Secret_Betago / Mbed 2 deprecated Low_Level

first

Dependencies:   BEAR_Reciever Motor eeprom iSerial mbed

Fork of BEAR_Motion by BE@R lab

main.cpp@31:d6fa5e8e26b3, 2016-02-01 (annotated)

Committer:
b0ssiz
Date:
Mon Feb 01 19:02:56 2016 +0000
Revision:
31:d6fa5e8e26b3
Parent:
30:3f8e86fa1413
Child:
32:1f81f3e83889
Change position parameter

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"
b0ssiz 31:d6fa5e8e26b3 10 #define EEPROM_DELAY 2
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;
b0ssiz 31:d6fa5e8e26b3 51 float Upper_Position;
b0ssiz 31:d6fa5e8e26b3 52 float 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);
b0ssiz 31:d6fa5e8e26b3 133 Upper_Position = (int)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);
b0ssiz 31:d6fa5e8e26b3 149 Lower_Position = (int)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
b0ssiz 30:3f8e86fa1413 181 IntUpAngle[0]=command[1];
b0ssiz 30:3f8e86fa1413 182 IntUpAngle[1]=command[2];
b0ssiz 31:d6fa5e8e26b3 183 Upper_Position=(float)Utilities::ConvertUInt8ArrayToInt16(IntUpAngle);
b0ssiz 30:3f8e86fa1413 184 //printf("Up Angle = %f\n",up_angle);
b0ssiz 30:3f8e86fa1413 185 IntLowAngle[0]=command[5];
b0ssiz 30:3f8e86fa1413 186 IntLowAngle[1]=command[6];
b0ssiz 31:d6fa5e8e26b3 187 Lower_Position=(float)Utilities::ConvertUInt8ArrayToInt16(IntLowAngle);
b0ssiz 30:3f8e86fa1413 188 //printf("Low Angle = %f\n",low_angle);
soulx 18:face01c94152 189 break;
b0ssiz 14:28e24fcc5a01 190 }
b0ssiz 14:28e24fcc5a01 191 case UP_MARGIN: {
b0ssiz 14:28e24fcc5a01 192 int i;
b0ssiz 14:28e24fcc5a01 193 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 194 UpMargin[i]=command[1+i];
b0ssiz 28:b3509fd32b00 195 //printf("UPMARGIN[%d]=0x%02x\n\r",i,UpMargin[i]);
b0ssiz 14:28e24fcc5a01 196 }
soulx 18:face01c94152 197 break;
b0ssiz 14:28e24fcc5a01 198 }
b0ssiz 14:28e24fcc5a01 199 case LOW_MARGIN: {
b0ssiz 14:28e24fcc5a01 200 int i;
b0ssiz 14:28e24fcc5a01 201 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 202 LowMargin[i]=command[1+i];
b0ssiz 14:28e24fcc5a01 203 }
soulx 18:face01c94152 204 break;
b0ssiz 14:28e24fcc5a01 205 }
b0ssiz 14:28e24fcc5a01 206 case KP_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 207 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 208 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 209 float Int,Float;
b0ssiz 30:3f8e86fa1413 210 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 211 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 212 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 213 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 214 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 215 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 216 U_Kc=Int+Float;
b0ssiz 30:3f8e86fa1413 217 //printf("Kp Upper : %f\r\n",U_Kc);
soulx 18:face01c94152 218 break;
b0ssiz 14:28e24fcc5a01 219 }
b0ssiz 14:28e24fcc5a01 220 case KI_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 221 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 222 uint8_t float_buffer[2];
b0ssiz 30:3f8e86fa1413 223 float Int,Float;
b0ssiz 30:3f8e86fa1413 224 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 225 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 226 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 227 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 228 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 229 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 30:3f8e86fa1413 230 U_Ki_gain=Int+Float;
b0ssiz 30:3f8e86fa1413 231 U_Ti=U_Ki_gain/U_Kc;
b0ssiz 30:3f8e86fa1413 232 //printf("Ki Upper : %f\r\n",U_Ki_gain);
soulx 18:face01c94152 233 break;
b0ssiz 14:28e24fcc5a01 234 }
b0ssiz 14:28e24fcc5a01 235 case KD_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 236 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 237 uint8_t float_buffer[2];
b0ssiz 30:3f8e86fa1413 238 float Int,Float;
b0ssiz 30:3f8e86fa1413 239 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 240 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 241 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 242 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 243 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 244 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 30:3f8e86fa1413 245 U_Kd_gain=Int+Float;
b0ssiz 30:3f8e86fa1413 246 U_Td=U_Kd_gain/U_Kc;
b0ssiz 30:3f8e86fa1413 247 //printf("Kd Upper : %f\r\n",U_Kd_gain);
soulx 18:face01c94152 248 break;
b0ssiz 14:28e24fcc5a01 249 }
b0ssiz 14:28e24fcc5a01 250 case KP_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 251 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 252 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 253 float Int,Float;
