Secret_Betago / Mbed 2 deprecated Low_Level

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Dependencies:   BEAR_Reciever Motor eeprom iSerial mbed

Fork of BEAR_Motion by BE@R lab

main.cpp@30:3f8e86fa1413, 2016-01-27 (annotated)

Committer:
b0ssiz
Date:
Wed Jan 27 21:43:48 2016 +0000
Revision:
30:3f8e86fa1413
Parent:
29:5db0a9261161
Child:
31:d6fa5e8e26b3
Fixed Bug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ParinyaT 0:451c27e4d55e 1 //*****************************************************/
b0ssiz 6:98871feebea0 2 // Include //
ParinyaT 0:451c27e4d55e 3 #include "mbed.h"
ParinyaT 0:451c27e4d55e 4 #include "pinconfig.h"
ParinyaT 0:451c27e4d55e 5 #include "PID.h"
ParinyaT 0:451c27e4d55e 6 #include "Motor.h"
ParinyaT 0:451c27e4d55e 7 #include "eeprom.h"
b0ssiz 6:98871feebea0 8 #include "Receiver.h"
b0ssiz 22:449f31da2d3d 9 #include "Motion_EEPROM_Address.h"
ParinyaT 0:451c27e4d55e 10
ParinyaT 0:451c27e4d55e 11 //*****************************************************/
ParinyaT 1:84167ca00307 12 //--PID parameter--
ParinyaT 1:84167ca00307 13 //-Upper-//
b0ssiz 10:3b3d6bc88677 14 float U_Kc;
b0ssiz 30:3f8e86fa1413 15 float U_Ki_gain;
b0ssiz 30:3f8e86fa1413 16 float U_Kd_gain;
b0ssiz 10:3b3d6bc88677 17 float U_Ti;
b0ssiz 10:3b3d6bc88677 18 float U_Td;
ParinyaT 16:c0a1daeb9fa5 19 float U_Ki=U_Kc*U_Ti;
ParinyaT 16:c0a1daeb9fa5 20 float U_Kd=U_Kc*U_Td;
ParinyaT 1:84167ca00307 21 //-lower-//
b0ssiz 10:3b3d6bc88677 22 float L_Kc;
b0ssiz 30:3f8e86fa1413 23 float L_Ki_gain;
b0ssiz 30:3f8e86fa1413 24 float L_Kd_gain;
b0ssiz 10:3b3d6bc88677 25 float L_Ti;
b0ssiz 10:3b3d6bc88677 26 float L_Td;
ParinyaT 16:c0a1daeb9fa5 27 float L_Ki=L_Kc*L_Ti;
ParinyaT 16:c0a1daeb9fa5 28 float L_Kd=L_Kc*L_Td;
ParinyaT 0:451c27e4d55e 29 //*****************************************************/
ParinyaT 0:451c27e4d55e 30 // Global //
ParinyaT 11:3dd92d1d542c 31 Ticker Recieve;
ParinyaT 1:84167ca00307 32 //-- Communication --
ParinyaT 0:451c27e4d55e 33 Serial PC(D1,D0);
b0ssiz 17:4c96838e579f 34 Bear_Receiver com(Tx,Rx,1000000);
b0ssiz 30:3f8e86fa1413 35 int16_t MY_ID = 0x02;
ParinyaT 11:3dd92d1d542c 36 //-- Memorry --
ParinyaT 11:3dd92d1d542c 37 EEPROM memory(PB_4,PA_8,0);
b0ssiz 14:28e24fcc5a01 38 uint8_t UpMargin[4];
b0ssiz 14:28e24fcc5a01 39 uint8_t LowMargin[4];
ParinyaT 13:49cb002ad8fd 40 uint8_t Height[4];
ParinyaT 13:49cb002ad8fd 41 uint8_t Wheelpos[4];
ParinyaT 13:49cb002ad8fd 42 uint8_t Mag[24];
soulx 26:fbccc263a588 43 uint8_t Offset[8];//={1,2,3,4,5,6,7,8};
b0ssiz 14:28e24fcc5a01 44 uint8_t Body_width[4];
ParinyaT 16:c0a1daeb9fa5 45 uint8_t Angle_Range_Up[8];
ParinyaT 16:c0a1daeb9fa5 46 uint8_t Angle_Range_Low[8];
b0ssiz 22:449f31da2d3d 47 uint8_t UpLinkLength[4];
b0ssiz 22:449f31da2d3d 48 uint8_t LowLinkLength[4];
b0ssiz 6:98871feebea0 49 //-- encoder --
ParinyaT 13:49cb002ad8fd 50 float up_angle,low_angle;
ParinyaT 1:84167ca00307 51 int Upper_Position;
ParinyaT 1:84167ca00307 52 int Lower_Position;
ParinyaT 0:451c27e4d55e 53 int data;
ParinyaT 1:84167ca00307 54 SPI ENC(Emosi, Emiso, Esck);
ParinyaT 1:84167ca00307 55 DigitalOut EncA(EncoderA);
ParinyaT 1:84167ca00307 56 DigitalOut EncB(EncoderB);
ParinyaT 0:451c27e4d55e 57 //-- Motor --
ParinyaT 1:84167ca00307 58 int dir;
ParinyaT 1:84167ca00307 59 Motor Upper(PWM_LU,A_LU,B_LU);
ParinyaT 1:84167ca00307 60 Motor Lower(PWM_LL,A_LL,B_LL);
ParinyaT 0:451c27e4d55e 61 //-- PID --
ParinyaT 1:84167ca00307 62 int Upper_SetPoint;
ParinyaT 1:84167ca00307 63 int Lower_SetPoint;
ParinyaT 1:84167ca00307 64 PID Up_PID(U_Kc, U_Ti, U_Td, 0.001);//Kp,Ki,Kd,Rate
ParinyaT 1:84167ca00307 65 PID Low_PID(L_Kc, L_Ti, L_Td, 0.001);
ParinyaT 0:451c27e4d55e 66 //*****************************************************/
soulx 20:7e6d56655336 67
soulx 20:7e6d56655336 68 DigitalOut myled(LED1);
soulx 20:7e6d56655336 69
soulx 20:7e6d56655336 70
ParinyaT 1:84167ca00307 71 void Read_Encoder(PinName Encoder)
ParinyaT 0:451c27e4d55e 72 {
soulx 7:bf239d051e8c 73 ENC.format(8,0);
soulx 7:bf239d051e8c 74 ENC.frequency(200000);//due to rising time,have to decrease clock from 1M - 240k
b0ssiz 6:98871feebea0 75
soulx 7:bf239d051e8c 76 if(Encoder == EncoderA) {
soulx 7:bf239d051e8c 77 EncA = 0;
soulx 7:bf239d051e8c 78 } else {
soulx 7:bf239d051e8c 79 EncB = 0;
soulx 7:bf239d051e8c 80 }
soulx 7:bf239d051e8c 81 ENC.write(0x41);
soulx 7:bf239d051e8c 82 ENC.write(0x09);
soulx 7:bf239d051e8c 83 data = ENC.write(0x00);
soulx 7:bf239d051e8c 84 if(Encoder == EncoderA) {
soulx 7:bf239d051e8c 85 EncA = 1;
soulx 7:bf239d051e8c 86 } else {
soulx 7:bf239d051e8c 87 EncB = 1;
soulx 7:bf239d051e8c 88 }
b0ssiz 6:98871feebea0 89
ParinyaT 0:451c27e4d55e 90 }
ParinyaT 0:451c27e4d55e 91 //*****************************************************/
ParinyaT 1:84167ca00307 92 int Get_EnValue(int Val)
ParinyaT 0:451c27e4d55e 93 {
ParinyaT 0:451c27e4d55e 94 int i = 0;
ParinyaT 0:451c27e4d55e 95 static unsigned char codes[] = {
b0ssiz 6:98871feebea0 96 127, 63, 62, 58, 56, 184, 152, 24, 8, 72, 73, 77, 79, 15, 47, 175,
