadLowLevelSPI.start(callback(&llcomms.queue, &EventQueue::dispatch_forever)); // Start the event queue
WD40andTape 7:5b6a2cefbf3b 267 threadReceiveAndReplan.start(ReceiveAndReplan);// Start replanning thread
WD40andTape 7:5b6a2cefbf3b 268 threadSmoothPathPlan.start(CalculateSmoothPath); // Start planning thread
WD40andTape 7:5b6a2cefbf3b 269
WD40andTape 7:5b6a2cefbf3b 270 PathCalculationTicker.attach(&startPathPlan, PATH_SAMPLE_TIME_S); // Set up planning thread to recur at fixed intervals
dofydoink 0:607bc887b6e0 271
WD40andTape 7:5b6a2cefbf3b 272 Thread::wait(1);
WD40andTape 1:2a43cf183a62 273 while(1) {
WD40andTape 1:2a43cf183a62 274 Thread::wait(osWaitForever);
dofydoink 0:607bc887b6e0 275 }
WD40andTape 7:5b6a2cefbf3b 276 }