b0ssiz 30:3f8e86fa1413 254 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 255 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 256 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 257 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 258 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 259 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 260 L_Kc=Int+Float;
b0ssiz 30:3f8e86fa1413 261 //printf("Kp Lower : %f\r\n",L_Kc);
soulx 18:face01c94152 262 break;
b0ssiz 14:28e24fcc5a01 263 }
b0ssiz 14:28e24fcc5a01 264 case KI_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 265 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 266 uint8_t float_buffer[2];
b0ssiz 30:3f8e86fa1413 267 float Int,Float;
b0ssiz 30:3f8e86fa1413 268 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 269 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 270 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 271 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 272 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 273 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 30:3f8e86fa1413 274 L_Ki_gain=Int+Float;
b0ssiz 30:3f8e86fa1413 275 L_Ti=L_Ki_gain/L_Kc;
b0ssiz 30:3f8e86fa1413 276 //printf("Ki Lower : %f\r\n",L_Ki_gain);
soulx 18:face01c94152 277 break;
b0ssiz 14:28e24fcc5a01 278 }
b0ssiz 14:28e24fcc5a01 279 case KD_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 280 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 281 uint8_t float_buffer[2];
b0ssiz 30:3f8e86fa1413 282 float Int,Float;
b0ssiz 30:3f8e86fa1413 283 int_buffer[0]=command[1];
b0ssiz 30:3f8e86fa1413 284 int_buffer[1]=command[2];
b0ssiz 30:3f8e86fa1413 285 float_buffer[0]=command[3];
b0ssiz 30:3f8e86fa1413 286 float_buffer[1]=command[4];
b0ssiz 14:28e24fcc5a01 287 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 288 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 30:3f8e86fa1413 289 L_Kd_gain=Int+Float;
b0ssiz 30:3f8e86fa1413 290 L_Td=L_Kd_gain/L_Kc;
b0ssiz 30:3f8e86fa1413 291 //printf("Kd Lower : %f\r\n",L_Kd_gain);
soulx 18:face01c94152 292 break;
b0ssiz 14:28e24fcc5a01 293 }
b0ssiz 14:28e24fcc5a01 294 case HEIGHT: {
b0ssiz 14:28e24fcc5a01 295 int i;
b0ssiz 14:28e24fcc5a01 296 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 297 Height[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 298 }
soulx 18:face01c94152 299 break;
b0ssiz 14:28e24fcc5a01 300 }
b0ssiz 14:28e24fcc5a01 301 case WHEELPOS: {
b0ssiz 14:28e24fcc5a01 302 int i;
b0ssiz 14:28e24fcc5a01 303 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 304 Wheelpos[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 305 }
soulx 18:face01c94152 306 break;
b0ssiz 14:28e24fcc5a01 307 }
b0ssiz 14:28e24fcc5a01 308 case MAG_DATA: {
b0ssiz 14:28e24fcc5a01 309 int i;
b0ssiz 14:28e24fcc5a01 310 for(i=0; i<24; i++) {
b0ssiz 30:3f8e86fa1413 311 Mag[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 312 }
soulx 18:face01c94152 313 break;
b0ssiz 14:28e24fcc5a01 314 }
b0ssiz 14:28e24fcc5a01 315 case OFFSET: {
b0ssiz 14:28e24fcc5a01 316 int i;
b0ssiz 14:28e24fcc5a01 317 for(i=0; i<8; i++) {
b0ssiz 30:3f8e86fa1413 318 Offset[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 319 }
soulx 18:face01c94152 320 break;
b0ssiz 14:28e24fcc5a01 321 }
b0ssiz 14:28e24fcc5a01 322 case BODY_WIDTH: {
b0ssiz 14:28e24fcc5a01 323 int i;
b0ssiz 14:28e24fcc5a01 324 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 325 Body_width[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 326 }
soulx 18:face01c94152 327 break;
b0ssiz 14:28e24fcc5a01 328 }
b0ssiz 14:28e24fcc5a01 329 case ANGLE_RANGE_UP: {
b0ssiz 14:28e24fcc5a01 330 int i;
ParinyaT 16:c0a1daeb9fa5 331 for(i=0; i<8; i++) {
b0ssiz 30:3f8e86fa1413 332 Angle_Range_Up[i]=command[1+i];
b0ssiz 30:3f8e86fa1413 333 //printf("%d Angle = 0x%02x\r\n",i,Angle_Range_Up[i]);
b0ssiz 14:28e24fcc5a01 334 }
soulx 18:face01c94152 335 break;
b0ssiz 14:28e24fcc5a01 336 }
b0ssiz 14:28e24fcc5a01 337 case ANGLE_RANGE_LOW: {
b0ssiz 14:28e24fcc5a01 338 int i;
ParinyaT 16:c0a1daeb9fa5 339 for(i=0; i<8; i++) {
b0ssiz 30:3f8e86fa1413 340 Angle_Range_Low[0+i]=command[1+i];
b0ssiz 14:28e24fcc5a01 341 }
soulx 18:face01c94152 342 break;
ParinyaT 13:49cb002ad8fd 343 }
b0ssiz 22:449f31da2d3d 344
b0ssiz 22:449f31da2d3d 345 case UP_LINK_LENGTH: {
b0ssiz 22:449f31da2d3d 346 int i;
b0ssiz 22:449f31da2d3d 347 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 348 UpLinkLength[i]=command[1+i];
b0ssiz 22:449f31da2d3d 349 }
b0ssiz 22:449f31da2d3d 350 break;
b0ssiz 22:449f31da2d3d 351 }
b0ssiz 22:449f31da2d3d 352 case LOW_LINK_LENGTH: {
b0ssiz 22:449f31da2d3d 353 int i;
b0ssiz 22:449f31da2d3d 354 for(i=0; i<4; i++) {
b0ssiz 30:3f8e86fa1413 355 LowLinkLength[i]=command[1+i];
b0ssiz 22:449f31da2d3d 356 }
b0ssiz 22:449f31da2d3d 357 break;
b0ssiz 22:449f31da2d3d 358 }
ParinyaT 16:c0a1daeb9fa5 359 // unfinish yet!!!!!!!!!!!!!!!!!