b0ssiz 6:98871feebea0 97 191, 159, 31, 29, 28, 92, 76, 12, 4, 36, 164, 166, 167, 135, 151, 215,
b0ssiz 6:98871feebea0 98 223, 207, 143, 142, 14, 46, 38, 6, 2, 18, 82, 83, 211, 195, 203, 235,
b0ssiz 6:98871feebea0 99 239, 231, 199, 71, 7, 23, 19, 3, 1, 9, 41, 169, 233, 225, 229, 245,
b0ssiz 6:98871feebea0 100 247, 243, 227, 163, 131, 139, 137, 129, 128, 132, 148, 212, 244, 240, 242, 250,
b0ssiz 6:98871feebea0 101 251, 249, 241, 209, 193, 197, 196, 192, 64, 66, 74, 106, 122, 120, 121, 125,
b0ssiz 6:98871feebea0 102 253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190,
b0ssiz 6:98871feebea0 103 254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95
b0ssiz 6:98871feebea0 104 };
b0ssiz 6:98871feebea0 105
b0ssiz 6:98871feebea0 106 while(Val != codes[i]) {
ParinyaT 1:84167ca00307 107 i++;
ParinyaT 0:451c27e4d55e 108 }
b0ssiz 6:98871feebea0 109
ParinyaT 1:84167ca00307 110 return i;
b0ssiz 6:98871feebea0 111
ParinyaT 0:451c27e4d55e 112 }
ParinyaT 0:451c27e4d55e 113 //*****************************************************/
ParinyaT 1:84167ca00307 114 void SET_UpperPID()
ParinyaT 1:84167ca00307 115 {
ParinyaT 1:84167ca00307 116 Upper.period(0.001);
ParinyaT 1:84167ca00307 117 Up_PID.setMode(0);
ParinyaT 1:84167ca00307 118 Up_PID.setInputLimits(0,127);
ParinyaT 1:84167ca00307 119 Up_PID.setOutputLimits(0,1);
ParinyaT 1:84167ca00307 120 }
ParinyaT 1:84167ca00307 121 //******************************************************/
ParinyaT 1:84167ca00307 122 void SET_LowerPID()
ParinyaT 1:84167ca00307 123 {
ParinyaT 1:84167ca00307 124 Lower.period(0.001);
ParinyaT 1:84167ca00307 125 Low_PID.setMode(0);
b0ssiz 10:3b3d6bc88677 126 Low_PID.setInputLimits(0,127); // set range
ParinyaT 1:84167ca00307 127 Low_PID.setOutputLimits(0,1);
ParinyaT 1:84167ca00307 128 }
b0ssiz 6:98871feebea0 129 //******************************************************/
ParinyaT 1:84167ca00307 130 void Move_Upper()
ParinyaT 1:84167ca00307 131 {
ParinyaT 1:84167ca00307 132 Read_Encoder(EncoderA);
ParinyaT 1:84167ca00307 133 Upper_Position = Get_EnValue(data);
ParinyaT 1:84167ca00307 134
ParinyaT 1:84167ca00307 135 Up_PID.setProcessValue(Upper_Position);
b0ssiz 6:98871feebea0 136
soulx 7:bf239d051e8c 137 if(Upper_Position - Upper_SetPoint > 0 ) {
ParinyaT 1:84167ca00307 138 dir = 1;
b0ssiz 6:98871feebea0 139 }
soulx 7:bf239d051e8c 140 if(Upper_Position - Upper_SetPoint < 0 ) {
ParinyaT 1:84167ca00307 141 dir = -1;
b0ssiz 6:98871feebea0 142 }
soulx 7:bf239d051e8c 143 Upper.speed(Up_PID.compute() * dir);
ParinyaT 1:84167ca00307 144 }
ParinyaT 1:84167ca00307 145 //******************************************************/
ParinyaT 1:84167ca00307 146 void Move_Lower()
ParinyaT 1:84167ca00307 147 {
ParinyaT 1:84167ca00307 148 Read_Encoder(EncoderB);
ParinyaT 1:84167ca00307 149 Lower_Position = Get_EnValue(data);
ParinyaT 1:84167ca00307 150
ParinyaT 1:84167ca00307 151 Low_PID.setProcessValue(Lower_Position);
b0ssiz 6:98871feebea0 152
b0ssiz 6:98871feebea0 153 if(Lower_Position - Lower_SetPoint > 0 ) {
ParinyaT 1:84167ca00307 154 dir = 1;
b0ssiz 6:98871feebea0 155 }
b0ssiz 6:98871feebea0 156 if(Lower_Position - Lower_SetPoint < 0 ) {
ParinyaT 1:84167ca00307 157 dir = -1;
b0ssiz 6:98871feebea0 158 }
soulx 7:bf239d051e8c 159 Lower.speed(Low_PID.compute() * dir);
b0ssiz 6:98871feebea0 160 }
ParinyaT 1:84167ca00307 161 //******************************************************/
ParinyaT 1:84167ca00307 162
b0ssiz 30:3f8e86fa1413 163 void CmdCheck(int16_t id,uint8_t *command,uint8_t ins)
b0ssiz 10:3b3d6bc88677 164 {
b0ssiz 14:28e24fcc5a01 165 if(id==MY_ID) {
b0ssiz 14:28e24fcc5a01 166 switch (ins) {
b0ssiz 14:28e24fcc5a01 167 case PING: {
soulx 18:face01c94152 168 break;
b0ssiz 14:28e24fcc5a01 169 }
b0ssiz 14:28e24fcc5a01 170 case WRITE_DATA: {
b0ssiz 30:3f8e86fa1413 171 switch (command[0]) {
b0ssiz 14:28e24fcc5a01 172 case ID: {
soulx 18:face01c94152 173 ///
b0ssiz 30:3f8e86fa1413 174 MY_ID = (int16_t)command[1];
soulx 18:face01c94152 175 break;
b0ssiz 14:28e24fcc5a01 176 }
b0ssiz 14:28e24fcc5a01 177 case MOTOR_UPPER_ANG: {
b0ssiz 14:28e24fcc5a01 178 uint8_t IntUpAngle[2],FloatUpAngle[2];
b0ssiz 14:28e24fcc5a01 179 uint8_t IntLowAngle[2],FloatLowAngle[2];
b0ssiz 14:28e24fcc5a01 180 float int_buffer,float_buffer;
b0ssiz 14:28e24fcc5a01 181
b0ssiz 30:3f8e86fa1413 182 IntUpAngle[0]=command[1];
b0ssiz 30:3f8e86fa1413 183 IntUpAngle[1]=command[2];
b0ssiz 30:3f8e86fa1413 184 FloatUpAngle[0]=command[3];
b0ssiz 30:3f8e86fa1413 185 FloatUpAngle[1]=command[4];
b0ssiz 14:28e24fcc5a01 186 int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntUpAngle);
b0ssiz 14:28e24fcc5a01 187 float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatUpAngle)/FLOAT_CONVERTER;
b0ssiz 14:28e24fcc5a01 188 up_angle=int_buffer+float_buffer;
b0ssiz 30:3f8e86fa1413 189 //printf("Up Angle = %f\n",up_angle);
b0ssiz 30:3f8e86fa1413 190
b0ssiz 30:3f8e86fa1413 191 IntLowAngle[0]=command[5];
b0ssiz 30:3f8e86fa1413 192 IntLowAngle[1]=command[6];