ParinyaT 16:c0a1daeb9fa5 360 case SAVE_EEPROM_DATA: {
b0ssiz 22:449f31da2d3d 361 if(id==0x01) {
b0ssiz 22:449f31da2d3d 362
b0ssiz 30:3f8e86fa1413 363 if (command[1]==HEIGHT) {
b0ssiz 22:449f31da2d3d 364 int32_t data_buff;
b0ssiz 22:449f31da2d3d 365 data_buff = Utilities::ConvertUInt8ArrayToInt32(Height);
b0ssiz 22:449f31da2d3d 366 memory.write(ADDRESS_HEIGHT,data_buff);
b0ssiz 31:d6fa5e8e26b3 367 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 368
b0ssiz 30:3f8e86fa1413 369 } else if(command[1]==BODY_WIDTH) {
b0ssiz 22:449f31da2d3d 370 int32_t data_buff;
b0ssiz 22:449f31da2d3d 371 data_buff = Utilities::ConvertUInt8ArrayToInt32(Body_width);
b0ssiz 22:449f31da2d3d 372 memory.write(ADDRESS_BODY_WIDTH,data_buff);
b0ssiz 31:d6fa5e8e26b3 373 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 374
b0ssiz 30:3f8e86fa1413 375 } else if(command[1]==OFFSET) {
b0ssiz 22:449f31da2d3d 376 uint8_t y_offset_array[4];
b0ssiz 22:449f31da2d3d 377 uint8_t z_offset_array[4];
b0ssiz 22:449f31da2d3d 378 int32_t y_data_buffer,z_data_buffer;
b0ssiz 22:449f31da2d3d 379 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 380 y_offset_array[i]=Offset[i];
b0ssiz 22:449f31da2d3d 381 z_offset_array[i]=Offset[i+4];
b0ssiz 22:449f31da2d3d 382 }
b0ssiz 22:449f31da2d3d 383 y_data_buffer = Utilities::ConvertUInt8ArrayToInt32(y_offset_array);
b0ssiz 22:449f31da2d3d 384 z_data_buffer = Utilities::ConvertUInt8ArrayToInt32(z_offset_array);
b0ssiz 22:449f31da2d3d 385 memory.write(ADDRESS_OFFSET,y_data_buffer);
b0ssiz 31:d6fa5e8e26b3 386 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 387 memory.write(ADDRESS_OFFSET+4,z_data_buffer);
b0ssiz 31:d6fa5e8e26b3 388 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 389
b0ssiz 30:3f8e86fa1413 390 } else if(command[1]==MAG_DATA) {
b0ssiz 22:449f31da2d3d 391 uint8_t x_max_array[4];
b0ssiz 22:449f31da2d3d 392 uint8_t x_min_array[4];
b0ssiz 22:449f31da2d3d 393 uint8_t y_max_array[4];
b0ssiz 22:449f31da2d3d 394 uint8_t y_min_array[4];
b0ssiz 22:449f31da2d3d 395 uint8_t z_max_array[4];
b0ssiz 22:449f31da2d3d 396 uint8_t z_min_array[4];
b0ssiz 22:449f31da2d3d 397 int32_t x_max_buffer,x_min_buffer,y_max_buffer,y_min_buffer,z_max_buffer,z_min_buffer;
b0ssiz 22:449f31da2d3d 398 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 399 x_max_array[i]=Mag[i];
b0ssiz 22:449f31da2d3d 400 x_min_array[i]=Mag[i+4];
b0ssiz 22:449f31da2d3d 401 y_max_array[i]=Mag[i+8];
b0ssiz 22:449f31da2d3d 402 y_min_array[i]=Mag[i+12];
b0ssiz 22:449f31da2d3d 403 z_max_array[i]=Mag[i+16];
b0ssiz 22:449f31da2d3d 404 z_min_array[i]=Mag[i+20];
b0ssiz 22:449f31da2d3d 405 }
b0ssiz 22:449f31da2d3d 406 x_max_buffer = Utilities::ConvertUInt8ArrayToInt32(x_max_array);
b0ssiz 22:449f31da2d3d 407 x_min_buffer = Utilities::ConvertUInt8ArrayToInt32(x_min_array);
b0ssiz 22:449f31da2d3d 408 y_max_buffer = Utilities::ConvertUInt8ArrayToInt32(y_max_array);
b0ssiz 22:449f31da2d3d 409 y_min_buffer = Utilities::ConvertUInt8ArrayToInt32(y_min_array);
b0ssiz 22:449f31da2d3d 410 z_max_buffer = Utilities::ConvertUInt8ArrayToInt32(z_max_array);
b0ssiz 22:449f31da2d3d 411 z_min_buffer = Utilities::ConvertUInt8ArrayToInt32(z_min_array);
b0ssiz 22:449f31da2d3d 412 memory.write(ADDRESS_MAG_DATA,x_max_buffer);
b0ssiz 31:d6fa5e8e26b3 413 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 414 memory.write(ADDRESS_MAG_DATA+4,x_min_buffer);
b0ssiz 31:d6fa5e8e26b3 415 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 416 memory.write(ADDRESS_MAG_DATA+8,y_max_buffer);
b0ssiz 31:d6fa5e8e26b3 417 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 418 memory.write(ADDRESS_MAG_DATA+12,y_min_buffer);
b0ssiz 31:d6fa5e8e26b3 419 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 420 memory.write(ADDRESS_MAG_DATA+16,z_max_buffer);
b0ssiz 31:d6fa5e8e26b3 421 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 422 memory.write(ADDRESS_MAG_DATA+20,z_min_buffer);
b0ssiz 31:d6fa5e8e26b3 423 wait_ms(EEPROM_DELAY);
b0ssiz 28:b3509fd32b00 424
b0ssiz 22:449f31da2d3d 425 }
b0ssiz 22:449f31da2d3d 426
soulx 27:718fc94e40ad 427 }
soulx 27:718fc94e40ad 428 // else {
b0ssiz 30:3f8e86fa1413 429 if (command[1]==ID) {
soulx 27:718fc94e40ad 430 memory.write(ADDRESS_ID,id);
b0ssiz 31:d6fa5e8e26b3 431 wait_ms(EEPROM_DELAY);
soulx 18:face01c94152 432
b0ssiz 30:3f8e86fa1413 433 } else if(command[1]==UP_MARGIN) {
soulx 27:718fc94e40ad 434 int32_t data_buff;
soulx 27:718fc94e40ad 435 data_buff = Utilities::ConvertUInt8ArrayToInt32(UpMargin);
soulx 27:718fc94e40ad 436 memory.write(ADDRESS_UP_MARGIN,data_buff);
b0ssiz 31:d6fa5e8e26b3 437 wait_ms(EEPROM_DELAY);
b0ssiz 28:b3509fd32b00 438 //printf("save OK!!\n\r");
b0ssiz 22:449f31da2d3d 439
b0ssiz 30:3f8e86fa1413 440 } else if (command[1]==LOW_MARGIN) {
soulx 27:718fc94e40ad 441 int32_t data_buff;
soulx 27:718fc94e40ad 442 data_buff = Utilities::ConvertUInt8ArrayToInt32(LowMargin);
soulx 27:718fc94e40ad 443 memory.write(ADDRESS_LOW_MARGIN,data_buff);
b0ssiz 31:d6fa5e8e26b3 444 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 445
b0ssiz 30:3f8e86fa1413 446 } else if (command[1]==PID_UPPER_MOTOR) {
soulx 27:718fc94e40ad 447 memory.write(ADDRESS_UPPER_KP,U_Kc);
b0ssiz 30:3f8e86fa1413 448 //printf("U_Write : %f\r\n",U_Kc);
b0ssiz 31:d6fa5e8e26b3 449 wait_ms(EEPROM_DELAY);
b0ssiz 30:3f8e86fa1413 450 memory.write(ADDRESS_UPPER_KI,U_Ki_gain);
b0ssiz 30:3f8e86fa1413 451 //printf("U_Write : %f\r\n",U_Ki_gain);
b0ssiz 31:d6fa5e8e26b3 452 wait_ms(EEPROM_DELAY);
b0ssiz 30:3f8e86fa1413 453 memory.write(ADDRESS_UPPER_KD,U_Kd_gain);
b0ssiz 30:3f8e86fa1413 454 //printf("U_Write : %f\r\n",U_Kd_gain);
b0ssiz 31:d6fa5e8e26b3 455 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 456
b0ssiz 30:3f8e86fa1413 457 } else if (command[1]==PID_LOWER_MOTOR) {
soulx 27:718fc94e40ad 458 memory.write(ADDRESS_LOWER_KP,L_Kc);
b0ssiz 30:3f8e86fa1413 459 //printf("L_Write : %f\r\n",L_Kc);
b0ssiz 31:d6fa5e8e26b3 460 wait_ms(EEPROM_DELAY);
b0ssiz 30:3f8e86fa1413 461 memory.write(ADDRESS_LOWER_KI,L_Ki_gain);
b0ssiz 30:3f8e86fa1413 462 //printf("L_Write : %f\r\n",L_Ki_gain);
b0ssiz 31:d6fa5e8e26b3 463 wait_ms(EEPROM_DELAY);
b0ssiz 30:3f8e86fa1413 464 memory.write(ADDRESS_LOWER_KD,L_Kd_gain);
b0ssiz 30:3f8e86fa1413 465 //printf("L_Write : %f\r\n",L_Kd_gain);
b0ssiz 31:d6fa5e8e26b3 466 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 467
b0ssiz 30:3f8e86fa1413 468 } else if (command[1]==ANGLE_RANGE_UP) {
soulx 27:718fc94e40ad 469 uint8_t max_array[4];
soulx 27:718fc94e40ad 470 uint8_t min_array[4];
soulx 27:718fc94e40ad 471 int32_t max_data_buffer,min_data_buffer;
soulx 27:718fc94e40ad 472 for(int i=0; i<4; i++) {
soulx 27:718fc94e40ad 473 max_array[i]=Angle_Range_Up[i];
soulx 27:718fc94e40ad 474 min_array[i]=Angle_Range_Up[i+4];
soulx 27:718fc94e40ad 475 }
soulx 27:718fc94e40ad 476 max_data_buffer = Utilities::ConvertUInt8ArrayToInt32(max_array);
soulx 27:718fc94e40ad 477 min_data_buffer = Utilities::ConvertUInt8ArrayToInt32(min_array);
soulx 27:718fc94e40ad 478 memory.write(ADDRESS_ANGLE_RANGE_UP,max_data_buffer);
b0ssiz 31:d6fa5e8e26b3 479 wait_ms(EEPROM_DELAY);
soulx 27:718fc94e40ad 480 memory.write(ADDRESS_ANGLE_RANGE_UP+4,min_data_buffer);
b0ssiz 31:d6fa5e8e26b3 481 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 482
b0ssiz 30:3f8e86fa1413 483 } else if (command[1]==ANGLE_RANGE_LOW) {
soulx 27:718fc94e40ad 484 uint8_t max_array[4];
soulx 27:718fc94e40ad 485 uint8_t min_array[4];