b0ssiz 30:3f8e86fa1413 193 FloatLowAngle[0]=command[7];
b0ssiz 30:3f8e86fa1413 194 FloatLowAngle[1]=command[8];
b0ssiz 14:28e24fcc5a01 195 int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntLowAngle);
b0ssiz 14:28e24fcc5a01 196 float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatLowAngle)/FLOAT_CONVERTER;
soulx 18:face01c94152 197 low_angle=int_buffer+float_buffer;
b0ssiz 30:3f8e86fa1413 198 //printf("Low Angle = %f\n",low_angle);
soulx 18:face01c94152 199 break;
b0ssiz 14:28e24fcc5a01 200 }
b0ssiz 14:28e24fcc5a01 201 case UP_MARGIN: {
b0ssiz 14:28e24fcc5a01 202 int i;
b0ssiz 14:28e24fcc5a01 203 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 204 UpMargin[i]=command[1+i];
b0ssiz 28:b3509fd32b00 205 //printf("UPMARGIN[%d]=0x%02x\n\r",i,UpMargin[i]);
b0ssiz 14:28e24fcc5a01 206 }
soulx 18:face01c94152 207 break;
b0ssiz 14:28e24fcc5a01 208 }
b0ssiz 14:28e24fcc5a01 209 case LOW_MARGIN: {
b0ssiz 14:28e24fcc5a01 210 int i;
b0ssiz 14:28e24fcc5a01 211 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 212 LowMargin[i]=command[1+i];
b0ssiz 14:28e24fcc5a01 213 }
soulx 18:face01c94152 214 break;
b0ssiz 14:28e24fcc5a01 215 }
b0ssiz 14:28e24fcc5a01 216 case KP_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 217 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 218 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 219 float Int,Float;
b0ssiz 30:3f8e86fa1413 220 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 221 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 222 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 223 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 224 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 225 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 226 U_Kc=Int+Float;
b0ssiz 30:3f8e86fa1413 227 //printf("Kp Upper : %f\r\n",U_Kc);
soulx 18:face01c94152 228 break;
b0ssiz 14:28e24fcc5a01 229 }
b0ssiz 14:28e24fcc5a01 230 case KI_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 231 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 232 uint8_t float_buffer[2];
b0ssiz 30:3f8e86fa1413 233 float Int,Float;
b0ssiz 30:3f8e86fa1413 234 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 235 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 236 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 237 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 238 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 239 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 30:3f8e86fa1413 240 U_Ki_gain=Int+Float;
b0ssiz 30:3f8e86fa1413 241 U_Ti=U_Ki_gain/U_Kc;
b0ssiz 30:3f8e86fa1413 242 //printf("Ki Upper : %f\r\n",U_Ki_gain);
soulx 18:face01c94152 243 break;
b0ssiz 14:28e24fcc5a01 244 }
b0ssiz 14:28e24fcc5a01 245 case KD_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 246 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 247 uint8_t float_buffer[2];
b0ssiz 30:3f8e86fa1413 248 float Int,Float;
b0ssiz 30:3f8e86fa1413 249 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 250 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 251 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 252 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 253 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 254 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 30:3f8e86fa1413 255 U_Kd_gain=Int+Float;
b0ssiz 30:3f8e86fa1413 256 U_Td=U_Kd_gain/U_Kc;
b0ssiz 30:3f8e86fa1413 257 //printf("Kd Upper : %f\r\n",U_Kd_gain);
soulx 18:face01c94152 258 break;
b0ssiz 14:28e24fcc5a01 259 }
b0ssiz 14:28e24fcc5a01 260 case KP_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 261 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 262 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 263 float Int,Float;
b0ssiz 30:3f8e86fa1413 264 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 265 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 266 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 267 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 268 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 269 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 270 L_Kc=Int+Float;
b0ssiz 30:3f8e86fa1413 271 //printf("Kp Lower : %f\r\n",L_Kc);
soulx 18:face01c94152 272 break;
b0ssiz 14:28e24fcc5a01 273 }
b0ssiz 14:28e24fcc5a01 274 case KI_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 275 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 276 uint8_t float_buffer[2];
b0ssiz 30:3f8e86fa1413 277 float Int,Float;
b0ssiz 30:3f8e86fa1413 278 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 279 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 280 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 281 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 282 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 283 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 30:3f8e86fa1413 284 L_Ki_gain=Int+Float;
b0ssiz 30:3f8e86fa1413 285 L_Ti=L_Ki_gain/L_Kc;