soulx 27:718fc94e40ad 486 int32_t max_data_buffer,min_data_buffer;
soulx 27:718fc94e40ad 487 for(int i=0; i<4; i++) {
soulx 27:718fc94e40ad 488 max_array[i]=Angle_Range_Low[i];
soulx 27:718fc94e40ad 489 min_array[i]=Angle_Range_Low[i+4];
soulx 27:718fc94e40ad 490 }
soulx 27:718fc94e40ad 491 max_data_buffer = Utilities::ConvertUInt8ArrayToInt32(max_array);
soulx 27:718fc94e40ad 492 min_data_buffer = Utilities::ConvertUInt8ArrayToInt32(min_array);
soulx 27:718fc94e40ad 493 memory.write(ADDRESS_ANGLE_RANGE_LOW,max_data_buffer);
b0ssiz 31:d6fa5e8e26b3 494 wait_ms(EEPROM_DELAY);
soulx 27:718fc94e40ad 495 memory.write(ADDRESS_ANGLE_RANGE_LOW+4,min_data_buffer);
b0ssiz 31:d6fa5e8e26b3 496 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 497
b0ssiz 30:3f8e86fa1413 498 } else if (command[1]==UP_LINK_LENGTH) {
soulx 27:718fc94e40ad 499 int32_t data_buff;
soulx 27:718fc94e40ad 500 data_buff = Utilities::ConvertUInt8ArrayToInt32(UpLinkLength);
soulx 27:718fc94e40ad 501 memory.write(ADDRESS_UP_LINK_LENGTH,data_buff);
b0ssiz 31:d6fa5e8e26b3 502 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 503
b0ssiz 30:3f8e86fa1413 504 } else if (command[1]==LOW_LINK_LENGTH) {
soulx 27:718fc94e40ad 505 int32_t data_buff;
soulx 27:718fc94e40ad 506 data_buff = Utilities::ConvertUInt8ArrayToInt32(LowLinkLength);
soulx 27:718fc94e40ad 507 memory.write(ADDRESS_LOW_LINK_LENGTH,data_buff);
b0ssiz 31:d6fa5e8e26b3 508 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 509
b0ssiz 30:3f8e86fa1413 510 } else if (command[1]==WHEELPOS) {
soulx 27:718fc94e40ad 511 int32_t data_buff;
soulx 27:718fc94e40ad 512 data_buff = Utilities::ConvertUInt8ArrayToInt32(Wheelpos);
soulx 27:718fc94e40ad 513 memory.write(ADDRESS_WHEELPOS,data_buff);
b0ssiz 31:d6fa5e8e26b3 514 wait_ms(EEPROM_DELAY);
b0ssiz 22:449f31da2d3d 515 }
soulx 27:718fc94e40ad 516 break;
ParinyaT 13:49cb002ad8fd 517 }
b0ssiz 28:b3509fd32b00 518 break;
b0ssiz 28:b3509fd32b00 519 }
b0ssiz 28:b3509fd32b00 520 break;
b0ssiz 28:b3509fd32b00 521 }
b0ssiz 28:b3509fd32b00 522 case READ_DATA: {
b0ssiz 30:3f8e86fa1413 523 switch (command[0]) {
b0ssiz 28:b3509fd32b00 524 case MOTOR_UPPER_ANG: {
b0ssiz 31:d6fa5e8e26b3 525 com.sendMotorPos(MY_ID,Upper_Position,Lower_Position);
b0ssiz 28:b3509fd32b00 526 break;
b0ssiz 28:b3509fd32b00 527 }
b0ssiz 28:b3509fd32b00 528 case UP_MARGIN: {
b0ssiz 28:b3509fd32b00 529 int32_t data_buff;
b0ssiz 28:b3509fd32b00 530 memory.read(ADDRESS_UP_MARGIN,data_buff);
b0ssiz 28:b3509fd32b00 531 Utilities::ConvertInt32ToUInt8Array(data_buff,UpMargin);
b0ssiz 28:b3509fd32b00 532 com.sendUpMargin(MY_ID,UpMargin);
b0ssiz 28:b3509fd32b00 533 break;
b0ssiz 28:b3509fd32b00 534 }
b0ssiz 28:b3509fd32b00 535 case LOW_MARGIN: {
b0ssiz 28:b3509fd32b00 536 int32_t data_buff;
b0ssiz 28:b3509fd32b00 537 memory.read(ADDRESS_LOW_MARGIN,data_buff);
b0ssiz 28:b3509fd32b00 538 Utilities::ConvertInt32ToUInt8Array(data_buff,LowMargin);
b0ssiz 28:b3509fd32b00 539 com.sendLowMargin(MY_ID,LowMargin);
b0ssiz 28:b3509fd32b00 540 break;
b0ssiz 28:b3509fd32b00 541 }
b0ssiz 28:b3509fd32b00 542 case PID_UPPER_MOTOR: {
b0ssiz 28:b3509fd32b00 543 memory.read(ADDRESS_UPPER_KP,U_Kc);
b0ssiz 30:3f8e86fa1413 544 memory.read(ADDRESS_UPPER_KI,U_Ki_gain);
b0ssiz 30:3f8e86fa1413 545 memory.read(ADDRESS_UPPER_KD,U_Kd_gain);
b0ssiz 30:3f8e86fa1413 546 com.sendUpMotorKpKiKd(MY_ID,U_Kc,U_Ki_gain,U_Kd_gain);
b0ssiz 30:3f8e86fa1413 547 /*
b0ssiz 30:3f8e86fa1413 548 printf("After read Kp : %f\r\n",U_Kc);
b0ssiz 30:3f8e86fa1413 549 printf("After read Ki : %f\r\n",U_Ki_gain);
b0ssiz 30:3f8e86fa1413 550 printf("After read Kd : %f\r\n",U_Kd_gain);
b0ssiz 30:3f8e86fa1413 551 */
b0ssiz 28:b3509fd32b00 552 break;
b0ssiz 28:b3509fd32b00 553 }