b0ssiz 30:3f8e86fa1413 286 //printf("Ki Lower : %f\r\n",L_Ki_gain);
soulx 18:face01c94152 287 break;
b0ssiz 14:28e24fcc5a01 288 }
b0ssiz 14:28e24fcc5a01 289 case KD_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 290 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 291 uint8_t float_buffer[2];
b0ssiz 30:3f8e86fa1413 292 float Int,Float;
b0ssiz 30:3f8e86fa1413 293 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 294 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 295 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 296 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 297 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 298 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 30:3f8e86fa1413 299 L_Kd_gain=Int+Float;
b0ssiz 30:3f8e86fa1413 300 L_Td=L_Kd_gain/L_Kc;
b0ssiz 30:3f8e86fa1413 301 //printf("Kd Lower : %f\r\n",L_Kd_gain);
soulx 18:face01c94152 302 break;
b0ssiz 14:28e24fcc5a01 303 }
b0ssiz 14:28e24fcc5a01 304 case HEIGHT: {
b0ssiz 14:28e24fcc5a01 305 int i;
b0ssiz 14:28e24fcc5a01 306 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 307 Height[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 308 }
soulx 18:face01c94152 309 break;
b0ssiz 14:28e24fcc5a01 310 }
b0ssiz 14:28e24fcc5a01 311 case WHEELPOS: {
b0ssiz 14:28e24fcc5a01 312 int i;
b0ssiz 14:28e24fcc5a01 313 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 314 Wheelpos[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 315 }
soulx 18:face01c94152 316 break;
b0ssiz 14:28e24fcc5a01 317 }
b0ssiz 14:28e24fcc5a01 318 case MAG_DATA: {
b0ssiz 14:28e24fcc5a01 319 int i;
b0ssiz 14:28e24fcc5a01 320 for(i=0; i<24; i++) {
b0ssiz 30:3f8e86fa1413 321 Mag[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 322 }
soulx 18:face01c94152 323 break;
b0ssiz 14:28e24fcc5a01 324 }
b0ssiz 14:28e24fcc5a01 325 case OFFSET: {
b0ssiz 14:28e24fcc5a01 326 int i;
b0ssiz 14:28e24fcc5a01 327 for(i=0; i<8; i++) {
b0ssiz 30:3f8e86fa1413 328 Offset[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 329 }
soulx 18:face01c94152 330 break;
b0ssiz 14:28e24fcc5a01 331 }
b0ssiz 14:28e24fcc5a01 332 case BODY_WIDTH: {
b0ssiz 14:28e24fcc5a01 333 int i;
b0ssiz 14:28e24fcc5a01 334 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 335 Body_width[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 336 }
soulx 18:face01c94152 337 break;
b0ssiz 14:28e24fcc5a01 338 }
b0ssiz 14:28e24fcc5a01 339 case ANGLE_RANGE_UP: {
b0ssiz 14:28e24fcc5a01 340 int i;
ParinyaT 16:c0a1daeb9fa5 341 for(i=0; i<8; i++) {
b0ssiz 30:3f8e86fa1413 342 Angle_Range_Up[i]=command[1+i];
b0ssiz 30:3f8e86fa1413 343 //printf("%d Angle = 0x%02x\r\n",i,Angle_Range_Up[i]);
b0ssiz 14:28e24fcc5a01 344 }
soulx 18:face01c94152 345 break;
b0ssiz 14:28e24fcc5a01 346 }
b0ssiz 14:28e24fcc5a01 347 case ANGLE_RANGE_LOW: {
b0ssiz 14:28e24fcc5a01 348 int i;
ParinyaT 16:c0a1daeb9fa5 349 for(i=0; i<8; i++) {
b0ssiz 30:3f8e86fa1413 350 Angle_Range_Low[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 351 }
soulx 18:face01c94152 352 break;
ParinyaT 13:49cb002ad8fd 353 }
b0ssiz 22:449f31da2d3d 354
b0ssiz 22:449f31da2d3d 355 case UP_LINK_LENGTH: {
b0ssiz 22:449f31da2d3d 356 int i;
b0ssiz 22:449f31da2d3d 357 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 358 UpLinkLength[i]=command[1+i];
b0ssiz 22:449f31da2d3d 359 }
b0ssiz 22:449f31da2d3d 360 break;
b0ssiz 22:449f31da2d3d 361 }
b0ssiz 22:449f31da2d3d 362 case LOW_LINK_LENGTH: {
b0ssiz 22:449f31da2d3d 363 int i;
b0ssiz 22:449f31da2d3d 364 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 365 LowLinkLength[i]=command[1+i];
b0ssiz 22:449f31da2d3d 366 }
b0ssiz 22:449f31da2d3d 367 break;
b0ssiz 22:449f31da2d3d 368 }
ParinyaT 16:c0a1daeb9fa5 369 // unfinish yet!!!!!!!!!!!!!!!!!
ParinyaT 16:c0a1daeb9fa5 370 case SAVE_EEPROM_DATA: {
b0ssiz 22:449f31da2d3d 371 if(id==0x01) {
b0ssiz 22:449f31da2d3d 372
b0ssiz 30:3f8e86fa1413 373 if (command[1]==HEIGHT) {
b0ssiz 22:449f31da2d3d 374 int32_t data_buff;
b0ssiz 22:449f31da2d3d 375 data_buff = Utilities::ConvertUInt8ArrayToInt32(Height);
b0ssiz 22:449f31da2d3d 376 memory.write(ADDRESS_HEIGHT,data_buff);
b0ssiz 28:b3509fd32b00 377 wait_ms(1);
b0ssiz 22:449f31da2d3d 378
b0ssiz 30:3f8e86fa1413 379 } else if(command[1]==BODY_WIDTH) {
b0ssiz 22:449f31da2d3d 380 int32_t data_buff;
b0ssiz 22:449f31da2d3d 381 data_buff = Utilities::ConvertUInt8ArrayToInt32(Body_width);
b0ssiz 22:449f31da2d3d 382 memory.write(ADDRESS_BODY_WIDTH,data_buff);
b0ssiz 28:b3509fd32b00 383 wait_ms(1);
b0ssiz 22:449f31da2d3d 384
b0ssiz 30:3f8e86fa1413 385 } else if(command[1]==OFFSET) {
b0ssiz 22:449f31da2d3d 386 uint8_t y_offset_array[4];
b0ssiz 22:449f31da2d3d 387 uint8_t z_offset_array[4];
b0ssiz 22:449f31da2d3d 388 int32_t y_data_buffer,z_data_buffer;
b0ssiz 22:449f31da2d3d 389 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 390 y_offset_array[i]=Offset[i];
b0ssiz 22:449f31da2d3d 391 z_offset_array[i]=Offset[i+4];
b0ssiz 22:449f31da2d3d 392 }
b0ssiz 22:449f31da2d3d 393 y_data_buffer = Utilities::ConvertUInt8ArrayToInt32(y_offset_array);
b0ssiz 22:449f31da2d3d 394 z_data_buffer = Utilities::ConvertUInt8ArrayToInt32(z_offset_array);
b0ssiz 22:449f31da2d3d 395 memory.write(ADDRESS_OFFSET,y_data_buffer);
b0ssiz 28:b3509fd32b00 396 wait_ms(1);
b0ssiz 22:449f31da2d3d 397 memory.write(ADDRESS_OFFSET+4,z_data_buffer);
b0ssiz 28:b3509fd32b00 398 wait_ms(1);
b0ssiz 22:449f31da2d3d 399
b0ssiz 30:3f8e86fa1413 400 } else if(command[1]==MAG_DATA) {
b0ssiz 22:449f31da2d3d 401 uint8_t x_max_array[4];
b0ssiz 22:449f31da2d3d 402 uint8_t x_min_array[4];
b0ssiz 22:449f31da2d3d 403 uint8_t y_max_array[4];
b0ssiz 22:449f31da2d3d 404 uint8_t y_min_array[4];
b0ssiz 22:449f31da2d3d 405 uint8_t z_max_array[4];
b0ssiz 22:449f31da2d3d 406 uint8_t z_min_array[4];
b0ssiz 22:449f31da2d3d 407 int32_t x_max_buffer,x_min_buffer,y_max_buffer,y_min_buffer,z_max_buffer,z_min_buffer;
b0ssiz 22:449f31da2d3d 408 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 409 x_max_array[i]=Mag[i];
b0ssiz 22:449f31da2d3d 410 x_min_array[i]=Mag[i+4];
b0ssiz 22:449f31da2d3d 411 y_max_array[i]=Mag[i+8];
b0ssiz 22:449f31da2d3d 412 y_min_array[i]=Mag[i+12];
b0ssiz 22:449f31da2d3d 413 z_max_array[i]=Mag[i+16];
b0ssiz 22:449f31da2d3d 414 z_min_array[i]=Mag[i+20];
b0ssiz 22:449f31da2d3d 415 }
b0ssiz 22:449f31da2d3d 416 x_max_buffer = Utilities::ConvertUInt8ArrayToInt32(x_max_array);
b0ssiz 22:449f31da2d3d 417 x_min_buffer = Utilities::ConvertUInt8ArrayToInt32(x_min_array);
b0ssiz 22:449f31da2d3d 418 y_max_buffer = Utilities::ConvertUInt8ArrayToInt32(y_max_array);
b0ssiz 22:449f31da2d3d 419 y_min_buffer = Utilities::ConvertUInt8ArrayToInt32(y_min_array);
b0ssiz 22:449f31da2d3d 420 z_max_buffer = Utilities::ConvertUInt8ArrayToInt32(z_max_array);
b0ssiz 22:449f31da2d3d 421 z_min_buffer = Utilities::ConvertUInt8ArrayToInt32(z_min_array);
b0ssiz 22:449f31da2d3d 422 memory.write(ADDRESS_MAG_DATA,x_max_buffer);
b0ssiz 28:b3509fd32b00 423 wait_ms(1);
b0ssiz 22:449f31da2d3d 424 memory.write(ADDRESS_MAG_DATA+4,x_min_buffer);
b0ssiz 28:b3509fd32b00 425 wait_ms(1);
b0ssiz 22:449f31da2d3d 426 memory.write(ADDRESS_MAG_DATA+8,y_max_buffer);
b0ssiz 28:b3509fd32b00 427 wait_ms(1);
b0ssiz 22:449f31da2d3d 428 memory.write(ADDRESS_MAG_DATA+12,y_min_buffer);
b0ssiz 28:b3509fd32b00 429 wait_ms(1);
b0ssiz 22:449f31da2d3d 430 memory.write(ADDRESS_MAG_DATA+16,z_max_buffer);
b0ssiz 28:b3509fd32b00 431 wait_ms(1);
b0ssiz 22:449f31da2d3d 432 memory.write(ADDRESS_MAG_DATA+20,z_min_buffer);
b0ssiz 28:b3509fd32b00 433 wait_ms(1);
b0ssiz 28:b3509fd32b00 434
b0ssiz 22:449f31da2d3d 435 }
b0ssiz 22:449f31da2d3d 436
soulx 27:718fc94e40ad 437 }
soulx 27:718fc94e40ad 438 // else {
b0ssiz 30:3f8e86fa1413 439 if (command[1]==ID) {
soulx 27:718fc94e40ad 440 memory.write(ADDRESS_ID,id);
b0ssiz 28:b3509fd32b00 441 wait_ms(1);
soulx 18:face01c94152 442
b0ssiz 30:3f8e86fa1413 443 } else if(command[1]==UP_MARGIN) {
soulx 27:718fc94e40ad 444 int32_t data_buff;
soulx 27:718fc94e40ad 445 data_buff = Utilities::ConvertUInt8ArrayToInt32(UpMargin);
soulx 27:718fc94e40ad 446 memory.write(ADDRESS_UP_MARGIN,data_buff);
b0ssiz 28:b3509fd32b00 447 wait_ms(1);
b0ssiz 28:b3509fd32b00 448 //printf("save OK!!\n\r");
b0ssiz 22:449f31da2d3d 449
b0ssiz 30:3f8e86fa1413 450 } else if (command[1]==LOW_MARGIN) {
soulx 27:718fc94e40ad 451 int32_t data_buff;
soulx 27:718fc94e40ad 452 data_buff = Utilities::ConvertUInt8ArrayToInt32(LowMargin);
soulx 27:718fc94e40ad 453 memory.write(ADDRESS_LOW_MARGIN,data_buff);
b0ssiz 28:b3509fd32b00 454 wait_ms(1);
b0ssiz 22:449f31da2d3d 455
b0ssiz 30:3f8e86fa1413 456 } else if (command[1]==PID_UPPER_MOTOR) {
soulx 27:718fc94e40ad 457 memory.write(ADDRESS_UPPER_KP,U_Kc);
b0ssiz 30:3f8e86fa1413 458 //printf("U_Write : %f\r\n",U_Kc);
b0ssiz 28:b3509fd32b00 459 wait_ms(1);
b0ssiz 30:3f8e86fa1413 460 memory.write(ADDRESS_UPPER_KI,U_Ki_gain);
b0ssiz 30:3f8e86fa1413 461 //printf("U_Write : %f\r\n",U_Ki_gain);
b0ssiz 28:b3509fd32b00 462 wait_ms(1);
b0ssiz 30:3f8e86fa1413 463 memory.write(ADDRESS_UPPER_KD,U_Kd_gain);
b0ssiz 30:3f8e86fa1413 464 //printf("U_Write : %f\r\n",U_Kd_gain);
b0ssiz 28:b3509fd32b00 465 wait_ms(1);
b0ssiz 22:449f31da2d3d 466
b0ssiz 30:3f8e86fa1413 467 } else if (command[1]==PID_LOWER_MOTOR) {
soulx 27:718fc94e40ad 468 memory.write(ADDRESS_LOWER_KP,L_Kc);
b0ssiz 30:3f8e86fa1413 469 //printf("L_Write : %f\r\n",L_Kc);
b0ssiz 28:b3509fd32b00 470 wait_ms(1);
b0ssiz 30:3f8e86fa1413 471 memory.write(ADDRESS_LOWER_KI,L_Ki_gain);
b0ssiz 30:3f8e86fa1413 472 //printf("L_Write : %f\r\n",L_Ki_gain);
b0ssiz 28:b3509fd32b00 473 wait_ms(1);
b0ssiz 30:3f8e86fa1413 474 memory.write(ADDRESS_LOWER_KD,L_Kd_gain);
b0ssiz 30:3f8e86fa1413 475 //printf("L_Write : %f\r\n",L_Kd_gain);
b0ssiz 28:b3509fd32b00 476 wait_ms(1);
b0ssiz 22:449f31da2d3d 477
b0ssiz 30:3f8e86fa1413 478 } else if (command[1]==ANGLE_RANGE_UP) {
soulx 27:718fc94e40ad 479 uint8_t max_array[4];
soulx 27:718fc94e40ad 480 uint8_t min_array[4];
soulx 27:718fc94e40ad 481 int32_t max_data_buffer,min_data_buffer;