b0ssiz 28:b3509fd32b00 554 case PID_LOWER_MOTOR: {
b0ssiz 28:b3509fd32b00 555 memory.read(ADDRESS_LOWER_KP,L_Kc);
b0ssiz 30:3f8e86fa1413 556 memory.read(ADDRESS_LOWER_KI,L_Ki_gain);
b0ssiz 30:3f8e86fa1413 557 memory.read(ADDRESS_LOWER_KD,L_Kd_gain);
b0ssiz 30:3f8e86fa1413 558 com.sendLowMotorKpKiKd(MY_ID,L_Kc,L_Ki_gain,L_Kd_gain);
b0ssiz 30:3f8e86fa1413 559 /*
b0ssiz 30:3f8e86fa1413 560 printf("After read L_Kp : %f\r\n",L_Kc);
b0ssiz 30:3f8e86fa1413 561 printf("After read L_Ki : %f\r\n",L_Ki_gain);
b0ssiz 30:3f8e86fa1413 562 printf("After read L_Kd : %f\r\n",L_Kd_gain);
b0ssiz 30:3f8e86fa1413 563 */
b0ssiz 28:b3509fd32b00 564 break;
b0ssiz 28:b3509fd32b00 565 }
b0ssiz 28:b3509fd32b00 566 case HEIGHT: {
b0ssiz 28:b3509fd32b00 567 int32_t data_buff;
b0ssiz 28:b3509fd32b00 568 memory.read(ADDRESS_HEIGHT,data_buff);
b0ssiz 28:b3509fd32b00 569 Utilities::ConvertInt32ToUInt8Array(data_buff,Height);
b0ssiz 28:b3509fd32b00 570 com.sendHeight(MY_ID,Height);
b0ssiz 28:b3509fd32b00 571 break;
b0ssiz 28:b3509fd32b00 572 }
b0ssiz 28:b3509fd32b00 573 case WHEELPOS: {
b0ssiz 28:b3509fd32b00 574 int32_t data_buff;
b0ssiz 28:b3509fd32b00 575 memory.read(ADDRESS_WHEELPOS,data_buff);
b0ssiz 28:b3509fd32b00 576 Utilities::ConvertInt32ToUInt8Array(data_buff,Wheelpos);
b0ssiz 28:b3509fd32b00 577 com.sendWheelPos(MY_ID,Wheelpos);
b0ssiz 28:b3509fd32b00 578 break;
b0ssiz 28:b3509fd32b00 579 }
b0ssiz 28:b3509fd32b00 580 case MAG_DATA: {
b0ssiz 28:b3509fd32b00 581 uint8_t x_max_array[4];
b0ssiz 28:b3509fd32b00 582 uint8_t x_min_array[4];
b0ssiz 28:b3509fd32b00 583 uint8_t y_max_array[4];
b0ssiz 28:b3509fd32b00 584 uint8_t y_min_array[4];
b0ssiz 28:b3509fd32b00 585 uint8_t z_max_array[4];
b0ssiz 28:b3509fd32b00 586 uint8_t z_min_array[4];
b0ssiz 28:b3509fd32b00 587 int32_t x_max_buffer,x_min_buffer,y_max_buffer,y_min_buffer,z_max_buffer,z_min_buffer;
b0ssiz 28:b3509fd32b00 588 memory.read(ADDRESS_MAG_DATA,x_max_buffer);
b0ssiz 28:b3509fd32b00 589 memory.read(ADDRESS_MAG_DATA+4,x_min_buffer);
b0ssiz 28:b3509fd32b00 590 memory.read(ADDRESS_MAG_DATA+8,y_max_buffer);
b0ssiz 28:b3509fd32b00 591 memory.read(ADDRESS_MAG_DATA+12,y_min_buffer);
b0ssiz 28:b3509fd32b00 592 memory.read(ADDRESS_MAG_DATA+16,z_max_buffer);
b0ssiz 28:b3509fd32b00 593 memory.read(ADDRESS_MAG_DATA+20,z_min_buffer);
b0ssiz 28:b3509fd32b00 594 Utilities::ConvertInt32ToUInt8Array(x_max_buffer,x_max_array);
b0ssiz 28:b3509fd32b00 595 Utilities::ConvertInt32ToUInt8Array(x_min_buffer,x_min_array);
b0ssiz 28:b3509fd32b00 596 Utilities::ConvertInt32ToUInt8Array(y_max_buffer,y_max_array);
b0ssiz 28:b3509fd32b00 597 Utilities::ConvertInt32ToUInt8Array(y_min_buffer,y_min_array);
b0ssiz 28:b3509fd32b00 598 Utilities::ConvertInt32ToUInt8Array(z_max_buffer,z_max_array);
b0ssiz 28:b3509fd32b00 599 Utilities::ConvertInt32ToUInt8Array(z_min_buffer,z_min_array);
b0ssiz 28:b3509fd32b00 600 for(int i=0; i<4; i++) {
b0ssiz 28:b3509fd32b00 601 Mag[i]=x_max_array[i];
b0ssiz 28:b3509fd32b00 602 Mag[i+4]=x_min_array[i];
b0ssiz 28:b3509fd32b00 603 Mag[i+8]=y_max_array[i];
b0ssiz 28:b3509fd32b00 604 Mag[i+12]=y_min_array[i];
b0ssiz 28:b3509fd32b00 605 Mag[i+16]=z_max_array[i];
b0ssiz 28:b3509fd32b00 606 Mag[i+20]=z_min_array[i];
b0ssiz 28:b3509fd32b00 607 }
b0ssiz 28:b3509fd32b00 608 com.sendMagData(MY_ID,Mag);
b0ssiz 28:b3509fd32b00 609 break;
b0ssiz 28:b3509fd32b00 610 }
b0ssiz 28:b3509fd32b00 611 case OFFSET: {
b0ssiz 28:b3509fd32b00 612 uint8_t y_offset_array[4];
b0ssiz 28:b3509fd32b00 613 uint8_t z_offset_array[4];
b0ssiz 28:b3509fd32b00 614 int32_t y_data_buffer,z_data_buffer;
b0ssiz 28:b3509fd32b00 615 memory.read(ADDRESS_OFFSET,y_data_buffer);
b0ssiz 28:b3509fd32b00 616 memory.read(ADDRESS_OFFSET+4,z_data_buffer);