soulx 27:718fc94e40ad 482 for(int i=0; i<4; i++) {
soulx 27:718fc94e40ad 483 max_array[i]=Angle_Range_Up[i];
soulx 27:718fc94e40ad 484 min_array[i]=Angle_Range_Up[i+4];
soulx 27:718fc94e40ad 485 }
soulx 27:718fc94e40ad 486 max_data_buffer = Utilities::ConvertUInt8ArrayToInt32(max_array);
soulx 27:718fc94e40ad 487 min_data_buffer = Utilities::ConvertUInt8ArrayToInt32(min_array);
soulx 27:718fc94e40ad 488 memory.write(ADDRESS_ANGLE_RANGE_UP,max_data_buffer);
b0ssiz 28:b3509fd32b00 489 wait_ms(1);
soulx 27:718fc94e40ad 490 memory.write(ADDRESS_ANGLE_RANGE_UP+4,min_data_buffer);
b0ssiz 28:b3509fd32b00 491 wait_ms(1);
b0ssiz 22:449f31da2d3d 492
b0ssiz 30:3f8e86fa1413 493 } else if (command[1]==ANGLE_RANGE_LOW) {
soulx 27:718fc94e40ad 494 uint8_t max_array[4];
soulx 27:718fc94e40ad 495 uint8_t min_array[4];
soulx 27:718fc94e40ad 496 int32_t max_data_buffer,min_data_buffer;
soulx 27:718fc94e40ad 497 for(int i=0; i<4; i++) {
soulx 27:718fc94e40ad 498 max_array[i]=Angle_Range_Low[i];
soulx 27:718fc94e40ad 499 min_array[i]=Angle_Range_Low[i+4];
soulx 27:718fc94e40ad 500 }
soulx 27:718fc94e40ad 501 max_data_buffer = Utilities::ConvertUInt8ArrayToInt32(max_array);
soulx 27:718fc94e40ad 502 min_data_buffer = Utilities::ConvertUInt8ArrayToInt32(min_array);
soulx 27:718fc94e40ad 503 memory.write(ADDRESS_ANGLE_RANGE_LOW,max_data_buffer);
b0ssiz 28:b3509fd32b00 504 wait_ms(1);
soulx 27:718fc94e40ad 505 memory.write(ADDRESS_ANGLE_RANGE_LOW+4,min_data_buffer);
b0ssiz 28:b3509fd32b00 506 wait_ms(1);
b0ssiz 22:449f31da2d3d 507
b0ssiz 30:3f8e86fa1413 508 } else if (command[1]==UP_LINK_LENGTH) {
soulx 27:718fc94e40ad 509 int32_t data_buff;
soulx 27:718fc94e40ad 510 data_buff = Utilities::ConvertUInt8ArrayToInt32(UpLinkLength);
soulx 27:718fc94e40ad 511 memory.write(ADDRESS_UP_LINK_LENGTH,data_buff);
b0ssiz 28:b3509fd32b00 512 wait_ms(1);
b0ssiz 22:449f31da2d3d 513
b0ssiz 30:3f8e86fa1413 514 } else if (command[1]==LOW_LINK_LENGTH) {
soulx 27:718fc94e40ad 515 int32_t data_buff;
soulx 27:718fc94e40ad 516 data_buff = Utilities::ConvertUInt8ArrayToInt32(LowLinkLength);
soulx 27:718fc94e40ad 517 memory.write(ADDRESS_LOW_LINK_LENGTH,data_buff);
b0ssiz 28:b3509fd32b00 518 wait_ms(1);
b0ssiz 22:449f31da2d3d 519
b0ssiz 30:3f8e86fa1413 520 } else if (command[1]==WHEELPOS) {
soulx 27:718fc94e40ad 521 int32_t data_buff;
soulx 27:718fc94e40ad 522 data_buff = Utilities::ConvertUInt8ArrayToInt32(Wheelpos);
soulx 27:718fc94e40ad 523 memory.write(ADDRESS_WHEELPOS,data_buff);
b0ssiz 28:b3509fd32b00 524 wait_ms(1);
b0ssiz 22:449f31da2d3d 525 }
soulx 27:718fc94e40ad 526 break;
ParinyaT 13:49cb002ad8fd 527 }
b0ssiz 28:b3509fd32b00 528 break;
b0ssiz 28:b3509fd32b00 529 }
b0ssiz 28:b3509fd32b00 530 break;
b0ssiz 28:b3509fd32b00 531 }
b0ssiz 28:b3509fd32b00 532 case READ_DATA: {
b0ssiz 30:3f8e86fa1413 533 switch (command[0]) {
b0ssiz 28:b3509fd32b00 534 case MOTOR_UPPER_ANG: {
b0ssiz 30:3f8e86fa1413 535 com.sendMotorPos(MY_ID,up_angle,low_angle);
b0ssiz 28:b3509fd32b00 536 break;
b0ssiz 28:b3509fd32b00 537 }
b0ssiz 28:b3509fd32b00 538 case UP_MARGIN: {
b0ssiz 28:b3509fd32b00 539 int32_t data_buff;
b0ssiz 28:b3509fd32b00 540 memory.read(ADDRESS_UP_MARGIN,data_buff);
b0ssiz 28:b3509fd32b00 541 Utilities::ConvertInt32ToUInt8Array(data_buff,UpMargin);
b0ssiz 28:b3509fd32b00 542 com.sendUpMargin(MY_ID,UpMargin);
b0ssiz 28:b3509fd32b00 543 break;
b0ssiz 28:b3509fd32b00 544 }
b0ssiz 28:b3509fd32b00 545 case LOW_MARGIN: {
b0ssiz 28:b3509fd32b00 546 int32_t data_buff;
b0ssiz 28:b3509fd32b00 547 memory.read(ADDRESS_LOW_MARGIN,data_buff);
b0ssiz 28:b3509fd32b00 548 Utilities::ConvertInt32ToUInt8Array(data_buff,LowMargin);
b0ssiz 28:b3509fd32b00 549 com.sendLowMargin(MY_ID,LowMargin);
b0ssiz 28:b3509fd32b00 550 break;
b0ssiz 28:b3509fd32b00 551 }
b0ssiz 28:b3509fd32b00 552 case PID_UPPER_MOTOR: {
b0ssiz 28:b3509fd32b00 553 memory.read(ADDRESS_UPPER_KP,U_Kc);
b0ssiz 30:3f8e86fa1413 554 memory.read(ADDRESS_UPPER_KI,U_Ki_gain);
b0ssiz 30:3f8e86fa1413 555 memory.read(ADDRESS_UPPER_KD,U_Kd_gain);
b0ssiz 30:3f8e86fa1413 556 com.sendUpMotorKpKiKd(MY_ID,U_Kc,U_Ki_gain,U_Kd_gain);
b0ssiz 30:3f8e86fa1413 557 /*
b0ssiz 30:3f8e86fa1413 558 printf("After read Kp : %f\r\n",U_Kc);
b0ssiz 30:3f8e86fa1413 559 printf("After read Ki : %f\r\n",U_Ki_gain);
b0ssiz 30:3f8e86fa1413 560 printf("After read Kd : %f\r\n",U_Kd_gain);
b0ssiz 30:3f8e86fa1413 561 */
b0ssiz 28:b3509fd32b00 562 break;
b0ssiz 28:b3509fd32b00 563 }
b0ssiz 28:b3509fd32b00 564 case PID_LOWER_MOTOR: {
b0ssiz 28:b3509fd32b00 565 memory.read(ADDRESS_LOWER_KP,L_Kc);
b0ssiz 30:3f8e86fa1413 566 memory.read(ADDRESS_LOWER_KI,L_Ki_gain);
b0ssiz 30:3f8e86fa1413 567 memory.read(ADDRESS_LOWER_KD,L_Kd_gain);
b0ssiz 30:3f8e86fa1413 568 com.sendLowMotorKpKiKd(MY_ID,L_Kc,L_Ki_gain,L_Kd_gain);
b0ssiz 30:3f8e86fa1413 569 /*
b0ssiz 30:3f8e86fa1413 570 printf("After read L_Kp : %f\r\n",L_Kc);
b0ssiz 30:3f8e86fa1413 571 printf("After read L_Ki : %f\r\n",L_Ki_gain);
b0ssiz 30:3f8e86fa1413 572 printf("After read L_Kd : %f\r\n",L_Kd_gain);
b0ssiz 30:3f8e86fa1413 573 */
b0ssiz 28:b3509fd32b00 574 break;
b0ssiz 28:b3509fd32b00 575 }
b0ssiz 28:b3509fd32b00 576 case HEIGHT: {
b0ssiz 28:b3509fd32b00 577 int32_t data_buff;
b0ssiz 28:b3509fd32b00 578 memory.read(ADDRESS_HEIGHT,data_buff);
b0ssiz 28:b3509fd32b00 579 Utilities::ConvertInt32ToUInt8Array(data_buff,Height);
b0ssiz 28:b3509fd32b00 580 com.sendHeight(MY_ID,Height);
b0ssiz 28:b3509fd32b00 581 break;
b0ssiz 28:b3509fd32b00 582 }
b0ssiz 28:b3509fd32b00 583 case WHEELPOS: {
b0ssiz 28:b3509fd32b00 584 int32_t data_buff;
b0ssiz 28:b3509fd32b00 585 memory.read(ADDRESS_WHEELPOS,data_buff);
b0ssiz 28:b3509fd32b00 586 Utilities::ConvertInt32ToUInt8Array(data_buff,Wheelpos);
b0ssiz 28:b3509fd32b00 587 com.sendWheelPos(MY_ID,Wheelpos);
b0ssiz 28:b3509fd32b00 588 break;
b0ssiz 28:b3509fd32b00 589 }
b0ssiz 28:b3509fd32b00 590 case MAG_DATA: {
b0ssiz 28:b3509fd32b00 591 uint8_t x_max_array[4];
b0ssiz 28:b3509fd32b00 592 uint8_t x_min_array[4];
b0ssiz 28:b3509fd32b00 593 uint8_t y_max_array[4];
b0ssiz 28:b3509fd32b00 594 uint8_t y_min_array[4];
b0ssiz 28:b3509fd32b00 595 uint8_t z_max_array[4];
b0ssiz 28:b3509fd32b00 596 uint8_t z_min_array[4];
b0ssiz 28:b3509fd32b00 597 int32_t x_max_buffer,x_min_buffer,y_max_buffer,y_min_buffer,z_max_buffer,z_min_buffer;
b0ssiz 28:b3509fd32b00 598 memory.read(ADDRESS_MAG_DATA,x_max_buffer);
b0ssiz 28:b3509fd32b00 599 memory.read(ADDRESS_MAG_DATA+4,x_min_buffer);
b0ssiz 28:b3509fd32b00 600 memory.read(ADDRESS_MAG_DATA+8,y_max_buffer);
b0ssiz 28:b3509fd32b00 601 memory.read(ADDRESS_MAG_DATA+12,y_min_buffer);
b0ssiz 28:b3509fd32b00 602 memory.read(ADDRESS_MAG_DATA+16,z_max_buffer);
b0ssiz 28:b3509fd32b00 603 memory.read(ADDRESS_MAG_DATA+20,z_min_buffer);
b0ssiz 28:b3509fd32b00 604 Utilities::ConvertInt32ToUInt8Array(x_max_buffer,x_max_array);
b0ssiz 28:b3509fd32b00 605 Utilities::ConvertInt32ToUInt8Array(x_min_buffer,x_min_array);
b0ssiz 28:b3509fd32b00 606 Utilities::ConvertInt32ToUInt8Array(y_max_buffer,y_max_array);
b0ssiz 28:b3509fd32b00 607 Utilities::ConvertInt32ToUInt8Array(y_min_buffer,y_min_array);
b0ssiz 28:b3509fd32b00 608 Utilities::ConvertInt32ToUInt8Array(z_max_buffer,z_max_array);
b0ssiz 28:b3509fd32b00 609 Utilities::ConvertInt32ToUInt8Array(z_min_buffer,z_min_array);
b0ssiz 28:b3509fd32b00 610 for(int i=0; i<4; i++) {
b0ssiz 28:b3509fd32b00 611 Mag[i]=x_max_array[i];
b0ssiz 28:b3509fd32b00 612 Mag[i+4]=x_min_array[i];
b0ssiz 28:b3509fd32b00 613 Mag[i+8]=y_max_array[i];
b0ssiz 28:b3509fd32b00 614 Mag[i+12]=y_min_array[i];
b0ssiz 28:b3509fd32b00 615 Mag[i+16]=z_max_array[i];
b0ssiz 28:b3509fd32b00 616 Mag[i+20]=z_min_array[i];
b0ssiz 28:b3509fd32b00 617 }
b0ssiz 28:b3509fd32b00 618 com.sendMagData(MY_ID,Mag);
b0ssiz 28:b3509fd32b00 619 break;
b0ssiz 28:b3509fd32b00 620 }
b0ssiz 28:b3509fd32b00 621 case OFFSET: {
b0ssiz 28:b3509fd32b00 622 uint8_t y_offset_array[4];
b0ssiz 28:b3509fd32b00 623 uint8_t z_offset_array[4];
b0ssiz 28:b3509fd32b00 624 int32_t y_data_buffer,z_data_buffer;
b0ssiz 28:b3509fd32b00 625 memory.read(ADDRESS_OFFSET,y_data_buffer);
b0ssiz 28:b3509fd32b00 626 memory.read(ADDRESS_OFFSET+4,z_data_buffer);
b0ssiz 28:b3509fd32b00 627 Utilities::ConvertInt32ToUInt8Array(y_data_buffer,y_offset_array);
b0ssiz 28:b3509fd32b00 628 Utilities::ConvertInt32ToUInt8Array(z_data_buffer,z_offset_array);
b0ssiz 28:b3509fd32b00 629 for(int i=0; i<4; i++) {
b0ssiz 28:b3509fd32b00 630 Offset[i]=y_offset_array[i];
b0ssiz 28:b3509fd32b00 631 Offset[i+4]=z_offset_array[i];
b0ssiz 28:b3509fd32b00 632 }
b0ssiz 28:b3509fd32b00 633 com.sendOffset(MY_ID,Offset);
b0ssiz 28:b3509fd32b00 634 break;
b0ssiz 28:b3509fd32b00 635 }
b0ssiz 28:b3509fd32b00 636 case BODY_WIDTH: {
b0ssiz 28:b3509fd32b00 637 int32_t data_buff;
b0ssiz 28:b3509fd32b00 638 memory.read(ADDRESS_BODY_WIDTH,data_buff);
b0ssiz 28:b3509fd32b00 639 Utilities::ConvertInt32ToUInt8Array(data_buff,Body_width);
b0ssiz 28:b3509fd32b00 640 com.sendBodyWidth(MY_ID,Body_width);
b0ssiz 28:b3509fd32b00 641 break;
b0ssiz 28:b3509fd32b00 642 }
b0ssiz 28:b3509fd32b00 643 case ANGLE_RANGE_UP: {
b0ssiz 28:b3509fd32b00 644 uint8_t max_array[4];
b0ssiz 28:b3509fd32b00 645 uint8_t min_array[4];
b0ssiz 28:b3509fd32b00 646 int32_t max_data_buffer,min_data_buffer;
b0ssiz 28:b3509fd32b00 647 memory.read(ADDRESS_ANGLE_RANGE_UP,max_data_buffer);
b0ssiz 28:b3509fd32b00 648 memory.read(ADDRESS_ANGLE_RANGE_UP+4,min_data_buffer);
b0ssiz 28:b3509fd32b00 649 Utilities::ConvertInt32ToUInt8Array(max_data_buffer,max_array);
b0ssiz 28:b3509fd32b00 650 Utilities::ConvertInt32ToUInt8Array(min_data_buffer,min_array);
b0ssiz 28:b3509fd32b00 651 for(int i=0; i<4; i++) {
b0ssiz 28:b3509fd32b00 652 Angle_Range_Up[i]=max_array[i];
b0ssiz 28:b3509fd32b00 653 Angle_Range_Up[i+4]=min_array[i];
b0ssiz 28:b3509fd32b00 654 }
b0ssiz 28:b3509fd32b00 655 com.sendUpAngleRange(MY_ID,Angle_Range_Up);
b0ssiz 28:b3509fd32b00 656 break;
b0ssiz 28:b3509fd32b00 657 }