b0ssiz 28:b3509fd32b00 617 Utilities::ConvertInt32ToUInt8Array(y_data_buffer,y_offset_array);
b0ssiz 28:b3509fd32b00 618 Utilities::ConvertInt32ToUInt8Array(z_data_buffer,z_offset_array);
b0ssiz 28:b3509fd32b00 619 for(int i=0; i<4; i++) {
b0ssiz 28:b3509fd32b00 620 Offset[i]=y_offset_array[i];
b0ssiz 28:b3509fd32b00 621 Offset[i+4]=z_offset_array[i];
b0ssiz 28:b3509fd32b00 622 }
b0ssiz 28:b3509fd32b00 623 com.sendOffset(MY_ID,Offset);
b0ssiz 28:b3509fd32b00 624 break;
b0ssiz 28:b3509fd32b00 625 }
b0ssiz 28:b3509fd32b00 626 case BODY_WIDTH: {
b0ssiz 28:b3509fd32b00 627 int32_t data_buff;
b0ssiz 28:b3509fd32b00 628 memory.read(ADDRESS_BODY_WIDTH,data_buff);
b0ssiz 28:b3509fd32b00 629 Utilities::ConvertInt32ToUInt8Array(data_buff,Body_width);
b0ssiz 28:b3509fd32b00 630 com.sendBodyWidth(MY_ID,Body_width);
b0ssiz 28:b3509fd32b00 631 break;
b0ssiz 28:b3509fd32b00 632 }
b0ssiz 28:b3509fd32b00 633 case ANGLE_RANGE_UP: {
b0ssiz 28:b3509fd32b00 634 uint8_t max_array[4];
b0ssiz 28:b3509fd32b00 635 uint8_t min_array[4];
b0ssiz 28:b3509fd32b00 636 int32_t max_data_buffer,min_data_buffer;
b0ssiz 28:b3509fd32b00 637 memory.read(ADDRESS_ANGLE_RANGE_UP,max_data_buffer);
b0ssiz 28:b3509fd32b00 638 memory.read(ADDRESS_ANGLE_RANGE_UP+4,min_data_buffer);
b0ssiz 28:b3509fd32b00 639 Utilities::ConvertInt32ToUInt8Array(max_data_buffer,max_array);
b0ssiz 28:b3509fd32b00 640 Utilities::ConvertInt32ToUInt8Array(min_data_buffer,min_array);
b0ssiz 28:b3509fd32b00 641 for(int i=0; i<4; i++) {
b0ssiz 28:b3509fd32b00 642 Angle_Range_Up[i]=max_array[i];
b0ssiz 28:b3509fd32b00 643 Angle_Range_Up[i+4]=min_array[i];
b0ssiz 28:b3509fd32b00 644 }
b0ssiz 28:b3509fd32b00 645 com.sendUpAngleRange(MY_ID,Angle_Range_Up);
b0ssiz 28:b3509fd32b00 646 break;
b0ssiz 28:b3509fd32b00 647 }
b0ssiz 28:b3509fd32b00 648 case ANGLE_RANGE_LOW: {
b0ssiz 28:b3509fd32b00 649 uint8_t max_array[4];
b0ssiz 28:b3509fd32b00 650 uint8_t min_array[4];
b0ssiz 28:b3509fd32b00 651 int32_t max_data_buffer,min_data_buffer;
b0ssiz 28:b3509fd32b00 652 memory.read(ADDRESS_ANGLE_RANGE_LOW,max_data_buffer);
b0ssiz 28:b3509fd32b00 653 memory.read(ADDRESS_ANGLE_RANGE_LOW+4,min_data_buffer);
b0ssiz 28:b3509fd32b00 654 Utilities::ConvertInt32ToUInt8Array(max_data_buffer,max_array);
b0ssiz 28:b3509fd32b00 655 Utilities::ConvertInt32ToUInt8Array(min_data_buffer,min_array);
b0ssiz 28:b3509fd32b00 656 for(int i=0; i<4; i++) {
b0ssiz 28:b3509fd32b00 657 Angle_Range_Low[i]=max_array[i];
b0ssiz 28:b3509fd32b00 658 Angle_Range_Low[i+4]=min_array[i];
b0ssiz 28:b3509fd32b00 659 }
b0ssiz 28:b3509fd32b00 660 com.sendLowAngleRange(MY_ID,Angle_Range_Low);
b0ssiz 28:b3509fd32b00 661 break;
b0ssiz 28:b3509fd32b00 662 }
b0ssiz 28:b3509fd32b00 663 case UP_LINK_LENGTH: {
b0ssiz 28:b3509fd32b00 664 int32_t data_buff;
b0ssiz 28:b3509fd32b00 665 memory.read(ADDRESS_UP_LINK_LENGTH,data_buff);
b0ssiz 28:b3509fd32b00 666 Utilities::ConvertInt32ToUInt8Array(data_buff,UpLinkLength);
b0ssiz 28:b3509fd32b00 667 com.sendUpLinkLength(MY_ID,UpLinkLength);
b0ssiz 28:b3509fd32b00 668 break;
b0ssiz 28:b3509fd32b00 669 }
b0ssiz 28:b3509fd32b00 670 case LOW_LINK_LENGTH: {
b0ssiz 28:b3509fd32b00 671 int32_t data_buff;
b0ssiz 28:b3509fd32b00 672 memory.read(ADDRESS_LOW_LINK_LENGTH,data_buff);
b0ssiz 28:b3509fd32b00 673 Utilities::ConvertInt32ToUInt8Array(data_buff,LowLinkLength);
b0ssiz 28:b3509fd32b00 674 com.sendLowLinkLength(MY_ID,LowLinkLength);
b0ssiz 28:b3509fd32b00 675 break;
b0ssiz 28:b3509fd32b00 676 }
b0ssiz 28:b3509fd32b00 677 break;
ParinyaT 13:49cb002ad8fd 678 }
ParinyaT 13:49cb002ad8fd 679 }
b0ssiz 10:3b3d6bc88677 680 }
b0ssiz 14:28e24fcc5a01 681 }
b0ssiz 10:3b3d6bc88677 682 }
b0ssiz 17:4c96838e579f 683