b0ssiz 28:b3509fd32b00 658 case ANGLE_RANGE_LOW: {
b0ssiz 28:b3509fd32b00 659 uint8_t max_array[4];
b0ssiz 28:b3509fd32b00 660 uint8_t min_array[4];
b0ssiz 28:b3509fd32b00 661 int32_t max_data_buffer,min_data_buffer;
b0ssiz 28:b3509fd32b00 662 memory.read(ADDRESS_ANGLE_RANGE_LOW,max_data_buffer);
b0ssiz 28:b3509fd32b00 663 memory.read(ADDRESS_ANGLE_RANGE_LOW+4,min_data_buffer);
b0ssiz 28:b3509fd32b00 664 Utilities::ConvertInt32ToUInt8Array(max_data_buffer,max_array);
b0ssiz 28:b3509fd32b00 665 Utilities::ConvertInt32ToUInt8Array(min_data_buffer,min_array);
b0ssiz 28:b3509fd32b00 666 for(int i=0; i<4; i++) {
b0ssiz 28:b3509fd32b00 667 Angle_Range_Low[i]=max_array[i];
b0ssiz 28:b3509fd32b00 668 Angle_Range_Low[i+4]=min_array[i];
b0ssiz 28:b3509fd32b00 669 }
b0ssiz 28:b3509fd32b00 670 com.sendLowAngleRange(MY_ID,Angle_Range_Low);
b0ssiz 28:b3509fd32b00 671 break;
b0ssiz 28:b3509fd32b00 672 }
b0ssiz 28:b3509fd32b00 673 case UP_LINK_LENGTH: {
b0ssiz 28:b3509fd32b00 674 int32_t data_buff;
b0ssiz 28:b3509fd32b00 675 memory.read(ADDRESS_UP_LINK_LENGTH,data_buff);
b0ssiz 28:b3509fd32b00 676 Utilities::ConvertInt32ToUInt8Array(data_buff,UpLinkLength);
b0ssiz 28:b3509fd32b00 677 com.sendUpLinkLength(MY_ID,UpLinkLength);
b0ssiz 28:b3509fd32b00 678 break;
b0ssiz 28:b3509fd32b00 679 }
b0ssiz 28:b3509fd32b00 680 case LOW_LINK_LENGTH: {
b0ssiz 28:b3509fd32b00 681 int32_t data_buff;
b0ssiz 28:b3509fd32b00 682 memory.read(ADDRESS_LOW_LINK_LENGTH,data_buff);
b0ssiz 28:b3509fd32b00 683 Utilities::ConvertInt32ToUInt8Array(data_buff,LowLinkLength);
b0ssiz 28:b3509fd32b00 684 com.sendLowLinkLength(MY_ID,LowLinkLength);
b0ssiz 28:b3509fd32b00 685 break;
b0ssiz 28:b3509fd32b00 686 }
b0ssiz 28:b3509fd32b00 687 break;
ParinyaT 13:49cb002ad8fd 688 }
ParinyaT 13:49cb002ad8fd 689 }
b0ssiz 10:3b3d6bc88677 690 }
b0ssiz 14:28e24fcc5a01 691 }
b0ssiz 10:3b3d6bc88677 692 }
b0ssiz 17:4c96838e579f 693
b0ssiz 28:b3509fd32b00 694
ParinyaT 11:3dd92d1d542c 695 /******************************************************/
ParinyaT 13:49cb002ad8fd 696 void Start_Up()
ParinyaT 11:3dd92d1d542c 697 {
ParinyaT 11:3dd92d1d542c 698 // wait for reciever
b0ssiz 22:449f31da2d3d 699 memory.read(ADDRESS_ID,MY_ID);
b0ssiz 22:449f31da2d3d 700 memory.read(ADDRESS_UPPER_KP,U_Kc);
b0ssiz 22:449f31da2d3d 701 memory.read(ADDRESS_UPPER_KI,U_Ti);
b0ssiz 22:449f31da2d3d 702 memory.read(ADDRESS_UPPER_KD,U_Td);
b0ssiz 22:449f31da2d3d 703 memory.read(ADDRESS_LOWER_KP,L_Kc);
b0ssiz 22:449f31da2d3d 704 memory.read(ADDRESS_LOWER_KI,L_Ti);
b0ssiz 22:449f31da2d3d 705 memory.read(ADDRESS_LOWER_KD,L_Td);
b0ssiz 14:28e24fcc5a01 706
ParinyaT 11:3dd92d1d542c 707 }
b0ssiz 14:28e24fcc5a01 708 /*******************************************************/
soulx 27:718fc94e40ad 709 void Rc()
ParinyaT 11:3dd92d1d542c 710 {
soulx 21:1c04c4afe3b7 711 myled =1;
b0ssiz 17:4c96838e579f 712 uint8_t data_array[30];
soulx 27:718fc94e40ad 713 uint8_t id=0;
soulx 27:718fc94e40ad 714 uint8_t ins=0;
soulx 27:718fc94e40ad 715 uint8_t status=0xFF;
b0ssiz 14:28e24fcc5a01 716
soulx 27:718fc94e40ad 717
soulx 20:7e6d56655336 718
soulx 18:face01c94152 719 status = com.ReceiveCommand(&id,data_array,&ins);
soulx 29:5db0a9261161 720 //PC.printf("status = 0x%02x\n\r",status);
soulx 18:face01c94152 721 if(status == ANDANTE_ERRBIT_NONE) {
soulx 18:face01c94152 722 CmdCheck((int16_t)id,data_array,ins);
soulx 18:face01c94152 723 }
soulx 27:718fc94e40ad 724
ParinyaT 11:3dd92d1d542c 725 }
ParinyaT 11:3dd92d1d542c 726 /*******************************************************/
ParinyaT 0:451c27e4d55e 727 int main()
ParinyaT 0:451c27e4d55e 728 {
soulx 29:5db0a9261161 729 PC.baud(115200);
soulx 27:718fc94e40ad 730
soulx 21:1c04c4afe3b7 731 //Recieve.attach(&Rc,0.025);
soulx 20:7e6d56655336 732 //Start_Up();
b0ssiz 23:999dd41eef14 733
ParinyaT 1:84167ca00307 734 SET_UpperPID();
ParinyaT 1:84167ca00307 735 SET_LowerPID();
ParinyaT 11:3dd92d1d542c 736
soulx 29:5db0a9261161 737 printf("BEAR MOTION\n\r");
b0ssiz 14:28e24fcc5a01 738 while(1) {
soulx 27:718fc94e40ad 739 myled =0;
soulx 27:718fc94e40ad 740 //wait_ms(10);
soulx 27:718fc94e40ad 741
soulx 20:7e6d56655336 742 ///////////////////////////////////////////////////// start
b0ssiz 14:28e24fcc5a01 743 //Set Set_point
b0ssiz 14:28e24fcc5a01 744 Up_PID.setSetPoint(Upper_SetPoint);
b0ssiz 14:28e24fcc5a01 745 Low_PID.setSetPoint(Lower_SetPoint);
ParinyaT 1:84167ca00307 746
b0ssiz 14:28e24fcc5a01 747 //Control Motor
b0ssiz 14:28e24fcc5a01 748 Move_Upper();
b0ssiz 14:28e24fcc5a01 749 Move_Lower();
soulx 20:7e6d56655336 750 ///////////////////////////////////////////////////// stop =306us
soulx 21:1c04c4afe3b7 751 //uint8_t aaa[1]={10};
soulx 21:1c04c4afe3b7 752 //com.sendBodyWidth(0x01,aaa);
soulx 21:1c04c4afe3b7 753 Rc();
soulx 21:1c04c4afe3b7 754 //wait_ms(1);
soulx 20:7e6d56655336 755 }
ParinyaT 0:451c27e4d55e 756 }
b0ssiz 6:98871feebea0 757
ParinyaT 0:451c27e4d55e 758
ParinyaT 0:451c27e4d55e 759
b0ssiz 6:98871feebea0 760
b0ssiz 6:98871feebea0 761
b0ssiz 6:98871feebea0 762