b0ssiz 28:b3509fd32b00 684
ParinyaT 11:3dd92d1d542c 685 /******************************************************/
ParinyaT 13:49cb002ad8fd 686 void Start_Up()
ParinyaT 11:3dd92d1d542c 687 {
ParinyaT 11:3dd92d1d542c 688 // wait for reciever
b0ssiz 22:449f31da2d3d 689 memory.read(ADDRESS_ID,MY_ID);
b0ssiz 22:449f31da2d3d 690 memory.read(ADDRESS_UPPER_KP,U_Kc);
b0ssiz 22:449f31da2d3d 691 memory.read(ADDRESS_UPPER_KI,U_Ti);
b0ssiz 22:449f31da2d3d 692 memory.read(ADDRESS_UPPER_KD,U_Td);
b0ssiz 22:449f31da2d3d 693 memory.read(ADDRESS_LOWER_KP,L_Kc);
b0ssiz 22:449f31da2d3d 694 memory.read(ADDRESS_LOWER_KI,L_Ti);
b0ssiz 22:449f31da2d3d 695 memory.read(ADDRESS_LOWER_KD,L_Td);
b0ssiz 14:28e24fcc5a01 696
ParinyaT 11:3dd92d1d542c 697 }
b0ssiz 14:28e24fcc5a01 698 /*******************************************************/
soulx 27:718fc94e40ad 699 void Rc()
ParinyaT 11:3dd92d1d542c 700 {
soulx 21:1c04c4afe3b7 701 myled =1;
b0ssiz 17:4c96838e579f 702 uint8_t data_array[30];
soulx 27:718fc94e40ad 703 uint8_t id=0;
soulx 27:718fc94e40ad 704 uint8_t ins=0;
soulx 27:718fc94e40ad 705 uint8_t status=0xFF;
b0ssiz 14:28e24fcc5a01 706
soulx 27:718fc94e40ad 707
soulx 20:7e6d56655336 708
soulx 18:face01c94152 709 status = com.ReceiveCommand(&id,data_array,&ins);
soulx 29:5db0a9261161 710 //PC.printf("status = 0x%02x\n\r",status);
soulx 18:face01c94152 711 if(status == ANDANTE_ERRBIT_NONE) {
soulx 18:face01c94152 712 CmdCheck((int16_t)id,data_array,ins);
soulx 18:face01c94152 713 }
soulx 27:718fc94e40ad 714
ParinyaT 11:3dd92d1d542c 715 }
ParinyaT 11:3dd92d1d542c 716 /*******************************************************/
ParinyaT 0:451c27e4d55e 717 int main()
ParinyaT 0:451c27e4d55e 718 {
soulx 29:5db0a9261161 719 PC.baud(115200);
b0ssiz 31:d6fa5e8e26b3 720 /*
b0ssiz 31:d6fa5e8e26b3 721 while(1)
b0ssiz 31:d6fa5e8e26b3 722 {
b0ssiz 31:d6fa5e8e26b3 723 Read_Encoder(EncoderA);
b0ssiz 31:d6fa5e8e26b3 724 Upper_Position = Get_EnValue(data);
b0ssiz 31:d6fa5e8e26b3 725 Read_Encoder(EncoderB);
b0ssiz 31:d6fa5e8e26b3 726 Lower_Position = Get_EnValue(data);
b0ssiz 31:d6fa5e8e26b3 727 PC.printf("Upper Position : %f\n",Upper_Position);
b0ssiz 31:d6fa5e8e26b3 728 PC.printf("Lower_Position : %f\n",Lower_Position);
b0ssiz 31:d6fa5e8e26b3 729 wait(0.5);
b0ssiz 31:d6fa5e8e26b3 730 }
b0ssiz 31:d6fa5e8e26b3 731 */
b0ssiz 31:d6fa5e8e26b3 732
soulx 27:718fc94e40ad 733
soulx 21:1c04c4afe3b7 734 //Recieve.attach(&Rc,0.025);
soulx 20:7e6d56655336 735 //Start_Up();
b0ssiz 23:999dd41eef14 736
ParinyaT 1:84167ca00307 737 SET_UpperPID();
ParinyaT 1:84167ca00307 738 SET_LowerPID();
ParinyaT 11:3dd92d1d542c 739
soulx 29:5db0a9261161 740 printf("BEAR MOTION\n\r");
b0ssiz 14:28e24fcc5a01 741 while(1) {
soulx 27:718fc94e40ad 742 myled =0;
soulx 27:718fc94e40ad 743 //wait_ms(10);
soulx 27:718fc94e40ad 744
soulx 20:7e6d56655336 745 ///////////////////////////////////////////////////// start
b0ssiz 14:28e24fcc5a01 746 //Set Set_point
b0ssiz 14:28e24fcc5a01 747 Up_PID.setSetPoint(Upper_SetPoint);
b0ssiz 14:28e24fcc5a01 748 Low_PID.setSetPoint(Lower_SetPoint);
ParinyaT 1:84167ca00307 749
b0ssiz 14:28e24fcc5a01 750 //Control Motor
b0ssiz 14:28e24fcc5a01 751 Move_Upper();
b0ssiz 14:28e24fcc5a01 752 Move_Lower();
soulx 20:7e6d56655336 753 ///////////////////////////////////////////////////// stop =306us
soulx 21:1c04c4afe3b7 754 //uint8_t aaa[1]={10};
soulx 21:1c04c4afe3b7 755 //com.sendBodyWidth(0x01,aaa);
soulx 21:1c04c4afe3b7 756 Rc();
soulx 21:1c04c4afe3b7 757 //wait_ms(1);
soulx 20:7e6d56655336 758 }
ParinyaT 0:451c27e4d55e 759 }
b0ssiz 6:98871feebea0 760
ParinyaT 0:451c27e4d55e 761
ParinyaT 0:451c27e4d55e 762
b0ssiz 6:98871feebea0 763
b0ssiz 6:98871feebea0 764
b0ssiz 6:98871feebea0 765